From 3f44954721fee345af957e771d6fabfb006cc685 Mon Sep 17 00:00:00 2001 From: PX4BuildBot Date: Thu, 7 Nov 2024 21:54:34 +0000 Subject: [PATCH] gitbook build update Thu Nov 7 21:54:34 UTC 2024 --- en/about/faq.html | 2 +- en/about/implementations.html | 2 +- en/about/overview.html | 2 +- en/about/support.html | 2 +- en/contributing/contributing.html | 2 +- en/file_formats/index.html | 2 +- en/getting_started/generate_libraries.html | 2 +- en/getting_started/index.html | 2 +- en/getting_started/installation.html | 2 +- en/getting_started/ros.html | 2 +- en/getting_started/use_libraries.html | 2 +- en/guide/crc.html | 2 +- en/guide/define_xml_element.html | 2 +- en/guide/general_telemetry.html | 2 +- en/guide/index.html | 2 +- en/guide/mavlink_2.html | 2 +- en/guide/mavlink_version.html | 2 +- en/guide/message_signing.html | 2 +- en/guide/packet_loss.html | 2 +- en/guide/redundancy_deduplication.html | 2 +- en/guide/routing.html | 2 +- en/guide/scripts.html | 2 +- en/guide/serialization.html | 2 +- en/guide/uavcan_interaction.html | 2 +- en/guide/wireshark.html | 2 +- en/guide/xml_schema.html | 2 +- en/index.html | 2 +- en/mavgen_c/example_c_uart.html | 2 +- en/mavgen_c/example_c_udp.html | 2 +- en/mavgen_c/examples.html | 2 +- en/mavgen_c/index.html | 2 +- en/mavgen_c/message_signing_c.html | 2 +- en/mavgen_python/examples.html | 2 +- en/mavgen_python/howto_requestmessages.html | 2 +- en/mavgen_python/index.html | 2 +- en/mavgen_python/message_signing.html | 2 +- en/messages/ASLUAV.html | 2 +- en/messages/all.html | 2 +- en/messages/ardupilotmega.html | 2 +- en/messages/common.html | 2 +- en/messages/development.html | 2 +- en/messages/icarous.html | 2 +- en/messages/index.html | 2 +- en/messages/matrixpilot.html | 2 +- en/messages/minimal.html | 2 +- en/messages/paparazzi.html | 2 +- en/messages/python_array_test.html | 2 +- en/messages/standard.html | 2 +- en/messages/test.html | 2 +- en/messages/uAvionix.html | 2 +- en/messages/ualberta.html | 2 +- en/services/arm_authorization.html | 2 +- en/services/battery.html | 2 +- en/services/camera.html | 2 +- en/services/camera_def.html | 2 +- en/services/camera_v1.html | 2 +- en/services/command.html | 2 +- en/services/component_information.html | 2 +- en/services/events.html | 2 +- en/services/ftp.html | 2 +- en/services/gimbal.html | 2 +- en/services/gimbal_v2.html | 2 +- en/services/heartbeat.html | 2 +- en/services/high_latency.html | 2 +- en/services/illuminator.html | 2 +- en/services/image_transmission.html | 2 +- en/services/index.html | 2 +- en/services/landing_target.html | 2 +- en/services/manual_control.html | 2 +- en/services/mavlink_id_assignment.html | 2 +- en/services/mission.html | 2 +- en/services/offboard_control.html | 2 +- en/services/opendroneid.html | 2 +- en/services/parameter.html | 2 +- en/services/parameter_ext.html | 2 +- en/services/payload.html | 2 +- en/services/ping.html | 2 +- en/services/standard_modes.html | 2 +- en/services/terrain.html | 2 +- en/services/timesync.html | 2 +- en/services/traffic_management.html | 2 +- en/services/trajectory.html | 2 +- en/services/tunnel.html | 2 +- ko/about/faq.html | 2 +- ko/about/implementations.html | 2 +- ko/about/overview.html | 4 +- ko/about/support.html | 2 +- ko/contributing/contributing.html | 4 +- ko/file_formats/index.html | 4 +- ko/getting_started/generate_libraries.html | 4 +- ko/getting_started/index.html | 2 +- ko/getting_started/installation.html | 4 +- ko/getting_started/ros.html | 4 +- ko/getting_started/use_libraries.html | 2 +- ko/guide/crc.html | 2 +- ko/guide/define_xml_element.html | 4 +- ko/guide/general_telemetry.html | 2 +- ko/guide/index.html | 2 +- ko/guide/mavlink_2.html | 2 +- ko/guide/mavlink_version.html | 2 +- ko/guide/message_signing.html | 4 +- ko/guide/packet_loss.html | 2 +- ko/guide/redundancy_deduplication.html | 2 +- ko/guide/routing.html | 2 +- ko/guide/scripts.html | 4 +- ko/guide/serialization.html | 4 +- ko/guide/uavcan_interaction.html | 2 +- ko/guide/wireshark.html | 4 +- ko/guide/xml_schema.html | 4 +- ko/index.html | 2 +- ko/mavgen_c/example_c_uart.html | 2 +- ko/mavgen_c/example_c_udp.html | 4 +- ko/mavgen_c/examples.html | 2 +- ko/mavgen_c/index.html | 4 +- ko/mavgen_c/message_signing_c.html | 4 +- ko/mavgen_python/examples.html | 2 +- ko/mavgen_python/howto_requestmessages.html | 4 +- ko/mavgen_python/index.html | 6 +- ko/mavgen_python/message_signing.html | 4 +- ko/messages/ASLUAV.html | 2 +- ko/messages/AVSSUAS.md | 1062 +---------- ko/messages/all.html | 2 +- ko/messages/ardupilotmega.html | 2 +- ko/messages/common.html | 4 +- ko/messages/cubepilot.md | 1062 +---------- ko/messages/development.html | 2 +- ko/messages/icarous.html | 2 +- ko/messages/index.html | 2 +- ko/messages/matrixpilot.html | 2 +- ko/messages/minimal.html | 2 +- ko/messages/paparazzi.html | 2 +- ko/messages/python_array_test.html | 2 +- ko/messages/standard.html | 2 +- ko/messages/storm32.md | 1752 ++----------------- ko/messages/test.html | 2 +- ko/messages/uAvionix.html | 2 +- ko/messages/ualberta.html | 2 +- ko/services/arm_authorization.html | 4 +- ko/services/battery.html | 2 +- ko/services/camera.html | 2 +- ko/services/camera_def.html | 4 +- ko/services/camera_v1.html | 2 +- ko/services/command.html | 2 +- ko/services/component_information.html | 4 +- ko/services/events.html | 2 +- ko/services/ftp.html | 4 +- ko/services/gimbal.html | 2 +- ko/services/gimbal_v2.html | 2 +- ko/services/heartbeat.html | 2 +- ko/services/high_latency.html | 2 +- ko/services/illuminator.html | 2 +- ko/services/image_transmission.html | 4 +- ko/services/index.html | 2 +- ko/services/landing_target.html | 2 +- ko/services/manual_control.html | 2 +- ko/services/mavlink_id_assignment.html | 2 +- ko/services/mission.html | 2 +- ko/services/offboard_control.html | 2 +- ko/services/opendroneid.html | 2 +- ko/services/parameter.html | 4 +- ko/services/parameter_ext.html | 4 +- ko/services/payload.html | 2 +- ko/services/ping.html | 2 +- ko/services/standard_modes.html | 1 + ko/services/terrain.html | 2 +- ko/services/timesync.html | 2 +- ko/services/traffic_management.html | 2 +- ko/services/trajectory.html | 2 +- ko/services/tunnel.html | 2 +- zh/about/faq.html | 2 +- zh/about/implementations.html | 2 +- zh/about/overview.html | 4 +- zh/about/support.html | 2 +- zh/contributing/contributing.html | 4 +- zh/file_formats/index.html | 4 +- zh/getting_started/generate_libraries.html | 4 +- zh/getting_started/index.html | 2 +- zh/getting_started/installation.html | 4 +- zh/getting_started/ros.html | 4 +- zh/getting_started/use_libraries.html | 2 +- zh/guide/crc.html | 2 +- zh/guide/define_xml_element.html | 4 +- zh/guide/general_telemetry.html | 2 +- zh/guide/index.html | 2 +- zh/guide/mavlink_2.html | 2 +- zh/guide/mavlink_version.html | 2 +- zh/guide/message_signing.html | 4 +- zh/guide/packet_loss.html | 2 +- zh/guide/redundancy_deduplication.html | 2 +- zh/guide/routing.html | 2 +- zh/guide/scripts.html | 4 +- zh/guide/serialization.html | 4 +- zh/guide/uavcan_interaction.html | 2 +- zh/guide/wireshark.html | 4 +- zh/guide/xml_schema.html | 4 +- zh/index.html | 2 +- zh/mavgen_c/example_c_uart.html | 2 +- zh/mavgen_c/example_c_udp.html | 4 +- zh/mavgen_c/examples.html | 2 +- zh/mavgen_c/index.html | 4 +- zh/mavgen_c/message_signing_c.html | 4 +- zh/mavgen_python/examples.html | 2 +- zh/mavgen_python/howto_requestmessages.html | 4 +- zh/mavgen_python/index.html | 6 +- zh/mavgen_python/message_signing.html | 4 +- zh/messages/ASLUAV.html | 2 +- zh/messages/AVSSUAS.md | 1062 +---------- zh/messages/all.html | 2 +- zh/messages/ardupilotmega.html | 2 +- zh/messages/common.html | 4 +- zh/messages/cubepilot.md | 1062 +---------- zh/messages/development.html | 2 +- zh/messages/icarous.html | 2 +- zh/messages/index.html | 2 +- zh/messages/matrixpilot.html | 2 +- zh/messages/minimal.html | 2 +- zh/messages/paparazzi.html | 2 +- zh/messages/python_array_test.html | 2 +- zh/messages/standard.html | 2 +- zh/messages/storm32.md | 1752 ++----------------- zh/messages/test.html | 2 +- zh/messages/uAvionix.html | 2 +- zh/messages/ualberta.html | 2 +- zh/services/arm_authorization.html | 4 +- zh/services/battery.html | 2 +- zh/services/camera.html | 2 +- zh/services/camera_def.html | 4 +- zh/services/camera_v1.html | 2 +- zh/services/command.html | 2 +- zh/services/component_information.html | 4 +- zh/services/events.html | 2 +- zh/services/ftp.html | 4 +- zh/services/gimbal.html | 2 +- zh/services/gimbal_v2.html | 2 +- zh/services/heartbeat.html | 2 +- zh/services/high_latency.html | 2 +- zh/services/illuminator.html | 2 +- zh/services/image_transmission.html | 4 +- zh/services/index.html | 2 +- zh/services/landing_target.html | 2 +- zh/services/manual_control.html | 2 +- zh/services/mavlink_id_assignment.html | 2 +- zh/services/mission.html | 2 +- zh/services/offboard_control.html | 2 +- zh/services/opendroneid.html | 2 +- zh/services/parameter.html | 4 +- zh/services/parameter_ext.html | 4 +- zh/services/payload.html | 2 +- zh/services/ping.html | 2 +- zh/services/standard_modes.html | 1 + zh/services/terrain.html | 2 +- zh/services/timesync.html | 2 +- zh/services/traffic_management.html | 2 +- zh/services/trajectory.html | 2 +- zh/services/tunnel.html | 2 +- 255 files changed, 655 insertions(+), 7701 deletions(-) create mode 100644 ko/services/standard_modes.html create mode 100644 zh/services/standard_modes.html diff --git a/en/about/faq.html b/en/about/faq.html index 6f53c1c2d..76f384920 100644 --- a/en/about/faq.html +++ b/en/about/faq.html @@ -1 +1 @@ -FAQ · MAVLink Developer Guide
Messages
Messages
FAQ
FAQ
Implementations
Implementations
Examples
Examples
Support
Help

Frequently Asked Questions (FAQ)

Users

How efficient is MAVLink?
MAVLink is a very efficient protocol. MAVLink 1 has just 8 bytes overhead per packet, including start sign and packet drop detection. MAVLink 2 has just 14 bytes of overhead (27 if signing is used), but is now a much more extensible protocol.
How many vehicles does MAVLink support?
255 vehicles, with system IDs ranging from 1 to 255 (0 is not a valid vehicle ID).
Note: Strictly speaking MAVLink supports 255 concurrent systems, and these can include a mix of vehicles, GCS, antenna trackers and other hardware.
Where can I use MAVLink?
MAVLink has been shown to work on multiple microcontrollers and operating systems, including ARM7, ATMega, dsPic, STM32 and Windows, Linux, MacOS, Android and iOS.
How reliable is MAVLink?
Very. MAVLink has been used since 2009 to communicate between many different vehicles, ground stations (and other nodes) over varied and challenging communication channels (high latency/noise). It provides methods for detecting packet drops, and the well-established ITU X.25 checksum for packet corruption detection.
How secure is MAVLink?
MAVLink provides message signing, which allows systems to authenticate that messages are from a trusted source. MAVLink does not provide message encryption.
What version of MAVLink should I use?
You should use the MAVLink 2 protocol where at all possible (it fixes a number of limitations of earlier versions). The MAVLink 2 libraries also support MAVLink 1, so you can use them to communicate with legacy systems if needed.
How often is MAVLink updated/released?
  • The underlying over-the-wire format is rarely updated (we're only up to MAVLink 2, which was introduced in 2017).
  • New messages/microservices are frequently added. This is a backwards compatible change, and users are expected to regularly update their libraries to support new messages.
  • Messages are rarely modified (or removed) such that they would become incompatible. If this is needed the project will update the MAVLink minor version number and notify users through the mailing list (users can also query the version in code).

Developers

Can I use MAVLink in a closed source application without copyright issues?
Yes, without any limitations. The generated MAVLink library headers are made available under the *MIT license* (for more information see: Introduction > License).
How does MAVLink detect and decode messages in the byte stream?
MAVLink waits for the packet start sign, then reads the packet length and matches the checksum after n bytes. If the checksum matches, it returns the decoded packet and waits again for the start sign. If bytes are altered or lost, it will drop the current message and continue the next try on the following message.
MAVLink uses only one start sign - isn't this less safe than using two or three start signs?
No. We use the CRC check to reliably determine whether a complete message has been received. Using additional start signs may increase likelihood of detecting the start point, but would provide no greater certainty of message validity. Since extra signs would increase bytes on the communication link, we choose not to use them.
What are the system and component IDs for?
The system ID represents the identity of a particular MAVLink system (vehicle, GCS, etc.). MAVLink can be used with up to 255 systems at the same time. The component ID reflects a component that is part of a larger system - for example a system might include an autopilot, companion computer and/or camera, which can be separately addressed. The component ID therefore lets MAVLink be used for both on- and off-board communication.
Why is the sequence number in the MAVLink header needed?
MAVLink is part of the safety critical components of an unmanned air system. A bad communication link dropping many packets can endanger the flight safety of the aircraft and has to be monitored. Having the sequence in the header allows MAVLink to continuously provide feedback about the packet drop rate and thus allows the aircraft or ground control station to take action.
Why is CRC_EXTRA needed in the packet checksum?
The CRC_EXTRA CRC is used to verify that the sender and receiver have a shared understanding of the over-the-wire format of a particular message (required because as a lightweight protocol, the message structure isn't included in the payload).

In MAVLink 0.9 the CRC was not used (although there was a length check). There were a small number of cases where XML describing a message changed without changing the message length, leading to badly corrupted fields when messages were read.
I would like to help improve the decoding/encoding routines or other features. Can MAVLink be changed?
Yes, but only very, very carefully with safety testing.
MAVLink is used as a safety-critical component in many autopilot systems and has undergone many years of testing. Please suggest new features on the MAVLink support channels.
How can I further reduce the generated C library size?
On extremely resource-constrained systems you may be able to reduce the size of the generated library by setting MAVLINK_COMM_NUM_BUFFERS=1 and MAVLINK_MAX_PAYLOAD_LEN="size of your largest buffer" (assuming only one comm link and that your payload is less than the maximum supported by MAVLink). You should also make sure that any buffers you use to pass into MAVLink are also as small as possible (e.g. the one passed into mavlink_msg_to_send_buffer()).

Another alternative is to use one of the other generators. For example fastMavlink asserts that it is smaller and more efficient than the libraries generated by mavgen (this has not been valided by the MAVLink project).

results matching ""

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    \ No newline at end of file +FAQ · MAVLink Developer Guide
    Messages
    Messages
    FAQ
    FAQ
    Implementations
    Implementations
    Examples
    Examples
    Support
    Help

    Frequently Asked Questions (FAQ)

    Users

    How efficient is MAVLink?
    MAVLink is a very efficient protocol. MAVLink 1 has just 8 bytes overhead per packet, including start sign and packet drop detection. MAVLink 2 has just 14 bytes of overhead (27 if signing is used), but is now a much more extensible protocol.
    How many vehicles does MAVLink support?
    255 vehicles, with system IDs ranging from 1 to 255 (0 is not a valid vehicle ID).
    Note: Strictly speaking MAVLink supports 255 concurrent systems, and these can include a mix of vehicles, GCS, antenna trackers and other hardware.
    Where can I use MAVLink?
    MAVLink has been shown to work on multiple microcontrollers and operating systems, including ARM7, ATMega, dsPic, STM32 and Windows, Linux, MacOS, Android and iOS.
    How reliable is MAVLink?
    Very. MAVLink has been used since 2009 to communicate between many different vehicles, ground stations (and other nodes) over varied and challenging communication channels (high latency/noise). It provides methods for detecting packet drops, and the well-established ITU X.25 checksum for packet corruption detection.
    How secure is MAVLink?
    MAVLink provides message signing, which allows systems to authenticate that messages are from a trusted source. MAVLink does not provide message encryption.
    What version of MAVLink should I use?
    You should use the MAVLink 2 protocol where at all possible (it fixes a number of limitations of earlier versions). The MAVLink 2 libraries also support MAVLink 1, so you can use them to communicate with legacy systems if needed.
    How often is MAVLink updated/released?
    • The underlying over-the-wire format is rarely updated (we're only up to MAVLink 2, which was introduced in 2017).
    • New messages/microservices are frequently added. This is a backwards compatible change, and users are expected to regularly update their libraries to support new messages.
    • Messages are rarely modified (or removed) such that they would become incompatible. If this is needed the project will update the MAVLink minor version number and notify users through the mailing list (users can also query the version in code).

    Developers

    Can I use MAVLink in a closed source application without copyright issues?
    Yes, without any limitations. The generated MAVLink library headers are made available under the *MIT license* (for more information see: Introduction > License).
    How does MAVLink detect and decode messages in the byte stream?
    MAVLink waits for the packet start sign, then reads the packet length and matches the checksum after n bytes. If the checksum matches, it returns the decoded packet and waits again for the start sign. If bytes are altered or lost, it will drop the current message and continue the next try on the following message.
    MAVLink uses only one start sign - isn't this less safe than using two or three start signs?
    No. We use the CRC check to reliably determine whether a complete message has been received. Using additional start signs may increase likelihood of detecting the start point, but would provide no greater certainty of message validity. Since extra signs would increase bytes on the communication link, we choose not to use them.
    What are the system and component IDs for?
    The system ID represents the identity of a particular MAVLink system (vehicle, GCS, etc.). MAVLink can be used with up to 255 systems at the same time. The component ID reflects a component that is part of a larger system - for example a system might include an autopilot, companion computer and/or camera, which can be separately addressed. The component ID therefore lets MAVLink be used for both on- and off-board communication.
    Why is the sequence number in the MAVLink header needed?
    MAVLink is part of the safety critical components of an unmanned air system. A bad communication link dropping many packets can endanger the flight safety of the aircraft and has to be monitored. Having the sequence in the header allows MAVLink to continuously provide feedback about the packet drop rate and thus allows the aircraft or ground control station to take action.
    Why is CRC_EXTRA needed in the packet checksum?
    The CRC_EXTRA CRC is used to verify that the sender and receiver have a shared understanding of the over-the-wire format of a particular message (required because as a lightweight protocol, the message structure isn't included in the payload).

    In MAVLink 0.9 the CRC was not used (although there was a length check). There were a small number of cases where XML describing a message changed without changing the message length, leading to badly corrupted fields when messages were read.
    I would like to help improve the decoding/encoding routines or other features. Can MAVLink be changed?
    Yes, but only very, very carefully with safety testing.
    MAVLink is used as a safety-critical component in many autopilot systems and has undergone many years of testing. Please suggest new features on the MAVLink support channels.
    How can I further reduce the generated C library size?
    On extremely resource-constrained systems you may be able to reduce the size of the generated library by setting MAVLINK_COMM_NUM_BUFFERS=1 and MAVLINK_MAX_PAYLOAD_LEN="size of your largest buffer" (assuming only one comm link and that your payload is less than the maximum supported by MAVLink). You should also make sure that any buffers you use to pass into MAVLink are also as small as possible (e.g. the one passed into mavlink_msg_to_send_buffer()).

    Another alternative is to use one of the other generators. For example fastMavlink asserts that it is smaller and more efficient than the libraries generated by mavgen (this has not been valided by the MAVLink project).

    results matching ""

      No results matching ""

      \ No newline at end of file diff --git a/en/about/implementations.html b/en/about/implementations.html index 391e0e0e7..70445bc90 100644 --- a/en/about/implementations.html +++ b/en/about/implementations.html @@ -1 +1 @@ -Implementations · MAVLink Developer Guide
      Messages
      Messages
      FAQ
      FAQ
      Implementations
      Implementations
      Examples
      Examples
      Support
      Help

      MAVLink Implementations

      Many autopilots, ground stations, integration APIs, projects and other software packages use MAVLink. A non-exhaustive list of some users/contributors of this project is given below.

      Autopilots

      The following autopilots are known to support MAVLink and are actively being developed (last release less than a year ago).

      Ground Stations

      A number of higher level APIs have been written to simplify interacting with MAVLink autopilots, cameras, ground stations, etc. (MAVLink is a relatively low-level API). These wrappers typically provide implementations of the main microservices and simple/specific interfaces for sending commands and accessing vehicle information.

      The list here contains actively maintained implementations:

      These projects have some activity but are not as well maintained:

      Research Projects

      results matching ""

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        \ No newline at end of file +Implementations · MAVLink Developer Guide
        Messages
        Messages
        FAQ
        FAQ
        Implementations
        Implementations
        Examples
        Examples
        Support
        Help

        MAVLink Implementations

        Many autopilots, ground stations, integration APIs, projects and other software packages use MAVLink. A non-exhaustive list of some users/contributors of this project is given below.

        Autopilots

        The following autopilots are known to support MAVLink and are actively being developed (last release less than a year ago).

        Ground Stations

        A number of higher level APIs have been written to simplify interacting with MAVLink autopilots, cameras, ground stations, etc. (MAVLink is a relatively low-level API). These wrappers typically provide implementations of the main microservices and simple/specific interfaces for sending commands and accessing vehicle information.

        The list here contains actively maintained implementations:

        These projects have some activity but are not as well maintained:

        Research Projects

        results matching ""

          No results matching ""

          \ No newline at end of file diff --git a/en/about/overview.html b/en/about/overview.html index 1941adfd0..5c810f192 100644 --- a/en/about/overview.html +++ b/en/about/overview.html @@ -11,4 +11,4 @@ uint8_t payload[max 255]; ///< A maximum of 255 payload bytes uint16_t checksum; ///< CRC-16/MCRF4XX 
          uint8_t signature[13];      ///< Signature which allows ensuring that the link is tamper-proof (optional)
-

          The MAVLink 1 packet format is similar, but omits incompat_flags, compat_flags and signature, and only has a single byte for the message address. For more information see Serialization > Packet Format.

          Serialization

          The over-the-wire format of MAVLink is optimized for resource-constrained systems and hence the field order is not the same as in the XML specification. The over-the-wire generator sorts all fields of the message according to size, with the largest fields (uint64_t) first, then down to smaller fields. The sorting is done using a stable sorting algorithm, which ensures that any fields that do not need to be reordered stay in the same relative order. This prevents alignment issues on the encoding / decoding systems and allows for very efficient packing / unpacking.

          For more information and specific exceptions see Serialization.

          Multicast Streams vs. Guaranteed Delivery

          MAVLink is built for hybrid networks where high-rate data streams from data sources (commonly drones) flow to data sinks (commonly ground stations), but are mixed with transfers requiring guaranteed delivery. The key insight is that for most telemetry streams there is not a known or single recipient: Instead, typically an onboard computer, a ground control station and a cloud system all need the same data stream.

          On the other hand configuring the onboard mission or changing the system configuration with onboard parameters requires point-to-point communication with guaranteed delivery. MAVLink achieves very high efficiency by allowing both modes of operation.

          Topic Mode (publish-subscribe)

          In topic mode the protocol will not emit a target system and component ID for messages to save link bandwidth. Typical examples for this communication mode are all autopilot data streams like position, attitude, etc.

          The main benefit of this multicast mode is that no additional overhead is generated and multiple subscribers can all receive this data.

          Point-to-Point Mode

          In point-to-point mode MAVLink uses a target ID and target component. In most cases where these fields are used the sub-protocol also ensures guaranteed delivery (missions, parameters, commands).

          Integrity Checks / Checksum

          MAVLink implements two integrity checks: The first check is on the integrity of the packet during transmission using the CRC-16/MCRF4XX checksum. This however only ensures that the data has not been altered on the link - it does not ensure consistency with the data definition. The second integrity check is on the data description to ensure that two messages with the same ID are indeed containing the same information. To achieve this the data definition itself is run through CRC-16-CCITT and the resulting value is used to seed the packet CRC. Most reference implementations store this constant in an array named CRC_EXTRA.

          results matching ""

            No results matching ""

            \ No newline at end of file +

            The MAVLink 1 packet format is similar, but omits incompat_flags, compat_flags and signature, and only has a single byte for the message address. For more information see Serialization > Packet Format.

            Serialization

            The over-the-wire format of MAVLink is optimized for resource-constrained systems and hence the field order is not the same as in the XML specification. The over-the-wire generator sorts all fields of the message according to size, with the largest fields (uint64_t) first, then down to smaller fields. The sorting is done using a stable sorting algorithm, which ensures that any fields that do not need to be reordered stay in the same relative order. This prevents alignment issues on the encoding / decoding systems and allows for very efficient packing / unpacking.

            For more information and specific exceptions see Serialization.

            Multicast Streams vs. Guaranteed Delivery

            MAVLink is built for hybrid networks where high-rate data streams from data sources (commonly drones) flow to data sinks (commonly ground stations), but are mixed with transfers requiring guaranteed delivery. The key insight is that for most telemetry streams there is not a known or single recipient: Instead, typically an onboard computer, a ground control station and a cloud system all need the same data stream.

            On the other hand configuring the onboard mission or changing the system configuration with onboard parameters requires point-to-point communication with guaranteed delivery. MAVLink achieves very high efficiency by allowing both modes of operation.

            Topic Mode (publish-subscribe)

            In topic mode the protocol will not emit a target system and component ID for messages to save link bandwidth. Typical examples for this communication mode are all autopilot data streams like position, attitude, etc.

            The main benefit of this multicast mode is that no additional overhead is generated and multiple subscribers can all receive this data.

            Point-to-Point Mode

            In point-to-point mode MAVLink uses a target ID and target component. In most cases where these fields are used the sub-protocol also ensures guaranteed delivery (missions, parameters, commands).

            Integrity Checks / Checksum

            MAVLink implements two integrity checks: The first check is on the integrity of the packet during transmission using the CRC-16/MCRF4XX checksum. This however only ensures that the data has not been altered on the link - it does not ensure consistency with the data definition. The second integrity check is on the data description to ensure that two messages with the same ID are indeed containing the same information. To achieve this the data definition itself is run through CRC-16-CCITT and the resulting value is used to seed the packet CRC. Most reference implementations store this constant in an array named CRC_EXTRA.

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              Mailing List/Discussion

              The core development team and community are active on the mailing list.

              Reporting Bugs & Issues

              If you have any problems using MAVLink first post them on the mailing list.

              If directed by the development team, issues may be raised on Github here.

              Dev Call

              MAVLink developers, adopting companies and the surrounding community of users meet regularly to help define the direction of the project, discuss RFCs, Issues and have a Q&A session.

              The call is open to anyone who wants to contribute to the ongoing development of the project (not just the dev team). This is a great opportunity to meet the team.

              Who should attend:

              • Core project maintainers
              • Component maintainers
              • Dronecode members
              • Community members
              • Anyone interested in the development of MAVLink

              Agenda

              Meeting agenda (and historical meeting minutes) are available on the MAVLink wiki here.

              • Add topics that you'd like to discuss and issues you'd like to unblock.
              • Nominate Issues and PRs for the call with the Dev Call label on Github.

              Schedule

              There is a recurring bi-weekly call which covers Asia-Europe overlap (there is also a reserved call slot for a Europe-Americas overlap on PST timezone that can be used when needed).

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                Support

                Mailing List/Discussion

                The core development team and community are active on the mailing list.

                Reporting Bugs & Issues

                If you have any problems using MAVLink first post them on the mailing list.

                If directed by the development team, issues may be raised on Github here.

                Dev Call

                MAVLink developers, adopting companies and the surrounding community of users meet regularly to help define the direction of the project, discuss RFCs, Issues and have a Q&A session.

                The call is open to anyone who wants to contribute to the ongoing development of the project (not just the dev team). This is a great opportunity to meet the team.

                Who should attend:

                • Core project maintainers
                • Component maintainers
                • Dronecode members
                • Community members
                • Anyone interested in the development of MAVLink

                Agenda

                Meeting agenda (and historical meeting minutes) are available on the MAVLink wiki here.

                • Add topics that you'd like to discuss and issues you'd like to unblock.
                • Nominate Issues and PRs for the call with the Dev Call label on Github.

                Schedule

                There is a recurring bi-weekly call which covers Asia-Europe overlap (there is also a reserved call slot for a Europe-Americas overlap on PST timezone that can be used when needed).

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                • Test your changes (we may ask you for test results in your PR).

                • Push changes to your repo:

                  git push origin mydescriptivebranchname
-

                • Send a pull request to merge changes in the branch.

                  • Dev Call

                  We have a regular dev call that is open to anyone who is interested in contributing to the project!

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                  • Send a pull request to merge changes in the branch.

                    • Dev Call

                    We have a regular dev call that is open to anyone who is interested in contributing to the project!

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                              Getting Started

                              Download or Generate MAVLink source files for your dialect:

                              The following topics explain how to include the files in your project and use MAVLink:

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                                Getting Started

                                Download or Generate MAVLink source files for your dialect:

                                The following topics explain how to include the files in your project and use MAVLink:

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                                  Installing MAVLink Toolchain

                                  This topic explains how to install the MAVLink toolchain. The toolchain includes the XML message definitions as well as the the GUI/command line tools that use the definitions to Generate MAVLink Source Files.

                                  You do not need to install or generate the source files if you are using the C programming language and a standard dialect. Just get the prebuilt libraries and then jump to Using C Libraries.

                                  Prerequisites

                                  The requirements for using the MAVLink generator are:

                                  • Python 3
                                  • Python 3 Pip
                                  • TkInter (required to use the GUI tool), included as of Python 3.7.

                                  If you are creating new XML definitions you should also install lxml and libxml2 for XML validation and formatting.

                                  Installation

                                  To install the MAVLink toolchain:

                                  1. Install Python 3.7+:

                                    • Windows: Download from Python for Windows
                                    • Ubuntu Linux Make sure Python and Pip are both installed:
                                      sudo apt install python3 python3-pip

                                  2. Clone the official mavlink repo or your fork with your custom dialect:

                                    git clone https://github.com/mavlink/mavlink.git --recursive

                                  3. Install the required packages:

                                    python3 -m pip install -r pymavlink/requirements.txt
-

                                  Now you are ready to Generate MAVLink Libraries.

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                                      Generate Source Files for ROS

                                      To add MAVlink messages/dialects while working with ROS:

                                      1. Follow the MAVROS source install instructions to install the mavlink-gbp-release which is the MAVlink library released for ROS.

                                      2. Uninstall the MAVlink package for ROS if previously installed.

                                        sudo apt-get remove ros-${rosversion -d}-mavlink
-

                                        or source devel/setup.bash of your catkin workspace to override the library directory.

                                      3. In the mavlink-gbp-release, add the new MAVlink message to common.xml or add the new dialect dialect_name.xml in the message definitions. Do not checkout your MAVlink branch because it is not the version synced with ROS.

                                      4. Generate the MAVlink headers catkin build mavlink. You can find the headers in ~/catkin_ws/build/mavlink/include/.

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                                        or source devel/setup.bash of your catkin workspace to override the library directory.

                                      • In the mavlink-gbp-release, add the new MAVlink message to common.xml or add the new dialect dialect_name.xml in the message definitions. Do not checkout your MAVlink branch because it is not the version synced with ROS.

                                      • Generate the MAVlink headers catkin build mavlink. You can find the headers in ~/catkin_ws/build/mavlink/include/.

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                                          Using MAVLink Libraries

                                          The linked documents explain how to use the MAVLink libraries for different programming languages (and from different code generators).

                                          Not all of the libraries are documented. If you have experience with the other libraries, please help us update those sections!

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                                            Using MAVLink Libraries

                                            The linked documents explain how to use the MAVLink libraries for different programming languages (and from different code generators).

                                            Not all of the libraries are documented. If you have experience with the other libraries, please help us update those sections!

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                                              MAVLink CRC

                                              MAVLink services that need to use a Cyclic Redundancy Check (CRC) should choose the CRC32 algorithm described below.

                                              Using the same CRC implementation for all cases means that only one implementation is required. Do not introduce another unless there without a compelling technical reason.

                                              This CRC is used for higher level services (it is not related to the CRC16 used for the checksum in MAVLink serialization).

                                              CRC32 Algorithm

                                              The CRC32 algorithm used by MAVLink is similar to (but different from) the ISO 3309 standard based on the polygon 0x04C11DB7. It is commonly referred to as "the CRC32 based on Gary Brown's work".

                                              The difference of MAVLink's implementation versus the standard are:

                                              • Start at 0 instead of 0xFFFFFFFF.
                                              • Missing final XOR out operation with 0xFFFFFFFF.

                                              The effects of the initial value and final XOR operation are documented in this brief tutorial on CRC computation of the Linux kernel.

                                              Implementations

                                              This implementation is currently used in:

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                                                MAVLink CRC

                                                MAVLink services that need to use a Cyclic Redundancy Check (CRC) should choose the CRC32 algorithm described below.

                                                Using the same CRC implementation for all cases means that only one implementation is required. Do not introduce another unless there without a compelling technical reason.

                                                This CRC is used for higher level services (it is not related to the CRC16 used for the checksum in MAVLink serialization).

                                                CRC32 Algorithm

                                                The CRC32 algorithm used by MAVLink is similar to (but different from) the ISO 3309 standard based on the polygon 0x04C11DB7. It is commonly referred to as "the CRC32 based on Gary Brown's work".

                                                The difference of MAVLink's implementation versus the standard are:

                                                • Start at 0 instead of 0xFFFFFFFF.
                                                • Missing final XOR out operation with 0xFFFFFFFF.

                                                The effects of the initial value and final XOR operation are documented in this brief tutorial on CRC computation of the Linux kernel.

                                                Implementations

                                                This implementation is currently used in:

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                                                  The rules for MAVLink commands are exactly the same as for other enums. There are a few of additional conventions.

                                                  Command (Entry) Values

                                                  All mission command entries must have a value (this is not enforced by the toolchain but, as for other enums, it reduces the chance of values unintentionally changing and breaking other systems).

                                                  Each dialect is allocated a specific range from which entry ids can be selected. This ensures that any dialect can include any commands from any other dialect (or common.xml) without clashes. It also means that messages can move from a dialect to common.xml without any code needing to change.

                                                  Dialects can choose any values within their range for any message. However we recommend that all related commands be kept in the same block of ids, and if there are likely to be more similar commands in future then spaces might be left for new commands.

                                                  The allocated ranges are listed below (a more complete list is provided in the comments in all.xml):

                                                  DialectRange
                                                  Common.xml0 - 39999
                                                  asluav.xml40001 - 41999
                                                  ArduPilotMega.xml42000 - 42999
                                                  slugs.xml10001 - 11999

                                                  If you are creating a new public dialect, create an issue to request your own command id range. For private dialects, you can use whatever range you like.

                                                  There are a number of common and ArduPilot commands that are outside the ranges (e.g. 16, 200, etc.). Generally you would only use these these ranges in order to give a new command an id that is close to related to that of related commands. This can be done provided that the command id value is not used by any other XML file in the mavlink/mavlink repo.

                                                  Entry Names

                                                  As with other enums, enum entry names should be prefixed with the enum name (i.e. MAV_CMD_). In addition, there are some other "standard" prefixes which are used for common types of commands:

                                                  The rules for the above prefixes are flexible; some DO commands might reasonably be NAV commands. Ins some cases a request for information might be a MAV_CMD_REQUEST_ and in others it might be a stand alone message.

                                                  Parameters (param)

                                                  Message data is encoded in the param values/attributes.

                                                  Standard Mappings

                                                  Parameters (params) must have an index from 1 to 7.

                                                  Where a command contains position information, this is always stored in: Param 5 (x / latitude), Param 6 (y / longitude), Param 7 (z, altitude). Whether the value is local (x,y,z) or global (latitude, longitude, altitude) depends on the command and the frame used (frame often defined in the parent message).

                                                  Data types

                                                  The param data for index 1-4, 7 are always exchanged in a field with size float, while index 5, 6 may also be sent as an int32 (depending on the message used). The implication is that index 5 and 6 should not be used for data that may need to be sent in a floating point value (like a NaN).

                                                  Reserved/Undefined Parameters

                                                  Many commands do not need seven (or any) param values. These unused parameters can be treated as reserved, allowing them to be reused later if the command needs to be extended.

                                                  A reserved param must always be sent with a (default) value of either 0 or NaN (which will be interpreted by recipient as "no action" or "not supported"). If the param is reused the original default value must still mean "no action", so that an updated system can still interact with a system that has not been updated.

                                                  Unfortunately this means that a reserved param must have its default value decided when the command is declared! The default value cannot later be changed from NaN to 0 (or visa versa) without potential compatibility issues.

                                                  To declare a param as reserved with default value of NaN you should use the following syntax.

                                                  <param index="3" reserved="true" default="NaN" />

                                                  Params with index values 5 and 6 should not be given a default of NaN , because if these are sent in a COMMAND_INT or MISSION_INT these parameters are integers (and hence there is no way to represent an NaN).

                                                  To declare a param as reserved with default value of 0 simply omit the param from the definition. This is the default - it is equivalent to:

                                                  <param index="3" reserved="true" default="0" />
-

                                                  If you have just one unused param we recommend you simply don't declare it. If you have more than one, you may wish to explicitly define it with default of NaN so that you can extend your command later with either default.

                                                  GUI Param Attributes

                                                  A number of param attributes are provided as "GUI hints".

                                                  These attributes are used to better display params:

                                                  These attributes help a GCS customise the editing experience (e.g. controls can choose to only offer allowed values).

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                                                    If you have just one unused param we recommend you simply don't declare it. If you have more than one, you may wish to explicitly define it with default of NaN so that you can extend your command later with either default.

                                                    GUI Param Attributes

                                                    A number of param attributes are provided as "GUI hints".

                                                    These attributes are used to better display params:

                                                    These attributes help a GCS customise the editing experience (e.g. controls can choose to only offer allowed values).

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                                                      General Telemetry

                                                      MAVLink is designed to support sending continuous telemetry streams including position, velocity, attitude and similar key states of a drone.

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                                                        General Telemetry

                                                        MAVLink is designed to support sending continuous telemetry streams including position, velocity, attitude and similar key states of a drone.

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                                                          Guide

                                                          This section contains guide material for understanding and using MAVLink, including the different versions and microservices.

                                                          The topics linked from the sidebar (and listed below):

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                                                            Guide

                                                            This section contains guide material for understanding and using MAVLink, including the different versions and microservices.

                                                            The topics linked from the sidebar (and listed below):

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                                                              MAVLink 2

                                                              MAVLink 2 is a backward-compatible update to the MAVLink protocol that has been designed to bring more flexibility and security to MAVLink communication. MAVLink 2 bindings have been developed for C, C++11 and Python (see Supported Languages).

                                                              This topic provides links to the main new features in MAVLink 2 and how it is used.

                                                              Features

                                                              The key new features of MAVLink 2 are:

                                                              • 24 bit message ID - Allows over 16 million unique message definitions in a dialect (MAVLink 1 was limited to 256)
                                                              • Packet signing - Authenticate that messages were sent by trusted systems.
                                                              • Message extensions - Add new fields to existing MAVLink message definitions without breaking binary compatibility for receivers that have not updated.
                                                              • Empty-byte payload truncation - Empty (zero-filled) bytes at the end of the serialized payload must be removed before sending (All bytes were sent in MAVLink 1, regardless of content).
                                                              • Compatibility Flags/Incompatibility Flags - Allow for backwards compatible evolution of the protocol by indicating frames that must be handled in a special/non-standard way (packets with compatibility flags can still be handled in the standard way, while packets with incompatibility flags must be dropped if the flage is not supported).

                                                              The MAVLink 2 design document provides additional background information about the changes.

                                                              Version Handshaking/Negotiation

                                                              MAVLink Versions explains the handshaking used to determine the supported MAVLink version of either end of the channel, and how to negotiate the version to use.

                                                              C Implementation

                                                              The MAVLink 2 C library is backwards compatible with MAVLink 1. Information on how to upgrade the library and work with MAVLink 1 is covered in Using C MAVLink Libraries (mavgen).

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                                                                MAVLink 2

                                                                MAVLink 2 is a backward-compatible update to the MAVLink protocol that has been designed to bring more flexibility and security to MAVLink communication. MAVLink 2 bindings have been developed for C, C++11 and Python (see Supported Languages).

                                                                This topic provides links to the main new features in MAVLink 2 and how it is used.

                                                                Features

                                                                The key new features of MAVLink 2 are:

                                                                • 24 bit message ID - Allows over 16 million unique message definitions in a dialect (MAVLink 1 was limited to 256)
                                                                • Packet signing - Authenticate that messages were sent by trusted systems.
                                                                • Message extensions - Add new fields to existing MAVLink message definitions without breaking binary compatibility for receivers that have not updated.
                                                                • Empty-byte payload truncation - Empty (zero-filled) bytes at the end of the serialized payload must be removed before sending (All bytes were sent in MAVLink 1, regardless of content).
                                                                • Compatibility Flags/Incompatibility Flags - Allow for backwards compatible evolution of the protocol by indicating frames that must be handled in a special/non-standard way (packets with compatibility flags can still be handled in the standard way, while packets with incompatibility flags must be dropped if the flage is not supported).

                                                                The MAVLink 2 design document provides additional background information about the changes.

                                                                Version Handshaking/Negotiation

                                                                MAVLink Versions explains the handshaking used to determine the supported MAVLink version of either end of the channel, and how to negotiate the version to use.

                                                                C Implementation

                                                                The MAVLink 2 C library is backwards compatible with MAVLink 1. Information on how to upgrade the library and work with MAVLink 1 is covered in Using C MAVLink Libraries (mavgen).

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                                                                  MAVLink Versions

                                                                  MAVLink has been deployed in a number of versions:

                                                                  • MAVLink 2.0: Current/recommended major version. Adopted by major users early 2017.
                                                                  • MAVLink v1.0: Widely adopted around 2013. Still used by a number of legacy peripherals.

                                                                  The MAVLink 2.0 C/C++ and Python libraries are backwards compatible with MAVLink 1.0 (support both protocols). Version Handshaking and Negotiating Versions explain how to choose which version is used.

                                                                  MAVLink v0.9 is a pre-release version that is no longer supported. The associated message set deleted in August 2018. Legacy code may be present in generator and test code.

                                                                  Determining Protocol/Message Version

                                                                  A library's MAVLink support can be determined in a number of ways:

                                                                  • AUTOPILOT_VERSION.capabilities can be checked against the MAV_PROTOCOL_CAPABILITY_MAVLINK2 flag to verify MAVLink 2 support.
                                                                  • PROTOCOL_VERSION.version contains the MAVLink version number multiplied by 100: v1.0 is 100, v2.3 is 203 etc.
                                                                  • HEARTBEAT.mavlink_version field contains the minor version number. This is the <version> field defined in the Message Definitions (version in common.xml for dialects that depend on the common message set).

                                                                  • The major version can be determined from the packet start marker byte:

                                                                    • MAVLink 1: 0xFE
                                                                    • MAVLink 2: 0xFD

                                                                    A MAVLink library that does not support a protocol version will not recognise the protocol start marker; so no messages will even be detected (see Serialization).

                                                                  While messages do not contain version information, an extra CRC is used to ensure that a library will only process compatible messages (see Serialization > CRC_EXTRA).

                                                                  Version Handshaking

                                                                  Support for MAVLink 2 is indicated in the AUTOPILOT_VERSION message by the MAV_PROTOCOL_CAPABILITY_MAVLINK2 flag.

                                                                  This is sufficient if the communication link between autopilot and GCS is completely transparent. However, most communication links are not completely transparent as they either include routing or in case of fixed-length wireless implementations on packetization. In order to also test the link, the MAVLink 2 handshake protocol sends a MAVLink 2 frame to test the complete communication chain.

                                                                  To do so, the GCS sends a COMMAND_LONG or COMMAND_INT message with the command ID MAV_CMD_REQUEST_PROTOCOL_VERSION.

                                                                  If the system supports MAVLink 2 and the handshake it will respond with PROTOCOL_VERSION encoded as MAVLink 2 packet. If it does not support MAVLink 2 it should NACK the command. The GCS should fall back to a timeout in case the command interface is not implemented properly.

                                                                  The diagram below illustrates the complete sequence.

                                                                  Mermaid sequence: Request protocol version

                                                                  Semi-Transparent Legacy Radios

                                                                  Some popular legacy radios (e.g. the SiK radio series) operate in semi-transparent mode by injecting RADIO_STATUS messages into the MAVLink message stream. Per MAVLink spec these should actually emit a heartbeat with the same system ID and a different component ID than the autopilot to be discoverable. However, an additional heartbeat could be an issue for deployed systems. Therefore these radios can alternatively confirm their MAVLink 2 compliance by emitting RADIO_STATUS in v2 message format after receiving the first MAVLink v2 frame.

                                                                  Versions and Signing

                                                                  The supported MAVLink library implementations enable different MAVLink versions on a per-channel basis, where a channel refers to a particular link in/out of a MAVLink system or component (e.g. a serial port or UDP port).

                                                                  As a result, all connections to other components over a particular channel must share the same MAVLink version. If a system is using signing, then all connections via the same channel must also be signing messages with the same key.

                                                                  A system cannot use a single channel to connect to signed MAVLink 2 systems, unsigned MAVLink 2 systems, and/or MAVLink 1 components.

                                                                  Currently most MAVLink networks are configured to use unsigned MAVLink 2 messages. MAVLink 1 is primarily used to allow autopilots to connect to legacy MAVLink peripherals, and this is done via a separate channel. Signed networks will need to use a further separate channel to connect to other signed systems.

                                                                  The next section explains how a system/channel should negotiate the version to use.

                                                                  Negotiating Versions

                                                                  Vehicle and GCS implementations will support both MAVLink 1 and MAVLink 2 for quite some time. We would like most users to receive the benefit of MAVLink 2, while still supporting implementations that don't yet support MAVLink 2.

                                                                  The following is meant to capture best practice for vehicle firmware and GCS authors:

                                                                  • Vehicle implementations should have a way to enable/disable the sending of MAVLink 2 messages. This should preferably be on a per-link (channel) basis to allow for some peripherals to be MAVLink 1 while others are MAVLink 2. It is acceptable for this option to require a reboot of the flight controller to take effect.
                                                                  • If signing is enabled then the vehicle should immediately start sending signed MAVLink 2 on startup.
                                                                  • If signing is not enabled and MAVLink 2 is enabled then the vehicle may choose to start by sending MAVLink 1 and switch to MAVLink 2 on a link when it first receives a MAVLink 2 message on the link.
                                                                  • Vehicles should set the MAV_PROTOCOL_CAPABILITY_MAVLINK2 capability flag in the AUTOPILOT_VERSION message if MAVLink 2 is available on a link. This should be set in the case where the link is currently sending MAVLink 1 packets but MAVLink 2 packets will be accepted and will cause a switch to MAVLink 2.
                                                                  • GCS implementations can choose to either automatically switch to MAVLink 2 where available or to have a configuration option for MAVLink 2.
                                                                  • If the GCS chooses to use a configuration option then when the option is enabled it should send MAVLink 2 on starting the link.
                                                                  • If the GCS chooses to use automatic switching then it should switch to sending MAVLink 2 if either it receives a MAVLink 2 message on the link or by asking for the AUTOPILOT_VERSION message to be sent and seeing the MAV_PROTOCOL_CAPABILITY_MAVLINK2 flag is set.

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                                                                    \ No newline at end of file +MAVLink Versions · MAVLink Developer Guide
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                                                                    MAVLink Versions

                                                                    MAVLink has been deployed in a number of versions:

                                                                    • MAVLink 2.0: Current/recommended major version. Adopted by major users early 2017.
                                                                    • MAVLink v1.0: Widely adopted around 2013. Still used by a number of legacy peripherals.

                                                                    The MAVLink 2.0 C/C++ and Python libraries are backwards compatible with MAVLink 1.0 (support both protocols). Version Handshaking and Negotiating Versions explain how to choose which version is used.

                                                                    MAVLink v0.9 is a pre-release version that is no longer supported. The associated message set deleted in August 2018. Legacy code may be present in generator and test code.

                                                                    Determining Protocol/Message Version

                                                                    A library's MAVLink support can be determined in a number of ways:

                                                                    • AUTOPILOT_VERSION.capabilities can be checked against the MAV_PROTOCOL_CAPABILITY_MAVLINK2 flag to verify MAVLink 2 support.
                                                                    • PROTOCOL_VERSION.version contains the MAVLink version number multiplied by 100: v1.0 is 100, v2.3 is 203 etc.
                                                                    • HEARTBEAT.mavlink_version field contains the minor version number. This is the <version> field defined in the Message Definitions (version in common.xml for dialects that depend on the common message set).

                                                                    • The major version can be determined from the packet start marker byte:

                                                                      • MAVLink 1: 0xFE
                                                                      • MAVLink 2: 0xFD

                                                                      A MAVLink library that does not support a protocol version will not recognise the protocol start marker; so no messages will even be detected (see Serialization).

                                                                    While messages do not contain version information, an extra CRC is used to ensure that a library will only process compatible messages (see Serialization > CRC_EXTRA).

                                                                    Version Handshaking

                                                                    Support for MAVLink 2 is indicated in the AUTOPILOT_VERSION message by the MAV_PROTOCOL_CAPABILITY_MAVLINK2 flag.

                                                                    This is sufficient if the communication link between autopilot and GCS is completely transparent. However, most communication links are not completely transparent as they either include routing or in case of fixed-length wireless implementations on packetization. In order to also test the link, the MAVLink 2 handshake protocol sends a MAVLink 2 frame to test the complete communication chain.

                                                                    To do so, the GCS sends a COMMAND_LONG or COMMAND_INT message with the command ID MAV_CMD_REQUEST_PROTOCOL_VERSION.

                                                                    If the system supports MAVLink 2 and the handshake it will respond with PROTOCOL_VERSION encoded as MAVLink 2 packet. If it does not support MAVLink 2 it should NACK the command. The GCS should fall back to a timeout in case the command interface is not implemented properly.

                                                                    The diagram below illustrates the complete sequence.

                                                                    Mermaid sequence: Request protocol version

                                                                    Semi-Transparent Legacy Radios

                                                                    Some popular legacy radios (e.g. the SiK radio series) operate in semi-transparent mode by injecting RADIO_STATUS messages into the MAVLink message stream. Per MAVLink spec these should actually emit a heartbeat with the same system ID and a different component ID than the autopilot to be discoverable. However, an additional heartbeat could be an issue for deployed systems. Therefore these radios can alternatively confirm their MAVLink 2 compliance by emitting RADIO_STATUS in v2 message format after receiving the first MAVLink v2 frame.

                                                                    Versions and Signing

                                                                    The supported MAVLink library implementations enable different MAVLink versions on a per-channel basis, where a channel refers to a particular link in/out of a MAVLink system or component (e.g. a serial port or UDP port).

                                                                    As a result, all connections to other components over a particular channel must share the same MAVLink version. If a system is using signing, then all connections via the same channel must also be signing messages with the same key.

                                                                    A system cannot use a single channel to connect to signed MAVLink 2 systems, unsigned MAVLink 2 systems, and/or MAVLink 1 components.

                                                                    Currently most MAVLink networks are configured to use unsigned MAVLink 2 messages. MAVLink 1 is primarily used to allow autopilots to connect to legacy MAVLink peripherals, and this is done via a separate channel. Signed networks will need to use a further separate channel to connect to other signed systems.

                                                                    The next section explains how a system/channel should negotiate the version to use.

                                                                    Negotiating Versions

                                                                    Vehicle and GCS implementations will support both MAVLink 1 and MAVLink 2 for quite some time. We would like most users to receive the benefit of MAVLink 2, while still supporting implementations that don't yet support MAVLink 2.

                                                                    The following is meant to capture best practice for vehicle firmware and GCS authors:

                                                                    • Vehicle implementations should have a way to enable/disable the sending of MAVLink 2 messages. This should preferably be on a per-link (channel) basis to allow for some peripherals to be MAVLink 1 while others are MAVLink 2. It is acceptable for this option to require a reboot of the flight controller to take effect.
                                                                    • If signing is enabled then the vehicle should immediately start sending signed MAVLink 2 on startup.
                                                                    • If signing is not enabled and MAVLink 2 is enabled then the vehicle may choose to start by sending MAVLink 1 and switch to MAVLink 2 on a link when it first receives a MAVLink 2 message on the link.
                                                                    • Vehicles should set the MAV_PROTOCOL_CAPABILITY_MAVLINK2 capability flag in the AUTOPILOT_VERSION message if MAVLink 2 is available on a link. This should be set in the case where the link is currently sending MAVLink 1 packets but MAVLink 2 packets will be accepted and will cause a switch to MAVLink 2.
                                                                    • GCS implementations can choose to either automatically switch to MAVLink 2 where available or to have a configuration option for MAVLink 2.
                                                                    • If the GCS chooses to use a configuration option then when the option is enabled it should send MAVLink 2 on starting the link.
                                                                    • If the GCS chooses to use automatic switching then it should switch to sending MAVLink 2 if either it receives a MAVLink 2 message on the link or by asking for the AUTOPILOT_VERSION message to be sent and seeing the MAV_PROTOCOL_CAPABILITY_MAVLINK2 flag is set.

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                                                                      \ No newline at end of file diff --git a/en/guide/message_signing.html b/en/guide/message_signing.html index 000f6ad65..33d551e3f 100644 --- a/en/guide/message_signing.html +++ b/en/guide/message_signing.html @@ -1,3 +1,3 @@ Message Signing · MAVLink Developer Guide
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                                                                      Message Signing (Authentication)

                                                                      MAVLink 2 adds support for message signing, which allows a MAVLink system to verify that messages originate from a trusted source.

                                                                      This topic provides general overview of message signing, which will be useful both for developers using existing MAVLink libraries and for writers of new MAVLink code generators. It explains how a system can determine if a message is signed and whether the signature is valid, how to allow unsigned messages to be accepted, and how to create and share the secret used to create the signature.

                                                                      More detailed information for developers using existing MAVLink libraries can be found here:

                                                                      Frame Format

                                                                      For a signed packet the 0x01 bit of the incompatibility flag field is set true and an additional 13 bytes of "signature" data appended to the packet. The signed packet format is shown below.

                                                                      MAVLink 2 Signed

                                                                      The incompatibility flags in the packet header are used to indicate that the MAVLink library must reject the packet if it does not understand or cannot handle the flag. In other words, a MAVLink library that does not support signing must drop signed packets. The C library uses MAVLINK_IFLAG_SIGNED to represent the "supports message signing" bit.

                                                                      The 13 bytes of the signature are:

                                                                      DataDescription
                                                                      linkID (8 bits)ID of link on which packet is sent. Normally this is the same as the channel.
                                                                      timestamp (48 bits)Timestamp in 10 microsecond units since 1st January 2015 GMT time. This must monotonically increase for every message on a particular link. Note that means the timestamp may get ahead of the actual time if the packet rate averages more than 100,000 packets per second.
                                                                      signature (48 bits)A 48 bit signature for the packet, based on the complete packet, timestamp, and secret key.

                                                                      See below for more information about the fields.

                                                                      The 8 bit link ID is provided to ensure that the signature system is robust for multi-link MAVLink systems. Each implementation should assign a link ID to each of the MAVLink communication channels it has enabled and should put this ID in the link ID field. The link ID is especially important where there may be a significant latency difference between different links (such as WiFi combined with a telemetry radio).

                                                                      The monotonically increasing timestamp rule is applied separately for each logical stream, where a stream is defined by the tuple:

                                                                      (SystemID,ComponentID,LinkID)

                                                                      For more information see C Message Signing > Handling Link IDs.

                                                                      Signature

                                                                      The 48 bit (6 byte) signature is the first 48 bits of a SHA-256 hash of the complete packet (without the signature, but including the timestamp) appended to the secret key. The secret key is 32 bytes of binary data stored on both ends of a MAVLink channel (i.e. an autopilot and a ground station or MAVLink API).

                                                                      This is shown below, where + represents concatenation and sha256_48() is a sha256 implementation which returns the first 48 bits of the normal sha256 output:

                                                                      signature = sha256_48(secret_key + header + payload + CRC + link-ID + timestamp)
-

                                                                      Timestamp Handling

                                                                      The timestamp is a 48 bit number with units of 10 microseconds since 1st January 2015 GMT. For systems where the time since 1/1/1970 is available (the unix epoch) you can use an offset in seconds of 1420070400.

                                                                      This is a loose definition, as the various update mechanisms detailed below may result in the timestamp being significantly different from actual GMT time.

                                                                      All timestamps generated must be at least 1 more than the previous timestamp sent in the same session for the same link/(SystemID, ComponentID, LinkID) tuple. The timestamp may get ahead of GMT time if there is a burst of packets at a rate of more than 100 thousand packets per second.

                                                                      A MAVLink-enabled device may not know the current GMT time, for example if it does not have a reliable time source, or if it has just booted and not yet obtained the time from GPS or some other system.

                                                                      Systems should implement the following rules to obtain a reliable timestamp:

                                                                      • The current timestamp should be stored regularly in persistent storage (ideally at least once a minute)
                                                                      • The timestamp used on startup should be the maximum of the timestamp implied by the system clock and the stored timestamp
                                                                      • If the system does not have an RTC mechanism then it should update its timestamp when GPS lock is achieved. The maximum of the timestamp from the GPS and the stored timestamp should be used.
                                                                      • The timestamp should be incremented by one on each message sent from a particular link.
                                                                      • When a correctly signed message is decoded the timestamp should be replaced by the timestamp of the incoming message if that timestamp is greater than the current timestamp.

                                                                        The link timestamp must never be updated with the timestamp from an incorrectly signed packet (even if these are being accepted).

                                                                      • The timestamp on incoming signed messages should be checked against the previous timestamp for the incoming (linkID,srcSystem,SrcComponent) tuple and the message rejected if it is smaller.
                                                                      • If there is no previous message with the given (linkID,srcSystem,SrcComponent) then the timestamp should be accepted if it not more than 6 million (one minute) behind the current timestamp.

                                                                      For devices that store the timestamp in persistent storage, implementations can prevent race conditions by storing two timestamp values. On write the smaller of the two values should be updated. On read the larger of the two values should be used.

                                                                      Accepting Signed Packets

                                                                      When a signed packet arrives it should be discarded if the:

                                                                      • Timestamp is older than the previous packet from the same logical stream - where a logical stream is defined as the sequence of MAVLink packets with the same (SystemID, ComponentID, LinkID) tuple.
                                                                      • Computed 48 bit signature does not match the signature included in the packet.
                                                                      • The timestamp is more than 1 minute (6,000,000) behind the local system’s timestamp.

                                                                      Accepting Unsigned Packets

                                                                      MAVLink libraries should provide a mechanism that allows a system to conditionally accept unsigned packets.

                                                                      The rules for accepting these packets will be implementation specific, but could be based on a combination of a parameter setting, transport type, message type, (in)compatibility flags etc.

                                                                      All packets that do not meet the system-specific unsigned packet acceptance rules must be rejected (otherwise there is no benefit gained from signing/authentication).

                                                                      Some suggestions for when to accept unsigned packets:

                                                                      • Accept all unsigned packets based on a system-specific parameter.
                                                                      • Accept all unsigned packets if the connection is over a "secure channel" (e.g. local USB cable or local wired Ethernet cable).
                                                                      • RADIO_STATUS packets are always accepted without signing (to make life easier for telemetry radios).
                                                                      • Accept all unsigned packets when in an "unsigned mode" (perhaps triggered by a hardware button pressed on boot).
                                                                      • Accept all unsigned packets until a signed packet is received (unconditionally), then move to the more restricted signing rules above.

                                                                      Accepting Incorrectly Signed Packets

                                                                      MAVLink libraries should provide a mechanism that allows a system to conditionally accept incorrectly signed packets.

                                                                      This feature might be useful for finding a lost vehicle with a corrupted secret key (the GCS could choose to still display position information, albeit ideally with a different "untrusted" icon).

                                                                      A system that is accepting incorrectly signed packets should provide a highly conspicuous indication that the connection is unsafe/insecure. Malformed signed packets indicate a bad configuration, transport failure, protocol failure, or hostile manipulation.

                                                                      Secret Key Management

                                                                      A secret key is 32 bytes of binary data that are used to create message signatures that can be verified by other holders of the key. The key should be created on one system in the network (often a GCS) and shared to other trusted devices via secure channels. Systems must have a shared key in order to be able to communicate.

                                                                      The mavgen C and Python libraries support only one key per link. This is a choice of the library and not a limit/requirement of the protocol. An implementation might instead store a pool of keys, and/or manage keys on a per-connection basis.

                                                                      The secret key should be stored in persistent storage, and must not be exposed via any publicly accessible communication protocol. In particular, the key must not be exposed in MAVLink parameters, MAVLink log files or dataflash log files that may be used for public log analysis.

                                                                      The method of generating the secret key is implementation dependent. For example, it could be generated by:

                                                                      • A user-entered string that is then run through SHA-256.
                                                                      • A random key generator.

                                                                      The secret key may be shared to other devices using the SETUP_SIGNING message. The message should only ever be sent over a secure link (e.g. USB or wired Ethernet) as a direct message to each connected system_id/component_id. The receiving system must be set up to process the message and store the received secret key to the appropriate permanent storage.

                                                                      The same secure method can be used to both set and reset a system's key (reseting a key does not have to be "more secure" than setting it in the first place).

                                                                      The SETUP_SIGNING message should never be broadcast, and received SETUP_SIGNING messages must never be automatically forwarded to other active MAVLink devices/streams/channels. This is to avoid the case where a key received over a secure link (e.g. USB) is automatically forwarded to another system over an insecure link (e.g. Wifi).

                                                                      Autopilots that don't offer MAVLink over USB might create a module that can set the secret key from a command line interface (e.g. the NSH Shell).

                                                                      We recommend that GCS implementations should generate the secret key and share this with connected systems over a secure link (e.g. USB). The receiving system may be configured to ignore message signatures on the secure channel (i.e. accept all signed, unsigned or incorrectly signed packets), so that it is possible to reset a key that has been lost or corrupted.

                                                                      Logging

                                                                      In order to avoid leaking the secret key used for signing, systems should omit SETUP_SIGNING messages from logs (or replace the secret with 32 0xFF bytes in the logged message).

                                                                      Similarly, signed packets should have the signature incompatibility bit cleared and the signature block removed before being put into telemetry log files. This makes it harder for potential attacker to collect large amounts of signature data with which to attack the system.

                                                                      Further Information

                                                                      The Message Signing Proposal contains additional information, including:

                                                                      • Reasoning behind the design decisions.
                                                                      • Evaluation of security effectiveness, including resistance to replay and offline attacks.
                                                                      • Assumptions.

                                                                      Much of this content is derived from the Message Signing Proposal (Google Doc).

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                                                                        Timestamp Handling

                                                                        The timestamp is a 48 bit number with units of 10 microseconds since 1st January 2015 GMT. For systems where the time since 1/1/1970 is available (the unix epoch) you can use an offset in seconds of 1420070400.

                                                                        This is a loose definition, as the various update mechanisms detailed below may result in the timestamp being significantly different from actual GMT time.

                                                                        All timestamps generated must be at least 1 more than the previous timestamp sent in the same session for the same link/(SystemID, ComponentID, LinkID) tuple. The timestamp may get ahead of GMT time if there is a burst of packets at a rate of more than 100 thousand packets per second.

                                                                        A MAVLink-enabled device may not know the current GMT time, for example if it does not have a reliable time source, or if it has just booted and not yet obtained the time from GPS or some other system.

                                                                        Systems should implement the following rules to obtain a reliable timestamp:

                                                                        For devices that store the timestamp in persistent storage, implementations can prevent race conditions by storing two timestamp values. On write the smaller of the two values should be updated. On read the larger of the two values should be used.

                                                                        Accepting Signed Packets

                                                                        When a signed packet arrives it should be discarded if the:

                                                                        Accepting Unsigned Packets

                                                                        MAVLink libraries should provide a mechanism that allows a system to conditionally accept unsigned packets.

                                                                        The rules for accepting these packets will be implementation specific, but could be based on a combination of a parameter setting, transport type, message type, (in)compatibility flags etc.

                                                                        All packets that do not meet the system-specific unsigned packet acceptance rules must be rejected (otherwise there is no benefit gained from signing/authentication).

                                                                        Some suggestions for when to accept unsigned packets:

                                                                        Accepting Incorrectly Signed Packets

                                                                        MAVLink libraries should provide a mechanism that allows a system to conditionally accept incorrectly signed packets.

                                                                        This feature might be useful for finding a lost vehicle with a corrupted secret key (the GCS could choose to still display position information, albeit ideally with a different "untrusted" icon).

                                                                        A system that is accepting incorrectly signed packets should provide a highly conspicuous indication that the connection is unsafe/insecure. Malformed signed packets indicate a bad configuration, transport failure, protocol failure, or hostile manipulation.

                                                                        Secret Key Management

                                                                        A secret key is 32 bytes of binary data that are used to create message signatures that can be verified by other holders of the key. The key should be created on one system in the network (often a GCS) and shared to other trusted devices via secure channels. Systems must have a shared key in order to be able to communicate.

                                                                        The mavgen C and Python libraries support only one key per link. This is a choice of the library and not a limit/requirement of the protocol. An implementation might instead store a pool of keys, and/or manage keys on a per-connection basis.

                                                                        The secret key should be stored in persistent storage, and must not be exposed via any publicly accessible communication protocol. In particular, the key must not be exposed in MAVLink parameters, MAVLink log files or dataflash log files that may be used for public log analysis.

                                                                        The method of generating the secret key is implementation dependent. For example, it could be generated by:

                                                                        The secret key may be shared to other devices using the SETUP_SIGNING message. The message should only ever be sent over a secure link (e.g. USB or wired Ethernet) as a direct message to each connected system_id/component_id. The receiving system must be set up to process the message and store the received secret key to the appropriate permanent storage.

                                                                        The same secure method can be used to both set and reset a system's key (reseting a key does not have to be "more secure" than setting it in the first place).

                                                                        The SETUP_SIGNING message should never be broadcast, and received SETUP_SIGNING messages must never be automatically forwarded to other active MAVLink devices/streams/channels. This is to avoid the case where a key received over a secure link (e.g. USB) is automatically forwarded to another system over an insecure link (e.g. Wifi).

                                                                        Autopilots that don't offer MAVLink over USB might create a module that can set the secret key from a command line interface (e.g. the NSH Shell).

                                                                        We recommend that GCS implementations should generate the secret key and share this with connected systems over a secure link (e.g. USB). The receiving system may be configured to ignore message signatures on the secure channel (i.e. accept all signed, unsigned or incorrectly signed packets), so that it is possible to reset a key that has been lost or corrupted.

                                                                        Logging

                                                                        In order to avoid leaking the secret key used for signing, systems should omit SETUP_SIGNING messages from logs (or replace the secret with 32 0xFF bytes in the logged message).

                                                                        Similarly, signed packets should have the signature incompatibility bit cleared and the signature block removed before being put into telemetry log files. This makes it harder for potential attacker to collect large amounts of signature data with which to attack the system.

                                                                        Further Information

                                                                        The Message Signing Proposal contains additional information, including:

                                                                        Much of this content is derived from the Message Signing Proposal (Google Doc).

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                                                                          Packet Loss Calculation

                                                                          MAVLink packet loss is calculated from the packet sequence number, an 8 bit field that is incremented each time a message is emitted on a channel. The recipient of the message can track the last recieved/next expected sequence number, and if a packet sequence number is bigger than expected, any intermediate packets between the sequence numbers are assumed to have been lost. The sequence number will wrap around at 255, and the recipient is expected to compensate for this.

                                                                          This approach works if all messages sent on a channel are routed to the system calculating packet loss, and if messages from only one channel are received by the system calculating packet loss. This is true in simple setups, in particular those where a GCS and autopilot communicate over a single telemetry radio.

                                                                          It may not work in more complicated setups:

                                                                          • Companion computer setups may use routers to redirect some packets from the autopilot to specific components, and don't necessarily forward all of them to the ground station that is calculating packet loss. The packets that don't reach the ground station will be detected as packet loss, even though they were received by the router.
                                                                          • Setups with redundant links may merge the channels before passing to a GCS. The sequence numbers from the messages sent on different channels will not match, and any differences are detected as packet loss.

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                                                                            Packet Loss Calculation

                                                                            MAVLink packet loss is calculated from the packet sequence number, an 8 bit field that is incremented each time a message is emitted on a channel. The recipient of the message can track the last recieved/next expected sequence number, and if a packet sequence number is bigger than expected, any intermediate packets between the sequence numbers are assumed to have been lost. The sequence number will wrap around at 255, and the recipient is expected to compensate for this.

                                                                            This approach works if all messages sent on a channel are routed to the system calculating packet loss, and if messages from only one channel are received by the system calculating packet loss. This is true in simple setups, in particular those where a GCS and autopilot communicate over a single telemetry radio.

                                                                            It may not work in more complicated setups:

                                                                            • Companion computer setups may use routers to redirect some packets from the autopilot to specific components, and don't necessarily forward all of them to the ground station that is calculating packet loss. The packets that don't reach the ground station will be detected as packet loss, even though they were received by the router.
                                                                            • Setups with redundant links may merge the channels before passing to a GCS. The sequence numbers from the messages sent on different channels will not match, and any differences are detected as packet loss.

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                                                                              Redundancy and Message/Command De-duplication

                                                                              A MAVLink network may include redundant links. For example, a vehicle might have two telemetry radios for connecting to a ground station, or a telemetry radio for near-communication and a satellite connection for long range communication. In these cases, the same message or command may reach the receiver by several paths. Further, even on a single channel, it is possible that the same command is sent (and received) multiple times, due to loss of the original acknowledgement.

                                                                              MAVLink has no in-built mechanism for deconflicting messages received from multiple channels. The packet sequence number cannot be used, for example, because each channel has its own sequence counter.

                                                                              To mitigate this problem, commands are designed (where possible) to be idempotent, such that it doesn't matter if the same command is received when the vehicle is acting/has already acted on the same command. For example, a command to ARM or TAKEOFF when the vehicle is already armed or flying should immediately be acknowledged with a COMMAND_ACK.result of MAV_RESULT_ACCEPTED.

                                                                              Another approach to mitigate this kind of problem is to only accept data on a primary channel, and fall back to the secondary channel if the first channel fails.

                                                                              When using multiple channels you may still run into problems, in particular when working with very high latency links. The appropriate actions in these cases need to be considered on a case-by-case basis.

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                                                                                Redundancy and Message/Command De-duplication

                                                                                A MAVLink network may include redundant links. For example, a vehicle might have two telemetry radios for connecting to a ground station, or a telemetry radio for near-communication and a satellite connection for long range communication. In these cases, the same message or command may reach the receiver by several paths. Further, even on a single channel, it is possible that the same command is sent (and received) multiple times, due to loss of the original acknowledgement.

                                                                                MAVLink has no in-built mechanism for deconflicting messages received from multiple channels. The packet sequence number cannot be used, for example, because each channel has its own sequence counter.

                                                                                To mitigate this problem, commands are designed (where possible) to be idempotent, such that it doesn't matter if the same command is received when the vehicle is acting/has already acted on the same command. For example, a command to ARM or TAKEOFF when the vehicle is already armed or flying should immediately be acknowledged with a COMMAND_ACK.result of MAV_RESULT_ACCEPTED.

                                                                                Another approach to mitigate this kind of problem is to only accept data on a primary channel, and fall back to the secondary channel if the first channel fails.

                                                                                When using multiple channels you may still run into problems, in particular when working with very high latency links. The appropriate actions in these cases need to be considered on a case-by-case basis.

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                                                                                  Routing

                                                                                  This topic explains how messages should be routed by MAVLink systems.

                                                                                  Overview

                                                                                  A MAVLINK network is made up of systems (vehicles, ground stations, antenna trackers, etc.), which may be composed from one or more components (autopilot, camera, servos, etc.).

                                                                                  Each system has a network-unique system id, and each component has a system-unique component id that can be used for addressing/routing:

                                                                                  • The system id has a value between 1 and 255.
                                                                                    • The default autopilot system id is usually 1. Users should allocate unique increasing id values when adding new autopilots to a network.
                                                                                    • GCS systems and developer APIs typically use an ID at the top of the numeric range to reduce ID clashes (e.g. 255). Often their system ID is configurable to allow multi-GCS systems.
                                                                                  • The component id is allocated by type and number from MAV_COMPONENT.

                                                                                  Messages can be intended for all systems, specific systems, all components in a system, or specific components within a system. The protocol defines two 8-bit fields that can (optionally) be specified in the message payload to indicate where the message should be sent/routed. If the ids are omitted or set to zero then the message is considered a broadcast (intended for all systems/components).

                                                                                  • target_system: System that should execute the command
                                                                                  • target_component: Component that should execute the command (requires target_system).

                                                                                  MAVLink components are expected to process messages that have a matching system/component id and broadcast messages. They are expected to route/resend messages that are intended for other (or all) recipients to other active channels (i.e. MAVLink systems may be connected across different transports, connected by a MAVLink system that routes the messages). Broadcast messages are forwarded to all channels that haven't seen the message. Addressed messages are resent on a new channel iff the system has previously seen a message from the target on that channel (messages are not resent if the addressee is not known or is on the original/incoming channel).

                                                                                  Forwarded messages must not be changed/repackaged by the forwarding system (the original message is passed to the new link).

                                                                                  Systems should, where possible, forward messages according to the routing rules even if they are unable to process them (e.g. signed messages that cannot be authenticated). Messages that are not supported/understood by the library should be forwarded as though they were broadcast messages (in this case the target system/component ids cannot be read).

                                                                                  Routing Detail

                                                                                  Systems/components should process a message locally if any of these conditions hold:

                                                                                  • It is a broadcast message (target_system field omitted or zero).
                                                                                  • The target_system matches its system id and target_component is broadcast (target_component omitted or zero).
                                                                                  • The target_system matches its system id and has the component's target_component
                                                                                  • The target_system matches its system id and the component is unknown (i.e. this component has not seen any messages on any link that have the message's target_system/target_component).

                                                                                  Systems should forward messages to another link if any of these conditions hold:

                                                                                  • It is a broadcast message (target_system field omitted or zero).
                                                                                  • The target_system does not match the system id and the system knows the link of the target system (i.e. it has previously seen a message from target_system on the link).
                                                                                  • The target_system matches its system id and has a target_component field, and the system has seen a message from the target_system/target_component combination on the link.

                                                                                  Non-broadcast messages must only be sent (or forwarded) to known destinations (i.e. a system must previously have received a message from the target system/component).

                                                                                  Systems should also check for SYSTEM_TIME messages with a decrease in time_boot_ms, as this indicates that the system has rebooted. In this case it should clear stored routing information (and might perform other actions that are useful following a reboot - e.g. re-fetching parameters and home position etc.).

                                                                                  Library Support

                                                                                  C Library (mavgen)

                                                                                  The generated code for the MAVLink v1 C Library has no specific support for routing or working with target_system and target_component. To extract this information you will need to use the normal methods provided for reading payload fields, and match on the field names.

                                                                                  The MAVLink v2 generator for the C library has been updated to make it easier to get the destination system and component ID from the payload (when these are assigned). Specifically, the mavlink_msg_entry_t structure contains flags to tell you if the message contains target system/component information (FLAG_HAVE_TARGET_SYSTEM, FLAG_HAVE_TARGET_COMPONENT) and offsets into the payload that you can use to get these ids (target_system_ofs and target_component_ofs, respectively). The MAVLink helper method const mavlink_msg_entry_t* mavlink_get_msg_entry(uint32_t msgid) can be used to get this structure from the message id.

                                                                                  Unsigned MAVLink 2 packets are routed in the same way as MAVLink 1 packets.

                                                                                  Routing Signed Packets

                                                                                  Signed packets should be routed in the same way as any other packet.

                                                                                  In particular, a routing system should:

                                                                                  • not change the message in any way (including replacing the original signature).
                                                                                  • forward a message according to normal rules even if it cannot be authenticated (or even understand) and hence cannot be processed locally.

                                                                                  Router Implementation

                                                                                  The MAVLink Router can be used to mix-and-match different IP protocols with serial ports in order to route MAVLink traffic.

                                                                                  Further Information

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                                                                                    Routing

                                                                                    This topic explains how messages should be routed by MAVLink systems.

                                                                                    Overview

                                                                                    A MAVLINK network is made up of systems (vehicles, ground stations, antenna trackers, etc.), which may be composed from one or more components (autopilot, camera, servos, etc.).

                                                                                    Each system has a network-unique system id, and each component has a system-unique component id that can be used for addressing/routing:

                                                                                    • The system id has a value between 1 and 255.
                                                                                      • The default autopilot system id is usually 1. Users should allocate unique increasing id values when adding new autopilots to a network.
                                                                                      • GCS systems and developer APIs typically use an ID at the top of the numeric range to reduce ID clashes (e.g. 255). Often their system ID is configurable to allow multi-GCS systems.
                                                                                    • The component id is allocated by type and number from MAV_COMPONENT.

                                                                                    Messages can be intended for all systems, specific systems, all components in a system, or specific components within a system. The protocol defines two 8-bit fields that can (optionally) be specified in the message payload to indicate where the message should be sent/routed. If the ids are omitted or set to zero then the message is considered a broadcast (intended for all systems/components).

                                                                                    • target_system: System that should execute the command
                                                                                    • target_component: Component that should execute the command (requires target_system).

                                                                                    MAVLink components are expected to process messages that have a matching system/component id and broadcast messages. They are expected to route/resend messages that are intended for other (or all) recipients to other active channels (i.e. MAVLink systems may be connected across different transports, connected by a MAVLink system that routes the messages). Broadcast messages are forwarded to all channels that haven't seen the message. Addressed messages are resent on a new channel iff the system has previously seen a message from the target on that channel (messages are not resent if the addressee is not known or is on the original/incoming channel).

                                                                                    Forwarded messages must not be changed/repackaged by the forwarding system (the original message is passed to the new link).

                                                                                    Systems should, where possible, forward messages according to the routing rules even if they are unable to process them (e.g. signed messages that cannot be authenticated). Messages that are not supported/understood by the library should be forwarded as though they were broadcast messages (in this case the target system/component ids cannot be read).

                                                                                    Routing Detail

                                                                                    Systems/components should process a message locally if any of these conditions hold:

                                                                                    • It is a broadcast message (target_system field omitted or zero).
                                                                                    • The target_system matches its system id and target_component is broadcast (target_component omitted or zero).
                                                                                    • The target_system matches its system id and has the component's target_component
                                                                                    • The target_system matches its system id and the component is unknown (i.e. this component has not seen any messages on any link that have the message's target_system/target_component).

                                                                                    Systems should forward messages to another link if any of these conditions hold:

                                                                                    • It is a broadcast message (target_system field omitted or zero).
                                                                                    • The target_system does not match the system id and the system knows the link of the target system (i.e. it has previously seen a message from target_system on the link).
                                                                                    • The target_system matches its system id and has a target_component field, and the system has seen a message from the target_system/target_component combination on the link.

                                                                                    Non-broadcast messages must only be sent (or forwarded) to known destinations (i.e. a system must previously have received a message from the target system/component).

                                                                                    Systems should also check for SYSTEM_TIME messages with a decrease in time_boot_ms, as this indicates that the system has rebooted. In this case it should clear stored routing information (and might perform other actions that are useful following a reboot - e.g. re-fetching parameters and home position etc.).

                                                                                    Library Support

                                                                                    C Library (mavgen)

                                                                                    The generated code for the MAVLink v1 C Library has no specific support for routing or working with target_system and target_component. To extract this information you will need to use the normal methods provided for reading payload fields, and match on the field names.

                                                                                    The MAVLink v2 generator for the C library has been updated to make it easier to get the destination system and component ID from the payload (when these are assigned). Specifically, the mavlink_msg_entry_t structure contains flags to tell you if the message contains target system/component information (FLAG_HAVE_TARGET_SYSTEM, FLAG_HAVE_TARGET_COMPONENT) and offsets into the payload that you can use to get these ids (target_system_ofs and target_component_ofs, respectively). The MAVLink helper method const mavlink_msg_entry_t* mavlink_get_msg_entry(uint32_t msgid) can be used to get this structure from the message id.

                                                                                    Unsigned MAVLink 2 packets are routed in the same way as MAVLink 1 packets.

                                                                                    Routing Signed Packets

                                                                                    Signed packets should be routed in the same way as any other packet.

                                                                                    In particular, a routing system should:

                                                                                    • not change the message in any way (including replacing the original signature).
                                                                                    • forward a message according to normal rules even if it cannot be authenticated (or even understand) and hence cannot be processed locally.

                                                                                    Router Implementation

                                                                                    The MAVLink Router can be used to mix-and-match different IP protocols with serial ports in order to route MAVLink traffic.

                                                                                    Further Information

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                                                                                      Pymavlink Scripts

                                                                                      This MAVLink library also comes with supporting libraries and scripts for using, manipulating, and parsing MAVLink streams within the pymavlink, pymavlink/tools, and pymavlink/examples directories.

                                                                                      The scripts have the following requirements:

                                                                                      • Python 2.7+ and 3.3+
                                                                                      • PYTHONPATH specifies the directory path that contains the mavlink repository.
                                                                                      • Write access to the entire mavlink folder.
                                                                                      • Your dialect's XML file is in message_definitions/*/

                                                                                      The scripts can be executed by running Python with the -m switch, which indicates that the given script exists on the PYTHONPATH. The following code runs mavlogdump.py in /pymavlink/tools/ on the recorded MAVLink stream test_run.mavlink (other scripts in /tools and /scripts can be run in a similar fashion):

                                                                                      python -m pymavlink.tools.mavlogdump test_run.mavlink
-

                                                                                      Using the -m switch is the proper way to run Python scripts that are part of a library as per PEP-328 (and the rejected PEP-3122).

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                                                                                        Using the -m switch is the proper way to run Python scripts that are part of a library as per PEP-328 (and the rejected PEP-3122).

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                                                                                          This uses the same CRC-16/MCRF4XX checksum that is used at runtime. It calculates a CRC over the message name (such as “RAW_IMU”) followed by the type and name of each field, space separated. The order of the fields is the order they are sent over the wire. For arrays, the array length is also added.

                                                                                          Checksum

                                                                                          The packet format includes a 2-byte CRC-16/MCRF4XX to allow detection of message corruption. See the MAVLink source code for the documented C-implementation.

                                                                                          The CRC covers the whole message, excluding magic byte and the signature (if present). The CRC includes the CRC_EXTRA byte, which is used to ensure that the sending and receiving systems share a common understanding of the message definition.

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                                                                                            This uses the same CRC-16/MCRF4XX checksum that is used at runtime. It calculates a CRC over the message name (such as “RAW_IMU”) followed by the type and name of each field, space separated. The order of the fields is the order they are sent over the wire. For arrays, the array length is also added.

                                                                                            Checksum

                                                                                            The packet format includes a 2-byte CRC-16/MCRF4XX to allow detection of message corruption. See the MAVLink source code for the documented C-implementation.

                                                                                            The CRC covers the whole message, excluding magic byte and the signature (if present). The CRC includes the CRC_EXTRA byte, which is used to ensure that the sending and receiving systems share a common understanding of the message definition.

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                                                                                              UAVCAN Interaction

                                                                                              This chapter describes the MAVLink commands and messages that facilitate data exchange between the operator's equipment and the on-board UAVCAN nodes. The primary motivation is to enable the user to configure, monitor, and control the on-board UAVCAN nodes via the existing MAVLink connection.

                                                                                              Basics

                                                                                              The general description and specification of UAVCAN is available at http://uavcan.org.

                                                                                              The text below will be referring to the following terms:

                                                                                              • Bridge node - the piece of on-board equipment that bridges the on-board UAVCAN bus and the MAVLink connection. This function is often performed by the flight management unit, e.g. Pixhawk.
                                                                                              • Remote equipment - the other end of the MAVLink channel, e.g. the ground control station.

                                                                                              UAVCAN Node Identification

                                                                                              Every UAVCAN node has a bus-unique identifier referred to as "node ID". The node ID is an integer in the interval [1, 127], where the value 1 is typically used by the autopilot or some other kind of central controlling unit, and the values 126 and 127 are typically used by debugging or monitoring equipment.

                                                                                              Each unit that is capable of communicating via MAVLink and UAVCAN must use the same number for its MAVLink Component ID and the UAVCAN Node ID, otherwise serious inconsistencies may arise. Typically, if there is a single non-redundant autopilot, its UAVCAN Node ID and the MAVLink component ID will be set to 1 (one).

                                                                                              Every outgoing/incoming MAVLink message/command pertaining to a given UAVCAN node will have its field Component ID set to the same value as the Node ID of the referred UAVCAN node.

                                                                                              Node Status Reporting

                                                                                              Node Status Messages

                                                                                              In UAVCAN, the abstract node status information is represented by the standard message type uavcan.protocol.NodeStatus. Its MAVLink counterpart is UAVCAN_NODE_STATUS.

                                                                                              The bridge node should emit the MAVLink message UAVCAN_NODE_STATUS every time it receives a UAVCAN node status message. The bridge node is allowed to decimate the stream of node status messages in order to avoid congestion of the MAVLink channel, but the resulting frequency of status message emission should not be lower than 1 Hz per node.

                                                                                              The remote equipment can monitor which UAVCAN nodes are online by means of tracking the amount of time that passed since the last reception of the node status message for each online node. The remote equipment should consider the node to be offline if its last status message has arrived more than 5 seconds ago.

                                                                                              Extended Node Information

                                                                                              UAVCAN nodes are typically able to report some static information that identifies their type, purpose, vendor, revision, and such, via the standard service type uavcan.protocol.GetNodeInfo. In this context, "static" means that the data is not changing while the node is running. This information can be crucial for many important use cases.

                                                                                              The corresponding MAVLink message is UAVCAN_NODE_INFO. Its fields are direct mappings of the corresponding fields in the service type uavcan.protocol.GetNodeInfo.

                                                                                              The bridge node must emit the message UAVCAN_NODE_INFO in the following cases:

                                                                                              • Reception of a service response of type uavcan.protocol.GetNodeInfo. In turn, this service must be invoked when the following conditions are observed on the bus (please read the UAVCAN specification for a more detailed description of the principles of bus monitoring):
                                                                                                • A new node has appeared online.
                                                                                                • A known node has restarted.
                                                                                              • Reception of the MAVLink command MAV_CMD_UAVCAN_GET_NODE_INFO. In this case, the bridge node is required to emit UAVCAN_NODE_INFO once for every known node.
                                                                                              • It is also allowed, but not required, to unconditionally emit messages UAVCAN_NODE_INFO at a very low rate, in order to guarantee that the remote equipment always has a valid model of the on-board UAVCAN bus.

                                                                                              Configuration Parameter Management

                                                                                              UAVCAN defines a set of standard service types that facilitate the management of configuration parameters on UAVCAN nodes. The respective data type definitions can be found in the namespace uavcan.protocol.param.

                                                                                              The UAVCAN-MAVLink bridge does not define any additional messages for configuration parameter management. Instead, the following standard messages are used in the regular way:

                                                                                              • PARAM_REQUEST_LIST - used to request the list of configuration parameters from the specified UAVCAN node. Remember that the UAVCAN node is specified via the field Component ID.
                                                                                              • PARAM_VALUE - used by the bridge node to report the value of a configuration parameter. The node ID is reflected in the field Component ID.
                                                                                              • PARAM_SET - used by the remote equipment to set the value of a configuration parameter. The node ID is reflected in the field Component ID.

                                                                                              Note that the maximum length of a configuration parameter name is defined differently in UAVCAN and MAVLink. In MAVLink, the maximum length is 16 characters, whereas in UAVCAN the limit is 92 characters. Should the bridge node encounter long configuration parameter names that exceed the MAVLink's limit, it should exercise its best effort to reduce the name length presented on the MAVLink side while avoiding ambiguity. Designers of UAVCAN nodes, on their part, should avoid using configuration parameter names more than 16 characters long, until this deficiency of the MAVLink protocol is fixed.

                                                                                              Internet Access Bridge

                                                                                              UAVCAN defines a set of standard messages that facilitate communication between UAVCAN nodes and remote hosts on the Internet or LAN. The tentative specification can be viewed on GitHub. In the future, the set of MAVLink messages should be extended to allow forwarding of data packets between the bridge node and the Internet via the remote equipment (e.g. ground control station). If you're interested in this feature, please report to the UAVCAN mailing list.

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                                                                                                UAVCAN Interaction

                                                                                                This chapter describes the MAVLink commands and messages that facilitate data exchange between the operator's equipment and the on-board UAVCAN nodes. The primary motivation is to enable the user to configure, monitor, and control the on-board UAVCAN nodes via the existing MAVLink connection.

                                                                                                Basics

                                                                                                The general description and specification of UAVCAN is available at http://uavcan.org.

                                                                                                The text below will be referring to the following terms:

                                                                                                • Bridge node - the piece of on-board equipment that bridges the on-board UAVCAN bus and the MAVLink connection. This function is often performed by the flight management unit, e.g. Pixhawk.
                                                                                                • Remote equipment - the other end of the MAVLink channel, e.g. the ground control station.

                                                                                                UAVCAN Node Identification

                                                                                                Every UAVCAN node has a bus-unique identifier referred to as "node ID". The node ID is an integer in the interval [1, 127], where the value 1 is typically used by the autopilot or some other kind of central controlling unit, and the values 126 and 127 are typically used by debugging or monitoring equipment.

                                                                                                Each unit that is capable of communicating via MAVLink and UAVCAN must use the same number for its MAVLink Component ID and the UAVCAN Node ID, otherwise serious inconsistencies may arise. Typically, if there is a single non-redundant autopilot, its UAVCAN Node ID and the MAVLink component ID will be set to 1 (one).

                                                                                                Every outgoing/incoming MAVLink message/command pertaining to a given UAVCAN node will have its field Component ID set to the same value as the Node ID of the referred UAVCAN node.

                                                                                                Node Status Reporting

                                                                                                Node Status Messages

                                                                                                In UAVCAN, the abstract node status information is represented by the standard message type uavcan.protocol.NodeStatus. Its MAVLink counterpart is UAVCAN_NODE_STATUS.

                                                                                                The bridge node should emit the MAVLink message UAVCAN_NODE_STATUS every time it receives a UAVCAN node status message. The bridge node is allowed to decimate the stream of node status messages in order to avoid congestion of the MAVLink channel, but the resulting frequency of status message emission should not be lower than 1 Hz per node.

                                                                                                The remote equipment can monitor which UAVCAN nodes are online by means of tracking the amount of time that passed since the last reception of the node status message for each online node. The remote equipment should consider the node to be offline if its last status message has arrived more than 5 seconds ago.

                                                                                                Extended Node Information

                                                                                                UAVCAN nodes are typically able to report some static information that identifies their type, purpose, vendor, revision, and such, via the standard service type uavcan.protocol.GetNodeInfo. In this context, "static" means that the data is not changing while the node is running. This information can be crucial for many important use cases.

                                                                                                The corresponding MAVLink message is UAVCAN_NODE_INFO. Its fields are direct mappings of the corresponding fields in the service type uavcan.protocol.GetNodeInfo.

                                                                                                The bridge node must emit the message UAVCAN_NODE_INFO in the following cases:

                                                                                                • Reception of a service response of type uavcan.protocol.GetNodeInfo. In turn, this service must be invoked when the following conditions are observed on the bus (please read the UAVCAN specification for a more detailed description of the principles of bus monitoring):
                                                                                                  • A new node has appeared online.
                                                                                                  • A known node has restarted.
                                                                                                • Reception of the MAVLink command MAV_CMD_UAVCAN_GET_NODE_INFO. In this case, the bridge node is required to emit UAVCAN_NODE_INFO once for every known node.
                                                                                                • It is also allowed, but not required, to unconditionally emit messages UAVCAN_NODE_INFO at a very low rate, in order to guarantee that the remote equipment always has a valid model of the on-board UAVCAN bus.

                                                                                                Configuration Parameter Management

                                                                                                UAVCAN defines a set of standard service types that facilitate the management of configuration parameters on UAVCAN nodes. The respective data type definitions can be found in the namespace uavcan.protocol.param.

                                                                                                The UAVCAN-MAVLink bridge does not define any additional messages for configuration parameter management. Instead, the following standard messages are used in the regular way:

                                                                                                • PARAM_REQUEST_LIST - used to request the list of configuration parameters from the specified UAVCAN node. Remember that the UAVCAN node is specified via the field Component ID.
                                                                                                • PARAM_VALUE - used by the bridge node to report the value of a configuration parameter. The node ID is reflected in the field Component ID.
                                                                                                • PARAM_SET - used by the remote equipment to set the value of a configuration parameter. The node ID is reflected in the field Component ID.

                                                                                                Note that the maximum length of a configuration parameter name is defined differently in UAVCAN and MAVLink. In MAVLink, the maximum length is 16 characters, whereas in UAVCAN the limit is 92 characters. Should the bridge node encounter long configuration parameter names that exceed the MAVLink's limit, it should exercise its best effort to reduce the name length presented on the MAVLink side while avoiding ambiguity. Designers of UAVCAN nodes, on their part, should avoid using configuration parameter names more than 16 characters long, until this deficiency of the MAVLink protocol is fixed.

                                                                                                Internet Access Bridge

                                                                                                UAVCAN defines a set of standard messages that facilitate communication between UAVCAN nodes and remote hosts on the Internet or LAN. The tentative specification can be viewed on GitHub. In the future, the set of MAVLink messages should be extended to allow forwarding of data packets between the bridge node and the Internet via the remote equipment (e.g. ground control station). If you're interested in this feature, please report to the UAVCAN mailing list.

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                                                                                                  tcpdump must be installed on the remote machine.

                                                                                                  When you can access the remote machine with SSH you can stream the tcpdump to your local machine instead of logging it to a file. Wireshark can open this stream and show the decoded MAVLink messages using the tools and filters from above.

                                                                                                  mkfifo /tmp/mavlink;
 wireshark -k -i /tmp/mavlink &
 ssh root@10.41.1.1 -p 33333 "tcpdump -s 0 -U -n -w - -i lo not port 33333" > /tmp/mavlink;
-

                                                                                                  Username, IP and port above have to be adjusted to the configuration on the remote machine.

                                                                                                  1. mkfifo /tmp/mavlink Creates a named pipe that is used to stream the data.
                                                                                                  2. wireshark -k -i /tmp/mavlink & Start Wireshark, open the named pipe as input and start the capture immediately.

                                                                                                  3. Start the data stream on the remote machine and pipe it into the named pipe on your local machine.

                                                                                                    • -s 0 Set snapshot length to default
                                                                                                    • -U Stream packet output packet-buffered, don’t wait for a full buffer
                                                                                                    • -n Don't convert addresses (i.e., host addresses, port numbers, etc.) to names
                                                                                                    • -w - Write raw data to standard output (piped to the local machine)
                                                                                                    • -i lo Define which interface to listen on. This will listen to the loopback interface, you can change this to the Ethernet, USB or modem interface.
                                                                                                    • not port 33333 Don’t capture the data created by the SSH session. You can add more filters to tcpdump to reduce the streamed data.

                                                                                                  After the plugin is setup in Wireshark ad you have started to capture a stream you can use the Wireshark IO graphsto monitor message rates for either the whole stream or just specific messages.

                                                                                                  To do this you need to go to Statistics > I/O Graphs and you will get a new window. Now you will a plot of the data rate of all packets you are analyzing. You can filter for the usual Wireshark filters and the new MAVLink ones introduced by the LUA script.

                                                                                                  We recommend changing the y axis to bits or bytes and to reduce the x axis to 10ms or faster to get meaningful plots.

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                                                                                                    Username, IP and port above have to be adjusted to the configuration on the remote machine.

                                                                                                    1. mkfifo /tmp/mavlink Creates a named pipe that is used to stream the data.
                                                                                                    2. wireshark -k -i /tmp/mavlink & Start Wireshark, open the named pipe as input and start the capture immediately.

                                                                                                    3. Start the data stream on the remote machine and pipe it into the named pipe on your local machine.

                                                                                                      • -s 0 Set snapshot length to default
                                                                                                      • -U Stream packet output packet-buffered, don’t wait for a full buffer
                                                                                                      • -n Don't convert addresses (i.e., host addresses, port numbers, etc.) to names
                                                                                                      • -w - Write raw data to standard output (piped to the local machine)
                                                                                                      • -i lo Define which interface to listen on. This will listen to the loopback interface, you can change this to the Ethernet, USB or modem interface.
                                                                                                      • not port 33333 Don’t capture the data created by the SSH session. You can add more filters to tcpdump to reduce the streamed data.

                                                                                                    After the plugin is setup in Wireshark ad you have started to capture a stream you can use the Wireshark IO graphsto monitor message rates for either the whole stream or just specific messages.

                                                                                                    To do this you need to go to Statistics > I/O Graphs and you will get a new window. Now you will a plot of the data rate of all packets you are analyzing. You can filter for the usual Wireshark filters and the new MAVLink ones introduced by the LUA script.

                                                                                                    We recommend changing the y axis to bits or bytes and to reduce the x axis to 10ms or faster to get meaningful plots.

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                                                                                                      The main message tags/fields are:

                                                                                                      Common Tags

                                                                                                      This section lists a number of tags can be used in a number of other types - e.g. messages and enums.

                                                                                                      deprecated

                                                                                                      The <deprecated> tag can be used in an enum, enum entry (value) or message to indicate that the item has been superseded. The tag attributes indicates the time of deprecation and the replacement item, while the element may (optionally) contain a string with additional information about the deprecation.

                                                                                                      The generator toolchain can be configured to conditionally build messages omitting the deprecated entries.

                                                                                                      An entity should be marked as deprecated only when the main users have had an opportunity to update to the new method.

                                                                                                      As a concrete example, below we see that SET_MODE is deprecated and replaced by MAV_CMD_DO_SET_MODE on 2015-12.

                                                                                                          <message id="11" name="SET_MODE">
       <deprecated since="2015-12" replaced_by="MAV_CMD_DO_SET_MODE">Use COMMAND_LONG with MAV_CMD_DO_SET_MODE instead</deprecated>

                                                                                                      The deprecated attributes are:

                                                                                                      wip

                                                                                                      The <wip> tag can be used in an enum entry (value) or message to indicate that the item is a "work in progress". The element may (optionally) contain a string with additional information about the new item.

                                                                                                      The generator toolchain can be configured to conditionally build messages omitting the wip entries.

                                                                                                      Most commonly, the tag is used as shown:

                                                                                                      <wip />
-

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                                                                                                          Messages
                                                                                                          Messages
                                                                                                          FAQ
                                                                                                          FAQ
                                                                                                          Implementations
                                                                                                          Implementations
                                                                                                          Examples
                                                                                                          Examples
                                                                                                          Support
                                                                                                          Help

                                                                                                          MAVLink Developer Guide

                                                                                                          MAVLink is a very lightweight messaging protocol for communicating with drones (and between onboard drone components).

                                                                                                          MAVLink follows a modern hybrid publish-subscribe and point-to-point design pattern: Data streams are sent / published as topics while configuration sub-protocols such as the mission protocol or parameter protocol are point-to-point with retransmission.

                                                                                                          Messages are defined within XML files. Each XML file defines the message set supported by a particular MAVLink system, also referred to as a "dialect". The reference message set that is implemented by most ground control stations and autopilots is defined in common.xml (most dialects build on top of this definition).

                                                                                                          Code generators create software libraries for specific programming languages from these XML message definitions, which can then be used by drones, ground control stations, and other MAVLink systems to communicate. The generated libraries are typically MIT-licensed, and can therefore be used without limits in any closed-source application without publishing the source code of the closed-source application.

                                                                                                          The C reference implementation is a header-only library that is highly optimized for resource-constrained systems with limited RAM and flash memory. It is field-proven and deployed in many products where it serves as interoperability interface between components of different manufacturers.

                                                                                                          MAVLink was first released early 2009 by Lorenz Meier and has now a significant number of contributors.

                                                                                                          Key Features

                                                                                                          • Very efficient. MAVLink 1 has just 8 bytes overhead per packet, including start sign and packet drop detection. MAVLink 2 has just 14 bytes of overhead (but is a much more secure and extensible protocol). Because MAVLink doesn't require any additional framing it is very well suited for applications with very limited communication bandwidth.
                                                                                                          • Very reliable. MAVLink has been used since 2009 to communicate between many different vehicles, ground stations (and other nodes) over varied and challenging communication channels (high latency/noise). It provides methods for detecting packet drops, corruption, and for packet authentication.
                                                                                                          • Many different programming languages can be used, running on numerous microcontrollers/operating systems (including ARM7, ATMega, dsPic, STM32 and Windows, Linux, MacOS, Android and iOS).
                                                                                                          • Allows up to 255 concurrent systems on the network (vehicles, ground stations, etc.)
                                                                                                          • Enables both offboard and onboard communications (e.g. between a GCS and drone, and between drone autopilot and MAVLink enabled drone camera).

                                                                                                          Language/Generator List

                                                                                                          The sections below lists MAVLink generators and their associated programming languages.

                                                                                                          The MAVLink organisation provides (and supports) the mavgen, mavgenerate and rust-mavlink tools.

                                                                                                          LanguageGeneratorMAVLink v1MAVLink 2SigningNotes
                                                                                                          Cmavgen✓✓✓MAVLink project reference implementation. Generated libraries are also published for both protocol versions.
                                                                                                          C++11mavgen✓✓✓
                                                                                                          Python (2.7+, 3.3+)mavgen✓✓✓Python bindings. Library also available on PyPi: pymavlink.
                                                                                                          C#mavgen✓✓
                                                                                                          Objective Cmavgen✓
                                                                                                          Javamavgen✓✓Dronefleet offers a more idiomatic generated library
                                                                                                          JavaScript (Stable)mavgen✓✓✗Old mavgen JavaScript binding (has known bugs and no test suite).
                                                                                                          JavaScript (NextGen)mavgen✓✓✓New mavgen JavaScript library. Full test suite, resulting library produces binary compatible output compared to C bindings. Slightly incompatible with previous version, but not hard to migrate.
                                                                                                          TypeScript/JavaScriptmavgen✓✓✗TypeScript classes which can be used with node-mavlink.
                                                                                                          Luamavgen✓✓✗Lua library. Does not support zero trimming of MAVLink 2 messages.
                                                                                                          WLua (Wireshark Lua bindings)mavgen✓✓NAAllow MAVLink-aware packet inspection in Wireshark. Generated lua scripts should be copied to the Wireshark plugin directory (e.g. wireshark/plugins/mavlink.lua).
                                                                                                          Swiftmavgen✓
                                                                                                          Rustrust-mavlink✓✓Rust MAVLink generated code. Has tests and docs.
                                                                                                          Adamavgen✓

                                                                                                          External Generators/Languages

                                                                                                          The following generators are delivered by independent projects (and supported by those projects).

                                                                                                          LanguageGeneratorMAVLink v1MAVLink 2SigningNotes
                                                                                                          CfastMavlink✓✓✗Highly efficient C library with python code generators. Has docs, examples, test, support for routing and mavgen mimicry.
                                                                                                          Clojureclj-mavlink✓✓✓Clojure MAVLink Bindings.
                                                                                                          Dartdart_mavlink✓✓✗MAVLink library for Dart.
                                                                                                          Gogomavlib✓✓✓Go library with support for MAVLink 1, 2 and signing, test suite, and documentation
                                                                                                          Gogo-mavlink1✓✗✗Golang MAVLink v1
                                                                                                          HaskellHaskMavlink✗✓✗
                                                                                                          Javadronefleet/mavlink✓✓✓Idiomatic Java SDK/API for MAVLink. Provides a gradle plugin for the code generator.
                                                                                                          TypeScript/JavaScript/npmnode-mavlink✓✓✓TypeScript code generator for data classes with tools to receive and send messages. Getting started guide and inline JSDoc, along with some examples.
                                                                                                          Kotlinmavlink-kotlin✓✓✓Uses codegen instead of reflection for performance with Coroutines, RxJava2 and RxJava3 support. Provides a code generator Gradle plugin.

                                                                                                          Prebuilt MAVLink C Libraries

                                                                                                          C MAVLink Source Files (only) are auto-generated for the latest versions of all message specifications/dialects (for both MAVLink 1 and 2):

                                                                                                          Using C Libraries explains how to use these libraries.

                                                                                                          Support

                                                                                                          The Support topic contains information about the mailing list, reporting bugs/issues, and joining the dev call.

                                                                                                          Contributing

                                                                                                          The Contributing Guide explains the contribution model and the main areas where you can help.

                                                                                                          License

                                                                                                          The message definition XML files and the generated C-language version of MAVLink (a header-only library) are made available under the MIT-licence. MAVLink can therefore be used in any closed-source application without publishing the source code of the closed-source application. See the COPYING file for more information.

                                                                                                          The MAVLink generator toolchain is licensed under the terms of the Lesser General Public License (version 3) of the Free Software Foundation (LGPLv3).

                                                                                                          This documentation is licensed under CC BY 4.0 (Human readable overview | LICENSE).

                                                                                                          Governance

                                                                                                          The MAVLink protocol is hosted under the governance of the Dronecode Project.

                                                                                                          Dronecode LogoLinux Foundation Logo

                                                                                                           

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                                                                                                            \ No newline at end of file +Introduction · MAVLink Developer Guide
                                                                                                            Messages
                                                                                                            Messages
                                                                                                            FAQ
                                                                                                            FAQ
                                                                                                            Implementations
                                                                                                            Implementations
                                                                                                            Examples
                                                                                                            Examples
                                                                                                            Support
                                                                                                            Help

                                                                                                            MAVLink Developer Guide

                                                                                                            MAVLink is a very lightweight messaging protocol for communicating with drones (and between onboard drone components).

                                                                                                            MAVLink follows a modern hybrid publish-subscribe and point-to-point design pattern: Data streams are sent / published as topics while configuration sub-protocols such as the mission protocol or parameter protocol are point-to-point with retransmission.

                                                                                                            Messages are defined within XML files. Each XML file defines the message set supported by a particular MAVLink system, also referred to as a "dialect". The reference message set that is implemented by most ground control stations and autopilots is defined in common.xml (most dialects build on top of this definition).

                                                                                                            Code generators create software libraries for specific programming languages from these XML message definitions, which can then be used by drones, ground control stations, and other MAVLink systems to communicate. The generated libraries are typically MIT-licensed, and can therefore be used without limits in any closed-source application without publishing the source code of the closed-source application.

                                                                                                            The C reference implementation is a header-only library that is highly optimized for resource-constrained systems with limited RAM and flash memory. It is field-proven and deployed in many products where it serves as interoperability interface between components of different manufacturers.

                                                                                                            MAVLink was first released early 2009 by Lorenz Meier and has now a significant number of contributors.

                                                                                                            Key Features

                                                                                                            • Very efficient. MAVLink 1 has just 8 bytes overhead per packet, including start sign and packet drop detection. MAVLink 2 has just 14 bytes of overhead (but is a much more secure and extensible protocol). Because MAVLink doesn't require any additional framing it is very well suited for applications with very limited communication bandwidth.
                                                                                                            • Very reliable. MAVLink has been used since 2009 to communicate between many different vehicles, ground stations (and other nodes) over varied and challenging communication channels (high latency/noise). It provides methods for detecting packet drops, corruption, and for packet authentication.
                                                                                                            • Many different programming languages can be used, running on numerous microcontrollers/operating systems (including ARM7, ATMega, dsPic, STM32 and Windows, Linux, MacOS, Android and iOS).
                                                                                                            • Allows up to 255 concurrent systems on the network (vehicles, ground stations, etc.)
                                                                                                            • Enables both offboard and onboard communications (e.g. between a GCS and drone, and between drone autopilot and MAVLink enabled drone camera).

                                                                                                            Language/Generator List

                                                                                                            The sections below lists MAVLink generators and their associated programming languages.

                                                                                                            The MAVLink organisation provides (and supports) the mavgen, mavgenerate and rust-mavlink tools.

                                                                                                            LanguageGeneratorMAVLink v1MAVLink 2SigningNotes
                                                                                                            Cmavgen✓✓✓MAVLink project reference implementation. Generated libraries are also published for both protocol versions.
                                                                                                            C++11mavgen✓✓✓
                                                                                                            Python (2.7+, 3.3+)mavgen✓✓✓Python bindings. Library also available on PyPi: pymavlink.
                                                                                                            C#mavgen✓✓
                                                                                                            Objective Cmavgen✓
                                                                                                            Javamavgen✓✓Dronefleet offers a more idiomatic generated library
                                                                                                            JavaScript (Stable)mavgen✓✓✗Old mavgen JavaScript binding (has known bugs and no test suite).
                                                                                                            JavaScript (NextGen)mavgen✓✓✓New mavgen JavaScript library. Full test suite, resulting library produces binary compatible output compared to C bindings. Slightly incompatible with previous version, but not hard to migrate.
                                                                                                            TypeScript/JavaScriptmavgen✓✓✗TypeScript classes which can be used with node-mavlink.
                                                                                                            Luamavgen✓✓✗Lua library. Does not support zero trimming of MAVLink 2 messages.
                                                                                                            WLua (Wireshark Lua bindings)mavgen✓✓NAAllow MAVLink-aware packet inspection in Wireshark. Generated lua scripts should be copied to the Wireshark plugin directory (e.g. wireshark/plugins/mavlink.lua).
                                                                                                            Swiftmavgen✓
                                                                                                            Rustrust-mavlink✓✓Rust MAVLink generated code. Has tests and docs.
                                                                                                            Adamavgen✓

                                                                                                            External Generators/Languages

                                                                                                            The following generators are delivered by independent projects (and supported by those projects).

                                                                                                            LanguageGeneratorMAVLink v1MAVLink 2SigningNotes
                                                                                                            CfastMavlink✓✓✗Highly efficient C library with python code generators. Has docs, examples, test, support for routing and mavgen mimicry.
                                                                                                            Clojureclj-mavlink✓✓✓Clojure MAVLink Bindings.
                                                                                                            Dartdart_mavlink✓✓✗MAVLink library for Dart.
                                                                                                            Gogomavlib✓✓✓Go library with support for MAVLink 1, 2 and signing, test suite, and documentation
                                                                                                            Gogo-mavlink1✓✗✗Golang MAVLink v1
                                                                                                            HaskellHaskMavlink✗✓✗
                                                                                                            Javadronefleet/mavlink✓✓✓Idiomatic Java SDK/API for MAVLink. Provides a gradle plugin for the code generator.
                                                                                                            TypeScript/JavaScript/npmnode-mavlink✓✓✓TypeScript code generator for data classes with tools to receive and send messages. Getting started guide and inline JSDoc, along with some examples.
                                                                                                            Kotlinmavlink-kotlin✓✓✓Uses codegen instead of reflection for performance with Coroutines, RxJava2 and RxJava3 support. Provides a code generator Gradle plugin.

                                                                                                            Prebuilt MAVLink C Libraries

                                                                                                            C MAVLink Source Files (only) are auto-generated for the latest versions of all message specifications/dialects (for both MAVLink 1 and 2):

                                                                                                            Using C Libraries explains how to use these libraries.

                                                                                                            Support

                                                                                                            The Support topic contains information about the mailing list, reporting bugs/issues, and joining the dev call.

                                                                                                            Contributing

                                                                                                            The Contributing Guide explains the contribution model and the main areas where you can help.

                                                                                                            License

                                                                                                            The message definition XML files and the generated C-language version of MAVLink (a header-only library) are made available under the MIT-licence. MAVLink can therefore be used in any closed-source application without publishing the source code of the closed-source application. See the COPYING file for more information.

                                                                                                            The MAVLink generator toolchain is licensed under the terms of the Lesser General Public License (version 3) of the Free Software Foundation (LGPLv3).

                                                                                                            This documentation is licensed under CC BY 4.0 (Human readable overview | LICENSE).

                                                                                                            Governance

                                                                                                            The MAVLink protocol is hosted under the governance of the Dronecode Project.

                                                                                                            Dronecode LogoLinux Foundation Logo

                                                                                                             

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                                                                                                              Messages
                                                                                                              Messages
                                                                                                              FAQ
                                                                                                              FAQ
                                                                                                              Implementations
                                                                                                              Implementations
                                                                                                              Examples
                                                                                                              Examples
                                                                                                              Support
                                                                                                              Help

                                                                                                              MAVLink C UART Interface Example

                                                                                                              The C-UART Interface Example is a simple C example of a MAVLink to UART interface for Unix-like systems.

                                                                                                              The example source code demonstrates how to set up serial communication between Pixhawk and an offboard computer via USB or a telemetry radio, how to put the vehicle in offboard mode, and how to send and receive MAVLink messages over the interface.

                                                                                                              Source code and instructions for how to run the example can be found in the Github repo: mavlink/c_uart_interface_example

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                                                                                                                FAQ
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                                                                                                                Implementations
                                                                                                                Examples
                                                                                                                Examples
                                                                                                                Support
                                                                                                                Help

                                                                                                                MAVLink C UART Interface Example

                                                                                                                The C-UART Interface Example is a simple C example of a MAVLink to UART interface for Unix-like systems.

                                                                                                                The example source code demonstrates how to set up serial communication between Pixhawk and an offboard computer via USB or a telemetry radio, how to put the vehicle in offboard mode, and how to send and receive MAVLink messages over the interface.

                                                                                                                Source code and instructions for how to run the example can be found in the Github repo: mavlink/c_uart_interface_example

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                                                                                                                      Examples

                                                                                                                      • UART Interface: Simple C example of a MAVLink to UART interface for Unix-like systems.
                                                                                                                      • UDP Example: Simple C example of a MAVLink UDP interface for Unix-like systems (Linux, MacOS, BSD, etc.).

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                                                                                                                        Examples
                                                                                                                        Examples
                                                                                                                        Support
                                                                                                                        Help

                                                                                                                        Examples

                                                                                                                        • UART Interface: Simple C example of a MAVLink to UART interface for Unix-like systems.
                                                                                                                        • UDP Example: Simple C example of a MAVLink UDP interface for Unix-like systems (Linux, MacOS, BSD, etc.).

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                                                                                                                          Examples

                                                                                                                          The following examples show the use of the API.

                                                                                                                          In addition, the C library is used in numerous open source systems:

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                                                                                                                            Examples

                                                                                                                            The following examples show the use of the API.

                                                                                                                            In addition, the C library is used in numerous open source systems:

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                                                                                                                              \ No newline at end of file diff --git a/en/mavgen_c/message_signing_c.html b/en/mavgen_c/message_signing_c.html index f03ac6995..26b14cba5 100644 --- a/en/mavgen_c/message_signing_c.html +++ b/en/mavgen_c/message_signing_c.html @@ -39,4 +39,4 @@ self.target_component == msg.get_srcComponent()): # change to link_id from incoming packet self.mav.signing.link_id = msg.get_link_id() -

                                                                                                                              What that says is that if the current link ID in use by MAVProxy is zero, and it receives a correctly signed packet with a non-zero link ID then it switches link ID to the one from the incoming packet.

                                                                                                                              This has the effect of making the GCS slave its link ID to the link ID of the autopilot.

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                                                                                                                                What that says is that if the current link ID in use by MAVProxy is zero, and it receives a correctly signed packet with a non-zero link ID then it switches link ID to the one from the incoming packet.

                                                                                                                                This has the effect of making the GCS slave its link ID to the link ID of the autopilot.

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                                                                                                                                  Messages
                                                                                                                                  Messages
                                                                                                                                  FAQ
                                                                                                                                  FAQ
                                                                                                                                  Implementations
                                                                                                                                  Implementations
                                                                                                                                  Examples
                                                                                                                                  Examples
                                                                                                                                  Support
                                                                                                                                  Help

                                                                                                                                  Other examples:

                                                                                                                                  Complex examples:

                                                                                                                                  • MAVProxy is a command line, console based UAV ground station software package for MAVLink based systems built on Pymavlink.

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                                                                                                                                    Messages
                                                                                                                                    Messages
                                                                                                                                    FAQ
                                                                                                                                    FAQ
                                                                                                                                    Implementations
                                                                                                                                    Implementations
                                                                                                                                    Examples
                                                                                                                                    Examples
                                                                                                                                    Support
                                                                                                                                    Help

                                                                                                                                    Other examples:

                                                                                                                                    Complex examples:

                                                                                                                                    • MAVProxy is a command line, console based UAV ground station software package for MAVLink based systems built on Pymavlink.

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                                                                                                                                      \ No newline at end of file diff --git a/en/mavgen_python/howto_requestmessages.html b/en/mavgen_python/howto_requestmessages.html index a1f0c89e4..f754acec4 100644 --- a/en/mavgen_python/howto_requestmessages.html +++ b/en/mavgen_python/howto_requestmessages.html @@ -37,4 +37,4 @@ print("Command accepted") else: print("Command failed") -

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                                                                                                                                          \ No newline at end of file diff --git a/en/mavgen_python/index.html b/en/mavgen_python/index.html index affc57cc6..62f930cc4 100644 --- a/en/mavgen_python/index.html +++ b/en/mavgen_python/index.html @@ -77,4 +77,4 @@ # Send heartbeat from a MAVLink application. the_connection.mav.heartbeat_send(mavutil.mavlink.MAV_TYPE_ONBOARD_CONTROLLER, mavutil.mavlink.MAV_AUTOPILOT_INVALID, 0, 0, 0) -

                                                                                                                                          The various types used above come from enum in the dialect file.

                                                                                                                                          The rate at which the heartbeat should be sent depends on the channel, but is normally 1Hz.

                                                                                                                                          Generally it should be sent from the same thread as all other messages. This is in order to ensure that the heartbeat is only published when the thread is healthy.

                                                                                                                                          Message Signing

                                                                                                                                          Pymavlink supports Message Signing (authentication) when using MAVLink 2.

                                                                                                                                          The Pymavlink library already implements almost all of the expected behaviour for signing messages. All you need to do is provide a secret key and initial timestamp, optionally specify whether or not outgoing messages should be signed, a link id, and a callback for determining which unsigned messages (if any) will be accepted.

                                                                                                                                          For more information see Message Signing (Pymavlink).

                                                                                                                                          Examples

                                                                                                                                          See Examples (pymavlink)

                                                                                                                                          Support

                                                                                                                                          Pymavlink questions can be raised in the normal MAVLink support channels.

                                                                                                                                          The Pymavlink Gitter channel also has an active support community.

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                                                                                                                                            The various types used above come from enum in the dialect file.

                                                                                                                                            The rate at which the heartbeat should be sent depends on the channel, but is normally 1Hz.

                                                                                                                                            Generally it should be sent from the same thread as all other messages. This is in order to ensure that the heartbeat is only published when the thread is healthy.

                                                                                                                                            Message Signing

                                                                                                                                            Pymavlink supports Message Signing (authentication) when using MAVLink 2.

                                                                                                                                            The Pymavlink library already implements almost all of the expected behaviour for signing messages. All you need to do is provide a secret key and initial timestamp, optionally specify whether or not outgoing messages should be signed, a link id, and a callback for determining which unsigned messages (if any) will be accepted.

                                                                                                                                            For more information see Message Signing (Pymavlink).

                                                                                                                                            Examples

                                                                                                                                            See Examples (pymavlink)

                                                                                                                                            Support

                                                                                                                                            Pymavlink questions can be raised in the normal MAVLink support channels.

                                                                                                                                            The Pymavlink Gitter channel also has an active support community.

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                                                                                                                                              \ No newline at end of file diff --git a/en/mavgen_python/message_signing.html b/en/mavgen_python/message_signing.html index c850d8bbe..875d34fbb 100644 --- a/en/mavgen_python/message_signing.html +++ b/en/mavgen_python/message_signing.html @@ -25,4 +25,4 @@ # Pass the callback to the connection (here we also pass an arbitrary secret key) secret_key = chr(42)*32 the_connection.setup_signing(secret_key, sign_outgoing=True, allow_unsigned_callback=my_allow_unsigned_callback) -

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                                                                                                                                                  \ No newline at end of file diff --git a/en/messages/ASLUAV.html b/en/messages/ASLUAV.html index a5bae83e5..0c8e5abee 100644 --- a/en/messages/ASLUAV.html +++ b/en/messages/ASLUAV.html @@ -1 +1 @@ -ASLUAV.xml · MAVLink Developer Guide
                                                                                                                                                  Messages
                                                                                                                                                  Messages
                                                                                                                                                  FAQ
                                                                                                                                                  FAQ
                                                                                                                                                  Implementations
                                                                                                                                                  Implementations
                                                                                                                                                  Examples
                                                                                                                                                  Examples
                                                                                                                                                  Support
                                                                                                                                                  Help

                                                                                                                                                  Dialect: ASLUAV

                                                                                                                                                  This topic documents the version of the dialect file in the mavlink/mavlink Github repository, which may not be up to date with the file in the source repository (it is up to the dialect owner to push changes when needed). The source repo should be listed in the comments at the top of the XML definition file listed below (but may not be).

                                                                                                                                                  This topic is a human-readable form of the XML definition file: ASLUAV.xml.

                                                                                                                                                  • MAVLink 2 extension fields are displayed in blue.
                                                                                                                                                  • Entities from dialects are displayed only as headings (with link to original)

                                                                                                                                                  Summary

                                                                                                                                                  TypeDefinedIncluded
                                                                                                                                                  Messages17224
                                                                                                                                                  Enums2143
                                                                                                                                                  Commands1660

                                                                                                                                                  The following sections list all entities in the dialect (both included and defined in this file).

                                                                                                                                                  Messages

                                                                                                                                                  COMMAND_INT_STAMPED (223)

                                                                                                                                                  Message encoding a command with parameters as scaled integers and additional metadata. Scaling depends on the actual command value.

                                                                                                                                                  Field NameTypeValuesDescription
                                                                                                                                                  utc_timeuint32_tUTC time, seconds elapsed since 01.01.1970
                                                                                                                                                  vehicle_timestampuint64_tMicroseconds elapsed since vehicle boot
                                                                                                                                                  target_systemuint8_tSystem ID
                                                                                                                                                  target_componentuint8_tComponent ID
                                                                                                                                                  frameuint8_tMAV_FRAMEThe coordinate system of the COMMAND, as defined by MAV_FRAME enum
                                                                                                                                                  commanduint16_tMAV_CMDThe scheduled action for the mission item, as defined by MAV_CMD enum
                                                                                                                                                  currentuint8_tfalse:0, true:1
                                                                                                                                                  autocontinueuint8_tautocontinue to next wp
                                                                                                                                                  param1floatPARAM1, see MAV_CMD enum
                                                                                                                                                  param2floatPARAM2, see MAV_CMD enum
                                                                                                                                                  param3floatPARAM3, see MAV_CMD enum
                                                                                                                                                  param4floatPARAM4, see MAV_CMD enum
                                                                                                                                                  xint32_tPARAM5 / local: x position in meters 1e4, global: latitude in degrees 10^7
                                                                                                                                                  yint32_tPARAM6 / local: y position in meters 1e4, global: longitude in degrees 10^7
                                                                                                                                                  zfloatPARAM7 / z position: global: altitude in meters (MSL, WGS84, AGL or relative to home - depending on frame).

                                                                                                                                                  COMMAND_LONG_STAMPED (224)

                                                                                                                                                  Send a command with up to seven parameters to the MAV and additional metadata

                                                                                                                                                  Field NameTypeValuesDescription
                                                                                                                                                  utc_timeuint32_tUTC time, seconds elapsed since 01.01.1970
                                                                                                                                                  vehicle_timestampuint64_tMicroseconds elapsed since vehicle boot
                                                                                                                                                  target_systemuint8_tSystem which should execute the command
                                                                                                                                                  target_componentuint8_tComponent which should execute the command, 0 for all components
                                                                                                                                                  commanduint16_tMAV_CMDCommand ID, as defined by MAV_CMD enum.
                                                                                                                                                  confirmationuint8_t0: First transmission of this command. 1-255: Confirmation transmissions (e.g. for kill command)
                                                                                                                                                  param1floatParameter 1, as defined by MAV_CMD enum.
                                                                                                                                                  param2floatParameter 2, as defined by MAV_CMD enum.
                                                                                                                                                  param3floatParameter 3, as defined by MAV_CMD enum.
                                                                                                                                                  param4floatParameter 4, as defined by MAV_CMD enum.
                                                                                                                                                  param5floatParameter 5, as defined by MAV_CMD enum.
                                                                                                                                                  param6floatParameter 6, as defined by MAV_CMD enum.
                                                                                                                                                  param7floatParameter 7, as defined by MAV_CMD enum.

                                                                                                                                                  SENS_POWER (8002)

                                                                                                                                                  Voltage and current sensor data

                                                                                                                                                  Field NameTypeUnitsDescription
                                                                                                                                                  adc121_vspb_voltfloatVPower board voltage sensor reading
                                                                                                                                                  adc121_cspb_ampfloatAPower board current sensor reading
                                                                                                                                                  adc121_cs1_ampfloatABoard current sensor 1 reading
                                                                                                                                                  adc121_cs2_ampfloatABoard current sensor 2 reading

                                                                                                                                                  SENS_MPPT (8003)

                                                                                                                                                  Maximum Power Point Tracker (MPPT) sensor data for solar module power performance tracking

                                                                                                                                                  Field NameTypeUnitsDescription
                                                                                                                                                  mppt_timestampuint64_tusMPPT last timestamp
                                                                                                                                                  mppt1_voltfloatVMPPT1 voltage
                                                                                                                                                  mppt1_ampfloatAMPPT1 current
                                                                                                                                                  mppt1_pwmuint16_tusMPPT1 pwm
                                                                                                                                                  mppt1_statusuint8_tMPPT1 status
                                                                                                                                                  mppt2_voltfloatVMPPT2 voltage
                                                                                                                                                  mppt2_ampfloatAMPPT2 current
                                                                                                                                                  mppt2_pwmuint16_tusMPPT2 pwm
                                                                                                                                                  mppt2_statusuint8_tMPPT2 status
                                                                                                                                                  mppt3_voltfloatVMPPT3 voltage
                                                                                                                                                  mppt3_ampfloatAMPPT3 current
                                                                                                                                                  mppt3_pwmuint16_tusMPPT3 pwm
                                                                                                                                                  mppt3_statusuint8_tMPPT3 status

                                                                                                                                                  ASLCTRL_DATA (8004)

                                                                                                                                                  ASL-fixed-wing controller data

                                                                                                                                                  Field NameTypeUnitsDescription
                                                                                                                                                  timestampuint64_tusTimestamp
                                                                                                                                                  aslctrl_modeuint8_tASLCTRL control-mode (manual, stabilized, auto, etc...)
                                                                                                                                                  hfloatSee sourcecode for a description of these values...
                                                                                                                                                  hReffloat
                                                                                                                                                  hRef_tfloat
                                                                                                                                                  PitchAnglefloatdegPitch angle
                                                                                                                                                  PitchAngleReffloatdegPitch angle reference
                                                                                                                                                  qfloat
                                                                                                                                                  qReffloat
                                                                                                                                                  uElevfloat
                                                                                                                                                  uThrotfloat
                                                                                                                                                  uThrot2float
                                                                                                                                                  nZfloat
                                                                                                                                                  AirspeedReffloatm/sAirspeed reference
                                                                                                                                                  SpoilersEngageduint8_t
                                                                                                                                                  YawAnglefloatdegYaw angle
                                                                                                                                                  YawAngleReffloatdegYaw angle reference
                                                                                                                                                  RollAnglefloatdegRoll angle
                                                                                                                                                  RollAngleReffloatdegRoll angle reference
                                                                                                                                                  pfloat
                                                                                                                                                  pReffloat
                                                                                                                                                  rfloat
                                                                                                                                                  rReffloat
                                                                                                                                                  uAilfloat
                                                                                                                                                  uRudfloat

                                                                                                                                                  ASLCTRL_DEBUG (8005)

                                                                                                                                                  ASL-fixed-wing controller debug data

                                                                                                                                                  Field NameTypeDescription
                                                                                                                                                  i32_1uint32_tDebug data
                                                                                                                                                  i8_1uint8_tDebug data
                                                                                                                                                  i8_2uint8_tDebug data
                                                                                                                                                  f_1floatDebug data
                                                                                                                                                  f_2floatDebug data
                                                                                                                                                  f_3floatDebug data
                                                                                                                                                  f_4floatDebug data
                                                                                                                                                  f_5floatDebug data
                                                                                                                                                  f_6floatDebug data
                                                                                                                                                  f_7floatDebug data
                                                                                                                                                  f_8floatDebug data

                                                                                                                                                  ASLUAV_STATUS (8006)

                                                                                                                                                  Extended state information for ASLUAVs

                                                                                                                                                  Field NameTypeDescription
                                                                                                                                                  LED_statusuint8_tStatus of the position-indicator LEDs
                                                                                                                                                  SATCOM_statusuint8_tStatus of the IRIDIUM satellite communication system
                                                                                                                                                  Servo_statusuint8_t[8]Status vector for up to 8 servos
                                                                                                                                                  Motor_rpmfloatMotor RPM

                                                                                                                                                  EKF_EXT (8007)

                                                                                                                                                  Extended EKF state estimates for ASLUAVs

                                                                                                                                                  Field NameTypeUnitsDescription
                                                                                                                                                  timestampuint64_tusTime since system start
                                                                                                                                                  Windspeedfloatm/sMagnitude of wind velocity (in lateral inertial plane)
                                                                                                                                                  WindDirfloatradWind heading angle from North
                                                                                                                                                  WindZfloatm/sZ (Down) component of inertial wind velocity
                                                                                                                                                  Airspeedfloatm/sMagnitude of air velocity
                                                                                                                                                  betafloatradSideslip angle
                                                                                                                                                  alphafloatradAngle of attack

                                                                                                                                                  ASL_OBCTRL (8008)

                                                                                                                                                  Off-board controls/commands for ASLUAVs

                                                                                                                                                  Field NameTypeUnitsDescription
                                                                                                                                                  timestampuint64_tusTime since system start
                                                                                                                                                  uElevfloatElevator command [~]
                                                                                                                                                  uThrotfloatThrottle command [~]
                                                                                                                                                  uThrot2floatThrottle 2 command [~]
                                                                                                                                                  uAilLfloatLeft aileron command [~]
                                                                                                                                                  uAilRfloatRight aileron command [~]
                                                                                                                                                  uRudfloatRudder command [~]
                                                                                                                                                  obctrl_statusuint8_tOff-board computer status

                                                                                                                                                  SENS_ATMOS (8009)

                                                                                                                                                  Atmospheric sensors (temperature, humidity, ...)

                                                                                                                                                  Field NameTypeUnitsDescription
                                                                                                                                                  timestampuint64_tusTime since system boot
                                                                                                                                                  TempAmbientfloatdegCAmbient temperature
                                                                                                                                                  Humidityfloat%Relative humidity

                                                                                                                                                  SENS_BATMON (8010)

                                                                                                                                                  Battery pack monitoring data for Li-Ion batteries

                                                                                                                                                  Field NameTypeUnitsDescription
                                                                                                                                                  batmon_timestampuint64_tusTime since system start
                                                                                                                                                  temperaturefloatdegCBattery pack temperature
                                                                                                                                                  voltageuint16_tmVBattery pack voltage
                                                                                                                                                  currentint16_tmABattery pack current
                                                                                                                                                  SoCuint8_tBattery pack state-of-charge
                                                                                                                                                  batterystatusuint16_tBattery monitor status report bits in Hex
                                                                                                                                                  serialnumberuint16_tBattery monitor serial number in Hex
                                                                                                                                                  safetystatusuint32_tBattery monitor safetystatus report bits in Hex
                                                                                                                                                  operationstatusuint32_tBattery monitor operation status report bits in Hex
                                                                                                                                                  cellvoltage1uint16_tmVBattery pack cell 1 voltage
                                                                                                                                                  cellvoltage2uint16_tmVBattery pack cell 2 voltage
                                                                                                                                                  cellvoltage3uint16_tmVBattery pack cell 3 voltage
                                                                                                                                                  cellvoltage4uint16_tmVBattery pack cell 4 voltage
                                                                                                                                                  cellvoltage5uint16_tmVBattery pack cell 5 voltage
                                                                                                                                                  cellvoltage6uint16_tmVBattery pack cell 6 voltage

                                                                                                                                                  FW_SOARING_DATA (8011)

                                                                                                                                                  Fixed-wing soaring (i.e. thermal seeking) data

                                                                                                                                                  Field NameTypeUnitsDescription
                                                                                                                                                  timestampuint64_tmsTimestamp
                                                                                                                                                  timestampModeChangeduint64_tmsTimestamp since last mode change
                                                                                                                                                  xWfloatm/sThermal core updraft strength
                                                                                                                                                  xRfloatmThermal radius
                                                                                                                                                  xLatfloatdegThermal center latitude
                                                                                                                                                  xLonfloatdegThermal center longitude
                                                                                                                                                  VarWfloatVariance W
                                                                                                                                                  VarRfloatVariance R
                                                                                                                                                  VarLatfloatVariance Lat
                                                                                                                                                  VarLonfloatVariance Lon
                                                                                                                                                  LoiterRadiusfloatmSuggested loiter radius
                                                                                                                                                  LoiterDirectionfloatSuggested loiter direction
                                                                                                                                                  DistToSoarPointfloatmDistance to soar point
                                                                                                                                                  vSinkExpfloatm/sExpected sink rate at current airspeed, roll and throttle
                                                                                                                                                  z1_LocalUpdraftSpeedfloatm/sMeasurement / updraft speed at current/local airplane position
                                                                                                                                                  z2_DeltaRollfloatdegMeasurement / roll angle tracking error
                                                                                                                                                  z1_expfloatExpected measurement 1
                                                                                                                                                  z2_expfloatExpected measurement 2
                                                                                                                                                  ThermalGSNorthfloatm/sThermal drift (from estimator prediction step only)
                                                                                                                                                  ThermalGSEastfloatm/sThermal drift (from estimator prediction step only)
                                                                                                                                                  TSE_dotfloatm/sTotal specific energy change (filtered)
                                                                                                                                                  DebugVar1floatDebug variable 1
                                                                                                                                                  DebugVar2floatDebug variable 2
                                                                                                                                                  ControlModeuint8_tControl Mode [-]
                                                                                                                                                  validuint8_tData valid [-]

                                                                                                                                                  SENSORPOD_STATUS (8012)

                                                                                                                                                  Monitoring of sensorpod status

                                                                                                                                                  Field NameTypeUnitsDescription
                                                                                                                                                  timestampuint64_tmsTimestamp in linuxtime (since 1.1.1970)
                                                                                                                                                  visensor_rate_1uint8_tRate of ROS topic 1
                                                                                                                                                  visensor_rate_2uint8_tRate of ROS topic 2
                                                                                                                                                  visensor_rate_3uint8_tRate of ROS topic 3
                                                                                                                                                  visensor_rate_4uint8_tRate of ROS topic 4
                                                                                                                                                  recording_nodes_countuint8_tNumber of recording nodes
                                                                                                                                                  cpu_tempuint8_tdegCTemperature of sensorpod CPU in
                                                                                                                                                  free_spaceuint16_tFree space available in recordings directory in [Gb] * 1e2

                                                                                                                                                  SENS_POWER_BOARD (8013)

                                                                                                                                                  Monitoring of power board status

                                                                                                                                                  Field NameTypeUnitsDescription
                                                                                                                                                  timestampuint64_tusTimestamp
                                                                                                                                                  pwr_brd_statusuint8_tPower board status register
                                                                                                                                                  pwr_brd_led_statusuint8_tPower board leds status
                                                                                                                                                  pwr_brd_system_voltfloatVPower board system voltage
                                                                                                                                                  pwr_brd_servo_voltfloatVPower board servo voltage
                                                                                                                                                  pwr_brd_digital_voltfloatVPower board digital voltage
                                                                                                                                                  pwr_brd_mot_l_ampfloatAPower board left motor current sensor
                                                                                                                                                  pwr_brd_mot_r_ampfloatAPower board right motor current sensor
                                                                                                                                                  pwr_brd_analog_ampfloatAPower board analog current sensor
                                                                                                                                                  pwr_brd_digital_ampfloatAPower board digital current sensor
                                                                                                                                                  pwr_brd_ext_ampfloatAPower board extension current sensor
                                                                                                                                                  pwr_brd_aux_ampfloatAPower board aux current sensor

                                                                                                                                                  Status of GSM modem (connected to onboard computer)

                                                                                                                                                  Field NameTypeUnitsValuesDescription
                                                                                                                                                  timestampuint64_tusTimestamp (of OBC)
                                                                                                                                                  gsm_modem_typeuint8_tGSM_MODEM_TYPEGSM modem used
                                                                                                                                                  gsm_link_typeuint8_tGSM_LINK_TYPEGSM link type
                                                                                                                                                  rssiuint8_tRSSI as reported by modem (unconverted)
                                                                                                                                                  rsrp_rscpuint8_tRSRP (LTE) or RSCP (WCDMA) as reported by modem (unconverted)
                                                                                                                                                  sinr_eciouint8_tSINR (LTE) or ECIO (WCDMA) as reported by modem (unconverted)
                                                                                                                                                  rsrquint8_tRSRQ (LTE only) as reported by modem (unconverted)

                                                                                                                                                  Status of the SatCom link

                                                                                                                                                  Field NameTypeUnitsDescription
                                                                                                                                                  timestampuint64_tusTimestamp
                                                                                                                                                  last_heartbeatuint64_tusTimestamp of the last successful sbd session
                                                                                                                                                  failed_sessionsuint16_tNumber of failed sessions
                                                                                                                                                  successful_sessionsuint16_tNumber of successful sessions
                                                                                                                                                  signal_qualityuint8_tSignal quality
                                                                                                                                                  ring_pendinguint8_tRing call pending
                                                                                                                                                  tx_session_pendinguint8_tTransmission session pending
                                                                                                                                                  rx_session_pendinguint8_tReceiving session pending

                                                                                                                                                  SENSOR_AIRFLOW_ANGLES (8016)

                                                                                                                                                  Calibrated airflow angle measurements

                                                                                                                                                  Field NameTypeUnitsDescription
                                                                                                                                                  timestampuint64_tusTimestamp
                                                                                                                                                  angleofattackfloatdegAngle of attack
                                                                                                                                                  angleofattack_validuint8_tAngle of attack measurement valid
                                                                                                                                                  sideslipfloatdegSideslip angle
                                                                                                                                                  sideslip_validuint8_tSideslip angle measurement valid

                                                                                                                                                  Enumerated Types

                                                                                                                                                  ValueNameDescription
                                                                                                                                                  0GSM_LINK_TYPE_NONEno service
                                                                                                                                                  1GSM_LINK_TYPE_UNKNOWNlink type unknown
                                                                                                                                                  2GSM_LINK_TYPE_2G2G (GSM/GRPS/EDGE) link
                                                                                                                                                  3GSM_LINK_TYPE_3G3G link (WCDMA/HSDPA/HSPA)
                                                                                                                                                  4GSM_LINK_TYPE_4G4G link (LTE)

                                                                                                                                                  GSM_MODEM_TYPE

                                                                                                                                                  ValueNameDescription
                                                                                                                                                  0GSM_MODEM_TYPE_UNKNOWNnot specified
                                                                                                                                                  1GSM_MODEM_TYPE_HUAWEI_E3372HUAWEI LTE USB Stick E3372

                                                                                                                                                  Commands (MAV_CMD)

                                                                                                                                                  MAV_CMD_RESET_MPPT (40001)

                                                                                                                                                  Mission command to reset Maximum Power Point Tracker (MPPT)

                                                                                                                                                  Param (Label)Description
                                                                                                                                                  1MPPT number
                                                                                                                                                  2Empty
                                                                                                                                                  3Empty
                                                                                                                                                  4Empty
                                                                                                                                                  5Empty
                                                                                                                                                  6Empty
                                                                                                                                                  7Empty

                                                                                                                                                  MAV_CMD_PAYLOAD_CONTROL (40002)

                                                                                                                                                  Mission command to perform a power cycle on payload

                                                                                                                                                  Param (Label)Description
                                                                                                                                                  1Complete power cycle
                                                                                                                                                  2VISensor power cycle
                                                                                                                                                  3Empty
                                                                                                                                                  4Empty
                                                                                                                                                  5Empty
                                                                                                                                                  6Empty
                                                                                                                                                  7Empty

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                                                                                                                                                    Dialect: ASLUAV

                                                                                                                                                    This topic documents the version of the dialect file in the mavlink/mavlink Github repository, which may not be up to date with the file in the source repository (it is up to the dialect owner to push changes when needed). The source repo should be listed in the comments at the top of the XML definition file listed below (but may not be).

                                                                                                                                                    This topic is a human-readable form of the XML definition file: ASLUAV.xml.

                                                                                                                                                    • MAVLink 2 extension fields are displayed in blue.
                                                                                                                                                    • Entities from dialects are displayed only as headings (with link to original)

                                                                                                                                                    Summary

                                                                                                                                                    TypeDefinedIncluded
                                                                                                                                                    Messages17224
                                                                                                                                                    Enums2143
                                                                                                                                                    Commands1660

                                                                                                                                                    The following sections list all entities in the dialect (both included and defined in this file).

                                                                                                                                                    Messages

                                                                                                                                                    COMMAND_INT_STAMPED (223)

                                                                                                                                                    Message encoding a command with parameters as scaled integers and additional metadata. Scaling depends on the actual command value.

                                                                                                                                                    Field NameTypeValuesDescription
                                                                                                                                                    utc_timeuint32_tUTC time, seconds elapsed since 01.01.1970
                                                                                                                                                    vehicle_timestampuint64_tMicroseconds elapsed since vehicle boot
                                                                                                                                                    target_systemuint8_tSystem ID
                                                                                                                                                    target_componentuint8_tComponent ID
                                                                                                                                                    frameuint8_tMAV_FRAMEThe coordinate system of the COMMAND, as defined by MAV_FRAME enum
                                                                                                                                                    commanduint16_tMAV_CMDThe scheduled action for the mission item, as defined by MAV_CMD enum
                                                                                                                                                    currentuint8_tfalse:0, true:1
                                                                                                                                                    autocontinueuint8_tautocontinue to next wp
                                                                                                                                                    param1floatPARAM1, see MAV_CMD enum
                                                                                                                                                    param2floatPARAM2, see MAV_CMD enum
                                                                                                                                                    param3floatPARAM3, see MAV_CMD enum
                                                                                                                                                    param4floatPARAM4, see MAV_CMD enum
                                                                                                                                                    xint32_tPARAM5 / local: x position in meters 1e4, global: latitude in degrees 10^7
                                                                                                                                                    yint32_tPARAM6 / local: y position in meters 1e4, global: longitude in degrees 10^7
                                                                                                                                                    zfloatPARAM7 / z position: global: altitude in meters (MSL, WGS84, AGL or relative to home - depending on frame).

                                                                                                                                                    COMMAND_LONG_STAMPED (224)

                                                                                                                                                    Send a command with up to seven parameters to the MAV and additional metadata

                                                                                                                                                    Field NameTypeValuesDescription
                                                                                                                                                    utc_timeuint32_tUTC time, seconds elapsed since 01.01.1970
                                                                                                                                                    vehicle_timestampuint64_tMicroseconds elapsed since vehicle boot
                                                                                                                                                    target_systemuint8_tSystem which should execute the command
                                                                                                                                                    target_componentuint8_tComponent which should execute the command, 0 for all components
                                                                                                                                                    commanduint16_tMAV_CMDCommand ID, as defined by MAV_CMD enum.
                                                                                                                                                    confirmationuint8_t0: First transmission of this command. 1-255: Confirmation transmissions (e.g. for kill command)
                                                                                                                                                    param1floatParameter 1, as defined by MAV_CMD enum.
                                                                                                                                                    param2floatParameter 2, as defined by MAV_CMD enum.
                                                                                                                                                    param3floatParameter 3, as defined by MAV_CMD enum.
                                                                                                                                                    param4floatParameter 4, as defined by MAV_CMD enum.
                                                                                                                                                    param5floatParameter 5, as defined by MAV_CMD enum.
                                                                                                                                                    param6floatParameter 6, as defined by MAV_CMD enum.
                                                                                                                                                    param7floatParameter 7, as defined by MAV_CMD enum.

                                                                                                                                                    SENS_POWER (8002)

                                                                                                                                                    Voltage and current sensor data

                                                                                                                                                    Field NameTypeUnitsDescription
                                                                                                                                                    adc121_vspb_voltfloatVPower board voltage sensor reading
                                                                                                                                                    adc121_cspb_ampfloatAPower board current sensor reading
                                                                                                                                                    adc121_cs1_ampfloatABoard current sensor 1 reading
                                                                                                                                                    adc121_cs2_ampfloatABoard current sensor 2 reading

                                                                                                                                                    SENS_MPPT (8003)

                                                                                                                                                    Maximum Power Point Tracker (MPPT) sensor data for solar module power performance tracking

                                                                                                                                                    Field NameTypeUnitsDescription
                                                                                                                                                    mppt_timestampuint64_tusMPPT last timestamp
                                                                                                                                                    mppt1_voltfloatVMPPT1 voltage
                                                                                                                                                    mppt1_ampfloatAMPPT1 current
                                                                                                                                                    mppt1_pwmuint16_tusMPPT1 pwm
                                                                                                                                                    mppt1_statusuint8_tMPPT1 status
                                                                                                                                                    mppt2_voltfloatVMPPT2 voltage
                                                                                                                                                    mppt2_ampfloatAMPPT2 current
                                                                                                                                                    mppt2_pwmuint16_tusMPPT2 pwm
                                                                                                                                                    mppt2_statusuint8_tMPPT2 status
                                                                                                                                                    mppt3_voltfloatVMPPT3 voltage
                                                                                                                                                    mppt3_ampfloatAMPPT3 current
                                                                                                                                                    mppt3_pwmuint16_tusMPPT3 pwm
                                                                                                                                                    mppt3_statusuint8_tMPPT3 status

                                                                                                                                                    ASLCTRL_DATA (8004)

                                                                                                                                                    ASL-fixed-wing controller data

                                                                                                                                                    Field NameTypeUnitsDescription
                                                                                                                                                    timestampuint64_tusTimestamp
                                                                                                                                                    aslctrl_modeuint8_tASLCTRL control-mode (manual, stabilized, auto, etc...)
                                                                                                                                                    hfloatSee sourcecode for a description of these values...
                                                                                                                                                    hReffloat
                                                                                                                                                    hRef_tfloat
                                                                                                                                                    PitchAnglefloatdegPitch angle
                                                                                                                                                    PitchAngleReffloatdegPitch angle reference
                                                                                                                                                    qfloat
                                                                                                                                                    qReffloat
                                                                                                                                                    uElevfloat
                                                                                                                                                    uThrotfloat
                                                                                                                                                    uThrot2float
                                                                                                                                                    nZfloat
                                                                                                                                                    AirspeedReffloatm/sAirspeed reference
                                                                                                                                                    SpoilersEngageduint8_t
                                                                                                                                                    YawAnglefloatdegYaw angle
                                                                                                                                                    YawAngleReffloatdegYaw angle reference
                                                                                                                                                    RollAnglefloatdegRoll angle
                                                                                                                                                    RollAngleReffloatdegRoll angle reference
                                                                                                                                                    pfloat
                                                                                                                                                    pReffloat
                                                                                                                                                    rfloat
                                                                                                                                                    rReffloat
                                                                                                                                                    uAilfloat
                                                                                                                                                    uRudfloat

                                                                                                                                                    ASLCTRL_DEBUG (8005)

                                                                                                                                                    ASL-fixed-wing controller debug data

                                                                                                                                                    Field NameTypeDescription
                                                                                                                                                    i32_1uint32_tDebug data
                                                                                                                                                    i8_1uint8_tDebug data
                                                                                                                                                    i8_2uint8_tDebug data
                                                                                                                                                    f_1floatDebug data
                                                                                                                                                    f_2floatDebug data
                                                                                                                                                    f_3floatDebug data
                                                                                                                                                    f_4floatDebug data
                                                                                                                                                    f_5floatDebug data
                                                                                                                                                    f_6floatDebug data
                                                                                                                                                    f_7floatDebug data
                                                                                                                                                    f_8floatDebug data

                                                                                                                                                    ASLUAV_STATUS (8006)

                                                                                                                                                    Extended state information for ASLUAVs

                                                                                                                                                    Field NameTypeDescription
                                                                                                                                                    LED_statusuint8_tStatus of the position-indicator LEDs
                                                                                                                                                    SATCOM_statusuint8_tStatus of the IRIDIUM satellite communication system
                                                                                                                                                    Servo_statusuint8_t[8]Status vector for up to 8 servos
                                                                                                                                                    Motor_rpmfloatMotor RPM

                                                                                                                                                    EKF_EXT (8007)

                                                                                                                                                    Extended EKF state estimates for ASLUAVs

                                                                                                                                                    Field NameTypeUnitsDescription
                                                                                                                                                    timestampuint64_tusTime since system start
                                                                                                                                                    Windspeedfloatm/sMagnitude of wind velocity (in lateral inertial plane)
                                                                                                                                                    WindDirfloatradWind heading angle from North
                                                                                                                                                    WindZfloatm/sZ (Down) component of inertial wind velocity
                                                                                                                                                    Airspeedfloatm/sMagnitude of air velocity
                                                                                                                                                    betafloatradSideslip angle
                                                                                                                                                    alphafloatradAngle of attack

                                                                                                                                                    ASL_OBCTRL (8008)

                                                                                                                                                    Off-board controls/commands for ASLUAVs

                                                                                                                                                    Field NameTypeUnitsDescription
                                                                                                                                                    timestampuint64_tusTime since system start
                                                                                                                                                    uElevfloatElevator command [~]
                                                                                                                                                    uThrotfloatThrottle command [~]
                                                                                                                                                    uThrot2floatThrottle 2 command [~]
                                                                                                                                                    uAilLfloatLeft aileron command [~]
                                                                                                                                                    uAilRfloatRight aileron command [~]
                                                                                                                                                    uRudfloatRudder command [~]
                                                                                                                                                    obctrl_statusuint8_tOff-board computer status

                                                                                                                                                    SENS_ATMOS (8009)

                                                                                                                                                    Atmospheric sensors (temperature, humidity, ...)

                                                                                                                                                    Field NameTypeUnitsDescription
                                                                                                                                                    timestampuint64_tusTime since system boot
                                                                                                                                                    TempAmbientfloatdegCAmbient temperature
                                                                                                                                                    Humidityfloat%Relative humidity

                                                                                                                                                    SENS_BATMON (8010)

                                                                                                                                                    Battery pack monitoring data for Li-Ion batteries

                                                                                                                                                    Field NameTypeUnitsDescription
                                                                                                                                                    batmon_timestampuint64_tusTime since system start
                                                                                                                                                    temperaturefloatdegCBattery pack temperature
                                                                                                                                                    voltageuint16_tmVBattery pack voltage
                                                                                                                                                    currentint16_tmABattery pack current
                                                                                                                                                    SoCuint8_tBattery pack state-of-charge
                                                                                                                                                    batterystatusuint16_tBattery monitor status report bits in Hex
                                                                                                                                                    serialnumberuint16_tBattery monitor serial number in Hex
                                                                                                                                                    safetystatusuint32_tBattery monitor safetystatus report bits in Hex
                                                                                                                                                    operationstatusuint32_tBattery monitor operation status report bits in Hex
                                                                                                                                                    cellvoltage1uint16_tmVBattery pack cell 1 voltage
                                                                                                                                                    cellvoltage2uint16_tmVBattery pack cell 2 voltage
                                                                                                                                                    cellvoltage3uint16_tmVBattery pack cell 3 voltage
                                                                                                                                                    cellvoltage4uint16_tmVBattery pack cell 4 voltage
                                                                                                                                                    cellvoltage5uint16_tmVBattery pack cell 5 voltage
                                                                                                                                                    cellvoltage6uint16_tmVBattery pack cell 6 voltage

                                                                                                                                                    FW_SOARING_DATA (8011)

                                                                                                                                                    Fixed-wing soaring (i.e. thermal seeking) data

                                                                                                                                                    Field NameTypeUnitsDescription
                                                                                                                                                    timestampuint64_tmsTimestamp
                                                                                                                                                    timestampModeChangeduint64_tmsTimestamp since last mode change
                                                                                                                                                    xWfloatm/sThermal core updraft strength
                                                                                                                                                    xRfloatmThermal radius
                                                                                                                                                    xLatfloatdegThermal center latitude
                                                                                                                                                    xLonfloatdegThermal center longitude
                                                                                                                                                    VarWfloatVariance W
                                                                                                                                                    VarRfloatVariance R
                                                                                                                                                    VarLatfloatVariance Lat
                                                                                                                                                    VarLonfloatVariance Lon
                                                                                                                                                    LoiterRadiusfloatmSuggested loiter radius
                                                                                                                                                    LoiterDirectionfloatSuggested loiter direction
                                                                                                                                                    DistToSoarPointfloatmDistance to soar point
                                                                                                                                                    vSinkExpfloatm/sExpected sink rate at current airspeed, roll and throttle
                                                                                                                                                    z1_LocalUpdraftSpeedfloatm/sMeasurement / updraft speed at current/local airplane position
                                                                                                                                                    z2_DeltaRollfloatdegMeasurement / roll angle tracking error
                                                                                                                                                    z1_expfloatExpected measurement 1
                                                                                                                                                    z2_expfloatExpected measurement 2
                                                                                                                                                    ThermalGSNorthfloatm/sThermal drift (from estimator prediction step only)
                                                                                                                                                    ThermalGSEastfloatm/sThermal drift (from estimator prediction step only)
                                                                                                                                                    TSE_dotfloatm/sTotal specific energy change (filtered)
                                                                                                                                                    DebugVar1floatDebug variable 1
                                                                                                                                                    DebugVar2floatDebug variable 2
                                                                                                                                                    ControlModeuint8_tControl Mode [-]
                                                                                                                                                    validuint8_tData valid [-]

                                                                                                                                                    SENSORPOD_STATUS (8012)

                                                                                                                                                    Monitoring of sensorpod status

                                                                                                                                                    Field NameTypeUnitsDescription
                                                                                                                                                    timestampuint64_tmsTimestamp in linuxtime (since 1.1.1970)
                                                                                                                                                    visensor_rate_1uint8_tRate of ROS topic 1
                                                                                                                                                    visensor_rate_2uint8_tRate of ROS topic 2
                                                                                                                                                    visensor_rate_3uint8_tRate of ROS topic 3
                                                                                                                                                    visensor_rate_4uint8_tRate of ROS topic 4
                                                                                                                                                    recording_nodes_countuint8_tNumber of recording nodes
                                                                                                                                                    cpu_tempuint8_tdegCTemperature of sensorpod CPU in
                                                                                                                                                    free_spaceuint16_tFree space available in recordings directory in [Gb] * 1e2

                                                                                                                                                    SENS_POWER_BOARD (8013)

                                                                                                                                                    Monitoring of power board status

                                                                                                                                                    Field NameTypeUnitsDescription
                                                                                                                                                    timestampuint64_tusTimestamp
                                                                                                                                                    pwr_brd_statusuint8_tPower board status register
                                                                                                                                                    pwr_brd_led_statusuint8_tPower board leds status
                                                                                                                                                    pwr_brd_system_voltfloatVPower board system voltage
                                                                                                                                                    pwr_brd_servo_voltfloatVPower board servo voltage
                                                                                                                                                    pwr_brd_digital_voltfloatVPower board digital voltage
                                                                                                                                                    pwr_brd_mot_l_ampfloatAPower board left motor current sensor
                                                                                                                                                    pwr_brd_mot_r_ampfloatAPower board right motor current sensor
                                                                                                                                                    pwr_brd_analog_ampfloatAPower board analog current sensor
                                                                                                                                                    pwr_brd_digital_ampfloatAPower board digital current sensor
                                                                                                                                                    pwr_brd_ext_ampfloatAPower board extension current sensor
                                                                                                                                                    pwr_brd_aux_ampfloatAPower board aux current sensor

                                                                                                                                                    Status of GSM modem (connected to onboard computer)

                                                                                                                                                    Field NameTypeUnitsValuesDescription
                                                                                                                                                    timestampuint64_tusTimestamp (of OBC)
                                                                                                                                                    gsm_modem_typeuint8_tGSM_MODEM_TYPEGSM modem used
                                                                                                                                                    gsm_link_typeuint8_tGSM_LINK_TYPEGSM link type
                                                                                                                                                    rssiuint8_tRSSI as reported by modem (unconverted)
                                                                                                                                                    rsrp_rscpuint8_tRSRP (LTE) or RSCP (WCDMA) as reported by modem (unconverted)
                                                                                                                                                    sinr_eciouint8_tSINR (LTE) or ECIO (WCDMA) as reported by modem (unconverted)
                                                                                                                                                    rsrquint8_tRSRQ (LTE only) as reported by modem (unconverted)

                                                                                                                                                    Status of the SatCom link

                                                                                                                                                    Field NameTypeUnitsDescription
                                                                                                                                                    timestampuint64_tusTimestamp
                                                                                                                                                    last_heartbeatuint64_tusTimestamp of the last successful sbd session
                                                                                                                                                    failed_sessionsuint16_tNumber of failed sessions
                                                                                                                                                    successful_sessionsuint16_tNumber of successful sessions
                                                                                                                                                    signal_qualityuint8_tSignal quality
                                                                                                                                                    ring_pendinguint8_tRing call pending
                                                                                                                                                    tx_session_pendinguint8_tTransmission session pending
                                                                                                                                                    rx_session_pendinguint8_tReceiving session pending

                                                                                                                                                    SENSOR_AIRFLOW_ANGLES (8016)

                                                                                                                                                    Calibrated airflow angle measurements

                                                                                                                                                    Field NameTypeUnitsDescription
                                                                                                                                                    timestampuint64_tusTimestamp
                                                                                                                                                    angleofattackfloatdegAngle of attack
                                                                                                                                                    angleofattack_validuint8_tAngle of attack measurement valid
                                                                                                                                                    sideslipfloatdegSideslip angle
                                                                                                                                                    sideslip_validuint8_tSideslip angle measurement valid

                                                                                                                                                    Enumerated Types

                                                                                                                                                    ValueNameDescription
                                                                                                                                                    0GSM_LINK_TYPE_NONEno service
                                                                                                                                                    1GSM_LINK_TYPE_UNKNOWNlink type unknown
                                                                                                                                                    2GSM_LINK_TYPE_2G2G (GSM/GRPS/EDGE) link
                                                                                                                                                    3GSM_LINK_TYPE_3G3G link (WCDMA/HSDPA/HSPA)
                                                                                                                                                    4GSM_LINK_TYPE_4G4G link (LTE)

                                                                                                                                                    GSM_MODEM_TYPE

                                                                                                                                                    ValueNameDescription
                                                                                                                                                    0GSM_MODEM_TYPE_UNKNOWNnot specified
                                                                                                                                                    1GSM_MODEM_TYPE_HUAWEI_E3372HUAWEI LTE USB Stick E3372

                                                                                                                                                    Commands (MAV_CMD)

                                                                                                                                                    MAV_CMD_RESET_MPPT (40001)

                                                                                                                                                    Mission command to reset Maximum Power Point Tracker (MPPT)

                                                                                                                                                    Param (Label)Description
                                                                                                                                                    1MPPT number
                                                                                                                                                    2Empty
                                                                                                                                                    3Empty
                                                                                                                                                    4Empty
                                                                                                                                                    5Empty
                                                                                                                                                    6Empty
                                                                                                                                                    7Empty

                                                                                                                                                    MAV_CMD_PAYLOAD_CONTROL (40002)

                                                                                                                                                    Mission command to perform a power cycle on payload

                                                                                                                                                    Param (Label)Description
                                                                                                                                                    1Complete power cycle
                                                                                                                                                    2VISensor power cycle
                                                                                                                                                    3Empty
                                                                                                                                                    4Empty
                                                                                                                                                    5Empty
                                                                                                                                                    6Empty
                                                                                                                                                    7Empty

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                                                                                                                                                      Dialect: all

                                                                                                                                                      This dialect is intended to include all other dialects in the mavlink/mavlink repository (including external dialects).

                                                                                                                                                      Dialects that are in all.xml are guaranteed to not have clashes in messages, enums, enum ids, and MAV_CMDs. This ensure that:

                                                                                                                                                      • Systems based on these dialects can co-exist on the same MAVLink network.
                                                                                                                                                      • A Ground Station might (optionally) use libraries generated from all.xml to communicate using any of the dialects.

                                                                                                                                                      • New dialect files in the official repository must be added to all.xml and restrict themselves to using ids in their own allocated range.
                                                                                                                                                      • Dialects should push changes to mavlink/mavlink in order to avoid potential clashes from changes to other dialects.

                                                                                                                                                      A few older dialects are not included because these operate in completely closed networks or because they are only used for tests.

                                                                                                                                                      This topic is a human-readable form of the XML definition file: all.xml.

                                                                                                                                                      • MAVLink 2 extension fields are displayed in blue.
                                                                                                                                                      • Entities from dialects are displayed only as headings (with link to original)

                                                                                                                                                      Summary

                                                                                                                                                      TypeDefinedIncluded
                                                                                                                                                      Messages0364
                                                                                                                                                      Enums0236
                                                                                                                                                      Commands2180

                                                                                                                                                      The following sections list all entities in the dialect (both included and defined in this file).

                                                                                                                                                      Messages

                                                                                                                                                      Enumerated Types

                                                                                                                                                      Commands (MAV_CMD)

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                                                                                                                                                        Dialect: all

                                                                                                                                                        This dialect is intended to include all other dialects in the mavlink/mavlink repository (including external dialects).

                                                                                                                                                        Dialects that are in all.xml are guaranteed to not have clashes in messages, enums, enum ids, and MAV_CMDs. This ensure that:

                                                                                                                                                        • Systems based on these dialects can co-exist on the same MAVLink network.
                                                                                                                                                        • A Ground Station might (optionally) use libraries generated from all.xml to communicate using any of the dialects.

                                                                                                                                                        • New dialect files in the official repository must be added to all.xml and restrict themselves to using ids in their own allocated range.
                                                                                                                                                        • Dialects should push changes to mavlink/mavlink in order to avoid potential clashes from changes to other dialects.

                                                                                                                                                        A few older dialects are not included because these operate in completely closed networks or because they are only used for tests.

                                                                                                                                                        This topic is a human-readable form of the XML definition file: all.xml.

                                                                                                                                                        • MAVLink 2 extension fields are displayed in blue.
                                                                                                                                                        • Entities from dialects are displayed only as headings (with link to original)

                                                                                                                                                        Summary

                                                                                                                                                        TypeDefinedIncluded
                                                                                                                                                        Messages0364
                                                                                                                                                        Enums0236
                                                                                                                                                        Commands2180

                                                                                                                                                        The following sections list all entities in the dialect (both included and defined in this file).

                                                                                                                                                        Messages

                                                                                                                                                        Enumerated Types

                                                                                                                                                        Commands (MAV_CMD)

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                                                                                                                                                          Dialect: ArduPilotMega

                                                                                                                                                          ardupilotmega.xml contains the accurate and up-to-date documentation for this dialect. The documentation below may not be accurate if the dialect owner has not pushed changes.

                                                                                                                                                          These messages define the ArduPilot specific dialect (as pushed to the mavlink/mavlink GitHub repository by the dialect owner).

                                                                                                                                                          This topic is a human-readable form of the XML definition file: ardupilotmega.xml.

                                                                                                                                                          • MAVLink 2 extension fields are displayed in blue.
                                                                                                                                                          • Entities from dialects are displayed only as headings (with link to original)

                                                                                                                                                          Protocol dialect: 2

                                                                                                                                                          Summary

                                                                                                                                                          TypeDefinedIncluded
                                                                                                                                                          Messages65240
                                                                                                                                                          Enums45158
                                                                                                                                                          Commands1950

                                                                                                                                                          The following sections list all entities in the dialect (both included and defined in this file).

                                                                                                                                                          Messages

                                                                                                                                                          SENSOR_OFFSETS (150)

                                                                                                                                                          Offsets and calibrations values for hardware sensors. This makes it easier to debug the calibration process.

                                                                                                                                                          Field NameTypeUnitsDescription
                                                                                                                                                          mag_ofs_xint16_tMagnetometer X offset.
                                                                                                                                                          mag_ofs_yint16_tMagnetometer Y offset.
                                                                                                                                                          mag_ofs_zint16_tMagnetometer Z offset.
                                                                                                                                                          mag_declinationfloatradMagnetic declination.
                                                                                                                                                          raw_pressint32_tRaw pressure from barometer.
                                                                                                                                                          raw_tempint32_tRaw temperature from barometer.
                                                                                                                                                          gyro_cal_xfloatGyro X calibration.
                                                                                                                                                          gyro_cal_yfloatGyro Y calibration.
                                                                                                                                                          gyro_cal_zfloatGyro Z calibration.
                                                                                                                                                          accel_cal_xfloatAccel X calibration.
                                                                                                                                                          accel_cal_yfloatAccel Y calibration.
                                                                                                                                                          accel_cal_zfloatAccel Z calibration.

                                                                                                                                                          SET_MAG_OFFSETS (151) — [DEP]

                                                                                                                                                          DEPRECATED: Replaced By MAV_CMD_PREFLIGHT_SET_SENSOR_OFFSETS (2014-07)

                                                                                                                                                          Set the magnetometer offsets

                                                                                                                                                          Field NameTypeDescription
                                                                                                                                                          target_systemuint8_tSystem ID.
                                                                                                                                                          target_componentuint8_tComponent ID.
                                                                                                                                                          mag_ofs_xint16_tMagnetometer X offset.
                                                                                                                                                          mag_ofs_yint16_tMagnetometer Y offset.
                                                                                                                                                          mag_ofs_zint16_tMagnetometer Z offset.

                                                                                                                                                          MEMINFO (152)

                                                                                                                                                          State of autopilot RAM.

                                                                                                                                                          Field NameTypeUnitsDescription
                                                                                                                                                          brkvaluint16_tHeap top.
                                                                                                                                                          freememuint16_tbytesFree memory.
                                                                                                                                                          freemem32 ++uint32_tbytesFree memory (32 bit).

                                                                                                                                                          AP_ADC (153)

                                                                                                                                                          Raw ADC output.

                                                                                                                                                          Field NameTypeDescription
                                                                                                                                                          adc1uint16_tADC output 1.
                                                                                                                                                          adc2uint16_tADC output 2.
                                                                                                                                                          adc3uint16_tADC output 3.
                                                                                                                                                          adc4uint16_tADC output 4.
                                                                                                                                                          adc5uint16_tADC output 5.
                                                                                                                                                          adc6uint16_tADC output 6.

                                                                                                                                                          DIGICAM_CONFIGURE (154)

                                                                                                                                                          Configure on-board Camera Control System.

                                                                                                                                                          Field NameTypeUnitsDescription
                                                                                                                                                          target_systemuint8_tSystem ID.
                                                                                                                                                          target_componentuint8_tComponent ID.
                                                                                                                                                          modeuint8_tMode enumeration from 1 to N //P, TV, AV, M, etc. (0 means ignore).
                                                                                                                                                          shutter_speeduint16_tDivisor number //e.g. 1000 means 1/1000 (0 means ignore).
                                                                                                                                                          apertureuint8_tF stop number x 10 //e.g. 28 means 2.8 (0 means ignore).
                                                                                                                                                          isouint8_tISO enumeration from 1 to N //e.g. 80, 100, 200, Etc (0 means ignore).
                                                                                                                                                          exposure_typeuint8_tExposure type enumeration from 1 to N (0 means ignore).
                                                                                                                                                          command_iduint8_tCommand Identity (incremental loop: 0 to 255). //A command sent multiple times will be executed or pooled just once.
                                                                                                                                                          engine_cut_offuint8_tdsMain engine cut-off time before camera trigger (0 means no cut-off).
                                                                                                                                                          extra_paramuint8_tExtra parameters enumeration (0 means ignore).
                                                                                                                                                          extra_valuefloatCorrespondent value to given extra_param.

                                                                                                                                                          DIGICAM_CONTROL (155)

                                                                                                                                                          Control on-board Camera Control System to take shots.

                                                                                                                                                          Field NameTypeDescription
                                                                                                                                                          target_systemuint8_tSystem ID.
                                                                                                                                                          target_componentuint8_tComponent ID.
                                                                                                                                                          sessionuint8_t0: stop, 1: start or keep it up //Session control e.g. show/hide lens.
                                                                                                                                                          zoom_posuint8_t1 to N //Zoom's absolute position (0 means ignore).
                                                                                                                                                          zoom_stepint8_t-100 to 100 //Zooming step value to offset zoom from the current position.
                                                                                                                                                          focus_lockuint8_t0: unlock focus or keep unlocked, 1: lock focus or keep locked, 3: re-lock focus.
                                                                                                                                                          shotuint8_t0: ignore, 1: shot or start filming.
                                                                                                                                                          command_iduint8_tCommand Identity (incremental loop: 0 to 255)//A command sent multiple times will be executed or pooled just once.
                                                                                                                                                          extra_paramuint8_tExtra parameters enumeration (0 means ignore).
                                                                                                                                                          extra_valuefloatCorrespondent value to given extra_param.

                                                                                                                                                          MOUNT_CONFIGURE (156)

                                                                                                                                                          Message to configure a camera mount, directional antenna, etc.

                                                                                                                                                          Field NameTypeValuesDescription
                                                                                                                                                          target_systemuint8_tSystem ID.
                                                                                                                                                          target_componentuint8_tComponent ID.
                                                                                                                                                          mount_modeuint8_tMAV_MOUNT_MODEMount operating mode.
                                                                                                                                                          stab_rolluint8_t(1 = yes, 0 = no).
                                                                                                                                                          stab_pitchuint8_t(1 = yes, 0 = no).
                                                                                                                                                          stab_yawuint8_t(1 = yes, 0 = no).

                                                                                                                                                          MOUNT_CONTROL (157)

                                                                                                                                                          Message to control a camera mount, directional antenna, etc.

                                                                                                                                                          Field NameTypeDescription
                                                                                                                                                          target_systemuint8_tSystem ID.
                                                                                                                                                          target_componentuint8_tComponent ID.
                                                                                                                                                          input_aint32_tPitch (centi-degrees) or lat (degE7), depending on mount mode.
                                                                                                                                                          input_bint32_tRoll (centi-degrees) or lon (degE7) depending on mount mode.
                                                                                                                                                          input_cint32_tYaw (centi-degrees) or alt (cm) depending on mount mode.
                                                                                                                                                          save_positionuint8_tIf "1" it will save current trimmed position on EEPROM (just valid for NEUTRAL and LANDING).

                                                                                                                                                          MOUNT_STATUS (158)

                                                                                                                                                          Message with some status from autopilot to GCS about camera or antenna mount.

                                                                                                                                                          Field NameTypeUnitsValuesDescription
                                                                                                                                                          target_systemuint8_tSystem ID.
                                                                                                                                                          target_componentuint8_tComponent ID.
                                                                                                                                                          pointing_aint32_tcdegPitch.
                                                                                                                                                          pointing_bint32_tcdegRoll.
                                                                                                                                                          pointing_cint32_tcdegYaw.
                                                                                                                                                          mount_mode ++uint8_tMAV_MOUNT_MODEMount operating mode.

                                                                                                                                                          FENCE_POINT (160)

                                                                                                                                                          A fence point. Used to set a point when from GCS -> MAV. Also used to return a point from MAV -> GCS.

                                                                                                                                                          Field NameTypeUnitsDescription
                                                                                                                                                          target_systemuint8_tSystem ID.
                                                                                                                                                          target_componentuint8_tComponent ID.
                                                                                                                                                          idxuint8_tPoint index (first point is 1, 0 is for return point).
                                                                                                                                                          countuint8_tTotal number of points (for sanity checking).
                                                                                                                                                          latfloatdegLatitude of point.
                                                                                                                                                          lngfloatdegLongitude of point.

                                                                                                                                                          FENCE_FETCH_POINT (161)

                                                                                                                                                          Request a current fence point from MAV.

                                                                                                                                                          Field NameTypeDescription
                                                                                                                                                          target_systemuint8_tSystem ID.
                                                                                                                                                          target_componentuint8_tComponent ID.
                                                                                                                                                          idxuint8_tPoint index (first point is 1, 0 is for return point).

                                                                                                                                                          AHRS (163)

                                                                                                                                                          Status of DCM attitude estimator.

                                                                                                                                                          Field NameTypeUnitsDescription
                                                                                                                                                          omegaIxfloatrad/sX gyro drift estimate.
                                                                                                                                                          omegaIyfloatrad/sY gyro drift estimate.
                                                                                                                                                          omegaIzfloatrad/sZ gyro drift estimate.
                                                                                                                                                          accel_weightfloatAverage accel_weight.
                                                                                                                                                          renorm_valfloatAverage renormalisation value.
                                                                                                                                                          error_rpfloatAverage error_roll_pitch value.
                                                                                                                                                          error_yawfloatAverage error_yaw value.

                                                                                                                                                          SIMSTATE (164)

                                                                                                                                                          Status of simulation environment, if used.

                                                                                                                                                          Field NameTypeUnitsDescription
                                                                                                                                                          rollfloatradRoll angle.
                                                                                                                                                          pitchfloatradPitch angle.
                                                                                                                                                          yawfloatradYaw angle.
                                                                                                                                                          xaccfloatm/s/sX acceleration.
                                                                                                                                                          yaccfloatm/s/sY acceleration.
                                                                                                                                                          zaccfloatm/s/sZ acceleration.
                                                                                                                                                          xgyrofloatrad/sAngular speed around X axis.
                                                                                                                                                          ygyrofloatrad/sAngular speed around Y axis.
                                                                                                                                                          zgyrofloatrad/sAngular speed around Z axis.
                                                                                                                                                          latint32_tdegE7Latitude.
                                                                                                                                                          lngint32_tdegE7Longitude.

                                                                                                                                                          HWSTATUS (165)

                                                                                                                                                          Status of key hardware.

                                                                                                                                                          Field NameTypeUnitsDescription
                                                                                                                                                          Vccuint16_tmVBoard voltage.
                                                                                                                                                          I2Cerruint8_tI2C error count.

                                                                                                                                                          RADIO (166)

                                                                                                                                                          Status generated by radio.

                                                                                                                                                          Field NameTypeUnitsDescription
                                                                                                                                                          rssiuint8_tLocal signal strength.
                                                                                                                                                          remrssiuint8_tRemote signal strength.
                                                                                                                                                          txbufuint8_t%How full the tx buffer is.
                                                                                                                                                          noiseuint8_tBackground noise level.
                                                                                                                                                          remnoiseuint8_tRemote background noise level.
                                                                                                                                                          rxerrorsuint16_tReceive errors.
                                                                                                                                                          fixeduint16_tCount of error corrected packets.

                                                                                                                                                          LIMITS_STATUS (167)

                                                                                                                                                          Status of AP_Limits. Sent in extended status stream when AP_Limits is enabled.

                                                                                                                                                          Field NameTypeUnitsValuesDescription
                                                                                                                                                          limits_stateuint8_tLIMITS_STATEState of AP_Limits.
                                                                                                                                                          last_triggeruint32_tmsTime (since boot) of last breach.
                                                                                                                                                          last_actionuint32_tmsTime (since boot) of last recovery action.
                                                                                                                                                          last_recoveryuint32_tmsTime (since boot) of last successful recovery.
                                                                                                                                                          last_clearuint32_tmsTime (since boot) of last all-clear.
                                                                                                                                                          breach_countuint16_tNumber of fence breaches.
                                                                                                                                                          mods_enableduint8_tLIMIT_MODULEAP_Limit_Module bitfield of enabled modules.
                                                                                                                                                          mods_requireduint8_tLIMIT_MODULEAP_Limit_Module bitfield of required modules.
                                                                                                                                                          mods_triggereduint8_tLIMIT_MODULEAP_Limit_Module bitfield of triggered modules.

                                                                                                                                                          WIND (168)

                                                                                                                                                          Wind estimation.

                                                                                                                                                          Field NameTypeUnitsDescription
                                                                                                                                                          directionfloatdegWind direction (that wind is coming from).
                                                                                                                                                          speedfloatm/sWind speed in ground plane.
                                                                                                                                                          speed_zfloatm/sVertical wind speed.

                                                                                                                                                          DATA16 (169)

                                                                                                                                                          Data packet, size 16.

                                                                                                                                                          Field NameTypeUnitsDescription
                                                                                                                                                          typeuint8_tData type.
                                                                                                                                                          lenuint8_tbytesData length.
                                                                                                                                                          datauint8_t[16]Raw data.

                                                                                                                                                          DATA32 (170)

                                                                                                                                                          Data packet, size 32.

                                                                                                                                                          Field NameTypeUnitsDescription
                                                                                                                                                          typeuint8_tData type.
                                                                                                                                                          lenuint8_tbytesData length.
                                                                                                                                                          datauint8_t[32]Raw data.

                                                                                                                                                          DATA64 (171)

                                                                                                                                                          Data packet, size 64.

                                                                                                                                                          Field NameTypeUnitsDescription
                                                                                                                                                          typeuint8_tData type.
                                                                                                                                                          lenuint8_tbytesData length.
                                                                                                                                                          datauint8_t[64]Raw data.

                                                                                                                                                          DATA96 (172)

                                                                                                                                                          Data packet, size 96.

                                                                                                                                                          Field NameTypeUnitsDescription
                                                                                                                                                          typeuint8_tData type.
                                                                                                                                                          lenuint8_tbytesData length.
                                                                                                                                                          datauint8_t[96]Raw data.

                                                                                                                                                          RANGEFINDER (173)

                                                                                                                                                          Rangefinder reporting.

                                                                                                                                                          Field NameTypeUnitsDescription
                                                                                                                                                          distancefloatmDistance.
                                                                                                                                                          voltagefloatVRaw voltage if available, zero otherwise.

                                                                                                                                                          AIRSPEED_AUTOCAL (174)

                                                                                                                                                          Airspeed auto-calibration.

                                                                                                                                                          Field NameTypeUnitsDescription
                                                                                                                                                          vxfloatm/sGPS velocity north.
                                                                                                                                                          vyfloatm/sGPS velocity east.
                                                                                                                                                          vzfloatm/sGPS velocity down.
                                                                                                                                                          diff_pressurefloatPaDifferential pressure.
                                                                                                                                                          EAS2TASfloatEstimated to true airspeed ratio.
                                                                                                                                                          ratiofloatAirspeed ratio.
                                                                                                                                                          state_xfloatEKF state x.
                                                                                                                                                          state_yfloatEKF state y.
                                                                                                                                                          state_zfloatEKF state z.
                                                                                                                                                          PaxfloatEKF Pax.
                                                                                                                                                          PbyfloatEKF Pby.
                                                                                                                                                          PczfloatEKF Pcz.

                                                                                                                                                          RALLY_POINT (175)

                                                                                                                                                          A rally point. Used to set a point when from GCS -> MAV. Also used to return a point from MAV -> GCS.

                                                                                                                                                          Field NameTypeUnitsValuesDescription
                                                                                                                                                          target_systemuint8_tSystem ID.
                                                                                                                                                          target_componentuint8_tComponent ID.
                                                                                                                                                          idxuint8_tPoint index (first point is 0).
                                                                                                                                                          countuint8_tTotal number of points (for sanity checking).
                                                                                                                                                          latint32_tdegE7Latitude of point.
                                                                                                                                                          lngint32_tdegE7Longitude of point.
                                                                                                                                                          altint16_tmTransit / loiter altitude relative to home.
                                                                                                                                                          break_altint16_tmBreak altitude relative to home.
                                                                                                                                                          land_diruint16_tcdegHeading to aim for when landing.
                                                                                                                                                          flagsuint8_tRALLY_FLAGSConfiguration flags.

                                                                                                                                                          RALLY_FETCH_POINT (176)

                                                                                                                                                          Request a current rally point from MAV. MAV should respond with a RALLY_POINT message. MAV should not respond if the request is invalid.

                                                                                                                                                          Field NameTypeDescription
                                                                                                                                                          target_systemuint8_tSystem ID.
                                                                                                                                                          target_componentuint8_tComponent ID.
                                                                                                                                                          idxuint8_tPoint index (first point is 0).

                                                                                                                                                          COMPASSMOT_STATUS (177)

                                                                                                                                                          Status of compassmot calibration.

                                                                                                                                                          Field NameTypeUnitsDescription
                                                                                                                                                          throttleuint16_td%Throttle.
                                                                                                                                                          currentfloatACurrent.
                                                                                                                                                          interferenceuint16_t%Interference.
                                                                                                                                                          CompensationXfloatMotor Compensation X.
                                                                                                                                                          CompensationYfloatMotor Compensation Y.
                                                                                                                                                          CompensationZfloatMotor Compensation Z.

                                                                                                                                                          AHRS2 (178)

                                                                                                                                                          Status of secondary AHRS filter if available.

                                                                                                                                                          Field NameTypeUnitsDescription
                                                                                                                                                          rollfloatradRoll angle.
                                                                                                                                                          pitchfloatradPitch angle.
                                                                                                                                                          yawfloatradYaw angle.
                                                                                                                                                          altitudefloatmAltitude (MSL).
                                                                                                                                                          latint32_tdegE7Latitude.
                                                                                                                                                          lngint32_tdegE7Longitude.

                                                                                                                                                          CAMERA_STATUS (179)

                                                                                                                                                          Camera Event.

                                                                                                                                                          Field NameTypeUnitsValuesDescription
                                                                                                                                                          time_usecuint64_tusImage timestamp (since UNIX epoch, according to camera clock).
                                                                                                                                                          target_systemuint8_tSystem ID.
                                                                                                                                                          cam_idxuint8_tCamera ID.
                                                                                                                                                          img_idxuint16_tImage index.
                                                                                                                                                          event_iduint8_tCAMERA_STATUS_TYPESEvent type.
                                                                                                                                                          p1floatParameter 1 (meaning depends on event_id, see CAMERA_STATUS_TYPES enum).
                                                                                                                                                          p2floatParameter 2 (meaning depends on event_id, see CAMERA_STATUS_TYPES enum).
                                                                                                                                                          p3floatParameter 3 (meaning depends on event_id, see CAMERA_STATUS_TYPES enum).
                                                                                                                                                          p4floatParameter 4 (meaning depends on event_id, see CAMERA_STATUS_TYPES enum).

                                                                                                                                                          CAMERA_FEEDBACK (180)

                                                                                                                                                          Camera Capture Feedback.

                                                                                                                                                          Field NameTypeUnitsValuesDescription
                                                                                                                                                          time_usecuint64_tusImage timestamp (since UNIX epoch), as passed in by CAMERA_STATUS message (or autopilot if no CCB).
                                                                                                                                                          target_systemuint8_tSystem ID.
                                                                                                                                                          cam_idxuint8_tCamera ID.
                                                                                                                                                          img_idxuint16_tImage index.
                                                                                                                                                          latint32_tdegE7Latitude.
                                                                                                                                                          lngint32_tdegE7Longitude.
                                                                                                                                                          alt_mslfloatmAltitude (MSL).
                                                                                                                                                          alt_relfloatmAltitude (Relative to HOME location).
                                                                                                                                                          rollfloatdegCamera Roll angle (earth frame, +-180).
                                                                                                                                                          pitchfloatdegCamera Pitch angle (earth frame, +-180).
                                                                                                                                                          yawfloatdegCamera Yaw (earth frame, 0-360, true).
                                                                                                                                                          foc_lenfloatmmFocal Length.
                                                                                                                                                          flagsuint8_tCAMERA_FEEDBACK_FLAGSFeedback flags.
                                                                                                                                                          completed_captures ++uint16_tCompleted image captures.

                                                                                                                                                          BATTERY2 (181) — [DEP]

                                                                                                                                                          DEPRECATED: Replaced By BATTERY_STATUS (2017-04)

                                                                                                                                                          2nd Battery status

                                                                                                                                                          Field NameTypeUnitsDescription
                                                                                                                                                          voltageuint16_tmVVoltage.
                                                                                                                                                          current_batteryint16_tcABattery current, -1: autopilot does not measure the current.

                                                                                                                                                          AHRS3 (182)

                                                                                                                                                          Status of third AHRS filter if available. This is for ANU research group (Ali and Sean).

                                                                                                                                                          Field NameTypeUnitsDescription
                                                                                                                                                          rollfloatradRoll angle.
                                                                                                                                                          pitchfloatradPitch angle.
                                                                                                                                                          yawfloatradYaw angle.
                                                                                                                                                          altitudefloatmAltitude (MSL).
                                                                                                                                                          latint32_tdegE7Latitude.
                                                                                                                                                          lngint32_tdegE7Longitude.
                                                                                                                                                          v1floatTest variable1.
                                                                                                                                                          v2floatTest variable2.
                                                                                                                                                          v3floatTest variable3.
                                                                                                                                                          v4floatTest variable4.

                                                                                                                                                          AUTOPILOT_VERSION_REQUEST (183)

                                                                                                                                                          Request the autopilot version from the system/component.

                                                                                                                                                          Field NameTypeDescription
                                                                                                                                                          target_systemuint8_tSystem ID.
                                                                                                                                                          target_componentuint8_tComponent ID.

                                                                                                                                                          REMOTE_LOG_DATA_BLOCK (184)

                                                                                                                                                          Send a block of log data to remote location.

                                                                                                                                                          Field NameTypeValuesDescription
                                                                                                                                                          target_systemuint8_tSystem ID.
                                                                                                                                                          target_componentuint8_tComponent ID.
                                                                                                                                                          seqnouint32_tMAV_REMOTE_LOG_DATA_BLOCK_COMMANDSLog data block sequence number.
                                                                                                                                                          datauint8_t[200]Log data block.

                                                                                                                                                          REMOTE_LOG_BLOCK_STATUS (185)

                                                                                                                                                          Send Status of each log block that autopilot board might have sent.

                                                                                                                                                          Field NameTypeValuesDescription
                                                                                                                                                          target_systemuint8_tSystem ID.
                                                                                                                                                          target_componentuint8_tComponent ID.
                                                                                                                                                          seqnouint32_tLog data block sequence number.
                                                                                                                                                          statusuint8_tMAV_REMOTE_LOG_DATA_BLOCK_STATUSESLog data block status.

                                                                                                                                                          LED_CONTROL (186)

                                                                                                                                                          Control vehicle LEDs.

                                                                                                                                                          Field NameTypeDescription
                                                                                                                                                          target_systemuint8_tSystem ID.
                                                                                                                                                          target_componentuint8_tComponent ID.
                                                                                                                                                          instanceuint8_tInstance (LED instance to control or 255 for all LEDs).
                                                                                                                                                          patternuint8_tPattern (see LED_PATTERN_ENUM).
                                                                                                                                                          custom_lenuint8_tCustom Byte Length.
                                                                                                                                                          custom_bytesuint8_t[24]Custom Bytes.

                                                                                                                                                          MAG_CAL_PROGRESS (191)

                                                                                                                                                          Reports progress of compass calibration.

                                                                                                                                                          Field NameTypeUnitsValuesDescription
                                                                                                                                                          compass_iduint8_tCompass being calibrated.
                                                                                                                                                          Messages with same value are from the same source (instance).
                                                                                                                                                          cal_maskuint8_tBitmask of compasses being calibrated.
                                                                                                                                                          cal_statusuint8_tMAG_CAL_STATUSCalibration Status.
                                                                                                                                                          attemptuint8_tAttempt number.
                                                                                                                                                          completion_pctuint8_t%Completion percentage.
                                                                                                                                                          completion_maskuint8_t[10]Bitmask of sphere sections (see http://en.wikipedia.org/wiki/Geodesic_grid).
                                                                                                                                                          direction_xfloatBody frame direction vector for display.
                                                                                                                                                          direction_yfloatBody frame direction vector for display.
                                                                                                                                                          direction_zfloatBody frame direction vector for display.

                                                                                                                                                          EKF_STATUS_REPORT (193)

                                                                                                                                                          EKF Status message including flags and variances.

                                                                                                                                                          Field NameTypeValuesDescription
                                                                                                                                                          flagsuint16_tEKF_STATUS_FLAGSFlags.
                                                                                                                                                          velocity_variancefloatVelocity variance.
                                                                                                                                                          pos_horiz_variancefloatHorizontal Position variance.
                                                                                                                                                          pos_vert_variancefloatVertical Position variance.
                                                                                                                                                          compass_variancefloatCompass variance.
                                                                                                                                                          terrain_alt_variancefloatTerrain Altitude variance.
                                                                                                                                                          airspeed_variance ++floatAirspeed variance.

                                                                                                                                                          PID_TUNING (194)

                                                                                                                                                          PID tuning information.

                                                                                                                                                          Field NameTypeValuesDescription
                                                                                                                                                          axisuint8_tPID_TUNING_AXISAxis.
                                                                                                                                                          Messages with same value are from the same source (instance).
                                                                                                                                                          desiredfloatDesired rate.
                                                                                                                                                          achievedfloatAchieved rate.
                                                                                                                                                          FFfloatFF component.
                                                                                                                                                          PfloatP component.
                                                                                                                                                          IfloatI component.
                                                                                                                                                          DfloatD component.
                                                                                                                                                          SRate ++floatSlew rate.
                                                                                                                                                          PDmod ++floatP/D oscillation modifier.

                                                                                                                                                          DEEPSTALL (195)

                                                                                                                                                          Deepstall path planning.

                                                                                                                                                          Field NameTypeUnitsValuesDescription
                                                                                                                                                          landing_latint32_tdegE7Landing latitude.
                                                                                                                                                          landing_lonint32_tdegE7Landing longitude.
                                                                                                                                                          path_latint32_tdegE7Final heading start point, latitude.
                                                                                                                                                          path_lonint32_tdegE7Final heading start point, longitude.
                                                                                                                                                          arc_entry_latint32_tdegE7Arc entry point, latitude.
                                                                                                                                                          arc_entry_lonint32_tdegE7Arc entry point, longitude.
                                                                                                                                                          altitudefloatmAltitude.
                                                                                                                                                          expected_travel_distancefloatmDistance the aircraft expects to travel during the deepstall.
                                                                                                                                                          cross_track_errorfloatmDeepstall cross track error (only valid when in DEEPSTALL_STAGE_LAND).
                                                                                                                                                          stageuint8_tDEEPSTALL_STAGEDeepstall stage.

                                                                                                                                                          GIMBAL_REPORT (200)

                                                                                                                                                          3 axis gimbal measurements.

                                                                                                                                                          Field NameTypeUnitsDescription
                                                                                                                                                          target_systemuint8_tSystem ID.
                                                                                                                                                          target_componentuint8_tComponent ID.
                                                                                                                                                          delta_timefloatsTime since last update.
                                                                                                                                                          delta_angle_xfloatradDelta angle X.
                                                                                                                                                          delta_angle_yfloatradDelta angle Y.
                                                                                                                                                          delta_angle_zfloatradDelta angle X.
                                                                                                                                                          delta_velocity_xfloatm/sDelta velocity X.
                                                                                                                                                          delta_velocity_yfloatm/sDelta velocity Y.
                                                                                                                                                          delta_velocity_zfloatm/sDelta velocity Z.
                                                                                                                                                          joint_rollfloatradJoint ROLL.
                                                                                                                                                          joint_elfloatradJoint EL.
                                                                                                                                                          joint_azfloatradJoint AZ.

                                                                                                                                                          GIMBAL_CONTROL (201)

                                                                                                                                                          Control message for rate gimbal.

                                                                                                                                                          Field NameTypeUnitsDescription
                                                                                                                                                          target_systemuint8_tSystem ID.
                                                                                                                                                          target_componentuint8_tComponent ID.
                                                                                                                                                          demanded_rate_xfloatrad/sDemanded angular rate X.
                                                                                                                                                          demanded_rate_yfloatrad/sDemanded angular rate Y.
                                                                                                                                                          demanded_rate_zfloatrad/sDemanded angular rate Z.

                                                                                                                                                          GIMBAL_TORQUE_CMD_REPORT (214)

                                                                                                                                                          100 Hz gimbal torque command telemetry.

                                                                                                                                                          Field NameTypeDescription
                                                                                                                                                          target_systemuint8_tSystem ID.
                                                                                                                                                          target_componentuint8_tComponent ID.
                                                                                                                                                          rl_torque_cmdint16_tRoll Torque Command.
                                                                                                                                                          el_torque_cmdint16_tElevation Torque Command.
                                                                                                                                                          az_torque_cmdint16_tAzimuth Torque Command.

                                                                                                                                                          GOPRO_HEARTBEAT (215)

                                                                                                                                                          Heartbeat from a HeroBus attached GoPro.

                                                                                                                                                          Field NameTypeValuesDescription
                                                                                                                                                          statusuint8_tGOPRO_HEARTBEAT_STATUSStatus.
                                                                                                                                                          capture_modeuint8_tGOPRO_CAPTURE_MODECurrent capture mode.
                                                                                                                                                          flagsuint8_tGOPRO_HEARTBEAT_FLAGSAdditional status bits.

                                                                                                                                                          GOPRO_GET_REQUEST (216)

                                                                                                                                                          Request a GOPRO_COMMAND response from the GoPro.

                                                                                                                                                          Field NameTypeValuesDescription
                                                                                                                                                          target_systemuint8_tSystem ID.
                                                                                                                                                          target_componentuint8_tComponent ID.
                                                                                                                                                          cmd_iduint8_tGOPRO_COMMANDCommand ID.

                                                                                                                                                          GOPRO_GET_RESPONSE (217)

                                                                                                                                                          Response from a GOPRO_COMMAND get request.

                                                                                                                                                          Field NameTypeValuesDescription
                                                                                                                                                          cmd_iduint8_tGOPRO_COMMANDCommand ID.
                                                                                                                                                          statusuint8_tGOPRO_REQUEST_STATUSStatus.
                                                                                                                                                          valueuint8_t[4]Value.

                                                                                                                                                          GOPRO_SET_REQUEST (218)

                                                                                                                                                          Request to set a GOPRO_COMMAND with a desired.

                                                                                                                                                          Field NameTypeValuesDescription
                                                                                                                                                          target_systemuint8_tSystem ID.
                                                                                                                                                          target_componentuint8_tComponent ID.
                                                                                                                                                          cmd_iduint8_tGOPRO_COMMANDCommand ID.
                                                                                                                                                          valueuint8_t[4]Value.

                                                                                                                                                          GOPRO_SET_RESPONSE (219)

                                                                                                                                                          Response from a GOPRO_COMMAND set request.

                                                                                                                                                          Field NameTypeValuesDescription
                                                                                                                                                          cmd_iduint8_tGOPRO_COMMANDCommand ID.
                                                                                                                                                          statusuint8_tGOPRO_REQUEST_STATUSStatus.

                                                                                                                                                          RPM (226)

                                                                                                                                                          RPM sensor output.

                                                                                                                                                          Field NameTypeDescription
                                                                                                                                                          rpm1floatRPM Sensor1.
                                                                                                                                                          rpm2floatRPM Sensor2.

                                                                                                                                                          DEVICE_OP_READ (11000)

                                                                                                                                                          Read registers for a device.

                                                                                                                                                          Field NameTypeValuesDescription
                                                                                                                                                          target_systemuint8_tSystem ID.
                                                                                                                                                          target_componentuint8_tComponent ID.
                                                                                                                                                          request_iduint32_tRequest ID - copied to reply.
                                                                                                                                                          bustypeuint8_tDEVICE_OP_BUSTYPEThe bus type.
                                                                                                                                                          busuint8_tBus number.
                                                                                                                                                          addressuint8_tBus address.
                                                                                                                                                          busnamechar[40]Name of device on bus (for SPI).
                                                                                                                                                          regstartuint8_tFirst register to read.
                                                                                                                                                          countuint8_tCount of registers to read.
                                                                                                                                                          bank ++uint8_tBank number.

                                                                                                                                                          DEVICE_OP_READ_REPLY (11001)

                                                                                                                                                          Read registers reply.

                                                                                                                                                          Field NameTypeDescription
                                                                                                                                                          request_iduint32_tRequest ID - copied from request.
                                                                                                                                                          resultuint8_t0 for success, anything else is failure code.
                                                                                                                                                          regstartuint8_tStarting register.
                                                                                                                                                          countuint8_tCount of bytes read.
                                                                                                                                                          datauint8_t[128]Reply data.
                                                                                                                                                          bank ++uint8_tBank number.

                                                                                                                                                          DEVICE_OP_WRITE (11002)

                                                                                                                                                          Write registers for a device.

                                                                                                                                                          Field NameTypeValuesDescription
                                                                                                                                                          target_systemuint8_tSystem ID.
                                                                                                                                                          target_componentuint8_tComponent ID.
                                                                                                                                                          request_iduint32_tRequest ID - copied to reply.
                                                                                                                                                          bustypeuint8_tDEVICE_OP_BUSTYPEThe bus type.
                                                                                                                                                          busuint8_tBus number.
                                                                                                                                                          addressuint8_tBus address.
                                                                                                                                                          busnamechar[40]Name of device on bus (for SPI).
                                                                                                                                                          regstartuint8_tFirst register to write.
                                                                                                                                                          countuint8_tCount of registers to write.
                                                                                                                                                          datauint8_t[128]Write data.
                                                                                                                                                          bank ++uint8_tBank number.

                                                                                                                                                          DEVICE_OP_WRITE_REPLY (11003)

                                                                                                                                                          Write registers reply.

                                                                                                                                                          Field NameTypeDescription
                                                                                                                                                          request_iduint32_tRequest ID - copied from request.
                                                                                                                                                          resultuint8_t0 for success, anything else is failure code.

                                                                                                                                                          ADAP_TUNING (11010)

                                                                                                                                                          Adaptive Controller tuning information.

                                                                                                                                                          Field NameTypeUnitsValuesDescription
                                                                                                                                                          axisuint8_tPID_TUNING_AXISAxis.
                                                                                                                                                          Messages with same value are from the same source (instance).
                                                                                                                                                          desiredfloatdeg/sDesired rate.
                                                                                                                                                          achievedfloatdeg/sAchieved rate.
                                                                                                                                                          errorfloatError between model and vehicle.
                                                                                                                                                          thetafloatTheta estimated state predictor.
                                                                                                                                                          omegafloatOmega estimated state predictor.
                                                                                                                                                          sigmafloatSigma estimated state predictor.
                                                                                                                                                          theta_dotfloatTheta derivative.
                                                                                                                                                          omega_dotfloatOmega derivative.
                                                                                                                                                          sigma_dotfloatSigma derivative.
                                                                                                                                                          ffloatProjection operator value.
                                                                                                                                                          f_dotfloatProjection operator derivative.
                                                                                                                                                          ufloatu adaptive controlled output command.

                                                                                                                                                          VISION_POSITION_DELTA (11011)

                                                                                                                                                          Camera vision based attitude and position deltas.

                                                                                                                                                          Field NameTypeUnitsDescription
                                                                                                                                                          time_usecuint64_tusTimestamp (synced to UNIX time or since system boot).
                                                                                                                                                          time_delta_usecuint64_tusTime since the last reported camera frame.
                                                                                                                                                          angle_deltafloat[3]radDefines a rotation vector [roll, pitch, yaw] to the current MAV_FRAME_BODY_FRD from the previous MAV_FRAME_BODY_FRD.
                                                                                                                                                          position_deltafloat[3]mChange in position to the current MAV_FRAME_BODY_FRD from the previous FRAME_BODY_FRD rotated to the current MAV_FRAME_BODY_FRD.
                                                                                                                                                          confidencefloat%Normalised confidence value from 0 to 100.

                                                                                                                                                          AOA_SSA (11020)

                                                                                                                                                          Angle of Attack and Side Slip Angle.

                                                                                                                                                          Field NameTypeUnitsDescription
                                                                                                                                                          time_usecuint64_tusTimestamp (since boot or Unix epoch).
                                                                                                                                                          AOAfloatdegAngle of Attack.
                                                                                                                                                          SSAfloatdegSide Slip Angle.

                                                                                                                                                          ESC_TELEMETRY_1_TO_4 (11030)

                                                                                                                                                          ESC Telemetry Data for ESCs 1 to 4, matching data sent by BLHeli ESCs.

                                                                                                                                                          Field NameTypeUnitsDescription
                                                                                                                                                          temperatureuint8_t[4]degCTemperature.
                                                                                                                                                          voltageuint16_t[4]cVVoltage.
                                                                                                                                                          currentuint16_t[4]cACurrent.
                                                                                                                                                          totalcurrentuint16_t[4]mAhTotal current.
                                                                                                                                                          rpmuint16_t[4]rpmRPM (eRPM).
                                                                                                                                                          countuint16_t[4]count of telemetry packets received (wraps at 65535).

                                                                                                                                                          ESC_TELEMETRY_5_TO_8 (11031)

                                                                                                                                                          ESC Telemetry Data for ESCs 5 to 8, matching data sent by BLHeli ESCs.

                                                                                                                                                          Field NameTypeUnitsDescription
                                                                                                                                                          temperatureuint8_t[4]degCTemperature.
                                                                                                                                                          voltageuint16_t[4]cVVoltage.
                                                                                                                                                          currentuint16_t[4]cACurrent.
                                                                                                                                                          totalcurrentuint16_t[4]mAhTotal current.
                                                                                                                                                          rpmuint16_t[4]rpmRPM (eRPM).
                                                                                                                                                          countuint16_t[4]count of telemetry packets received (wraps at 65535).

                                                                                                                                                          ESC_TELEMETRY_9_TO_12 (11032)

                                                                                                                                                          ESC Telemetry Data for ESCs 9 to 12, matching data sent by BLHeli ESCs.

                                                                                                                                                          Field NameTypeUnitsDescription
                                                                                                                                                          temperatureuint8_t[4]degCTemperature.
                                                                                                                                                          voltageuint16_t[4]cVVoltage.
                                                                                                                                                          currentuint16_t[4]cACurrent.
                                                                                                                                                          totalcurrentuint16_t[4]mAhTotal current.
                                                                                                                                                          rpmuint16_t[4]rpmRPM (eRPM).
                                                                                                                                                          countuint16_t[4]count of telemetry packets received (wraps at 65535).

                                                                                                                                                          OSD_PARAM_CONFIG (11033)

                                                                                                                                                          Configure an OSD parameter slot.

                                                                                                                                                          Field NameTypeValuesDescription
                                                                                                                                                          target_systemuint8_tSystem ID.
                                                                                                                                                          target_componentuint8_tComponent ID.
                                                                                                                                                          request_iduint32_tRequest ID - copied to reply.
                                                                                                                                                          osd_screenuint8_tOSD parameter screen index.
                                                                                                                                                          osd_indexuint8_tOSD parameter display index.
                                                                                                                                                          param_idchar[16]Onboard parameter id, terminated by NULL if the length is less than 16 human-readable chars and WITHOUT null termination (NULL) byte if the length is exactly 16 chars - applications have to provide 16+1 bytes storage if the ID is stored as string
                                                                                                                                                          config_typeuint8_tOSD_PARAM_CONFIG_TYPEConfig type.
                                                                                                                                                          min_valuefloatOSD parameter minimum value.
                                                                                                                                                          max_valuefloatOSD parameter maximum value.
                                                                                                                                                          incrementfloatOSD parameter increment.

                                                                                                                                                          OSD_PARAM_CONFIG_REPLY (11034)

                                                                                                                                                          Configure OSD parameter reply.

                                                                                                                                                          Field NameTypeValuesDescription
                                                                                                                                                          request_iduint32_tRequest ID - copied from request.
                                                                                                                                                          resultuint8_tOSD_PARAM_CONFIG_ERRORConfig error type.

                                                                                                                                                          OSD_PARAM_SHOW_CONFIG (11035)

                                                                                                                                                          Read a configured an OSD parameter slot.

                                                                                                                                                          Field NameTypeDescription
                                                                                                                                                          target_systemuint8_tSystem ID.
                                                                                                                                                          target_componentuint8_tComponent ID.
                                                                                                                                                          request_iduint32_tRequest ID - copied to reply.
                                                                                                                                                          osd_screenuint8_tOSD parameter screen index.
                                                                                                                                                          osd_indexuint8_tOSD parameter display index.

                                                                                                                                                          OSD_PARAM_SHOW_CONFIG_REPLY (11036)

                                                                                                                                                          Read configured OSD parameter reply.

                                                                                                                                                          Field NameTypeValuesDescription
                                                                                                                                                          request_iduint32_tRequest ID - copied from request.
                                                                                                                                                          resultuint8_tOSD_PARAM_CONFIG_ERRORConfig error type.
                                                                                                                                                          param_idchar[16]Onboard parameter id, terminated by NULL if the length is less than 16 human-readable chars and WITHOUT null termination (NULL) byte if the length is exactly 16 chars - applications have to provide 16+1 bytes storage if the ID is stored as string
                                                                                                                                                          config_typeuint8_tOSD_PARAM_CONFIG_TYPEConfig type.
                                                                                                                                                          min_valuefloatOSD parameter minimum value.
                                                                                                                                                          max_valuefloatOSD parameter maximum value.
                                                                                                                                                          incrementfloatOSD parameter increment.

                                                                                                                                                          OBSTACLE_DISTANCE_3D (11037) — [WIP]

                                                                                                                                                          WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                          Obstacle located as a 3D vector.

                                                                                                                                                          Field NameTypeUnitsValuesDescription
                                                                                                                                                          time_boot_msuint32_tmsTimestamp (time since system boot).
                                                                                                                                                          sensor_typeuint8_tMAV_DISTANCE_SENSORClass id of the distance sensor type.
                                                                                                                                                          frameuint8_tMAV_FRAMECoordinate frame of reference.
                                                                                                                                                          obstacle_iduint16_tUnique ID given to each obstacle so that its movement can be tracked. Use UINT16_MAX if object ID is unknown or cannot be determined.
                                                                                                                                                          Messages with same value are from the same source (instance).
                                                                                                                                                          xfloatmX position of the obstacle.
                                                                                                                                                          yfloatmY position of the obstacle.
                                                                                                                                                          zfloatmZ position of the obstacle.
                                                                                                                                                          min_distancefloatmMinimum distance the sensor can measure.
                                                                                                                                                          max_distancefloatmMaximum distance the sensor can measure.

                                                                                                                                                          WATER_DEPTH (11038)

                                                                                                                                                          Water depth

                                                                                                                                                          Field NameTypeUnitsDescription
                                                                                                                                                          time_boot_msuint32_tmsTimestamp (time since system boot)
                                                                                                                                                          iduint8_tOnboard ID of the sensor
                                                                                                                                                          Messages with same value are from the same source (instance).
                                                                                                                                                          healthyuint8_tSensor data healthy (0=unhealthy, 1=healthy)
                                                                                                                                                          latint32_tdegE7Latitude
                                                                                                                                                          lngint32_tdegE7Longitude
                                                                                                                                                          altfloatmAltitude (MSL) of vehicle
                                                                                                                                                          rollfloatradRoll angle
                                                                                                                                                          pitchfloatradPitch angle
                                                                                                                                                          yawfloatradYaw angle
                                                                                                                                                          distancefloatmDistance (uncorrected)
                                                                                                                                                          temperaturefloatdegCWater temperature

                                                                                                                                                          MCU_STATUS (11039)

                                                                                                                                                          The MCU status, giving MCU temperature and voltage. The min and max voltages are to allow for detecting power supply instability.

                                                                                                                                                          Field NameTypeUnitsDescription
                                                                                                                                                          iduint8_tMCU instance
                                                                                                                                                          Messages with same value are from the same source (instance).
                                                                                                                                                          MCU_temperatureint16_tcdegCMCU Internal temperature
                                                                                                                                                          MCU_voltageuint16_tmVMCU voltage
                                                                                                                                                          MCU_voltage_minuint16_tmVMCU voltage minimum
                                                                                                                                                          MCU_voltage_maxuint16_tmVMCU voltage maximum

                                                                                                                                                          Enumerated Types

                                                                                                                                                          ACCELCAL_VEHICLE_POS

                                                                                                                                                          ValueNameDescription
                                                                                                                                                          1ACCELCAL_VEHICLE_POS_LEVEL
                                                                                                                                                          2ACCELCAL_VEHICLE_POS_LEFT
                                                                                                                                                          3ACCELCAL_VEHICLE_POS_RIGHT
                                                                                                                                                          4ACCELCAL_VEHICLE_POS_NOSEDOWN
                                                                                                                                                          5ACCELCAL_VEHICLE_POS_NOSEUP
                                                                                                                                                          6ACCELCAL_VEHICLE_POS_BACK
                                                                                                                                                          16777215ACCELCAL_VEHICLE_POS_SUCCESS
                                                                                                                                                          16777216ACCELCAL_VEHICLE_POS_FAILED

                                                                                                                                                          HEADING_TYPE

                                                                                                                                                          ValueNameDescription
                                                                                                                                                          0HEADING_TYPE_COURSE_OVER_GROUND
                                                                                                                                                          1HEADING_TYPE_HEADING

                                                                                                                                                          SCRIPTING_CMD

                                                                                                                                                          ValueNameDescription
                                                                                                                                                          0SCRIPTING_CMD_REPL_STARTStart a REPL session.
                                                                                                                                                          1SCRIPTING_CMD_REPL_STOPEnd a REPL session.
                                                                                                                                                          2SCRIPTING_CMD_STOPStop execution of scripts.
                                                                                                                                                          3SCRIPTING_CMD_STOP_AND_RESTARTStop execution of scripts and restart.

                                                                                                                                                          LIMITS_STATE

                                                                                                                                                          ValueNameDescription
                                                                                                                                                          0LIMITS_INITPre-initialization.
                                                                                                                                                          1LIMITS_DISABLEDDisabled.
                                                                                                                                                          2LIMITS_ENABLEDChecking limits.
                                                                                                                                                          3LIMITS_TRIGGEREDA limit has been breached.
                                                                                                                                                          4LIMITS_RECOVERINGTaking action e.g. Return/RTL.
                                                                                                                                                          5LIMITS_RECOVEREDWe're no longer in breach of a limit.

                                                                                                                                                          LIMIT_MODULE

                                                                                                                                                          (Bitmask)

                                                                                                                                                          ValueNameDescription
                                                                                                                                                          1LIMIT_GPSLOCKPre-initialization.
                                                                                                                                                          2LIMIT_GEOFENCEDisabled.
                                                                                                                                                          4LIMIT_ALTITUDEChecking limits.

                                                                                                                                                          RALLY_FLAGS

                                                                                                                                                          (Bitmask) Flags in RALLY_POINT message.

                                                                                                                                                          ValueNameDescription
                                                                                                                                                          1FAVORABLE_WINDFlag set when requiring favorable winds for landing.
                                                                                                                                                          2LAND_IMMEDIATELYFlag set when plane is to immediately descend to break altitude and land without GCS intervention. Flag not set when plane is to loiter at Rally point until commanded to land.

                                                                                                                                                          CAMERA_STATUS_TYPES

                                                                                                                                                          ValueNameDescription
                                                                                                                                                          0CAMERA_STATUS_TYPE_HEARTBEATCamera heartbeat, announce camera component ID at 1Hz.
                                                                                                                                                          1CAMERA_STATUS_TYPE_TRIGGERCamera image triggered.
                                                                                                                                                          2CAMERA_STATUS_TYPE_DISCONNECTCamera connection lost.
                                                                                                                                                          3CAMERA_STATUS_TYPE_ERRORCamera unknown error.
                                                                                                                                                          4CAMERA_STATUS_TYPE_LOWBATTCamera battery low. Parameter p1 shows reported voltage.
                                                                                                                                                          5CAMERA_STATUS_TYPE_LOWSTORECamera storage low. Parameter p1 shows reported shots remaining.
                                                                                                                                                          6CAMERA_STATUS_TYPE_LOWSTOREVCamera storage low. Parameter p1 shows reported video minutes remaining.

                                                                                                                                                          CAMERA_FEEDBACK_FLAGS

                                                                                                                                                          ValueNameDescription
                                                                                                                                                          0CAMERA_FEEDBACK_PHOTOShooting photos, not video.
                                                                                                                                                          1CAMERA_FEEDBACK_VIDEOShooting video, not stills.
                                                                                                                                                          2CAMERA_FEEDBACK_BADEXPOSUREUnable to achieve requested exposure (e.g. shutter speed too low).
                                                                                                                                                          3CAMERA_FEEDBACK_CLOSEDLOOPClosed loop feedback from camera, we know for sure it has successfully taken a picture.
                                                                                                                                                          4CAMERA_FEEDBACK_OPENLOOPOpen loop camera, an image trigger has been requested but we can't know for sure it has successfully taken a picture.

                                                                                                                                                          MAV_MODE_GIMBAL

                                                                                                                                                          ValueNameDescription
                                                                                                                                                          0MAV_MODE_GIMBAL_UNINITIALIZEDGimbal is powered on but has not started initializing yet.
                                                                                                                                                          1MAV_MODE_GIMBAL_CALIBRATING_PITCHGimbal is currently running calibration on the pitch axis.
                                                                                                                                                          2MAV_MODE_GIMBAL_CALIBRATING_ROLLGimbal is currently running calibration on the roll axis.
                                                                                                                                                          3MAV_MODE_GIMBAL_CALIBRATING_YAWGimbal is currently running calibration on the yaw axis.
                                                                                                                                                          4MAV_MODE_GIMBAL_INITIALIZEDGimbal has finished calibrating and initializing, but is relaxed pending reception of first rate command from copter.
                                                                                                                                                          5MAV_MODE_GIMBAL_ACTIVEGimbal is actively stabilizing.
                                                                                                                                                          6MAV_MODE_GIMBAL_RATE_CMD_TIMEOUTGimbal is relaxed because it missed more than 10 expected rate command messages in a row. Gimbal will move back to active mode when it receives a new rate command.

                                                                                                                                                          GIMBAL_AXIS

                                                                                                                                                          ValueNameDescription
                                                                                                                                                          0GIMBAL_AXIS_YAWGimbal yaw axis.
                                                                                                                                                          1GIMBAL_AXIS_PITCHGimbal pitch axis.
                                                                                                                                                          2GIMBAL_AXIS_ROLLGimbal roll axis.

                                                                                                                                                          GIMBAL_AXIS_CALIBRATION_STATUS

                                                                                                                                                          ValueNameDescription
                                                                                                                                                          0GIMBAL_AXIS_CALIBRATION_STATUS_IN_PROGRESSAxis calibration is in progress.
                                                                                                                                                          1GIMBAL_AXIS_CALIBRATION_STATUS_SUCCEEDEDAxis calibration succeeded.
                                                                                                                                                          2GIMBAL_AXIS_CALIBRATION_STATUS_FAILEDAxis calibration failed.

                                                                                                                                                          GIMBAL_AXIS_CALIBRATION_REQUIRED

                                                                                                                                                          ValueNameDescription
                                                                                                                                                          0GIMBAL_AXIS_CALIBRATION_REQUIRED_UNKNOWNWhether or not this axis requires calibration is unknown at this time.
                                                                                                                                                          1GIMBAL_AXIS_CALIBRATION_REQUIRED_TRUEThis axis requires calibration.
                                                                                                                                                          2GIMBAL_AXIS_CALIBRATION_REQUIRED_FALSEThis axis does not require calibration.

                                                                                                                                                          GOPRO_HEARTBEAT_STATUS

                                                                                                                                                          ValueNameDescription
                                                                                                                                                          0GOPRO_HEARTBEAT_STATUS_DISCONNECTEDNo GoPro connected.
                                                                                                                                                          1GOPRO_HEARTBEAT_STATUS_INCOMPATIBLEThe detected GoPro is not HeroBus compatible.
                                                                                                                                                          2GOPRO_HEARTBEAT_STATUS_CONNECTEDA HeroBus compatible GoPro is connected.
                                                                                                                                                          3GOPRO_HEARTBEAT_STATUS_ERRORAn unrecoverable error was encountered with the connected GoPro, it may require a power cycle.

                                                                                                                                                          GOPRO_HEARTBEAT_FLAGS

                                                                                                                                                          (Bitmask)

                                                                                                                                                          ValueNameDescription
                                                                                                                                                          1GOPRO_FLAG_RECORDINGGoPro is currently recording.

                                                                                                                                                          GOPRO_REQUEST_STATUS

                                                                                                                                                          ValueNameDescription
                                                                                                                                                          0GOPRO_REQUEST_SUCCESSThe write message with ID indicated succeeded.
                                                                                                                                                          1GOPRO_REQUEST_FAILEDThe write message with ID indicated failed.

                                                                                                                                                          GOPRO_COMMAND

                                                                                                                                                          ValueNameDescription
                                                                                                                                                          0GOPRO_COMMAND_POWER(Get/Set).
                                                                                                                                                          1GOPRO_COMMAND_CAPTURE_MODE(Get/Set).
                                                                                                                                                          2GOPRO_COMMAND_SHUTTER(_/Set).
                                                                                                                                                          3GOPRO_COMMAND_BATTERY(Get/_).
                                                                                                                                                          4GOPRO_COMMAND_MODEL(Get/_).
                                                                                                                                                          5GOPRO_COMMAND_VIDEO_SETTINGS(Get/Set).
                                                                                                                                                          6GOPRO_COMMAND_LOW_LIGHT(Get/Set).
                                                                                                                                                          7GOPRO_COMMAND_PHOTO_RESOLUTION(Get/Set).
                                                                                                                                                          8GOPRO_COMMAND_PHOTO_BURST_RATE(Get/Set).
                                                                                                                                                          9GOPRO_COMMAND_PROTUNE(Get/Set).
                                                                                                                                                          10GOPRO_COMMAND_PROTUNE_WHITE_BALANCE(Get/Set) Hero 3+ Only.
                                                                                                                                                          11GOPRO_COMMAND_PROTUNE_COLOUR(Get/Set) Hero 3+ Only.
                                                                                                                                                          12GOPRO_COMMAND_PROTUNE_GAIN(Get/Set) Hero 3+ Only.
                                                                                                                                                          13GOPRO_COMMAND_PROTUNE_SHARPNESS(Get/Set) Hero 3+ Only.
                                                                                                                                                          14GOPRO_COMMAND_PROTUNE_EXPOSURE(Get/Set) Hero 3+ Only.
                                                                                                                                                          15GOPRO_COMMAND_TIME(Get/Set).
                                                                                                                                                          16GOPRO_COMMAND_CHARGING(Get/Set).

                                                                                                                                                          GOPRO_CAPTURE_MODE

                                                                                                                                                          ValueNameDescription
                                                                                                                                                          0GOPRO_CAPTURE_MODE_VIDEOVideo mode.
                                                                                                                                                          1GOPRO_CAPTURE_MODE_PHOTOPhoto mode.
                                                                                                                                                          2GOPRO_CAPTURE_MODE_BURSTBurst mode, Hero 3+ only.
                                                                                                                                                          3GOPRO_CAPTURE_MODE_TIME_LAPSETime lapse mode, Hero 3+ only.
                                                                                                                                                          4GOPRO_CAPTURE_MODE_MULTI_SHOTMulti shot mode, Hero 4 only.
                                                                                                                                                          5GOPRO_CAPTURE_MODE_PLAYBACKPlayback mode, Hero 4 only, silver only except when LCD or HDMI is connected to black.
                                                                                                                                                          6GOPRO_CAPTURE_MODE_SETUPPlayback mode, Hero 4 only.
                                                                                                                                                          255GOPRO_CAPTURE_MODE_UNKNOWNMode not yet known.

                                                                                                                                                          GOPRO_RESOLUTION

                                                                                                                                                          ValueNameDescription
                                                                                                                                                          0GOPRO_RESOLUTION_480p848 x 480 (480p).
                                                                                                                                                          1GOPRO_RESOLUTION_720p1280 x 720 (720p).
                                                                                                                                                          2GOPRO_RESOLUTION_960p1280 x 960 (960p).
                                                                                                                                                          3GOPRO_RESOLUTION_1080p1920 x 1080 (1080p).
                                                                                                                                                          4GOPRO_RESOLUTION_1440p1920 x 1440 (1440p).
                                                                                                                                                          5GOPRO_RESOLUTION_2_7k_17_92704 x 1440 (2.7k-17:9).
                                                                                                                                                          6GOPRO_RESOLUTION_2_7k_16_92704 x 1524 (2.7k-16:9).
                                                                                                                                                          7GOPRO_RESOLUTION_2_7k_4_32704 x 2028 (2.7k-4:3).
                                                                                                                                                          8GOPRO_RESOLUTION_4k_16_93840 x 2160 (4k-16:9).
                                                                                                                                                          9GOPRO_RESOLUTION_4k_17_94096 x 2160 (4k-17:9).
                                                                                                                                                          10GOPRO_RESOLUTION_720p_SUPERVIEW1280 x 720 (720p-SuperView).
                                                                                                                                                          11GOPRO_RESOLUTION_1080p_SUPERVIEW1920 x 1080 (1080p-SuperView).
                                                                                                                                                          12GOPRO_RESOLUTION_2_7k_SUPERVIEW2704 x 1520 (2.7k-SuperView).
                                                                                                                                                          13GOPRO_RESOLUTION_4k_SUPERVIEW3840 x 2160 (4k-SuperView).

                                                                                                                                                          GOPRO_FRAME_RATE

                                                                                                                                                          ValueNameDescription
                                                                                                                                                          0GOPRO_FRAME_RATE_1212 FPS.
                                                                                                                                                          1GOPRO_FRAME_RATE_1515 FPS.
                                                                                                                                                          2GOPRO_FRAME_RATE_2424 FPS.
                                                                                                                                                          3GOPRO_FRAME_RATE_2525 FPS.
                                                                                                                                                          4GOPRO_FRAME_RATE_3030 FPS.
                                                                                                                                                          5GOPRO_FRAME_RATE_4848 FPS.
                                                                                                                                                          6GOPRO_FRAME_RATE_5050 FPS.
                                                                                                                                                          7GOPRO_FRAME_RATE_6060 FPS.
                                                                                                                                                          8GOPRO_FRAME_RATE_8080 FPS.
                                                                                                                                                          9GOPRO_FRAME_RATE_9090 FPS.
                                                                                                                                                          10GOPRO_FRAME_RATE_100100 FPS.
                                                                                                                                                          11GOPRO_FRAME_RATE_120120 FPS.
                                                                                                                                                          12GOPRO_FRAME_RATE_240240 FPS.
                                                                                                                                                          13GOPRO_FRAME_RATE_12_512.5 FPS.

                                                                                                                                                          GOPRO_FIELD_OF_VIEW

                                                                                                                                                          ValueNameDescription
                                                                                                                                                          0GOPRO_FIELD_OF_VIEW_WIDE0x00: Wide.
                                                                                                                                                          1GOPRO_FIELD_OF_VIEW_MEDIUM0x01: Medium.
                                                                                                                                                          2GOPRO_FIELD_OF_VIEW_NARROW0x02: Narrow.

                                                                                                                                                          GOPRO_VIDEO_SETTINGS_FLAGS

                                                                                                                                                          (Bitmask)

                                                                                                                                                          ValueNameDescription
                                                                                                                                                          1GOPRO_VIDEO_SETTINGS_TV_MODE0=NTSC, 1=PAL.

                                                                                                                                                          GOPRO_PHOTO_RESOLUTION

                                                                                                                                                          ValueNameDescription
                                                                                                                                                          0GOPRO_PHOTO_RESOLUTION_5MP_MEDIUM5MP Medium.
                                                                                                                                                          1GOPRO_PHOTO_RESOLUTION_7MP_MEDIUM7MP Medium.
                                                                                                                                                          2GOPRO_PHOTO_RESOLUTION_7MP_WIDE7MP Wide.
                                                                                                                                                          3GOPRO_PHOTO_RESOLUTION_10MP_WIDE10MP Wide.
                                                                                                                                                          4GOPRO_PHOTO_RESOLUTION_12MP_WIDE12MP Wide.

                                                                                                                                                          GOPRO_PROTUNE_WHITE_BALANCE

                                                                                                                                                          ValueNameDescription
                                                                                                                                                          0GOPRO_PROTUNE_WHITE_BALANCE_AUTOAuto.
                                                                                                                                                          1GOPRO_PROTUNE_WHITE_BALANCE_3000K3000K.
                                                                                                                                                          2GOPRO_PROTUNE_WHITE_BALANCE_5500K5500K.
                                                                                                                                                          3GOPRO_PROTUNE_WHITE_BALANCE_6500K6500K.
                                                                                                                                                          4GOPRO_PROTUNE_WHITE_BALANCE_RAWCamera Raw.

                                                                                                                                                          GOPRO_PROTUNE_COLOUR

                                                                                                                                                          ValueNameDescription
                                                                                                                                                          0GOPRO_PROTUNE_COLOUR_STANDARDAuto.
                                                                                                                                                          1GOPRO_PROTUNE_COLOUR_NEUTRALNeutral.

                                                                                                                                                          GOPRO_PROTUNE_GAIN

                                                                                                                                                          ValueNameDescription
                                                                                                                                                          0GOPRO_PROTUNE_GAIN_400ISO 400.
                                                                                                                                                          1GOPRO_PROTUNE_GAIN_800ISO 800 (Only Hero 4).
                                                                                                                                                          2GOPRO_PROTUNE_GAIN_1600ISO 1600.
                                                                                                                                                          3GOPRO_PROTUNE_GAIN_3200ISO 3200 (Only Hero 4).
                                                                                                                                                          4GOPRO_PROTUNE_GAIN_6400ISO 6400.

                                                                                                                                                          GOPRO_PROTUNE_SHARPNESS

                                                                                                                                                          ValueNameDescription
                                                                                                                                                          0GOPRO_PROTUNE_SHARPNESS_LOWLow Sharpness.
                                                                                                                                                          1GOPRO_PROTUNE_SHARPNESS_MEDIUMMedium Sharpness.
                                                                                                                                                          2GOPRO_PROTUNE_SHARPNESS_HIGHHigh Sharpness.

                                                                                                                                                          GOPRO_PROTUNE_EXPOSURE

                                                                                                                                                          ValueNameDescription
                                                                                                                                                          0GOPRO_PROTUNE_EXPOSURE_NEG_5_0-5.0 EV (Hero 3+ Only).
                                                                                                                                                          1GOPRO_PROTUNE_EXPOSURE_NEG_4_5-4.5 EV (Hero 3+ Only).
                                                                                                                                                          2GOPRO_PROTUNE_EXPOSURE_NEG_4_0-4.0 EV (Hero 3+ Only).
                                                                                                                                                          3GOPRO_PROTUNE_EXPOSURE_NEG_3_5-3.5 EV (Hero 3+ Only).
                                                                                                                                                          4GOPRO_PROTUNE_EXPOSURE_NEG_3_0-3.0 EV (Hero 3+ Only).
                                                                                                                                                          5GOPRO_PROTUNE_EXPOSURE_NEG_2_5-2.5 EV (Hero 3+ Only).
                                                                                                                                                          6GOPRO_PROTUNE_EXPOSURE_NEG_2_0-2.0 EV.
                                                                                                                                                          7GOPRO_PROTUNE_EXPOSURE_NEG_1_5-1.5 EV.
                                                                                                                                                          8GOPRO_PROTUNE_EXPOSURE_NEG_1_0-1.0 EV.
                                                                                                                                                          9GOPRO_PROTUNE_EXPOSURE_NEG_0_5-0.5 EV.
                                                                                                                                                          10GOPRO_PROTUNE_EXPOSURE_ZERO0.0 EV.
                                                                                                                                                          11GOPRO_PROTUNE_EXPOSURE_POS_0_5+0.5 EV.
                                                                                                                                                          12GOPRO_PROTUNE_EXPOSURE_POS_1_0+1.0 EV.
                                                                                                                                                          13GOPRO_PROTUNE_EXPOSURE_POS_1_5+1.5 EV.
                                                                                                                                                          14GOPRO_PROTUNE_EXPOSURE_POS_2_0+2.0 EV.
                                                                                                                                                          15GOPRO_PROTUNE_EXPOSURE_POS_2_5+2.5 EV (Hero 3+ Only).
                                                                                                                                                          16GOPRO_PROTUNE_EXPOSURE_POS_3_0+3.0 EV (Hero 3+ Only).
                                                                                                                                                          17GOPRO_PROTUNE_EXPOSURE_POS_3_5+3.5 EV (Hero 3+ Only).
                                                                                                                                                          18GOPRO_PROTUNE_EXPOSURE_POS_4_0+4.0 EV (Hero 3+ Only).
                                                                                                                                                          19GOPRO_PROTUNE_EXPOSURE_POS_4_5+4.5 EV (Hero 3+ Only).
                                                                                                                                                          20GOPRO_PROTUNE_EXPOSURE_POS_5_0+5.0 EV (Hero 3+ Only).

                                                                                                                                                          GOPRO_CHARGING

                                                                                                                                                          ValueNameDescription
                                                                                                                                                          0GOPRO_CHARGING_DISABLEDCharging disabled.
                                                                                                                                                          1GOPRO_CHARGING_ENABLEDCharging enabled.

                                                                                                                                                          GOPRO_MODEL

                                                                                                                                                          ValueNameDescription
                                                                                                                                                          0GOPRO_MODEL_UNKNOWNUnknown gopro model.
                                                                                                                                                          1GOPRO_MODEL_HERO_3_PLUS_SILVERHero 3+ Silver (HeroBus not supported by GoPro).
                                                                                                                                                          2GOPRO_MODEL_HERO_3_PLUS_BLACKHero 3+ Black.
                                                                                                                                                          3GOPRO_MODEL_HERO_4_SILVERHero 4 Silver.
                                                                                                                                                          4GOPRO_MODEL_HERO_4_BLACKHero 4 Black.

                                                                                                                                                          GOPRO_BURST_RATE

                                                                                                                                                          ValueNameDescription
                                                                                                                                                          0GOPRO_BURST_RATE_3_IN_1_SECOND3 Shots / 1 Second.
                                                                                                                                                          1GOPRO_BURST_RATE_5_IN_1_SECOND5 Shots / 1 Second.
                                                                                                                                                          2GOPRO_BURST_RATE_10_IN_1_SECOND10 Shots / 1 Second.
                                                                                                                                                          3GOPRO_BURST_RATE_10_IN_2_SECOND10 Shots / 2 Second.
                                                                                                                                                          4GOPRO_BURST_RATE_10_IN_3_SECOND10 Shots / 3 Second (Hero 4 Only).
                                                                                                                                                          5GOPRO_BURST_RATE_30_IN_1_SECOND30 Shots / 1 Second.
                                                                                                                                                          6GOPRO_BURST_RATE_30_IN_2_SECOND30 Shots / 2 Second.
                                                                                                                                                          7GOPRO_BURST_RATE_30_IN_3_SECOND30 Shots / 3 Second.
                                                                                                                                                          8GOPRO_BURST_RATE_30_IN_6_SECOND30 Shots / 6 Second.

                                                                                                                                                          MAV_CMD_DO_AUX_FUNCTION_SWITCH_LEVEL

                                                                                                                                                          ValueNameDescription
                                                                                                                                                          0MAV_CMD_DO_AUX_FUNCTION_SWITCH_LEVEL_LOWSwitch Low.
                                                                                                                                                          1MAV_CMD_DO_AUX_FUNCTION_SWITCH_LEVEL_MIDDLESwitch Middle.
                                                                                                                                                          2MAV_CMD_DO_AUX_FUNCTION_SWITCH_LEVEL_HIGHSwitch High.

                                                                                                                                                          LED_CONTROL_PATTERN

                                                                                                                                                          ValueNameDescription
                                                                                                                                                          0LED_CONTROL_PATTERN_OFFLED patterns off (return control to regular vehicle control).
                                                                                                                                                          1LED_CONTROL_PATTERN_FIRMWAREUPDATELEDs show pattern during firmware update.
                                                                                                                                                          255LED_CONTROL_PATTERN_CUSTOMCustom Pattern using custom bytes fields.

                                                                                                                                                          EKF_STATUS_FLAGS

                                                                                                                                                          (Bitmask) Flags in EKF_STATUS message.

                                                                                                                                                          ValueNameDescription
                                                                                                                                                          1EKF_ATTITUDESet if EKF's attitude estimate is good.
                                                                                                                                                          2EKF_VELOCITY_HORIZSet if EKF's horizontal velocity estimate is good.
                                                                                                                                                          4EKF_VELOCITY_VERTSet if EKF's vertical velocity estimate is good.
                                                                                                                                                          8EKF_POS_HORIZ_RELSet if EKF's horizontal position (relative) estimate is good.
                                                                                                                                                          16EKF_POS_HORIZ_ABSSet if EKF's horizontal position (absolute) estimate is good.
                                                                                                                                                          32EKF_POS_VERT_ABSSet if EKF's vertical position (absolute) estimate is good.
                                                                                                                                                          64EKF_POS_VERT_AGLSet if EKF's vertical position (above ground) estimate is good.
                                                                                                                                                          128EKF_CONST_POS_MODEEKF is in constant position mode and does not know it's absolute or relative position.
                                                                                                                                                          256EKF_PRED_POS_HORIZ_RELSet if EKF's predicted horizontal position (relative) estimate is good.
                                                                                                                                                          512EKF_PRED_POS_HORIZ_ABSSet if EKF's predicted horizontal position (absolute) estimate is good.
                                                                                                                                                          1024EKF_UNINITIALIZEDSet if EKF has never been healthy.

                                                                                                                                                          PID_TUNING_AXIS

                                                                                                                                                          ValueNameDescription
                                                                                                                                                          1PID_TUNING_ROLL
                                                                                                                                                          2PID_TUNING_PITCH
                                                                                                                                                          3PID_TUNING_YAW
                                                                                                                                                          4PID_TUNING_ACCZ
                                                                                                                                                          5PID_TUNING_STEER
                                                                                                                                                          6PID_TUNING_LANDING

                                                                                                                                                          MAV_REMOTE_LOG_DATA_BLOCK_COMMANDS

                                                                                                                                                          Special ACK block numbers control activation of dataflash log streaming.

                                                                                                                                                          ValueNameDescription
                                                                                                                                                          2147483645MAV_REMOTE_LOG_DATA_BLOCK_STOPUAV to stop sending DataFlash blocks.
                                                                                                                                                          2147483646MAV_REMOTE_LOG_DATA_BLOCK_STARTUAV to start sending DataFlash blocks.

                                                                                                                                                          MAV_REMOTE_LOG_DATA_BLOCK_STATUSES

                                                                                                                                                          Possible remote log data block statuses.

                                                                                                                                                          ValueNameDescription
                                                                                                                                                          0MAV_REMOTE_LOG_DATA_BLOCK_NACKThis block has NOT been received.
                                                                                                                                                          1MAV_REMOTE_LOG_DATA_BLOCK_ACKThis block has been received.

                                                                                                                                                          DEVICE_OP_BUSTYPE

                                                                                                                                                          Bus types for device operations.

                                                                                                                                                          ValueNameDescription
                                                                                                                                                          0DEVICE_OP_BUSTYPE_I2CI2C Device operation.
                                                                                                                                                          1DEVICE_OP_BUSTYPE_SPISPI Device operation.

                                                                                                                                                          DEEPSTALL_STAGE

                                                                                                                                                          Deepstall flight stage.

                                                                                                                                                          ValueNameDescription
                                                                                                                                                          0DEEPSTALL_STAGE_FLY_TO_LANDINGFlying to the landing point.
                                                                                                                                                          1DEEPSTALL_STAGE_ESTIMATE_WINDBuilding an estimate of the wind.
                                                                                                                                                          2DEEPSTALL_STAGE_WAIT_FOR_BREAKOUTWaiting to breakout of the loiter to fly the approach.
                                                                                                                                                          3DEEPSTALL_STAGE_FLY_TO_ARCFlying to the first arc point to turn around to the landing point.
                                                                                                                                                          4DEEPSTALL_STAGE_ARCTurning around back to the deepstall landing point.
                                                                                                                                                          5DEEPSTALL_STAGE_APPROACHApproaching the landing point.
                                                                                                                                                          6DEEPSTALL_STAGE_LANDStalling and steering towards the land point.

                                                                                                                                                          PLANE_MODE

                                                                                                                                                          A mapping of plane flight modes for custom_mode field of heartbeat.

                                                                                                                                                          ValueNameDescription
                                                                                                                                                          0PLANE_MODE_MANUAL
                                                                                                                                                          1PLANE_MODE_CIRCLE
                                                                                                                                                          2PLANE_MODE_STABILIZE
                                                                                                                                                          3PLANE_MODE_TRAINING
                                                                                                                                                          4PLANE_MODE_ACRO
                                                                                                                                                          5PLANE_MODE_FLY_BY_WIRE_A
                                                                                                                                                          6PLANE_MODE_FLY_BY_WIRE_B
                                                                                                                                                          7PLANE_MODE_CRUISE
                                                                                                                                                          8PLANE_MODE_AUTOTUNE
                                                                                                                                                          10PLANE_MODE_AUTO
                                                                                                                                                          11PLANE_MODE_RTL
                                                                                                                                                          12PLANE_MODE_LOITER
                                                                                                                                                          13PLANE_MODE_TAKEOFF
                                                                                                                                                          14PLANE_MODE_AVOID_ADSB
                                                                                                                                                          15PLANE_MODE_GUIDED
                                                                                                                                                          16PLANE_MODE_INITIALIZING
                                                                                                                                                          17PLANE_MODE_QSTABILIZE
                                                                                                                                                          18PLANE_MODE_QHOVER
                                                                                                                                                          19PLANE_MODE_QLOITER
                                                                                                                                                          20PLANE_MODE_QLAND
                                                                                                                                                          21PLANE_MODE_QRTL
                                                                                                                                                          22PLANE_MODE_QAUTOTUNE
                                                                                                                                                          23PLANE_MODE_QACRO
                                                                                                                                                          24PLANE_MODE_THERMAL

                                                                                                                                                          COPTER_MODE

                                                                                                                                                          A mapping of copter flight modes for custom_mode field of heartbeat.

                                                                                                                                                          ValueNameDescription
                                                                                                                                                          0COPTER_MODE_STABILIZE
                                                                                                                                                          1COPTER_MODE_ACRO
                                                                                                                                                          2COPTER_MODE_ALT_HOLD
                                                                                                                                                          3COPTER_MODE_AUTO
                                                                                                                                                          4COPTER_MODE_GUIDED
                                                                                                                                                          5COPTER_MODE_LOITER
                                                                                                                                                          6COPTER_MODE_RTL
                                                                                                                                                          7COPTER_MODE_CIRCLE
                                                                                                                                                          9COPTER_MODE_LAND
                                                                                                                                                          11COPTER_MODE_DRIFT
                                                                                                                                                          13COPTER_MODE_SPORT
                                                                                                                                                          14COPTER_MODE_FLIP
                                                                                                                                                          15COPTER_MODE_AUTOTUNE
                                                                                                                                                          16COPTER_MODE_POSHOLD
                                                                                                                                                          17COPTER_MODE_BRAKE
                                                                                                                                                          18COPTER_MODE_THROW
                                                                                                                                                          19COPTER_MODE_AVOID_ADSB
                                                                                                                                                          20COPTER_MODE_GUIDED_NOGPS
                                                                                                                                                          21COPTER_MODE_SMART_RTL
                                                                                                                                                          22COPTER_MODE_FLOWHOLD
                                                                                                                                                          23COPTER_MODE_FOLLOW
                                                                                                                                                          24COPTER_MODE_ZIGZAG
                                                                                                                                                          25COPTER_MODE_SYSTEMID
                                                                                                                                                          26COPTER_MODE_AUTOROTATE
                                                                                                                                                          27COPTER_MODE_AUTO_RTL

                                                                                                                                                          SUB_MODE

                                                                                                                                                          A mapping of sub flight modes for custom_mode field of heartbeat.

                                                                                                                                                          ValueNameDescription
                                                                                                                                                          0SUB_MODE_STABILIZE
                                                                                                                                                          1SUB_MODE_ACRO
                                                                                                                                                          2SUB_MODE_ALT_HOLD
                                                                                                                                                          3SUB_MODE_AUTO
                                                                                                                                                          4SUB_MODE_GUIDED
                                                                                                                                                          7SUB_MODE_CIRCLE
                                                                                                                                                          9SUB_MODE_SURFACE
                                                                                                                                                          16SUB_MODE_POSHOLD
                                                                                                                                                          19SUB_MODE_MANUAL

                                                                                                                                                          ROVER_MODE

                                                                                                                                                          A mapping of rover flight modes for custom_mode field of heartbeat.

                                                                                                                                                          ValueNameDescription
                                                                                                                                                          0ROVER_MODE_MANUAL
                                                                                                                                                          1ROVER_MODE_ACRO
                                                                                                                                                          3ROVER_MODE_STEERING
                                                                                                                                                          4ROVER_MODE_HOLD
                                                                                                                                                          5ROVER_MODE_LOITER
                                                                                                                                                          6ROVER_MODE_FOLLOW
                                                                                                                                                          7ROVER_MODE_SIMPLE
                                                                                                                                                          10ROVER_MODE_AUTO
                                                                                                                                                          11ROVER_MODE_RTL
                                                                                                                                                          12ROVER_MODE_SMART_RTL
                                                                                                                                                          15ROVER_MODE_GUIDED
                                                                                                                                                          16ROVER_MODE_INITIALIZING

                                                                                                                                                          TRACKER_MODE

                                                                                                                                                          A mapping of antenna tracker flight modes for custom_mode field of heartbeat.

                                                                                                                                                          ValueNameDescription
                                                                                                                                                          0TRACKER_MODE_MANUAL
                                                                                                                                                          1TRACKER_MODE_STOP
                                                                                                                                                          2TRACKER_MODE_SCAN
                                                                                                                                                          3TRACKER_MODE_SERVO_TEST
                                                                                                                                                          10TRACKER_MODE_AUTO
                                                                                                                                                          16TRACKER_MODE_INITIALIZING

                                                                                                                                                          OSD_PARAM_CONFIG_TYPE

                                                                                                                                                          The type of parameter for the OSD parameter editor.

                                                                                                                                                          ValueNameDescription
                                                                                                                                                          0OSD_PARAM_NONE
                                                                                                                                                          1OSD_PARAM_SERIAL_PROTOCOL
                                                                                                                                                          2OSD_PARAM_SERVO_FUNCTION
                                                                                                                                                          3OSD_PARAM_AUX_FUNCTION
                                                                                                                                                          4OSD_PARAM_FLIGHT_MODE
                                                                                                                                                          5OSD_PARAM_FAILSAFE_ACTION
                                                                                                                                                          6OSD_PARAM_FAILSAFE_ACTION_1
                                                                                                                                                          7OSD_PARAM_FAILSAFE_ACTION_2
                                                                                                                                                          8OSD_PARAM_NUM_TYPES

                                                                                                                                                          OSD_PARAM_CONFIG_ERROR

                                                                                                                                                          The error type for the OSD parameter editor.

                                                                                                                                                          ValueNameDescription
                                                                                                                                                          0OSD_PARAM_SUCCESS
                                                                                                                                                          1OSD_PARAM_INVALID_SCREEN
                                                                                                                                                          2OSD_PARAM_INVALID_PARAMETER_INDEX
                                                                                                                                                          3OSD_PARAM_INVALID_PARAMETER

                                                                                                                                                          Commands (MAV_CMD)

                                                                                                                                                          MAV_CMD_NAV_ALTITUDE_WAIT (83)

                                                                                                                                                          Mission command to wait for an altitude or downwards vertical speed. This is meant for high altitude balloon launches, allowing the aircraft to be idle until either an altitude is reached or a negative vertical speed is reached (indicating early balloon burst). The wiggle time is how often to wiggle the control surfaces to prevent them seizing up.

                                                                                                                                                          Param (Label)DescriptionUnits
                                                                                                                                                          1 (Altitude)Altitude.m
                                                                                                                                                          2 (Descent Speed)Descent speed.m/s
                                                                                                                                                          3 (Wiggle Time)How long to wiggle the control surfaces to prevent them seizing up.s
                                                                                                                                                          4Empty.
                                                                                                                                                          5Empty.
                                                                                                                                                          6Empty.
                                                                                                                                                          7Empty.

                                                                                                                                                          MAV_CMD_DO_SET_RESUME_REPEAT_DIST (215)

                                                                                                                                                          Set the distance to be repeated on mission resume

                                                                                                                                                          Param (Label)DescriptionUnits
                                                                                                                                                          1 (Distance)Distance.m
                                                                                                                                                          2Empty.
                                                                                                                                                          3Empty.
                                                                                                                                                          4Empty.
                                                                                                                                                          5Empty.
                                                                                                                                                          6Empty.
                                                                                                                                                          7Empty.

                                                                                                                                                          MAV_CMD_DO_SPRAYER (216)

                                                                                                                                                          Control attached liquid sprayer

                                                                                                                                                          Param (Label)DescriptionValues
                                                                                                                                                          1 (Sprayer Enable)0: disable sprayer. 1: enable sprayer.min: 0 max: 1 inc: 1
                                                                                                                                                          2Empty.
                                                                                                                                                          3Empty.
                                                                                                                                                          4Empty.
                                                                                                                                                          5Empty.
                                                                                                                                                          6Empty.
                                                                                                                                                          7Empty.

                                                                                                                                                          MAV_CMD_DO_SEND_SCRIPT_MESSAGE (217)

                                                                                                                                                          Pass instructions onto scripting, a script should be checking for a new command

                                                                                                                                                          Param (Label)DescriptionValues
                                                                                                                                                          1 (ID)uint16 ID value to be passed to scriptingmin: 0 max: 65535 inc: 1
                                                                                                                                                          2 (param 1)float value to be passed to scripting
                                                                                                                                                          3 (param 2)float value to be passed to scripting
                                                                                                                                                          4 (param 3)float value to be passed to scripting
                                                                                                                                                          5Empty.
                                                                                                                                                          6Empty.
                                                                                                                                                          7Empty.

                                                                                                                                                          MAV_CMD_DO_AUX_FUNCTION (218)

                                                                                                                                                          Execute auxiliary function

                                                                                                                                                          Param (Label)DescriptionValues
                                                                                                                                                          1 (AuxiliaryFunction)Auxiliary Function.
                                                                                                                                                          2 (SwitchPosition)Switch Level.MAV_CMD_DO_AUX_FUNCTION_SWITCH_LEVEL
                                                                                                                                                          3Empty.
                                                                                                                                                          4Empty.
                                                                                                                                                          5Empty.
                                                                                                                                                          6Empty.
                                                                                                                                                          7Empty.

                                                                                                                                                          MAV_CMD_POWER_OFF_INITIATED (42000)

                                                                                                                                                          A system wide power-off event has been initiated.

                                                                                                                                                          Param (Label)Description
                                                                                                                                                          1Empty.
                                                                                                                                                          2Empty.
                                                                                                                                                          3Empty.
                                                                                                                                                          4Empty.
                                                                                                                                                          5Empty.
                                                                                                                                                          6Empty.
                                                                                                                                                          7Empty.

                                                                                                                                                          MAV_CMD_SOLO_BTN_FLY_CLICK (42001)

                                                                                                                                                          FLY button has been clicked.

                                                                                                                                                          Param (Label)Description
                                                                                                                                                          1Empty.
                                                                                                                                                          2Empty.
                                                                                                                                                          3Empty.
                                                                                                                                                          4Empty.
                                                                                                                                                          5Empty.
                                                                                                                                                          6Empty.
                                                                                                                                                          7Empty.

                                                                                                                                                          MAV_CMD_SOLO_BTN_FLY_HOLD (42002)

                                                                                                                                                          FLY button has been held for 1.5 seconds.

                                                                                                                                                          Param (Label)DescriptionUnits
                                                                                                                                                          1 (Takeoff Altitude)Takeoff altitude.m
                                                                                                                                                          2Empty.
                                                                                                                                                          3Empty.
                                                                                                                                                          4Empty.
                                                                                                                                                          5Empty.
                                                                                                                                                          6Empty.
                                                                                                                                                          7Empty.

                                                                                                                                                          MAV_CMD_SOLO_BTN_PAUSE_CLICK (42003)

                                                                                                                                                          PAUSE button has been clicked.

                                                                                                                                                          Param (Label)DescriptionValues
                                                                                                                                                          1 (Shot Mode)1 if Solo is in a shot mode, 0 otherwise.min: 0 max: 1 inc: 1
                                                                                                                                                          2Empty.
                                                                                                                                                          3Empty.
                                                                                                                                                          4Empty.
                                                                                                                                                          5Empty.
                                                                                                                                                          6Empty.
                                                                                                                                                          7Empty.

                                                                                                                                                          MAV_CMD_FIXED_MAG_CAL (42004)

                                                                                                                                                          Magnetometer calibration based on fixed position

                                                                                                                                                          in earth field given by inclination, declination and intensity.

                                                                                                                                                          Param (Label)DescriptionUnits
                                                                                                                                                          1 (Declination)Magnetic declination.deg
                                                                                                                                                          2 (Inclination)Magnetic inclination.deg
                                                                                                                                                          3 (Intensity)Magnetic intensity.mgauss
                                                                                                                                                          4 (Yaw)Yaw.deg
                                                                                                                                                          5Empty.
                                                                                                                                                          6Empty.
                                                                                                                                                          7Empty.

                                                                                                                                                          MAV_CMD_FIXED_MAG_CAL_FIELD (42005)

                                                                                                                                                          Magnetometer calibration based on fixed expected field values.

                                                                                                                                                          Param (Label)DescriptionUnits
                                                                                                                                                          1 (Field X)Field strength X.mgauss
                                                                                                                                                          2 (Field Y)Field strength Y.mgauss
                                                                                                                                                          3 (Field Z)Field strength Z.mgauss
                                                                                                                                                          4Empty.
                                                                                                                                                          5Empty.
                                                                                                                                                          6Empty.
                                                                                                                                                          7Empty.

                                                                                                                                                          MAV_CMD_SET_EKF_SOURCE_SET (42007)

                                                                                                                                                          Set EKF sensor source set.

                                                                                                                                                          Param (Label)DescriptionValues
                                                                                                                                                          1 (SourceSetId)Source Set Id.min: 1 max: 3 inc: 1
                                                                                                                                                          2Empty.
                                                                                                                                                          3Empty.
                                                                                                                                                          4Empty.
                                                                                                                                                          5Empty.
                                                                                                                                                          6Empty.
                                                                                                                                                          7Empty.

                                                                                                                                                          MAV_CMD_DO_START_MAG_CAL (42424)

                                                                                                                                                          Initiate a magnetometer calibration.

                                                                                                                                                          Param (Label)DescriptionValuesUnits
                                                                                                                                                          1 (Magnetometers Bitmask)Bitmask of magnetometers to calibrate. Use 0 to calibrate all sensors that can be started (sensors may not start if disabled, unhealthy, etc.). The command will NACK if calibration does not start for a sensor explicitly specified by the bitmask.min: 0 max: 255 inc: 1
                                                                                                                                                          2 (Retry on Failure)Automatically retry on failure (0=no retry, 1=retry).min: 0 max: 1 inc: 1
                                                                                                                                                          3 (Autosave)Save without user input (0=require input, 1=autosave).min: 0 max: 1 inc: 1
                                                                                                                                                          4 (Delay)Delay.s
                                                                                                                                                          5 (Autoreboot)Autoreboot (0=user reboot, 1=autoreboot).min: 0 max: 1 inc: 1
                                                                                                                                                          6Empty.
                                                                                                                                                          7Empty.

                                                                                                                                                          MAV_CMD_DO_ACCEPT_MAG_CAL (42425)

                                                                                                                                                          Accept a magnetometer calibration.

                                                                                                                                                          Param (Label)DescriptionValues
                                                                                                                                                          1 (Magnetometers Bitmask)Bitmask of magnetometers that calibration is accepted (0 means all).min: 0 max: 255 inc: 1
                                                                                                                                                          2Empty.
                                                                                                                                                          3Empty.
                                                                                                                                                          4Empty.
                                                                                                                                                          5Empty.
                                                                                                                                                          6Empty.
                                                                                                                                                          7Empty.

                                                                                                                                                          MAV_CMD_DO_CANCEL_MAG_CAL (42426)

                                                                                                                                                          Cancel a running magnetometer calibration.

                                                                                                                                                          Param (Label)DescriptionValues
                                                                                                                                                          1 (Magnetometers Bitmask)Bitmask of magnetometers to cancel a running calibration (0 means all).min: 0 max: 255 inc: 1
                                                                                                                                                          2Empty.
                                                                                                                                                          3Empty.
                                                                                                                                                          4Empty.
                                                                                                                                                          5Empty.
                                                                                                                                                          6Empty.
                                                                                                                                                          7Empty.

                                                                                                                                                          MAV_CMD_SET_FACTORY_TEST_MODE (42427)

                                                                                                                                                          Command autopilot to get into factory test/diagnostic mode.

                                                                                                                                                          Param (Label)DescriptionValues
                                                                                                                                                          1 (Test Mode)0: activate test mode, 1: exit test mode.min: 0 max: 1 inc: 1
                                                                                                                                                          2Empty.
                                                                                                                                                          3Empty.
                                                                                                                                                          4Empty.
                                                                                                                                                          5Empty.
                                                                                                                                                          6Empty.
                                                                                                                                                          7Empty.

                                                                                                                                                          MAV_CMD_DO_SEND_BANNER (42428)

                                                                                                                                                          Reply with the version banner.

                                                                                                                                                          Param (Label)Description
                                                                                                                                                          1Empty.
                                                                                                                                                          2Empty.
                                                                                                                                                          3Empty.
                                                                                                                                                          4Empty.
                                                                                                                                                          5Empty.
                                                                                                                                                          6Empty.
                                                                                                                                                          7Empty.

                                                                                                                                                          MAV_CMD_ACCELCAL_VEHICLE_POS (42429)

                                                                                                                                                          Used when doing accelerometer calibration. When sent to the GCS tells it what position to put the vehicle in. When sent to the vehicle says what position the vehicle is in.

                                                                                                                                                          Param (Label)DescriptionValues
                                                                                                                                                          1 (Position)Position.ACCELCAL_VEHICLE_POS
                                                                                                                                                          2Empty.
                                                                                                                                                          3Empty.
                                                                                                                                                          4Empty.
                                                                                                                                                          5Empty.
                                                                                                                                                          6Empty.
                                                                                                                                                          7Empty.

                                                                                                                                                          MAV_CMD_GIMBAL_RESET (42501)

                                                                                                                                                          Causes the gimbal to reset and boot as if it was just powered on.

                                                                                                                                                          Param (Label)Description
                                                                                                                                                          1Empty.
                                                                                                                                                          2Empty.
                                                                                                                                                          3Empty.
                                                                                                                                                          4Empty.
                                                                                                                                                          5Empty.
                                                                                                                                                          6Empty.
                                                                                                                                                          7Empty.

                                                                                                                                                          MAV_CMD_GIMBAL_AXIS_CALIBRATION_STATUS (42502)

                                                                                                                                                          Reports progress and success or failure of gimbal axis calibration procedure.

                                                                                                                                                          Param (Label)DescriptionValuesUnits
                                                                                                                                                          1 (Axis)Gimbal axis we're reporting calibration progress for.GIMBAL_AXIS
                                                                                                                                                          2 (Progress)Current calibration progress for this axis.min: 0 max: 100%
                                                                                                                                                          3 (Status)Status of the calibration.GIMBAL_AXIS_CALIBRATION_STATUS
                                                                                                                                                          4Empty.
                                                                                                                                                          5Empty.
                                                                                                                                                          6Empty.
                                                                                                                                                          7Empty.

                                                                                                                                                          MAV_CMD_GIMBAL_REQUEST_AXIS_CALIBRATION (42503)

                                                                                                                                                          Starts commutation calibration on the gimbal.

                                                                                                                                                          Param (Label)Description
                                                                                                                                                          1Empty.
                                                                                                                                                          2Empty.
                                                                                                                                                          3Empty.
                                                                                                                                                          4Empty.
                                                                                                                                                          5Empty.
                                                                                                                                                          6Empty.
                                                                                                                                                          7Empty.

                                                                                                                                                          MAV_CMD_GIMBAL_FULL_RESET (42505)

                                                                                                                                                          Erases gimbal application and parameters.

                                                                                                                                                          Param (Label)Description
                                                                                                                                                          1Magic number.
                                                                                                                                                          2Magic number.
                                                                                                                                                          3Magic number.
                                                                                                                                                          4Magic number.
                                                                                                                                                          5Magic number.
                                                                                                                                                          6Magic number.
                                                                                                                                                          7Magic number.

                                                                                                                                                          MAV_CMD_FLASH_BOOTLOADER (42650)

                                                                                                                                                          Update the bootloader

                                                                                                                                                          Param (Label)DescriptionValues
                                                                                                                                                          1Empty
                                                                                                                                                          2Empty
                                                                                                                                                          3Empty
                                                                                                                                                          4Empty
                                                                                                                                                          5 (Magic Number)Magic number - set to 290876 to actually flashinc: 1
                                                                                                                                                          6Empty
                                                                                                                                                          7Empty

                                                                                                                                                          MAV_CMD_BATTERY_RESET (42651)

                                                                                                                                                          Reset battery capacity for batteries that accumulate consumed battery via integration.

                                                                                                                                                          Param (Label)DescriptionValues
                                                                                                                                                          1 (battery mask)Bitmask of batteries to reset. Least significant bit is for the first battery.
                                                                                                                                                          2 (percentage)Battery percentage remaining to set.min: 0 max: 100 inc: 1

                                                                                                                                                          MAV_CMD_DEBUG_TRAP (42700)

                                                                                                                                                          Issue a trap signal to the autopilot process, presumably to enter the debugger.

                                                                                                                                                          Param (Label)Description
                                                                                                                                                          1Magic number - set to 32451 to actually trap.
                                                                                                                                                          2Empty.
                                                                                                                                                          3Empty.
                                                                                                                                                          4Empty.
                                                                                                                                                          5Empty.
                                                                                                                                                          6Empty.
                                                                                                                                                          7Empty.

                                                                                                                                                          MAV_CMD_SCRIPTING (42701)

                                                                                                                                                          Control onboard scripting.

                                                                                                                                                          Param (Label)DescriptionValues
                                                                                                                                                          1Scripting command to executeSCRIPTING_CMD

                                                                                                                                                          MAV_CMD_NAV_SCRIPT_TIME (42702)

                                                                                                                                                          Scripting command as NAV command with wait for completion.

                                                                                                                                                          Param (Label)DescriptionUnits
                                                                                                                                                          1 (command)integer command number (0 to 255)
                                                                                                                                                          2 (timeout)timeout for operation in seconds. Zero means no timeout (0 to 255)s
                                                                                                                                                          3 (arg1)argument1.
                                                                                                                                                          4 (arg2)argument2.
                                                                                                                                                          5Empty
                                                                                                                                                          6Empty
                                                                                                                                                          7Empty

                                                                                                                                                          MAV_CMD_NAV_ATTITUDE_TIME (42703)

                                                                                                                                                          Maintain an attitude for a specified time.

                                                                                                                                                          Param (Label)DescriptionUnits
                                                                                                                                                          1 (time)Time to maintain specified attitude and climb rates
                                                                                                                                                          2 (roll)Roll angle in degrees (positive is lean right, negative is lean left)deg
                                                                                                                                                          3 (pitch)Pitch angle in degrees (positive is lean back, negative is lean forward)deg
                                                                                                                                                          4 (yaw)Yaw angledeg
                                                                                                                                                          5 (climb_rate)Climb ratem/s
                                                                                                                                                          6Empty
                                                                                                                                                          7Empty

                                                                                                                                                          MAV_CMD_GUIDED_CHANGE_SPEED (43000)

                                                                                                                                                          Change flight speed at a given rate. This slews the vehicle at a controllable rate between it's previous speed and the new one. (affects GUIDED only. Outside GUIDED, aircraft ignores these commands. Designed for onboard companion-computer command-and-control, not normally operator/GCS control.)

                                                                                                                                                          Param (Label)DescriptionValuesUnits
                                                                                                                                                          1 (speed type)Airspeed or groundspeed.SPEED_TYPE
                                                                                                                                                          2 (speed target)Target Speedm/s
                                                                                                                                                          3 (speed rate-of-change)Acceleration rate, 0 to take effect instantlym/s/s
                                                                                                                                                          4Empty
                                                                                                                                                          5Empty
                                                                                                                                                          6Empty
                                                                                                                                                          7Empty

                                                                                                                                                          MAV_CMD_GUIDED_CHANGE_ALTITUDE (43001)

                                                                                                                                                          Change target altitude at a given rate. This slews the vehicle at a controllable rate between it's previous altitude and the new one. (affects GUIDED only. Outside GUIDED, aircraft ignores these commands. Designed for onboard companion-computer command-and-control, not normally operator/GCS control.)

                                                                                                                                                          Param (Label)DescriptionValuesUnits
                                                                                                                                                          1Empty
                                                                                                                                                          2Empty
                                                                                                                                                          3 (alt rate-of-change)Rate of change, toward new altitude. 0 for maximum rate change. Positive numbers only, as negative numbers will not converge on the new target alt.min: 0m/s/s
                                                                                                                                                          4Empty
                                                                                                                                                          5Empty
                                                                                                                                                          6Empty
                                                                                                                                                          7 (target alt)Target Altitudem

                                                                                                                                                          MAV_CMD_GUIDED_CHANGE_HEADING (43002)

                                                                                                                                                          Change to target heading at a given rate, overriding previous heading/s. This slews the vehicle at a controllable rate between it's previous heading and the new one. (affects GUIDED only. Exiting GUIDED returns aircraft to normal behaviour defined elsewhere. Designed for onboard companion-computer command-and-control, not normally operator/GCS control.)

                                                                                                                                                          Param (Label)DescriptionValuesUnits
                                                                                                                                                          1 (heading type)course-over-ground or raw vehicle heading.HEADING_TYPE
                                                                                                                                                          2 (heading target)Target heading.min: 0 max: 359.99deg
                                                                                                                                                          3 (heading rate-of-change)Maximum centripetal accelearation, ie rate of change, toward new heading.m/s/s
                                                                                                                                                          4Empty
                                                                                                                                                          5Empty
                                                                                                                                                          6Empty
                                                                                                                                                          7Empty

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                                                                                                                                                            Dialect: ArduPilotMega

                                                                                                                                                            ardupilotmega.xml contains the accurate and up-to-date documentation for this dialect. The documentation below may not be accurate if the dialect owner has not pushed changes.

                                                                                                                                                            These messages define the ArduPilot specific dialect (as pushed to the mavlink/mavlink GitHub repository by the dialect owner).

                                                                                                                                                            This topic is a human-readable form of the XML definition file: ardupilotmega.xml.

                                                                                                                                                            • MAVLink 2 extension fields are displayed in blue.
                                                                                                                                                            • Entities from dialects are displayed only as headings (with link to original)

                                                                                                                                                            Protocol dialect: 2

                                                                                                                                                            Summary

                                                                                                                                                            TypeDefinedIncluded
                                                                                                                                                            Messages65240
                                                                                                                                                            Enums45158
                                                                                                                                                            Commands1950

                                                                                                                                                            The following sections list all entities in the dialect (both included and defined in this file).

                                                                                                                                                            Messages

                                                                                                                                                            SENSOR_OFFSETS (150)

                                                                                                                                                            Offsets and calibrations values for hardware sensors. This makes it easier to debug the calibration process.

                                                                                                                                                            Field NameTypeUnitsDescription
                                                                                                                                                            mag_ofs_xint16_tMagnetometer X offset.
                                                                                                                                                            mag_ofs_yint16_tMagnetometer Y offset.
                                                                                                                                                            mag_ofs_zint16_tMagnetometer Z offset.
                                                                                                                                                            mag_declinationfloatradMagnetic declination.
                                                                                                                                                            raw_pressint32_tRaw pressure from barometer.
                                                                                                                                                            raw_tempint32_tRaw temperature from barometer.
                                                                                                                                                            gyro_cal_xfloatGyro X calibration.
                                                                                                                                                            gyro_cal_yfloatGyro Y calibration.
                                                                                                                                                            gyro_cal_zfloatGyro Z calibration.
                                                                                                                                                            accel_cal_xfloatAccel X calibration.
                                                                                                                                                            accel_cal_yfloatAccel Y calibration.
                                                                                                                                                            accel_cal_zfloatAccel Z calibration.

                                                                                                                                                            SET_MAG_OFFSETS (151) — [DEP]

                                                                                                                                                            DEPRECATED: Replaced By MAV_CMD_PREFLIGHT_SET_SENSOR_OFFSETS (2014-07)

                                                                                                                                                            Set the magnetometer offsets

                                                                                                                                                            Field NameTypeDescription
                                                                                                                                                            target_systemuint8_tSystem ID.
                                                                                                                                                            target_componentuint8_tComponent ID.
                                                                                                                                                            mag_ofs_xint16_tMagnetometer X offset.
                                                                                                                                                            mag_ofs_yint16_tMagnetometer Y offset.
                                                                                                                                                            mag_ofs_zint16_tMagnetometer Z offset.

                                                                                                                                                            MEMINFO (152)

                                                                                                                                                            State of autopilot RAM.

                                                                                                                                                            Field NameTypeUnitsDescription
                                                                                                                                                            brkvaluint16_tHeap top.
                                                                                                                                                            freememuint16_tbytesFree memory.
                                                                                                                                                            freemem32 ++uint32_tbytesFree memory (32 bit).

                                                                                                                                                            AP_ADC (153)

                                                                                                                                                            Raw ADC output.

                                                                                                                                                            Field NameTypeDescription
                                                                                                                                                            adc1uint16_tADC output 1.
                                                                                                                                                            adc2uint16_tADC output 2.
                                                                                                                                                            adc3uint16_tADC output 3.
                                                                                                                                                            adc4uint16_tADC output 4.
                                                                                                                                                            adc5uint16_tADC output 5.
                                                                                                                                                            adc6uint16_tADC output 6.

                                                                                                                                                            DIGICAM_CONFIGURE (154)

                                                                                                                                                            Configure on-board Camera Control System.

                                                                                                                                                            Field NameTypeUnitsDescription
                                                                                                                                                            target_systemuint8_tSystem ID.
                                                                                                                                                            target_componentuint8_tComponent ID.
                                                                                                                                                            modeuint8_tMode enumeration from 1 to N //P, TV, AV, M, etc. (0 means ignore).
                                                                                                                                                            shutter_speeduint16_tDivisor number //e.g. 1000 means 1/1000 (0 means ignore).
                                                                                                                                                            apertureuint8_tF stop number x 10 //e.g. 28 means 2.8 (0 means ignore).
                                                                                                                                                            isouint8_tISO enumeration from 1 to N //e.g. 80, 100, 200, Etc (0 means ignore).
                                                                                                                                                            exposure_typeuint8_tExposure type enumeration from 1 to N (0 means ignore).
                                                                                                                                                            command_iduint8_tCommand Identity (incremental loop: 0 to 255). //A command sent multiple times will be executed or pooled just once.
                                                                                                                                                            engine_cut_offuint8_tdsMain engine cut-off time before camera trigger (0 means no cut-off).
                                                                                                                                                            extra_paramuint8_tExtra parameters enumeration (0 means ignore).
                                                                                                                                                            extra_valuefloatCorrespondent value to given extra_param.

                                                                                                                                                            DIGICAM_CONTROL (155)

                                                                                                                                                            Control on-board Camera Control System to take shots.

                                                                                                                                                            Field NameTypeDescription
                                                                                                                                                            target_systemuint8_tSystem ID.
                                                                                                                                                            target_componentuint8_tComponent ID.
                                                                                                                                                            sessionuint8_t0: stop, 1: start or keep it up //Session control e.g. show/hide lens.
                                                                                                                                                            zoom_posuint8_t1 to N //Zoom's absolute position (0 means ignore).
                                                                                                                                                            zoom_stepint8_t-100 to 100 //Zooming step value to offset zoom from the current position.
                                                                                                                                                            focus_lockuint8_t0: unlock focus or keep unlocked, 1: lock focus or keep locked, 3: re-lock focus.
                                                                                                                                                            shotuint8_t0: ignore, 1: shot or start filming.
                                                                                                                                                            command_iduint8_tCommand Identity (incremental loop: 0 to 255)//A command sent multiple times will be executed or pooled just once.
                                                                                                                                                            extra_paramuint8_tExtra parameters enumeration (0 means ignore).
                                                                                                                                                            extra_valuefloatCorrespondent value to given extra_param.

                                                                                                                                                            MOUNT_CONFIGURE (156)

                                                                                                                                                            Message to configure a camera mount, directional antenna, etc.

                                                                                                                                                            Field NameTypeValuesDescription
                                                                                                                                                            target_systemuint8_tSystem ID.
                                                                                                                                                            target_componentuint8_tComponent ID.
                                                                                                                                                            mount_modeuint8_tMAV_MOUNT_MODEMount operating mode.
                                                                                                                                                            stab_rolluint8_t(1 = yes, 0 = no).
                                                                                                                                                            stab_pitchuint8_t(1 = yes, 0 = no).
                                                                                                                                                            stab_yawuint8_t(1 = yes, 0 = no).

                                                                                                                                                            MOUNT_CONTROL (157)

                                                                                                                                                            Message to control a camera mount, directional antenna, etc.

                                                                                                                                                            Field NameTypeDescription
                                                                                                                                                            target_systemuint8_tSystem ID.
                                                                                                                                                            target_componentuint8_tComponent ID.
                                                                                                                                                            input_aint32_tPitch (centi-degrees) or lat (degE7), depending on mount mode.
                                                                                                                                                            input_bint32_tRoll (centi-degrees) or lon (degE7) depending on mount mode.
                                                                                                                                                            input_cint32_tYaw (centi-degrees) or alt (cm) depending on mount mode.
                                                                                                                                                            save_positionuint8_tIf "1" it will save current trimmed position on EEPROM (just valid for NEUTRAL and LANDING).

                                                                                                                                                            MOUNT_STATUS (158)

                                                                                                                                                            Message with some status from autopilot to GCS about camera or antenna mount.

                                                                                                                                                            Field NameTypeUnitsValuesDescription
                                                                                                                                                            target_systemuint8_tSystem ID.
                                                                                                                                                            target_componentuint8_tComponent ID.
                                                                                                                                                            pointing_aint32_tcdegPitch.
                                                                                                                                                            pointing_bint32_tcdegRoll.
                                                                                                                                                            pointing_cint32_tcdegYaw.
                                                                                                                                                            mount_mode ++uint8_tMAV_MOUNT_MODEMount operating mode.

                                                                                                                                                            FENCE_POINT (160)

                                                                                                                                                            A fence point. Used to set a point when from GCS -> MAV. Also used to return a point from MAV -> GCS.

                                                                                                                                                            Field NameTypeUnitsDescription
                                                                                                                                                            target_systemuint8_tSystem ID.
                                                                                                                                                            target_componentuint8_tComponent ID.
                                                                                                                                                            idxuint8_tPoint index (first point is 1, 0 is for return point).
                                                                                                                                                            countuint8_tTotal number of points (for sanity checking).
                                                                                                                                                            latfloatdegLatitude of point.
                                                                                                                                                            lngfloatdegLongitude of point.

                                                                                                                                                            FENCE_FETCH_POINT (161)

                                                                                                                                                            Request a current fence point from MAV.

                                                                                                                                                            Field NameTypeDescription
                                                                                                                                                            target_systemuint8_tSystem ID.
                                                                                                                                                            target_componentuint8_tComponent ID.
                                                                                                                                                            idxuint8_tPoint index (first point is 1, 0 is for return point).

                                                                                                                                                            AHRS (163)

                                                                                                                                                            Status of DCM attitude estimator.

                                                                                                                                                            Field NameTypeUnitsDescription
                                                                                                                                                            omegaIxfloatrad/sX gyro drift estimate.
                                                                                                                                                            omegaIyfloatrad/sY gyro drift estimate.
                                                                                                                                                            omegaIzfloatrad/sZ gyro drift estimate.
                                                                                                                                                            accel_weightfloatAverage accel_weight.
                                                                                                                                                            renorm_valfloatAverage renormalisation value.
                                                                                                                                                            error_rpfloatAverage error_roll_pitch value.
                                                                                                                                                            error_yawfloatAverage error_yaw value.

                                                                                                                                                            SIMSTATE (164)

                                                                                                                                                            Status of simulation environment, if used.

                                                                                                                                                            Field NameTypeUnitsDescription
                                                                                                                                                            rollfloatradRoll angle.
                                                                                                                                                            pitchfloatradPitch angle.
                                                                                                                                                            yawfloatradYaw angle.
                                                                                                                                                            xaccfloatm/s/sX acceleration.
                                                                                                                                                            yaccfloatm/s/sY acceleration.
                                                                                                                                                            zaccfloatm/s/sZ acceleration.
                                                                                                                                                            xgyrofloatrad/sAngular speed around X axis.
                                                                                                                                                            ygyrofloatrad/sAngular speed around Y axis.
                                                                                                                                                            zgyrofloatrad/sAngular speed around Z axis.
                                                                                                                                                            latint32_tdegE7Latitude.
                                                                                                                                                            lngint32_tdegE7Longitude.

                                                                                                                                                            HWSTATUS (165)

                                                                                                                                                            Status of key hardware.

                                                                                                                                                            Field NameTypeUnitsDescription
                                                                                                                                                            Vccuint16_tmVBoard voltage.
                                                                                                                                                            I2Cerruint8_tI2C error count.

                                                                                                                                                            RADIO (166)

                                                                                                                                                            Status generated by radio.

                                                                                                                                                            Field NameTypeUnitsDescription
                                                                                                                                                            rssiuint8_tLocal signal strength.
                                                                                                                                                            remrssiuint8_tRemote signal strength.
                                                                                                                                                            txbufuint8_t%How full the tx buffer is.
                                                                                                                                                            noiseuint8_tBackground noise level.
                                                                                                                                                            remnoiseuint8_tRemote background noise level.
                                                                                                                                                            rxerrorsuint16_tReceive errors.
                                                                                                                                                            fixeduint16_tCount of error corrected packets.

                                                                                                                                                            LIMITS_STATUS (167)

                                                                                                                                                            Status of AP_Limits. Sent in extended status stream when AP_Limits is enabled.

                                                                                                                                                            Field NameTypeUnitsValuesDescription
                                                                                                                                                            limits_stateuint8_tLIMITS_STATEState of AP_Limits.
                                                                                                                                                            last_triggeruint32_tmsTime (since boot) of last breach.
                                                                                                                                                            last_actionuint32_tmsTime (since boot) of last recovery action.
                                                                                                                                                            last_recoveryuint32_tmsTime (since boot) of last successful recovery.
                                                                                                                                                            last_clearuint32_tmsTime (since boot) of last all-clear.
                                                                                                                                                            breach_countuint16_tNumber of fence breaches.
                                                                                                                                                            mods_enableduint8_tLIMIT_MODULEAP_Limit_Module bitfield of enabled modules.
                                                                                                                                                            mods_requireduint8_tLIMIT_MODULEAP_Limit_Module bitfield of required modules.
                                                                                                                                                            mods_triggereduint8_tLIMIT_MODULEAP_Limit_Module bitfield of triggered modules.

                                                                                                                                                            WIND (168)

                                                                                                                                                            Wind estimation.

                                                                                                                                                            Field NameTypeUnitsDescription
                                                                                                                                                            directionfloatdegWind direction (that wind is coming from).
                                                                                                                                                            speedfloatm/sWind speed in ground plane.
                                                                                                                                                            speed_zfloatm/sVertical wind speed.

                                                                                                                                                            DATA16 (169)

                                                                                                                                                            Data packet, size 16.

                                                                                                                                                            Field NameTypeUnitsDescription
                                                                                                                                                            typeuint8_tData type.
                                                                                                                                                            lenuint8_tbytesData length.
                                                                                                                                                            datauint8_t[16]Raw data.

                                                                                                                                                            DATA32 (170)

                                                                                                                                                            Data packet, size 32.

                                                                                                                                                            Field NameTypeUnitsDescription
                                                                                                                                                            typeuint8_tData type.
                                                                                                                                                            lenuint8_tbytesData length.
                                                                                                                                                            datauint8_t[32]Raw data.

                                                                                                                                                            DATA64 (171)

                                                                                                                                                            Data packet, size 64.

                                                                                                                                                            Field NameTypeUnitsDescription
                                                                                                                                                            typeuint8_tData type.
                                                                                                                                                            lenuint8_tbytesData length.
                                                                                                                                                            datauint8_t[64]Raw data.

                                                                                                                                                            DATA96 (172)

                                                                                                                                                            Data packet, size 96.

                                                                                                                                                            Field NameTypeUnitsDescription
                                                                                                                                                            typeuint8_tData type.
                                                                                                                                                            lenuint8_tbytesData length.
                                                                                                                                                            datauint8_t[96]Raw data.

                                                                                                                                                            RANGEFINDER (173)

                                                                                                                                                            Rangefinder reporting.

                                                                                                                                                            Field NameTypeUnitsDescription
                                                                                                                                                            distancefloatmDistance.
                                                                                                                                                            voltagefloatVRaw voltage if available, zero otherwise.

                                                                                                                                                            AIRSPEED_AUTOCAL (174)

                                                                                                                                                            Airspeed auto-calibration.

                                                                                                                                                            Field NameTypeUnitsDescription
                                                                                                                                                            vxfloatm/sGPS velocity north.
                                                                                                                                                            vyfloatm/sGPS velocity east.
                                                                                                                                                            vzfloatm/sGPS velocity down.
                                                                                                                                                            diff_pressurefloatPaDifferential pressure.
                                                                                                                                                            EAS2TASfloatEstimated to true airspeed ratio.
                                                                                                                                                            ratiofloatAirspeed ratio.
                                                                                                                                                            state_xfloatEKF state x.
                                                                                                                                                            state_yfloatEKF state y.
                                                                                                                                                            state_zfloatEKF state z.
                                                                                                                                                            PaxfloatEKF Pax.
                                                                                                                                                            PbyfloatEKF Pby.
                                                                                                                                                            PczfloatEKF Pcz.

                                                                                                                                                            RALLY_POINT (175)

                                                                                                                                                            A rally point. Used to set a point when from GCS -> MAV. Also used to return a point from MAV -> GCS.

                                                                                                                                                            Field NameTypeUnitsValuesDescription
                                                                                                                                                            target_systemuint8_tSystem ID.
                                                                                                                                                            target_componentuint8_tComponent ID.
                                                                                                                                                            idxuint8_tPoint index (first point is 0).
                                                                                                                                                            countuint8_tTotal number of points (for sanity checking).
                                                                                                                                                            latint32_tdegE7Latitude of point.
                                                                                                                                                            lngint32_tdegE7Longitude of point.
                                                                                                                                                            altint16_tmTransit / loiter altitude relative to home.
                                                                                                                                                            break_altint16_tmBreak altitude relative to home.
                                                                                                                                                            land_diruint16_tcdegHeading to aim for when landing.
                                                                                                                                                            flagsuint8_tRALLY_FLAGSConfiguration flags.

                                                                                                                                                            RALLY_FETCH_POINT (176)

                                                                                                                                                            Request a current rally point from MAV. MAV should respond with a RALLY_POINT message. MAV should not respond if the request is invalid.

                                                                                                                                                            Field NameTypeDescription
                                                                                                                                                            target_systemuint8_tSystem ID.
                                                                                                                                                            target_componentuint8_tComponent ID.
                                                                                                                                                            idxuint8_tPoint index (first point is 0).

                                                                                                                                                            COMPASSMOT_STATUS (177)

                                                                                                                                                            Status of compassmot calibration.

                                                                                                                                                            Field NameTypeUnitsDescription
                                                                                                                                                            throttleuint16_td%Throttle.
                                                                                                                                                            currentfloatACurrent.
                                                                                                                                                            interferenceuint16_t%Interference.
                                                                                                                                                            CompensationXfloatMotor Compensation X.
                                                                                                                                                            CompensationYfloatMotor Compensation Y.
                                                                                                                                                            CompensationZfloatMotor Compensation Z.

                                                                                                                                                            AHRS2 (178)

                                                                                                                                                            Status of secondary AHRS filter if available.

                                                                                                                                                            Field NameTypeUnitsDescription
                                                                                                                                                            rollfloatradRoll angle.
                                                                                                                                                            pitchfloatradPitch angle.
                                                                                                                                                            yawfloatradYaw angle.
                                                                                                                                                            altitudefloatmAltitude (MSL).
                                                                                                                                                            latint32_tdegE7Latitude.
                                                                                                                                                            lngint32_tdegE7Longitude.

                                                                                                                                                            CAMERA_STATUS (179)

                                                                                                                                                            Camera Event.

                                                                                                                                                            Field NameTypeUnitsValuesDescription
                                                                                                                                                            time_usecuint64_tusImage timestamp (since UNIX epoch, according to camera clock).
                                                                                                                                                            target_systemuint8_tSystem ID.
                                                                                                                                                            cam_idxuint8_tCamera ID.
                                                                                                                                                            img_idxuint16_tImage index.
                                                                                                                                                            event_iduint8_tCAMERA_STATUS_TYPESEvent type.
                                                                                                                                                            p1floatParameter 1 (meaning depends on event_id, see CAMERA_STATUS_TYPES enum).
                                                                                                                                                            p2floatParameter 2 (meaning depends on event_id, see CAMERA_STATUS_TYPES enum).
                                                                                                                                                            p3floatParameter 3 (meaning depends on event_id, see CAMERA_STATUS_TYPES enum).
                                                                                                                                                            p4floatParameter 4 (meaning depends on event_id, see CAMERA_STATUS_TYPES enum).

                                                                                                                                                            CAMERA_FEEDBACK (180)

                                                                                                                                                            Camera Capture Feedback.

                                                                                                                                                            Field NameTypeUnitsValuesDescription
                                                                                                                                                            time_usecuint64_tusImage timestamp (since UNIX epoch), as passed in by CAMERA_STATUS message (or autopilot if no CCB).
                                                                                                                                                            target_systemuint8_tSystem ID.
                                                                                                                                                            cam_idxuint8_tCamera ID.
                                                                                                                                                            img_idxuint16_tImage index.
                                                                                                                                                            latint32_tdegE7Latitude.
                                                                                                                                                            lngint32_tdegE7Longitude.
                                                                                                                                                            alt_mslfloatmAltitude (MSL).
                                                                                                                                                            alt_relfloatmAltitude (Relative to HOME location).
                                                                                                                                                            rollfloatdegCamera Roll angle (earth frame, +-180).
                                                                                                                                                            pitchfloatdegCamera Pitch angle (earth frame, +-180).
                                                                                                                                                            yawfloatdegCamera Yaw (earth frame, 0-360, true).
                                                                                                                                                            foc_lenfloatmmFocal Length.
                                                                                                                                                            flagsuint8_tCAMERA_FEEDBACK_FLAGSFeedback flags.
                                                                                                                                                            completed_captures ++uint16_tCompleted image captures.

                                                                                                                                                            BATTERY2 (181) — [DEP]

                                                                                                                                                            DEPRECATED: Replaced By BATTERY_STATUS (2017-04)

                                                                                                                                                            2nd Battery status

                                                                                                                                                            Field NameTypeUnitsDescription
                                                                                                                                                            voltageuint16_tmVVoltage.
                                                                                                                                                            current_batteryint16_tcABattery current, -1: autopilot does not measure the current.

                                                                                                                                                            AHRS3 (182)

                                                                                                                                                            Status of third AHRS filter if available. This is for ANU research group (Ali and Sean).

                                                                                                                                                            Field NameTypeUnitsDescription
                                                                                                                                                            rollfloatradRoll angle.
                                                                                                                                                            pitchfloatradPitch angle.
                                                                                                                                                            yawfloatradYaw angle.
                                                                                                                                                            altitudefloatmAltitude (MSL).
                                                                                                                                                            latint32_tdegE7Latitude.
                                                                                                                                                            lngint32_tdegE7Longitude.
                                                                                                                                                            v1floatTest variable1.
                                                                                                                                                            v2floatTest variable2.
                                                                                                                                                            v3floatTest variable3.
                                                                                                                                                            v4floatTest variable4.

                                                                                                                                                            AUTOPILOT_VERSION_REQUEST (183)

                                                                                                                                                            Request the autopilot version from the system/component.

                                                                                                                                                            Field NameTypeDescription
                                                                                                                                                            target_systemuint8_tSystem ID.
                                                                                                                                                            target_componentuint8_tComponent ID.

                                                                                                                                                            REMOTE_LOG_DATA_BLOCK (184)

                                                                                                                                                            Send a block of log data to remote location.

                                                                                                                                                            Field NameTypeValuesDescription
                                                                                                                                                            target_systemuint8_tSystem ID.
                                                                                                                                                            target_componentuint8_tComponent ID.
                                                                                                                                                            seqnouint32_tMAV_REMOTE_LOG_DATA_BLOCK_COMMANDSLog data block sequence number.
                                                                                                                                                            datauint8_t[200]Log data block.

                                                                                                                                                            REMOTE_LOG_BLOCK_STATUS (185)

                                                                                                                                                            Send Status of each log block that autopilot board might have sent.

                                                                                                                                                            Field NameTypeValuesDescription
                                                                                                                                                            target_systemuint8_tSystem ID.
                                                                                                                                                            target_componentuint8_tComponent ID.
                                                                                                                                                            seqnouint32_tLog data block sequence number.
                                                                                                                                                            statusuint8_tMAV_REMOTE_LOG_DATA_BLOCK_STATUSESLog data block status.

                                                                                                                                                            LED_CONTROL (186)

                                                                                                                                                            Control vehicle LEDs.

                                                                                                                                                            Field NameTypeDescription
                                                                                                                                                            target_systemuint8_tSystem ID.
                                                                                                                                                            target_componentuint8_tComponent ID.
                                                                                                                                                            instanceuint8_tInstance (LED instance to control or 255 for all LEDs).
                                                                                                                                                            patternuint8_tPattern (see LED_PATTERN_ENUM).
                                                                                                                                                            custom_lenuint8_tCustom Byte Length.
                                                                                                                                                            custom_bytesuint8_t[24]Custom Bytes.

                                                                                                                                                            MAG_CAL_PROGRESS (191)

                                                                                                                                                            Reports progress of compass calibration.

                                                                                                                                                            Field NameTypeUnitsValuesDescription
                                                                                                                                                            compass_iduint8_tCompass being calibrated.
                                                                                                                                                            Messages with same value are from the same source (instance).
                                                                                                                                                            cal_maskuint8_tBitmask of compasses being calibrated.
                                                                                                                                                            cal_statusuint8_tMAG_CAL_STATUSCalibration Status.
                                                                                                                                                            attemptuint8_tAttempt number.
                                                                                                                                                            completion_pctuint8_t%Completion percentage.
                                                                                                                                                            completion_maskuint8_t[10]Bitmask of sphere sections (see http://en.wikipedia.org/wiki/Geodesic_grid).
                                                                                                                                                            direction_xfloatBody frame direction vector for display.
                                                                                                                                                            direction_yfloatBody frame direction vector for display.
                                                                                                                                                            direction_zfloatBody frame direction vector for display.

                                                                                                                                                            EKF_STATUS_REPORT (193)

                                                                                                                                                            EKF Status message including flags and variances.

                                                                                                                                                            Field NameTypeValuesDescription
                                                                                                                                                            flagsuint16_tEKF_STATUS_FLAGSFlags.
                                                                                                                                                            velocity_variancefloatVelocity variance.
                                                                                                                                                            pos_horiz_variancefloatHorizontal Position variance.
                                                                                                                                                            pos_vert_variancefloatVertical Position variance.
                                                                                                                                                            compass_variancefloatCompass variance.
                                                                                                                                                            terrain_alt_variancefloatTerrain Altitude variance.
                                                                                                                                                            airspeed_variance ++floatAirspeed variance.

                                                                                                                                                            PID_TUNING (194)

                                                                                                                                                            PID tuning information.

                                                                                                                                                            Field NameTypeValuesDescription
                                                                                                                                                            axisuint8_tPID_TUNING_AXISAxis.
                                                                                                                                                            Messages with same value are from the same source (instance).
                                                                                                                                                            desiredfloatDesired rate.
                                                                                                                                                            achievedfloatAchieved rate.
                                                                                                                                                            FFfloatFF component.
                                                                                                                                                            PfloatP component.
                                                                                                                                                            IfloatI component.
                                                                                                                                                            DfloatD component.
                                                                                                                                                            SRate ++floatSlew rate.
                                                                                                                                                            PDmod ++floatP/D oscillation modifier.

                                                                                                                                                            DEEPSTALL (195)

                                                                                                                                                            Deepstall path planning.

                                                                                                                                                            Field NameTypeUnitsValuesDescription
                                                                                                                                                            landing_latint32_tdegE7Landing latitude.
                                                                                                                                                            landing_lonint32_tdegE7Landing longitude.
                                                                                                                                                            path_latint32_tdegE7Final heading start point, latitude.
                                                                                                                                                            path_lonint32_tdegE7Final heading start point, longitude.
                                                                                                                                                            arc_entry_latint32_tdegE7Arc entry point, latitude.
                                                                                                                                                            arc_entry_lonint32_tdegE7Arc entry point, longitude.
                                                                                                                                                            altitudefloatmAltitude.
                                                                                                                                                            expected_travel_distancefloatmDistance the aircraft expects to travel during the deepstall.
                                                                                                                                                            cross_track_errorfloatmDeepstall cross track error (only valid when in DEEPSTALL_STAGE_LAND).
                                                                                                                                                            stageuint8_tDEEPSTALL_STAGEDeepstall stage.

                                                                                                                                                            GIMBAL_REPORT (200)

                                                                                                                                                            3 axis gimbal measurements.

                                                                                                                                                            Field NameTypeUnitsDescription
                                                                                                                                                            target_systemuint8_tSystem ID.
                                                                                                                                                            target_componentuint8_tComponent ID.
                                                                                                                                                            delta_timefloatsTime since last update.
                                                                                                                                                            delta_angle_xfloatradDelta angle X.
                                                                                                                                                            delta_angle_yfloatradDelta angle Y.
                                                                                                                                                            delta_angle_zfloatradDelta angle X.
                                                                                                                                                            delta_velocity_xfloatm/sDelta velocity X.
                                                                                                                                                            delta_velocity_yfloatm/sDelta velocity Y.
                                                                                                                                                            delta_velocity_zfloatm/sDelta velocity Z.
                                                                                                                                                            joint_rollfloatradJoint ROLL.
                                                                                                                                                            joint_elfloatradJoint EL.
                                                                                                                                                            joint_azfloatradJoint AZ.

                                                                                                                                                            GIMBAL_CONTROL (201)

                                                                                                                                                            Control message for rate gimbal.

                                                                                                                                                            Field NameTypeUnitsDescription
                                                                                                                                                            target_systemuint8_tSystem ID.
                                                                                                                                                            target_componentuint8_tComponent ID.
                                                                                                                                                            demanded_rate_xfloatrad/sDemanded angular rate X.
                                                                                                                                                            demanded_rate_yfloatrad/sDemanded angular rate Y.
                                                                                                                                                            demanded_rate_zfloatrad/sDemanded angular rate Z.

                                                                                                                                                            GIMBAL_TORQUE_CMD_REPORT (214)

                                                                                                                                                            100 Hz gimbal torque command telemetry.

                                                                                                                                                            Field NameTypeDescription
                                                                                                                                                            target_systemuint8_tSystem ID.
                                                                                                                                                            target_componentuint8_tComponent ID.
                                                                                                                                                            rl_torque_cmdint16_tRoll Torque Command.
                                                                                                                                                            el_torque_cmdint16_tElevation Torque Command.
                                                                                                                                                            az_torque_cmdint16_tAzimuth Torque Command.

                                                                                                                                                            GOPRO_HEARTBEAT (215)

                                                                                                                                                            Heartbeat from a HeroBus attached GoPro.

                                                                                                                                                            Field NameTypeValuesDescription
                                                                                                                                                            statusuint8_tGOPRO_HEARTBEAT_STATUSStatus.
                                                                                                                                                            capture_modeuint8_tGOPRO_CAPTURE_MODECurrent capture mode.
                                                                                                                                                            flagsuint8_tGOPRO_HEARTBEAT_FLAGSAdditional status bits.

                                                                                                                                                            GOPRO_GET_REQUEST (216)

                                                                                                                                                            Request a GOPRO_COMMAND response from the GoPro.

                                                                                                                                                            Field NameTypeValuesDescription
                                                                                                                                                            target_systemuint8_tSystem ID.
                                                                                                                                                            target_componentuint8_tComponent ID.
                                                                                                                                                            cmd_iduint8_tGOPRO_COMMANDCommand ID.

                                                                                                                                                            GOPRO_GET_RESPONSE (217)

                                                                                                                                                            Response from a GOPRO_COMMAND get request.

                                                                                                                                                            Field NameTypeValuesDescription
                                                                                                                                                            cmd_iduint8_tGOPRO_COMMANDCommand ID.
                                                                                                                                                            statusuint8_tGOPRO_REQUEST_STATUSStatus.
                                                                                                                                                            valueuint8_t[4]Value.

                                                                                                                                                            GOPRO_SET_REQUEST (218)

                                                                                                                                                            Request to set a GOPRO_COMMAND with a desired.

                                                                                                                                                            Field NameTypeValuesDescription
                                                                                                                                                            target_systemuint8_tSystem ID.
                                                                                                                                                            target_componentuint8_tComponent ID.
                                                                                                                                                            cmd_iduint8_tGOPRO_COMMANDCommand ID.
                                                                                                                                                            valueuint8_t[4]Value.

                                                                                                                                                            GOPRO_SET_RESPONSE (219)

                                                                                                                                                            Response from a GOPRO_COMMAND set request.

                                                                                                                                                            Field NameTypeValuesDescription
                                                                                                                                                            cmd_iduint8_tGOPRO_COMMANDCommand ID.
                                                                                                                                                            statusuint8_tGOPRO_REQUEST_STATUSStatus.

                                                                                                                                                            RPM (226)

                                                                                                                                                            RPM sensor output.

                                                                                                                                                            Field NameTypeDescription
                                                                                                                                                            rpm1floatRPM Sensor1.
                                                                                                                                                            rpm2floatRPM Sensor2.

                                                                                                                                                            DEVICE_OP_READ (11000)

                                                                                                                                                            Read registers for a device.

                                                                                                                                                            Field NameTypeValuesDescription
                                                                                                                                                            target_systemuint8_tSystem ID.
                                                                                                                                                            target_componentuint8_tComponent ID.
                                                                                                                                                            request_iduint32_tRequest ID - copied to reply.
                                                                                                                                                            bustypeuint8_tDEVICE_OP_BUSTYPEThe bus type.
                                                                                                                                                            busuint8_tBus number.
                                                                                                                                                            addressuint8_tBus address.
                                                                                                                                                            busnamechar[40]Name of device on bus (for SPI).
                                                                                                                                                            regstartuint8_tFirst register to read.
                                                                                                                                                            countuint8_tCount of registers to read.
                                                                                                                                                            bank ++uint8_tBank number.

                                                                                                                                                            DEVICE_OP_READ_REPLY (11001)

                                                                                                                                                            Read registers reply.

                                                                                                                                                            Field NameTypeDescription
                                                                                                                                                            request_iduint32_tRequest ID - copied from request.
                                                                                                                                                            resultuint8_t0 for success, anything else is failure code.
                                                                                                                                                            regstartuint8_tStarting register.
                                                                                                                                                            countuint8_tCount of bytes read.
                                                                                                                                                            datauint8_t[128]Reply data.
                                                                                                                                                            bank ++uint8_tBank number.

                                                                                                                                                            DEVICE_OP_WRITE (11002)

                                                                                                                                                            Write registers for a device.

                                                                                                                                                            Field NameTypeValuesDescription
                                                                                                                                                            target_systemuint8_tSystem ID.
                                                                                                                                                            target_componentuint8_tComponent ID.
                                                                                                                                                            request_iduint32_tRequest ID - copied to reply.
                                                                                                                                                            bustypeuint8_tDEVICE_OP_BUSTYPEThe bus type.
                                                                                                                                                            busuint8_tBus number.
                                                                                                                                                            addressuint8_tBus address.
                                                                                                                                                            busnamechar[40]Name of device on bus (for SPI).
                                                                                                                                                            regstartuint8_tFirst register to write.
                                                                                                                                                            countuint8_tCount of registers to write.
                                                                                                                                                            datauint8_t[128]Write data.
                                                                                                                                                            bank ++uint8_tBank number.

                                                                                                                                                            DEVICE_OP_WRITE_REPLY (11003)

                                                                                                                                                            Write registers reply.

                                                                                                                                                            Field NameTypeDescription
                                                                                                                                                            request_iduint32_tRequest ID - copied from request.
                                                                                                                                                            resultuint8_t0 for success, anything else is failure code.

                                                                                                                                                            ADAP_TUNING (11010)

                                                                                                                                                            Adaptive Controller tuning information.

                                                                                                                                                            Field NameTypeUnitsValuesDescription
                                                                                                                                                            axisuint8_tPID_TUNING_AXISAxis.
                                                                                                                                                            Messages with same value are from the same source (instance).
                                                                                                                                                            desiredfloatdeg/sDesired rate.
                                                                                                                                                            achievedfloatdeg/sAchieved rate.
                                                                                                                                                            errorfloatError between model and vehicle.
                                                                                                                                                            thetafloatTheta estimated state predictor.
                                                                                                                                                            omegafloatOmega estimated state predictor.
                                                                                                                                                            sigmafloatSigma estimated state predictor.
                                                                                                                                                            theta_dotfloatTheta derivative.
                                                                                                                                                            omega_dotfloatOmega derivative.
                                                                                                                                                            sigma_dotfloatSigma derivative.
                                                                                                                                                            ffloatProjection operator value.
                                                                                                                                                            f_dotfloatProjection operator derivative.
                                                                                                                                                            ufloatu adaptive controlled output command.

                                                                                                                                                            VISION_POSITION_DELTA (11011)

                                                                                                                                                            Camera vision based attitude and position deltas.

                                                                                                                                                            Field NameTypeUnitsDescription
                                                                                                                                                            time_usecuint64_tusTimestamp (synced to UNIX time or since system boot).
                                                                                                                                                            time_delta_usecuint64_tusTime since the last reported camera frame.
                                                                                                                                                            angle_deltafloat[3]radDefines a rotation vector [roll, pitch, yaw] to the current MAV_FRAME_BODY_FRD from the previous MAV_FRAME_BODY_FRD.
                                                                                                                                                            position_deltafloat[3]mChange in position to the current MAV_FRAME_BODY_FRD from the previous FRAME_BODY_FRD rotated to the current MAV_FRAME_BODY_FRD.
                                                                                                                                                            confidencefloat%Normalised confidence value from 0 to 100.

                                                                                                                                                            AOA_SSA (11020)

                                                                                                                                                            Angle of Attack and Side Slip Angle.

                                                                                                                                                            Field NameTypeUnitsDescription
                                                                                                                                                            time_usecuint64_tusTimestamp (since boot or Unix epoch).
                                                                                                                                                            AOAfloatdegAngle of Attack.
                                                                                                                                                            SSAfloatdegSide Slip Angle.

                                                                                                                                                            ESC_TELEMETRY_1_TO_4 (11030)

                                                                                                                                                            ESC Telemetry Data for ESCs 1 to 4, matching data sent by BLHeli ESCs.

                                                                                                                                                            Field NameTypeUnitsDescription
                                                                                                                                                            temperatureuint8_t[4]degCTemperature.
                                                                                                                                                            voltageuint16_t[4]cVVoltage.
                                                                                                                                                            currentuint16_t[4]cACurrent.
                                                                                                                                                            totalcurrentuint16_t[4]mAhTotal current.
                                                                                                                                                            rpmuint16_t[4]rpmRPM (eRPM).
                                                                                                                                                            countuint16_t[4]count of telemetry packets received (wraps at 65535).

                                                                                                                                                            ESC_TELEMETRY_5_TO_8 (11031)

                                                                                                                                                            ESC Telemetry Data for ESCs 5 to 8, matching data sent by BLHeli ESCs.

                                                                                                                                                            Field NameTypeUnitsDescription
                                                                                                                                                            temperatureuint8_t[4]degCTemperature.
                                                                                                                                                            voltageuint16_t[4]cVVoltage.
                                                                                                                                                            currentuint16_t[4]cACurrent.
                                                                                                                                                            totalcurrentuint16_t[4]mAhTotal current.
                                                                                                                                                            rpmuint16_t[4]rpmRPM (eRPM).
                                                                                                                                                            countuint16_t[4]count of telemetry packets received (wraps at 65535).

                                                                                                                                                            ESC_TELEMETRY_9_TO_12 (11032)

                                                                                                                                                            ESC Telemetry Data for ESCs 9 to 12, matching data sent by BLHeli ESCs.

                                                                                                                                                            Field NameTypeUnitsDescription
                                                                                                                                                            temperatureuint8_t[4]degCTemperature.
                                                                                                                                                            voltageuint16_t[4]cVVoltage.
                                                                                                                                                            currentuint16_t[4]cACurrent.
                                                                                                                                                            totalcurrentuint16_t[4]mAhTotal current.
                                                                                                                                                            rpmuint16_t[4]rpmRPM (eRPM).
                                                                                                                                                            countuint16_t[4]count of telemetry packets received (wraps at 65535).

                                                                                                                                                            OSD_PARAM_CONFIG (11033)

                                                                                                                                                            Configure an OSD parameter slot.

                                                                                                                                                            Field NameTypeValuesDescription
                                                                                                                                                            target_systemuint8_tSystem ID.
                                                                                                                                                            target_componentuint8_tComponent ID.
                                                                                                                                                            request_iduint32_tRequest ID - copied to reply.
                                                                                                                                                            osd_screenuint8_tOSD parameter screen index.
                                                                                                                                                            osd_indexuint8_tOSD parameter display index.
                                                                                                                                                            param_idchar[16]Onboard parameter id, terminated by NULL if the length is less than 16 human-readable chars and WITHOUT null termination (NULL) byte if the length is exactly 16 chars - applications have to provide 16+1 bytes storage if the ID is stored as string
                                                                                                                                                            config_typeuint8_tOSD_PARAM_CONFIG_TYPEConfig type.
                                                                                                                                                            min_valuefloatOSD parameter minimum value.
                                                                                                                                                            max_valuefloatOSD parameter maximum value.
                                                                                                                                                            incrementfloatOSD parameter increment.

                                                                                                                                                            OSD_PARAM_CONFIG_REPLY (11034)

                                                                                                                                                            Configure OSD parameter reply.

                                                                                                                                                            Field NameTypeValuesDescription
                                                                                                                                                            request_iduint32_tRequest ID - copied from request.
                                                                                                                                                            resultuint8_tOSD_PARAM_CONFIG_ERRORConfig error type.

                                                                                                                                                            OSD_PARAM_SHOW_CONFIG (11035)

                                                                                                                                                            Read a configured an OSD parameter slot.

                                                                                                                                                            Field NameTypeDescription
                                                                                                                                                            target_systemuint8_tSystem ID.
                                                                                                                                                            target_componentuint8_tComponent ID.
                                                                                                                                                            request_iduint32_tRequest ID - copied to reply.
                                                                                                                                                            osd_screenuint8_tOSD parameter screen index.
                                                                                                                                                            osd_indexuint8_tOSD parameter display index.

                                                                                                                                                            OSD_PARAM_SHOW_CONFIG_REPLY (11036)

                                                                                                                                                            Read configured OSD parameter reply.

                                                                                                                                                            Field NameTypeValuesDescription
                                                                                                                                                            request_iduint32_tRequest ID - copied from request.
                                                                                                                                                            resultuint8_tOSD_PARAM_CONFIG_ERRORConfig error type.
                                                                                                                                                            param_idchar[16]Onboard parameter id, terminated by NULL if the length is less than 16 human-readable chars and WITHOUT null termination (NULL) byte if the length is exactly 16 chars - applications have to provide 16+1 bytes storage if the ID is stored as string
                                                                                                                                                            config_typeuint8_tOSD_PARAM_CONFIG_TYPEConfig type.
                                                                                                                                                            min_valuefloatOSD parameter minimum value.
                                                                                                                                                            max_valuefloatOSD parameter maximum value.
                                                                                                                                                            incrementfloatOSD parameter increment.

                                                                                                                                                            OBSTACLE_DISTANCE_3D (11037) — [WIP]

                                                                                                                                                            WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                            Obstacle located as a 3D vector.

                                                                                                                                                            Field NameTypeUnitsValuesDescription
                                                                                                                                                            time_boot_msuint32_tmsTimestamp (time since system boot).
                                                                                                                                                            sensor_typeuint8_tMAV_DISTANCE_SENSORClass id of the distance sensor type.
                                                                                                                                                            frameuint8_tMAV_FRAMECoordinate frame of reference.
                                                                                                                                                            obstacle_iduint16_tUnique ID given to each obstacle so that its movement can be tracked. Use UINT16_MAX if object ID is unknown or cannot be determined.
                                                                                                                                                            Messages with same value are from the same source (instance).
                                                                                                                                                            xfloatmX position of the obstacle.
                                                                                                                                                            yfloatmY position of the obstacle.
                                                                                                                                                            zfloatmZ position of the obstacle.
                                                                                                                                                            min_distancefloatmMinimum distance the sensor can measure.
                                                                                                                                                            max_distancefloatmMaximum distance the sensor can measure.

                                                                                                                                                            WATER_DEPTH (11038)

                                                                                                                                                            Water depth

                                                                                                                                                            Field NameTypeUnitsDescription
                                                                                                                                                            time_boot_msuint32_tmsTimestamp (time since system boot)
                                                                                                                                                            iduint8_tOnboard ID of the sensor
                                                                                                                                                            Messages with same value are from the same source (instance).
                                                                                                                                                            healthyuint8_tSensor data healthy (0=unhealthy, 1=healthy)
                                                                                                                                                            latint32_tdegE7Latitude
                                                                                                                                                            lngint32_tdegE7Longitude
                                                                                                                                                            altfloatmAltitude (MSL) of vehicle
                                                                                                                                                            rollfloatradRoll angle
                                                                                                                                                            pitchfloatradPitch angle
                                                                                                                                                            yawfloatradYaw angle
                                                                                                                                                            distancefloatmDistance (uncorrected)
                                                                                                                                                            temperaturefloatdegCWater temperature

                                                                                                                                                            MCU_STATUS (11039)

                                                                                                                                                            The MCU status, giving MCU temperature and voltage. The min and max voltages are to allow for detecting power supply instability.

                                                                                                                                                            Field NameTypeUnitsDescription
                                                                                                                                                            iduint8_tMCU instance
                                                                                                                                                            Messages with same value are from the same source (instance).
                                                                                                                                                            MCU_temperatureint16_tcdegCMCU Internal temperature
                                                                                                                                                            MCU_voltageuint16_tmVMCU voltage
                                                                                                                                                            MCU_voltage_minuint16_tmVMCU voltage minimum
                                                                                                                                                            MCU_voltage_maxuint16_tmVMCU voltage maximum

                                                                                                                                                            Enumerated Types

                                                                                                                                                            ACCELCAL_VEHICLE_POS

                                                                                                                                                            ValueNameDescription
                                                                                                                                                            1ACCELCAL_VEHICLE_POS_LEVEL
                                                                                                                                                            2ACCELCAL_VEHICLE_POS_LEFT
                                                                                                                                                            3ACCELCAL_VEHICLE_POS_RIGHT
                                                                                                                                                            4ACCELCAL_VEHICLE_POS_NOSEDOWN
                                                                                                                                                            5ACCELCAL_VEHICLE_POS_NOSEUP
                                                                                                                                                            6ACCELCAL_VEHICLE_POS_BACK
                                                                                                                                                            16777215ACCELCAL_VEHICLE_POS_SUCCESS
                                                                                                                                                            16777216ACCELCAL_VEHICLE_POS_FAILED

                                                                                                                                                            HEADING_TYPE

                                                                                                                                                            ValueNameDescription
                                                                                                                                                            0HEADING_TYPE_COURSE_OVER_GROUND
                                                                                                                                                            1HEADING_TYPE_HEADING

                                                                                                                                                            SCRIPTING_CMD

                                                                                                                                                            ValueNameDescription
                                                                                                                                                            0SCRIPTING_CMD_REPL_STARTStart a REPL session.
                                                                                                                                                            1SCRIPTING_CMD_REPL_STOPEnd a REPL session.
                                                                                                                                                            2SCRIPTING_CMD_STOPStop execution of scripts.
                                                                                                                                                            3SCRIPTING_CMD_STOP_AND_RESTARTStop execution of scripts and restart.

                                                                                                                                                            LIMITS_STATE

                                                                                                                                                            ValueNameDescription
                                                                                                                                                            0LIMITS_INITPre-initialization.
                                                                                                                                                            1LIMITS_DISABLEDDisabled.
                                                                                                                                                            2LIMITS_ENABLEDChecking limits.
                                                                                                                                                            3LIMITS_TRIGGEREDA limit has been breached.
                                                                                                                                                            4LIMITS_RECOVERINGTaking action e.g. Return/RTL.
                                                                                                                                                            5LIMITS_RECOVEREDWe're no longer in breach of a limit.

                                                                                                                                                            LIMIT_MODULE

                                                                                                                                                            (Bitmask)

                                                                                                                                                            ValueNameDescription
                                                                                                                                                            1LIMIT_GPSLOCKPre-initialization.
                                                                                                                                                            2LIMIT_GEOFENCEDisabled.
                                                                                                                                                            4LIMIT_ALTITUDEChecking limits.

                                                                                                                                                            RALLY_FLAGS

                                                                                                                                                            (Bitmask) Flags in RALLY_POINT message.

                                                                                                                                                            ValueNameDescription
                                                                                                                                                            1FAVORABLE_WINDFlag set when requiring favorable winds for landing.
                                                                                                                                                            2LAND_IMMEDIATELYFlag set when plane is to immediately descend to break altitude and land without GCS intervention. Flag not set when plane is to loiter at Rally point until commanded to land.

                                                                                                                                                            CAMERA_STATUS_TYPES

                                                                                                                                                            ValueNameDescription
                                                                                                                                                            0CAMERA_STATUS_TYPE_HEARTBEATCamera heartbeat, announce camera component ID at 1Hz.
                                                                                                                                                            1CAMERA_STATUS_TYPE_TRIGGERCamera image triggered.
                                                                                                                                                            2CAMERA_STATUS_TYPE_DISCONNECTCamera connection lost.
                                                                                                                                                            3CAMERA_STATUS_TYPE_ERRORCamera unknown error.
                                                                                                                                                            4CAMERA_STATUS_TYPE_LOWBATTCamera battery low. Parameter p1 shows reported voltage.
                                                                                                                                                            5CAMERA_STATUS_TYPE_LOWSTORECamera storage low. Parameter p1 shows reported shots remaining.
                                                                                                                                                            6CAMERA_STATUS_TYPE_LOWSTOREVCamera storage low. Parameter p1 shows reported video minutes remaining.

                                                                                                                                                            CAMERA_FEEDBACK_FLAGS

                                                                                                                                                            ValueNameDescription
                                                                                                                                                            0CAMERA_FEEDBACK_PHOTOShooting photos, not video.
                                                                                                                                                            1CAMERA_FEEDBACK_VIDEOShooting video, not stills.
                                                                                                                                                            2CAMERA_FEEDBACK_BADEXPOSUREUnable to achieve requested exposure (e.g. shutter speed too low).
                                                                                                                                                            3CAMERA_FEEDBACK_CLOSEDLOOPClosed loop feedback from camera, we know for sure it has successfully taken a picture.
                                                                                                                                                            4CAMERA_FEEDBACK_OPENLOOPOpen loop camera, an image trigger has been requested but we can't know for sure it has successfully taken a picture.

                                                                                                                                                            MAV_MODE_GIMBAL

                                                                                                                                                            ValueNameDescription
                                                                                                                                                            0MAV_MODE_GIMBAL_UNINITIALIZEDGimbal is powered on but has not started initializing yet.
                                                                                                                                                            1MAV_MODE_GIMBAL_CALIBRATING_PITCHGimbal is currently running calibration on the pitch axis.
                                                                                                                                                            2MAV_MODE_GIMBAL_CALIBRATING_ROLLGimbal is currently running calibration on the roll axis.
                                                                                                                                                            3MAV_MODE_GIMBAL_CALIBRATING_YAWGimbal is currently running calibration on the yaw axis.
                                                                                                                                                            4MAV_MODE_GIMBAL_INITIALIZEDGimbal has finished calibrating and initializing, but is relaxed pending reception of first rate command from copter.
                                                                                                                                                            5MAV_MODE_GIMBAL_ACTIVEGimbal is actively stabilizing.
                                                                                                                                                            6MAV_MODE_GIMBAL_RATE_CMD_TIMEOUTGimbal is relaxed because it missed more than 10 expected rate command messages in a row. Gimbal will move back to active mode when it receives a new rate command.

                                                                                                                                                            GIMBAL_AXIS

                                                                                                                                                            ValueNameDescription
                                                                                                                                                            0GIMBAL_AXIS_YAWGimbal yaw axis.
                                                                                                                                                            1GIMBAL_AXIS_PITCHGimbal pitch axis.
                                                                                                                                                            2GIMBAL_AXIS_ROLLGimbal roll axis.

                                                                                                                                                            GIMBAL_AXIS_CALIBRATION_STATUS

                                                                                                                                                            ValueNameDescription
                                                                                                                                                            0GIMBAL_AXIS_CALIBRATION_STATUS_IN_PROGRESSAxis calibration is in progress.
                                                                                                                                                            1GIMBAL_AXIS_CALIBRATION_STATUS_SUCCEEDEDAxis calibration succeeded.
                                                                                                                                                            2GIMBAL_AXIS_CALIBRATION_STATUS_FAILEDAxis calibration failed.

                                                                                                                                                            GIMBAL_AXIS_CALIBRATION_REQUIRED

                                                                                                                                                            ValueNameDescription
                                                                                                                                                            0GIMBAL_AXIS_CALIBRATION_REQUIRED_UNKNOWNWhether or not this axis requires calibration is unknown at this time.
                                                                                                                                                            1GIMBAL_AXIS_CALIBRATION_REQUIRED_TRUEThis axis requires calibration.
                                                                                                                                                            2GIMBAL_AXIS_CALIBRATION_REQUIRED_FALSEThis axis does not require calibration.

                                                                                                                                                            GOPRO_HEARTBEAT_STATUS

                                                                                                                                                            ValueNameDescription
                                                                                                                                                            0GOPRO_HEARTBEAT_STATUS_DISCONNECTEDNo GoPro connected.
                                                                                                                                                            1GOPRO_HEARTBEAT_STATUS_INCOMPATIBLEThe detected GoPro is not HeroBus compatible.
                                                                                                                                                            2GOPRO_HEARTBEAT_STATUS_CONNECTEDA HeroBus compatible GoPro is connected.
                                                                                                                                                            3GOPRO_HEARTBEAT_STATUS_ERRORAn unrecoverable error was encountered with the connected GoPro, it may require a power cycle.

                                                                                                                                                            GOPRO_HEARTBEAT_FLAGS

                                                                                                                                                            (Bitmask)

                                                                                                                                                            ValueNameDescription
                                                                                                                                                            1GOPRO_FLAG_RECORDINGGoPro is currently recording.

                                                                                                                                                            GOPRO_REQUEST_STATUS

                                                                                                                                                            ValueNameDescription
                                                                                                                                                            0GOPRO_REQUEST_SUCCESSThe write message with ID indicated succeeded.
                                                                                                                                                            1GOPRO_REQUEST_FAILEDThe write message with ID indicated failed.

                                                                                                                                                            GOPRO_COMMAND

                                                                                                                                                            ValueNameDescription
                                                                                                                                                            0GOPRO_COMMAND_POWER(Get/Set).
                                                                                                                                                            1GOPRO_COMMAND_CAPTURE_MODE(Get/Set).
                                                                                                                                                            2GOPRO_COMMAND_SHUTTER(_/Set).
                                                                                                                                                            3GOPRO_COMMAND_BATTERY(Get/_).
                                                                                                                                                            4GOPRO_COMMAND_MODEL(Get/_).
                                                                                                                                                            5GOPRO_COMMAND_VIDEO_SETTINGS(Get/Set).
                                                                                                                                                            6GOPRO_COMMAND_LOW_LIGHT(Get/Set).
                                                                                                                                                            7GOPRO_COMMAND_PHOTO_RESOLUTION(Get/Set).
                                                                                                                                                            8GOPRO_COMMAND_PHOTO_BURST_RATE(Get/Set).
                                                                                                                                                            9GOPRO_COMMAND_PROTUNE(Get/Set).
                                                                                                                                                            10GOPRO_COMMAND_PROTUNE_WHITE_BALANCE(Get/Set) Hero 3+ Only.
                                                                                                                                                            11GOPRO_COMMAND_PROTUNE_COLOUR(Get/Set) Hero 3+ Only.
                                                                                                                                                            12GOPRO_COMMAND_PROTUNE_GAIN(Get/Set) Hero 3+ Only.
                                                                                                                                                            13GOPRO_COMMAND_PROTUNE_SHARPNESS(Get/Set) Hero 3+ Only.
                                                                                                                                                            14GOPRO_COMMAND_PROTUNE_EXPOSURE(Get/Set) Hero 3+ Only.
                                                                                                                                                            15GOPRO_COMMAND_TIME(Get/Set).
                                                                                                                                                            16GOPRO_COMMAND_CHARGING(Get/Set).

                                                                                                                                                            GOPRO_CAPTURE_MODE

                                                                                                                                                            ValueNameDescription
                                                                                                                                                            0GOPRO_CAPTURE_MODE_VIDEOVideo mode.
                                                                                                                                                            1GOPRO_CAPTURE_MODE_PHOTOPhoto mode.
                                                                                                                                                            2GOPRO_CAPTURE_MODE_BURSTBurst mode, Hero 3+ only.
                                                                                                                                                            3GOPRO_CAPTURE_MODE_TIME_LAPSETime lapse mode, Hero 3+ only.
                                                                                                                                                            4GOPRO_CAPTURE_MODE_MULTI_SHOTMulti shot mode, Hero 4 only.
                                                                                                                                                            5GOPRO_CAPTURE_MODE_PLAYBACKPlayback mode, Hero 4 only, silver only except when LCD or HDMI is connected to black.
                                                                                                                                                            6GOPRO_CAPTURE_MODE_SETUPPlayback mode, Hero 4 only.
                                                                                                                                                            255GOPRO_CAPTURE_MODE_UNKNOWNMode not yet known.

                                                                                                                                                            GOPRO_RESOLUTION

                                                                                                                                                            ValueNameDescription
                                                                                                                                                            0GOPRO_RESOLUTION_480p848 x 480 (480p).
                                                                                                                                                            1GOPRO_RESOLUTION_720p1280 x 720 (720p).
                                                                                                                                                            2GOPRO_RESOLUTION_960p1280 x 960 (960p).
                                                                                                                                                            3GOPRO_RESOLUTION_1080p1920 x 1080 (1080p).
                                                                                                                                                            4GOPRO_RESOLUTION_1440p1920 x 1440 (1440p).
                                                                                                                                                            5GOPRO_RESOLUTION_2_7k_17_92704 x 1440 (2.7k-17:9).
                                                                                                                                                            6GOPRO_RESOLUTION_2_7k_16_92704 x 1524 (2.7k-16:9).
                                                                                                                                                            7GOPRO_RESOLUTION_2_7k_4_32704 x 2028 (2.7k-4:3).
                                                                                                                                                            8GOPRO_RESOLUTION_4k_16_93840 x 2160 (4k-16:9).
                                                                                                                                                            9GOPRO_RESOLUTION_4k_17_94096 x 2160 (4k-17:9).
                                                                                                                                                            10GOPRO_RESOLUTION_720p_SUPERVIEW1280 x 720 (720p-SuperView).
                                                                                                                                                            11GOPRO_RESOLUTION_1080p_SUPERVIEW1920 x 1080 (1080p-SuperView).
                                                                                                                                                            12GOPRO_RESOLUTION_2_7k_SUPERVIEW2704 x 1520 (2.7k-SuperView).
                                                                                                                                                            13GOPRO_RESOLUTION_4k_SUPERVIEW3840 x 2160 (4k-SuperView).

                                                                                                                                                            GOPRO_FRAME_RATE

                                                                                                                                                            ValueNameDescription
                                                                                                                                                            0GOPRO_FRAME_RATE_1212 FPS.
                                                                                                                                                            1GOPRO_FRAME_RATE_1515 FPS.
                                                                                                                                                            2GOPRO_FRAME_RATE_2424 FPS.
                                                                                                                                                            3GOPRO_FRAME_RATE_2525 FPS.
                                                                                                                                                            4GOPRO_FRAME_RATE_3030 FPS.
                                                                                                                                                            5GOPRO_FRAME_RATE_4848 FPS.
                                                                                                                                                            6GOPRO_FRAME_RATE_5050 FPS.
                                                                                                                                                            7GOPRO_FRAME_RATE_6060 FPS.
                                                                                                                                                            8GOPRO_FRAME_RATE_8080 FPS.
                                                                                                                                                            9GOPRO_FRAME_RATE_9090 FPS.
                                                                                                                                                            10GOPRO_FRAME_RATE_100100 FPS.
                                                                                                                                                            11GOPRO_FRAME_RATE_120120 FPS.
                                                                                                                                                            12GOPRO_FRAME_RATE_240240 FPS.
                                                                                                                                                            13GOPRO_FRAME_RATE_12_512.5 FPS.

                                                                                                                                                            GOPRO_FIELD_OF_VIEW

                                                                                                                                                            ValueNameDescription
                                                                                                                                                            0GOPRO_FIELD_OF_VIEW_WIDE0x00: Wide.
                                                                                                                                                            1GOPRO_FIELD_OF_VIEW_MEDIUM0x01: Medium.
                                                                                                                                                            2GOPRO_FIELD_OF_VIEW_NARROW0x02: Narrow.

                                                                                                                                                            GOPRO_VIDEO_SETTINGS_FLAGS

                                                                                                                                                            (Bitmask)

                                                                                                                                                            ValueNameDescription
                                                                                                                                                            1GOPRO_VIDEO_SETTINGS_TV_MODE0=NTSC, 1=PAL.

                                                                                                                                                            GOPRO_PHOTO_RESOLUTION

                                                                                                                                                            ValueNameDescription
                                                                                                                                                            0GOPRO_PHOTO_RESOLUTION_5MP_MEDIUM5MP Medium.
                                                                                                                                                            1GOPRO_PHOTO_RESOLUTION_7MP_MEDIUM7MP Medium.
                                                                                                                                                            2GOPRO_PHOTO_RESOLUTION_7MP_WIDE7MP Wide.
                                                                                                                                                            3GOPRO_PHOTO_RESOLUTION_10MP_WIDE10MP Wide.
                                                                                                                                                            4GOPRO_PHOTO_RESOLUTION_12MP_WIDE12MP Wide.

                                                                                                                                                            GOPRO_PROTUNE_WHITE_BALANCE

                                                                                                                                                            ValueNameDescription
                                                                                                                                                            0GOPRO_PROTUNE_WHITE_BALANCE_AUTOAuto.
                                                                                                                                                            1GOPRO_PROTUNE_WHITE_BALANCE_3000K3000K.
                                                                                                                                                            2GOPRO_PROTUNE_WHITE_BALANCE_5500K5500K.
                                                                                                                                                            3GOPRO_PROTUNE_WHITE_BALANCE_6500K6500K.
                                                                                                                                                            4GOPRO_PROTUNE_WHITE_BALANCE_RAWCamera Raw.

                                                                                                                                                            GOPRO_PROTUNE_COLOUR

                                                                                                                                                            ValueNameDescription
                                                                                                                                                            0GOPRO_PROTUNE_COLOUR_STANDARDAuto.
                                                                                                                                                            1GOPRO_PROTUNE_COLOUR_NEUTRALNeutral.

                                                                                                                                                            GOPRO_PROTUNE_GAIN

                                                                                                                                                            ValueNameDescription
                                                                                                                                                            0GOPRO_PROTUNE_GAIN_400ISO 400.
                                                                                                                                                            1GOPRO_PROTUNE_GAIN_800ISO 800 (Only Hero 4).
                                                                                                                                                            2GOPRO_PROTUNE_GAIN_1600ISO 1600.
                                                                                                                                                            3GOPRO_PROTUNE_GAIN_3200ISO 3200 (Only Hero 4).
                                                                                                                                                            4GOPRO_PROTUNE_GAIN_6400ISO 6400.

                                                                                                                                                            GOPRO_PROTUNE_SHARPNESS

                                                                                                                                                            ValueNameDescription
                                                                                                                                                            0GOPRO_PROTUNE_SHARPNESS_LOWLow Sharpness.
                                                                                                                                                            1GOPRO_PROTUNE_SHARPNESS_MEDIUMMedium Sharpness.
                                                                                                                                                            2GOPRO_PROTUNE_SHARPNESS_HIGHHigh Sharpness.

                                                                                                                                                            GOPRO_PROTUNE_EXPOSURE

                                                                                                                                                            ValueNameDescription
                                                                                                                                                            0GOPRO_PROTUNE_EXPOSURE_NEG_5_0-5.0 EV (Hero 3+ Only).
                                                                                                                                                            1GOPRO_PROTUNE_EXPOSURE_NEG_4_5-4.5 EV (Hero 3+ Only).
                                                                                                                                                            2GOPRO_PROTUNE_EXPOSURE_NEG_4_0-4.0 EV (Hero 3+ Only).
                                                                                                                                                            3GOPRO_PROTUNE_EXPOSURE_NEG_3_5-3.5 EV (Hero 3+ Only).
                                                                                                                                                            4GOPRO_PROTUNE_EXPOSURE_NEG_3_0-3.0 EV (Hero 3+ Only).
                                                                                                                                                            5GOPRO_PROTUNE_EXPOSURE_NEG_2_5-2.5 EV (Hero 3+ Only).
                                                                                                                                                            6GOPRO_PROTUNE_EXPOSURE_NEG_2_0-2.0 EV.
                                                                                                                                                            7GOPRO_PROTUNE_EXPOSURE_NEG_1_5-1.5 EV.
                                                                                                                                                            8GOPRO_PROTUNE_EXPOSURE_NEG_1_0-1.0 EV.
                                                                                                                                                            9GOPRO_PROTUNE_EXPOSURE_NEG_0_5-0.5 EV.
                                                                                                                                                            10GOPRO_PROTUNE_EXPOSURE_ZERO0.0 EV.
                                                                                                                                                            11GOPRO_PROTUNE_EXPOSURE_POS_0_5+0.5 EV.
                                                                                                                                                            12GOPRO_PROTUNE_EXPOSURE_POS_1_0+1.0 EV.
                                                                                                                                                            13GOPRO_PROTUNE_EXPOSURE_POS_1_5+1.5 EV.
                                                                                                                                                            14GOPRO_PROTUNE_EXPOSURE_POS_2_0+2.0 EV.
                                                                                                                                                            15GOPRO_PROTUNE_EXPOSURE_POS_2_5+2.5 EV (Hero 3+ Only).
                                                                                                                                                            16GOPRO_PROTUNE_EXPOSURE_POS_3_0+3.0 EV (Hero 3+ Only).
                                                                                                                                                            17GOPRO_PROTUNE_EXPOSURE_POS_3_5+3.5 EV (Hero 3+ Only).
                                                                                                                                                            18GOPRO_PROTUNE_EXPOSURE_POS_4_0+4.0 EV (Hero 3+ Only).
                                                                                                                                                            19GOPRO_PROTUNE_EXPOSURE_POS_4_5+4.5 EV (Hero 3+ Only).
                                                                                                                                                            20GOPRO_PROTUNE_EXPOSURE_POS_5_0+5.0 EV (Hero 3+ Only).

                                                                                                                                                            GOPRO_CHARGING

                                                                                                                                                            ValueNameDescription
                                                                                                                                                            0GOPRO_CHARGING_DISABLEDCharging disabled.
                                                                                                                                                            1GOPRO_CHARGING_ENABLEDCharging enabled.

                                                                                                                                                            GOPRO_MODEL

                                                                                                                                                            ValueNameDescription
                                                                                                                                                            0GOPRO_MODEL_UNKNOWNUnknown gopro model.
                                                                                                                                                            1GOPRO_MODEL_HERO_3_PLUS_SILVERHero 3+ Silver (HeroBus not supported by GoPro).
                                                                                                                                                            2GOPRO_MODEL_HERO_3_PLUS_BLACKHero 3+ Black.
                                                                                                                                                            3GOPRO_MODEL_HERO_4_SILVERHero 4 Silver.
                                                                                                                                                            4GOPRO_MODEL_HERO_4_BLACKHero 4 Black.

                                                                                                                                                            GOPRO_BURST_RATE

                                                                                                                                                            ValueNameDescription
                                                                                                                                                            0GOPRO_BURST_RATE_3_IN_1_SECOND3 Shots / 1 Second.
                                                                                                                                                            1GOPRO_BURST_RATE_5_IN_1_SECOND5 Shots / 1 Second.
                                                                                                                                                            2GOPRO_BURST_RATE_10_IN_1_SECOND10 Shots / 1 Second.
                                                                                                                                                            3GOPRO_BURST_RATE_10_IN_2_SECOND10 Shots / 2 Second.
                                                                                                                                                            4GOPRO_BURST_RATE_10_IN_3_SECOND10 Shots / 3 Second (Hero 4 Only).
                                                                                                                                                            5GOPRO_BURST_RATE_30_IN_1_SECOND30 Shots / 1 Second.
                                                                                                                                                            6GOPRO_BURST_RATE_30_IN_2_SECOND30 Shots / 2 Second.
                                                                                                                                                            7GOPRO_BURST_RATE_30_IN_3_SECOND30 Shots / 3 Second.
                                                                                                                                                            8GOPRO_BURST_RATE_30_IN_6_SECOND30 Shots / 6 Second.

                                                                                                                                                            MAV_CMD_DO_AUX_FUNCTION_SWITCH_LEVEL

                                                                                                                                                            ValueNameDescription
                                                                                                                                                            0MAV_CMD_DO_AUX_FUNCTION_SWITCH_LEVEL_LOWSwitch Low.
                                                                                                                                                            1MAV_CMD_DO_AUX_FUNCTION_SWITCH_LEVEL_MIDDLESwitch Middle.
                                                                                                                                                            2MAV_CMD_DO_AUX_FUNCTION_SWITCH_LEVEL_HIGHSwitch High.

                                                                                                                                                            LED_CONTROL_PATTERN

                                                                                                                                                            ValueNameDescription
                                                                                                                                                            0LED_CONTROL_PATTERN_OFFLED patterns off (return control to regular vehicle control).
                                                                                                                                                            1LED_CONTROL_PATTERN_FIRMWAREUPDATELEDs show pattern during firmware update.
                                                                                                                                                            255LED_CONTROL_PATTERN_CUSTOMCustom Pattern using custom bytes fields.

                                                                                                                                                            EKF_STATUS_FLAGS

                                                                                                                                                            (Bitmask) Flags in EKF_STATUS message.

                                                                                                                                                            ValueNameDescription
                                                                                                                                                            1EKF_ATTITUDESet if EKF's attitude estimate is good.
                                                                                                                                                            2EKF_VELOCITY_HORIZSet if EKF's horizontal velocity estimate is good.
                                                                                                                                                            4EKF_VELOCITY_VERTSet if EKF's vertical velocity estimate is good.
                                                                                                                                                            8EKF_POS_HORIZ_RELSet if EKF's horizontal position (relative) estimate is good.
                                                                                                                                                            16EKF_POS_HORIZ_ABSSet if EKF's horizontal position (absolute) estimate is good.
                                                                                                                                                            32EKF_POS_VERT_ABSSet if EKF's vertical position (absolute) estimate is good.
                                                                                                                                                            64EKF_POS_VERT_AGLSet if EKF's vertical position (above ground) estimate is good.
                                                                                                                                                            128EKF_CONST_POS_MODEEKF is in constant position mode and does not know it's absolute or relative position.
                                                                                                                                                            256EKF_PRED_POS_HORIZ_RELSet if EKF's predicted horizontal position (relative) estimate is good.
                                                                                                                                                            512EKF_PRED_POS_HORIZ_ABSSet if EKF's predicted horizontal position (absolute) estimate is good.
                                                                                                                                                            1024EKF_UNINITIALIZEDSet if EKF has never been healthy.

                                                                                                                                                            PID_TUNING_AXIS

                                                                                                                                                            ValueNameDescription
                                                                                                                                                            1PID_TUNING_ROLL
                                                                                                                                                            2PID_TUNING_PITCH
                                                                                                                                                            3PID_TUNING_YAW
                                                                                                                                                            4PID_TUNING_ACCZ
                                                                                                                                                            5PID_TUNING_STEER
                                                                                                                                                            6PID_TUNING_LANDING

                                                                                                                                                            MAV_REMOTE_LOG_DATA_BLOCK_COMMANDS

                                                                                                                                                            Special ACK block numbers control activation of dataflash log streaming.

                                                                                                                                                            ValueNameDescription
                                                                                                                                                            2147483645MAV_REMOTE_LOG_DATA_BLOCK_STOPUAV to stop sending DataFlash blocks.
                                                                                                                                                            2147483646MAV_REMOTE_LOG_DATA_BLOCK_STARTUAV to start sending DataFlash blocks.

                                                                                                                                                            MAV_REMOTE_LOG_DATA_BLOCK_STATUSES

                                                                                                                                                            Possible remote log data block statuses.

                                                                                                                                                            ValueNameDescription
                                                                                                                                                            0MAV_REMOTE_LOG_DATA_BLOCK_NACKThis block has NOT been received.
                                                                                                                                                            1MAV_REMOTE_LOG_DATA_BLOCK_ACKThis block has been received.

                                                                                                                                                            DEVICE_OP_BUSTYPE

                                                                                                                                                            Bus types for device operations.

                                                                                                                                                            ValueNameDescription
                                                                                                                                                            0DEVICE_OP_BUSTYPE_I2CI2C Device operation.
                                                                                                                                                            1DEVICE_OP_BUSTYPE_SPISPI Device operation.

                                                                                                                                                            DEEPSTALL_STAGE

                                                                                                                                                            Deepstall flight stage.

                                                                                                                                                            ValueNameDescription
                                                                                                                                                            0DEEPSTALL_STAGE_FLY_TO_LANDINGFlying to the landing point.
                                                                                                                                                            1DEEPSTALL_STAGE_ESTIMATE_WINDBuilding an estimate of the wind.
                                                                                                                                                            2DEEPSTALL_STAGE_WAIT_FOR_BREAKOUTWaiting to breakout of the loiter to fly the approach.
                                                                                                                                                            3DEEPSTALL_STAGE_FLY_TO_ARCFlying to the first arc point to turn around to the landing point.
                                                                                                                                                            4DEEPSTALL_STAGE_ARCTurning around back to the deepstall landing point.
                                                                                                                                                            5DEEPSTALL_STAGE_APPROACHApproaching the landing point.
                                                                                                                                                            6DEEPSTALL_STAGE_LANDStalling and steering towards the land point.

                                                                                                                                                            PLANE_MODE

                                                                                                                                                            A mapping of plane flight modes for custom_mode field of heartbeat.

                                                                                                                                                            ValueNameDescription
                                                                                                                                                            0PLANE_MODE_MANUAL
                                                                                                                                                            1PLANE_MODE_CIRCLE
                                                                                                                                                            2PLANE_MODE_STABILIZE
                                                                                                                                                            3PLANE_MODE_TRAINING
                                                                                                                                                            4PLANE_MODE_ACRO
                                                                                                                                                            5PLANE_MODE_FLY_BY_WIRE_A
                                                                                                                                                            6PLANE_MODE_FLY_BY_WIRE_B
                                                                                                                                                            7PLANE_MODE_CRUISE
                                                                                                                                                            8PLANE_MODE_AUTOTUNE
                                                                                                                                                            10PLANE_MODE_AUTO
                                                                                                                                                            11PLANE_MODE_RTL
                                                                                                                                                            12PLANE_MODE_LOITER
                                                                                                                                                            13PLANE_MODE_TAKEOFF
                                                                                                                                                            14PLANE_MODE_AVOID_ADSB
                                                                                                                                                            15PLANE_MODE_GUIDED
                                                                                                                                                            16PLANE_MODE_INITIALIZING
                                                                                                                                                            17PLANE_MODE_QSTABILIZE
                                                                                                                                                            18PLANE_MODE_QHOVER
                                                                                                                                                            19PLANE_MODE_QLOITER
                                                                                                                                                            20PLANE_MODE_QLAND
                                                                                                                                                            21PLANE_MODE_QRTL
                                                                                                                                                            22PLANE_MODE_QAUTOTUNE
                                                                                                                                                            23PLANE_MODE_QACRO
                                                                                                                                                            24PLANE_MODE_THERMAL

                                                                                                                                                            COPTER_MODE

                                                                                                                                                            A mapping of copter flight modes for custom_mode field of heartbeat.

                                                                                                                                                            ValueNameDescription
                                                                                                                                                            0COPTER_MODE_STABILIZE
                                                                                                                                                            1COPTER_MODE_ACRO
                                                                                                                                                            2COPTER_MODE_ALT_HOLD
                                                                                                                                                            3COPTER_MODE_AUTO
                                                                                                                                                            4COPTER_MODE_GUIDED
                                                                                                                                                            5COPTER_MODE_LOITER
                                                                                                                                                            6COPTER_MODE_RTL
                                                                                                                                                            7COPTER_MODE_CIRCLE
                                                                                                                                                            9COPTER_MODE_LAND
                                                                                                                                                            11COPTER_MODE_DRIFT
                                                                                                                                                            13COPTER_MODE_SPORT
                                                                                                                                                            14COPTER_MODE_FLIP
                                                                                                                                                            15COPTER_MODE_AUTOTUNE
                                                                                                                                                            16COPTER_MODE_POSHOLD
                                                                                                                                                            17COPTER_MODE_BRAKE
                                                                                                                                                            18COPTER_MODE_THROW
                                                                                                                                                            19COPTER_MODE_AVOID_ADSB
                                                                                                                                                            20COPTER_MODE_GUIDED_NOGPS
                                                                                                                                                            21COPTER_MODE_SMART_RTL
                                                                                                                                                            22COPTER_MODE_FLOWHOLD
                                                                                                                                                            23COPTER_MODE_FOLLOW
                                                                                                                                                            24COPTER_MODE_ZIGZAG
                                                                                                                                                            25COPTER_MODE_SYSTEMID
                                                                                                                                                            26COPTER_MODE_AUTOROTATE
                                                                                                                                                            27COPTER_MODE_AUTO_RTL

                                                                                                                                                            SUB_MODE

                                                                                                                                                            A mapping of sub flight modes for custom_mode field of heartbeat.

                                                                                                                                                            ValueNameDescription
                                                                                                                                                            0SUB_MODE_STABILIZE
                                                                                                                                                            1SUB_MODE_ACRO
                                                                                                                                                            2SUB_MODE_ALT_HOLD
                                                                                                                                                            3SUB_MODE_AUTO
                                                                                                                                                            4SUB_MODE_GUIDED
                                                                                                                                                            7SUB_MODE_CIRCLE
                                                                                                                                                            9SUB_MODE_SURFACE
                                                                                                                                                            16SUB_MODE_POSHOLD
                                                                                                                                                            19SUB_MODE_MANUAL

                                                                                                                                                            ROVER_MODE

                                                                                                                                                            A mapping of rover flight modes for custom_mode field of heartbeat.

                                                                                                                                                            ValueNameDescription
                                                                                                                                                            0ROVER_MODE_MANUAL
                                                                                                                                                            1ROVER_MODE_ACRO
                                                                                                                                                            3ROVER_MODE_STEERING
                                                                                                                                                            4ROVER_MODE_HOLD
                                                                                                                                                            5ROVER_MODE_LOITER
                                                                                                                                                            6ROVER_MODE_FOLLOW
                                                                                                                                                            7ROVER_MODE_SIMPLE
                                                                                                                                                            10ROVER_MODE_AUTO
                                                                                                                                                            11ROVER_MODE_RTL
                                                                                                                                                            12ROVER_MODE_SMART_RTL
                                                                                                                                                            15ROVER_MODE_GUIDED
                                                                                                                                                            16ROVER_MODE_INITIALIZING

                                                                                                                                                            TRACKER_MODE

                                                                                                                                                            A mapping of antenna tracker flight modes for custom_mode field of heartbeat.

                                                                                                                                                            ValueNameDescription
                                                                                                                                                            0TRACKER_MODE_MANUAL
                                                                                                                                                            1TRACKER_MODE_STOP
                                                                                                                                                            2TRACKER_MODE_SCAN
                                                                                                                                                            3TRACKER_MODE_SERVO_TEST
                                                                                                                                                            10TRACKER_MODE_AUTO
                                                                                                                                                            16TRACKER_MODE_INITIALIZING

                                                                                                                                                            OSD_PARAM_CONFIG_TYPE

                                                                                                                                                            The type of parameter for the OSD parameter editor.

                                                                                                                                                            ValueNameDescription
                                                                                                                                                            0OSD_PARAM_NONE
                                                                                                                                                            1OSD_PARAM_SERIAL_PROTOCOL
                                                                                                                                                            2OSD_PARAM_SERVO_FUNCTION
                                                                                                                                                            3OSD_PARAM_AUX_FUNCTION
                                                                                                                                                            4OSD_PARAM_FLIGHT_MODE
                                                                                                                                                            5OSD_PARAM_FAILSAFE_ACTION
                                                                                                                                                            6OSD_PARAM_FAILSAFE_ACTION_1
                                                                                                                                                            7OSD_PARAM_FAILSAFE_ACTION_2
                                                                                                                                                            8OSD_PARAM_NUM_TYPES

                                                                                                                                                            OSD_PARAM_CONFIG_ERROR

                                                                                                                                                            The error type for the OSD parameter editor.

                                                                                                                                                            ValueNameDescription
                                                                                                                                                            0OSD_PARAM_SUCCESS
                                                                                                                                                            1OSD_PARAM_INVALID_SCREEN
                                                                                                                                                            2OSD_PARAM_INVALID_PARAMETER_INDEX
                                                                                                                                                            3OSD_PARAM_INVALID_PARAMETER

                                                                                                                                                            Commands (MAV_CMD)

                                                                                                                                                            MAV_CMD_NAV_ALTITUDE_WAIT (83)

                                                                                                                                                            Mission command to wait for an altitude or downwards vertical speed. This is meant for high altitude balloon launches, allowing the aircraft to be idle until either an altitude is reached or a negative vertical speed is reached (indicating early balloon burst). The wiggle time is how often to wiggle the control surfaces to prevent them seizing up.

                                                                                                                                                            Param (Label)DescriptionUnits
                                                                                                                                                            1 (Altitude)Altitude.m
                                                                                                                                                            2 (Descent Speed)Descent speed.m/s
                                                                                                                                                            3 (Wiggle Time)How long to wiggle the control surfaces to prevent them seizing up.s
                                                                                                                                                            4Empty.
                                                                                                                                                            5Empty.
                                                                                                                                                            6Empty.
                                                                                                                                                            7Empty.

                                                                                                                                                            MAV_CMD_DO_SET_RESUME_REPEAT_DIST (215)

                                                                                                                                                            Set the distance to be repeated on mission resume

                                                                                                                                                            Param (Label)DescriptionUnits
                                                                                                                                                            1 (Distance)Distance.m
                                                                                                                                                            2Empty.
                                                                                                                                                            3Empty.
                                                                                                                                                            4Empty.
                                                                                                                                                            5Empty.
                                                                                                                                                            6Empty.
                                                                                                                                                            7Empty.

                                                                                                                                                            MAV_CMD_DO_SPRAYER (216)

                                                                                                                                                            Control attached liquid sprayer

                                                                                                                                                            Param (Label)DescriptionValues
                                                                                                                                                            1 (Sprayer Enable)0: disable sprayer. 1: enable sprayer.min: 0 max: 1 inc: 1
                                                                                                                                                            2Empty.
                                                                                                                                                            3Empty.
                                                                                                                                                            4Empty.
                                                                                                                                                            5Empty.
                                                                                                                                                            6Empty.
                                                                                                                                                            7Empty.

                                                                                                                                                            MAV_CMD_DO_SEND_SCRIPT_MESSAGE (217)

                                                                                                                                                            Pass instructions onto scripting, a script should be checking for a new command

                                                                                                                                                            Param (Label)DescriptionValues
                                                                                                                                                            1 (ID)uint16 ID value to be passed to scriptingmin: 0 max: 65535 inc: 1
                                                                                                                                                            2 (param 1)float value to be passed to scripting
                                                                                                                                                            3 (param 2)float value to be passed to scripting
                                                                                                                                                            4 (param 3)float value to be passed to scripting
                                                                                                                                                            5Empty.
                                                                                                                                                            6Empty.
                                                                                                                                                            7Empty.

                                                                                                                                                            MAV_CMD_DO_AUX_FUNCTION (218)

                                                                                                                                                            Execute auxiliary function

                                                                                                                                                            Param (Label)DescriptionValues
                                                                                                                                                            1 (AuxiliaryFunction)Auxiliary Function.
                                                                                                                                                            2 (SwitchPosition)Switch Level.MAV_CMD_DO_AUX_FUNCTION_SWITCH_LEVEL
                                                                                                                                                            3Empty.
                                                                                                                                                            4Empty.
                                                                                                                                                            5Empty.
                                                                                                                                                            6Empty.
                                                                                                                                                            7Empty.

                                                                                                                                                            MAV_CMD_POWER_OFF_INITIATED (42000)

                                                                                                                                                            A system wide power-off event has been initiated.

                                                                                                                                                            Param (Label)Description
                                                                                                                                                            1Empty.
                                                                                                                                                            2Empty.
                                                                                                                                                            3Empty.
                                                                                                                                                            4Empty.
                                                                                                                                                            5Empty.
                                                                                                                                                            6Empty.
                                                                                                                                                            7Empty.

                                                                                                                                                            MAV_CMD_SOLO_BTN_FLY_CLICK (42001)

                                                                                                                                                            FLY button has been clicked.

                                                                                                                                                            Param (Label)Description
                                                                                                                                                            1Empty.
                                                                                                                                                            2Empty.
                                                                                                                                                            3Empty.
                                                                                                                                                            4Empty.
                                                                                                                                                            5Empty.
                                                                                                                                                            6Empty.
                                                                                                                                                            7Empty.

                                                                                                                                                            MAV_CMD_SOLO_BTN_FLY_HOLD (42002)

                                                                                                                                                            FLY button has been held for 1.5 seconds.

                                                                                                                                                            Param (Label)DescriptionUnits
                                                                                                                                                            1 (Takeoff Altitude)Takeoff altitude.m
                                                                                                                                                            2Empty.
                                                                                                                                                            3Empty.
                                                                                                                                                            4Empty.
                                                                                                                                                            5Empty.
                                                                                                                                                            6Empty.
                                                                                                                                                            7Empty.

                                                                                                                                                            MAV_CMD_SOLO_BTN_PAUSE_CLICK (42003)

                                                                                                                                                            PAUSE button has been clicked.

                                                                                                                                                            Param (Label)DescriptionValues
                                                                                                                                                            1 (Shot Mode)1 if Solo is in a shot mode, 0 otherwise.min: 0 max: 1 inc: 1
                                                                                                                                                            2Empty.
                                                                                                                                                            3Empty.
                                                                                                                                                            4Empty.
                                                                                                                                                            5Empty.
                                                                                                                                                            6Empty.
                                                                                                                                                            7Empty.

                                                                                                                                                            MAV_CMD_FIXED_MAG_CAL (42004)

                                                                                                                                                            Magnetometer calibration based on fixed position

                                                                                                                                                            in earth field given by inclination, declination and intensity.

                                                                                                                                                            Param (Label)DescriptionUnits
                                                                                                                                                            1 (Declination)Magnetic declination.deg
                                                                                                                                                            2 (Inclination)Magnetic inclination.deg
                                                                                                                                                            3 (Intensity)Magnetic intensity.mgauss
                                                                                                                                                            4 (Yaw)Yaw.deg
                                                                                                                                                            5Empty.
                                                                                                                                                            6Empty.
                                                                                                                                                            7Empty.

                                                                                                                                                            MAV_CMD_FIXED_MAG_CAL_FIELD (42005)

                                                                                                                                                            Magnetometer calibration based on fixed expected field values.

                                                                                                                                                            Param (Label)DescriptionUnits
                                                                                                                                                            1 (Field X)Field strength X.mgauss
                                                                                                                                                            2 (Field Y)Field strength Y.mgauss
                                                                                                                                                            3 (Field Z)Field strength Z.mgauss
                                                                                                                                                            4Empty.
                                                                                                                                                            5Empty.
                                                                                                                                                            6Empty.
                                                                                                                                                            7Empty.

                                                                                                                                                            MAV_CMD_SET_EKF_SOURCE_SET (42007)

                                                                                                                                                            Set EKF sensor source set.

                                                                                                                                                            Param (Label)DescriptionValues
                                                                                                                                                            1 (SourceSetId)Source Set Id.min: 1 max: 3 inc: 1
                                                                                                                                                            2Empty.
                                                                                                                                                            3Empty.
                                                                                                                                                            4Empty.
                                                                                                                                                            5Empty.
                                                                                                                                                            6Empty.
                                                                                                                                                            7Empty.

                                                                                                                                                            MAV_CMD_DO_START_MAG_CAL (42424)

                                                                                                                                                            Initiate a magnetometer calibration.

                                                                                                                                                            Param (Label)DescriptionValuesUnits
                                                                                                                                                            1 (Magnetometers Bitmask)Bitmask of magnetometers to calibrate. Use 0 to calibrate all sensors that can be started (sensors may not start if disabled, unhealthy, etc.). The command will NACK if calibration does not start for a sensor explicitly specified by the bitmask.min: 0 max: 255 inc: 1
                                                                                                                                                            2 (Retry on Failure)Automatically retry on failure (0=no retry, 1=retry).min: 0 max: 1 inc: 1
                                                                                                                                                            3 (Autosave)Save without user input (0=require input, 1=autosave).min: 0 max: 1 inc: 1
                                                                                                                                                            4 (Delay)Delay.s
                                                                                                                                                            5 (Autoreboot)Autoreboot (0=user reboot, 1=autoreboot).min: 0 max: 1 inc: 1
                                                                                                                                                            6Empty.
                                                                                                                                                            7Empty.

                                                                                                                                                            MAV_CMD_DO_ACCEPT_MAG_CAL (42425)

                                                                                                                                                            Accept a magnetometer calibration.

                                                                                                                                                            Param (Label)DescriptionValues
                                                                                                                                                            1 (Magnetometers Bitmask)Bitmask of magnetometers that calibration is accepted (0 means all).min: 0 max: 255 inc: 1
                                                                                                                                                            2Empty.
                                                                                                                                                            3Empty.
                                                                                                                                                            4Empty.
                                                                                                                                                            5Empty.
                                                                                                                                                            6Empty.
                                                                                                                                                            7Empty.

                                                                                                                                                            MAV_CMD_DO_CANCEL_MAG_CAL (42426)

                                                                                                                                                            Cancel a running magnetometer calibration.

                                                                                                                                                            Param (Label)DescriptionValues
                                                                                                                                                            1 (Magnetometers Bitmask)Bitmask of magnetometers to cancel a running calibration (0 means all).min: 0 max: 255 inc: 1
                                                                                                                                                            2Empty.
                                                                                                                                                            3Empty.
                                                                                                                                                            4Empty.
                                                                                                                                                            5Empty.
                                                                                                                                                            6Empty.
                                                                                                                                                            7Empty.

                                                                                                                                                            MAV_CMD_SET_FACTORY_TEST_MODE (42427)

                                                                                                                                                            Command autopilot to get into factory test/diagnostic mode.

                                                                                                                                                            Param (Label)DescriptionValues
                                                                                                                                                            1 (Test Mode)0: activate test mode, 1: exit test mode.min: 0 max: 1 inc: 1
                                                                                                                                                            2Empty.
                                                                                                                                                            3Empty.
                                                                                                                                                            4Empty.
                                                                                                                                                            5Empty.
                                                                                                                                                            6Empty.
                                                                                                                                                            7Empty.

                                                                                                                                                            MAV_CMD_DO_SEND_BANNER (42428)

                                                                                                                                                            Reply with the version banner.

                                                                                                                                                            Param (Label)Description
                                                                                                                                                            1Empty.
                                                                                                                                                            2Empty.
                                                                                                                                                            3Empty.
                                                                                                                                                            4Empty.
                                                                                                                                                            5Empty.
                                                                                                                                                            6Empty.
                                                                                                                                                            7Empty.

                                                                                                                                                            MAV_CMD_ACCELCAL_VEHICLE_POS (42429)

                                                                                                                                                            Used when doing accelerometer calibration. When sent to the GCS tells it what position to put the vehicle in. When sent to the vehicle says what position the vehicle is in.

                                                                                                                                                            Param (Label)DescriptionValues
                                                                                                                                                            1 (Position)Position.ACCELCAL_VEHICLE_POS
                                                                                                                                                            2Empty.
                                                                                                                                                            3Empty.
                                                                                                                                                            4Empty.
                                                                                                                                                            5Empty.
                                                                                                                                                            6Empty.
                                                                                                                                                            7Empty.

                                                                                                                                                            MAV_CMD_GIMBAL_RESET (42501)

                                                                                                                                                            Causes the gimbal to reset and boot as if it was just powered on.

                                                                                                                                                            Param (Label)Description
                                                                                                                                                            1Empty.
                                                                                                                                                            2Empty.
                                                                                                                                                            3Empty.
                                                                                                                                                            4Empty.
                                                                                                                                                            5Empty.
                                                                                                                                                            6Empty.
                                                                                                                                                            7Empty.

                                                                                                                                                            MAV_CMD_GIMBAL_AXIS_CALIBRATION_STATUS (42502)

                                                                                                                                                            Reports progress and success or failure of gimbal axis calibration procedure.

                                                                                                                                                            Param (Label)DescriptionValuesUnits
                                                                                                                                                            1 (Axis)Gimbal axis we're reporting calibration progress for.GIMBAL_AXIS
                                                                                                                                                            2 (Progress)Current calibration progress for this axis.min: 0 max: 100%
                                                                                                                                                            3 (Status)Status of the calibration.GIMBAL_AXIS_CALIBRATION_STATUS
                                                                                                                                                            4Empty.
                                                                                                                                                            5Empty.
                                                                                                                                                            6Empty.
                                                                                                                                                            7Empty.

                                                                                                                                                            MAV_CMD_GIMBAL_REQUEST_AXIS_CALIBRATION (42503)

                                                                                                                                                            Starts commutation calibration on the gimbal.

                                                                                                                                                            Param (Label)Description
                                                                                                                                                            1Empty.
                                                                                                                                                            2Empty.
                                                                                                                                                            3Empty.
                                                                                                                                                            4Empty.
                                                                                                                                                            5Empty.
                                                                                                                                                            6Empty.
                                                                                                                                                            7Empty.

                                                                                                                                                            MAV_CMD_GIMBAL_FULL_RESET (42505)

                                                                                                                                                            Erases gimbal application and parameters.

                                                                                                                                                            Param (Label)Description
                                                                                                                                                            1Magic number.
                                                                                                                                                            2Magic number.
                                                                                                                                                            3Magic number.
                                                                                                                                                            4Magic number.
                                                                                                                                                            5Magic number.
                                                                                                                                                            6Magic number.
                                                                                                                                                            7Magic number.

                                                                                                                                                            MAV_CMD_FLASH_BOOTLOADER (42650)

                                                                                                                                                            Update the bootloader

                                                                                                                                                            Param (Label)DescriptionValues
                                                                                                                                                            1Empty
                                                                                                                                                            2Empty
                                                                                                                                                            3Empty
                                                                                                                                                            4Empty
                                                                                                                                                            5 (Magic Number)Magic number - set to 290876 to actually flashinc: 1
                                                                                                                                                            6Empty
                                                                                                                                                            7Empty

                                                                                                                                                            MAV_CMD_BATTERY_RESET (42651)

                                                                                                                                                            Reset battery capacity for batteries that accumulate consumed battery via integration.

                                                                                                                                                            Param (Label)DescriptionValues
                                                                                                                                                            1 (battery mask)Bitmask of batteries to reset. Least significant bit is for the first battery.
                                                                                                                                                            2 (percentage)Battery percentage remaining to set.min: 0 max: 100 inc: 1

                                                                                                                                                            MAV_CMD_DEBUG_TRAP (42700)

                                                                                                                                                            Issue a trap signal to the autopilot process, presumably to enter the debugger.

                                                                                                                                                            Param (Label)Description
                                                                                                                                                            1Magic number - set to 32451 to actually trap.
                                                                                                                                                            2Empty.
                                                                                                                                                            3Empty.
                                                                                                                                                            4Empty.
                                                                                                                                                            5Empty.
                                                                                                                                                            6Empty.
                                                                                                                                                            7Empty.

                                                                                                                                                            MAV_CMD_SCRIPTING (42701)

                                                                                                                                                            Control onboard scripting.

                                                                                                                                                            Param (Label)DescriptionValues
                                                                                                                                                            1Scripting command to executeSCRIPTING_CMD

                                                                                                                                                            MAV_CMD_NAV_SCRIPT_TIME (42702)

                                                                                                                                                            Scripting command as NAV command with wait for completion.

                                                                                                                                                            Param (Label)DescriptionUnits
                                                                                                                                                            1 (command)integer command number (0 to 255)
                                                                                                                                                            2 (timeout)timeout for operation in seconds. Zero means no timeout (0 to 255)s
                                                                                                                                                            3 (arg1)argument1.
                                                                                                                                                            4 (arg2)argument2.
                                                                                                                                                            5Empty
                                                                                                                                                            6Empty
                                                                                                                                                            7Empty

                                                                                                                                                            MAV_CMD_NAV_ATTITUDE_TIME (42703)

                                                                                                                                                            Maintain an attitude for a specified time.

                                                                                                                                                            Param (Label)DescriptionUnits
                                                                                                                                                            1 (time)Time to maintain specified attitude and climb rates
                                                                                                                                                            2 (roll)Roll angle in degrees (positive is lean right, negative is lean left)deg
                                                                                                                                                            3 (pitch)Pitch angle in degrees (positive is lean back, negative is lean forward)deg
                                                                                                                                                            4 (yaw)Yaw angledeg
                                                                                                                                                            5 (climb_rate)Climb ratem/s
                                                                                                                                                            6Empty
                                                                                                                                                            7Empty

                                                                                                                                                            MAV_CMD_GUIDED_CHANGE_SPEED (43000)

                                                                                                                                                            Change flight speed at a given rate. This slews the vehicle at a controllable rate between it's previous speed and the new one. (affects GUIDED only. Outside GUIDED, aircraft ignores these commands. Designed for onboard companion-computer command-and-control, not normally operator/GCS control.)

                                                                                                                                                            Param (Label)DescriptionValuesUnits
                                                                                                                                                            1 (speed type)Airspeed or groundspeed.SPEED_TYPE
                                                                                                                                                            2 (speed target)Target Speedm/s
                                                                                                                                                            3 (speed rate-of-change)Acceleration rate, 0 to take effect instantlym/s/s
                                                                                                                                                            4Empty
                                                                                                                                                            5Empty
                                                                                                                                                            6Empty
                                                                                                                                                            7Empty

                                                                                                                                                            MAV_CMD_GUIDED_CHANGE_ALTITUDE (43001)

                                                                                                                                                            Change target altitude at a given rate. This slews the vehicle at a controllable rate between it's previous altitude and the new one. (affects GUIDED only. Outside GUIDED, aircraft ignores these commands. Designed for onboard companion-computer command-and-control, not normally operator/GCS control.)

                                                                                                                                                            Param (Label)DescriptionValuesUnits
                                                                                                                                                            1Empty
                                                                                                                                                            2Empty
                                                                                                                                                            3 (alt rate-of-change)Rate of change, toward new altitude. 0 for maximum rate change. Positive numbers only, as negative numbers will not converge on the new target alt.min: 0m/s/s
                                                                                                                                                            4Empty
                                                                                                                                                            5Empty
                                                                                                                                                            6Empty
                                                                                                                                                            7 (target alt)Target Altitudem

                                                                                                                                                            MAV_CMD_GUIDED_CHANGE_HEADING (43002)

                                                                                                                                                            Change to target heading at a given rate, overriding previous heading/s. This slews the vehicle at a controllable rate between it's previous heading and the new one. (affects GUIDED only. Exiting GUIDED returns aircraft to normal behaviour defined elsewhere. Designed for onboard companion-computer command-and-control, not normally operator/GCS control.)

                                                                                                                                                            Param (Label)DescriptionValuesUnits
                                                                                                                                                            1 (heading type)course-over-ground or raw vehicle heading.HEADING_TYPE
                                                                                                                                                            2 (heading target)Target heading.min: 0 max: 359.99deg
                                                                                                                                                            3 (heading rate-of-change)Maximum centripetal accelearation, ie rate of change, toward new heading.m/s/s
                                                                                                                                                            4Empty
                                                                                                                                                            5Empty
                                                                                                                                                            6Empty
                                                                                                                                                            7Empty

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                                                                                                                                                              MAVLINK Common Message Set (common.xml)

                                                                                                                                                              The MAVLink common message set contains standard definitions that are managed by the MAVLink project. The definitions cover functionality that is considered useful to most ground control stations and autopilots. MAVLink-compatible systems are expected to use these definitions where possible (if an appropriate message exists) rather than rolling out variants in their own dialects.

                                                                                                                                                              The original definitions are defined in common.xml.

                                                                                                                                                              • MAVLink 2 extension fields are displayed in blue.
                                                                                                                                                              • Entities from dialects are displayed only as headings (with link to original)

                                                                                                                                                              Protocol dialect: 0

                                                                                                                                                              Protocol version: 3

                                                                                                                                                              Summary

                                                                                                                                                              TypeDefinedIncluded
                                                                                                                                                              Messages2222
                                                                                                                                                              Enums1376
                                                                                                                                                              Commands1640

                                                                                                                                                              The following sections list all entities in the dialect (both included and defined in this file).

                                                                                                                                                              Messages

                                                                                                                                                              HEARTBEAT (0) — [from: minimal]

                                                                                                                                                              The heartbeat message shows that a system or component is present and responding. The type and autopilot fields (along with the message component id), allow the receiving system to treat further messages from this system appropriately (e.g. by laying out the user interface based on the autopilot). This microservice is documented at https://mavlink.io/en/services/heartbeat.html

                                                                                                                                                              Field NameTypeValuesDescription
                                                                                                                                                              typeuint8_tMAV_TYPEVehicle or component type. For a flight controller component the vehicle type (quadrotor, helicopter, etc.). For other components the component type (e.g. camera, gimbal, etc.). This should be used in preference to component id for identifying the component type.
                                                                                                                                                              autopilotuint8_tMAV_AUTOPILOTAutopilot type / class. Use MAV_AUTOPILOT_INVALID for components that are not flight controllers.
                                                                                                                                                              base_modeuint8_tMAV_MODE_FLAGSystem mode bitmap.
                                                                                                                                                              custom_modeuint32_tA bitfield for use for autopilot-specific flags
                                                                                                                                                              system_statusuint8_tMAV_STATESystem status flag.
                                                                                                                                                              mavlink_versionuint8_t_mavlink_versionMAVLink version, not writable by user, gets added by protocol because of magic data type: uint8_t_mavlink_version

                                                                                                                                                              SYS_STATUS (1)

                                                                                                                                                              The general system state. If the system is following the MAVLink standard, the system state is mainly defined by three orthogonal states/modes: The system mode, which is either LOCKED (motors shut down and locked), MANUAL (system under RC control), GUIDED (system with autonomous position control, position setpoint controlled manually) or AUTO (system guided by path/waypoint planner). The NAV_MODE defined the current flight state: LIFTOFF (often an open-loop maneuver), LANDING, WAYPOINTS or VECTOR. This represents the internal navigation state machine. The system status shows whether the system is currently active or not and if an emergency occurred. During the CRITICAL and EMERGENCY states the MAV is still considered to be active, but should start emergency procedures autonomously. After a failure occurred it should first move from active to critical to allow manual intervention and then move to emergency after a certain timeout.

                                                                                                                                                              Field NameTypeUnitsValuesDescription
                                                                                                                                                              onboard_control_sensors_presentuint32_tMAV_SYS_STATUS_SENSORBitmap showing which onboard controllers and sensors are present. Value of 0: not present. Value of 1: present.
                                                                                                                                                              onboard_control_sensors_enableduint32_tMAV_SYS_STATUS_SENSORBitmap showing which onboard controllers and sensors are enabled: Value of 0: not enabled. Value of 1: enabled.
                                                                                                                                                              onboard_control_sensors_healthuint32_tMAV_SYS_STATUS_SENSORBitmap showing which onboard controllers and sensors have an error (or are operational). Value of 0: error. Value of 1: healthy.
                                                                                                                                                              loaduint16_td%Maximum usage in percent of the mainloop time. Values: [0-1000] - should always be below 1000
                                                                                                                                                              voltage_batteryuint16_tmVinvalid:UINT16_MAXBattery voltage, UINT16_MAX: Voltage not sent by autopilot
                                                                                                                                                              current_batteryint16_tcAinvalid:-1Battery current, -1: Current not sent by autopilot
                                                                                                                                                              battery_remainingint8_t%invalid:-1Battery energy remaining, -1: Battery remaining energy not sent by autopilot
                                                                                                                                                              drop_rate_commuint16_tc%Communication drop rate, (UART, I2C, SPI, CAN), dropped packets on all links (packets that were corrupted on reception on the MAV)
                                                                                                                                                              errors_commuint16_tCommunication errors (UART, I2C, SPI, CAN), dropped packets on all links (packets that were corrupted on reception on the MAV)
                                                                                                                                                              errors_count1uint16_tAutopilot-specific errors
                                                                                                                                                              errors_count2uint16_tAutopilot-specific errors
                                                                                                                                                              errors_count3uint16_tAutopilot-specific errors
                                                                                                                                                              errors_count4uint16_tAutopilot-specific errors
                                                                                                                                                              onboard_control_sensors_present_extended ++uint32_tMAV_SYS_STATUS_SENSOR_EXTENDEDBitmap showing which onboard controllers and sensors are present. Value of 0: not present. Value of 1: present.
                                                                                                                                                              onboard_control_sensors_enabled_extended ++uint32_tMAV_SYS_STATUS_SENSOR_EXTENDEDBitmap showing which onboard controllers and sensors are enabled: Value of 0: not enabled. Value of 1: enabled.
                                                                                                                                                              onboard_control_sensors_health_extended ++uint32_tMAV_SYS_STATUS_SENSOR_EXTENDEDBitmap showing which onboard controllers and sensors have an error (or are operational). Value of 0: error. Value of 1: healthy.

                                                                                                                                                              SYSTEM_TIME (2)

                                                                                                                                                              The system time is the time of the master clock, typically the computer clock of the main onboard computer.

                                                                                                                                                              Field NameTypeUnitsDescription
                                                                                                                                                              time_unix_usecuint64_tusTimestamp (UNIX epoch time).
                                                                                                                                                              time_boot_msuint32_tmsTimestamp (time since system boot).

                                                                                                                                                              PING (4) — [DEP]

                                                                                                                                                              DEPRECATED: Replaced By SYSTEM_TIME (2011-08) — to be removed / merged with SYSTEM_TIME)

                                                                                                                                                              A ping message either requesting or responding to a ping. This allows to measure the system latencies, including serial port, radio modem and UDP connections. The ping microservice is documented at https://mavlink.io/en/services/ping.html

                                                                                                                                                              Field NameTypeUnitsDescription
                                                                                                                                                              time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
                                                                                                                                                              sequint32_tPING sequence
                                                                                                                                                              target_systemuint8_t0: request ping from all receiving systems. If greater than 0: message is a ping response and number is the system id of the requesting system
                                                                                                                                                              target_componentuint8_t0: request ping from all receiving components. If greater than 0: message is a ping response and number is the component id of the requesting component.

                                                                                                                                                              CHANGE_OPERATOR_CONTROL (5)

                                                                                                                                                              Request to control this MAV

                                                                                                                                                              Field NameTypeUnitsDescription
                                                                                                                                                              target_systemuint8_tSystem the GCS requests control for
                                                                                                                                                              control_requestuint8_t0: request control of this MAV, 1: Release control of this MAV
                                                                                                                                                              versionuint8_trad0: key as plaintext, 1-255: future, different hashing/encryption variants. The GCS should in general use the safest mode possible initially and then gradually move down the encryption level if it gets a NACK message indicating an encryption mismatch.
                                                                                                                                                              passkeychar[25]Password / Key, depending on version plaintext or encrypted. 25 or less characters, NULL terminated. The characters may involve A-Z, a-z, 0-9, and "!?,.-"

                                                                                                                                                              CHANGE_OPERATOR_CONTROL_ACK (6)

                                                                                                                                                              Accept / deny control of this MAV

                                                                                                                                                              Field NameTypeDescription
                                                                                                                                                              gcs_system_iduint8_tID of the GCS this message
                                                                                                                                                              control_requestuint8_t0: request control of this MAV, 1: Release control of this MAV
                                                                                                                                                              ackuint8_t0: ACK, 1: NACK: Wrong passkey, 2: NACK: Unsupported passkey encryption method, 3: NACK: Already under control

                                                                                                                                                              AUTH_KEY (7)

                                                                                                                                                              Emit an encrypted signature / key identifying this system. PLEASE NOTE: This protocol has been kept simple, so transmitting the key requires an encrypted channel for true safety.

                                                                                                                                                              Field NameTypeDescription
                                                                                                                                                              keychar[32]key

                                                                                                                                                              WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                              Status generated in each node in the communication chain and injected into MAVLink stream.

                                                                                                                                                              Field NameTypeUnitsDescription
                                                                                                                                                              timestampuint64_tmsTimestamp (time since system boot).
                                                                                                                                                              tx_bufuint8_t%Remaining free transmit buffer space
                                                                                                                                                              rx_bufuint8_t%Remaining free receive buffer space
                                                                                                                                                              tx_rateuint32_tbytes/sTransmit rate
                                                                                                                                                              rx_rateuint32_tbytes/sReceive rate
                                                                                                                                                              rx_parse_erruint16_tbytesNumber of bytes that could not be parsed correctly.
                                                                                                                                                              tx_overflowsuint16_tbytesTransmit buffer overflows. This number wraps around as it reaches UINT16_MAX
                                                                                                                                                              rx_overflowsuint16_tbytesReceive buffer overflows. This number wraps around as it reaches UINT16_MAX
                                                                                                                                                              messages_sentuint32_tMessages sent
                                                                                                                                                              messages_receiveduint32_tMessages received (estimated from counting seq)
                                                                                                                                                              messages_lostuint32_tMessages lost (estimated from counting seq)

                                                                                                                                                              SET_MODE (11) — [DEP]

                                                                                                                                                              DEPRECATED: Replaced By MAV_CMD_DO_SET_MODE (2015-12) — Use COMMAND_LONG with MAV_CMD_DO_SET_MODE instead)

                                                                                                                                                              Set the system mode, as defined by enum MAV_MODE. There is no target component id as the mode is by definition for the overall aircraft, not only for one component.

                                                                                                                                                              Field NameTypeValuesDescription
                                                                                                                                                              target_systemuint8_tThe system setting the mode
                                                                                                                                                              base_modeuint8_tMAV_MODEThe new base mode.
                                                                                                                                                              custom_modeuint32_tThe new autopilot-specific mode. This field can be ignored by an autopilot.

                                                                                                                                                              PARAM_REQUEST_READ (20)

                                                                                                                                                              Request to read the onboard parameter with the param_id string id. Onboard parameters are stored as key[const char*] -> value[float]. This allows to send a parameter to any other component (such as the GCS) without the need of previous knowledge of possible parameter names. Thus the same GCS can store different parameters for different autopilots. See also https://mavlink.io/en/services/parameter.html for a full documentation of QGroundControl and IMU code.

                                                                                                                                                              Field NameTypeDescription
                                                                                                                                                              target_systemuint8_tSystem ID
                                                                                                                                                              target_componentuint8_tComponent ID
                                                                                                                                                              param_idchar[16]Onboard parameter id, terminated by NULL if the length is less than 16 human-readable chars and WITHOUT null termination (NULL) byte if the length is exactly 16 chars - applications have to provide 16+1 bytes storage if the ID is stored as string
                                                                                                                                                              param_indexint16_tParameter index. Send -1 to use the param ID field as identifier (else the param id will be ignored)

                                                                                                                                                              PARAM_REQUEST_LIST (21)

                                                                                                                                                              Request all parameters of this component. After this request, all parameters are emitted. The parameter microservice is documented at https://mavlink.io/en/services/parameter.html

                                                                                                                                                              Field NameTypeDescription
                                                                                                                                                              target_systemuint8_tSystem ID
                                                                                                                                                              target_componentuint8_tComponent ID

                                                                                                                                                              PARAM_VALUE (22)

                                                                                                                                                              Emit the value of a onboard parameter. The inclusion of param_count and param_index in the message allows the recipient to keep track of received parameters and allows him to re-request missing parameters after a loss or timeout. The parameter microservice is documented at https://mavlink.io/en/services/parameter.html

                                                                                                                                                              Field NameTypeValuesDescription
                                                                                                                                                              param_idchar[16]Onboard parameter id, terminated by NULL if the length is less than 16 human-readable chars and WITHOUT null termination (NULL) byte if the length is exactly 16 chars - applications have to provide 16+1 bytes storage if the ID is stored as string
                                                                                                                                                              param_valuefloatOnboard parameter value
                                                                                                                                                              param_typeuint8_tMAV_PARAM_TYPEOnboard parameter type.
                                                                                                                                                              param_countuint16_tTotal number of onboard parameters
                                                                                                                                                              param_indexuint16_tIndex of this onboard parameter

                                                                                                                                                              PARAM_SET (23)

                                                                                                                                                              Set a parameter value (write new value to permanent storage).

                                                                                                                                                              The receiving component should acknowledge the new parameter value by broadcasting a PARAM_VALUE message (broadcasting ensures that multiple GCS all have an up-to-date list of all parameters). If the sending GCS did not receive a PARAM_VALUE within its timeout time, it should re-send the PARAM_SET message. The parameter microservice is documented at https://mavlink.io/en/services/parameter.html. PARAM_SET may also be called within the context of a transaction (started with MAV_CMD_PARAM_TRANSACTION). Within a transaction the receiving component should respond with PARAM_ACK_TRANSACTION to the setter component (instead of broadcasting PARAM_VALUE), and PARAM_SET should be re-sent if this is ACK not received.

                                                                                                                                                              Field NameTypeValuesDescription
                                                                                                                                                              target_systemuint8_tSystem ID
                                                                                                                                                              target_componentuint8_tComponent ID
                                                                                                                                                              param_idchar[16]Onboard parameter id, terminated by NULL if the length is less than 16 human-readable chars and WITHOUT null termination (NULL) byte if the length is exactly 16 chars - applications have to provide 16+1 bytes storage if the ID is stored as string
                                                                                                                                                              param_valuefloatOnboard parameter value
                                                                                                                                                              param_typeuint8_tMAV_PARAM_TYPEOnboard parameter type.

                                                                                                                                                              GPS_RAW_INT (24)

                                                                                                                                                              The global position, as returned by the Global Positioning System (GPS). This is

                                                                                                                                                              NOT the global position estimate of the system, but rather a RAW sensor value. See message GLOBAL_POSITION_INT for the global position estimate.

                                                                                                                                                              Field NameTypeUnitsMultiplierValuesDescription
                                                                                                                                                              time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
                                                                                                                                                              fix_typeuint8_tGPS_FIX_TYPEGPS fix type.
                                                                                                                                                              latint32_tdegE7Latitude (WGS84, EGM96 ellipsoid)
                                                                                                                                                              lonint32_tdegE7Longitude (WGS84, EGM96 ellipsoid)
                                                                                                                                                              altint32_tmmAltitude (MSL). Positive for up. Note that virtually all GPS modules provide the MSL altitude in addition to the WGS84 altitude.
                                                                                                                                                              ephuint16_t1E-2invalid:UINT16_MAXGPS HDOP horizontal dilution of position (unitless * 100). If unknown, set to: UINT16_MAX
                                                                                                                                                              epvuint16_t1E-2invalid:UINT16_MAXGPS VDOP vertical dilution of position (unitless * 100). If unknown, set to: UINT16_MAX
                                                                                                                                                              veluint16_tcm/sinvalid:UINT16_MAXGPS ground speed. If unknown, set to: UINT16_MAX
                                                                                                                                                              coguint16_tcdeginvalid:UINT16_MAXCourse over ground (NOT heading, but direction of movement) in degrees * 100, 0.0..359.99 degrees. If unknown, set to: UINT16_MAX
                                                                                                                                                              satellites_visibleuint8_tinvalid:UINT8_MAXNumber of satellites visible. If unknown, set to UINT8_MAX
                                                                                                                                                              alt_ellipsoid ++int32_tmmAltitude (above WGS84, EGM96 ellipsoid). Positive for up.
                                                                                                                                                              h_acc ++uint32_tmmPosition uncertainty.
                                                                                                                                                              v_acc ++uint32_tmmAltitude uncertainty.
                                                                                                                                                              vel_acc ++uint32_tmmSpeed uncertainty.
                                                                                                                                                              hdg_acc ++uint32_tdegE5Heading / track uncertainty
                                                                                                                                                              yaw ++uint16_tcdeginvalid:0Yaw in earth frame from north. Use 0 if this GPS does not provide yaw. Use UINT16_MAX if this GPS is configured to provide yaw and is currently unable to provide it. Use 36000 for north.

                                                                                                                                                              GPS_STATUS (25)

                                                                                                                                                              The positioning status, as reported by GPS. This message is intended to display status information about each satellite visible to the receiver. See message GLOBAL_POSITION_INT for the global position estimate. This message can contain information for up to 20 satellites.

                                                                                                                                                              Field NameTypeUnitsMultiplierDescription
                                                                                                                                                              satellites_visibleuint8_tNumber of satellites visible
                                                                                                                                                              satellite_prnuint8_t[20]Global satellite ID
                                                                                                                                                              satellite_useduint8_t[20]0: Satellite not used, 1: used for localization
                                                                                                                                                              satellite_elevationuint8_t[20]degElevation (0: right on top of receiver, 90: on the horizon) of satellite
                                                                                                                                                              satellite_azimuthuint8_t[20]deg360/255Direction of satellite, 0: 0 deg, 255: 360 deg.
                                                                                                                                                              satellite_snruint8_t[20]dBSignal to noise ratio of satellite

                                                                                                                                                              SCALED_IMU (26)

                                                                                                                                                              The RAW IMU readings for the usual 9DOF sensor setup. This message should contain the scaled values to the described units

                                                                                                                                                              Field NameTypeUnitsDescription
                                                                                                                                                              time_boot_msuint32_tmsTimestamp (time since system boot).
                                                                                                                                                              xaccint16_tmGX acceleration
                                                                                                                                                              yaccint16_tmGY acceleration
                                                                                                                                                              zaccint16_tmGZ acceleration
                                                                                                                                                              xgyroint16_tmrad/sAngular speed around X axis
                                                                                                                                                              ygyroint16_tmrad/sAngular speed around Y axis
                                                                                                                                                              zgyroint16_tmrad/sAngular speed around Z axis
                                                                                                                                                              xmagint16_tmgaussX Magnetic field
                                                                                                                                                              ymagint16_tmgaussY Magnetic field
                                                                                                                                                              zmagint16_tmgaussZ Magnetic field
                                                                                                                                                              temperature ++int16_tcdegCTemperature, 0: IMU does not provide temperature values. If the IMU is at 0C it must send 1 (0.01C).

                                                                                                                                                              RAW_IMU (27)

                                                                                                                                                              The RAW IMU readings for a 9DOF sensor, which is identified by the id (default IMU1). This message should always contain the true raw values without any scaling to allow data capture and system debugging.

                                                                                                                                                              Field NameTypeUnitsDescription
                                                                                                                                                              time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
                                                                                                                                                              xaccint16_tX acceleration (raw)
                                                                                                                                                              yaccint16_tY acceleration (raw)
                                                                                                                                                              zaccint16_tZ acceleration (raw)
                                                                                                                                                              xgyroint16_tAngular speed around X axis (raw)
                                                                                                                                                              ygyroint16_tAngular speed around Y axis (raw)
                                                                                                                                                              zgyroint16_tAngular speed around Z axis (raw)
                                                                                                                                                              xmagint16_tX Magnetic field (raw)
                                                                                                                                                              ymagint16_tY Magnetic field (raw)
                                                                                                                                                              zmagint16_tZ Magnetic field (raw)
                                                                                                                                                              id ++uint8_tId. Ids are numbered from 0 and map to IMUs numbered from 1 (e.g. IMU1 will have a message with id=0)
                                                                                                                                                              Messages with same value are from the same source (instance).
                                                                                                                                                              temperature ++int16_tcdegCTemperature, 0: IMU does not provide temperature values. If the IMU is at 0C it must send 1 (0.01C).

                                                                                                                                                              RAW_PRESSURE (28)

                                                                                                                                                              The RAW pressure readings for the typical setup of one absolute pressure and one differential pressure sensor. The sensor values should be the raw, UNSCALED ADC values.

                                                                                                                                                              Field NameTypeUnitsDescription
                                                                                                                                                              time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
                                                                                                                                                              press_absint16_tAbsolute pressure (raw)
                                                                                                                                                              press_diff1int16_tDifferential pressure 1 (raw, 0 if nonexistent)
                                                                                                                                                              press_diff2int16_tDifferential pressure 2 (raw, 0 if nonexistent)
                                                                                                                                                              temperatureint16_tRaw Temperature measurement (raw)

                                                                                                                                                              SCALED_PRESSURE (29)

                                                                                                                                                              The pressure readings for the typical setup of one absolute and differential pressure sensor. The units are as specified in each field.

                                                                                                                                                              Field NameTypeUnitsDescription
                                                                                                                                                              time_boot_msuint32_tmsTimestamp (time since system boot).
                                                                                                                                                              press_absfloathPaAbsolute pressure
                                                                                                                                                              press_difffloathPaDifferential pressure 1
                                                                                                                                                              temperatureint16_tcdegCAbsolute pressure temperature
                                                                                                                                                              temperature_press_diff ++int16_tcdegCDifferential pressure temperature (0, if not available). Report values of 0 (or 1) as 1 cdegC.

                                                                                                                                                              ATTITUDE (30)

                                                                                                                                                              The attitude in the aeronautical frame (right-handed, Z-down, Y-right, X-front, ZYX, intrinsic).

                                                                                                                                                              Field NameTypeUnitsDescription
                                                                                                                                                              time_boot_msuint32_tmsTimestamp (time since system boot).
                                                                                                                                                              rollfloatradRoll angle (-pi..+pi)
                                                                                                                                                              pitchfloatradPitch angle (-pi..+pi)
                                                                                                                                                              yawfloatradYaw angle (-pi..+pi)
                                                                                                                                                              rollspeedfloatrad/sRoll angular speed
                                                                                                                                                              pitchspeedfloatrad/sPitch angular speed
                                                                                                                                                              yawspeedfloatrad/sYaw angular speed

                                                                                                                                                              ATTITUDE_QUATERNION (31)

                                                                                                                                                              The attitude in the aeronautical frame (right-handed, Z-down, X-front, Y-right), expressed as quaternion. Quaternion order is w, x, y, z and a zero rotation would be expressed as (1 0 0 0).

                                                                                                                                                              Field NameTypeUnitsDescription
                                                                                                                                                              time_boot_msuint32_tmsTimestamp (time since system boot).
                                                                                                                                                              q1floatQuaternion component 1, w (1 in null-rotation)
                                                                                                                                                              q2floatQuaternion component 2, x (0 in null-rotation)
                                                                                                                                                              q3floatQuaternion component 3, y (0 in null-rotation)
                                                                                                                                                              q4floatQuaternion component 4, z (0 in null-rotation)
                                                                                                                                                              rollspeedfloatrad/sRoll angular speed
                                                                                                                                                              pitchspeedfloatrad/sPitch angular speed
                                                                                                                                                              yawspeedfloatrad/sYaw angular speed
                                                                                                                                                              repr_offset_q ++float[4]Rotation offset by which the attitude quaternion and angular speed vector should be rotated for user display (quaternion with [w, x, y, z] order, zero-rotation is [1, 0, 0, 0], send [0, 0, 0, 0] if field not supported). This field is intended for systems in which the reference attitude may change during flight. For example, tailsitters VTOLs rotate their reference attitude by 90 degrees between hover mode and fixed wing mode, thus repr_offset_q is equal to [1, 0, 0, 0] in hover mode and equal to [0.7071, 0, 0.7071, 0] in fixed wing mode.

                                                                                                                                                              LOCAL_POSITION_NED (32)

                                                                                                                                                              The filtered local position (e.g. fused computer vision and accelerometers). Coordinate frame is right-handed, Z-axis down (aeronautical frame, NED / north-east-down convention)

                                                                                                                                                              Field NameTypeUnitsDescription
                                                                                                                                                              time_boot_msuint32_tmsTimestamp (time since system boot).
                                                                                                                                                              xfloatmX Position
                                                                                                                                                              yfloatmY Position
                                                                                                                                                              zfloatmZ Position
                                                                                                                                                              vxfloatm/sX Speed
                                                                                                                                                              vyfloatm/sY Speed
                                                                                                                                                              vzfloatm/sZ Speed

                                                                                                                                                              GLOBAL_POSITION_INT (33)

                                                                                                                                                              The filtered global position (e.g. fused GPS and accelerometers). The position is in GPS-frame (right-handed, Z-up). It

                                                                                                                                                              is designed as scaled integer message since the resolution of float is not sufficient.

                                                                                                                                                              Field NameTypeUnitsDescription
                                                                                                                                                              time_boot_msuint32_tmsTimestamp (time since system boot).
                                                                                                                                                              latint32_tdegE7Latitude, expressed
                                                                                                                                                              lonint32_tdegE7Longitude, expressed
                                                                                                                                                              altint32_tmmAltitude (MSL). Note that virtually all GPS modules provide both WGS84 and MSL.
                                                                                                                                                              relative_altint32_tmmAltitude above home
                                                                                                                                                              vxint16_tcm/sGround X Speed (Latitude, positive north)
                                                                                                                                                              vyint16_tcm/sGround Y Speed (Longitude, positive east)
                                                                                                                                                              vzint16_tcm/sGround Z Speed (Altitude, positive down)
                                                                                                                                                              hdguint16_tcdegVehicle heading (yaw angle), 0.0..359.99 degrees. If unknown, set to: UINT16_MAX

                                                                                                                                                              RC_CHANNELS_SCALED (34)

                                                                                                                                                              The scaled values of the RC channels received: (-100%) -10000, (0%) 0, (100%) 10000. Channels that are inactive should be set to INT16_MAX.

                                                                                                                                                              Field NameTypeUnitsDescription
                                                                                                                                                              time_boot_msuint32_tmsTimestamp (time since system boot).
                                                                                                                                                              portuint8_tServo output port (set of 8 outputs = 1 port). Flight stacks running on Pixhawk should use: 0 = MAIN, 1 = AUX.
                                                                                                                                                              chan1_scaledint16_tRC channel 1 value scaled.
                                                                                                                                                              chan2_scaledint16_tRC channel 2 value scaled.
                                                                                                                                                              chan3_scaledint16_tRC channel 3 value scaled.
                                                                                                                                                              chan4_scaledint16_tRC channel 4 value scaled.
                                                                                                                                                              chan5_scaledint16_tRC channel 5 value scaled.
                                                                                                                                                              chan6_scaledint16_tRC channel 6 value scaled.
                                                                                                                                                              chan7_scaledint16_tRC channel 7 value scaled.
                                                                                                                                                              chan8_scaledint16_tRC channel 8 value scaled.
                                                                                                                                                              rssiuint8_tReceive signal strength indicator in device-dependent units/scale. Values: [0-254], UINT8_MAX: invalid/unknown.

                                                                                                                                                              RC_CHANNELS_RAW (35)

                                                                                                                                                              The RAW values of the RC channels received. The standard PPM modulation is as follows: 1000 microseconds: 0%, 2000 microseconds: 100%. A value of UINT16_MAX implies the channel is unused. Individual receivers/transmitters might violate this specification.

                                                                                                                                                              Field NameTypeUnitsDescription
                                                                                                                                                              time_boot_msuint32_tmsTimestamp (time since system boot).
                                                                                                                                                              portuint8_tServo output port (set of 8 outputs = 1 port). Flight stacks running on Pixhawk should use: 0 = MAIN, 1 = AUX.
                                                                                                                                                              chan1_rawuint16_tusRC channel 1 value.
                                                                                                                                                              chan2_rawuint16_tusRC channel 2 value.
                                                                                                                                                              chan3_rawuint16_tusRC channel 3 value.
                                                                                                                                                              chan4_rawuint16_tusRC channel 4 value.
                                                                                                                                                              chan5_rawuint16_tusRC channel 5 value.
                                                                                                                                                              chan6_rawuint16_tusRC channel 6 value.
                                                                                                                                                              chan7_rawuint16_tusRC channel 7 value.
                                                                                                                                                              chan8_rawuint16_tusRC channel 8 value.
                                                                                                                                                              rssiuint8_tReceive signal strength indicator in device-dependent units/scale. Values: [0-254], UINT8_MAX: invalid/unknown.

                                                                                                                                                              SERVO_OUTPUT_RAW (36)

                                                                                                                                                              Superseded by ACTUATOR_OUTPUT_STATUS. The RAW values of the servo outputs (for RC input from the remote, use the RC_CHANNELS messages). The standard PPM modulation is as follows: 1000 microseconds: 0%, 2000 microseconds: 100%.

                                                                                                                                                              Field NameTypeUnitsDescription
                                                                                                                                                              time_usecuint32_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
                                                                                                                                                              portuint8_tServo output port (set of 8 outputs = 1 port). Flight stacks running on Pixhawk should use: 0 = MAIN, 1 = AUX.
                                                                                                                                                              servo1_rawuint16_tusServo output 1 value
                                                                                                                                                              servo2_rawuint16_tusServo output 2 value
                                                                                                                                                              servo3_rawuint16_tusServo output 3 value
                                                                                                                                                              servo4_rawuint16_tusServo output 4 value
                                                                                                                                                              servo5_rawuint16_tusServo output 5 value
                                                                                                                                                              servo6_rawuint16_tusServo output 6 value
                                                                                                                                                              servo7_rawuint16_tusServo output 7 value
                                                                                                                                                              servo8_rawuint16_tusServo output 8 value
                                                                                                                                                              servo9_raw ++uint16_tusServo output 9 value
                                                                                                                                                              servo10_raw ++uint16_tusServo output 10 value
                                                                                                                                                              servo11_raw ++uint16_tusServo output 11 value
                                                                                                                                                              servo12_raw ++uint16_tusServo output 12 value
                                                                                                                                                              servo13_raw ++uint16_tusServo output 13 value
                                                                                                                                                              servo14_raw ++uint16_tusServo output 14 value
                                                                                                                                                              servo15_raw ++uint16_tusServo output 15 value
                                                                                                                                                              servo16_raw ++uint16_tusServo output 16 value

                                                                                                                                                              MISSION_REQUEST_PARTIAL_LIST (37)

                                                                                                                                                              Request a partial list of mission items from the system/component. https://mavlink.io/en/services/mission.html. If start and end index are the same, just send one waypoint.

                                                                                                                                                              Field NameTypeValuesDescription
                                                                                                                                                              target_systemuint8_tSystem ID
                                                                                                                                                              target_componentuint8_tComponent ID
                                                                                                                                                              start_indexint16_tStart index
                                                                                                                                                              end_indexint16_tEnd index, -1 by default (-1: send list to end). Else a valid index of the list
                                                                                                                                                              mission_type ++uint8_tMAV_MISSION_TYPEMission type.

                                                                                                                                                              MISSION_WRITE_PARTIAL_LIST (38)

                                                                                                                                                              This message is sent to the MAV to write a partial list. If start index == end index, only one item will be transmitted / updated. If the start index is NOT 0 and above the current list size, this request should be REJECTED!

                                                                                                                                                              Field NameTypeValuesDescription
                                                                                                                                                              target_systemuint8_tSystem ID
                                                                                                                                                              target_componentuint8_tComponent ID
                                                                                                                                                              start_indexint16_tStart index. Must be smaller / equal to the largest index of the current onboard list.
                                                                                                                                                              end_indexint16_tEnd index, equal or greater than start index.
                                                                                                                                                              mission_type ++uint8_tMAV_MISSION_TYPEMission type.

                                                                                                                                                              MISSION_ITEM (39) — [DEP]

                                                                                                                                                              DEPRECATED: Replaced By MISSION_ITEM_INT (2020-06)

                                                                                                                                                              Message encoding a mission item. This message is emitted to announce

                                                                                                                                                              the presence of a mission item and to set a mission item on the system. The mission item can be either in x, y, z meters (type: LOCAL) or x:lat, y:lon, z:altitude. Local frame is Z-down, right handed (NED), global frame is Z-up, right handed (ENU). NaN may be used to indicate an optional/default value (e.g. to use the system's current latitude or yaw rather than a specific value). See also https://mavlink.io/en/services/mission.html.

                                                                                                                                                              Field NameTypeValuesDescription
                                                                                                                                                              target_systemuint8_tSystem ID
                                                                                                                                                              target_componentuint8_tComponent ID
                                                                                                                                                              sequint16_tSequence
                                                                                                                                                              frameuint8_tMAV_FRAMEThe coordinate system of the waypoint.
                                                                                                                                                              commanduint16_tMAV_CMDThe scheduled action for the waypoint.
                                                                                                                                                              currentuint8_tfalse:0, true:1
                                                                                                                                                              autocontinueuint8_tAutocontinue to next waypoint. 0: false, 1: true. Set false to pause mission after the item completes.
                                                                                                                                                              param1floatPARAM1, see MAV_CMD enum
                                                                                                                                                              param2floatPARAM2, see MAV_CMD enum
                                                                                                                                                              param3floatPARAM3, see MAV_CMD enum
                                                                                                                                                              param4floatPARAM4, see MAV_CMD enum
                                                                                                                                                              xfloatPARAM5 / local: X coordinate, global: latitude
                                                                                                                                                              yfloatPARAM6 / local: Y coordinate, global: longitude
                                                                                                                                                              zfloatPARAM7 / local: Z coordinate, global: altitude (relative or absolute, depending on frame).
                                                                                                                                                              mission_type ++uint8_tMAV_MISSION_TYPEMission type.

                                                                                                                                                              MISSION_REQUEST (40) — [DEP]

                                                                                                                                                              DEPRECATED: Replaced By MISSION_REQUEST_INT (2020-06) — A system that gets this request should respond with MISSION_ITEM_INT (as though MISSION_REQUEST_INT was received).)

                                                                                                                                                              Request the information of the mission item with the sequence number seq. The response of the system to this message should be a MISSION_ITEM message. https://mavlink.io/en/services/mission.html

                                                                                                                                                              Field NameTypeValuesDescription
                                                                                                                                                              target_systemuint8_tSystem ID
                                                                                                                                                              target_componentuint8_tComponent ID
                                                                                                                                                              sequint16_tSequence
                                                                                                                                                              mission_type ++uint8_tMAV_MISSION_TYPEMission type.

                                                                                                                                                              MISSION_SET_CURRENT (41) — [DEP]

                                                                                                                                                              DEPRECATED: Replaced By MAV_CMD_DO_SET_MISSION_CURRENT (2022-08)

                                                                                                                                                              Set the mission item with sequence number seq as the current item and emit MISSION_CURRENT (whether or not the mission number changed). If a mission is currently being executed, the system will continue to this new mission item on the shortest path, skipping any intermediate mission items. Note that mission jump repeat counters are not reset (see MAV_CMD_DO_JUMP param2).

                                                                                                                                                              This message may trigger a mission state-machine change on some systems: for example from MISSION_STATE_NOT_STARTED or MISSION_STATE_PAUSED to MISSION_STATE_ACTIVE. If the system is in mission mode, on those systems this command might therefore start, restart or resume the mission. If the system is not in mission mode this message must not trigger a switch to mission mode.

                                                                                                                                                              Field NameTypeDescription
                                                                                                                                                              target_systemuint8_tSystem ID
                                                                                                                                                              target_componentuint8_tComponent ID
                                                                                                                                                              sequint16_tSequence

                                                                                                                                                              MISSION_CURRENT (42)

                                                                                                                                                              Message that announces the sequence number of the current target mission item (that the system will fly towards/execute when the mission is running). This message should be streamed all the time (nominally at 1Hz). This message should be emitted following a call to MAV_CMD_DO_SET_MISSION_CURRENT or SET_MISSION_CURRENT.

                                                                                                                                                              Field NameTypeValuesDescription
                                                                                                                                                              sequint16_tSequence
                                                                                                                                                              total ++uint16_tinvalid:UINT16_MAXTotal number of mission items on vehicle (on last item, sequence == total). If the autopilot stores its home location as part of the mission this will be excluded from the total. 0: Not supported, UINT16_MAX if no mission is present on the vehicle.
                                                                                                                                                              mission_state ++uint8_tinvalid:0 MISSION_STATEMission state machine state. MISSION_STATE_UNKNOWN if state reporting not supported.
                                                                                                                                                              mission_mode ++uint8_tinvalid:0Vehicle is in a mode that can execute mission items or suspended. 0: Unknown, 1: In mission mode, 2: Suspended (not in mission mode).
                                                                                                                                                              mission_id ++uint32_tinvalid:0Id of current on-vehicle mission plan, or 0 if IDs are not supported or there is no mission loaded. GCS can use this to track changes to the mission plan type. The same value is returned on mission upload (in the MISSION_ACK).
                                                                                                                                                              fence_id ++uint32_tinvalid:0Id of current on-vehicle fence plan, or 0 if IDs are not supported or there is no fence loaded. GCS can use this to track changes to the fence plan type. The same value is returned on fence upload (in the MISSION_ACK).
                                                                                                                                                              rally_points_id ++uint32_tinvalid:0Id of current on-vehicle rally point plan, or 0 if IDs are not supported or there are no rally points loaded. GCS can use this to track changes to the rally point plan type. The same value is returned on rally point upload (in the MISSION_ACK).

                                                                                                                                                              MISSION_REQUEST_LIST (43)

                                                                                                                                                              Request the overall list of mission items from the system/component.

                                                                                                                                                              Field NameTypeValuesDescription
                                                                                                                                                              target_systemuint8_tSystem ID
                                                                                                                                                              target_componentuint8_tComponent ID
                                                                                                                                                              mission_type ++uint8_tMAV_MISSION_TYPEMission type.

                                                                                                                                                              MISSION_COUNT (44)

                                                                                                                                                              This message is emitted as response to MISSION_REQUEST_LIST by the MAV and to initiate a write transaction. The GCS can then request the individual mission item based on the knowledge of the total number of waypoints.

                                                                                                                                                              Field NameTypeValuesDescription
                                                                                                                                                              target_systemuint8_tSystem ID
                                                                                                                                                              target_componentuint8_tComponent ID
                                                                                                                                                              countuint16_tNumber of mission items in the sequence
                                                                                                                                                              mission_type ++uint8_tMAV_MISSION_TYPEMission type.
                                                                                                                                                              opaque_id ++uint32_tinvalid:0Id of current on-vehicle mission, fence, or rally point plan (on download from vehicle).
                                                                                                                                                              This field is used when downloading a plan from a vehicle to a GCS.
                                                                                                                                                              0 on upload to the vehicle from GCS.
                                                                                                                                                              0 if plan ids are not supported.
                                                                                                                                                              The current on-vehicle plan ids are streamed in [MISSION_CURRENT](#MISSION_CURRENT), allowing a GCS to determine if any part of the plan has changed and needs to be re-uploaded.
                                                                                                                                                              The ids are recalculated by the vehicle when any part of the on-vehicle plan changes (when a new plan is uploaded, the vehicle returns the new id to the GCS in MISSION_ACK).

                                                                                                                                                              MISSION_CLEAR_ALL (45)

                                                                                                                                                              Delete all mission items at once.

                                                                                                                                                              Field NameTypeValuesDescription
                                                                                                                                                              target_systemuint8_tSystem ID
                                                                                                                                                              target_componentuint8_tComponent ID
                                                                                                                                                              mission_type ++uint8_tMAV_MISSION_TYPEMission type.

                                                                                                                                                              MISSION_ITEM_REACHED (46)

                                                                                                                                                              A certain mission item has been reached. The system will either hold this position (or circle on the orbit) or (if the autocontinue on the WP was set) continue to the next waypoint.

                                                                                                                                                              Field NameTypeDescription
                                                                                                                                                              sequint16_tSequence

                                                                                                                                                              MISSION_ACK (47)

                                                                                                                                                              Acknowledgment message during waypoint handling. The type field states if this message is a positive ack (type=0) or if an error happened (type=non-zero).

                                                                                                                                                              Field NameTypeValuesDescription
                                                                                                                                                              target_systemuint8_tSystem ID
                                                                                                                                                              target_componentuint8_tComponent ID
                                                                                                                                                              typeuint8_tMAV_MISSION_RESULTMission result.
                                                                                                                                                              mission_type ++uint8_tMAV_MISSION_TYPEMission type.
                                                                                                                                                              opaque_id ++uint32_tinvalid:0Id of new on-vehicle mission, fence, or rally point plan (on upload to vehicle).
                                                                                                                                                              The id is calculated and returned by a vehicle when a new plan is uploaded by a GCS.
                                                                                                                                                              The only requirement on the id is that it must change when there is any change to the on-vehicle plan type (there is no requirement that the id be globally unique).
                                                                                                                                                              0 on download from the vehicle to the GCS (on download the ID is set in MISSION_COUNT).
                                                                                                                                                              0 if plan ids are not supported.
                                                                                                                                                              The current on-vehicle plan ids are streamed in [MISSION_CURRENT](#MISSION_CURRENT), allowing a GCS to determine if any part of the plan has changed and needs to be re-uploaded.

                                                                                                                                                              SET_GPS_GLOBAL_ORIGIN (48)

                                                                                                                                                              Sets the GPS coordinates of the vehicle local origin (0,0,0) position. Vehicle should emit GPS_GLOBAL_ORIGIN irrespective of whether the origin is changed. This enables transform between the local coordinate frame and the global (GPS) coordinate frame, which may be necessary when (for example) indoor and outdoor settings are connected and the MAV should move from in- to outdoor.

                                                                                                                                                              Field NameTypeUnitsDescription
                                                                                                                                                              target_systemuint8_tSystem ID
                                                                                                                                                              latitudeint32_tdegE7Latitude (WGS84)
                                                                                                                                                              longitudeint32_tdegE7Longitude (WGS84)
                                                                                                                                                              altitudeint32_tmmAltitude (MSL). Positive for up.
                                                                                                                                                              time_usec ++uint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.

                                                                                                                                                              GPS_GLOBAL_ORIGIN (49)

                                                                                                                                                              Publishes the GPS coordinates of the vehicle local origin (0,0,0) position. Emitted whenever a new GPS-Local position mapping is requested or set - e.g. following SET_GPS_GLOBAL_ORIGIN message.

                                                                                                                                                              Field NameTypeUnitsDescription
                                                                                                                                                              latitudeint32_tdegE7Latitude (WGS84)
                                                                                                                                                              longitudeint32_tdegE7Longitude (WGS84)
                                                                                                                                                              altitudeint32_tmmAltitude (MSL). Positive for up.
                                                                                                                                                              time_usec ++uint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.

                                                                                                                                                              PARAM_MAP_RC (50)

                                                                                                                                                              Bind a RC channel to a parameter. The parameter should change according to the RC channel value.

                                                                                                                                                              Field NameTypeDescription
                                                                                                                                                              target_systemuint8_tSystem ID
                                                                                                                                                              target_componentuint8_tComponent ID
                                                                                                                                                              param_idchar[16]Onboard parameter id, terminated by NULL if the length is less than 16 human-readable chars and WITHOUT null termination (NULL) byte if the length is exactly 16 chars - applications have to provide 16+1 bytes storage if the ID is stored as string
                                                                                                                                                              param_indexint16_tParameter index. Send -1 to use the param ID field as identifier (else the param id will be ignored), send -2 to disable any existing map for this rc_channel_index.
                                                                                                                                                              parameter_rc_channel_indexuint8_tIndex of parameter RC channel. Not equal to the RC channel id. Typically corresponds to a potentiometer-knob on the RC.
                                                                                                                                                              param_value0floatInitial parameter value
                                                                                                                                                              scalefloatScale, maps the RC range [-1, 1] to a parameter value
                                                                                                                                                              param_value_minfloatMinimum param value. The protocol does not define if this overwrites an onboard minimum value. (Depends on implementation)
                                                                                                                                                              param_value_maxfloatMaximum param value. The protocol does not define if this overwrites an onboard maximum value. (Depends on implementation)

                                                                                                                                                              MISSION_REQUEST_INT (51)

                                                                                                                                                              Request the information of the mission item with the sequence number seq. The response of the system to this message should be a MISSION_ITEM_INT message. https://mavlink.io/en/services/mission.html

                                                                                                                                                              Field NameTypeValuesDescription
                                                                                                                                                              target_systemuint8_tSystem ID
                                                                                                                                                              target_componentuint8_tComponent ID
                                                                                                                                                              sequint16_tSequence
                                                                                                                                                              mission_type ++uint8_tMAV_MISSION_TYPEMission type.

                                                                                                                                                              SAFETY_SET_ALLOWED_AREA (54)

                                                                                                                                                              Set a safety zone (volume), which is defined by two corners of a cube. This message can be used to tell the MAV which setpoints/waypoints to accept and which to reject. Safety areas are often enforced by national or competition regulations.

                                                                                                                                                              Field NameTypeUnitsValuesDescription
                                                                                                                                                              target_systemuint8_tSystem ID
                                                                                                                                                              target_componentuint8_tComponent ID
                                                                                                                                                              frameuint8_tMAV_FRAMECoordinate frame. Can be either global, GPS, right-handed with Z axis up or local, right handed, Z axis down.
                                                                                                                                                              p1xfloatmx position 1 / Latitude 1
                                                                                                                                                              p1yfloatmy position 1 / Longitude 1
                                                                                                                                                              p1zfloatmz position 1 / Altitude 1
                                                                                                                                                              p2xfloatmx position 2 / Latitude 2
                                                                                                                                                              p2yfloatmy position 2 / Longitude 2
                                                                                                                                                              p2zfloatmz position 2 / Altitude 2

                                                                                                                                                              SAFETY_ALLOWED_AREA (55)

                                                                                                                                                              Read out the safety zone the MAV currently assumes.

                                                                                                                                                              Field NameTypeUnitsValuesDescription
                                                                                                                                                              frameuint8_tMAV_FRAMECoordinate frame. Can be either global, GPS, right-handed with Z axis up or local, right handed, Z axis down.
                                                                                                                                                              p1xfloatmx position 1 / Latitude 1
                                                                                                                                                              p1yfloatmy position 1 / Longitude 1
                                                                                                                                                              p1zfloatmz position 1 / Altitude 1
                                                                                                                                                              p2xfloatmx position 2 / Latitude 2
                                                                                                                                                              p2yfloatmy position 2 / Longitude 2
                                                                                                                                                              p2zfloatmz position 2 / Altitude 2

                                                                                                                                                              ATTITUDE_QUATERNION_COV (61)

                                                                                                                                                              The attitude in the aeronautical frame (right-handed, Z-down, X-front, Y-right), expressed as quaternion. Quaternion order is w, x, y, z and a zero rotation would be expressed as (1 0 0 0).

                                                                                                                                                              Field NameTypeUnitsDescription
                                                                                                                                                              time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
                                                                                                                                                              qfloat[4]Quaternion components, w, x, y, z (1 0 0 0 is the null-rotation)
                                                                                                                                                              rollspeedfloatrad/sRoll angular speed
                                                                                                                                                              pitchspeedfloatrad/sPitch angular speed
                                                                                                                                                              yawspeedfloatrad/sYaw angular speed
                                                                                                                                                              covariancefloat[9]Row-major representation of a 3x3 attitude covariance matrix (states: roll, pitch, yaw; first three entries are the first ROW, next three entries are the second row, etc.). If unknown, assign NaN value to first element in the array.

                                                                                                                                                              The state of the navigation and position controller.

                                                                                                                                                              Field NameTypeUnitsDescription
                                                                                                                                                              nav_rollfloatdegCurrent desired roll
                                                                                                                                                              nav_pitchfloatdegCurrent desired pitch
                                                                                                                                                              nav_bearingint16_tdegCurrent desired heading
                                                                                                                                                              target_bearingint16_tdegBearing to current waypoint/target
                                                                                                                                                              wp_distuint16_tmDistance to active waypoint
                                                                                                                                                              alt_errorfloatmCurrent altitude error
                                                                                                                                                              aspd_errorfloatm/sCurrent airspeed error
                                                                                                                                                              xtrack_errorfloatmCurrent crosstrack error on x-y plane

                                                                                                                                                              GLOBAL_POSITION_INT_COV (63)

                                                                                                                                                              The filtered global position (e.g. fused GPS and accelerometers). The position is in GPS-frame (right-handed, Z-up). It is designed as scaled integer message since the resolution of float is not sufficient. NOTE: This message is intended for onboard networks / companion computers and higher-bandwidth links and optimized for accuracy and completeness. Please use the GLOBAL_POSITION_INT message for a minimal subset.

                                                                                                                                                              Field NameTypeUnitsValuesDescription
                                                                                                                                                              time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
                                                                                                                                                              estimator_typeuint8_tMAV_ESTIMATOR_TYPEClass id of the estimator this estimate originated from.
                                                                                                                                                              latint32_tdegE7Latitude
                                                                                                                                                              lonint32_tdegE7Longitude
                                                                                                                                                              altint32_tmmAltitude in meters above MSL
                                                                                                                                                              relative_altint32_tmmAltitude above ground
                                                                                                                                                              vxfloatm/sGround X Speed (Latitude)
                                                                                                                                                              vyfloatm/sGround Y Speed (Longitude)
                                                                                                                                                              vzfloatm/sGround Z Speed (Altitude)
                                                                                                                                                              covariancefloat[36]invalid:[NaN:]Row-major representation of a 6x6 position and velocity 6x6 cross-covariance matrix (states: lat, lon, alt, vx, vy, vz; first six entries are the first ROW, next six entries are the second row, etc.). If unknown, assign NaN value to first element in the array.

                                                                                                                                                              LOCAL_POSITION_NED_COV (64)

                                                                                                                                                              The filtered local position (e.g. fused computer vision and accelerometers). Coordinate frame is right-handed, Z-axis down (aeronautical frame, NED / north-east-down convention)

                                                                                                                                                              Field NameTypeUnitsValuesDescription
                                                                                                                                                              time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
                                                                                                                                                              estimator_typeuint8_tMAV_ESTIMATOR_TYPEClass id of the estimator this estimate originated from.
                                                                                                                                                              xfloatmX Position
                                                                                                                                                              yfloatmY Position
                                                                                                                                                              zfloatmZ Position
                                                                                                                                                              vxfloatm/sX Speed
                                                                                                                                                              vyfloatm/sY Speed
                                                                                                                                                              vzfloatm/sZ Speed
                                                                                                                                                              axfloatm/s/sX Acceleration
                                                                                                                                                              ayfloatm/s/sY Acceleration
                                                                                                                                                              azfloatm/s/sZ Acceleration
                                                                                                                                                              covariancefloat[45]invalid:[NaN:]Row-major representation of position, velocity and acceleration 9x9 cross-covariance matrix upper right triangle (states: x, y, z, vx, vy, vz, ax, ay, az; first nine entries are the first ROW, next eight entries are the second row, etc.). If unknown, assign NaN value to first element in the array.

                                                                                                                                                              RC_CHANNELS (65)

                                                                                                                                                              The PPM values of the RC channels received. The standard PPM modulation is as follows: 1000 microseconds: 0%, 2000 microseconds: 100%. A value of UINT16_MAX implies the channel is unused. Individual receivers/transmitters might violate this specification.

                                                                                                                                                              Field NameTypeUnitsDescription
                                                                                                                                                              time_boot_msuint32_tmsTimestamp (time since system boot).
                                                                                                                                                              chancountuint8_tTotal number of RC channels being received. This can be larger than 18, indicating that more channels are available but not given in this message. This value should be 0 when no RC channels are available.
                                                                                                                                                              chan1_rawuint16_tusRC channel 1 value.
                                                                                                                                                              chan2_rawuint16_tusRC channel 2 value.
                                                                                                                                                              chan3_rawuint16_tusRC channel 3 value.
                                                                                                                                                              chan4_rawuint16_tusRC channel 4 value.
                                                                                                                                                              chan5_rawuint16_tusRC channel 5 value.
                                                                                                                                                              chan6_rawuint16_tusRC channel 6 value.
                                                                                                                                                              chan7_rawuint16_tusRC channel 7 value.
                                                                                                                                                              chan8_rawuint16_tusRC channel 8 value.
                                                                                                                                                              chan9_rawuint16_tusRC channel 9 value.
                                                                                                                                                              chan10_rawuint16_tusRC channel 10 value.
                                                                                                                                                              chan11_rawuint16_tusRC channel 11 value.
                                                                                                                                                              chan12_rawuint16_tusRC channel 12 value.
                                                                                                                                                              chan13_rawuint16_tusRC channel 13 value.
                                                                                                                                                              chan14_rawuint16_tusRC channel 14 value.
                                                                                                                                                              chan15_rawuint16_tusRC channel 15 value.
                                                                                                                                                              chan16_rawuint16_tusRC channel 16 value.
                                                                                                                                                              chan17_rawuint16_tusRC channel 17 value.
                                                                                                                                                              chan18_rawuint16_tusRC channel 18 value.
                                                                                                                                                              rssiuint8_tReceive signal strength indicator in device-dependent units/scale. Values: [0-254], UINT8_MAX: invalid/unknown.

                                                                                                                                                              REQUEST_DATA_STREAM (66) — [DEP]

                                                                                                                                                              DEPRECATED: Replaced By MAV_CMD_SET_MESSAGE_INTERVAL (2015-08)

                                                                                                                                                              Request a data stream.

                                                                                                                                                              Field NameTypeUnitsDescription
                                                                                                                                                              target_systemuint8_tThe target requested to send the message stream.
                                                                                                                                                              target_componentuint8_tThe target requested to send the message stream.
                                                                                                                                                              req_stream_iduint8_tThe ID of the requested data stream
                                                                                                                                                              req_message_rateuint16_tHzThe requested message rate
                                                                                                                                                              start_stopuint8_t1 to start sending, 0 to stop sending.

                                                                                                                                                              DATA_STREAM (67) — [DEP]

                                                                                                                                                              DEPRECATED: Replaced By MESSAGE_INTERVAL (2015-08)

                                                                                                                                                              Data stream status information.

                                                                                                                                                              Field NameTypeUnitsDescription
                                                                                                                                                              stream_iduint8_tThe ID of the requested data stream
                                                                                                                                                              message_rateuint16_tHzThe message rate
                                                                                                                                                              on_offuint8_t1 stream is enabled, 0 stream is stopped.

                                                                                                                                                              MANUAL_CONTROL (69)

                                                                                                                                                              This message provides an API for manually controlling the vehicle using standard joystick axes nomenclature, along with a joystick-like input device. Unused axes can be disabled and buttons states are transmitted as individual on/off bits of a bitmask

                                                                                                                                                              Field NameTypeDescription
                                                                                                                                                              targetuint8_tThe system to be controlled.
                                                                                                                                                              xint16_tX-axis, normalized to the range [-1000,1000]. A value of INT16_MAX indicates that this axis is invalid. Generally corresponds to forward(1000)-backward(-1000) movement on a joystick and the pitch of a vehicle.
                                                                                                                                                              yint16_tY-axis, normalized to the range [-1000,1000]. A value of INT16_MAX indicates that this axis is invalid. Generally corresponds to left(-1000)-right(1000) movement on a joystick and the roll of a vehicle.
                                                                                                                                                              zint16_tZ-axis, normalized to the range [-1000,1000]. A value of INT16_MAX indicates that this axis is invalid. Generally corresponds to a separate slider movement with maximum being 1000 and minimum being -1000 on a joystick and the thrust of a vehicle. Positive values are positive thrust, negative values are negative thrust.
                                                                                                                                                              rint16_tR-axis, normalized to the range [-1000,1000]. A value of INT16_MAX indicates that this axis is invalid. Generally corresponds to a twisting of the joystick, with counter-clockwise being 1000 and clockwise being -1000, and the yaw of a vehicle.
                                                                                                                                                              buttonsuint16_tA bitfield corresponding to the joystick buttons' 0-15 current state, 1 for pressed, 0 for released. The lowest bit corresponds to Button 1.
                                                                                                                                                              buttons2 ++uint16_tA bitfield corresponding to the joystick buttons' 16-31 current state, 1 for pressed, 0 for released. The lowest bit corresponds to Button 16.
                                                                                                                                                              enabled_extensions ++uint8_tSet bits to 1 to indicate which of the following extension fields contain valid data: bit 0: pitch, bit 1: roll, bit 2: aux1, bit 3: aux2, bit 4: aux3, bit 5: aux4, bit 6: aux5, bit 7: aux6
                                                                                                                                                              s ++int16_tPitch-only-axis, normalized to the range [-1000,1000]. Generally corresponds to pitch on vehicles with additional degrees of freedom. Valid if bit 0 of enabled_extensions field is set. Set to 0 if invalid.
                                                                                                                                                              t ++int16_tRoll-only-axis, normalized to the range [-1000,1000]. Generally corresponds to roll on vehicles with additional degrees of freedom. Valid if bit 1 of enabled_extensions field is set. Set to 0 if invalid.
                                                                                                                                                              aux1 ++int16_tAux continuous input field 1. Normalized in the range [-1000,1000]. Purpose defined by recipient. Valid data if bit 2 of enabled_extensions field is set. 0 if bit 2 is unset.
                                                                                                                                                              aux2 ++int16_tAux continuous input field 2. Normalized in the range [-1000,1000]. Purpose defined by recipient. Valid data if bit 3 of enabled_extensions field is set. 0 if bit 3 is unset.
                                                                                                                                                              aux3 ++int16_tAux continuous input field 3. Normalized in the range [-1000,1000]. Purpose defined by recipient. Valid data if bit 4 of enabled_extensions field is set. 0 if bit 4 is unset.
                                                                                                                                                              aux4 ++int16_tAux continuous input field 4. Normalized in the range [-1000,1000]. Purpose defined by recipient. Valid data if bit 5 of enabled_extensions field is set. 0 if bit 5 is unset.
                                                                                                                                                              aux5 ++int16_tAux continuous input field 5. Normalized in the range [-1000,1000]. Purpose defined by recipient. Valid data if bit 6 of enabled_extensions field is set. 0 if bit 6 is unset.
                                                                                                                                                              aux6 ++int16_tAux continuous input field 6. Normalized in the range [-1000,1000]. Purpose defined by recipient. Valid data if bit 7 of enabled_extensions field is set. 0 if bit 7 is unset.

                                                                                                                                                              RC_CHANNELS_OVERRIDE (70)

                                                                                                                                                              The RAW values of the RC channels sent to the MAV to override info received from the RC radio. The standard PPM modulation is as follows: 1000 microseconds: 0%, 2000 microseconds: 100%. Individual receivers/transmitters might violate this specification. Note carefully the semantic differences between the first 8 channels and the subsequent channels

                                                                                                                                                              Field NameTypeUnitsDescription
                                                                                                                                                              target_systemuint8_tSystem ID
                                                                                                                                                              target_componentuint8_tComponent ID
                                                                                                                                                              chan1_rawuint16_tusRC channel 1 value. A value of UINT16_MAX means to ignore this field. A value of 0 means to release this channel back to the RC radio.
                                                                                                                                                              chan2_rawuint16_tusRC channel 2 value. A value of UINT16_MAX means to ignore this field. A value of 0 means to release this channel back to the RC radio.
                                                                                                                                                              chan3_rawuint16_tusRC channel 3 value. A value of UINT16_MAX means to ignore this field. A value of 0 means to release this channel back to the RC radio.
                                                                                                                                                              chan4_rawuint16_tusRC channel 4 value. A value of UINT16_MAX means to ignore this field. A value of 0 means to release this channel back to the RC radio.
                                                                                                                                                              chan5_rawuint16_tusRC channel 5 value. A value of UINT16_MAX means to ignore this field. A value of 0 means to release this channel back to the RC radio.
                                                                                                                                                              chan6_rawuint16_tusRC channel 6 value. A value of UINT16_MAX means to ignore this field. A value of 0 means to release this channel back to the RC radio.
                                                                                                                                                              chan7_rawuint16_tusRC channel 7 value. A value of UINT16_MAX means to ignore this field. A value of 0 means to release this channel back to the RC radio.
                                                                                                                                                              chan8_rawuint16_tusRC channel 8 value. A value of UINT16_MAX means to ignore this field. A value of 0 means to release this channel back to the RC radio.
                                                                                                                                                              chan9_raw ++uint16_tusRC channel 9 value. A value of 0 or UINT16_MAX means to ignore this field. A value of UINT16_MAX-1 means to release this channel back to the RC radio.
                                                                                                                                                              chan10_raw ++uint16_tusRC channel 10 value. A value of 0 or UINT16_MAX means to ignore this field. A value of UINT16_MAX-1 means to release this channel back to the RC radio.
                                                                                                                                                              chan11_raw ++uint16_tusRC channel 11 value. A value of 0 or UINT16_MAX means to ignore this field. A value of UINT16_MAX-1 means to release this channel back to the RC radio.
                                                                                                                                                              chan12_raw ++uint16_tusRC channel 12 value. A value of 0 or UINT16_MAX means to ignore this field. A value of UINT16_MAX-1 means to release this channel back to the RC radio.
                                                                                                                                                              chan13_raw ++uint16_tusRC channel 13 value. A value of 0 or UINT16_MAX means to ignore this field. A value of UINT16_MAX-1 means to release this channel back to the RC radio.
                                                                                                                                                              chan14_raw ++uint16_tusRC channel 14 value. A value of 0 or UINT16_MAX means to ignore this field. A value of UINT16_MAX-1 means to release this channel back to the RC radio.
                                                                                                                                                              chan15_raw ++uint16_tusRC channel 15 value. A value of 0 or UINT16_MAX means to ignore this field. A value of UINT16_MAX-1 means to release this channel back to the RC radio.
                                                                                                                                                              chan16_raw ++uint16_tusRC channel 16 value. A value of 0 or UINT16_MAX means to ignore this field. A value of UINT16_MAX-1 means to release this channel back to the RC radio.
                                                                                                                                                              chan17_raw ++uint16_tusRC channel 17 value. A value of 0 or UINT16_MAX means to ignore this field. A value of UINT16_MAX-1 means to release this channel back to the RC radio.
                                                                                                                                                              chan18_raw ++uint16_tusRC channel 18 value. A value of 0 or UINT16_MAX means to ignore this field. A value of UINT16_MAX-1 means to release this channel back to the RC radio.

                                                                                                                                                              MISSION_ITEM_INT (73)

                                                                                                                                                              Message encoding a mission item. This message is emitted to announce

                                                                                                                                                              the presence of a mission item and to set a mission item on the system. The mission item can be either in x, y, z meters (type: LOCAL) or x:lat, y:lon, z:altitude. Local frame is Z-down, right handed (NED), global frame is Z-up, right handed (ENU). NaN or INT32_MAX may be used in float/integer params (respectively) to indicate optional/default values (e.g. to use the component's current latitude, yaw rather than a specific value). See also https://mavlink.io/en/services/mission.html.

                                                                                                                                                              Field NameTypeValuesDescription
                                                                                                                                                              target_systemuint8_tSystem ID
                                                                                                                                                              target_componentuint8_tComponent ID
                                                                                                                                                              sequint16_tWaypoint ID (sequence number). Starts at zero. Increases monotonically for each waypoint, no gaps in the sequence (0,1,2,3,4).
                                                                                                                                                              frameuint8_tMAV_FRAMEThe coordinate system of the waypoint.
                                                                                                                                                              commanduint16_tMAV_CMDThe scheduled action for the waypoint.
                                                                                                                                                              currentuint8_tfalse:0, true:1
                                                                                                                                                              autocontinueuint8_tAutocontinue to next waypoint. 0: false, 1: true. Set false to pause mission after the item completes.
                                                                                                                                                              param1floatPARAM1, see MAV_CMD enum
                                                                                                                                                              param2floatPARAM2, see MAV_CMD enum
                                                                                                                                                              param3floatPARAM3, see MAV_CMD enum
                                                                                                                                                              param4floatPARAM4, see MAV_CMD enum
                                                                                                                                                              xint32_tPARAM5 / local: x position in meters 1e4, global: latitude in degrees 10^7
                                                                                                                                                              yint32_tPARAM6 / y position: local: x position in meters 1e4, global: longitude in degrees 10^7
                                                                                                                                                              zfloatPARAM7 / z position: global: altitude in meters (relative or absolute, depending on frame.
                                                                                                                                                              mission_type ++uint8_tMAV_MISSION_TYPEMission type.

                                                                                                                                                              VFR_HUD (74)

                                                                                                                                                              Metrics typically displayed on a HUD for fixed wing aircraft.

                                                                                                                                                              Field NameTypeUnitsDescription
                                                                                                                                                              airspeedfloatm/sVehicle speed in form appropriate for vehicle type. For standard aircraft this is typically calibrated airspeed (CAS) or indicated airspeed (IAS) - either of which can be used by a pilot to estimate stall speed.
                                                                                                                                                              groundspeedfloatm/sCurrent ground speed.
                                                                                                                                                              headingint16_tdegCurrent heading in compass units (0-360, 0=north).
                                                                                                                                                              throttleuint16_t%Current throttle setting (0 to 100).
                                                                                                                                                              altfloatmCurrent altitude (MSL).
                                                                                                                                                              climbfloatm/sCurrent climb rate.

                                                                                                                                                              COMMAND_INT (75)

                                                                                                                                                              Send a command with up to seven parameters to the MAV, where params 5 and 6 are integers and the other values are floats. This is preferred over COMMAND_LONG as it allows the MAV_FRAME to be specified for interpreting positional information, such as altitude. COMMAND_INT is also preferred when sending latitude and longitude data in params 5 and 6, as it allows for greater precision. Param 5 and 6 encode positional data as scaled integers, where the scaling depends on the actual command value. NaN or INT32_MAX may be used in float/integer params (respectively) to indicate optional/default values (e.g. to use the component's current latitude, yaw rather than a specific value). The command microservice is documented at https://mavlink.io/en/services/command.html

                                                                                                                                                              Field NameTypeValuesDescription
                                                                                                                                                              target_systemuint8_tSystem ID
                                                                                                                                                              target_componentuint8_tComponent ID
                                                                                                                                                              frameuint8_tMAV_FRAMEThe coordinate system of the COMMAND.
                                                                                                                                                              commanduint16_tMAV_CMDThe scheduled action for the mission item.
                                                                                                                                                              currentuint8_tNot used.
                                                                                                                                                              autocontinueuint8_tNot used (set 0).
                                                                                                                                                              param1floatinvalid:NaNPARAM1, see MAV_CMD enum
                                                                                                                                                              param2floatinvalid:NaNPARAM2, see MAV_CMD enum
                                                                                                                                                              param3floatinvalid:NaNPARAM3, see MAV_CMD enum
                                                                                                                                                              param4floatinvalid:NaNPARAM4, see MAV_CMD enum
                                                                                                                                                              xint32_tinvalid:INT32_MAXPARAM5 / local: x position in meters 1e4, global: latitude in degrees 10^7
                                                                                                                                                              yint32_tinvalid:INT32_MAXPARAM6 / local: y position in meters 1e4, global: longitude in degrees 10^7
                                                                                                                                                              zfloatinvalid:NaNPARAM7 / z position: global: altitude in meters (relative or absolute, depending on frame).

                                                                                                                                                              COMMAND_LONG (76)

                                                                                                                                                              Send a command with up to seven parameters to the MAV. COMMAND_INT is generally preferred when sending MAV_CMD commands that include positional information; it offers higher precision and allows the MAV_FRAME to be specified (which may otherwise be ambiguous, particularly for altitude). The command microservice is documented at https://mavlink.io/en/services/command.html

                                                                                                                                                              Field NameTypeValuesDescription
                                                                                                                                                              target_systemuint8_tSystem which should execute the command
                                                                                                                                                              target_componentuint8_tComponent which should execute the command, 0 for all components
                                                                                                                                                              commanduint16_tMAV_CMDCommand ID (of command to send).
                                                                                                                                                              confirmationuint8_t0: First transmission of this command. 1-255: Confirmation transmissions (e.g. for kill command)
                                                                                                                                                              param1floatinvalid:NaNParameter 1 (for the specific command).
                                                                                                                                                              param2floatinvalid:NaNParameter 2 (for the specific command).
                                                                                                                                                              param3floatinvalid:NaNParameter 3 (for the specific command).
                                                                                                                                                              param4floatinvalid:NaNParameter 4 (for the specific command).
                                                                                                                                                              param5floatinvalid:NaNParameter 5 (for the specific command).
                                                                                                                                                              param6floatinvalid:NaNParameter 6 (for the specific command).
                                                                                                                                                              param7floatinvalid:NaNParameter 7 (for the specific command).

                                                                                                                                                              COMMAND_ACK (77)

                                                                                                                                                              Report status of a command. Includes feedback whether the command was executed. The command microservice is documented at https://mavlink.io/en/services/command.html

                                                                                                                                                              Field NameTypeUnitsValuesDescription
                                                                                                                                                              commanduint16_tMAV_CMDCommand ID (of acknowledged command).
                                                                                                                                                              resultuint8_tMAV_RESULTResult of command.
                                                                                                                                                              progress ++uint8_t%invalid:UINT8_MAXThe progress percentage when result is MAV_RESULT_IN_PROGRESS. Values: [0-100], or UINT8_MAX if the progress is unknown.
                                                                                                                                                              result_param2 ++int32_tAdditional result information. Can be set with a command-specific enum containing command-specific error reasons for why the command might be denied. If used, the associated enum must be documented in the corresponding MAV_CMD (this enum should have a 0 value to indicate "unused" or "unknown").
                                                                                                                                                              target_system ++uint8_tSystem ID of the target recipient. This is the ID of the system that sent the command for which this COMMAND_ACK is an acknowledgement.
                                                                                                                                                              target_component ++uint8_tComponent ID of the target recipient. This is the ID of the system that sent the command for which this COMMAND_ACK is an acknowledgement.

                                                                                                                                                              COMMAND_CANCEL (80) — [WIP]

                                                                                                                                                              WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                              Cancel a long running command. The target system should respond with a COMMAND_ACK to the original command with result=MAV_RESULT_CANCELLED if the long running process was cancelled. If it has already completed, the cancel action can be ignored. The cancel action can be retried until some sort of acknowledgement to the original command has been received. The command microservice is documented at https://mavlink.io/en/services/command.html

                                                                                                                                                              Field NameTypeValuesDescription
                                                                                                                                                              target_systemuint8_tSystem executing long running command. Should not be broadcast (0).
                                                                                                                                                              target_componentuint8_tComponent executing long running command.
                                                                                                                                                              commanduint16_tMAV_CMDCommand ID (of command to cancel).

                                                                                                                                                              MANUAL_SETPOINT (81)

                                                                                                                                                              Setpoint in roll, pitch, yaw and thrust from the operator

                                                                                                                                                              Field NameTypeUnitsDescription
                                                                                                                                                              time_boot_msuint32_tmsTimestamp (time since system boot).
                                                                                                                                                              rollfloatrad/sDesired roll rate
                                                                                                                                                              pitchfloatrad/sDesired pitch rate
                                                                                                                                                              yawfloatrad/sDesired yaw rate
                                                                                                                                                              thrustfloatCollective thrust, normalized to 0 .. 1
                                                                                                                                                              mode_switchuint8_tFlight mode switch position, 0.. 255
                                                                                                                                                              manual_override_switchuint8_tOverride mode switch position, 0.. 255

                                                                                                                                                              SET_ATTITUDE_TARGET (82)

                                                                                                                                                              Sets a desired vehicle attitude. Used by an external controller to command the vehicle (manual controller or other system).

                                                                                                                                                              Field NameTypeUnitsValuesDescription
                                                                                                                                                              time_boot_msuint32_tmsTimestamp (time since system boot).
                                                                                                                                                              target_systemuint8_tSystem ID
                                                                                                                                                              target_componentuint8_tComponent ID
                                                                                                                                                              type_maskuint8_tATTITUDE_TARGET_TYPEMASKBitmap to indicate which dimensions should be ignored by the vehicle.
                                                                                                                                                              qfloat[4]Attitude quaternion (w, x, y, z order, zero-rotation is 1, 0, 0, 0) from MAV_FRAME_LOCAL_NED to MAV_FRAME_BODY_FRD
                                                                                                                                                              body_roll_ratefloatrad/sBody roll rate
                                                                                                                                                              body_pitch_ratefloatrad/sBody pitch rate
                                                                                                                                                              body_yaw_ratefloatrad/sBody yaw rate
                                                                                                                                                              thrustfloatCollective thrust, normalized to 0 .. 1 (-1 .. 1 for vehicles capable of reverse trust)
                                                                                                                                                              thrust_body ++float[3]3D thrust setpoint in the body NED frame, normalized to -1 .. 1

                                                                                                                                                              ATTITUDE_TARGET (83)

                                                                                                                                                              Reports the current commanded attitude of the vehicle as specified by the autopilot. This should match the commands sent in a SET_ATTITUDE_TARGET message if the vehicle is being controlled this way.

                                                                                                                                                              Field NameTypeUnitsValuesDescription
                                                                                                                                                              time_boot_msuint32_tmsTimestamp (time since system boot).
                                                                                                                                                              type_maskuint8_tATTITUDE_TARGET_TYPEMASKBitmap to indicate which dimensions should be ignored by the vehicle.
                                                                                                                                                              qfloat[4]Attitude quaternion (w, x, y, z order, zero-rotation is 1, 0, 0, 0)
                                                                                                                                                              body_roll_ratefloatrad/sBody roll rate
                                                                                                                                                              body_pitch_ratefloatrad/sBody pitch rate
                                                                                                                                                              body_yaw_ratefloatrad/sBody yaw rate
                                                                                                                                                              thrustfloatCollective thrust, normalized to 0 .. 1 (-1 .. 1 for vehicles capable of reverse trust)

                                                                                                                                                              SET_POSITION_TARGET_LOCAL_NED (84)

                                                                                                                                                              Sets a desired vehicle position in a local north-east-down coordinate frame. Used by an external controller to command the vehicle (manual controller or other system).

                                                                                                                                                              Field NameTypeUnitsValuesDescription
                                                                                                                                                              time_boot_msuint32_tmsTimestamp (time since system boot).
                                                                                                                                                              target_systemuint8_tSystem ID
                                                                                                                                                              target_componentuint8_tComponent ID
                                                                                                                                                              coordinate_frameuint8_tMAV_FRAMEValid options are: MAV_FRAME_LOCAL_NED = 1, MAV_FRAME_LOCAL_OFFSET_NED = 7, MAV_FRAME_BODY_NED = 8, MAV_FRAME_BODY_OFFSET_NED = 9
                                                                                                                                                              type_maskuint16_tPOSITION_TARGET_TYPEMASKBitmap to indicate which dimensions should be ignored by the vehicle.
                                                                                                                                                              xfloatmX Position in NED frame
                                                                                                                                                              yfloatmY Position in NED frame
                                                                                                                                                              zfloatmZ Position in NED frame (note, altitude is negative in NED)
                                                                                                                                                              vxfloatm/sX velocity in NED frame
                                                                                                                                                              vyfloatm/sY velocity in NED frame
                                                                                                                                                              vzfloatm/sZ velocity in NED frame
                                                                                                                                                              afxfloatm/s/sX acceleration or force (if bit 10 of type_mask is set) in NED frame in meter / s^2 or N
                                                                                                                                                              afyfloatm/s/sY acceleration or force (if bit 10 of type_mask is set) in NED frame in meter / s^2 or N
                                                                                                                                                              afzfloatm/s/sZ acceleration or force (if bit 10 of type_mask is set) in NED frame in meter / s^2 or N
                                                                                                                                                              yawfloatradyaw setpoint
                                                                                                                                                              yaw_ratefloatrad/syaw rate setpoint

                                                                                                                                                              POSITION_TARGET_LOCAL_NED (85)

                                                                                                                                                              Reports the current commanded vehicle position, velocity, and acceleration as specified by the autopilot. This should match the commands sent in SET_POSITION_TARGET_LOCAL_NED if the vehicle is being controlled this way.

                                                                                                                                                              Field NameTypeUnitsValuesDescription
                                                                                                                                                              time_boot_msuint32_tmsTimestamp (time since system boot).
                                                                                                                                                              coordinate_frameuint8_tMAV_FRAMEValid options are: MAV_FRAME_LOCAL_NED = 1, MAV_FRAME_LOCAL_OFFSET_NED = 7, MAV_FRAME_BODY_NED = 8, MAV_FRAME_BODY_OFFSET_NED = 9
                                                                                                                                                              type_maskuint16_tPOSITION_TARGET_TYPEMASKBitmap to indicate which dimensions should be ignored by the vehicle.
                                                                                                                                                              xfloatmX Position in NED frame
                                                                                                                                                              yfloatmY Position in NED frame
                                                                                                                                                              zfloatmZ Position in NED frame (note, altitude is negative in NED)
                                                                                                                                                              vxfloatm/sX velocity in NED frame
                                                                                                                                                              vyfloatm/sY velocity in NED frame
                                                                                                                                                              vzfloatm/sZ velocity in NED frame
                                                                                                                                                              afxfloatm/s/sX acceleration or force (if bit 10 of type_mask is set) in NED frame in meter / s^2 or N
                                                                                                                                                              afyfloatm/s/sY acceleration or force (if bit 10 of type_mask is set) in NED frame in meter / s^2 or N
                                                                                                                                                              afzfloatm/s/sZ acceleration or force (if bit 10 of type_mask is set) in NED frame in meter / s^2 or N
                                                                                                                                                              yawfloatradyaw setpoint
                                                                                                                                                              yaw_ratefloatrad/syaw rate setpoint

                                                                                                                                                              SET_POSITION_TARGET_GLOBAL_INT (86)

                                                                                                                                                              Sets a desired vehicle position, velocity, and/or acceleration in a global coordinate system (WGS84). Used by an external controller to command the vehicle (manual controller or other system).

                                                                                                                                                              Field NameTypeUnitsValuesDescription
                                                                                                                                                              time_boot_msuint32_tmsTimestamp (time since system boot). The rationale for the timestamp in the setpoint is to allow the system to compensate for the transport delay of the setpoint. This allows the system to compensate processing latency.
                                                                                                                                                              target_systemuint8_tSystem ID
                                                                                                                                                              target_componentuint8_tComponent ID
                                                                                                                                                              coordinate_frameuint8_tMAV_FRAMEValid options are: MAV_FRAME_GLOBAL = 0, MAV_FRAME_GLOBAL_RELATIVE_ALT = 3, MAV_FRAME_GLOBAL_TERRAIN_ALT = 10 (MAV_FRAME_GLOBAL_INT, MAV_FRAME_GLOBAL_RELATIVE_ALT_INT, MAV_FRAME_GLOBAL_TERRAIN_ALT_INT are allowed synonyms, but have been deprecated)
                                                                                                                                                              type_maskuint16_tPOSITION_TARGET_TYPEMASKBitmap to indicate which dimensions should be ignored by the vehicle.
                                                                                                                                                              lat_intint32_tdegE7Latitude in WGS84 frame
                                                                                                                                                              lon_intint32_tdegE7Longitude in WGS84 frame
                                                                                                                                                              altfloatmAltitude (MSL, Relative to home, or AGL - depending on frame)
                                                                                                                                                              vxfloatm/sX velocity in NED frame
                                                                                                                                                              vyfloatm/sY velocity in NED frame
                                                                                                                                                              vzfloatm/sZ velocity in NED frame
                                                                                                                                                              afxfloatm/s/sX acceleration or force (if bit 10 of type_mask is set) in NED frame in meter / s^2 or N
                                                                                                                                                              afyfloatm/s/sY acceleration or force (if bit 10 of type_mask is set) in NED frame in meter / s^2 or N
                                                                                                                                                              afzfloatm/s/sZ acceleration or force (if bit 10 of type_mask is set) in NED frame in meter / s^2 or N
                                                                                                                                                              yawfloatradyaw setpoint
                                                                                                                                                              yaw_ratefloatrad/syaw rate setpoint

                                                                                                                                                              POSITION_TARGET_GLOBAL_INT (87)

                                                                                                                                                              Reports the current commanded vehicle position, velocity, and acceleration as specified by the autopilot. This should match the commands sent in SET_POSITION_TARGET_GLOBAL_INT if the vehicle is being controlled this way.

                                                                                                                                                              Field NameTypeUnitsValuesDescription
                                                                                                                                                              time_boot_msuint32_tmsTimestamp (time since system boot). The rationale for the timestamp in the setpoint is to allow the system to compensate for the transport delay of the setpoint. This allows the system to compensate processing latency.
                                                                                                                                                              coordinate_frameuint8_tMAV_FRAMEValid options are: MAV_FRAME_GLOBAL = 0, MAV_FRAME_GLOBAL_RELATIVE_ALT = 3, MAV_FRAME_GLOBAL_TERRAIN_ALT = 10 (MAV_FRAME_GLOBAL_INT, MAV_FRAME_GLOBAL_RELATIVE_ALT_INT, MAV_FRAME_GLOBAL_TERRAIN_ALT_INT are allowed synonyms, but have been deprecated)
                                                                                                                                                              type_maskuint16_tPOSITION_TARGET_TYPEMASKBitmap to indicate which dimensions should be ignored by the vehicle.
                                                                                                                                                              lat_intint32_tdegE7Latitude in WGS84 frame
                                                                                                                                                              lon_intint32_tdegE7Longitude in WGS84 frame
                                                                                                                                                              altfloatmAltitude (MSL, AGL or relative to home altitude, depending on frame)
                                                                                                                                                              vxfloatm/sX velocity in NED frame
                                                                                                                                                              vyfloatm/sY velocity in NED frame
                                                                                                                                                              vzfloatm/sZ velocity in NED frame
                                                                                                                                                              afxfloatm/s/sX acceleration or force (if bit 10 of type_mask is set) in NED frame in meter / s^2 or N
                                                                                                                                                              afyfloatm/s/sY acceleration or force (if bit 10 of type_mask is set) in NED frame in meter / s^2 or N
                                                                                                                                                              afzfloatm/s/sZ acceleration or force (if bit 10 of type_mask is set) in NED frame in meter / s^2 or N
                                                                                                                                                              yawfloatradyaw setpoint
                                                                                                                                                              yaw_ratefloatrad/syaw rate setpoint

                                                                                                                                                              LOCAL_POSITION_NED_SYSTEM_GLOBAL_OFFSET (89)

                                                                                                                                                              The offset in X, Y, Z and yaw between the LOCAL_POSITION_NED messages of MAV X and the global coordinate frame in NED coordinates. Coordinate frame is right-handed, Z-axis down (aeronautical frame, NED / north-east-down convention)

                                                                                                                                                              Field NameTypeUnitsDescription
                                                                                                                                                              time_boot_msuint32_tmsTimestamp (time since system boot).
                                                                                                                                                              xfloatmX Position
                                                                                                                                                              yfloatmY Position
                                                                                                                                                              zfloatmZ Position
                                                                                                                                                              rollfloatradRoll
                                                                                                                                                              pitchfloatradPitch
                                                                                                                                                              yawfloatradYaw

                                                                                                                                                              HIL_STATE (90) — [DEP]

                                                                                                                                                              DEPRECATED: Replaced By HIL_STATE_QUATERNION (2013-07) — Suffers from missing airspeed fields and singularities due to Euler angles)

                                                                                                                                                              Sent from simulation to autopilot. This packet is useful for high throughput applications such as hardware in the loop simulations.

                                                                                                                                                              Field NameTypeUnitsDescription
                                                                                                                                                              time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
                                                                                                                                                              rollfloatradRoll angle
                                                                                                                                                              pitchfloatradPitch angle
                                                                                                                                                              yawfloatradYaw angle
                                                                                                                                                              rollspeedfloatrad/sBody frame roll / phi angular speed
                                                                                                                                                              pitchspeedfloatrad/sBody frame pitch / theta angular speed
                                                                                                                                                              yawspeedfloatrad/sBody frame yaw / psi angular speed
                                                                                                                                                              latint32_tdegE7Latitude
                                                                                                                                                              lonint32_tdegE7Longitude
                                                                                                                                                              altint32_tmmAltitude
                                                                                                                                                              vxint16_tcm/sGround X Speed (Latitude)
                                                                                                                                                              vyint16_tcm/sGround Y Speed (Longitude)
                                                                                                                                                              vzint16_tcm/sGround Z Speed (Altitude)
                                                                                                                                                              xaccint16_tmGX acceleration
                                                                                                                                                              yaccint16_tmGY acceleration
                                                                                                                                                              zaccint16_tmGZ acceleration

                                                                                                                                                              HIL_CONTROLS (91)

                                                                                                                                                              Sent from autopilot to simulation. Hardware in the loop control outputs

                                                                                                                                                              Field NameTypeUnitsValuesDescription
                                                                                                                                                              time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
                                                                                                                                                              roll_aileronsfloatControl output -1 .. 1
                                                                                                                                                              pitch_elevatorfloatControl output -1 .. 1
                                                                                                                                                              yaw_rudderfloatControl output -1 .. 1
                                                                                                                                                              throttlefloatThrottle 0 .. 1
                                                                                                                                                              aux1floatAux 1, -1 .. 1
                                                                                                                                                              aux2floatAux 2, -1 .. 1
                                                                                                                                                              aux3floatAux 3, -1 .. 1
                                                                                                                                                              aux4floatAux 4, -1 .. 1
                                                                                                                                                              modeuint8_tMAV_MODESystem mode.
                                                                                                                                                              nav_modeuint8_tNavigation mode (MAV_NAV_MODE)

                                                                                                                                                              HIL_RC_INPUTS_RAW (92)

                                                                                                                                                              Sent from simulation to autopilot. The RAW values of the RC channels received. The standard PPM modulation is as follows: 1000 microseconds: 0%, 2000 microseconds: 100%. Individual receivers/transmitters might violate this specification.

                                                                                                                                                              Field NameTypeUnitsDescription
                                                                                                                                                              time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
                                                                                                                                                              chan1_rawuint16_tusRC channel 1 value
                                                                                                                                                              chan2_rawuint16_tusRC channel 2 value
                                                                                                                                                              chan3_rawuint16_tusRC channel 3 value
                                                                                                                                                              chan4_rawuint16_tusRC channel 4 value
                                                                                                                                                              chan5_rawuint16_tusRC channel 5 value
                                                                                                                                                              chan6_rawuint16_tusRC channel 6 value
                                                                                                                                                              chan7_rawuint16_tusRC channel 7 value
                                                                                                                                                              chan8_rawuint16_tusRC channel 8 value
                                                                                                                                                              chan9_rawuint16_tusRC channel 9 value
                                                                                                                                                              chan10_rawuint16_tusRC channel 10 value
                                                                                                                                                              chan11_rawuint16_tusRC channel 11 value
                                                                                                                                                              chan12_rawuint16_tusRC channel 12 value
                                                                                                                                                              rssiuint8_tReceive signal strength indicator in device-dependent units/scale. Values: [0-254], UINT8_MAX: invalid/unknown.

                                                                                                                                                              HIL_ACTUATOR_CONTROLS (93)

                                                                                                                                                              Sent from autopilot to simulation. Hardware in the loop control outputs (replacement for HIL_CONTROLS)

                                                                                                                                                              Field NameTypeUnitsValuesDescription
                                                                                                                                                              time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
                                                                                                                                                              controlsfloat[16]Control outputs -1 .. 1. Channel assignment depends on the simulated hardware.
                                                                                                                                                              modeuint8_tMAV_MODE_FLAGSystem mode. Includes arming state.
                                                                                                                                                              flagsuint64_tFlags as bitfield, 1: indicate simulation using lockstep.

                                                                                                                                                              OPTICAL_FLOW (100)

                                                                                                                                                              Optical flow from a flow sensor (e.g. optical mouse sensor)

                                                                                                                                                              Field NameTypeUnitsDescription
                                                                                                                                                              time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
                                                                                                                                                              sensor_iduint8_tSensor ID
                                                                                                                                                              flow_xint16_tdpixFlow in x-sensor direction
                                                                                                                                                              flow_yint16_tdpixFlow in y-sensor direction
                                                                                                                                                              flow_comp_m_xfloatm/sFlow in x-sensor direction, angular-speed compensated
                                                                                                                                                              flow_comp_m_yfloatm/sFlow in y-sensor direction, angular-speed compensated
                                                                                                                                                              qualityuint8_tOptical flow quality / confidence. 0: bad, 255: maximum quality
                                                                                                                                                              ground_distancefloatmGround distance. Positive value: distance known. Negative value: Unknown distance
                                                                                                                                                              flow_rate_x ++floatrad/sFlow rate about X axis
                                                                                                                                                              flow_rate_y ++floatrad/sFlow rate about Y axis

                                                                                                                                                              GLOBAL_VISION_POSITION_ESTIMATE (101)

                                                                                                                                                              Global position/attitude estimate from a vision source.

                                                                                                                                                              Field NameTypeUnitsDescription
                                                                                                                                                              usecuint64_tusTimestamp (UNIX time or since system boot)
                                                                                                                                                              xfloatmGlobal X position
                                                                                                                                                              yfloatmGlobal Y position
                                                                                                                                                              zfloatmGlobal Z position
                                                                                                                                                              rollfloatradRoll angle
                                                                                                                                                              pitchfloatradPitch angle
                                                                                                                                                              yawfloatradYaw angle
                                                                                                                                                              covariance ++float[21]Row-major representation of pose 6x6 cross-covariance matrix upper right triangle (states: x_global, y_global, z_global, roll, pitch, yaw; first six entries are the first ROW, next five entries are the second ROW, etc.). If unknown, assign NaN value to first element in the array.
                                                                                                                                                              reset_counter ++uint8_tEstimate reset counter. This should be incremented when the estimate resets in any of the dimensions (position, velocity, attitude, angular speed). This is designed to be used when e.g an external SLAM system detects a loop-closure and the estimate jumps.

                                                                                                                                                              VISION_POSITION_ESTIMATE (102)

                                                                                                                                                              Local position/attitude estimate from a vision source.

                                                                                                                                                              Field NameTypeUnitsDescription
                                                                                                                                                              usecuint64_tusTimestamp (UNIX time or time since system boot)
                                                                                                                                                              xfloatmLocal X position
                                                                                                                                                              yfloatmLocal Y position
                                                                                                                                                              zfloatmLocal Z position
                                                                                                                                                              rollfloatradRoll angle
                                                                                                                                                              pitchfloatradPitch angle
                                                                                                                                                              yawfloatradYaw angle
                                                                                                                                                              covariance ++float[21]Row-major representation of pose 6x6 cross-covariance matrix upper right triangle (states: x, y, z, roll, pitch, yaw; first six entries are the first ROW, next five entries are the second ROW, etc.). If unknown, assign NaN value to first element in the array.
                                                                                                                                                              reset_counter ++uint8_tEstimate reset counter. This should be incremented when the estimate resets in any of the dimensions (position, velocity, attitude, angular speed). This is designed to be used when e.g an external SLAM system detects a loop-closure and the estimate jumps.

                                                                                                                                                              VISION_SPEED_ESTIMATE (103)

                                                                                                                                                              Speed estimate from a vision source.

                                                                                                                                                              Field NameTypeUnitsDescription
                                                                                                                                                              usecuint64_tusTimestamp (UNIX time or time since system boot)
                                                                                                                                                              xfloatm/sGlobal X speed
                                                                                                                                                              yfloatm/sGlobal Y speed
                                                                                                                                                              zfloatm/sGlobal Z speed
                                                                                                                                                              covariance ++float[9]Row-major representation of 3x3 linear velocity covariance matrix (states: vx, vy, vz; 1st three entries - 1st row, etc.). If unknown, assign NaN value to first element in the array.
                                                                                                                                                              reset_counter ++uint8_tEstimate reset counter. This should be incremented when the estimate resets in any of the dimensions (position, velocity, attitude, angular speed). This is designed to be used when e.g an external SLAM system detects a loop-closure and the estimate jumps.

                                                                                                                                                              VICON_POSITION_ESTIMATE (104)

                                                                                                                                                              Global position estimate from a Vicon motion system source.

                                                                                                                                                              Field NameTypeUnitsDescription
                                                                                                                                                              usecuint64_tusTimestamp (UNIX time or time since system boot)
                                                                                                                                                              xfloatmGlobal X position
                                                                                                                                                              yfloatmGlobal Y position
                                                                                                                                                              zfloatmGlobal Z position
                                                                                                                                                              rollfloatradRoll angle
                                                                                                                                                              pitchfloatradPitch angle
                                                                                                                                                              yawfloatradYaw angle
                                                                                                                                                              covariance ++float[21]Row-major representation of 6x6 pose cross-covariance matrix upper right triangle (states: x, y, z, roll, pitch, yaw; first six entries are the first ROW, next five entries are the second ROW, etc.). If unknown, assign NaN value to first element in the array.

                                                                                                                                                              HIGHRES_IMU (105)

                                                                                                                                                              The IMU readings in SI units in NED body frame

                                                                                                                                                              Field NameTypeUnitsValuesDescription
                                                                                                                                                              time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
                                                                                                                                                              xaccfloatm/s/sX acceleration
                                                                                                                                                              yaccfloatm/s/sY acceleration
                                                                                                                                                              zaccfloatm/s/sZ acceleration
                                                                                                                                                              xgyrofloatrad/sAngular speed around X axis
                                                                                                                                                              ygyrofloatrad/sAngular speed around Y axis
                                                                                                                                                              zgyrofloatrad/sAngular speed around Z axis
                                                                                                                                                              xmagfloatgaussX Magnetic field
                                                                                                                                                              ymagfloatgaussY Magnetic field
                                                                                                                                                              zmagfloatgaussZ Magnetic field
                                                                                                                                                              abs_pressurefloathPaAbsolute pressure
                                                                                                                                                              diff_pressurefloathPaDifferential pressure
                                                                                                                                                              pressure_altfloatAltitude calculated from pressure
                                                                                                                                                              temperaturefloatdegCTemperature
                                                                                                                                                              fields_updateduint16_tHIGHRES_IMU_UPDATED_FLAGSBitmap for fields that have updated since last message
                                                                                                                                                              id ++uint8_tId. Ids are numbered from 0 and map to IMUs numbered from 1 (e.g. IMU1 will have a message with id=0)
                                                                                                                                                              Messages with same value are from the same source (instance).

                                                                                                                                                              OPTICAL_FLOW_RAD (106)

                                                                                                                                                              Optical flow from an angular rate flow sensor (e.g. PX4FLOW or mouse sensor)

                                                                                                                                                              Field NameTypeUnitsDescription
                                                                                                                                                              time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
                                                                                                                                                              sensor_iduint8_tSensor ID
                                                                                                                                                              Messages with same value are from the same source (instance).
                                                                                                                                                              integration_time_usuint32_tusIntegration time. Divide integrated_x and integrated_y by the integration time to obtain average flow. The integration time also indicates the.
                                                                                                                                                              integrated_xfloatradFlow around X axis (Sensor RH rotation about the X axis induces a positive flow. Sensor linear motion along the positive Y axis induces a negative flow.)
                                                                                                                                                              integrated_yfloatradFlow around Y axis (Sensor RH rotation about the Y axis induces a positive flow. Sensor linear motion along the positive X axis induces a positive flow.)
                                                                                                                                                              integrated_xgyrofloatradRH rotation around X axis
                                                                                                                                                              integrated_ygyrofloatradRH rotation around Y axis
                                                                                                                                                              integrated_zgyrofloatradRH rotation around Z axis
                                                                                                                                                              temperatureint16_tcdegCTemperature
                                                                                                                                                              qualityuint8_tOptical flow quality / confidence. 0: no valid flow, 255: maximum quality
                                                                                                                                                              time_delta_distance_usuint32_tusTime since the distance was sampled.
                                                                                                                                                              distancefloatmDistance to the center of the flow field. Positive value (including zero): distance known. Negative value: Unknown distance.

                                                                                                                                                              HIL_SENSOR (107)

                                                                                                                                                              The IMU readings in SI units in NED body frame

                                                                                                                                                              Field NameTypeUnitsValuesDescription
                                                                                                                                                              time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
                                                                                                                                                              xaccfloatm/s/sX acceleration
                                                                                                                                                              yaccfloatm/s/sY acceleration
                                                                                                                                                              zaccfloatm/s/sZ acceleration
                                                                                                                                                              xgyrofloatrad/sAngular speed around X axis in body frame
                                                                                                                                                              ygyrofloatrad/sAngular speed around Y axis in body frame
                                                                                                                                                              zgyrofloatrad/sAngular speed around Z axis in body frame
                                                                                                                                                              xmagfloatgaussX Magnetic field
                                                                                                                                                              ymagfloatgaussY Magnetic field
                                                                                                                                                              zmagfloatgaussZ Magnetic field
                                                                                                                                                              abs_pressurefloathPaAbsolute pressure
                                                                                                                                                              diff_pressurefloathPaDifferential pressure (airspeed)
                                                                                                                                                              pressure_altfloatAltitude calculated from pressure
                                                                                                                                                              temperaturefloatdegCTemperature
                                                                                                                                                              fields_updateduint32_tHIL_SENSOR_UPDATED_FLAGSBitmap for fields that have updated since last message
                                                                                                                                                              id ++uint8_tSensor ID (zero indexed). Used for multiple sensor inputs

                                                                                                                                                              SIM_STATE (108)

                                                                                                                                                              Status of simulation environment, if used

                                                                                                                                                              Field NameTypeUnitsDescription
                                                                                                                                                              q1floatTrue attitude quaternion component 1, w (1 in null-rotation)
                                                                                                                                                              q2floatTrue attitude quaternion component 2, x (0 in null-rotation)
                                                                                                                                                              q3floatTrue attitude quaternion component 3, y (0 in null-rotation)
                                                                                                                                                              q4floatTrue attitude quaternion component 4, z (0 in null-rotation)
                                                                                                                                                              rollfloatradAttitude roll expressed as Euler angles, not recommended except for human-readable outputs
                                                                                                                                                              pitchfloatradAttitude pitch expressed as Euler angles, not recommended except for human-readable outputs
                                                                                                                                                              yawfloatradAttitude yaw expressed as Euler angles, not recommended except for human-readable outputs
                                                                                                                                                              xaccfloatm/s/sX acceleration
                                                                                                                                                              yaccfloatm/s/sY acceleration
                                                                                                                                                              zaccfloatm/s/sZ acceleration
                                                                                                                                                              xgyrofloatrad/sAngular speed around X axis
                                                                                                                                                              ygyrofloatrad/sAngular speed around Y axis
                                                                                                                                                              zgyrofloatrad/sAngular speed around Z axis
                                                                                                                                                              latfloatdegLatitude (lower precision). Both this and the lat_int field should be set.
                                                                                                                                                              lonfloatdegLongitude (lower precision). Both this and the lon_int field should be set.
                                                                                                                                                              altfloatmAltitude
                                                                                                                                                              std_dev_horzfloatHorizontal position standard deviation
                                                                                                                                                              std_dev_vertfloatVertical position standard deviation
                                                                                                                                                              vnfloatm/sTrue velocity in north direction in earth-fixed NED frame
                                                                                                                                                              vefloatm/sTrue velocity in east direction in earth-fixed NED frame
                                                                                                                                                              vdfloatm/sTrue velocity in down direction in earth-fixed NED frame
                                                                                                                                                              lat_int ++int32_tdegE7Latitude (higher precision). If 0, recipients should use the lat field value (otherwise this field is preferred).
                                                                                                                                                              lon_int ++int32_tdegE7Longitude (higher precision). If 0, recipients should use the lon field value (otherwise this field is preferred).

                                                                                                                                                              RADIO_STATUS (109)

                                                                                                                                                              Status generated by radio and injected into MAVLink stream.

                                                                                                                                                              Field NameTypeUnitsDescription
                                                                                                                                                              rssiuint8_tLocal (message sender) received signal strength indication in device-dependent units/scale. Values: [0-254], UINT8_MAX: invalid/unknown.
                                                                                                                                                              remrssiuint8_tRemote (message receiver) signal strength indication in device-dependent units/scale. Values: [0-254], UINT8_MAX: invalid/unknown.
                                                                                                                                                              txbufuint8_t%Remaining free transmitter buffer space.
                                                                                                                                                              noiseuint8_tLocal background noise level. These are device dependent RSSI values (scale as approx 2x dB on SiK radios). Values: [0-254], UINT8_MAX: invalid/unknown.
                                                                                                                                                              remnoiseuint8_tRemote background noise level. These are device dependent RSSI values (scale as approx 2x dB on SiK radios). Values: [0-254], UINT8_MAX: invalid/unknown.
                                                                                                                                                              rxerrorsuint16_tCount of radio packet receive errors (since boot).
                                                                                                                                                              fixeduint16_tCount of error corrected radio packets (since boot).

                                                                                                                                                              FILE_TRANSFER_PROTOCOL (110)

                                                                                                                                                              File transfer protocol message: https://mavlink.io/en/services/ftp.html.

                                                                                                                                                              Field NameTypeDescription
                                                                                                                                                              target_networkuint8_tNetwork ID (0 for broadcast)
                                                                                                                                                              target_systemuint8_tSystem ID (0 for broadcast)
                                                                                                                                                              target_componentuint8_tComponent ID (0 for broadcast)
                                                                                                                                                              payloaduint8_t[251]Variable length payload. The length is defined by the remaining message length when subtracting the header and other fields. The content/format of this block is defined in https://mavlink.io/en/services/ftp.html.

                                                                                                                                                              TIMESYNC (111)

                                                                                                                                                              Time synchronization message. The message is used for both timesync requests and responses. The request is sent with ts1=syncing component timestamp and tc1=0, and may be broadcast or targeted to a specific system/component. The response is sent with ts1=syncing component timestamp (mirror back unchanged), and tc1=responding component timestamp, with the target_system and target_component set to ids of the original request. Systems can determine if they are receiving a request or response based on the value of tc. If the response has target_system==target_component==0 the remote system has not been updated to use the component IDs and cannot reliably timesync; the requestor may report an error. Timestamps are UNIX Epoch time or time since system boot in nanoseconds (the timestamp format can be inferred by checking for the magnitude of the number; generally it doesn't matter as only the offset is used). The message sequence is repeated numerous times with results being filtered/averaged to estimate the offset.

                                                                                                                                                              Field NameTypeUnitsDescription
                                                                                                                                                              tc1int64_tnsTime sync timestamp 1. Syncing: 0. Responding: Timestamp of responding component.
                                                                                                                                                              ts1int64_tnsTime sync timestamp 2. Timestamp of syncing component (mirrored in response).
                                                                                                                                                              target_system ++uint8_tTarget system id. Request: 0 (broadcast) or id of specific system. Response must contain system id of the requesting component.
                                                                                                                                                              target_component ++uint8_tTarget component id. Request: 0 (broadcast) or id of specific component. Response must contain component id of the requesting component.

                                                                                                                                                              CAMERA_TRIGGER (112)

                                                                                                                                                              Camera-IMU triggering and synchronisation message.

                                                                                                                                                              Field NameTypeUnitsDescription
                                                                                                                                                              time_usecuint64_tusTimestamp for image frame (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
                                                                                                                                                              sequint32_tImage frame sequence

                                                                                                                                                              HIL_GPS (113)

                                                                                                                                                              The global position, as returned by the Global Positioning System (GPS). This is

                                                                                                                                                              NOT the global position estimate of the system, but rather a RAW sensor value. See message GLOBAL_POSITION_INT for the global position estimate.

                                                                                                                                                              Field NameTypeUnitsMultiplierDescription
                                                                                                                                                              time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
                                                                                                                                                              fix_typeuint8_t0-1: no fix, 2: 2D fix, 3: 3D fix. Some applications will not use the value of this field unless it is at least two, so always correctly fill in the fix.
                                                                                                                                                              latint32_tdegE7Latitude (WGS84)
                                                                                                                                                              lonint32_tdegE7Longitude (WGS84)
                                                                                                                                                              altint32_tmmAltitude (MSL). Positive for up.
                                                                                                                                                              ephuint16_t1E-2GPS HDOP horizontal dilution of position (unitless * 100). If unknown, set to: UINT16_MAX
                                                                                                                                                              epvuint16_t1E-2GPS VDOP vertical dilution of position (unitless * 100). If unknown, set to: UINT16_MAX
                                                                                                                                                              veluint16_tcm/sGPS ground speed. If unknown, set to: UINT16_MAX
                                                                                                                                                              vnint16_tcm/sGPS velocity in north direction in earth-fixed NED frame
                                                                                                                                                              veint16_tcm/sGPS velocity in east direction in earth-fixed NED frame
                                                                                                                                                              vdint16_tcm/sGPS velocity in down direction in earth-fixed NED frame
                                                                                                                                                              coguint16_tcdegCourse over ground (NOT heading, but direction of movement), 0.0..359.99 degrees. If unknown, set to: UINT16_MAX
                                                                                                                                                              satellites_visibleuint8_tNumber of satellites visible. If unknown, set to UINT8_MAX
                                                                                                                                                              id ++uint8_tGPS ID (zero indexed). Used for multiple GPS inputs
                                                                                                                                                              yaw ++uint16_tcdegYaw of vehicle relative to Earth's North, zero means not available, use 36000 for north

                                                                                                                                                              HIL_OPTICAL_FLOW (114)

                                                                                                                                                              Simulated optical flow from a flow sensor (e.g. PX4FLOW or optical mouse sensor)

                                                                                                                                                              Field NameTypeUnitsDescription
                                                                                                                                                              time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
                                                                                                                                                              sensor_iduint8_tSensor ID
                                                                                                                                                              integration_time_usuint32_tusIntegration time. Divide integrated_x and integrated_y by the integration time to obtain average flow. The integration time also indicates the.
                                                                                                                                                              integrated_xfloatradFlow in radians around X axis (Sensor RH rotation about the X axis induces a positive flow. Sensor linear motion along the positive Y axis induces a negative flow.)
                                                                                                                                                              integrated_yfloatradFlow in radians around Y axis (Sensor RH rotation about the Y axis induces a positive flow. Sensor linear motion along the positive X axis induces a positive flow.)
                                                                                                                                                              integrated_xgyrofloatradRH rotation around X axis
                                                                                                                                                              integrated_ygyrofloatradRH rotation around Y axis
                                                                                                                                                              integrated_zgyrofloatradRH rotation around Z axis
                                                                                                                                                              temperatureint16_tcdegCTemperature
                                                                                                                                                              qualityuint8_tOptical flow quality / confidence. 0: no valid flow, 255: maximum quality
                                                                                                                                                              time_delta_distance_usuint32_tusTime since the distance was sampled.
                                                                                                                                                              distancefloatmDistance to the center of the flow field. Positive value (including zero): distance known. Negative value: Unknown distance.

                                                                                                                                                              HIL_STATE_QUATERNION (115)

                                                                                                                                                              Sent from simulation to autopilot, avoids in contrast to HIL_STATE singularities. This packet is useful for high throughput applications such as hardware in the loop simulations.

                                                                                                                                                              Field NameTypeUnitsDescription
                                                                                                                                                              time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
                                                                                                                                                              attitude_quaternionfloat[4]Vehicle attitude expressed as normalized quaternion in w, x, y, z order (with 1 0 0 0 being the null-rotation)
                                                                                                                                                              rollspeedfloatrad/sBody frame roll / phi angular speed
                                                                                                                                                              pitchspeedfloatrad/sBody frame pitch / theta angular speed
                                                                                                                                                              yawspeedfloatrad/sBody frame yaw / psi angular speed
                                                                                                                                                              latint32_tdegE7Latitude
                                                                                                                                                              lonint32_tdegE7Longitude
                                                                                                                                                              altint32_tmmAltitude
                                                                                                                                                              vxint16_tcm/sGround X Speed (Latitude)
                                                                                                                                                              vyint16_tcm/sGround Y Speed (Longitude)
                                                                                                                                                              vzint16_tcm/sGround Z Speed (Altitude)
                                                                                                                                                              ind_airspeeduint16_tcm/sIndicated airspeed
                                                                                                                                                              true_airspeeduint16_tcm/sTrue airspeed
                                                                                                                                                              xaccint16_tmGX acceleration
                                                                                                                                                              yaccint16_tmGY acceleration
                                                                                                                                                              zaccint16_tmGZ acceleration

                                                                                                                                                              SCALED_IMU2 (116)

                                                                                                                                                              The RAW IMU readings for secondary 9DOF sensor setup. This message should contain the scaled values to the described units

                                                                                                                                                              Field NameTypeUnitsDescription
                                                                                                                                                              time_boot_msuint32_tmsTimestamp (time since system boot).
                                                                                                                                                              xaccint16_tmGX acceleration
                                                                                                                                                              yaccint16_tmGY acceleration
                                                                                                                                                              zaccint16_tmGZ acceleration
                                                                                                                                                              xgyroint16_tmrad/sAngular speed around X axis
                                                                                                                                                              ygyroint16_tmrad/sAngular speed around Y axis
                                                                                                                                                              zgyroint16_tmrad/sAngular speed around Z axis
                                                                                                                                                              xmagint16_tmgaussX Magnetic field
                                                                                                                                                              ymagint16_tmgaussY Magnetic field
                                                                                                                                                              zmagint16_tmgaussZ Magnetic field
                                                                                                                                                              temperature ++int16_tcdegCTemperature, 0: IMU does not provide temperature values. If the IMU is at 0C it must send 1 (0.01C).

                                                                                                                                                              LOG_REQUEST_LIST (117)

                                                                                                                                                              Request a list of available logs. On some systems calling this may stop on-board logging until LOG_REQUEST_END is called. If there are no log files available this request shall be answered with one LOG_ENTRY message with id = 0 and num_logs = 0.

                                                                                                                                                              Field NameTypeDescription
                                                                                                                                                              target_systemuint8_tSystem ID
                                                                                                                                                              target_componentuint8_tComponent ID
                                                                                                                                                              startuint16_tFirst log id (0 for first available)
                                                                                                                                                              enduint16_tLast log id (0xffff for last available)

                                                                                                                                                              LOG_ENTRY (118)

                                                                                                                                                              Reply to LOG_REQUEST_LIST

                                                                                                                                                              Field NameTypeUnitsDescription
                                                                                                                                                              iduint16_tLog id
                                                                                                                                                              num_logsuint16_tTotal number of logs
                                                                                                                                                              last_log_numuint16_tHigh log number
                                                                                                                                                              time_utcuint32_tsUTC timestamp of log since 1970, or 0 if not available
                                                                                                                                                              sizeuint32_tbytesSize of the log (may be approximate)

                                                                                                                                                              LOG_REQUEST_DATA (119)

                                                                                                                                                              Request a chunk of a log

                                                                                                                                                              Field NameTypeUnitsDescription
                                                                                                                                                              target_systemuint8_tSystem ID
                                                                                                                                                              target_componentuint8_tComponent ID
                                                                                                                                                              iduint16_tLog id (from LOG_ENTRY reply)
                                                                                                                                                              ofsuint32_tOffset into the log
                                                                                                                                                              countuint32_tbytesNumber of bytes

                                                                                                                                                              LOG_DATA (120)

                                                                                                                                                              Reply to LOG_REQUEST_DATA

                                                                                                                                                              Field NameTypeUnitsDescription
                                                                                                                                                              iduint16_tLog id (from LOG_ENTRY reply)
                                                                                                                                                              ofsuint32_tOffset into the log
                                                                                                                                                              countuint8_tbytesNumber of bytes (zero for end of log)
                                                                                                                                                              datauint8_t[90]log data

                                                                                                                                                              LOG_ERASE (121)

                                                                                                                                                              Erase all logs

                                                                                                                                                              Field NameTypeDescription
                                                                                                                                                              target_systemuint8_tSystem ID
                                                                                                                                                              target_componentuint8_tComponent ID

                                                                                                                                                              LOG_REQUEST_END (122)

                                                                                                                                                              Stop log transfer and resume normal logging

                                                                                                                                                              Field NameTypeDescription
                                                                                                                                                              target_systemuint8_tSystem ID
                                                                                                                                                              target_componentuint8_tComponent ID

                                                                                                                                                              GPS_INJECT_DATA (123) — [DEP]

                                                                                                                                                              DEPRECATED: Replaced By GPS_RTCM_DATA (2022-05)

                                                                                                                                                              Data for injecting into the onboard GPS (used for DGPS)

                                                                                                                                                              Field NameTypeUnitsDescription
                                                                                                                                                              target_systemuint8_tSystem ID
                                                                                                                                                              target_componentuint8_tComponent ID
                                                                                                                                                              lenuint8_tbytesData length
                                                                                                                                                              datauint8_t[110]Raw data (110 is enough for 12 satellites of RTCMv2)

                                                                                                                                                              GPS2_RAW (124)

                                                                                                                                                              Second GPS data.

                                                                                                                                                              Field NameTypeUnitsValuesDescription
                                                                                                                                                              time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
                                                                                                                                                              fix_typeuint8_tGPS_FIX_TYPEGPS fix type.
                                                                                                                                                              latint32_tdegE7Latitude (WGS84)
                                                                                                                                                              lonint32_tdegE7Longitude (WGS84)
                                                                                                                                                              altint32_tmmAltitude (MSL). Positive for up.
                                                                                                                                                              ephuint16_tinvalid:UINT16_MAXGPS HDOP horizontal dilution of position (unitless * 100). If unknown, set to: UINT16_MAX
                                                                                                                                                              epvuint16_tinvalid:UINT16_MAXGPS VDOP vertical dilution of position (unitless * 100). If unknown, set to: UINT16_MAX
                                                                                                                                                              veluint16_tcm/sinvalid:UINT16_MAXGPS ground speed. If unknown, set to: UINT16_MAX
                                                                                                                                                              coguint16_tcdeginvalid:UINT16_MAXCourse over ground (NOT heading, but direction of movement): 0.0..359.99 degrees. If unknown, set to: UINT16_MAX
                                                                                                                                                              satellites_visibleuint8_tinvalid:UINT8_MAXNumber of satellites visible. If unknown, set to UINT8_MAX
                                                                                                                                                              dgps_numchuint8_tNumber of DGPS satellites
                                                                                                                                                              dgps_ageuint32_tmsAge of DGPS info
                                                                                                                                                              yaw ++uint16_tcdeginvalid:0Yaw in earth frame from north. Use 0 if this GPS does not provide yaw. Use UINT16_MAX if this GPS is configured to provide yaw and is currently unable to provide it. Use 36000 for north.
                                                                                                                                                              alt_ellipsoid ++int32_tmmAltitude (above WGS84, EGM96 ellipsoid). Positive for up.
                                                                                                                                                              h_acc ++uint32_tmmPosition uncertainty.
                                                                                                                                                              v_acc ++uint32_tmmAltitude uncertainty.
                                                                                                                                                              vel_acc ++uint32_tmmSpeed uncertainty.
                                                                                                                                                              hdg_acc ++uint32_tdegE5Heading / track uncertainty

                                                                                                                                                              POWER_STATUS (125)

                                                                                                                                                              Power supply status

                                                                                                                                                              Field NameTypeUnitsValuesDescription
                                                                                                                                                              Vccuint16_tmV5V rail voltage.
                                                                                                                                                              Vservouint16_tmVServo rail voltage.
                                                                                                                                                              flagsuint16_tMAV_POWER_STATUSBitmap of power supply status flags.

                                                                                                                                                              SERIAL_CONTROL (126)

                                                                                                                                                              Control a serial port. This can be used for raw access to an onboard serial peripheral such as a GPS or telemetry radio. It is designed to make it possible to update the devices firmware via MAVLink messages or change the devices settings. A message with zero bytes can be used to change just the baudrate.

                                                                                                                                                              Field NameTypeUnitsValuesDescription
                                                                                                                                                              deviceuint8_tSERIAL_CONTROL_DEVSerial control device type.
                                                                                                                                                              flagsuint8_tSERIAL_CONTROL_FLAGBitmap of serial control flags.
                                                                                                                                                              timeoutuint16_tmsTimeout for reply data
                                                                                                                                                              baudrateuint32_tbits/sBaudrate of transfer. Zero means no change.
                                                                                                                                                              countuint8_tbyteshow many bytes in this transfer
                                                                                                                                                              datauint8_t[70]serial data
                                                                                                                                                              target_system ++uint8_tSystem ID
                                                                                                                                                              target_component ++uint8_tComponent ID

                                                                                                                                                              GPS_RTK (127)

                                                                                                                                                              RTK GPS data. Gives information on the relative baseline calculation the GPS is reporting

                                                                                                                                                              Field NameTypeUnitsValuesDescription
                                                                                                                                                              time_last_baseline_msuint32_tmsTime since boot of last baseline message received.
                                                                                                                                                              rtk_receiver_iduint8_tIdentification of connected RTK receiver.
                                                                                                                                                              wnuint16_tGPS Week Number of last baseline
                                                                                                                                                              towuint32_tmsGPS Time of Week of last baseline
                                                                                                                                                              rtk_healthuint8_tGPS-specific health report for RTK data.
                                                                                                                                                              rtk_rateuint8_tHzRate of baseline messages being received by GPS
                                                                                                                                                              nsatsuint8_tCurrent number of sats used for RTK calculation.
                                                                                                                                                              baseline_coords_typeuint8_tRTK_BASELINE_COORDINATE_SYSTEMCoordinate system of baseline
                                                                                                                                                              baseline_a_mmint32_tmmCurrent baseline in ECEF x or NED north component.
                                                                                                                                                              baseline_b_mmint32_tmmCurrent baseline in ECEF y or NED east component.
                                                                                                                                                              baseline_c_mmint32_tmmCurrent baseline in ECEF z or NED down component.
                                                                                                                                                              accuracyuint32_tCurrent estimate of baseline accuracy.
                                                                                                                                                              iar_num_hypothesesint32_tCurrent number of integer ambiguity hypotheses.

                                                                                                                                                              GPS2_RTK (128)

                                                                                                                                                              RTK GPS data. Gives information on the relative baseline calculation the GPS is reporting

                                                                                                                                                              Field NameTypeUnitsValuesDescription
                                                                                                                                                              time_last_baseline_msuint32_tmsTime since boot of last baseline message received.
                                                                                                                                                              rtk_receiver_iduint8_tIdentification of connected RTK receiver.
                                                                                                                                                              wnuint16_tGPS Week Number of last baseline
                                                                                                                                                              towuint32_tmsGPS Time of Week of last baseline
                                                                                                                                                              rtk_healthuint8_tGPS-specific health report for RTK data.
                                                                                                                                                              rtk_rateuint8_tHzRate of baseline messages being received by GPS
                                                                                                                                                              nsatsuint8_tCurrent number of sats used for RTK calculation.
                                                                                                                                                              baseline_coords_typeuint8_tRTK_BASELINE_COORDINATE_SYSTEMCoordinate system of baseline
                                                                                                                                                              baseline_a_mmint32_tmmCurrent baseline in ECEF x or NED north component.
                                                                                                                                                              baseline_b_mmint32_tmmCurrent baseline in ECEF y or NED east component.
                                                                                                                                                              baseline_c_mmint32_tmmCurrent baseline in ECEF z or NED down component.
                                                                                                                                                              accuracyuint32_tCurrent estimate of baseline accuracy.
                                                                                                                                                              iar_num_hypothesesint32_tCurrent number of integer ambiguity hypotheses.

                                                                                                                                                              SCALED_IMU3 (129)

                                                                                                                                                              The RAW IMU readings for 3rd 9DOF sensor setup. This message should contain the scaled values to the described units

                                                                                                                                                              Field NameTypeUnitsDescription
                                                                                                                                                              time_boot_msuint32_tmsTimestamp (time since system boot).
                                                                                                                                                              xaccint16_tmGX acceleration
                                                                                                                                                              yaccint16_tmGY acceleration
                                                                                                                                                              zaccint16_tmGZ acceleration
                                                                                                                                                              xgyroint16_tmrad/sAngular speed around X axis
                                                                                                                                                              ygyroint16_tmrad/sAngular speed around Y axis
                                                                                                                                                              zgyroint16_tmrad/sAngular speed around Z axis
                                                                                                                                                              xmagint16_tmgaussX Magnetic field
                                                                                                                                                              ymagint16_tmgaussY Magnetic field
                                                                                                                                                              zmagint16_tmgaussZ Magnetic field
                                                                                                                                                              temperature ++int16_tcdegCTemperature, 0: IMU does not provide temperature values. If the IMU is at 0C it must send 1 (0.01C).

                                                                                                                                                              DATA_TRANSMISSION_HANDSHAKE (130)

                                                                                                                                                              Handshake message to initiate, control and stop image streaming when using the Image Transmission Protocol: https://mavlink.io/en/services/image_transmission.html.

                                                                                                                                                              Field NameTypeUnitsValuesDescription
                                                                                                                                                              typeuint8_tMAVLINK_DATA_STREAM_TYPEType of requested/acknowledged data.
                                                                                                                                                              sizeuint32_tbytestotal data size (set on ACK only).
                                                                                                                                                              widthuint16_tWidth of a matrix or image.
                                                                                                                                                              heightuint16_tHeight of a matrix or image.
                                                                                                                                                              packetsuint16_tNumber of packets being sent (set on ACK only).
                                                                                                                                                              payloaduint8_tbytesPayload size per packet (normally 253 byte, see DATA field size in message ENCAPSULATED_DATA) (set on ACK only).
                                                                                                                                                              jpg_qualityuint8_t%JPEG quality. Values: [1-100].

                                                                                                                                                              ENCAPSULATED_DATA (131)

                                                                                                                                                              Data packet for images sent using the Image Transmission Protocol: https://mavlink.io/en/services/image_transmission.html.

                                                                                                                                                              Field NameTypeDescription
                                                                                                                                                              seqnruint16_tsequence number (starting with 0 on every transmission)
                                                                                                                                                              datauint8_t[253]image data bytes

                                                                                                                                                              DISTANCE_SENSOR (132)

                                                                                                                                                              Distance sensor information for an onboard rangefinder.

                                                                                                                                                              Field NameTypeUnitsValuesDescription
                                                                                                                                                              time_boot_msuint32_tmsTimestamp (time since system boot).
                                                                                                                                                              min_distanceuint16_tcmMinimum distance the sensor can measure
                                                                                                                                                              max_distanceuint16_tcmMaximum distance the sensor can measure
                                                                                                                                                              current_distanceuint16_tcmCurrent distance reading
                                                                                                                                                              typeuint8_tMAV_DISTANCE_SENSORType of distance sensor.
                                                                                                                                                              iduint8_tOnboard ID of the sensor
                                                                                                                                                              Messages with same value are from the same source (instance).
                                                                                                                                                              orientationuint8_tMAV_SENSOR_ORIENTATIONDirection the sensor faces. downward-facing: ROTATION_PITCH_270, upward-facing: ROTATION_PITCH_90, backward-facing: ROTATION_PITCH_180, forward-facing: ROTATION_NONE, left-facing: ROTATION_YAW_90, right-facing: ROTATION_YAW_270
                                                                                                                                                              covarianceuint8_tcm^2invalid:UINT8_MAXMeasurement variance. Max standard deviation is 6cm. UINT8_MAX if unknown.
                                                                                                                                                              horizontal_fov ++floatradinvalid:0Horizontal Field of View (angle) where the distance measurement is valid and the field of view is known. Otherwise this is set to 0.
                                                                                                                                                              vertical_fov ++floatradinvalid:0Vertical Field of View (angle) where the distance measurement is valid and the field of view is known. Otherwise this is set to 0.
                                                                                                                                                              quaternion ++float[4]invalid:[0]Quaternion of the sensor orientation in vehicle body frame (w, x, y, z order, zero-rotation is 1, 0, 0, 0). Zero-rotation is along the vehicle body x-axis. This field is required if the orientation is set to MAV_SENSOR_ROTATION_CUSTOM. Set it to 0 if invalid."
                                                                                                                                                              signal_quality ++uint8_t%invalid:0Signal quality of the sensor. Specific to each sensor type, representing the relation of the signal strength with the target reflectivity, distance, size or aspect, but normalised as a percentage. 0 = unknown/unset signal quality, 1 = invalid signal, 100 = perfect signal.

                                                                                                                                                              TERRAIN_REQUEST (133)

                                                                                                                                                              Request for terrain data and terrain status. See terrain protocol docs: https://mavlink.io/en/services/terrain.html

                                                                                                                                                              Field NameTypeUnitsDescription
                                                                                                                                                              latint32_tdegE7Latitude of SW corner of first grid
                                                                                                                                                              lonint32_tdegE7Longitude of SW corner of first grid
                                                                                                                                                              grid_spacinguint16_tmGrid spacing
                                                                                                                                                              maskuint64_tBitmask of requested 4x4 grids (row major 8x7 array of grids, 56 bits)

                                                                                                                                                              TERRAIN_DATA (134)

                                                                                                                                                              Terrain data sent from GCS. The lat/lon and grid_spacing must be the same as a lat/lon from a TERRAIN_REQUEST. See terrain protocol docs: https://mavlink.io/en/services/terrain.html

                                                                                                                                                              Field NameTypeUnitsDescription
                                                                                                                                                              latint32_tdegE7Latitude of SW corner of first grid
                                                                                                                                                              lonint32_tdegE7Longitude of SW corner of first grid
                                                                                                                                                              grid_spacinguint16_tmGrid spacing
                                                                                                                                                              gridbituint8_tbit within the terrain request mask
                                                                                                                                                              dataint16_t[16]mTerrain data MSL

                                                                                                                                                              TERRAIN_CHECK (135)

                                                                                                                                                              Request that the vehicle report terrain height at the given location (expected response is a TERRAIN_REPORT). Used by GCS to check if vehicle has all terrain data needed for a mission.

                                                                                                                                                              Field NameTypeUnitsDescription
                                                                                                                                                              latint32_tdegE7Latitude
                                                                                                                                                              lonint32_tdegE7Longitude

                                                                                                                                                              TERRAIN_REPORT (136)

                                                                                                                                                              Streamed from drone to report progress of terrain map download (initiated by TERRAIN_REQUEST), or sent as a response to a TERRAIN_CHECK request. See terrain protocol docs: https://mavlink.io/en/services/terrain.html

                                                                                                                                                              Field NameTypeUnitsDescription
                                                                                                                                                              latint32_tdegE7Latitude
                                                                                                                                                              lonint32_tdegE7Longitude
                                                                                                                                                              spacinguint16_tgrid spacing (zero if terrain at this location unavailable)
                                                                                                                                                              terrain_heightfloatmTerrain height MSL
                                                                                                                                                              current_heightfloatmCurrent vehicle height above lat/lon terrain height
                                                                                                                                                              pendinguint16_tNumber of 4x4 terrain blocks waiting to be received or read from disk
                                                                                                                                                              loadeduint16_tNumber of 4x4 terrain blocks in memory

                                                                                                                                                              SCALED_PRESSURE2 (137)

                                                                                                                                                              Barometer readings for 2nd barometer

                                                                                                                                                              Field NameTypeUnitsDescription
                                                                                                                                                              time_boot_msuint32_tmsTimestamp (time since system boot).
                                                                                                                                                              press_absfloathPaAbsolute pressure
                                                                                                                                                              press_difffloathPaDifferential pressure
                                                                                                                                                              temperatureint16_tcdegCAbsolute pressure temperature
                                                                                                                                                              temperature_press_diff ++int16_tcdegCDifferential pressure temperature (0, if not available). Report values of 0 (or 1) as 1 cdegC.

                                                                                                                                                              ATT_POS_MOCAP (138)

                                                                                                                                                              Motion capture attitude and position

                                                                                                                                                              Field NameTypeUnitsDescription
                                                                                                                                                              time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
                                                                                                                                                              qfloat[4]Attitude quaternion (w, x, y, z order, zero-rotation is 1, 0, 0, 0)
                                                                                                                                                              xfloatmX position (NED)
                                                                                                                                                              yfloatmY position (NED)
                                                                                                                                                              zfloatmZ position (NED)
                                                                                                                                                              covariance ++float[21]Row-major representation of a pose 6x6 cross-covariance matrix upper right triangle (states: x, y, z, roll, pitch, yaw; first six entries are the first ROW, next five entries are the second ROW, etc.). If unknown, assign NaN value to first element in the array.

                                                                                                                                                              SET_ACTUATOR_CONTROL_TARGET (139)

                                                                                                                                                              Set the vehicle attitude and body angular rates.

                                                                                                                                                              Field NameTypeUnitsDescription
                                                                                                                                                              time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
                                                                                                                                                              group_mlxuint8_tActuator group. The "_mlx" indicates this is a multi-instance message and a MAVLink parser should use this field to difference between instances.
                                                                                                                                                              target_systemuint8_tSystem ID
                                                                                                                                                              target_componentuint8_tComponent ID
                                                                                                                                                              controlsfloat[8]Actuator controls. Normed to -1..+1 where 0 is neutral position. Throttle for single rotation direction motors is 0..1, negative range for reverse direction. Standard mapping for attitude controls (group 0): (index 0-7): roll, pitch, yaw, throttle, flaps, spoilers, airbrakes, landing gear. Load a pass-through mixer to repurpose them as generic outputs.

                                                                                                                                                              ACTUATOR_CONTROL_TARGET (140)

                                                                                                                                                              Set the vehicle attitude and body angular rates.

                                                                                                                                                              Field NameTypeUnitsDescription
                                                                                                                                                              time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
                                                                                                                                                              group_mlxuint8_tActuator group. The "_mlx" indicates this is a multi-instance message and a MAVLink parser should use this field to difference between instances.
                                                                                                                                                              controlsfloat[8]Actuator controls. Normed to -1..+1 where 0 is neutral position. Throttle for single rotation direction motors is 0..1, negative range for reverse direction. Standard mapping for attitude controls (group 0): (index 0-7): roll, pitch, yaw, throttle, flaps, spoilers, airbrakes, landing gear. Load a pass-through mixer to repurpose them as generic outputs.

                                                                                                                                                              ALTITUDE (141)

                                                                                                                                                              The current system altitude.

                                                                                                                                                              Field NameTypeUnitsDescription
                                                                                                                                                              time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
                                                                                                                                                              altitude_monotonicfloatmThis altitude measure is initialized on system boot and monotonic (it is never reset, but represents the local altitude change). The only guarantee on this field is that it will never be reset and is consistent within a flight. The recommended value for this field is the uncorrected barometric altitude at boot time. This altitude will also drift and vary between flights.
                                                                                                                                                              altitude_amslfloatmThis altitude measure is strictly above mean sea level and might be non-monotonic (it might reset on events like GPS lock or when a new QNH value is set). It should be the altitude to which global altitude waypoints are compared to. Note that it is not the GPS altitude, however, most GPS modules already output MSL by default and not the WGS84 altitude.
                                                                                                                                                              altitude_localfloatmThis is the local altitude in the local coordinate frame. It is not the altitude above home, but in reference to the coordinate origin (0, 0, 0). It is up-positive.
                                                                                                                                                              altitude_relativefloatmThis is the altitude above the home position. It resets on each change of the current home position.
                                                                                                                                                              altitude_terrainfloatmThis is the altitude above terrain. It might be fed by a terrain database or an altimeter. Values smaller than -1000 should be interpreted as unknown.
                                                                                                                                                              bottom_clearancefloatmThis is not the altitude, but the clear space below the system according to the fused clearance estimate. It generally should max out at the maximum range of e.g. the laser altimeter. It is generally a moving target. A negative value indicates no measurement available.

                                                                                                                                                              RESOURCE_REQUEST (142)

                                                                                                                                                              The autopilot is requesting a resource (file, binary, other type of data)

                                                                                                                                                              Field NameTypeDescription
                                                                                                                                                              request_iduint8_tRequest ID. This ID should be re-used when sending back URI contents
                                                                                                                                                              uri_typeuint8_tThe type of requested URI. 0 = a file via URL. 1 = a UAVCAN binary
                                                                                                                                                              uriuint8_t[120]The requested unique resource identifier (URI). It is not necessarily a straight domain name (depends on the URI type enum)
                                                                                                                                                              transfer_typeuint8_tThe way the autopilot wants to receive the URI. 0 = MAVLink FTP. 1 = binary stream.
                                                                                                                                                              storageuint8_t[120]The storage path the autopilot wants the URI to be stored in. Will only be valid if the transfer_type has a storage associated (e.g. MAVLink FTP).

                                                                                                                                                              SCALED_PRESSURE3 (143)

                                                                                                                                                              Barometer readings for 3rd barometer

                                                                                                                                                              Field NameTypeUnitsDescription
                                                                                                                                                              time_boot_msuint32_tmsTimestamp (time since system boot).
                                                                                                                                                              press_absfloathPaAbsolute pressure
                                                                                                                                                              press_difffloathPaDifferential pressure
                                                                                                                                                              temperatureint16_tcdegCAbsolute pressure temperature
                                                                                                                                                              temperature_press_diff ++int16_tcdegCDifferential pressure temperature (0, if not available). Report values of 0 (or 1) as 1 cdegC.

                                                                                                                                                              FOLLOW_TARGET (144)

                                                                                                                                                              Current motion information from a designated system

                                                                                                                                                              Field NameTypeUnitsDescription
                                                                                                                                                              timestampuint64_tmsTimestamp (time since system boot).
                                                                                                                                                              est_capabilitiesuint8_tbit positions for tracker reporting capabilities (POS = 0, VEL = 1, ACCEL = 2, ATT + RATES = 3)
                                                                                                                                                              latint32_tdegE7Latitude (WGS84)
                                                                                                                                                              lonint32_tdegE7Longitude (WGS84)
                                                                                                                                                              altfloatmAltitude (MSL)
                                                                                                                                                              velfloat[3]m/starget velocity (0,0,0) for unknown
                                                                                                                                                              accfloat[3]m/s/slinear target acceleration (0,0,0) for unknown
                                                                                                                                                              attitude_qfloat[4](0 0 0 0 for unknown)
                                                                                                                                                              ratesfloat[3](0 0 0 for unknown)
                                                                                                                                                              position_covfloat[3]eph epv
                                                                                                                                                              custom_stateuint64_tbutton states or switches of a tracker device

                                                                                                                                                              CONTROL_SYSTEM_STATE (146)

                                                                                                                                                              The smoothed, monotonic system state used to feed the control loops of the system.

                                                                                                                                                              Field NameTypeUnitsDescription
                                                                                                                                                              time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
                                                                                                                                                              x_accfloatm/s/sX acceleration in body frame
                                                                                                                                                              y_accfloatm/s/sY acceleration in body frame
                                                                                                                                                              z_accfloatm/s/sZ acceleration in body frame
                                                                                                                                                              x_velfloatm/sX velocity in body frame
                                                                                                                                                              y_velfloatm/sY velocity in body frame
                                                                                                                                                              z_velfloatm/sZ velocity in body frame
                                                                                                                                                              x_posfloatmX position in local frame
                                                                                                                                                              y_posfloatmY position in local frame
                                                                                                                                                              z_posfloatmZ position in local frame
                                                                                                                                                              airspeedfloatm/sAirspeed, set to -1 if unknown
                                                                                                                                                              vel_variancefloat[3]Variance of body velocity estimate
                                                                                                                                                              pos_variancefloat[3]Variance in local position
                                                                                                                                                              qfloat[4]The attitude, represented as Quaternion
                                                                                                                                                              roll_ratefloatrad/sAngular rate in roll axis
                                                                                                                                                              pitch_ratefloatrad/sAngular rate in pitch axis
                                                                                                                                                              yaw_ratefloatrad/sAngular rate in yaw axis

                                                                                                                                                              BATTERY_STATUS (147)

                                                                                                                                                              Battery information. Updates GCS with flight controller battery status. Smart batteries also use this message, but may additionally send BATTERY_INFO.

                                                                                                                                                              Field NameTypeUnitsValuesDescription
                                                                                                                                                              iduint8_tBattery ID
                                                                                                                                                              Messages with same value are from the same source (instance).
                                                                                                                                                              battery_functionuint8_tMAV_BATTERY_FUNCTIONFunction of the battery
                                                                                                                                                              typeuint8_tMAV_BATTERY_TYPEType (chemistry) of the battery
                                                                                                                                                              temperatureint16_tcdegCinvalid:INT16_MAXTemperature of the battery. INT16_MAX for unknown temperature.
                                                                                                                                                              voltagesuint16_t[10]mVinvalid:[UINT16_MAX]Battery voltage of cells 1 to 10 (see voltages_ext for cells 11-14). Cells in this field above the valid cell count for this battery should have the UINT16_MAX value. If individual cell voltages are unknown or not measured for this battery, then the overall battery voltage should be filled in cell 0, with all others set to UINT16_MAX. If the voltage of the battery is greater than (UINT16_MAX - 1), then cell 0 should be set to (UINT16_MAX - 1), and cell 1 to the remaining voltage. This can be extended to multiple cells if the total voltage is greater than 2 * (UINT16_MAX - 1).
                                                                                                                                                              current_batteryint16_tcAinvalid:-1Battery current, -1: autopilot does not measure the current
                                                                                                                                                              current_consumedint32_tmAhinvalid:-1Consumed charge, -1: autopilot does not provide consumption estimate
                                                                                                                                                              energy_consumedint32_thJinvalid:-1Consumed energy, -1: autopilot does not provide energy consumption estimate
                                                                                                                                                              battery_remainingint8_t%invalid:-1Remaining battery energy. Values: [0-100], -1: autopilot does not estimate the remaining battery.
                                                                                                                                                              time_remaining ++int32_tsinvalid:0Remaining battery time, 0: autopilot does not provide remaining battery time estimate
                                                                                                                                                              charge_state ++uint8_tMAV_BATTERY_CHARGE_STATEState for extent of discharge, provided by autopilot for warning or external reactions
                                                                                                                                                              voltages_ext ++uint16_t[4]mVinvalid:[0]Battery voltages for cells 11 to 14. Cells above the valid cell count for this battery should have a value of 0, where zero indicates not supported (note, this is different than for the voltages field and allows empty byte truncation). If the measured value is 0 then 1 should be sent instead.
                                                                                                                                                              mode ++uint8_tMAV_BATTERY_MODEBattery mode. Default (0) is that battery mode reporting is not supported or battery is in normal-use mode.
                                                                                                                                                              fault_bitmask ++uint32_tMAV_BATTERY_FAULTFault/health indications. These should be set when charge_state is MAV_BATTERY_CHARGE_STATE_FAILED or MAV_BATTERY_CHARGE_STATE_UNHEALTHY (if not, fault reporting is not supported).

                                                                                                                                                              AUTOPILOT_VERSION (148)

                                                                                                                                                              Version and capability of autopilot software. This should be emitted in response to a request with MAV_CMD_REQUEST_MESSAGE.

                                                                                                                                                              Field NameTypeValuesDescription
                                                                                                                                                              capabilitiesuint64_tMAV_PROTOCOL_CAPABILITYBitmap of capabilities
                                                                                                                                                              flight_sw_versionuint32_tFirmware version number
                                                                                                                                                              middleware_sw_versionuint32_tMiddleware version number
                                                                                                                                                              os_sw_versionuint32_tOperating system version number
                                                                                                                                                              board_versionuint32_tHW / board version (last 8 bits should be silicon ID, if any). The first 16 bits of this field specify https://github.com/PX4/PX4-Bootloader/blob/master/board_types.txt
                                                                                                                                                              flight_custom_versionuint8_t[8]Custom version field, commonly the first 8 bytes of the git hash. This is not an unique identifier, but should allow to identify the commit using the main version number even for very large code bases.
                                                                                                                                                              middleware_custom_versionuint8_t[8]Custom version field, commonly the first 8 bytes of the git hash. This is not an unique identifier, but should allow to identify the commit using the main version number even for very large code bases.
                                                                                                                                                              os_custom_versionuint8_t[8]Custom version field, commonly the first 8 bytes of the git hash. This is not an unique identifier, but should allow to identify the commit using the main version number even for very large code bases.
                                                                                                                                                              vendor_iduint16_tID of the board vendor
                                                                                                                                                              product_iduint16_tID of the product
                                                                                                                                                              uiduint64_tUID if provided by hardware (see uid2)
                                                                                                                                                              uid2 ++uint8_t[18]UID if provided by hardware (supersedes the uid field. If this is non-zero, use this field, otherwise use uid)

                                                                                                                                                              LANDING_TARGET (149)

                                                                                                                                                              The location of a landing target. See: https://mavlink.io/en/services/landing_target.html

                                                                                                                                                              Field NameTypeUnitsValuesDescription
                                                                                                                                                              time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
                                                                                                                                                              target_numuint8_tThe ID of the target if multiple targets are present
                                                                                                                                                              frameuint8_tMAV_FRAMECoordinate frame used for following fields.
                                                                                                                                                              angle_xfloatradX-axis angular offset of the target from the center of the image
                                                                                                                                                              angle_yfloatradY-axis angular offset of the target from the center of the image
                                                                                                                                                              distancefloatmDistance to the target from the vehicle
                                                                                                                                                              size_xfloatradSize of target along x-axis
                                                                                                                                                              size_yfloatradSize of target along y-axis
                                                                                                                                                              x ++floatmX Position of the landing target in MAV_FRAME
                                                                                                                                                              y ++floatmY Position of the landing target in MAV_FRAME
                                                                                                                                                              z ++floatmZ Position of the landing target in MAV_FRAME
                                                                                                                                                              q ++float[4]Quaternion of landing target orientation (w, x, y, z order, zero-rotation is 1, 0, 0, 0)
                                                                                                                                                              type ++uint8_tLANDING_TARGET_TYPEType of landing target
                                                                                                                                                              position_valid ++uint8_tinvalid:0Boolean indicating whether the position fields (x, y, z, q, type) contain valid target position information (valid: 1, invalid: 0). Default is 0 (invalid).

                                                                                                                                                              FENCE_STATUS (162)

                                                                                                                                                              Status of geo-fencing. Sent in extended status stream when fencing enabled.

                                                                                                                                                              Field NameTypeUnitsValuesDescription
                                                                                                                                                              breach_statusuint8_tBreach status (0 if currently inside fence, 1 if outside).
                                                                                                                                                              breach_countuint16_tNumber of fence breaches.
                                                                                                                                                              breach_typeuint8_tFENCE_BREACHLast breach type.
                                                                                                                                                              breach_timeuint32_tmsTime (since boot) of last breach.
                                                                                                                                                              breach_mitigation ++uint8_tFENCE_MITIGATEActive action to prevent fence breach

                                                                                                                                                              MAG_CAL_REPORT (192)

                                                                                                                                                              Reports results of completed compass calibration. Sent until MAG_CAL_ACK received.

                                                                                                                                                              Field NameTypeUnitsValuesDescription
                                                                                                                                                              compass_iduint8_tCompass being calibrated.
                                                                                                                                                              Messages with same value are from the same source (instance).
                                                                                                                                                              cal_maskuint8_tBitmask of compasses being calibrated.
                                                                                                                                                              cal_statusuint8_tMAG_CAL_STATUSCalibration Status.
                                                                                                                                                              autosaveduint8_t0=requires a MAV_CMD_DO_ACCEPT_MAG_CAL, 1=saved to parameters.
                                                                                                                                                              fitnessfloatmgaussRMS milligauss residuals.
                                                                                                                                                              ofs_xfloatX offset.
                                                                                                                                                              ofs_yfloatY offset.
                                                                                                                                                              ofs_zfloatZ offset.
                                                                                                                                                              diag_xfloatX diagonal (matrix 11).
                                                                                                                                                              diag_yfloatY diagonal (matrix 22).
                                                                                                                                                              diag_zfloatZ diagonal (matrix 33).
                                                                                                                                                              offdiag_xfloatX off-diagonal (matrix 12 and 21).
                                                                                                                                                              offdiag_yfloatY off-diagonal (matrix 13 and 31).
                                                                                                                                                              offdiag_zfloatZ off-diagonal (matrix 32 and 23).
                                                                                                                                                              orientation_confidence ++floatConfidence in orientation (higher is better).
                                                                                                                                                              old_orientation ++uint8_tMAV_SENSOR_ORIENTATIONorientation before calibration.
                                                                                                                                                              new_orientation ++uint8_tMAV_SENSOR_ORIENTATIONorientation after calibration.
                                                                                                                                                              scale_factor ++floatfield radius correction factor

                                                                                                                                                              EFI_STATUS (225)

                                                                                                                                                              EFI status output

                                                                                                                                                              Field NameTypeUnitsDescription
                                                                                                                                                              healthuint8_tEFI health status
                                                                                                                                                              ecu_indexfloatECU index
                                                                                                                                                              rpmfloatRPM
                                                                                                                                                              fuel_consumedfloatcm^3Fuel consumed
                                                                                                                                                              fuel_flowfloatcm^3/minFuel flow rate
                                                                                                                                                              engine_loadfloat%Engine load
                                                                                                                                                              throttle_positionfloat%Throttle position
                                                                                                                                                              spark_dwell_timefloatmsSpark dwell time
                                                                                                                                                              barometric_pressurefloatkPaBarometric pressure
                                                                                                                                                              intake_manifold_pressurefloatkPaIntake manifold pressure(
                                                                                                                                                              intake_manifold_temperaturefloatdegCIntake manifold temperature
                                                                                                                                                              cylinder_head_temperaturefloatdegCCylinder head temperature
                                                                                                                                                              ignition_timingfloatdegIgnition timing (Crank angle degrees)
                                                                                                                                                              injection_timefloatmsInjection time
                                                                                                                                                              exhaust_gas_temperaturefloatdegCExhaust gas temperature
                                                                                                                                                              throttle_outfloat%Output throttle
                                                                                                                                                              pt_compensationfloatPressure/temperature compensation
                                                                                                                                                              ignition_voltage ++floatVSupply voltage to EFI sparking system. Zero in this value means "unknown", so if the supply voltage really is zero volts use 0.0001 instead.
                                                                                                                                                              fuel_pressure ++floatkPaFuel pressure. Zero in this value means "unknown", so if the fuel pressure really is zero kPa use 0.0001 instead.

                                                                                                                                                              ESTIMATOR_STATUS (230)

                                                                                                                                                              Estimator status message including flags, innovation test ratios and estimated accuracies. The flags message is an integer bitmask containing information on which EKF outputs are valid. See the ESTIMATOR_STATUS_FLAGS enum definition for further information. The innovation test ratios show the magnitude of the sensor innovation divided by the innovation check threshold. Under normal operation the innovation test ratios should be below 0.5 with occasional values up to 1.0. Values greater than 1.0 should be rare under normal operation and indicate that a measurement has been rejected by the filter. The user should be notified if an innovation test ratio greater than 1.0 is recorded. Notifications for values in the range between 0.5 and 1.0 should be optional and controllable by the user.

                                                                                                                                                              Field NameTypeUnitsValuesDescription
                                                                                                                                                              time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
                                                                                                                                                              flagsuint16_tESTIMATOR_STATUS_FLAGSBitmap indicating which EKF outputs are valid.
                                                                                                                                                              vel_ratiofloatVelocity innovation test ratio
                                                                                                                                                              pos_horiz_ratiofloatHorizontal position innovation test ratio
                                                                                                                                                              pos_vert_ratiofloatVertical position innovation test ratio
                                                                                                                                                              mag_ratiofloatMagnetometer innovation test ratio
                                                                                                                                                              hagl_ratiofloatHeight above terrain innovation test ratio
                                                                                                                                                              tas_ratiofloatTrue airspeed innovation test ratio
                                                                                                                                                              pos_horiz_accuracyfloatmHorizontal position 1-STD accuracy relative to the EKF local origin
                                                                                                                                                              pos_vert_accuracyfloatmVertical position 1-STD accuracy relative to the EKF local origin

                                                                                                                                                              WIND_COV (231)

                                                                                                                                                              Wind estimate from vehicle. Note that despite the name, this message does not actually contain any covariances but instead variability and accuracy fields in terms of standard deviation (1-STD).

                                                                                                                                                              Field NameTypeUnitsDescription
                                                                                                                                                              time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
                                                                                                                                                              wind_xfloatm/sWind in North (NED) direction (NAN if unknown)
                                                                                                                                                              wind_yfloatm/sWind in East (NED) direction (NAN if unknown)
                                                                                                                                                              wind_zfloatm/sWind in down (NED) direction (NAN if unknown)
                                                                                                                                                              var_horizfloatm/sVariability of wind in XY, 1-STD estimated from a 1 Hz lowpassed wind estimate (NAN if unknown)
                                                                                                                                                              var_vertfloatm/sVariability of wind in Z, 1-STD estimated from a 1 Hz lowpassed wind estimate (NAN if unknown)
                                                                                                                                                              wind_altfloatmAltitude (MSL) that this measurement was taken at (NAN if unknown)
                                                                                                                                                              horiz_accuracyfloatm/sHorizontal speed 1-STD accuracy (0 if unknown)
                                                                                                                                                              vert_accuracyfloatm/sVertical speed 1-STD accuracy (0 if unknown)

                                                                                                                                                              GPS_INPUT (232)

                                                                                                                                                              GPS sensor input message. This is a raw sensor value sent by the GPS. This is NOT the global position estimate of the system.

                                                                                                                                                              Field NameTypeUnitsValuesDescription
                                                                                                                                                              time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
                                                                                                                                                              gps_iduint8_tID of the GPS for multiple GPS inputs
                                                                                                                                                              Messages with same value are from the same source (instance).
                                                                                                                                                              ignore_flagsuint16_tGPS_INPUT_IGNORE_FLAGSBitmap indicating which GPS input flags fields to ignore. All other fields must be provided.
                                                                                                                                                              time_week_msuint32_tmsGPS time (from start of GPS week)
                                                                                                                                                              time_weekuint16_tGPS week number
                                                                                                                                                              fix_typeuint8_t0-1: no fix, 2: 2D fix, 3: 3D fix. 4: 3D with DGPS. 5: 3D with RTK
                                                                                                                                                              latint32_tdegE7Latitude (WGS84)
                                                                                                                                                              lonint32_tdegE7Longitude (WGS84)
                                                                                                                                                              altfloatmAltitude (MSL). Positive for up.
                                                                                                                                                              hdopfloatinvalid:UINT16_MAXGPS HDOP horizontal dilution of position (unitless). If unknown, set to: UINT16_MAX
                                                                                                                                                              vdopfloatinvalid:UINT16_MAXGPS VDOP vertical dilution of position (unitless). If unknown, set to: UINT16_MAX
                                                                                                                                                              vnfloatm/sGPS velocity in north direction in earth-fixed NED frame
                                                                                                                                                              vefloatm/sGPS velocity in east direction in earth-fixed NED frame
                                                                                                                                                              vdfloatm/sGPS velocity in down direction in earth-fixed NED frame
                                                                                                                                                              speed_accuracyfloatm/sGPS speed accuracy
                                                                                                                                                              horiz_accuracyfloatmGPS horizontal accuracy
                                                                                                                                                              vert_accuracyfloatmGPS vertical accuracy
                                                                                                                                                              satellites_visibleuint8_tNumber of satellites visible.
                                                                                                                                                              yaw ++uint16_tcdegYaw of vehicle relative to Earth's North, zero means not available, use 36000 for north

                                                                                                                                                              GPS_RTCM_DATA (233)

                                                                                                                                                              RTCM message for injecting into the onboard GPS (used for DGPS)

                                                                                                                                                              Field NameTypeUnitsDescription
                                                                                                                                                              flagsuint8_tLSB: 1 means message is fragmented, next 2 bits are the fragment ID, the remaining 5 bits are used for the sequence ID. Messages are only to be flushed to the GPS when the entire message has been reconstructed on the autopilot. The fragment ID specifies which order the fragments should be assembled into a buffer, while the sequence ID is used to detect a mismatch between different buffers. The buffer is considered fully reconstructed when either all 4 fragments are present, or all the fragments before the first fragment with a non full payload is received. This management is used to ensure that normal GPS operation doesn't corrupt RTCM data, and to recover from a unreliable transport delivery order.
                                                                                                                                                              lenuint8_tbytesdata length
                                                                                                                                                              datauint8_t[180]RTCM message (may be fragmented)

                                                                                                                                                              HIGH_LATENCY (234) — [DEP]

                                                                                                                                                              DEPRECATED: Replaced By HIGH_LATENCY2 (2020-10)

                                                                                                                                                              Message appropriate for high latency connections like Iridium

                                                                                                                                                              Field NameTypeUnitsValuesDescription
                                                                                                                                                              base_modeuint8_tMAV_MODE_FLAGBitmap of enabled system modes.
                                                                                                                                                              custom_modeuint32_tA bitfield for use for autopilot-specific flags.
                                                                                                                                                              landed_stateuint8_tMAV_LANDED_STATEThe landed state. Is set to MAV_LANDED_STATE_UNDEFINED if landed state is unknown.
                                                                                                                                                              rollint16_tcdegroll
                                                                                                                                                              pitchint16_tcdegpitch
                                                                                                                                                              headinguint16_tcdegheading
                                                                                                                                                              throttleint8_t%throttle (percentage)
                                                                                                                                                              heading_spint16_tcdegheading setpoint
                                                                                                                                                              latitudeint32_tdegE7Latitude
                                                                                                                                                              longitudeint32_tdegE7Longitude
                                                                                                                                                              altitude_amslint16_tmAltitude above mean sea level
                                                                                                                                                              altitude_spint16_tmAltitude setpoint relative to the home position
                                                                                                                                                              airspeeduint8_tm/sairspeed
                                                                                                                                                              airspeed_spuint8_tm/sairspeed setpoint
                                                                                                                                                              groundspeeduint8_tm/sgroundspeed
                                                                                                                                                              climb_rateint8_tm/sclimb rate
                                                                                                                                                              gps_nsatuint8_tinvalid:UINT8_MAXNumber of satellites visible. If unknown, set to UINT8_MAX
                                                                                                                                                              gps_fix_typeuint8_tGPS_FIX_TYPEGPS Fix type.
                                                                                                                                                              battery_remaininguint8_t%Remaining battery (percentage)
                                                                                                                                                              temperatureint8_tdegCAutopilot temperature (degrees C)
                                                                                                                                                              temperature_airint8_tdegCAir temperature (degrees C) from airspeed sensor
                                                                                                                                                              failsafeuint8_tfailsafe (each bit represents a failsafe where 0=ok, 1=failsafe active (bit0:RC, bit1:batt, bit2:GPS, bit3:GCS, bit4:fence)
                                                                                                                                                              wp_numuint8_tcurrent waypoint number
                                                                                                                                                              wp_distanceuint16_tmdistance to target

                                                                                                                                                              HIGH_LATENCY2 (235)

                                                                                                                                                              Message appropriate for high latency connections like Iridium (version 2)

                                                                                                                                                              Field NameTypeUnitsValuesDescription
                                                                                                                                                              timestampuint32_tmsTimestamp (milliseconds since boot or Unix epoch)
                                                                                                                                                              typeuint8_tMAV_TYPEType of the MAV (quadrotor, helicopter, etc.)
                                                                                                                                                              autopilotuint8_tMAV_AUTOPILOTAutopilot type / class. Use MAV_AUTOPILOT_INVALID for components that are not flight controllers.
                                                                                                                                                              custom_modeuint16_tA bitfield for use for autopilot-specific flags (2 byte version).
                                                                                                                                                              latitudeint32_tdegE7Latitude
                                                                                                                                                              longitudeint32_tdegE7Longitude
                                                                                                                                                              altitudeint16_tmAltitude above mean sea level
                                                                                                                                                              target_altitudeint16_tmAltitude setpoint
                                                                                                                                                              headinguint8_tdeg/2Heading
                                                                                                                                                              target_headinguint8_tdeg/2Heading setpoint
                                                                                                                                                              target_distanceuint16_tdamDistance to target waypoint or position
                                                                                                                                                              throttleuint8_t%Throttle
                                                                                                                                                              airspeeduint8_tm/s*5Airspeed
                                                                                                                                                              airspeed_spuint8_tm/s*5Airspeed setpoint
                                                                                                                                                              groundspeeduint8_tm/s*5Groundspeed
                                                                                                                                                              windspeeduint8_tm/s*5Windspeed
                                                                                                                                                              wind_headinguint8_tdeg/2Wind heading
                                                                                                                                                              ephuint8_tdmMaximum error horizontal position since last message
                                                                                                                                                              epvuint8_tdmMaximum error vertical position since last message
                                                                                                                                                              temperature_airint8_tdegCAir temperature from airspeed sensor
                                                                                                                                                              climb_rateint8_tdm/sMaximum climb rate magnitude since last message
                                                                                                                                                              batteryint8_t%invalid:-1Battery level (-1 if field not provided).
                                                                                                                                                              wp_numuint16_tCurrent waypoint number
                                                                                                                                                              failure_flagsuint16_tHL_FAILURE_FLAGBitmap of failure flags.
                                                                                                                                                              custom0int8_tField for custom payload.
                                                                                                                                                              custom1int8_tField for custom payload.
                                                                                                                                                              custom2int8_tField for custom payload.

                                                                                                                                                              VIBRATION (241)

                                                                                                                                                              Vibration levels and accelerometer clipping

                                                                                                                                                              Field NameTypeUnitsDescription
                                                                                                                                                              time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
                                                                                                                                                              vibration_xfloatVibration levels on X-axis
                                                                                                                                                              vibration_yfloatVibration levels on Y-axis
                                                                                                                                                              vibration_zfloatVibration levels on Z-axis
                                                                                                                                                              clipping_0uint32_tfirst accelerometer clipping count
                                                                                                                                                              clipping_1uint32_tsecond accelerometer clipping count
                                                                                                                                                              clipping_2uint32_tthird accelerometer clipping count

                                                                                                                                                              HOME_POSITION (242)

                                                                                                                                                              Contains the home position. The home position is the default position that the system will return to and land on. The position must be set automatically by the system during the takeoff, and may also be explicitly set using MAV_CMD_DO_SET_HOME. The global and local positions encode the position in the respective coordinate frames, while the q parameter encodes the orientation of the surface. Under normal conditions it describes the heading and terrain slope, which can be used by the aircraft to adjust the approach. The approach 3D vector describes the point to which the system should fly in normal flight mode and then perform a landing sequence along the vector. Note: this message can be requested by sending the MAV_CMD_REQUEST_MESSAGE with param1=242 (or the deprecated MAV_CMD_GET_HOME_POSITION command).

                                                                                                                                                              Field NameTypeUnitsDescription
                                                                                                                                                              latitudeint32_tdegE7Latitude (WGS84)
                                                                                                                                                              longitudeint32_tdegE7Longitude (WGS84)
                                                                                                                                                              altitudeint32_tmmAltitude (MSL). Positive for up.
                                                                                                                                                              xfloatmLocal X position of this position in the local coordinate frame (NED)
                                                                                                                                                              yfloatmLocal Y position of this position in the local coordinate frame (NED)
                                                                                                                                                              zfloatmLocal Z position of this position in the local coordinate frame (NED: positive "down")
                                                                                                                                                              qfloat[4]Quaternion indicating world-to-surface-normal and heading transformation of the takeoff position.
                                                                                                                                                              Used to indicate the heading and slope of the ground.
                                                                                                                                                              All fields should be set to NaN if an accurate quaternion for both heading and surface slope cannot be supplied.
                                                                                                                                                              approach_xfloatmLocal X position of the end of the approach vector. Multicopters should set this position based on their takeoff path. Grass-landing fixed wing aircraft should set it the same way as multicopters. Runway-landing fixed wing aircraft should set it to the opposite direction of the takeoff, assuming the takeoff happened from the threshold / touchdown zone.
                                                                                                                                                              approach_yfloatmLocal Y position of the end of the approach vector. Multicopters should set this position based on their takeoff path. Grass-landing fixed wing aircraft should set it the same way as multicopters. Runway-landing fixed wing aircraft should set it to the opposite direction of the takeoff, assuming the takeoff happened from the threshold / touchdown zone.
                                                                                                                                                              approach_zfloatmLocal Z position of the end of the approach vector. Multicopters should set this position based on their takeoff path. Grass-landing fixed wing aircraft should set it the same way as multicopters. Runway-landing fixed wing aircraft should set it to the opposite direction of the takeoff, assuming the takeoff happened from the threshold / touchdown zone.
                                                                                                                                                              time_usec ++uint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.

                                                                                                                                                              SET_HOME_POSITION (243) — [DEP]

                                                                                                                                                              DEPRECATED: Replaced By MAV_CMD_DO_SET_HOME (2022-02) — The command protocol version (MAV_CMD_DO_SET_HOME) allows a GCS to detect when setting the home position has failed.)

                                                                                                                                                              Sets the home position. The home position is the default position that the system will return to and land on. The position is set automatically by the system during the takeoff (and may also be set using this message). The global and local positions encode the position in the respective coordinate frames, while the q parameter encodes the orientation of the surface. Under normal conditions it describes the heading and terrain slope, which can be used by the aircraft to adjust the approach. The approach 3D vector describes the point to which the system should fly in normal flight mode and then perform a landing sequence along the vector. Note: the current home position may be emitted in a HOME_POSITION message on request (using MAV_CMD_REQUEST_MESSAGE with param1=242).

                                                                                                                                                              Field NameTypeUnitsDescription
                                                                                                                                                              target_systemuint8_tSystem ID.
                                                                                                                                                              latitudeint32_tdegE7Latitude (WGS84)
                                                                                                                                                              longitudeint32_tdegE7Longitude (WGS84)
                                                                                                                                                              altitudeint32_tmmAltitude (MSL). Positive for up.
                                                                                                                                                              xfloatmLocal X position of this position in the local coordinate frame (NED)
                                                                                                                                                              yfloatmLocal Y position of this position in the local coordinate frame (NED)
                                                                                                                                                              zfloatmLocal Z position of this position in the local coordinate frame (NED: positive "down")
                                                                                                                                                              qfloat[4]World to surface normal and heading transformation of the takeoff position. Used to indicate the heading and slope of the ground
                                                                                                                                                              approach_xfloatmLocal X position of the end of the approach vector. Multicopters should set this position based on their takeoff path. Grass-landing fixed wing aircraft should set it the same way as multicopters. Runway-landing fixed wing aircraft should set it to the opposite direction of the takeoff, assuming the takeoff happened from the threshold / touchdown zone.
                                                                                                                                                              approach_yfloatmLocal Y position of the end of the approach vector. Multicopters should set this position based on their takeoff path. Grass-landing fixed wing aircraft should set it the same way as multicopters. Runway-landing fixed wing aircraft should set it to the opposite direction of the takeoff, assuming the takeoff happened from the threshold / touchdown zone.
                                                                                                                                                              approach_zfloatmLocal Z position of the end of the approach vector. Multicopters should set this position based on their takeoff path. Grass-landing fixed wing aircraft should set it the same way as multicopters. Runway-landing fixed wing aircraft should set it to the opposite direction of the takeoff, assuming the takeoff happened from the threshold / touchdown zone.
                                                                                                                                                              time_usec ++uint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.

                                                                                                                                                              MESSAGE_INTERVAL (244)

                                                                                                                                                              The interval between messages for a particular MAVLink message ID. This message is sent in response to the MAV_CMD_REQUEST_MESSAGE command with param1=244 (this message) and param2=message_id (the id of the message for which the interval is required). It may also be sent in response to MAV_CMD_GET_MESSAGE_INTERVAL. This interface replaces DATA_STREAM.

                                                                                                                                                              Field NameTypeUnitsDescription
                                                                                                                                                              message_iduint16_tThe ID of the requested MAVLink message. v1.0 is limited to 254 messages.
                                                                                                                                                              interval_usint32_tusThe interval between two messages. A value of -1 indicates this stream is disabled, 0 indicates it is not available, > 0 indicates the interval at which it is sent.

                                                                                                                                                              EXTENDED_SYS_STATE (245)

                                                                                                                                                              Provides state for additional features

                                                                                                                                                              Field NameTypeValuesDescription
                                                                                                                                                              vtol_stateuint8_tMAV_VTOL_STATEThe VTOL state if applicable. Is set to MAV_VTOL_STATE_UNDEFINED if UAV is not in VTOL configuration.
                                                                                                                                                              landed_stateuint8_tMAV_LANDED_STATEThe landed state. Is set to MAV_LANDED_STATE_UNDEFINED if landed state is unknown.

                                                                                                                                                              ADSB_VEHICLE (246)

                                                                                                                                                              The location and information of an ADSB vehicle

                                                                                                                                                              Field NameTypeUnitsValuesDescription
                                                                                                                                                              ICAO_addressuint32_tICAO address
                                                                                                                                                              latint32_tdegE7Latitude
                                                                                                                                                              lonint32_tdegE7Longitude
                                                                                                                                                              altitude_typeuint8_tADSB_ALTITUDE_TYPEADSB altitude type.
                                                                                                                                                              altitudeint32_tmmAltitude(ASL)
                                                                                                                                                              headinguint16_tcdegCourse over ground
                                                                                                                                                              hor_velocityuint16_tcm/sThe horizontal velocity
                                                                                                                                                              ver_velocityint16_tcm/sThe vertical velocity. Positive is up
                                                                                                                                                              callsignchar[9]The callsign, 8+null
                                                                                                                                                              emitter_typeuint8_tADSB_EMITTER_TYPEADSB emitter type.
                                                                                                                                                              tslcuint8_tsTime since last communication in seconds
                                                                                                                                                              flagsuint16_tADSB_FLAGSBitmap to indicate various statuses including valid data fields
                                                                                                                                                              squawkuint16_tSquawk code. Note that the code is in decimal: e.g. 7700 (general emergency) is encoded as binary 0b0001_1110_0001_0100, not(!) as 0b0000_111_111_000_000

                                                                                                                                                              COLLISION (247)

                                                                                                                                                              Information about a potential collision

                                                                                                                                                              Field NameTypeUnitsValuesDescription
                                                                                                                                                              srcuint8_tMAV_COLLISION_SRCCollision data source
                                                                                                                                                              iduint32_tUnique identifier, domain based on src field
                                                                                                                                                              actionuint8_tMAV_COLLISION_ACTIONAction that is being taken to avoid this collision
                                                                                                                                                              threat_leveluint8_tMAV_COLLISION_THREAT_LEVELHow concerned the aircraft is about this collision
                                                                                                                                                              time_to_minimum_deltafloatsEstimated time until collision occurs
                                                                                                                                                              altitude_minimum_deltafloatmClosest vertical distance between vehicle and object
                                                                                                                                                              horizontal_minimum_deltafloatmClosest horizontal distance between vehicle and object

                                                                                                                                                              V2_EXTENSION (248)

                                                                                                                                                              Message implementing parts of the V2 payload specs in V1 frames for transitional support.

                                                                                                                                                              Field NameTypeDescription
                                                                                                                                                              target_networkuint8_tNetwork ID (0 for broadcast)
                                                                                                                                                              target_systemuint8_tSystem ID (0 for broadcast)
                                                                                                                                                              target_componentuint8_tComponent ID (0 for broadcast)
                                                                                                                                                              message_typeuint16_tA code that identifies the software component that understands this message (analogous to USB device classes or mime type strings). If this code is less than 32768, it is considered a 'registered' protocol extension and the corresponding entry should be added to https://github.com/mavlink/mavlink/definition_files/extension_message_ids.xml. Software creators can register blocks of message IDs as needed (useful for GCS specific metadata, etc...). Message_types greater than 32767 are considered local experiments and should not be checked in to any widely distributed codebase.
                                                                                                                                                              payloaduint8_t[249]Variable length payload. The length must be encoded in the payload as part of the message_type protocol, e.g. by including the length as payload data, or by terminating the payload data with a non-zero marker. This is required in order to reconstruct zero-terminated payloads that are (or otherwise would be) trimmed by MAVLink 2 empty-byte truncation. The entire content of the payload block is opaque unless you understand the encoding message_type. The particular encoding used can be extension specific and might not always be documented as part of the MAVLink specification.

                                                                                                                                                              MEMORY_VECT (249)

                                                                                                                                                              Send raw controller memory. The use of this message is discouraged for normal packets, but a quite efficient way for testing new messages and getting experimental debug output.

                                                                                                                                                              Field NameTypeDescription
                                                                                                                                                              addressuint16_tStarting address of the debug variables
                                                                                                                                                              veruint8_tVersion code of the type variable. 0=unknown, type ignored and assumed int16_t. 1=as below
                                                                                                                                                              typeuint8_tType code of the memory variables. for ver = 1: 0=16 x int16_t, 1=16 x uint16_t, 2=16 x Q15, 3=16 x 1Q14
                                                                                                                                                              valueint8_t[32]Memory contents at specified address

                                                                                                                                                              DEBUG_VECT (250)

                                                                                                                                                              To debug something using a named 3D vector.

                                                                                                                                                              Field NameTypeUnitsDescription
                                                                                                                                                              namechar[10]Name
                                                                                                                                                              Messages with same value are from the same source (instance).
                                                                                                                                                              time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
                                                                                                                                                              xfloatx
                                                                                                                                                              yfloaty
                                                                                                                                                              zfloatz

                                                                                                                                                              NAMED_VALUE_FLOAT (251)

                                                                                                                                                              Send a key-value pair as float. The use of this message is discouraged for normal packets, but a quite efficient way for testing new messages and getting experimental debug output.

                                                                                                                                                              Field NameTypeUnitsDescription
                                                                                                                                                              time_boot_msuint32_tmsTimestamp (time since system boot).
                                                                                                                                                              namechar[10]Name of the debug variable
                                                                                                                                                              Messages with same value are from the same source (instance).
                                                                                                                                                              valuefloatFloating point value

                                                                                                                                                              NAMED_VALUE_INT (252)

                                                                                                                                                              Send a key-value pair as integer. The use of this message is discouraged for normal packets, but a quite efficient way for testing new messages and getting experimental debug output.

                                                                                                                                                              Field NameTypeUnitsDescription
                                                                                                                                                              time_boot_msuint32_tmsTimestamp (time since system boot).
                                                                                                                                                              namechar[10]Name of the debug variable
                                                                                                                                                              Messages with same value are from the same source (instance).
                                                                                                                                                              valueint32_tSigned integer value

                                                                                                                                                              STATUSTEXT (253)

                                                                                                                                                              Status text message. These messages are printed in yellow in the COMM console of QGroundControl. WARNING: They consume quite some bandwidth, so use only for important status and error messages. If implemented wisely, these messages are buffered on the MCU and sent only at a limited rate (e.g. 10 Hz).

                                                                                                                                                              Field NameTypeValuesDescription
                                                                                                                                                              severityuint8_tMAV_SEVERITYSeverity of status. Relies on the definitions within RFC-5424.
                                                                                                                                                              textchar[50]Status text message, without null termination character
                                                                                                                                                              id ++uint16_tUnique (opaque) identifier for this statustext message. May be used to reassemble a logical long-statustext message from a sequence of chunks. A value of zero indicates this is the only chunk in the sequence and the message can be emitted immediately.
                                                                                                                                                              chunk_seq ++uint8_tThis chunk's sequence number; indexing is from zero. Any null character in the text field is taken to mean this was the last chunk.

                                                                                                                                                              DEBUG (254)

                                                                                                                                                              Send a debug value. The index is used to discriminate between values. These values show up in the plot of QGroundControl as DEBUG N.

                                                                                                                                                              Field NameTypeUnitsDescription
                                                                                                                                                              time_boot_msuint32_tmsTimestamp (time since system boot).
                                                                                                                                                              induint8_tindex of debug variable
                                                                                                                                                              valuefloatDEBUG value

                                                                                                                                                              SETUP_SIGNING (256)

                                                                                                                                                              Setup a MAVLink2 signing key. If called with secret_key of all zero and zero initial_timestamp will disable signing

                                                                                                                                                              Field NameTypeDescription
                                                                                                                                                              target_systemuint8_tsystem id of the target
                                                                                                                                                              target_componentuint8_tcomponent ID of the target
                                                                                                                                                              secret_keyuint8_t[32]signing key
                                                                                                                                                              initial_timestampuint64_tinitial timestamp

                                                                                                                                                              BUTTON_CHANGE (257)

                                                                                                                                                              Report button state change.

                                                                                                                                                              Field NameTypeUnitsDescription
                                                                                                                                                              time_boot_msuint32_tmsTimestamp (time since system boot).
                                                                                                                                                              last_change_msuint32_tmsTime of last change of button state.
                                                                                                                                                              stateuint8_tBitmap for state of buttons.

                                                                                                                                                              PLAY_TUNE (258) — [DEP]

                                                                                                                                                              DEPRECATED: Replaced By PLAY_TUNE_V2 (2019-10) — New version explicitly defines format. More interoperable.)

                                                                                                                                                              Control vehicle tone generation (buzzer).

                                                                                                                                                              Field NameTypeDescription
                                                                                                                                                              target_systemuint8_tSystem ID
                                                                                                                                                              target_componentuint8_tComponent ID
                                                                                                                                                              tunechar[30]tune in board specific format
                                                                                                                                                              tune2 ++char[200]tune extension (appended to tune)

                                                                                                                                                              CAMERA_INFORMATION (259)

                                                                                                                                                              Information about a camera. Can be requested with a MAV_CMD_REQUEST_MESSAGE command.

                                                                                                                                                              Field NameTypeUnitsValuesDescription
                                                                                                                                                              time_boot_msuint32_tmsTimestamp (time since system boot).
                                                                                                                                                              vendor_nameuint8_t[32]Name of the camera vendor
                                                                                                                                                              model_nameuint8_t[32]Name of the camera model
                                                                                                                                                              firmware_versionuint32_tinvalid:0Version of the camera firmware, encoded as: (Dev & 0xff) << 24(Patch & 0xff) << 16(Minor & 0xff) << 8(Major & 0xff). Use 0 if not known.
                                                                                                                                                              focal_lengthfloatmminvalid:NaNFocal length. Use NaN if not known.
                                                                                                                                                              sensor_size_hfloatmminvalid:NaNImage sensor size horizontal. Use NaN if not known.
                                                                                                                                                              sensor_size_vfloatmminvalid:NaNImage sensor size vertical. Use NaN if not known.
                                                                                                                                                              resolution_huint16_tpixinvalid:0Horizontal image resolution. Use 0 if not known.
                                                                                                                                                              resolution_vuint16_tpixinvalid:0Vertical image resolution. Use 0 if not known.
                                                                                                                                                              lens_iduint8_tinvalid:0Reserved for a lens ID. Use 0 if not known.
                                                                                                                                                              flagsuint32_tCAMERA_CAP_FLAGSBitmap of camera capability flags.
                                                                                                                                                              cam_definition_versionuint16_tCamera definition version (iteration). Use 0 if not known.
                                                                                                                                                              cam_definition_urichar[140]Camera definition URI (if any, otherwise only basic functions will be available). HTTP- (http://) and MAVLink FTP- (mavlinkftp://) formatted URIs are allowed (and both must be supported by any GCS that implements the Camera Protocol). The definition file may be xz compressed, which will be indicated by the file extension .xml.xz (a GCS that implements the protocol must support decompressing the file). The string needs to be zero terminated. Use a zero-length string if not known.
                                                                                                                                                              gimbal_device_id ++uint8_tinvalid:0Gimbal id of a gimbal associated with this camera. This is the component id of the gimbal device, or 1-6 for non mavlink gimbals. Use 0 if no gimbal is associated with the camera.
                                                                                                                                                              camera_device_id ++uint8_tdefault:0 min:0 max:6Camera id of a non-MAVLink camera attached to an autopilot (1-6). 0 if the component is a MAVLink camera (with its own component id).

                                                                                                                                                              CAMERA_SETTINGS (260)

                                                                                                                                                              Settings of a camera. Can be requested with a MAV_CMD_REQUEST_MESSAGE command.

                                                                                                                                                              Field NameTypeUnitsValuesDescription
                                                                                                                                                              time_boot_msuint32_tmsTimestamp (time since system boot).
                                                                                                                                                              mode_iduint8_tCAMERA_MODECamera mode
                                                                                                                                                              zoomLevel ++floatinvalid:NaNCurrent zoom level as a percentage of the full range (0.0 to 100.0, NaN if not known)
                                                                                                                                                              focusLevel ++floatinvalid:NaNCurrent focus level as a percentage of the full range (0.0 to 100.0, NaN if not known)
                                                                                                                                                              camera_device_id ++uint8_tdefault:0 min:0 max:6Camera id of a non-MAVLink camera attached to an autopilot (1-6). 0 if the component is a MAVLink camera (with its own component id).

                                                                                                                                                              STORAGE_INFORMATION (261)

                                                                                                                                                              Information about a storage medium. This message is sent in response to a request with MAV_CMD_REQUEST_MESSAGE and whenever the status of the storage changes (STORAGE_STATUS). Use MAV_CMD_REQUEST_MESSAGE.param2 to indicate the index/id of requested storage: 0 for all, 1 for first, 2 for second, etc.

                                                                                                                                                              Field NameTypeUnitsValuesDescription
                                                                                                                                                              time_boot_msuint32_tmsTimestamp (time since system boot).
                                                                                                                                                              storage_iduint8_tStorage ID (1 for first, 2 for second, etc.)
                                                                                                                                                              Messages with same value are from the same source (instance).
                                                                                                                                                              storage_countuint8_tNumber of storage devices
                                                                                                                                                              statusuint8_tSTORAGE_STATUSStatus of storage
                                                                                                                                                              total_capacityfloatMiBTotal capacity. If storage is not ready (STORAGE_STATUS_READY) value will be ignored.
                                                                                                                                                              used_capacityfloatMiBUsed capacity. If storage is not ready (STORAGE_STATUS_READY) value will be ignored.
                                                                                                                                                              available_capacityfloatMiBAvailable storage capacity. If storage is not ready (STORAGE_STATUS_READY) value will be ignored.
                                                                                                                                                              read_speedfloatMiB/sRead speed.
                                                                                                                                                              write_speedfloatMiB/sWrite speed.
                                                                                                                                                              type ++uint8_tSTORAGE_TYPEType of storage
                                                                                                                                                              name ++char[32]Textual storage name to be used in UI (microSD 1, Internal Memory, etc.) This is a NULL terminated string. If it is exactly 32 characters long, add a terminating NULL. If this string is empty, the generic type is shown to the user.
                                                                                                                                                              storage_usage ++uint8_tSTORAGE_USAGE_FLAGFlags indicating whether this instance is preferred storage for photos, videos, etc.
                                                                                                                                                              Note: Implementations should initially set the flags on the system-default storage id used for saving media (if possible/supported).
                                                                                                                                                              This setting can then be overridden using MAV_CMD_SET_STORAGE_USAGE.
                                                                                                                                                              If the media usage flags are not set, a GCS may assume storage ID 1 is the default storage for all media types.

                                                                                                                                                              CAMERA_CAPTURE_STATUS (262)

                                                                                                                                                              Information about the status of a capture. Can be requested with a MAV_CMD_REQUEST_MESSAGE command.

                                                                                                                                                              Field NameTypeUnitsDescription
                                                                                                                                                              time_boot_msuint32_tmsTimestamp (time since system boot).
                                                                                                                                                              image_statusuint8_tCurrent status of image capturing (0: idle, 1: capture in progress, 2: interval set but idle, 3: interval set and capture in progress)
                                                                                                                                                              video_statusuint8_tCurrent status of video capturing (0: idle, 1: capture in progress)
                                                                                                                                                              image_intervalfloatsImage capture interval
                                                                                                                                                              recording_time_msuint32_tmsElapsed time since recording started (0: Not supported/available). A GCS should compute recording time and use non-zero values of this field to correct any discrepancy.
                                                                                                                                                              available_capacityfloatMiBAvailable storage capacity.
                                                                                                                                                              image_count ++int32_tTotal number of images captured ('forever', or until reset using MAV_CMD_STORAGE_FORMAT).
                                                                                                                                                              camera_device_id ++uint8_tCamera id of a non-MAVLink camera attached to an autopilot (1-6). 0 if the component is a MAVLink camera (with its own component id).

                                                                                                                                                              CAMERA_IMAGE_CAPTURED (263)

                                                                                                                                                              Information about a captured image. This is emitted every time a message is captured.

                                                                                                                                                              MAV_CMD_REQUEST_MESSAGE can be used to (re)request this message for a specific sequence number or range of sequence numbers: MAV_CMD_REQUEST_MESSAGE.param2 indicates the sequence number the first image to send, or set to -1 to send the message for all sequence numbers. MAV_CMD_REQUEST_MESSAGE.param3 is used to specify a range of messages to send: set to 0 (default) to send just the the message for the sequence number in param 2, set to -1 to send the message for the sequence number in param 2 and all the following sequence numbers, set to the sequence number of the final message in the range.

                                                                                                                                                              Field NameTypeUnitsDescription
                                                                                                                                                              time_boot_msuint32_tmsTimestamp (time since system boot).
                                                                                                                                                              time_utcuint64_tusTimestamp (time since UNIX epoch) in UTC. 0 for unknown.
                                                                                                                                                              camera_iduint8_tDeprecated/unused. Component IDs are used to differentiate multiple cameras.
                                                                                                                                                              latint32_tdegE7Latitude where image was taken
                                                                                                                                                              lonint32_tdegE7Longitude where capture was taken
                                                                                                                                                              altint32_tmmAltitude (MSL) where image was taken
                                                                                                                                                              relative_altint32_tmmAltitude above ground
                                                                                                                                                              qfloat[4]Quaternion of camera orientation (w, x, y, z order, zero-rotation is 1, 0, 0, 0)
                                                                                                                                                              image_indexint32_tZero based index of this image (i.e. a new image will have index CAMERA_CAPTURE_STATUS.image count -1)
                                                                                                                                                              capture_resultint8_tBoolean indicating success (1) or failure (0) while capturing this image.
                                                                                                                                                              file_urlchar[205]URL of image taken. Either local storage or http://foo.jpg if camera provides an HTTP interface.

                                                                                                                                                              FLIGHT_INFORMATION (264)

                                                                                                                                                              Flight information.

                                                                                                                                                              This includes time since boot for arm, takeoff, and land, and a flight number. Takeoff and landing values reset to zero on arm. This can be requested using MAV_CMD_REQUEST_MESSAGE. Note, some fields are misnamed - timestamps are from boot (not UTC) and the flight_uuid is a sequence number.

                                                                                                                                                              Field NameTypeUnitsDescription
                                                                                                                                                              time_boot_msuint32_tmsTimestamp (time since system boot).
                                                                                                                                                              arming_time_utcuint64_tusTimestamp at arming (since system boot). Set to 0 on boot. Set value on arming. Note, field is misnamed UTC.
                                                                                                                                                              takeoff_time_utcuint64_tusTimestamp at takeoff (since system boot). Set to 0 at boot and on arming. Note, field is misnamed UTC.
                                                                                                                                                              flight_uuiduint64_tFlight number. Note, field is misnamed UUID.
                                                                                                                                                              landing_time ++uint32_tmsTimestamp at landing (in ms since system boot). Set to 0 at boot and on arming.

                                                                                                                                                              MOUNT_ORIENTATION (265) — [DEP]

                                                                                                                                                              DEPRECATED: Replaced By MAV_CMD_DO_GIMBAL_MANAGER_PITCHYAW (2020-01) — This message is being superseded by MAV_CMD_DO_GIMBAL_MANAGER_PITCHYAW. The message can still be used to communicate with legacy gimbals implementing it.)

                                                                                                                                                              Orientation of a mount

                                                                                                                                                              Field NameTypeUnitsDescription
                                                                                                                                                              time_boot_msuint32_tmsTimestamp (time since system boot).
                                                                                                                                                              rollfloatdegRoll in global frame (set to NaN for invalid).
                                                                                                                                                              pitchfloatdegPitch in global frame (set to NaN for invalid).
                                                                                                                                                              yawfloatdegYaw relative to vehicle (set to NaN for invalid).
                                                                                                                                                              yaw_absolute ++floatdegYaw in absolute frame relative to Earth's North, north is 0 (set to NaN for invalid).

                                                                                                                                                              LOGGING_DATA (266)

                                                                                                                                                              A message containing logged data (see also MAV_CMD_LOGGING_START)

                                                                                                                                                              Field NameTypeUnitsDescription
                                                                                                                                                              target_systemuint8_tsystem ID of the target
                                                                                                                                                              target_componentuint8_tcomponent ID of the target
                                                                                                                                                              sequenceuint16_tsequence number (can wrap)
                                                                                                                                                              lengthuint8_tbytesdata length
                                                                                                                                                              first_message_offsetuint8_tbytesoffset into data where first message starts. This can be used for recovery, when a previous message got lost (set to UINT8_MAX if no start exists).
                                                                                                                                                              datauint8_t[249]logged data

                                                                                                                                                              LOGGING_DATA_ACKED (267)

                                                                                                                                                              A message containing logged data which requires a LOGGING_ACK to be sent back

                                                                                                                                                              Field NameTypeUnitsDescription
                                                                                                                                                              target_systemuint8_tsystem ID of the target
                                                                                                                                                              target_componentuint8_tcomponent ID of the target
                                                                                                                                                              sequenceuint16_tsequence number (can wrap)
                                                                                                                                                              lengthuint8_tbytesdata length
                                                                                                                                                              first_message_offsetuint8_tbytesoffset into data where first message starts. This can be used for recovery, when a previous message got lost (set to UINT8_MAX if no start exists).
                                                                                                                                                              datauint8_t[249]logged data

                                                                                                                                                              LOGGING_ACK (268)

                                                                                                                                                              An ack for a LOGGING_DATA_ACKED message

                                                                                                                                                              Field NameTypeDescription
                                                                                                                                                              target_systemuint8_tsystem ID of the target
                                                                                                                                                              target_componentuint8_tcomponent ID of the target
                                                                                                                                                              sequenceuint16_tsequence number (must match the one in LOGGING_DATA_ACKED)

                                                                                                                                                              VIDEO_STREAM_INFORMATION (269)

                                                                                                                                                              Information about video stream. It may be requested using MAV_CMD_REQUEST_MESSAGE, where param2 indicates the video stream id: 0 for all streams, 1 for first, 2 for second, etc.

                                                                                                                                                              Field NameTypeUnitsValuesDescription
                                                                                                                                                              stream_iduint8_tVideo Stream ID (1 for first, 2 for second, etc.)
                                                                                                                                                              Messages with same value are from the same source (instance).
                                                                                                                                                              countuint8_tNumber of streams available.
                                                                                                                                                              typeuint8_tVIDEO_STREAM_TYPEType of stream.
                                                                                                                                                              flagsuint16_tVIDEO_STREAM_STATUS_FLAGSBitmap of stream status flags.
                                                                                                                                                              frameratefloatHzFrame rate.
                                                                                                                                                              resolution_huint16_tpixHorizontal resolution.
                                                                                                                                                              resolution_vuint16_tpixVertical resolution.
                                                                                                                                                              bitrateuint32_tbits/sBit rate.
                                                                                                                                                              rotationuint16_tdegVideo image rotation clockwise.
                                                                                                                                                              hfovuint16_tdegHorizontal Field of view.
                                                                                                                                                              namechar[32]Stream name.
                                                                                                                                                              urichar[160]Video stream URI (TCP or RTSP URI ground station should connect to) or port number (UDP port ground station should listen to).
                                                                                                                                                              encoding ++uint8_tVIDEO_STREAM_ENCODINGEncoding of stream.
                                                                                                                                                              camera_device_id ++uint8_tdefault:0 min:0 max:6Camera id of a non-MAVLink camera attached to an autopilot (1-6). 0 if the component is a MAVLink camera (with its own component id).

                                                                                                                                                              VIDEO_STREAM_STATUS (270)

                                                                                                                                                              Information about the status of a video stream. It may be requested using MAV_CMD_REQUEST_MESSAGE.

                                                                                                                                                              Field NameTypeUnitsValuesDescription
                                                                                                                                                              stream_iduint8_tVideo Stream ID (1 for first, 2 for second, etc.)
                                                                                                                                                              Messages with same value are from the same source (instance).
                                                                                                                                                              flagsuint16_tVIDEO_STREAM_STATUS_FLAGSBitmap of stream status flags
                                                                                                                                                              frameratefloatHzFrame rate
                                                                                                                                                              resolution_huint16_tpixHorizontal resolution
                                                                                                                                                              resolution_vuint16_tpixVertical resolution
                                                                                                                                                              bitrateuint32_tbits/sBit rate
                                                                                                                                                              rotationuint16_tdegVideo image rotation clockwise
                                                                                                                                                              hfovuint16_tdegHorizontal Field of view
                                                                                                                                                              camera_device_id ++uint8_tdefault:0 min:0 max:6Camera id of a non-MAVLink camera attached to an autopilot (1-6). 0 if the component is a MAVLink camera (with its own component id).

                                                                                                                                                              CAMERA_FOV_STATUS (271)

                                                                                                                                                              Information about the field of view of a camera. Can be requested with a MAV_CMD_REQUEST_MESSAGE command.

                                                                                                                                                              Field NameTypeUnitsDescription
                                                                                                                                                              time_boot_msuint32_tmsTimestamp (time since system boot).
                                                                                                                                                              lat_cameraint32_tdegE7Latitude of camera (INT32_MAX if unknown).
                                                                                                                                                              lon_cameraint32_tdegE7Longitude of camera (INT32_MAX if unknown).
                                                                                                                                                              alt_cameraint32_tmmAltitude (MSL) of camera (INT32_MAX if unknown).
                                                                                                                                                              lat_imageint32_tdegE7Latitude of center of image (INT32_MAX if unknown, INT32_MIN if at infinity, not intersecting with horizon).
                                                                                                                                                              lon_imageint32_tdegE7Longitude of center of image (INT32_MAX if unknown, INT32_MIN if at infinity, not intersecting with horizon).
                                                                                                                                                              alt_imageint32_tmmAltitude (MSL) of center of image (INT32_MAX if unknown, INT32_MIN if at infinity, not intersecting with horizon).
                                                                                                                                                              qfloat[4]Quaternion of camera orientation (w, x, y, z order, zero-rotation is 1, 0, 0, 0)
                                                                                                                                                              hfovfloatdegHorizontal field of view (NaN if unknown).
                                                                                                                                                              vfovfloatdegVertical field of view (NaN if unknown).
                                                                                                                                                              camera_device_id ++uint8_tCamera id of a non-MAVLink camera attached to an autopilot (1-6). 0 if the component is a MAVLink camera (with its own component id).

                                                                                                                                                              CAMERA_TRACKING_IMAGE_STATUS (275)

                                                                                                                                                              Camera tracking status, sent while in active tracking. Use MAV_CMD_SET_MESSAGE_INTERVAL to define message interval.

                                                                                                                                                              Field NameTypeValuesDescription
                                                                                                                                                              tracking_statusuint8_tCAMERA_TRACKING_STATUS_FLAGSCurrent tracking status
                                                                                                                                                              tracking_modeuint8_tCAMERA_TRACKING_MODECurrent tracking mode
                                                                                                                                                              target_datauint8_tCAMERA_TRACKING_TARGET_DATADefines location of target data
                                                                                                                                                              point_xfloatinvalid:NaNCurrent tracked point x value if CAMERA_TRACKING_MODE_POINT (normalized 0..1, 0 is left, 1 is right), NAN if unknown
                                                                                                                                                              point_yfloatinvalid:NaNCurrent tracked point y value if CAMERA_TRACKING_MODE_POINT (normalized 0..1, 0 is top, 1 is bottom), NAN if unknown
                                                                                                                                                              radiusfloatinvalid:NaNCurrent tracked radius if CAMERA_TRACKING_MODE_POINT (normalized 0..1, 0 is image left, 1 is image right), NAN if unknown
                                                                                                                                                              rec_top_xfloatinvalid:NaNCurrent tracked rectangle top x value if CAMERA_TRACKING_MODE_RECTANGLE (normalized 0..1, 0 is left, 1 is right), NAN if unknown
                                                                                                                                                              rec_top_yfloatinvalid:NaNCurrent tracked rectangle top y value if CAMERA_TRACKING_MODE_RECTANGLE (normalized 0..1, 0 is top, 1 is bottom), NAN if unknown
                                                                                                                                                              rec_bottom_xfloatinvalid:NaNCurrent tracked rectangle bottom x value if CAMERA_TRACKING_MODE_RECTANGLE (normalized 0..1, 0 is left, 1 is right), NAN if unknown
                                                                                                                                                              rec_bottom_yfloatinvalid:NaNCurrent tracked rectangle bottom y value if CAMERA_TRACKING_MODE_RECTANGLE (normalized 0..1, 0 is top, 1 is bottom), NAN if unknown
                                                                                                                                                              camera_device_id ++uint8_tdefault:0 min:0 max:6Camera id of a non-MAVLink camera attached to an autopilot (1-6). 0 if the component is a MAVLink camera (with its own component id).

                                                                                                                                                              CAMERA_TRACKING_GEO_STATUS (276)

                                                                                                                                                              Camera tracking status, sent while in active tracking. Use MAV_CMD_SET_MESSAGE_INTERVAL to define message interval.

                                                                                                                                                              Field NameTypeUnitsValuesDescription
                                                                                                                                                              tracking_statusuint8_tCAMERA_TRACKING_STATUS_FLAGSCurrent tracking status
                                                                                                                                                              latint32_tdegE7Latitude of tracked object
                                                                                                                                                              lonint32_tdegE7Longitude of tracked object
                                                                                                                                                              altfloatmAltitude of tracked object(AMSL, WGS84)
                                                                                                                                                              h_accfloatminvalid:NaNHorizontal accuracy. NAN if unknown
                                                                                                                                                              v_accfloatminvalid:NaNVertical accuracy. NAN if unknown
                                                                                                                                                              vel_nfloatm/sinvalid:NaNNorth velocity of tracked object. NAN if unknown
                                                                                                                                                              vel_efloatm/sinvalid:NaNEast velocity of tracked object. NAN if unknown
                                                                                                                                                              vel_dfloatm/sinvalid:NaNDown velocity of tracked object. NAN if unknown
                                                                                                                                                              vel_accfloatm/sinvalid:NaNVelocity accuracy. NAN if unknown
                                                                                                                                                              distfloatminvalid:NaNDistance between camera and tracked object. NAN if unknown
                                                                                                                                                              hdgfloatradinvalid:NaNHeading in radians, in NED. NAN if unknown
                                                                                                                                                              hdg_accfloatradinvalid:NaNAccuracy of heading, in NED. NAN if unknown
                                                                                                                                                              camera_device_id ++uint8_tdefault:0 min:0 max:6Camera id of a non-MAVLink camera attached to an autopilot (1-6). 0 if the component is a MAVLink camera (with its own component id).

                                                                                                                                                              CAMERA_THERMAL_RANGE (277) — [WIP]

                                                                                                                                                              WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                              Camera absolute thermal range. This can be streamed when the associated VIDEO_STREAM_STATUS flag field bit VIDEO_STREAM_STATUS_FLAGS_THERMAL_RANGE_ENABLED is set, but a GCS may choose to only request it for the current active stream. Use MAV_CMD_SET_MESSAGE_INTERVAL to define message interval (param3 indicates the stream id of the current camera, or 0 for all streams, param4 indicates the target camera_device_id for autopilot-attached cameras or 0 for MAVLink cameras).

                                                                                                                                                              Field NameTypeUnitsDescription
                                                                                                                                                              time_boot_msuint32_tmsTimestamp (time since system boot).
                                                                                                                                                              stream_iduint8_tVideo Stream ID (1 for first, 2 for second, etc.)
                                                                                                                                                              Messages with same value are from the same source (instance).
                                                                                                                                                              camera_device_iduint8_tCamera id of a non-MAVLink camera attached to an autopilot (1-6). 0 if the component is a MAVLink camera (with its own component id).
                                                                                                                                                              maxfloatdegCTemperature max.
                                                                                                                                                              max_point_xfloatTemperature max point x value (normalized 0..1, 0 is left, 1 is right), NAN if unknown.
                                                                                                                                                              max_point_yfloatTemperature max point y value (normalized 0..1, 0 is top, 1 is bottom), NAN if unknown.
                                                                                                                                                              minfloatdegCTemperature min.
                                                                                                                                                              min_point_xfloatTemperature min point x value (normalized 0..1, 0 is left, 1 is right), NAN if unknown.
                                                                                                                                                              min_point_yfloatTemperature min point y value (normalized 0..1, 0 is top, 1 is bottom), NAN if unknown.

                                                                                                                                                              GIMBAL_MANAGER_INFORMATION (280)

                                                                                                                                                              Information about a high level gimbal manager. This message should be requested by a ground station using MAV_CMD_REQUEST_MESSAGE.

                                                                                                                                                              Field NameTypeUnitsValuesDescription
                                                                                                                                                              time_boot_msuint32_tmsTimestamp (time since system boot).
                                                                                                                                                              cap_flagsuint32_tGIMBAL_MANAGER_CAP_FLAGSBitmap of gimbal capability flags.
                                                                                                                                                              gimbal_device_iduint8_tGimbal device ID that this gimbal manager is responsible for. Component ID of gimbal device (or 1-6 for non-MAVLink gimbal).
                                                                                                                                                              Messages with same value are from the same source (instance).
                                                                                                                                                              roll_minfloatradMinimum hardware roll angle (positive: rolling to the right, negative: rolling to the left)
                                                                                                                                                              roll_maxfloatradMaximum hardware roll angle (positive: rolling to the right, negative: rolling to the left)
                                                                                                                                                              pitch_minfloatradMinimum pitch angle (positive: up, negative: down)
                                                                                                                                                              pitch_maxfloatradMaximum pitch angle (positive: up, negative: down)
                                                                                                                                                              yaw_minfloatradMinimum yaw angle (positive: to the right, negative: to the left)
                                                                                                                                                              yaw_maxfloatradMaximum yaw angle (positive: to the right, negative: to the left)

                                                                                                                                                              GIMBAL_MANAGER_STATUS (281)

                                                                                                                                                              Current status about a high level gimbal manager. This message should be broadcast at a low regular rate (e.g. 5Hz).

                                                                                                                                                              Field NameTypeUnitsValuesDescription
                                                                                                                                                              time_boot_msuint32_tmsTimestamp (time since system boot).
                                                                                                                                                              flagsuint32_tGIMBAL_MANAGER_FLAGSHigh level gimbal manager flags currently applied.
                                                                                                                                                              gimbal_device_iduint8_tGimbal device ID that this gimbal manager is responsible for. Component ID of gimbal device (or 1-6 for non-MAVLink gimbal).
                                                                                                                                                              Messages with same value are from the same source (instance).
                                                                                                                                                              primary_control_sysiduint8_tSystem ID of MAVLink component with primary control, 0 for none.
                                                                                                                                                              primary_control_compiduint8_tComponent ID of MAVLink component with primary control, 0 for none.
                                                                                                                                                              secondary_control_sysiduint8_tSystem ID of MAVLink component with secondary control, 0 for none.
                                                                                                                                                              secondary_control_compiduint8_tComponent ID of MAVLink component with secondary control, 0 for none.

                                                                                                                                                              GIMBAL_MANAGER_SET_ATTITUDE (282)

                                                                                                                                                              High level message to control a gimbal's attitude. This message is to be sent to the gimbal manager (e.g. from a ground station). Angles and rates can be set to NaN according to use case.

                                                                                                                                                              Field NameTypeUnitsValuesDescription
                                                                                                                                                              target_systemuint8_tSystem ID
                                                                                                                                                              target_componentuint8_tComponent ID
                                                                                                                                                              flagsuint32_tGIMBAL_MANAGER_FLAGSHigh level gimbal manager flags to use.
                                                                                                                                                              gimbal_device_iduint8_tComponent ID of gimbal device to address (or 1-6 for non-MAVLink gimbal), 0 for all gimbal device components. Send command multiple times for more than one gimbal (but not all gimbals).
                                                                                                                                                              Messages with same value are from the same source (instance).
                                                                                                                                                              qfloat[4]Quaternion components, w, x, y, z (1 0 0 0 is the null-rotation, the frame is depends on whether the flag GIMBAL_MANAGER_FLAGS_YAW_LOCK is set)
                                                                                                                                                              angular_velocity_xfloatrad/sinvalid:NaNX component of angular velocity, positive is rolling to the right, NaN to be ignored.
                                                                                                                                                              angular_velocity_yfloatrad/sinvalid:NaNY component of angular velocity, positive is pitching up, NaN to be ignored.
                                                                                                                                                              angular_velocity_zfloatrad/sinvalid:NaNZ component of angular velocity, positive is yawing to the right, NaN to be ignored.

                                                                                                                                                              GIMBAL_DEVICE_INFORMATION (283)

                                                                                                                                                              Information about a low level gimbal. This message should be requested by the gimbal manager or a ground station using MAV_CMD_REQUEST_MESSAGE. The maximum angles and rates are the limits by hardware. However, the limits by software used are likely different/smaller and dependent on mode/settings/etc..

                                                                                                                                                              Field NameTypeUnitsValuesDescription
                                                                                                                                                              time_boot_msuint32_tmsTimestamp (time since system boot).
                                                                                                                                                              vendor_namechar[32]Name of the gimbal vendor.
                                                                                                                                                              model_namechar[32]Name of the gimbal model.
                                                                                                                                                              custom_namechar[32]Custom name of the gimbal given to it by the user.
                                                                                                                                                              firmware_versionuint32_tVersion of the gimbal firmware, encoded as: (Dev & 0xff) << 24(Patch & 0xff) << 16(Minor & 0xff) << 8(Major & 0xff).
                                                                                                                                                              hardware_versionuint32_tVersion of the gimbal hardware, encoded as: (Dev & 0xff) << 24(Patch & 0xff) << 16(Minor & 0xff) << 8(Major & 0xff).
                                                                                                                                                              uiduint64_tinvalid:0UID of gimbal hardware (0 if unknown).
                                                                                                                                                              cap_flagsuint16_tGIMBAL_DEVICE_CAP_FLAGSBitmap of gimbal capability flags.
                                                                                                                                                              custom_cap_flagsuint16_tBitmap for use for gimbal-specific capability flags.
                                                                                                                                                              roll_minfloatradinvalid:NaNMinimum hardware roll angle (positive: rolling to the right, negative: rolling to the left). NAN if unknown.
                                                                                                                                                              roll_maxfloatradinvalid:NaNMaximum hardware roll angle (positive: rolling to the right, negative: rolling to the left). NAN if unknown.
                                                                                                                                                              pitch_minfloatradinvalid:NaNMinimum hardware pitch angle (positive: up, negative: down). NAN if unknown.
                                                                                                                                                              pitch_maxfloatradinvalid:NaNMaximum hardware pitch angle (positive: up, negative: down). NAN if unknown.
                                                                                                                                                              yaw_minfloatradinvalid:NaNMinimum hardware yaw angle (positive: to the right, negative: to the left). NAN if unknown.
                                                                                                                                                              yaw_maxfloatradinvalid:NaNMaximum hardware yaw angle (positive: to the right, negative: to the left). NAN if unknown.
                                                                                                                                                              gimbal_device_id ++uint8_tinvalid:0This field is to be used if the gimbal manager and the gimbal device are the same component and hence have the same component ID. This field is then set to a number between 1-6. If the component ID is separate, this field is not required and must be set to 0.

                                                                                                                                                              GIMBAL_DEVICE_SET_ATTITUDE (284)

                                                                                                                                                              Low level message to control a gimbal device's attitude.

                                                                                                                                                              This message is to be sent from the gimbal manager to the gimbal device component. The quaternion and angular velocities can be set to NaN according to use case. For the angles encoded in the quaternion and the angular velocities holds: If the flag GIMBAL_DEVICE_FLAGS_YAW_IN_VEHICLE_FRAME is set, then they are relative to the vehicle heading (vehicle frame). If the flag GIMBAL_DEVICE_FLAGS_YAW_IN_EARTH_FRAME is set, then they are relative to absolute North (earth frame). If neither of these flags are set, then (for backwards compatibility) it holds: If the flag GIMBAL_DEVICE_FLAGS_YAW_LOCK is set, then they are relative to absolute North (earth frame), else they are relative to the vehicle heading (vehicle frame). Setting both GIMBAL_DEVICE_FLAGS_YAW_IN_VEHICLE_FRAME and GIMBAL_DEVICE_FLAGS_YAW_IN_EARTH_FRAME is not allowed. These rules are to ensure backwards compatibility. New implementations should always set either GIMBAL_DEVICE_FLAGS_YAW_IN_VEHICLE_FRAME or GIMBAL_DEVICE_FLAGS_YAW_IN_EARTH_FRAME.

                                                                                                                                                              Field NameTypeUnitsValuesDescription
                                                                                                                                                              target_systemuint8_tSystem ID
                                                                                                                                                              target_componentuint8_tComponent ID
                                                                                                                                                              flagsuint16_tGIMBAL_DEVICE_FLAGSLow level gimbal flags.
                                                                                                                                                              qfloat[4]invalid:[NaN]Quaternion components, w, x, y, z (1 0 0 0 is the null-rotation). The frame is described in the message description. Set fields to NaN to be ignored.
                                                                                                                                                              angular_velocity_xfloatrad/sinvalid:NaNX component of angular velocity (positive: rolling to the right). The frame is described in the message description. NaN to be ignored.
                                                                                                                                                              angular_velocity_yfloatrad/sinvalid:NaNY component of angular velocity (positive: pitching up). The frame is described in the message description. NaN to be ignored.
                                                                                                                                                              angular_velocity_zfloatrad/sinvalid:NaNZ component of angular velocity (positive: yawing to the right). The frame is described in the message description. NaN to be ignored.

                                                                                                                                                              GIMBAL_DEVICE_ATTITUDE_STATUS (285)

                                                                                                                                                              Message reporting the status of a gimbal device.

                                                                                                                                                              This message should be broadcast by a gimbal device component at a low regular rate (e.g. 5 Hz). For the angles encoded in the quaternion and the angular velocities holds: If the flag GIMBAL_DEVICE_FLAGS_YAW_IN_VEHICLE_FRAME is set, then they are relative to the vehicle heading (vehicle frame). If the flag GIMBAL_DEVICE_FLAGS_YAW_IN_EARTH_FRAME is set, then they are relative to absolute North (earth frame). If neither of these flags are set, then (for backwards compatibility) it holds: If the flag GIMBAL_DEVICE_FLAGS_YAW_LOCK is set, then they are relative to absolute North (earth frame), else they are relative to the vehicle heading (vehicle frame). Other conditions of the flags are not allowed. The quaternion and angular velocities in the other frame can be calculated from delta_yaw and delta_yaw_velocity as q_earth = q_delta_yaw * q_vehicle and w_earth = w_delta_yaw_velocity + w_vehicle (if not NaN). If neither the GIMBAL_DEVICE_FLAGS_YAW_IN_VEHICLE_FRAME nor the GIMBAL_DEVICE_FLAGS_YAW_IN_EARTH_FRAME flag is set, then (for backwards compatibility) the data in the delta_yaw and delta_yaw_velocity fields are to be ignored. New implementations should always set either GIMBAL_DEVICE_FLAGS_YAW_IN_VEHICLE_FRAME or GIMBAL_DEVICE_FLAGS_YAW_IN_EARTH_FRAME, and always should set delta_yaw and delta_yaw_velocity either to the proper value or NaN.

                                                                                                                                                              Field NameTypeUnitsValuesDescription
                                                                                                                                                              target_systemuint8_tSystem ID
                                                                                                                                                              target_componentuint8_tComponent ID
                                                                                                                                                              time_boot_msuint32_tmsTimestamp (time since system boot).
                                                                                                                                                              flagsuint16_tGIMBAL_DEVICE_FLAGSCurrent gimbal flags set.
                                                                                                                                                              qfloat[4]Quaternion components, w, x, y, z (1 0 0 0 is the null-rotation). The frame is described in the message description.
                                                                                                                                                              angular_velocity_xfloatrad/sinvalid:NaNX component of angular velocity (positive: rolling to the right). The frame is described in the message description. NaN if unknown.
                                                                                                                                                              angular_velocity_yfloatrad/sinvalid:NaNY component of angular velocity (positive: pitching up). The frame is described in the message description. NaN if unknown.
                                                                                                                                                              angular_velocity_zfloatrad/sinvalid:NaNZ component of angular velocity (positive: yawing to the right). The frame is described in the message description. NaN if unknown.
                                                                                                                                                              failure_flagsuint32_tGIMBAL_DEVICE_ERROR_FLAGSFailure flags (0 for no failure)
                                                                                                                                                              delta_yaw ++floatradinvalid:NANYaw angle relating the quaternions in earth and body frames (see message description). NaN if unknown.
                                                                                                                                                              delta_yaw_velocity ++floatrad/sinvalid:NANYaw angular velocity relating the angular velocities in earth and body frames (see message description). NaN if unknown.
                                                                                                                                                              gimbal_device_id ++uint8_tinvalid:0This field is to be used if the gimbal manager and the gimbal device are the same component and hence have the same component ID. This field is then set a number between 1-6. If the component ID is separate, this field is not required and must be set to 0.

                                                                                                                                                              AUTOPILOT_STATE_FOR_GIMBAL_DEVICE (286)

                                                                                                                                                              Low level message containing autopilot state relevant for a gimbal device. This message is to be sent from the autopilot to the gimbal device component. The data of this message are for the gimbal device's estimator corrections, in particular horizon compensation, as well as indicates autopilot control intentions, e.g. feed forward angular control in the z-axis.

                                                                                                                                                              Field NameTypeUnitsValuesDescription
                                                                                                                                                              target_systemuint8_tSystem ID
                                                                                                                                                              target_componentuint8_tComponent ID
                                                                                                                                                              time_boot_usuint64_tusTimestamp (time since system boot).
                                                                                                                                                              qfloat[4]Quaternion components of autopilot attitude: w, x, y, z (1 0 0 0 is the null-rotation, Hamilton convention).
                                                                                                                                                              q_estimated_delay_usuint32_tusinvalid:0Estimated delay of the attitude data. 0 if unknown.
                                                                                                                                                              vxfloatm/sinvalid:NaNX Speed in NED (North, East, Down). NAN if unknown.
                                                                                                                                                              vyfloatm/sinvalid:NaNY Speed in NED (North, East, Down). NAN if unknown.
                                                                                                                                                              vzfloatm/sinvalid:NaNZ Speed in NED (North, East, Down). NAN if unknown.
                                                                                                                                                              v_estimated_delay_usuint32_tusinvalid:0Estimated delay of the speed data. 0 if unknown.
                                                                                                                                                              feed_forward_angular_velocity_zfloatrad/sinvalid:NaNFeed forward Z component of angular velocity (positive: yawing to the right). NaN to be ignored. This is to indicate if the autopilot is actively yawing.
                                                                                                                                                              estimator_statusuint16_tESTIMATOR_STATUS_FLAGSBitmap indicating which estimator outputs are valid.
                                                                                                                                                              landed_stateuint8_tinvalid:MAV_LANDED_STATE_UNDEFINED MAV_LANDED_STATEThe landed state. Is set to MAV_LANDED_STATE_UNDEFINED if landed state is unknown.
                                                                                                                                                              angular_velocity_z ++floatrad/sinvalid:NaNZ component of angular velocity in NED (North, East, Down). NaN if unknown.

                                                                                                                                                              GIMBAL_MANAGER_SET_PITCHYAW (287)

                                                                                                                                                              Set gimbal manager pitch and yaw angles (high rate message). This message is to be sent to the gimbal manager (e.g. from a ground station) and will be ignored by gimbal devices. Angles and rates can be set to NaN according to use case. Use MAV_CMD_DO_GIMBAL_MANAGER_PITCHYAW for low-rate adjustments that require confirmation.

                                                                                                                                                              Field NameTypeUnitsValuesDescription
                                                                                                                                                              target_systemuint8_tSystem ID
                                                                                                                                                              target_componentuint8_tComponent ID
                                                                                                                                                              flagsuint32_tGIMBAL_MANAGER_FLAGSHigh level gimbal manager flags to use.
                                                                                                                                                              gimbal_device_iduint8_tComponent ID of gimbal device to address (or 1-6 for non-MAVLink gimbal), 0 for all gimbal device components. Send command multiple times for more than one gimbal (but not all gimbals).
                                                                                                                                                              Messages with same value are from the same source (instance).
                                                                                                                                                              pitchfloatradinvalid:NaNPitch angle (positive: up, negative: down, NaN to be ignored).
                                                                                                                                                              yawfloatradinvalid:NaNYaw angle (positive: to the right, negative: to the left, NaN to be ignored).
                                                                                                                                                              pitch_ratefloatrad/sinvalid:NaNPitch angular rate (positive: up, negative: down, NaN to be ignored).
                                                                                                                                                              yaw_ratefloatrad/sinvalid:NaNYaw angular rate (positive: to the right, negative: to the left, NaN to be ignored).

                                                                                                                                                              GIMBAL_MANAGER_SET_MANUAL_CONTROL (288)

                                                                                                                                                              High level message to control a gimbal manually. The angles or angular rates are unitless; the actual rates will depend on internal gimbal manager settings/configuration (e.g. set by parameters). This message is to be sent to the gimbal manager (e.g. from a ground station). Angles and rates can be set to NaN according to use case.

                                                                                                                                                              Field NameTypeValuesDescription
                                                                                                                                                              target_systemuint8_tSystem ID
                                                                                                                                                              target_componentuint8_tComponent ID
                                                                                                                                                              flagsuint32_tGIMBAL_MANAGER_FLAGSHigh level gimbal manager flags.
                                                                                                                                                              gimbal_device_iduint8_tComponent ID of gimbal device to address (or 1-6 for non-MAVLink gimbal), 0 for all gimbal device components. Send command multiple times for more than one gimbal (but not all gimbals).
                                                                                                                                                              Messages with same value are from the same source (instance).
                                                                                                                                                              pitchfloatinvalid:NaNPitch angle unitless (-1..1, positive: up, negative: down, NaN to be ignored).
                                                                                                                                                              yawfloatinvalid:NaNYaw angle unitless (-1..1, positive: to the right, negative: to the left, NaN to be ignored).
                                                                                                                                                              pitch_ratefloatinvalid:NaNPitch angular rate unitless (-1..1, positive: up, negative: down, NaN to be ignored).
                                                                                                                                                              yaw_ratefloatinvalid:NaNYaw angular rate unitless (-1..1, positive: to the right, negative: to the left, NaN to be ignored).

                                                                                                                                                              ESC_INFO (290) — [WIP]

                                                                                                                                                              WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                              ESC information for lower rate streaming. Recommended streaming rate 1Hz. See ESC_STATUS for higher-rate ESC data.

                                                                                                                                                              Field NameTypeUnitsValuesDescription
                                                                                                                                                              indexuint8_tIndex of the first ESC in this message. minValue = 0, maxValue = 60, increment = 4.
                                                                                                                                                              Messages with same value are from the same source (instance).
                                                                                                                                                              time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude the number.
                                                                                                                                                              counteruint16_tCounter of data packets received.
                                                                                                                                                              countuint8_tTotal number of ESCs in all messages of this type. Message fields with an index higher than this should be ignored because they contain invalid data.
                                                                                                                                                              connection_typeuint8_tESC_CONNECTION_TYPEConnection type protocol for all ESC.
                                                                                                                                                              infouint8_tInformation regarding online/offline status of each ESC.
                                                                                                                                                              failure_flagsuint16_t[4]ESC_FAILURE_FLAGSBitmap of ESC failure flags.
                                                                                                                                                              error_countuint32_t[4]Number of reported errors by each ESC since boot.
                                                                                                                                                              temperatureint16_t[4]cdegCinvalid:[INT16_MAX]Temperature of each ESC. INT16_MAX: if data not supplied by ESC.

                                                                                                                                                              ESC_STATUS (291) — [WIP]

                                                                                                                                                              WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                              ESC information for higher rate streaming. Recommended streaming rate is ~10 Hz. Information that changes more slowly is sent in ESC_INFO. It should typically only be streamed on high-bandwidth links (i.e. to a companion computer).

                                                                                                                                                              Field NameTypeUnitsDescription
                                                                                                                                                              indexuint8_tIndex of the first ESC in this message. minValue = 0, maxValue = 60, increment = 4.
                                                                                                                                                              Messages with same value are from the same source (instance).
                                                                                                                                                              time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude the number.
                                                                                                                                                              rpmint32_t[4]rpmReported motor RPM from each ESC (negative for reverse rotation).
                                                                                                                                                              voltagefloat[4]VVoltage measured from each ESC.
                                                                                                                                                              currentfloat[4]ACurrent measured from each ESC.

                                                                                                                                                              WIFI_CONFIG_AP (299)

                                                                                                                                                              Configure WiFi AP SSID, password, and mode. This message is re-emitted as an acknowledgement by the AP. The message may also be explicitly requested using MAV_CMD_REQUEST_MESSAGE

                                                                                                                                                              Field NameTypeValuesDescription
                                                                                                                                                              ssidchar[32]Name of Wi-Fi network (SSID). Blank to leave it unchanged when setting. Current SSID when sent back as a response.
                                                                                                                                                              passwordchar[64]Password. Blank for an open AP. MD5 hash when message is sent back as a response.
                                                                                                                                                              mode ++int8_tWIFI_CONFIG_AP_MODEWiFi Mode.
                                                                                                                                                              response ++int8_tWIFI_CONFIG_AP_RESPONSEMessage acceptance response (sent back to GS).

                                                                                                                                                              PROTOCOL_VERSION (300) — [from: minimal] [WIP]

                                                                                                                                                              WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                              Version and capability of protocol version. This message can be requested with MAV_CMD_REQUEST_MESSAGE and is used as part of the handshaking to establish which MAVLink version should be used on the network. Every node should respond to a request for PROTOCOL_VERSION to enable the handshaking. Library implementers should consider adding this into the default decoding state machine to allow the protocol core to respond directly.

                                                                                                                                                              Field NameTypeDescription
                                                                                                                                                              versionuint16_tCurrently active MAVLink version number * 100: v1.0 is 100, v2.0 is 200, etc.
                                                                                                                                                              min_versionuint16_tMinimum MAVLink version supported
                                                                                                                                                              max_versionuint16_tMaximum MAVLink version supported (set to the same value as version by default)
                                                                                                                                                              spec_version_hashuint8_t[8]The first 8 bytes (not characters printed in hex!) of the git hash.
                                                                                                                                                              library_version_hashuint8_t[8]The first 8 bytes (not characters printed in hex!) of the git hash.

                                                                                                                                                              AIS_VESSEL (301)

                                                                                                                                                              The location and information of an AIS vessel

                                                                                                                                                              Field NameTypeUnitsValuesDescription
                                                                                                                                                              MMSIuint32_tMobile Marine Service Identifier, 9 decimal digits
                                                                                                                                                              latint32_tdegE7Latitude
                                                                                                                                                              lonint32_tdegE7Longitude
                                                                                                                                                              COGuint16_tcdegCourse over ground
                                                                                                                                                              headinguint16_tcdegTrue heading
                                                                                                                                                              velocityuint16_tcm/sSpeed over ground
                                                                                                                                                              turn_rateint8_tcdeg/sTurn rate
                                                                                                                                                              navigational_statusuint8_tAIS_NAV_STATUSNavigational status
                                                                                                                                                              typeuint8_tAIS_TYPEType of vessels
                                                                                                                                                              dimension_bowuint16_tmDistance from lat/lon location to bow
                                                                                                                                                              dimension_sternuint16_tmDistance from lat/lon location to stern
                                                                                                                                                              dimension_portuint8_tmDistance from lat/lon location to port side
                                                                                                                                                              dimension_starboarduint8_tmDistance from lat/lon location to starboard side
                                                                                                                                                              callsignchar[7]The vessel callsign
                                                                                                                                                              namechar[20]The vessel name
                                                                                                                                                              tslcuint16_tsTime since last communication in seconds
                                                                                                                                                              flagsuint16_tAIS_FLAGSBitmask to indicate various statuses including valid data fields

                                                                                                                                                              UAVCAN_NODE_STATUS (310)

                                                                                                                                                              General status information of an UAVCAN node. Please refer to the definition of the UAVCAN message "uavcan.protocol.NodeStatus" for the background information. The UAVCAN specification is available at http://uavcan.org.

                                                                                                                                                              Field NameTypeUnitsValuesDescription
                                                                                                                                                              time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
                                                                                                                                                              uptime_secuint32_tsTime since the start-up of the node.
                                                                                                                                                              healthuint8_tUAVCAN_NODE_HEALTHGeneralized node health status.
                                                                                                                                                              modeuint8_tUAVCAN_NODE_MODEGeneralized operating mode.
                                                                                                                                                              sub_modeuint8_tNot used currently.
                                                                                                                                                              vendor_specific_status_codeuint16_tVendor-specific status information.

                                                                                                                                                              UAVCAN_NODE_INFO (311)

                                                                                                                                                              General information describing a particular UAVCAN node. Please refer to the definition of the UAVCAN service "uavcan.protocol.GetNodeInfo" for the background information. This message should be emitted by the system whenever a new node appears online, or an existing node reboots. Additionally, it can be emitted upon request from the other end of the MAVLink channel (see MAV_CMD_UAVCAN_GET_NODE_INFO). It is also not prohibited to emit this message unconditionally at a low frequency. The UAVCAN specification is available at http://uavcan.org.

                                                                                                                                                              Field NameTypeUnitsDescription
                                                                                                                                                              time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
                                                                                                                                                              uptime_secuint32_tsTime since the start-up of the node.
                                                                                                                                                              namechar[80]Node name string. For example, "sapog.px4.io".
                                                                                                                                                              hw_version_majoruint8_tHardware major version number.
                                                                                                                                                              hw_version_minoruint8_tHardware minor version number.
                                                                                                                                                              hw_unique_iduint8_t[16]Hardware unique 128-bit ID.
                                                                                                                                                              sw_version_majoruint8_tSoftware major version number.
                                                                                                                                                              sw_version_minoruint8_tSoftware minor version number.
                                                                                                                                                              sw_vcs_commituint32_tVersion control system (VCS) revision identifier (e.g. git short commit hash). 0 if unknown.

                                                                                                                                                              PARAM_EXT_REQUEST_READ (320)

                                                                                                                                                              Request to read the value of a parameter with either the param_id string id or param_index. PARAM_EXT_VALUE should be emitted in response.

                                                                                                                                                              Field NameTypeDescription
                                                                                                                                                              target_systemuint8_tSystem ID
                                                                                                                                                              target_componentuint8_tComponent ID
                                                                                                                                                              param_idchar[16]Parameter id, terminated by NULL if the length is less than 16 human-readable chars and WITHOUT null termination (NULL) byte if the length is exactly 16 chars - applications have to provide 16+1 bytes storage if the ID is stored as string
                                                                                                                                                              param_indexint16_tParameter index. Set to -1 to use the Parameter ID field as identifier (else param_id will be ignored)

                                                                                                                                                              PARAM_EXT_REQUEST_LIST (321)

                                                                                                                                                              Request all parameters of this component. All parameters should be emitted in response as PARAM_EXT_VALUE.

                                                                                                                                                              Field NameTypeDescription
                                                                                                                                                              target_systemuint8_tSystem ID
                                                                                                                                                              target_componentuint8_tComponent ID

                                                                                                                                                              PARAM_EXT_VALUE (322)

                                                                                                                                                              Emit the value of a parameter. The inclusion of param_count and param_index in the message allows the recipient to keep track of received parameters and allows them to re-request missing parameters after a loss or timeout.

                                                                                                                                                              Field NameTypeValuesDescription
                                                                                                                                                              param_idchar[16]Parameter id, terminated by NULL if the length is less than 16 human-readable chars and WITHOUT null termination (NULL) byte if the length is exactly 16 chars - applications have to provide 16+1 bytes storage if the ID is stored as string
                                                                                                                                                              param_valuechar[128]Parameter value
                                                                                                                                                              param_typeuint8_tMAV_PARAM_EXT_TYPEParameter type.
                                                                                                                                                              param_countuint16_tTotal number of parameters
                                                                                                                                                              param_indexuint16_tIndex of this parameter

                                                                                                                                                              PARAM_EXT_SET (323)

                                                                                                                                                              Set a parameter value. In order to deal with message loss (and retransmission of PARAM_EXT_SET), when setting a parameter value and the new value is the same as the current value, you will immediately get a PARAM_ACK_ACCEPTED response. If the current state is PARAM_ACK_IN_PROGRESS, you will accordingly receive a PARAM_ACK_IN_PROGRESS in response.

                                                                                                                                                              Field NameTypeValuesDescription
                                                                                                                                                              target_systemuint8_tSystem ID
                                                                                                                                                              target_componentuint8_tComponent ID
                                                                                                                                                              param_idchar[16]Parameter id, terminated by NULL if the length is less than 16 human-readable chars and WITHOUT null termination (NULL) byte if the length is exactly 16 chars - applications have to provide 16+1 bytes storage if the ID is stored as string
                                                                                                                                                              param_valuechar[128]Parameter value
                                                                                                                                                              param_typeuint8_tMAV_PARAM_EXT_TYPEParameter type.

                                                                                                                                                              PARAM_EXT_ACK (324)

                                                                                                                                                              Response from a PARAM_EXT_SET message.

                                                                                                                                                              Field NameTypeValuesDescription
                                                                                                                                                              param_idchar[16]Parameter id, terminated by NULL if the length is less than 16 human-readable chars and WITHOUT null termination (NULL) byte if the length is exactly 16 chars - applications have to provide 16+1 bytes storage if the ID is stored as string
                                                                                                                                                              param_valuechar[128]Parameter value (new value if PARAM_ACK_ACCEPTED, current value otherwise)
                                                                                                                                                              param_typeuint8_tMAV_PARAM_EXT_TYPEParameter type.
                                                                                                                                                              param_resultuint8_tPARAM_ACKResult code.

                                                                                                                                                              OBSTACLE_DISTANCE (330)

                                                                                                                                                              Obstacle distances in front of the sensor, starting from the left in increment degrees to the right

                                                                                                                                                              Field NameTypeUnitsValuesDescription
                                                                                                                                                              time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
                                                                                                                                                              sensor_typeuint8_tMAV_DISTANCE_SENSORClass id of the distance sensor type.
                                                                                                                                                              distancesuint16_t[72]cminvalid:[UINT16_MAX]Distance of obstacles around the vehicle with index 0 corresponding to north + angle_offset, unless otherwise specified in the frame. A value of 0 is valid and means that the obstacle is practically touching the sensor. A value of max_distance +1 means no obstacle is present. A value of UINT16_MAX for unknown/not used. In a array element, one unit corresponds to 1cm.
                                                                                                                                                              incrementuint8_tdegAngular width in degrees of each array element. Increment direction is clockwise. This field is ignored if increment_f is non-zero.
                                                                                                                                                              min_distanceuint16_tcmMinimum distance the sensor can measure.
                                                                                                                                                              max_distanceuint16_tcmMaximum distance the sensor can measure.
                                                                                                                                                              increment_f ++floatdegAngular width in degrees of each array element as a float. If non-zero then this value is used instead of the uint8_t increment field. Positive is clockwise direction, negative is counter-clockwise.
                                                                                                                                                              angle_offset ++floatdegRelative angle offset of the 0-index element in the distances array. Value of 0 corresponds to forward. Positive is clockwise direction, negative is counter-clockwise.
                                                                                                                                                              frame ++uint8_tMAV_FRAMECoordinate frame of reference for the yaw rotation and offset of the sensor data. Defaults to MAV_FRAME_GLOBAL, which is north aligned. For body-mounted sensors use MAV_FRAME_BODY_FRD, which is vehicle front aligned.

                                                                                                                                                              ODOMETRY (331)

                                                                                                                                                              Odometry message to communicate odometry information with an external interface. Fits ROS REP 147 standard for aerial vehicles (http://www.ros.org/reps/rep-0147.html).

                                                                                                                                                              Field NameTypeUnitsValuesDescription
                                                                                                                                                              time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
                                                                                                                                                              frame_iduint8_tMAV_FRAMECoordinate frame of reference for the pose data.
                                                                                                                                                              child_frame_iduint8_tMAV_FRAMECoordinate frame of reference for the velocity in free space (twist) data.
                                                                                                                                                              xfloatmX Position
                                                                                                                                                              yfloatmY Position
                                                                                                                                                              zfloatmZ Position
                                                                                                                                                              qfloat[4]Quaternion components, w, x, y, z (1 0 0 0 is the null-rotation)
                                                                                                                                                              vxfloatm/sX linear speed
                                                                                                                                                              vyfloatm/sY linear speed
                                                                                                                                                              vzfloatm/sZ linear speed
                                                                                                                                                              rollspeedfloatrad/sRoll angular speed
                                                                                                                                                              pitchspeedfloatrad/sPitch angular speed
                                                                                                                                                              yawspeedfloatrad/sYaw angular speed
                                                                                                                                                              pose_covariancefloat[21]invalid:[NaN:]Row-major representation of a 6x6 pose cross-covariance matrix upper right triangle (states: x, y, z, roll, pitch, yaw; first six entries are the first ROW, next five entries are the second ROW, etc.). If unknown, assign NaN value to first element in the array.
                                                                                                                                                              velocity_covariancefloat[21]invalid:[NaN:]Row-major representation of a 6x6 velocity cross-covariance matrix upper right triangle (states: vx, vy, vz, rollspeed, pitchspeed, yawspeed; first six entries are the first ROW, next five entries are the second ROW, etc.). If unknown, assign NaN value to first element in the array.
                                                                                                                                                              reset_counter ++uint8_tEstimate reset counter. This should be incremented when the estimate resets in any of the dimensions (position, velocity, attitude, angular speed). This is designed to be used when e.g an external SLAM system detects a loop-closure and the estimate jumps.
                                                                                                                                                              estimator_type ++uint8_tMAV_ESTIMATOR_TYPEType of estimator that is providing the odometry.
                                                                                                                                                              quality ++int8_t%invalid:0Optional odometry quality metric as a percentage. -1 = odometry has failed, 0 = unknown/unset quality, 1 = worst quality, 100 = best quality

                                                                                                                                                              TRAJECTORY_REPRESENTATION_WAYPOINTS (332)

                                                                                                                                                              Describe a trajectory using an array of up-to 5 waypoints in the local frame (MAV_FRAME_LOCAL_NED).

                                                                                                                                                              Field NameTypeUnitsValuesDescription
                                                                                                                                                              time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
                                                                                                                                                              valid_pointsuint8_tNumber of valid points (up-to 5 waypoints are possible)
                                                                                                                                                              pos_xfloat[5]minvalid:[NaN]X-coordinate of waypoint, set to NaN if not being used
                                                                                                                                                              pos_yfloat[5]minvalid:[NaN]Y-coordinate of waypoint, set to NaN if not being used
                                                                                                                                                              pos_zfloat[5]minvalid:[NaN]Z-coordinate of waypoint, set to NaN if not being used
                                                                                                                                                              vel_xfloat[5]m/sinvalid:[NaN]X-velocity of waypoint, set to NaN if not being used
                                                                                                                                                              vel_yfloat[5]m/sinvalid:[NaN]Y-velocity of waypoint, set to NaN if not being used
                                                                                                                                                              vel_zfloat[5]m/sinvalid:[NaN]Z-velocity of waypoint, set to NaN if not being used
                                                                                                                                                              acc_xfloat[5]m/s/sinvalid:[NaN]X-acceleration of waypoint, set to NaN if not being used
                                                                                                                                                              acc_yfloat[5]m/s/sinvalid:[NaN]Y-acceleration of waypoint, set to NaN if not being used
                                                                                                                                                              acc_zfloat[5]m/s/sinvalid:[NaN]Z-acceleration of waypoint, set to NaN if not being used
                                                                                                                                                              pos_yawfloat[5]radinvalid:[NaN]Yaw angle, set to NaN if not being used
                                                                                                                                                              vel_yawfloat[5]rad/sinvalid:[NaN]Yaw rate, set to NaN if not being used
                                                                                                                                                              commanduint16_t[5]invalid:[UINT16_MAX] MAV_CMDMAV_CMD command id of waypoint, set to UINT16_MAX if not being used.

                                                                                                                                                              TRAJECTORY_REPRESENTATION_BEZIER (333)

                                                                                                                                                              Describe a trajectory using an array of up-to 5 bezier control points in the local frame (MAV_FRAME_LOCAL_NED).

                                                                                                                                                              Field NameTypeUnitsDescription
                                                                                                                                                              time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
                                                                                                                                                              valid_pointsuint8_tNumber of valid control points (up-to 5 points are possible)
                                                                                                                                                              pos_xfloat[5]mX-coordinate of bezier control points. Set to NaN if not being used
                                                                                                                                                              pos_yfloat[5]mY-coordinate of bezier control points. Set to NaN if not being used
                                                                                                                                                              pos_zfloat[5]mZ-coordinate of bezier control points. Set to NaN if not being used
                                                                                                                                                              deltafloat[5]sBezier time horizon. Set to NaN if velocity/acceleration should not be incorporated
                                                                                                                                                              pos_yawfloat[5]radYaw. Set to NaN for unchanged

                                                                                                                                                              CELLULAR_STATUS (334)

                                                                                                                                                              Report current used cellular network status

                                                                                                                                                              Field NameTypeValuesDescription
                                                                                                                                                              statusuint8_tCELLULAR_STATUS_FLAGCellular modem status
                                                                                                                                                              failure_reasonuint8_tCELLULAR_NETWORK_FAILED_REASONFailure reason when status in in CELLULAR_STATUS_FLAG_FAILED
                                                                                                                                                              typeuint8_tCELLULAR_NETWORK_RADIO_TYPECellular network radio type: gsm, cdma, lte...
                                                                                                                                                              qualityuint8_tinvalid:UINT8_MAXSignal quality in percent. If unknown, set to UINT8_MAX
                                                                                                                                                              mccuint16_tinvalid:UINT16_MAXMobile country code. If unknown, set to UINT16_MAX
                                                                                                                                                              mncuint16_tinvalid:UINT16_MAXMobile network code. If unknown, set to UINT16_MAX
                                                                                                                                                              lacuint16_tinvalid:0Location area code. If unknown, set to 0

                                                                                                                                                              Status of the Iridium SBD link.

                                                                                                                                                              Field NameTypeUnitsDescription
                                                                                                                                                              timestampuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
                                                                                                                                                              last_heartbeatuint64_tusTimestamp of the last successful sbd session. The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
                                                                                                                                                              failed_sessionsuint16_tNumber of failed SBD sessions.
                                                                                                                                                              successful_sessionsuint16_tNumber of successful SBD sessions.
                                                                                                                                                              signal_qualityuint8_tSignal quality equal to the number of bars displayed on the ISU signal strength indicator. Range is 0 to 5, where 0 indicates no signal and 5 indicates maximum signal strength.
                                                                                                                                                              ring_pendinguint8_t1: Ring call pending, 0: No call pending.
                                                                                                                                                              tx_session_pendinguint8_t1: Transmission session pending, 0: No transmission session pending.
                                                                                                                                                              rx_session_pendinguint8_t1: Receiving session pending, 0: No receiving session pending.

                                                                                                                                                              CELLULAR_CONFIG (336)

                                                                                                                                                              Configure cellular modems.

                                                                                                                                                              This message is re-emitted as an acknowledgement by the modem. The message may also be explicitly requested using MAV_CMD_REQUEST_MESSAGE.

                                                                                                                                                              Field NameTypeValuesDescription
                                                                                                                                                              enable_lteuint8_tEnable/disable LTE. 0: setting unchanged, 1: disabled, 2: enabled. Current setting when sent back as a response.
                                                                                                                                                              enable_pinuint8_tEnable/disable PIN on the SIM card. 0: setting unchanged, 1: disabled, 2: enabled. Current setting when sent back as a response.
                                                                                                                                                              pinchar[16]PIN sent to the SIM card. Blank when PIN is disabled. Empty when message is sent back as a response.
                                                                                                                                                              new_pinchar[16]New PIN when changing the PIN. Blank to leave it unchanged. Empty when message is sent back as a response.
                                                                                                                                                              apnchar[32]Name of the cellular APN. Blank to leave it unchanged. Current APN when sent back as a response.
                                                                                                                                                              pukchar[16]Required PUK code in case the user failed to authenticate 3 times with the PIN. Empty when message is sent back as a response.
                                                                                                                                                              roaminguint8_tEnable/disable roaming. 0: setting unchanged, 1: disabled, 2: enabled. Current setting when sent back as a response.
                                                                                                                                                              responseuint8_tCELLULAR_CONFIG_RESPONSEMessage acceptance response (sent back to GS).

                                                                                                                                                              RAW_RPM (339)

                                                                                                                                                              RPM sensor data message.

                                                                                                                                                              Field NameTypeUnitsDescription
                                                                                                                                                              indexuint8_tIndex of this RPM sensor (0-indexed)
                                                                                                                                                              frequencyfloatrpmIndicated rate

                                                                                                                                                              UTM_GLOBAL_POSITION (340)

                                                                                                                                                              The global position resulting from GPS and sensor fusion.

                                                                                                                                                              Field NameTypeUnitsValuesDescription
                                                                                                                                                              timeuint64_tusTime of applicability of position (microseconds since UNIX epoch).
                                                                                                                                                              uas_iduint8_t[18]Unique UAS ID.
                                                                                                                                                              latint32_tdegE7Latitude (WGS84)
                                                                                                                                                              lonint32_tdegE7Longitude (WGS84)
                                                                                                                                                              altint32_tmmAltitude (WGS84)
                                                                                                                                                              relative_altint32_tmmAltitude above ground
                                                                                                                                                              vxint16_tcm/sGround X speed (latitude, positive north)
                                                                                                                                                              vyint16_tcm/sGround Y speed (longitude, positive east)
                                                                                                                                                              vzint16_tcm/sGround Z speed (altitude, positive down)
                                                                                                                                                              h_accuint16_tmmHorizontal position uncertainty (standard deviation)
                                                                                                                                                              v_accuint16_tmmAltitude uncertainty (standard deviation)
                                                                                                                                                              vel_accuint16_tcm/sSpeed uncertainty (standard deviation)
                                                                                                                                                              next_latint32_tdegE7Next waypoint, latitude (WGS84)
                                                                                                                                                              next_lonint32_tdegE7Next waypoint, longitude (WGS84)
                                                                                                                                                              next_altint32_tmmNext waypoint, altitude (WGS84)
                                                                                                                                                              update_rateuint16_tcsinvalid:0Time until next update. Set to 0 if unknown or in data driven mode.
                                                                                                                                                              flight_stateuint8_tUTM_FLIGHT_STATEFlight state
                                                                                                                                                              flagsuint8_tUTM_DATA_AVAIL_FLAGSBitwise OR combination of the data available flags.

                                                                                                                                                              DEBUG_FLOAT_ARRAY (350)

                                                                                                                                                              Large debug/prototyping array. The message uses the maximum available payload for data. The array_id and name fields are used to discriminate between messages in code and in user interfaces (respectively). Do not use in production code.

                                                                                                                                                              Field NameTypeUnitsDescription
                                                                                                                                                              time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
                                                                                                                                                              namechar[10]Name, for human-friendly display in a Ground Control Station
                                                                                                                                                              array_iduint16_tUnique ID used to discriminate between arrays
                                                                                                                                                              Messages with same value are from the same source (instance).
                                                                                                                                                              data ++float[58]data

                                                                                                                                                              ORBIT_EXECUTION_STATUS (360) — [WIP]

                                                                                                                                                              WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                              Vehicle status report that is sent out while orbit execution is in progress (see MAV_CMD_DO_ORBIT).

                                                                                                                                                              Field NameTypeUnitsValuesDescription
                                                                                                                                                              time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
                                                                                                                                                              radiusfloatmRadius of the orbit circle. Positive values orbit clockwise, negative values orbit counter-clockwise.
                                                                                                                                                              frameuint8_tMAV_FRAMEThe coordinate system of the fields: x, y, z.
                                                                                                                                                              xint32_tX coordinate of center point. Coordinate system depends on frame field: local = x position in meters 1e4, global = latitude in degrees 1e7.
                                                                                                                                                              yint32_tY coordinate of center point. Coordinate system depends on frame field: local = x position in meters 1e4, global = latitude in degrees 1e7.
                                                                                                                                                              zfloatmAltitude of center point. Coordinate system depends on frame field.

                                                                                                                                                              BATTERY_INFO (370) — [WIP]

                                                                                                                                                              WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                              Battery information that is static, or requires infrequent update. This message should requested using MAV_CMD_REQUEST_MESSAGE and/or streamed at very low rate. BATTERY_STATUS_V2 is used for higher-rate battery status information.

                                                                                                                                                              Field NameTypeUnitsValuesDescription
                                                                                                                                                              iduint8_tBattery ID
                                                                                                                                                              Messages with same value are from the same source (instance).
                                                                                                                                                              battery_functionuint8_tMAV_BATTERY_FUNCTIONFunction of the battery.
                                                                                                                                                              typeuint8_tMAV_BATTERY_TYPEType (chemistry) of the battery.
                                                                                                                                                              state_of_healthuint8_t%invalid:UINT8_MAXState of Health (SOH) estimate. Typically 100% at the time of manufacture and will decrease over time and use. -1: field not provided.
                                                                                                                                                              cells_in_seriesuint8_tinvalid:0Number of battery cells in series. 0: field not provided.
                                                                                                                                                              cycle_countuint16_tinvalid:UINT16_MAXLifetime count of the number of charge/discharge cycles (https://en.wikipedia.org/wiki/Charge_cycle). UINT16_MAX: field not provided.
                                                                                                                                                              weightuint16_tginvalid:0Battery weight. 0: field not provided.
                                                                                                                                                              discharge_minimum_voltagefloatVinvalid:0Minimum per-cell voltage when discharging. 0: field not provided.
                                                                                                                                                              charging_minimum_voltagefloatVinvalid:0Minimum per-cell voltage when charging. 0: field not provided.
                                                                                                                                                              resting_minimum_voltagefloatVinvalid:0Minimum per-cell voltage when resting. 0: field not provided.
                                                                                                                                                              charging_maximum_voltagefloatVinvalid:0Maximum per-cell voltage when charged. 0: field not provided.
                                                                                                                                                              charging_maximum_currentfloatAinvalid:0Maximum pack continuous charge current. 0: field not provided.
                                                                                                                                                              nominal_voltagefloatVinvalid:0Battery nominal voltage. Used for conversion between Wh and Ah. 0: field not provided.
                                                                                                                                                              discharge_maximum_currentfloatAinvalid:0Maximum pack discharge current. 0: field not provided.
                                                                                                                                                              discharge_maximum_burst_currentfloatAinvalid:0Maximum pack discharge burst current. 0: field not provided.
                                                                                                                                                              design_capacityfloatAhinvalid:0Fully charged design capacity. 0: field not provided.
                                                                                                                                                              full_charge_capacityfloatAhinvalid:NaNPredicted battery capacity when fully charged (accounting for battery degradation). NAN: field not provided.
                                                                                                                                                              manufacture_datechar[9]invalid:[0]Manufacture date (DDMMYYYY) in ASCII characters, 0 terminated. All 0: field not provided.
                                                                                                                                                              serial_numberchar[32]invalid:[0]Serial number in ASCII characters, 0 terminated. All 0: field not provided.
                                                                                                                                                              namechar[50]invalid:[0]Battery device name. Formatted as manufacturer name then product name, separated with an underscore (in ASCII characters), 0 terminated. All 0: field not provided.

                                                                                                                                                              GENERATOR_STATUS (373)

                                                                                                                                                              Telemetry of power generation system. Alternator or mechanical generator.

                                                                                                                                                              Field NameTypeUnitsValuesDescription
                                                                                                                                                              statusuint64_tMAV_GENERATOR_STATUS_FLAGStatus flags.
                                                                                                                                                              generator_speeduint16_trpminvalid:UINT16_MAXSpeed of electrical generator or alternator. UINT16_MAX: field not provided.
                                                                                                                                                              battery_currentfloatAinvalid:NaNCurrent into/out of battery. Positive for out. Negative for in. NaN: field not provided.
                                                                                                                                                              load_currentfloatAinvalid:NaNCurrent going to the UAV. If battery current not available this is the DC current from the generator. Positive for out. Negative for in. NaN: field not provided
                                                                                                                                                              power_generatedfloatWinvalid:NaNThe power being generated. NaN: field not provided
                                                                                                                                                              bus_voltagefloatVVoltage of the bus seen at the generator, or battery bus if battery bus is controlled by generator and at a different voltage to main bus.
                                                                                                                                                              rectifier_temperatureint16_tdegCinvalid:INT16_MAXThe temperature of the rectifier or power converter. INT16_MAX: field not provided.
                                                                                                                                                              bat_current_setpointfloatAinvalid:NaNThe target battery current. Positive for out. Negative for in. NaN: field not provided
                                                                                                                                                              generator_temperatureint16_tdegCinvalid:INT16_MAXThe temperature of the mechanical motor, fuel cell core or generator. INT16_MAX: field not provided.
                                                                                                                                                              runtimeuint32_tsinvalid:UINT32_MAXSeconds this generator has run since it was rebooted. UINT32_MAX: field not provided.
                                                                                                                                                              time_until_maintenanceint32_tsinvalid:INT32_MAXSeconds until this generator requires maintenance. A negative value indicates maintenance is past-due. INT32_MAX: field not provided.

                                                                                                                                                              ACTUATOR_OUTPUT_STATUS (375)

                                                                                                                                                              The raw values of the actuator outputs (e.g. on Pixhawk, from MAIN, AUX ports). This message supersedes SERVO_OUTPUT_RAW.

                                                                                                                                                              Field NameTypeUnitsDescription
                                                                                                                                                              time_usecuint64_tusTimestamp (since system boot).
                                                                                                                                                              activeuint32_tActive outputs
                                                                                                                                                              actuatorfloat[32]Servo / motor output array values. Zero values indicate unused channels.

                                                                                                                                                              TIME_ESTIMATE_TO_TARGET (380) — [WIP]

                                                                                                                                                              WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                              Time/duration estimates for various events and actions given the current vehicle state and position.

                                                                                                                                                              Field NameTypeUnitsDescription
                                                                                                                                                              safe_returnint32_tsEstimated time to complete the vehicle's configured "safe return" action from its current position (e.g. RTL, Smart RTL, etc.). -1 indicates that the vehicle is landed, or that no time estimate available.
                                                                                                                                                              landint32_tsEstimated time for vehicle to complete the LAND action from its current position. -1 indicates that the vehicle is landed, or that no time estimate available.
                                                                                                                                                              mission_next_itemint32_tsEstimated time for reaching/completing the currently active mission item. -1 means no time estimate available.
                                                                                                                                                              mission_endint32_tsEstimated time for completing the current mission. -1 means no mission active and/or no estimate available.
                                                                                                                                                              commanded_actionint32_tsEstimated time for completing the current commanded action (i.e. Go To, Takeoff, Land, etc.). -1 means no action active and/or no estimate available.

                                                                                                                                                              TUNNEL (385)

                                                                                                                                                              Message for transporting "arbitrary" variable-length data from one component to another (broadcast is not forbidden, but discouraged). The encoding of the data is usually extension specific, i.e. determined by the source, and is usually not documented as part of the MAVLink specification.

                                                                                                                                                              Field NameTypeValuesDescription
                                                                                                                                                              target_systemuint8_tSystem ID (can be 0 for broadcast, but this is discouraged)
                                                                                                                                                              target_componentuint8_tComponent ID (can be 0 for broadcast, but this is discouraged)
                                                                                                                                                              payload_typeuint16_tMAV_TUNNEL_PAYLOAD_TYPEA code that identifies the content of the payload (0 for unknown, which is the default). If this code is less than 32768, it is a 'registered' payload type and the corresponding code should be added to the MAV_TUNNEL_PAYLOAD_TYPE enum. Software creators can register blocks of types as needed. Codes greater than 32767 are considered local experiments and should not be checked in to any widely distributed codebase.
                                                                                                                                                              payload_lengthuint8_tLength of the data transported in payload
                                                                                                                                                              payloaduint8_t[128]Variable length payload. The payload length is defined by payload_length. The entire content of this block is opaque unless you understand the encoding specified by payload_type.

                                                                                                                                                              CAN_FRAME (386)

                                                                                                                                                              A forwarded CAN frame as requested by MAV_CMD_CAN_FORWARD.

                                                                                                                                                              Field NameTypeDescription
                                                                                                                                                              target_systemuint8_tSystem ID.
                                                                                                                                                              target_componentuint8_tComponent ID.
                                                                                                                                                              busuint8_tBus number
                                                                                                                                                              lenuint8_tFrame length
                                                                                                                                                              iduint32_tFrame ID
                                                                                                                                                              datauint8_t[8]Frame data

                                                                                                                                                              CANFD_FRAME (387)

                                                                                                                                                              A forwarded CANFD frame as requested by MAV_CMD_CAN_FORWARD. These are separated from CAN_FRAME as they need different handling (eg. TAO handling)

                                                                                                                                                              Field NameTypeDescription
                                                                                                                                                              target_systemuint8_tSystem ID.
                                                                                                                                                              target_componentuint8_tComponent ID.
                                                                                                                                                              busuint8_tbus number
                                                                                                                                                              lenuint8_tFrame length
                                                                                                                                                              iduint32_tFrame ID
                                                                                                                                                              datauint8_t[64]Frame data

                                                                                                                                                              CAN_FILTER_MODIFY (388)

                                                                                                                                                              Modify the filter of what CAN messages to forward over the mavlink. This can be used to make CAN forwarding work well on low bandwidth links. The filtering is applied on bits 8 to 24 of the CAN id (2nd and 3rd bytes) which corresponds to the DroneCAN message ID for DroneCAN. Filters with more than 16 IDs can be constructed by sending multiple CAN_FILTER_MODIFY messages.

                                                                                                                                                              Field NameTypeValuesDescription
                                                                                                                                                              target_systemuint8_tSystem ID.
                                                                                                                                                              target_componentuint8_tComponent ID.
                                                                                                                                                              busuint8_tbus number
                                                                                                                                                              operationuint8_tCAN_FILTER_OPwhat operation to perform on the filter list. See CAN_FILTER_OP enum.
                                                                                                                                                              num_idsuint8_tnumber of IDs in filter list
                                                                                                                                                              idsuint16_t[16]filter IDs, length num_ids

                                                                                                                                                              ONBOARD_COMPUTER_STATUS (390) — [WIP]

                                                                                                                                                              WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                              Hardware status sent by an onboard computer.

                                                                                                                                                              Field NameTypeUnitsDescription
                                                                                                                                                              time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
                                                                                                                                                              uptimeuint32_tmsTime since system boot.
                                                                                                                                                              typeuint8_tType of the onboard computer: 0: Mission computer primary, 1: Mission computer backup 1, 2: Mission computer backup 2, 3: Compute node, 4-5: Compute spares, 6-9: Payload computers.
                                                                                                                                                              cpu_coresuint8_t[8]CPU usage on the component in percent (100 - idle). A value of UINT8_MAX implies the field is unused.
                                                                                                                                                              cpu_combineduint8_t[10]Combined CPU usage as the last 10 slices of 100 MS (a histogram). This allows to identify spikes in load that max out the system, but only for a short amount of time. A value of UINT8_MAX implies the field is unused.
                                                                                                                                                              gpu_coresuint8_t[4]GPU usage on the component in percent (100 - idle). A value of UINT8_MAX implies the field is unused.
                                                                                                                                                              gpu_combineduint8_t[10]Combined GPU usage as the last 10 slices of 100 MS (a histogram). This allows to identify spikes in load that max out the system, but only for a short amount of time. A value of UINT8_MAX implies the field is unused.
                                                                                                                                                              temperature_boardint8_tdegCTemperature of the board. A value of INT8_MAX implies the field is unused.
                                                                                                                                                              temperature_coreint8_t[8]degCTemperature of the CPU core. A value of INT8_MAX implies the field is unused.
                                                                                                                                                              fan_speedint16_t[4]rpmFan speeds. A value of INT16_MAX implies the field is unused.
                                                                                                                                                              ram_usageuint32_tMiBAmount of used RAM on the component system. A value of UINT32_MAX implies the field is unused.
                                                                                                                                                              ram_totaluint32_tMiBTotal amount of RAM on the component system. A value of UINT32_MAX implies the field is unused.
                                                                                                                                                              storage_typeuint32_t[4]Storage type: 0: HDD, 1: SSD, 2: EMMC, 3: SD card (non-removable), 4: SD card (removable). A value of UINT32_MAX implies the field is unused.
                                                                                                                                                              storage_usageuint32_t[4]MiBAmount of used storage space on the component system. A value of UINT32_MAX implies the field is unused.
                                                                                                                                                              storage_totaluint32_t[4]MiBTotal amount of storage space on the component system. A value of UINT32_MAX implies the field is unused.
                                                                                                                                                              link_typeuint32_t[6]Link type: 0-9: UART, 10-19: Wired network, 20-29: Wifi, 30-39: Point-to-point proprietary, 40-49: Mesh proprietary
                                                                                                                                                              link_tx_rateuint32_t[6]KiB/sNetwork traffic from the component system. A value of UINT32_MAX implies the field is unused.
                                                                                                                                                              link_rx_rateuint32_t[6]KiB/sNetwork traffic to the component system. A value of UINT32_MAX implies the field is unused.
                                                                                                                                                              link_tx_maxuint32_t[6]KiB/sNetwork capacity from the component system. A value of UINT32_MAX implies the field is unused.
                                                                                                                                                              link_rx_maxuint32_t[6]KiB/sNetwork capacity to the component system. A value of UINT32_MAX implies the field is unused.

                                                                                                                                                              COMPONENT_INFORMATION (395) — [DEP]

                                                                                                                                                              DEPRECATED: Replaced By COMPONENT_METADATA (2022-04)

                                                                                                                                                              Component information message, which may be requested using MAV_CMD_REQUEST_MESSAGE.

                                                                                                                                                              Field NameTypeUnitsDescription
                                                                                                                                                              time_boot_msuint32_tmsTimestamp (time since system boot).
                                                                                                                                                              general_metadata_file_crcuint32_tCRC32 of the general metadata file (general_metadata_uri).
                                                                                                                                                              general_metadata_urichar[100]MAVLink FTP URI for the general metadata file (COMP_METADATA_TYPE_GENERAL), which may be compressed with xz. The file contains general component metadata, and may contain URI links for additional metadata (see COMP_METADATA_TYPE). The information is static from boot, and may be generated at compile time. The string needs to be zero terminated.
                                                                                                                                                              peripherals_metadata_file_crcuint32_tCRC32 of peripherals metadata file (peripherals_metadata_uri).
                                                                                                                                                              peripherals_metadata_urichar[100](Optional) MAVLink FTP URI for the peripherals metadata file (COMP_METADATA_TYPE_PERIPHERALS), which may be compressed with xz. This contains data about "attached components" such as UAVCAN nodes. The peripherals are in a separate file because the information must be generated dynamically at runtime. The string needs to be zero terminated.

                                                                                                                                                              COMPONENT_INFORMATION_BASIC (396)

                                                                                                                                                              Basic component information data. Should be requested using MAV_CMD_REQUEST_MESSAGE on startup, or when required.

                                                                                                                                                              Field NameTypeUnitsValuesDescription
                                                                                                                                                              time_boot_msuint32_tmsTimestamp (time since system boot).
                                                                                                                                                              capabilitiesuint64_tMAV_PROTOCOL_CAPABILITYComponent capability flags
                                                                                                                                                              time_manufacture_suint32_tsinvalid:0Date of manufacture as a UNIX Epoch time (since 1.1.1970) in seconds.
                                                                                                                                                              vendor_namechar[32]Name of the component vendor. Needs to be zero terminated. The field is optional and can be empty/all zeros.
                                                                                                                                                              model_namechar[32]Name of the component model. Needs to be zero terminated. The field is optional and can be empty/all zeros.
                                                                                                                                                              software_versionchar[24]Software version. The recommended format is SEMVER: 'major.minor.patch' (any format may be used). The field must be zero terminated if it has a value. The field is optional and can be empty/all zeros.
                                                                                                                                                              hardware_versionchar[24]Hardware version. The recommended format is SEMVER: 'major.minor.patch' (any format may be used). The field must be zero terminated if it has a value. The field is optional and can be empty/all zeros.
                                                                                                                                                              serial_numberchar[32]Hardware serial number. The field must be zero terminated if it has a value. The field is optional and can be empty/all zeros.

                                                                                                                                                              COMPONENT_METADATA (397) — [WIP]

                                                                                                                                                              WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                              Component metadata message, which may be requested using MAV_CMD_REQUEST_MESSAGE.

                                                                                                                                                              This contains the MAVLink FTP URI and CRC for the component's general metadata file. The file must be hosted on the component, and may be xz compressed. The file CRC can be used for file caching.

                                                                                                                                                              The general metadata file can be read to get the locations of other metadata files (COMP_METADATA_TYPE) and translations, which may be hosted either on the vehicle or the internet. For more information see: https://mavlink.io/en/services/component_information.html.

                                                                                                                                                              Note: Camera components should use CAMERA_INFORMATION instead, and autopilots may use both this message and AUTOPILOT_VERSION.

                                                                                                                                                              Field NameTypeUnitsDescription
                                                                                                                                                              time_boot_msuint32_tmsTimestamp (time since system boot).
                                                                                                                                                              file_crcuint32_tCRC32 of the general metadata file.
                                                                                                                                                              urichar[100]MAVLink FTP URI for the general metadata file (COMP_METADATA_TYPE_GENERAL), which may be compressed with xz. The file contains general component metadata, and may contain URI links for additional metadata (see COMP_METADATA_TYPE). The information is static from boot, and may be generated at compile time. The string needs to be zero terminated.

                                                                                                                                                              PLAY_TUNE_V2 (400)

                                                                                                                                                              Play vehicle tone/tune (buzzer). Supersedes message PLAY_TUNE.

                                                                                                                                                              Field NameTypeValuesDescription
                                                                                                                                                              target_systemuint8_tSystem ID
                                                                                                                                                              target_componentuint8_tComponent ID
                                                                                                                                                              formatuint32_tTUNE_FORMATTune format
                                                                                                                                                              tunechar[248]Tune definition as a NULL-terminated string.

                                                                                                                                                              SUPPORTED_TUNES (401)

                                                                                                                                                              Tune formats supported by vehicle. This should be emitted as response to MAV_CMD_REQUEST_MESSAGE.

                                                                                                                                                              Field NameTypeValuesDescription
                                                                                                                                                              target_systemuint8_tSystem ID
                                                                                                                                                              target_componentuint8_tComponent ID
                                                                                                                                                              formatuint32_tTUNE_FORMATBitfield of supported tune formats.

                                                                                                                                                              EVENT (410) — [WIP]

                                                                                                                                                              WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                              Event message. Each new event from a particular component gets a new sequence number. The same message might be sent multiple times if (re-)requested. Most events are broadcast, some can be specific to a target component (as receivers keep track of the sequence for missed events, all events need to be broadcast. Thus we use destination_component instead of target_component).

                                                                                                                                                              Field NameTypeUnitsDescription
                                                                                                                                                              destination_componentuint8_tComponent ID
                                                                                                                                                              destination_systemuint8_tSystem ID
                                                                                                                                                              iduint32_tEvent ID (as defined in the component metadata)
                                                                                                                                                              event_time_boot_msuint32_tmsTimestamp (time since system boot when the event happened).
                                                                                                                                                              sequenceuint16_tSequence number.
                                                                                                                                                              log_levelsuint8_tLog levels: 4 bits MSB: internal (for logging purposes), 4 bits LSB: external. Levels: Emergency = 0, Alert = 1, Critical = 2, Error = 3, Warning = 4, Notice = 5, Info = 6, Debug = 7, Protocol = 8, Disabled = 9
                                                                                                                                                              argumentsuint8_t[40]Arguments (depend on event ID).

                                                                                                                                                              CURRENT_EVENT_SEQUENCE (411) — [WIP]

                                                                                                                                                              WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                              Regular broadcast for the current latest event sequence number for a component. This is used to check for dropped events.

                                                                                                                                                              Field NameTypeValuesDescription
                                                                                                                                                              sequenceuint16_tSequence number.
                                                                                                                                                              flagsuint8_tMAV_EVENT_CURRENT_SEQUENCE_FLAGSFlag bitset.

                                                                                                                                                              REQUEST_EVENT (412) — [WIP]

                                                                                                                                                              WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                              Request one or more events to be (re-)sent. If first_sequence==last_sequence, only a single event is requested. Note that first_sequence can be larger than last_sequence (because the sequence number can wrap). Each sequence will trigger an EVENT or EVENT_ERROR response.

                                                                                                                                                              Field NameTypeDescription
                                                                                                                                                              target_systemuint8_tSystem ID
                                                                                                                                                              target_componentuint8_tComponent ID
                                                                                                                                                              first_sequenceuint16_tFirst sequence number of the requested event.
                                                                                                                                                              last_sequenceuint16_tLast sequence number of the requested event.

                                                                                                                                                              RESPONSE_EVENT_ERROR (413) — [WIP]

                                                                                                                                                              WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                              Response to a REQUEST_EVENT in case of an error (e.g. the event is not available anymore).

                                                                                                                                                              Field NameTypeValuesDescription
                                                                                                                                                              target_systemuint8_tSystem ID
                                                                                                                                                              target_componentuint8_tComponent ID
                                                                                                                                                              sequenceuint16_tSequence number.
                                                                                                                                                              sequence_oldest_availableuint16_tOldest Sequence number that is still available after the sequence set in REQUEST_EVENT.
                                                                                                                                                              reasonuint8_tMAV_EVENT_ERROR_REASONError reason.

                                                                                                                                                              ILLUMINATOR_STATUS (440)

                                                                                                                                                              Illuminator status

                                                                                                                                                              Field NameTypeUnitsValuesDescription
                                                                                                                                                              uptime_msuint32_tmsTime since the start-up of the illuminator in ms
                                                                                                                                                              enableuint8_t0: Illuminators OFF, 1: Illuminators ON
                                                                                                                                                              mode_bitmaskuint8_tILLUMINATOR_MODESupported illuminator modes
                                                                                                                                                              error_statusuint32_tILLUMINATOR_ERROR_FLAGSErrors
                                                                                                                                                              modeuint8_tILLUMINATOR_MODEIlluminator mode
                                                                                                                                                              brightnessfloat%Illuminator brightness
                                                                                                                                                              strobe_periodfloatsIlluminator strobing period in seconds
                                                                                                                                                              strobe_duty_cyclefloat%Illuminator strobing duty cycle
                                                                                                                                                              temp_cfloatTemperature in Celsius
                                                                                                                                                              min_strobe_periodfloatsMinimum strobing period in seconds
                                                                                                                                                              max_strobe_periodfloatsMaximum strobing period in seconds

                                                                                                                                                              WHEEL_DISTANCE (9000)

                                                                                                                                                              Cumulative distance traveled for each reported wheel.

                                                                                                                                                              Field NameTypeUnitsDescription
                                                                                                                                                              time_usecuint64_tusTimestamp (synced to UNIX time or since system boot).
                                                                                                                                                              countuint8_tNumber of wheels reported.
                                                                                                                                                              distancedouble[16]mDistance reported by individual wheel encoders. Forward rotations increase values, reverse rotations decrease them. Not all wheels will necessarily have wheel encoders; the mapping of encoders to wheel positions must be agreed/understood by the endpoints.

                                                                                                                                                              WINCH_STATUS (9005)

                                                                                                                                                              Winch status.

                                                                                                                                                              Field NameTypeUnitsValuesDescription
                                                                                                                                                              time_usecuint64_tusTimestamp (synced to UNIX time or since system boot).
                                                                                                                                                              line_lengthfloatminvalid:NaNLength of line released. NaN if unknown
                                                                                                                                                              speedfloatm/sinvalid:NaNSpeed line is being released or retracted. Positive values if being released, negative values if being retracted, NaN if unknown
                                                                                                                                                              tensionfloatkginvalid:NaNTension on the line. NaN if unknown
                                                                                                                                                              voltagefloatVinvalid:NaNVoltage of the battery supplying the winch. NaN if unknown
                                                                                                                                                              currentfloatAinvalid:NaNCurrent draw from the winch. NaN if unknown
                                                                                                                                                              temperatureint16_tdegCinvalid:INT16_MAXTemperature of the motor. INT16_MAX if unknown
                                                                                                                                                              statusuint32_tMAV_WINCH_STATUS_FLAGStatus flags

                                                                                                                                                              OPEN_DRONE_ID_BASIC_ID (12900)

                                                                                                                                                              Data for filling the OpenDroneID Basic ID message. This and the below messages are primarily meant for feeding data to/from an OpenDroneID implementation. E.g. https://github.com/opendroneid/opendroneid-core-c. These messages are compatible with the ASTM F3411 Remote ID standard and the ASD-STAN prEN 4709-002 Direct Remote ID standard. Additional information and usage of these messages is documented at https://mavlink.io/en/services/opendroneid.html.

                                                                                                                                                              Field NameTypeValuesDescription
                                                                                                                                                              target_systemuint8_tSystem ID (0 for broadcast).
                                                                                                                                                              target_componentuint8_tComponent ID (0 for broadcast).
                                                                                                                                                              id_or_macuint8_t[20]Only used for drone ID data received from other UAs. See detailed description at https://mavlink.io/en/services/opendroneid.html.
                                                                                                                                                              id_typeuint8_tMAV_ODID_ID_TYPEIndicates the format for the uas_id field of this message.
                                                                                                                                                              ua_typeuint8_tMAV_ODID_UA_TYPEIndicates the type of UA (Unmanned Aircraft).
                                                                                                                                                              uas_iduint8_t[20]UAS (Unmanned Aircraft System) ID following the format specified by id_type. Shall be filled with nulls in the unused portion of the field.

                                                                                                                                                              OPEN_DRONE_ID_LOCATION (12901)

                                                                                                                                                              Data for filling the OpenDroneID Location message. The float data types are 32-bit IEEE 754. The Location message provides the location, altitude, direction and speed of the aircraft.

                                                                                                                                                              Field NameTypeUnitsValuesDescription
                                                                                                                                                              target_systemuint8_tSystem ID (0 for broadcast).
                                                                                                                                                              target_componentuint8_tComponent ID (0 for broadcast).
                                                                                                                                                              id_or_macuint8_t[20]Only used for drone ID data received from other UAs. See detailed description at https://mavlink.io/en/services/opendroneid.html.
                                                                                                                                                              statusuint8_tMAV_ODID_STATUSIndicates whether the unmanned aircraft is on the ground or in the air.
                                                                                                                                                              directionuint16_tcdeginvalid:36100Direction over ground (not heading, but direction of movement) measured clockwise from true North: 0 - 35999 centi-degrees. If unknown: 36100 centi-degrees.
                                                                                                                                                              speed_horizontaluint16_tcm/sGround speed. Positive only. If unknown: 25500 cm/s. If speed is larger than 25425 cm/s, use 25425 cm/s.
                                                                                                                                                              speed_verticalint16_tcm/sThe vertical speed. Up is positive. If unknown: 6300 cm/s. If speed is larger than 6200 cm/s, use 6200 cm/s. If lower than -6200 cm/s, use -6200 cm/s.
                                                                                                                                                              latitudeint32_tdegE7invalid:0Current latitude of the unmanned aircraft. If unknown: 0 (both Lat/Lon).
                                                                                                                                                              longitudeint32_tdegE7invalid:0Current longitude of the unmanned aircraft. If unknown: 0 (both Lat/Lon).
                                                                                                                                                              altitude_barometricfloatminvalid:-1000The altitude calculated from the barometric pressue. Reference is against 29.92inHg or 1013.2mb. If unknown: -1000 m.
                                                                                                                                                              altitude_geodeticfloatminvalid:-1000The geodetic altitude as defined by WGS84. If unknown: -1000 m.
                                                                                                                                                              height_referenceuint8_tMAV_ODID_HEIGHT_REFIndicates the reference point for the height field.
                                                                                                                                                              heightfloatminvalid:-1000The current height of the unmanned aircraft above the take-off location or the ground as indicated by height_reference. If unknown: -1000 m.
                                                                                                                                                              horizontal_accuracyuint8_tMAV_ODID_HOR_ACCThe accuracy of the horizontal position.
                                                                                                                                                              vertical_accuracyuint8_tMAV_ODID_VER_ACCThe accuracy of the vertical position.
                                                                                                                                                              barometer_accuracyuint8_tMAV_ODID_VER_ACCThe accuracy of the barometric altitude.
                                                                                                                                                              speed_accuracyuint8_tMAV_ODID_SPEED_ACCThe accuracy of the horizontal and vertical speed.
                                                                                                                                                              timestampfloatsinvalid:0xFFFFSeconds after the full hour with reference to UTC time. Typically the GPS outputs a time-of-week value in milliseconds. First convert that to UTC and then convert for this field using ((float) (time_week_ms % (60601000))) / 1000. If unknown: 0xFFFF.
                                                                                                                                                              timestamp_accuracyuint8_tMAV_ODID_TIME_ACCThe accuracy of the timestamps.

                                                                                                                                                              OPEN_DRONE_ID_AUTHENTICATION (12902)

                                                                                                                                                              Data for filling the OpenDroneID Authentication message. The Authentication Message defines a field that can provide a means of authenticity for the identity of the UAS (Unmanned Aircraft System). The Authentication message can have two different formats. For data page 0, the fields PageCount, Length and TimeStamp are present and AuthData is only 17 bytes. For data page 1 through 15, PageCount, Length and TimeStamp are not present and the size of AuthData is 23 bytes.

                                                                                                                                                              Field NameTypeUnitsValuesDescription
                                                                                                                                                              target_systemuint8_tSystem ID (0 for broadcast).
                                                                                                                                                              target_componentuint8_tComponent ID (0 for broadcast).
                                                                                                                                                              id_or_macuint8_t[20]Only used for drone ID data received from other UAs. See detailed description at https://mavlink.io/en/services/opendroneid.html.
                                                                                                                                                              authentication_typeuint8_tMAV_ODID_AUTH_TYPEIndicates the type of authentication.
                                                                                                                                                              data_pageuint8_tAllowed range is 0 - 15.
                                                                                                                                                              last_page_indexuint8_tThis field is only present for page 0. Allowed range is 0 - 15. See the description of struct ODID_Auth_data at https://github.com/opendroneid/opendroneid-core-c/blob/master/libopendroneid/opendroneid.h.
                                                                                                                                                              lengthuint8_tbytesThis field is only present for page 0. Total bytes of authentication_data from all data pages. See the description of struct ODID_Auth_data at https://github.com/opendroneid/opendroneid-core-c/blob/master/libopendroneid/opendroneid.h.
                                                                                                                                                              timestampuint32_tsThis field is only present for page 0. 32 bit Unix Timestamp in seconds since 00:00:00 01/01/2019.
                                                                                                                                                              authentication_datauint8_t[23]Opaque authentication data. For page 0, the size is only 17 bytes. For other pages, the size is 23 bytes. Shall be filled with nulls in the unused portion of the field.

                                                                                                                                                              OPEN_DRONE_ID_SELF_ID (12903)

                                                                                                                                                              Data for filling the OpenDroneID Self ID message. The Self ID Message is an opportunity for the operator to (optionally) declare their identity and purpose of the flight. This message can provide additional information that could reduce the threat profile of a UA (Unmanned Aircraft) flying in a particular area or manner. This message can also be used to provide optional additional clarification in an emergency/remote ID system failure situation.

                                                                                                                                                              Field NameTypeValuesDescription
                                                                                                                                                              target_systemuint8_tSystem ID (0 for broadcast).
                                                                                                                                                              target_componentuint8_tComponent ID (0 for broadcast).
                                                                                                                                                              id_or_macuint8_t[20]Only used for drone ID data received from other UAs. See detailed description at https://mavlink.io/en/services/opendroneid.html.
                                                                                                                                                              description_typeuint8_tMAV_ODID_DESC_TYPEIndicates the type of the description field.
                                                                                                                                                              descriptionchar[23]Text description or numeric value expressed as ASCII characters. Shall be filled with nulls in the unused portion of the field.

                                                                                                                                                              OPEN_DRONE_ID_SYSTEM (12904)

                                                                                                                                                              Data for filling the OpenDroneID System message. The System Message contains general system information including the operator location/altitude and possible aircraft group and/or category/class information.

                                                                                                                                                              Field NameTypeUnitsValuesDescription
                                                                                                                                                              target_systemuint8_tSystem ID (0 for broadcast).
                                                                                                                                                              target_componentuint8_tComponent ID (0 for broadcast).
                                                                                                                                                              id_or_macuint8_t[20]Only used for drone ID data received from other UAs. See detailed description at https://mavlink.io/en/services/opendroneid.html.
                                                                                                                                                              operator_location_typeuint8_tMAV_ODID_OPERATOR_LOCATION_TYPESpecifies the operator location type.
                                                                                                                                                              classification_typeuint8_tMAV_ODID_CLASSIFICATION_TYPESpecifies the classification type of the UA.
                                                                                                                                                              operator_latitudeint32_tdegE7invalid:0Latitude of the operator. If unknown: 0 (both Lat/Lon).
                                                                                                                                                              operator_longitudeint32_tdegE7invalid:0Longitude of the operator. If unknown: 0 (both Lat/Lon).
                                                                                                                                                              area_countuint16_tNumber of aircraft in the area, group or formation (default 1). Used only for swarms/multiple UA.
                                                                                                                                                              area_radiusuint16_tmRadius of the cylindrical area of the group or formation (default 0). Used only for swarms/multiple UA.
                                                                                                                                                              area_ceilingfloatminvalid:-1000Area Operations Ceiling relative to WGS84. If unknown: -1000 m. Used only for swarms/multiple UA.
                                                                                                                                                              area_floorfloatminvalid:-1000Area Operations Floor relative to WGS84. If unknown: -1000 m. Used only for swarms/multiple UA.
                                                                                                                                                              category_euuint8_tMAV_ODID_CATEGORY_EUWhen classification_type is MAV_ODID_CLASSIFICATION_TYPE_EU, specifies the category of the UA.
                                                                                                                                                              class_euuint8_tMAV_ODID_CLASS_EUWhen classification_type is MAV_ODID_CLASSIFICATION_TYPE_EU, specifies the class of the UA.
                                                                                                                                                              operator_altitude_geofloatminvalid:-1000Geodetic altitude of the operator relative to WGS84. If unknown: -1000 m.
                                                                                                                                                              timestampuint32_ts32 bit Unix Timestamp in seconds since 00:00:00 01/01/2019.

                                                                                                                                                              OPEN_DRONE_ID_OPERATOR_ID (12905)

                                                                                                                                                              Data for filling the OpenDroneID Operator ID message, which contains the CAA (Civil Aviation Authority) issued operator ID.

                                                                                                                                                              Field NameTypeValuesDescription
                                                                                                                                                              target_systemuint8_tSystem ID (0 for broadcast).
                                                                                                                                                              target_componentuint8_tComponent ID (0 for broadcast).
                                                                                                                                                              id_or_macuint8_t[20]Only used for drone ID data received from other UAs. See detailed description at https://mavlink.io/en/services/opendroneid.html.
                                                                                                                                                              operator_id_typeuint8_tMAV_ODID_OPERATOR_ID_TYPEIndicates the type of the operator_id field.
                                                                                                                                                              operator_idchar[20]Text description or numeric value expressed as ASCII characters. Shall be filled with nulls in the unused portion of the field.

                                                                                                                                                              OPEN_DRONE_ID_MESSAGE_PACK (12915)

                                                                                                                                                              An OpenDroneID message pack is a container for multiple encoded OpenDroneID messages (i.e. not in the format given for the above message descriptions but after encoding into the compressed OpenDroneID byte format). Used e.g. when transmitting on Bluetooth 5.0 Long Range/Extended Advertising or on WiFi Neighbor Aware Networking or on WiFi Beacon.

                                                                                                                                                              Field NameTypeUnitsDescription
                                                                                                                                                              target_systemuint8_tSystem ID (0 for broadcast).
                                                                                                                                                              target_componentuint8_tComponent ID (0 for broadcast).
                                                                                                                                                              id_or_macuint8_t[20]Only used for drone ID data received from other UAs. See detailed description at https://mavlink.io/en/services/opendroneid.html.
                                                                                                                                                              single_message_sizeuint8_tbytesThis field must currently always be equal to 25 (bytes), since all encoded OpenDroneID messages are specified to have this length.
                                                                                                                                                              msg_pack_sizeuint8_tNumber of encoded messages in the pack (not the number of bytes). Allowed range is 1 - 9.
                                                                                                                                                              messagesuint8_t[225]Concatenation of encoded OpenDroneID messages. Shall be filled with nulls in the unused portion of the field.

                                                                                                                                                              OPEN_DRONE_ID_ARM_STATUS (12918)

                                                                                                                                                              Transmitter (remote ID system) is enabled and ready to start sending location and other required information. This is streamed by transmitter. A flight controller uses it as a condition to arm.

                                                                                                                                                              Field NameTypeValuesDescription
                                                                                                                                                              statusuint8_tMAV_ODID_ARM_STATUSStatus level indicating if arming is allowed.
                                                                                                                                                              errorchar[50]Text error message, should be empty if status is good to arm. Fill with nulls in unused portion.

                                                                                                                                                              OPEN_DRONE_ID_SYSTEM_UPDATE (12919)

                                                                                                                                                              Update the data in the OPEN_DRONE_ID_SYSTEM message with new location information. This can be sent to update the location information for the operator when no other information in the SYSTEM message has changed. This message allows for efficient operation on radio links which have limited uplink bandwidth while meeting requirements for update frequency of the operator location.

                                                                                                                                                              Field NameTypeUnitsDescription
                                                                                                                                                              target_systemuint8_tSystem ID (0 for broadcast).
                                                                                                                                                              target_componentuint8_tComponent ID (0 for broadcast).
                                                                                                                                                              operator_latitudeint32_tdegE7Latitude of the operator. If unknown: 0 (both Lat/Lon).
                                                                                                                                                              operator_longitudeint32_tdegE7Longitude of the operator. If unknown: 0 (both Lat/Lon).
                                                                                                                                                              operator_altitude_geofloatmGeodetic altitude of the operator relative to WGS84. If unknown: -1000 m.
                                                                                                                                                              timestampuint32_ts32 bit Unix Timestamp in seconds since 00:00:00 01/01/2019.

                                                                                                                                                              HYGROMETER_SENSOR (12920)

                                                                                                                                                              Temperature and humidity from hygrometer.

                                                                                                                                                              Field NameTypeUnitsDescription
                                                                                                                                                              iduint8_tHygrometer ID
                                                                                                                                                              Messages with same value are from the same source (instance).
                                                                                                                                                              temperatureint16_tcdegCTemperature
                                                                                                                                                              humidityuint16_tc%Humidity

                                                                                                                                                              Enumerated Types

                                                                                                                                                              FIRMWARE_VERSION_TYPE

                                                                                                                                                              These values define the type of firmware release. These values indicate the first version or release of this type. For example the first alpha release would be 64, the second would be 65.

                                                                                                                                                              ValueNameDescription
                                                                                                                                                              0FIRMWARE_VERSION_TYPE_DEVdevelopment release
                                                                                                                                                              64FIRMWARE_VERSION_TYPE_ALPHAalpha release
                                                                                                                                                              128FIRMWARE_VERSION_TYPE_BETAbeta release
                                                                                                                                                              192FIRMWARE_VERSION_TYPE_RCrelease candidate
                                                                                                                                                              255FIRMWARE_VERSION_TYPE_OFFICIALofficial stable release

                                                                                                                                                              HL_FAILURE_FLAG

                                                                                                                                                              (Bitmask) Flags to report failure cases over the high latency telemetry.

                                                                                                                                                              ValueNameDescription
                                                                                                                                                              1HL_FAILURE_FLAG_GPSGPS failure.
                                                                                                                                                              2HL_FAILURE_FLAG_DIFFERENTIAL_PRESSUREDifferential pressure sensor failure.
                                                                                                                                                              4HL_FAILURE_FLAG_ABSOLUTE_PRESSUREAbsolute pressure sensor failure.
                                                                                                                                                              8HL_FAILURE_FLAG_3D_ACCELAccelerometer sensor failure.
                                                                                                                                                              16HL_FAILURE_FLAG_3D_GYROGyroscope sensor failure.
                                                                                                                                                              32HL_FAILURE_FLAG_3D_MAGMagnetometer sensor failure.
                                                                                                                                                              64HL_FAILURE_FLAG_TERRAINTerrain subsystem failure.
                                                                                                                                                              128HL_FAILURE_FLAG_BATTERYBattery failure/critical low battery.
                                                                                                                                                              256HL_FAILURE_FLAG_RC_RECEIVERRC receiver failure/no RC connection.
                                                                                                                                                              512HL_FAILURE_FLAG_OFFBOARD_LINKOffboard link failure.
                                                                                                                                                              1024HL_FAILURE_FLAG_ENGINEEngine failure.
                                                                                                                                                              2048HL_FAILURE_FLAG_GEOFENCEGeofence violation.
                                                                                                                                                              4096HL_FAILURE_FLAG_ESTIMATOREstimator failure, for example measurement rejection or large variances.
                                                                                                                                                              8192HL_FAILURE_FLAG_MISSIONMission failure.

                                                                                                                                                              MAV_GOTO

                                                                                                                                                              Actions that may be specified in MAV_CMD_OVERRIDE_GOTO to override mission execution.

                                                                                                                                                              ValueNameDescription
                                                                                                                                                              0MAV_GOTO_DO_HOLDHold at the current position.
                                                                                                                                                              1MAV_GOTO_DO_CONTINUEContinue with the next item in mission execution.
                                                                                                                                                              2MAV_GOTO_HOLD_AT_CURRENT_POSITIONHold at the current position of the system
                                                                                                                                                              3MAV_GOTO_HOLD_AT_SPECIFIED_POSITIONHold at the position specified in the parameters of the DO_HOLD action

                                                                                                                                                              MAV_MODE

                                                                                                                                                              These defines are predefined OR-combined mode flags. There is no need to use values from this enum, but it

                                                                                                                                                              simplifies the use of the mode flags. Note that manual input is enabled in all modes as a safety override.

                                                                                                                                                              ValueNameDescription
                                                                                                                                                              0MAV_MODE_PREFLIGHTSystem is not ready to fly, booting, calibrating, etc. No flag is set.
                                                                                                                                                              64MAV_MODE_MANUAL_DISARMEDSystem is allowed to be active, under manual (RC) control, no stabilization
                                                                                                                                                              66MAV_MODE_TEST_DISARMEDUNDEFINED mode. This solely depends on the autopilot - use with caution, intended for developers only.
                                                                                                                                                              80MAV_MODE_STABILIZE_DISARMEDSystem is allowed to be active, under assisted RC control.
                                                                                                                                                              88MAV_MODE_GUIDED_DISARMEDSystem is allowed to be active, under autonomous control, manual setpoint
                                                                                                                                                              92MAV_MODE_AUTO_DISARMEDSystem is allowed to be active, under autonomous control and navigation (the trajectory is decided onboard and not pre-programmed by waypoints)
                                                                                                                                                              192MAV_MODE_MANUAL_ARMEDSystem is allowed to be active, under manual (RC) control, no stabilization
                                                                                                                                                              194MAV_MODE_TEST_ARMEDUNDEFINED mode. This solely depends on the autopilot - use with caution, intended for developers only.
                                                                                                                                                              208MAV_MODE_STABILIZE_ARMEDSystem is allowed to be active, under assisted RC control.
                                                                                                                                                              216MAV_MODE_GUIDED_ARMEDSystem is allowed to be active, under autonomous control, manual setpoint
                                                                                                                                                              220MAV_MODE_AUTO_ARMEDSystem is allowed to be active, under autonomous control and navigation (the trajectory is decided onboard and not pre-programmed by waypoints)

                                                                                                                                                              MAV_SYS_STATUS_SENSOR

                                                                                                                                                              (Bitmask) These encode the sensors whose status is sent as part of the SYS_STATUS message.

                                                                                                                                                              ValueNameDescription
                                                                                                                                                              1MAV_SYS_STATUS_SENSOR_3D_GYRO0x01 3D gyro
                                                                                                                                                              2MAV_SYS_STATUS_SENSOR_3D_ACCEL0x02 3D accelerometer
                                                                                                                                                              4MAV_SYS_STATUS_SENSOR_3D_MAG0x04 3D magnetometer
                                                                                                                                                              8MAV_SYS_STATUS_SENSOR_ABSOLUTE_PRESSURE0x08 absolute pressure
                                                                                                                                                              16MAV_SYS_STATUS_SENSOR_DIFFERENTIAL_PRESSURE0x10 differential pressure
                                                                                                                                                              32MAV_SYS_STATUS_SENSOR_GPS0x20 GPS
                                                                                                                                                              64MAV_SYS_STATUS_SENSOR_OPTICAL_FLOW0x40 optical flow
                                                                                                                                                              128MAV_SYS_STATUS_SENSOR_VISION_POSITION0x80 computer vision position
                                                                                                                                                              256MAV_SYS_STATUS_SENSOR_LASER_POSITION0x100 laser based position
                                                                                                                                                              512MAV_SYS_STATUS_SENSOR_EXTERNAL_GROUND_TRUTH0x200 external ground truth (Vicon or Leica)
                                                                                                                                                              1024MAV_SYS_STATUS_SENSOR_ANGULAR_RATE_CONTROL0x400 3D angular rate control
                                                                                                                                                              2048MAV_SYS_STATUS_SENSOR_ATTITUDE_STABILIZATION0x800 attitude stabilization
                                                                                                                                                              4096MAV_SYS_STATUS_SENSOR_YAW_POSITION0x1000 yaw position
                                                                                                                                                              8192MAV_SYS_STATUS_SENSOR_Z_ALTITUDE_CONTROL0x2000 z/altitude control
                                                                                                                                                              16384MAV_SYS_STATUS_SENSOR_XY_POSITION_CONTROL0x4000 x/y position control
                                                                                                                                                              32768MAV_SYS_STATUS_SENSOR_MOTOR_OUTPUTS0x8000 motor outputs / control
                                                                                                                                                              65536MAV_SYS_STATUS_SENSOR_RC_RECEIVER0x10000 RC receiver
                                                                                                                                                              131072MAV_SYS_STATUS_SENSOR_3D_GYRO20x20000 2nd 3D gyro
                                                                                                                                                              262144MAV_SYS_STATUS_SENSOR_3D_ACCEL20x40000 2nd 3D accelerometer
                                                                                                                                                              524288MAV_SYS_STATUS_SENSOR_3D_MAG20x80000 2nd 3D magnetometer
                                                                                                                                                              1048576MAV_SYS_STATUS_GEOFENCE0x100000 geofence
                                                                                                                                                              2097152MAV_SYS_STATUS_AHRS0x200000 AHRS subsystem health
                                                                                                                                                              4194304MAV_SYS_STATUS_TERRAIN0x400000 Terrain subsystem health
                                                                                                                                                              8388608MAV_SYS_STATUS_REVERSE_MOTOR0x800000 Motors are reversed
                                                                                                                                                              16777216MAV_SYS_STATUS_LOGGING0x1000000 Logging
                                                                                                                                                              33554432MAV_SYS_STATUS_SENSOR_BATTERY0x2000000 Battery
                                                                                                                                                              67108864MAV_SYS_STATUS_SENSOR_PROXIMITY0x4000000 Proximity
                                                                                                                                                              134217728MAV_SYS_STATUS_SENSOR_SATCOM0x8000000 Satellite Communication
                                                                                                                                                              268435456MAV_SYS_STATUS_PREARM_CHECK0x10000000 pre-arm check status. Always healthy when armed
                                                                                                                                                              536870912MAV_SYS_STATUS_OBSTACLE_AVOIDANCE0x20000000 Avoidance/collision prevention
                                                                                                                                                              1073741824MAV_SYS_STATUS_SENSOR_PROPULSION0x40000000 propulsion (actuator, esc, motor or propellor)
                                                                                                                                                              2147483648MAV_SYS_STATUS_EXTENSION_USED0x80000000 Extended bit-field are used for further sensor status bits (needs to be set in onboard_control_sensors_present only)

                                                                                                                                                              MAV_SYS_STATUS_SENSOR_EXTENDED

                                                                                                                                                              (Bitmask) These encode the sensors whose status is sent as part of the SYS_STATUS message in the extended fields.

                                                                                                                                                              ValueNameDescription
                                                                                                                                                              1MAV_SYS_STATUS_RECOVERY_SYSTEM0x01 Recovery system (parachute, balloon, retracts etc)

                                                                                                                                                              MAV_FRAME

                                                                                                                                                              Coordinate frames used by MAVLink. Not all frames are supported by all commands, messages, or vehicles.

                                                                                                                                                              Global frames use the following naming conventions:

                                                                                                                                                              • "GLOBAL": Global coordinate frame with WGS84 latitude/longitude and altitude positive over mean sea level (MSL) by default. The following modifiers may be used with "GLOBAL":
                                                                                                                                                              • "RELATIVE_ALT": Altitude is relative to the vehicle home position rather than MSL.
                                                                                                                                                              • "TERRAIN_ALT": Altitude is relative to ground level rather than MSL.
                                                                                                                                                              • "INT": Latitude/longitude (in degrees) are scaled by multiplying by 1E7.

                                                                                                                                                              Local frames use the following naming conventions:

                                                                                                                                                              • "LOCAL": Origin of local frame is fixed relative to earth. Unless otherwise specified this origin is the origin of the vehicle position-estimator ("EKF").
                                                                                                                                                              • "BODY": Origin of local frame travels with the vehicle. NOTE, "BODY" does NOT indicate alignment of frame axis with vehicle attitude.
                                                                                                                                                              • "OFFSET": Deprecated synonym for "BODY" (origin travels with the vehicle). Not to be used for new frames.

                                                                                                                                                              Some deprecated frames do not follow these conventions (e.g. MAV_FRAME_BODY_NED and MAV_FRAME_BODY_OFFSET_NED).

                                                                                                                                                              ValueNameDescription
                                                                                                                                                              0MAV_FRAME_GLOBALGlobal (WGS84) coordinate frame + altitude relative to mean sea level (MSL).
                                                                                                                                                              1MAV_FRAME_LOCAL_NEDNED local tangent frame (x: North, y: East, z: Down) with origin fixed relative to earth.
                                                                                                                                                              2MAV_FRAME_MISSIONNOT a coordinate frame, indicates a mission command.
                                                                                                                                                              3MAV_FRAME_GLOBAL_RELATIVE_ALTGlobal (WGS84) coordinate frame + altitude relative to the home position.
                                                                                                                                                              4MAV_FRAME_LOCAL_ENUENU local tangent frame (x: East, y: North, z: Up) with origin fixed relative to earth.
                                                                                                                                                              5MAV_FRAME_GLOBAL_INTGlobal (WGS84) coordinate frame (scaled) + altitude relative to mean sea level (MSL).DEPRECATED: Replaced By MAV_FRAME_GLOBAL (2024-03) — Use MAV_FRAME_GLOBAL in COMMAND_INT (and elsewhere) as a synonymous replacement.)
                                                                                                                                                              6MAV_FRAME_GLOBAL_RELATIVE_ALT_INTGlobal (WGS84) coordinate frame (scaled) + altitude relative to the home position.DEPRECATED: Replaced By MAV_FRAME_GLOBAL_RELATIVE_ALT (2024-03) — Use MAV_FRAME_GLOBAL_RELATIVE_ALT in COMMAND_INT (and elsewhere) as a synonymous replacement.)
                                                                                                                                                              7MAV_FRAME_LOCAL_OFFSET_NEDNED local tangent frame (x: North, y: East, z: Down) with origin that travels with the vehicle.
                                                                                                                                                              8MAV_FRAME_BODY_NEDSame as MAV_FRAME_LOCAL_NED when used to represent position values. Same as MAV_FRAME_BODY_FRD when used with velocity/acceleration values.DEPRECATED: Replaced By MAV_FRAME_BODY_FRD (2019-08)
                                                                                                                                                              9MAV_FRAME_BODY_OFFSET_NEDThis is the same as MAV_FRAME_BODY_FRD.DEPRECATED: Replaced By MAV_FRAME_BODY_FRD (2019-08)
                                                                                                                                                              10MAV_FRAME_GLOBAL_TERRAIN_ALTGlobal (WGS84) coordinate frame with AGL altitude (altitude at ground level).
                                                                                                                                                              11MAV_FRAME_GLOBAL_TERRAIN_ALT_INTGlobal (WGS84) coordinate frame (scaled) with AGL altitude (altitude at ground level).DEPRECATED: Replaced By MAV_FRAME_GLOBAL_TERRAIN_ALT (2024-03) — Use MAV_FRAME_GLOBAL_TERRAIN_ALT in COMMAND_INT (and elsewhere) as a synonymous replacement.)
                                                                                                                                                              12MAV_FRAME_BODY_FRDFRD local frame aligned to the vehicle's attitude (x: Forward, y: Right, z: Down) with an origin that travels with vehicle.
                                                                                                                                                              13MAV_FRAME_RESERVED_13MAV_FRAME_BODY_FLU - Body fixed frame of reference, Z-up (x: Forward, y: Left, z: Up).DEPRECATED:(2019-04)
                                                                                                                                                              14MAV_FRAME_RESERVED_14MAV_FRAME_MOCAP_NED - Odometry local coordinate frame of data given by a motion capture system, Z-down (x: North, y: East, z: Down).DEPRECATED: Replaced By MAV_FRAME_LOCAL_FRD (2019-04)
                                                                                                                                                              15MAV_FRAME_RESERVED_15MAV_FRAME_MOCAP_ENU - Odometry local coordinate frame of data given by a motion capture system, Z-up (x: East, y: North, z: Up).DEPRECATED: Replaced By MAV_FRAME_LOCAL_FLU (2019-04)
                                                                                                                                                              16MAV_FRAME_RESERVED_16MAV_FRAME_VISION_NED - Odometry local coordinate frame of data given by a vision estimation system, Z-down (x: North, y: East, z: Down).DEPRECATED: Replaced By MAV_FRAME_LOCAL_FRD (2019-04)
                                                                                                                                                              17MAV_FRAME_RESERVED_17MAV_FRAME_VISION_ENU - Odometry local coordinate frame of data given by a vision estimation system, Z-up (x: East, y: North, z: Up).DEPRECATED: Replaced By MAV_FRAME_LOCAL_FLU (2019-04)
                                                                                                                                                              18MAV_FRAME_RESERVED_18MAV_FRAME_ESTIM_NED - Odometry local coordinate frame of data given by an estimator running onboard the vehicle, Z-down (x: North, y: East, z: Down).DEPRECATED: Replaced By MAV_FRAME_LOCAL_FRD (2019-04)
                                                                                                                                                              19MAV_FRAME_RESERVED_19MAV_FRAME_ESTIM_ENU - Odometry local coordinate frame of data given by an estimator running onboard the vehicle, Z-up (x: East, y: North, z: Up).DEPRECATED: Replaced By MAV_FRAME_LOCAL_FLU (2019-04)
                                                                                                                                                              20MAV_FRAME_LOCAL_FRDFRD local tangent frame (x: Forward, y: Right, z: Down) with origin fixed relative to earth. The forward axis is aligned to the front of the vehicle in the horizontal plane.
                                                                                                                                                              21MAV_FRAME_LOCAL_FLUFLU local tangent frame (x: Forward, y: Left, z: Up) with origin fixed relative to earth. The forward axis is aligned to the front of the vehicle in the horizontal plane.
                                                                                                                                                              ValueNameDescription
                                                                                                                                                              0MAVLINK_DATA_STREAM_IMG_JPEG
                                                                                                                                                              1MAVLINK_DATA_STREAM_IMG_BMP
                                                                                                                                                              2MAVLINK_DATA_STREAM_IMG_RAW8U
                                                                                                                                                              3MAVLINK_DATA_STREAM_IMG_RAW32U
                                                                                                                                                              4MAVLINK_DATA_STREAM_IMG_PGM
                                                                                                                                                              5MAVLINK_DATA_STREAM_IMG_PNG

                                                                                                                                                              FENCE_ACTION

                                                                                                                                                              Actions following geofence breach.

                                                                                                                                                              ValueNameDescription
                                                                                                                                                              0FENCE_ACTION_NONEDisable fenced mode. If used in a plan this would mean the next fence is disabled.
                                                                                                                                                              1FENCE_ACTION_GUIDEDFly to geofence MAV_CMD_NAV_FENCE_RETURN_POINT in GUIDED mode. Note: This action is only supported by ArduPlane, and may not be supported in all versions.
                                                                                                                                                              2FENCE_ACTION_REPORTReport fence breach, but don't take action
                                                                                                                                                              3FENCE_ACTION_GUIDED_THR_PASSFly to geofence MAV_CMD_NAV_FENCE_RETURN_POINT with manual throttle control in GUIDED mode. Note: This action is only supported by ArduPlane, and may not be supported in all versions.
                                                                                                                                                              4FENCE_ACTION_RTLReturn/RTL mode.
                                                                                                                                                              5FENCE_ACTION_HOLDHold at current location.
                                                                                                                                                              6FENCE_ACTION_TERMINATETermination failsafe. Motors are shut down (some flight stacks may trigger other failsafe actions).
                                                                                                                                                              7FENCE_ACTION_LANDLand at current location.

                                                                                                                                                              FENCE_BREACH

                                                                                                                                                              ValueNameDescription
                                                                                                                                                              0FENCE_BREACH_NONENo last fence breach
                                                                                                                                                              1FENCE_BREACH_MINALTBreached minimum altitude
                                                                                                                                                              2FENCE_BREACH_MAXALTBreached maximum altitude
                                                                                                                                                              3FENCE_BREACH_BOUNDARYBreached fence boundary

                                                                                                                                                              FENCE_MITIGATE

                                                                                                                                                              Actions being taken to mitigate/prevent fence breach

                                                                                                                                                              ValueNameDescription
                                                                                                                                                              0FENCE_MITIGATE_UNKNOWNUnknown
                                                                                                                                                              1FENCE_MITIGATE_NONENo actions being taken
                                                                                                                                                              2FENCE_MITIGATE_VEL_LIMITVelocity limiting active to prevent breach

                                                                                                                                                              FENCE_TYPE

                                                                                                                                                              (Bitmask)

                                                                                                                                                              ValueNameDescription
                                                                                                                                                              0FENCE_TYPE_ALLAll fence types
                                                                                                                                                              1FENCE_TYPE_ALT_MAXMaximum altitude fence
                                                                                                                                                              2FENCE_TYPE_CIRCLECircle fence
                                                                                                                                                              4FENCE_TYPE_POLYGONPolygon fence
                                                                                                                                                              8FENCE_TYPE_ALT_MINMinimum altitude fence

                                                                                                                                                              MAV_MOUNT_MODE — [DEP]

                                                                                                                                                              DEPRECATED: Replaced By GIMBAL_MANAGER_FLAGS (2020-01)

                                                                                                                                                              Enumeration of possible mount operation modes. This message is used by obsolete/deprecated gimbal messages.

                                                                                                                                                              ValueNameDescription
                                                                                                                                                              0MAV_MOUNT_MODE_RETRACTLoad and keep safe position (Roll,Pitch,Yaw) from permanent memory and stop stabilization
                                                                                                                                                              1MAV_MOUNT_MODE_NEUTRALLoad and keep neutral position (Roll,Pitch,Yaw) from permanent memory.
                                                                                                                                                              2MAV_MOUNT_MODE_MAVLINK_TARGETINGLoad neutral position and start MAVLink Roll,Pitch,Yaw control with stabilization
                                                                                                                                                              3MAV_MOUNT_MODE_RC_TARGETINGLoad neutral position and start RC Roll,Pitch,Yaw control with stabilization
                                                                                                                                                              4MAV_MOUNT_MODE_GPS_POINTLoad neutral position and start to point to Lat,Lon,Alt
                                                                                                                                                              5MAV_MOUNT_MODE_SYSID_TARGETGimbal tracks system with specified system ID
                                                                                                                                                              6MAV_MOUNT_MODE_HOME_LOCATIONGimbal tracks home position

                                                                                                                                                              GIMBAL_DEVICE_CAP_FLAGS

                                                                                                                                                              (Bitmask) Gimbal device (low level) capability flags (bitmap).

                                                                                                                                                              ValueNameDescription
                                                                                                                                                              1GIMBAL_DEVICE_CAP_FLAGS_HAS_RETRACTGimbal device supports a retracted position.
                                                                                                                                                              2GIMBAL_DEVICE_CAP_FLAGS_HAS_NEUTRALGimbal device supports a horizontal, forward looking position, stabilized.
                                                                                                                                                              4GIMBAL_DEVICE_CAP_FLAGS_HAS_ROLL_AXISGimbal device supports rotating around roll axis.
                                                                                                                                                              8GIMBAL_DEVICE_CAP_FLAGS_HAS_ROLL_FOLLOWGimbal device supports to follow a roll angle relative to the vehicle.
                                                                                                                                                              16GIMBAL_DEVICE_CAP_FLAGS_HAS_ROLL_LOCKGimbal device supports locking to a roll angle (generally that's the default with roll stabilized).
                                                                                                                                                              32GIMBAL_DEVICE_CAP_FLAGS_HAS_PITCH_AXISGimbal device supports rotating around pitch axis.
                                                                                                                                                              64GIMBAL_DEVICE_CAP_FLAGS_HAS_PITCH_FOLLOWGimbal device supports to follow a pitch angle relative to the vehicle.
                                                                                                                                                              128GIMBAL_DEVICE_CAP_FLAGS_HAS_PITCH_LOCKGimbal device supports locking to a pitch angle (generally that's the default with pitch stabilized).
                                                                                                                                                              256GIMBAL_DEVICE_CAP_FLAGS_HAS_YAW_AXISGimbal device supports rotating around yaw axis.
                                                                                                                                                              512GIMBAL_DEVICE_CAP_FLAGS_HAS_YAW_FOLLOWGimbal device supports to follow a yaw angle relative to the vehicle (generally that's the default).
                                                                                                                                                              1024GIMBAL_DEVICE_CAP_FLAGS_HAS_YAW_LOCKGimbal device supports locking to an absolute heading, i.e., yaw angle relative to North (earth frame, often this is an option available).
                                                                                                                                                              2048GIMBAL_DEVICE_CAP_FLAGS_SUPPORTS_INFINITE_YAWGimbal device supports yawing/panning infinitely (e.g. using slip disk).
                                                                                                                                                              4096GIMBAL_DEVICE_CAP_FLAGS_SUPPORTS_YAW_IN_EARTH_FRAMEGimbal device supports yaw angles and angular velocities relative to North (earth frame). This usually requires support by an autopilot via AUTOPILOT_STATE_FOR_GIMBAL_DEVICE. Support can go on and off during runtime, which is reported by the flag GIMBAL_DEVICE_FLAGS_CAN_ACCEPT_YAW_IN_EARTH_FRAME.
                                                                                                                                                              8192GIMBAL_DEVICE_CAP_FLAGS_HAS_RC_INPUTSGimbal device supports radio control inputs as an alternative input for controlling the gimbal orientation.

                                                                                                                                                              GIMBAL_MANAGER_CAP_FLAGS

                                                                                                                                                              (Bitmask) Gimbal manager high level capability flags (bitmap). The first 16 bits are identical to the GIMBAL_DEVICE_CAP_FLAGS. However, the gimbal manager does not need to copy the flags from the gimbal but can also enhance the capabilities and thus add flags.

                                                                                                                                                              ValueNameDescription
                                                                                                                                                              1GIMBAL_MANAGER_CAP_FLAGS_HAS_RETRACTBased on GIMBAL_DEVICE_CAP_FLAGS_HAS_RETRACT.
                                                                                                                                                              2GIMBAL_MANAGER_CAP_FLAGS_HAS_NEUTRALBased on GIMBAL_DEVICE_CAP_FLAGS_HAS_NEUTRAL.
                                                                                                                                                              4GIMBAL_MANAGER_CAP_FLAGS_HAS_ROLL_AXISBased on GIMBAL_DEVICE_CAP_FLAGS_HAS_ROLL_AXIS.
                                                                                                                                                              8GIMBAL_MANAGER_CAP_FLAGS_HAS_ROLL_FOLLOWBased on GIMBAL_DEVICE_CAP_FLAGS_HAS_ROLL_FOLLOW.
                                                                                                                                                              16GIMBAL_MANAGER_CAP_FLAGS_HAS_ROLL_LOCKBased on GIMBAL_DEVICE_CAP_FLAGS_HAS_ROLL_LOCK.
                                                                                                                                                              32GIMBAL_MANAGER_CAP_FLAGS_HAS_PITCH_AXISBased on GIMBAL_DEVICE_CAP_FLAGS_HAS_PITCH_AXIS.
                                                                                                                                                              64GIMBAL_MANAGER_CAP_FLAGS_HAS_PITCH_FOLLOWBased on GIMBAL_DEVICE_CAP_FLAGS_HAS_PITCH_FOLLOW.
                                                                                                                                                              128GIMBAL_MANAGER_CAP_FLAGS_HAS_PITCH_LOCKBased on GIMBAL_DEVICE_CAP_FLAGS_HAS_PITCH_LOCK.
                                                                                                                                                              256GIMBAL_MANAGER_CAP_FLAGS_HAS_YAW_AXISBased on GIMBAL_DEVICE_CAP_FLAGS_HAS_YAW_AXIS.
                                                                                                                                                              512GIMBAL_MANAGER_CAP_FLAGS_HAS_YAW_FOLLOWBased on GIMBAL_DEVICE_CAP_FLAGS_HAS_YAW_FOLLOW.
                                                                                                                                                              1024GIMBAL_MANAGER_CAP_FLAGS_HAS_YAW_LOCKBased on GIMBAL_DEVICE_CAP_FLAGS_HAS_YAW_LOCK.
                                                                                                                                                              2048GIMBAL_MANAGER_CAP_FLAGS_SUPPORTS_INFINITE_YAWBased on GIMBAL_DEVICE_CAP_FLAGS_SUPPORTS_INFINITE_YAW.
                                                                                                                                                              4096GIMBAL_MANAGER_CAP_FLAGS_SUPPORTS_YAW_IN_EARTH_FRAMEBased on GIMBAL_DEVICE_CAP_FLAGS_SUPPORTS_YAW_IN_EARTH_FRAME.
                                                                                                                                                              8192GIMBAL_MANAGER_CAP_FLAGS_HAS_RC_INPUTSBased on GIMBAL_DEVICE_CAP_FLAGS_HAS_RC_INPUTS.
                                                                                                                                                              65536GIMBAL_MANAGER_CAP_FLAGS_CAN_POINT_LOCATION_LOCALGimbal manager supports to point to a local position.
                                                                                                                                                              131072GIMBAL_MANAGER_CAP_FLAGS_CAN_POINT_LOCATION_GLOBALGimbal manager supports to point to a global latitude, longitude, altitude position.

                                                                                                                                                              GIMBAL_DEVICE_FLAGS

                                                                                                                                                              (Bitmask) Flags for gimbal device (lower level) operation.

                                                                                                                                                              ValueNameDescription
                                                                                                                                                              1GIMBAL_DEVICE_FLAGS_RETRACTSet to retracted safe position (no stabilization), takes precedence over all other flags.
                                                                                                                                                              2GIMBAL_DEVICE_FLAGS_NEUTRALSet to neutral/default position, taking precedence over all other flags except RETRACT. Neutral is commonly forward-facing and horizontal (roll=pitch=yaw=0) but may be any orientation.
                                                                                                                                                              4GIMBAL_DEVICE_FLAGS_ROLL_LOCKLock roll angle to absolute angle relative to horizon (not relative to vehicle). This is generally the default with a stabilizing gimbal.
                                                                                                                                                              8GIMBAL_DEVICE_FLAGS_PITCH_LOCKLock pitch angle to absolute angle relative to horizon (not relative to vehicle). This is generally the default with a stabilizing gimbal.
                                                                                                                                                              16GIMBAL_DEVICE_FLAGS_YAW_LOCKLock yaw angle to absolute angle relative to North (not relative to vehicle). If this flag is set, the yaw angle and z component of angular velocity are relative to North (earth frame, x-axis pointing North), else they are relative to the vehicle heading (vehicle frame, earth frame rotated so that the x-axis is pointing forward).
                                                                                                                                                              32GIMBAL_DEVICE_FLAGS_YAW_IN_VEHICLE_FRAMEYaw angle and z component of angular velocity are relative to the vehicle heading (vehicle frame, earth frame rotated such that the x-axis is pointing forward).
                                                                                                                                                              64GIMBAL_DEVICE_FLAGS_YAW_IN_EARTH_FRAMEYaw angle and z component of angular velocity are relative to North (earth frame, x-axis is pointing North).
                                                                                                                                                              128GIMBAL_DEVICE_FLAGS_ACCEPTS_YAW_IN_EARTH_FRAMEGimbal device can accept yaw angle inputs relative to North (earth frame). This flag is only for reporting (attempts to set this flag are ignored).
                                                                                                                                                              256GIMBAL_DEVICE_FLAGS_RC_EXCLUSIVEThe gimbal orientation is set exclusively by the RC signals feed to the gimbal's radio control inputs. MAVLink messages for setting the gimbal orientation (GIMBAL_DEVICE_SET_ATTITUDE) are ignored.
                                                                                                                                                              512GIMBAL_DEVICE_FLAGS_RC_MIXEDThe gimbal orientation is determined by combining/mixing the RC signals feed to the gimbal's radio control inputs and the MAVLink messages for setting the gimbal orientation (GIMBAL_DEVICE_SET_ATTITUDE). How these two controls are combined or mixed is not defined by the protocol but is up to the implementation.

                                                                                                                                                              GIMBAL_MANAGER_FLAGS

                                                                                                                                                              (Bitmask) Flags for high level gimbal manager operation The first 16 bits are identical to the GIMBAL_DEVICE_FLAGS.

                                                                                                                                                              ValueNameDescription
                                                                                                                                                              1GIMBAL_MANAGER_FLAGS_RETRACTBased on GIMBAL_DEVICE_FLAGS_RETRACT.
                                                                                                                                                              2GIMBAL_MANAGER_FLAGS_NEUTRALBased on GIMBAL_DEVICE_FLAGS_NEUTRAL.
                                                                                                                                                              4GIMBAL_MANAGER_FLAGS_ROLL_LOCKBased on GIMBAL_DEVICE_FLAGS_ROLL_LOCK.
                                                                                                                                                              8GIMBAL_MANAGER_FLAGS_PITCH_LOCKBased on GIMBAL_DEVICE_FLAGS_PITCH_LOCK.
                                                                                                                                                              16GIMBAL_MANAGER_FLAGS_YAW_LOCKBased on GIMBAL_DEVICE_FLAGS_YAW_LOCK.
                                                                                                                                                              32GIMBAL_MANAGER_FLAGS_YAW_IN_VEHICLE_FRAMEBased on GIMBAL_DEVICE_FLAGS_YAW_IN_VEHICLE_FRAME.
                                                                                                                                                              64GIMBAL_MANAGER_FLAGS_YAW_IN_EARTH_FRAMEBased on GIMBAL_DEVICE_FLAGS_YAW_IN_EARTH_FRAME.
                                                                                                                                                              128GIMBAL_MANAGER_FLAGS_ACCEPTS_YAW_IN_EARTH_FRAMEBased on GIMBAL_DEVICE_FLAGS_ACCEPTS_YAW_IN_EARTH_FRAME.
                                                                                                                                                              256GIMBAL_MANAGER_FLAGS_RC_EXCLUSIVEBased on GIMBAL_DEVICE_FLAGS_RC_EXCLUSIVE.
                                                                                                                                                              512GIMBAL_MANAGER_FLAGS_RC_MIXEDBased on GIMBAL_DEVICE_FLAGS_RC_MIXED.

                                                                                                                                                              GIMBAL_DEVICE_ERROR_FLAGS

                                                                                                                                                              (Bitmask) Gimbal device (low level) error flags (bitmap, 0 means no error)

                                                                                                                                                              ValueNameDescription
                                                                                                                                                              1GIMBAL_DEVICE_ERROR_FLAGS_AT_ROLL_LIMITGimbal device is limited by hardware roll limit.
                                                                                                                                                              2GIMBAL_DEVICE_ERROR_FLAGS_AT_PITCH_LIMITGimbal device is limited by hardware pitch limit.
                                                                                                                                                              4GIMBAL_DEVICE_ERROR_FLAGS_AT_YAW_LIMITGimbal device is limited by hardware yaw limit.
                                                                                                                                                              8GIMBAL_DEVICE_ERROR_FLAGS_ENCODER_ERRORThere is an error with the gimbal encoders.
                                                                                                                                                              16GIMBAL_DEVICE_ERROR_FLAGS_POWER_ERRORThere is an error with the gimbal power source.
                                                                                                                                                              32GIMBAL_DEVICE_ERROR_FLAGS_MOTOR_ERRORThere is an error with the gimbal motors.
                                                                                                                                                              64GIMBAL_DEVICE_ERROR_FLAGS_SOFTWARE_ERRORThere is an error with the gimbal's software.
                                                                                                                                                              128GIMBAL_DEVICE_ERROR_FLAGS_COMMS_ERRORThere is an error with the gimbal's communication.
                                                                                                                                                              256GIMBAL_DEVICE_ERROR_FLAGS_CALIBRATION_RUNNINGGimbal device is currently calibrating.
                                                                                                                                                              512GIMBAL_DEVICE_ERROR_FLAGS_NO_MANAGERGimbal device is not assigned to a gimbal manager.

                                                                                                                                                              GRIPPER_ACTIONS

                                                                                                                                                              Gripper actions.

                                                                                                                                                              ValueNameDescription
                                                                                                                                                              0GRIPPER_ACTION_RELEASEGripper release cargo.
                                                                                                                                                              1GRIPPER_ACTION_GRABGripper grab onto cargo.

                                                                                                                                                              WINCH_ACTIONS

                                                                                                                                                              Winch actions.

                                                                                                                                                              ValueNameDescription
                                                                                                                                                              0WINCH_RELAXEDAllow motor to freewheel.
                                                                                                                                                              1WINCH_RELATIVE_LENGTH_CONTROLWind or unwind specified length of line, optionally using specified rate.
                                                                                                                                                              2WINCH_RATE_CONTROLWind or unwind line at specified rate.
                                                                                                                                                              3WINCH_LOCKPerform the locking sequence to relieve motor while in the fully retracted position. Only action and instance command parameters are used, others are ignored.
                                                                                                                                                              4WINCH_DELIVERSequence of drop, slow down, touch down, reel up, lock. Only action and instance command parameters are used, others are ignored.
                                                                                                                                                              5WINCH_HOLDEngage motor and hold current position. Only action and instance command parameters are used, others are ignored.
                                                                                                                                                              6WINCH_RETRACTReturn the reel to the fully retracted position. Only action and instance command parameters are used, others are ignored.
                                                                                                                                                              7WINCH_LOAD_LINELoad the reel with line. The winch will calculate the total loaded length and stop when the tension exceeds a threshold. Only action and instance command parameters are used, others are ignored.
                                                                                                                                                              8WINCH_ABANDON_LINESpool out the entire length of the line. Only action and instance command parameters are used, others are ignored.
                                                                                                                                                              9WINCH_LOAD_PAYLOADSpools out just enough to present the hook to the user to load the payload. Only action and instance command parameters are used, others are ignored

                                                                                                                                                              UAVCAN_NODE_HEALTH

                                                                                                                                                              Generalized UAVCAN node health

                                                                                                                                                              ValueNameDescription
                                                                                                                                                              0UAVCAN_NODE_HEALTH_OKThe node is functioning properly.
                                                                                                                                                              1UAVCAN_NODE_HEALTH_WARNINGA critical parameter went out of range or the node has encountered a minor failure.
                                                                                                                                                              2UAVCAN_NODE_HEALTH_ERRORThe node has encountered a major failure.
                                                                                                                                                              3UAVCAN_NODE_HEALTH_CRITICALThe node has suffered a fatal malfunction.

                                                                                                                                                              UAVCAN_NODE_MODE

                                                                                                                                                              Generalized UAVCAN node mode

                                                                                                                                                              ValueNameDescription
                                                                                                                                                              0UAVCAN_NODE_MODE_OPERATIONALThe node is performing its primary functions.
                                                                                                                                                              1UAVCAN_NODE_MODE_INITIALIZATIONThe node is initializing; this mode is entered immediately after startup.
                                                                                                                                                              2UAVCAN_NODE_MODE_MAINTENANCEThe node is under maintenance.
                                                                                                                                                              3UAVCAN_NODE_MODE_SOFTWARE_UPDATEThe node is in the process of updating its software.
                                                                                                                                                              7UAVCAN_NODE_MODE_OFFLINEThe node is no longer available online.

                                                                                                                                                              ESC_CONNECTION_TYPE

                                                                                                                                                              Indicates the ESC connection type.

                                                                                                                                                              ValueNameDescription
                                                                                                                                                              0ESC_CONNECTION_TYPE_PPMTraditional PPM ESC.
                                                                                                                                                              1ESC_CONNECTION_TYPE_SERIALSerial Bus connected ESC.
                                                                                                                                                              2ESC_CONNECTION_TYPE_ONESHOTOne Shot PPM ESC.
                                                                                                                                                              3ESC_CONNECTION_TYPE_I2CI2C ESC.
                                                                                                                                                              4ESC_CONNECTION_TYPE_CANCAN-Bus ESC.
                                                                                                                                                              5ESC_CONNECTION_TYPE_DSHOTDShot ESC.

                                                                                                                                                              ESC_FAILURE_FLAGS

                                                                                                                                                              (Bitmask) Flags to report ESC failures.

                                                                                                                                                              ValueNameDescription
                                                                                                                                                              0ESC_FAILURE_NONENo ESC failure.
                                                                                                                                                              1ESC_FAILURE_OVER_CURRENTOver current failure.
                                                                                                                                                              2ESC_FAILURE_OVER_VOLTAGEOver voltage failure.
                                                                                                                                                              4ESC_FAILURE_OVER_TEMPERATUREOver temperature failure.
                                                                                                                                                              8ESC_FAILURE_OVER_RPMOver RPM failure.
                                                                                                                                                              16ESC_FAILURE_INCONSISTENT_CMDInconsistent command failure i.e. out of bounds.
                                                                                                                                                              32ESC_FAILURE_MOTOR_STUCKMotor stuck failure.
                                                                                                                                                              64ESC_FAILURE_GENERICGeneric ESC failure.

                                                                                                                                                              STORAGE_STATUS

                                                                                                                                                              Flags to indicate the status of camera storage.

                                                                                                                                                              ValueNameDescription
                                                                                                                                                              0STORAGE_STATUS_EMPTYStorage is missing (no microSD card loaded for example.)
                                                                                                                                                              1STORAGE_STATUS_UNFORMATTEDStorage present but unformatted.
                                                                                                                                                              2STORAGE_STATUS_READYStorage present and ready.
                                                                                                                                                              3STORAGE_STATUS_NOT_SUPPORTEDCamera does not supply storage status information. Capacity information in STORAGE_INFORMATION fields will be ignored.

                                                                                                                                                              STORAGE_TYPE

                                                                                                                                                              Flags to indicate the type of storage.

                                                                                                                                                              ValueNameDescription
                                                                                                                                                              0STORAGE_TYPE_UNKNOWNStorage type is not known.
                                                                                                                                                              1STORAGE_TYPE_USB_STICKStorage type is USB device.
                                                                                                                                                              2STORAGE_TYPE_SDStorage type is SD card.
                                                                                                                                                              3STORAGE_TYPE_MICROSDStorage type is microSD card.
                                                                                                                                                              4STORAGE_TYPE_CFStorage type is CFast.
                                                                                                                                                              5STORAGE_TYPE_CFEStorage type is CFexpress.
                                                                                                                                                              6STORAGE_TYPE_XQDStorage type is XQD.
                                                                                                                                                              7STORAGE_TYPE_HDStorage type is HD mass storage type.
                                                                                                                                                              254STORAGE_TYPE_OTHERStorage type is other, not listed type.

                                                                                                                                                              STORAGE_USAGE_FLAG

                                                                                                                                                              Flags to indicate usage for a particular storage (see STORAGE_INFORMATION.storage_usage and MAV_CMD_SET_STORAGE_USAGE).

                                                                                                                                                              ValueNameDescription
                                                                                                                                                              1STORAGE_USAGE_FLAG_SETAlways set to 1 (indicates STORAGE_INFORMATION.storage_usage is supported).
                                                                                                                                                              2STORAGE_USAGE_FLAG_PHOTOStorage for saving photos.
                                                                                                                                                              4STORAGE_USAGE_FLAG_VIDEOStorage for saving videos.
                                                                                                                                                              8STORAGE_USAGE_FLAG_LOGSStorage for saving logs.

                                                                                                                                                              ORBIT_YAW_BEHAVIOUR

                                                                                                                                                              Yaw behaviour during orbit flight.

                                                                                                                                                              ValueNameDescription
                                                                                                                                                              0ORBIT_YAW_BEHAVIOUR_HOLD_FRONT_TO_CIRCLE_CENTERVehicle front points to the center (default).
                                                                                                                                                              1ORBIT_YAW_BEHAVIOUR_HOLD_INITIAL_HEADINGVehicle front holds heading when message received.
                                                                                                                                                              2ORBIT_YAW_BEHAVIOUR_UNCONTROLLEDYaw uncontrolled.
                                                                                                                                                              3ORBIT_YAW_BEHAVIOUR_HOLD_FRONT_TANGENT_TO_CIRCLEVehicle front follows flight path (tangential to circle).
                                                                                                                                                              4ORBIT_YAW_BEHAVIOUR_RC_CONTROLLEDYaw controlled by RC input.
                                                                                                                                                              5ORBIT_YAW_BEHAVIOUR_UNCHANGEDVehicle uses current yaw behaviour (unchanged). The vehicle-default yaw behaviour is used if this value is specified when orbit is first commanded.

                                                                                                                                                              WIFI_CONFIG_AP_RESPONSE

                                                                                                                                                              Possible responses from a WIFI_CONFIG_AP message.

                                                                                                                                                              ValueNameDescription
                                                                                                                                                              0WIFI_CONFIG_AP_RESPONSE_UNDEFINEDUndefined response. Likely an indicative of a system that doesn't support this request.
                                                                                                                                                              1WIFI_CONFIG_AP_RESPONSE_ACCEPTEDChanges accepted.
                                                                                                                                                              2WIFI_CONFIG_AP_RESPONSE_REJECTEDChanges rejected.
                                                                                                                                                              3WIFI_CONFIG_AP_RESPONSE_MODE_ERRORInvalid Mode.
                                                                                                                                                              4WIFI_CONFIG_AP_RESPONSE_SSID_ERRORInvalid SSID.
                                                                                                                                                              5WIFI_CONFIG_AP_RESPONSE_PASSWORD_ERRORInvalid Password.

                                                                                                                                                              CELLULAR_CONFIG_RESPONSE

                                                                                                                                                              Possible responses from a CELLULAR_CONFIG message.

                                                                                                                                                              ValueNameDescription
                                                                                                                                                              0CELLULAR_CONFIG_RESPONSE_ACCEPTEDChanges accepted.
                                                                                                                                                              1CELLULAR_CONFIG_RESPONSE_APN_ERRORInvalid APN.
                                                                                                                                                              2CELLULAR_CONFIG_RESPONSE_PIN_ERRORInvalid PIN.
                                                                                                                                                              3CELLULAR_CONFIG_RESPONSE_REJECTEDChanges rejected.
                                                                                                                                                              4CELLULAR_CONFIG_BLOCKED_PUK_REQUIREDPUK is required to unblock SIM card.

                                                                                                                                                              WIFI_CONFIG_AP_MODE

                                                                                                                                                              WiFi Mode.

                                                                                                                                                              ValueNameDescription
                                                                                                                                                              0WIFI_CONFIG_AP_MODE_UNDEFINEDWiFi mode is undefined.
                                                                                                                                                              1WIFI_CONFIG_AP_MODE_APWiFi configured as an access point.
                                                                                                                                                              2WIFI_CONFIG_AP_MODE_STATIONWiFi configured as a station connected to an existing local WiFi network.
                                                                                                                                                              3WIFI_CONFIG_AP_MODE_DISABLEDWiFi disabled.

                                                                                                                                                              COMP_METADATA_TYPE

                                                                                                                                                              Supported component metadata types. These are used in the "general" metadata file returned by COMPONENT_METADATA to provide information about supported metadata types. The types are not used directly in MAVLink messages.

                                                                                                                                                              ValueNameDescription
                                                                                                                                                              0COMP_METADATA_TYPE_GENERALGeneral information about the component. General metadata includes information about other metadata types supported by the component. Files of this type must be supported, and must be downloadable from vehicle using a MAVLink FTP URI.
                                                                                                                                                              1COMP_METADATA_TYPE_PARAMETERParameter meta data.
                                                                                                                                                              2COMP_METADATA_TYPE_COMMANDSMeta data that specifies which commands and command parameters the vehicle supports. (WIP)
                                                                                                                                                              3COMP_METADATA_TYPE_PERIPHERALSMeta data that specifies external non-MAVLink peripherals.
                                                                                                                                                              4COMP_METADATA_TYPE_EVENTSMeta data for the events interface.
                                                                                                                                                              5COMP_METADATA_TYPE_ACTUATORSMeta data for actuator configuration (motors, servos and vehicle geometry) and testing.

                                                                                                                                                              ACTUATOR_CONFIGURATION

                                                                                                                                                              Actuator configuration, used to change a setting on an actuator. Component information metadata can be used to know which outputs support which commands.

                                                                                                                                                              ValueNameDescription
                                                                                                                                                              0ACTUATOR_CONFIGURATION_NONEDo nothing.
                                                                                                                                                              1ACTUATOR_CONFIGURATION_BEEPCommand the actuator to beep now.
                                                                                                                                                              2ACTUATOR_CONFIGURATION_3D_MODE_ONPermanently set the actuator (ESC) to 3D mode (reversible thrust).
                                                                                                                                                              3ACTUATOR_CONFIGURATION_3D_MODE_OFFPermanently set the actuator (ESC) to non 3D mode (non-reversible thrust).
                                                                                                                                                              4ACTUATOR_CONFIGURATION_SPIN_DIRECTION1Permanently set the actuator (ESC) to spin direction 1 (which can be clockwise or counter-clockwise).
                                                                                                                                                              5ACTUATOR_CONFIGURATION_SPIN_DIRECTION2Permanently set the actuator (ESC) to spin direction 2 (opposite of direction 1).

                                                                                                                                                              ACTUATOR_OUTPUT_FUNCTION

                                                                                                                                                              Actuator output function. Values greater or equal to 1000 are autopilot-specific.

                                                                                                                                                              ValueNameDescription
                                                                                                                                                              0ACTUATOR_OUTPUT_FUNCTION_NONENo function (disabled).
                                                                                                                                                              1ACTUATOR_OUTPUT_FUNCTION_MOTOR1Motor 1
                                                                                                                                                              2ACTUATOR_OUTPUT_FUNCTION_MOTOR2Motor 2
                                                                                                                                                              3ACTUATOR_OUTPUT_FUNCTION_MOTOR3Motor 3
                                                                                                                                                              4ACTUATOR_OUTPUT_FUNCTION_MOTOR4Motor 4
                                                                                                                                                              5ACTUATOR_OUTPUT_FUNCTION_MOTOR5Motor 5
                                                                                                                                                              6ACTUATOR_OUTPUT_FUNCTION_MOTOR6Motor 6
                                                                                                                                                              7ACTUATOR_OUTPUT_FUNCTION_MOTOR7Motor 7
                                                                                                                                                              8ACTUATOR_OUTPUT_FUNCTION_MOTOR8Motor 8
                                                                                                                                                              9ACTUATOR_OUTPUT_FUNCTION_MOTOR9Motor 9
                                                                                                                                                              10ACTUATOR_OUTPUT_FUNCTION_MOTOR10Motor 10
                                                                                                                                                              11ACTUATOR_OUTPUT_FUNCTION_MOTOR11Motor 11
                                                                                                                                                              12ACTUATOR_OUTPUT_FUNCTION_MOTOR12Motor 12
                                                                                                                                                              13ACTUATOR_OUTPUT_FUNCTION_MOTOR13Motor 13
                                                                                                                                                              14ACTUATOR_OUTPUT_FUNCTION_MOTOR14Motor 14
                                                                                                                                                              15ACTUATOR_OUTPUT_FUNCTION_MOTOR15Motor 15
                                                                                                                                                              16ACTUATOR_OUTPUT_FUNCTION_MOTOR16Motor 16
                                                                                                                                                              33ACTUATOR_OUTPUT_FUNCTION_SERVO1Servo 1
                                                                                                                                                              34ACTUATOR_OUTPUT_FUNCTION_SERVO2Servo 2
                                                                                                                                                              35ACTUATOR_OUTPUT_FUNCTION_SERVO3Servo 3
                                                                                                                                                              36ACTUATOR_OUTPUT_FUNCTION_SERVO4Servo 4
                                                                                                                                                              37ACTUATOR_OUTPUT_FUNCTION_SERVO5Servo 5
                                                                                                                                                              38ACTUATOR_OUTPUT_FUNCTION_SERVO6Servo 6
                                                                                                                                                              39ACTUATOR_OUTPUT_FUNCTION_SERVO7Servo 7
                                                                                                                                                              40ACTUATOR_OUTPUT_FUNCTION_SERVO8Servo 8
                                                                                                                                                              41ACTUATOR_OUTPUT_FUNCTION_SERVO9Servo 9
                                                                                                                                                              42ACTUATOR_OUTPUT_FUNCTION_SERVO10Servo 10
                                                                                                                                                              43ACTUATOR_OUTPUT_FUNCTION_SERVO11Servo 11
                                                                                                                                                              44ACTUATOR_OUTPUT_FUNCTION_SERVO12Servo 12
                                                                                                                                                              45ACTUATOR_OUTPUT_FUNCTION_SERVO13Servo 13
                                                                                                                                                              46ACTUATOR_OUTPUT_FUNCTION_SERVO14Servo 14
                                                                                                                                                              47ACTUATOR_OUTPUT_FUNCTION_SERVO15Servo 15
                                                                                                                                                              48ACTUATOR_OUTPUT_FUNCTION_SERVO16Servo 16

                                                                                                                                                              AUTOTUNE_AXIS

                                                                                                                                                              (Bitmask) Enable axes that will be tuned via autotuning. Used in MAV_CMD_DO_AUTOTUNE_ENABLE.

                                                                                                                                                              ValueNameDescription
                                                                                                                                                              0AUTOTUNE_AXIS_DEFAULTFlight stack tunes axis according to its default settings.
                                                                                                                                                              1AUTOTUNE_AXIS_ROLLAutotune roll axis.
                                                                                                                                                              2AUTOTUNE_AXIS_PITCHAutotune pitch axis.
                                                                                                                                                              4AUTOTUNE_AXIS_YAWAutotune yaw axis.

                                                                                                                                                              PREFLIGHT_STORAGE_PARAMETER_ACTION

                                                                                                                                                              Actions for reading/writing parameters between persistent and volatile storage when using MAV_CMD_PREFLIGHT_STORAGE. (Commonly parameters are loaded from persistent storage (flash/EEPROM) into volatile storage (RAM) on startup and written back when they are changed.)

                                                                                                                                                              ValueNameDescription
                                                                                                                                                              0PARAM_READ_PERSISTENTRead all parameters from persistent storage. Replaces values in volatile storage.
                                                                                                                                                              1PARAM_WRITE_PERSISTENTWrite all parameter values to persistent storage (flash/EEPROM)
                                                                                                                                                              2PARAM_RESET_CONFIG_DEFAULTReset all user configurable parameters to their default value (including airframe selection, sensor calibration data, safety settings, and so on). Does not reset values that contain operation counters and vehicle computed statistics.
                                                                                                                                                              3PARAM_RESET_SENSOR_DEFAULTReset only sensor calibration parameters to factory defaults (or firmware default if not available)
                                                                                                                                                              4PARAM_RESET_ALL_DEFAULTReset all parameters, including operation counters, to default values

                                                                                                                                                              PREFLIGHT_STORAGE_MISSION_ACTION

                                                                                                                                                              Actions for reading and writing plan information (mission, rally points, geofence) between persistent and volatile storage when using MAV_CMD_PREFLIGHT_STORAGE. (Commonly missions are loaded from persistent storage (flash/EEPROM) into volatile storage (RAM) on startup and written back when they are changed.)

                                                                                                                                                              ValueNameDescription
                                                                                                                                                              0MISSION_READ_PERSISTENTRead current mission data from persistent storage
                                                                                                                                                              1MISSION_WRITE_PERSISTENTWrite current mission data to persistent storage
                                                                                                                                                              2MISSION_RESET_DEFAULTErase all mission data stored on the vehicle (both persistent and volatile storage)

                                                                                                                                                              MAV_DATA_STREAM — [DEP]

                                                                                                                                                              DEPRECATED: Replaced By MESSAGE_INTERVAL (2015-06)

                                                                                                                                                              A data stream is not a fixed set of messages, but rather a

                                                                                                                                                              recommendation to the autopilot software. Individual autopilots may or may not obey the recommended messages.

                                                                                                                                                              ValueNameDescription
                                                                                                                                                              0MAV_DATA_STREAM_ALLEnable all data streams
                                                                                                                                                              1MAV_DATA_STREAM_RAW_SENSORSEnable IMU_RAW, GPS_RAW, GPS_STATUS packets.
                                                                                                                                                              2MAV_DATA_STREAM_EXTENDED_STATUSEnable GPS_STATUS, CONTROL_STATUS, AUX_STATUS
                                                                                                                                                              3MAV_DATA_STREAM_RC_CHANNELSEnable RC_CHANNELS_SCALED, RC_CHANNELS_RAW, SERVO_OUTPUT_RAW
                                                                                                                                                              4MAV_DATA_STREAM_RAW_CONTROLLEREnable ATTITUDE_CONTROLLER_OUTPUT, POSITION_CONTROLLER_OUTPUT, NAV_CONTROLLER_OUTPUT.
                                                                                                                                                              6MAV_DATA_STREAM_POSITIONEnable LOCAL_POSITION, GLOBAL_POSITION_INT messages.
                                                                                                                                                              10MAV_DATA_STREAM_EXTRA1Dependent on the autopilot
                                                                                                                                                              11MAV_DATA_STREAM_EXTRA2Dependent on the autopilot
                                                                                                                                                              12MAV_DATA_STREAM_EXTRA3Dependent on the autopilot

                                                                                                                                                              MAV_ROI — [DEP]

                                                                                                                                                              DEPRECATED: Replaced By MAV_CMD_DO_SET_ROI_* (2018-01)

                                                                                                                                                              The ROI (region of interest) for the vehicle. This can be

                                                                                                                                                              be used by the vehicle for camera/vehicle attitude alignment (see MAV_CMD_NAV_ROI).

                                                                                                                                                              ValueNameDescription
                                                                                                                                                              0MAV_ROI_NONENo region of interest.
                                                                                                                                                              1MAV_ROI_WPNEXTPoint toward next waypoint, with optional pitch/roll/yaw offset.
                                                                                                                                                              2MAV_ROI_WPINDEXPoint toward given waypoint.
                                                                                                                                                              3MAV_ROI_LOCATIONPoint toward fixed location.
                                                                                                                                                              4MAV_ROI_TARGETPoint toward of given id.

                                                                                                                                                              MAV_PARAM_TYPE

                                                                                                                                                              Specifies the datatype of a MAVLink parameter.

                                                                                                                                                              ValueNameDescription
                                                                                                                                                              1MAV_PARAM_TYPE_UINT88-bit unsigned integer
                                                                                                                                                              2MAV_PARAM_TYPE_INT88-bit signed integer
                                                                                                                                                              3MAV_PARAM_TYPE_UINT1616-bit unsigned integer
                                                                                                                                                              4MAV_PARAM_TYPE_INT1616-bit signed integer
                                                                                                                                                              5MAV_PARAM_TYPE_UINT3232-bit unsigned integer
                                                                                                                                                              6MAV_PARAM_TYPE_INT3232-bit signed integer
                                                                                                                                                              7MAV_PARAM_TYPE_UINT6464-bit unsigned integer
                                                                                                                                                              8MAV_PARAM_TYPE_INT6464-bit signed integer
                                                                                                                                                              9MAV_PARAM_TYPE_REAL3232-bit floating-point
                                                                                                                                                              10MAV_PARAM_TYPE_REAL6464-bit floating-point

                                                                                                                                                              MAV_PARAM_EXT_TYPE

                                                                                                                                                              Specifies the datatype of a MAVLink extended parameter.

                                                                                                                                                              ValueNameDescription
                                                                                                                                                              1MAV_PARAM_EXT_TYPE_UINT88-bit unsigned integer
                                                                                                                                                              2MAV_PARAM_EXT_TYPE_INT88-bit signed integer
                                                                                                                                                              3MAV_PARAM_EXT_TYPE_UINT1616-bit unsigned integer
                                                                                                                                                              4MAV_PARAM_EXT_TYPE_INT1616-bit signed integer
                                                                                                                                                              5MAV_PARAM_EXT_TYPE_UINT3232-bit unsigned integer
                                                                                                                                                              6MAV_PARAM_EXT_TYPE_INT3232-bit signed integer
                                                                                                                                                              7MAV_PARAM_EXT_TYPE_UINT6464-bit unsigned integer
                                                                                                                                                              8MAV_PARAM_EXT_TYPE_INT6464-bit signed integer
                                                                                                                                                              9MAV_PARAM_EXT_TYPE_REAL3232-bit floating-point
                                                                                                                                                              10MAV_PARAM_EXT_TYPE_REAL6464-bit floating-point
                                                                                                                                                              11MAV_PARAM_EXT_TYPE_CUSTOMCustom Type

                                                                                                                                                              MAV_RESULT

                                                                                                                                                              Result from a MAVLink command (MAV_CMD)

                                                                                                                                                              ValueNameDescription
                                                                                                                                                              0MAV_RESULT_ACCEPTEDCommand is valid (is supported and has valid parameters), and was executed.
                                                                                                                                                              1MAV_RESULT_TEMPORARILY_REJECTEDCommand is valid, but cannot be executed at this time. This is used to indicate a problem that should be fixed just by waiting (e.g. a state machine is busy, can't arm because have not got GPS lock, etc.). Retrying later should work.
                                                                                                                                                              2MAV_RESULT_DENIEDCommand is invalid (is supported but has invalid parameters). Retrying same command and parameters will not work.
                                                                                                                                                              3MAV_RESULT_UNSUPPORTEDCommand is not supported (unknown).
                                                                                                                                                              4MAV_RESULT_FAILEDCommand is valid, but execution has failed. This is used to indicate any non-temporary or unexpected problem, i.e. any problem that must be fixed before the command can succeed/be retried. For example, attempting to write a file when out of memory, attempting to arm when sensors are not calibrated, etc.
                                                                                                                                                              5MAV_RESULT_IN_PROGRESSCommand is valid and is being executed. This will be followed by further progress updates, i.e. the component may send further COMMAND_ACK messages with result MAV_RESULT_IN_PROGRESS (at a rate decided by the implementation), and must terminate by sending a COMMAND_ACK message with final result of the operation. The COMMAND_ACK.progress field can be used to indicate the progress of the operation.
                                                                                                                                                              6MAV_RESULT_CANCELLEDCommand has been cancelled (as a result of receiving a COMMAND_CANCEL message).
                                                                                                                                                              7MAV_RESULT_COMMAND_LONG_ONLYCommand is only accepted when sent as a COMMAND_LONG.
                                                                                                                                                              8MAV_RESULT_COMMAND_INT_ONLYCommand is only accepted when sent as a COMMAND_INT.
                                                                                                                                                              9MAV_RESULT_COMMAND_UNSUPPORTED_MAV_FRAMECommand is invalid because a frame is required and the specified frame is not supported.
                                                                                                                                                              10MAV_RESULT_PERMISSION_DENIEDSender is not authorized to control this MAV component. Control may be requested using MAV_CMD_REQUEST_OPERATOR_CONTROL.

                                                                                                                                                              MAV_MISSION_RESULT

                                                                                                                                                              Result of mission operation (in a MISSION_ACK message).

                                                                                                                                                              ValueNameDescription
                                                                                                                                                              0MAV_MISSION_ACCEPTEDmission accepted OK
                                                                                                                                                              1MAV_MISSION_ERRORGeneric error / not accepting mission commands at all right now.
                                                                                                                                                              2MAV_MISSION_UNSUPPORTED_FRAMECoordinate frame is not supported.
                                                                                                                                                              3MAV_MISSION_UNSUPPORTEDCommand is not supported.
                                                                                                                                                              4MAV_MISSION_NO_SPACEMission items exceed storage space.
                                                                                                                                                              5MAV_MISSION_INVALIDOne of the parameters has an invalid value.
                                                                                                                                                              6MAV_MISSION_INVALID_PARAM1param1 has an invalid value.
                                                                                                                                                              7MAV_MISSION_INVALID_PARAM2param2 has an invalid value.
                                                                                                                                                              8MAV_MISSION_INVALID_PARAM3param3 has an invalid value.
                                                                                                                                                              9MAV_MISSION_INVALID_PARAM4param4 has an invalid value.
                                                                                                                                                              10MAV_MISSION_INVALID_PARAM5_Xx / param5 has an invalid value.
                                                                                                                                                              11MAV_MISSION_INVALID_PARAM6_Yy / param6 has an invalid value.
                                                                                                                                                              12MAV_MISSION_INVALID_PARAM7z / param7 has an invalid value.
                                                                                                                                                              13MAV_MISSION_INVALID_SEQUENCEMission item received out of sequence
                                                                                                                                                              14MAV_MISSION_DENIEDNot accepting any mission commands from this communication partner.
                                                                                                                                                              15MAV_MISSION_OPERATION_CANCELLEDCurrent mission operation cancelled (e.g. mission upload, mission download).

                                                                                                                                                              MAV_SEVERITY

                                                                                                                                                              Indicates the severity level, generally used for status messages to indicate their relative urgency. Based on RFC-5424 using expanded definitions at: http://www.kiwisyslog.com/kb/info:-syslog-message-levels/.

                                                                                                                                                              ValueNameDescription
                                                                                                                                                              0MAV_SEVERITY_EMERGENCYSystem is unusable. This is a "panic" condition.
                                                                                                                                                              1MAV_SEVERITY_ALERTAction should be taken immediately. Indicates error in non-critical systems.
                                                                                                                                                              2MAV_SEVERITY_CRITICALAction must be taken immediately. Indicates failure in a primary system.
                                                                                                                                                              3MAV_SEVERITY_ERRORIndicates an error in secondary/redundant systems.
                                                                                                                                                              4MAV_SEVERITY_WARNINGIndicates about a possible future error if this is not resolved within a given timeframe. Example would be a low battery warning.
                                                                                                                                                              5MAV_SEVERITY_NOTICEAn unusual event has occurred, though not an error condition. This should be investigated for the root cause.
                                                                                                                                                              6MAV_SEVERITY_INFONormal operational messages. Useful for logging. No action is required for these messages.
                                                                                                                                                              7MAV_SEVERITY_DEBUGUseful non-operational messages that can assist in debugging. These should not occur during normal operation.

                                                                                                                                                              MAV_POWER_STATUS

                                                                                                                                                              (Bitmask) Power supply status flags (bitmask)

                                                                                                                                                              ValueNameDescription
                                                                                                                                                              1MAV_POWER_STATUS_BRICK_VALIDmain brick power supply valid
                                                                                                                                                              2MAV_POWER_STATUS_SERVO_VALIDmain servo power supply valid for FMU
                                                                                                                                                              4MAV_POWER_STATUS_USB_CONNECTEDUSB power is connected
                                                                                                                                                              8MAV_POWER_STATUS_PERIPH_OVERCURRENTperipheral supply is in over-current state
                                                                                                                                                              16MAV_POWER_STATUS_PERIPH_HIPOWER_OVERCURRENThi-power peripheral supply is in over-current state
                                                                                                                                                              32MAV_POWER_STATUS_CHANGEDPower status has changed since boot

                                                                                                                                                              SERIAL_CONTROL_DEV

                                                                                                                                                              SERIAL_CONTROL device types

                                                                                                                                                              ValueNameDescription
                                                                                                                                                              0SERIAL_CONTROL_DEV_TELEM1First telemetry port
                                                                                                                                                              1SERIAL_CONTROL_DEV_TELEM2Second telemetry port
                                                                                                                                                              2SERIAL_CONTROL_DEV_GPS1First GPS port
                                                                                                                                                              3SERIAL_CONTROL_DEV_GPS2Second GPS port
                                                                                                                                                              10SERIAL_CONTROL_DEV_SHELLsystem shell
                                                                                                                                                              100SERIAL_CONTROL_SERIAL0SERIAL0
                                                                                                                                                              101SERIAL_CONTROL_SERIAL1SERIAL1
                                                                                                                                                              102SERIAL_CONTROL_SERIAL2SERIAL2
                                                                                                                                                              103SERIAL_CONTROL_SERIAL3SERIAL3
                                                                                                                                                              104SERIAL_CONTROL_SERIAL4SERIAL4
                                                                                                                                                              105SERIAL_CONTROL_SERIAL5SERIAL5
                                                                                                                                                              106SERIAL_CONTROL_SERIAL6SERIAL6
                                                                                                                                                              107SERIAL_CONTROL_SERIAL7SERIAL7
                                                                                                                                                              108SERIAL_CONTROL_SERIAL8SERIAL8
                                                                                                                                                              109SERIAL_CONTROL_SERIAL9SERIAL9

                                                                                                                                                              SERIAL_CONTROL_FLAG

                                                                                                                                                              (Bitmask) SERIAL_CONTROL flags (bitmask)

                                                                                                                                                              ValueNameDescription
                                                                                                                                                              1SERIAL_CONTROL_FLAG_REPLYSet if this is a reply
                                                                                                                                                              2SERIAL_CONTROL_FLAG_RESPONDSet if the sender wants the receiver to send a response as another SERIAL_CONTROL message
                                                                                                                                                              4SERIAL_CONTROL_FLAG_EXCLUSIVESet if access to the serial port should be removed from whatever driver is currently using it, giving exclusive access to the SERIAL_CONTROL protocol. The port can be handed back by sending a request without this flag set
                                                                                                                                                              8SERIAL_CONTROL_FLAG_BLOCKINGBlock on writes to the serial port
                                                                                                                                                              16SERIAL_CONTROL_FLAG_MULTISend multiple replies until port is drained

                                                                                                                                                              MAV_DISTANCE_SENSOR

                                                                                                                                                              Enumeration of distance sensor types

                                                                                                                                                              ValueNameDescription
                                                                                                                                                              0MAV_DISTANCE_SENSOR_LASERLaser rangefinder, e.g. LightWare SF02/F or PulsedLight units
                                                                                                                                                              1MAV_DISTANCE_SENSOR_ULTRASOUNDUltrasound rangefinder, e.g. MaxBotix units
                                                                                                                                                              2MAV_DISTANCE_SENSOR_INFRAREDInfrared rangefinder, e.g. Sharp units
                                                                                                                                                              3MAV_DISTANCE_SENSOR_RADARRadar type, e.g. uLanding units
                                                                                                                                                              4MAV_DISTANCE_SENSOR_UNKNOWNBroken or unknown type, e.g. analog units

                                                                                                                                                              MAV_SENSOR_ORIENTATION

                                                                                                                                                              Enumeration of sensor orientation, according to its rotations

                                                                                                                                                              ValueNameDescription
                                                                                                                                                              0MAV_SENSOR_ROTATION_NONERoll: 0, Pitch: 0, Yaw: 0
                                                                                                                                                              1MAV_SENSOR_ROTATION_YAW_45Roll: 0, Pitch: 0, Yaw: 45
                                                                                                                                                              2MAV_SENSOR_ROTATION_YAW_90Roll: 0, Pitch: 0, Yaw: 90
                                                                                                                                                              3MAV_SENSOR_ROTATION_YAW_135Roll: 0, Pitch: 0, Yaw: 135
                                                                                                                                                              4MAV_SENSOR_ROTATION_YAW_180Roll: 0, Pitch: 0, Yaw: 180
                                                                                                                                                              5MAV_SENSOR_ROTATION_YAW_225Roll: 0, Pitch: 0, Yaw: 225
                                                                                                                                                              6MAV_SENSOR_ROTATION_YAW_270Roll: 0, Pitch: 0, Yaw: 270
                                                                                                                                                              7MAV_SENSOR_ROTATION_YAW_315Roll: 0, Pitch: 0, Yaw: 315
                                                                                                                                                              8MAV_SENSOR_ROTATION_ROLL_180Roll: 180, Pitch: 0, Yaw: 0
                                                                                                                                                              9MAV_SENSOR_ROTATION_ROLL_180_YAW_45Roll: 180, Pitch: 0, Yaw: 45
                                                                                                                                                              10MAV_SENSOR_ROTATION_ROLL_180_YAW_90Roll: 180, Pitch: 0, Yaw: 90
                                                                                                                                                              11MAV_SENSOR_ROTATION_ROLL_180_YAW_135Roll: 180, Pitch: 0, Yaw: 135
                                                                                                                                                              12MAV_SENSOR_ROTATION_PITCH_180Roll: 0, Pitch: 180, Yaw: 0
                                                                                                                                                              13MAV_SENSOR_ROTATION_ROLL_180_YAW_225Roll: 180, Pitch: 0, Yaw: 225
                                                                                                                                                              14MAV_SENSOR_ROTATION_ROLL_180_YAW_270Roll: 180, Pitch: 0, Yaw: 270
                                                                                                                                                              15MAV_SENSOR_ROTATION_ROLL_180_YAW_315Roll: 180, Pitch: 0, Yaw: 315
                                                                                                                                                              16MAV_SENSOR_ROTATION_ROLL_90Roll: 90, Pitch: 0, Yaw: 0
                                                                                                                                                              17MAV_SENSOR_ROTATION_ROLL_90_YAW_45Roll: 90, Pitch: 0, Yaw: 45
                                                                                                                                                              18MAV_SENSOR_ROTATION_ROLL_90_YAW_90Roll: 90, Pitch: 0, Yaw: 90
                                                                                                                                                              19MAV_SENSOR_ROTATION_ROLL_90_YAW_135Roll: 90, Pitch: 0, Yaw: 135
                                                                                                                                                              20MAV_SENSOR_ROTATION_ROLL_270Roll: 270, Pitch: 0, Yaw: 0
                                                                                                                                                              21MAV_SENSOR_ROTATION_ROLL_270_YAW_45Roll: 270, Pitch: 0, Yaw: 45
                                                                                                                                                              22MAV_SENSOR_ROTATION_ROLL_270_YAW_90Roll: 270, Pitch: 0, Yaw: 90
                                                                                                                                                              23MAV_SENSOR_ROTATION_ROLL_270_YAW_135Roll: 270, Pitch: 0, Yaw: 135
                                                                                                                                                              24MAV_SENSOR_ROTATION_PITCH_90Roll: 0, Pitch: 90, Yaw: 0
                                                                                                                                                              25MAV_SENSOR_ROTATION_PITCH_270Roll: 0, Pitch: 270, Yaw: 0
                                                                                                                                                              26MAV_SENSOR_ROTATION_PITCH_180_YAW_90Roll: 0, Pitch: 180, Yaw: 90
                                                                                                                                                              27MAV_SENSOR_ROTATION_PITCH_180_YAW_270Roll: 0, Pitch: 180, Yaw: 270
                                                                                                                                                              28MAV_SENSOR_ROTATION_ROLL_90_PITCH_90Roll: 90, Pitch: 90, Yaw: 0
                                                                                                                                                              29MAV_SENSOR_ROTATION_ROLL_180_PITCH_90Roll: 180, Pitch: 90, Yaw: 0
                                                                                                                                                              30MAV_SENSOR_ROTATION_ROLL_270_PITCH_90Roll: 270, Pitch: 90, Yaw: 0
                                                                                                                                                              31MAV_SENSOR_ROTATION_ROLL_90_PITCH_180Roll: 90, Pitch: 180, Yaw: 0
                                                                                                                                                              32MAV_SENSOR_ROTATION_ROLL_270_PITCH_180Roll: 270, Pitch: 180, Yaw: 0
                                                                                                                                                              33MAV_SENSOR_ROTATION_ROLL_90_PITCH_270Roll: 90, Pitch: 270, Yaw: 0
                                                                                                                                                              34MAV_SENSOR_ROTATION_ROLL_180_PITCH_270Roll: 180, Pitch: 270, Yaw: 0
                                                                                                                                                              35MAV_SENSOR_ROTATION_ROLL_270_PITCH_270Roll: 270, Pitch: 270, Yaw: 0
                                                                                                                                                              36MAV_SENSOR_ROTATION_ROLL_90_PITCH_180_YAW_90Roll: 90, Pitch: 180, Yaw: 90
                                                                                                                                                              37MAV_SENSOR_ROTATION_ROLL_90_YAW_270Roll: 90, Pitch: 0, Yaw: 270
                                                                                                                                                              38MAV_SENSOR_ROTATION_ROLL_90_PITCH_68_YAW_293Roll: 90, Pitch: 68, Yaw: 293
                                                                                                                                                              39MAV_SENSOR_ROTATION_PITCH_315Pitch: 315
                                                                                                                                                              40MAV_SENSOR_ROTATION_ROLL_90_PITCH_315Roll: 90, Pitch: 315
                                                                                                                                                              100MAV_SENSOR_ROTATION_CUSTOMCustom orientation

                                                                                                                                                              MAV_PROTOCOL_CAPABILITY

                                                                                                                                                              (Bitmask) Bitmask of (optional) autopilot capabilities (64 bit). If a bit is set, the autopilot supports this capability.

                                                                                                                                                              ValueNameDescription
                                                                                                                                                              1MAV_PROTOCOL_CAPABILITY_MISSION_FLOATAutopilot supports the MISSION_ITEM float message type.
                                                                                                                                                              Note that MISSION_ITEM is deprecated, and autopilots should use MISSION_INT instead.
                                                                                                                                                              2MAV_PROTOCOL_CAPABILITY_PARAM_FLOATAutopilot supports the new param float message type.DEPRECATED: Replaced By MAV_PROTOCOL_CAPABILITY_PARAM_ENCODE_C_CAST (2022-03)
                                                                                                                                                              4MAV_PROTOCOL_CAPABILITY_MISSION_INTAutopilot supports MISSION_ITEM_INT scaled integer message type.
                                                                                                                                                              Note that this flag must always be set if missions are supported, because missions must always use MISSION_ITEM_INT (rather than MISSION_ITEM, which is deprecated).
                                                                                                                                                              8MAV_PROTOCOL_CAPABILITY_COMMAND_INTAutopilot supports COMMAND_INT scaled integer message type.
                                                                                                                                                              16MAV_PROTOCOL_CAPABILITY_PARAM_ENCODE_BYTEWISEParameter protocol uses byte-wise encoding of parameter values into param_value (float) fields: https://mavlink.io/en/services/parameter.html#parameter-encoding.
                                                                                                                                                              Note that either this flag or MAV_PROTOCOL_CAPABILITY_PARAM_ENCODE_C_CAST should be set if the parameter protocol is supported.
                                                                                                                                                              32MAV_PROTOCOL_CAPABILITY_FTPAutopilot supports the File Transfer Protocol v1: https://mavlink.io/en/services/ftp.html.
                                                                                                                                                              64MAV_PROTOCOL_CAPABILITY_SET_ATTITUDE_TARGETAutopilot supports commanding attitude offboard.
                                                                                                                                                              128MAV_PROTOCOL_CAPABILITY_SET_POSITION_TARGET_LOCAL_NEDAutopilot supports commanding position and velocity targets in local NED frame.
                                                                                                                                                              256MAV_PROTOCOL_CAPABILITY_SET_POSITION_TARGET_GLOBAL_INTAutopilot supports commanding position and velocity targets in global scaled integers.
                                                                                                                                                              512MAV_PROTOCOL_CAPABILITY_TERRAINAutopilot supports terrain protocol / data handling.
                                                                                                                                                              1024MAV_PROTOCOL_CAPABILITY_RESERVED3Reserved for future use.
                                                                                                                                                              2048MAV_PROTOCOL_CAPABILITY_FLIGHT_TERMINATIONAutopilot supports the MAV_CMD_DO_FLIGHTTERMINATION command (flight termination).
                                                                                                                                                              4096MAV_PROTOCOL_CAPABILITY_COMPASS_CALIBRATIONAutopilot supports onboard compass calibration.
                                                                                                                                                              8192MAV_PROTOCOL_CAPABILITY_MAVLINK2Autopilot supports MAVLink version 2.
                                                                                                                                                              16384MAV_PROTOCOL_CAPABILITY_MISSION_FENCEAutopilot supports mission fence protocol.
                                                                                                                                                              32768MAV_PROTOCOL_CAPABILITY_MISSION_RALLYAutopilot supports mission rally point protocol.
                                                                                                                                                              65536MAV_PROTOCOL_CAPABILITY_RESERVED2Reserved for future use.
                                                                                                                                                              131072MAV_PROTOCOL_CAPABILITY_PARAM_ENCODE_C_CASTParameter protocol uses C-cast of parameter values to set the param_value (float) fields: https://mavlink.io/en/services/parameter.html#parameter-encoding.
                                                                                                                                                              Note that either this flag or MAV_PROTOCOL_CAPABILITY_PARAM_ENCODE_BYTEWISE should be set if the parameter protocol is supported.
                                                                                                                                                              262144MAV_PROTOCOL_CAPABILITY_COMPONENT_IMPLEMENTS_GIMBAL_MANAGERThis component implements/is a gimbal manager. This means the GIMBAL_MANAGER_INFORMATION, and other messages can be requested.
                                                                                                                                                              524288MAV_PROTOCOL_CAPABILITY_COMPONENT_ACCEPTS_GCS_CONTROLComponent supports locking control to a particular GCS independent of its system (via MAV_CMD_REQUEST_OPERATOR_CONTROL).

                                                                                                                                                              MAV_MISSION_TYPE

                                                                                                                                                              Type of mission items being requested/sent in mission protocol.

                                                                                                                                                              ValueNameDescription
                                                                                                                                                              0MAV_MISSION_TYPE_MISSIONItems are mission commands for main mission.
                                                                                                                                                              1MAV_MISSION_TYPE_FENCESpecifies GeoFence area(s). Items are MAVCMD_NAV_FENCE GeoFence items.
                                                                                                                                                              2MAV_MISSION_TYPE_RALLYSpecifies the rally points for the vehicle. Rally points are alternative RTL points. Items are MAV_CMD_NAV_RALLY_POINT rally point items.
                                                                                                                                                              255MAV_MISSION_TYPE_ALLOnly used in MISSION_CLEAR_ALL to clear all mission types.

                                                                                                                                                              MAV_ESTIMATOR_TYPE

                                                                                                                                                              Enumeration of estimator types

                                                                                                                                                              ValueNameDescription
                                                                                                                                                              0MAV_ESTIMATOR_TYPE_UNKNOWNUnknown type of the estimator.
                                                                                                                                                              1MAV_ESTIMATOR_TYPE_NAIVEThis is a naive estimator without any real covariance feedback.
                                                                                                                                                              2MAV_ESTIMATOR_TYPE_VISIONComputer vision based estimate. Might be up to scale.
                                                                                                                                                              3MAV_ESTIMATOR_TYPE_VIOVisual-inertial estimate.
                                                                                                                                                              4MAV_ESTIMATOR_TYPE_GPSPlain GPS estimate.
                                                                                                                                                              5MAV_ESTIMATOR_TYPE_GPS_INSEstimator integrating GPS and inertial sensing.
                                                                                                                                                              6MAV_ESTIMATOR_TYPE_MOCAPEstimate from external motion capturing system.
                                                                                                                                                              7MAV_ESTIMATOR_TYPE_LIDAREstimator based on lidar sensor input.
                                                                                                                                                              8MAV_ESTIMATOR_TYPE_AUTOPILOTEstimator on autopilot.

                                                                                                                                                              MAV_BATTERY_TYPE

                                                                                                                                                              Enumeration of battery types

                                                                                                                                                              ValueNameDescription
                                                                                                                                                              0MAV_BATTERY_TYPE_UNKNOWNNot specified.
                                                                                                                                                              1MAV_BATTERY_TYPE_LIPOLithium polymer battery
                                                                                                                                                              2MAV_BATTERY_TYPE_LIFELithium-iron-phosphate battery
                                                                                                                                                              3MAV_BATTERY_TYPE_LIONLithium-ION battery
                                                                                                                                                              4MAV_BATTERY_TYPE_NIMHNickel metal hydride battery

                                                                                                                                                              MAV_BATTERY_FUNCTION

                                                                                                                                                              Enumeration of battery functions

                                                                                                                                                              ValueNameDescription
                                                                                                                                                              0MAV_BATTERY_FUNCTION_UNKNOWNBattery function is unknown
                                                                                                                                                              1MAV_BATTERY_FUNCTION_ALLBattery supports all flight systems
                                                                                                                                                              2MAV_BATTERY_FUNCTION_PROPULSIONBattery for the propulsion system
                                                                                                                                                              3MAV_BATTERY_FUNCTION_AVIONICSAvionics battery
                                                                                                                                                              4MAV_BATTERY_FUNCTION_PAYLOADPayload battery

                                                                                                                                                              MAV_BATTERY_CHARGE_STATE

                                                                                                                                                              Enumeration for battery charge states.

                                                                                                                                                              ValueNameDescription
                                                                                                                                                              0MAV_BATTERY_CHARGE_STATE_UNDEFINEDLow battery state is not provided
                                                                                                                                                              1MAV_BATTERY_CHARGE_STATE_OKBattery is not in low state. Normal operation.
                                                                                                                                                              2MAV_BATTERY_CHARGE_STATE_LOWBattery state is low, warn and monitor close.
                                                                                                                                                              3MAV_BATTERY_CHARGE_STATE_CRITICALBattery state is critical, return or abort immediately.
                                                                                                                                                              4MAV_BATTERY_CHARGE_STATE_EMERGENCYBattery state is too low for ordinary abort sequence. Perform fastest possible emergency stop to prevent damage.
                                                                                                                                                              5MAV_BATTERY_CHARGE_STATE_FAILEDBattery failed, damage unavoidable. Possible causes (faults) are listed in MAV_BATTERY_FAULT.
                                                                                                                                                              6MAV_BATTERY_CHARGE_STATE_UNHEALTHYBattery is diagnosed to be defective or an error occurred, usage is discouraged / prohibited. Possible causes (faults) are listed in MAV_BATTERY_FAULT.
                                                                                                                                                              7MAV_BATTERY_CHARGE_STATE_CHARGINGBattery is charging.

                                                                                                                                                              MAV_BATTERY_MODE

                                                                                                                                                              Battery mode. Note, the normal operation mode (i.e. when flying) should be reported as MAV_BATTERY_MODE_UNKNOWN to allow message trimming in normal flight.

                                                                                                                                                              ValueNameDescription
                                                                                                                                                              0MAV_BATTERY_MODE_UNKNOWNBattery mode not supported/unknown battery mode/normal operation.
                                                                                                                                                              1MAV_BATTERY_MODE_AUTO_DISCHARGINGBattery is auto discharging (towards storage level).
                                                                                                                                                              2MAV_BATTERY_MODE_HOT_SWAPBattery in hot-swap mode (current limited to prevent spikes that might damage sensitive electrical circuits).

                                                                                                                                                              MAV_BATTERY_FAULT

                                                                                                                                                              (Bitmask) Smart battery supply status/fault flags (bitmask) for health indication. The battery must also report either MAV_BATTERY_CHARGE_STATE_FAILED or MAV_BATTERY_CHARGE_STATE_UNHEALTHY if any of these are set.

                                                                                                                                                              ValueNameDescription
                                                                                                                                                              1MAV_BATTERY_FAULT_DEEP_DISCHARGEBattery has deep discharged.
                                                                                                                                                              2MAV_BATTERY_FAULT_SPIKESVoltage spikes.
                                                                                                                                                              4MAV_BATTERY_FAULT_CELL_FAILOne or more cells have failed. Battery should also report MAV_BATTERY_CHARGE_STATE_FAILE (and should not be used).
                                                                                                                                                              8MAV_BATTERY_FAULT_OVER_CURRENTOver-current fault.
                                                                                                                                                              16MAV_BATTERY_FAULT_OVER_TEMPERATUREOver-temperature fault.
                                                                                                                                                              32MAV_BATTERY_FAULT_UNDER_TEMPERATUREUnder-temperature fault.
                                                                                                                                                              64MAV_BATTERY_FAULT_INCOMPATIBLE_VOLTAGEVehicle voltage is not compatible with this battery (batteries on same power rail should have similar voltage).
                                                                                                                                                              128MAV_BATTERY_FAULT_INCOMPATIBLE_FIRMWAREBattery firmware is not compatible with current autopilot firmware.
                                                                                                                                                              256BATTERY_FAULT_INCOMPATIBLE_CELLS_CONFIGURATIONBattery is not compatible due to cell configuration (e.g. 5s1p when vehicle requires 6s).

                                                                                                                                                              MAV_GENERATOR_STATUS_FLAG

                                                                                                                                                              (Bitmask) Flags to report status/failure cases for a power generator (used in GENERATOR_STATUS). Note that FAULTS are conditions that cause the generator to fail. Warnings are conditions that require attention before the next use (they indicate the system is not operating properly).

                                                                                                                                                              ValueNameDescription
                                                                                                                                                              1MAV_GENERATOR_STATUS_FLAG_OFFGenerator is off.
                                                                                                                                                              2MAV_GENERATOR_STATUS_FLAG_READYGenerator is ready to start generating power.
                                                                                                                                                              4MAV_GENERATOR_STATUS_FLAG_GENERATINGGenerator is generating power.
                                                                                                                                                              8MAV_GENERATOR_STATUS_FLAG_CHARGINGGenerator is charging the batteries (generating enough power to charge and provide the load).
                                                                                                                                                              16MAV_GENERATOR_STATUS_FLAG_REDUCED_POWERGenerator is operating at a reduced maximum power.
                                                                                                                                                              32MAV_GENERATOR_STATUS_FLAG_MAXPOWERGenerator is providing the maximum output.
                                                                                                                                                              64MAV_GENERATOR_STATUS_FLAG_OVERTEMP_WARNINGGenerator is near the maximum operating temperature, cooling is insufficient.
                                                                                                                                                              128MAV_GENERATOR_STATUS_FLAG_OVERTEMP_FAULTGenerator hit the maximum operating temperature and shutdown.
                                                                                                                                                              256MAV_GENERATOR_STATUS_FLAG_ELECTRONICS_OVERTEMP_WARNINGPower electronics are near the maximum operating temperature, cooling is insufficient.
                                                                                                                                                              512MAV_GENERATOR_STATUS_FLAG_ELECTRONICS_OVERTEMP_FAULTPower electronics hit the maximum operating temperature and shutdown.
                                                                                                                                                              1024MAV_GENERATOR_STATUS_FLAG_ELECTRONICS_FAULTPower electronics experienced a fault and shutdown.
                                                                                                                                                              2048MAV_GENERATOR_STATUS_FLAG_POWERSOURCE_FAULTThe power source supplying the generator failed e.g. mechanical generator stopped, tether is no longer providing power, solar cell is in shade, hydrogen reaction no longer happening.
                                                                                                                                                              4096MAV_GENERATOR_STATUS_FLAG_COMMUNICATION_WARNINGGenerator controller having communication problems.
                                                                                                                                                              8192MAV_GENERATOR_STATUS_FLAG_COOLING_WARNINGPower electronic or generator cooling system error.
                                                                                                                                                              16384MAV_GENERATOR_STATUS_FLAG_POWER_RAIL_FAULTGenerator controller power rail experienced a fault.
                                                                                                                                                              32768MAV_GENERATOR_STATUS_FLAG_OVERCURRENT_FAULTGenerator controller exceeded the overcurrent threshold and shutdown to prevent damage.
                                                                                                                                                              65536MAV_GENERATOR_STATUS_FLAG_BATTERY_OVERCHARGE_CURRENT_FAULTGenerator controller detected a high current going into the batteries and shutdown to prevent battery damage.
                                                                                                                                                              131072MAV_GENERATOR_STATUS_FLAG_OVERVOLTAGE_FAULTGenerator controller exceeded it's overvoltage threshold and shutdown to prevent it exceeding the voltage rating.
                                                                                                                                                              262144MAV_GENERATOR_STATUS_FLAG_BATTERY_UNDERVOLT_FAULTBatteries are under voltage (generator will not start).
                                                                                                                                                              524288MAV_GENERATOR_STATUS_FLAG_START_INHIBITEDGenerator start is inhibited by e.g. a safety switch.
                                                                                                                                                              1048576MAV_GENERATOR_STATUS_FLAG_MAINTENANCE_REQUIREDGenerator requires maintenance.
                                                                                                                                                              2097152MAV_GENERATOR_STATUS_FLAG_WARMING_UPGenerator is not ready to generate yet.
                                                                                                                                                              4194304MAV_GENERATOR_STATUS_FLAG_IDLEGenerator is idle.

                                                                                                                                                              MAV_VTOL_STATE

                                                                                                                                                              Enumeration of VTOL states

                                                                                                                                                              ValueNameDescription
                                                                                                                                                              0MAV_VTOL_STATE_UNDEFINEDMAV is not configured as VTOL
                                                                                                                                                              1MAV_VTOL_STATE_TRANSITION_TO_FWVTOL is in transition from multicopter to fixed-wing
                                                                                                                                                              2MAV_VTOL_STATE_TRANSITION_TO_MCVTOL is in transition from fixed-wing to multicopter
                                                                                                                                                              3MAV_VTOL_STATE_MCVTOL is in multicopter state
                                                                                                                                                              4MAV_VTOL_STATE_FWVTOL is in fixed-wing state

                                                                                                                                                              MAV_LANDED_STATE

                                                                                                                                                              Enumeration of landed detector states

                                                                                                                                                              ValueNameDescription
                                                                                                                                                              0MAV_LANDED_STATE_UNDEFINEDMAV landed state is unknown
                                                                                                                                                              1MAV_LANDED_STATE_ON_GROUNDMAV is landed (on ground)
                                                                                                                                                              2MAV_LANDED_STATE_IN_AIRMAV is in air
                                                                                                                                                              3MAV_LANDED_STATE_TAKEOFFMAV currently taking off
                                                                                                                                                              4MAV_LANDED_STATE_LANDINGMAV currently landing

                                                                                                                                                              ADSB_ALTITUDE_TYPE

                                                                                                                                                              Enumeration of the ADSB altimeter types

                                                                                                                                                              ValueNameDescription
                                                                                                                                                              0ADSB_ALTITUDE_TYPE_PRESSURE_QNHAltitude reported from a Baro source using QNH reference
                                                                                                                                                              1ADSB_ALTITUDE_TYPE_GEOMETRICAltitude reported from a GNSS source

                                                                                                                                                              ADSB_EMITTER_TYPE

                                                                                                                                                              ADSB classification for the type of vehicle emitting the transponder signal

                                                                                                                                                              ValueNameDescription
                                                                                                                                                              0ADSB_EMITTER_TYPE_NO_INFO
                                                                                                                                                              1ADSB_EMITTER_TYPE_LIGHT
                                                                                                                                                              2ADSB_EMITTER_TYPE_SMALL
                                                                                                                                                              3ADSB_EMITTER_TYPE_LARGE
                                                                                                                                                              4ADSB_EMITTER_TYPE_HIGH_VORTEX_LARGE
                                                                                                                                                              5ADSB_EMITTER_TYPE_HEAVY
                                                                                                                                                              6ADSB_EMITTER_TYPE_HIGHLY_MANUV
                                                                                                                                                              7ADSB_EMITTER_TYPE_ROTOCRAFT
                                                                                                                                                              8ADSB_EMITTER_TYPE_UNASSIGNED
                                                                                                                                                              9ADSB_EMITTER_TYPE_GLIDER
                                                                                                                                                              10ADSB_EMITTER_TYPE_LIGHTER_AIR
                                                                                                                                                              11ADSB_EMITTER_TYPE_PARACHUTE
                                                                                                                                                              12ADSB_EMITTER_TYPE_ULTRA_LIGHT
                                                                                                                                                              13ADSB_EMITTER_TYPE_UNASSIGNED2
                                                                                                                                                              14ADSB_EMITTER_TYPE_UAV
                                                                                                                                                              15ADSB_EMITTER_TYPE_SPACE
                                                                                                                                                              16ADSB_EMITTER_TYPE_UNASSGINED3
                                                                                                                                                              17ADSB_EMITTER_TYPE_EMERGENCY_SURFACE
                                                                                                                                                              18ADSB_EMITTER_TYPE_SERVICE_SURFACE
                                                                                                                                                              19ADSB_EMITTER_TYPE_POINT_OBSTACLE

                                                                                                                                                              ADSB_FLAGS

                                                                                                                                                              (Bitmask) These flags indicate status such as data validity of each data source. Set = data valid

                                                                                                                                                              ValueNameDescription
                                                                                                                                                              1ADSB_FLAGS_VALID_COORDS
                                                                                                                                                              2ADSB_FLAGS_VALID_ALTITUDE
                                                                                                                                                              4ADSB_FLAGS_VALID_HEADING
                                                                                                                                                              8ADSB_FLAGS_VALID_VELOCITY
                                                                                                                                                              16ADSB_FLAGS_VALID_CALLSIGN
                                                                                                                                                              32ADSB_FLAGS_VALID_SQUAWK
                                                                                                                                                              64ADSB_FLAGS_SIMULATED
                                                                                                                                                              128ADSB_FLAGS_VERTICAL_VELOCITY_VALID
                                                                                                                                                              256ADSB_FLAGS_BARO_VALID
                                                                                                                                                              32768ADSB_FLAGS_SOURCE_UAT

                                                                                                                                                              MAV_DO_REPOSITION_FLAGS

                                                                                                                                                              (Bitmask) Bitmap of options for the MAV_CMD_DO_REPOSITION

                                                                                                                                                              ValueNameDescription
                                                                                                                                                              1MAV_DO_REPOSITION_FLAGS_CHANGE_MODEThe aircraft should immediately transition into guided. This should not be set for follow me applications

                                                                                                                                                              SPEED_TYPE

                                                                                                                                                              Speed setpoint types used in MAV_CMD_DO_CHANGE_SPEED

                                                                                                                                                              ValueNameDescription
                                                                                                                                                              0SPEED_TYPE_AIRSPEEDAirspeed
                                                                                                                                                              1SPEED_TYPE_GROUNDSPEEDGroundspeed
                                                                                                                                                              2SPEED_TYPE_CLIMB_SPEEDClimb speed
                                                                                                                                                              3SPEED_TYPE_DESCENT_SPEEDDescent speed

                                                                                                                                                              ESTIMATOR_STATUS_FLAGS

                                                                                                                                                              (Bitmask) Flags in ESTIMATOR_STATUS message

                                                                                                                                                              ValueNameDescription
                                                                                                                                                              1ESTIMATOR_ATTITUDETrue if the attitude estimate is good
                                                                                                                                                              2ESTIMATOR_VELOCITY_HORIZTrue if the horizontal velocity estimate is good
                                                                                                                                                              4ESTIMATOR_VELOCITY_VERTTrue if the vertical velocity estimate is good
                                                                                                                                                              8ESTIMATOR_POS_HORIZ_RELTrue if the horizontal position (relative) estimate is good
                                                                                                                                                              16ESTIMATOR_POS_HORIZ_ABSTrue if the horizontal position (absolute) estimate is good
                                                                                                                                                              32ESTIMATOR_POS_VERT_ABSTrue if the vertical position (absolute) estimate is good
                                                                                                                                                              64ESTIMATOR_POS_VERT_AGLTrue if the vertical position (above ground) estimate is good
                                                                                                                                                              128ESTIMATOR_CONST_POS_MODETrue if the EKF is in a constant position mode and is not using external measurements (eg GPS or optical flow)
                                                                                                                                                              256ESTIMATOR_PRED_POS_HORIZ_RELTrue if the EKF has sufficient data to enter a mode that will provide a (relative) position estimate
                                                                                                                                                              512ESTIMATOR_PRED_POS_HORIZ_ABSTrue if the EKF has sufficient data to enter a mode that will provide a (absolute) position estimate
                                                                                                                                                              1024ESTIMATOR_GPS_GLITCHTrue if the EKF has detected a GPS glitch
                                                                                                                                                              2048ESTIMATOR_ACCEL_ERRORTrue if the EKF has detected bad accelerometer data

                                                                                                                                                              MOTOR_TEST_ORDER

                                                                                                                                                              Sequence that motors are tested when using MAV_CMD_DO_MOTOR_TEST.

                                                                                                                                                              ValueNameDescription
                                                                                                                                                              0MOTOR_TEST_ORDER_DEFAULTDefault autopilot motor test method.
                                                                                                                                                              1MOTOR_TEST_ORDER_SEQUENCEMotor numbers are specified as their index in a predefined vehicle-specific sequence.
                                                                                                                                                              2MOTOR_TEST_ORDER_BOARDMotor numbers are specified as the output as labeled on the board.

                                                                                                                                                              MOTOR_TEST_THROTTLE_TYPE

                                                                                                                                                              Defines how throttle value is represented in MAV_CMD_DO_MOTOR_TEST.

                                                                                                                                                              ValueNameDescription
                                                                                                                                                              0MOTOR_TEST_THROTTLE_PERCENTThrottle as a percentage (0 ~ 100)
                                                                                                                                                              1MOTOR_TEST_THROTTLE_PWMThrottle as an absolute PWM value (normally in range of 1000~2000).
                                                                                                                                                              2MOTOR_TEST_THROTTLE_PILOTThrottle pass-through from pilot's transmitter.
                                                                                                                                                              3MOTOR_TEST_COMPASS_CALPer-motor compass calibration test.

                                                                                                                                                              GPS_INPUT_IGNORE_FLAGS

                                                                                                                                                              (Bitmask)

                                                                                                                                                              ValueNameDescription
                                                                                                                                                              1GPS_INPUT_IGNORE_FLAG_ALTignore altitude field
                                                                                                                                                              2GPS_INPUT_IGNORE_FLAG_HDOPignore hdop field
                                                                                                                                                              4GPS_INPUT_IGNORE_FLAG_VDOPignore vdop field
                                                                                                                                                              8GPS_INPUT_IGNORE_FLAG_VEL_HORIZignore horizontal velocity field (vn and ve)
                                                                                                                                                              16GPS_INPUT_IGNORE_FLAG_VEL_VERTignore vertical velocity field (vd)
                                                                                                                                                              32GPS_INPUT_IGNORE_FLAG_SPEED_ACCURACYignore speed accuracy field
                                                                                                                                                              64GPS_INPUT_IGNORE_FLAG_HORIZONTAL_ACCURACYignore horizontal accuracy field
                                                                                                                                                              128GPS_INPUT_IGNORE_FLAG_VERTICAL_ACCURACYignore vertical accuracy field

                                                                                                                                                              MAV_COLLISION_ACTION

                                                                                                                                                              Possible actions an aircraft can take to avoid a collision.

                                                                                                                                                              ValueNameDescription
                                                                                                                                                              0MAV_COLLISION_ACTION_NONEIgnore any potential collisions
                                                                                                                                                              1MAV_COLLISION_ACTION_REPORTReport potential collision
                                                                                                                                                              2MAV_COLLISION_ACTION_ASCEND_OR_DESCENDAscend or Descend to avoid threat
                                                                                                                                                              3MAV_COLLISION_ACTION_MOVE_HORIZONTALLYMove horizontally to avoid threat
                                                                                                                                                              4MAV_COLLISION_ACTION_MOVE_PERPENDICULARAircraft to move perpendicular to the collision's velocity vector
                                                                                                                                                              5MAV_COLLISION_ACTION_RTLAircraft to fly directly back to its launch point
                                                                                                                                                              6MAV_COLLISION_ACTION_HOVERAircraft to stop in place

                                                                                                                                                              MAV_COLLISION_THREAT_LEVEL

                                                                                                                                                              Aircraft-rated danger from this threat.

                                                                                                                                                              ValueNameDescription
                                                                                                                                                              0MAV_COLLISION_THREAT_LEVEL_NONENot a threat
                                                                                                                                                              1MAV_COLLISION_THREAT_LEVEL_LOWCraft is mildly concerned about this threat
                                                                                                                                                              2MAV_COLLISION_THREAT_LEVEL_HIGHCraft is panicking, and may take actions to avoid threat

                                                                                                                                                              MAV_COLLISION_SRC

                                                                                                                                                              Source of information about this collision.

                                                                                                                                                              ValueNameDescription
                                                                                                                                                              0MAV_COLLISION_SRC_ADSBID field references ADSB_VEHICLE packets
                                                                                                                                                              1MAV_COLLISION_SRC_MAVLINK_GPS_GLOBAL_INTID field references MAVLink SRC ID

                                                                                                                                                              GPS_FIX_TYPE

                                                                                                                                                              Type of GPS fix

                                                                                                                                                              ValueNameDescription
                                                                                                                                                              0GPS_FIX_TYPE_NO_GPSNo GPS connected
                                                                                                                                                              1GPS_FIX_TYPE_NO_FIXNo position information, GPS is connected
                                                                                                                                                              2GPS_FIX_TYPE_2D_FIX2D position
                                                                                                                                                              3GPS_FIX_TYPE_3D_FIX3D position
                                                                                                                                                              4GPS_FIX_TYPE_DGPSDGPS/SBAS aided 3D position
                                                                                                                                                              5GPS_FIX_TYPE_RTK_FLOATRTK float, 3D position
                                                                                                                                                              6GPS_FIX_TYPE_RTK_FIXEDRTK Fixed, 3D position
                                                                                                                                                              7GPS_FIX_TYPE_STATICStatic fixed, typically used for base stations
                                                                                                                                                              8GPS_FIX_TYPE_PPPPPP, 3D position.

                                                                                                                                                              RTK_BASELINE_COORDINATE_SYSTEM

                                                                                                                                                              RTK GPS baseline coordinate system, used for RTK corrections

                                                                                                                                                              ValueNameDescription
                                                                                                                                                              0RTK_BASELINE_COORDINATE_SYSTEM_ECEFEarth-centered, Earth-fixed
                                                                                                                                                              1RTK_BASELINE_COORDINATE_SYSTEM_NEDRTK basestation centered, north, east, down

                                                                                                                                                              LANDING_TARGET_TYPE

                                                                                                                                                              Type of landing target

                                                                                                                                                              ValueNameDescription
                                                                                                                                                              0LANDING_TARGET_TYPE_LIGHT_BEACONLanding target signaled by light beacon (ex: IR-LOCK)
                                                                                                                                                              1LANDING_TARGET_TYPE_RADIO_BEACONLanding target signaled by radio beacon (ex: ILS, NDB)
                                                                                                                                                              2LANDING_TARGET_TYPE_VISION_FIDUCIALLanding target represented by a fiducial marker (ex: ARTag)
                                                                                                                                                              3LANDING_TARGET_TYPE_VISION_OTHERLanding target represented by a pre-defined visual shape/feature (ex: X-marker, H-marker, square)

                                                                                                                                                              VTOL_TRANSITION_HEADING

                                                                                                                                                              Direction of VTOL transition

                                                                                                                                                              ValueNameDescription
                                                                                                                                                              0VTOL_TRANSITION_HEADING_VEHICLE_DEFAULTRespect the heading configuration of the vehicle.
                                                                                                                                                              1VTOL_TRANSITION_HEADING_NEXT_WAYPOINTUse the heading pointing towards the next waypoint.
                                                                                                                                                              2VTOL_TRANSITION_HEADING_TAKEOFFUse the heading on takeoff (while sitting on the ground).
                                                                                                                                                              3VTOL_TRANSITION_HEADING_SPECIFIEDUse the specified heading in parameter 4.
                                                                                                                                                              4VTOL_TRANSITION_HEADING_ANYUse the current heading when reaching takeoff altitude (potentially facing the wind when weather-vaning is active).

                                                                                                                                                              CAMERA_CAP_FLAGS

                                                                                                                                                              (Bitmask) Camera capability flags (Bitmap)

                                                                                                                                                              ValueNameDescription
                                                                                                                                                              1CAMERA_CAP_FLAGS_CAPTURE_VIDEOCamera is able to record video
                                                                                                                                                              2CAMERA_CAP_FLAGS_CAPTURE_IMAGECamera is able to capture images
                                                                                                                                                              4CAMERA_CAP_FLAGS_HAS_MODESCamera has separate Video and Image/Photo modes (MAV_CMD_SET_CAMERA_MODE)
                                                                                                                                                              8CAMERA_CAP_FLAGS_CAN_CAPTURE_IMAGE_IN_VIDEO_MODECamera can capture images while in video mode
                                                                                                                                                              16CAMERA_CAP_FLAGS_CAN_CAPTURE_VIDEO_IN_IMAGE_MODECamera can capture videos while in Photo/Image mode
                                                                                                                                                              32CAMERA_CAP_FLAGS_HAS_IMAGE_SURVEY_MODECamera has image survey mode (MAV_CMD_SET_CAMERA_MODE)
                                                                                                                                                              64CAMERA_CAP_FLAGS_HAS_BASIC_ZOOMCamera has basic zoom control (MAV_CMD_SET_CAMERA_ZOOM)
                                                                                                                                                              128CAMERA_CAP_FLAGS_HAS_BASIC_FOCUSCamera has basic focus control (MAV_CMD_SET_CAMERA_FOCUS)
                                                                                                                                                              256CAMERA_CAP_FLAGS_HAS_VIDEO_STREAMCamera has video streaming capabilities (request VIDEO_STREAM_INFORMATION with MAV_CMD_REQUEST_MESSAGE for video streaming info)
                                                                                                                                                              512CAMERA_CAP_FLAGS_HAS_TRACKING_POINTCamera supports tracking of a point on the camera view.
                                                                                                                                                              1024CAMERA_CAP_FLAGS_HAS_TRACKING_RECTANGLECamera supports tracking of a selection rectangle on the camera view.
                                                                                                                                                              2048CAMERA_CAP_FLAGS_HAS_TRACKING_GEO_STATUSCamera supports tracking geo status (CAMERA_TRACKING_GEO_STATUS).
                                                                                                                                                              4096CAMERA_CAP_FLAGS_HAS_THERMAL_RANGECamera supports absolute thermal range (request CAMERA_THERMAL_RANGE with MAV_CMD_REQUEST_MESSAGE) (WIP).

                                                                                                                                                              VIDEO_STREAM_STATUS_FLAGS

                                                                                                                                                              (Bitmask) Stream status flags (Bitmap)

                                                                                                                                                              ValueNameDescription
                                                                                                                                                              1VIDEO_STREAM_STATUS_FLAGS_RUNNINGStream is active (running)
                                                                                                                                                              2VIDEO_STREAM_STATUS_FLAGS_THERMALStream is thermal imaging
                                                                                                                                                              4VIDEO_STREAM_STATUS_FLAGS_THERMAL_RANGE_ENABLEDStream can report absolute thermal range (see CAMERA_THERMAL_RANGE). (WIP).

                                                                                                                                                              VIDEO_STREAM_TYPE

                                                                                                                                                              Video stream types

                                                                                                                                                              ValueNameDescription
                                                                                                                                                              0VIDEO_STREAM_TYPE_RTSPStream is RTSP
                                                                                                                                                              1VIDEO_STREAM_TYPE_RTPUDPStream is RTP UDP (URI gives the port number)
                                                                                                                                                              2VIDEO_STREAM_TYPE_TCP_MPEGStream is MPEG on TCP
                                                                                                                                                              3VIDEO_STREAM_TYPE_MPEG_TSStream is MPEG TS (URI gives the port number)

                                                                                                                                                              VIDEO_STREAM_ENCODING

                                                                                                                                                              Video stream encodings

                                                                                                                                                              ValueNameDescription
                                                                                                                                                              0VIDEO_STREAM_ENCODING_UNKNOWNStream encoding is unknown
                                                                                                                                                              1VIDEO_STREAM_ENCODING_H264Stream encoding is H.264
                                                                                                                                                              2VIDEO_STREAM_ENCODING_H265Stream encoding is H.265

                                                                                                                                                              CAMERA_TRACKING_STATUS_FLAGS

                                                                                                                                                              Camera tracking status flags

                                                                                                                                                              ValueNameDescription
                                                                                                                                                              0CAMERA_TRACKING_STATUS_FLAGS_IDLECamera is not tracking
                                                                                                                                                              1CAMERA_TRACKING_STATUS_FLAGS_ACTIVECamera is tracking
                                                                                                                                                              2CAMERA_TRACKING_STATUS_FLAGS_ERRORCamera tracking in error state

                                                                                                                                                              CAMERA_TRACKING_MODE

                                                                                                                                                              Camera tracking modes

                                                                                                                                                              ValueNameDescription
                                                                                                                                                              0CAMERA_TRACKING_MODE_NONENot tracking
                                                                                                                                                              1CAMERA_TRACKING_MODE_POINTTarget is a point
                                                                                                                                                              2CAMERA_TRACKING_MODE_RECTANGLETarget is a rectangle

                                                                                                                                                              CAMERA_TRACKING_TARGET_DATA

                                                                                                                                                              (Bitmask) Camera tracking target data (shows where tracked target is within image)

                                                                                                                                                              ValueNameDescription
                                                                                                                                                              0CAMERA_TRACKING_TARGET_DATA_NONENo target data
                                                                                                                                                              1CAMERA_TRACKING_TARGET_DATA_EMBEDDEDTarget data embedded in image data (proprietary)
                                                                                                                                                              2CAMERA_TRACKING_TARGET_DATA_RENDEREDTarget data rendered in image
                                                                                                                                                              4CAMERA_TRACKING_TARGET_DATA_IN_STATUSTarget data within status message (Point or Rectangle)

                                                                                                                                                              CAMERA_ZOOM_TYPE

                                                                                                                                                              Zoom types for MAV_CMD_SET_CAMERA_ZOOM

                                                                                                                                                              ValueNameDescription
                                                                                                                                                              0ZOOM_TYPE_STEPZoom one step increment (-1 for wide, 1 for tele)
                                                                                                                                                              1ZOOM_TYPE_CONTINUOUSContinuous zoom up/down until stopped (-1 for wide, 1 for tele, 0 to stop zooming)
                                                                                                                                                              2ZOOM_TYPE_RANGEZoom value as proportion of full camera range (a percentage value between 0.0 and 100.0)
                                                                                                                                                              3ZOOM_TYPE_FOCAL_LENGTHZoom value/variable focal length in millimetres. Note that there is no message to get the valid zoom range of the camera, so this can type can only be used for cameras where the zoom range is known (implying that this cannot reliably be used in a GCS for an arbitrary camera)
                                                                                                                                                              4ZOOM_TYPE_HORIZONTAL_FOVZoom value as horizontal field of view in degrees.

                                                                                                                                                              SET_FOCUS_TYPE

                                                                                                                                                              Focus types for MAV_CMD_SET_CAMERA_FOCUS

                                                                                                                                                              ValueNameDescription
                                                                                                                                                              0FOCUS_TYPE_STEPFocus one step increment (-1 for focusing in, 1 for focusing out towards infinity).
                                                                                                                                                              1FOCUS_TYPE_CONTINUOUSContinuous focus up/down until stopped (-1 for focusing in, 1 for focusing out towards infinity, 0 to stop focusing)
                                                                                                                                                              2FOCUS_TYPE_RANGEFocus value as proportion of full camera focus range (a value between 0.0 and 100.0)
                                                                                                                                                              3FOCUS_TYPE_METERSFocus value in metres. Note that there is no message to get the valid focus range of the camera, so this can type can only be used for cameras where the range is known (implying that this cannot reliably be used in a GCS for an arbitrary camera).
                                                                                                                                                              4FOCUS_TYPE_AUTOFocus automatically.
                                                                                                                                                              5FOCUS_TYPE_AUTO_SINGLESingle auto focus. Mainly used for still pictures. Usually abbreviated as AF-S.
                                                                                                                                                              6FOCUS_TYPE_AUTO_CONTINUOUSContinuous auto focus. Mainly used for dynamic scenes. Abbreviated as AF-C.

                                                                                                                                                              CAMERA_SOURCE

                                                                                                                                                              Camera sources for MAV_CMD_SET_CAMERA_SOURCE

                                                                                                                                                              ValueNameDescription
                                                                                                                                                              0CAMERA_SOURCE_DEFAULTDefault camera source.
                                                                                                                                                              1CAMERA_SOURCE_RGBRGB camera source.
                                                                                                                                                              2CAMERA_SOURCE_IRIR camera source.
                                                                                                                                                              3CAMERA_SOURCE_NDVINDVI camera source.

                                                                                                                                                              PARAM_ACK

                                                                                                                                                              Result from PARAM_EXT_SET message (or a PARAM_SET within a transaction).

                                                                                                                                                              ValueNameDescription
                                                                                                                                                              0PARAM_ACK_ACCEPTEDParameter value ACCEPTED and SET
                                                                                                                                                              1PARAM_ACK_VALUE_UNSUPPORTEDParameter value UNKNOWN/UNSUPPORTED
                                                                                                                                                              2PARAM_ACK_FAILEDParameter failed to set
                                                                                                                                                              3PARAM_ACK_IN_PROGRESSParameter value received but not yet set/accepted. A subsequent PARAM_ACK_TRANSACTION or PARAM_EXT_ACK with the final result will follow once operation is completed. This is returned immediately for parameters that take longer to set, indicating that the the parameter was received and does not need to be resent.

                                                                                                                                                              CAMERA_MODE

                                                                                                                                                              Camera Modes.

                                                                                                                                                              ValueNameDescription
                                                                                                                                                              0CAMERA_MODE_IMAGECamera is in image/photo capture mode.
                                                                                                                                                              1CAMERA_MODE_VIDEOCamera is in video capture mode.
                                                                                                                                                              2CAMERA_MODE_IMAGE_SURVEYCamera is in image survey capture mode. It allows for camera controller to do specific settings for surveys.

                                                                                                                                                              MAV_ARM_AUTH_DENIED_REASON

                                                                                                                                                              ValueNameDescription
                                                                                                                                                              0MAV_ARM_AUTH_DENIED_REASON_GENERICNot a specific reason
                                                                                                                                                              1MAV_ARM_AUTH_DENIED_REASON_NONEAuthorizer will send the error as string to GCS
                                                                                                                                                              2MAV_ARM_AUTH_DENIED_REASON_INVALID_WAYPOINTAt least one waypoint have a invalid value
                                                                                                                                                              3MAV_ARM_AUTH_DENIED_REASON_TIMEOUTTimeout in the authorizer process(in case it depends on network)
                                                                                                                                                              4MAV_ARM_AUTH_DENIED_REASON_AIRSPACE_IN_USEAirspace of the mission in use by another vehicle, second result parameter can have the waypoint id that caused it to be denied.
                                                                                                                                                              5MAV_ARM_AUTH_DENIED_REASON_BAD_WEATHERWeather is not good to fly

                                                                                                                                                              RC_TYPE

                                                                                                                                                              RC type. Used in MAV_CMD_START_RX_PAIR.

                                                                                                                                                              ValueNameDescription
                                                                                                                                                              0RC_TYPE_SPEKTRUMSpektrum
                                                                                                                                                              1RC_TYPE_CRSFCRSF

                                                                                                                                                              RC_SUB_TYPE

                                                                                                                                                              RC sub-type of types defined in RC_TYPE. Used in MAV_CMD_START_RX_PAIR. Ignored if value does not correspond to the set RC_TYPE.

                                                                                                                                                              ValueNameDescription
                                                                                                                                                              0RC_SUB_TYPE_SPEKTRUM_DSM2Spektrum DSM2
                                                                                                                                                              1RC_SUB_TYPE_SPEKTRUM_DSMXSpektrum DSMX
                                                                                                                                                              2RC_SUB_TYPE_SPEKTRUM_DSMX8Spektrum DSMX8

                                                                                                                                                              POSITION_TARGET_TYPEMASK

                                                                                                                                                              (Bitmask) Bitmap to indicate which dimensions should be ignored by the vehicle: a value of 0b0000000000000000 or 0b0000001000000000 indicates that none of the setpoint dimensions should be ignored. If bit 9 is set the floats afx afy afz should be interpreted as force instead of acceleration.

                                                                                                                                                              ValueNameDescription
                                                                                                                                                              1POSITION_TARGET_TYPEMASK_X_IGNOREIgnore position x
                                                                                                                                                              2POSITION_TARGET_TYPEMASK_Y_IGNOREIgnore position y
                                                                                                                                                              4POSITION_TARGET_TYPEMASK_Z_IGNOREIgnore position z
                                                                                                                                                              8POSITION_TARGET_TYPEMASK_VX_IGNOREIgnore velocity x
                                                                                                                                                              16POSITION_TARGET_TYPEMASK_VY_IGNOREIgnore velocity y
                                                                                                                                                              32POSITION_TARGET_TYPEMASK_VZ_IGNOREIgnore velocity z
                                                                                                                                                              64POSITION_TARGET_TYPEMASK_AX_IGNOREIgnore acceleration x
                                                                                                                                                              128POSITION_TARGET_TYPEMASK_AY_IGNOREIgnore acceleration y
                                                                                                                                                              256POSITION_TARGET_TYPEMASK_AZ_IGNOREIgnore acceleration z
                                                                                                                                                              512POSITION_TARGET_TYPEMASK_FORCE_SETUse force instead of acceleration
                                                                                                                                                              1024POSITION_TARGET_TYPEMASK_YAW_IGNOREIgnore yaw
                                                                                                                                                              2048POSITION_TARGET_TYPEMASK_YAW_RATE_IGNOREIgnore yaw rate

                                                                                                                                                              ATTITUDE_TARGET_TYPEMASK

                                                                                                                                                              (Bitmask) Bitmap to indicate which dimensions should be ignored by the vehicle: a value of 0b00000000 indicates that none of the setpoint dimensions should be ignored.

                                                                                                                                                              ValueNameDescription
                                                                                                                                                              1ATTITUDE_TARGET_TYPEMASK_BODY_ROLL_RATE_IGNOREIgnore body roll rate
                                                                                                                                                              2ATTITUDE_TARGET_TYPEMASK_BODY_PITCH_RATE_IGNOREIgnore body pitch rate
                                                                                                                                                              4ATTITUDE_TARGET_TYPEMASK_BODY_YAW_RATE_IGNOREIgnore body yaw rate
                                                                                                                                                              32ATTITUDE_TARGET_TYPEMASK_THRUST_BODY_SETUse 3D body thrust setpoint instead of throttle
                                                                                                                                                              64ATTITUDE_TARGET_TYPEMASK_THROTTLE_IGNOREIgnore throttle
                                                                                                                                                              128ATTITUDE_TARGET_TYPEMASK_ATTITUDE_IGNOREIgnore attitude

                                                                                                                                                              UTM_FLIGHT_STATE

                                                                                                                                                              Airborne status of UAS.

                                                                                                                                                              ValueNameDescription
                                                                                                                                                              1UTM_FLIGHT_STATE_UNKNOWNThe flight state can't be determined.
                                                                                                                                                              2UTM_FLIGHT_STATE_GROUNDUAS on ground.
                                                                                                                                                              3UTM_FLIGHT_STATE_AIRBORNEUAS airborne.
                                                                                                                                                              16UTM_FLIGHT_STATE_EMERGENCYUAS is in an emergency flight state.
                                                                                                                                                              32UTM_FLIGHT_STATE_NOCTRLUAS has no active controls.

                                                                                                                                                              UTM_DATA_AVAIL_FLAGS

                                                                                                                                                              (Bitmask) Flags for the global position report.

                                                                                                                                                              ValueNameDescription
                                                                                                                                                              1UTM_DATA_AVAIL_FLAGS_TIME_VALIDThe field time contains valid data.
                                                                                                                                                              2UTM_DATA_AVAIL_FLAGS_UAS_ID_AVAILABLEThe field uas_id contains valid data.
                                                                                                                                                              4UTM_DATA_AVAIL_FLAGS_POSITION_AVAILABLEThe fields lat, lon and h_acc contain valid data.
                                                                                                                                                              8UTM_DATA_AVAIL_FLAGS_ALTITUDE_AVAILABLEThe fields alt and v_acc contain valid data.
                                                                                                                                                              16UTM_DATA_AVAIL_FLAGS_RELATIVE_ALTITUDE_AVAILABLEThe field relative_alt contains valid data.
                                                                                                                                                              32UTM_DATA_AVAIL_FLAGS_HORIZONTAL_VELO_AVAILABLEThe fields vx and vy contain valid data.
                                                                                                                                                              64UTM_DATA_AVAIL_FLAGS_VERTICAL_VELO_AVAILABLEThe field vz contains valid data.
                                                                                                                                                              128UTM_DATA_AVAIL_FLAGS_NEXT_WAYPOINT_AVAILABLEThe fields next_lat, next_lon and next_alt contain valid data.

                                                                                                                                                              CELLULAR_STATUS_FLAG

                                                                                                                                                              These flags encode the cellular network status

                                                                                                                                                              ValueNameDescription
                                                                                                                                                              0CELLULAR_STATUS_FLAG_UNKNOWNState unknown or not reportable.
                                                                                                                                                              1CELLULAR_STATUS_FLAG_FAILEDModem is unusable
                                                                                                                                                              2CELLULAR_STATUS_FLAG_INITIALIZINGModem is being initialized
                                                                                                                                                              3CELLULAR_STATUS_FLAG_LOCKEDModem is locked
                                                                                                                                                              4CELLULAR_STATUS_FLAG_DISABLEDModem is not enabled and is powered down
                                                                                                                                                              5CELLULAR_STATUS_FLAG_DISABLINGModem is currently transitioning to the CELLULAR_STATUS_FLAG_DISABLED state
                                                                                                                                                              6CELLULAR_STATUS_FLAG_ENABLINGModem is currently transitioning to the CELLULAR_STATUS_FLAG_ENABLED state
                                                                                                                                                              7CELLULAR_STATUS_FLAG_ENABLEDModem is enabled and powered on but not registered with a network provider and not available for data connections
                                                                                                                                                              8CELLULAR_STATUS_FLAG_SEARCHINGModem is searching for a network provider to register
                                                                                                                                                              9CELLULAR_STATUS_FLAG_REGISTEREDModem is registered with a network provider, and data connections and messaging may be available for use
                                                                                                                                                              10CELLULAR_STATUS_FLAG_DISCONNECTINGModem is disconnecting and deactivating the last active packet data bearer. This state will not be entered if more than one packet data bearer is active and one of the active bearers is deactivated
                                                                                                                                                              11CELLULAR_STATUS_FLAG_CONNECTINGModem is activating and connecting the first packet data bearer. Subsequent bearer activations when another bearer is already active do not cause this state to be entered
                                                                                                                                                              12CELLULAR_STATUS_FLAG_CONNECTEDOne or more packet data bearers is active and connected

                                                                                                                                                              CELLULAR_NETWORK_FAILED_REASON

                                                                                                                                                              These flags are used to diagnose the failure state of CELLULAR_STATUS

                                                                                                                                                              ValueNameDescription
                                                                                                                                                              0CELLULAR_NETWORK_FAILED_REASON_NONENo error
                                                                                                                                                              1CELLULAR_NETWORK_FAILED_REASON_UNKNOWNError state is unknown
                                                                                                                                                              2CELLULAR_NETWORK_FAILED_REASON_SIM_MISSINGSIM is required for the modem but missing
                                                                                                                                                              3CELLULAR_NETWORK_FAILED_REASON_SIM_ERRORSIM is available, but not usable for connection

                                                                                                                                                              CELLULAR_NETWORK_RADIO_TYPE

                                                                                                                                                              Cellular network radio type

                                                                                                                                                              ValueNameDescription
                                                                                                                                                              0CELLULAR_NETWORK_RADIO_TYPE_NONE
                                                                                                                                                              1CELLULAR_NETWORK_RADIO_TYPE_GSM
                                                                                                                                                              2CELLULAR_NETWORK_RADIO_TYPE_CDMA
                                                                                                                                                              3CELLULAR_NETWORK_RADIO_TYPE_WCDMA
                                                                                                                                                              4CELLULAR_NETWORK_RADIO_TYPE_LTE

                                                                                                                                                              PRECISION_LAND_MODE

                                                                                                                                                              Precision land modes (used in MAV_CMD_NAV_LAND).

                                                                                                                                                              ValueNameDescription
                                                                                                                                                              0PRECISION_LAND_MODE_DISABLEDNormal (non-precision) landing.
                                                                                                                                                              1PRECISION_LAND_MODE_OPPORTUNISTICUse precision landing if beacon detected when land command accepted, otherwise land normally.
                                                                                                                                                              2PRECISION_LAND_MODE_REQUIREDUse precision landing, searching for beacon if not found when land command accepted (land normally if beacon cannot be found).

                                                                                                                                                              PARACHUTE_ACTION

                                                                                                                                                              Parachute actions. Trigger release and enable/disable auto-release.

                                                                                                                                                              ValueNameDescription
                                                                                                                                                              0PARACHUTE_DISABLEDisable auto-release of parachute (i.e. release triggered by crash detectors).
                                                                                                                                                              1PARACHUTE_ENABLEEnable auto-release of parachute.
                                                                                                                                                              2PARACHUTE_RELEASERelease parachute and kill motors.

                                                                                                                                                              MAV_TUNNEL_PAYLOAD_TYPE

                                                                                                                                                              ValueNameDescription
                                                                                                                                                              0MAV_TUNNEL_PAYLOAD_TYPE_UNKNOWNEncoding of payload unknown.
                                                                                                                                                              200MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED0Registered for STorM32 gimbal controller.
                                                                                                                                                              201MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED1Registered for STorM32 gimbal controller.
                                                                                                                                                              202MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED2Registered for STorM32 gimbal controller.
                                                                                                                                                              203MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED3Registered for STorM32 gimbal controller.
                                                                                                                                                              204MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED4Registered for STorM32 gimbal controller.
                                                                                                                                                              205MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED5Registered for STorM32 gimbal controller.
                                                                                                                                                              206MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED6Registered for STorM32 gimbal controller.
                                                                                                                                                              207MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED7Registered for STorM32 gimbal controller.
                                                                                                                                                              208MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED8Registered for STorM32 gimbal controller.
                                                                                                                                                              209MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED9Registered for STorM32 gimbal controller.

                                                                                                                                                              MAV_ODID_ID_TYPE

                                                                                                                                                              ValueNameDescription
                                                                                                                                                              0MAV_ODID_ID_TYPE_NONENo type defined.
                                                                                                                                                              1MAV_ODID_ID_TYPE_SERIAL_NUMBERManufacturer Serial Number (ANSI/CTA-2063 format).
                                                                                                                                                              2MAV_ODID_ID_TYPE_CAA_REGISTRATION_IDCAA (Civil Aviation Authority) registered ID. Format: [ICAO Country Code].[CAA Assigned ID].
                                                                                                                                                              3MAV_ODID_ID_TYPE_UTM_ASSIGNED_UUIDUTM (Unmanned Traffic Management) assigned UUID (RFC4122).
                                                                                                                                                              4MAV_ODID_ID_TYPE_SPECIFIC_SESSION_IDA 20 byte ID for a specific flight/session. The exact ID type is indicated by the first byte of uas_id and these type values are managed by ICAO.

                                                                                                                                                              MAV_ODID_UA_TYPE

                                                                                                                                                              ValueNameDescription
                                                                                                                                                              0MAV_ODID_UA_TYPE_NONENo UA (Unmanned Aircraft) type defined.
                                                                                                                                                              1MAV_ODID_UA_TYPE_AEROPLANEAeroplane/Airplane. Fixed wing.
                                                                                                                                                              2MAV_ODID_UA_TYPE_HELICOPTER_OR_MULTIROTORHelicopter or multirotor.
                                                                                                                                                              3MAV_ODID_UA_TYPE_GYROPLANEGyroplane.
                                                                                                                                                              4MAV_ODID_UA_TYPE_HYBRID_LIFTVTOL (Vertical Take-Off and Landing). Fixed wing aircraft that can take off vertically.
                                                                                                                                                              5MAV_ODID_UA_TYPE_ORNITHOPTEROrnithopter.
                                                                                                                                                              6MAV_ODID_UA_TYPE_GLIDERGlider.
                                                                                                                                                              7MAV_ODID_UA_TYPE_KITEKite.
                                                                                                                                                              8MAV_ODID_UA_TYPE_FREE_BALLOONFree Balloon.
                                                                                                                                                              9MAV_ODID_UA_TYPE_CAPTIVE_BALLOONCaptive Balloon.
                                                                                                                                                              10MAV_ODID_UA_TYPE_AIRSHIPAirship. E.g. a blimp.
                                                                                                                                                              11MAV_ODID_UA_TYPE_FREE_FALL_PARACHUTEFree Fall/Parachute (unpowered).
                                                                                                                                                              12MAV_ODID_UA_TYPE_ROCKETRocket.
                                                                                                                                                              13MAV_ODID_UA_TYPE_TETHERED_POWERED_AIRCRAFTTethered powered aircraft.
                                                                                                                                                              14MAV_ODID_UA_TYPE_GROUND_OBSTACLEGround Obstacle.
                                                                                                                                                              15MAV_ODID_UA_TYPE_OTHEROther type of aircraft not listed earlier.

                                                                                                                                                              MAV_ODID_STATUS

                                                                                                                                                              ValueNameDescription
                                                                                                                                                              0MAV_ODID_STATUS_UNDECLAREDThe status of the (UA) Unmanned Aircraft is undefined.
                                                                                                                                                              1MAV_ODID_STATUS_GROUNDThe UA is on the ground.
                                                                                                                                                              2MAV_ODID_STATUS_AIRBORNEThe UA is in the air.
                                                                                                                                                              3MAV_ODID_STATUS_EMERGENCYThe UA is having an emergency.
                                                                                                                                                              4MAV_ODID_STATUS_REMOTE_ID_SYSTEM_FAILUREThe remote ID system is failing or unreliable in some way.

                                                                                                                                                              MAV_ODID_HEIGHT_REF

                                                                                                                                                              ValueNameDescription
                                                                                                                                                              0MAV_ODID_HEIGHT_REF_OVER_TAKEOFFThe height field is relative to the take-off location.
                                                                                                                                                              1MAV_ODID_HEIGHT_REF_OVER_GROUNDThe height field is relative to ground.

                                                                                                                                                              MAV_ODID_HOR_ACC

                                                                                                                                                              ValueNameDescription
                                                                                                                                                              0MAV_ODID_HOR_ACC_UNKNOWNThe horizontal accuracy is unknown.
                                                                                                                                                              1MAV_ODID_HOR_ACC_10NMThe horizontal accuracy is smaller than 10 Nautical Miles. 18.52 km.
                                                                                                                                                              2MAV_ODID_HOR_ACC_4NMThe horizontal accuracy is smaller than 4 Nautical Miles. 7.408 km.
                                                                                                                                                              3MAV_ODID_HOR_ACC_2NMThe horizontal accuracy is smaller than 2 Nautical Miles. 3.704 km.
                                                                                                                                                              4MAV_ODID_HOR_ACC_1NMThe horizontal accuracy is smaller than 1 Nautical Miles. 1.852 km.
                                                                                                                                                              5MAV_ODID_HOR_ACC_0_5NMThe horizontal accuracy is smaller than 0.5 Nautical Miles. 926 m.
                                                                                                                                                              6MAV_ODID_HOR_ACC_0_3NMThe horizontal accuracy is smaller than 0.3 Nautical Miles. 555.6 m.
                                                                                                                                                              7MAV_ODID_HOR_ACC_0_1NMThe horizontal accuracy is smaller than 0.1 Nautical Miles. 185.2 m.
                                                                                                                                                              8MAV_ODID_HOR_ACC_0_05NMThe horizontal accuracy is smaller than 0.05 Nautical Miles. 92.6 m.
                                                                                                                                                              9MAV_ODID_HOR_ACC_30_METERThe horizontal accuracy is smaller than 30 meter.
                                                                                                                                                              10MAV_ODID_HOR_ACC_10_METERThe horizontal accuracy is smaller than 10 meter.
                                                                                                                                                              11MAV_ODID_HOR_ACC_3_METERThe horizontal accuracy is smaller than 3 meter.
                                                                                                                                                              12MAV_ODID_HOR_ACC_1_METERThe horizontal accuracy is smaller than 1 meter.

                                                                                                                                                              MAV_ODID_VER_ACC

                                                                                                                                                              ValueNameDescription
                                                                                                                                                              0MAV_ODID_VER_ACC_UNKNOWNThe vertical accuracy is unknown.
                                                                                                                                                              1MAV_ODID_VER_ACC_150_METERThe vertical accuracy is smaller than 150 meter.
                                                                                                                                                              2MAV_ODID_VER_ACC_45_METERThe vertical accuracy is smaller than 45 meter.
                                                                                                                                                              3MAV_ODID_VER_ACC_25_METERThe vertical accuracy is smaller than 25 meter.
                                                                                                                                                              4MAV_ODID_VER_ACC_10_METERThe vertical accuracy is smaller than 10 meter.
                                                                                                                                                              5MAV_ODID_VER_ACC_3_METERThe vertical accuracy is smaller than 3 meter.
                                                                                                                                                              6MAV_ODID_VER_ACC_1_METERThe vertical accuracy is smaller than 1 meter.

                                                                                                                                                              MAV_ODID_SPEED_ACC

                                                                                                                                                              ValueNameDescription
                                                                                                                                                              0MAV_ODID_SPEED_ACC_UNKNOWNThe speed accuracy is unknown.
                                                                                                                                                              1MAV_ODID_SPEED_ACC_10_METERS_PER_SECONDThe speed accuracy is smaller than 10 meters per second.
                                                                                                                                                              2MAV_ODID_SPEED_ACC_3_METERS_PER_SECONDThe speed accuracy is smaller than 3 meters per second.
                                                                                                                                                              3MAV_ODID_SPEED_ACC_1_METERS_PER_SECONDThe speed accuracy is smaller than 1 meters per second.
                                                                                                                                                              4MAV_ODID_SPEED_ACC_0_3_METERS_PER_SECONDThe speed accuracy is smaller than 0.3 meters per second.

                                                                                                                                                              MAV_ODID_TIME_ACC

                                                                                                                                                              ValueNameDescription
                                                                                                                                                              0MAV_ODID_TIME_ACC_UNKNOWNThe timestamp accuracy is unknown.
                                                                                                                                                              1MAV_ODID_TIME_ACC_0_1_SECONDThe timestamp accuracy is smaller than or equal to 0.1 second.
                                                                                                                                                              2MAV_ODID_TIME_ACC_0_2_SECONDThe timestamp accuracy is smaller than or equal to 0.2 second.
                                                                                                                                                              3MAV_ODID_TIME_ACC_0_3_SECONDThe timestamp accuracy is smaller than or equal to 0.3 second.
                                                                                                                                                              4MAV_ODID_TIME_ACC_0_4_SECONDThe timestamp accuracy is smaller than or equal to 0.4 second.
                                                                                                                                                              5MAV_ODID_TIME_ACC_0_5_SECONDThe timestamp accuracy is smaller than or equal to 0.5 second.
                                                                                                                                                              6MAV_ODID_TIME_ACC_0_6_SECONDThe timestamp accuracy is smaller than or equal to 0.6 second.
                                                                                                                                                              7MAV_ODID_TIME_ACC_0_7_SECONDThe timestamp accuracy is smaller than or equal to 0.7 second.
                                                                                                                                                              8MAV_ODID_TIME_ACC_0_8_SECONDThe timestamp accuracy is smaller than or equal to 0.8 second.
                                                                                                                                                              9MAV_ODID_TIME_ACC_0_9_SECONDThe timestamp accuracy is smaller than or equal to 0.9 second.
                                                                                                                                                              10MAV_ODID_TIME_ACC_1_0_SECONDThe timestamp accuracy is smaller than or equal to 1.0 second.
                                                                                                                                                              11MAV_ODID_TIME_ACC_1_1_SECONDThe timestamp accuracy is smaller than or equal to 1.1 second.
                                                                                                                                                              12MAV_ODID_TIME_ACC_1_2_SECONDThe timestamp accuracy is smaller than or equal to 1.2 second.
                                                                                                                                                              13MAV_ODID_TIME_ACC_1_3_SECONDThe timestamp accuracy is smaller than or equal to 1.3 second.
                                                                                                                                                              14MAV_ODID_TIME_ACC_1_4_SECONDThe timestamp accuracy is smaller than or equal to 1.4 second.
                                                                                                                                                              15MAV_ODID_TIME_ACC_1_5_SECONDThe timestamp accuracy is smaller than or equal to 1.5 second.

                                                                                                                                                              MAV_ODID_AUTH_TYPE

                                                                                                                                                              ValueNameDescription
                                                                                                                                                              0MAV_ODID_AUTH_TYPE_NONENo authentication type is specified.
                                                                                                                                                              1MAV_ODID_AUTH_TYPE_UAS_ID_SIGNATURESignature for the UAS (Unmanned Aircraft System) ID.
                                                                                                                                                              2MAV_ODID_AUTH_TYPE_OPERATOR_ID_SIGNATURESignature for the Operator ID.
                                                                                                                                                              3MAV_ODID_AUTH_TYPE_MESSAGE_SET_SIGNATURESignature for the entire message set.
                                                                                                                                                              4MAV_ODID_AUTH_TYPE_NETWORK_REMOTE_IDAuthentication is provided by Network Remote ID.
                                                                                                                                                              5MAV_ODID_AUTH_TYPE_SPECIFIC_AUTHENTICATIONThe exact authentication type is indicated by the first byte of authentication_data and these type values are managed by ICAO.

                                                                                                                                                              MAV_ODID_DESC_TYPE

                                                                                                                                                              ValueNameDescription
                                                                                                                                                              0MAV_ODID_DESC_TYPE_TEXTOptional free-form text description of the purpose of the flight.
                                                                                                                                                              1MAV_ODID_DESC_TYPE_EMERGENCYOptional additional clarification when status == MAV_ODID_STATUS_EMERGENCY.
                                                                                                                                                              2MAV_ODID_DESC_TYPE_EXTENDED_STATUSOptional additional clarification when status != MAV_ODID_STATUS_EMERGENCY.

                                                                                                                                                              MAV_ODID_OPERATOR_LOCATION_TYPE

                                                                                                                                                              ValueNameDescription
                                                                                                                                                              0MAV_ODID_OPERATOR_LOCATION_TYPE_TAKEOFFThe location/altitude of the operator is the same as the take-off location.
                                                                                                                                                              1MAV_ODID_OPERATOR_LOCATION_TYPE_LIVE_GNSSThe location/altitude of the operator is dynamic. E.g. based on live GNSS data.
                                                                                                                                                              2MAV_ODID_OPERATOR_LOCATION_TYPE_FIXEDThe location/altitude of the operator are fixed values.

                                                                                                                                                              MAV_ODID_CLASSIFICATION_TYPE

                                                                                                                                                              ValueNameDescription
                                                                                                                                                              0MAV_ODID_CLASSIFICATION_TYPE_UNDECLAREDThe classification type for the UA is undeclared.
                                                                                                                                                              1MAV_ODID_CLASSIFICATION_TYPE_EUThe classification type for the UA follows EU (European Union) specifications.

                                                                                                                                                              MAV_ODID_CATEGORY_EU

                                                                                                                                                              ValueNameDescription
                                                                                                                                                              0MAV_ODID_CATEGORY_EU_UNDECLAREDThe category for the UA, according to the EU specification, is undeclared.
                                                                                                                                                              1MAV_ODID_CATEGORY_EU_OPENThe category for the UA, according to the EU specification, is the Open category.
                                                                                                                                                              2MAV_ODID_CATEGORY_EU_SPECIFICThe category for the UA, according to the EU specification, is the Specific category.
                                                                                                                                                              3MAV_ODID_CATEGORY_EU_CERTIFIEDThe category for the UA, according to the EU specification, is the Certified category.

                                                                                                                                                              MAV_ODID_CLASS_EU

                                                                                                                                                              ValueNameDescription
                                                                                                                                                              0MAV_ODID_CLASS_EU_UNDECLAREDThe class for the UA, according to the EU specification, is undeclared.
                                                                                                                                                              1MAV_ODID_CLASS_EU_CLASS_0The class for the UA, according to the EU specification, is Class 0.
                                                                                                                                                              2MAV_ODID_CLASS_EU_CLASS_1The class for the UA, according to the EU specification, is Class 1.
                                                                                                                                                              3MAV_ODID_CLASS_EU_CLASS_2The class for the UA, according to the EU specification, is Class 2.
                                                                                                                                                              4MAV_ODID_CLASS_EU_CLASS_3The class for the UA, according to the EU specification, is Class 3.
                                                                                                                                                              5MAV_ODID_CLASS_EU_CLASS_4The class for the UA, according to the EU specification, is Class 4.
                                                                                                                                                              6MAV_ODID_CLASS_EU_CLASS_5The class for the UA, according to the EU specification, is Class 5.
                                                                                                                                                              7MAV_ODID_CLASS_EU_CLASS_6The class for the UA, according to the EU specification, is Class 6.

                                                                                                                                                              MAV_ODID_OPERATOR_ID_TYPE

                                                                                                                                                              ValueNameDescription
                                                                                                                                                              0MAV_ODID_OPERATOR_ID_TYPE_CAACAA (Civil Aviation Authority) registered operator ID.

                                                                                                                                                              MAV_ODID_ARM_STATUS

                                                                                                                                                              ValueNameDescription
                                                                                                                                                              0MAV_ODID_ARM_STATUS_GOOD_TO_ARMPassing arming checks.
                                                                                                                                                              1MAV_ODID_ARM_STATUS_PRE_ARM_FAIL_GENERICGeneric arming failure, see error string for details.

                                                                                                                                                              TUNE_FORMAT

                                                                                                                                                              Tune formats (used for vehicle buzzer/tone generation).

                                                                                                                                                              ValueNameDescription
                                                                                                                                                              1TUNE_FORMAT_QBASIC1_1Format is QBasic 1.1 Play: https://www.qbasic.net/en/reference/qb11/Statement/PLAY-006.htm.
                                                                                                                                                              2TUNE_FORMAT_MML_MODERNFormat is Modern Music Markup Language (MML): https://en.wikipedia.org/wiki/Music_Macro_Language#Modern_MML.

                                                                                                                                                              AIS_TYPE

                                                                                                                                                              Type of AIS vessel, enum duplicated from AIS standard, https://gpsd.gitlab.io/gpsd/AIVDM.html

                                                                                                                                                              ValueNameDescription
                                                                                                                                                              0AIS_TYPE_UNKNOWNNot available (default).
                                                                                                                                                              1AIS_TYPE_RESERVED_1
                                                                                                                                                              2AIS_TYPE_RESERVED_2
                                                                                                                                                              3AIS_TYPE_RESERVED_3
                                                                                                                                                              4AIS_TYPE_RESERVED_4
                                                                                                                                                              5AIS_TYPE_RESERVED_5
                                                                                                                                                              6AIS_TYPE_RESERVED_6
                                                                                                                                                              7AIS_TYPE_RESERVED_7
                                                                                                                                                              8AIS_TYPE_RESERVED_8
                                                                                                                                                              9AIS_TYPE_RESERVED_9
                                                                                                                                                              10AIS_TYPE_RESERVED_10
                                                                                                                                                              11AIS_TYPE_RESERVED_11
                                                                                                                                                              12AIS_TYPE_RESERVED_12
                                                                                                                                                              13AIS_TYPE_RESERVED_13
                                                                                                                                                              14AIS_TYPE_RESERVED_14
                                                                                                                                                              15AIS_TYPE_RESERVED_15
                                                                                                                                                              16AIS_TYPE_RESERVED_16
                                                                                                                                                              17AIS_TYPE_RESERVED_17
                                                                                                                                                              18AIS_TYPE_RESERVED_18
                                                                                                                                                              19AIS_TYPE_RESERVED_19
                                                                                                                                                              20AIS_TYPE_WIGWing In Ground effect.
                                                                                                                                                              21AIS_TYPE_WIG_HAZARDOUS_A
                                                                                                                                                              22AIS_TYPE_WIG_HAZARDOUS_B
                                                                                                                                                              23AIS_TYPE_WIG_HAZARDOUS_C
                                                                                                                                                              24AIS_TYPE_WIG_HAZARDOUS_D
                                                                                                                                                              25AIS_TYPE_WIG_RESERVED_1
                                                                                                                                                              26AIS_TYPE_WIG_RESERVED_2
                                                                                                                                                              27AIS_TYPE_WIG_RESERVED_3
                                                                                                                                                              28AIS_TYPE_WIG_RESERVED_4
                                                                                                                                                              29AIS_TYPE_WIG_RESERVED_5
                                                                                                                                                              30AIS_TYPE_FISHING
                                                                                                                                                              31AIS_TYPE_TOWING
                                                                                                                                                              32AIS_TYPE_TOWING_LARGETowing: length exceeds 200m or breadth exceeds 25m.
                                                                                                                                                              33AIS_TYPE_DREDGINGDredging or other underwater ops.
                                                                                                                                                              34AIS_TYPE_DIVING
                                                                                                                                                              35AIS_TYPE_MILITARY
                                                                                                                                                              36AIS_TYPE_SAILING
                                                                                                                                                              37AIS_TYPE_PLEASURE
                                                                                                                                                              38AIS_TYPE_RESERVED_20
                                                                                                                                                              39AIS_TYPE_RESERVED_21
                                                                                                                                                              40AIS_TYPE_HSCHigh Speed Craft.
                                                                                                                                                              41AIS_TYPE_HSC_HAZARDOUS_A
                                                                                                                                                              42AIS_TYPE_HSC_HAZARDOUS_B
                                                                                                                                                              43AIS_TYPE_HSC_HAZARDOUS_C
                                                                                                                                                              44AIS_TYPE_HSC_HAZARDOUS_D
                                                                                                                                                              45AIS_TYPE_HSC_RESERVED_1
                                                                                                                                                              46AIS_TYPE_HSC_RESERVED_2
                                                                                                                                                              47AIS_TYPE_HSC_RESERVED_3
                                                                                                                                                              48AIS_TYPE_HSC_RESERVED_4
                                                                                                                                                              49AIS_TYPE_HSC_UNKNOWN
                                                                                                                                                              50AIS_TYPE_PILOT
                                                                                                                                                              51AIS_TYPE_SARSearch And Rescue vessel.
                                                                                                                                                              52AIS_TYPE_TUG
                                                                                                                                                              53AIS_TYPE_PORT_TENDER
                                                                                                                                                              54AIS_TYPE_ANTI_POLLUTIONAnti-pollution equipment.
                                                                                                                                                              55AIS_TYPE_LAW_ENFORCEMENT
                                                                                                                                                              56AIS_TYPE_SPARE_LOCAL_1
                                                                                                                                                              57AIS_TYPE_SPARE_LOCAL_2
                                                                                                                                                              58AIS_TYPE_MEDICAL_TRANSPORT
                                                                                                                                                              59AIS_TYPE_NONECOMBATANTNoncombatant ship according to RR Resolution No. 18.
                                                                                                                                                              60AIS_TYPE_PASSENGER
                                                                                                                                                              61AIS_TYPE_PASSENGER_HAZARDOUS_A
                                                                                                                                                              62AIS_TYPE_PASSENGER_HAZARDOUS_B
                                                                                                                                                              63AIS_TYPE_PASSENGER_HAZARDOUS_C
                                                                                                                                                              64AIS_TYPE_PASSENGER_HAZARDOUS_D
                                                                                                                                                              65AIS_TYPE_PASSENGER_RESERVED_1
                                                                                                                                                              66AIS_TYPE_PASSENGER_RESERVED_2
                                                                                                                                                              67AIS_TYPE_PASSENGER_RESERVED_3
                                                                                                                                                              68AIS_TYPE_PASSENGER_RESERVED_4
                                                                                                                                                              69AIS_TYPE_PASSENGER_UNKNOWN
                                                                                                                                                              70AIS_TYPE_CARGO
                                                                                                                                                              71AIS_TYPE_CARGO_HAZARDOUS_A
                                                                                                                                                              72AIS_TYPE_CARGO_HAZARDOUS_B
                                                                                                                                                              73AIS_TYPE_CARGO_HAZARDOUS_C
                                                                                                                                                              74AIS_TYPE_CARGO_HAZARDOUS_D
                                                                                                                                                              75AIS_TYPE_CARGO_RESERVED_1
                                                                                                                                                              76AIS_TYPE_CARGO_RESERVED_2
                                                                                                                                                              77AIS_TYPE_CARGO_RESERVED_3
                                                                                                                                                              78AIS_TYPE_CARGO_RESERVED_4
                                                                                                                                                              79AIS_TYPE_CARGO_UNKNOWN
                                                                                                                                                              80AIS_TYPE_TANKER
                                                                                                                                                              81AIS_TYPE_TANKER_HAZARDOUS_A
                                                                                                                                                              82AIS_TYPE_TANKER_HAZARDOUS_B
                                                                                                                                                              83AIS_TYPE_TANKER_HAZARDOUS_C
                                                                                                                                                              84AIS_TYPE_TANKER_HAZARDOUS_D
                                                                                                                                                              85AIS_TYPE_TANKER_RESERVED_1
                                                                                                                                                              86AIS_TYPE_TANKER_RESERVED_2
                                                                                                                                                              87AIS_TYPE_TANKER_RESERVED_3
                                                                                                                                                              88AIS_TYPE_TANKER_RESERVED_4
                                                                                                                                                              89AIS_TYPE_TANKER_UNKNOWN
                                                                                                                                                              90AIS_TYPE_OTHER
                                                                                                                                                              91AIS_TYPE_OTHER_HAZARDOUS_A
                                                                                                                                                              92AIS_TYPE_OTHER_HAZARDOUS_B
                                                                                                                                                              93AIS_TYPE_OTHER_HAZARDOUS_C
                                                                                                                                                              94AIS_TYPE_OTHER_HAZARDOUS_D
                                                                                                                                                              95AIS_TYPE_OTHER_RESERVED_1
                                                                                                                                                              96AIS_TYPE_OTHER_RESERVED_2
                                                                                                                                                              97AIS_TYPE_OTHER_RESERVED_3
                                                                                                                                                              98AIS_TYPE_OTHER_RESERVED_4
                                                                                                                                                              99AIS_TYPE_OTHER_UNKNOWN

                                                                                                                                                              AIS_NAV_STATUS

                                                                                                                                                              Navigational status of AIS vessel, enum duplicated from AIS standard, https://gpsd.gitlab.io/gpsd/AIVDM.html

                                                                                                                                                              ValueNameDescription
                                                                                                                                                              0UNDER_WAYUnder way using engine.
                                                                                                                                                              1AIS_NAV_ANCHORED
                                                                                                                                                              2AIS_NAV_UN_COMMANDED
                                                                                                                                                              3AIS_NAV_RESTRICTED_MANOEUVERABILITY
                                                                                                                                                              4AIS_NAV_DRAUGHT_CONSTRAINED
                                                                                                                                                              5AIS_NAV_MOORED
                                                                                                                                                              6AIS_NAV_AGROUND
                                                                                                                                                              7AIS_NAV_FISHING
                                                                                                                                                              8AIS_NAV_SAILING
                                                                                                                                                              9AIS_NAV_RESERVED_HSC
                                                                                                                                                              10AIS_NAV_RESERVED_WIG
                                                                                                                                                              11AIS_NAV_RESERVED_1
                                                                                                                                                              12AIS_NAV_RESERVED_2
                                                                                                                                                              13AIS_NAV_RESERVED_3
                                                                                                                                                              14AIS_NAV_AIS_SARTSearch And Rescue Transponder.
                                                                                                                                                              15AIS_NAV_UNKNOWNNot available (default).

                                                                                                                                                              AIS_FLAGS

                                                                                                                                                              (Bitmask) These flags are used in the AIS_VESSEL.fields bitmask to indicate validity of data in the other message fields. When set, the data is valid.

                                                                                                                                                              ValueNameDescription
                                                                                                                                                              1AIS_FLAGS_POSITION_ACCURACY1 = Position accuracy less than 10m, 0 = position accuracy greater than 10m.
                                                                                                                                                              2AIS_FLAGS_VALID_COG
                                                                                                                                                              4AIS_FLAGS_VALID_VELOCITY
                                                                                                                                                              8AIS_FLAGS_HIGH_VELOCITY1 = Velocity over 52.5765m/s (102.2 knots)
                                                                                                                                                              16AIS_FLAGS_VALID_TURN_RATE
                                                                                                                                                              32AIS_FLAGS_TURN_RATE_SIGN_ONLYOnly the sign of the returned turn rate value is valid, either greater than 5deg/30s or less than -5deg/30s
                                                                                                                                                              64AIS_FLAGS_VALID_DIMENSIONS
                                                                                                                                                              128AIS_FLAGS_LARGE_BOW_DIMENSIONDistance to bow is larger than 511m
                                                                                                                                                              256AIS_FLAGS_LARGE_STERN_DIMENSIONDistance to stern is larger than 511m
                                                                                                                                                              512AIS_FLAGS_LARGE_PORT_DIMENSIONDistance to port side is larger than 63m
                                                                                                                                                              1024AIS_FLAGS_LARGE_STARBOARD_DIMENSIONDistance to starboard side is larger than 63m
                                                                                                                                                              2048AIS_FLAGS_VALID_CALLSIGN
                                                                                                                                                              4096AIS_FLAGS_VALID_NAME

                                                                                                                                                              FAILURE_UNIT

                                                                                                                                                              List of possible units where failures can be injected.

                                                                                                                                                              ValueNameDescription
                                                                                                                                                              0FAILURE_UNIT_SENSOR_GYRO
                                                                                                                                                              1FAILURE_UNIT_SENSOR_ACCEL
                                                                                                                                                              2FAILURE_UNIT_SENSOR_MAG
                                                                                                                                                              3FAILURE_UNIT_SENSOR_BARO
                                                                                                                                                              4FAILURE_UNIT_SENSOR_GPS
                                                                                                                                                              5FAILURE_UNIT_SENSOR_OPTICAL_FLOW
                                                                                                                                                              6FAILURE_UNIT_SENSOR_VIO
                                                                                                                                                              7FAILURE_UNIT_SENSOR_DISTANCE_SENSOR
                                                                                                                                                              8FAILURE_UNIT_SENSOR_AIRSPEED
                                                                                                                                                              100FAILURE_UNIT_SYSTEM_BATTERY
                                                                                                                                                              101FAILURE_UNIT_SYSTEM_MOTOR
                                                                                                                                                              102FAILURE_UNIT_SYSTEM_SERVO
                                                                                                                                                              103FAILURE_UNIT_SYSTEM_AVOIDANCE
                                                                                                                                                              104FAILURE_UNIT_SYSTEM_RC_SIGNAL
                                                                                                                                                              105FAILURE_UNIT_SYSTEM_MAVLINK_SIGNAL

                                                                                                                                                              FAILURE_TYPE

                                                                                                                                                              List of possible failure type to inject.

                                                                                                                                                              ValueNameDescription
                                                                                                                                                              0FAILURE_TYPE_OKNo failure injected, used to reset a previous failure.
                                                                                                                                                              1FAILURE_TYPE_OFFSets unit off, so completely non-responsive.
                                                                                                                                                              2FAILURE_TYPE_STUCKUnit is stuck e.g. keeps reporting the same value.
                                                                                                                                                              3FAILURE_TYPE_GARBAGEUnit is reporting complete garbage.
                                                                                                                                                              4FAILURE_TYPE_WRONGUnit is consistently wrong.
                                                                                                                                                              5FAILURE_TYPE_SLOWUnit is slow, so e.g. reporting at slower than expected rate.
                                                                                                                                                              6FAILURE_TYPE_DELAYEDData of unit is delayed in time.
                                                                                                                                                              7FAILURE_TYPE_INTERMITTENTUnit is sometimes working, sometimes not.
                                                                                                                                                              ValueNameDescription
                                                                                                                                                              0NAV_VTOL_LAND_OPTIONS_DEFAULTDefault autopilot landing behaviour.
                                                                                                                                                              1NAV_VTOL_LAND_OPTIONS_FW_DESCENTDescend in fixed wing mode, transitioning to multicopter mode for vertical landing when close to the ground.
                                                                                                                                                              The fixed wing descent pattern is at the discretion of the vehicle (e.g. transition altitude, loiter direction, radius, and speed, etc.).
                                                                                                                                                              2NAV_VTOL_LAND_OPTIONS_HOVER_DESCENTLand in multicopter mode on reaching the landing coordinates (the whole landing is by "hover descent").

                                                                                                                                                              MAV_WINCH_STATUS_FLAG

                                                                                                                                                              (Bitmask) Winch status flags used in WINCH_STATUS

                                                                                                                                                              ValueNameDescription
                                                                                                                                                              1MAV_WINCH_STATUS_HEALTHYWinch is healthy
                                                                                                                                                              2MAV_WINCH_STATUS_FULLY_RETRACTEDWinch line is fully retracted
                                                                                                                                                              4MAV_WINCH_STATUS_MOVINGWinch motor is moving
                                                                                                                                                              8MAV_WINCH_STATUS_CLUTCH_ENGAGEDWinch clutch is engaged allowing motor to move freely.
                                                                                                                                                              16MAV_WINCH_STATUS_LOCKEDWinch is locked by locking mechanism.
                                                                                                                                                              32MAV_WINCH_STATUS_DROPPINGWinch is gravity dropping payload.
                                                                                                                                                              64MAV_WINCH_STATUS_ARRESTINGWinch is arresting payload descent.
                                                                                                                                                              128MAV_WINCH_STATUS_GROUND_SENSEWinch is using torque measurements to sense the ground.
                                                                                                                                                              256MAV_WINCH_STATUS_RETRACTINGWinch is returning to the fully retracted position.
                                                                                                                                                              512MAV_WINCH_STATUS_REDELIVERWinch is redelivering the payload. This is a failover state if the line tension goes above a threshold during RETRACTING.
                                                                                                                                                              1024MAV_WINCH_STATUS_ABANDON_LINEWinch is abandoning the line and possibly payload. Winch unspools the entire calculated line length. This is a failover state from REDELIVER if the number of attempts exceeds a threshold.
                                                                                                                                                              2048MAV_WINCH_STATUS_LOCKINGWinch is engaging the locking mechanism.
                                                                                                                                                              4096MAV_WINCH_STATUS_LOAD_LINEWinch is spooling on line.
                                                                                                                                                              8192MAV_WINCH_STATUS_LOAD_PAYLOADWinch is loading a payload.

                                                                                                                                                              MAG_CAL_STATUS

                                                                                                                                                              ValueNameDescription
                                                                                                                                                              0MAG_CAL_NOT_STARTED
                                                                                                                                                              1MAG_CAL_WAITING_TO_START
                                                                                                                                                              2MAG_CAL_RUNNING_STEP_ONE
                                                                                                                                                              3MAG_CAL_RUNNING_STEP_TWO
                                                                                                                                                              4MAG_CAL_SUCCESS
                                                                                                                                                              5MAG_CAL_FAILED
                                                                                                                                                              6MAG_CAL_BAD_ORIENTATION
                                                                                                                                                              7MAG_CAL_BAD_RADIUS

                                                                                                                                                              MAV_EVENT_ERROR_REASON

                                                                                                                                                              Reason for an event error response.

                                                                                                                                                              ValueNameDescription
                                                                                                                                                              0MAV_EVENT_ERROR_REASON_UNAVAILABLEThe requested event is not available (anymore).

                                                                                                                                                              MAV_EVENT_CURRENT_SEQUENCE_FLAGS

                                                                                                                                                              Flags for CURRENT_EVENT_SEQUENCE.

                                                                                                                                                              ValueNameDescription
                                                                                                                                                              1MAV_EVENT_CURRENT_SEQUENCE_FLAGS_RESETA sequence reset has happened (e.g. vehicle reboot).

                                                                                                                                                              HIL_SENSOR_UPDATED_FLAGS

                                                                                                                                                              (Bitmask) Flags in the HIL_SENSOR message indicate which fields have updated since the last message

                                                                                                                                                              ValueNameDescription
                                                                                                                                                              0HIL_SENSOR_UPDATED_NONENone of the fields in HIL_SENSOR have been updated
                                                                                                                                                              1HIL_SENSOR_UPDATED_XACCThe value in the xacc field has been updated
                                                                                                                                                              2HIL_SENSOR_UPDATED_YACCThe value in the yacc field has been updated
                                                                                                                                                              4HIL_SENSOR_UPDATED_ZACCThe value in the zacc field has been updated
                                                                                                                                                              8HIL_SENSOR_UPDATED_XGYROThe value in the xgyro field has been updated
                                                                                                                                                              16HIL_SENSOR_UPDATED_YGYROThe value in the ygyro field has been updated
                                                                                                                                                              32HIL_SENSOR_UPDATED_ZGYROThe value in the zgyro field has been updated
                                                                                                                                                              64HIL_SENSOR_UPDATED_XMAGThe value in the xmag field has been updated
                                                                                                                                                              128HIL_SENSOR_UPDATED_YMAGThe value in the ymag field has been updated
                                                                                                                                                              256HIL_SENSOR_UPDATED_ZMAGThe value in the zmag field has been updated
                                                                                                                                                              512HIL_SENSOR_UPDATED_ABS_PRESSUREThe value in the abs_pressure field has been updated
                                                                                                                                                              1024HIL_SENSOR_UPDATED_DIFF_PRESSUREThe value in the diff_pressure field has been updated
                                                                                                                                                              2048HIL_SENSOR_UPDATED_PRESSURE_ALTThe value in the pressure_alt field has been updated
                                                                                                                                                              4096HIL_SENSOR_UPDATED_TEMPERATUREThe value in the temperature field has been updated
                                                                                                                                                              2147483648HIL_SENSOR_UPDATED_RESETFull reset of attitude/position/velocities/etc was performed in sim (Bit 31).

                                                                                                                                                              HIGHRES_IMU_UPDATED_FLAGS

                                                                                                                                                              (Bitmask) Flags in the HIGHRES_IMU message indicate which fields have updated since the last message

                                                                                                                                                              ValueNameDescription
                                                                                                                                                              0HIGHRES_IMU_UPDATED_NONENone of the fields in HIGHRES_IMU have been updated
                                                                                                                                                              1HIGHRES_IMU_UPDATED_XACCThe value in the xacc field has been updated
                                                                                                                                                              2HIGHRES_IMU_UPDATED_YACCThe value in the yacc field has been updated
                                                                                                                                                              4HIGHRES_IMU_UPDATED_ZACCThe value in the zacc field has been updated since
                                                                                                                                                              8HIGHRES_IMU_UPDATED_XGYROThe value in the xgyro field has been updated
                                                                                                                                                              16HIGHRES_IMU_UPDATED_YGYROThe value in the ygyro field has been updated
                                                                                                                                                              32HIGHRES_IMU_UPDATED_ZGYROThe value in the zgyro field has been updated
                                                                                                                                                              64HIGHRES_IMU_UPDATED_XMAGThe value in the xmag field has been updated
                                                                                                                                                              128HIGHRES_IMU_UPDATED_YMAGThe value in the ymag field has been updated
                                                                                                                                                              256HIGHRES_IMU_UPDATED_ZMAGThe value in the zmag field has been updated
                                                                                                                                                              512HIGHRES_IMU_UPDATED_ABS_PRESSUREThe value in the abs_pressure field has been updated
                                                                                                                                                              1024HIGHRES_IMU_UPDATED_DIFF_PRESSUREThe value in the diff_pressure field has been updated
                                                                                                                                                              2048HIGHRES_IMU_UPDATED_PRESSURE_ALTThe value in the pressure_alt field has been updated
                                                                                                                                                              4096HIGHRES_IMU_UPDATED_TEMPERATUREThe value in the temperature field has been updated
                                                                                                                                                              65535HIGHRES_IMU_UPDATED_ALLAll fields in HIGHRES_IMU have been updated.

                                                                                                                                                              CAN_FILTER_OP

                                                                                                                                                              ValueNameDescription
                                                                                                                                                              0CAN_FILTER_REPLACE
                                                                                                                                                              1CAN_FILTER_ADD
                                                                                                                                                              2CAN_FILTER_REMOVE

                                                                                                                                                              MAV_FTP_ERR

                                                                                                                                                              MAV FTP error codes (https://mavlink.io/en/services/ftp.html)

                                                                                                                                                              ValueNameDescription
                                                                                                                                                              0MAV_FTP_ERR_NONENone: No error
                                                                                                                                                              1MAV_FTP_ERR_FAILFail: Unknown failure
                                                                                                                                                              2MAV_FTP_ERR_FAILERRNOFailErrno: Command failed, Err number sent back in PayloadHeader.data[1].
                                                                                                                                                              This is a file-system error number understood by the server operating system.
                                                                                                                                                              3MAV_FTP_ERR_INVALIDDATASIZEInvalidDataSize: Payload size is invalid
                                                                                                                                                              4MAV_FTP_ERR_INVALIDSESSIONInvalidSession: Session is not currently open
                                                                                                                                                              5MAV_FTP_ERR_NOSESSIONSAVAILABLENoSessionsAvailable: All available sessions are already in use
                                                                                                                                                              6MAV_FTP_ERR_EOFEOF: Offset past end of file for ListDirectory and ReadFile commands
                                                                                                                                                              7MAV_FTP_ERR_UNKNOWNCOMMANDUnknownCommand: Unknown command / opcode
                                                                                                                                                              8MAV_FTP_ERR_FILEEXISTSFileExists: File/directory already exists
                                                                                                                                                              9MAV_FTP_ERR_FILEPROTECTEDFileProtected: File/directory is write protected
                                                                                                                                                              10MAV_FTP_ERR_FILENOTFOUNDFileNotFound: File/directory not found

                                                                                                                                                              MAV_FTP_OPCODE

                                                                                                                                                              MAV FTP opcodes: https://mavlink.io/en/services/ftp.html

                                                                                                                                                              ValueNameDescription
                                                                                                                                                              0MAV_FTP_OPCODE_NONENone. Ignored, always ACKed
                                                                                                                                                              1MAV_FTP_OPCODE_TERMINATESESSIONTerminateSession: Terminates open Read session
                                                                                                                                                              2MAV_FTP_OPCODE_RESETSESSIONResetSessions: Terminates all open read sessions
                                                                                                                                                              3MAV_FTP_OPCODE_LISTDIRECTORYListDirectory. List files and directories in path from offset
                                                                                                                                                              4MAV_FTP_OPCODE_OPENFILEROOpenFileRO: Opens file at path for reading, returns session
                                                                                                                                                              5MAV_FTP_OPCODE_READFILEReadFile: Reads size bytes from offset in session
                                                                                                                                                              6MAV_FTP_OPCODE_CREATEFILECreateFile: Creates file at path for writing, returns session
                                                                                                                                                              7MAV_FTP_OPCODE_WRITEFILEWriteFile: Writes size bytes to offset in session
                                                                                                                                                              8MAV_FTP_OPCODE_REMOVEFILERemoveFile: Remove file at path
                                                                                                                                                              9MAV_FTP_OPCODE_CREATEDIRECTORYCreateDirectory: Creates directory at path
                                                                                                                                                              10MAV_FTP_OPCODE_REMOVEDIRECTORYRemoveDirectory: Removes directory at path. The directory must be empty.
                                                                                                                                                              11MAV_FTP_OPCODE_OPENFILEWOOpenFileWO: Opens file at path for writing, returns session
                                                                                                                                                              12MAV_FTP_OPCODE_TRUNCATEFILETruncateFile: Truncate file at path to offset length
                                                                                                                                                              13MAV_FTP_OPCODE_RENAMERename: Rename path1 to path2
                                                                                                                                                              14MAV_FTP_OPCODE_CALCFILECRCCalcFileCRC32: Calculate CRC32 for file at path
                                                                                                                                                              15MAV_FTP_OPCODE_BURSTREADFILEBurstReadFile: Burst download session file
                                                                                                                                                              128MAV_FTP_OPCODE_ACKACK: ACK response
                                                                                                                                                              129MAV_FTP_OPCODE_NAKNAK: NAK response

                                                                                                                                                              MISSION_STATE

                                                                                                                                                              States of the mission state machine. Note that these states are independent of whether the mission is in a mode that can execute mission items or not (is suspended). They may not all be relevant on all vehicles.

                                                                                                                                                              ValueNameDescription
                                                                                                                                                              0MISSION_STATE_UNKNOWNThe mission status reporting is not supported.
                                                                                                                                                              1MISSION_STATE_NO_MISSIONNo mission on the vehicle.
                                                                                                                                                              2MISSION_STATE_NOT_STARTEDMission has not started. This is the case after a mission has uploaded but not yet started executing.
                                                                                                                                                              3MISSION_STATE_ACTIVEMission is active, and will execute mission items when in auto mode.
                                                                                                                                                              4MISSION_STATE_PAUSEDMission is paused when in auto mode.
                                                                                                                                                              5MISSION_STATE_COMPLETEMission has executed all mission items.

                                                                                                                                                              SAFETY_SWITCH_STATE

                                                                                                                                                              Possible safety switch states.

                                                                                                                                                              ValueNameDescription
                                                                                                                                                              0SAFETY_SWITCH_STATE_SAFESafety switch is engaged and vehicle should be safe to approach.
                                                                                                                                                              1SAFETY_SWITCH_STATE_DANGEROUSSafety switch is NOT engaged and motors, propellers and other actuators should be considered active.

                                                                                                                                                              ILLUMINATOR_MODE

                                                                                                                                                              Modes of illuminator

                                                                                                                                                              ValueNameDescription
                                                                                                                                                              0ILLUMINATOR_MODE_UNKNOWNIlluminator mode is not specified/unknown
                                                                                                                                                              1ILLUMINATOR_MODE_INTERNAL_CONTROLIlluminator behavior is controlled by MAV_CMD_DO_ILLUMINATOR_CONFIGURE settings
                                                                                                                                                              2ILLUMINATOR_MODE_EXTERNAL_SYNCIlluminator behavior is controlled by external factors: e.g. an external hardware signal

                                                                                                                                                              ILLUMINATOR_ERROR_FLAGS

                                                                                                                                                              (Bitmask) Illuminator module error flags (bitmap, 0 means no error)

                                                                                                                                                              ValueNameDescription
                                                                                                                                                              1ILLUMINATOR_ERROR_FLAGS_THERMAL_THROTTLINGIlluminator thermal throttling error.
                                                                                                                                                              2ILLUMINATOR_ERROR_FLAGS_OVER_TEMPERATURE_SHUTDOWNIlluminator over temperature shutdown error.
                                                                                                                                                              4ILLUMINATOR_ERROR_FLAGS_THERMISTOR_FAILUREIlluminator thermistor failure.

                                                                                                                                                              MAV_AUTOPILOT — [from: minimal]

                                                                                                                                                              Micro air vehicle / autopilot classes. This identifies the individual model.

                                                                                                                                                              ValueNameDescription
                                                                                                                                                              0MAV_AUTOPILOT_GENERICGeneric autopilot, full support for everything
                                                                                                                                                              1MAV_AUTOPILOT_RESERVEDReserved for future use.
                                                                                                                                                              2MAV_AUTOPILOT_SLUGSSLUGS autopilot, http://slugsuav.soe.ucsc.edu
                                                                                                                                                              3MAV_AUTOPILOT_ARDUPILOTMEGAArduPilot - Plane/Copter/Rover/Sub/Tracker, https://ardupilot.org
                                                                                                                                                              4MAV_AUTOPILOT_OPENPILOTOpenPilot, http://openpilot.org
                                                                                                                                                              5MAV_AUTOPILOT_GENERIC_WAYPOINTS_ONLYGeneric autopilot only supporting simple waypoints
                                                                                                                                                              6MAV_AUTOPILOT_GENERIC_WAYPOINTS_AND_SIMPLE_NAVIGATION_ONLYGeneric autopilot supporting waypoints and other simple navigation commands
                                                                                                                                                              7MAV_AUTOPILOT_GENERIC_MISSION_FULLGeneric autopilot supporting the full mission command set
                                                                                                                                                              8MAV_AUTOPILOT_INVALIDNo valid autopilot, e.g. a GCS or other MAVLink component
                                                                                                                                                              9MAV_AUTOPILOT_PPZPPZ UAV - http://nongnu.org/paparazzi
                                                                                                                                                              10MAV_AUTOPILOT_UDBUAV Dev Board
                                                                                                                                                              11MAV_AUTOPILOT_FPFlexiPilot
                                                                                                                                                              12MAV_AUTOPILOT_PX4PX4 Autopilot - http://px4.io/
                                                                                                                                                              13MAV_AUTOPILOT_SMACCMPILOTSMACCMPilot - http://smaccmpilot.org
                                                                                                                                                              14MAV_AUTOPILOT_AUTOQUADAutoQuad -- http://autoquad.org
                                                                                                                                                              15MAV_AUTOPILOT_ARMAZILAArmazila -- http://armazila.com
                                                                                                                                                              16MAV_AUTOPILOT_AEROBAerob -- http://aerob.ru
                                                                                                                                                              17MAV_AUTOPILOT_ASLUAVASLUAV autopilot -- http://www.asl.ethz.ch
                                                                                                                                                              18MAV_AUTOPILOT_SMARTAPSmartAP Autopilot - http://sky-drones.com
                                                                                                                                                              19MAV_AUTOPILOT_AIRRAILSAirRails - http://uaventure.com
                                                                                                                                                              20MAV_AUTOPILOT_REFLEXFusion Reflex - https://fusion.engineering

                                                                                                                                                              MAV_TYPE — [from: minimal]

                                                                                                                                                              MAVLINK component type reported in HEARTBEAT message. Flight controllers must report the type of the vehicle on which they are mounted (e.g. MAV_TYPE_OCTOROTOR). All other components must report a value appropriate for their type (e.g. a camera must use MAV_TYPE_CAMERA).

                                                                                                                                                              ValueNameDescription
                                                                                                                                                              0MAV_TYPE_GENERICGeneric micro air vehicle
                                                                                                                                                              1MAV_TYPE_FIXED_WINGFixed wing aircraft.
                                                                                                                                                              2MAV_TYPE_QUADROTORQuadrotor
                                                                                                                                                              3MAV_TYPE_COAXIALCoaxial helicopter
                                                                                                                                                              4MAV_TYPE_HELICOPTERNormal helicopter with tail rotor.
                                                                                                                                                              5MAV_TYPE_ANTENNA_TRACKERGround installation
                                                                                                                                                              6MAV_TYPE_GCSOperator control unit / ground control station
                                                                                                                                                              7MAV_TYPE_AIRSHIPAirship, controlled
                                                                                                                                                              8MAV_TYPE_FREE_BALLOONFree balloon, uncontrolled
                                                                                                                                                              9MAV_TYPE_ROCKETRocket
                                                                                                                                                              10MAV_TYPE_GROUND_ROVERGround rover
                                                                                                                                                              11MAV_TYPE_SURFACE_BOATSurface vessel, boat, ship
                                                                                                                                                              12MAV_TYPE_SUBMARINESubmarine
                                                                                                                                                              13MAV_TYPE_HEXAROTORHexarotor
                                                                                                                                                              14MAV_TYPE_OCTOROTOROctorotor
                                                                                                                                                              15MAV_TYPE_TRICOPTERTricopter
                                                                                                                                                              16MAV_TYPE_FLAPPING_WINGFlapping wing
                                                                                                                                                              17MAV_TYPE_KITEKite
                                                                                                                                                              18MAV_TYPE_ONBOARD_CONTROLLEROnboard companion controller
                                                                                                                                                              19MAV_TYPE_VTOL_TAILSITTER_DUOROTORTwo-rotor Tailsitter VTOL that additionally uses control surfaces in vertical operation. Note, value previously named MAV_TYPE_VTOL_DUOROTOR.
                                                                                                                                                              20MAV_TYPE_VTOL_TAILSITTER_QUADROTORQuad-rotor Tailsitter VTOL using a V-shaped quad config in vertical operation. Note: value previously named MAV_TYPE_VTOL_QUADROTOR.
                                                                                                                                                              21MAV_TYPE_VTOL_TILTROTORTiltrotor VTOL. Fuselage and wings stay (nominally) horizontal in all flight phases. It able to tilt (some) rotors to provide thrust in cruise flight.
                                                                                                                                                              22MAV_TYPE_VTOL_FIXEDROTORVTOL with separate fixed rotors for hover and cruise flight. Fuselage and wings stay (nominally) horizontal in all flight phases.
                                                                                                                                                              23MAV_TYPE_VTOL_TAILSITTERTailsitter VTOL. Fuselage and wings orientation changes depending on flight phase: vertical for hover, horizontal for cruise. Use more specific VTOL MAV_TYPE_VTOL_TAILSITTER_DUOROTOR or MAV_TYPE_VTOL_TAILSITTER_QUADROTOR if appropriate.
                                                                                                                                                              24MAV_TYPE_VTOL_TILTWINGTiltwing VTOL. Fuselage stays horizontal in all flight phases. The whole wing, along with any attached engine, can tilt between vertical and horizontal mode.
                                                                                                                                                              25MAV_TYPE_VTOL_RESERVED5VTOL reserved 5
                                                                                                                                                              26MAV_TYPE_GIMBALGimbal
                                                                                                                                                              27MAV_TYPE_ADSBADSB system
                                                                                                                                                              28MAV_TYPE_PARAFOILSteerable, nonrigid airfoil
                                                                                                                                                              29MAV_TYPE_DODECAROTORDodecarotor
                                                                                                                                                              30MAV_TYPE_CAMERACamera
                                                                                                                                                              31MAV_TYPE_CHARGING_STATIONCharging station
                                                                                                                                                              32MAV_TYPE_FLARMFLARM collision avoidance system
                                                                                                                                                              33MAV_TYPE_SERVOServo
                                                                                                                                                              34MAV_TYPE_ODIDOpen Drone ID. See https://mavlink.io/en/services/opendroneid.html.
                                                                                                                                                              35MAV_TYPE_DECAROTORDecarotor
                                                                                                                                                              36MAV_TYPE_BATTERYBattery
                                                                                                                                                              37MAV_TYPE_PARACHUTEParachute
                                                                                                                                                              38MAV_TYPE_LOGLog
                                                                                                                                                              39MAV_TYPE_OSDOSD
                                                                                                                                                              40MAV_TYPE_IMUIMU
                                                                                                                                                              41MAV_TYPE_GPSGPS
                                                                                                                                                              42MAV_TYPE_WINCHWinch
                                                                                                                                                              43MAV_TYPE_GENERIC_MULTIROTORGeneric multirotor that does not fit into a specific type or whose type is unknown
                                                                                                                                                              44MAV_TYPE_ILLUMINATORIlluminator. An illuminator is a light source that is used for lighting up dark areas external to the sytstem: e.g. a torch or searchlight (as opposed to a light source for illuminating the system itself, e.g. an indicator light).

                                                                                                                                                              MAV_MODE_FLAG — [from: minimal]

                                                                                                                                                              (Bitmask) These flags encode the MAV mode.

                                                                                                                                                              ValueNameDescription
                                                                                                                                                              1MAV_MODE_FLAG_CUSTOM_MODE_ENABLED0b00000001 Reserved for future use.
                                                                                                                                                              2MAV_MODE_FLAG_TEST_ENABLED0b00000010 system has a test mode enabled. This flag is intended for temporary system tests and should not be used for stable implementations.
                                                                                                                                                              4MAV_MODE_FLAG_AUTO_ENABLED0b00000100 autonomous mode enabled, system finds its own goal positions. Guided flag can be set or not, depends on the actual implementation.
                                                                                                                                                              8MAV_MODE_FLAG_GUIDED_ENABLED0b00001000 guided mode enabled, system flies waypoints / mission items.
                                                                                                                                                              16MAV_MODE_FLAG_STABILIZE_ENABLED0b00010000 system stabilizes electronically its attitude (and optionally position). It needs however further control inputs to move around.
                                                                                                                                                              32MAV_MODE_FLAG_HIL_ENABLED0b00100000 hardware in the loop simulation. All motors / actuators are blocked, but internal software is full operational.
                                                                                                                                                              64MAV_MODE_FLAG_MANUAL_INPUT_ENABLED0b01000000 remote control input is enabled.
                                                                                                                                                              128MAV_MODE_FLAG_SAFETY_ARMED0b10000000 MAV safety set to armed. Motors are enabled / running / can start. Ready to fly. Additional note: this flag is to be ignore when sent in the command MAV_CMD_DO_SET_MODE and MAV_CMD_COMPONENT_ARM_DISARM shall be used instead. The flag can still be used to report the armed state.

                                                                                                                                                              MAV_MODE_FLAG_DECODE_POSITION — [from: minimal]

                                                                                                                                                              (Bitmask) These values encode the bit positions of the decode position. These values can be used to read the value of a flag bit by combining the base_mode variable with AND with the flag position value. The result will be either 0 or 1, depending on if the flag is set or not.

                                                                                                                                                              ValueNameDescription
                                                                                                                                                              1MAV_MODE_FLAG_DECODE_POSITION_CUSTOM_MODEEighth bit: 00000001
                                                                                                                                                              2MAV_MODE_FLAG_DECODE_POSITION_TESTSeventh bit: 00000010
                                                                                                                                                              4MAV_MODE_FLAG_DECODE_POSITION_AUTOSixth bit: 00000100
                                                                                                                                                              8MAV_MODE_FLAG_DECODE_POSITION_GUIDEDFifth bit: 00001000
                                                                                                                                                              16MAV_MODE_FLAG_DECODE_POSITION_STABILIZEFourth bit: 00010000
                                                                                                                                                              32MAV_MODE_FLAG_DECODE_POSITION_HILThird bit: 00100000
                                                                                                                                                              64MAV_MODE_FLAG_DECODE_POSITION_MANUALSecond bit: 01000000
                                                                                                                                                              128MAV_MODE_FLAG_DECODE_POSITION_SAFETYFirst bit: 10000000

                                                                                                                                                              MAV_STATE — [from: minimal]

                                                                                                                                                              ValueNameDescription
                                                                                                                                                              0MAV_STATE_UNINITUninitialized system, state is unknown.
                                                                                                                                                              1MAV_STATE_BOOTSystem is booting up.
                                                                                                                                                              2MAV_STATE_CALIBRATINGSystem is calibrating and not flight-ready.
                                                                                                                                                              3MAV_STATE_STANDBYSystem is grounded and on standby. It can be launched any time.
                                                                                                                                                              4MAV_STATE_ACTIVESystem is active and might be already airborne. Motors are engaged.
                                                                                                                                                              5MAV_STATE_CRITICALSystem is in a non-normal flight mode (failsafe). It can however still navigate.
                                                                                                                                                              6MAV_STATE_EMERGENCYSystem is in a non-normal flight mode (failsafe). It lost control over parts or over the whole airframe. It is in mayday and going down.
                                                                                                                                                              7MAV_STATE_POWEROFFSystem just initialized its power-down sequence, will shut down now.
                                                                                                                                                              8MAV_STATE_FLIGHT_TERMINATIONSystem is terminating itself (failsafe or commanded).

                                                                                                                                                              MAV_COMPONENT — [from: minimal]

                                                                                                                                                              Component ids (values) for the different types and instances of onboard hardware/software that might make up a MAVLink system (autopilot, cameras, servos, GPS systems, avoidance systems etc.).

                                                                                                                                                              Components must use the appropriate ID in their source address when sending messages. Components can also use IDs to determine if they are the intended recipient of an incoming message. The MAV_COMP_ID_ALL value is used to indicate messages that must be processed by all components. When creating new entries, components that can have multiple instances (e.g. cameras, servos etc.) should be allocated sequential values. An appropriate number of values should be left free after these components to allow the number of instances to be expanded.

                                                                                                                                                              ValueNameDescription
                                                                                                                                                              0MAV_COMP_ID_ALLTarget id (target_component) used to broadcast messages to all components of the receiving system. Components should attempt to process messages with this component ID and forward to components on any other interfaces. Note: This is not a valid source component id for a message.
                                                                                                                                                              1MAV_COMP_ID_AUTOPILOT1System flight controller component ("autopilot"). Only one autopilot is expected in a particular system.
                                                                                                                                                              25MAV_COMP_ID_USER1Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                              26MAV_COMP_ID_USER2Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                              27MAV_COMP_ID_USER3Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                              28MAV_COMP_ID_USER4Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                              29MAV_COMP_ID_USER5Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                              30MAV_COMP_ID_USER6Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                              31MAV_COMP_ID_USER7Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                              32MAV_COMP_ID_USER8Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                              33MAV_COMP_ID_USER9Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                              34MAV_COMP_ID_USER10Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                              35MAV_COMP_ID_USER11Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                              36MAV_COMP_ID_USER12Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                              37MAV_COMP_ID_USER13Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                              38MAV_COMP_ID_USER14Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                              39MAV_COMP_ID_USER15Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                              40MAV_COMP_ID_USER16Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                              41MAV_COMP_ID_USER17Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                              42MAV_COMP_ID_USER18Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                              43MAV_COMP_ID_USER19Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                              44MAV_COMP_ID_USER20Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                              45MAV_COMP_ID_USER21Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                              46MAV_COMP_ID_USER22Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                              47MAV_COMP_ID_USER23Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                              48MAV_COMP_ID_USER24Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                              49MAV_COMP_ID_USER25Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                              50MAV_COMP_ID_USER26Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                              51MAV_COMP_ID_USER27Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                              52MAV_COMP_ID_USER28Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                              53MAV_COMP_ID_USER29Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                              54MAV_COMP_ID_USER30Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                              55MAV_COMP_ID_USER31Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                              56MAV_COMP_ID_USER32Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                              57MAV_COMP_ID_USER33Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                              58MAV_COMP_ID_USER34Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                              59MAV_COMP_ID_USER35Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                              60MAV_COMP_ID_USER36Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                              61MAV_COMP_ID_USER37Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                              62MAV_COMP_ID_USER38Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                              63MAV_COMP_ID_USER39Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                              64MAV_COMP_ID_USER40Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                              65MAV_COMP_ID_USER41Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                              66MAV_COMP_ID_USER42Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                              67MAV_COMP_ID_USER43Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                              68MAV_COMP_ID_TELEMETRY_RADIOTelemetry radio (e.g. SiK radio, or other component that emits RADIO_STATUS messages).
                                                                                                                                                              69MAV_COMP_ID_USER45Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                              70MAV_COMP_ID_USER46Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                              71MAV_COMP_ID_USER47Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                              72MAV_COMP_ID_USER48Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                              73MAV_COMP_ID_USER49Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                              74MAV_COMP_ID_USER50Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                              75MAV_COMP_ID_USER51Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                              76MAV_COMP_ID_USER52Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                              77MAV_COMP_ID_USER53Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                              78MAV_COMP_ID_USER54Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                              79MAV_COMP_ID_USER55Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                              80MAV_COMP_ID_USER56Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                              81MAV_COMP_ID_USER57Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                              82MAV_COMP_ID_USER58Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                              83MAV_COMP_ID_USER59Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                              84MAV_COMP_ID_USER60Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                              85MAV_COMP_ID_USER61Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                              86MAV_COMP_ID_USER62Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                              87MAV_COMP_ID_USER63Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                              88MAV_COMP_ID_USER64Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                              89MAV_COMP_ID_USER65Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                              90MAV_COMP_ID_USER66Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                              91MAV_COMP_ID_USER67Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                              92MAV_COMP_ID_USER68Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                              93MAV_COMP_ID_USER69Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                              94MAV_COMP_ID_USER70Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                              95MAV_COMP_ID_USER71Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                              96MAV_COMP_ID_USER72Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                              97MAV_COMP_ID_USER73Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                              98MAV_COMP_ID_USER74Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                              99MAV_COMP_ID_USER75Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                              100MAV_COMP_ID_CAMERACamera #1.
                                                                                                                                                              101MAV_COMP_ID_CAMERA2Camera #2.
                                                                                                                                                              102MAV_COMP_ID_CAMERA3Camera #3.
                                                                                                                                                              103MAV_COMP_ID_CAMERA4Camera #4.
                                                                                                                                                              104MAV_COMP_ID_CAMERA5Camera #5.
                                                                                                                                                              105MAV_COMP_ID_CAMERA6Camera #6.
                                                                                                                                                              140MAV_COMP_ID_SERVO1Servo #1.
                                                                                                                                                              141MAV_COMP_ID_SERVO2Servo #2.
                                                                                                                                                              142MAV_COMP_ID_SERVO3Servo #3.
                                                                                                                                                              143MAV_COMP_ID_SERVO4Servo #4.
                                                                                                                                                              144MAV_COMP_ID_SERVO5Servo #5.
                                                                                                                                                              145MAV_COMP_ID_SERVO6Servo #6.
                                                                                                                                                              146MAV_COMP_ID_SERVO7Servo #7.
                                                                                                                                                              147MAV_COMP_ID_SERVO8Servo #8.
                                                                                                                                                              148MAV_COMP_ID_SERVO9Servo #9.
                                                                                                                                                              149MAV_COMP_ID_SERVO10Servo #10.
                                                                                                                                                              150MAV_COMP_ID_SERVO11Servo #11.
                                                                                                                                                              151MAV_COMP_ID_SERVO12Servo #12.
                                                                                                                                                              152MAV_COMP_ID_SERVO13Servo #13.
                                                                                                                                                              153MAV_COMP_ID_SERVO14Servo #14.
                                                                                                                                                              154MAV_COMP_ID_GIMBALGimbal #1.
                                                                                                                                                              155MAV_COMP_ID_LOGLogging component.
                                                                                                                                                              156MAV_COMP_ID_ADSBAutomatic Dependent Surveillance-Broadcast (ADS-B) component.
                                                                                                                                                              157MAV_COMP_ID_OSDOn Screen Display (OSD) devices for video links.
                                                                                                                                                              158MAV_COMP_ID_PERIPHERALGeneric autopilot peripheral component ID. Meant for devices that do not implement the parameter microservice.
                                                                                                                                                              159MAV_COMP_ID_QX1_GIMBALGimbal ID for QX1.DEPRECATED: Replaced By MAV_COMP_ID_GIMBAL (2018-11) — All gimbals should use MAV_COMP_ID_GIMBAL.)
                                                                                                                                                              160MAV_COMP_ID_FLARMFLARM collision alert component.
                                                                                                                                                              161MAV_COMP_ID_PARACHUTEParachute component.
                                                                                                                                                              169MAV_COMP_ID_WINCHWinch component.
                                                                                                                                                              171MAV_COMP_ID_GIMBAL2Gimbal #2.
                                                                                                                                                              172MAV_COMP_ID_GIMBAL3Gimbal #3.
                                                                                                                                                              173MAV_COMP_ID_GIMBAL4Gimbal #4
                                                                                                                                                              174MAV_COMP_ID_GIMBAL5Gimbal #5.
                                                                                                                                                              175MAV_COMP_ID_GIMBAL6Gimbal #6.
                                                                                                                                                              180MAV_COMP_ID_BATTERYBattery #1.
                                                                                                                                                              181MAV_COMP_ID_BATTERY2Battery #2.
                                                                                                                                                              189MAV_COMP_ID_MAVCANCAN over MAVLink client.
                                                                                                                                                              190MAV_COMP_ID_MISSIONPLANNERComponent that can generate/supply a mission flight plan (e.g. GCS or developer API).
                                                                                                                                                              191MAV_COMP_ID_ONBOARD_COMPUTERComponent that lives on the onboard computer (companion computer) and has some generic functionalities, such as settings system parameters and monitoring the status of some processes that don't directly speak mavlink and so on.
                                                                                                                                                              192MAV_COMP_ID_ONBOARD_COMPUTER2Component that lives on the onboard computer (companion computer) and has some generic functionalities, such as settings system parameters and monitoring the status of some processes that don't directly speak mavlink and so on.
                                                                                                                                                              193MAV_COMP_ID_ONBOARD_COMPUTER3Component that lives on the onboard computer (companion computer) and has some generic functionalities, such as settings system parameters and monitoring the status of some processes that don't directly speak mavlink and so on.
                                                                                                                                                              194MAV_COMP_ID_ONBOARD_COMPUTER4Component that lives on the onboard computer (companion computer) and has some generic functionalities, such as settings system parameters and monitoring the status of some processes that don't directly speak mavlink and so on.
                                                                                                                                                              195MAV_COMP_ID_PATHPLANNERComponent that finds an optimal path between points based on a certain constraint (e.g. minimum snap, shortest path, cost, etc.).
                                                                                                                                                              196MAV_COMP_ID_OBSTACLE_AVOIDANCEComponent that plans a collision free path between two points.
                                                                                                                                                              197MAV_COMP_ID_VISUAL_INERTIAL_ODOMETRYComponent that provides position estimates using VIO techniques.
                                                                                                                                                              198MAV_COMP_ID_PAIRING_MANAGERComponent that manages pairing of vehicle and GCS.
                                                                                                                                                              200MAV_COMP_ID_IMUInertial Measurement Unit (IMU) #1.
                                                                                                                                                              201MAV_COMP_ID_IMU_2Inertial Measurement Unit (IMU) #2.
                                                                                                                                                              202MAV_COMP_ID_IMU_3Inertial Measurement Unit (IMU) #3.
                                                                                                                                                              220MAV_COMP_ID_GPSGPS #1.
                                                                                                                                                              221MAV_COMP_ID_GPS2GPS #2.
                                                                                                                                                              236MAV_COMP_ID_ODID_TXRX_1Open Drone ID transmitter/receiver (Bluetooth/WiFi/Internet).
                                                                                                                                                              237MAV_COMP_ID_ODID_TXRX_2Open Drone ID transmitter/receiver (Bluetooth/WiFi/Internet).
                                                                                                                                                              238MAV_COMP_ID_ODID_TXRX_3Open Drone ID transmitter/receiver (Bluetooth/WiFi/Internet).
                                                                                                                                                              240MAV_COMP_ID_UDP_BRIDGEComponent to bridge MAVLink to UDP (i.e. from a UART).
                                                                                                                                                              241MAV_COMP_ID_UART_BRIDGEComponent to bridge to UART (i.e. from UDP).
                                                                                                                                                              242MAV_COMP_ID_TUNNEL_NODEComponent handling TUNNEL messages (e.g. vendor specific GUI of a component).
                                                                                                                                                              243MAV_COMP_ID_ILLUMINATORIlluminator
                                                                                                                                                              250MAV_COMP_ID_SYSTEM_CONTROLDeprecated, don't use. Component for handling system messages (e.g. to ARM, takeoff, etc.).DEPRECATED: Replaced By MAV_COMP_ID_ALL (2018-11) — System control does not require a separate component ID. Instead, system commands should be sent with target_component=MAV_COMP_ID_ALL allowing the target component to use any appropriate component id.)

                                                                                                                                                              Commands (MAV_CMD)

                                                                                                                                                              MAV_CMD_NAV_WAYPOINT (16)

                                                                                                                                                              Navigate to waypoint. This is intended for use in missions (for guided commands outside of missions use MAV_CMD_DO_REPOSITION).

                                                                                                                                                              Param (Label)DescriptionValuesUnits
                                                                                                                                                              1 (Hold)Hold time. (ignored by fixed wing, time to stay at waypoint for rotary wing)min: 0s
                                                                                                                                                              2 (Accept Radius)Acceptance radius (if the sphere with this radius is hit, the waypoint counts as reached)min: 0m
                                                                                                                                                              3 (Pass Radius)0 to pass through the WP, if > 0 radius to pass by WP. Positive value for clockwise orbit, negative value for counter-clockwise orbit. Allows trajectory control.m
                                                                                                                                                              4 (Yaw)Desired yaw angle at waypoint (rotary wing). NaN to use the current system yaw heading mode (e.g. yaw towards next waypoint, yaw to home, etc.).deg
                                                                                                                                                              5 (Latitude)Latitude
                                                                                                                                                              6 (Longitude)Longitude
                                                                                                                                                              7 (Altitude)Altitudem

                                                                                                                                                              MAV_CMD_NAV_LOITER_UNLIM (17)

                                                                                                                                                              Loiter around this waypoint an unlimited amount of time

                                                                                                                                                              Param (Label)DescriptionUnits
                                                                                                                                                              1Empty
                                                                                                                                                              2Empty
                                                                                                                                                              3 (Radius)Loiter radius around waypoint for forward-only moving vehicles (not multicopters). If positive loiter clockwise, else counter-clockwisem
                                                                                                                                                              4 (Yaw)Desired yaw angle. NaN to use the current system yaw heading mode (e.g. yaw towards next waypoint, yaw to home, etc.).deg
                                                                                                                                                              5 (Latitude)Latitude
                                                                                                                                                              6 (Longitude)Longitude
                                                                                                                                                              7 (Altitude)Altitudem

                                                                                                                                                              MAV_CMD_NAV_LOITER_TURNS (18)

                                                                                                                                                              Loiter around this waypoint for X turns

                                                                                                                                                              Param (Label)DescriptionValuesUnits
                                                                                                                                                              1 (Turns)Number of turns.min: 0
                                                                                                                                                              2 (Heading Required)Leave loiter circle only once heading towards the next waypoint (0 = False)min: 0 max: 1 inc: 1
                                                                                                                                                              3 (Radius)Loiter radius around waypoint for forward-only moving vehicles (not multicopters). If positive loiter clockwise, else counter-clockwisem
                                                                                                                                                              4 (Xtrack Location)Loiter circle exit location and/or path to next waypoint ("xtrack") for forward-only moving vehicles (not multicopters). 0 for the vehicle to converge towards the center xtrack when it leaves the loiter (the line between the centers of the current and next waypoint), 1 to converge to the direct line between the location that the vehicle exits the loiter radius and the next waypoint. Otherwise the angle (in degrees) between the tangent of the loiter circle and the center xtrack at which the vehicle must leave the loiter (and converge to the center xtrack). NaN to use the current system default xtrack behaviour.
                                                                                                                                                              5 (Latitude)Latitude
                                                                                                                                                              6 (Longitude)Longitude
                                                                                                                                                              7 (Altitude)Altitudem

                                                                                                                                                              MAV_CMD_NAV_LOITER_TIME (19)

                                                                                                                                                              Loiter at the specified latitude, longitude and altitude for a certain amount of time. Multicopter vehicles stop at the point (within a vehicle-specific acceptance radius). Forward-only moving vehicles (e.g. fixed-wing) circle the point with the specified radius/direction. If the Heading Required parameter (2) is non-zero forward moving aircraft will only leave the loiter circle once heading towards the next waypoint.

                                                                                                                                                              Param (Label)DescriptionValuesUnits
                                                                                                                                                              1 (Time)Loiter time (only starts once Lat, Lon and Alt is reached).min: 0s
                                                                                                                                                              2 (Heading Required)Leave loiter circle only once heading towards the next waypoint (0 = False)min: 0 max: 1 inc: 1
                                                                                                                                                              3 (Radius)Loiter radius around waypoint for forward-only moving vehicles (not multicopters). If positive loiter clockwise, else counter-clockwise.m
                                                                                                                                                              4 (Xtrack Location)Loiter circle exit location and/or path to next waypoint ("xtrack") for forward-only moving vehicles (not multicopters). 0 for the vehicle to converge towards the center xtrack when it leaves the loiter (the line between the centers of the current and next waypoint), 1 to converge to the direct line between the location that the vehicle exits the loiter radius and the next waypoint. Otherwise the angle (in degrees) between the tangent of the loiter circle and the center xtrack at which the vehicle must leave the loiter (and converge to the center xtrack). NaN to use the current system default xtrack behaviour.
                                                                                                                                                              5 (Latitude)Latitude
                                                                                                                                                              6 (Longitude)Longitude
                                                                                                                                                              7 (Altitude)Altitudem

                                                                                                                                                              MAV_CMD_NAV_RETURN_TO_LAUNCH (20)

                                                                                                                                                              Return to launch location

                                                                                                                                                              Param (Label)Description
                                                                                                                                                              1Empty
                                                                                                                                                              2Empty
                                                                                                                                                              3Empty
                                                                                                                                                              4Empty
                                                                                                                                                              5Empty
                                                                                                                                                              6Empty
                                                                                                                                                              7Empty

                                                                                                                                                              MAV_CMD_NAV_LAND (21)

                                                                                                                                                              Land at location.

                                                                                                                                                              Param (Label)DescriptionValuesUnits
                                                                                                                                                              1 (Abort Alt)Minimum target altitude if landing is aborted (0 = undefined/use system default).m
                                                                                                                                                              2 (Land Mode)Precision land mode.PRECISION_LAND_MODE
                                                                                                                                                              3Empty.
                                                                                                                                                              4 (Yaw Angle)Desired yaw angle. NaN to use the current system yaw heading mode (e.g. yaw towards next waypoint, yaw to home, etc.).deg
                                                                                                                                                              5 (Latitude)Latitude.
                                                                                                                                                              6 (Longitude)Longitude.
                                                                                                                                                              7 (Altitude)Landing altitude (ground level in current frame).m

                                                                                                                                                              MAV_CMD_NAV_TAKEOFF (22)

                                                                                                                                                              Takeoff from ground / hand. Vehicles that support multiple takeoff modes (e.g. VTOL quadplane) should take off using the currently configured mode.

                                                                                                                                                              Param (Label)DescriptionUnits
                                                                                                                                                              1 (Pitch)Minimum pitch (if airspeed sensor present), desired pitch without sensordeg
                                                                                                                                                              2Empty
                                                                                                                                                              3Empty
                                                                                                                                                              4 (Yaw)Yaw angle (if magnetometer present), ignored without magnetometer. NaN to use the current system yaw heading mode (e.g. yaw towards next waypoint, yaw to home, etc.).deg
                                                                                                                                                              5 (Latitude)Latitude
                                                                                                                                                              6 (Longitude)Longitude
                                                                                                                                                              7 (Altitude)Altitudem

                                                                                                                                                              MAV_CMD_NAV_LAND_LOCAL (23)

                                                                                                                                                              Land at local position (local frame only)

                                                                                                                                                              Param (Label)DescriptionValuesUnits
                                                                                                                                                              1 (Target)Landing target number (if available)min: 0 inc: 1
                                                                                                                                                              2 (Offset)Maximum accepted offset from desired landing position - computed magnitude from spherical coordinates: d = sqrt(x^2 + y^2 + z^2), which gives the maximum accepted distance between the desired landing position and the position where the vehicle is about to landmin: 0m
                                                                                                                                                              3 (Descend Rate)Landing descend ratem/s
                                                                                                                                                              4 (Yaw)Desired yaw anglerad
                                                                                                                                                              5 (Y Position)Y-axis positionm
                                                                                                                                                              6 (X Position)X-axis positionm
                                                                                                                                                              7 (Z Position)Z-axis / ground level positionm

                                                                                                                                                              MAV_CMD_NAV_TAKEOFF_LOCAL (24)

                                                                                                                                                              Takeoff from local position (local frame only)

                                                                                                                                                              Param (Label)DescriptionUnits
                                                                                                                                                              1 (Pitch)Minimum pitch (if airspeed sensor present), desired pitch without sensorrad
                                                                                                                                                              2Empty
                                                                                                                                                              3 (Ascend Rate)Takeoff ascend ratem/s
                                                                                                                                                              4 (Yaw)Yaw angle (if magnetometer or another yaw estimation source present), ignored without one of theserad
                                                                                                                                                              5 (Y Position)Y-axis positionm
                                                                                                                                                              6 (X Position)X-axis positionm
                                                                                                                                                              7 (Z Position)Z-axis positionm

                                                                                                                                                              MAV_CMD_NAV_FOLLOW (25)

                                                                                                                                                              Vehicle following, i.e. this waypoint represents the position of a moving vehicle

                                                                                                                                                              Param (Label)DescriptionValuesUnits
                                                                                                                                                              1 (Following)Following logic to use (e.g. loitering or sinusoidal following) - depends on specific autopilot implementationinc: 1
                                                                                                                                                              2 (Ground Speed)Ground speed of vehicle to be followedm/s
                                                                                                                                                              3 (Radius)Radius around waypoint. If positive loiter clockwise, else counter-clockwisem
                                                                                                                                                              4 (Yaw)Desired yaw angle.deg
                                                                                                                                                              5 (Latitude)Latitude
                                                                                                                                                              6 (Longitude)Longitude
                                                                                                                                                              7 (Altitude)Altitudem

                                                                                                                                                              MAV_CMD_NAV_CONTINUE_AND_CHANGE_ALT (30)

                                                                                                                                                              Continue on the current course and climb/descend to specified altitude. When the altitude is reached continue to the next command (i.e., don't proceed to the next command until the desired altitude is reached.

                                                                                                                                                              Param (Label)DescriptionValuesUnits
                                                                                                                                                              1 (Action)Climb or Descend (0 = Neutral, command completes when within 5m of this command's altitude, 1 = Climbing, command completes when at or above this command's altitude, 2 = Descending, command completes when at or below this command's altitude.min: 0 max: 2 inc: 1
                                                                                                                                                              2Empty
                                                                                                                                                              3Empty
                                                                                                                                                              4Empty
                                                                                                                                                              5Empty
                                                                                                                                                              6Empty
                                                                                                                                                              7 (Altitude)Desired altitudem

                                                                                                                                                              MAV_CMD_NAV_LOITER_TO_ALT (31)

                                                                                                                                                              Begin loiter at the specified Latitude and Longitude. If Lat=Lon=0, then loiter at the current position. Don't consider the navigation command complete (don't leave loiter) until the altitude has been reached. Additionally, if the Heading Required parameter is non-zero the aircraft will not leave the loiter until heading toward the next waypoint.

                                                                                                                                                              Param (Label)DescriptionValuesUnits
                                                                                                                                                              1 (Heading Required)Leave loiter circle only once heading towards the next waypoint (0 = False)min: 0 max: 1 inc: 1
                                                                                                                                                              2 (Radius)Loiter radius around waypoint for forward-only moving vehicles (not multicopters). If positive loiter clockwise, negative counter-clockwise, 0 means no change to standard loiter.m
                                                                                                                                                              3Empty
                                                                                                                                                              4 (Xtrack Location)Loiter circle exit location and/or path to next waypoint ("xtrack") for forward-only moving vehicles (not multicopters). 0 for the vehicle to converge towards the center xtrack when it leaves the loiter (the line between the centers of the current and next waypoint), 1 to converge to the direct line between the location that the vehicle exits the loiter radius and the next waypoint. Otherwise the angle (in degrees) between the tangent of the loiter circle and the center xtrack at which the vehicle must leave the loiter (and converge to the center xtrack). NaN to use the current system default xtrack behaviour.min: 0 max: 1 inc: 1
                                                                                                                                                              5 (Latitude)Latitude
                                                                                                                                                              6 (Longitude)Longitude
                                                                                                                                                              7 (Altitude)Altitudem

                                                                                                                                                              MAV_CMD_DO_FOLLOW (32)

                                                                                                                                                              Begin following a target

                                                                                                                                                              Param (Label)DescriptionValuesUnits
                                                                                                                                                              1 (System ID)System ID (of the FOLLOW_TARGET beacon). Send 0 to disable follow-me and return to the default position hold mode.min: 0 max: 255 inc: 1
                                                                                                                                                              2Reserved
                                                                                                                                                              3Reserved
                                                                                                                                                              4 (Altitude Mode)Altitude mode: 0: Keep current altitude, 1: keep altitude difference to target, 2: go to a fixed altitude above home.min: 0 max: 2 inc: 1
                                                                                                                                                              5 (Altitude)Altitude above home. (used if mode=2)m
                                                                                                                                                              6Reserved
                                                                                                                                                              7 (Time to Land)Time to land in which the MAV should go to the default position hold mode after a message RX timeout.min: 0s

                                                                                                                                                              MAV_CMD_DO_FOLLOW_REPOSITION (33)

                                                                                                                                                              Reposition the MAV after a follow target command has been sent

                                                                                                                                                              Param (Label)DescriptionUnits
                                                                                                                                                              1 (Camera Q1)Camera q1 (where 0 is on the ray from the camera to the tracking device)
                                                                                                                                                              2 (Camera Q2)Camera q2
                                                                                                                                                              3 (Camera Q3)Camera q3
                                                                                                                                                              4 (Camera Q4)Camera q4
                                                                                                                                                              5 (Altitude Offset)altitude offset from targetm
                                                                                                                                                              6 (X Offset)X offset from targetm
                                                                                                                                                              7 (Y Offset)Y offset from targetm

                                                                                                                                                              MAV_CMD_DO_ORBIT (34) — [WIP]

                                                                                                                                                              WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                              Start orbiting on the circumference of a circle defined by the parameters. Setting values to NaN/INT32_MAX (as appropriate) results in using defaults.

                                                                                                                                                              Param (Label)DescriptionValuesUnits
                                                                                                                                                              1 (Radius)Radius of the circle. Positive: orbit clockwise. Negative: orbit counter-clockwise. NaN: Use vehicle default radius, or current radius if already orbiting.m
                                                                                                                                                              2 (Velocity)Tangential Velocity. NaN: Use vehicle default velocity, or current velocity if already orbiting.m/s
                                                                                                                                                              3 (Yaw Behavior)Yaw behavior of the vehicle.ORBIT_YAW_BEHAVIOUR
                                                                                                                                                              4 (Orbits)Orbit around the centre point for this many radians (i.e. for a three-quarter orbit set 270*Pi/180). 0: Orbit forever. NaN: Use vehicle default, or current value if already orbiting.min: 0rad
                                                                                                                                                              5 (Latitude/X)Center point latitude (if no MAV_FRAME specified) / X coordinate according to MAV_FRAME. INT32_MAX (or NaN if sent in COMMAND_LONG): Use current vehicle position, or current center if already orbiting.
                                                                                                                                                              6 (Longitude/Y)Center point longitude (if no MAV_FRAME specified) / Y coordinate according to MAV_FRAME. INT32_MAX (or NaN if sent in COMMAND_LONG): Use current vehicle position, or current center if already orbiting.
                                                                                                                                                              7 (Altitude/Z)Center point altitude (MSL) (if no MAV_FRAME specified) / Z coordinate according to MAV_FRAME. NaN: Use current vehicle altitude.

                                                                                                                                                              MAV_CMD_NAV_ROI (80) — [DEP]

                                                                                                                                                              DEPRECATED: Replaced By MAV_CMD_DO_SET_ROI_* (2018-01)

                                                                                                                                                              Sets the region of interest (ROI) for a sensor set or the vehicle itself. This can then be used by the vehicle's control system to control the vehicle attitude and the attitude of various sensors such as cameras.

                                                                                                                                                              Param (Label)DescriptionValues
                                                                                                                                                              1 (ROI Mode)Region of interest mode.MAV_ROI
                                                                                                                                                              2 (WP Index)Waypoint index/ target ID. (see MAV_ROI enum)min: 0 inc: 1
                                                                                                                                                              3 (ROI Index)ROI index (allows a vehicle to manage multiple ROI's)min: 0 inc: 1
                                                                                                                                                              4Empty
                                                                                                                                                              5 (X)x the location of the fixed ROI (see MAV_FRAME)
                                                                                                                                                              6 (Y)y
                                                                                                                                                              7 (Z)z

                                                                                                                                                              MAV_CMD_NAV_PATHPLANNING (81)

                                                                                                                                                              Control autonomous path planning on the MAV.

                                                                                                                                                              Param (Label)DescriptionValuesUnits
                                                                                                                                                              1 (Local Ctrl)0: Disable local obstacle avoidance / local path planning (without resetting map), 1: Enable local path planning, 2: Enable and reset local path planningmin: 0 max: 2 inc: 1
                                                                                                                                                              2 (Global Ctrl)0: Disable full path planning (without resetting map), 1: Enable, 2: Enable and reset map/occupancy grid, 3: Enable and reset planned route, but not occupancy gridmin: 0 max: 3 inc: 1
                                                                                                                                                              3Empty
                                                                                                                                                              4 (Yaw)Yaw angle at goaldeg
                                                                                                                                                              5 (Latitude/X)Latitude/X of goal
                                                                                                                                                              6 (Longitude/Y)Longitude/Y of goal
                                                                                                                                                              7 (Altitude/Z)Altitude/Z of goal

                                                                                                                                                              MAV_CMD_NAV_SPLINE_WAYPOINT (82)

                                                                                                                                                              Navigate to waypoint using a spline path.

                                                                                                                                                              Param (Label)DescriptionValuesUnits
                                                                                                                                                              1 (Hold)Hold time. (ignored by fixed wing, time to stay at waypoint for rotary wing)min: 0s
                                                                                                                                                              2Empty
                                                                                                                                                              3Empty
                                                                                                                                                              4Empty
                                                                                                                                                              5 (Latitude/X)Latitude/X of goal
                                                                                                                                                              6 (Longitude/Y)Longitude/Y of goal
                                                                                                                                                              7 (Altitude/Z)Altitude/Z of goal

                                                                                                                                                              MAV_CMD_NAV_VTOL_TAKEOFF (84)

                                                                                                                                                              Takeoff from ground using VTOL mode, and transition to forward flight with specified heading. The command should be ignored by vehicles that dont support both VTOL and fixed-wing flight (multicopters, boats,etc.).

                                                                                                                                                              Param (Label)DescriptionValuesUnits
                                                                                                                                                              1Empty
                                                                                                                                                              2 (Transition Heading)Front transition heading.VTOL_TRANSITION_HEADING
                                                                                                                                                              3Empty
                                                                                                                                                              4 (Yaw Angle)Yaw angle. NaN to use the current system yaw heading mode (e.g. yaw towards next waypoint, yaw to home, etc.).deg
                                                                                                                                                              5 (Latitude)Latitude
                                                                                                                                                              6 (Longitude)Longitude
                                                                                                                                                              7 (Altitude)Altitudem

                                                                                                                                                              MAV_CMD_NAV_VTOL_LAND (85)

                                                                                                                                                              Land using VTOL mode

                                                                                                                                                              Param (Label)DescriptionValuesUnits
                                                                                                                                                              1 (Land Options)Landing behaviour.NAV_VTOL_LAND_OPTIONS
                                                                                                                                                              2Empty
                                                                                                                                                              3 (Approach Altitude)Approach altitude (with the same reference as the Altitude field). NaN if unspecified.m
                                                                                                                                                              4 (Yaw)Yaw angle. NaN to use the current system yaw heading mode (e.g. yaw towards next waypoint, yaw to home, etc.).deg
                                                                                                                                                              5 (Latitude)Latitude
                                                                                                                                                              6 (Longitude)Longitude
                                                                                                                                                              7 (Ground Altitude)Altitude (ground level) relative to the current coordinate frame. NaN to use system default landing altitude (ignore value).m

                                                                                                                                                              MAV_CMD_NAV_GUIDED_ENABLE (92)

                                                                                                                                                              hand control over to an external controller

                                                                                                                                                              Param (Label)DescriptionValues
                                                                                                                                                              1 (Enable)On / Off (> 0.5f on)min: 0 max: 1 inc: 1
                                                                                                                                                              2Empty
                                                                                                                                                              3Empty
                                                                                                                                                              4Empty
                                                                                                                                                              5Empty
                                                                                                                                                              6Empty
                                                                                                                                                              7Empty

                                                                                                                                                              MAV_CMD_NAV_DELAY (93)

                                                                                                                                                              Delay the next navigation command a number of seconds or until a specified time

                                                                                                                                                              Param (Label)DescriptionValuesUnits
                                                                                                                                                              1 (Delay)Delay (-1 to enable time-of-day fields)min: -1 inc: 1s
                                                                                                                                                              2 (Hour)hour (24h format, UTC, -1 to ignore)min: -1 max: 23 inc: 1
                                                                                                                                                              3 (Minute)minute (24h format, UTC, -1 to ignore)min: -1 max: 59 inc: 1
                                                                                                                                                              4 (Second)second (24h format, UTC, -1 to ignore)min: -1 max: 59 inc: 1
                                                                                                                                                              5Empty
                                                                                                                                                              6Empty
                                                                                                                                                              7Empty

                                                                                                                                                              MAV_CMD_NAV_PAYLOAD_PLACE (94)

                                                                                                                                                              Descend and place payload. Vehicle moves to specified location, descends until it detects a hanging payload has reached the ground, and then releases the payload. If ground is not detected before the reaching the maximum descent value (param1), the command will complete without releasing the payload.

                                                                                                                                                              Param (Label)DescriptionValuesUnits
                                                                                                                                                              1 (Max Descent)Maximum distance to descend.min: 0m
                                                                                                                                                              2Empty
                                                                                                                                                              3Empty
                                                                                                                                                              4Empty
                                                                                                                                                              5 (Latitude)Latitude
                                                                                                                                                              6 (Longitude)Longitude
                                                                                                                                                              7 (Altitude)Altitudem

                                                                                                                                                              MAV_CMD_NAV_LAST (95)

                                                                                                                                                              NOP - This command is only used to mark the upper limit of the NAV/ACTION commands in the enumeration

                                                                                                                                                              Param (Label)Description
                                                                                                                                                              1Empty
                                                                                                                                                              2Empty
                                                                                                                                                              3Empty
                                                                                                                                                              4Empty
                                                                                                                                                              5Empty
                                                                                                                                                              6Empty
                                                                                                                                                              7Empty

                                                                                                                                                              MAV_CMD_CONDITION_DELAY (112)

                                                                                                                                                              Delay mission state machine.

                                                                                                                                                              Param (Label)DescriptionValuesUnits
                                                                                                                                                              1 (Delay)Delaymin: 0s
                                                                                                                                                              2Empty
                                                                                                                                                              3Empty
                                                                                                                                                              4Empty
                                                                                                                                                              5Empty
                                                                                                                                                              6Empty
                                                                                                                                                              7Empty

                                                                                                                                                              MAV_CMD_CONDITION_CHANGE_ALT (113)

                                                                                                                                                              Ascend/descend to target altitude at specified rate. Delay mission state machine until desired altitude reached.

                                                                                                                                                              Param (Label)DescriptionUnits
                                                                                                                                                              1 (Rate)Descent / Ascend rate.m/s
                                                                                                                                                              2Empty
                                                                                                                                                              3Empty
                                                                                                                                                              4Empty
                                                                                                                                                              5Empty
                                                                                                                                                              6Empty
                                                                                                                                                              7 (Altitude)Target Altitudem

                                                                                                                                                              MAV_CMD_CONDITION_DISTANCE (114)

                                                                                                                                                              Delay mission state machine until within desired distance of next NAV point.

                                                                                                                                                              Param (Label)DescriptionValuesUnits
                                                                                                                                                              1 (Distance)Distance.min: 0m
                                                                                                                                                              2Empty
                                                                                                                                                              3Empty
                                                                                                                                                              4Empty
                                                                                                                                                              5Empty
                                                                                                                                                              6Empty
                                                                                                                                                              7Empty

                                                                                                                                                              MAV_CMD_CONDITION_YAW (115)

                                                                                                                                                              Reach a certain target angle.

                                                                                                                                                              Param (Label)DescriptionValuesUnits
                                                                                                                                                              1 (Angle)target angle [0-360]. Absolute angles: 0 is north. Relative angle: 0 is initial yaw. Direction set by param3.min: 0 max: 360deg
                                                                                                                                                              2 (Angular Speed)angular speedmin: 0deg/s
                                                                                                                                                              3 (Direction)direction: -1: counter clockwise, 0: shortest direction, 1: clockwisemin: -1 max: 1 inc: 1
                                                                                                                                                              4 (Relative)0: absolute angle, 1: relative offsetmin: 0 max: 1 inc: 1
                                                                                                                                                              5Empty
                                                                                                                                                              6Empty
                                                                                                                                                              7Empty

                                                                                                                                                              MAV_CMD_CONDITION_LAST (159)

                                                                                                                                                              NOP - This command is only used to mark the upper limit of the CONDITION commands in the enumeration

                                                                                                                                                              Param (Label)Description
                                                                                                                                                              1Empty
                                                                                                                                                              2Empty
                                                                                                                                                              3Empty
                                                                                                                                                              4Empty
                                                                                                                                                              5Empty
                                                                                                                                                              6Empty
                                                                                                                                                              7Empty

                                                                                                                                                              MAV_CMD_DO_SET_MODE (176)

                                                                                                                                                              Set system mode.

                                                                                                                                                              Param (Label)DescriptionValues
                                                                                                                                                              1 (Mode)ModeMAV_MODE
                                                                                                                                                              2 (Custom Mode)Custom mode - this is system specific, please refer to the individual autopilot specifications for details.
                                                                                                                                                              3 (Custom Submode)Custom sub mode - this is system specific, please refer to the individual autopilot specifications for details.
                                                                                                                                                              4Empty
                                                                                                                                                              5Empty
                                                                                                                                                              6Empty
                                                                                                                                                              7Empty

                                                                                                                                                              MAV_CMD_DO_JUMP (177)

                                                                                                                                                              Jump to the desired command in the mission list. Repeat this action only the specified number of times

                                                                                                                                                              Param (Label)DescriptionValues
                                                                                                                                                              1 (Number)Sequence numbermin: 0 inc: 1
                                                                                                                                                              2 (Repeat)Repeat countmin: 0 inc: 1
                                                                                                                                                              3Empty
                                                                                                                                                              4Empty
                                                                                                                                                              5Empty
                                                                                                                                                              6Empty
                                                                                                                                                              7Empty

                                                                                                                                                              MAV_CMD_DO_CHANGE_SPEED (178)

                                                                                                                                                              Change speed and/or throttle set points. The value persists until it is overridden or there is a mode change

                                                                                                                                                              Param (Label)DescriptionValuesUnits
                                                                                                                                                              1 (Speed Type)Speed type of value set in param2 (such as airspeed, ground speed, and so on)SPEED_TYPE
                                                                                                                                                              2 (Speed)Speed (-1 indicates no change, -2 indicates return to default vehicle speed)min: -2m/s
                                                                                                                                                              3 (Throttle)Throttle (-1 indicates no change, -2 indicates return to default vehicle throttle value)min: -2%
                                                                                                                                                              4
                                                                                                                                                              5
                                                                                                                                                              6
                                                                                                                                                              7

                                                                                                                                                              MAV_CMD_DO_SET_HOME (179)

                                                                                                                                                              Sets the home position to either to the current position or a specified position. The home position is the default position that the system will return to and land on. The position is set automatically by the system during the takeoff (and may also be set using this command). Note: the current home position may be emitted in a HOME_POSITION message on request (using MAV_CMD_REQUEST_MESSAGE with param1=242).

                                                                                                                                                              Param (Label)DescriptionValuesUnits
                                                                                                                                                              1 (Use Current)Use current (1=use current location, 0=use specified location)min: 0 max: 1 inc: 1
                                                                                                                                                              2 (Roll)Roll angle (of surface). Range: -180..180 degrees. NAN or 0 means value not set. 0.01 indicates zero roll.min: -180 max: 180deg
                                                                                                                                                              3 (Pitch)Pitch angle (of surface). Range: -90..90 degrees. NAN or 0 means value not set. 0.01 means zero pitch.min: -90 max: 90deg
                                                                                                                                                              4 (Yaw)Yaw angle. NaN to use default heading. Range: -180..180 degrees.min: -180 max: 180deg
                                                                                                                                                              5 (Latitude)Latitude
                                                                                                                                                              6 (Longitude)Longitude
                                                                                                                                                              7 (Altitude)Altitudem

                                                                                                                                                              MAV_CMD_DO_SET_PARAMETER (180) — [DEP]

                                                                                                                                                              DEPRECATED: Replaced By PARAM_SET (2024-04)

                                                                                                                                                              Set a system parameter. Caution! Use of this command requires knowledge of the numeric enumeration value of the parameter.

                                                                                                                                                              Param (Label)DescriptionValues
                                                                                                                                                              1 (Number)Parameter numbermin: 0 inc: 1
                                                                                                                                                              2 (Value)Parameter value
                                                                                                                                                              3Empty
                                                                                                                                                              4Empty
                                                                                                                                                              5Empty
                                                                                                                                                              6Empty
                                                                                                                                                              7Empty

                                                                                                                                                              MAV_CMD_DO_SET_RELAY (181)

                                                                                                                                                              Set a relay to a condition.

                                                                                                                                                              Param (Label)DescriptionValues
                                                                                                                                                              1 (Instance)Relay instance number.min: 0 inc: 1
                                                                                                                                                              2 (Setting)Setting. (1=on, 0=off, others possible depending on system hardware)min: 0 inc: 1
                                                                                                                                                              3Empty
                                                                                                                                                              4Empty
                                                                                                                                                              5Empty
                                                                                                                                                              6Empty
                                                                                                                                                              7Empty

                                                                                                                                                              MAV_CMD_DO_REPEAT_RELAY (182)

                                                                                                                                                              Cycle a relay on and off for a desired number of cycles with a desired period.

                                                                                                                                                              Param (Label)DescriptionValuesUnits
                                                                                                                                                              1 (Instance)Relay instance number.min: 0 inc: 1
                                                                                                                                                              2 (Count)Cycle count.min: 1 inc: 1
                                                                                                                                                              3 (Time)Cycle time.min: 0s
                                                                                                                                                              4Empty
                                                                                                                                                              5Empty
                                                                                                                                                              6Empty
                                                                                                                                                              7Empty

                                                                                                                                                              MAV_CMD_DO_SET_SERVO (183)

                                                                                                                                                              Set a servo to a desired PWM value.

                                                                                                                                                              Param (Label)DescriptionValuesUnits
                                                                                                                                                              1 (Instance)Servo instance number.min: 0 inc: 1
                                                                                                                                                              2 (PWM)Pulse Width Modulation.min: 0 inc: 1us
                                                                                                                                                              3Empty
                                                                                                                                                              4Empty
                                                                                                                                                              5Empty
                                                                                                                                                              6Empty
                                                                                                                                                              7Empty

                                                                                                                                                              MAV_CMD_DO_REPEAT_SERVO (184)

                                                                                                                                                              Cycle a between its nominal setting and a desired PWM for a desired number of cycles with a desired period.

                                                                                                                                                              Param (Label)DescriptionValuesUnits
                                                                                                                                                              1 (Instance)Servo instance number.min: 0 inc: 1
                                                                                                                                                              2 (PWM)Pulse Width Modulation.min: 0 inc: 1us
                                                                                                                                                              3 (Count)Cycle count.min: 1 inc: 1
                                                                                                                                                              4 (Time)Cycle time.min: 0s
                                                                                                                                                              5Empty
                                                                                                                                                              6Empty
                                                                                                                                                              7Empty

                                                                                                                                                              MAV_CMD_DO_FLIGHTTERMINATION (185)

                                                                                                                                                              Terminate flight immediately.

                                                                                                                                                              Flight termination immediately and irreversibly terminates the current flight, returning the vehicle to ground. The vehicle will ignore RC or other input until it has been power-cycled. Termination may trigger safety measures, including: disabling motors and deployment of parachute on multicopters, and setting flight surfaces to initiate a landing pattern on fixed-wing). On multicopters without a parachute it may trigger a crash landing. Support for this command can be tested using the protocol bit: MAV_PROTOCOL_CAPABILITY_FLIGHT_TERMINATION. Support for this command can also be tested by sending the command with param1=0 (< 0.5); the ACK should be either MAV_RESULT_FAILED or MAV_RESULT_UNSUPPORTED.

                                                                                                                                                              Param (Label)DescriptionValues
                                                                                                                                                              1 (Terminate)Flight termination activated if > 0.5. Otherwise not activated and ACK with MAV_RESULT_FAILED.min: 0 max: 1 inc: 1
                                                                                                                                                              2Empty
                                                                                                                                                              3Empty
                                                                                                                                                              4Empty
                                                                                                                                                              5Empty
                                                                                                                                                              6Empty
                                                                                                                                                              7Empty

                                                                                                                                                              MAV_CMD_DO_CHANGE_ALTITUDE (186)

                                                                                                                                                              Change altitude set point.

                                                                                                                                                              Param (Label)DescriptionValuesUnits
                                                                                                                                                              1 (Altitude)Altitude.m
                                                                                                                                                              2 (Frame)Frame of new altitude.MAV_FRAME
                                                                                                                                                              3Empty
                                                                                                                                                              4Empty
                                                                                                                                                              5Empty
                                                                                                                                                              6Empty
                                                                                                                                                              7Empty

                                                                                                                                                              MAV_CMD_DO_SET_ACTUATOR (187)

                                                                                                                                                              Sets actuators (e.g. servos) to a desired value. The actuator numbers are mapped to specific outputs (e.g. on any MAIN or AUX PWM or UAVCAN) using a flight-stack specific mechanism (i.e. a parameter).

                                                                                                                                                              Param (Label)DescriptionValues
                                                                                                                                                              1 (Actuator 1)Actuator 1 value, scaled from [-1 to 1]. NaN to ignore.min: -1 max: 1
                                                                                                                                                              2 (Actuator 2)Actuator 2 value, scaled from [-1 to 1]. NaN to ignore.min: -1 max: 1
                                                                                                                                                              3 (Actuator 3)Actuator 3 value, scaled from [-1 to 1]. NaN to ignore.min: -1 max: 1
                                                                                                                                                              4 (Actuator 4)Actuator 4 value, scaled from [-1 to 1]. NaN to ignore.min: -1 max: 1
                                                                                                                                                              5 (Actuator 5)Actuator 5 value, scaled from [-1 to 1]. NaN to ignore.min: -1 max: 1
                                                                                                                                                              6 (Actuator 6)Actuator 6 value, scaled from [-1 to 1]. NaN to ignore.min: -1 max: 1
                                                                                                                                                              7 (Index)Index of actuator set (i.e if set to 1, Actuator 1 becomes Actuator 7)min: 0 inc: 1

                                                                                                                                                              MAV_CMD_DO_RETURN_PATH_START (188) — [WIP]

                                                                                                                                                              WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                              Mission item to specify the start of a failsafe/landing return-path segment (the end of the segment is the next MAV_CMD_DO_LAND_START item).

                                                                                                                                                              A vehicle that is using missions for landing (e.g. in a return mode) will join the mission on the closest path of the return-path segment (instead of MAV_CMD_DO_LAND_START or the nearest waypoint). The main use case is to minimize the failsafe flight path in corridor missions, where the inbound/outbound paths are constrained (by geofences) to the same particular path. The MAV_CMD_NAV_RETURN_PATH_START would be placed at the start of the return path. If a failsafe occurs on the outbound path the vehicle will move to the nearest point on the return path (which is parallel for this kind of mission), effectively turning round and following the shortest path to landing. If a failsafe occurs on the inbound path the vehicle is already on the return segment and will continue to landing. The Latitude/Longitude/Altitude are optional, and may be set to 0 if not needed. If specified, the item defines the waypoint at which the return segment starts. If sent using as a command, the vehicle will perform a mission landing (using the land segment if defined) or reject the command if mission landings are not supported, or no mission landing is defined. When used as a command any position information in the command is ignored.

                                                                                                                                                              Param (Label)DescriptionUnits
                                                                                                                                                              1Empty
                                                                                                                                                              2Empty
                                                                                                                                                              3Empty
                                                                                                                                                              4Empty
                                                                                                                                                              5 (Latitude)Latitudee. 0: not used.
                                                                                                                                                              6 (Longitude)Longitudee. 0: not used.
                                                                                                                                                              7 (Altitude)Altitudee. 0: not used.m

                                                                                                                                                              MAV_CMD_DO_LAND_START (189)

                                                                                                                                                              Mission command to perform a landing. This is used as a marker in a mission to tell the autopilot where a sequence of mission items that represents a landing starts.

                                                                                                                                                              It may also be sent via a COMMAND_LONG to trigger a landing, in which case the nearest (geographically) landing sequence in the mission will be used. The Latitude/Longitude/Altitude is optional, and may be set to 0 if not needed. If specified then it will be used to help find the closest landing sequence.

                                                                                                                                                              Param (Label)DescriptionUnits
                                                                                                                                                              1Empty
                                                                                                                                                              2Empty
                                                                                                                                                              3Empty
                                                                                                                                                              4Empty
                                                                                                                                                              5 (Latitude)Latitude
                                                                                                                                                              6 (Longitude)Longitude
                                                                                                                                                              7 (Altitude)Altitudem

                                                                                                                                                              MAV_CMD_DO_RALLY_LAND (190)

                                                                                                                                                              Mission command to perform a landing from a rally point.

                                                                                                                                                              Param (Label)DescriptionUnits
                                                                                                                                                              1 (Altitude)Break altitudem
                                                                                                                                                              2 (Speed)Landing speedm/s
                                                                                                                                                              3Empty
                                                                                                                                                              4Empty
                                                                                                                                                              5Empty
                                                                                                                                                              6Empty
                                                                                                                                                              7Empty

                                                                                                                                                              MAV_CMD_DO_GO_AROUND (191)

                                                                                                                                                              Mission command to safely abort an autonomous landing.

                                                                                                                                                              Param (Label)DescriptionUnits
                                                                                                                                                              1 (Altitude)Altitudem
                                                                                                                                                              2Empty
                                                                                                                                                              3Empty
                                                                                                                                                              4Empty
                                                                                                                                                              5Empty
                                                                                                                                                              6Empty
                                                                                                                                                              7Empty

                                                                                                                                                              MAV_CMD_DO_REPOSITION (192)

                                                                                                                                                              Reposition the vehicle to a specific WGS84 global position. This command is intended for guided commands (for missions use MAV_CMD_NAV_WAYPOINT instead).

                                                                                                                                                              Param (Label)DescriptionValuesUnits
                                                                                                                                                              1 (Speed)Ground speed, less than 0 (-1) for defaultmin: -1m/s
                                                                                                                                                              2 (Bitmask)Bitmask of option flags.MAV_DO_REPOSITION_FLAGS
                                                                                                                                                              3 (Radius)Loiter radius for planes. Positive values only, direction is controlled by Yaw value. A value of zero or NaN is ignored.m
                                                                                                                                                              4 (Yaw)Yaw heading. NaN to use the current system yaw heading mode (e.g. yaw towards next waypoint, yaw to home, etc.). For planes indicates loiter direction (0: clockwise, 1: counter clockwise)deg
                                                                                                                                                              5 (Latitude)Latitude
                                                                                                                                                              6 (Longitude)Longitude
                                                                                                                                                              7 (Altitude)Altitudem

                                                                                                                                                              MAV_CMD_DO_PAUSE_CONTINUE (193)

                                                                                                                                                              If in a GPS controlled position mode, hold the current position or continue.

                                                                                                                                                              Param (Label)DescriptionValues
                                                                                                                                                              1 (Continue)0: Pause current mission or reposition command, hold current position. 1: Continue mission. A VTOL capable vehicle should enter hover mode (multicopter and VTOL planes). A plane should loiter with the default loiter radius.min: 0 max: 1 inc: 1
                                                                                                                                                              2Reserved
                                                                                                                                                              3Reserved
                                                                                                                                                              4Reserved
                                                                                                                                                              5Reserved
                                                                                                                                                              6Reserved
                                                                                                                                                              7Reserved

                                                                                                                                                              MAV_CMD_DO_SET_REVERSE (194)

                                                                                                                                                              Set moving direction to forward or reverse.

                                                                                                                                                              Param (Label)DescriptionValues
                                                                                                                                                              1 (Reverse)Direction (0=Forward, 1=Reverse)min: 0 max: 1 inc: 1
                                                                                                                                                              2Empty
                                                                                                                                                              3Empty
                                                                                                                                                              4Empty
                                                                                                                                                              5Empty
                                                                                                                                                              6Empty
                                                                                                                                                              7Empty

                                                                                                                                                              MAV_CMD_DO_SET_ROI_LOCATION (195)

                                                                                                                                                              Sets the region of interest (ROI) to a location. This can then be used by the vehicle's control system to control the vehicle attitude and the attitude of various sensors such as cameras. This command can be sent to a gimbal manager but not to a gimbal device. A gimbal is not to react to this message.

                                                                                                                                                              Param (Label)DescriptionUnits
                                                                                                                                                              1 (Gimbal device ID)Component ID of gimbal device to address (or 1-6 for non-MAVLink gimbal), 0 for all gimbal device components. Send command multiple times for more than one gimbal (but not all gimbals).
                                                                                                                                                              2Empty
                                                                                                                                                              3Empty
                                                                                                                                                              4Empty
                                                                                                                                                              5 (Latitude)Latitude of ROI locationdegE7
                                                                                                                                                              6 (Longitude)Longitude of ROI locationdegE7
                                                                                                                                                              7 (Altitude)Altitude of ROI locationm

                                                                                                                                                              MAV_CMD_DO_SET_ROI_WPNEXT_OFFSET (196)

                                                                                                                                                              Sets the region of interest (ROI) to be toward next waypoint, with optional pitch/roll/yaw offset. This can then be used by the vehicle's control system to control the vehicle attitude and the attitude of various sensors such as cameras. This command can be sent to a gimbal manager but not to a gimbal device. A gimbal device is not to react to this message.

                                                                                                                                                              Param (Label)DescriptionUnits
                                                                                                                                                              1 (Gimbal device ID)Component ID of gimbal device to address (or 1-6 for non-MAVLink gimbal), 0 for all gimbal device components. Send command multiple times for more than one gimbal (but not all gimbals).
                                                                                                                                                              2Empty
                                                                                                                                                              3Empty
                                                                                                                                                              4Empty
                                                                                                                                                              5 (Pitch Offset)Pitch offset from next waypoint, positive pitching updeg
                                                                                                                                                              6 (Roll Offset)Roll offset from next waypoint, positive rolling to the rightdeg
                                                                                                                                                              7 (Yaw Offset)Yaw offset from next waypoint, positive yawing to the rightdeg

                                                                                                                                                              MAV_CMD_DO_SET_ROI_NONE (197)

                                                                                                                                                              Cancels any previous ROI command returning the vehicle/sensors to default flight characteristics. This can then be used by the vehicle's control system to control the vehicle attitude and the attitude of various sensors such as cameras. This command can be sent to a gimbal manager but not to a gimbal device. A gimbal device is not to react to this message. After this command the gimbal manager should go back to manual input if available, and otherwise assume a neutral position.

                                                                                                                                                              Param (Label)Description
                                                                                                                                                              1 (Gimbal device ID)Component ID of gimbal device to address (or 1-6 for non-MAVLink gimbal), 0 for all gimbal device components. Send command multiple times for more than one gimbal (but not all gimbals).
                                                                                                                                                              2Empty
                                                                                                                                                              3Empty
                                                                                                                                                              4Empty
                                                                                                                                                              5Empty
                                                                                                                                                              6Empty
                                                                                                                                                              7Empty

                                                                                                                                                              MAV_CMD_DO_SET_ROI_SYSID (198)

                                                                                                                                                              Mount tracks system with specified system ID. Determination of target vehicle position may be done with GLOBAL_POSITION_INT or any other means. This command can be sent to a gimbal manager but not to a gimbal device. A gimbal device is not to react to this message.

                                                                                                                                                              Param (Label)DescriptionValues
                                                                                                                                                              1 (System ID)System IDmin: 1 max: 255 inc: 1
                                                                                                                                                              2 (Gimbal device ID)Component ID of gimbal device to address (or 1-6 for non-MAVLink gimbal), 0 for all gimbal device components. Send command multiple times for more than one gimbal (but not all gimbals).

                                                                                                                                                              MAV_CMD_DO_CONTROL_VIDEO (200)

                                                                                                                                                              Control onboard camera system.

                                                                                                                                                              Param (Label)DescriptionValuesUnits
                                                                                                                                                              1 (ID)Camera ID (-1 for all)min: -1 inc: 1
                                                                                                                                                              2 (Transmission)Transmission: 0: disabled, 1: enabled compressed, 2: enabled rawmin: 0 max: 2 inc: 1
                                                                                                                                                              3 (Interval)Transmission mode: 0: video stream, >0: single images every n secondsmin: 0s
                                                                                                                                                              4 (Recording)Recording: 0: disabled, 1: enabled compressed, 2: enabled rawmin: 0 max: 2 inc: 1
                                                                                                                                                              5Empty
                                                                                                                                                              6Empty
                                                                                                                                                              7Empty

                                                                                                                                                              MAV_CMD_DO_SET_ROI (201) — [DEP]

                                                                                                                                                              DEPRECATED: Replaced By MAV_CMD_DO_SET_ROI_* (2018-01)

                                                                                                                                                              Sets the region of interest (ROI) for a sensor set or the vehicle itself. This can then be used by the vehicle's control system to control the vehicle attitude and the attitude of various sensors such as cameras.

                                                                                                                                                              Param (Label)DescriptionValues
                                                                                                                                                              1 (ROI Mode)Region of interest mode.MAV_ROI
                                                                                                                                                              2 (WP Index)Waypoint index/ target ID (depends on param 1).min: 0 inc: 1
                                                                                                                                                              3 (ROI Index)Region of interest index. (allows a vehicle to manage multiple ROI's)min: 0 inc: 1
                                                                                                                                                              4Empty
                                                                                                                                                              5MAV_ROI_WPNEXT: pitch offset from next waypoint, MAV_ROI_LOCATION: latitude
                                                                                                                                                              6MAV_ROI_WPNEXT: roll offset from next waypoint, MAV_ROI_LOCATION: longitude
                                                                                                                                                              7MAV_ROI_WPNEXT: yaw offset from next waypoint, MAV_ROI_LOCATION: altitude

                                                                                                                                                              MAV_CMD_DO_DIGICAM_CONFIGURE (202)

                                                                                                                                                              Configure digital camera. This is a fallback message for systems that have not yet implemented PARAM_EXT_XXX messages and camera definition files (see https://mavlink.io/en/services/camera_def.html ).

                                                                                                                                                              Param (Label)DescriptionValuesUnits
                                                                                                                                                              1 (Mode)Modes: P, TV, AV, M, Etc.min: 0 inc: 1
                                                                                                                                                              2 (Shutter Speed)Shutter speed: Divisor number for one second.min: 0 inc: 1
                                                                                                                                                              3 (Aperture)Aperture: F stop number.min: 0
                                                                                                                                                              4 (ISO)ISO number e.g. 80, 100, 200, Etc.min: 0 inc: 1
                                                                                                                                                              5 (Exposure)Exposure type enumerator.
                                                                                                                                                              6 (Command Identity)Command Identity.
                                                                                                                                                              7 (Engine Cut-off)Main engine cut-off time before camera trigger. (0 means no cut-off)min: 0 inc: 1ds

                                                                                                                                                              MAV_CMD_DO_DIGICAM_CONTROL (203)

                                                                                                                                                              Control digital camera. This is a fallback message for systems that have not yet implemented PARAM_EXT_XXX messages and camera definition files (see https://mavlink.io/en/services/camera_def.html ).

                                                                                                                                                              Param (Label)Description
                                                                                                                                                              1 (Session Control)Session control e.g. show/hide lens
                                                                                                                                                              2 (Zoom Absolute)Zoom's absolute position
                                                                                                                                                              3 (Zoom Relative)Zooming step value to offset zoom from the current position
                                                                                                                                                              4 (Focus)Focus Locking, Unlocking or Re-locking
                                                                                                                                                              5 (Shoot Command)Shooting Command
                                                                                                                                                              6 (Command Identity)Command Identity
                                                                                                                                                              7 (Shot ID)Test shot identifier. If set to 1, image will only be captured, but not counted towards internal frame count.

                                                                                                                                                              MAV_CMD_DO_MOUNT_CONFIGURE (204) — [DEP]

                                                                                                                                                              DEPRECATED: Replaced By MAV_CMD_DO_GIMBAL_MANAGER_CONFIGURE (2020-01) — This message has been superseded by MAV_CMD_DO_GIMBAL_MANAGER_CONFIGURE. The message can still be used to communicate with legacy gimbals implementing it.)

                                                                                                                                                              Mission command to configure a camera or antenna mount

                                                                                                                                                              Param (Label)DescriptionValues
                                                                                                                                                              1 (Mode)Mount operation modeMAV_MOUNT_MODE
                                                                                                                                                              2 (Stabilize Roll)stabilize roll? (1 = yes, 0 = no)min: 0 max: 1 inc: 1
                                                                                                                                                              3 (Stabilize Pitch)stabilize pitch? (1 = yes, 0 = no)min: 0 max: 1 inc: 1
                                                                                                                                                              4 (Stabilize Yaw)stabilize yaw? (1 = yes, 0 = no)min: 0 max: 1 inc: 1
                                                                                                                                                              5 (Roll Input Mode)roll input (0 = angle body frame, 1 = angular rate, 2 = angle absolute frame)
                                                                                                                                                              6 (Pitch Input Mode)pitch input (0 = angle body frame, 1 = angular rate, 2 = angle absolute frame)
                                                                                                                                                              7 (Yaw Input Mode)yaw input (0 = angle body frame, 1 = angular rate, 2 = angle absolute frame)

                                                                                                                                                              MAV_CMD_DO_MOUNT_CONTROL (205) — [DEP]

                                                                                                                                                              DEPRECATED: Replaced By MAV_CMD_DO_GIMBAL_MANAGER_PITCHYAW (2020-01) — This message is ambiguous and inconsistent. It has been superseded by MAV_CMD_DO_GIMBAL_MANAGER_PITCHYAW and MAV_CMD_DO_SET_ROI_* variants. The message can still be used to communicate with legacy gimbals implementing it.)

                                                                                                                                                              Mission command to control a camera or antenna mount

                                                                                                                                                              Param (Label)DescriptionValuesUnits
                                                                                                                                                              1 (Pitch)pitch depending on mount mode (degrees or degrees/second depending on pitch input).
                                                                                                                                                              2 (Roll)roll depending on mount mode (degrees or degrees/second depending on roll input).
                                                                                                                                                              3 (Yaw)yaw depending on mount mode (degrees or degrees/second depending on yaw input).
                                                                                                                                                              4 (Altitude)altitude depending on mount mode.m
                                                                                                                                                              5 (Latitude)latitude, set if appropriate mount mode.
                                                                                                                                                              6 (Longitude)longitude, set if appropriate mount mode.
                                                                                                                                                              7 (Mode)Mount mode.MAV_MOUNT_MODE

                                                                                                                                                              MAV_CMD_DO_SET_CAM_TRIGG_DIST (206)

                                                                                                                                                              Mission command to set camera trigger distance for this flight. The camera is triggered each time this distance is exceeded. This command can also be used to set the shutter integration time for the camera.

                                                                                                                                                              Param (Label)DescriptionValuesUnits
                                                                                                                                                              1 (Distance)Camera trigger distance. 0 to stop triggering.min: 0m
                                                                                                                                                              2 (Shutter)Camera shutter integration time. -1 or 0 to ignoremin: -1 inc: 1ms
                                                                                                                                                              3 (Trigger)Trigger camera once immediately. (0 = no trigger, 1 = trigger)min: 0 max: 1 inc: 1
                                                                                                                                                              4 (Target Camera ID)Target camera ID. 7 to 255: MAVLink camera component id. 1 to 6 for cameras attached to the autopilot, which don't have a distinct component id. 0: all cameras. This is used to target specific autopilot-connected cameras. It is also used to target specific cameras when the MAV_CMD is used in a mission.min: 0 max: 255 inc: 1
                                                                                                                                                              5Empty
                                                                                                                                                              6Empty
                                                                                                                                                              7Empty

                                                                                                                                                              MAV_CMD_DO_FENCE_ENABLE (207)

                                                                                                                                                              Enable the geofence. This can be used in a mission or via the command protocol. The persistence/lifetime of the setting is undefined. Depending on flight stack implementation it may persist until superseded, or it may revert to a system default at the end of a mission. Flight stacks typically reset the setting to system defaults on reboot.

                                                                                                                                                              Param (Label)DescriptionValues
                                                                                                                                                              1 (Enable)enable? (0=disable, 1=enable, 2=disable_floor_only)min: 0 max: 2 inc: 1
                                                                                                                                                              2 (Types)Fence types to enable or disable as a bitmask. A value of 0 indicates that all fences should be enabled or disabled. This parameter is ignored if param 1 has the value 2FENCE_TYPE
                                                                                                                                                              3Empty
                                                                                                                                                              4Empty
                                                                                                                                                              5Empty
                                                                                                                                                              6Empty
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                                                                                                                                                              MAV_CMD_DO_PARACHUTE (208)

                                                                                                                                                              Mission item/command to release a parachute or enable/disable auto release.

                                                                                                                                                              Param (Label)DescriptionValues
                                                                                                                                                              1 (Action)ActionPARACHUTE_ACTION
                                                                                                                                                              2Empty
                                                                                                                                                              3Empty
                                                                                                                                                              4Empty
                                                                                                                                                              5Empty
                                                                                                                                                              6Empty
                                                                                                                                                              7Empty

                                                                                                                                                              MAV_CMD_DO_MOTOR_TEST (209)

                                                                                                                                                              Command to perform motor test.

                                                                                                                                                              Param (Label)DescriptionValuesUnits
                                                                                                                                                              1 (Instance)Motor instance number (from 1 to max number of motors on the vehicle).min: 1 inc: 1
                                                                                                                                                              2 (Throttle Type)Throttle type (whether the Throttle Value in param3 is a percentage, PWM value, etc.)MOTOR_TEST_THROTTLE_TYPE
                                                                                                                                                              3 (Throttle)Throttle value.
                                                                                                                                                              4 (Timeout)Timeout between tests that are run in sequence.min: 0s
                                                                                                                                                              5 (Motor Count)Motor count. Number of motors to test in sequence: 0/1=one motor, 2= two motors, etc. The Timeout (param4) is used between tests.min: 0 inc: 1
                                                                                                                                                              6 (Test Order)Motor test order.MOTOR_TEST_ORDER
                                                                                                                                                              7Empty

                                                                                                                                                              MAV_CMD_DO_INVERTED_FLIGHT (210)

                                                                                                                                                              Change to/from inverted flight.

                                                                                                                                                              Param (Label)DescriptionValues
                                                                                                                                                              1 (Inverted)Inverted flight. (0=normal, 1=inverted)min: 0 max: 1 inc: 1
                                                                                                                                                              2Empty
                                                                                                                                                              3Empty
                                                                                                                                                              4Empty
                                                                                                                                                              5Empty
                                                                                                                                                              6Empty
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                                                                                                                                                              MAV_CMD_DO_GRIPPER (211)

                                                                                                                                                              Mission command to operate a gripper.

                                                                                                                                                              Param (Label)DescriptionValues
                                                                                                                                                              1 (Instance)Gripper instance number.min: 1 inc: 1
                                                                                                                                                              2 (Action)Gripper action to perform.GRIPPER_ACTIONS
                                                                                                                                                              3Empty
                                                                                                                                                              4Empty
                                                                                                                                                              5Empty
                                                                                                                                                              6Empty
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                                                                                                                                                              MAV_CMD_DO_AUTOTUNE_ENABLE (212)

                                                                                                                                                              Enable/disable autotune.

                                                                                                                                                              Param (Label)DescriptionValues
                                                                                                                                                              1 (Enable)Enable (1: enable, 0:disable).min: 0 max: 1 inc: 1
                                                                                                                                                              2 (Axis)Specify which axis are autotuned. 0 indicates autopilot default settings.AUTOTUNE_AXIS
                                                                                                                                                              3Empty.
                                                                                                                                                              4Empty.
                                                                                                                                                              5Empty.
                                                                                                                                                              6Empty.
                                                                                                                                                              7Empty.

                                                                                                                                                              MAV_CMD_NAV_SET_YAW_SPEED (213)

                                                                                                                                                              Sets a desired vehicle turn angle and speed change.

                                                                                                                                                              Param (Label)DescriptionValuesUnits
                                                                                                                                                              1 (Yaw)Yaw angle to adjust steering by.deg
                                                                                                                                                              2 (Speed)Speed.m/s
                                                                                                                                                              3 (Angle)Final angle. (0=absolute, 1=relative)min: 0 max: 1 inc: 1
                                                                                                                                                              4Empty
                                                                                                                                                              5Empty
                                                                                                                                                              6Empty
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                                                                                                                                                              MAV_CMD_DO_SET_CAM_TRIGG_INTERVAL (214)

                                                                                                                                                              Mission command to set camera trigger interval for this flight. If triggering is enabled, the camera is triggered each time this interval expires. This command can also be used to set the shutter integration time for the camera.

                                                                                                                                                              Param (Label)DescriptionValuesUnits
                                                                                                                                                              1 (Trigger Cycle)Camera trigger cycle time. -1 or 0 to ignore.min: -1 inc: 1ms
                                                                                                                                                              2 (Shutter Integration)Camera shutter integration time. Should be less than trigger cycle time. -1 or 0 to ignore.min: -1 inc: 1ms
                                                                                                                                                              3 (Target Camera ID)Target camera ID. 7 to 255: MAVLink camera component id. 1 to 6 for cameras attached to the autopilot, which don't have a distinct component id. 0: all cameras. This is used to target specific autopilot-connected cameras. It is also used to target specific cameras when the MAV_CMD is used in a mission.min: 0 max: 255 inc: 1
                                                                                                                                                              4Empty
                                                                                                                                                              5Empty
                                                                                                                                                              6Empty
                                                                                                                                                              7Empty

                                                                                                                                                              MAV_CMD_DO_MOUNT_CONTROL_QUAT (220) — [DEP]

                                                                                                                                                              DEPRECATED: Replaced By MAV_CMD_DO_GIMBAL_MANAGER_PITCHYAW (2020-01)

                                                                                                                                                              Mission command to control a camera or antenna mount, using a quaternion as reference.

                                                                                                                                                              Param (Label)Description
                                                                                                                                                              1 (Q1)quaternion param q1, w (1 in null-rotation)
                                                                                                                                                              2 (Q2)quaternion param q2, x (0 in null-rotation)
                                                                                                                                                              3 (Q3)quaternion param q3, y (0 in null-rotation)
                                                                                                                                                              4 (Q4)quaternion param q4, z (0 in null-rotation)
                                                                                                                                                              5Empty
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                                                                                                                                                              MAV_CMD_DO_GUIDED_MASTER (221)

                                                                                                                                                              set id of master controller

                                                                                                                                                              Param (Label)DescriptionValues
                                                                                                                                                              1 (System ID)System IDmin: 0 max: 255 inc: 1
                                                                                                                                                              2 (Component ID)Component IDmin: 0 max: 255 inc: 1
                                                                                                                                                              3Empty
                                                                                                                                                              4Empty
                                                                                                                                                              5Empty
                                                                                                                                                              6Empty
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                                                                                                                                                              MAV_CMD_DO_GUIDED_LIMITS (222)

                                                                                                                                                              Set limits for external control

                                                                                                                                                              Param (Label)DescriptionValuesUnits
                                                                                                                                                              1 (Timeout)Timeout - maximum time that external controller will be allowed to control vehicle. 0 means no timeout.min: 0s
                                                                                                                                                              2 (Min Altitude)Altitude (MSL) min - if vehicle moves below this alt, the command will be aborted and the mission will continue. 0 means no lower altitude limit.m
                                                                                                                                                              3 (Max Altitude)Altitude (MSL) max - if vehicle moves above this alt, the command will be aborted and the mission will continue. 0 means no upper altitude limit.m
                                                                                                                                                              4 (Horiz. Move Limit)Horizontal move limit - if vehicle moves more than this distance from its location at the moment the command was executed, the command will be aborted and the mission will continue. 0 means no horizontal move limit.min: 0m
                                                                                                                                                              5Empty
                                                                                                                                                              6Empty
                                                                                                                                                              7Empty

                                                                                                                                                              MAV_CMD_DO_ENGINE_CONTROL (223)

                                                                                                                                                              Control vehicle engine. This is interpreted by the vehicles engine controller to change the target engine state. It is intended for vehicles with internal combustion engines

                                                                                                                                                              Param (Label)DescriptionValuesUnits
                                                                                                                                                              1 (Start Engine)0: Stop engine, 1:Start Enginemin: 0 max: 1 inc: 1
                                                                                                                                                              2 (Cold Start)0: Warm start, 1:Cold start. Controls use of choke where applicablemin: 0 max: 1 inc: 1
                                                                                                                                                              3 (Height Delay)Height delay. This is for commanding engine start only after the vehicle has gained the specified height. Used in VTOL vehicles during takeoff to start engine after the aircraft is off the ground. Zero for no delay.min: 0m
                                                                                                                                                              4Empty
                                                                                                                                                              5Empty
                                                                                                                                                              6Empty
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                                                                                                                                                              MAV_CMD_DO_SET_MISSION_CURRENT (224)

                                                                                                                                                              Set the mission item with sequence number seq as the current item and emit MISSION_CURRENT (whether or not the mission number changed). If a mission is currently being executed, the system will continue to this new mission item on the shortest path, skipping any intermediate mission items. Note that mission jump repeat counters are not reset unless param2 is set (see MAV_CMD_DO_JUMP param2).

                                                                                                                                                              This command may trigger a mission state-machine change on some systems: for example from MISSION_STATE_NOT_STARTED or MISSION_STATE_PAUSED to MISSION_STATE_ACTIVE. If the system is in mission mode, on those systems this command might therefore start, restart or resume the mission. If the system is not in mission mode this command must not trigger a switch to mission mode.

                                                                                                                                                              The mission may be "reset" using param2. Resetting sets jump counters to initial values (to reset counters without changing the current mission item set the param1 to -1). Resetting also explicitly changes a mission state of MISSION_STATE_COMPLETE to MISSION_STATE_PAUSED or MISSION_STATE_ACTIVE, potentially allowing it to resume when it is (next) in a mission mode.

                                                                                                                                                              The command will ACK with MAV_RESULT_FAILED if the sequence number is out of range (including if there is no mission item).

                                                                                                                                                              Param (Label)DescriptionValues
                                                                                                                                                              1 (Number)Mission sequence value to set. -1 for the current mission item (use to reset mission without changing current mission item).min: -1 inc: 1
                                                                                                                                                              2 (Reset Mission)Resets mission. 1: true, 0: false. Resets jump counters to initial values and changes mission state "completed" to be "active" or "paused".min: 0 max: 1 inc: 1
                                                                                                                                                              3Empty
                                                                                                                                                              4Empty
                                                                                                                                                              5Empty
                                                                                                                                                              6Empty
                                                                                                                                                              7Empty

                                                                                                                                                              MAV_CMD_DO_LAST (240)

                                                                                                                                                              NOP - This command is only used to mark the upper limit of the DO commands in the enumeration

                                                                                                                                                              Param (Label)Description
                                                                                                                                                              1Empty
                                                                                                                                                              2Empty
                                                                                                                                                              3Empty
                                                                                                                                                              4Empty
                                                                                                                                                              5Empty
                                                                                                                                                              6Empty
                                                                                                                                                              7Empty

                                                                                                                                                              MAV_CMD_PREFLIGHT_CALIBRATION (241)

                                                                                                                                                              Trigger calibration. This command will be only accepted if in pre-flight mode. Except for Temperature Calibration, only one sensor should be set in a single message and all others should be zero.

                                                                                                                                                              Param (Label)DescriptionValues
                                                                                                                                                              1 (Gyro Temperature)1: gyro calibration, 3: gyro temperature calibrationmin: 0 max: 3 inc: 1
                                                                                                                                                              2 (Magnetometer)1: magnetometer calibrationmin: 0 max: 1 inc: 1
                                                                                                                                                              3 (Ground Pressure)1: ground pressure calibrationmin: 0 max: 1 inc: 1
                                                                                                                                                              4 (Remote Control)1: radio RC calibration, 2: RC trim calibrationmin: 0 max: 1 inc: 1
                                                                                                                                                              5 (Accelerometer)1: accelerometer calibration, 2: board level calibration, 3: accelerometer temperature calibration, 4: simple accelerometer calibrationmin: 0 max: 4 inc: 1
                                                                                                                                                              6 (Compmot or Airspeed)1: APM: compass/motor interference calibration (PX4: airspeed calibration, deprecated), 2: airspeed calibrationmin: 0 max: 2 inc: 1
                                                                                                                                                              7 (ESC or Baro)1: ESC calibration, 3: barometer temperature calibrationmin: 0 max: 3 inc: 1

                                                                                                                                                              MAV_CMD_PREFLIGHT_SET_SENSOR_OFFSETS (242)

                                                                                                                                                              Set sensor offsets. This command will be only accepted if in pre-flight mode.

                                                                                                                                                              Param (Label)DescriptionValues
                                                                                                                                                              1 (Sensor Type)Sensor to adjust the offsets for: 0: gyros, 1: accelerometer, 2: magnetometer, 3: barometer, 4: optical flow, 5: second magnetometer, 6: third magnetometermin: 0 max: 6 inc: 1
                                                                                                                                                              2 (X Offset)X axis offset (or generic dimension 1), in the sensor's raw units
                                                                                                                                                              3 (Y Offset)Y axis offset (or generic dimension 2), in the sensor's raw units
                                                                                                                                                              4 (Z Offset)Z axis offset (or generic dimension 3), in the sensor's raw units
                                                                                                                                                              5 (4th Dimension)Generic dimension 4, in the sensor's raw units
                                                                                                                                                              6 (5th Dimension)Generic dimension 5, in the sensor's raw units
                                                                                                                                                              7 (6th Dimension)Generic dimension 6, in the sensor's raw units

                                                                                                                                                              MAV_CMD_PREFLIGHT_UAVCAN (243)

                                                                                                                                                              Trigger UAVCAN configuration (actuator ID assignment and direction mapping). Note that this maps to the legacy UAVCAN v0 function UAVCAN_ENUMERATE, which is intended to be executed just once during initial vehicle configuration (it is not a normal pre-flight command and has been poorly named).

                                                                                                                                                              Param (Label)Description
                                                                                                                                                              1 (Actuator ID)1: Trigger actuator ID assignment and direction mapping. 0: Cancel command.
                                                                                                                                                              2Reserved
                                                                                                                                                              3Reserved
                                                                                                                                                              4Reserved
                                                                                                                                                              5Reserved
                                                                                                                                                              6Reserved
                                                                                                                                                              7Reserved

                                                                                                                                                              MAV_CMD_PREFLIGHT_STORAGE (245)

                                                                                                                                                              Request storage of different parameter values and logs. This command will be only accepted if in pre-flight mode.

                                                                                                                                                              Param (Label)DescriptionValuesUnits
                                                                                                                                                              1 (Parameter Storage)Action to perform on the persistent parameter storagePREFLIGHT_STORAGE_PARAMETER_ACTION
                                                                                                                                                              2 (Mission Storage)Action to perform on the persistent mission storagePREFLIGHT_STORAGE_MISSION_ACTION
                                                                                                                                                              3 (Logging Rate)Onboard logging: 0: Ignore, 1: Start default rate logging, -1: Stop logging, > 1: logging rate (e.g. set to 1000 for 1000 Hz logging)min: -1 inc: 1Hz
                                                                                                                                                              4Reserved
                                                                                                                                                              5Empty
                                                                                                                                                              6Empty
                                                                                                                                                              7Empty

                                                                                                                                                              MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN (246)

                                                                                                                                                              Request the reboot or shutdown of system components.

                                                                                                                                                              Param (Label)DescriptionValues
                                                                                                                                                              1 (Autopilot)0: Do nothing for autopilot, 1: Reboot autopilot, 2: Shutdown autopilot, 3: Reboot autopilot and keep it in the bootloader until upgraded.min: 0 max: 3 inc: 1
                                                                                                                                                              2 (Companion)0: Do nothing for onboard computer, 1: Reboot onboard computer, 2: Shutdown onboard computer, 3: Reboot onboard computer and keep it in the bootloader until upgraded.min: 0 max: 3 inc: 1
                                                                                                                                                              3 (Component action)0: Do nothing for component, 1: Reboot component, 2: Shutdown component, 3: Reboot component and keep it in the bootloader until upgradedmin: 0 max: 3 inc: 1
                                                                                                                                                              4 (Component ID)MAVLink Component ID targeted in param3 (0 for all components).min: 0 max: 255 inc: 1
                                                                                                                                                              5Reserved (set to 0)
                                                                                                                                                              6Reserved (set to 0)
                                                                                                                                                              7WIP: ID (e.g. camera ID -1 for all IDs)

                                                                                                                                                              MAV_CMD_OVERRIDE_GOTO (252)

                                                                                                                                                              Override current mission with command to pause mission, pause mission and move to position, continue/resume mission. When param 1 indicates that the mission is paused (MAV_GOTO_DO_HOLD), param 2 defines whether it holds in place or moves to another position.

                                                                                                                                                              Param (Label)DescriptionValuesUnits
                                                                                                                                                              1 (Continue)MAV_GOTO_DO_HOLD: pause mission and either hold or move to specified position (depending on param2), MAV_GOTO_DO_CONTINUE: resume mission.MAV_GOTO
                                                                                                                                                              2 (Position)MAV_GOTO_HOLD_AT_CURRENT_POSITION: hold at current position, MAV_GOTO_HOLD_AT_SPECIFIED_POSITION: hold at specified position.MAV_GOTO
                                                                                                                                                              3 (Frame)Coordinate frame of hold point.MAV_FRAME
                                                                                                                                                              4 (Yaw)Desired yaw angle.deg
                                                                                                                                                              5 (Latitude/X)Latitude/X position.
                                                                                                                                                              6 (Longitude/Y)Longitude/Y position.
                                                                                                                                                              7 (Altitude/Z)Altitude/Z position.

                                                                                                                                                              MAV_CMD_OBLIQUE_SURVEY (260)

                                                                                                                                                              Mission command to set a Camera Auto Mount Pivoting Oblique Survey (Replaces CAM_TRIGG_DIST for this purpose). The camera is triggered each time this distance is exceeded, then the mount moves to the next position. Params 4~6 set-up the angle limits and number of positions for oblique survey, where mount-enabled vehicles automatically roll the camera between shots to emulate an oblique camera setup (providing an increased HFOV). This command can also be used to set the shutter integration time for the camera.

                                                                                                                                                              Param (Label)DescriptionValuesUnits
                                                                                                                                                              1 (Distance)Camera trigger distance. 0 to stop triggering.min: 0m
                                                                                                                                                              2 (Shutter)Camera shutter integration time. 0 to ignoremin: 0 inc: 1ms
                                                                                                                                                              3 (Min Interval)The minimum interval in which the camera is capable of taking subsequent pictures repeatedly. 0 to ignore.min: 0 max: 10000 inc: 1ms
                                                                                                                                                              4 (Positions)Total number of roll positions at which the camera will capture photos (images captures spread evenly across the limits defined by param5).min: 2 inc: 1
                                                                                                                                                              5 (Roll Angle)Angle limits that the camera can be rolled to left and right of center.min: 0deg
                                                                                                                                                              6 (Pitch Angle)Fixed pitch angle that the camera will hold in oblique mode if the mount is actuated in the pitch axis.min: -180 max: 180deg
                                                                                                                                                              7Empty

                                                                                                                                                              MAV_CMD_MISSION_START (300)

                                                                                                                                                              start running a mission

                                                                                                                                                              Param (Label)DescriptionValues
                                                                                                                                                              1 (First Item)first_item: the first mission item to runmin: 0 inc: 1
                                                                                                                                                              2 (Last Item)last_item: the last mission item to run (after this item is run, the mission ends)min: 0 inc: 1

                                                                                                                                                              MAV_CMD_ACTUATOR_TEST (310)

                                                                                                                                                              Actuator testing command. This is similar to MAV_CMD_DO_MOTOR_TEST but operates on the level of output functions, i.e. it is possible to test Motor1 independent from which output it is configured on. Autopilots typically refuse this command while armed.

                                                                                                                                                              Param (Label)DescriptionValuesUnits
                                                                                                                                                              1 (Value)Output value: 1 means maximum positive output, 0 to center servos or minimum motor thrust (expected to spin), -1 for maximum negative (if not supported by the motors, i.e. motor is not reversible, smaller than 0 maps to NaN). And NaN maps to disarmed (stop the motors).min: -1 max: 1
                                                                                                                                                              2 (Timeout)Timeout after which the test command expires and the output is restored to the previous value. A timeout has to be set for safety reasons. A timeout of 0 means to restore the previous value immediately.min: 0 max: 3s
                                                                                                                                                              3
                                                                                                                                                              4
                                                                                                                                                              5 (Output Function)Actuator Output functionACTUATOR_OUTPUT_FUNCTION
                                                                                                                                                              6
                                                                                                                                                              7

                                                                                                                                                              MAV_CMD_CONFIGURE_ACTUATOR (311)

                                                                                                                                                              Actuator configuration command.

                                                                                                                                                              Param (Label)DescriptionValues
                                                                                                                                                              1 (Configuration)Actuator configuration actionACTUATOR_CONFIGURATION
                                                                                                                                                              2
                                                                                                                                                              3
                                                                                                                                                              4
                                                                                                                                                              5 (Output Function)Actuator Output functionACTUATOR_OUTPUT_FUNCTION
                                                                                                                                                              6
                                                                                                                                                              7

                                                                                                                                                              MAV_CMD_COMPONENT_ARM_DISARM (400)

                                                                                                                                                              Arms / Disarms a component

                                                                                                                                                              Param (Label)DescriptionValues
                                                                                                                                                              1 (Arm)0: disarm, 1: armmin: 0 max: 1 inc: 1
                                                                                                                                                              2 (Force)0: arm-disarm unless prevented by safety checks (i.e. when landed), 21196: force arming/disarming (e.g. allow arming to override preflight checks and disarming in flight)min: 0 max: 21196 inc: 21196

                                                                                                                                                              MAV_CMD_RUN_PREARM_CHECKS (401)

                                                                                                                                                              Instructs a target system to run pre-arm checks.

                                                                                                                                                              This allows preflight checks to be run on demand, which may be useful on systems that normally run them at low rate, or which do not trigger checks when the armable state might have changed. This command should return MAV_RESULT_ACCEPTED if it will run the checks. The results of the checks are usually then reported in SYS_STATUS messages (this is system-specific). The command should return MAV_RESULT_TEMPORARILY_REJECTED if the system is already armed.

                                                                                                                                                              Param (Label)Description

                                                                                                                                                              MAV_CMD_ILLUMINATOR_ON_OFF (405)

                                                                                                                                                              Turns illuminators ON/OFF. An illuminator is a light source that is used for lighting up dark areas external to the system: e.g. a torch or searchlight (as opposed to a light source for illuminating the system itself, e.g. an indicator light).

                                                                                                                                                              Param (Label)DescriptionValues
                                                                                                                                                              1 (Enable)0: Illuminators OFF, 1: Illuminators ONmin: 0 max: 1 inc: 1

                                                                                                                                                              MAV_CMD_DO_ILLUMINATOR_CONFIGURE (406)

                                                                                                                                                              Configures illuminator settings. An illuminator is a light source that is used for lighting up dark areas external to the system: e.g. a torch or searchlight (as opposed to a light source for illuminating the system itself, e.g. an indicator light).

                                                                                                                                                              Param (Label)DescriptionValuesUnits
                                                                                                                                                              1 (Mode)ModeILLUMINATOR_MODE
                                                                                                                                                              2 (Brightness)0%: Off, 100%: Max Brightnessmin: 0 max: 100%
                                                                                                                                                              3 (Strobe Period)Strobe period in seconds where 0 means strobing is not usedmin: 0s
                                                                                                                                                              4 (Strobe Duty)Strobe duty cycle where 100% means it is on constantly and 0 means strobing is not usedmin: 0 max: 100%

                                                                                                                                                              MAV_CMD_GET_HOME_POSITION (410) — [DEP]

                                                                                                                                                              DEPRECATED: Replaced By MAV_CMD_REQUEST_MESSAGE (2022-04)

                                                                                                                                                              Request the home position from the vehicle.

                                                                                                                                                              The vehicle will ACK the command and then emit the HOME_POSITION message.

                                                                                                                                                              Param (Label)Description
                                                                                                                                                              1Reserved
                                                                                                                                                              2Reserved
                                                                                                                                                              3Reserved
                                                                                                                                                              4Reserved
                                                                                                                                                              5Reserved
                                                                                                                                                              6Reserved
                                                                                                                                                              7Reserved

                                                                                                                                                              MAV_CMD_INJECT_FAILURE (420)

                                                                                                                                                              Inject artificial failure for testing purposes. Note that autopilots should implement an additional protection before accepting this command such as a specific param setting.

                                                                                                                                                              Param (Label)DescriptionValues
                                                                                                                                                              1 (Failure unit)The unit which is affected by the failure.FAILURE_UNIT
                                                                                                                                                              2 (Failure type)The type how the failure manifests itself.FAILURE_TYPE
                                                                                                                                                              3 (Instance)Instance affected by failure (0 to signal all).

                                                                                                                                                              MAV_CMD_START_RX_PAIR (500)

                                                                                                                                                              Starts receiver pairing.

                                                                                                                                                              Param (Label)DescriptionValues
                                                                                                                                                              1 (RC Type)RC type.RC_TYPE
                                                                                                                                                              2 (RC Sub Type)RC sub type.RC_SUB_TYPE

                                                                                                                                                              MAV_CMD_GET_MESSAGE_INTERVAL (510) — [DEP]

                                                                                                                                                              DEPRECATED: Replaced By MAV_CMD_REQUEST_MESSAGE (2022-04)

                                                                                                                                                              Request the interval between messages for a particular MAVLink message ID. The receiver should ACK the command and then emit its response in a MESSAGE_INTERVAL message.

                                                                                                                                                              Param (Label)DescriptionValues
                                                                                                                                                              1 (Message ID)The MAVLink message IDmin: 0 max: 16777215 inc: 1

                                                                                                                                                              MAV_CMD_SET_MESSAGE_INTERVAL (511)

                                                                                                                                                              Set the interval between messages for a particular MAVLink message ID. This interface replaces REQUEST_DATA_STREAM.

                                                                                                                                                              Param (Label)DescriptionValuesUnits
                                                                                                                                                              1 (Message ID)The MAVLink message IDmin: 0 max: 16777215 inc: 1
                                                                                                                                                              2 (Interval)The interval between two messages. -1: disable. 0: request default rate (which may be zero).min: -1 inc: 1us
                                                                                                                                                              3 (Req Param 3)Use for index ID, if required. Otherwise, the use of this parameter (if any) must be defined in the requested message. By default assumed not used (0).
                                                                                                                                                              4 (Req Param 4)The use of this parameter (if any), must be defined in the requested message. By default assumed not used (0).
                                                                                                                                                              5 (Req Param 5)The use of this parameter (if any), must be defined in the requested message. By default assumed not used (0).
                                                                                                                                                              6 (Req Param 6)The use of this parameter (if any), must be defined in the requested message. By default assumed not used (0).
                                                                                                                                                              7 (Response Target)Target address of message stream (if message has target address fields). 0: Flight-stack default (recommended), 1: address of requestor, 2: broadcast.min: 0 max: 2 inc: 1

                                                                                                                                                              MAV_CMD_REQUEST_MESSAGE (512)

                                                                                                                                                              Request the target system(s) emit a single instance of a specified message (i.e. a "one-shot" version of MAV_CMD_SET_MESSAGE_INTERVAL).

                                                                                                                                                              Param (Label)DescriptionValues
                                                                                                                                                              1 (Message ID)The MAVLink message ID of the requested message.min: 0 max: 16777215 inc: 1
                                                                                                                                                              2 (Req Param 1)Use for index ID, if required. Otherwise, the use of this parameter (if any) must be defined in the requested message. By default assumed not used (0).
                                                                                                                                                              3 (Req Param 2)The use of this parameter (if any), must be defined in the requested message. By default assumed not used (0).
                                                                                                                                                              4 (Req Param 3)The use of this parameter (if any), must be defined in the requested message. By default assumed not used (0).
                                                                                                                                                              5 (Req Param 4)The use of this parameter (if any), must be defined in the requested message. By default assumed not used (0).
                                                                                                                                                              6 (Req Param 5)The use of this parameter (if any), must be defined in the requested message. By default assumed not used (0).
                                                                                                                                                              7 (Response Target)Target address for requested message (if message has target address fields). 0: Flight-stack default, 1: address of requestor, 2: broadcast.min: 0 max: 2 inc: 1

                                                                                                                                                              MAV_CMD_REQUEST_PROTOCOL_VERSION (519) — [DEP]

                                                                                                                                                              DEPRECATED: Replaced By MAV_CMD_REQUEST_MESSAGE (2019-08)

                                                                                                                                                              Request MAVLink protocol version compatibility. All receivers should ACK the command and then emit their capabilities in an PROTOCOL_VERSION message

                                                                                                                                                              Param (Label)DescriptionValues
                                                                                                                                                              1 (Protocol)1: Request supported protocol versions by all nodes on the networkmin: 0 max: 1 inc: 1
                                                                                                                                                              2Reserved (all remaining params)

                                                                                                                                                              MAV_CMD_REQUEST_AUTOPILOT_CAPABILITIES (520) — [DEP]

                                                                                                                                                              DEPRECATED: Replaced By MAV_CMD_REQUEST_MESSAGE (2019-08)

                                                                                                                                                              Request autopilot capabilities. The receiver should ACK the command and then emit its capabilities in an AUTOPILOT_VERSION message

                                                                                                                                                              Param (Label)DescriptionValues
                                                                                                                                                              1 (Version)1: Request autopilot versionmin: 0 max: 1 inc: 1
                                                                                                                                                              2Reserved (all remaining params)

                                                                                                                                                              MAV_CMD_REQUEST_CAMERA_INFORMATION (521) — [DEP]

                                                                                                                                                              DEPRECATED: Replaced By MAV_CMD_REQUEST_MESSAGE (2019-08)

                                                                                                                                                              Request camera information (CAMERA_INFORMATION).

                                                                                                                                                              Param (Label)DescriptionValues
                                                                                                                                                              1 (Capabilities)0: No action 1: Request camera capabilitiesmin: 0 max: 1 inc: 1
                                                                                                                                                              2Reserved (all remaining params)

                                                                                                                                                              MAV_CMD_REQUEST_CAMERA_SETTINGS (522) — [DEP]

                                                                                                                                                              DEPRECATED: Replaced By MAV_CMD_REQUEST_MESSAGE (2019-08)

                                                                                                                                                              Request camera settings (CAMERA_SETTINGS).

                                                                                                                                                              Param (Label)DescriptionValues
                                                                                                                                                              1 (Settings)0: No Action 1: Request camera settingsmin: 0 max: 1 inc: 1
                                                                                                                                                              2Reserved (all remaining params)

                                                                                                                                                              MAV_CMD_REQUEST_STORAGE_INFORMATION (525) — [DEP]

                                                                                                                                                              DEPRECATED: Replaced By MAV_CMD_REQUEST_MESSAGE (2019-08)

                                                                                                                                                              Request storage information (STORAGE_INFORMATION). Use the command's target_component to target a specific component's storage.

                                                                                                                                                              Param (Label)DescriptionValues
                                                                                                                                                              1 (Storage ID)Storage ID (0 for all, 1 for first, 2 for second, etc.)min: 0 inc: 1
                                                                                                                                                              2 (Information)0: No Action 1: Request storage informationmin: 0 max: 1 inc: 1
                                                                                                                                                              3Reserved (all remaining params)

                                                                                                                                                              MAV_CMD_STORAGE_FORMAT (526)

                                                                                                                                                              Format a storage medium. Once format is complete, a STORAGE_INFORMATION message is sent. Use the command's target_component to target a specific component's storage.

                                                                                                                                                              Param (Label)DescriptionValues
                                                                                                                                                              1 (Storage ID)Storage ID (1 for first, 2 for second, etc.)min: 0 inc: 1
                                                                                                                                                              2 (Format)Format storage (and reset image log). 0: No action 1: Format storagemin: 0 max: 1 inc: 1
                                                                                                                                                              3 (Reset Image Log)Reset Image Log (without formatting storage medium). This will reset CAMERA_CAPTURE_STATUS.image_count and CAMERA_IMAGE_CAPTURED.image_index. 0: No action 1: Reset Image Logmin: 0 max: 1 inc: 1
                                                                                                                                                              4Reserved (all remaining params)

                                                                                                                                                              MAV_CMD_REQUEST_CAMERA_CAPTURE_STATUS (527) — [DEP]

                                                                                                                                                              DEPRECATED: Replaced By MAV_CMD_REQUEST_MESSAGE (2019-08)

                                                                                                                                                              Request camera capture status (CAMERA_CAPTURE_STATUS)

                                                                                                                                                              Param (Label)DescriptionValues
                                                                                                                                                              1 (Capture Status)0: No Action 1: Request camera capture statusmin: 0 max: 1 inc: 1
                                                                                                                                                              2Reserved (all remaining params)

                                                                                                                                                              MAV_CMD_REQUEST_FLIGHT_INFORMATION (528) — [DEP]

                                                                                                                                                              DEPRECATED: Replaced By MAV_CMD_REQUEST_MESSAGE (2019-08)

                                                                                                                                                              Request flight information (FLIGHT_INFORMATION)

                                                                                                                                                              Param (Label)DescriptionValues
                                                                                                                                                              1 (Flight Information)1: Request flight informationmin: 0 max: 1 inc: 1
                                                                                                                                                              2Reserved (all remaining params)

                                                                                                                                                              MAV_CMD_RESET_CAMERA_SETTINGS (529)

                                                                                                                                                              Reset all camera settings to Factory Default

                                                                                                                                                              Param (Label)DescriptionValues
                                                                                                                                                              1 (Reset)0: No Action 1: Reset all settingsmin: 0 max: 1 inc: 1
                                                                                                                                                              2 (Target Camera ID)Target camera ID. 7 to 255: MAVLink camera component id. 1 to 6 for cameras attached to the autopilot, which don't have a distinct component id. 0: all cameras. This is used to target specific autopilot-connected cameras. It is also used to target specific cameras when the MAV_CMD is used in a mission.min: 0 max: 255 inc: 1

                                                                                                                                                              MAV_CMD_SET_CAMERA_MODE (530)

                                                                                                                                                              Set camera running mode. Use NaN for reserved values. GCS will send a MAV_CMD_REQUEST_VIDEO_STREAM_STATUS command after a mode change if the camera supports video streaming.

                                                                                                                                                              Param (Label)DescriptionValues
                                                                                                                                                              1 (id)Target camera ID. 7 to 255: MAVLink camera component id. 1 to 6 for cameras attached to the autopilot, which don't have a distinct component id. 0: all cameras. This is used to target specific autopilot-connected cameras. It is also used to target specific cameras when the MAV_CMD is used in a mission.min: 0 max: 255 inc: 1
                                                                                                                                                              2 (Camera Mode)Camera modeCAMERA_MODE
                                                                                                                                                              3
                                                                                                                                                              4
                                                                                                                                                              7

                                                                                                                                                              MAV_CMD_SET_CAMERA_ZOOM (531)

                                                                                                                                                              Set camera zoom. Camera must respond with a CAMERA_SETTINGS message (on success).

                                                                                                                                                              Param (Label)DescriptionValues
                                                                                                                                                              1 (Zoom Type)Zoom typeCAMERA_ZOOM_TYPE
                                                                                                                                                              2 (Zoom Value)Zoom value. The range of valid values depend on the zoom type.
                                                                                                                                                              3 (Target Camera ID)Target camera ID. 7 to 255: MAVLink camera component id. 1 to 6 for cameras attached to the autopilot, which don't have a distinct component id. 0: all cameras. This is used to target specific autopilot-connected cameras. It is also used to target specific cameras when the MAV_CMD is used in a mission.min: 0 max: 255 inc: 1
                                                                                                                                                              4

                                                                                                                                                              MAV_CMD_SET_CAMERA_FOCUS (532)

                                                                                                                                                              Set camera focus. Camera must respond with a CAMERA_SETTINGS message (on success).

                                                                                                                                                              Param (Label)DescriptionValues
                                                                                                                                                              1 (Focus Type)Focus typeSET_FOCUS_TYPE
                                                                                                                                                              2 (Focus Value)Focus value
                                                                                                                                                              3 (Target Camera ID)Target camera ID. 7 to 255: MAVLink camera component id. 1 to 6 for cameras attached to the autopilot, which don't have a distinct component id. 0: all cameras. This is used to target specific autopilot-connected cameras. It is also used to target specific cameras when the MAV_CMD is used in a mission.min: 0 max: 255 inc: 1
                                                                                                                                                              4

                                                                                                                                                              MAV_CMD_SET_STORAGE_USAGE (533)

                                                                                                                                                              Set that a particular storage is the preferred location for saving photos, videos, and/or other media (e.g. to set that an SD card is used for storing videos).

                                                                                                                                                              There can only be one preferred save location for each particular media type: setting a media usage flag will clear/reset that same flag if set on any other storage. If no flag is set the system should use its default storage. A target system can choose to always use default storage, in which case it should ACK the command with MAV_RESULT_UNSUPPORTED. A target system can choose to not allow a particular storage to be set as preferred storage, in which case it should ACK the command with MAV_RESULT_DENIED.

                                                                                                                                                              Param (Label)DescriptionValues
                                                                                                                                                              1 (Storage ID)Storage ID (1 for first, 2 for second, etc.)min: 0 inc: 1
                                                                                                                                                              2 (Usage)Usage flagsSTORAGE_USAGE_FLAG

                                                                                                                                                              MAV_CMD_SET_CAMERA_SOURCE (534)

                                                                                                                                                              Set camera source. Changes the camera's active sources on cameras with multiple image sensors.

                                                                                                                                                              Param (Label)DescriptionValues
                                                                                                                                                              1 (device id)Component Id of camera to address or 1-6 for non-MAVLink cameras, 0 for all cameras.
                                                                                                                                                              2 (primary source)Primary SourceCAMERA_SOURCE
                                                                                                                                                              3 (secondary source)Secondary Source. If non-zero the second source will be displayed as picture-in-picture.CAMERA_SOURCE

                                                                                                                                                              MAV_CMD_JUMP_TAG (600)

                                                                                                                                                              Tagged jump target. Can be jumped to with MAV_CMD_DO_JUMP_TAG.

                                                                                                                                                              Param (Label)DescriptionValues
                                                                                                                                                              1 (Tag)Tag.min: 0 inc: 1

                                                                                                                                                              MAV_CMD_DO_JUMP_TAG (601)

                                                                                                                                                              Jump to the matching tag in the mission list. Repeat this action for the specified number of times. A mission should contain a single matching tag for each jump. If this is not the case then a jump to a missing tag should complete the mission, and a jump where there are multiple matching tags should always select the one with the lowest mission sequence number.

                                                                                                                                                              Param (Label)DescriptionValues
                                                                                                                                                              1 (Tag)Target tag to jump to.min: 0 inc: 1
                                                                                                                                                              2 (Repeat)Repeat count.min: 0 inc: 1

                                                                                                                                                              MAV_CMD_DO_GIMBAL_MANAGER_PITCHYAW (1000)

                                                                                                                                                              Set gimbal manager pitch/yaw setpoints (low rate command). It is possible to set combinations of the values below. E.g. an angle as well as a desired angular rate can be used to get to this angle at a certain angular rate, or an angular rate only will result in continuous turning. NaN is to be used to signal unset. Note: only the gimbal manager will react to this command - it will be ignored by a gimbal device. Use GIMBAL_MANAGER_SET_PITCHYAW if you need to stream pitch/yaw setpoints at higher rate.

                                                                                                                                                              Param (Label)DescriptionValuesUnits
                                                                                                                                                              1 (Pitch angle)Pitch angle (positive to pitch up, relative to vehicle for FOLLOW mode, relative to world horizon for LOCK mode).min: -180 max: 180deg
                                                                                                                                                              2 (Yaw angle)Yaw angle (positive to yaw to the right, relative to vehicle for FOLLOW mode, absolute to North for LOCK mode).min: -180 max: 180deg
                                                                                                                                                              3 (Pitch rate)Pitch rate (positive to pitch up).deg/s
                                                                                                                                                              4 (Yaw rate)Yaw rate (positive to yaw to the right).deg/s
                                                                                                                                                              5 (Gimbal manager flags)Gimbal manager flags to use.GIMBAL_MANAGER_FLAGS
                                                                                                                                                              7 (Gimbal device ID)Component ID of gimbal device to address (or 1-6 for non-MAVLink gimbal), 0 for all gimbal device components. Send command multiple times for more than one gimbal (but not all gimbals).

                                                                                                                                                              MAV_CMD_DO_GIMBAL_MANAGER_CONFIGURE (1001)

                                                                                                                                                              Gimbal configuration to set which sysid/compid is in primary and secondary control.

                                                                                                                                                              Param (Label)Description
                                                                                                                                                              1 (sysid primary control)Sysid for primary control (0: no one in control, -1: leave unchanged, -2: set itself in control (for missions where the own sysid is still unknown), -3: remove control if currently in control).
                                                                                                                                                              2 (compid primary control)Compid for primary control (0: no one in control, -1: leave unchanged, -2: set itself in control (for missions where the own sysid is still unknown), -3: remove control if currently in control).
                                                                                                                                                              3 (sysid secondary control)Sysid for secondary control (0: no one in control, -1: leave unchanged, -2: set itself in control (for missions where the own sysid is still unknown), -3: remove control if currently in control).
                                                                                                                                                              4 (compid secondary control)Compid for secondary control (0: no one in control, -1: leave unchanged, -2: set itself in control (for missions where the own sysid is still unknown), -3: remove control if currently in control).
                                                                                                                                                              7 (Gimbal device ID)Component ID of gimbal device to address (or 1-6 for non-MAVLink gimbal), 0 for all gimbal device components. Send command multiple times for more than one gimbal (but not all gimbals).

                                                                                                                                                              MAV_CMD_IMAGE_START_CAPTURE (2000)

                                                                                                                                                              Start image capture sequence. CAMERA_IMAGE_CAPTURED must be emitted after each capture.

                                                                                                                                                              Param1 (id) may be used to specify the target camera: 0: all cameras, 1 to 6: autopilot-connected cameras, 7-255: MAVLink camera component ID. It is needed in order to target specific cameras connected to the autopilot, or specific sensors in a multi-sensor camera (neither of which have a distinct MAVLink component ID). It is also needed to specify the target camera in missions.

                                                                                                                                                              When used in a mission, an autopilot should execute the MAV_CMD for a specified local camera (param1 = 1-6), or resend it as a command if it is intended for a MAVLink camera (param1 = 7 - 255), setting the command's target_component as the param1 value (and setting param1 in the command to zero). If the param1 is 0 the autopilot should do both.

                                                                                                                                                              When sent in a command the target MAVLink address is set using target_component. If addressed specifically to an autopilot: param1 should be used in the same way as it is for missions (though command should NACK with MAV_RESULT_DENIED if a specified local camera does not exist). If addressed to a MAVLink camera, param 1 can be used to address all cameras (0), or to separately address 1 to 7 individual sensors. Other values should be NACKed with MAV_RESULT_DENIED. If the command is broadcast (target_component is 0) then param 1 should be set to 0 (any other value should be NACKED with MAV_RESULT_DENIED). An autopilot would trigger any local cameras and forward the command to all channels.

                                                                                                                                                              Param (Label)DescriptionValuesUnits
                                                                                                                                                              1 (Target Camera ID)Target camera ID. 7 to 255: MAVLink camera component id. 1 to 6 for cameras attached to the autopilot, which don't have a distinct component id. 0: all cameras. This is used to target specific autopilot-connected cameras. It is also used to target specific cameras when the MAV_CMD is used in a mission.min: 0 max: 255 inc: 1
                                                                                                                                                              2 (Interval)Desired elapsed time between two consecutive pictures (in seconds). Minimum values depend on hardware (typically greater than 2 seconds).min: 0s
                                                                                                                                                              3 (Total Images)Total number of images to capture. 0 to capture forever/until MAV_CMD_IMAGE_STOP_CAPTURE.min: 0 inc: 1
                                                                                                                                                              4 (Sequence Number)Capture sequence number starting from 1. This is only valid for single-capture (param3 == 1), otherwise set to 0. Increment the capture ID for each capture command to prevent double captures when a command is re-transmitted.min: 1 inc: 1
                                                                                                                                                              5
                                                                                                                                                              6
                                                                                                                                                              7

                                                                                                                                                              MAV_CMD_IMAGE_STOP_CAPTURE (2001)

                                                                                                                                                              Stop image capture sequence.

                                                                                                                                                              Param1 (id) may be used to specify the target camera: 0: all cameras, 1 to 6: autopilot-connected cameras, 7-255: MAVLink camera component ID. It is needed in order to target specific cameras connected to the autopilot, or specific sensors in a multi-sensor camera (neither of which have a distinct MAVLink component ID). It is also needed to specify the target camera in missions.

                                                                                                                                                              When used in a mission, an autopilot should execute the MAV_CMD for a specified local camera (param1 = 1-6), or resend it as a command if it is intended for a MAVLink camera (param1 = 7 - 255), setting the command's target_component as the param1 value (and setting param1 in the command to zero). If the param1 is 0 the autopilot should do both.

                                                                                                                                                              When sent in a command the target MAVLink address is set using target_component. If addressed specifically to an autopilot: param1 should be used in the same way as it is for missions (though command should NACK with MAV_RESULT_DENIED if a specified local camera does not exist). If addressed to a MAVLink camera, param1 can be used to address all cameras (0), or to separately address 1 to 7 individual sensors. Other values should be NACKed with MAV_RESULT_DENIED. If the command is broadcast (target_component is 0) then param 1 should be set to 0 (any other value should be NACKED with MAV_RESULT_DENIED). An autopilot would trigger any local cameras and forward the command to all channels.

                                                                                                                                                              Param (Label)DescriptionValues
                                                                                                                                                              1 (Target Camera ID)Target camera ID. 7 to 255: MAVLink camera component id. 1 to 6 for cameras attached to the autopilot, which don't have a distinct component id. 0: all cameras. This is used to target specific autopilot-connected cameras. It is also used to target specific cameras when the MAV_CMD is used in a mission.min: 0 max: 255 inc: 1
                                                                                                                                                              2
                                                                                                                                                              3
                                                                                                                                                              4
                                                                                                                                                              5
                                                                                                                                                              6
                                                                                                                                                              7

                                                                                                                                                              MAV_CMD_REQUEST_CAMERA_IMAGE_CAPTURE (2002) — [DEP]

                                                                                                                                                              DEPRECATED: Replaced By MAV_CMD_REQUEST_MESSAGE (2019-08)

                                                                                                                                                              Re-request a CAMERA_IMAGE_CAPTURED message.

                                                                                                                                                              Param (Label)DescriptionValues
                                                                                                                                                              1 (Number)Sequence number for missing CAMERA_IMAGE_CAPTURED messagemin: 0 inc: 1
                                                                                                                                                              2
                                                                                                                                                              3
                                                                                                                                                              4
                                                                                                                                                              5
                                                                                                                                                              6
                                                                                                                                                              7

                                                                                                                                                              MAV_CMD_DO_TRIGGER_CONTROL (2003)

                                                                                                                                                              Enable or disable on-board camera triggering system.

                                                                                                                                                              Param (Label)DescriptionValues
                                                                                                                                                              1 (Enable)Trigger enable/disable (0 for disable, 1 for start), -1 to ignoremin: -1 max: 1 inc: 1
                                                                                                                                                              2 (Reset)1 to reset the trigger sequence, -1 or 0 to ignoremin: -1 max: 1 inc: 1
                                                                                                                                                              3 (Pause)1 to pause triggering, but without switching the camera off or retracting it. -1 to ignoremin: -1 max: 1 inc: 2
                                                                                                                                                              4 (Target Camera ID)Target camera ID. 7 to 255: MAVLink camera component id. 1 to 6 for cameras attached to the autopilot, which don't have a distinct component id. 0: all cameras. This is used to target specific autopilot-connected cameras. It is also used to target specific cameras when the MAV_CMD is used in a mission.min: 0 max: 255 inc: 1

                                                                                                                                                              MAV_CMD_CAMERA_TRACK_POINT (2004)

                                                                                                                                                              If the camera supports point visual tracking (CAMERA_CAP_FLAGS_HAS_TRACKING_POINT is set), this command allows to initiate the tracking.

                                                                                                                                                              Param (Label)DescriptionValues
                                                                                                                                                              1 (Point x)Point to track x value (normalized 0..1, 0 is left, 1 is right).min: 0 max: 1
                                                                                                                                                              2 (Point y)Point to track y value (normalized 0..1, 0 is top, 1 is bottom).min: 0 max: 1
                                                                                                                                                              3 (Radius)Point radius (normalized 0..1, 0 is one pixel, 1 is full image width).min: 0 max: 1
                                                                                                                                                              4 (Target Camera ID)Target camera ID. 7 to 255: MAVLink camera component id. 1 to 6 for cameras attached to the autopilot, which don't have a distinct component id. 0: all cameras. This is used to target specific autopilot-connected cameras. It is also used to target specific cameras when the MAV_CMD is used in a mission.min: 0 max: 255 inc: 1

                                                                                                                                                              MAV_CMD_CAMERA_TRACK_RECTANGLE (2005)

                                                                                                                                                              If the camera supports rectangle visual tracking (CAMERA_CAP_FLAGS_HAS_TRACKING_RECTANGLE is set), this command allows to initiate the tracking.

                                                                                                                                                              Param (Label)DescriptionValues
                                                                                                                                                              1 (Top left corner x)Top left corner of rectangle x value (normalized 0..1, 0 is left, 1 is right).min: 0 max: 1
                                                                                                                                                              2 (Top left corner y)Top left corner of rectangle y value (normalized 0..1, 0 is top, 1 is bottom).min: 0 max: 1
                                                                                                                                                              3 (Bottom right corner x)Bottom right corner of rectangle x value (normalized 0..1, 0 is left, 1 is right).min: 0 max: 1
                                                                                                                                                              4 (Bottom right corner y)Bottom right corner of rectangle y value (normalized 0..1, 0 is top, 1 is bottom).min: 0 max: 1
                                                                                                                                                              5 (Target Camera ID)Target camera ID. 7 to 255: MAVLink camera component id. 1 to 6 for cameras attached to the autopilot, which don't have a distinct component id. 0: all cameras. This is used to target specific autopilot-connected cameras. It is also used to target specific cameras when the MAV_CMD is used in a mission.min: 0 max: 255 inc: 1

                                                                                                                                                              MAV_CMD_CAMERA_STOP_TRACKING (2010)

                                                                                                                                                              Stops ongoing tracking.

                                                                                                                                                              Param (Label)DescriptionValues
                                                                                                                                                              1 (Target Camera ID)Target camera ID. 7 to 255: MAVLink camera component id. 1 to 6 for cameras attached to the autopilot, which don't have a distinct component id. 0: all cameras. This is used to target specific autopilot-connected cameras. It is also used to target specific cameras when the MAV_CMD is used in a mission.min: 0 max: 255 inc: 1

                                                                                                                                                              MAV_CMD_VIDEO_START_CAPTURE (2500)

                                                                                                                                                              Starts video capture (recording).

                                                                                                                                                              Param (Label)DescriptionValuesUnits
                                                                                                                                                              1 (Stream ID)Video Stream ID (0 for all streams)min: 0 inc: 1
                                                                                                                                                              2 (Status Frequency)Frequency CAMERA_CAPTURE_STATUS messages should be sent while recording (0 for no messages, otherwise frequency)min: 0Hz
                                                                                                                                                              3 (Target Camera ID)Target camera ID. 7 to 255: MAVLink camera component id. 1 to 6 for cameras attached to the autopilot, which don't have a distinct component id. 0: all cameras. This is used to target specific autopilot-connected cameras. It is also used to target specific cameras when the MAV_CMD is used in a mission.min: 0 max: 255 inc: 1
                                                                                                                                                              4
                                                                                                                                                              5
                                                                                                                                                              6
                                                                                                                                                              7

                                                                                                                                                              MAV_CMD_VIDEO_STOP_CAPTURE (2501)

                                                                                                                                                              Stop the current video capture (recording).

                                                                                                                                                              Param (Label)DescriptionValues
                                                                                                                                                              1 (Stream ID)Video Stream ID (0 for all streams)min: 0 inc: 1
                                                                                                                                                              2 (Target Camera ID)Target camera ID. 7 to 255: MAVLink camera component id. 1 to 6 for cameras attached to the autopilot, which don't have a distinct component id. 0: all cameras. This is used to target specific autopilot-connected cameras. It is also used to target specific cameras when the MAV_CMD is used in a mission.min: 0 max: 255 inc: 1
                                                                                                                                                              3
                                                                                                                                                              4
                                                                                                                                                              5
                                                                                                                                                              6
                                                                                                                                                              7

                                                                                                                                                              MAV_CMD_VIDEO_START_STREAMING (2502)

                                                                                                                                                              Start video streaming

                                                                                                                                                              Param (Label)DescriptionValues
                                                                                                                                                              1 (Stream ID)Video Stream ID (0 for all streams, 1 for first, 2 for second, etc.)min: 0 inc: 1
                                                                                                                                                              2 (Target Camera ID)Target camera ID. 7 to 255: MAVLink camera component id. 1 to 6 for cameras attached to the autopilot, which don't have a distinct component id. 0: all cameras. This is used to target specific autopilot-connected cameras. It is also used to target specific cameras when the MAV_CMD is used in a mission.min: 0 max: 255 inc: 1

                                                                                                                                                              MAV_CMD_VIDEO_STOP_STREAMING (2503)

                                                                                                                                                              Stop the given video stream

                                                                                                                                                              Param (Label)DescriptionValues
                                                                                                                                                              1 (Stream ID)Video Stream ID (0 for all streams, 1 for first, 2 for second, etc.)min: 0 inc: 1
                                                                                                                                                              2 (Target Camera ID)Target camera ID. 7 to 255: MAVLink camera component id. 1 to 6 for cameras attached to the autopilot, which don't have a distinct component id. 0: all cameras. This is used to target specific autopilot-connected cameras. It is also used to target specific cameras when the MAV_CMD is used in a mission.min: 0 max: 255 inc: 1

                                                                                                                                                              MAV_CMD_REQUEST_VIDEO_STREAM_INFORMATION (2504) — [DEP]

                                                                                                                                                              DEPRECATED: Replaced By MAV_CMD_REQUEST_MESSAGE (2019-08)

                                                                                                                                                              Request video stream information (VIDEO_STREAM_INFORMATION)

                                                                                                                                                              Param (Label)DescriptionValues
                                                                                                                                                              1 (Stream ID)Video Stream ID (0 for all streams, 1 for first, 2 for second, etc.)min: 0 inc: 1

                                                                                                                                                              MAV_CMD_REQUEST_VIDEO_STREAM_STATUS (2505) — [DEP]

                                                                                                                                                              DEPRECATED: Replaced By MAV_CMD_REQUEST_MESSAGE (2019-08)

                                                                                                                                                              Request video stream status (VIDEO_STREAM_STATUS)

                                                                                                                                                              Param (Label)DescriptionValues
                                                                                                                                                              1 (Stream ID)Video Stream ID (0 for all streams, 1 for first, 2 for second, etc.)min: 0 inc: 1

                                                                                                                                                              MAV_CMD_LOGGING_START (2510)

                                                                                                                                                              Request to start streaming logging data over MAVLink (see also LOGGING_DATA message)

                                                                                                                                                              Param (Label)DescriptionValues
                                                                                                                                                              1 (Format)Format: 0: ULogmin: 0 inc: 1
                                                                                                                                                              2Reserved (set to 0)
                                                                                                                                                              3Reserved (set to 0)
                                                                                                                                                              4Reserved (set to 0)
                                                                                                                                                              5Reserved (set to 0)
                                                                                                                                                              6Reserved (set to 0)
                                                                                                                                                              7Reserved (set to 0)

                                                                                                                                                              MAV_CMD_LOGGING_STOP (2511)

                                                                                                                                                              Request to stop streaming log data over MAVLink

                                                                                                                                                              Param (Label)Description
                                                                                                                                                              1Reserved (set to 0)
                                                                                                                                                              2Reserved (set to 0)
                                                                                                                                                              3Reserved (set to 0)
                                                                                                                                                              4Reserved (set to 0)
                                                                                                                                                              5Reserved (set to 0)
                                                                                                                                                              6Reserved (set to 0)
                                                                                                                                                              7Reserved (set to 0)

                                                                                                                                                              MAV_CMD_AIRFRAME_CONFIGURATION (2520)

                                                                                                                                                              Param (Label)DescriptionValues
                                                                                                                                                              1 (Landing Gear ID)Landing gear ID (default: 0, -1 for all)min: -1 inc: 1
                                                                                                                                                              2 (Landing Gear Position)Landing gear position (Down: 0, Up: 1, NaN for no change)
                                                                                                                                                              3
                                                                                                                                                              4
                                                                                                                                                              5
                                                                                                                                                              6
                                                                                                                                                              7

                                                                                                                                                              MAV_CMD_CONTROL_HIGH_LATENCY (2600)

                                                                                                                                                              Request to start/stop transmitting over the high latency telemetry

                                                                                                                                                              Param (Label)DescriptionValues
                                                                                                                                                              1 (Enable)Control transmission over high latency telemetry (0: stop, 1: start)min: 0 max: 1 inc: 1
                                                                                                                                                              2Empty
                                                                                                                                                              3Empty
                                                                                                                                                              4Empty
                                                                                                                                                              5Empty
                                                                                                                                                              6Empty
                                                                                                                                                              7Empty

                                                                                                                                                              MAV_CMD_PANORAMA_CREATE (2800)

                                                                                                                                                              Create a panorama at the current position

                                                                                                                                                              Param (Label)DescriptionUnits
                                                                                                                                                              1 (Horizontal Angle)Viewing angle horizontal of the panorama (+- 0.5 the total angle)deg
                                                                                                                                                              2 (Vertical Angle)Viewing angle vertical of panorama.deg
                                                                                                                                                              3 (Horizontal Speed)Speed of the horizontal rotation.deg/s
                                                                                                                                                              4 (Vertical Speed)Speed of the vertical rotation.deg/s

                                                                                                                                                              MAV_CMD_DO_VTOL_TRANSITION (3000)

                                                                                                                                                              Request VTOL transition

                                                                                                                                                              Param (Label)DescriptionValues
                                                                                                                                                              1 (State)The target VTOL state. For normal transitions, only MAV_VTOL_STATE_MC and MAV_VTOL_STATE_FW can be used.MAV_VTOL_STATE
                                                                                                                                                              2 (Immediate)Force immediate transition to the specified MAV_VTOL_STATE. 1: Force immediate, 0: normal transition. Can be used, for example, to trigger an emergency "Quadchute". Caution: Can be dangerous/damage vehicle, depending on autopilot implementation of this command.

                                                                                                                                                              MAV_CMD_ARM_AUTHORIZATION_REQUEST (3001)

                                                                                                                                                              Request authorization to arm the vehicle to a external entity, the arm authorizer is responsible to request all data that is needs from the vehicle before authorize or deny the request.

                                                                                                                                                              If approved the COMMAND_ACK message progress field should be set with period of time that this authorization is valid in seconds. If the authorization is denied COMMAND_ACK.result_param2 should be set with one of the reasons in ARM_AUTH_DENIED_REASON.

                                                                                                                                                              Param (Label)DescriptionValues
                                                                                                                                                              1 (System ID)Vehicle system id, this way ground station can request arm authorization on behalf of any vehiclemin: 0 max: 255 inc: 1

                                                                                                                                                              MAV_CMD_SET_GUIDED_SUBMODE_STANDARD (4000)

                                                                                                                                                              This command sets the submode to standard guided when vehicle is in guided mode. The vehicle holds position and altitude and the user can input the desired velocities along all three axes.

                                                                                                                                                              Param (Label)Description

                                                                                                                                                              MAV_CMD_SET_GUIDED_SUBMODE_CIRCLE (4001)

                                                                                                                                                              This command sets submode circle when vehicle is in guided mode. Vehicle flies along a circle facing the center of the circle. The user can input the velocity along the circle and change the radius. If no input is given the vehicle will hold position.

                                                                                                                                                              Param (Label)DescriptionUnits
                                                                                                                                                              1 (Radius)Radius of desired circle in CIRCLE_MODEm
                                                                                                                                                              2User defined
                                                                                                                                                              3User defined
                                                                                                                                                              4User defined
                                                                                                                                                              5 (Latitude)Target latitude of center of circle in CIRCLE_MODEdegE7
                                                                                                                                                              6 (Longitude)Target longitude of center of circle in CIRCLE_MODEdegE7

                                                                                                                                                              MAV_CMD_CONDITION_GATE (4501) — [WIP]

                                                                                                                                                              WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                              Delay mission state machine until gate has been reached.

                                                                                                                                                              Param (Label)DescriptionValuesUnits
                                                                                                                                                              1 (Geometry)Geometry: 0: orthogonal to path between previous and next waypoint.min: 0 inc: 1
                                                                                                                                                              2 (UseAltitude)Altitude: 0: ignore altitudemin: 0 max: 1 inc: 1
                                                                                                                                                              3Empty
                                                                                                                                                              4Empty
                                                                                                                                                              5 (Latitude)Latitude
                                                                                                                                                              6 (Longitude)Longitude
                                                                                                                                                              7 (Altitude)Altitudem

                                                                                                                                                              MAV_CMD_NAV_FENCE_RETURN_POINT (5000)

                                                                                                                                                              Fence return point (there can only be one such point in a geofence definition). If rally points are supported they should be used instead.

                                                                                                                                                              Param (Label)DescriptionUnits
                                                                                                                                                              1Reserved
                                                                                                                                                              2Reserved
                                                                                                                                                              3Reserved
                                                                                                                                                              4Reserved
                                                                                                                                                              5 (Latitude)Latitude
                                                                                                                                                              6 (Longitude)Longitude
                                                                                                                                                              7 (Altitude)Altitudem

                                                                                                                                                              MAV_CMD_NAV_FENCE_POLYGON_VERTEX_INCLUSION (5001)

                                                                                                                                                              Fence vertex for an inclusion polygon (the polygon must not be self-intersecting). The vehicle must stay within this area. Minimum of 3 vertices required.

                                                                                                                                                              Param (Label)DescriptionValues
                                                                                                                                                              1 (Vertex Count)Polygon vertex countmin: 3 inc: 1
                                                                                                                                                              2 (Inclusion Group)Vehicle must be inside ALL inclusion zones in a single group, vehicle must be inside at least one group, must be the same for all points in each polygonmin: 0 inc: 1
                                                                                                                                                              3Reserved
                                                                                                                                                              4Reserved
                                                                                                                                                              5 (Latitude)Latitude
                                                                                                                                                              6 (Longitude)Longitude
                                                                                                                                                              7Reserved

                                                                                                                                                              MAV_CMD_NAV_FENCE_POLYGON_VERTEX_EXCLUSION (5002)

                                                                                                                                                              Fence vertex for an exclusion polygon (the polygon must not be self-intersecting). The vehicle must stay outside this area. Minimum of 3 vertices required.

                                                                                                                                                              Param (Label)DescriptionValues
                                                                                                                                                              1 (Vertex Count)Polygon vertex countmin: 3 inc: 1
                                                                                                                                                              2Reserved
                                                                                                                                                              3Reserved
                                                                                                                                                              4Reserved
                                                                                                                                                              5 (Latitude)Latitude
                                                                                                                                                              6 (Longitude)Longitude
                                                                                                                                                              7Reserved

                                                                                                                                                              MAV_CMD_NAV_FENCE_CIRCLE_INCLUSION (5003)

                                                                                                                                                              Circular fence area. The vehicle must stay inside this area.

                                                                                                                                                              Param (Label)DescriptionValuesUnits
                                                                                                                                                              1 (Radius)Radius.m
                                                                                                                                                              2 (Inclusion Group)Vehicle must be inside ALL inclusion zones in a single group, vehicle must be inside at least one groupmin: 0 inc: 1
                                                                                                                                                              3Reserved
                                                                                                                                                              4Reserved
                                                                                                                                                              5 (Latitude)Latitude
                                                                                                                                                              6 (Longitude)Longitude
                                                                                                                                                              7Reserved

                                                                                                                                                              MAV_CMD_NAV_FENCE_CIRCLE_EXCLUSION (5004)

                                                                                                                                                              Circular fence area. The vehicle must stay outside this area.

                                                                                                                                                              Param (Label)DescriptionUnits
                                                                                                                                                              1 (Radius)Radius.m
                                                                                                                                                              2Reserved
                                                                                                                                                              3Reserved
                                                                                                                                                              4Reserved
                                                                                                                                                              5 (Latitude)Latitude
                                                                                                                                                              6 (Longitude)Longitude
                                                                                                                                                              7Reserved

                                                                                                                                                              MAV_CMD_NAV_RALLY_POINT (5100)

                                                                                                                                                              Rally point. You can have multiple rally points defined.

                                                                                                                                                              Param (Label)DescriptionUnits
                                                                                                                                                              1Reserved
                                                                                                                                                              2Reserved
                                                                                                                                                              3Reserved
                                                                                                                                                              4Reserved
                                                                                                                                                              5 (Latitude)Latitude
                                                                                                                                                              6 (Longitude)Longitude
                                                                                                                                                              7 (Altitude)Altitudem

                                                                                                                                                              MAV_CMD_UAVCAN_GET_NODE_INFO (5200)

                                                                                                                                                              Commands the vehicle to respond with a sequence of messages UAVCAN_NODE_INFO, one message per every UAVCAN node that is online. Note that some of the response messages can be lost, which the receiver can detect easily by checking whether every received UAVCAN_NODE_STATUS has a matching message UAVCAN_NODE_INFO received earlier; if not, this command should be sent again in order to request re-transmission of the node information messages.

                                                                                                                                                              Param (Label)Description
                                                                                                                                                              1Reserved (set to 0)
                                                                                                                                                              2Reserved (set to 0)
                                                                                                                                                              3Reserved (set to 0)
                                                                                                                                                              4Reserved (set to 0)
                                                                                                                                                              5Reserved (set to 0)
                                                                                                                                                              6Reserved (set to 0)
                                                                                                                                                              7Reserved (set to 0)

                                                                                                                                                              MAV_CMD_DO_SET_SAFETY_SWITCH_STATE (5300)

                                                                                                                                                              Change state of safety switch.

                                                                                                                                                              Param (Label)DescriptionValues
                                                                                                                                                              1 (Desired State)New safety switch state.SAFETY_SWITCH_STATE
                                                                                                                                                              2Empty.
                                                                                                                                                              3Empty.
                                                                                                                                                              4Empty
                                                                                                                                                              5Empty.
                                                                                                                                                              6Empty.
                                                                                                                                                              7Empty.

                                                                                                                                                              MAV_CMD_DO_ADSB_OUT_IDENT (10001)

                                                                                                                                                              Trigger the start of an ADSB-out IDENT. This should only be used when requested to do so by an Air Traffic Controller in controlled airspace. This starts the IDENT which is then typically held for 18 seconds by the hardware per the Mode A, C, and S transponder spec.

                                                                                                                                                              Param (Label)Description
                                                                                                                                                              1Reserved (set to 0)
                                                                                                                                                              2Reserved (set to 0)
                                                                                                                                                              3Reserved (set to 0)
                                                                                                                                                              4Reserved (set to 0)
                                                                                                                                                              5Reserved (set to 0)
                                                                                                                                                              6Reserved (set to 0)
                                                                                                                                                              7Reserved (set to 0)

                                                                                                                                                              MAV_CMD_PAYLOAD_PREPARE_DEPLOY (30001) — [DEP]

                                                                                                                                                              DEPRECATED:(2021-06)

                                                                                                                                                              Deploy payload on a Lat / Lon / Alt position. This includes the navigation to reach the required release position and velocity.

                                                                                                                                                              Param (Label)DescriptionValuesUnits
                                                                                                                                                              1 (Operation Mode)Operation mode. 0: prepare single payload deploy (overwriting previous requests), but do not execute it. 1: execute payload deploy immediately (rejecting further deploy commands during execution, but allowing abort). 2: add payload deploy to existing deployment list.min: 0 max: 2 inc: 1
                                                                                                                                                              2 (Approach Vector)Desired approach vector in compass heading. A negative value indicates the system can define the approach vector at will.min: -1 max: 360deg
                                                                                                                                                              3 (Ground Speed)Desired ground speed at release time. This can be overridden by the airframe in case it needs to meet minimum airspeed. A negative value indicates the system can define the ground speed at will.min: -1
                                                                                                                                                              4 (Altitude Clearance)Minimum altitude clearance to the release position. A negative value indicates the system can define the clearance at will.min: -1m
                                                                                                                                                              5 (Latitude)Latitude.degE7
                                                                                                                                                              6 (Longitude)Longitude.degE7
                                                                                                                                                              7 (Altitude)Altitude (MSL)m

                                                                                                                                                              MAV_CMD_PAYLOAD_CONTROL_DEPLOY (30002) — [DEP]

                                                                                                                                                              DEPRECATED:(2021-06)

                                                                                                                                                              Control the payload deployment.

                                                                                                                                                              Param (Label)DescriptionValues
                                                                                                                                                              1 (Operation Mode)Operation mode. 0: Abort deployment, continue normal mission. 1: switch to payload deployment mode. 100: delete first payload deployment request. 101: delete all payload deployment requests.min: 0 max: 101 inc: 1
                                                                                                                                                              2Reserved
                                                                                                                                                              3Reserved
                                                                                                                                                              4Reserved
                                                                                                                                                              5Reserved
                                                                                                                                                              6Reserved
                                                                                                                                                              7Reserved

                                                                                                                                                              MAV_CMD_WAYPOINT_USER_1 (31000)

                                                                                                                                                              User defined waypoint item. Ground Station will show the Vehicle as flying through this item.

                                                                                                                                                              Param (Label)DescriptionUnits
                                                                                                                                                              1User defined
                                                                                                                                                              2User defined
                                                                                                                                                              3User defined
                                                                                                                                                              4User defined
                                                                                                                                                              5 (Latitude)Latitude unscaled
                                                                                                                                                              6 (Longitude)Longitude unscaled
                                                                                                                                                              7 (Altitude)Altitude (MSL)m

                                                                                                                                                              MAV_CMD_WAYPOINT_USER_2 (31001)

                                                                                                                                                              User defined waypoint item. Ground Station will show the Vehicle as flying through this item.

                                                                                                                                                              Param (Label)DescriptionUnits
                                                                                                                                                              1User defined
                                                                                                                                                              2User defined
                                                                                                                                                              3User defined
                                                                                                                                                              4User defined
                                                                                                                                                              5 (Latitude)Latitude unscaled
                                                                                                                                                              6 (Longitude)Longitude unscaled
                                                                                                                                                              7 (Altitude)Altitude (MSL)m

                                                                                                                                                              MAV_CMD_WAYPOINT_USER_3 (31002)

                                                                                                                                                              User defined waypoint item. Ground Station will show the Vehicle as flying through this item.

                                                                                                                                                              Param (Label)DescriptionUnits
                                                                                                                                                              1User defined
                                                                                                                                                              2User defined
                                                                                                                                                              3User defined
                                                                                                                                                              4User defined
                                                                                                                                                              5 (Latitude)Latitude unscaled
                                                                                                                                                              6 (Longitude)Longitude unscaled
                                                                                                                                                              7 (Altitude)Altitude (MSL)m

                                                                                                                                                              MAV_CMD_WAYPOINT_USER_4 (31003)

                                                                                                                                                              User defined waypoint item. Ground Station will show the Vehicle as flying through this item.

                                                                                                                                                              Param (Label)DescriptionUnits
                                                                                                                                                              1User defined
                                                                                                                                                              2User defined
                                                                                                                                                              3User defined
                                                                                                                                                              4User defined
                                                                                                                                                              5 (Latitude)Latitude unscaled
                                                                                                                                                              6 (Longitude)Longitude unscaled
                                                                                                                                                              7 (Altitude)Altitude (MSL)m

                                                                                                                                                              MAV_CMD_WAYPOINT_USER_5 (31004)

                                                                                                                                                              User defined waypoint item. Ground Station will show the Vehicle as flying through this item.

                                                                                                                                                              Param (Label)DescriptionUnits
                                                                                                                                                              1User defined
                                                                                                                                                              2User defined
                                                                                                                                                              3User defined
                                                                                                                                                              4User defined
                                                                                                                                                              5 (Latitude)Latitude unscaled
                                                                                                                                                              6 (Longitude)Longitude unscaled
                                                                                                                                                              7 (Altitude)Altitude (MSL)m

                                                                                                                                                              MAV_CMD_SPATIAL_USER_1 (31005)

                                                                                                                                                              User defined spatial item. Ground Station will not show the Vehicle as flying through this item. Example: ROI item.

                                                                                                                                                              Param (Label)DescriptionUnits
                                                                                                                                                              1User defined
                                                                                                                                                              2User defined
                                                                                                                                                              3User defined
                                                                                                                                                              4User defined
                                                                                                                                                              5 (Latitude)Latitude unscaled
                                                                                                                                                              6 (Longitude)Longitude unscaled
                                                                                                                                                              7 (Altitude)Altitude (MSL)m

                                                                                                                                                              MAV_CMD_SPATIAL_USER_2 (31006)

                                                                                                                                                              User defined spatial item. Ground Station will not show the Vehicle as flying through this item. Example: ROI item.

                                                                                                                                                              Param (Label)DescriptionUnits
                                                                                                                                                              1User defined
                                                                                                                                                              2User defined
                                                                                                                                                              3User defined
                                                                                                                                                              4User defined
                                                                                                                                                              5 (Latitude)Latitude unscaled
                                                                                                                                                              6 (Longitude)Longitude unscaled
                                                                                                                                                              7 (Altitude)Altitude (MSL)m

                                                                                                                                                              MAV_CMD_SPATIAL_USER_3 (31007)

                                                                                                                                                              User defined spatial item. Ground Station will not show the Vehicle as flying through this item. Example: ROI item.

                                                                                                                                                              Param (Label)DescriptionUnits
                                                                                                                                                              1User defined
                                                                                                                                                              2User defined
                                                                                                                                                              3User defined
                                                                                                                                                              4User defined
                                                                                                                                                              5 (Latitude)Latitude unscaled
                                                                                                                                                              6 (Longitude)Longitude unscaled
                                                                                                                                                              7 (Altitude)Altitude (MSL)m

                                                                                                                                                              MAV_CMD_SPATIAL_USER_4 (31008)

                                                                                                                                                              User defined spatial item. Ground Station will not show the Vehicle as flying through this item. Example: ROI item.

                                                                                                                                                              Param (Label)DescriptionUnits
                                                                                                                                                              1User defined
                                                                                                                                                              2User defined
                                                                                                                                                              3User defined
                                                                                                                                                              4User defined
                                                                                                                                                              5 (Latitude)Latitude unscaled
                                                                                                                                                              6 (Longitude)Longitude unscaled
                                                                                                                                                              7 (Altitude)Altitude (MSL)m

                                                                                                                                                              MAV_CMD_SPATIAL_USER_5 (31009)

                                                                                                                                                              User defined spatial item. Ground Station will not show the Vehicle as flying through this item. Example: ROI item.

                                                                                                                                                              Param (Label)DescriptionUnits
                                                                                                                                                              1User defined
                                                                                                                                                              2User defined
                                                                                                                                                              3User defined
                                                                                                                                                              4User defined
                                                                                                                                                              5 (Latitude)Latitude unscaled
                                                                                                                                                              6 (Longitude)Longitude unscaled
                                                                                                                                                              7 (Altitude)Altitude (MSL)m

                                                                                                                                                              MAV_CMD_USER_1 (31010)

                                                                                                                                                              User defined command. Ground Station will not show the Vehicle as flying through this item. Example: MAV_CMD_DO_SET_PARAMETER item.

                                                                                                                                                              Param (Label)Description
                                                                                                                                                              1User defined
                                                                                                                                                              2User defined
                                                                                                                                                              3User defined
                                                                                                                                                              4User defined
                                                                                                                                                              5User defined
                                                                                                                                                              6User defined
                                                                                                                                                              7User defined

                                                                                                                                                              MAV_CMD_USER_2 (31011)

                                                                                                                                                              User defined command. Ground Station will not show the Vehicle as flying through this item. Example: MAV_CMD_DO_SET_PARAMETER item.

                                                                                                                                                              Param (Label)Description
                                                                                                                                                              1User defined
                                                                                                                                                              2User defined
                                                                                                                                                              3User defined
                                                                                                                                                              4User defined
                                                                                                                                                              5User defined
                                                                                                                                                              6User defined
                                                                                                                                                              7User defined

                                                                                                                                                              MAV_CMD_USER_3 (31012)

                                                                                                                                                              User defined command. Ground Station will not show the Vehicle as flying through this item. Example: MAV_CMD_DO_SET_PARAMETER item.

                                                                                                                                                              Param (Label)Description
                                                                                                                                                              1User defined
                                                                                                                                                              2User defined
                                                                                                                                                              3User defined
                                                                                                                                                              4User defined
                                                                                                                                                              5User defined
                                                                                                                                                              6User defined
                                                                                                                                                              7User defined

                                                                                                                                                              MAV_CMD_USER_4 (31013)

                                                                                                                                                              User defined command. Ground Station will not show the Vehicle as flying through this item. Example: MAV_CMD_DO_SET_PARAMETER item.

                                                                                                                                                              Param (Label)Description
                                                                                                                                                              1User defined
                                                                                                                                                              2User defined
                                                                                                                                                              3User defined
                                                                                                                                                              4User defined
                                                                                                                                                              5User defined
                                                                                                                                                              6User defined
                                                                                                                                                              7User defined

                                                                                                                                                              MAV_CMD_USER_5 (31014)

                                                                                                                                                              User defined command. Ground Station will not show the Vehicle as flying through this item. Example: MAV_CMD_DO_SET_PARAMETER item.

                                                                                                                                                              Param (Label)Description
                                                                                                                                                              1User defined
                                                                                                                                                              2User defined
                                                                                                                                                              3User defined
                                                                                                                                                              4User defined
                                                                                                                                                              5User defined
                                                                                                                                                              6User defined
                                                                                                                                                              7User defined

                                                                                                                                                              MAV_CMD_CAN_FORWARD (32000)

                                                                                                                                                              Request forwarding of CAN packets from the given CAN bus to this component. CAN Frames are sent using CAN_FRAME and CANFD_FRAME messages

                                                                                                                                                              Param (Label)Description
                                                                                                                                                              1 (bus)Bus number (0 to disable forwarding, 1 for first bus, 2 for 2nd bus, 3 for 3rd bus).
                                                                                                                                                              2Empty.
                                                                                                                                                              3Empty.
                                                                                                                                                              4Empty.
                                                                                                                                                              5Empty.
                                                                                                                                                              6Empty.
                                                                                                                                                              7Empty.

                                                                                                                                                              MAV_CMD_FIXED_MAG_CAL_YAW (42006)

                                                                                                                                                              Magnetometer calibration based on provided known yaw. This allows for fast calibration using WMM field tables in the vehicle, given only the known yaw of the vehicle. If Latitude and longitude are both zero then use the current vehicle location.

                                                                                                                                                              Param (Label)DescriptionUnits
                                                                                                                                                              1 (Yaw)Yaw of vehicle in earth frame.deg
                                                                                                                                                              2 (CompassMask)CompassMask, 0 for all.
                                                                                                                                                              3 (Latitude)Latitude.deg
                                                                                                                                                              4 (Longitude)Longitude.deg
                                                                                                                                                              5Empty.
                                                                                                                                                              6Empty.
                                                                                                                                                              7Empty.

                                                                                                                                                              MAV_CMD_DO_WINCH (42600)

                                                                                                                                                              Command to operate winch.

                                                                                                                                                              Param (Label)DescriptionValuesUnits
                                                                                                                                                              1 (Instance)Winch instance number.min: 1 inc: 1
                                                                                                                                                              2 (Action)Action to perform.WINCH_ACTIONS
                                                                                                                                                              3 (Length)Length of line to release (negative to wind).m
                                                                                                                                                              4 (Rate)Release rate (negative to wind).m/s
                                                                                                                                                              5Empty.
                                                                                                                                                              6Empty.
                                                                                                                                                              7Empty.

                                                                                                                                                              MAV_CMD_EXTERNAL_POSITION_ESTIMATE (43003)

                                                                                                                                                              Provide an external position estimate for use when dead-reckoning. This is meant to be used for occasional position resets that may be provided by a external system such as a remote pilot using landmarks over a video link.

                                                                                                                                                              Param (Label)DescriptionUnits
                                                                                                                                                              1 (transmission_time)Timestamp that this message was sent as a time in the transmitters time domain. The sender should wrap this time back to zero based on required timing accuracy for the application and the limitations of a 32 bit float. For example, wrapping at 10 hours would give approximately 1ms accuracy. Recipient must handle time wrap in any timing jitter correction applied to this field. Wrap rollover time should not be at not more than 250 seconds, which would give approximately 10 microsecond accuracy.s
                                                                                                                                                              2 (processing_time)The time spent in processing the sensor data that is the basis for this position. The recipient can use this to improve time alignment of the data. Set to zero if not known.s
                                                                                                                                                              3 (accuracy)estimated one standard deviation accuracy of the measurement. Set to NaN if not known.
                                                                                                                                                              4Empty
                                                                                                                                                              5 (Latitude)Latitude
                                                                                                                                                              6 (Longitude)Longitude
                                                                                                                                                              7 (Altitude)Altitude, not used. Should be sent as NaN. May be supported in a future version of this message.m

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                                                                                                                                                                MAVLINK Common Message Set (common.xml)

                                                                                                                                                                The MAVLink common message set contains standard definitions that are managed by the MAVLink project. The definitions cover functionality that is considered useful to most ground control stations and autopilots. MAVLink-compatible systems are expected to use these definitions where possible (if an appropriate message exists) rather than rolling out variants in their own dialects.

                                                                                                                                                                The original definitions are defined in common.xml.

                                                                                                                                                                • MAVLink 2 extension fields are displayed in blue.
                                                                                                                                                                • Entities from dialects are displayed only as headings (with link to original)

                                                                                                                                                                Protocol dialect: 0

                                                                                                                                                                Protocol version: 3

                                                                                                                                                                Summary

                                                                                                                                                                TypeDefinedIncluded
                                                                                                                                                                Messages2222
                                                                                                                                                                Enums1376
                                                                                                                                                                Commands1640

                                                                                                                                                                The following sections list all entities in the dialect (both included and defined in this file).

                                                                                                                                                                Messages

                                                                                                                                                                HEARTBEAT (0) — [from: minimal]

                                                                                                                                                                The heartbeat message shows that a system or component is present and responding. The type and autopilot fields (along with the message component id), allow the receiving system to treat further messages from this system appropriately (e.g. by laying out the user interface based on the autopilot). This microservice is documented at https://mavlink.io/en/services/heartbeat.html

                                                                                                                                                                Field NameTypeValuesDescription
                                                                                                                                                                typeuint8_tMAV_TYPEVehicle or component type. For a flight controller component the vehicle type (quadrotor, helicopter, etc.). For other components the component type (e.g. camera, gimbal, etc.). This should be used in preference to component id for identifying the component type.
                                                                                                                                                                autopilotuint8_tMAV_AUTOPILOTAutopilot type / class. Use MAV_AUTOPILOT_INVALID for components that are not flight controllers.
                                                                                                                                                                base_modeuint8_tMAV_MODE_FLAGSystem mode bitmap.
                                                                                                                                                                custom_modeuint32_tA bitfield for use for autopilot-specific flags
                                                                                                                                                                system_statusuint8_tMAV_STATESystem status flag.
                                                                                                                                                                mavlink_versionuint8_t_mavlink_versionMAVLink version, not writable by user, gets added by protocol because of magic data type: uint8_t_mavlink_version

                                                                                                                                                                SYS_STATUS (1)

                                                                                                                                                                The general system state. If the system is following the MAVLink standard, the system state is mainly defined by three orthogonal states/modes: The system mode, which is either LOCKED (motors shut down and locked), MANUAL (system under RC control), GUIDED (system with autonomous position control, position setpoint controlled manually) or AUTO (system guided by path/waypoint planner). The NAV_MODE defined the current flight state: LIFTOFF (often an open-loop maneuver), LANDING, WAYPOINTS or VECTOR. This represents the internal navigation state machine. The system status shows whether the system is currently active or not and if an emergency occurred. During the CRITICAL and EMERGENCY states the MAV is still considered to be active, but should start emergency procedures autonomously. After a failure occurred it should first move from active to critical to allow manual intervention and then move to emergency after a certain timeout.

                                                                                                                                                                Field NameTypeUnitsValuesDescription
                                                                                                                                                                onboard_control_sensors_presentuint32_tMAV_SYS_STATUS_SENSORBitmap showing which onboard controllers and sensors are present. Value of 0: not present. Value of 1: present.
                                                                                                                                                                onboard_control_sensors_enableduint32_tMAV_SYS_STATUS_SENSORBitmap showing which onboard controllers and sensors are enabled: Value of 0: not enabled. Value of 1: enabled.
                                                                                                                                                                onboard_control_sensors_healthuint32_tMAV_SYS_STATUS_SENSORBitmap showing which onboard controllers and sensors have an error (or are operational). Value of 0: error. Value of 1: healthy.
                                                                                                                                                                loaduint16_td%Maximum usage in percent of the mainloop time. Values: [0-1000] - should always be below 1000
                                                                                                                                                                voltage_batteryuint16_tmVinvalid:UINT16_MAXBattery voltage, UINT16_MAX: Voltage not sent by autopilot
                                                                                                                                                                current_batteryint16_tcAinvalid:-1Battery current, -1: Current not sent by autopilot
                                                                                                                                                                battery_remainingint8_t%invalid:-1Battery energy remaining, -1: Battery remaining energy not sent by autopilot
                                                                                                                                                                drop_rate_commuint16_tc%Communication drop rate, (UART, I2C, SPI, CAN), dropped packets on all links (packets that were corrupted on reception on the MAV)
                                                                                                                                                                errors_commuint16_tCommunication errors (UART, I2C, SPI, CAN), dropped packets on all links (packets that were corrupted on reception on the MAV)
                                                                                                                                                                errors_count1uint16_tAutopilot-specific errors
                                                                                                                                                                errors_count2uint16_tAutopilot-specific errors
                                                                                                                                                                errors_count3uint16_tAutopilot-specific errors
                                                                                                                                                                errors_count4uint16_tAutopilot-specific errors
                                                                                                                                                                onboard_control_sensors_present_extended ++uint32_tMAV_SYS_STATUS_SENSOR_EXTENDEDBitmap showing which onboard controllers and sensors are present. Value of 0: not present. Value of 1: present.
                                                                                                                                                                onboard_control_sensors_enabled_extended ++uint32_tMAV_SYS_STATUS_SENSOR_EXTENDEDBitmap showing which onboard controllers and sensors are enabled: Value of 0: not enabled. Value of 1: enabled.
                                                                                                                                                                onboard_control_sensors_health_extended ++uint32_tMAV_SYS_STATUS_SENSOR_EXTENDEDBitmap showing which onboard controllers and sensors have an error (or are operational). Value of 0: error. Value of 1: healthy.

                                                                                                                                                                SYSTEM_TIME (2)

                                                                                                                                                                The system time is the time of the master clock, typically the computer clock of the main onboard computer.

                                                                                                                                                                Field NameTypeUnitsDescription
                                                                                                                                                                time_unix_usecuint64_tusTimestamp (UNIX epoch time).
                                                                                                                                                                time_boot_msuint32_tmsTimestamp (time since system boot).

                                                                                                                                                                PING (4) — [DEP]

                                                                                                                                                                DEPRECATED: Replaced By SYSTEM_TIME (2011-08) — to be removed / merged with SYSTEM_TIME)

                                                                                                                                                                A ping message either requesting or responding to a ping. This allows to measure the system latencies, including serial port, radio modem and UDP connections. The ping microservice is documented at https://mavlink.io/en/services/ping.html

                                                                                                                                                                Field NameTypeUnitsDescription
                                                                                                                                                                time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
                                                                                                                                                                sequint32_tPING sequence
                                                                                                                                                                target_systemuint8_t0: request ping from all receiving systems. If greater than 0: message is a ping response and number is the system id of the requesting system
                                                                                                                                                                target_componentuint8_t0: request ping from all receiving components. If greater than 0: message is a ping response and number is the component id of the requesting component.

                                                                                                                                                                CHANGE_OPERATOR_CONTROL (5)

                                                                                                                                                                Request to control this MAV

                                                                                                                                                                Field NameTypeUnitsDescription
                                                                                                                                                                target_systemuint8_tSystem the GCS requests control for
                                                                                                                                                                control_requestuint8_t0: request control of this MAV, 1: Release control of this MAV
                                                                                                                                                                versionuint8_trad0: key as plaintext, 1-255: future, different hashing/encryption variants. The GCS should in general use the safest mode possible initially and then gradually move down the encryption level if it gets a NACK message indicating an encryption mismatch.
                                                                                                                                                                passkeychar[25]Password / Key, depending on version plaintext or encrypted. 25 or less characters, NULL terminated. The characters may involve A-Z, a-z, 0-9, and "!?,.-"

                                                                                                                                                                CHANGE_OPERATOR_CONTROL_ACK (6)

                                                                                                                                                                Accept / deny control of this MAV

                                                                                                                                                                Field NameTypeDescription
                                                                                                                                                                gcs_system_iduint8_tID of the GCS this message
                                                                                                                                                                control_requestuint8_t0: request control of this MAV, 1: Release control of this MAV
                                                                                                                                                                ackuint8_t0: ACK, 1: NACK: Wrong passkey, 2: NACK: Unsupported passkey encryption method, 3: NACK: Already under control

                                                                                                                                                                AUTH_KEY (7)

                                                                                                                                                                Emit an encrypted signature / key identifying this system. PLEASE NOTE: This protocol has been kept simple, so transmitting the key requires an encrypted channel for true safety.

                                                                                                                                                                Field NameTypeDescription
                                                                                                                                                                keychar[32]key

                                                                                                                                                                WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                Status generated in each node in the communication chain and injected into MAVLink stream.

                                                                                                                                                                Field NameTypeUnitsDescription
                                                                                                                                                                timestampuint64_tmsTimestamp (time since system boot).
                                                                                                                                                                tx_bufuint8_t%Remaining free transmit buffer space
                                                                                                                                                                rx_bufuint8_t%Remaining free receive buffer space
                                                                                                                                                                tx_rateuint32_tbytes/sTransmit rate
                                                                                                                                                                rx_rateuint32_tbytes/sReceive rate
                                                                                                                                                                rx_parse_erruint16_tbytesNumber of bytes that could not be parsed correctly.
                                                                                                                                                                tx_overflowsuint16_tbytesTransmit buffer overflows. This number wraps around as it reaches UINT16_MAX
                                                                                                                                                                rx_overflowsuint16_tbytesReceive buffer overflows. This number wraps around as it reaches UINT16_MAX
                                                                                                                                                                messages_sentuint32_tMessages sent
                                                                                                                                                                messages_receiveduint32_tMessages received (estimated from counting seq)
                                                                                                                                                                messages_lostuint32_tMessages lost (estimated from counting seq)

                                                                                                                                                                SET_MODE (11) — [DEP]

                                                                                                                                                                DEPRECATED: Replaced By MAV_CMD_DO_SET_MODE (2015-12) — Use COMMAND_LONG with MAV_CMD_DO_SET_MODE instead)

                                                                                                                                                                Set the system mode, as defined by enum MAV_MODE. There is no target component id as the mode is by definition for the overall aircraft, not only for one component.

                                                                                                                                                                Field NameTypeValuesDescription
                                                                                                                                                                target_systemuint8_tThe system setting the mode
                                                                                                                                                                base_modeuint8_tMAV_MODEThe new base mode.
                                                                                                                                                                custom_modeuint32_tThe new autopilot-specific mode. This field can be ignored by an autopilot.

                                                                                                                                                                PARAM_REQUEST_READ (20)

                                                                                                                                                                Request to read the onboard parameter with the param_id string id. Onboard parameters are stored as key[const char*] -> value[float]. This allows to send a parameter to any other component (such as the GCS) without the need of previous knowledge of possible parameter names. Thus the same GCS can store different parameters for different autopilots. See also https://mavlink.io/en/services/parameter.html for a full documentation of QGroundControl and IMU code.

                                                                                                                                                                Field NameTypeDescription
                                                                                                                                                                target_systemuint8_tSystem ID
                                                                                                                                                                target_componentuint8_tComponent ID
                                                                                                                                                                param_idchar[16]Onboard parameter id, terminated by NULL if the length is less than 16 human-readable chars and WITHOUT null termination (NULL) byte if the length is exactly 16 chars - applications have to provide 16+1 bytes storage if the ID is stored as string
                                                                                                                                                                param_indexint16_tParameter index. Send -1 to use the param ID field as identifier (else the param id will be ignored)

                                                                                                                                                                PARAM_REQUEST_LIST (21)

                                                                                                                                                                Request all parameters of this component. After this request, all parameters are emitted. The parameter microservice is documented at https://mavlink.io/en/services/parameter.html

                                                                                                                                                                Field NameTypeDescription
                                                                                                                                                                target_systemuint8_tSystem ID
                                                                                                                                                                target_componentuint8_tComponent ID

                                                                                                                                                                PARAM_VALUE (22)

                                                                                                                                                                Emit the value of a onboard parameter. The inclusion of param_count and param_index in the message allows the recipient to keep track of received parameters and allows him to re-request missing parameters after a loss or timeout. The parameter microservice is documented at https://mavlink.io/en/services/parameter.html

                                                                                                                                                                Field NameTypeValuesDescription
                                                                                                                                                                param_idchar[16]Onboard parameter id, terminated by NULL if the length is less than 16 human-readable chars and WITHOUT null termination (NULL) byte if the length is exactly 16 chars - applications have to provide 16+1 bytes storage if the ID is stored as string
                                                                                                                                                                param_valuefloatOnboard parameter value
                                                                                                                                                                param_typeuint8_tMAV_PARAM_TYPEOnboard parameter type.
                                                                                                                                                                param_countuint16_tTotal number of onboard parameters
                                                                                                                                                                param_indexuint16_tIndex of this onboard parameter

                                                                                                                                                                PARAM_SET (23)

                                                                                                                                                                Set a parameter value (write new value to permanent storage).

                                                                                                                                                                The receiving component should acknowledge the new parameter value by broadcasting a PARAM_VALUE message (broadcasting ensures that multiple GCS all have an up-to-date list of all parameters). If the sending GCS did not receive a PARAM_VALUE within its timeout time, it should re-send the PARAM_SET message. The parameter microservice is documented at https://mavlink.io/en/services/parameter.html. PARAM_SET may also be called within the context of a transaction (started with MAV_CMD_PARAM_TRANSACTION). Within a transaction the receiving component should respond with PARAM_ACK_TRANSACTION to the setter component (instead of broadcasting PARAM_VALUE), and PARAM_SET should be re-sent if this is ACK not received.

                                                                                                                                                                Field NameTypeValuesDescription
                                                                                                                                                                target_systemuint8_tSystem ID
                                                                                                                                                                target_componentuint8_tComponent ID
                                                                                                                                                                param_idchar[16]Onboard parameter id, terminated by NULL if the length is less than 16 human-readable chars and WITHOUT null termination (NULL) byte if the length is exactly 16 chars - applications have to provide 16+1 bytes storage if the ID is stored as string
                                                                                                                                                                param_valuefloatOnboard parameter value
                                                                                                                                                                param_typeuint8_tMAV_PARAM_TYPEOnboard parameter type.

                                                                                                                                                                GPS_RAW_INT (24)

                                                                                                                                                                The global position, as returned by the Global Positioning System (GPS). This is

                                                                                                                                                                NOT the global position estimate of the system, but rather a RAW sensor value. See message GLOBAL_POSITION_INT for the global position estimate.

                                                                                                                                                                Field NameTypeUnitsMultiplierValuesDescription
                                                                                                                                                                time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
                                                                                                                                                                fix_typeuint8_tGPS_FIX_TYPEGPS fix type.
                                                                                                                                                                latint32_tdegE7Latitude (WGS84, EGM96 ellipsoid)
                                                                                                                                                                lonint32_tdegE7Longitude (WGS84, EGM96 ellipsoid)
                                                                                                                                                                altint32_tmmAltitude (MSL). Positive for up. Note that virtually all GPS modules provide the MSL altitude in addition to the WGS84 altitude.
                                                                                                                                                                ephuint16_t1E-2invalid:UINT16_MAXGPS HDOP horizontal dilution of position (unitless * 100). If unknown, set to: UINT16_MAX
                                                                                                                                                                epvuint16_t1E-2invalid:UINT16_MAXGPS VDOP vertical dilution of position (unitless * 100). If unknown, set to: UINT16_MAX
                                                                                                                                                                veluint16_tcm/sinvalid:UINT16_MAXGPS ground speed. If unknown, set to: UINT16_MAX
                                                                                                                                                                coguint16_tcdeginvalid:UINT16_MAXCourse over ground (NOT heading, but direction of movement) in degrees * 100, 0.0..359.99 degrees. If unknown, set to: UINT16_MAX
                                                                                                                                                                satellites_visibleuint8_tinvalid:UINT8_MAXNumber of satellites visible. If unknown, set to UINT8_MAX
                                                                                                                                                                alt_ellipsoid ++int32_tmmAltitude (above WGS84, EGM96 ellipsoid). Positive for up.
                                                                                                                                                                h_acc ++uint32_tmmPosition uncertainty.
                                                                                                                                                                v_acc ++uint32_tmmAltitude uncertainty.
                                                                                                                                                                vel_acc ++uint32_tmmSpeed uncertainty.
                                                                                                                                                                hdg_acc ++uint32_tdegE5Heading / track uncertainty
                                                                                                                                                                yaw ++uint16_tcdeginvalid:0Yaw in earth frame from north. Use 0 if this GPS does not provide yaw. Use UINT16_MAX if this GPS is configured to provide yaw and is currently unable to provide it. Use 36000 for north.

                                                                                                                                                                GPS_STATUS (25)

                                                                                                                                                                The positioning status, as reported by GPS. This message is intended to display status information about each satellite visible to the receiver. See message GLOBAL_POSITION_INT for the global position estimate. This message can contain information for up to 20 satellites.

                                                                                                                                                                Field NameTypeUnitsMultiplierDescription
                                                                                                                                                                satellites_visibleuint8_tNumber of satellites visible
                                                                                                                                                                satellite_prnuint8_t[20]Global satellite ID
                                                                                                                                                                satellite_useduint8_t[20]0: Satellite not used, 1: used for localization
                                                                                                                                                                satellite_elevationuint8_t[20]degElevation (0: right on top of receiver, 90: on the horizon) of satellite
                                                                                                                                                                satellite_azimuthuint8_t[20]deg360/255Direction of satellite, 0: 0 deg, 255: 360 deg.
                                                                                                                                                                satellite_snruint8_t[20]dBSignal to noise ratio of satellite

                                                                                                                                                                SCALED_IMU (26)

                                                                                                                                                                The RAW IMU readings for the usual 9DOF sensor setup. This message should contain the scaled values to the described units

                                                                                                                                                                Field NameTypeUnitsDescription
                                                                                                                                                                time_boot_msuint32_tmsTimestamp (time since system boot).
                                                                                                                                                                xaccint16_tmGX acceleration
                                                                                                                                                                yaccint16_tmGY acceleration
                                                                                                                                                                zaccint16_tmGZ acceleration
                                                                                                                                                                xgyroint16_tmrad/sAngular speed around X axis
                                                                                                                                                                ygyroint16_tmrad/sAngular speed around Y axis
                                                                                                                                                                zgyroint16_tmrad/sAngular speed around Z axis
                                                                                                                                                                xmagint16_tmgaussX Magnetic field
                                                                                                                                                                ymagint16_tmgaussY Magnetic field
                                                                                                                                                                zmagint16_tmgaussZ Magnetic field
                                                                                                                                                                temperature ++int16_tcdegCTemperature, 0: IMU does not provide temperature values. If the IMU is at 0C it must send 1 (0.01C).

                                                                                                                                                                RAW_IMU (27)

                                                                                                                                                                The RAW IMU readings for a 9DOF sensor, which is identified by the id (default IMU1). This message should always contain the true raw values without any scaling to allow data capture and system debugging.

                                                                                                                                                                Field NameTypeUnitsDescription
                                                                                                                                                                time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
                                                                                                                                                                xaccint16_tX acceleration (raw)
                                                                                                                                                                yaccint16_tY acceleration (raw)
                                                                                                                                                                zaccint16_tZ acceleration (raw)
                                                                                                                                                                xgyroint16_tAngular speed around X axis (raw)
                                                                                                                                                                ygyroint16_tAngular speed around Y axis (raw)
                                                                                                                                                                zgyroint16_tAngular speed around Z axis (raw)
                                                                                                                                                                xmagint16_tX Magnetic field (raw)
                                                                                                                                                                ymagint16_tY Magnetic field (raw)
                                                                                                                                                                zmagint16_tZ Magnetic field (raw)
                                                                                                                                                                id ++uint8_tId. Ids are numbered from 0 and map to IMUs numbered from 1 (e.g. IMU1 will have a message with id=0)
                                                                                                                                                                Messages with same value are from the same source (instance).
                                                                                                                                                                temperature ++int16_tcdegCTemperature, 0: IMU does not provide temperature values. If the IMU is at 0C it must send 1 (0.01C).

                                                                                                                                                                RAW_PRESSURE (28)

                                                                                                                                                                The RAW pressure readings for the typical setup of one absolute pressure and one differential pressure sensor. The sensor values should be the raw, UNSCALED ADC values.

                                                                                                                                                                Field NameTypeUnitsDescription
                                                                                                                                                                time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
                                                                                                                                                                press_absint16_tAbsolute pressure (raw)
                                                                                                                                                                press_diff1int16_tDifferential pressure 1 (raw, 0 if nonexistent)
                                                                                                                                                                press_diff2int16_tDifferential pressure 2 (raw, 0 if nonexistent)
                                                                                                                                                                temperatureint16_tRaw Temperature measurement (raw)

                                                                                                                                                                SCALED_PRESSURE (29)

                                                                                                                                                                The pressure readings for the typical setup of one absolute and differential pressure sensor. The units are as specified in each field.

                                                                                                                                                                Field NameTypeUnitsDescription
                                                                                                                                                                time_boot_msuint32_tmsTimestamp (time since system boot).
                                                                                                                                                                press_absfloathPaAbsolute pressure
                                                                                                                                                                press_difffloathPaDifferential pressure 1
                                                                                                                                                                temperatureint16_tcdegCAbsolute pressure temperature
                                                                                                                                                                temperature_press_diff ++int16_tcdegCDifferential pressure temperature (0, if not available). Report values of 0 (or 1) as 1 cdegC.

                                                                                                                                                                ATTITUDE (30)

                                                                                                                                                                The attitude in the aeronautical frame (right-handed, Z-down, Y-right, X-front, ZYX, intrinsic).

                                                                                                                                                                Field NameTypeUnitsDescription
                                                                                                                                                                time_boot_msuint32_tmsTimestamp (time since system boot).
                                                                                                                                                                rollfloatradRoll angle (-pi..+pi)
                                                                                                                                                                pitchfloatradPitch angle (-pi..+pi)
                                                                                                                                                                yawfloatradYaw angle (-pi..+pi)
                                                                                                                                                                rollspeedfloatrad/sRoll angular speed
                                                                                                                                                                pitchspeedfloatrad/sPitch angular speed
                                                                                                                                                                yawspeedfloatrad/sYaw angular speed

                                                                                                                                                                ATTITUDE_QUATERNION (31)

                                                                                                                                                                The attitude in the aeronautical frame (right-handed, Z-down, X-front, Y-right), expressed as quaternion. Quaternion order is w, x, y, z and a zero rotation would be expressed as (1 0 0 0).

                                                                                                                                                                Field NameTypeUnitsDescription
                                                                                                                                                                time_boot_msuint32_tmsTimestamp (time since system boot).
                                                                                                                                                                q1floatQuaternion component 1, w (1 in null-rotation)
                                                                                                                                                                q2floatQuaternion component 2, x (0 in null-rotation)
                                                                                                                                                                q3floatQuaternion component 3, y (0 in null-rotation)
                                                                                                                                                                q4floatQuaternion component 4, z (0 in null-rotation)
                                                                                                                                                                rollspeedfloatrad/sRoll angular speed
                                                                                                                                                                pitchspeedfloatrad/sPitch angular speed
                                                                                                                                                                yawspeedfloatrad/sYaw angular speed
                                                                                                                                                                repr_offset_q ++float[4]Rotation offset by which the attitude quaternion and angular speed vector should be rotated for user display (quaternion with [w, x, y, z] order, zero-rotation is [1, 0, 0, 0], send [0, 0, 0, 0] if field not supported). This field is intended for systems in which the reference attitude may change during flight. For example, tailsitters VTOLs rotate their reference attitude by 90 degrees between hover mode and fixed wing mode, thus repr_offset_q is equal to [1, 0, 0, 0] in hover mode and equal to [0.7071, 0, 0.7071, 0] in fixed wing mode.

                                                                                                                                                                LOCAL_POSITION_NED (32)

                                                                                                                                                                The filtered local position (e.g. fused computer vision and accelerometers). Coordinate frame is right-handed, Z-axis down (aeronautical frame, NED / north-east-down convention)

                                                                                                                                                                Field NameTypeUnitsDescription
                                                                                                                                                                time_boot_msuint32_tmsTimestamp (time since system boot).
                                                                                                                                                                xfloatmX Position
                                                                                                                                                                yfloatmY Position
                                                                                                                                                                zfloatmZ Position
                                                                                                                                                                vxfloatm/sX Speed
                                                                                                                                                                vyfloatm/sY Speed
                                                                                                                                                                vzfloatm/sZ Speed

                                                                                                                                                                GLOBAL_POSITION_INT (33)

                                                                                                                                                                The filtered global position (e.g. fused GPS and accelerometers). The position is in GPS-frame (right-handed, Z-up). It

                                                                                                                                                                is designed as scaled integer message since the resolution of float is not sufficient.

                                                                                                                                                                Field NameTypeUnitsDescription
                                                                                                                                                                time_boot_msuint32_tmsTimestamp (time since system boot).
                                                                                                                                                                latint32_tdegE7Latitude, expressed
                                                                                                                                                                lonint32_tdegE7Longitude, expressed
                                                                                                                                                                altint32_tmmAltitude (MSL). Note that virtually all GPS modules provide both WGS84 and MSL.
                                                                                                                                                                relative_altint32_tmmAltitude above home
                                                                                                                                                                vxint16_tcm/sGround X Speed (Latitude, positive north)
                                                                                                                                                                vyint16_tcm/sGround Y Speed (Longitude, positive east)
                                                                                                                                                                vzint16_tcm/sGround Z Speed (Altitude, positive down)
                                                                                                                                                                hdguint16_tcdegVehicle heading (yaw angle), 0.0..359.99 degrees. If unknown, set to: UINT16_MAX

                                                                                                                                                                RC_CHANNELS_SCALED (34)

                                                                                                                                                                The scaled values of the RC channels received: (-100%) -10000, (0%) 0, (100%) 10000. Channels that are inactive should be set to INT16_MAX.

                                                                                                                                                                Field NameTypeUnitsDescription
                                                                                                                                                                time_boot_msuint32_tmsTimestamp (time since system boot).
                                                                                                                                                                portuint8_tServo output port (set of 8 outputs = 1 port). Flight stacks running on Pixhawk should use: 0 = MAIN, 1 = AUX.
                                                                                                                                                                chan1_scaledint16_tRC channel 1 value scaled.
                                                                                                                                                                chan2_scaledint16_tRC channel 2 value scaled.
                                                                                                                                                                chan3_scaledint16_tRC channel 3 value scaled.
                                                                                                                                                                chan4_scaledint16_tRC channel 4 value scaled.
                                                                                                                                                                chan5_scaledint16_tRC channel 5 value scaled.
                                                                                                                                                                chan6_scaledint16_tRC channel 6 value scaled.
                                                                                                                                                                chan7_scaledint16_tRC channel 7 value scaled.
                                                                                                                                                                chan8_scaledint16_tRC channel 8 value scaled.
                                                                                                                                                                rssiuint8_tReceive signal strength indicator in device-dependent units/scale. Values: [0-254], UINT8_MAX: invalid/unknown.

                                                                                                                                                                RC_CHANNELS_RAW (35)

                                                                                                                                                                The RAW values of the RC channels received. The standard PPM modulation is as follows: 1000 microseconds: 0%, 2000 microseconds: 100%. A value of UINT16_MAX implies the channel is unused. Individual receivers/transmitters might violate this specification.

                                                                                                                                                                Field NameTypeUnitsDescription
                                                                                                                                                                time_boot_msuint32_tmsTimestamp (time since system boot).
                                                                                                                                                                portuint8_tServo output port (set of 8 outputs = 1 port). Flight stacks running on Pixhawk should use: 0 = MAIN, 1 = AUX.
                                                                                                                                                                chan1_rawuint16_tusRC channel 1 value.
                                                                                                                                                                chan2_rawuint16_tusRC channel 2 value.
                                                                                                                                                                chan3_rawuint16_tusRC channel 3 value.
                                                                                                                                                                chan4_rawuint16_tusRC channel 4 value.
                                                                                                                                                                chan5_rawuint16_tusRC channel 5 value.
                                                                                                                                                                chan6_rawuint16_tusRC channel 6 value.
                                                                                                                                                                chan7_rawuint16_tusRC channel 7 value.
                                                                                                                                                                chan8_rawuint16_tusRC channel 8 value.
                                                                                                                                                                rssiuint8_tReceive signal strength indicator in device-dependent units/scale. Values: [0-254], UINT8_MAX: invalid/unknown.

                                                                                                                                                                SERVO_OUTPUT_RAW (36)

                                                                                                                                                                Superseded by ACTUATOR_OUTPUT_STATUS. The RAW values of the servo outputs (for RC input from the remote, use the RC_CHANNELS messages). The standard PPM modulation is as follows: 1000 microseconds: 0%, 2000 microseconds: 100%.

                                                                                                                                                                Field NameTypeUnitsDescription
                                                                                                                                                                time_usecuint32_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
                                                                                                                                                                portuint8_tServo output port (set of 8 outputs = 1 port). Flight stacks running on Pixhawk should use: 0 = MAIN, 1 = AUX.
                                                                                                                                                                servo1_rawuint16_tusServo output 1 value
                                                                                                                                                                servo2_rawuint16_tusServo output 2 value
                                                                                                                                                                servo3_rawuint16_tusServo output 3 value
                                                                                                                                                                servo4_rawuint16_tusServo output 4 value
                                                                                                                                                                servo5_rawuint16_tusServo output 5 value
                                                                                                                                                                servo6_rawuint16_tusServo output 6 value
                                                                                                                                                                servo7_rawuint16_tusServo output 7 value
                                                                                                                                                                servo8_rawuint16_tusServo output 8 value
                                                                                                                                                                servo9_raw ++uint16_tusServo output 9 value
                                                                                                                                                                servo10_raw ++uint16_tusServo output 10 value
                                                                                                                                                                servo11_raw ++uint16_tusServo output 11 value
                                                                                                                                                                servo12_raw ++uint16_tusServo output 12 value
                                                                                                                                                                servo13_raw ++uint16_tusServo output 13 value
                                                                                                                                                                servo14_raw ++uint16_tusServo output 14 value
                                                                                                                                                                servo15_raw ++uint16_tusServo output 15 value
                                                                                                                                                                servo16_raw ++uint16_tusServo output 16 value

                                                                                                                                                                MISSION_REQUEST_PARTIAL_LIST (37)

                                                                                                                                                                Request a partial list of mission items from the system/component. https://mavlink.io/en/services/mission.html. If start and end index are the same, just send one waypoint.

                                                                                                                                                                Field NameTypeValuesDescription
                                                                                                                                                                target_systemuint8_tSystem ID
                                                                                                                                                                target_componentuint8_tComponent ID
                                                                                                                                                                start_indexint16_tStart index
                                                                                                                                                                end_indexint16_tEnd index, -1 by default (-1: send list to end). Else a valid index of the list
                                                                                                                                                                mission_type ++uint8_tMAV_MISSION_TYPEMission type.

                                                                                                                                                                MISSION_WRITE_PARTIAL_LIST (38)

                                                                                                                                                                This message is sent to the MAV to write a partial list. If start index == end index, only one item will be transmitted / updated. If the start index is NOT 0 and above the current list size, this request should be REJECTED!

                                                                                                                                                                Field NameTypeValuesDescription
                                                                                                                                                                target_systemuint8_tSystem ID
                                                                                                                                                                target_componentuint8_tComponent ID
                                                                                                                                                                start_indexint16_tStart index. Must be smaller / equal to the largest index of the current onboard list.
                                                                                                                                                                end_indexint16_tEnd index, equal or greater than start index.
                                                                                                                                                                mission_type ++uint8_tMAV_MISSION_TYPEMission type.

                                                                                                                                                                MISSION_ITEM (39) — [DEP]

                                                                                                                                                                DEPRECATED: Replaced By MISSION_ITEM_INT (2020-06)

                                                                                                                                                                Message encoding a mission item. This message is emitted to announce

                                                                                                                                                                the presence of a mission item and to set a mission item on the system. The mission item can be either in x, y, z meters (type: LOCAL) or x:lat, y:lon, z:altitude. Local frame is Z-down, right handed (NED), global frame is Z-up, right handed (ENU). NaN may be used to indicate an optional/default value (e.g. to use the system's current latitude or yaw rather than a specific value). See also https://mavlink.io/en/services/mission.html.

                                                                                                                                                                Field NameTypeValuesDescription
                                                                                                                                                                target_systemuint8_tSystem ID
                                                                                                                                                                target_componentuint8_tComponent ID
                                                                                                                                                                sequint16_tSequence
                                                                                                                                                                frameuint8_tMAV_FRAMEThe coordinate system of the waypoint.
                                                                                                                                                                commanduint16_tMAV_CMDThe scheduled action for the waypoint.
                                                                                                                                                                currentuint8_tfalse:0, true:1
                                                                                                                                                                autocontinueuint8_tAutocontinue to next waypoint. 0: false, 1: true. Set false to pause mission after the item completes.
                                                                                                                                                                param1floatPARAM1, see MAV_CMD enum
                                                                                                                                                                param2floatPARAM2, see MAV_CMD enum
                                                                                                                                                                param3floatPARAM3, see MAV_CMD enum
                                                                                                                                                                param4floatPARAM4, see MAV_CMD enum
                                                                                                                                                                xfloatPARAM5 / local: X coordinate, global: latitude
                                                                                                                                                                yfloatPARAM6 / local: Y coordinate, global: longitude
                                                                                                                                                                zfloatPARAM7 / local: Z coordinate, global: altitude (relative or absolute, depending on frame).
                                                                                                                                                                mission_type ++uint8_tMAV_MISSION_TYPEMission type.

                                                                                                                                                                MISSION_REQUEST (40) — [DEP]

                                                                                                                                                                DEPRECATED: Replaced By MISSION_REQUEST_INT (2020-06) — A system that gets this request should respond with MISSION_ITEM_INT (as though MISSION_REQUEST_INT was received).)

                                                                                                                                                                Request the information of the mission item with the sequence number seq. The response of the system to this message should be a MISSION_ITEM message. https://mavlink.io/en/services/mission.html

                                                                                                                                                                Field NameTypeValuesDescription
                                                                                                                                                                target_systemuint8_tSystem ID
                                                                                                                                                                target_componentuint8_tComponent ID
                                                                                                                                                                sequint16_tSequence
                                                                                                                                                                mission_type ++uint8_tMAV_MISSION_TYPEMission type.

                                                                                                                                                                MISSION_SET_CURRENT (41) — [DEP]

                                                                                                                                                                DEPRECATED: Replaced By MAV_CMD_DO_SET_MISSION_CURRENT (2022-08)

                                                                                                                                                                Set the mission item with sequence number seq as the current item and emit MISSION_CURRENT (whether or not the mission number changed). If a mission is currently being executed, the system will continue to this new mission item on the shortest path, skipping any intermediate mission items. Note that mission jump repeat counters are not reset (see MAV_CMD_DO_JUMP param2).

                                                                                                                                                                This message may trigger a mission state-machine change on some systems: for example from MISSION_STATE_NOT_STARTED or MISSION_STATE_PAUSED to MISSION_STATE_ACTIVE. If the system is in mission mode, on those systems this command might therefore start, restart or resume the mission. If the system is not in mission mode this message must not trigger a switch to mission mode.

                                                                                                                                                                Field NameTypeDescription
                                                                                                                                                                target_systemuint8_tSystem ID
                                                                                                                                                                target_componentuint8_tComponent ID
                                                                                                                                                                sequint16_tSequence

                                                                                                                                                                MISSION_CURRENT (42)

                                                                                                                                                                Message that announces the sequence number of the current target mission item (that the system will fly towards/execute when the mission is running). This message should be streamed all the time (nominally at 1Hz). This message should be emitted following a call to MAV_CMD_DO_SET_MISSION_CURRENT or SET_MISSION_CURRENT.

                                                                                                                                                                Field NameTypeValuesDescription
                                                                                                                                                                sequint16_tSequence
                                                                                                                                                                total ++uint16_tinvalid:UINT16_MAXTotal number of mission items on vehicle (on last item, sequence == total). If the autopilot stores its home location as part of the mission this will be excluded from the total. 0: Not supported, UINT16_MAX if no mission is present on the vehicle.
                                                                                                                                                                mission_state ++uint8_tinvalid:0 MISSION_STATEMission state machine state. MISSION_STATE_UNKNOWN if state reporting not supported.
                                                                                                                                                                mission_mode ++uint8_tinvalid:0Vehicle is in a mode that can execute mission items or suspended. 0: Unknown, 1: In mission mode, 2: Suspended (not in mission mode).
                                                                                                                                                                mission_id ++uint32_tinvalid:0Id of current on-vehicle mission plan, or 0 if IDs are not supported or there is no mission loaded. GCS can use this to track changes to the mission plan type. The same value is returned on mission upload (in the MISSION_ACK).
                                                                                                                                                                fence_id ++uint32_tinvalid:0Id of current on-vehicle fence plan, or 0 if IDs are not supported or there is no fence loaded. GCS can use this to track changes to the fence plan type. The same value is returned on fence upload (in the MISSION_ACK).
                                                                                                                                                                rally_points_id ++uint32_tinvalid:0Id of current on-vehicle rally point plan, or 0 if IDs are not supported or there are no rally points loaded. GCS can use this to track changes to the rally point plan type. The same value is returned on rally point upload (in the MISSION_ACK).

                                                                                                                                                                MISSION_REQUEST_LIST (43)

                                                                                                                                                                Request the overall list of mission items from the system/component.

                                                                                                                                                                Field NameTypeValuesDescription
                                                                                                                                                                target_systemuint8_tSystem ID
                                                                                                                                                                target_componentuint8_tComponent ID
                                                                                                                                                                mission_type ++uint8_tMAV_MISSION_TYPEMission type.

                                                                                                                                                                MISSION_COUNT (44)

                                                                                                                                                                This message is emitted as response to MISSION_REQUEST_LIST by the MAV and to initiate a write transaction. The GCS can then request the individual mission item based on the knowledge of the total number of waypoints.

                                                                                                                                                                Field NameTypeValuesDescription
                                                                                                                                                                target_systemuint8_tSystem ID
                                                                                                                                                                target_componentuint8_tComponent ID
                                                                                                                                                                countuint16_tNumber of mission items in the sequence
                                                                                                                                                                mission_type ++uint8_tMAV_MISSION_TYPEMission type.
                                                                                                                                                                opaque_id ++uint32_tinvalid:0Id of current on-vehicle mission, fence, or rally point plan (on download from vehicle).
                                                                                                                                                                This field is used when downloading a plan from a vehicle to a GCS.
                                                                                                                                                                0 on upload to the vehicle from GCS.
                                                                                                                                                                0 if plan ids are not supported.
                                                                                                                                                                The current on-vehicle plan ids are streamed in [MISSION_CURRENT](#MISSION_CURRENT), allowing a GCS to determine if any part of the plan has changed and needs to be re-uploaded.
                                                                                                                                                                The ids are recalculated by the vehicle when any part of the on-vehicle plan changes (when a new plan is uploaded, the vehicle returns the new id to the GCS in MISSION_ACK).

                                                                                                                                                                MISSION_CLEAR_ALL (45)

                                                                                                                                                                Delete all mission items at once.

                                                                                                                                                                Field NameTypeValuesDescription
                                                                                                                                                                target_systemuint8_tSystem ID
                                                                                                                                                                target_componentuint8_tComponent ID
                                                                                                                                                                mission_type ++uint8_tMAV_MISSION_TYPEMission type.

                                                                                                                                                                MISSION_ITEM_REACHED (46)

                                                                                                                                                                A certain mission item has been reached. The system will either hold this position (or circle on the orbit) or (if the autocontinue on the WP was set) continue to the next waypoint.

                                                                                                                                                                Field NameTypeDescription
                                                                                                                                                                sequint16_tSequence

                                                                                                                                                                MISSION_ACK (47)

                                                                                                                                                                Acknowledgment message during waypoint handling. The type field states if this message is a positive ack (type=0) or if an error happened (type=non-zero).

                                                                                                                                                                Field NameTypeValuesDescription
                                                                                                                                                                target_systemuint8_tSystem ID
                                                                                                                                                                target_componentuint8_tComponent ID
                                                                                                                                                                typeuint8_tMAV_MISSION_RESULTMission result.
                                                                                                                                                                mission_type ++uint8_tMAV_MISSION_TYPEMission type.
                                                                                                                                                                opaque_id ++uint32_tinvalid:0Id of new on-vehicle mission, fence, or rally point plan (on upload to vehicle).
                                                                                                                                                                The id is calculated and returned by a vehicle when a new plan is uploaded by a GCS.
                                                                                                                                                                The only requirement on the id is that it must change when there is any change to the on-vehicle plan type (there is no requirement that the id be globally unique).
                                                                                                                                                                0 on download from the vehicle to the GCS (on download the ID is set in MISSION_COUNT).
                                                                                                                                                                0 if plan ids are not supported.
                                                                                                                                                                The current on-vehicle plan ids are streamed in [MISSION_CURRENT](#MISSION_CURRENT), allowing a GCS to determine if any part of the plan has changed and needs to be re-uploaded.

                                                                                                                                                                SET_GPS_GLOBAL_ORIGIN (48)

                                                                                                                                                                Sets the GPS coordinates of the vehicle local origin (0,0,0) position. Vehicle should emit GPS_GLOBAL_ORIGIN irrespective of whether the origin is changed. This enables transform between the local coordinate frame and the global (GPS) coordinate frame, which may be necessary when (for example) indoor and outdoor settings are connected and the MAV should move from in- to outdoor.

                                                                                                                                                                Field NameTypeUnitsDescription
                                                                                                                                                                target_systemuint8_tSystem ID
                                                                                                                                                                latitudeint32_tdegE7Latitude (WGS84)
                                                                                                                                                                longitudeint32_tdegE7Longitude (WGS84)
                                                                                                                                                                altitudeint32_tmmAltitude (MSL). Positive for up.
                                                                                                                                                                time_usec ++uint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.

                                                                                                                                                                GPS_GLOBAL_ORIGIN (49)

                                                                                                                                                                Publishes the GPS coordinates of the vehicle local origin (0,0,0) position. Emitted whenever a new GPS-Local position mapping is requested or set - e.g. following SET_GPS_GLOBAL_ORIGIN message.

                                                                                                                                                                Field NameTypeUnitsDescription
                                                                                                                                                                latitudeint32_tdegE7Latitude (WGS84)
                                                                                                                                                                longitudeint32_tdegE7Longitude (WGS84)
                                                                                                                                                                altitudeint32_tmmAltitude (MSL). Positive for up.
                                                                                                                                                                time_usec ++uint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.

                                                                                                                                                                PARAM_MAP_RC (50)

                                                                                                                                                                Bind a RC channel to a parameter. The parameter should change according to the RC channel value.

                                                                                                                                                                Field NameTypeDescription
                                                                                                                                                                target_systemuint8_tSystem ID
                                                                                                                                                                target_componentuint8_tComponent ID
                                                                                                                                                                param_idchar[16]Onboard parameter id, terminated by NULL if the length is less than 16 human-readable chars and WITHOUT null termination (NULL) byte if the length is exactly 16 chars - applications have to provide 16+1 bytes storage if the ID is stored as string
                                                                                                                                                                param_indexint16_tParameter index. Send -1 to use the param ID field as identifier (else the param id will be ignored), send -2 to disable any existing map for this rc_channel_index.
                                                                                                                                                                parameter_rc_channel_indexuint8_tIndex of parameter RC channel. Not equal to the RC channel id. Typically corresponds to a potentiometer-knob on the RC.
                                                                                                                                                                param_value0floatInitial parameter value
                                                                                                                                                                scalefloatScale, maps the RC range [-1, 1] to a parameter value
                                                                                                                                                                param_value_minfloatMinimum param value. The protocol does not define if this overwrites an onboard minimum value. (Depends on implementation)
                                                                                                                                                                param_value_maxfloatMaximum param value. The protocol does not define if this overwrites an onboard maximum value. (Depends on implementation)

                                                                                                                                                                MISSION_REQUEST_INT (51)

                                                                                                                                                                Request the information of the mission item with the sequence number seq. The response of the system to this message should be a MISSION_ITEM_INT message. https://mavlink.io/en/services/mission.html

                                                                                                                                                                Field NameTypeValuesDescription
                                                                                                                                                                target_systemuint8_tSystem ID
                                                                                                                                                                target_componentuint8_tComponent ID
                                                                                                                                                                sequint16_tSequence
                                                                                                                                                                mission_type ++uint8_tMAV_MISSION_TYPEMission type.

                                                                                                                                                                SAFETY_SET_ALLOWED_AREA (54)

                                                                                                                                                                Set a safety zone (volume), which is defined by two corners of a cube. This message can be used to tell the MAV which setpoints/waypoints to accept and which to reject. Safety areas are often enforced by national or competition regulations.

                                                                                                                                                                Field NameTypeUnitsValuesDescription
                                                                                                                                                                target_systemuint8_tSystem ID
                                                                                                                                                                target_componentuint8_tComponent ID
                                                                                                                                                                frameuint8_tMAV_FRAMECoordinate frame. Can be either global, GPS, right-handed with Z axis up or local, right handed, Z axis down.
                                                                                                                                                                p1xfloatmx position 1 / Latitude 1
                                                                                                                                                                p1yfloatmy position 1 / Longitude 1
                                                                                                                                                                p1zfloatmz position 1 / Altitude 1
                                                                                                                                                                p2xfloatmx position 2 / Latitude 2
                                                                                                                                                                p2yfloatmy position 2 / Longitude 2
                                                                                                                                                                p2zfloatmz position 2 / Altitude 2

                                                                                                                                                                SAFETY_ALLOWED_AREA (55)

                                                                                                                                                                Read out the safety zone the MAV currently assumes.

                                                                                                                                                                Field NameTypeUnitsValuesDescription
                                                                                                                                                                frameuint8_tMAV_FRAMECoordinate frame. Can be either global, GPS, right-handed with Z axis up or local, right handed, Z axis down.
                                                                                                                                                                p1xfloatmx position 1 / Latitude 1
                                                                                                                                                                p1yfloatmy position 1 / Longitude 1
                                                                                                                                                                p1zfloatmz position 1 / Altitude 1
                                                                                                                                                                p2xfloatmx position 2 / Latitude 2
                                                                                                                                                                p2yfloatmy position 2 / Longitude 2
                                                                                                                                                                p2zfloatmz position 2 / Altitude 2

                                                                                                                                                                ATTITUDE_QUATERNION_COV (61)

                                                                                                                                                                The attitude in the aeronautical frame (right-handed, Z-down, X-front, Y-right), expressed as quaternion. Quaternion order is w, x, y, z and a zero rotation would be expressed as (1 0 0 0).

                                                                                                                                                                Field NameTypeUnitsDescription
                                                                                                                                                                time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
                                                                                                                                                                qfloat[4]Quaternion components, w, x, y, z (1 0 0 0 is the null-rotation)
                                                                                                                                                                rollspeedfloatrad/sRoll angular speed
                                                                                                                                                                pitchspeedfloatrad/sPitch angular speed
                                                                                                                                                                yawspeedfloatrad/sYaw angular speed
                                                                                                                                                                covariancefloat[9]Row-major representation of a 3x3 attitude covariance matrix (states: roll, pitch, yaw; first three entries are the first ROW, next three entries are the second row, etc.). If unknown, assign NaN value to first element in the array.

                                                                                                                                                                The state of the navigation and position controller.

                                                                                                                                                                Field NameTypeUnitsDescription
                                                                                                                                                                nav_rollfloatdegCurrent desired roll
                                                                                                                                                                nav_pitchfloatdegCurrent desired pitch
                                                                                                                                                                nav_bearingint16_tdegCurrent desired heading
                                                                                                                                                                target_bearingint16_tdegBearing to current waypoint/target
                                                                                                                                                                wp_distuint16_tmDistance to active waypoint
                                                                                                                                                                alt_errorfloatmCurrent altitude error
                                                                                                                                                                aspd_errorfloatm/sCurrent airspeed error
                                                                                                                                                                xtrack_errorfloatmCurrent crosstrack error on x-y plane

                                                                                                                                                                GLOBAL_POSITION_INT_COV (63)

                                                                                                                                                                The filtered global position (e.g. fused GPS and accelerometers). The position is in GPS-frame (right-handed, Z-up). It is designed as scaled integer message since the resolution of float is not sufficient. NOTE: This message is intended for onboard networks / companion computers and higher-bandwidth links and optimized for accuracy and completeness. Please use the GLOBAL_POSITION_INT message for a minimal subset.

                                                                                                                                                                Field NameTypeUnitsValuesDescription
                                                                                                                                                                time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
                                                                                                                                                                estimator_typeuint8_tMAV_ESTIMATOR_TYPEClass id of the estimator this estimate originated from.
                                                                                                                                                                latint32_tdegE7Latitude
                                                                                                                                                                lonint32_tdegE7Longitude
                                                                                                                                                                altint32_tmmAltitude in meters above MSL
                                                                                                                                                                relative_altint32_tmmAltitude above ground
                                                                                                                                                                vxfloatm/sGround X Speed (Latitude)
                                                                                                                                                                vyfloatm/sGround Y Speed (Longitude)
                                                                                                                                                                vzfloatm/sGround Z Speed (Altitude)
                                                                                                                                                                covariancefloat[36]invalid:[NaN:]Row-major representation of a 6x6 position and velocity 6x6 cross-covariance matrix (states: lat, lon, alt, vx, vy, vz; first six entries are the first ROW, next six entries are the second row, etc.). If unknown, assign NaN value to first element in the array.

                                                                                                                                                                LOCAL_POSITION_NED_COV (64)

                                                                                                                                                                The filtered local position (e.g. fused computer vision and accelerometers). Coordinate frame is right-handed, Z-axis down (aeronautical frame, NED / north-east-down convention)

                                                                                                                                                                Field NameTypeUnitsValuesDescription
                                                                                                                                                                time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
                                                                                                                                                                estimator_typeuint8_tMAV_ESTIMATOR_TYPEClass id of the estimator this estimate originated from.
                                                                                                                                                                xfloatmX Position
                                                                                                                                                                yfloatmY Position
                                                                                                                                                                zfloatmZ Position
                                                                                                                                                                vxfloatm/sX Speed
                                                                                                                                                                vyfloatm/sY Speed
                                                                                                                                                                vzfloatm/sZ Speed
                                                                                                                                                                axfloatm/s/sX Acceleration
                                                                                                                                                                ayfloatm/s/sY Acceleration
                                                                                                                                                                azfloatm/s/sZ Acceleration
                                                                                                                                                                covariancefloat[45]invalid:[NaN:]Row-major representation of position, velocity and acceleration 9x9 cross-covariance matrix upper right triangle (states: x, y, z, vx, vy, vz, ax, ay, az; first nine entries are the first ROW, next eight entries are the second row, etc.). If unknown, assign NaN value to first element in the array.

                                                                                                                                                                RC_CHANNELS (65)

                                                                                                                                                                The PPM values of the RC channels received. The standard PPM modulation is as follows: 1000 microseconds: 0%, 2000 microseconds: 100%. A value of UINT16_MAX implies the channel is unused. Individual receivers/transmitters might violate this specification.

                                                                                                                                                                Field NameTypeUnitsDescription
                                                                                                                                                                time_boot_msuint32_tmsTimestamp (time since system boot).
                                                                                                                                                                chancountuint8_tTotal number of RC channels being received. This can be larger than 18, indicating that more channels are available but not given in this message. This value should be 0 when no RC channels are available.
                                                                                                                                                                chan1_rawuint16_tusRC channel 1 value.
                                                                                                                                                                chan2_rawuint16_tusRC channel 2 value.
                                                                                                                                                                chan3_rawuint16_tusRC channel 3 value.
                                                                                                                                                                chan4_rawuint16_tusRC channel 4 value.
                                                                                                                                                                chan5_rawuint16_tusRC channel 5 value.
                                                                                                                                                                chan6_rawuint16_tusRC channel 6 value.
                                                                                                                                                                chan7_rawuint16_tusRC channel 7 value.
                                                                                                                                                                chan8_rawuint16_tusRC channel 8 value.
                                                                                                                                                                chan9_rawuint16_tusRC channel 9 value.
                                                                                                                                                                chan10_rawuint16_tusRC channel 10 value.
                                                                                                                                                                chan11_rawuint16_tusRC channel 11 value.
                                                                                                                                                                chan12_rawuint16_tusRC channel 12 value.
                                                                                                                                                                chan13_rawuint16_tusRC channel 13 value.
                                                                                                                                                                chan14_rawuint16_tusRC channel 14 value.
                                                                                                                                                                chan15_rawuint16_tusRC channel 15 value.
                                                                                                                                                                chan16_rawuint16_tusRC channel 16 value.
                                                                                                                                                                chan17_rawuint16_tusRC channel 17 value.
                                                                                                                                                                chan18_rawuint16_tusRC channel 18 value.
                                                                                                                                                                rssiuint8_tReceive signal strength indicator in device-dependent units/scale. Values: [0-254], UINT8_MAX: invalid/unknown.

                                                                                                                                                                REQUEST_DATA_STREAM (66) — [DEP]

                                                                                                                                                                DEPRECATED: Replaced By MAV_CMD_SET_MESSAGE_INTERVAL (2015-08)

                                                                                                                                                                Request a data stream.

                                                                                                                                                                Field NameTypeUnitsDescription
                                                                                                                                                                target_systemuint8_tThe target requested to send the message stream.
                                                                                                                                                                target_componentuint8_tThe target requested to send the message stream.
                                                                                                                                                                req_stream_iduint8_tThe ID of the requested data stream
                                                                                                                                                                req_message_rateuint16_tHzThe requested message rate
                                                                                                                                                                start_stopuint8_t1 to start sending, 0 to stop sending.

                                                                                                                                                                DATA_STREAM (67) — [DEP]

                                                                                                                                                                DEPRECATED: Replaced By MESSAGE_INTERVAL (2015-08)

                                                                                                                                                                Data stream status information.

                                                                                                                                                                Field NameTypeUnitsDescription
                                                                                                                                                                stream_iduint8_tThe ID of the requested data stream
                                                                                                                                                                message_rateuint16_tHzThe message rate
                                                                                                                                                                on_offuint8_t1 stream is enabled, 0 stream is stopped.

                                                                                                                                                                MANUAL_CONTROL (69)

                                                                                                                                                                This message provides an API for manually controlling the vehicle using standard joystick axes nomenclature, along with a joystick-like input device. Unused axes can be disabled and buttons states are transmitted as individual on/off bits of a bitmask

                                                                                                                                                                Field NameTypeDescription
                                                                                                                                                                targetuint8_tThe system to be controlled.
                                                                                                                                                                xint16_tX-axis, normalized to the range [-1000,1000]. A value of INT16_MAX indicates that this axis is invalid. Generally corresponds to forward(1000)-backward(-1000) movement on a joystick and the pitch of a vehicle.
                                                                                                                                                                yint16_tY-axis, normalized to the range [-1000,1000]. A value of INT16_MAX indicates that this axis is invalid. Generally corresponds to left(-1000)-right(1000) movement on a joystick and the roll of a vehicle.
                                                                                                                                                                zint16_tZ-axis, normalized to the range [-1000,1000]. A value of INT16_MAX indicates that this axis is invalid. Generally corresponds to a separate slider movement with maximum being 1000 and minimum being -1000 on a joystick and the thrust of a vehicle. Positive values are positive thrust, negative values are negative thrust.
                                                                                                                                                                rint16_tR-axis, normalized to the range [-1000,1000]. A value of INT16_MAX indicates that this axis is invalid. Generally corresponds to a twisting of the joystick, with counter-clockwise being 1000 and clockwise being -1000, and the yaw of a vehicle.
                                                                                                                                                                buttonsuint16_tA bitfield corresponding to the joystick buttons' 0-15 current state, 1 for pressed, 0 for released. The lowest bit corresponds to Button 1.
                                                                                                                                                                buttons2 ++uint16_tA bitfield corresponding to the joystick buttons' 16-31 current state, 1 for pressed, 0 for released. The lowest bit corresponds to Button 16.
                                                                                                                                                                enabled_extensions ++uint8_tSet bits to 1 to indicate which of the following extension fields contain valid data: bit 0: pitch, bit 1: roll, bit 2: aux1, bit 3: aux2, bit 4: aux3, bit 5: aux4, bit 6: aux5, bit 7: aux6
                                                                                                                                                                s ++int16_tPitch-only-axis, normalized to the range [-1000,1000]. Generally corresponds to pitch on vehicles with additional degrees of freedom. Valid if bit 0 of enabled_extensions field is set. Set to 0 if invalid.
                                                                                                                                                                t ++int16_tRoll-only-axis, normalized to the range [-1000,1000]. Generally corresponds to roll on vehicles with additional degrees of freedom. Valid if bit 1 of enabled_extensions field is set. Set to 0 if invalid.
                                                                                                                                                                aux1 ++int16_tAux continuous input field 1. Normalized in the range [-1000,1000]. Purpose defined by recipient. Valid data if bit 2 of enabled_extensions field is set. 0 if bit 2 is unset.
                                                                                                                                                                aux2 ++int16_tAux continuous input field 2. Normalized in the range [-1000,1000]. Purpose defined by recipient. Valid data if bit 3 of enabled_extensions field is set. 0 if bit 3 is unset.
                                                                                                                                                                aux3 ++int16_tAux continuous input field 3. Normalized in the range [-1000,1000]. Purpose defined by recipient. Valid data if bit 4 of enabled_extensions field is set. 0 if bit 4 is unset.
                                                                                                                                                                aux4 ++int16_tAux continuous input field 4. Normalized in the range [-1000,1000]. Purpose defined by recipient. Valid data if bit 5 of enabled_extensions field is set. 0 if bit 5 is unset.
                                                                                                                                                                aux5 ++int16_tAux continuous input field 5. Normalized in the range [-1000,1000]. Purpose defined by recipient. Valid data if bit 6 of enabled_extensions field is set. 0 if bit 6 is unset.
                                                                                                                                                                aux6 ++int16_tAux continuous input field 6. Normalized in the range [-1000,1000]. Purpose defined by recipient. Valid data if bit 7 of enabled_extensions field is set. 0 if bit 7 is unset.

                                                                                                                                                                RC_CHANNELS_OVERRIDE (70)

                                                                                                                                                                The RAW values of the RC channels sent to the MAV to override info received from the RC radio. The standard PPM modulation is as follows: 1000 microseconds: 0%, 2000 microseconds: 100%. Individual receivers/transmitters might violate this specification. Note carefully the semantic differences between the first 8 channels and the subsequent channels

                                                                                                                                                                Field NameTypeUnitsDescription
                                                                                                                                                                target_systemuint8_tSystem ID
                                                                                                                                                                target_componentuint8_tComponent ID
                                                                                                                                                                chan1_rawuint16_tusRC channel 1 value. A value of UINT16_MAX means to ignore this field. A value of 0 means to release this channel back to the RC radio.
                                                                                                                                                                chan2_rawuint16_tusRC channel 2 value. A value of UINT16_MAX means to ignore this field. A value of 0 means to release this channel back to the RC radio.
                                                                                                                                                                chan3_rawuint16_tusRC channel 3 value. A value of UINT16_MAX means to ignore this field. A value of 0 means to release this channel back to the RC radio.
                                                                                                                                                                chan4_rawuint16_tusRC channel 4 value. A value of UINT16_MAX means to ignore this field. A value of 0 means to release this channel back to the RC radio.
                                                                                                                                                                chan5_rawuint16_tusRC channel 5 value. A value of UINT16_MAX means to ignore this field. A value of 0 means to release this channel back to the RC radio.
                                                                                                                                                                chan6_rawuint16_tusRC channel 6 value. A value of UINT16_MAX means to ignore this field. A value of 0 means to release this channel back to the RC radio.
                                                                                                                                                                chan7_rawuint16_tusRC channel 7 value. A value of UINT16_MAX means to ignore this field. A value of 0 means to release this channel back to the RC radio.
                                                                                                                                                                chan8_rawuint16_tusRC channel 8 value. A value of UINT16_MAX means to ignore this field. A value of 0 means to release this channel back to the RC radio.
                                                                                                                                                                chan9_raw ++uint16_tusRC channel 9 value. A value of 0 or UINT16_MAX means to ignore this field. A value of UINT16_MAX-1 means to release this channel back to the RC radio.
                                                                                                                                                                chan10_raw ++uint16_tusRC channel 10 value. A value of 0 or UINT16_MAX means to ignore this field. A value of UINT16_MAX-1 means to release this channel back to the RC radio.
                                                                                                                                                                chan11_raw ++uint16_tusRC channel 11 value. A value of 0 or UINT16_MAX means to ignore this field. A value of UINT16_MAX-1 means to release this channel back to the RC radio.
                                                                                                                                                                chan12_raw ++uint16_tusRC channel 12 value. A value of 0 or UINT16_MAX means to ignore this field. A value of UINT16_MAX-1 means to release this channel back to the RC radio.
                                                                                                                                                                chan13_raw ++uint16_tusRC channel 13 value. A value of 0 or UINT16_MAX means to ignore this field. A value of UINT16_MAX-1 means to release this channel back to the RC radio.
                                                                                                                                                                chan14_raw ++uint16_tusRC channel 14 value. A value of 0 or UINT16_MAX means to ignore this field. A value of UINT16_MAX-1 means to release this channel back to the RC radio.
                                                                                                                                                                chan15_raw ++uint16_tusRC channel 15 value. A value of 0 or UINT16_MAX means to ignore this field. A value of UINT16_MAX-1 means to release this channel back to the RC radio.
                                                                                                                                                                chan16_raw ++uint16_tusRC channel 16 value. A value of 0 or UINT16_MAX means to ignore this field. A value of UINT16_MAX-1 means to release this channel back to the RC radio.
                                                                                                                                                                chan17_raw ++uint16_tusRC channel 17 value. A value of 0 or UINT16_MAX means to ignore this field. A value of UINT16_MAX-1 means to release this channel back to the RC radio.
                                                                                                                                                                chan18_raw ++uint16_tusRC channel 18 value. A value of 0 or UINT16_MAX means to ignore this field. A value of UINT16_MAX-1 means to release this channel back to the RC radio.

                                                                                                                                                                MISSION_ITEM_INT (73)

                                                                                                                                                                Message encoding a mission item. This message is emitted to announce

                                                                                                                                                                the presence of a mission item and to set a mission item on the system. The mission item can be either in x, y, z meters (type: LOCAL) or x:lat, y:lon, z:altitude. Local frame is Z-down, right handed (NED), global frame is Z-up, right handed (ENU). NaN or INT32_MAX may be used in float/integer params (respectively) to indicate optional/default values (e.g. to use the component's current latitude, yaw rather than a specific value). See also https://mavlink.io/en/services/mission.html.

                                                                                                                                                                Field NameTypeValuesDescription
                                                                                                                                                                target_systemuint8_tSystem ID
                                                                                                                                                                target_componentuint8_tComponent ID
                                                                                                                                                                sequint16_tWaypoint ID (sequence number). Starts at zero. Increases monotonically for each waypoint, no gaps in the sequence (0,1,2,3,4).
                                                                                                                                                                frameuint8_tMAV_FRAMEThe coordinate system of the waypoint.
                                                                                                                                                                commanduint16_tMAV_CMDThe scheduled action for the waypoint.
                                                                                                                                                                currentuint8_tfalse:0, true:1
                                                                                                                                                                autocontinueuint8_tAutocontinue to next waypoint. 0: false, 1: true. Set false to pause mission after the item completes.
                                                                                                                                                                param1floatPARAM1, see MAV_CMD enum
                                                                                                                                                                param2floatPARAM2, see MAV_CMD enum
                                                                                                                                                                param3floatPARAM3, see MAV_CMD enum
                                                                                                                                                                param4floatPARAM4, see MAV_CMD enum
                                                                                                                                                                xint32_tPARAM5 / local: x position in meters 1e4, global: latitude in degrees 10^7
                                                                                                                                                                yint32_tPARAM6 / y position: local: x position in meters 1e4, global: longitude in degrees 10^7
                                                                                                                                                                zfloatPARAM7 / z position: global: altitude in meters (relative or absolute, depending on frame.
                                                                                                                                                                mission_type ++uint8_tMAV_MISSION_TYPEMission type.

                                                                                                                                                                VFR_HUD (74)

                                                                                                                                                                Metrics typically displayed on a HUD for fixed wing aircraft.

                                                                                                                                                                Field NameTypeUnitsDescription
                                                                                                                                                                airspeedfloatm/sVehicle speed in form appropriate for vehicle type. For standard aircraft this is typically calibrated airspeed (CAS) or indicated airspeed (IAS) - either of which can be used by a pilot to estimate stall speed.
                                                                                                                                                                groundspeedfloatm/sCurrent ground speed.
                                                                                                                                                                headingint16_tdegCurrent heading in compass units (0-360, 0=north).
                                                                                                                                                                throttleuint16_t%Current throttle setting (0 to 100).
                                                                                                                                                                altfloatmCurrent altitude (MSL).
                                                                                                                                                                climbfloatm/sCurrent climb rate.

                                                                                                                                                                COMMAND_INT (75)

                                                                                                                                                                Send a command with up to seven parameters to the MAV, where params 5 and 6 are integers and the other values are floats. This is preferred over COMMAND_LONG as it allows the MAV_FRAME to be specified for interpreting positional information, such as altitude. COMMAND_INT is also preferred when sending latitude and longitude data in params 5 and 6, as it allows for greater precision. Param 5 and 6 encode positional data as scaled integers, where the scaling depends on the actual command value. NaN or INT32_MAX may be used in float/integer params (respectively) to indicate optional/default values (e.g. to use the component's current latitude, yaw rather than a specific value). The command microservice is documented at https://mavlink.io/en/services/command.html

                                                                                                                                                                Field NameTypeValuesDescription
                                                                                                                                                                target_systemuint8_tSystem ID
                                                                                                                                                                target_componentuint8_tComponent ID
                                                                                                                                                                frameuint8_tMAV_FRAMEThe coordinate system of the COMMAND.
                                                                                                                                                                commanduint16_tMAV_CMDThe scheduled action for the mission item.
                                                                                                                                                                currentuint8_tNot used.
                                                                                                                                                                autocontinueuint8_tNot used (set 0).
                                                                                                                                                                param1floatinvalid:NaNPARAM1, see MAV_CMD enum
                                                                                                                                                                param2floatinvalid:NaNPARAM2, see MAV_CMD enum
                                                                                                                                                                param3floatinvalid:NaNPARAM3, see MAV_CMD enum
                                                                                                                                                                param4floatinvalid:NaNPARAM4, see MAV_CMD enum
                                                                                                                                                                xint32_tinvalid:INT32_MAXPARAM5 / local: x position in meters 1e4, global: latitude in degrees 10^7
                                                                                                                                                                yint32_tinvalid:INT32_MAXPARAM6 / local: y position in meters 1e4, global: longitude in degrees 10^7
                                                                                                                                                                zfloatinvalid:NaNPARAM7 / z position: global: altitude in meters (relative or absolute, depending on frame).

                                                                                                                                                                COMMAND_LONG (76)

                                                                                                                                                                Send a command with up to seven parameters to the MAV. COMMAND_INT is generally preferred when sending MAV_CMD commands that include positional information; it offers higher precision and allows the MAV_FRAME to be specified (which may otherwise be ambiguous, particularly for altitude). The command microservice is documented at https://mavlink.io/en/services/command.html

                                                                                                                                                                Field NameTypeValuesDescription
                                                                                                                                                                target_systemuint8_tSystem which should execute the command
                                                                                                                                                                target_componentuint8_tComponent which should execute the command, 0 for all components
                                                                                                                                                                commanduint16_tMAV_CMDCommand ID (of command to send).
                                                                                                                                                                confirmationuint8_t0: First transmission of this command. 1-255: Confirmation transmissions (e.g. for kill command)
                                                                                                                                                                param1floatinvalid:NaNParameter 1 (for the specific command).
                                                                                                                                                                param2floatinvalid:NaNParameter 2 (for the specific command).
                                                                                                                                                                param3floatinvalid:NaNParameter 3 (for the specific command).
                                                                                                                                                                param4floatinvalid:NaNParameter 4 (for the specific command).
                                                                                                                                                                param5floatinvalid:NaNParameter 5 (for the specific command).
                                                                                                                                                                param6floatinvalid:NaNParameter 6 (for the specific command).
                                                                                                                                                                param7floatinvalid:NaNParameter 7 (for the specific command).

                                                                                                                                                                COMMAND_ACK (77)

                                                                                                                                                                Report status of a command. Includes feedback whether the command was executed. The command microservice is documented at https://mavlink.io/en/services/command.html

                                                                                                                                                                Field NameTypeUnitsValuesDescription
                                                                                                                                                                commanduint16_tMAV_CMDCommand ID (of acknowledged command).
                                                                                                                                                                resultuint8_tMAV_RESULTResult of command.
                                                                                                                                                                progress ++uint8_t%invalid:UINT8_MAXThe progress percentage when result is MAV_RESULT_IN_PROGRESS. Values: [0-100], or UINT8_MAX if the progress is unknown.
                                                                                                                                                                result_param2 ++int32_tAdditional result information. Can be set with a command-specific enum containing command-specific error reasons for why the command might be denied. If used, the associated enum must be documented in the corresponding MAV_CMD (this enum should have a 0 value to indicate "unused" or "unknown").
                                                                                                                                                                target_system ++uint8_tSystem ID of the target recipient. This is the ID of the system that sent the command for which this COMMAND_ACK is an acknowledgement.
                                                                                                                                                                target_component ++uint8_tComponent ID of the target recipient. This is the ID of the system that sent the command for which this COMMAND_ACK is an acknowledgement.

                                                                                                                                                                COMMAND_CANCEL (80) — [WIP]

                                                                                                                                                                WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                Cancel a long running command. The target system should respond with a COMMAND_ACK to the original command with result=MAV_RESULT_CANCELLED if the long running process was cancelled. If it has already completed, the cancel action can be ignored. The cancel action can be retried until some sort of acknowledgement to the original command has been received. The command microservice is documented at https://mavlink.io/en/services/command.html

                                                                                                                                                                Field NameTypeValuesDescription
                                                                                                                                                                target_systemuint8_tSystem executing long running command. Should not be broadcast (0).
                                                                                                                                                                target_componentuint8_tComponent executing long running command.
                                                                                                                                                                commanduint16_tMAV_CMDCommand ID (of command to cancel).

                                                                                                                                                                MANUAL_SETPOINT (81)

                                                                                                                                                                Setpoint in roll, pitch, yaw and thrust from the operator

                                                                                                                                                                Field NameTypeUnitsDescription
                                                                                                                                                                time_boot_msuint32_tmsTimestamp (time since system boot).
                                                                                                                                                                rollfloatrad/sDesired roll rate
                                                                                                                                                                pitchfloatrad/sDesired pitch rate
                                                                                                                                                                yawfloatrad/sDesired yaw rate
                                                                                                                                                                thrustfloatCollective thrust, normalized to 0 .. 1
                                                                                                                                                                mode_switchuint8_tFlight mode switch position, 0.. 255
                                                                                                                                                                manual_override_switchuint8_tOverride mode switch position, 0.. 255

                                                                                                                                                                SET_ATTITUDE_TARGET (82)

                                                                                                                                                                Sets a desired vehicle attitude. Used by an external controller to command the vehicle (manual controller or other system).

                                                                                                                                                                Field NameTypeUnitsValuesDescription
                                                                                                                                                                time_boot_msuint32_tmsTimestamp (time since system boot).
                                                                                                                                                                target_systemuint8_tSystem ID
                                                                                                                                                                target_componentuint8_tComponent ID
                                                                                                                                                                type_maskuint8_tATTITUDE_TARGET_TYPEMASKBitmap to indicate which dimensions should be ignored by the vehicle.
                                                                                                                                                                qfloat[4]Attitude quaternion (w, x, y, z order, zero-rotation is 1, 0, 0, 0) from MAV_FRAME_LOCAL_NED to MAV_FRAME_BODY_FRD
                                                                                                                                                                body_roll_ratefloatrad/sBody roll rate
                                                                                                                                                                body_pitch_ratefloatrad/sBody pitch rate
                                                                                                                                                                body_yaw_ratefloatrad/sBody yaw rate
                                                                                                                                                                thrustfloatCollective thrust, normalized to 0 .. 1 (-1 .. 1 for vehicles capable of reverse trust)
                                                                                                                                                                thrust_body ++float[3]3D thrust setpoint in the body NED frame, normalized to -1 .. 1

                                                                                                                                                                ATTITUDE_TARGET (83)

                                                                                                                                                                Reports the current commanded attitude of the vehicle as specified by the autopilot. This should match the commands sent in a SET_ATTITUDE_TARGET message if the vehicle is being controlled this way.

                                                                                                                                                                Field NameTypeUnitsValuesDescription
                                                                                                                                                                time_boot_msuint32_tmsTimestamp (time since system boot).
                                                                                                                                                                type_maskuint8_tATTITUDE_TARGET_TYPEMASKBitmap to indicate which dimensions should be ignored by the vehicle.
                                                                                                                                                                qfloat[4]Attitude quaternion (w, x, y, z order, zero-rotation is 1, 0, 0, 0)
                                                                                                                                                                body_roll_ratefloatrad/sBody roll rate
                                                                                                                                                                body_pitch_ratefloatrad/sBody pitch rate
                                                                                                                                                                body_yaw_ratefloatrad/sBody yaw rate
                                                                                                                                                                thrustfloatCollective thrust, normalized to 0 .. 1 (-1 .. 1 for vehicles capable of reverse trust)

                                                                                                                                                                SET_POSITION_TARGET_LOCAL_NED (84)

                                                                                                                                                                Sets a desired vehicle position in a local north-east-down coordinate frame. Used by an external controller to command the vehicle (manual controller or other system).

                                                                                                                                                                Field NameTypeUnitsValuesDescription
                                                                                                                                                                time_boot_msuint32_tmsTimestamp (time since system boot).
                                                                                                                                                                target_systemuint8_tSystem ID
                                                                                                                                                                target_componentuint8_tComponent ID
                                                                                                                                                                coordinate_frameuint8_tMAV_FRAMEValid options are: MAV_FRAME_LOCAL_NED = 1, MAV_FRAME_LOCAL_OFFSET_NED = 7, MAV_FRAME_BODY_NED = 8, MAV_FRAME_BODY_OFFSET_NED = 9
                                                                                                                                                                type_maskuint16_tPOSITION_TARGET_TYPEMASKBitmap to indicate which dimensions should be ignored by the vehicle.
                                                                                                                                                                xfloatmX Position in NED frame
                                                                                                                                                                yfloatmY Position in NED frame
                                                                                                                                                                zfloatmZ Position in NED frame (note, altitude is negative in NED)
                                                                                                                                                                vxfloatm/sX velocity in NED frame
                                                                                                                                                                vyfloatm/sY velocity in NED frame
                                                                                                                                                                vzfloatm/sZ velocity in NED frame
                                                                                                                                                                afxfloatm/s/sX acceleration or force (if bit 10 of type_mask is set) in NED frame in meter / s^2 or N
                                                                                                                                                                afyfloatm/s/sY acceleration or force (if bit 10 of type_mask is set) in NED frame in meter / s^2 or N
                                                                                                                                                                afzfloatm/s/sZ acceleration or force (if bit 10 of type_mask is set) in NED frame in meter / s^2 or N
                                                                                                                                                                yawfloatradyaw setpoint
                                                                                                                                                                yaw_ratefloatrad/syaw rate setpoint

                                                                                                                                                                POSITION_TARGET_LOCAL_NED (85)

                                                                                                                                                                Reports the current commanded vehicle position, velocity, and acceleration as specified by the autopilot. This should match the commands sent in SET_POSITION_TARGET_LOCAL_NED if the vehicle is being controlled this way.

                                                                                                                                                                Field NameTypeUnitsValuesDescription
                                                                                                                                                                time_boot_msuint32_tmsTimestamp (time since system boot).
                                                                                                                                                                coordinate_frameuint8_tMAV_FRAMEValid options are: MAV_FRAME_LOCAL_NED = 1, MAV_FRAME_LOCAL_OFFSET_NED = 7, MAV_FRAME_BODY_NED = 8, MAV_FRAME_BODY_OFFSET_NED = 9
                                                                                                                                                                type_maskuint16_tPOSITION_TARGET_TYPEMASKBitmap to indicate which dimensions should be ignored by the vehicle.
                                                                                                                                                                xfloatmX Position in NED frame
                                                                                                                                                                yfloatmY Position in NED frame
                                                                                                                                                                zfloatmZ Position in NED frame (note, altitude is negative in NED)
                                                                                                                                                                vxfloatm/sX velocity in NED frame
                                                                                                                                                                vyfloatm/sY velocity in NED frame
                                                                                                                                                                vzfloatm/sZ velocity in NED frame
                                                                                                                                                                afxfloatm/s/sX acceleration or force (if bit 10 of type_mask is set) in NED frame in meter / s^2 or N
                                                                                                                                                                afyfloatm/s/sY acceleration or force (if bit 10 of type_mask is set) in NED frame in meter / s^2 or N
                                                                                                                                                                afzfloatm/s/sZ acceleration or force (if bit 10 of type_mask is set) in NED frame in meter / s^2 or N
                                                                                                                                                                yawfloatradyaw setpoint
                                                                                                                                                                yaw_ratefloatrad/syaw rate setpoint

                                                                                                                                                                SET_POSITION_TARGET_GLOBAL_INT (86)

                                                                                                                                                                Sets a desired vehicle position, velocity, and/or acceleration in a global coordinate system (WGS84). Used by an external controller to command the vehicle (manual controller or other system).

                                                                                                                                                                Field NameTypeUnitsValuesDescription
                                                                                                                                                                time_boot_msuint32_tmsTimestamp (time since system boot). The rationale for the timestamp in the setpoint is to allow the system to compensate for the transport delay of the setpoint. This allows the system to compensate processing latency.
                                                                                                                                                                target_systemuint8_tSystem ID
                                                                                                                                                                target_componentuint8_tComponent ID
                                                                                                                                                                coordinate_frameuint8_tMAV_FRAMEValid options are: MAV_FRAME_GLOBAL = 0, MAV_FRAME_GLOBAL_RELATIVE_ALT = 3, MAV_FRAME_GLOBAL_TERRAIN_ALT = 10 (MAV_FRAME_GLOBAL_INT, MAV_FRAME_GLOBAL_RELATIVE_ALT_INT, MAV_FRAME_GLOBAL_TERRAIN_ALT_INT are allowed synonyms, but have been deprecated)
                                                                                                                                                                type_maskuint16_tPOSITION_TARGET_TYPEMASKBitmap to indicate which dimensions should be ignored by the vehicle.
                                                                                                                                                                lat_intint32_tdegE7Latitude in WGS84 frame
                                                                                                                                                                lon_intint32_tdegE7Longitude in WGS84 frame
                                                                                                                                                                altfloatmAltitude (MSL, Relative to home, or AGL - depending on frame)
                                                                                                                                                                vxfloatm/sX velocity in NED frame
                                                                                                                                                                vyfloatm/sY velocity in NED frame
                                                                                                                                                                vzfloatm/sZ velocity in NED frame
                                                                                                                                                                afxfloatm/s/sX acceleration or force (if bit 10 of type_mask is set) in NED frame in meter / s^2 or N
                                                                                                                                                                afyfloatm/s/sY acceleration or force (if bit 10 of type_mask is set) in NED frame in meter / s^2 or N
                                                                                                                                                                afzfloatm/s/sZ acceleration or force (if bit 10 of type_mask is set) in NED frame in meter / s^2 or N
                                                                                                                                                                yawfloatradyaw setpoint
                                                                                                                                                                yaw_ratefloatrad/syaw rate setpoint

                                                                                                                                                                POSITION_TARGET_GLOBAL_INT (87)

                                                                                                                                                                Reports the current commanded vehicle position, velocity, and acceleration as specified by the autopilot. This should match the commands sent in SET_POSITION_TARGET_GLOBAL_INT if the vehicle is being controlled this way.

                                                                                                                                                                Field NameTypeUnitsValuesDescription
                                                                                                                                                                time_boot_msuint32_tmsTimestamp (time since system boot). The rationale for the timestamp in the setpoint is to allow the system to compensate for the transport delay of the setpoint. This allows the system to compensate processing latency.
                                                                                                                                                                coordinate_frameuint8_tMAV_FRAMEValid options are: MAV_FRAME_GLOBAL = 0, MAV_FRAME_GLOBAL_RELATIVE_ALT = 3, MAV_FRAME_GLOBAL_TERRAIN_ALT = 10 (MAV_FRAME_GLOBAL_INT, MAV_FRAME_GLOBAL_RELATIVE_ALT_INT, MAV_FRAME_GLOBAL_TERRAIN_ALT_INT are allowed synonyms, but have been deprecated)
                                                                                                                                                                type_maskuint16_tPOSITION_TARGET_TYPEMASKBitmap to indicate which dimensions should be ignored by the vehicle.
                                                                                                                                                                lat_intint32_tdegE7Latitude in WGS84 frame
                                                                                                                                                                lon_intint32_tdegE7Longitude in WGS84 frame
                                                                                                                                                                altfloatmAltitude (MSL, AGL or relative to home altitude, depending on frame)
                                                                                                                                                                vxfloatm/sX velocity in NED frame
                                                                                                                                                                vyfloatm/sY velocity in NED frame
                                                                                                                                                                vzfloatm/sZ velocity in NED frame
                                                                                                                                                                afxfloatm/s/sX acceleration or force (if bit 10 of type_mask is set) in NED frame in meter / s^2 or N
                                                                                                                                                                afyfloatm/s/sY acceleration or force (if bit 10 of type_mask is set) in NED frame in meter / s^2 or N
                                                                                                                                                                afzfloatm/s/sZ acceleration or force (if bit 10 of type_mask is set) in NED frame in meter / s^2 or N
                                                                                                                                                                yawfloatradyaw setpoint
                                                                                                                                                                yaw_ratefloatrad/syaw rate setpoint

                                                                                                                                                                LOCAL_POSITION_NED_SYSTEM_GLOBAL_OFFSET (89)

                                                                                                                                                                The offset in X, Y, Z and yaw between the LOCAL_POSITION_NED messages of MAV X and the global coordinate frame in NED coordinates. Coordinate frame is right-handed, Z-axis down (aeronautical frame, NED / north-east-down convention)

                                                                                                                                                                Field NameTypeUnitsDescription
                                                                                                                                                                time_boot_msuint32_tmsTimestamp (time since system boot).
                                                                                                                                                                xfloatmX Position
                                                                                                                                                                yfloatmY Position
                                                                                                                                                                zfloatmZ Position
                                                                                                                                                                rollfloatradRoll
                                                                                                                                                                pitchfloatradPitch
                                                                                                                                                                yawfloatradYaw

                                                                                                                                                                HIL_STATE (90) — [DEP]

                                                                                                                                                                DEPRECATED: Replaced By HIL_STATE_QUATERNION (2013-07) — Suffers from missing airspeed fields and singularities due to Euler angles)

                                                                                                                                                                Sent from simulation to autopilot. This packet is useful for high throughput applications such as hardware in the loop simulations.

                                                                                                                                                                Field NameTypeUnitsDescription
                                                                                                                                                                time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
                                                                                                                                                                rollfloatradRoll angle
                                                                                                                                                                pitchfloatradPitch angle
                                                                                                                                                                yawfloatradYaw angle
                                                                                                                                                                rollspeedfloatrad/sBody frame roll / phi angular speed
                                                                                                                                                                pitchspeedfloatrad/sBody frame pitch / theta angular speed
                                                                                                                                                                yawspeedfloatrad/sBody frame yaw / psi angular speed
                                                                                                                                                                latint32_tdegE7Latitude
                                                                                                                                                                lonint32_tdegE7Longitude
                                                                                                                                                                altint32_tmmAltitude
                                                                                                                                                                vxint16_tcm/sGround X Speed (Latitude)
                                                                                                                                                                vyint16_tcm/sGround Y Speed (Longitude)
                                                                                                                                                                vzint16_tcm/sGround Z Speed (Altitude)
                                                                                                                                                                xaccint16_tmGX acceleration
                                                                                                                                                                yaccint16_tmGY acceleration
                                                                                                                                                                zaccint16_tmGZ acceleration

                                                                                                                                                                HIL_CONTROLS (91)

                                                                                                                                                                Sent from autopilot to simulation. Hardware in the loop control outputs

                                                                                                                                                                Field NameTypeUnitsValuesDescription
                                                                                                                                                                time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
                                                                                                                                                                roll_aileronsfloatControl output -1 .. 1
                                                                                                                                                                pitch_elevatorfloatControl output -1 .. 1
                                                                                                                                                                yaw_rudderfloatControl output -1 .. 1
                                                                                                                                                                throttlefloatThrottle 0 .. 1
                                                                                                                                                                aux1floatAux 1, -1 .. 1
                                                                                                                                                                aux2floatAux 2, -1 .. 1
                                                                                                                                                                aux3floatAux 3, -1 .. 1
                                                                                                                                                                aux4floatAux 4, -1 .. 1
                                                                                                                                                                modeuint8_tMAV_MODESystem mode.
                                                                                                                                                                nav_modeuint8_tNavigation mode (MAV_NAV_MODE)

                                                                                                                                                                HIL_RC_INPUTS_RAW (92)

                                                                                                                                                                Sent from simulation to autopilot. The RAW values of the RC channels received. The standard PPM modulation is as follows: 1000 microseconds: 0%, 2000 microseconds: 100%. Individual receivers/transmitters might violate this specification.

                                                                                                                                                                Field NameTypeUnitsDescription
                                                                                                                                                                time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
                                                                                                                                                                chan1_rawuint16_tusRC channel 1 value
                                                                                                                                                                chan2_rawuint16_tusRC channel 2 value
                                                                                                                                                                chan3_rawuint16_tusRC channel 3 value
                                                                                                                                                                chan4_rawuint16_tusRC channel 4 value
                                                                                                                                                                chan5_rawuint16_tusRC channel 5 value
                                                                                                                                                                chan6_rawuint16_tusRC channel 6 value
                                                                                                                                                                chan7_rawuint16_tusRC channel 7 value
                                                                                                                                                                chan8_rawuint16_tusRC channel 8 value
                                                                                                                                                                chan9_rawuint16_tusRC channel 9 value
                                                                                                                                                                chan10_rawuint16_tusRC channel 10 value
                                                                                                                                                                chan11_rawuint16_tusRC channel 11 value
                                                                                                                                                                chan12_rawuint16_tusRC channel 12 value
                                                                                                                                                                rssiuint8_tReceive signal strength indicator in device-dependent units/scale. Values: [0-254], UINT8_MAX: invalid/unknown.

                                                                                                                                                                HIL_ACTUATOR_CONTROLS (93)

                                                                                                                                                                Sent from autopilot to simulation. Hardware in the loop control outputs (replacement for HIL_CONTROLS)

                                                                                                                                                                Field NameTypeUnitsValuesDescription
                                                                                                                                                                time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
                                                                                                                                                                controlsfloat[16]Control outputs -1 .. 1. Channel assignment depends on the simulated hardware.
                                                                                                                                                                modeuint8_tMAV_MODE_FLAGSystem mode. Includes arming state.
                                                                                                                                                                flagsuint64_tFlags as bitfield, 1: indicate simulation using lockstep.

                                                                                                                                                                OPTICAL_FLOW (100)

                                                                                                                                                                Optical flow from a flow sensor (e.g. optical mouse sensor)

                                                                                                                                                                Field NameTypeUnitsDescription
                                                                                                                                                                time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
                                                                                                                                                                sensor_iduint8_tSensor ID
                                                                                                                                                                flow_xint16_tdpixFlow in x-sensor direction
                                                                                                                                                                flow_yint16_tdpixFlow in y-sensor direction
                                                                                                                                                                flow_comp_m_xfloatm/sFlow in x-sensor direction, angular-speed compensated
                                                                                                                                                                flow_comp_m_yfloatm/sFlow in y-sensor direction, angular-speed compensated
                                                                                                                                                                qualityuint8_tOptical flow quality / confidence. 0: bad, 255: maximum quality
                                                                                                                                                                ground_distancefloatmGround distance. Positive value: distance known. Negative value: Unknown distance
                                                                                                                                                                flow_rate_x ++floatrad/sFlow rate about X axis
                                                                                                                                                                flow_rate_y ++floatrad/sFlow rate about Y axis

                                                                                                                                                                GLOBAL_VISION_POSITION_ESTIMATE (101)

                                                                                                                                                                Global position/attitude estimate from a vision source.

                                                                                                                                                                Field NameTypeUnitsDescription
                                                                                                                                                                usecuint64_tusTimestamp (UNIX time or since system boot)
                                                                                                                                                                xfloatmGlobal X position
                                                                                                                                                                yfloatmGlobal Y position
                                                                                                                                                                zfloatmGlobal Z position
                                                                                                                                                                rollfloatradRoll angle
                                                                                                                                                                pitchfloatradPitch angle
                                                                                                                                                                yawfloatradYaw angle
                                                                                                                                                                covariance ++float[21]Row-major representation of pose 6x6 cross-covariance matrix upper right triangle (states: x_global, y_global, z_global, roll, pitch, yaw; first six entries are the first ROW, next five entries are the second ROW, etc.). If unknown, assign NaN value to first element in the array.
                                                                                                                                                                reset_counter ++uint8_tEstimate reset counter. This should be incremented when the estimate resets in any of the dimensions (position, velocity, attitude, angular speed). This is designed to be used when e.g an external SLAM system detects a loop-closure and the estimate jumps.

                                                                                                                                                                VISION_POSITION_ESTIMATE (102)

                                                                                                                                                                Local position/attitude estimate from a vision source.

                                                                                                                                                                Field NameTypeUnitsDescription
                                                                                                                                                                usecuint64_tusTimestamp (UNIX time or time since system boot)
                                                                                                                                                                xfloatmLocal X position
                                                                                                                                                                yfloatmLocal Y position
                                                                                                                                                                zfloatmLocal Z position
                                                                                                                                                                rollfloatradRoll angle
                                                                                                                                                                pitchfloatradPitch angle
                                                                                                                                                                yawfloatradYaw angle
                                                                                                                                                                covariance ++float[21]Row-major representation of pose 6x6 cross-covariance matrix upper right triangle (states: x, y, z, roll, pitch, yaw; first six entries are the first ROW, next five entries are the second ROW, etc.). If unknown, assign NaN value to first element in the array.
                                                                                                                                                                reset_counter ++uint8_tEstimate reset counter. This should be incremented when the estimate resets in any of the dimensions (position, velocity, attitude, angular speed). This is designed to be used when e.g an external SLAM system detects a loop-closure and the estimate jumps.

                                                                                                                                                                VISION_SPEED_ESTIMATE (103)

                                                                                                                                                                Speed estimate from a vision source.

                                                                                                                                                                Field NameTypeUnitsDescription
                                                                                                                                                                usecuint64_tusTimestamp (UNIX time or time since system boot)
                                                                                                                                                                xfloatm/sGlobal X speed
                                                                                                                                                                yfloatm/sGlobal Y speed
                                                                                                                                                                zfloatm/sGlobal Z speed
                                                                                                                                                                covariance ++float[9]Row-major representation of 3x3 linear velocity covariance matrix (states: vx, vy, vz; 1st three entries - 1st row, etc.). If unknown, assign NaN value to first element in the array.
                                                                                                                                                                reset_counter ++uint8_tEstimate reset counter. This should be incremented when the estimate resets in any of the dimensions (position, velocity, attitude, angular speed). This is designed to be used when e.g an external SLAM system detects a loop-closure and the estimate jumps.

                                                                                                                                                                VICON_POSITION_ESTIMATE (104)

                                                                                                                                                                Global position estimate from a Vicon motion system source.

                                                                                                                                                                Field NameTypeUnitsDescription
                                                                                                                                                                usecuint64_tusTimestamp (UNIX time or time since system boot)
                                                                                                                                                                xfloatmGlobal X position
                                                                                                                                                                yfloatmGlobal Y position
                                                                                                                                                                zfloatmGlobal Z position
                                                                                                                                                                rollfloatradRoll angle
                                                                                                                                                                pitchfloatradPitch angle
                                                                                                                                                                yawfloatradYaw angle
                                                                                                                                                                covariance ++float[21]Row-major representation of 6x6 pose cross-covariance matrix upper right triangle (states: x, y, z, roll, pitch, yaw; first six entries are the first ROW, next five entries are the second ROW, etc.). If unknown, assign NaN value to first element in the array.

                                                                                                                                                                HIGHRES_IMU (105)

                                                                                                                                                                The IMU readings in SI units in NED body frame

                                                                                                                                                                Field NameTypeUnitsValuesDescription
                                                                                                                                                                time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
                                                                                                                                                                xaccfloatm/s/sX acceleration
                                                                                                                                                                yaccfloatm/s/sY acceleration
                                                                                                                                                                zaccfloatm/s/sZ acceleration
                                                                                                                                                                xgyrofloatrad/sAngular speed around X axis
                                                                                                                                                                ygyrofloatrad/sAngular speed around Y axis
                                                                                                                                                                zgyrofloatrad/sAngular speed around Z axis
                                                                                                                                                                xmagfloatgaussX Magnetic field
                                                                                                                                                                ymagfloatgaussY Magnetic field
                                                                                                                                                                zmagfloatgaussZ Magnetic field
                                                                                                                                                                abs_pressurefloathPaAbsolute pressure
                                                                                                                                                                diff_pressurefloathPaDifferential pressure
                                                                                                                                                                pressure_altfloatAltitude calculated from pressure
                                                                                                                                                                temperaturefloatdegCTemperature
                                                                                                                                                                fields_updateduint16_tHIGHRES_IMU_UPDATED_FLAGSBitmap for fields that have updated since last message
                                                                                                                                                                id ++uint8_tId. Ids are numbered from 0 and map to IMUs numbered from 1 (e.g. IMU1 will have a message with id=0)
                                                                                                                                                                Messages with same value are from the same source (instance).

                                                                                                                                                                OPTICAL_FLOW_RAD (106)

                                                                                                                                                                Optical flow from an angular rate flow sensor (e.g. PX4FLOW or mouse sensor)

                                                                                                                                                                Field NameTypeUnitsDescription
                                                                                                                                                                time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
                                                                                                                                                                sensor_iduint8_tSensor ID
                                                                                                                                                                Messages with same value are from the same source (instance).
                                                                                                                                                                integration_time_usuint32_tusIntegration time. Divide integrated_x and integrated_y by the integration time to obtain average flow. The integration time also indicates the.
                                                                                                                                                                integrated_xfloatradFlow around X axis (Sensor RH rotation about the X axis induces a positive flow. Sensor linear motion along the positive Y axis induces a negative flow.)
                                                                                                                                                                integrated_yfloatradFlow around Y axis (Sensor RH rotation about the Y axis induces a positive flow. Sensor linear motion along the positive X axis induces a positive flow.)
                                                                                                                                                                integrated_xgyrofloatradRH rotation around X axis
                                                                                                                                                                integrated_ygyrofloatradRH rotation around Y axis
                                                                                                                                                                integrated_zgyrofloatradRH rotation around Z axis
                                                                                                                                                                temperatureint16_tcdegCTemperature
                                                                                                                                                                qualityuint8_tOptical flow quality / confidence. 0: no valid flow, 255: maximum quality
                                                                                                                                                                time_delta_distance_usuint32_tusTime since the distance was sampled.
                                                                                                                                                                distancefloatmDistance to the center of the flow field. Positive value (including zero): distance known. Negative value: Unknown distance.

                                                                                                                                                                HIL_SENSOR (107)

                                                                                                                                                                The IMU readings in SI units in NED body frame

                                                                                                                                                                Field NameTypeUnitsValuesDescription
                                                                                                                                                                time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
                                                                                                                                                                xaccfloatm/s/sX acceleration
                                                                                                                                                                yaccfloatm/s/sY acceleration
                                                                                                                                                                zaccfloatm/s/sZ acceleration
                                                                                                                                                                xgyrofloatrad/sAngular speed around X axis in body frame
                                                                                                                                                                ygyrofloatrad/sAngular speed around Y axis in body frame
                                                                                                                                                                zgyrofloatrad/sAngular speed around Z axis in body frame
                                                                                                                                                                xmagfloatgaussX Magnetic field
                                                                                                                                                                ymagfloatgaussY Magnetic field
                                                                                                                                                                zmagfloatgaussZ Magnetic field
                                                                                                                                                                abs_pressurefloathPaAbsolute pressure
                                                                                                                                                                diff_pressurefloathPaDifferential pressure (airspeed)
                                                                                                                                                                pressure_altfloatAltitude calculated from pressure
                                                                                                                                                                temperaturefloatdegCTemperature
                                                                                                                                                                fields_updateduint32_tHIL_SENSOR_UPDATED_FLAGSBitmap for fields that have updated since last message
                                                                                                                                                                id ++uint8_tSensor ID (zero indexed). Used for multiple sensor inputs

                                                                                                                                                                SIM_STATE (108)

                                                                                                                                                                Status of simulation environment, if used

                                                                                                                                                                Field NameTypeUnitsDescription
                                                                                                                                                                q1floatTrue attitude quaternion component 1, w (1 in null-rotation)
                                                                                                                                                                q2floatTrue attitude quaternion component 2, x (0 in null-rotation)
                                                                                                                                                                q3floatTrue attitude quaternion component 3, y (0 in null-rotation)
                                                                                                                                                                q4floatTrue attitude quaternion component 4, z (0 in null-rotation)
                                                                                                                                                                rollfloatradAttitude roll expressed as Euler angles, not recommended except for human-readable outputs
                                                                                                                                                                pitchfloatradAttitude pitch expressed as Euler angles, not recommended except for human-readable outputs
                                                                                                                                                                yawfloatradAttitude yaw expressed as Euler angles, not recommended except for human-readable outputs
                                                                                                                                                                xaccfloatm/s/sX acceleration
                                                                                                                                                                yaccfloatm/s/sY acceleration
                                                                                                                                                                zaccfloatm/s/sZ acceleration
                                                                                                                                                                xgyrofloatrad/sAngular speed around X axis
                                                                                                                                                                ygyrofloatrad/sAngular speed around Y axis
                                                                                                                                                                zgyrofloatrad/sAngular speed around Z axis
                                                                                                                                                                latfloatdegLatitude (lower precision). Both this and the lat_int field should be set.
                                                                                                                                                                lonfloatdegLongitude (lower precision). Both this and the lon_int field should be set.
                                                                                                                                                                altfloatmAltitude
                                                                                                                                                                std_dev_horzfloatHorizontal position standard deviation
                                                                                                                                                                std_dev_vertfloatVertical position standard deviation
                                                                                                                                                                vnfloatm/sTrue velocity in north direction in earth-fixed NED frame
                                                                                                                                                                vefloatm/sTrue velocity in east direction in earth-fixed NED frame
                                                                                                                                                                vdfloatm/sTrue velocity in down direction in earth-fixed NED frame
                                                                                                                                                                lat_int ++int32_tdegE7Latitude (higher precision). If 0, recipients should use the lat field value (otherwise this field is preferred).
                                                                                                                                                                lon_int ++int32_tdegE7Longitude (higher precision). If 0, recipients should use the lon field value (otherwise this field is preferred).

                                                                                                                                                                RADIO_STATUS (109)

                                                                                                                                                                Status generated by radio and injected into MAVLink stream.

                                                                                                                                                                Field NameTypeUnitsDescription
                                                                                                                                                                rssiuint8_tLocal (message sender) received signal strength indication in device-dependent units/scale. Values: [0-254], UINT8_MAX: invalid/unknown.
                                                                                                                                                                remrssiuint8_tRemote (message receiver) signal strength indication in device-dependent units/scale. Values: [0-254], UINT8_MAX: invalid/unknown.
                                                                                                                                                                txbufuint8_t%Remaining free transmitter buffer space.
                                                                                                                                                                noiseuint8_tLocal background noise level. These are device dependent RSSI values (scale as approx 2x dB on SiK radios). Values: [0-254], UINT8_MAX: invalid/unknown.
                                                                                                                                                                remnoiseuint8_tRemote background noise level. These are device dependent RSSI values (scale as approx 2x dB on SiK radios). Values: [0-254], UINT8_MAX: invalid/unknown.
                                                                                                                                                                rxerrorsuint16_tCount of radio packet receive errors (since boot).
                                                                                                                                                                fixeduint16_tCount of error corrected radio packets (since boot).

                                                                                                                                                                FILE_TRANSFER_PROTOCOL (110)

                                                                                                                                                                File transfer protocol message: https://mavlink.io/en/services/ftp.html.

                                                                                                                                                                Field NameTypeDescription
                                                                                                                                                                target_networkuint8_tNetwork ID (0 for broadcast)
                                                                                                                                                                target_systemuint8_tSystem ID (0 for broadcast)
                                                                                                                                                                target_componentuint8_tComponent ID (0 for broadcast)
                                                                                                                                                                payloaduint8_t[251]Variable length payload. The length is defined by the remaining message length when subtracting the header and other fields. The content/format of this block is defined in https://mavlink.io/en/services/ftp.html.

                                                                                                                                                                TIMESYNC (111)

                                                                                                                                                                Time synchronization message. The message is used for both timesync requests and responses. The request is sent with ts1=syncing component timestamp and tc1=0, and may be broadcast or targeted to a specific system/component. The response is sent with ts1=syncing component timestamp (mirror back unchanged), and tc1=responding component timestamp, with the target_system and target_component set to ids of the original request. Systems can determine if they are receiving a request or response based on the value of tc. If the response has target_system==target_component==0 the remote system has not been updated to use the component IDs and cannot reliably timesync; the requestor may report an error. Timestamps are UNIX Epoch time or time since system boot in nanoseconds (the timestamp format can be inferred by checking for the magnitude of the number; generally it doesn't matter as only the offset is used). The message sequence is repeated numerous times with results being filtered/averaged to estimate the offset.

                                                                                                                                                                Field NameTypeUnitsDescription
                                                                                                                                                                tc1int64_tnsTime sync timestamp 1. Syncing: 0. Responding: Timestamp of responding component.
                                                                                                                                                                ts1int64_tnsTime sync timestamp 2. Timestamp of syncing component (mirrored in response).
                                                                                                                                                                target_system ++uint8_tTarget system id. Request: 0 (broadcast) or id of specific system. Response must contain system id of the requesting component.
                                                                                                                                                                target_component ++uint8_tTarget component id. Request: 0 (broadcast) or id of specific component. Response must contain component id of the requesting component.

                                                                                                                                                                CAMERA_TRIGGER (112)

                                                                                                                                                                Camera-IMU triggering and synchronisation message.

                                                                                                                                                                Field NameTypeUnitsDescription
                                                                                                                                                                time_usecuint64_tusTimestamp for image frame (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
                                                                                                                                                                sequint32_tImage frame sequence

                                                                                                                                                                HIL_GPS (113)

                                                                                                                                                                The global position, as returned by the Global Positioning System (GPS). This is

                                                                                                                                                                NOT the global position estimate of the system, but rather a RAW sensor value. See message GLOBAL_POSITION_INT for the global position estimate.

                                                                                                                                                                Field NameTypeUnitsMultiplierDescription
                                                                                                                                                                time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
                                                                                                                                                                fix_typeuint8_t0-1: no fix, 2: 2D fix, 3: 3D fix. Some applications will not use the value of this field unless it is at least two, so always correctly fill in the fix.
                                                                                                                                                                latint32_tdegE7Latitude (WGS84)
                                                                                                                                                                lonint32_tdegE7Longitude (WGS84)
                                                                                                                                                                altint32_tmmAltitude (MSL). Positive for up.
                                                                                                                                                                ephuint16_t1E-2GPS HDOP horizontal dilution of position (unitless * 100). If unknown, set to: UINT16_MAX
                                                                                                                                                                epvuint16_t1E-2GPS VDOP vertical dilution of position (unitless * 100). If unknown, set to: UINT16_MAX
                                                                                                                                                                veluint16_tcm/sGPS ground speed. If unknown, set to: UINT16_MAX
                                                                                                                                                                vnint16_tcm/sGPS velocity in north direction in earth-fixed NED frame
                                                                                                                                                                veint16_tcm/sGPS velocity in east direction in earth-fixed NED frame
                                                                                                                                                                vdint16_tcm/sGPS velocity in down direction in earth-fixed NED frame
                                                                                                                                                                coguint16_tcdegCourse over ground (NOT heading, but direction of movement), 0.0..359.99 degrees. If unknown, set to: UINT16_MAX
                                                                                                                                                                satellites_visibleuint8_tNumber of satellites visible. If unknown, set to UINT8_MAX
                                                                                                                                                                id ++uint8_tGPS ID (zero indexed). Used for multiple GPS inputs
                                                                                                                                                                yaw ++uint16_tcdegYaw of vehicle relative to Earth's North, zero means not available, use 36000 for north

                                                                                                                                                                HIL_OPTICAL_FLOW (114)

                                                                                                                                                                Simulated optical flow from a flow sensor (e.g. PX4FLOW or optical mouse sensor)

                                                                                                                                                                Field NameTypeUnitsDescription
                                                                                                                                                                time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
                                                                                                                                                                sensor_iduint8_tSensor ID
                                                                                                                                                                integration_time_usuint32_tusIntegration time. Divide integrated_x and integrated_y by the integration time to obtain average flow. The integration time also indicates the.
                                                                                                                                                                integrated_xfloatradFlow in radians around X axis (Sensor RH rotation about the X axis induces a positive flow. Sensor linear motion along the positive Y axis induces a negative flow.)
                                                                                                                                                                integrated_yfloatradFlow in radians around Y axis (Sensor RH rotation about the Y axis induces a positive flow. Sensor linear motion along the positive X axis induces a positive flow.)
                                                                                                                                                                integrated_xgyrofloatradRH rotation around X axis
                                                                                                                                                                integrated_ygyrofloatradRH rotation around Y axis
                                                                                                                                                                integrated_zgyrofloatradRH rotation around Z axis
                                                                                                                                                                temperatureint16_tcdegCTemperature
                                                                                                                                                                qualityuint8_tOptical flow quality / confidence. 0: no valid flow, 255: maximum quality
                                                                                                                                                                time_delta_distance_usuint32_tusTime since the distance was sampled.
                                                                                                                                                                distancefloatmDistance to the center of the flow field. Positive value (including zero): distance known. Negative value: Unknown distance.

                                                                                                                                                                HIL_STATE_QUATERNION (115)

                                                                                                                                                                Sent from simulation to autopilot, avoids in contrast to HIL_STATE singularities. This packet is useful for high throughput applications such as hardware in the loop simulations.

                                                                                                                                                                Field NameTypeUnitsDescription
                                                                                                                                                                time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
                                                                                                                                                                attitude_quaternionfloat[4]Vehicle attitude expressed as normalized quaternion in w, x, y, z order (with 1 0 0 0 being the null-rotation)
                                                                                                                                                                rollspeedfloatrad/sBody frame roll / phi angular speed
                                                                                                                                                                pitchspeedfloatrad/sBody frame pitch / theta angular speed
                                                                                                                                                                yawspeedfloatrad/sBody frame yaw / psi angular speed
                                                                                                                                                                latint32_tdegE7Latitude
                                                                                                                                                                lonint32_tdegE7Longitude
                                                                                                                                                                altint32_tmmAltitude
                                                                                                                                                                vxint16_tcm/sGround X Speed (Latitude)
                                                                                                                                                                vyint16_tcm/sGround Y Speed (Longitude)
                                                                                                                                                                vzint16_tcm/sGround Z Speed (Altitude)
                                                                                                                                                                ind_airspeeduint16_tcm/sIndicated airspeed
                                                                                                                                                                true_airspeeduint16_tcm/sTrue airspeed
                                                                                                                                                                xaccint16_tmGX acceleration
                                                                                                                                                                yaccint16_tmGY acceleration
                                                                                                                                                                zaccint16_tmGZ acceleration

                                                                                                                                                                SCALED_IMU2 (116)

                                                                                                                                                                The RAW IMU readings for secondary 9DOF sensor setup. This message should contain the scaled values to the described units

                                                                                                                                                                Field NameTypeUnitsDescription
                                                                                                                                                                time_boot_msuint32_tmsTimestamp (time since system boot).
                                                                                                                                                                xaccint16_tmGX acceleration
                                                                                                                                                                yaccint16_tmGY acceleration
                                                                                                                                                                zaccint16_tmGZ acceleration
                                                                                                                                                                xgyroint16_tmrad/sAngular speed around X axis
                                                                                                                                                                ygyroint16_tmrad/sAngular speed around Y axis
                                                                                                                                                                zgyroint16_tmrad/sAngular speed around Z axis
                                                                                                                                                                xmagint16_tmgaussX Magnetic field
                                                                                                                                                                ymagint16_tmgaussY Magnetic field
                                                                                                                                                                zmagint16_tmgaussZ Magnetic field
                                                                                                                                                                temperature ++int16_tcdegCTemperature, 0: IMU does not provide temperature values. If the IMU is at 0C it must send 1 (0.01C).

                                                                                                                                                                LOG_REQUEST_LIST (117)

                                                                                                                                                                Request a list of available logs. On some systems calling this may stop on-board logging until LOG_REQUEST_END is called. If there are no log files available this request shall be answered with one LOG_ENTRY message with id = 0 and num_logs = 0.

                                                                                                                                                                Field NameTypeDescription
                                                                                                                                                                target_systemuint8_tSystem ID
                                                                                                                                                                target_componentuint8_tComponent ID
                                                                                                                                                                startuint16_tFirst log id (0 for first available)
                                                                                                                                                                enduint16_tLast log id (0xffff for last available)

                                                                                                                                                                LOG_ENTRY (118)

                                                                                                                                                                Reply to LOG_REQUEST_LIST

                                                                                                                                                                Field NameTypeUnitsDescription
                                                                                                                                                                iduint16_tLog id
                                                                                                                                                                num_logsuint16_tTotal number of logs
                                                                                                                                                                last_log_numuint16_tHigh log number
                                                                                                                                                                time_utcuint32_tsUTC timestamp of log since 1970, or 0 if not available
                                                                                                                                                                sizeuint32_tbytesSize of the log (may be approximate)

                                                                                                                                                                LOG_REQUEST_DATA (119)

                                                                                                                                                                Request a chunk of a log

                                                                                                                                                                Field NameTypeUnitsDescription
                                                                                                                                                                target_systemuint8_tSystem ID
                                                                                                                                                                target_componentuint8_tComponent ID
                                                                                                                                                                iduint16_tLog id (from LOG_ENTRY reply)
                                                                                                                                                                ofsuint32_tOffset into the log
                                                                                                                                                                countuint32_tbytesNumber of bytes

                                                                                                                                                                LOG_DATA (120)

                                                                                                                                                                Reply to LOG_REQUEST_DATA

                                                                                                                                                                Field NameTypeUnitsDescription
                                                                                                                                                                iduint16_tLog id (from LOG_ENTRY reply)
                                                                                                                                                                ofsuint32_tOffset into the log
                                                                                                                                                                countuint8_tbytesNumber of bytes (zero for end of log)
                                                                                                                                                                datauint8_t[90]log data

                                                                                                                                                                LOG_ERASE (121)

                                                                                                                                                                Erase all logs

                                                                                                                                                                Field NameTypeDescription
                                                                                                                                                                target_systemuint8_tSystem ID
                                                                                                                                                                target_componentuint8_tComponent ID

                                                                                                                                                                LOG_REQUEST_END (122)

                                                                                                                                                                Stop log transfer and resume normal logging

                                                                                                                                                                Field NameTypeDescription
                                                                                                                                                                target_systemuint8_tSystem ID
                                                                                                                                                                target_componentuint8_tComponent ID

                                                                                                                                                                GPS_INJECT_DATA (123) — [DEP]

                                                                                                                                                                DEPRECATED: Replaced By GPS_RTCM_DATA (2022-05)

                                                                                                                                                                Data for injecting into the onboard GPS (used for DGPS)

                                                                                                                                                                Field NameTypeUnitsDescription
                                                                                                                                                                target_systemuint8_tSystem ID
                                                                                                                                                                target_componentuint8_tComponent ID
                                                                                                                                                                lenuint8_tbytesData length
                                                                                                                                                                datauint8_t[110]Raw data (110 is enough for 12 satellites of RTCMv2)

                                                                                                                                                                GPS2_RAW (124)

                                                                                                                                                                Second GPS data.

                                                                                                                                                                Field NameTypeUnitsValuesDescription
                                                                                                                                                                time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
                                                                                                                                                                fix_typeuint8_tGPS_FIX_TYPEGPS fix type.
                                                                                                                                                                latint32_tdegE7Latitude (WGS84)
                                                                                                                                                                lonint32_tdegE7Longitude (WGS84)
                                                                                                                                                                altint32_tmmAltitude (MSL). Positive for up.
                                                                                                                                                                ephuint16_tinvalid:UINT16_MAXGPS HDOP horizontal dilution of position (unitless * 100). If unknown, set to: UINT16_MAX
                                                                                                                                                                epvuint16_tinvalid:UINT16_MAXGPS VDOP vertical dilution of position (unitless * 100). If unknown, set to: UINT16_MAX
                                                                                                                                                                veluint16_tcm/sinvalid:UINT16_MAXGPS ground speed. If unknown, set to: UINT16_MAX
                                                                                                                                                                coguint16_tcdeginvalid:UINT16_MAXCourse over ground (NOT heading, but direction of movement): 0.0..359.99 degrees. If unknown, set to: UINT16_MAX
                                                                                                                                                                satellites_visibleuint8_tinvalid:UINT8_MAXNumber of satellites visible. If unknown, set to UINT8_MAX
                                                                                                                                                                dgps_numchuint8_tNumber of DGPS satellites
                                                                                                                                                                dgps_ageuint32_tmsAge of DGPS info
                                                                                                                                                                yaw ++uint16_tcdeginvalid:0Yaw in earth frame from north. Use 0 if this GPS does not provide yaw. Use UINT16_MAX if this GPS is configured to provide yaw and is currently unable to provide it. Use 36000 for north.
                                                                                                                                                                alt_ellipsoid ++int32_tmmAltitude (above WGS84, EGM96 ellipsoid). Positive for up.
                                                                                                                                                                h_acc ++uint32_tmmPosition uncertainty.
                                                                                                                                                                v_acc ++uint32_tmmAltitude uncertainty.
                                                                                                                                                                vel_acc ++uint32_tmmSpeed uncertainty.
                                                                                                                                                                hdg_acc ++uint32_tdegE5Heading / track uncertainty

                                                                                                                                                                POWER_STATUS (125)

                                                                                                                                                                Power supply status

                                                                                                                                                                Field NameTypeUnitsValuesDescription
                                                                                                                                                                Vccuint16_tmV5V rail voltage.
                                                                                                                                                                Vservouint16_tmVServo rail voltage.
                                                                                                                                                                flagsuint16_tMAV_POWER_STATUSBitmap of power supply status flags.

                                                                                                                                                                SERIAL_CONTROL (126)

                                                                                                                                                                Control a serial port. This can be used for raw access to an onboard serial peripheral such as a GPS or telemetry radio. It is designed to make it possible to update the devices firmware via MAVLink messages or change the devices settings. A message with zero bytes can be used to change just the baudrate.

                                                                                                                                                                Field NameTypeUnitsValuesDescription
                                                                                                                                                                deviceuint8_tSERIAL_CONTROL_DEVSerial control device type.
                                                                                                                                                                flagsuint8_tSERIAL_CONTROL_FLAGBitmap of serial control flags.
                                                                                                                                                                timeoutuint16_tmsTimeout for reply data
                                                                                                                                                                baudrateuint32_tbits/sBaudrate of transfer. Zero means no change.
                                                                                                                                                                countuint8_tbyteshow many bytes in this transfer
                                                                                                                                                                datauint8_t[70]serial data
                                                                                                                                                                target_system ++uint8_tSystem ID
                                                                                                                                                                target_component ++uint8_tComponent ID

                                                                                                                                                                GPS_RTK (127)

                                                                                                                                                                RTK GPS data. Gives information on the relative baseline calculation the GPS is reporting

                                                                                                                                                                Field NameTypeUnitsValuesDescription
                                                                                                                                                                time_last_baseline_msuint32_tmsTime since boot of last baseline message received.
                                                                                                                                                                rtk_receiver_iduint8_tIdentification of connected RTK receiver.
                                                                                                                                                                wnuint16_tGPS Week Number of last baseline
                                                                                                                                                                towuint32_tmsGPS Time of Week of last baseline
                                                                                                                                                                rtk_healthuint8_tGPS-specific health report for RTK data.
                                                                                                                                                                rtk_rateuint8_tHzRate of baseline messages being received by GPS
                                                                                                                                                                nsatsuint8_tCurrent number of sats used for RTK calculation.
                                                                                                                                                                baseline_coords_typeuint8_tRTK_BASELINE_COORDINATE_SYSTEMCoordinate system of baseline
                                                                                                                                                                baseline_a_mmint32_tmmCurrent baseline in ECEF x or NED north component.
                                                                                                                                                                baseline_b_mmint32_tmmCurrent baseline in ECEF y or NED east component.
                                                                                                                                                                baseline_c_mmint32_tmmCurrent baseline in ECEF z or NED down component.
                                                                                                                                                                accuracyuint32_tCurrent estimate of baseline accuracy.
                                                                                                                                                                iar_num_hypothesesint32_tCurrent number of integer ambiguity hypotheses.

                                                                                                                                                                GPS2_RTK (128)

                                                                                                                                                                RTK GPS data. Gives information on the relative baseline calculation the GPS is reporting

                                                                                                                                                                Field NameTypeUnitsValuesDescription
                                                                                                                                                                time_last_baseline_msuint32_tmsTime since boot of last baseline message received.
                                                                                                                                                                rtk_receiver_iduint8_tIdentification of connected RTK receiver.
                                                                                                                                                                wnuint16_tGPS Week Number of last baseline
                                                                                                                                                                towuint32_tmsGPS Time of Week of last baseline
                                                                                                                                                                rtk_healthuint8_tGPS-specific health report for RTK data.
                                                                                                                                                                rtk_rateuint8_tHzRate of baseline messages being received by GPS
                                                                                                                                                                nsatsuint8_tCurrent number of sats used for RTK calculation.
                                                                                                                                                                baseline_coords_typeuint8_tRTK_BASELINE_COORDINATE_SYSTEMCoordinate system of baseline
                                                                                                                                                                baseline_a_mmint32_tmmCurrent baseline in ECEF x or NED north component.
                                                                                                                                                                baseline_b_mmint32_tmmCurrent baseline in ECEF y or NED east component.
                                                                                                                                                                baseline_c_mmint32_tmmCurrent baseline in ECEF z or NED down component.
                                                                                                                                                                accuracyuint32_tCurrent estimate of baseline accuracy.
                                                                                                                                                                iar_num_hypothesesint32_tCurrent number of integer ambiguity hypotheses.

                                                                                                                                                                SCALED_IMU3 (129)

                                                                                                                                                                The RAW IMU readings for 3rd 9DOF sensor setup. This message should contain the scaled values to the described units

                                                                                                                                                                Field NameTypeUnitsDescription
                                                                                                                                                                time_boot_msuint32_tmsTimestamp (time since system boot).
                                                                                                                                                                xaccint16_tmGX acceleration
                                                                                                                                                                yaccint16_tmGY acceleration
                                                                                                                                                                zaccint16_tmGZ acceleration
                                                                                                                                                                xgyroint16_tmrad/sAngular speed around X axis
                                                                                                                                                                ygyroint16_tmrad/sAngular speed around Y axis
                                                                                                                                                                zgyroint16_tmrad/sAngular speed around Z axis
                                                                                                                                                                xmagint16_tmgaussX Magnetic field
                                                                                                                                                                ymagint16_tmgaussY Magnetic field
                                                                                                                                                                zmagint16_tmgaussZ Magnetic field
                                                                                                                                                                temperature ++int16_tcdegCTemperature, 0: IMU does not provide temperature values. If the IMU is at 0C it must send 1 (0.01C).

                                                                                                                                                                DATA_TRANSMISSION_HANDSHAKE (130)

                                                                                                                                                                Handshake message to initiate, control and stop image streaming when using the Image Transmission Protocol: https://mavlink.io/en/services/image_transmission.html.

                                                                                                                                                                Field NameTypeUnitsValuesDescription
                                                                                                                                                                typeuint8_tMAVLINK_DATA_STREAM_TYPEType of requested/acknowledged data.
                                                                                                                                                                sizeuint32_tbytestotal data size (set on ACK only).
                                                                                                                                                                widthuint16_tWidth of a matrix or image.
                                                                                                                                                                heightuint16_tHeight of a matrix or image.
                                                                                                                                                                packetsuint16_tNumber of packets being sent (set on ACK only).
                                                                                                                                                                payloaduint8_tbytesPayload size per packet (normally 253 byte, see DATA field size in message ENCAPSULATED_DATA) (set on ACK only).
                                                                                                                                                                jpg_qualityuint8_t%JPEG quality. Values: [1-100].

                                                                                                                                                                ENCAPSULATED_DATA (131)

                                                                                                                                                                Data packet for images sent using the Image Transmission Protocol: https://mavlink.io/en/services/image_transmission.html.

                                                                                                                                                                Field NameTypeDescription
                                                                                                                                                                seqnruint16_tsequence number (starting with 0 on every transmission)
                                                                                                                                                                datauint8_t[253]image data bytes

                                                                                                                                                                DISTANCE_SENSOR (132)

                                                                                                                                                                Distance sensor information for an onboard rangefinder.

                                                                                                                                                                Field NameTypeUnitsValuesDescription
                                                                                                                                                                time_boot_msuint32_tmsTimestamp (time since system boot).
                                                                                                                                                                min_distanceuint16_tcmMinimum distance the sensor can measure
                                                                                                                                                                max_distanceuint16_tcmMaximum distance the sensor can measure
                                                                                                                                                                current_distanceuint16_tcmCurrent distance reading
                                                                                                                                                                typeuint8_tMAV_DISTANCE_SENSORType of distance sensor.
                                                                                                                                                                iduint8_tOnboard ID of the sensor
                                                                                                                                                                Messages with same value are from the same source (instance).
                                                                                                                                                                orientationuint8_tMAV_SENSOR_ORIENTATIONDirection the sensor faces. downward-facing: ROTATION_PITCH_270, upward-facing: ROTATION_PITCH_90, backward-facing: ROTATION_PITCH_180, forward-facing: ROTATION_NONE, left-facing: ROTATION_YAW_90, right-facing: ROTATION_YAW_270
                                                                                                                                                                covarianceuint8_tcm^2invalid:UINT8_MAXMeasurement variance. Max standard deviation is 6cm. UINT8_MAX if unknown.
                                                                                                                                                                horizontal_fov ++floatradinvalid:0Horizontal Field of View (angle) where the distance measurement is valid and the field of view is known. Otherwise this is set to 0.
                                                                                                                                                                vertical_fov ++floatradinvalid:0Vertical Field of View (angle) where the distance measurement is valid and the field of view is known. Otherwise this is set to 0.
                                                                                                                                                                quaternion ++float[4]invalid:[0]Quaternion of the sensor orientation in vehicle body frame (w, x, y, z order, zero-rotation is 1, 0, 0, 0). Zero-rotation is along the vehicle body x-axis. This field is required if the orientation is set to MAV_SENSOR_ROTATION_CUSTOM. Set it to 0 if invalid."
                                                                                                                                                                signal_quality ++uint8_t%invalid:0Signal quality of the sensor. Specific to each sensor type, representing the relation of the signal strength with the target reflectivity, distance, size or aspect, but normalised as a percentage. 0 = unknown/unset signal quality, 1 = invalid signal, 100 = perfect signal.

                                                                                                                                                                TERRAIN_REQUEST (133)

                                                                                                                                                                Request for terrain data and terrain status. See terrain protocol docs: https://mavlink.io/en/services/terrain.html

                                                                                                                                                                Field NameTypeUnitsDescription
                                                                                                                                                                latint32_tdegE7Latitude of SW corner of first grid
                                                                                                                                                                lonint32_tdegE7Longitude of SW corner of first grid
                                                                                                                                                                grid_spacinguint16_tmGrid spacing
                                                                                                                                                                maskuint64_tBitmask of requested 4x4 grids (row major 8x7 array of grids, 56 bits)

                                                                                                                                                                TERRAIN_DATA (134)

                                                                                                                                                                Terrain data sent from GCS. The lat/lon and grid_spacing must be the same as a lat/lon from a TERRAIN_REQUEST. See terrain protocol docs: https://mavlink.io/en/services/terrain.html

                                                                                                                                                                Field NameTypeUnitsDescription
                                                                                                                                                                latint32_tdegE7Latitude of SW corner of first grid
                                                                                                                                                                lonint32_tdegE7Longitude of SW corner of first grid
                                                                                                                                                                grid_spacinguint16_tmGrid spacing
                                                                                                                                                                gridbituint8_tbit within the terrain request mask
                                                                                                                                                                dataint16_t[16]mTerrain data MSL

                                                                                                                                                                TERRAIN_CHECK (135)

                                                                                                                                                                Request that the vehicle report terrain height at the given location (expected response is a TERRAIN_REPORT). Used by GCS to check if vehicle has all terrain data needed for a mission.

                                                                                                                                                                Field NameTypeUnitsDescription
                                                                                                                                                                latint32_tdegE7Latitude
                                                                                                                                                                lonint32_tdegE7Longitude

                                                                                                                                                                TERRAIN_REPORT (136)

                                                                                                                                                                Streamed from drone to report progress of terrain map download (initiated by TERRAIN_REQUEST), or sent as a response to a TERRAIN_CHECK request. See terrain protocol docs: https://mavlink.io/en/services/terrain.html

                                                                                                                                                                Field NameTypeUnitsDescription
                                                                                                                                                                latint32_tdegE7Latitude
                                                                                                                                                                lonint32_tdegE7Longitude
                                                                                                                                                                spacinguint16_tgrid spacing (zero if terrain at this location unavailable)
                                                                                                                                                                terrain_heightfloatmTerrain height MSL
                                                                                                                                                                current_heightfloatmCurrent vehicle height above lat/lon terrain height
                                                                                                                                                                pendinguint16_tNumber of 4x4 terrain blocks waiting to be received or read from disk
                                                                                                                                                                loadeduint16_tNumber of 4x4 terrain blocks in memory

                                                                                                                                                                SCALED_PRESSURE2 (137)

                                                                                                                                                                Barometer readings for 2nd barometer

                                                                                                                                                                Field NameTypeUnitsDescription
                                                                                                                                                                time_boot_msuint32_tmsTimestamp (time since system boot).
                                                                                                                                                                press_absfloathPaAbsolute pressure
                                                                                                                                                                press_difffloathPaDifferential pressure
                                                                                                                                                                temperatureint16_tcdegCAbsolute pressure temperature
                                                                                                                                                                temperature_press_diff ++int16_tcdegCDifferential pressure temperature (0, if not available). Report values of 0 (or 1) as 1 cdegC.

                                                                                                                                                                ATT_POS_MOCAP (138)

                                                                                                                                                                Motion capture attitude and position

                                                                                                                                                                Field NameTypeUnitsDescription
                                                                                                                                                                time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
                                                                                                                                                                qfloat[4]Attitude quaternion (w, x, y, z order, zero-rotation is 1, 0, 0, 0)
                                                                                                                                                                xfloatmX position (NED)
                                                                                                                                                                yfloatmY position (NED)
                                                                                                                                                                zfloatmZ position (NED)
                                                                                                                                                                covariance ++float[21]Row-major representation of a pose 6x6 cross-covariance matrix upper right triangle (states: x, y, z, roll, pitch, yaw; first six entries are the first ROW, next five entries are the second ROW, etc.). If unknown, assign NaN value to first element in the array.

                                                                                                                                                                SET_ACTUATOR_CONTROL_TARGET (139)

                                                                                                                                                                Set the vehicle attitude and body angular rates.

                                                                                                                                                                Field NameTypeUnitsDescription
                                                                                                                                                                time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
                                                                                                                                                                group_mlxuint8_tActuator group. The "_mlx" indicates this is a multi-instance message and a MAVLink parser should use this field to difference between instances.
                                                                                                                                                                target_systemuint8_tSystem ID
                                                                                                                                                                target_componentuint8_tComponent ID
                                                                                                                                                                controlsfloat[8]Actuator controls. Normed to -1..+1 where 0 is neutral position. Throttle for single rotation direction motors is 0..1, negative range for reverse direction. Standard mapping for attitude controls (group 0): (index 0-7): roll, pitch, yaw, throttle, flaps, spoilers, airbrakes, landing gear. Load a pass-through mixer to repurpose them as generic outputs.

                                                                                                                                                                ACTUATOR_CONTROL_TARGET (140)

                                                                                                                                                                Set the vehicle attitude and body angular rates.

                                                                                                                                                                Field NameTypeUnitsDescription
                                                                                                                                                                time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
                                                                                                                                                                group_mlxuint8_tActuator group. The "_mlx" indicates this is a multi-instance message and a MAVLink parser should use this field to difference between instances.
                                                                                                                                                                controlsfloat[8]Actuator controls. Normed to -1..+1 where 0 is neutral position. Throttle for single rotation direction motors is 0..1, negative range for reverse direction. Standard mapping for attitude controls (group 0): (index 0-7): roll, pitch, yaw, throttle, flaps, spoilers, airbrakes, landing gear. Load a pass-through mixer to repurpose them as generic outputs.

                                                                                                                                                                ALTITUDE (141)

                                                                                                                                                                The current system altitude.

                                                                                                                                                                Field NameTypeUnitsDescription
                                                                                                                                                                time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
                                                                                                                                                                altitude_monotonicfloatmThis altitude measure is initialized on system boot and monotonic (it is never reset, but represents the local altitude change). The only guarantee on this field is that it will never be reset and is consistent within a flight. The recommended value for this field is the uncorrected barometric altitude at boot time. This altitude will also drift and vary between flights.
                                                                                                                                                                altitude_amslfloatmThis altitude measure is strictly above mean sea level and might be non-monotonic (it might reset on events like GPS lock or when a new QNH value is set). It should be the altitude to which global altitude waypoints are compared to. Note that it is not the GPS altitude, however, most GPS modules already output MSL by default and not the WGS84 altitude.
                                                                                                                                                                altitude_localfloatmThis is the local altitude in the local coordinate frame. It is not the altitude above home, but in reference to the coordinate origin (0, 0, 0). It is up-positive.
                                                                                                                                                                altitude_relativefloatmThis is the altitude above the home position. It resets on each change of the current home position.
                                                                                                                                                                altitude_terrainfloatmThis is the altitude above terrain. It might be fed by a terrain database or an altimeter. Values smaller than -1000 should be interpreted as unknown.
                                                                                                                                                                bottom_clearancefloatmThis is not the altitude, but the clear space below the system according to the fused clearance estimate. It generally should max out at the maximum range of e.g. the laser altimeter. It is generally a moving target. A negative value indicates no measurement available.

                                                                                                                                                                RESOURCE_REQUEST (142)

                                                                                                                                                                The autopilot is requesting a resource (file, binary, other type of data)

                                                                                                                                                                Field NameTypeDescription
                                                                                                                                                                request_iduint8_tRequest ID. This ID should be re-used when sending back URI contents
                                                                                                                                                                uri_typeuint8_tThe type of requested URI. 0 = a file via URL. 1 = a UAVCAN binary
                                                                                                                                                                uriuint8_t[120]The requested unique resource identifier (URI). It is not necessarily a straight domain name (depends on the URI type enum)
                                                                                                                                                                transfer_typeuint8_tThe way the autopilot wants to receive the URI. 0 = MAVLink FTP. 1 = binary stream.
                                                                                                                                                                storageuint8_t[120]The storage path the autopilot wants the URI to be stored in. Will only be valid if the transfer_type has a storage associated (e.g. MAVLink FTP).

                                                                                                                                                                SCALED_PRESSURE3 (143)

                                                                                                                                                                Barometer readings for 3rd barometer

                                                                                                                                                                Field NameTypeUnitsDescription
                                                                                                                                                                time_boot_msuint32_tmsTimestamp (time since system boot).
                                                                                                                                                                press_absfloathPaAbsolute pressure
                                                                                                                                                                press_difffloathPaDifferential pressure
                                                                                                                                                                temperatureint16_tcdegCAbsolute pressure temperature
                                                                                                                                                                temperature_press_diff ++int16_tcdegCDifferential pressure temperature (0, if not available). Report values of 0 (or 1) as 1 cdegC.

                                                                                                                                                                FOLLOW_TARGET (144)

                                                                                                                                                                Current motion information from a designated system

                                                                                                                                                                Field NameTypeUnitsDescription
                                                                                                                                                                timestampuint64_tmsTimestamp (time since system boot).
                                                                                                                                                                est_capabilitiesuint8_tbit positions for tracker reporting capabilities (POS = 0, VEL = 1, ACCEL = 2, ATT + RATES = 3)
                                                                                                                                                                latint32_tdegE7Latitude (WGS84)
                                                                                                                                                                lonint32_tdegE7Longitude (WGS84)
                                                                                                                                                                altfloatmAltitude (MSL)
                                                                                                                                                                velfloat[3]m/starget velocity (0,0,0) for unknown
                                                                                                                                                                accfloat[3]m/s/slinear target acceleration (0,0,0) for unknown
                                                                                                                                                                attitude_qfloat[4](0 0 0 0 for unknown)
                                                                                                                                                                ratesfloat[3](0 0 0 for unknown)
                                                                                                                                                                position_covfloat[3]eph epv
                                                                                                                                                                custom_stateuint64_tbutton states or switches of a tracker device

                                                                                                                                                                CONTROL_SYSTEM_STATE (146)

                                                                                                                                                                The smoothed, monotonic system state used to feed the control loops of the system.

                                                                                                                                                                Field NameTypeUnitsDescription
                                                                                                                                                                time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
                                                                                                                                                                x_accfloatm/s/sX acceleration in body frame
                                                                                                                                                                y_accfloatm/s/sY acceleration in body frame
                                                                                                                                                                z_accfloatm/s/sZ acceleration in body frame
                                                                                                                                                                x_velfloatm/sX velocity in body frame
                                                                                                                                                                y_velfloatm/sY velocity in body frame
                                                                                                                                                                z_velfloatm/sZ velocity in body frame
                                                                                                                                                                x_posfloatmX position in local frame
                                                                                                                                                                y_posfloatmY position in local frame
                                                                                                                                                                z_posfloatmZ position in local frame
                                                                                                                                                                airspeedfloatm/sAirspeed, set to -1 if unknown
                                                                                                                                                                vel_variancefloat[3]Variance of body velocity estimate
                                                                                                                                                                pos_variancefloat[3]Variance in local position
                                                                                                                                                                qfloat[4]The attitude, represented as Quaternion
                                                                                                                                                                roll_ratefloatrad/sAngular rate in roll axis
                                                                                                                                                                pitch_ratefloatrad/sAngular rate in pitch axis
                                                                                                                                                                yaw_ratefloatrad/sAngular rate in yaw axis

                                                                                                                                                                BATTERY_STATUS (147)

                                                                                                                                                                Battery information. Updates GCS with flight controller battery status. Smart batteries also use this message, but may additionally send BATTERY_INFO.

                                                                                                                                                                Field NameTypeUnitsValuesDescription
                                                                                                                                                                iduint8_tBattery ID
                                                                                                                                                                Messages with same value are from the same source (instance).
                                                                                                                                                                battery_functionuint8_tMAV_BATTERY_FUNCTIONFunction of the battery
                                                                                                                                                                typeuint8_tMAV_BATTERY_TYPEType (chemistry) of the battery
                                                                                                                                                                temperatureint16_tcdegCinvalid:INT16_MAXTemperature of the battery. INT16_MAX for unknown temperature.
                                                                                                                                                                voltagesuint16_t[10]mVinvalid:[UINT16_MAX]Battery voltage of cells 1 to 10 (see voltages_ext for cells 11-14). Cells in this field above the valid cell count for this battery should have the UINT16_MAX value. If individual cell voltages are unknown or not measured for this battery, then the overall battery voltage should be filled in cell 0, with all others set to UINT16_MAX. If the voltage of the battery is greater than (UINT16_MAX - 1), then cell 0 should be set to (UINT16_MAX - 1), and cell 1 to the remaining voltage. This can be extended to multiple cells if the total voltage is greater than 2 * (UINT16_MAX - 1).
                                                                                                                                                                current_batteryint16_tcAinvalid:-1Battery current, -1: autopilot does not measure the current
                                                                                                                                                                current_consumedint32_tmAhinvalid:-1Consumed charge, -1: autopilot does not provide consumption estimate
                                                                                                                                                                energy_consumedint32_thJinvalid:-1Consumed energy, -1: autopilot does not provide energy consumption estimate
                                                                                                                                                                battery_remainingint8_t%invalid:-1Remaining battery energy. Values: [0-100], -1: autopilot does not estimate the remaining battery.
                                                                                                                                                                time_remaining ++int32_tsinvalid:0Remaining battery time, 0: autopilot does not provide remaining battery time estimate
                                                                                                                                                                charge_state ++uint8_tMAV_BATTERY_CHARGE_STATEState for extent of discharge, provided by autopilot for warning or external reactions
                                                                                                                                                                voltages_ext ++uint16_t[4]mVinvalid:[0]Battery voltages for cells 11 to 14. Cells above the valid cell count for this battery should have a value of 0, where zero indicates not supported (note, this is different than for the voltages field and allows empty byte truncation). If the measured value is 0 then 1 should be sent instead.
                                                                                                                                                                mode ++uint8_tMAV_BATTERY_MODEBattery mode. Default (0) is that battery mode reporting is not supported or battery is in normal-use mode.
                                                                                                                                                                fault_bitmask ++uint32_tMAV_BATTERY_FAULTFault/health indications. These should be set when charge_state is MAV_BATTERY_CHARGE_STATE_FAILED or MAV_BATTERY_CHARGE_STATE_UNHEALTHY (if not, fault reporting is not supported).

                                                                                                                                                                AUTOPILOT_VERSION (148)

                                                                                                                                                                Version and capability of autopilot software. This should be emitted in response to a request with MAV_CMD_REQUEST_MESSAGE.

                                                                                                                                                                Field NameTypeValuesDescription
                                                                                                                                                                capabilitiesuint64_tMAV_PROTOCOL_CAPABILITYBitmap of capabilities
                                                                                                                                                                flight_sw_versionuint32_tFirmware version number
                                                                                                                                                                middleware_sw_versionuint32_tMiddleware version number
                                                                                                                                                                os_sw_versionuint32_tOperating system version number
                                                                                                                                                                board_versionuint32_tHW / board version (last 8 bits should be silicon ID, if any). The first 16 bits of this field specify https://github.com/PX4/PX4-Bootloader/blob/master/board_types.txt
                                                                                                                                                                flight_custom_versionuint8_t[8]Custom version field, commonly the first 8 bytes of the git hash. This is not an unique identifier, but should allow to identify the commit using the main version number even for very large code bases.
                                                                                                                                                                middleware_custom_versionuint8_t[8]Custom version field, commonly the first 8 bytes of the git hash. This is not an unique identifier, but should allow to identify the commit using the main version number even for very large code bases.
                                                                                                                                                                os_custom_versionuint8_t[8]Custom version field, commonly the first 8 bytes of the git hash. This is not an unique identifier, but should allow to identify the commit using the main version number even for very large code bases.
                                                                                                                                                                vendor_iduint16_tID of the board vendor
                                                                                                                                                                product_iduint16_tID of the product
                                                                                                                                                                uiduint64_tUID if provided by hardware (see uid2)
                                                                                                                                                                uid2 ++uint8_t[18]UID if provided by hardware (supersedes the uid field. If this is non-zero, use this field, otherwise use uid)

                                                                                                                                                                LANDING_TARGET (149)

                                                                                                                                                                The location of a landing target. See: https://mavlink.io/en/services/landing_target.html

                                                                                                                                                                Field NameTypeUnitsValuesDescription
                                                                                                                                                                time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
                                                                                                                                                                target_numuint8_tThe ID of the target if multiple targets are present
                                                                                                                                                                frameuint8_tMAV_FRAMECoordinate frame used for following fields.
                                                                                                                                                                angle_xfloatradX-axis angular offset of the target from the center of the image
                                                                                                                                                                angle_yfloatradY-axis angular offset of the target from the center of the image
                                                                                                                                                                distancefloatmDistance to the target from the vehicle
                                                                                                                                                                size_xfloatradSize of target along x-axis
                                                                                                                                                                size_yfloatradSize of target along y-axis
                                                                                                                                                                x ++floatmX Position of the landing target in MAV_FRAME
                                                                                                                                                                y ++floatmY Position of the landing target in MAV_FRAME
                                                                                                                                                                z ++floatmZ Position of the landing target in MAV_FRAME
                                                                                                                                                                q ++float[4]Quaternion of landing target orientation (w, x, y, z order, zero-rotation is 1, 0, 0, 0)
                                                                                                                                                                type ++uint8_tLANDING_TARGET_TYPEType of landing target
                                                                                                                                                                position_valid ++uint8_tinvalid:0Boolean indicating whether the position fields (x, y, z, q, type) contain valid target position information (valid: 1, invalid: 0). Default is 0 (invalid).

                                                                                                                                                                FENCE_STATUS (162)

                                                                                                                                                                Status of geo-fencing. Sent in extended status stream when fencing enabled.

                                                                                                                                                                Field NameTypeUnitsValuesDescription
                                                                                                                                                                breach_statusuint8_tBreach status (0 if currently inside fence, 1 if outside).
                                                                                                                                                                breach_countuint16_tNumber of fence breaches.
                                                                                                                                                                breach_typeuint8_tFENCE_BREACHLast breach type.
                                                                                                                                                                breach_timeuint32_tmsTime (since boot) of last breach.
                                                                                                                                                                breach_mitigation ++uint8_tFENCE_MITIGATEActive action to prevent fence breach

                                                                                                                                                                MAG_CAL_REPORT (192)

                                                                                                                                                                Reports results of completed compass calibration. Sent until MAG_CAL_ACK received.

                                                                                                                                                                Field NameTypeUnitsValuesDescription
                                                                                                                                                                compass_iduint8_tCompass being calibrated.
                                                                                                                                                                Messages with same value are from the same source (instance).
                                                                                                                                                                cal_maskuint8_tBitmask of compasses being calibrated.
                                                                                                                                                                cal_statusuint8_tMAG_CAL_STATUSCalibration Status.
                                                                                                                                                                autosaveduint8_t0=requires a MAV_CMD_DO_ACCEPT_MAG_CAL, 1=saved to parameters.
                                                                                                                                                                fitnessfloatmgaussRMS milligauss residuals.
                                                                                                                                                                ofs_xfloatX offset.
                                                                                                                                                                ofs_yfloatY offset.
                                                                                                                                                                ofs_zfloatZ offset.
                                                                                                                                                                diag_xfloatX diagonal (matrix 11).
                                                                                                                                                                diag_yfloatY diagonal (matrix 22).
                                                                                                                                                                diag_zfloatZ diagonal (matrix 33).
                                                                                                                                                                offdiag_xfloatX off-diagonal (matrix 12 and 21).
                                                                                                                                                                offdiag_yfloatY off-diagonal (matrix 13 and 31).
                                                                                                                                                                offdiag_zfloatZ off-diagonal (matrix 32 and 23).
                                                                                                                                                                orientation_confidence ++floatConfidence in orientation (higher is better).
                                                                                                                                                                old_orientation ++uint8_tMAV_SENSOR_ORIENTATIONorientation before calibration.
                                                                                                                                                                new_orientation ++uint8_tMAV_SENSOR_ORIENTATIONorientation after calibration.
                                                                                                                                                                scale_factor ++floatfield radius correction factor

                                                                                                                                                                EFI_STATUS (225)

                                                                                                                                                                EFI status output

                                                                                                                                                                Field NameTypeUnitsDescription
                                                                                                                                                                healthuint8_tEFI health status
                                                                                                                                                                ecu_indexfloatECU index
                                                                                                                                                                rpmfloatRPM
                                                                                                                                                                fuel_consumedfloatcm^3Fuel consumed
                                                                                                                                                                fuel_flowfloatcm^3/minFuel flow rate
                                                                                                                                                                engine_loadfloat%Engine load
                                                                                                                                                                throttle_positionfloat%Throttle position
                                                                                                                                                                spark_dwell_timefloatmsSpark dwell time
                                                                                                                                                                barometric_pressurefloatkPaBarometric pressure
                                                                                                                                                                intake_manifold_pressurefloatkPaIntake manifold pressure(
                                                                                                                                                                intake_manifold_temperaturefloatdegCIntake manifold temperature
                                                                                                                                                                cylinder_head_temperaturefloatdegCCylinder head temperature
                                                                                                                                                                ignition_timingfloatdegIgnition timing (Crank angle degrees)
                                                                                                                                                                injection_timefloatmsInjection time
                                                                                                                                                                exhaust_gas_temperaturefloatdegCExhaust gas temperature
                                                                                                                                                                throttle_outfloat%Output throttle
                                                                                                                                                                pt_compensationfloatPressure/temperature compensation
                                                                                                                                                                ignition_voltage ++floatVSupply voltage to EFI sparking system. Zero in this value means "unknown", so if the supply voltage really is zero volts use 0.0001 instead.
                                                                                                                                                                fuel_pressure ++floatkPaFuel pressure. Zero in this value means "unknown", so if the fuel pressure really is zero kPa use 0.0001 instead.

                                                                                                                                                                ESTIMATOR_STATUS (230)

                                                                                                                                                                Estimator status message including flags, innovation test ratios and estimated accuracies. The flags message is an integer bitmask containing information on which EKF outputs are valid. See the ESTIMATOR_STATUS_FLAGS enum definition for further information. The innovation test ratios show the magnitude of the sensor innovation divided by the innovation check threshold. Under normal operation the innovation test ratios should be below 0.5 with occasional values up to 1.0. Values greater than 1.0 should be rare under normal operation and indicate that a measurement has been rejected by the filter. The user should be notified if an innovation test ratio greater than 1.0 is recorded. Notifications for values in the range between 0.5 and 1.0 should be optional and controllable by the user.

                                                                                                                                                                Field NameTypeUnitsValuesDescription
                                                                                                                                                                time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
                                                                                                                                                                flagsuint16_tESTIMATOR_STATUS_FLAGSBitmap indicating which EKF outputs are valid.
                                                                                                                                                                vel_ratiofloatVelocity innovation test ratio
                                                                                                                                                                pos_horiz_ratiofloatHorizontal position innovation test ratio
                                                                                                                                                                pos_vert_ratiofloatVertical position innovation test ratio
                                                                                                                                                                mag_ratiofloatMagnetometer innovation test ratio
                                                                                                                                                                hagl_ratiofloatHeight above terrain innovation test ratio
                                                                                                                                                                tas_ratiofloatTrue airspeed innovation test ratio
                                                                                                                                                                pos_horiz_accuracyfloatmHorizontal position 1-STD accuracy relative to the EKF local origin
                                                                                                                                                                pos_vert_accuracyfloatmVertical position 1-STD accuracy relative to the EKF local origin

                                                                                                                                                                WIND_COV (231)

                                                                                                                                                                Wind estimate from vehicle. Note that despite the name, this message does not actually contain any covariances but instead variability and accuracy fields in terms of standard deviation (1-STD).

                                                                                                                                                                Field NameTypeUnitsDescription
                                                                                                                                                                time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
                                                                                                                                                                wind_xfloatm/sWind in North (NED) direction (NAN if unknown)
                                                                                                                                                                wind_yfloatm/sWind in East (NED) direction (NAN if unknown)
                                                                                                                                                                wind_zfloatm/sWind in down (NED) direction (NAN if unknown)
                                                                                                                                                                var_horizfloatm/sVariability of wind in XY, 1-STD estimated from a 1 Hz lowpassed wind estimate (NAN if unknown)
                                                                                                                                                                var_vertfloatm/sVariability of wind in Z, 1-STD estimated from a 1 Hz lowpassed wind estimate (NAN if unknown)
                                                                                                                                                                wind_altfloatmAltitude (MSL) that this measurement was taken at (NAN if unknown)
                                                                                                                                                                horiz_accuracyfloatm/sHorizontal speed 1-STD accuracy (0 if unknown)
                                                                                                                                                                vert_accuracyfloatm/sVertical speed 1-STD accuracy (0 if unknown)

                                                                                                                                                                GPS_INPUT (232)

                                                                                                                                                                GPS sensor input message. This is a raw sensor value sent by the GPS. This is NOT the global position estimate of the system.

                                                                                                                                                                Field NameTypeUnitsValuesDescription
                                                                                                                                                                time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
                                                                                                                                                                gps_iduint8_tID of the GPS for multiple GPS inputs
                                                                                                                                                                Messages with same value are from the same source (instance).
                                                                                                                                                                ignore_flagsuint16_tGPS_INPUT_IGNORE_FLAGSBitmap indicating which GPS input flags fields to ignore. All other fields must be provided.
                                                                                                                                                                time_week_msuint32_tmsGPS time (from start of GPS week)
                                                                                                                                                                time_weekuint16_tGPS week number
                                                                                                                                                                fix_typeuint8_t0-1: no fix, 2: 2D fix, 3: 3D fix. 4: 3D with DGPS. 5: 3D with RTK
                                                                                                                                                                latint32_tdegE7Latitude (WGS84)
                                                                                                                                                                lonint32_tdegE7Longitude (WGS84)
                                                                                                                                                                altfloatmAltitude (MSL). Positive for up.
                                                                                                                                                                hdopfloatinvalid:UINT16_MAXGPS HDOP horizontal dilution of position (unitless). If unknown, set to: UINT16_MAX
                                                                                                                                                                vdopfloatinvalid:UINT16_MAXGPS VDOP vertical dilution of position (unitless). If unknown, set to: UINT16_MAX
                                                                                                                                                                vnfloatm/sGPS velocity in north direction in earth-fixed NED frame
                                                                                                                                                                vefloatm/sGPS velocity in east direction in earth-fixed NED frame
                                                                                                                                                                vdfloatm/sGPS velocity in down direction in earth-fixed NED frame
                                                                                                                                                                speed_accuracyfloatm/sGPS speed accuracy
                                                                                                                                                                horiz_accuracyfloatmGPS horizontal accuracy
                                                                                                                                                                vert_accuracyfloatmGPS vertical accuracy
                                                                                                                                                                satellites_visibleuint8_tNumber of satellites visible.
                                                                                                                                                                yaw ++uint16_tcdegYaw of vehicle relative to Earth's North, zero means not available, use 36000 for north

                                                                                                                                                                GPS_RTCM_DATA (233)

                                                                                                                                                                RTCM message for injecting into the onboard GPS (used for DGPS)

                                                                                                                                                                Field NameTypeUnitsDescription
                                                                                                                                                                flagsuint8_tLSB: 1 means message is fragmented, next 2 bits are the fragment ID, the remaining 5 bits are used for the sequence ID. Messages are only to be flushed to the GPS when the entire message has been reconstructed on the autopilot. The fragment ID specifies which order the fragments should be assembled into a buffer, while the sequence ID is used to detect a mismatch between different buffers. The buffer is considered fully reconstructed when either all 4 fragments are present, or all the fragments before the first fragment with a non full payload is received. This management is used to ensure that normal GPS operation doesn't corrupt RTCM data, and to recover from a unreliable transport delivery order.
                                                                                                                                                                lenuint8_tbytesdata length
                                                                                                                                                                datauint8_t[180]RTCM message (may be fragmented)

                                                                                                                                                                HIGH_LATENCY (234) — [DEP]

                                                                                                                                                                DEPRECATED: Replaced By HIGH_LATENCY2 (2020-10)

                                                                                                                                                                Message appropriate for high latency connections like Iridium

                                                                                                                                                                Field NameTypeUnitsValuesDescription
                                                                                                                                                                base_modeuint8_tMAV_MODE_FLAGBitmap of enabled system modes.
                                                                                                                                                                custom_modeuint32_tA bitfield for use for autopilot-specific flags.
                                                                                                                                                                landed_stateuint8_tMAV_LANDED_STATEThe landed state. Is set to MAV_LANDED_STATE_UNDEFINED if landed state is unknown.
                                                                                                                                                                rollint16_tcdegroll
                                                                                                                                                                pitchint16_tcdegpitch
                                                                                                                                                                headinguint16_tcdegheading
                                                                                                                                                                throttleint8_t%throttle (percentage)
                                                                                                                                                                heading_spint16_tcdegheading setpoint
                                                                                                                                                                latitudeint32_tdegE7Latitude
                                                                                                                                                                longitudeint32_tdegE7Longitude
                                                                                                                                                                altitude_amslint16_tmAltitude above mean sea level
                                                                                                                                                                altitude_spint16_tmAltitude setpoint relative to the home position
                                                                                                                                                                airspeeduint8_tm/sairspeed
                                                                                                                                                                airspeed_spuint8_tm/sairspeed setpoint
                                                                                                                                                                groundspeeduint8_tm/sgroundspeed
                                                                                                                                                                climb_rateint8_tm/sclimb rate
                                                                                                                                                                gps_nsatuint8_tinvalid:UINT8_MAXNumber of satellites visible. If unknown, set to UINT8_MAX
                                                                                                                                                                gps_fix_typeuint8_tGPS_FIX_TYPEGPS Fix type.
                                                                                                                                                                battery_remaininguint8_t%Remaining battery (percentage)
                                                                                                                                                                temperatureint8_tdegCAutopilot temperature (degrees C)
                                                                                                                                                                temperature_airint8_tdegCAir temperature (degrees C) from airspeed sensor
                                                                                                                                                                failsafeuint8_tfailsafe (each bit represents a failsafe where 0=ok, 1=failsafe active (bit0:RC, bit1:batt, bit2:GPS, bit3:GCS, bit4:fence)
                                                                                                                                                                wp_numuint8_tcurrent waypoint number
                                                                                                                                                                wp_distanceuint16_tmdistance to target

                                                                                                                                                                HIGH_LATENCY2 (235)

                                                                                                                                                                Message appropriate for high latency connections like Iridium (version 2)

                                                                                                                                                                Field NameTypeUnitsValuesDescription
                                                                                                                                                                timestampuint32_tmsTimestamp (milliseconds since boot or Unix epoch)
                                                                                                                                                                typeuint8_tMAV_TYPEType of the MAV (quadrotor, helicopter, etc.)
                                                                                                                                                                autopilotuint8_tMAV_AUTOPILOTAutopilot type / class. Use MAV_AUTOPILOT_INVALID for components that are not flight controllers.
                                                                                                                                                                custom_modeuint16_tA bitfield for use for autopilot-specific flags (2 byte version).
                                                                                                                                                                latitudeint32_tdegE7Latitude
                                                                                                                                                                longitudeint32_tdegE7Longitude
                                                                                                                                                                altitudeint16_tmAltitude above mean sea level
                                                                                                                                                                target_altitudeint16_tmAltitude setpoint
                                                                                                                                                                headinguint8_tdeg/2Heading
                                                                                                                                                                target_headinguint8_tdeg/2Heading setpoint
                                                                                                                                                                target_distanceuint16_tdamDistance to target waypoint or position
                                                                                                                                                                throttleuint8_t%Throttle
                                                                                                                                                                airspeeduint8_tm/s*5Airspeed
                                                                                                                                                                airspeed_spuint8_tm/s*5Airspeed setpoint
                                                                                                                                                                groundspeeduint8_tm/s*5Groundspeed
                                                                                                                                                                windspeeduint8_tm/s*5Windspeed
                                                                                                                                                                wind_headinguint8_tdeg/2Wind heading
                                                                                                                                                                ephuint8_tdmMaximum error horizontal position since last message
                                                                                                                                                                epvuint8_tdmMaximum error vertical position since last message
                                                                                                                                                                temperature_airint8_tdegCAir temperature from airspeed sensor
                                                                                                                                                                climb_rateint8_tdm/sMaximum climb rate magnitude since last message
                                                                                                                                                                batteryint8_t%invalid:-1Battery level (-1 if field not provided).
                                                                                                                                                                wp_numuint16_tCurrent waypoint number
                                                                                                                                                                failure_flagsuint16_tHL_FAILURE_FLAGBitmap of failure flags.
                                                                                                                                                                custom0int8_tField for custom payload.
                                                                                                                                                                custom1int8_tField for custom payload.
                                                                                                                                                                custom2int8_tField for custom payload.

                                                                                                                                                                VIBRATION (241)

                                                                                                                                                                Vibration levels and accelerometer clipping

                                                                                                                                                                Field NameTypeUnitsDescription
                                                                                                                                                                time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
                                                                                                                                                                vibration_xfloatVibration levels on X-axis
                                                                                                                                                                vibration_yfloatVibration levels on Y-axis
                                                                                                                                                                vibration_zfloatVibration levels on Z-axis
                                                                                                                                                                clipping_0uint32_tfirst accelerometer clipping count
                                                                                                                                                                clipping_1uint32_tsecond accelerometer clipping count
                                                                                                                                                                clipping_2uint32_tthird accelerometer clipping count

                                                                                                                                                                HOME_POSITION (242)

                                                                                                                                                                Contains the home position. The home position is the default position that the system will return to and land on. The position must be set automatically by the system during the takeoff, and may also be explicitly set using MAV_CMD_DO_SET_HOME. The global and local positions encode the position in the respective coordinate frames, while the q parameter encodes the orientation of the surface. Under normal conditions it describes the heading and terrain slope, which can be used by the aircraft to adjust the approach. The approach 3D vector describes the point to which the system should fly in normal flight mode and then perform a landing sequence along the vector. Note: this message can be requested by sending the MAV_CMD_REQUEST_MESSAGE with param1=242 (or the deprecated MAV_CMD_GET_HOME_POSITION command).

                                                                                                                                                                Field NameTypeUnitsDescription
                                                                                                                                                                latitudeint32_tdegE7Latitude (WGS84)
                                                                                                                                                                longitudeint32_tdegE7Longitude (WGS84)
                                                                                                                                                                altitudeint32_tmmAltitude (MSL). Positive for up.
                                                                                                                                                                xfloatmLocal X position of this position in the local coordinate frame (NED)
                                                                                                                                                                yfloatmLocal Y position of this position in the local coordinate frame (NED)
                                                                                                                                                                zfloatmLocal Z position of this position in the local coordinate frame (NED: positive "down")
                                                                                                                                                                qfloat[4]Quaternion indicating world-to-surface-normal and heading transformation of the takeoff position.
                                                                                                                                                                Used to indicate the heading and slope of the ground.
                                                                                                                                                                All fields should be set to NaN if an accurate quaternion for both heading and surface slope cannot be supplied.
                                                                                                                                                                approach_xfloatmLocal X position of the end of the approach vector. Multicopters should set this position based on their takeoff path. Grass-landing fixed wing aircraft should set it the same way as multicopters. Runway-landing fixed wing aircraft should set it to the opposite direction of the takeoff, assuming the takeoff happened from the threshold / touchdown zone.
                                                                                                                                                                approach_yfloatmLocal Y position of the end of the approach vector. Multicopters should set this position based on their takeoff path. Grass-landing fixed wing aircraft should set it the same way as multicopters. Runway-landing fixed wing aircraft should set it to the opposite direction of the takeoff, assuming the takeoff happened from the threshold / touchdown zone.
                                                                                                                                                                approach_zfloatmLocal Z position of the end of the approach vector. Multicopters should set this position based on their takeoff path. Grass-landing fixed wing aircraft should set it the same way as multicopters. Runway-landing fixed wing aircraft should set it to the opposite direction of the takeoff, assuming the takeoff happened from the threshold / touchdown zone.
                                                                                                                                                                time_usec ++uint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.

                                                                                                                                                                SET_HOME_POSITION (243) — [DEP]

                                                                                                                                                                DEPRECATED: Replaced By MAV_CMD_DO_SET_HOME (2022-02) — The command protocol version (MAV_CMD_DO_SET_HOME) allows a GCS to detect when setting the home position has failed.)

                                                                                                                                                                Sets the home position. The home position is the default position that the system will return to and land on. The position is set automatically by the system during the takeoff (and may also be set using this message). The global and local positions encode the position in the respective coordinate frames, while the q parameter encodes the orientation of the surface. Under normal conditions it describes the heading and terrain slope, which can be used by the aircraft to adjust the approach. The approach 3D vector describes the point to which the system should fly in normal flight mode and then perform a landing sequence along the vector. Note: the current home position may be emitted in a HOME_POSITION message on request (using MAV_CMD_REQUEST_MESSAGE with param1=242).

                                                                                                                                                                Field NameTypeUnitsDescription
                                                                                                                                                                target_systemuint8_tSystem ID.
                                                                                                                                                                latitudeint32_tdegE7Latitude (WGS84)
                                                                                                                                                                longitudeint32_tdegE7Longitude (WGS84)
                                                                                                                                                                altitudeint32_tmmAltitude (MSL). Positive for up.
                                                                                                                                                                xfloatmLocal X position of this position in the local coordinate frame (NED)
                                                                                                                                                                yfloatmLocal Y position of this position in the local coordinate frame (NED)
                                                                                                                                                                zfloatmLocal Z position of this position in the local coordinate frame (NED: positive "down")
                                                                                                                                                                qfloat[4]World to surface normal and heading transformation of the takeoff position. Used to indicate the heading and slope of the ground
                                                                                                                                                                approach_xfloatmLocal X position of the end of the approach vector. Multicopters should set this position based on their takeoff path. Grass-landing fixed wing aircraft should set it the same way as multicopters. Runway-landing fixed wing aircraft should set it to the opposite direction of the takeoff, assuming the takeoff happened from the threshold / touchdown zone.
                                                                                                                                                                approach_yfloatmLocal Y position of the end of the approach vector. Multicopters should set this position based on their takeoff path. Grass-landing fixed wing aircraft should set it the same way as multicopters. Runway-landing fixed wing aircraft should set it to the opposite direction of the takeoff, assuming the takeoff happened from the threshold / touchdown zone.
                                                                                                                                                                approach_zfloatmLocal Z position of the end of the approach vector. Multicopters should set this position based on their takeoff path. Grass-landing fixed wing aircraft should set it the same way as multicopters. Runway-landing fixed wing aircraft should set it to the opposite direction of the takeoff, assuming the takeoff happened from the threshold / touchdown zone.
                                                                                                                                                                time_usec ++uint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.

                                                                                                                                                                MESSAGE_INTERVAL (244)

                                                                                                                                                                The interval between messages for a particular MAVLink message ID. This message is sent in response to the MAV_CMD_REQUEST_MESSAGE command with param1=244 (this message) and param2=message_id (the id of the message for which the interval is required). It may also be sent in response to MAV_CMD_GET_MESSAGE_INTERVAL. This interface replaces DATA_STREAM.

                                                                                                                                                                Field NameTypeUnitsDescription
                                                                                                                                                                message_iduint16_tThe ID of the requested MAVLink message. v1.0 is limited to 254 messages.
                                                                                                                                                                interval_usint32_tusThe interval between two messages. A value of -1 indicates this stream is disabled, 0 indicates it is not available, > 0 indicates the interval at which it is sent.

                                                                                                                                                                EXTENDED_SYS_STATE (245)

                                                                                                                                                                Provides state for additional features

                                                                                                                                                                Field NameTypeValuesDescription
                                                                                                                                                                vtol_stateuint8_tMAV_VTOL_STATEThe VTOL state if applicable. Is set to MAV_VTOL_STATE_UNDEFINED if UAV is not in VTOL configuration.
                                                                                                                                                                landed_stateuint8_tMAV_LANDED_STATEThe landed state. Is set to MAV_LANDED_STATE_UNDEFINED if landed state is unknown.

                                                                                                                                                                ADSB_VEHICLE (246)

                                                                                                                                                                The location and information of an ADSB vehicle

                                                                                                                                                                Field NameTypeUnitsValuesDescription
                                                                                                                                                                ICAO_addressuint32_tICAO address
                                                                                                                                                                latint32_tdegE7Latitude
                                                                                                                                                                lonint32_tdegE7Longitude
                                                                                                                                                                altitude_typeuint8_tADSB_ALTITUDE_TYPEADSB altitude type.
                                                                                                                                                                altitudeint32_tmmAltitude(ASL)
                                                                                                                                                                headinguint16_tcdegCourse over ground
                                                                                                                                                                hor_velocityuint16_tcm/sThe horizontal velocity
                                                                                                                                                                ver_velocityint16_tcm/sThe vertical velocity. Positive is up
                                                                                                                                                                callsignchar[9]The callsign, 8+null
                                                                                                                                                                emitter_typeuint8_tADSB_EMITTER_TYPEADSB emitter type.
                                                                                                                                                                tslcuint8_tsTime since last communication in seconds
                                                                                                                                                                flagsuint16_tADSB_FLAGSBitmap to indicate various statuses including valid data fields
                                                                                                                                                                squawkuint16_tSquawk code. Note that the code is in decimal: e.g. 7700 (general emergency) is encoded as binary 0b0001_1110_0001_0100, not(!) as 0b0000_111_111_000_000

                                                                                                                                                                COLLISION (247)

                                                                                                                                                                Information about a potential collision

                                                                                                                                                                Field NameTypeUnitsValuesDescription
                                                                                                                                                                srcuint8_tMAV_COLLISION_SRCCollision data source
                                                                                                                                                                iduint32_tUnique identifier, domain based on src field
                                                                                                                                                                actionuint8_tMAV_COLLISION_ACTIONAction that is being taken to avoid this collision
                                                                                                                                                                threat_leveluint8_tMAV_COLLISION_THREAT_LEVELHow concerned the aircraft is about this collision
                                                                                                                                                                time_to_minimum_deltafloatsEstimated time until collision occurs
                                                                                                                                                                altitude_minimum_deltafloatmClosest vertical distance between vehicle and object
                                                                                                                                                                horizontal_minimum_deltafloatmClosest horizontal distance between vehicle and object

                                                                                                                                                                V2_EXTENSION (248)

                                                                                                                                                                Message implementing parts of the V2 payload specs in V1 frames for transitional support.

                                                                                                                                                                Field NameTypeDescription
                                                                                                                                                                target_networkuint8_tNetwork ID (0 for broadcast)
                                                                                                                                                                target_systemuint8_tSystem ID (0 for broadcast)
                                                                                                                                                                target_componentuint8_tComponent ID (0 for broadcast)
                                                                                                                                                                message_typeuint16_tA code that identifies the software component that understands this message (analogous to USB device classes or mime type strings). If this code is less than 32768, it is considered a 'registered' protocol extension and the corresponding entry should be added to https://github.com/mavlink/mavlink/definition_files/extension_message_ids.xml. Software creators can register blocks of message IDs as needed (useful for GCS specific metadata, etc...). Message_types greater than 32767 are considered local experiments and should not be checked in to any widely distributed codebase.
                                                                                                                                                                payloaduint8_t[249]Variable length payload. The length must be encoded in the payload as part of the message_type protocol, e.g. by including the length as payload data, or by terminating the payload data with a non-zero marker. This is required in order to reconstruct zero-terminated payloads that are (or otherwise would be) trimmed by MAVLink 2 empty-byte truncation. The entire content of the payload block is opaque unless you understand the encoding message_type. The particular encoding used can be extension specific and might not always be documented as part of the MAVLink specification.

                                                                                                                                                                MEMORY_VECT (249)

                                                                                                                                                                Send raw controller memory. The use of this message is discouraged for normal packets, but a quite efficient way for testing new messages and getting experimental debug output.

                                                                                                                                                                Field NameTypeDescription
                                                                                                                                                                addressuint16_tStarting address of the debug variables
                                                                                                                                                                veruint8_tVersion code of the type variable. 0=unknown, type ignored and assumed int16_t. 1=as below
                                                                                                                                                                typeuint8_tType code of the memory variables. for ver = 1: 0=16 x int16_t, 1=16 x uint16_t, 2=16 x Q15, 3=16 x 1Q14
                                                                                                                                                                valueint8_t[32]Memory contents at specified address

                                                                                                                                                                DEBUG_VECT (250)

                                                                                                                                                                To debug something using a named 3D vector.

                                                                                                                                                                Field NameTypeUnitsDescription
                                                                                                                                                                namechar[10]Name
                                                                                                                                                                Messages with same value are from the same source (instance).
                                                                                                                                                                time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
                                                                                                                                                                xfloatx
                                                                                                                                                                yfloaty
                                                                                                                                                                zfloatz

                                                                                                                                                                NAMED_VALUE_FLOAT (251)

                                                                                                                                                                Send a key-value pair as float. The use of this message is discouraged for normal packets, but a quite efficient way for testing new messages and getting experimental debug output.

                                                                                                                                                                Field NameTypeUnitsDescription
                                                                                                                                                                time_boot_msuint32_tmsTimestamp (time since system boot).
                                                                                                                                                                namechar[10]Name of the debug variable
                                                                                                                                                                Messages with same value are from the same source (instance).
                                                                                                                                                                valuefloatFloating point value

                                                                                                                                                                NAMED_VALUE_INT (252)

                                                                                                                                                                Send a key-value pair as integer. The use of this message is discouraged for normal packets, but a quite efficient way for testing new messages and getting experimental debug output.

                                                                                                                                                                Field NameTypeUnitsDescription
                                                                                                                                                                time_boot_msuint32_tmsTimestamp (time since system boot).
                                                                                                                                                                namechar[10]Name of the debug variable
                                                                                                                                                                Messages with same value are from the same source (instance).
                                                                                                                                                                valueint32_tSigned integer value

                                                                                                                                                                STATUSTEXT (253)

                                                                                                                                                                Status text message. These messages are printed in yellow in the COMM console of QGroundControl. WARNING: They consume quite some bandwidth, so use only for important status and error messages. If implemented wisely, these messages are buffered on the MCU and sent only at a limited rate (e.g. 10 Hz).

                                                                                                                                                                Field NameTypeValuesDescription
                                                                                                                                                                severityuint8_tMAV_SEVERITYSeverity of status. Relies on the definitions within RFC-5424.
                                                                                                                                                                textchar[50]Status text message, without null termination character
                                                                                                                                                                id ++uint16_tUnique (opaque) identifier for this statustext message. May be used to reassemble a logical long-statustext message from a sequence of chunks. A value of zero indicates this is the only chunk in the sequence and the message can be emitted immediately.
                                                                                                                                                                chunk_seq ++uint8_tThis chunk's sequence number; indexing is from zero. Any null character in the text field is taken to mean this was the last chunk.

                                                                                                                                                                DEBUG (254)

                                                                                                                                                                Send a debug value. The index is used to discriminate between values. These values show up in the plot of QGroundControl as DEBUG N.

                                                                                                                                                                Field NameTypeUnitsDescription
                                                                                                                                                                time_boot_msuint32_tmsTimestamp (time since system boot).
                                                                                                                                                                induint8_tindex of debug variable
                                                                                                                                                                valuefloatDEBUG value

                                                                                                                                                                SETUP_SIGNING (256)

                                                                                                                                                                Setup a MAVLink2 signing key. If called with secret_key of all zero and zero initial_timestamp will disable signing

                                                                                                                                                                Field NameTypeDescription
                                                                                                                                                                target_systemuint8_tsystem id of the target
                                                                                                                                                                target_componentuint8_tcomponent ID of the target
                                                                                                                                                                secret_keyuint8_t[32]signing key
                                                                                                                                                                initial_timestampuint64_tinitial timestamp

                                                                                                                                                                BUTTON_CHANGE (257)

                                                                                                                                                                Report button state change.

                                                                                                                                                                Field NameTypeUnitsDescription
                                                                                                                                                                time_boot_msuint32_tmsTimestamp (time since system boot).
                                                                                                                                                                last_change_msuint32_tmsTime of last change of button state.
                                                                                                                                                                stateuint8_tBitmap for state of buttons.

                                                                                                                                                                PLAY_TUNE (258) — [DEP]

                                                                                                                                                                DEPRECATED: Replaced By PLAY_TUNE_V2 (2019-10) — New version explicitly defines format. More interoperable.)

                                                                                                                                                                Control vehicle tone generation (buzzer).

                                                                                                                                                                Field NameTypeDescription
                                                                                                                                                                target_systemuint8_tSystem ID
                                                                                                                                                                target_componentuint8_tComponent ID
                                                                                                                                                                tunechar[30]tune in board specific format
                                                                                                                                                                tune2 ++char[200]tune extension (appended to tune)

                                                                                                                                                                CAMERA_INFORMATION (259)

                                                                                                                                                                Information about a camera. Can be requested with a MAV_CMD_REQUEST_MESSAGE command.

                                                                                                                                                                Field NameTypeUnitsValuesDescription
                                                                                                                                                                time_boot_msuint32_tmsTimestamp (time since system boot).
                                                                                                                                                                vendor_nameuint8_t[32]Name of the camera vendor
                                                                                                                                                                model_nameuint8_t[32]Name of the camera model
                                                                                                                                                                firmware_versionuint32_tinvalid:0Version of the camera firmware, encoded as: (Dev & 0xff) << 24(Patch & 0xff) << 16(Minor & 0xff) << 8(Major & 0xff). Use 0 if not known.
                                                                                                                                                                focal_lengthfloatmminvalid:NaNFocal length. Use NaN if not known.
                                                                                                                                                                sensor_size_hfloatmminvalid:NaNImage sensor size horizontal. Use NaN if not known.
                                                                                                                                                                sensor_size_vfloatmminvalid:NaNImage sensor size vertical. Use NaN if not known.
                                                                                                                                                                resolution_huint16_tpixinvalid:0Horizontal image resolution. Use 0 if not known.
                                                                                                                                                                resolution_vuint16_tpixinvalid:0Vertical image resolution. Use 0 if not known.
                                                                                                                                                                lens_iduint8_tinvalid:0Reserved for a lens ID. Use 0 if not known.
                                                                                                                                                                flagsuint32_tCAMERA_CAP_FLAGSBitmap of camera capability flags.
                                                                                                                                                                cam_definition_versionuint16_tCamera definition version (iteration). Use 0 if not known.
                                                                                                                                                                cam_definition_urichar[140]Camera definition URI (if any, otherwise only basic functions will be available). HTTP- (http://) and MAVLink FTP- (mavlinkftp://) formatted URIs are allowed (and both must be supported by any GCS that implements the Camera Protocol). The definition file may be xz compressed, which will be indicated by the file extension .xml.xz (a GCS that implements the protocol must support decompressing the file). The string needs to be zero terminated. Use a zero-length string if not known.
                                                                                                                                                                gimbal_device_id ++uint8_tinvalid:0Gimbal id of a gimbal associated with this camera. This is the component id of the gimbal device, or 1-6 for non mavlink gimbals. Use 0 if no gimbal is associated with the camera.
                                                                                                                                                                camera_device_id ++uint8_tdefault:0 min:0 max:6Camera id of a non-MAVLink camera attached to an autopilot (1-6). 0 if the component is a MAVLink camera (with its own component id).

                                                                                                                                                                CAMERA_SETTINGS (260)

                                                                                                                                                                Settings of a camera. Can be requested with a MAV_CMD_REQUEST_MESSAGE command.

                                                                                                                                                                Field NameTypeUnitsValuesDescription
                                                                                                                                                                time_boot_msuint32_tmsTimestamp (time since system boot).
                                                                                                                                                                mode_iduint8_tCAMERA_MODECamera mode
                                                                                                                                                                zoomLevel ++floatinvalid:NaNCurrent zoom level as a percentage of the full range (0.0 to 100.0, NaN if not known)
                                                                                                                                                                focusLevel ++floatinvalid:NaNCurrent focus level as a percentage of the full range (0.0 to 100.0, NaN if not known)
                                                                                                                                                                camera_device_id ++uint8_tdefault:0 min:0 max:6Camera id of a non-MAVLink camera attached to an autopilot (1-6). 0 if the component is a MAVLink camera (with its own component id).

                                                                                                                                                                STORAGE_INFORMATION (261)

                                                                                                                                                                Information about a storage medium. This message is sent in response to a request with MAV_CMD_REQUEST_MESSAGE and whenever the status of the storage changes (STORAGE_STATUS). Use MAV_CMD_REQUEST_MESSAGE.param2 to indicate the index/id of requested storage: 0 for all, 1 for first, 2 for second, etc.

                                                                                                                                                                Field NameTypeUnitsValuesDescription
                                                                                                                                                                time_boot_msuint32_tmsTimestamp (time since system boot).
                                                                                                                                                                storage_iduint8_tStorage ID (1 for first, 2 for second, etc.)
                                                                                                                                                                Messages with same value are from the same source (instance).
                                                                                                                                                                storage_countuint8_tNumber of storage devices
                                                                                                                                                                statusuint8_tSTORAGE_STATUSStatus of storage
                                                                                                                                                                total_capacityfloatMiBTotal capacity. If storage is not ready (STORAGE_STATUS_READY) value will be ignored.
                                                                                                                                                                used_capacityfloatMiBUsed capacity. If storage is not ready (STORAGE_STATUS_READY) value will be ignored.
                                                                                                                                                                available_capacityfloatMiBAvailable storage capacity. If storage is not ready (STORAGE_STATUS_READY) value will be ignored.
                                                                                                                                                                read_speedfloatMiB/sRead speed.
                                                                                                                                                                write_speedfloatMiB/sWrite speed.
                                                                                                                                                                type ++uint8_tSTORAGE_TYPEType of storage
                                                                                                                                                                name ++char[32]Textual storage name to be used in UI (microSD 1, Internal Memory, etc.) This is a NULL terminated string. If it is exactly 32 characters long, add a terminating NULL. If this string is empty, the generic type is shown to the user.
                                                                                                                                                                storage_usage ++uint8_tSTORAGE_USAGE_FLAGFlags indicating whether this instance is preferred storage for photos, videos, etc.
                                                                                                                                                                Note: Implementations should initially set the flags on the system-default storage id used for saving media (if possible/supported).
                                                                                                                                                                This setting can then be overridden using MAV_CMD_SET_STORAGE_USAGE.
                                                                                                                                                                If the media usage flags are not set, a GCS may assume storage ID 1 is the default storage for all media types.

                                                                                                                                                                CAMERA_CAPTURE_STATUS (262)

                                                                                                                                                                Information about the status of a capture. Can be requested with a MAV_CMD_REQUEST_MESSAGE command.

                                                                                                                                                                Field NameTypeUnitsDescription
                                                                                                                                                                time_boot_msuint32_tmsTimestamp (time since system boot).
                                                                                                                                                                image_statusuint8_tCurrent status of image capturing (0: idle, 1: capture in progress, 2: interval set but idle, 3: interval set and capture in progress)
                                                                                                                                                                video_statusuint8_tCurrent status of video capturing (0: idle, 1: capture in progress)
                                                                                                                                                                image_intervalfloatsImage capture interval
                                                                                                                                                                recording_time_msuint32_tmsElapsed time since recording started (0: Not supported/available). A GCS should compute recording time and use non-zero values of this field to correct any discrepancy.
                                                                                                                                                                available_capacityfloatMiBAvailable storage capacity.
                                                                                                                                                                image_count ++int32_tTotal number of images captured ('forever', or until reset using MAV_CMD_STORAGE_FORMAT).
                                                                                                                                                                camera_device_id ++uint8_tCamera id of a non-MAVLink camera attached to an autopilot (1-6). 0 if the component is a MAVLink camera (with its own component id).

                                                                                                                                                                CAMERA_IMAGE_CAPTURED (263)

                                                                                                                                                                Information about a captured image. This is emitted every time a message is captured.

                                                                                                                                                                MAV_CMD_REQUEST_MESSAGE can be used to (re)request this message for a specific sequence number or range of sequence numbers: MAV_CMD_REQUEST_MESSAGE.param2 indicates the sequence number the first image to send, or set to -1 to send the message for all sequence numbers. MAV_CMD_REQUEST_MESSAGE.param3 is used to specify a range of messages to send: set to 0 (default) to send just the the message for the sequence number in param 2, set to -1 to send the message for the sequence number in param 2 and all the following sequence numbers, set to the sequence number of the final message in the range.

                                                                                                                                                                Field NameTypeUnitsDescription
                                                                                                                                                                time_boot_msuint32_tmsTimestamp (time since system boot).
                                                                                                                                                                time_utcuint64_tusTimestamp (time since UNIX epoch) in UTC. 0 for unknown.
                                                                                                                                                                camera_iduint8_tDeprecated/unused. Component IDs are used to differentiate multiple cameras.
                                                                                                                                                                latint32_tdegE7Latitude where image was taken
                                                                                                                                                                lonint32_tdegE7Longitude where capture was taken
                                                                                                                                                                altint32_tmmAltitude (MSL) where image was taken
                                                                                                                                                                relative_altint32_tmmAltitude above ground
                                                                                                                                                                qfloat[4]Quaternion of camera orientation (w, x, y, z order, zero-rotation is 1, 0, 0, 0)
                                                                                                                                                                image_indexint32_tZero based index of this image (i.e. a new image will have index CAMERA_CAPTURE_STATUS.image count -1)
                                                                                                                                                                capture_resultint8_tBoolean indicating success (1) or failure (0) while capturing this image.
                                                                                                                                                                file_urlchar[205]URL of image taken. Either local storage or http://foo.jpg if camera provides an HTTP interface.

                                                                                                                                                                FLIGHT_INFORMATION (264)

                                                                                                                                                                Flight information.

                                                                                                                                                                This includes time since boot for arm, takeoff, and land, and a flight number. Takeoff and landing values reset to zero on arm. This can be requested using MAV_CMD_REQUEST_MESSAGE. Note, some fields are misnamed - timestamps are from boot (not UTC) and the flight_uuid is a sequence number.

                                                                                                                                                                Field NameTypeUnitsDescription
                                                                                                                                                                time_boot_msuint32_tmsTimestamp (time since system boot).
                                                                                                                                                                arming_time_utcuint64_tusTimestamp at arming (since system boot). Set to 0 on boot. Set value on arming. Note, field is misnamed UTC.
                                                                                                                                                                takeoff_time_utcuint64_tusTimestamp at takeoff (since system boot). Set to 0 at boot and on arming. Note, field is misnamed UTC.
                                                                                                                                                                flight_uuiduint64_tFlight number. Note, field is misnamed UUID.
                                                                                                                                                                landing_time ++uint32_tmsTimestamp at landing (in ms since system boot). Set to 0 at boot and on arming.

                                                                                                                                                                MOUNT_ORIENTATION (265) — [DEP]

                                                                                                                                                                DEPRECATED: Replaced By MAV_CMD_DO_GIMBAL_MANAGER_PITCHYAW (2020-01) — This message is being superseded by MAV_CMD_DO_GIMBAL_MANAGER_PITCHYAW. The message can still be used to communicate with legacy gimbals implementing it.)

                                                                                                                                                                Orientation of a mount

                                                                                                                                                                Field NameTypeUnitsDescription
                                                                                                                                                                time_boot_msuint32_tmsTimestamp (time since system boot).
                                                                                                                                                                rollfloatdegRoll in global frame (set to NaN for invalid).
                                                                                                                                                                pitchfloatdegPitch in global frame (set to NaN for invalid).
                                                                                                                                                                yawfloatdegYaw relative to vehicle (set to NaN for invalid).
                                                                                                                                                                yaw_absolute ++floatdegYaw in absolute frame relative to Earth's North, north is 0 (set to NaN for invalid).

                                                                                                                                                                LOGGING_DATA (266)

                                                                                                                                                                A message containing logged data (see also MAV_CMD_LOGGING_START)

                                                                                                                                                                Field NameTypeUnitsDescription
                                                                                                                                                                target_systemuint8_tsystem ID of the target
                                                                                                                                                                target_componentuint8_tcomponent ID of the target
                                                                                                                                                                sequenceuint16_tsequence number (can wrap)
                                                                                                                                                                lengthuint8_tbytesdata length
                                                                                                                                                                first_message_offsetuint8_tbytesoffset into data where first message starts. This can be used for recovery, when a previous message got lost (set to UINT8_MAX if no start exists).
                                                                                                                                                                datauint8_t[249]logged data

                                                                                                                                                                LOGGING_DATA_ACKED (267)

                                                                                                                                                                A message containing logged data which requires a LOGGING_ACK to be sent back

                                                                                                                                                                Field NameTypeUnitsDescription
                                                                                                                                                                target_systemuint8_tsystem ID of the target
                                                                                                                                                                target_componentuint8_tcomponent ID of the target
                                                                                                                                                                sequenceuint16_tsequence number (can wrap)
                                                                                                                                                                lengthuint8_tbytesdata length
                                                                                                                                                                first_message_offsetuint8_tbytesoffset into data where first message starts. This can be used for recovery, when a previous message got lost (set to UINT8_MAX if no start exists).
                                                                                                                                                                datauint8_t[249]logged data

                                                                                                                                                                LOGGING_ACK (268)

                                                                                                                                                                An ack for a LOGGING_DATA_ACKED message

                                                                                                                                                                Field NameTypeDescription
                                                                                                                                                                target_systemuint8_tsystem ID of the target
                                                                                                                                                                target_componentuint8_tcomponent ID of the target
                                                                                                                                                                sequenceuint16_tsequence number (must match the one in LOGGING_DATA_ACKED)

                                                                                                                                                                VIDEO_STREAM_INFORMATION (269)

                                                                                                                                                                Information about video stream. It may be requested using MAV_CMD_REQUEST_MESSAGE, where param2 indicates the video stream id: 0 for all streams, 1 for first, 2 for second, etc.

                                                                                                                                                                Field NameTypeUnitsValuesDescription
                                                                                                                                                                stream_iduint8_tVideo Stream ID (1 for first, 2 for second, etc.)
                                                                                                                                                                Messages with same value are from the same source (instance).
                                                                                                                                                                countuint8_tNumber of streams available.
                                                                                                                                                                typeuint8_tVIDEO_STREAM_TYPEType of stream.
                                                                                                                                                                flagsuint16_tVIDEO_STREAM_STATUS_FLAGSBitmap of stream status flags.
                                                                                                                                                                frameratefloatHzFrame rate.
                                                                                                                                                                resolution_huint16_tpixHorizontal resolution.
                                                                                                                                                                resolution_vuint16_tpixVertical resolution.
                                                                                                                                                                bitrateuint32_tbits/sBit rate.
                                                                                                                                                                rotationuint16_tdegVideo image rotation clockwise.
                                                                                                                                                                hfovuint16_tdegHorizontal Field of view.
                                                                                                                                                                namechar[32]Stream name.
                                                                                                                                                                urichar[160]Video stream URI (TCP or RTSP URI ground station should connect to) or port number (UDP port ground station should listen to).
                                                                                                                                                                encoding ++uint8_tVIDEO_STREAM_ENCODINGEncoding of stream.
                                                                                                                                                                camera_device_id ++uint8_tdefault:0 min:0 max:6Camera id of a non-MAVLink camera attached to an autopilot (1-6). 0 if the component is a MAVLink camera (with its own component id).

                                                                                                                                                                VIDEO_STREAM_STATUS (270)

                                                                                                                                                                Information about the status of a video stream. It may be requested using MAV_CMD_REQUEST_MESSAGE.

                                                                                                                                                                Field NameTypeUnitsValuesDescription
                                                                                                                                                                stream_iduint8_tVideo Stream ID (1 for first, 2 for second, etc.)
                                                                                                                                                                Messages with same value are from the same source (instance).
                                                                                                                                                                flagsuint16_tVIDEO_STREAM_STATUS_FLAGSBitmap of stream status flags
                                                                                                                                                                frameratefloatHzFrame rate
                                                                                                                                                                resolution_huint16_tpixHorizontal resolution
                                                                                                                                                                resolution_vuint16_tpixVertical resolution
                                                                                                                                                                bitrateuint32_tbits/sBit rate
                                                                                                                                                                rotationuint16_tdegVideo image rotation clockwise
                                                                                                                                                                hfovuint16_tdegHorizontal Field of view
                                                                                                                                                                camera_device_id ++uint8_tdefault:0 min:0 max:6Camera id of a non-MAVLink camera attached to an autopilot (1-6). 0 if the component is a MAVLink camera (with its own component id).

                                                                                                                                                                CAMERA_FOV_STATUS (271)

                                                                                                                                                                Information about the field of view of a camera. Can be requested with a MAV_CMD_REQUEST_MESSAGE command.

                                                                                                                                                                Field NameTypeUnitsDescription
                                                                                                                                                                time_boot_msuint32_tmsTimestamp (time since system boot).
                                                                                                                                                                lat_cameraint32_tdegE7Latitude of camera (INT32_MAX if unknown).
                                                                                                                                                                lon_cameraint32_tdegE7Longitude of camera (INT32_MAX if unknown).
                                                                                                                                                                alt_cameraint32_tmmAltitude (MSL) of camera (INT32_MAX if unknown).
                                                                                                                                                                lat_imageint32_tdegE7Latitude of center of image (INT32_MAX if unknown, INT32_MIN if at infinity, not intersecting with horizon).
                                                                                                                                                                lon_imageint32_tdegE7Longitude of center of image (INT32_MAX if unknown, INT32_MIN if at infinity, not intersecting with horizon).
                                                                                                                                                                alt_imageint32_tmmAltitude (MSL) of center of image (INT32_MAX if unknown, INT32_MIN if at infinity, not intersecting with horizon).
                                                                                                                                                                qfloat[4]Quaternion of camera orientation (w, x, y, z order, zero-rotation is 1, 0, 0, 0)
                                                                                                                                                                hfovfloatdegHorizontal field of view (NaN if unknown).
                                                                                                                                                                vfovfloatdegVertical field of view (NaN if unknown).
                                                                                                                                                                camera_device_id ++uint8_tCamera id of a non-MAVLink camera attached to an autopilot (1-6). 0 if the component is a MAVLink camera (with its own component id).

                                                                                                                                                                CAMERA_TRACKING_IMAGE_STATUS (275)

                                                                                                                                                                Camera tracking status, sent while in active tracking. Use MAV_CMD_SET_MESSAGE_INTERVAL to define message interval.

                                                                                                                                                                Field NameTypeValuesDescription
                                                                                                                                                                tracking_statusuint8_tCAMERA_TRACKING_STATUS_FLAGSCurrent tracking status
                                                                                                                                                                tracking_modeuint8_tCAMERA_TRACKING_MODECurrent tracking mode
                                                                                                                                                                target_datauint8_tCAMERA_TRACKING_TARGET_DATADefines location of target data
                                                                                                                                                                point_xfloatinvalid:NaNCurrent tracked point x value if CAMERA_TRACKING_MODE_POINT (normalized 0..1, 0 is left, 1 is right), NAN if unknown
                                                                                                                                                                point_yfloatinvalid:NaNCurrent tracked point y value if CAMERA_TRACKING_MODE_POINT (normalized 0..1, 0 is top, 1 is bottom), NAN if unknown
                                                                                                                                                                radiusfloatinvalid:NaNCurrent tracked radius if CAMERA_TRACKING_MODE_POINT (normalized 0..1, 0 is image left, 1 is image right), NAN if unknown
                                                                                                                                                                rec_top_xfloatinvalid:NaNCurrent tracked rectangle top x value if CAMERA_TRACKING_MODE_RECTANGLE (normalized 0..1, 0 is left, 1 is right), NAN if unknown
                                                                                                                                                                rec_top_yfloatinvalid:NaNCurrent tracked rectangle top y value if CAMERA_TRACKING_MODE_RECTANGLE (normalized 0..1, 0 is top, 1 is bottom), NAN if unknown
                                                                                                                                                                rec_bottom_xfloatinvalid:NaNCurrent tracked rectangle bottom x value if CAMERA_TRACKING_MODE_RECTANGLE (normalized 0..1, 0 is left, 1 is right), NAN if unknown
                                                                                                                                                                rec_bottom_yfloatinvalid:NaNCurrent tracked rectangle bottom y value if CAMERA_TRACKING_MODE_RECTANGLE (normalized 0..1, 0 is top, 1 is bottom), NAN if unknown
                                                                                                                                                                camera_device_id ++uint8_tdefault:0 min:0 max:6Camera id of a non-MAVLink camera attached to an autopilot (1-6). 0 if the component is a MAVLink camera (with its own component id).

                                                                                                                                                                CAMERA_TRACKING_GEO_STATUS (276)

                                                                                                                                                                Camera tracking status, sent while in active tracking. Use MAV_CMD_SET_MESSAGE_INTERVAL to define message interval.

                                                                                                                                                                Field NameTypeUnitsValuesDescription
                                                                                                                                                                tracking_statusuint8_tCAMERA_TRACKING_STATUS_FLAGSCurrent tracking status
                                                                                                                                                                latint32_tdegE7Latitude of tracked object
                                                                                                                                                                lonint32_tdegE7Longitude of tracked object
                                                                                                                                                                altfloatmAltitude of tracked object(AMSL, WGS84)
                                                                                                                                                                h_accfloatminvalid:NaNHorizontal accuracy. NAN if unknown
                                                                                                                                                                v_accfloatminvalid:NaNVertical accuracy. NAN if unknown
                                                                                                                                                                vel_nfloatm/sinvalid:NaNNorth velocity of tracked object. NAN if unknown
                                                                                                                                                                vel_efloatm/sinvalid:NaNEast velocity of tracked object. NAN if unknown
                                                                                                                                                                vel_dfloatm/sinvalid:NaNDown velocity of tracked object. NAN if unknown
                                                                                                                                                                vel_accfloatm/sinvalid:NaNVelocity accuracy. NAN if unknown
                                                                                                                                                                distfloatminvalid:NaNDistance between camera and tracked object. NAN if unknown
                                                                                                                                                                hdgfloatradinvalid:NaNHeading in radians, in NED. NAN if unknown
                                                                                                                                                                hdg_accfloatradinvalid:NaNAccuracy of heading, in NED. NAN if unknown
                                                                                                                                                                camera_device_id ++uint8_tdefault:0 min:0 max:6Camera id of a non-MAVLink camera attached to an autopilot (1-6). 0 if the component is a MAVLink camera (with its own component id).

                                                                                                                                                                CAMERA_THERMAL_RANGE (277) — [WIP]

                                                                                                                                                                WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                Camera absolute thermal range. This can be streamed when the associated VIDEO_STREAM_STATUS flag field bit VIDEO_STREAM_STATUS_FLAGS_THERMAL_RANGE_ENABLED is set, but a GCS may choose to only request it for the current active stream. Use MAV_CMD_SET_MESSAGE_INTERVAL to define message interval (param3 indicates the stream id of the current camera, or 0 for all streams, param4 indicates the target camera_device_id for autopilot-attached cameras or 0 for MAVLink cameras).

                                                                                                                                                                Field NameTypeUnitsDescription
                                                                                                                                                                time_boot_msuint32_tmsTimestamp (time since system boot).
                                                                                                                                                                stream_iduint8_tVideo Stream ID (1 for first, 2 for second, etc.)
                                                                                                                                                                Messages with same value are from the same source (instance).
                                                                                                                                                                camera_device_iduint8_tCamera id of a non-MAVLink camera attached to an autopilot (1-6). 0 if the component is a MAVLink camera (with its own component id).
                                                                                                                                                                maxfloatdegCTemperature max.
                                                                                                                                                                max_point_xfloatTemperature max point x value (normalized 0..1, 0 is left, 1 is right), NAN if unknown.
                                                                                                                                                                max_point_yfloatTemperature max point y value (normalized 0..1, 0 is top, 1 is bottom), NAN if unknown.
                                                                                                                                                                minfloatdegCTemperature min.
                                                                                                                                                                min_point_xfloatTemperature min point x value (normalized 0..1, 0 is left, 1 is right), NAN if unknown.
                                                                                                                                                                min_point_yfloatTemperature min point y value (normalized 0..1, 0 is top, 1 is bottom), NAN if unknown.

                                                                                                                                                                GIMBAL_MANAGER_INFORMATION (280)

                                                                                                                                                                Information about a high level gimbal manager. This message should be requested by a ground station using MAV_CMD_REQUEST_MESSAGE.

                                                                                                                                                                Field NameTypeUnitsValuesDescription
                                                                                                                                                                time_boot_msuint32_tmsTimestamp (time since system boot).
                                                                                                                                                                cap_flagsuint32_tGIMBAL_MANAGER_CAP_FLAGSBitmap of gimbal capability flags.
                                                                                                                                                                gimbal_device_iduint8_tGimbal device ID that this gimbal manager is responsible for. Component ID of gimbal device (or 1-6 for non-MAVLink gimbal).
                                                                                                                                                                Messages with same value are from the same source (instance).
                                                                                                                                                                roll_minfloatradMinimum hardware roll angle (positive: rolling to the right, negative: rolling to the left)
                                                                                                                                                                roll_maxfloatradMaximum hardware roll angle (positive: rolling to the right, negative: rolling to the left)
                                                                                                                                                                pitch_minfloatradMinimum pitch angle (positive: up, negative: down)
                                                                                                                                                                pitch_maxfloatradMaximum pitch angle (positive: up, negative: down)
                                                                                                                                                                yaw_minfloatradMinimum yaw angle (positive: to the right, negative: to the left)
                                                                                                                                                                yaw_maxfloatradMaximum yaw angle (positive: to the right, negative: to the left)

                                                                                                                                                                GIMBAL_MANAGER_STATUS (281)

                                                                                                                                                                Current status about a high level gimbal manager. This message should be broadcast at a low regular rate (e.g. 5Hz).

                                                                                                                                                                Field NameTypeUnitsValuesDescription
                                                                                                                                                                time_boot_msuint32_tmsTimestamp (time since system boot).
                                                                                                                                                                flagsuint32_tGIMBAL_MANAGER_FLAGSHigh level gimbal manager flags currently applied.
                                                                                                                                                                gimbal_device_iduint8_tGimbal device ID that this gimbal manager is responsible for. Component ID of gimbal device (or 1-6 for non-MAVLink gimbal).
                                                                                                                                                                Messages with same value are from the same source (instance).
                                                                                                                                                                primary_control_sysiduint8_tSystem ID of MAVLink component with primary control, 0 for none.
                                                                                                                                                                primary_control_compiduint8_tComponent ID of MAVLink component with primary control, 0 for none.
                                                                                                                                                                secondary_control_sysiduint8_tSystem ID of MAVLink component with secondary control, 0 for none.
                                                                                                                                                                secondary_control_compiduint8_tComponent ID of MAVLink component with secondary control, 0 for none.

                                                                                                                                                                GIMBAL_MANAGER_SET_ATTITUDE (282)

                                                                                                                                                                High level message to control a gimbal's attitude. This message is to be sent to the gimbal manager (e.g. from a ground station). Angles and rates can be set to NaN according to use case.

                                                                                                                                                                Field NameTypeUnitsValuesDescription
                                                                                                                                                                target_systemuint8_tSystem ID
                                                                                                                                                                target_componentuint8_tComponent ID
                                                                                                                                                                flagsuint32_tGIMBAL_MANAGER_FLAGSHigh level gimbal manager flags to use.
                                                                                                                                                                gimbal_device_iduint8_tComponent ID of gimbal device to address (or 1-6 for non-MAVLink gimbal), 0 for all gimbal device components. Send command multiple times for more than one gimbal (but not all gimbals).
                                                                                                                                                                Messages with same value are from the same source (instance).
                                                                                                                                                                qfloat[4]Quaternion components, w, x, y, z (1 0 0 0 is the null-rotation, the frame is depends on whether the flag GIMBAL_MANAGER_FLAGS_YAW_LOCK is set)
                                                                                                                                                                angular_velocity_xfloatrad/sinvalid:NaNX component of angular velocity, positive is rolling to the right, NaN to be ignored.
                                                                                                                                                                angular_velocity_yfloatrad/sinvalid:NaNY component of angular velocity, positive is pitching up, NaN to be ignored.
                                                                                                                                                                angular_velocity_zfloatrad/sinvalid:NaNZ component of angular velocity, positive is yawing to the right, NaN to be ignored.

                                                                                                                                                                GIMBAL_DEVICE_INFORMATION (283)

                                                                                                                                                                Information about a low level gimbal. This message should be requested by the gimbal manager or a ground station using MAV_CMD_REQUEST_MESSAGE. The maximum angles and rates are the limits by hardware. However, the limits by software used are likely different/smaller and dependent on mode/settings/etc..

                                                                                                                                                                Field NameTypeUnitsValuesDescription
                                                                                                                                                                time_boot_msuint32_tmsTimestamp (time since system boot).
                                                                                                                                                                vendor_namechar[32]Name of the gimbal vendor.
                                                                                                                                                                model_namechar[32]Name of the gimbal model.
                                                                                                                                                                custom_namechar[32]Custom name of the gimbal given to it by the user.
                                                                                                                                                                firmware_versionuint32_tVersion of the gimbal firmware, encoded as: (Dev & 0xff) << 24(Patch & 0xff) << 16(Minor & 0xff) << 8(Major & 0xff).
                                                                                                                                                                hardware_versionuint32_tVersion of the gimbal hardware, encoded as: (Dev & 0xff) << 24(Patch & 0xff) << 16(Minor & 0xff) << 8(Major & 0xff).
                                                                                                                                                                uiduint64_tinvalid:0UID of gimbal hardware (0 if unknown).
                                                                                                                                                                cap_flagsuint16_tGIMBAL_DEVICE_CAP_FLAGSBitmap of gimbal capability flags.
                                                                                                                                                                custom_cap_flagsuint16_tBitmap for use for gimbal-specific capability flags.
                                                                                                                                                                roll_minfloatradinvalid:NaNMinimum hardware roll angle (positive: rolling to the right, negative: rolling to the left). NAN if unknown.
                                                                                                                                                                roll_maxfloatradinvalid:NaNMaximum hardware roll angle (positive: rolling to the right, negative: rolling to the left). NAN if unknown.
                                                                                                                                                                pitch_minfloatradinvalid:NaNMinimum hardware pitch angle (positive: up, negative: down). NAN if unknown.
                                                                                                                                                                pitch_maxfloatradinvalid:NaNMaximum hardware pitch angle (positive: up, negative: down). NAN if unknown.
                                                                                                                                                                yaw_minfloatradinvalid:NaNMinimum hardware yaw angle (positive: to the right, negative: to the left). NAN if unknown.
                                                                                                                                                                yaw_maxfloatradinvalid:NaNMaximum hardware yaw angle (positive: to the right, negative: to the left). NAN if unknown.
                                                                                                                                                                gimbal_device_id ++uint8_tinvalid:0This field is to be used if the gimbal manager and the gimbal device are the same component and hence have the same component ID. This field is then set to a number between 1-6. If the component ID is separate, this field is not required and must be set to 0.

                                                                                                                                                                GIMBAL_DEVICE_SET_ATTITUDE (284)

                                                                                                                                                                Low level message to control a gimbal device's attitude.

                                                                                                                                                                This message is to be sent from the gimbal manager to the gimbal device component. The quaternion and angular velocities can be set to NaN according to use case. For the angles encoded in the quaternion and the angular velocities holds: If the flag GIMBAL_DEVICE_FLAGS_YAW_IN_VEHICLE_FRAME is set, then they are relative to the vehicle heading (vehicle frame). If the flag GIMBAL_DEVICE_FLAGS_YAW_IN_EARTH_FRAME is set, then they are relative to absolute North (earth frame). If neither of these flags are set, then (for backwards compatibility) it holds: If the flag GIMBAL_DEVICE_FLAGS_YAW_LOCK is set, then they are relative to absolute North (earth frame), else they are relative to the vehicle heading (vehicle frame). Setting both GIMBAL_DEVICE_FLAGS_YAW_IN_VEHICLE_FRAME and GIMBAL_DEVICE_FLAGS_YAW_IN_EARTH_FRAME is not allowed. These rules are to ensure backwards compatibility. New implementations should always set either GIMBAL_DEVICE_FLAGS_YAW_IN_VEHICLE_FRAME or GIMBAL_DEVICE_FLAGS_YAW_IN_EARTH_FRAME.

                                                                                                                                                                Field NameTypeUnitsValuesDescription
                                                                                                                                                                target_systemuint8_tSystem ID
                                                                                                                                                                target_componentuint8_tComponent ID
                                                                                                                                                                flagsuint16_tGIMBAL_DEVICE_FLAGSLow level gimbal flags.
                                                                                                                                                                qfloat[4]invalid:[NaN]Quaternion components, w, x, y, z (1 0 0 0 is the null-rotation). The frame is described in the message description. Set fields to NaN to be ignored.
                                                                                                                                                                angular_velocity_xfloatrad/sinvalid:NaNX component of angular velocity (positive: rolling to the right). The frame is described in the message description. NaN to be ignored.
                                                                                                                                                                angular_velocity_yfloatrad/sinvalid:NaNY component of angular velocity (positive: pitching up). The frame is described in the message description. NaN to be ignored.
                                                                                                                                                                angular_velocity_zfloatrad/sinvalid:NaNZ component of angular velocity (positive: yawing to the right). The frame is described in the message description. NaN to be ignored.

                                                                                                                                                                GIMBAL_DEVICE_ATTITUDE_STATUS (285)

                                                                                                                                                                Message reporting the status of a gimbal device.

                                                                                                                                                                This message should be broadcast by a gimbal device component at a low regular rate (e.g. 5 Hz). For the angles encoded in the quaternion and the angular velocities holds: If the flag GIMBAL_DEVICE_FLAGS_YAW_IN_VEHICLE_FRAME is set, then they are relative to the vehicle heading (vehicle frame). If the flag GIMBAL_DEVICE_FLAGS_YAW_IN_EARTH_FRAME is set, then they are relative to absolute North (earth frame). If neither of these flags are set, then (for backwards compatibility) it holds: If the flag GIMBAL_DEVICE_FLAGS_YAW_LOCK is set, then they are relative to absolute North (earth frame), else they are relative to the vehicle heading (vehicle frame). Other conditions of the flags are not allowed. The quaternion and angular velocities in the other frame can be calculated from delta_yaw and delta_yaw_velocity as q_earth = q_delta_yaw * q_vehicle and w_earth = w_delta_yaw_velocity + w_vehicle (if not NaN). If neither the GIMBAL_DEVICE_FLAGS_YAW_IN_VEHICLE_FRAME nor the GIMBAL_DEVICE_FLAGS_YAW_IN_EARTH_FRAME flag is set, then (for backwards compatibility) the data in the delta_yaw and delta_yaw_velocity fields are to be ignored. New implementations should always set either GIMBAL_DEVICE_FLAGS_YAW_IN_VEHICLE_FRAME or GIMBAL_DEVICE_FLAGS_YAW_IN_EARTH_FRAME, and always should set delta_yaw and delta_yaw_velocity either to the proper value or NaN.

                                                                                                                                                                Field NameTypeUnitsValuesDescription
                                                                                                                                                                target_systemuint8_tSystem ID
                                                                                                                                                                target_componentuint8_tComponent ID
                                                                                                                                                                time_boot_msuint32_tmsTimestamp (time since system boot).
                                                                                                                                                                flagsuint16_tGIMBAL_DEVICE_FLAGSCurrent gimbal flags set.
                                                                                                                                                                qfloat[4]Quaternion components, w, x, y, z (1 0 0 0 is the null-rotation). The frame is described in the message description.
                                                                                                                                                                angular_velocity_xfloatrad/sinvalid:NaNX component of angular velocity (positive: rolling to the right). The frame is described in the message description. NaN if unknown.
                                                                                                                                                                angular_velocity_yfloatrad/sinvalid:NaNY component of angular velocity (positive: pitching up). The frame is described in the message description. NaN if unknown.
                                                                                                                                                                angular_velocity_zfloatrad/sinvalid:NaNZ component of angular velocity (positive: yawing to the right). The frame is described in the message description. NaN if unknown.
                                                                                                                                                                failure_flagsuint32_tGIMBAL_DEVICE_ERROR_FLAGSFailure flags (0 for no failure)
                                                                                                                                                                delta_yaw ++floatradinvalid:NANYaw angle relating the quaternions in earth and body frames (see message description). NaN if unknown.
                                                                                                                                                                delta_yaw_velocity ++floatrad/sinvalid:NANYaw angular velocity relating the angular velocities in earth and body frames (see message description). NaN if unknown.
                                                                                                                                                                gimbal_device_id ++uint8_tinvalid:0This field is to be used if the gimbal manager and the gimbal device are the same component and hence have the same component ID. This field is then set a number between 1-6. If the component ID is separate, this field is not required and must be set to 0.

                                                                                                                                                                AUTOPILOT_STATE_FOR_GIMBAL_DEVICE (286)

                                                                                                                                                                Low level message containing autopilot state relevant for a gimbal device. This message is to be sent from the autopilot to the gimbal device component. The data of this message are for the gimbal device's estimator corrections, in particular horizon compensation, as well as indicates autopilot control intentions, e.g. feed forward angular control in the z-axis.

                                                                                                                                                                Field NameTypeUnitsValuesDescription
                                                                                                                                                                target_systemuint8_tSystem ID
                                                                                                                                                                target_componentuint8_tComponent ID
                                                                                                                                                                time_boot_usuint64_tusTimestamp (time since system boot).
                                                                                                                                                                qfloat[4]Quaternion components of autopilot attitude: w, x, y, z (1 0 0 0 is the null-rotation, Hamilton convention).
                                                                                                                                                                q_estimated_delay_usuint32_tusinvalid:0Estimated delay of the attitude data. 0 if unknown.
                                                                                                                                                                vxfloatm/sinvalid:NaNX Speed in NED (North, East, Down). NAN if unknown.
                                                                                                                                                                vyfloatm/sinvalid:NaNY Speed in NED (North, East, Down). NAN if unknown.
                                                                                                                                                                vzfloatm/sinvalid:NaNZ Speed in NED (North, East, Down). NAN if unknown.
                                                                                                                                                                v_estimated_delay_usuint32_tusinvalid:0Estimated delay of the speed data. 0 if unknown.
                                                                                                                                                                feed_forward_angular_velocity_zfloatrad/sinvalid:NaNFeed forward Z component of angular velocity (positive: yawing to the right). NaN to be ignored. This is to indicate if the autopilot is actively yawing.
                                                                                                                                                                estimator_statusuint16_tESTIMATOR_STATUS_FLAGSBitmap indicating which estimator outputs are valid.
                                                                                                                                                                landed_stateuint8_tinvalid:MAV_LANDED_STATE_UNDEFINED MAV_LANDED_STATEThe landed state. Is set to MAV_LANDED_STATE_UNDEFINED if landed state is unknown.
                                                                                                                                                                angular_velocity_z ++floatrad/sinvalid:NaNZ component of angular velocity in NED (North, East, Down). NaN if unknown.

                                                                                                                                                                GIMBAL_MANAGER_SET_PITCHYAW (287)

                                                                                                                                                                Set gimbal manager pitch and yaw angles (high rate message). This message is to be sent to the gimbal manager (e.g. from a ground station) and will be ignored by gimbal devices. Angles and rates can be set to NaN according to use case. Use MAV_CMD_DO_GIMBAL_MANAGER_PITCHYAW for low-rate adjustments that require confirmation.

                                                                                                                                                                Field NameTypeUnitsValuesDescription
                                                                                                                                                                target_systemuint8_tSystem ID
                                                                                                                                                                target_componentuint8_tComponent ID
                                                                                                                                                                flagsuint32_tGIMBAL_MANAGER_FLAGSHigh level gimbal manager flags to use.
                                                                                                                                                                gimbal_device_iduint8_tComponent ID of gimbal device to address (or 1-6 for non-MAVLink gimbal), 0 for all gimbal device components. Send command multiple times for more than one gimbal (but not all gimbals).
                                                                                                                                                                Messages with same value are from the same source (instance).
                                                                                                                                                                pitchfloatradinvalid:NaNPitch angle (positive: up, negative: down, NaN to be ignored).
                                                                                                                                                                yawfloatradinvalid:NaNYaw angle (positive: to the right, negative: to the left, NaN to be ignored).
                                                                                                                                                                pitch_ratefloatrad/sinvalid:NaNPitch angular rate (positive: up, negative: down, NaN to be ignored).
                                                                                                                                                                yaw_ratefloatrad/sinvalid:NaNYaw angular rate (positive: to the right, negative: to the left, NaN to be ignored).

                                                                                                                                                                GIMBAL_MANAGER_SET_MANUAL_CONTROL (288)

                                                                                                                                                                High level message to control a gimbal manually. The angles or angular rates are unitless; the actual rates will depend on internal gimbal manager settings/configuration (e.g. set by parameters). This message is to be sent to the gimbal manager (e.g. from a ground station). Angles and rates can be set to NaN according to use case.

                                                                                                                                                                Field NameTypeValuesDescription
                                                                                                                                                                target_systemuint8_tSystem ID
                                                                                                                                                                target_componentuint8_tComponent ID
                                                                                                                                                                flagsuint32_tGIMBAL_MANAGER_FLAGSHigh level gimbal manager flags.
                                                                                                                                                                gimbal_device_iduint8_tComponent ID of gimbal device to address (or 1-6 for non-MAVLink gimbal), 0 for all gimbal device components. Send command multiple times for more than one gimbal (but not all gimbals).
                                                                                                                                                                Messages with same value are from the same source (instance).
                                                                                                                                                                pitchfloatinvalid:NaNPitch angle unitless (-1..1, positive: up, negative: down, NaN to be ignored).
                                                                                                                                                                yawfloatinvalid:NaNYaw angle unitless (-1..1, positive: to the right, negative: to the left, NaN to be ignored).
                                                                                                                                                                pitch_ratefloatinvalid:NaNPitch angular rate unitless (-1..1, positive: up, negative: down, NaN to be ignored).
                                                                                                                                                                yaw_ratefloatinvalid:NaNYaw angular rate unitless (-1..1, positive: to the right, negative: to the left, NaN to be ignored).

                                                                                                                                                                ESC_INFO (290) — [WIP]

                                                                                                                                                                WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                ESC information for lower rate streaming. Recommended streaming rate 1Hz. See ESC_STATUS for higher-rate ESC data.

                                                                                                                                                                Field NameTypeUnitsValuesDescription
                                                                                                                                                                indexuint8_tIndex of the first ESC in this message. minValue = 0, maxValue = 60, increment = 4.
                                                                                                                                                                Messages with same value are from the same source (instance).
                                                                                                                                                                time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude the number.
                                                                                                                                                                counteruint16_tCounter of data packets received.
                                                                                                                                                                countuint8_tTotal number of ESCs in all messages of this type. Message fields with an index higher than this should be ignored because they contain invalid data.
                                                                                                                                                                connection_typeuint8_tESC_CONNECTION_TYPEConnection type protocol for all ESC.
                                                                                                                                                                infouint8_tInformation regarding online/offline status of each ESC.
                                                                                                                                                                failure_flagsuint16_t[4]ESC_FAILURE_FLAGSBitmap of ESC failure flags.
                                                                                                                                                                error_countuint32_t[4]Number of reported errors by each ESC since boot.
                                                                                                                                                                temperatureint16_t[4]cdegCinvalid:[INT16_MAX]Temperature of each ESC. INT16_MAX: if data not supplied by ESC.

                                                                                                                                                                ESC_STATUS (291) — [WIP]

                                                                                                                                                                WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                ESC information for higher rate streaming. Recommended streaming rate is ~10 Hz. Information that changes more slowly is sent in ESC_INFO. It should typically only be streamed on high-bandwidth links (i.e. to a companion computer).

                                                                                                                                                                Field NameTypeUnitsDescription
                                                                                                                                                                indexuint8_tIndex of the first ESC in this message. minValue = 0, maxValue = 60, increment = 4.
                                                                                                                                                                Messages with same value are from the same source (instance).
                                                                                                                                                                time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude the number.
                                                                                                                                                                rpmint32_t[4]rpmReported motor RPM from each ESC (negative for reverse rotation).
                                                                                                                                                                voltagefloat[4]VVoltage measured from each ESC.
                                                                                                                                                                currentfloat[4]ACurrent measured from each ESC.

                                                                                                                                                                WIFI_CONFIG_AP (299)

                                                                                                                                                                Configure WiFi AP SSID, password, and mode. This message is re-emitted as an acknowledgement by the AP. The message may also be explicitly requested using MAV_CMD_REQUEST_MESSAGE

                                                                                                                                                                Field NameTypeValuesDescription
                                                                                                                                                                ssidchar[32]Name of Wi-Fi network (SSID). Blank to leave it unchanged when setting. Current SSID when sent back as a response.
                                                                                                                                                                passwordchar[64]Password. Blank for an open AP. MD5 hash when message is sent back as a response.
                                                                                                                                                                mode ++int8_tWIFI_CONFIG_AP_MODEWiFi Mode.
                                                                                                                                                                response ++int8_tWIFI_CONFIG_AP_RESPONSEMessage acceptance response (sent back to GS).

                                                                                                                                                                PROTOCOL_VERSION (300) — [from: minimal] [WIP]

                                                                                                                                                                WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                Version and capability of protocol version. This message can be requested with MAV_CMD_REQUEST_MESSAGE and is used as part of the handshaking to establish which MAVLink version should be used on the network. Every node should respond to a request for PROTOCOL_VERSION to enable the handshaking. Library implementers should consider adding this into the default decoding state machine to allow the protocol core to respond directly.

                                                                                                                                                                Field NameTypeDescription
                                                                                                                                                                versionuint16_tCurrently active MAVLink version number * 100: v1.0 is 100, v2.0 is 200, etc.
                                                                                                                                                                min_versionuint16_tMinimum MAVLink version supported
                                                                                                                                                                max_versionuint16_tMaximum MAVLink version supported (set to the same value as version by default)
                                                                                                                                                                spec_version_hashuint8_t[8]The first 8 bytes (not characters printed in hex!) of the git hash.
                                                                                                                                                                library_version_hashuint8_t[8]The first 8 bytes (not characters printed in hex!) of the git hash.

                                                                                                                                                                AIS_VESSEL (301)

                                                                                                                                                                The location and information of an AIS vessel

                                                                                                                                                                Field NameTypeUnitsValuesDescription
                                                                                                                                                                MMSIuint32_tMobile Marine Service Identifier, 9 decimal digits
                                                                                                                                                                latint32_tdegE7Latitude
                                                                                                                                                                lonint32_tdegE7Longitude
                                                                                                                                                                COGuint16_tcdegCourse over ground
                                                                                                                                                                headinguint16_tcdegTrue heading
                                                                                                                                                                velocityuint16_tcm/sSpeed over ground
                                                                                                                                                                turn_rateint8_tcdeg/sTurn rate
                                                                                                                                                                navigational_statusuint8_tAIS_NAV_STATUSNavigational status
                                                                                                                                                                typeuint8_tAIS_TYPEType of vessels
                                                                                                                                                                dimension_bowuint16_tmDistance from lat/lon location to bow
                                                                                                                                                                dimension_sternuint16_tmDistance from lat/lon location to stern
                                                                                                                                                                dimension_portuint8_tmDistance from lat/lon location to port side
                                                                                                                                                                dimension_starboarduint8_tmDistance from lat/lon location to starboard side
                                                                                                                                                                callsignchar[7]The vessel callsign
                                                                                                                                                                namechar[20]The vessel name
                                                                                                                                                                tslcuint16_tsTime since last communication in seconds
                                                                                                                                                                flagsuint16_tAIS_FLAGSBitmask to indicate various statuses including valid data fields

                                                                                                                                                                UAVCAN_NODE_STATUS (310)

                                                                                                                                                                General status information of an UAVCAN node. Please refer to the definition of the UAVCAN message "uavcan.protocol.NodeStatus" for the background information. The UAVCAN specification is available at http://uavcan.org.

                                                                                                                                                                Field NameTypeUnitsValuesDescription
                                                                                                                                                                time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
                                                                                                                                                                uptime_secuint32_tsTime since the start-up of the node.
                                                                                                                                                                healthuint8_tUAVCAN_NODE_HEALTHGeneralized node health status.
                                                                                                                                                                modeuint8_tUAVCAN_NODE_MODEGeneralized operating mode.
                                                                                                                                                                sub_modeuint8_tNot used currently.
                                                                                                                                                                vendor_specific_status_codeuint16_tVendor-specific status information.

                                                                                                                                                                UAVCAN_NODE_INFO (311)

                                                                                                                                                                General information describing a particular UAVCAN node. Please refer to the definition of the UAVCAN service "uavcan.protocol.GetNodeInfo" for the background information. This message should be emitted by the system whenever a new node appears online, or an existing node reboots. Additionally, it can be emitted upon request from the other end of the MAVLink channel (see MAV_CMD_UAVCAN_GET_NODE_INFO). It is also not prohibited to emit this message unconditionally at a low frequency. The UAVCAN specification is available at http://uavcan.org.

                                                                                                                                                                Field NameTypeUnitsDescription
                                                                                                                                                                time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
                                                                                                                                                                uptime_secuint32_tsTime since the start-up of the node.
                                                                                                                                                                namechar[80]Node name string. For example, "sapog.px4.io".
                                                                                                                                                                hw_version_majoruint8_tHardware major version number.
                                                                                                                                                                hw_version_minoruint8_tHardware minor version number.
                                                                                                                                                                hw_unique_iduint8_t[16]Hardware unique 128-bit ID.
                                                                                                                                                                sw_version_majoruint8_tSoftware major version number.
                                                                                                                                                                sw_version_minoruint8_tSoftware minor version number.
                                                                                                                                                                sw_vcs_commituint32_tVersion control system (VCS) revision identifier (e.g. git short commit hash). 0 if unknown.

                                                                                                                                                                PARAM_EXT_REQUEST_READ (320)

                                                                                                                                                                Request to read the value of a parameter with either the param_id string id or param_index. PARAM_EXT_VALUE should be emitted in response.

                                                                                                                                                                Field NameTypeDescription
                                                                                                                                                                target_systemuint8_tSystem ID
                                                                                                                                                                target_componentuint8_tComponent ID
                                                                                                                                                                param_idchar[16]Parameter id, terminated by NULL if the length is less than 16 human-readable chars and WITHOUT null termination (NULL) byte if the length is exactly 16 chars - applications have to provide 16+1 bytes storage if the ID is stored as string
                                                                                                                                                                param_indexint16_tParameter index. Set to -1 to use the Parameter ID field as identifier (else param_id will be ignored)

                                                                                                                                                                PARAM_EXT_REQUEST_LIST (321)

                                                                                                                                                                Request all parameters of this component. All parameters should be emitted in response as PARAM_EXT_VALUE.

                                                                                                                                                                Field NameTypeDescription
                                                                                                                                                                target_systemuint8_tSystem ID
                                                                                                                                                                target_componentuint8_tComponent ID

                                                                                                                                                                PARAM_EXT_VALUE (322)

                                                                                                                                                                Emit the value of a parameter. The inclusion of param_count and param_index in the message allows the recipient to keep track of received parameters and allows them to re-request missing parameters after a loss or timeout.

                                                                                                                                                                Field NameTypeValuesDescription
                                                                                                                                                                param_idchar[16]Parameter id, terminated by NULL if the length is less than 16 human-readable chars and WITHOUT null termination (NULL) byte if the length is exactly 16 chars - applications have to provide 16+1 bytes storage if the ID is stored as string
                                                                                                                                                                param_valuechar[128]Parameter value
                                                                                                                                                                param_typeuint8_tMAV_PARAM_EXT_TYPEParameter type.
                                                                                                                                                                param_countuint16_tTotal number of parameters
                                                                                                                                                                param_indexuint16_tIndex of this parameter

                                                                                                                                                                PARAM_EXT_SET (323)

                                                                                                                                                                Set a parameter value. In order to deal with message loss (and retransmission of PARAM_EXT_SET), when setting a parameter value and the new value is the same as the current value, you will immediately get a PARAM_ACK_ACCEPTED response. If the current state is PARAM_ACK_IN_PROGRESS, you will accordingly receive a PARAM_ACK_IN_PROGRESS in response.

                                                                                                                                                                Field NameTypeValuesDescription
                                                                                                                                                                target_systemuint8_tSystem ID
                                                                                                                                                                target_componentuint8_tComponent ID
                                                                                                                                                                param_idchar[16]Parameter id, terminated by NULL if the length is less than 16 human-readable chars and WITHOUT null termination (NULL) byte if the length is exactly 16 chars - applications have to provide 16+1 bytes storage if the ID is stored as string
                                                                                                                                                                param_valuechar[128]Parameter value
                                                                                                                                                                param_typeuint8_tMAV_PARAM_EXT_TYPEParameter type.

                                                                                                                                                                PARAM_EXT_ACK (324)

                                                                                                                                                                Response from a PARAM_EXT_SET message.

                                                                                                                                                                Field NameTypeValuesDescription
                                                                                                                                                                param_idchar[16]Parameter id, terminated by NULL if the length is less than 16 human-readable chars and WITHOUT null termination (NULL) byte if the length is exactly 16 chars - applications have to provide 16+1 bytes storage if the ID is stored as string
                                                                                                                                                                param_valuechar[128]Parameter value (new value if PARAM_ACK_ACCEPTED, current value otherwise)
                                                                                                                                                                param_typeuint8_tMAV_PARAM_EXT_TYPEParameter type.
                                                                                                                                                                param_resultuint8_tPARAM_ACKResult code.

                                                                                                                                                                OBSTACLE_DISTANCE (330)

                                                                                                                                                                Obstacle distances in front of the sensor, starting from the left in increment degrees to the right

                                                                                                                                                                Field NameTypeUnitsValuesDescription
                                                                                                                                                                time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
                                                                                                                                                                sensor_typeuint8_tMAV_DISTANCE_SENSORClass id of the distance sensor type.
                                                                                                                                                                distancesuint16_t[72]cminvalid:[UINT16_MAX]Distance of obstacles around the vehicle with index 0 corresponding to north + angle_offset, unless otherwise specified in the frame. A value of 0 is valid and means that the obstacle is practically touching the sensor. A value of max_distance +1 means no obstacle is present. A value of UINT16_MAX for unknown/not used. In a array element, one unit corresponds to 1cm.
                                                                                                                                                                incrementuint8_tdegAngular width in degrees of each array element. Increment direction is clockwise. This field is ignored if increment_f is non-zero.
                                                                                                                                                                min_distanceuint16_tcmMinimum distance the sensor can measure.
                                                                                                                                                                max_distanceuint16_tcmMaximum distance the sensor can measure.
                                                                                                                                                                increment_f ++floatdegAngular width in degrees of each array element as a float. If non-zero then this value is used instead of the uint8_t increment field. Positive is clockwise direction, negative is counter-clockwise.
                                                                                                                                                                angle_offset ++floatdegRelative angle offset of the 0-index element in the distances array. Value of 0 corresponds to forward. Positive is clockwise direction, negative is counter-clockwise.
                                                                                                                                                                frame ++uint8_tMAV_FRAMECoordinate frame of reference for the yaw rotation and offset of the sensor data. Defaults to MAV_FRAME_GLOBAL, which is north aligned. For body-mounted sensors use MAV_FRAME_BODY_FRD, which is vehicle front aligned.

                                                                                                                                                                ODOMETRY (331)

                                                                                                                                                                Odometry message to communicate odometry information with an external interface. Fits ROS REP 147 standard for aerial vehicles (http://www.ros.org/reps/rep-0147.html).

                                                                                                                                                                Field NameTypeUnitsValuesDescription
                                                                                                                                                                time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
                                                                                                                                                                frame_iduint8_tMAV_FRAMECoordinate frame of reference for the pose data.
                                                                                                                                                                child_frame_iduint8_tMAV_FRAMECoordinate frame of reference for the velocity in free space (twist) data.
                                                                                                                                                                xfloatmX Position
                                                                                                                                                                yfloatmY Position
                                                                                                                                                                zfloatmZ Position
                                                                                                                                                                qfloat[4]Quaternion components, w, x, y, z (1 0 0 0 is the null-rotation)
                                                                                                                                                                vxfloatm/sX linear speed
                                                                                                                                                                vyfloatm/sY linear speed
                                                                                                                                                                vzfloatm/sZ linear speed
                                                                                                                                                                rollspeedfloatrad/sRoll angular speed
                                                                                                                                                                pitchspeedfloatrad/sPitch angular speed
                                                                                                                                                                yawspeedfloatrad/sYaw angular speed
                                                                                                                                                                pose_covariancefloat[21]invalid:[NaN:]Row-major representation of a 6x6 pose cross-covariance matrix upper right triangle (states: x, y, z, roll, pitch, yaw; first six entries are the first ROW, next five entries are the second ROW, etc.). If unknown, assign NaN value to first element in the array.
                                                                                                                                                                velocity_covariancefloat[21]invalid:[NaN:]Row-major representation of a 6x6 velocity cross-covariance matrix upper right triangle (states: vx, vy, vz, rollspeed, pitchspeed, yawspeed; first six entries are the first ROW, next five entries are the second ROW, etc.). If unknown, assign NaN value to first element in the array.
                                                                                                                                                                reset_counter ++uint8_tEstimate reset counter. This should be incremented when the estimate resets in any of the dimensions (position, velocity, attitude, angular speed). This is designed to be used when e.g an external SLAM system detects a loop-closure and the estimate jumps.
                                                                                                                                                                estimator_type ++uint8_tMAV_ESTIMATOR_TYPEType of estimator that is providing the odometry.
                                                                                                                                                                quality ++int8_t%invalid:0Optional odometry quality metric as a percentage. -1 = odometry has failed, 0 = unknown/unset quality, 1 = worst quality, 100 = best quality

                                                                                                                                                                TRAJECTORY_REPRESENTATION_WAYPOINTS (332)

                                                                                                                                                                Describe a trajectory using an array of up-to 5 waypoints in the local frame (MAV_FRAME_LOCAL_NED).

                                                                                                                                                                Field NameTypeUnitsValuesDescription
                                                                                                                                                                time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
                                                                                                                                                                valid_pointsuint8_tNumber of valid points (up-to 5 waypoints are possible)
                                                                                                                                                                pos_xfloat[5]minvalid:[NaN]X-coordinate of waypoint, set to NaN if not being used
                                                                                                                                                                pos_yfloat[5]minvalid:[NaN]Y-coordinate of waypoint, set to NaN if not being used
                                                                                                                                                                pos_zfloat[5]minvalid:[NaN]Z-coordinate of waypoint, set to NaN if not being used
                                                                                                                                                                vel_xfloat[5]m/sinvalid:[NaN]X-velocity of waypoint, set to NaN if not being used
                                                                                                                                                                vel_yfloat[5]m/sinvalid:[NaN]Y-velocity of waypoint, set to NaN if not being used
                                                                                                                                                                vel_zfloat[5]m/sinvalid:[NaN]Z-velocity of waypoint, set to NaN if not being used
                                                                                                                                                                acc_xfloat[5]m/s/sinvalid:[NaN]X-acceleration of waypoint, set to NaN if not being used
                                                                                                                                                                acc_yfloat[5]m/s/sinvalid:[NaN]Y-acceleration of waypoint, set to NaN if not being used
                                                                                                                                                                acc_zfloat[5]m/s/sinvalid:[NaN]Z-acceleration of waypoint, set to NaN if not being used
                                                                                                                                                                pos_yawfloat[5]radinvalid:[NaN]Yaw angle, set to NaN if not being used
                                                                                                                                                                vel_yawfloat[5]rad/sinvalid:[NaN]Yaw rate, set to NaN if not being used
                                                                                                                                                                commanduint16_t[5]invalid:[UINT16_MAX] MAV_CMDMAV_CMD command id of waypoint, set to UINT16_MAX if not being used.

                                                                                                                                                                TRAJECTORY_REPRESENTATION_BEZIER (333)

                                                                                                                                                                Describe a trajectory using an array of up-to 5 bezier control points in the local frame (MAV_FRAME_LOCAL_NED).

                                                                                                                                                                Field NameTypeUnitsDescription
                                                                                                                                                                time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
                                                                                                                                                                valid_pointsuint8_tNumber of valid control points (up-to 5 points are possible)
                                                                                                                                                                pos_xfloat[5]mX-coordinate of bezier control points. Set to NaN if not being used
                                                                                                                                                                pos_yfloat[5]mY-coordinate of bezier control points. Set to NaN if not being used
                                                                                                                                                                pos_zfloat[5]mZ-coordinate of bezier control points. Set to NaN if not being used
                                                                                                                                                                deltafloat[5]sBezier time horizon. Set to NaN if velocity/acceleration should not be incorporated
                                                                                                                                                                pos_yawfloat[5]radYaw. Set to NaN for unchanged

                                                                                                                                                                CELLULAR_STATUS (334)

                                                                                                                                                                Report current used cellular network status

                                                                                                                                                                Field NameTypeValuesDescription
                                                                                                                                                                statusuint8_tCELLULAR_STATUS_FLAGCellular modem status
                                                                                                                                                                failure_reasonuint8_tCELLULAR_NETWORK_FAILED_REASONFailure reason when status in in CELLULAR_STATUS_FLAG_FAILED
                                                                                                                                                                typeuint8_tCELLULAR_NETWORK_RADIO_TYPECellular network radio type: gsm, cdma, lte...
                                                                                                                                                                qualityuint8_tinvalid:UINT8_MAXSignal quality in percent. If unknown, set to UINT8_MAX
                                                                                                                                                                mccuint16_tinvalid:UINT16_MAXMobile country code. If unknown, set to UINT16_MAX
                                                                                                                                                                mncuint16_tinvalid:UINT16_MAXMobile network code. If unknown, set to UINT16_MAX
                                                                                                                                                                lacuint16_tinvalid:0Location area code. If unknown, set to 0

                                                                                                                                                                Status of the Iridium SBD link.

                                                                                                                                                                Field NameTypeUnitsDescription
                                                                                                                                                                timestampuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
                                                                                                                                                                last_heartbeatuint64_tusTimestamp of the last successful sbd session. The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
                                                                                                                                                                failed_sessionsuint16_tNumber of failed SBD sessions.
                                                                                                                                                                successful_sessionsuint16_tNumber of successful SBD sessions.
                                                                                                                                                                signal_qualityuint8_tSignal quality equal to the number of bars displayed on the ISU signal strength indicator. Range is 0 to 5, where 0 indicates no signal and 5 indicates maximum signal strength.
                                                                                                                                                                ring_pendinguint8_t1: Ring call pending, 0: No call pending.
                                                                                                                                                                tx_session_pendinguint8_t1: Transmission session pending, 0: No transmission session pending.
                                                                                                                                                                rx_session_pendinguint8_t1: Receiving session pending, 0: No receiving session pending.

                                                                                                                                                                CELLULAR_CONFIG (336)

                                                                                                                                                                Configure cellular modems.

                                                                                                                                                                This message is re-emitted as an acknowledgement by the modem. The message may also be explicitly requested using MAV_CMD_REQUEST_MESSAGE.

                                                                                                                                                                Field NameTypeValuesDescription
                                                                                                                                                                enable_lteuint8_tEnable/disable LTE. 0: setting unchanged, 1: disabled, 2: enabled. Current setting when sent back as a response.
                                                                                                                                                                enable_pinuint8_tEnable/disable PIN on the SIM card. 0: setting unchanged, 1: disabled, 2: enabled. Current setting when sent back as a response.
                                                                                                                                                                pinchar[16]PIN sent to the SIM card. Blank when PIN is disabled. Empty when message is sent back as a response.
                                                                                                                                                                new_pinchar[16]New PIN when changing the PIN. Blank to leave it unchanged. Empty when message is sent back as a response.
                                                                                                                                                                apnchar[32]Name of the cellular APN. Blank to leave it unchanged. Current APN when sent back as a response.
                                                                                                                                                                pukchar[16]Required PUK code in case the user failed to authenticate 3 times with the PIN. Empty when message is sent back as a response.
                                                                                                                                                                roaminguint8_tEnable/disable roaming. 0: setting unchanged, 1: disabled, 2: enabled. Current setting when sent back as a response.
                                                                                                                                                                responseuint8_tCELLULAR_CONFIG_RESPONSEMessage acceptance response (sent back to GS).

                                                                                                                                                                RAW_RPM (339)

                                                                                                                                                                RPM sensor data message.

                                                                                                                                                                Field NameTypeUnitsDescription
                                                                                                                                                                indexuint8_tIndex of this RPM sensor (0-indexed)
                                                                                                                                                                frequencyfloatrpmIndicated rate

                                                                                                                                                                UTM_GLOBAL_POSITION (340)

                                                                                                                                                                The global position resulting from GPS and sensor fusion.

                                                                                                                                                                Field NameTypeUnitsValuesDescription
                                                                                                                                                                timeuint64_tusTime of applicability of position (microseconds since UNIX epoch).
                                                                                                                                                                uas_iduint8_t[18]Unique UAS ID.
                                                                                                                                                                latint32_tdegE7Latitude (WGS84)
                                                                                                                                                                lonint32_tdegE7Longitude (WGS84)
                                                                                                                                                                altint32_tmmAltitude (WGS84)
                                                                                                                                                                relative_altint32_tmmAltitude above ground
                                                                                                                                                                vxint16_tcm/sGround X speed (latitude, positive north)
                                                                                                                                                                vyint16_tcm/sGround Y speed (longitude, positive east)
                                                                                                                                                                vzint16_tcm/sGround Z speed (altitude, positive down)
                                                                                                                                                                h_accuint16_tmmHorizontal position uncertainty (standard deviation)
                                                                                                                                                                v_accuint16_tmmAltitude uncertainty (standard deviation)
                                                                                                                                                                vel_accuint16_tcm/sSpeed uncertainty (standard deviation)
                                                                                                                                                                next_latint32_tdegE7Next waypoint, latitude (WGS84)
                                                                                                                                                                next_lonint32_tdegE7Next waypoint, longitude (WGS84)
                                                                                                                                                                next_altint32_tmmNext waypoint, altitude (WGS84)
                                                                                                                                                                update_rateuint16_tcsinvalid:0Time until next update. Set to 0 if unknown or in data driven mode.
                                                                                                                                                                flight_stateuint8_tUTM_FLIGHT_STATEFlight state
                                                                                                                                                                flagsuint8_tUTM_DATA_AVAIL_FLAGSBitwise OR combination of the data available flags.

                                                                                                                                                                DEBUG_FLOAT_ARRAY (350)

                                                                                                                                                                Large debug/prototyping array. The message uses the maximum available payload for data. The array_id and name fields are used to discriminate between messages in code and in user interfaces (respectively). Do not use in production code.

                                                                                                                                                                Field NameTypeUnitsDescription
                                                                                                                                                                time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
                                                                                                                                                                namechar[10]Name, for human-friendly display in a Ground Control Station
                                                                                                                                                                array_iduint16_tUnique ID used to discriminate between arrays
                                                                                                                                                                Messages with same value are from the same source (instance).
                                                                                                                                                                data ++float[58]data

                                                                                                                                                                ORBIT_EXECUTION_STATUS (360) — [WIP]

                                                                                                                                                                WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                Vehicle status report that is sent out while orbit execution is in progress (see MAV_CMD_DO_ORBIT).

                                                                                                                                                                Field NameTypeUnitsValuesDescription
                                                                                                                                                                time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
                                                                                                                                                                radiusfloatmRadius of the orbit circle. Positive values orbit clockwise, negative values orbit counter-clockwise.
                                                                                                                                                                frameuint8_tMAV_FRAMEThe coordinate system of the fields: x, y, z.
                                                                                                                                                                xint32_tX coordinate of center point. Coordinate system depends on frame field: local = x position in meters 1e4, global = latitude in degrees 1e7.
                                                                                                                                                                yint32_tY coordinate of center point. Coordinate system depends on frame field: local = x position in meters 1e4, global = latitude in degrees 1e7.
                                                                                                                                                                zfloatmAltitude of center point. Coordinate system depends on frame field.

                                                                                                                                                                BATTERY_INFO (370) — [WIP]

                                                                                                                                                                WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                Battery information that is static, or requires infrequent update. This message should requested using MAV_CMD_REQUEST_MESSAGE and/or streamed at very low rate. BATTERY_STATUS_V2 is used for higher-rate battery status information.

                                                                                                                                                                Field NameTypeUnitsValuesDescription
                                                                                                                                                                iduint8_tBattery ID
                                                                                                                                                                Messages with same value are from the same source (instance).
                                                                                                                                                                battery_functionuint8_tMAV_BATTERY_FUNCTIONFunction of the battery.
                                                                                                                                                                typeuint8_tMAV_BATTERY_TYPEType (chemistry) of the battery.
                                                                                                                                                                state_of_healthuint8_t%invalid:UINT8_MAXState of Health (SOH) estimate. Typically 100% at the time of manufacture and will decrease over time and use. -1: field not provided.
                                                                                                                                                                cells_in_seriesuint8_tinvalid:0Number of battery cells in series. 0: field not provided.
                                                                                                                                                                cycle_countuint16_tinvalid:UINT16_MAXLifetime count of the number of charge/discharge cycles (https://en.wikipedia.org/wiki/Charge_cycle). UINT16_MAX: field not provided.
                                                                                                                                                                weightuint16_tginvalid:0Battery weight. 0: field not provided.
                                                                                                                                                                discharge_minimum_voltagefloatVinvalid:0Minimum per-cell voltage when discharging. 0: field not provided.
                                                                                                                                                                charging_minimum_voltagefloatVinvalid:0Minimum per-cell voltage when charging. 0: field not provided.
                                                                                                                                                                resting_minimum_voltagefloatVinvalid:0Minimum per-cell voltage when resting. 0: field not provided.
                                                                                                                                                                charging_maximum_voltagefloatVinvalid:0Maximum per-cell voltage when charged. 0: field not provided.
                                                                                                                                                                charging_maximum_currentfloatAinvalid:0Maximum pack continuous charge current. 0: field not provided.
                                                                                                                                                                nominal_voltagefloatVinvalid:0Battery nominal voltage. Used for conversion between Wh and Ah. 0: field not provided.
                                                                                                                                                                discharge_maximum_currentfloatAinvalid:0Maximum pack discharge current. 0: field not provided.
                                                                                                                                                                discharge_maximum_burst_currentfloatAinvalid:0Maximum pack discharge burst current. 0: field not provided.
                                                                                                                                                                design_capacityfloatAhinvalid:0Fully charged design capacity. 0: field not provided.
                                                                                                                                                                full_charge_capacityfloatAhinvalid:NaNPredicted battery capacity when fully charged (accounting for battery degradation). NAN: field not provided.
                                                                                                                                                                manufacture_datechar[9]invalid:[0]Manufacture date (DDMMYYYY) in ASCII characters, 0 terminated. All 0: field not provided.
                                                                                                                                                                serial_numberchar[32]invalid:[0]Serial number in ASCII characters, 0 terminated. All 0: field not provided.
                                                                                                                                                                namechar[50]invalid:[0]Battery device name. Formatted as manufacturer name then product name, separated with an underscore (in ASCII characters), 0 terminated. All 0: field not provided.

                                                                                                                                                                GENERATOR_STATUS (373)

                                                                                                                                                                Telemetry of power generation system. Alternator or mechanical generator.

                                                                                                                                                                Field NameTypeUnitsValuesDescription
                                                                                                                                                                statusuint64_tMAV_GENERATOR_STATUS_FLAGStatus flags.
                                                                                                                                                                generator_speeduint16_trpminvalid:UINT16_MAXSpeed of electrical generator or alternator. UINT16_MAX: field not provided.
                                                                                                                                                                battery_currentfloatAinvalid:NaNCurrent into/out of battery. Positive for out. Negative for in. NaN: field not provided.
                                                                                                                                                                load_currentfloatAinvalid:NaNCurrent going to the UAV. If battery current not available this is the DC current from the generator. Positive for out. Negative for in. NaN: field not provided
                                                                                                                                                                power_generatedfloatWinvalid:NaNThe power being generated. NaN: field not provided
                                                                                                                                                                bus_voltagefloatVVoltage of the bus seen at the generator, or battery bus if battery bus is controlled by generator and at a different voltage to main bus.
                                                                                                                                                                rectifier_temperatureint16_tdegCinvalid:INT16_MAXThe temperature of the rectifier or power converter. INT16_MAX: field not provided.
                                                                                                                                                                bat_current_setpointfloatAinvalid:NaNThe target battery current. Positive for out. Negative for in. NaN: field not provided
                                                                                                                                                                generator_temperatureint16_tdegCinvalid:INT16_MAXThe temperature of the mechanical motor, fuel cell core or generator. INT16_MAX: field not provided.
                                                                                                                                                                runtimeuint32_tsinvalid:UINT32_MAXSeconds this generator has run since it was rebooted. UINT32_MAX: field not provided.
                                                                                                                                                                time_until_maintenanceint32_tsinvalid:INT32_MAXSeconds until this generator requires maintenance. A negative value indicates maintenance is past-due. INT32_MAX: field not provided.

                                                                                                                                                                ACTUATOR_OUTPUT_STATUS (375)

                                                                                                                                                                The raw values of the actuator outputs (e.g. on Pixhawk, from MAIN, AUX ports). This message supersedes SERVO_OUTPUT_RAW.

                                                                                                                                                                Field NameTypeUnitsDescription
                                                                                                                                                                time_usecuint64_tusTimestamp (since system boot).
                                                                                                                                                                activeuint32_tActive outputs
                                                                                                                                                                actuatorfloat[32]Servo / motor output array values. Zero values indicate unused channels.

                                                                                                                                                                TIME_ESTIMATE_TO_TARGET (380) — [WIP]

                                                                                                                                                                WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                Time/duration estimates for various events and actions given the current vehicle state and position.

                                                                                                                                                                Field NameTypeUnitsDescription
                                                                                                                                                                safe_returnint32_tsEstimated time to complete the vehicle's configured "safe return" action from its current position (e.g. RTL, Smart RTL, etc.). -1 indicates that the vehicle is landed, or that no time estimate available.
                                                                                                                                                                landint32_tsEstimated time for vehicle to complete the LAND action from its current position. -1 indicates that the vehicle is landed, or that no time estimate available.
                                                                                                                                                                mission_next_itemint32_tsEstimated time for reaching/completing the currently active mission item. -1 means no time estimate available.
                                                                                                                                                                mission_endint32_tsEstimated time for completing the current mission. -1 means no mission active and/or no estimate available.
                                                                                                                                                                commanded_actionint32_tsEstimated time for completing the current commanded action (i.e. Go To, Takeoff, Land, etc.). -1 means no action active and/or no estimate available.

                                                                                                                                                                TUNNEL (385)

                                                                                                                                                                Message for transporting "arbitrary" variable-length data from one component to another (broadcast is not forbidden, but discouraged). The encoding of the data is usually extension specific, i.e. determined by the source, and is usually not documented as part of the MAVLink specification.

                                                                                                                                                                Field NameTypeValuesDescription
                                                                                                                                                                target_systemuint8_tSystem ID (can be 0 for broadcast, but this is discouraged)
                                                                                                                                                                target_componentuint8_tComponent ID (can be 0 for broadcast, but this is discouraged)
                                                                                                                                                                payload_typeuint16_tMAV_TUNNEL_PAYLOAD_TYPEA code that identifies the content of the payload (0 for unknown, which is the default). If this code is less than 32768, it is a 'registered' payload type and the corresponding code should be added to the MAV_TUNNEL_PAYLOAD_TYPE enum. Software creators can register blocks of types as needed. Codes greater than 32767 are considered local experiments and should not be checked in to any widely distributed codebase.
                                                                                                                                                                payload_lengthuint8_tLength of the data transported in payload
                                                                                                                                                                payloaduint8_t[128]Variable length payload. The payload length is defined by payload_length. The entire content of this block is opaque unless you understand the encoding specified by payload_type.

                                                                                                                                                                CAN_FRAME (386)

                                                                                                                                                                A forwarded CAN frame as requested by MAV_CMD_CAN_FORWARD.

                                                                                                                                                                Field NameTypeDescription
                                                                                                                                                                target_systemuint8_tSystem ID.
                                                                                                                                                                target_componentuint8_tComponent ID.
                                                                                                                                                                busuint8_tBus number
                                                                                                                                                                lenuint8_tFrame length
                                                                                                                                                                iduint32_tFrame ID
                                                                                                                                                                datauint8_t[8]Frame data

                                                                                                                                                                CANFD_FRAME (387)

                                                                                                                                                                A forwarded CANFD frame as requested by MAV_CMD_CAN_FORWARD. These are separated from CAN_FRAME as they need different handling (eg. TAO handling)

                                                                                                                                                                Field NameTypeDescription
                                                                                                                                                                target_systemuint8_tSystem ID.
                                                                                                                                                                target_componentuint8_tComponent ID.
                                                                                                                                                                busuint8_tbus number
                                                                                                                                                                lenuint8_tFrame length
                                                                                                                                                                iduint32_tFrame ID
                                                                                                                                                                datauint8_t[64]Frame data

                                                                                                                                                                CAN_FILTER_MODIFY (388)

                                                                                                                                                                Modify the filter of what CAN messages to forward over the mavlink. This can be used to make CAN forwarding work well on low bandwidth links. The filtering is applied on bits 8 to 24 of the CAN id (2nd and 3rd bytes) which corresponds to the DroneCAN message ID for DroneCAN. Filters with more than 16 IDs can be constructed by sending multiple CAN_FILTER_MODIFY messages.

                                                                                                                                                                Field NameTypeValuesDescription
                                                                                                                                                                target_systemuint8_tSystem ID.
                                                                                                                                                                target_componentuint8_tComponent ID.
                                                                                                                                                                busuint8_tbus number
                                                                                                                                                                operationuint8_tCAN_FILTER_OPwhat operation to perform on the filter list. See CAN_FILTER_OP enum.
                                                                                                                                                                num_idsuint8_tnumber of IDs in filter list
                                                                                                                                                                idsuint16_t[16]filter IDs, length num_ids

                                                                                                                                                                ONBOARD_COMPUTER_STATUS (390) — [WIP]

                                                                                                                                                                WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                Hardware status sent by an onboard computer.

                                                                                                                                                                Field NameTypeUnitsDescription
                                                                                                                                                                time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
                                                                                                                                                                uptimeuint32_tmsTime since system boot.
                                                                                                                                                                typeuint8_tType of the onboard computer: 0: Mission computer primary, 1: Mission computer backup 1, 2: Mission computer backup 2, 3: Compute node, 4-5: Compute spares, 6-9: Payload computers.
                                                                                                                                                                cpu_coresuint8_t[8]CPU usage on the component in percent (100 - idle). A value of UINT8_MAX implies the field is unused.
                                                                                                                                                                cpu_combineduint8_t[10]Combined CPU usage as the last 10 slices of 100 MS (a histogram). This allows to identify spikes in load that max out the system, but only for a short amount of time. A value of UINT8_MAX implies the field is unused.
                                                                                                                                                                gpu_coresuint8_t[4]GPU usage on the component in percent (100 - idle). A value of UINT8_MAX implies the field is unused.
                                                                                                                                                                gpu_combineduint8_t[10]Combined GPU usage as the last 10 slices of 100 MS (a histogram). This allows to identify spikes in load that max out the system, but only for a short amount of time. A value of UINT8_MAX implies the field is unused.
                                                                                                                                                                temperature_boardint8_tdegCTemperature of the board. A value of INT8_MAX implies the field is unused.
                                                                                                                                                                temperature_coreint8_t[8]degCTemperature of the CPU core. A value of INT8_MAX implies the field is unused.
                                                                                                                                                                fan_speedint16_t[4]rpmFan speeds. A value of INT16_MAX implies the field is unused.
                                                                                                                                                                ram_usageuint32_tMiBAmount of used RAM on the component system. A value of UINT32_MAX implies the field is unused.
                                                                                                                                                                ram_totaluint32_tMiBTotal amount of RAM on the component system. A value of UINT32_MAX implies the field is unused.
                                                                                                                                                                storage_typeuint32_t[4]Storage type: 0: HDD, 1: SSD, 2: EMMC, 3: SD card (non-removable), 4: SD card (removable). A value of UINT32_MAX implies the field is unused.
                                                                                                                                                                storage_usageuint32_t[4]MiBAmount of used storage space on the component system. A value of UINT32_MAX implies the field is unused.
                                                                                                                                                                storage_totaluint32_t[4]MiBTotal amount of storage space on the component system. A value of UINT32_MAX implies the field is unused.
                                                                                                                                                                link_typeuint32_t[6]Link type: 0-9: UART, 10-19: Wired network, 20-29: Wifi, 30-39: Point-to-point proprietary, 40-49: Mesh proprietary
                                                                                                                                                                link_tx_rateuint32_t[6]KiB/sNetwork traffic from the component system. A value of UINT32_MAX implies the field is unused.
                                                                                                                                                                link_rx_rateuint32_t[6]KiB/sNetwork traffic to the component system. A value of UINT32_MAX implies the field is unused.
                                                                                                                                                                link_tx_maxuint32_t[6]KiB/sNetwork capacity from the component system. A value of UINT32_MAX implies the field is unused.
                                                                                                                                                                link_rx_maxuint32_t[6]KiB/sNetwork capacity to the component system. A value of UINT32_MAX implies the field is unused.

                                                                                                                                                                COMPONENT_INFORMATION (395) — [DEP]

                                                                                                                                                                DEPRECATED: Replaced By COMPONENT_METADATA (2022-04)

                                                                                                                                                                Component information message, which may be requested using MAV_CMD_REQUEST_MESSAGE.

                                                                                                                                                                Field NameTypeUnitsDescription
                                                                                                                                                                time_boot_msuint32_tmsTimestamp (time since system boot).
                                                                                                                                                                general_metadata_file_crcuint32_tCRC32 of the general metadata file (general_metadata_uri).
                                                                                                                                                                general_metadata_urichar[100]MAVLink FTP URI for the general metadata file (COMP_METADATA_TYPE_GENERAL), which may be compressed with xz. The file contains general component metadata, and may contain URI links for additional metadata (see COMP_METADATA_TYPE). The information is static from boot, and may be generated at compile time. The string needs to be zero terminated.
                                                                                                                                                                peripherals_metadata_file_crcuint32_tCRC32 of peripherals metadata file (peripherals_metadata_uri).
                                                                                                                                                                peripherals_metadata_urichar[100](Optional) MAVLink FTP URI for the peripherals metadata file (COMP_METADATA_TYPE_PERIPHERALS), which may be compressed with xz. This contains data about "attached components" such as UAVCAN nodes. The peripherals are in a separate file because the information must be generated dynamically at runtime. The string needs to be zero terminated.

                                                                                                                                                                COMPONENT_INFORMATION_BASIC (396)

                                                                                                                                                                Basic component information data. Should be requested using MAV_CMD_REQUEST_MESSAGE on startup, or when required.

                                                                                                                                                                Field NameTypeUnitsValuesDescription
                                                                                                                                                                time_boot_msuint32_tmsTimestamp (time since system boot).
                                                                                                                                                                capabilitiesuint64_tMAV_PROTOCOL_CAPABILITYComponent capability flags
                                                                                                                                                                time_manufacture_suint32_tsinvalid:0Date of manufacture as a UNIX Epoch time (since 1.1.1970) in seconds.
                                                                                                                                                                vendor_namechar[32]Name of the component vendor. Needs to be zero terminated. The field is optional and can be empty/all zeros.
                                                                                                                                                                model_namechar[32]Name of the component model. Needs to be zero terminated. The field is optional and can be empty/all zeros.
                                                                                                                                                                software_versionchar[24]Software version. The recommended format is SEMVER: 'major.minor.patch' (any format may be used). The field must be zero terminated if it has a value. The field is optional and can be empty/all zeros.
                                                                                                                                                                hardware_versionchar[24]Hardware version. The recommended format is SEMVER: 'major.minor.patch' (any format may be used). The field must be zero terminated if it has a value. The field is optional and can be empty/all zeros.
                                                                                                                                                                serial_numberchar[32]Hardware serial number. The field must be zero terminated if it has a value. The field is optional and can be empty/all zeros.

                                                                                                                                                                COMPONENT_METADATA (397) — [WIP]

                                                                                                                                                                WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                Component metadata message, which may be requested using MAV_CMD_REQUEST_MESSAGE.

                                                                                                                                                                This contains the MAVLink FTP URI and CRC for the component's general metadata file. The file must be hosted on the component, and may be xz compressed. The file CRC can be used for file caching.

                                                                                                                                                                The general metadata file can be read to get the locations of other metadata files (COMP_METADATA_TYPE) and translations, which may be hosted either on the vehicle or the internet. For more information see: https://mavlink.io/en/services/component_information.html.

                                                                                                                                                                Note: Camera components should use CAMERA_INFORMATION instead, and autopilots may use both this message and AUTOPILOT_VERSION.

                                                                                                                                                                Field NameTypeUnitsDescription
                                                                                                                                                                time_boot_msuint32_tmsTimestamp (time since system boot).
                                                                                                                                                                file_crcuint32_tCRC32 of the general metadata file.
                                                                                                                                                                urichar[100]MAVLink FTP URI for the general metadata file (COMP_METADATA_TYPE_GENERAL), which may be compressed with xz. The file contains general component metadata, and may contain URI links for additional metadata (see COMP_METADATA_TYPE). The information is static from boot, and may be generated at compile time. The string needs to be zero terminated.

                                                                                                                                                                PLAY_TUNE_V2 (400)

                                                                                                                                                                Play vehicle tone/tune (buzzer). Supersedes message PLAY_TUNE.

                                                                                                                                                                Field NameTypeValuesDescription
                                                                                                                                                                target_systemuint8_tSystem ID
                                                                                                                                                                target_componentuint8_tComponent ID
                                                                                                                                                                formatuint32_tTUNE_FORMATTune format
                                                                                                                                                                tunechar[248]Tune definition as a NULL-terminated string.

                                                                                                                                                                SUPPORTED_TUNES (401)

                                                                                                                                                                Tune formats supported by vehicle. This should be emitted as response to MAV_CMD_REQUEST_MESSAGE.

                                                                                                                                                                Field NameTypeValuesDescription
                                                                                                                                                                target_systemuint8_tSystem ID
                                                                                                                                                                target_componentuint8_tComponent ID
                                                                                                                                                                formatuint32_tTUNE_FORMATBitfield of supported tune formats.

                                                                                                                                                                EVENT (410) — [WIP]

                                                                                                                                                                WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                Event message. Each new event from a particular component gets a new sequence number. The same message might be sent multiple times if (re-)requested. Most events are broadcast, some can be specific to a target component (as receivers keep track of the sequence for missed events, all events need to be broadcast. Thus we use destination_component instead of target_component).

                                                                                                                                                                Field NameTypeUnitsDescription
                                                                                                                                                                destination_componentuint8_tComponent ID
                                                                                                                                                                destination_systemuint8_tSystem ID
                                                                                                                                                                iduint32_tEvent ID (as defined in the component metadata)
                                                                                                                                                                event_time_boot_msuint32_tmsTimestamp (time since system boot when the event happened).
                                                                                                                                                                sequenceuint16_tSequence number.
                                                                                                                                                                log_levelsuint8_tLog levels: 4 bits MSB: internal (for logging purposes), 4 bits LSB: external. Levels: Emergency = 0, Alert = 1, Critical = 2, Error = 3, Warning = 4, Notice = 5, Info = 6, Debug = 7, Protocol = 8, Disabled = 9
                                                                                                                                                                argumentsuint8_t[40]Arguments (depend on event ID).

                                                                                                                                                                CURRENT_EVENT_SEQUENCE (411) — [WIP]

                                                                                                                                                                WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                Regular broadcast for the current latest event sequence number for a component. This is used to check for dropped events.

                                                                                                                                                                Field NameTypeValuesDescription
                                                                                                                                                                sequenceuint16_tSequence number.
                                                                                                                                                                flagsuint8_tMAV_EVENT_CURRENT_SEQUENCE_FLAGSFlag bitset.

                                                                                                                                                                REQUEST_EVENT (412) — [WIP]

                                                                                                                                                                WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                Request one or more events to be (re-)sent. If first_sequence==last_sequence, only a single event is requested. Note that first_sequence can be larger than last_sequence (because the sequence number can wrap). Each sequence will trigger an EVENT or EVENT_ERROR response.

                                                                                                                                                                Field NameTypeDescription
                                                                                                                                                                target_systemuint8_tSystem ID
                                                                                                                                                                target_componentuint8_tComponent ID
                                                                                                                                                                first_sequenceuint16_tFirst sequence number of the requested event.
                                                                                                                                                                last_sequenceuint16_tLast sequence number of the requested event.

                                                                                                                                                                RESPONSE_EVENT_ERROR (413) — [WIP]

                                                                                                                                                                WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                Response to a REQUEST_EVENT in case of an error (e.g. the event is not available anymore).

                                                                                                                                                                Field NameTypeValuesDescription
                                                                                                                                                                target_systemuint8_tSystem ID
                                                                                                                                                                target_componentuint8_tComponent ID
                                                                                                                                                                sequenceuint16_tSequence number.
                                                                                                                                                                sequence_oldest_availableuint16_tOldest Sequence number that is still available after the sequence set in REQUEST_EVENT.
                                                                                                                                                                reasonuint8_tMAV_EVENT_ERROR_REASONError reason.

                                                                                                                                                                ILLUMINATOR_STATUS (440)

                                                                                                                                                                Illuminator status

                                                                                                                                                                Field NameTypeUnitsValuesDescription
                                                                                                                                                                uptime_msuint32_tmsTime since the start-up of the illuminator in ms
                                                                                                                                                                enableuint8_t0: Illuminators OFF, 1: Illuminators ON
                                                                                                                                                                mode_bitmaskuint8_tILLUMINATOR_MODESupported illuminator modes
                                                                                                                                                                error_statusuint32_tILLUMINATOR_ERROR_FLAGSErrors
                                                                                                                                                                modeuint8_tILLUMINATOR_MODEIlluminator mode
                                                                                                                                                                brightnessfloat%Illuminator brightness
                                                                                                                                                                strobe_periodfloatsIlluminator strobing period in seconds
                                                                                                                                                                strobe_duty_cyclefloat%Illuminator strobing duty cycle
                                                                                                                                                                temp_cfloatTemperature in Celsius
                                                                                                                                                                min_strobe_periodfloatsMinimum strobing period in seconds
                                                                                                                                                                max_strobe_periodfloatsMaximum strobing period in seconds

                                                                                                                                                                WHEEL_DISTANCE (9000)

                                                                                                                                                                Cumulative distance traveled for each reported wheel.

                                                                                                                                                                Field NameTypeUnitsDescription
                                                                                                                                                                time_usecuint64_tusTimestamp (synced to UNIX time or since system boot).
                                                                                                                                                                countuint8_tNumber of wheels reported.
                                                                                                                                                                distancedouble[16]mDistance reported by individual wheel encoders. Forward rotations increase values, reverse rotations decrease them. Not all wheels will necessarily have wheel encoders; the mapping of encoders to wheel positions must be agreed/understood by the endpoints.

                                                                                                                                                                WINCH_STATUS (9005)

                                                                                                                                                                Winch status.

                                                                                                                                                                Field NameTypeUnitsValuesDescription
                                                                                                                                                                time_usecuint64_tusTimestamp (synced to UNIX time or since system boot).
                                                                                                                                                                line_lengthfloatminvalid:NaNLength of line released. NaN if unknown
                                                                                                                                                                speedfloatm/sinvalid:NaNSpeed line is being released or retracted. Positive values if being released, negative values if being retracted, NaN if unknown
                                                                                                                                                                tensionfloatkginvalid:NaNTension on the line. NaN if unknown
                                                                                                                                                                voltagefloatVinvalid:NaNVoltage of the battery supplying the winch. NaN if unknown
                                                                                                                                                                currentfloatAinvalid:NaNCurrent draw from the winch. NaN if unknown
                                                                                                                                                                temperatureint16_tdegCinvalid:INT16_MAXTemperature of the motor. INT16_MAX if unknown
                                                                                                                                                                statusuint32_tMAV_WINCH_STATUS_FLAGStatus flags

                                                                                                                                                                OPEN_DRONE_ID_BASIC_ID (12900)

                                                                                                                                                                Data for filling the OpenDroneID Basic ID message. This and the below messages are primarily meant for feeding data to/from an OpenDroneID implementation. E.g. https://github.com/opendroneid/opendroneid-core-c. These messages are compatible with the ASTM F3411 Remote ID standard and the ASD-STAN prEN 4709-002 Direct Remote ID standard. Additional information and usage of these messages is documented at https://mavlink.io/en/services/opendroneid.html.

                                                                                                                                                                Field NameTypeValuesDescription
                                                                                                                                                                target_systemuint8_tSystem ID (0 for broadcast).
                                                                                                                                                                target_componentuint8_tComponent ID (0 for broadcast).
                                                                                                                                                                id_or_macuint8_t[20]Only used for drone ID data received from other UAs. See detailed description at https://mavlink.io/en/services/opendroneid.html.
                                                                                                                                                                id_typeuint8_tMAV_ODID_ID_TYPEIndicates the format for the uas_id field of this message.
                                                                                                                                                                ua_typeuint8_tMAV_ODID_UA_TYPEIndicates the type of UA (Unmanned Aircraft).
                                                                                                                                                                uas_iduint8_t[20]UAS (Unmanned Aircraft System) ID following the format specified by id_type. Shall be filled with nulls in the unused portion of the field.

                                                                                                                                                                OPEN_DRONE_ID_LOCATION (12901)

                                                                                                                                                                Data for filling the OpenDroneID Location message. The float data types are 32-bit IEEE 754. The Location message provides the location, altitude, direction and speed of the aircraft.

                                                                                                                                                                Field NameTypeUnitsValuesDescription
                                                                                                                                                                target_systemuint8_tSystem ID (0 for broadcast).
                                                                                                                                                                target_componentuint8_tComponent ID (0 for broadcast).
                                                                                                                                                                id_or_macuint8_t[20]Only used for drone ID data received from other UAs. See detailed description at https://mavlink.io/en/services/opendroneid.html.
                                                                                                                                                                statusuint8_tMAV_ODID_STATUSIndicates whether the unmanned aircraft is on the ground or in the air.
                                                                                                                                                                directionuint16_tcdeginvalid:36100Direction over ground (not heading, but direction of movement) measured clockwise from true North: 0 - 35999 centi-degrees. If unknown: 36100 centi-degrees.
                                                                                                                                                                speed_horizontaluint16_tcm/sGround speed. Positive only. If unknown: 25500 cm/s. If speed is larger than 25425 cm/s, use 25425 cm/s.
                                                                                                                                                                speed_verticalint16_tcm/sThe vertical speed. Up is positive. If unknown: 6300 cm/s. If speed is larger than 6200 cm/s, use 6200 cm/s. If lower than -6200 cm/s, use -6200 cm/s.
                                                                                                                                                                latitudeint32_tdegE7invalid:0Current latitude of the unmanned aircraft. If unknown: 0 (both Lat/Lon).
                                                                                                                                                                longitudeint32_tdegE7invalid:0Current longitude of the unmanned aircraft. If unknown: 0 (both Lat/Lon).
                                                                                                                                                                altitude_barometricfloatminvalid:-1000The altitude calculated from the barometric pressue. Reference is against 29.92inHg or 1013.2mb. If unknown: -1000 m.
                                                                                                                                                                altitude_geodeticfloatminvalid:-1000The geodetic altitude as defined by WGS84. If unknown: -1000 m.
                                                                                                                                                                height_referenceuint8_tMAV_ODID_HEIGHT_REFIndicates the reference point for the height field.
                                                                                                                                                                heightfloatminvalid:-1000The current height of the unmanned aircraft above the take-off location or the ground as indicated by height_reference. If unknown: -1000 m.
                                                                                                                                                                horizontal_accuracyuint8_tMAV_ODID_HOR_ACCThe accuracy of the horizontal position.
                                                                                                                                                                vertical_accuracyuint8_tMAV_ODID_VER_ACCThe accuracy of the vertical position.
                                                                                                                                                                barometer_accuracyuint8_tMAV_ODID_VER_ACCThe accuracy of the barometric altitude.
                                                                                                                                                                speed_accuracyuint8_tMAV_ODID_SPEED_ACCThe accuracy of the horizontal and vertical speed.
                                                                                                                                                                timestampfloatsinvalid:0xFFFFSeconds after the full hour with reference to UTC time. Typically the GPS outputs a time-of-week value in milliseconds. First convert that to UTC and then convert for this field using ((float) (time_week_ms % (60601000))) / 1000. If unknown: 0xFFFF.
                                                                                                                                                                timestamp_accuracyuint8_tMAV_ODID_TIME_ACCThe accuracy of the timestamps.

                                                                                                                                                                OPEN_DRONE_ID_AUTHENTICATION (12902)

                                                                                                                                                                Data for filling the OpenDroneID Authentication message. The Authentication Message defines a field that can provide a means of authenticity for the identity of the UAS (Unmanned Aircraft System). The Authentication message can have two different formats. For data page 0, the fields PageCount, Length and TimeStamp are present and AuthData is only 17 bytes. For data page 1 through 15, PageCount, Length and TimeStamp are not present and the size of AuthData is 23 bytes.

                                                                                                                                                                Field NameTypeUnitsValuesDescription
                                                                                                                                                                target_systemuint8_tSystem ID (0 for broadcast).
                                                                                                                                                                target_componentuint8_tComponent ID (0 for broadcast).
                                                                                                                                                                id_or_macuint8_t[20]Only used for drone ID data received from other UAs. See detailed description at https://mavlink.io/en/services/opendroneid.html.
                                                                                                                                                                authentication_typeuint8_tMAV_ODID_AUTH_TYPEIndicates the type of authentication.
                                                                                                                                                                data_pageuint8_tAllowed range is 0 - 15.
                                                                                                                                                                last_page_indexuint8_tThis field is only present for page 0. Allowed range is 0 - 15. See the description of struct ODID_Auth_data at https://github.com/opendroneid/opendroneid-core-c/blob/master/libopendroneid/opendroneid.h.
                                                                                                                                                                lengthuint8_tbytesThis field is only present for page 0. Total bytes of authentication_data from all data pages. See the description of struct ODID_Auth_data at https://github.com/opendroneid/opendroneid-core-c/blob/master/libopendroneid/opendroneid.h.
                                                                                                                                                                timestampuint32_tsThis field is only present for page 0. 32 bit Unix Timestamp in seconds since 00:00:00 01/01/2019.
                                                                                                                                                                authentication_datauint8_t[23]Opaque authentication data. For page 0, the size is only 17 bytes. For other pages, the size is 23 bytes. Shall be filled with nulls in the unused portion of the field.

                                                                                                                                                                OPEN_DRONE_ID_SELF_ID (12903)

                                                                                                                                                                Data for filling the OpenDroneID Self ID message. The Self ID Message is an opportunity for the operator to (optionally) declare their identity and purpose of the flight. This message can provide additional information that could reduce the threat profile of a UA (Unmanned Aircraft) flying in a particular area or manner. This message can also be used to provide optional additional clarification in an emergency/remote ID system failure situation.

                                                                                                                                                                Field NameTypeValuesDescription
                                                                                                                                                                target_systemuint8_tSystem ID (0 for broadcast).
                                                                                                                                                                target_componentuint8_tComponent ID (0 for broadcast).
                                                                                                                                                                id_or_macuint8_t[20]Only used for drone ID data received from other UAs. See detailed description at https://mavlink.io/en/services/opendroneid.html.
                                                                                                                                                                description_typeuint8_tMAV_ODID_DESC_TYPEIndicates the type of the description field.
                                                                                                                                                                descriptionchar[23]Text description or numeric value expressed as ASCII characters. Shall be filled with nulls in the unused portion of the field.

                                                                                                                                                                OPEN_DRONE_ID_SYSTEM (12904)

                                                                                                                                                                Data for filling the OpenDroneID System message. The System Message contains general system information including the operator location/altitude and possible aircraft group and/or category/class information.

                                                                                                                                                                Field NameTypeUnitsValuesDescription
                                                                                                                                                                target_systemuint8_tSystem ID (0 for broadcast).
                                                                                                                                                                target_componentuint8_tComponent ID (0 for broadcast).
                                                                                                                                                                id_or_macuint8_t[20]Only used for drone ID data received from other UAs. See detailed description at https://mavlink.io/en/services/opendroneid.html.
                                                                                                                                                                operator_location_typeuint8_tMAV_ODID_OPERATOR_LOCATION_TYPESpecifies the operator location type.
                                                                                                                                                                classification_typeuint8_tMAV_ODID_CLASSIFICATION_TYPESpecifies the classification type of the UA.
                                                                                                                                                                operator_latitudeint32_tdegE7invalid:0Latitude of the operator. If unknown: 0 (both Lat/Lon).
                                                                                                                                                                operator_longitudeint32_tdegE7invalid:0Longitude of the operator. If unknown: 0 (both Lat/Lon).
                                                                                                                                                                area_countuint16_tNumber of aircraft in the area, group or formation (default 1). Used only for swarms/multiple UA.
                                                                                                                                                                area_radiusuint16_tmRadius of the cylindrical area of the group or formation (default 0). Used only for swarms/multiple UA.
                                                                                                                                                                area_ceilingfloatminvalid:-1000Area Operations Ceiling relative to WGS84. If unknown: -1000 m. Used only for swarms/multiple UA.
                                                                                                                                                                area_floorfloatminvalid:-1000Area Operations Floor relative to WGS84. If unknown: -1000 m. Used only for swarms/multiple UA.
                                                                                                                                                                category_euuint8_tMAV_ODID_CATEGORY_EUWhen classification_type is MAV_ODID_CLASSIFICATION_TYPE_EU, specifies the category of the UA.
                                                                                                                                                                class_euuint8_tMAV_ODID_CLASS_EUWhen classification_type is MAV_ODID_CLASSIFICATION_TYPE_EU, specifies the class of the UA.
                                                                                                                                                                operator_altitude_geofloatminvalid:-1000Geodetic altitude of the operator relative to WGS84. If unknown: -1000 m.
                                                                                                                                                                timestampuint32_ts32 bit Unix Timestamp in seconds since 00:00:00 01/01/2019.

                                                                                                                                                                OPEN_DRONE_ID_OPERATOR_ID (12905)

                                                                                                                                                                Data for filling the OpenDroneID Operator ID message, which contains the CAA (Civil Aviation Authority) issued operator ID.

                                                                                                                                                                Field NameTypeValuesDescription
                                                                                                                                                                target_systemuint8_tSystem ID (0 for broadcast).
                                                                                                                                                                target_componentuint8_tComponent ID (0 for broadcast).
                                                                                                                                                                id_or_macuint8_t[20]Only used for drone ID data received from other UAs. See detailed description at https://mavlink.io/en/services/opendroneid.html.
                                                                                                                                                                operator_id_typeuint8_tMAV_ODID_OPERATOR_ID_TYPEIndicates the type of the operator_id field.
                                                                                                                                                                operator_idchar[20]Text description or numeric value expressed as ASCII characters. Shall be filled with nulls in the unused portion of the field.

                                                                                                                                                                OPEN_DRONE_ID_MESSAGE_PACK (12915)

                                                                                                                                                                An OpenDroneID message pack is a container for multiple encoded OpenDroneID messages (i.e. not in the format given for the above message descriptions but after encoding into the compressed OpenDroneID byte format). Used e.g. when transmitting on Bluetooth 5.0 Long Range/Extended Advertising or on WiFi Neighbor Aware Networking or on WiFi Beacon.

                                                                                                                                                                Field NameTypeUnitsDescription
                                                                                                                                                                target_systemuint8_tSystem ID (0 for broadcast).
                                                                                                                                                                target_componentuint8_tComponent ID (0 for broadcast).
                                                                                                                                                                id_or_macuint8_t[20]Only used for drone ID data received from other UAs. See detailed description at https://mavlink.io/en/services/opendroneid.html.
                                                                                                                                                                single_message_sizeuint8_tbytesThis field must currently always be equal to 25 (bytes), since all encoded OpenDroneID messages are specified to have this length.
                                                                                                                                                                msg_pack_sizeuint8_tNumber of encoded messages in the pack (not the number of bytes). Allowed range is 1 - 9.
                                                                                                                                                                messagesuint8_t[225]Concatenation of encoded OpenDroneID messages. Shall be filled with nulls in the unused portion of the field.

                                                                                                                                                                OPEN_DRONE_ID_ARM_STATUS (12918)

                                                                                                                                                                Transmitter (remote ID system) is enabled and ready to start sending location and other required information. This is streamed by transmitter. A flight controller uses it as a condition to arm.

                                                                                                                                                                Field NameTypeValuesDescription
                                                                                                                                                                statusuint8_tMAV_ODID_ARM_STATUSStatus level indicating if arming is allowed.
                                                                                                                                                                errorchar[50]Text error message, should be empty if status is good to arm. Fill with nulls in unused portion.

                                                                                                                                                                OPEN_DRONE_ID_SYSTEM_UPDATE (12919)

                                                                                                                                                                Update the data in the OPEN_DRONE_ID_SYSTEM message with new location information. This can be sent to update the location information for the operator when no other information in the SYSTEM message has changed. This message allows for efficient operation on radio links which have limited uplink bandwidth while meeting requirements for update frequency of the operator location.

                                                                                                                                                                Field NameTypeUnitsDescription
                                                                                                                                                                target_systemuint8_tSystem ID (0 for broadcast).
                                                                                                                                                                target_componentuint8_tComponent ID (0 for broadcast).
                                                                                                                                                                operator_latitudeint32_tdegE7Latitude of the operator. If unknown: 0 (both Lat/Lon).
                                                                                                                                                                operator_longitudeint32_tdegE7Longitude of the operator. If unknown: 0 (both Lat/Lon).
                                                                                                                                                                operator_altitude_geofloatmGeodetic altitude of the operator relative to WGS84. If unknown: -1000 m.
                                                                                                                                                                timestampuint32_ts32 bit Unix Timestamp in seconds since 00:00:00 01/01/2019.

                                                                                                                                                                HYGROMETER_SENSOR (12920)

                                                                                                                                                                Temperature and humidity from hygrometer.

                                                                                                                                                                Field NameTypeUnitsDescription
                                                                                                                                                                iduint8_tHygrometer ID
                                                                                                                                                                Messages with same value are from the same source (instance).
                                                                                                                                                                temperatureint16_tcdegCTemperature
                                                                                                                                                                humidityuint16_tc%Humidity

                                                                                                                                                                Enumerated Types

                                                                                                                                                                FIRMWARE_VERSION_TYPE

                                                                                                                                                                These values define the type of firmware release. These values indicate the first version or release of this type. For example the first alpha release would be 64, the second would be 65.

                                                                                                                                                                ValueNameDescription
                                                                                                                                                                0FIRMWARE_VERSION_TYPE_DEVdevelopment release
                                                                                                                                                                64FIRMWARE_VERSION_TYPE_ALPHAalpha release
                                                                                                                                                                128FIRMWARE_VERSION_TYPE_BETAbeta release
                                                                                                                                                                192FIRMWARE_VERSION_TYPE_RCrelease candidate
                                                                                                                                                                255FIRMWARE_VERSION_TYPE_OFFICIALofficial stable release

                                                                                                                                                                HL_FAILURE_FLAG

                                                                                                                                                                (Bitmask) Flags to report failure cases over the high latency telemetry.

                                                                                                                                                                ValueNameDescription
                                                                                                                                                                1HL_FAILURE_FLAG_GPSGPS failure.
                                                                                                                                                                2HL_FAILURE_FLAG_DIFFERENTIAL_PRESSUREDifferential pressure sensor failure.
                                                                                                                                                                4HL_FAILURE_FLAG_ABSOLUTE_PRESSUREAbsolute pressure sensor failure.
                                                                                                                                                                8HL_FAILURE_FLAG_3D_ACCELAccelerometer sensor failure.
                                                                                                                                                                16HL_FAILURE_FLAG_3D_GYROGyroscope sensor failure.
                                                                                                                                                                32HL_FAILURE_FLAG_3D_MAGMagnetometer sensor failure.
                                                                                                                                                                64HL_FAILURE_FLAG_TERRAINTerrain subsystem failure.
                                                                                                                                                                128HL_FAILURE_FLAG_BATTERYBattery failure/critical low battery.
                                                                                                                                                                256HL_FAILURE_FLAG_RC_RECEIVERRC receiver failure/no RC connection.
                                                                                                                                                                512HL_FAILURE_FLAG_OFFBOARD_LINKOffboard link failure.
                                                                                                                                                                1024HL_FAILURE_FLAG_ENGINEEngine failure.
                                                                                                                                                                2048HL_FAILURE_FLAG_GEOFENCEGeofence violation.
                                                                                                                                                                4096HL_FAILURE_FLAG_ESTIMATOREstimator failure, for example measurement rejection or large variances.
                                                                                                                                                                8192HL_FAILURE_FLAG_MISSIONMission failure.

                                                                                                                                                                MAV_GOTO

                                                                                                                                                                Actions that may be specified in MAV_CMD_OVERRIDE_GOTO to override mission execution.

                                                                                                                                                                ValueNameDescription
                                                                                                                                                                0MAV_GOTO_DO_HOLDHold at the current position.
                                                                                                                                                                1MAV_GOTO_DO_CONTINUEContinue with the next item in mission execution.
                                                                                                                                                                2MAV_GOTO_HOLD_AT_CURRENT_POSITIONHold at the current position of the system
                                                                                                                                                                3MAV_GOTO_HOLD_AT_SPECIFIED_POSITIONHold at the position specified in the parameters of the DO_HOLD action

                                                                                                                                                                MAV_MODE

                                                                                                                                                                These defines are predefined OR-combined mode flags. There is no need to use values from this enum, but it

                                                                                                                                                                simplifies the use of the mode flags. Note that manual input is enabled in all modes as a safety override.

                                                                                                                                                                ValueNameDescription
                                                                                                                                                                0MAV_MODE_PREFLIGHTSystem is not ready to fly, booting, calibrating, etc. No flag is set.
                                                                                                                                                                64MAV_MODE_MANUAL_DISARMEDSystem is allowed to be active, under manual (RC) control, no stabilization
                                                                                                                                                                66MAV_MODE_TEST_DISARMEDUNDEFINED mode. This solely depends on the autopilot - use with caution, intended for developers only.
                                                                                                                                                                80MAV_MODE_STABILIZE_DISARMEDSystem is allowed to be active, under assisted RC control.
                                                                                                                                                                88MAV_MODE_GUIDED_DISARMEDSystem is allowed to be active, under autonomous control, manual setpoint
                                                                                                                                                                92MAV_MODE_AUTO_DISARMEDSystem is allowed to be active, under autonomous control and navigation (the trajectory is decided onboard and not pre-programmed by waypoints)
                                                                                                                                                                192MAV_MODE_MANUAL_ARMEDSystem is allowed to be active, under manual (RC) control, no stabilization
                                                                                                                                                                194MAV_MODE_TEST_ARMEDUNDEFINED mode. This solely depends on the autopilot - use with caution, intended for developers only.
                                                                                                                                                                208MAV_MODE_STABILIZE_ARMEDSystem is allowed to be active, under assisted RC control.
                                                                                                                                                                216MAV_MODE_GUIDED_ARMEDSystem is allowed to be active, under autonomous control, manual setpoint
                                                                                                                                                                220MAV_MODE_AUTO_ARMEDSystem is allowed to be active, under autonomous control and navigation (the trajectory is decided onboard and not pre-programmed by waypoints)

                                                                                                                                                                MAV_SYS_STATUS_SENSOR

                                                                                                                                                                (Bitmask) These encode the sensors whose status is sent as part of the SYS_STATUS message.

                                                                                                                                                                ValueNameDescription
                                                                                                                                                                1MAV_SYS_STATUS_SENSOR_3D_GYRO0x01 3D gyro
                                                                                                                                                                2MAV_SYS_STATUS_SENSOR_3D_ACCEL0x02 3D accelerometer
                                                                                                                                                                4MAV_SYS_STATUS_SENSOR_3D_MAG0x04 3D magnetometer
                                                                                                                                                                8MAV_SYS_STATUS_SENSOR_ABSOLUTE_PRESSURE0x08 absolute pressure
                                                                                                                                                                16MAV_SYS_STATUS_SENSOR_DIFFERENTIAL_PRESSURE0x10 differential pressure
                                                                                                                                                                32MAV_SYS_STATUS_SENSOR_GPS0x20 GPS
                                                                                                                                                                64MAV_SYS_STATUS_SENSOR_OPTICAL_FLOW0x40 optical flow
                                                                                                                                                                128MAV_SYS_STATUS_SENSOR_VISION_POSITION0x80 computer vision position
                                                                                                                                                                256MAV_SYS_STATUS_SENSOR_LASER_POSITION0x100 laser based position
                                                                                                                                                                512MAV_SYS_STATUS_SENSOR_EXTERNAL_GROUND_TRUTH0x200 external ground truth (Vicon or Leica)
                                                                                                                                                                1024MAV_SYS_STATUS_SENSOR_ANGULAR_RATE_CONTROL0x400 3D angular rate control
                                                                                                                                                                2048MAV_SYS_STATUS_SENSOR_ATTITUDE_STABILIZATION0x800 attitude stabilization
                                                                                                                                                                4096MAV_SYS_STATUS_SENSOR_YAW_POSITION0x1000 yaw position
                                                                                                                                                                8192MAV_SYS_STATUS_SENSOR_Z_ALTITUDE_CONTROL0x2000 z/altitude control
                                                                                                                                                                16384MAV_SYS_STATUS_SENSOR_XY_POSITION_CONTROL0x4000 x/y position control
                                                                                                                                                                32768MAV_SYS_STATUS_SENSOR_MOTOR_OUTPUTS0x8000 motor outputs / control
                                                                                                                                                                65536MAV_SYS_STATUS_SENSOR_RC_RECEIVER0x10000 RC receiver
                                                                                                                                                                131072MAV_SYS_STATUS_SENSOR_3D_GYRO20x20000 2nd 3D gyro
                                                                                                                                                                262144MAV_SYS_STATUS_SENSOR_3D_ACCEL20x40000 2nd 3D accelerometer
                                                                                                                                                                524288MAV_SYS_STATUS_SENSOR_3D_MAG20x80000 2nd 3D magnetometer
                                                                                                                                                                1048576MAV_SYS_STATUS_GEOFENCE0x100000 geofence
                                                                                                                                                                2097152MAV_SYS_STATUS_AHRS0x200000 AHRS subsystem health
                                                                                                                                                                4194304MAV_SYS_STATUS_TERRAIN0x400000 Terrain subsystem health
                                                                                                                                                                8388608MAV_SYS_STATUS_REVERSE_MOTOR0x800000 Motors are reversed
                                                                                                                                                                16777216MAV_SYS_STATUS_LOGGING0x1000000 Logging
                                                                                                                                                                33554432MAV_SYS_STATUS_SENSOR_BATTERY0x2000000 Battery
                                                                                                                                                                67108864MAV_SYS_STATUS_SENSOR_PROXIMITY0x4000000 Proximity
                                                                                                                                                                134217728MAV_SYS_STATUS_SENSOR_SATCOM0x8000000 Satellite Communication
                                                                                                                                                                268435456MAV_SYS_STATUS_PREARM_CHECK0x10000000 pre-arm check status. Always healthy when armed
                                                                                                                                                                536870912MAV_SYS_STATUS_OBSTACLE_AVOIDANCE0x20000000 Avoidance/collision prevention
                                                                                                                                                                1073741824MAV_SYS_STATUS_SENSOR_PROPULSION0x40000000 propulsion (actuator, esc, motor or propellor)
                                                                                                                                                                2147483648MAV_SYS_STATUS_EXTENSION_USED0x80000000 Extended bit-field are used for further sensor status bits (needs to be set in onboard_control_sensors_present only)

                                                                                                                                                                MAV_SYS_STATUS_SENSOR_EXTENDED

                                                                                                                                                                (Bitmask) These encode the sensors whose status is sent as part of the SYS_STATUS message in the extended fields.

                                                                                                                                                                ValueNameDescription
                                                                                                                                                                1MAV_SYS_STATUS_RECOVERY_SYSTEM0x01 Recovery system (parachute, balloon, retracts etc)

                                                                                                                                                                MAV_FRAME

                                                                                                                                                                Coordinate frames used by MAVLink. Not all frames are supported by all commands, messages, or vehicles.

                                                                                                                                                                Global frames use the following naming conventions:

                                                                                                                                                                • "GLOBAL": Global coordinate frame with WGS84 latitude/longitude and altitude positive over mean sea level (MSL) by default. The following modifiers may be used with "GLOBAL":
                                                                                                                                                                • "RELATIVE_ALT": Altitude is relative to the vehicle home position rather than MSL.
                                                                                                                                                                • "TERRAIN_ALT": Altitude is relative to ground level rather than MSL.
                                                                                                                                                                • "INT": Latitude/longitude (in degrees) are scaled by multiplying by 1E7.

                                                                                                                                                                Local frames use the following naming conventions:

                                                                                                                                                                • "LOCAL": Origin of local frame is fixed relative to earth. Unless otherwise specified this origin is the origin of the vehicle position-estimator ("EKF").
                                                                                                                                                                • "BODY": Origin of local frame travels with the vehicle. NOTE, "BODY" does NOT indicate alignment of frame axis with vehicle attitude.
                                                                                                                                                                • "OFFSET": Deprecated synonym for "BODY" (origin travels with the vehicle). Not to be used for new frames.

                                                                                                                                                                Some deprecated frames do not follow these conventions (e.g. MAV_FRAME_BODY_NED and MAV_FRAME_BODY_OFFSET_NED).

                                                                                                                                                                ValueNameDescription
                                                                                                                                                                0MAV_FRAME_GLOBALGlobal (WGS84) coordinate frame + altitude relative to mean sea level (MSL).
                                                                                                                                                                1MAV_FRAME_LOCAL_NEDNED local tangent frame (x: North, y: East, z: Down) with origin fixed relative to earth.
                                                                                                                                                                2MAV_FRAME_MISSIONNOT a coordinate frame, indicates a mission command.
                                                                                                                                                                3MAV_FRAME_GLOBAL_RELATIVE_ALTGlobal (WGS84) coordinate frame + altitude relative to the home position.
                                                                                                                                                                4MAV_FRAME_LOCAL_ENUENU local tangent frame (x: East, y: North, z: Up) with origin fixed relative to earth.
                                                                                                                                                                5MAV_FRAME_GLOBAL_INTGlobal (WGS84) coordinate frame (scaled) + altitude relative to mean sea level (MSL).DEPRECATED: Replaced By MAV_FRAME_GLOBAL (2024-03) — Use MAV_FRAME_GLOBAL in COMMAND_INT (and elsewhere) as a synonymous replacement.)
                                                                                                                                                                6MAV_FRAME_GLOBAL_RELATIVE_ALT_INTGlobal (WGS84) coordinate frame (scaled) + altitude relative to the home position.DEPRECATED: Replaced By MAV_FRAME_GLOBAL_RELATIVE_ALT (2024-03) — Use MAV_FRAME_GLOBAL_RELATIVE_ALT in COMMAND_INT (and elsewhere) as a synonymous replacement.)
                                                                                                                                                                7MAV_FRAME_LOCAL_OFFSET_NEDNED local tangent frame (x: North, y: East, z: Down) with origin that travels with the vehicle.
                                                                                                                                                                8MAV_FRAME_BODY_NEDSame as MAV_FRAME_LOCAL_NED when used to represent position values. Same as MAV_FRAME_BODY_FRD when used with velocity/acceleration values.DEPRECATED: Replaced By MAV_FRAME_BODY_FRD (2019-08)
                                                                                                                                                                9MAV_FRAME_BODY_OFFSET_NEDThis is the same as MAV_FRAME_BODY_FRD.DEPRECATED: Replaced By MAV_FRAME_BODY_FRD (2019-08)
                                                                                                                                                                10MAV_FRAME_GLOBAL_TERRAIN_ALTGlobal (WGS84) coordinate frame with AGL altitude (altitude at ground level).
                                                                                                                                                                11MAV_FRAME_GLOBAL_TERRAIN_ALT_INTGlobal (WGS84) coordinate frame (scaled) with AGL altitude (altitude at ground level).DEPRECATED: Replaced By MAV_FRAME_GLOBAL_TERRAIN_ALT (2024-03) — Use MAV_FRAME_GLOBAL_TERRAIN_ALT in COMMAND_INT (and elsewhere) as a synonymous replacement.)
                                                                                                                                                                12MAV_FRAME_BODY_FRDFRD local frame aligned to the vehicle's attitude (x: Forward, y: Right, z: Down) with an origin that travels with vehicle.
                                                                                                                                                                13MAV_FRAME_RESERVED_13MAV_FRAME_BODY_FLU - Body fixed frame of reference, Z-up (x: Forward, y: Left, z: Up).DEPRECATED:(2019-04)
                                                                                                                                                                14MAV_FRAME_RESERVED_14MAV_FRAME_MOCAP_NED - Odometry local coordinate frame of data given by a motion capture system, Z-down (x: North, y: East, z: Down).DEPRECATED: Replaced By MAV_FRAME_LOCAL_FRD (2019-04)
                                                                                                                                                                15MAV_FRAME_RESERVED_15MAV_FRAME_MOCAP_ENU - Odometry local coordinate frame of data given by a motion capture system, Z-up (x: East, y: North, z: Up).DEPRECATED: Replaced By MAV_FRAME_LOCAL_FLU (2019-04)
                                                                                                                                                                16MAV_FRAME_RESERVED_16MAV_FRAME_VISION_NED - Odometry local coordinate frame of data given by a vision estimation system, Z-down (x: North, y: East, z: Down).DEPRECATED: Replaced By MAV_FRAME_LOCAL_FRD (2019-04)
                                                                                                                                                                17MAV_FRAME_RESERVED_17MAV_FRAME_VISION_ENU - Odometry local coordinate frame of data given by a vision estimation system, Z-up (x: East, y: North, z: Up).DEPRECATED: Replaced By MAV_FRAME_LOCAL_FLU (2019-04)
                                                                                                                                                                18MAV_FRAME_RESERVED_18MAV_FRAME_ESTIM_NED - Odometry local coordinate frame of data given by an estimator running onboard the vehicle, Z-down (x: North, y: East, z: Down).DEPRECATED: Replaced By MAV_FRAME_LOCAL_FRD (2019-04)
                                                                                                                                                                19MAV_FRAME_RESERVED_19MAV_FRAME_ESTIM_ENU - Odometry local coordinate frame of data given by an estimator running onboard the vehicle, Z-up (x: East, y: North, z: Up).DEPRECATED: Replaced By MAV_FRAME_LOCAL_FLU (2019-04)
                                                                                                                                                                20MAV_FRAME_LOCAL_FRDFRD local tangent frame (x: Forward, y: Right, z: Down) with origin fixed relative to earth. The forward axis is aligned to the front of the vehicle in the horizontal plane.
                                                                                                                                                                21MAV_FRAME_LOCAL_FLUFLU local tangent frame (x: Forward, y: Left, z: Up) with origin fixed relative to earth. The forward axis is aligned to the front of the vehicle in the horizontal plane.
                                                                                                                                                                ValueNameDescription
                                                                                                                                                                0MAVLINK_DATA_STREAM_IMG_JPEG
                                                                                                                                                                1MAVLINK_DATA_STREAM_IMG_BMP
                                                                                                                                                                2MAVLINK_DATA_STREAM_IMG_RAW8U
                                                                                                                                                                3MAVLINK_DATA_STREAM_IMG_RAW32U
                                                                                                                                                                4MAVLINK_DATA_STREAM_IMG_PGM
                                                                                                                                                                5MAVLINK_DATA_STREAM_IMG_PNG

                                                                                                                                                                FENCE_ACTION

                                                                                                                                                                Actions following geofence breach.

                                                                                                                                                                ValueNameDescription
                                                                                                                                                                0FENCE_ACTION_NONEDisable fenced mode. If used in a plan this would mean the next fence is disabled.
                                                                                                                                                                1FENCE_ACTION_GUIDEDFly to geofence MAV_CMD_NAV_FENCE_RETURN_POINT in GUIDED mode. Note: This action is only supported by ArduPlane, and may not be supported in all versions.
                                                                                                                                                                2FENCE_ACTION_REPORTReport fence breach, but don't take action
                                                                                                                                                                3FENCE_ACTION_GUIDED_THR_PASSFly to geofence MAV_CMD_NAV_FENCE_RETURN_POINT with manual throttle control in GUIDED mode. Note: This action is only supported by ArduPlane, and may not be supported in all versions.
                                                                                                                                                                4FENCE_ACTION_RTLReturn/RTL mode.
                                                                                                                                                                5FENCE_ACTION_HOLDHold at current location.
                                                                                                                                                                6FENCE_ACTION_TERMINATETermination failsafe. Motors are shut down (some flight stacks may trigger other failsafe actions).
                                                                                                                                                                7FENCE_ACTION_LANDLand at current location.

                                                                                                                                                                FENCE_BREACH

                                                                                                                                                                ValueNameDescription
                                                                                                                                                                0FENCE_BREACH_NONENo last fence breach
                                                                                                                                                                1FENCE_BREACH_MINALTBreached minimum altitude
                                                                                                                                                                2FENCE_BREACH_MAXALTBreached maximum altitude
                                                                                                                                                                3FENCE_BREACH_BOUNDARYBreached fence boundary

                                                                                                                                                                FENCE_MITIGATE

                                                                                                                                                                Actions being taken to mitigate/prevent fence breach

                                                                                                                                                                ValueNameDescription
                                                                                                                                                                0FENCE_MITIGATE_UNKNOWNUnknown
                                                                                                                                                                1FENCE_MITIGATE_NONENo actions being taken
                                                                                                                                                                2FENCE_MITIGATE_VEL_LIMITVelocity limiting active to prevent breach

                                                                                                                                                                FENCE_TYPE

                                                                                                                                                                (Bitmask)

                                                                                                                                                                ValueNameDescription
                                                                                                                                                                0FENCE_TYPE_ALLAll fence types
                                                                                                                                                                1FENCE_TYPE_ALT_MAXMaximum altitude fence
                                                                                                                                                                2FENCE_TYPE_CIRCLECircle fence
                                                                                                                                                                4FENCE_TYPE_POLYGONPolygon fence
                                                                                                                                                                8FENCE_TYPE_ALT_MINMinimum altitude fence

                                                                                                                                                                MAV_MOUNT_MODE — [DEP]

                                                                                                                                                                DEPRECATED: Replaced By GIMBAL_MANAGER_FLAGS (2020-01)

                                                                                                                                                                Enumeration of possible mount operation modes. This message is used by obsolete/deprecated gimbal messages.

                                                                                                                                                                ValueNameDescription
                                                                                                                                                                0MAV_MOUNT_MODE_RETRACTLoad and keep safe position (Roll,Pitch,Yaw) from permanent memory and stop stabilization
                                                                                                                                                                1MAV_MOUNT_MODE_NEUTRALLoad and keep neutral position (Roll,Pitch,Yaw) from permanent memory.
                                                                                                                                                                2MAV_MOUNT_MODE_MAVLINK_TARGETINGLoad neutral position and start MAVLink Roll,Pitch,Yaw control with stabilization
                                                                                                                                                                3MAV_MOUNT_MODE_RC_TARGETINGLoad neutral position and start RC Roll,Pitch,Yaw control with stabilization
                                                                                                                                                                4MAV_MOUNT_MODE_GPS_POINTLoad neutral position and start to point to Lat,Lon,Alt
                                                                                                                                                                5MAV_MOUNT_MODE_SYSID_TARGETGimbal tracks system with specified system ID
                                                                                                                                                                6MAV_MOUNT_MODE_HOME_LOCATIONGimbal tracks home position

                                                                                                                                                                GIMBAL_DEVICE_CAP_FLAGS

                                                                                                                                                                (Bitmask) Gimbal device (low level) capability flags (bitmap).

                                                                                                                                                                ValueNameDescription
                                                                                                                                                                1GIMBAL_DEVICE_CAP_FLAGS_HAS_RETRACTGimbal device supports a retracted position.
                                                                                                                                                                2GIMBAL_DEVICE_CAP_FLAGS_HAS_NEUTRALGimbal device supports a horizontal, forward looking position, stabilized.
                                                                                                                                                                4GIMBAL_DEVICE_CAP_FLAGS_HAS_ROLL_AXISGimbal device supports rotating around roll axis.
                                                                                                                                                                8GIMBAL_DEVICE_CAP_FLAGS_HAS_ROLL_FOLLOWGimbal device supports to follow a roll angle relative to the vehicle.
                                                                                                                                                                16GIMBAL_DEVICE_CAP_FLAGS_HAS_ROLL_LOCKGimbal device supports locking to a roll angle (generally that's the default with roll stabilized).
                                                                                                                                                                32GIMBAL_DEVICE_CAP_FLAGS_HAS_PITCH_AXISGimbal device supports rotating around pitch axis.
                                                                                                                                                                64GIMBAL_DEVICE_CAP_FLAGS_HAS_PITCH_FOLLOWGimbal device supports to follow a pitch angle relative to the vehicle.
                                                                                                                                                                128GIMBAL_DEVICE_CAP_FLAGS_HAS_PITCH_LOCKGimbal device supports locking to a pitch angle (generally that's the default with pitch stabilized).
                                                                                                                                                                256GIMBAL_DEVICE_CAP_FLAGS_HAS_YAW_AXISGimbal device supports rotating around yaw axis.
                                                                                                                                                                512GIMBAL_DEVICE_CAP_FLAGS_HAS_YAW_FOLLOWGimbal device supports to follow a yaw angle relative to the vehicle (generally that's the default).
                                                                                                                                                                1024GIMBAL_DEVICE_CAP_FLAGS_HAS_YAW_LOCKGimbal device supports locking to an absolute heading, i.e., yaw angle relative to North (earth frame, often this is an option available).
                                                                                                                                                                2048GIMBAL_DEVICE_CAP_FLAGS_SUPPORTS_INFINITE_YAWGimbal device supports yawing/panning infinitely (e.g. using slip disk).
                                                                                                                                                                4096GIMBAL_DEVICE_CAP_FLAGS_SUPPORTS_YAW_IN_EARTH_FRAMEGimbal device supports yaw angles and angular velocities relative to North (earth frame). This usually requires support by an autopilot via AUTOPILOT_STATE_FOR_GIMBAL_DEVICE. Support can go on and off during runtime, which is reported by the flag GIMBAL_DEVICE_FLAGS_CAN_ACCEPT_YAW_IN_EARTH_FRAME.
                                                                                                                                                                8192GIMBAL_DEVICE_CAP_FLAGS_HAS_RC_INPUTSGimbal device supports radio control inputs as an alternative input for controlling the gimbal orientation.

                                                                                                                                                                GIMBAL_MANAGER_CAP_FLAGS

                                                                                                                                                                (Bitmask) Gimbal manager high level capability flags (bitmap). The first 16 bits are identical to the GIMBAL_DEVICE_CAP_FLAGS. However, the gimbal manager does not need to copy the flags from the gimbal but can also enhance the capabilities and thus add flags.

                                                                                                                                                                ValueNameDescription
                                                                                                                                                                1GIMBAL_MANAGER_CAP_FLAGS_HAS_RETRACTBased on GIMBAL_DEVICE_CAP_FLAGS_HAS_RETRACT.
                                                                                                                                                                2GIMBAL_MANAGER_CAP_FLAGS_HAS_NEUTRALBased on GIMBAL_DEVICE_CAP_FLAGS_HAS_NEUTRAL.
                                                                                                                                                                4GIMBAL_MANAGER_CAP_FLAGS_HAS_ROLL_AXISBased on GIMBAL_DEVICE_CAP_FLAGS_HAS_ROLL_AXIS.
                                                                                                                                                                8GIMBAL_MANAGER_CAP_FLAGS_HAS_ROLL_FOLLOWBased on GIMBAL_DEVICE_CAP_FLAGS_HAS_ROLL_FOLLOW.
                                                                                                                                                                16GIMBAL_MANAGER_CAP_FLAGS_HAS_ROLL_LOCKBased on GIMBAL_DEVICE_CAP_FLAGS_HAS_ROLL_LOCK.
                                                                                                                                                                32GIMBAL_MANAGER_CAP_FLAGS_HAS_PITCH_AXISBased on GIMBAL_DEVICE_CAP_FLAGS_HAS_PITCH_AXIS.
                                                                                                                                                                64GIMBAL_MANAGER_CAP_FLAGS_HAS_PITCH_FOLLOWBased on GIMBAL_DEVICE_CAP_FLAGS_HAS_PITCH_FOLLOW.
                                                                                                                                                                128GIMBAL_MANAGER_CAP_FLAGS_HAS_PITCH_LOCKBased on GIMBAL_DEVICE_CAP_FLAGS_HAS_PITCH_LOCK.
                                                                                                                                                                256GIMBAL_MANAGER_CAP_FLAGS_HAS_YAW_AXISBased on GIMBAL_DEVICE_CAP_FLAGS_HAS_YAW_AXIS.
                                                                                                                                                                512GIMBAL_MANAGER_CAP_FLAGS_HAS_YAW_FOLLOWBased on GIMBAL_DEVICE_CAP_FLAGS_HAS_YAW_FOLLOW.
                                                                                                                                                                1024GIMBAL_MANAGER_CAP_FLAGS_HAS_YAW_LOCKBased on GIMBAL_DEVICE_CAP_FLAGS_HAS_YAW_LOCK.
                                                                                                                                                                2048GIMBAL_MANAGER_CAP_FLAGS_SUPPORTS_INFINITE_YAWBased on GIMBAL_DEVICE_CAP_FLAGS_SUPPORTS_INFINITE_YAW.
                                                                                                                                                                4096GIMBAL_MANAGER_CAP_FLAGS_SUPPORTS_YAW_IN_EARTH_FRAMEBased on GIMBAL_DEVICE_CAP_FLAGS_SUPPORTS_YAW_IN_EARTH_FRAME.
                                                                                                                                                                8192GIMBAL_MANAGER_CAP_FLAGS_HAS_RC_INPUTSBased on GIMBAL_DEVICE_CAP_FLAGS_HAS_RC_INPUTS.
                                                                                                                                                                65536GIMBAL_MANAGER_CAP_FLAGS_CAN_POINT_LOCATION_LOCALGimbal manager supports to point to a local position.
                                                                                                                                                                131072GIMBAL_MANAGER_CAP_FLAGS_CAN_POINT_LOCATION_GLOBALGimbal manager supports to point to a global latitude, longitude, altitude position.

                                                                                                                                                                GIMBAL_DEVICE_FLAGS

                                                                                                                                                                (Bitmask) Flags for gimbal device (lower level) operation.

                                                                                                                                                                ValueNameDescription
                                                                                                                                                                1GIMBAL_DEVICE_FLAGS_RETRACTSet to retracted safe position (no stabilization), takes precedence over all other flags.
                                                                                                                                                                2GIMBAL_DEVICE_FLAGS_NEUTRALSet to neutral/default position, taking precedence over all other flags except RETRACT. Neutral is commonly forward-facing and horizontal (roll=pitch=yaw=0) but may be any orientation.
                                                                                                                                                                4GIMBAL_DEVICE_FLAGS_ROLL_LOCKLock roll angle to absolute angle relative to horizon (not relative to vehicle). This is generally the default with a stabilizing gimbal.
                                                                                                                                                                8GIMBAL_DEVICE_FLAGS_PITCH_LOCKLock pitch angle to absolute angle relative to horizon (not relative to vehicle). This is generally the default with a stabilizing gimbal.
                                                                                                                                                                16GIMBAL_DEVICE_FLAGS_YAW_LOCKLock yaw angle to absolute angle relative to North (not relative to vehicle). If this flag is set, the yaw angle and z component of angular velocity are relative to North (earth frame, x-axis pointing North), else they are relative to the vehicle heading (vehicle frame, earth frame rotated so that the x-axis is pointing forward).
                                                                                                                                                                32GIMBAL_DEVICE_FLAGS_YAW_IN_VEHICLE_FRAMEYaw angle and z component of angular velocity are relative to the vehicle heading (vehicle frame, earth frame rotated such that the x-axis is pointing forward).
                                                                                                                                                                64GIMBAL_DEVICE_FLAGS_YAW_IN_EARTH_FRAMEYaw angle and z component of angular velocity are relative to North (earth frame, x-axis is pointing North).
                                                                                                                                                                128GIMBAL_DEVICE_FLAGS_ACCEPTS_YAW_IN_EARTH_FRAMEGimbal device can accept yaw angle inputs relative to North (earth frame). This flag is only for reporting (attempts to set this flag are ignored).
                                                                                                                                                                256GIMBAL_DEVICE_FLAGS_RC_EXCLUSIVEThe gimbal orientation is set exclusively by the RC signals feed to the gimbal's radio control inputs. MAVLink messages for setting the gimbal orientation (GIMBAL_DEVICE_SET_ATTITUDE) are ignored.
                                                                                                                                                                512GIMBAL_DEVICE_FLAGS_RC_MIXEDThe gimbal orientation is determined by combining/mixing the RC signals feed to the gimbal's radio control inputs and the MAVLink messages for setting the gimbal orientation (GIMBAL_DEVICE_SET_ATTITUDE). How these two controls are combined or mixed is not defined by the protocol but is up to the implementation.

                                                                                                                                                                GIMBAL_MANAGER_FLAGS

                                                                                                                                                                (Bitmask) Flags for high level gimbal manager operation The first 16 bits are identical to the GIMBAL_DEVICE_FLAGS.

                                                                                                                                                                ValueNameDescription
                                                                                                                                                                1GIMBAL_MANAGER_FLAGS_RETRACTBased on GIMBAL_DEVICE_FLAGS_RETRACT.
                                                                                                                                                                2GIMBAL_MANAGER_FLAGS_NEUTRALBased on GIMBAL_DEVICE_FLAGS_NEUTRAL.
                                                                                                                                                                4GIMBAL_MANAGER_FLAGS_ROLL_LOCKBased on GIMBAL_DEVICE_FLAGS_ROLL_LOCK.
                                                                                                                                                                8GIMBAL_MANAGER_FLAGS_PITCH_LOCKBased on GIMBAL_DEVICE_FLAGS_PITCH_LOCK.
                                                                                                                                                                16GIMBAL_MANAGER_FLAGS_YAW_LOCKBased on GIMBAL_DEVICE_FLAGS_YAW_LOCK.
                                                                                                                                                                32GIMBAL_MANAGER_FLAGS_YAW_IN_VEHICLE_FRAMEBased on GIMBAL_DEVICE_FLAGS_YAW_IN_VEHICLE_FRAME.
                                                                                                                                                                64GIMBAL_MANAGER_FLAGS_YAW_IN_EARTH_FRAMEBased on GIMBAL_DEVICE_FLAGS_YAW_IN_EARTH_FRAME.
                                                                                                                                                                128GIMBAL_MANAGER_FLAGS_ACCEPTS_YAW_IN_EARTH_FRAMEBased on GIMBAL_DEVICE_FLAGS_ACCEPTS_YAW_IN_EARTH_FRAME.
                                                                                                                                                                256GIMBAL_MANAGER_FLAGS_RC_EXCLUSIVEBased on GIMBAL_DEVICE_FLAGS_RC_EXCLUSIVE.
                                                                                                                                                                512GIMBAL_MANAGER_FLAGS_RC_MIXEDBased on GIMBAL_DEVICE_FLAGS_RC_MIXED.

                                                                                                                                                                GIMBAL_DEVICE_ERROR_FLAGS

                                                                                                                                                                (Bitmask) Gimbal device (low level) error flags (bitmap, 0 means no error)

                                                                                                                                                                ValueNameDescription
                                                                                                                                                                1GIMBAL_DEVICE_ERROR_FLAGS_AT_ROLL_LIMITGimbal device is limited by hardware roll limit.
                                                                                                                                                                2GIMBAL_DEVICE_ERROR_FLAGS_AT_PITCH_LIMITGimbal device is limited by hardware pitch limit.
                                                                                                                                                                4GIMBAL_DEVICE_ERROR_FLAGS_AT_YAW_LIMITGimbal device is limited by hardware yaw limit.
                                                                                                                                                                8GIMBAL_DEVICE_ERROR_FLAGS_ENCODER_ERRORThere is an error with the gimbal encoders.
                                                                                                                                                                16GIMBAL_DEVICE_ERROR_FLAGS_POWER_ERRORThere is an error with the gimbal power source.
                                                                                                                                                                32GIMBAL_DEVICE_ERROR_FLAGS_MOTOR_ERRORThere is an error with the gimbal motors.
                                                                                                                                                                64GIMBAL_DEVICE_ERROR_FLAGS_SOFTWARE_ERRORThere is an error with the gimbal's software.
                                                                                                                                                                128GIMBAL_DEVICE_ERROR_FLAGS_COMMS_ERRORThere is an error with the gimbal's communication.
                                                                                                                                                                256GIMBAL_DEVICE_ERROR_FLAGS_CALIBRATION_RUNNINGGimbal device is currently calibrating.
                                                                                                                                                                512GIMBAL_DEVICE_ERROR_FLAGS_NO_MANAGERGimbal device is not assigned to a gimbal manager.

                                                                                                                                                                GRIPPER_ACTIONS

                                                                                                                                                                Gripper actions.

                                                                                                                                                                ValueNameDescription
                                                                                                                                                                0GRIPPER_ACTION_RELEASEGripper release cargo.
                                                                                                                                                                1GRIPPER_ACTION_GRABGripper grab onto cargo.

                                                                                                                                                                WINCH_ACTIONS

                                                                                                                                                                Winch actions.

                                                                                                                                                                ValueNameDescription
                                                                                                                                                                0WINCH_RELAXEDAllow motor to freewheel.
                                                                                                                                                                1WINCH_RELATIVE_LENGTH_CONTROLWind or unwind specified length of line, optionally using specified rate.
                                                                                                                                                                2WINCH_RATE_CONTROLWind or unwind line at specified rate.
                                                                                                                                                                3WINCH_LOCKPerform the locking sequence to relieve motor while in the fully retracted position. Only action and instance command parameters are used, others are ignored.
                                                                                                                                                                4WINCH_DELIVERSequence of drop, slow down, touch down, reel up, lock. Only action and instance command parameters are used, others are ignored.
                                                                                                                                                                5WINCH_HOLDEngage motor and hold current position. Only action and instance command parameters are used, others are ignored.
                                                                                                                                                                6WINCH_RETRACTReturn the reel to the fully retracted position. Only action and instance command parameters are used, others are ignored.
                                                                                                                                                                7WINCH_LOAD_LINELoad the reel with line. The winch will calculate the total loaded length and stop when the tension exceeds a threshold. Only action and instance command parameters are used, others are ignored.
                                                                                                                                                                8WINCH_ABANDON_LINESpool out the entire length of the line. Only action and instance command parameters are used, others are ignored.
                                                                                                                                                                9WINCH_LOAD_PAYLOADSpools out just enough to present the hook to the user to load the payload. Only action and instance command parameters are used, others are ignored

                                                                                                                                                                UAVCAN_NODE_HEALTH

                                                                                                                                                                Generalized UAVCAN node health

                                                                                                                                                                ValueNameDescription
                                                                                                                                                                0UAVCAN_NODE_HEALTH_OKThe node is functioning properly.
                                                                                                                                                                1UAVCAN_NODE_HEALTH_WARNINGA critical parameter went out of range or the node has encountered a minor failure.
                                                                                                                                                                2UAVCAN_NODE_HEALTH_ERRORThe node has encountered a major failure.
                                                                                                                                                                3UAVCAN_NODE_HEALTH_CRITICALThe node has suffered a fatal malfunction.

                                                                                                                                                                UAVCAN_NODE_MODE

                                                                                                                                                                Generalized UAVCAN node mode

                                                                                                                                                                ValueNameDescription
                                                                                                                                                                0UAVCAN_NODE_MODE_OPERATIONALThe node is performing its primary functions.
                                                                                                                                                                1UAVCAN_NODE_MODE_INITIALIZATIONThe node is initializing; this mode is entered immediately after startup.
                                                                                                                                                                2UAVCAN_NODE_MODE_MAINTENANCEThe node is under maintenance.
                                                                                                                                                                3UAVCAN_NODE_MODE_SOFTWARE_UPDATEThe node is in the process of updating its software.
                                                                                                                                                                7UAVCAN_NODE_MODE_OFFLINEThe node is no longer available online.

                                                                                                                                                                ESC_CONNECTION_TYPE

                                                                                                                                                                Indicates the ESC connection type.

                                                                                                                                                                ValueNameDescription
                                                                                                                                                                0ESC_CONNECTION_TYPE_PPMTraditional PPM ESC.
                                                                                                                                                                1ESC_CONNECTION_TYPE_SERIALSerial Bus connected ESC.
                                                                                                                                                                2ESC_CONNECTION_TYPE_ONESHOTOne Shot PPM ESC.
                                                                                                                                                                3ESC_CONNECTION_TYPE_I2CI2C ESC.
                                                                                                                                                                4ESC_CONNECTION_TYPE_CANCAN-Bus ESC.
                                                                                                                                                                5ESC_CONNECTION_TYPE_DSHOTDShot ESC.

                                                                                                                                                                ESC_FAILURE_FLAGS

                                                                                                                                                                (Bitmask) Flags to report ESC failures.

                                                                                                                                                                ValueNameDescription
                                                                                                                                                                0ESC_FAILURE_NONENo ESC failure.
                                                                                                                                                                1ESC_FAILURE_OVER_CURRENTOver current failure.
                                                                                                                                                                2ESC_FAILURE_OVER_VOLTAGEOver voltage failure.
                                                                                                                                                                4ESC_FAILURE_OVER_TEMPERATUREOver temperature failure.
                                                                                                                                                                8ESC_FAILURE_OVER_RPMOver RPM failure.
                                                                                                                                                                16ESC_FAILURE_INCONSISTENT_CMDInconsistent command failure i.e. out of bounds.
                                                                                                                                                                32ESC_FAILURE_MOTOR_STUCKMotor stuck failure.
                                                                                                                                                                64ESC_FAILURE_GENERICGeneric ESC failure.

                                                                                                                                                                STORAGE_STATUS

                                                                                                                                                                Flags to indicate the status of camera storage.

                                                                                                                                                                ValueNameDescription
                                                                                                                                                                0STORAGE_STATUS_EMPTYStorage is missing (no microSD card loaded for example.)
                                                                                                                                                                1STORAGE_STATUS_UNFORMATTEDStorage present but unformatted.
                                                                                                                                                                2STORAGE_STATUS_READYStorage present and ready.
                                                                                                                                                                3STORAGE_STATUS_NOT_SUPPORTEDCamera does not supply storage status information. Capacity information in STORAGE_INFORMATION fields will be ignored.

                                                                                                                                                                STORAGE_TYPE

                                                                                                                                                                Flags to indicate the type of storage.

                                                                                                                                                                ValueNameDescription
                                                                                                                                                                0STORAGE_TYPE_UNKNOWNStorage type is not known.
                                                                                                                                                                1STORAGE_TYPE_USB_STICKStorage type is USB device.
                                                                                                                                                                2STORAGE_TYPE_SDStorage type is SD card.
                                                                                                                                                                3STORAGE_TYPE_MICROSDStorage type is microSD card.
                                                                                                                                                                4STORAGE_TYPE_CFStorage type is CFast.
                                                                                                                                                                5STORAGE_TYPE_CFEStorage type is CFexpress.
                                                                                                                                                                6STORAGE_TYPE_XQDStorage type is XQD.
                                                                                                                                                                7STORAGE_TYPE_HDStorage type is HD mass storage type.
                                                                                                                                                                254STORAGE_TYPE_OTHERStorage type is other, not listed type.

                                                                                                                                                                STORAGE_USAGE_FLAG

                                                                                                                                                                Flags to indicate usage for a particular storage (see STORAGE_INFORMATION.storage_usage and MAV_CMD_SET_STORAGE_USAGE).

                                                                                                                                                                ValueNameDescription
                                                                                                                                                                1STORAGE_USAGE_FLAG_SETAlways set to 1 (indicates STORAGE_INFORMATION.storage_usage is supported).
                                                                                                                                                                2STORAGE_USAGE_FLAG_PHOTOStorage for saving photos.
                                                                                                                                                                4STORAGE_USAGE_FLAG_VIDEOStorage for saving videos.
                                                                                                                                                                8STORAGE_USAGE_FLAG_LOGSStorage for saving logs.

                                                                                                                                                                ORBIT_YAW_BEHAVIOUR

                                                                                                                                                                Yaw behaviour during orbit flight.

                                                                                                                                                                ValueNameDescription
                                                                                                                                                                0ORBIT_YAW_BEHAVIOUR_HOLD_FRONT_TO_CIRCLE_CENTERVehicle front points to the center (default).
                                                                                                                                                                1ORBIT_YAW_BEHAVIOUR_HOLD_INITIAL_HEADINGVehicle front holds heading when message received.
                                                                                                                                                                2ORBIT_YAW_BEHAVIOUR_UNCONTROLLEDYaw uncontrolled.
                                                                                                                                                                3ORBIT_YAW_BEHAVIOUR_HOLD_FRONT_TANGENT_TO_CIRCLEVehicle front follows flight path (tangential to circle).
                                                                                                                                                                4ORBIT_YAW_BEHAVIOUR_RC_CONTROLLEDYaw controlled by RC input.
                                                                                                                                                                5ORBIT_YAW_BEHAVIOUR_UNCHANGEDVehicle uses current yaw behaviour (unchanged). The vehicle-default yaw behaviour is used if this value is specified when orbit is first commanded.

                                                                                                                                                                WIFI_CONFIG_AP_RESPONSE

                                                                                                                                                                Possible responses from a WIFI_CONFIG_AP message.

                                                                                                                                                                ValueNameDescription
                                                                                                                                                                0WIFI_CONFIG_AP_RESPONSE_UNDEFINEDUndefined response. Likely an indicative of a system that doesn't support this request.
                                                                                                                                                                1WIFI_CONFIG_AP_RESPONSE_ACCEPTEDChanges accepted.
                                                                                                                                                                2WIFI_CONFIG_AP_RESPONSE_REJECTEDChanges rejected.
                                                                                                                                                                3WIFI_CONFIG_AP_RESPONSE_MODE_ERRORInvalid Mode.
                                                                                                                                                                4WIFI_CONFIG_AP_RESPONSE_SSID_ERRORInvalid SSID.
                                                                                                                                                                5WIFI_CONFIG_AP_RESPONSE_PASSWORD_ERRORInvalid Password.

                                                                                                                                                                CELLULAR_CONFIG_RESPONSE

                                                                                                                                                                Possible responses from a CELLULAR_CONFIG message.

                                                                                                                                                                ValueNameDescription
                                                                                                                                                                0CELLULAR_CONFIG_RESPONSE_ACCEPTEDChanges accepted.
                                                                                                                                                                1CELLULAR_CONFIG_RESPONSE_APN_ERRORInvalid APN.
                                                                                                                                                                2CELLULAR_CONFIG_RESPONSE_PIN_ERRORInvalid PIN.
                                                                                                                                                                3CELLULAR_CONFIG_RESPONSE_REJECTEDChanges rejected.
                                                                                                                                                                4CELLULAR_CONFIG_BLOCKED_PUK_REQUIREDPUK is required to unblock SIM card.

                                                                                                                                                                WIFI_CONFIG_AP_MODE

                                                                                                                                                                WiFi Mode.

                                                                                                                                                                ValueNameDescription
                                                                                                                                                                0WIFI_CONFIG_AP_MODE_UNDEFINEDWiFi mode is undefined.
                                                                                                                                                                1WIFI_CONFIG_AP_MODE_APWiFi configured as an access point.
                                                                                                                                                                2WIFI_CONFIG_AP_MODE_STATIONWiFi configured as a station connected to an existing local WiFi network.
                                                                                                                                                                3WIFI_CONFIG_AP_MODE_DISABLEDWiFi disabled.

                                                                                                                                                                COMP_METADATA_TYPE

                                                                                                                                                                Supported component metadata types. These are used in the "general" metadata file returned by COMPONENT_METADATA to provide information about supported metadata types. The types are not used directly in MAVLink messages.

                                                                                                                                                                ValueNameDescription
                                                                                                                                                                0COMP_METADATA_TYPE_GENERALGeneral information about the component. General metadata includes information about other metadata types supported by the component. Files of this type must be supported, and must be downloadable from vehicle using a MAVLink FTP URI.
                                                                                                                                                                1COMP_METADATA_TYPE_PARAMETERParameter meta data.
                                                                                                                                                                2COMP_METADATA_TYPE_COMMANDSMeta data that specifies which commands and command parameters the vehicle supports. (WIP)
                                                                                                                                                                3COMP_METADATA_TYPE_PERIPHERALSMeta data that specifies external non-MAVLink peripherals.
                                                                                                                                                                4COMP_METADATA_TYPE_EVENTSMeta data for the events interface.
                                                                                                                                                                5COMP_METADATA_TYPE_ACTUATORSMeta data for actuator configuration (motors, servos and vehicle geometry) and testing.

                                                                                                                                                                ACTUATOR_CONFIGURATION

                                                                                                                                                                Actuator configuration, used to change a setting on an actuator. Component information metadata can be used to know which outputs support which commands.

                                                                                                                                                                ValueNameDescription
                                                                                                                                                                0ACTUATOR_CONFIGURATION_NONEDo nothing.
                                                                                                                                                                1ACTUATOR_CONFIGURATION_BEEPCommand the actuator to beep now.
                                                                                                                                                                2ACTUATOR_CONFIGURATION_3D_MODE_ONPermanently set the actuator (ESC) to 3D mode (reversible thrust).
                                                                                                                                                                3ACTUATOR_CONFIGURATION_3D_MODE_OFFPermanently set the actuator (ESC) to non 3D mode (non-reversible thrust).
                                                                                                                                                                4ACTUATOR_CONFIGURATION_SPIN_DIRECTION1Permanently set the actuator (ESC) to spin direction 1 (which can be clockwise or counter-clockwise).
                                                                                                                                                                5ACTUATOR_CONFIGURATION_SPIN_DIRECTION2Permanently set the actuator (ESC) to spin direction 2 (opposite of direction 1).

                                                                                                                                                                ACTUATOR_OUTPUT_FUNCTION

                                                                                                                                                                Actuator output function. Values greater or equal to 1000 are autopilot-specific.

                                                                                                                                                                ValueNameDescription
                                                                                                                                                                0ACTUATOR_OUTPUT_FUNCTION_NONENo function (disabled).
                                                                                                                                                                1ACTUATOR_OUTPUT_FUNCTION_MOTOR1Motor 1
                                                                                                                                                                2ACTUATOR_OUTPUT_FUNCTION_MOTOR2Motor 2
                                                                                                                                                                3ACTUATOR_OUTPUT_FUNCTION_MOTOR3Motor 3
                                                                                                                                                                4ACTUATOR_OUTPUT_FUNCTION_MOTOR4Motor 4
                                                                                                                                                                5ACTUATOR_OUTPUT_FUNCTION_MOTOR5Motor 5
                                                                                                                                                                6ACTUATOR_OUTPUT_FUNCTION_MOTOR6Motor 6
                                                                                                                                                                7ACTUATOR_OUTPUT_FUNCTION_MOTOR7Motor 7
                                                                                                                                                                8ACTUATOR_OUTPUT_FUNCTION_MOTOR8Motor 8
                                                                                                                                                                9ACTUATOR_OUTPUT_FUNCTION_MOTOR9Motor 9
                                                                                                                                                                10ACTUATOR_OUTPUT_FUNCTION_MOTOR10Motor 10
                                                                                                                                                                11ACTUATOR_OUTPUT_FUNCTION_MOTOR11Motor 11
                                                                                                                                                                12ACTUATOR_OUTPUT_FUNCTION_MOTOR12Motor 12
                                                                                                                                                                13ACTUATOR_OUTPUT_FUNCTION_MOTOR13Motor 13
                                                                                                                                                                14ACTUATOR_OUTPUT_FUNCTION_MOTOR14Motor 14
                                                                                                                                                                15ACTUATOR_OUTPUT_FUNCTION_MOTOR15Motor 15
                                                                                                                                                                16ACTUATOR_OUTPUT_FUNCTION_MOTOR16Motor 16
                                                                                                                                                                33ACTUATOR_OUTPUT_FUNCTION_SERVO1Servo 1
                                                                                                                                                                34ACTUATOR_OUTPUT_FUNCTION_SERVO2Servo 2
                                                                                                                                                                35ACTUATOR_OUTPUT_FUNCTION_SERVO3Servo 3
                                                                                                                                                                36ACTUATOR_OUTPUT_FUNCTION_SERVO4Servo 4
                                                                                                                                                                37ACTUATOR_OUTPUT_FUNCTION_SERVO5Servo 5
                                                                                                                                                                38ACTUATOR_OUTPUT_FUNCTION_SERVO6Servo 6
                                                                                                                                                                39ACTUATOR_OUTPUT_FUNCTION_SERVO7Servo 7
                                                                                                                                                                40ACTUATOR_OUTPUT_FUNCTION_SERVO8Servo 8
                                                                                                                                                                41ACTUATOR_OUTPUT_FUNCTION_SERVO9Servo 9
                                                                                                                                                                42ACTUATOR_OUTPUT_FUNCTION_SERVO10Servo 10
                                                                                                                                                                43ACTUATOR_OUTPUT_FUNCTION_SERVO11Servo 11
                                                                                                                                                                44ACTUATOR_OUTPUT_FUNCTION_SERVO12Servo 12
                                                                                                                                                                45ACTUATOR_OUTPUT_FUNCTION_SERVO13Servo 13
                                                                                                                                                                46ACTUATOR_OUTPUT_FUNCTION_SERVO14Servo 14
                                                                                                                                                                47ACTUATOR_OUTPUT_FUNCTION_SERVO15Servo 15
                                                                                                                                                                48ACTUATOR_OUTPUT_FUNCTION_SERVO16Servo 16

                                                                                                                                                                AUTOTUNE_AXIS

                                                                                                                                                                (Bitmask) Enable axes that will be tuned via autotuning. Used in MAV_CMD_DO_AUTOTUNE_ENABLE.

                                                                                                                                                                ValueNameDescription
                                                                                                                                                                0AUTOTUNE_AXIS_DEFAULTFlight stack tunes axis according to its default settings.
                                                                                                                                                                1AUTOTUNE_AXIS_ROLLAutotune roll axis.
                                                                                                                                                                2AUTOTUNE_AXIS_PITCHAutotune pitch axis.
                                                                                                                                                                4AUTOTUNE_AXIS_YAWAutotune yaw axis.

                                                                                                                                                                PREFLIGHT_STORAGE_PARAMETER_ACTION

                                                                                                                                                                Actions for reading/writing parameters between persistent and volatile storage when using MAV_CMD_PREFLIGHT_STORAGE. (Commonly parameters are loaded from persistent storage (flash/EEPROM) into volatile storage (RAM) on startup and written back when they are changed.)

                                                                                                                                                                ValueNameDescription
                                                                                                                                                                0PARAM_READ_PERSISTENTRead all parameters from persistent storage. Replaces values in volatile storage.
                                                                                                                                                                1PARAM_WRITE_PERSISTENTWrite all parameter values to persistent storage (flash/EEPROM)
                                                                                                                                                                2PARAM_RESET_CONFIG_DEFAULTReset all user configurable parameters to their default value (including airframe selection, sensor calibration data, safety settings, and so on). Does not reset values that contain operation counters and vehicle computed statistics.
                                                                                                                                                                3PARAM_RESET_SENSOR_DEFAULTReset only sensor calibration parameters to factory defaults (or firmware default if not available)
                                                                                                                                                                4PARAM_RESET_ALL_DEFAULTReset all parameters, including operation counters, to default values

                                                                                                                                                                PREFLIGHT_STORAGE_MISSION_ACTION

                                                                                                                                                                Actions for reading and writing plan information (mission, rally points, geofence) between persistent and volatile storage when using MAV_CMD_PREFLIGHT_STORAGE. (Commonly missions are loaded from persistent storage (flash/EEPROM) into volatile storage (RAM) on startup and written back when they are changed.)

                                                                                                                                                                ValueNameDescription
                                                                                                                                                                0MISSION_READ_PERSISTENTRead current mission data from persistent storage
                                                                                                                                                                1MISSION_WRITE_PERSISTENTWrite current mission data to persistent storage
                                                                                                                                                                2MISSION_RESET_DEFAULTErase all mission data stored on the vehicle (both persistent and volatile storage)

                                                                                                                                                                MAV_DATA_STREAM — [DEP]

                                                                                                                                                                DEPRECATED: Replaced By MESSAGE_INTERVAL (2015-06)

                                                                                                                                                                A data stream is not a fixed set of messages, but rather a

                                                                                                                                                                recommendation to the autopilot software. Individual autopilots may or may not obey the recommended messages.

                                                                                                                                                                ValueNameDescription
                                                                                                                                                                0MAV_DATA_STREAM_ALLEnable all data streams
                                                                                                                                                                1MAV_DATA_STREAM_RAW_SENSORSEnable IMU_RAW, GPS_RAW, GPS_STATUS packets.
                                                                                                                                                                2MAV_DATA_STREAM_EXTENDED_STATUSEnable GPS_STATUS, CONTROL_STATUS, AUX_STATUS
                                                                                                                                                                3MAV_DATA_STREAM_RC_CHANNELSEnable RC_CHANNELS_SCALED, RC_CHANNELS_RAW, SERVO_OUTPUT_RAW
                                                                                                                                                                4MAV_DATA_STREAM_RAW_CONTROLLEREnable ATTITUDE_CONTROLLER_OUTPUT, POSITION_CONTROLLER_OUTPUT, NAV_CONTROLLER_OUTPUT.
                                                                                                                                                                6MAV_DATA_STREAM_POSITIONEnable LOCAL_POSITION, GLOBAL_POSITION_INT messages.
                                                                                                                                                                10MAV_DATA_STREAM_EXTRA1Dependent on the autopilot
                                                                                                                                                                11MAV_DATA_STREAM_EXTRA2Dependent on the autopilot
                                                                                                                                                                12MAV_DATA_STREAM_EXTRA3Dependent on the autopilot

                                                                                                                                                                MAV_ROI — [DEP]

                                                                                                                                                                DEPRECATED: Replaced By MAV_CMD_DO_SET_ROI_* (2018-01)

                                                                                                                                                                The ROI (region of interest) for the vehicle. This can be

                                                                                                                                                                be used by the vehicle for camera/vehicle attitude alignment (see MAV_CMD_NAV_ROI).

                                                                                                                                                                ValueNameDescription
                                                                                                                                                                0MAV_ROI_NONENo region of interest.
                                                                                                                                                                1MAV_ROI_WPNEXTPoint toward next waypoint, with optional pitch/roll/yaw offset.
                                                                                                                                                                2MAV_ROI_WPINDEXPoint toward given waypoint.
                                                                                                                                                                3MAV_ROI_LOCATIONPoint toward fixed location.
                                                                                                                                                                4MAV_ROI_TARGETPoint toward of given id.

                                                                                                                                                                MAV_PARAM_TYPE

                                                                                                                                                                Specifies the datatype of a MAVLink parameter.

                                                                                                                                                                ValueNameDescription
                                                                                                                                                                1MAV_PARAM_TYPE_UINT88-bit unsigned integer
                                                                                                                                                                2MAV_PARAM_TYPE_INT88-bit signed integer
                                                                                                                                                                3MAV_PARAM_TYPE_UINT1616-bit unsigned integer
                                                                                                                                                                4MAV_PARAM_TYPE_INT1616-bit signed integer
                                                                                                                                                                5MAV_PARAM_TYPE_UINT3232-bit unsigned integer
                                                                                                                                                                6MAV_PARAM_TYPE_INT3232-bit signed integer
                                                                                                                                                                7MAV_PARAM_TYPE_UINT6464-bit unsigned integer
                                                                                                                                                                8MAV_PARAM_TYPE_INT6464-bit signed integer
                                                                                                                                                                9MAV_PARAM_TYPE_REAL3232-bit floating-point
                                                                                                                                                                10MAV_PARAM_TYPE_REAL6464-bit floating-point

                                                                                                                                                                MAV_PARAM_EXT_TYPE

                                                                                                                                                                Specifies the datatype of a MAVLink extended parameter.

                                                                                                                                                                ValueNameDescription
                                                                                                                                                                1MAV_PARAM_EXT_TYPE_UINT88-bit unsigned integer
                                                                                                                                                                2MAV_PARAM_EXT_TYPE_INT88-bit signed integer
                                                                                                                                                                3MAV_PARAM_EXT_TYPE_UINT1616-bit unsigned integer
                                                                                                                                                                4MAV_PARAM_EXT_TYPE_INT1616-bit signed integer
                                                                                                                                                                5MAV_PARAM_EXT_TYPE_UINT3232-bit unsigned integer
                                                                                                                                                                6MAV_PARAM_EXT_TYPE_INT3232-bit signed integer
                                                                                                                                                                7MAV_PARAM_EXT_TYPE_UINT6464-bit unsigned integer
                                                                                                                                                                8MAV_PARAM_EXT_TYPE_INT6464-bit signed integer
                                                                                                                                                                9MAV_PARAM_EXT_TYPE_REAL3232-bit floating-point
                                                                                                                                                                10MAV_PARAM_EXT_TYPE_REAL6464-bit floating-point
                                                                                                                                                                11MAV_PARAM_EXT_TYPE_CUSTOMCustom Type

                                                                                                                                                                MAV_RESULT

                                                                                                                                                                Result from a MAVLink command (MAV_CMD)

                                                                                                                                                                ValueNameDescription
                                                                                                                                                                0MAV_RESULT_ACCEPTEDCommand is valid (is supported and has valid parameters), and was executed.
                                                                                                                                                                1MAV_RESULT_TEMPORARILY_REJECTEDCommand is valid, but cannot be executed at this time. This is used to indicate a problem that should be fixed just by waiting (e.g. a state machine is busy, can't arm because have not got GPS lock, etc.). Retrying later should work.
                                                                                                                                                                2MAV_RESULT_DENIEDCommand is invalid (is supported but has invalid parameters). Retrying same command and parameters will not work.
                                                                                                                                                                3MAV_RESULT_UNSUPPORTEDCommand is not supported (unknown).
                                                                                                                                                                4MAV_RESULT_FAILEDCommand is valid, but execution has failed. This is used to indicate any non-temporary or unexpected problem, i.e. any problem that must be fixed before the command can succeed/be retried. For example, attempting to write a file when out of memory, attempting to arm when sensors are not calibrated, etc.
                                                                                                                                                                5MAV_RESULT_IN_PROGRESSCommand is valid and is being executed. This will be followed by further progress updates, i.e. the component may send further COMMAND_ACK messages with result MAV_RESULT_IN_PROGRESS (at a rate decided by the implementation), and must terminate by sending a COMMAND_ACK message with final result of the operation. The COMMAND_ACK.progress field can be used to indicate the progress of the operation.
                                                                                                                                                                6MAV_RESULT_CANCELLEDCommand has been cancelled (as a result of receiving a COMMAND_CANCEL message).
                                                                                                                                                                7MAV_RESULT_COMMAND_LONG_ONLYCommand is only accepted when sent as a COMMAND_LONG.
                                                                                                                                                                8MAV_RESULT_COMMAND_INT_ONLYCommand is only accepted when sent as a COMMAND_INT.
                                                                                                                                                                9MAV_RESULT_COMMAND_UNSUPPORTED_MAV_FRAMECommand is invalid because a frame is required and the specified frame is not supported.
                                                                                                                                                                10MAV_RESULT_PERMISSION_DENIEDSender is not authorized to control this MAV component. Control may be requested using MAV_CMD_REQUEST_OPERATOR_CONTROL.

                                                                                                                                                                MAV_MISSION_RESULT

                                                                                                                                                                Result of mission operation (in a MISSION_ACK message).

                                                                                                                                                                ValueNameDescription
                                                                                                                                                                0MAV_MISSION_ACCEPTEDmission accepted OK
                                                                                                                                                                1MAV_MISSION_ERRORGeneric error / not accepting mission commands at all right now.
                                                                                                                                                                2MAV_MISSION_UNSUPPORTED_FRAMECoordinate frame is not supported.
                                                                                                                                                                3MAV_MISSION_UNSUPPORTEDCommand is not supported.
                                                                                                                                                                4MAV_MISSION_NO_SPACEMission items exceed storage space.
                                                                                                                                                                5MAV_MISSION_INVALIDOne of the parameters has an invalid value.
                                                                                                                                                                6MAV_MISSION_INVALID_PARAM1param1 has an invalid value.
                                                                                                                                                                7MAV_MISSION_INVALID_PARAM2param2 has an invalid value.
                                                                                                                                                                8MAV_MISSION_INVALID_PARAM3param3 has an invalid value.
                                                                                                                                                                9MAV_MISSION_INVALID_PARAM4param4 has an invalid value.
                                                                                                                                                                10MAV_MISSION_INVALID_PARAM5_Xx / param5 has an invalid value.
                                                                                                                                                                11MAV_MISSION_INVALID_PARAM6_Yy / param6 has an invalid value.
                                                                                                                                                                12MAV_MISSION_INVALID_PARAM7z / param7 has an invalid value.
                                                                                                                                                                13MAV_MISSION_INVALID_SEQUENCEMission item received out of sequence
                                                                                                                                                                14MAV_MISSION_DENIEDNot accepting any mission commands from this communication partner.
                                                                                                                                                                15MAV_MISSION_OPERATION_CANCELLEDCurrent mission operation cancelled (e.g. mission upload, mission download).

                                                                                                                                                                MAV_SEVERITY

                                                                                                                                                                Indicates the severity level, generally used for status messages to indicate their relative urgency. Based on RFC-5424 using expanded definitions at: http://www.kiwisyslog.com/kb/info:-syslog-message-levels/.

                                                                                                                                                                ValueNameDescription
                                                                                                                                                                0MAV_SEVERITY_EMERGENCYSystem is unusable. This is a "panic" condition.
                                                                                                                                                                1MAV_SEVERITY_ALERTAction should be taken immediately. Indicates error in non-critical systems.
                                                                                                                                                                2MAV_SEVERITY_CRITICALAction must be taken immediately. Indicates failure in a primary system.
                                                                                                                                                                3MAV_SEVERITY_ERRORIndicates an error in secondary/redundant systems.
                                                                                                                                                                4MAV_SEVERITY_WARNINGIndicates about a possible future error if this is not resolved within a given timeframe. Example would be a low battery warning.
                                                                                                                                                                5MAV_SEVERITY_NOTICEAn unusual event has occurred, though not an error condition. This should be investigated for the root cause.
                                                                                                                                                                6MAV_SEVERITY_INFONormal operational messages. Useful for logging. No action is required for these messages.
                                                                                                                                                                7MAV_SEVERITY_DEBUGUseful non-operational messages that can assist in debugging. These should not occur during normal operation.

                                                                                                                                                                MAV_POWER_STATUS

                                                                                                                                                                (Bitmask) Power supply status flags (bitmask)

                                                                                                                                                                ValueNameDescription
                                                                                                                                                                1MAV_POWER_STATUS_BRICK_VALIDmain brick power supply valid
                                                                                                                                                                2MAV_POWER_STATUS_SERVO_VALIDmain servo power supply valid for FMU
                                                                                                                                                                4MAV_POWER_STATUS_USB_CONNECTEDUSB power is connected
                                                                                                                                                                8MAV_POWER_STATUS_PERIPH_OVERCURRENTperipheral supply is in over-current state
                                                                                                                                                                16MAV_POWER_STATUS_PERIPH_HIPOWER_OVERCURRENThi-power peripheral supply is in over-current state
                                                                                                                                                                32MAV_POWER_STATUS_CHANGEDPower status has changed since boot

                                                                                                                                                                SERIAL_CONTROL_DEV

                                                                                                                                                                SERIAL_CONTROL device types

                                                                                                                                                                ValueNameDescription
                                                                                                                                                                0SERIAL_CONTROL_DEV_TELEM1First telemetry port
                                                                                                                                                                1SERIAL_CONTROL_DEV_TELEM2Second telemetry port
                                                                                                                                                                2SERIAL_CONTROL_DEV_GPS1First GPS port
                                                                                                                                                                3SERIAL_CONTROL_DEV_GPS2Second GPS port
                                                                                                                                                                10SERIAL_CONTROL_DEV_SHELLsystem shell
                                                                                                                                                                100SERIAL_CONTROL_SERIAL0SERIAL0
                                                                                                                                                                101SERIAL_CONTROL_SERIAL1SERIAL1
                                                                                                                                                                102SERIAL_CONTROL_SERIAL2SERIAL2
                                                                                                                                                                103SERIAL_CONTROL_SERIAL3SERIAL3
                                                                                                                                                                104SERIAL_CONTROL_SERIAL4SERIAL4
                                                                                                                                                                105SERIAL_CONTROL_SERIAL5SERIAL5
                                                                                                                                                                106SERIAL_CONTROL_SERIAL6SERIAL6
                                                                                                                                                                107SERIAL_CONTROL_SERIAL7SERIAL7
                                                                                                                                                                108SERIAL_CONTROL_SERIAL8SERIAL8
                                                                                                                                                                109SERIAL_CONTROL_SERIAL9SERIAL9

                                                                                                                                                                SERIAL_CONTROL_FLAG

                                                                                                                                                                (Bitmask) SERIAL_CONTROL flags (bitmask)

                                                                                                                                                                ValueNameDescription
                                                                                                                                                                1SERIAL_CONTROL_FLAG_REPLYSet if this is a reply
                                                                                                                                                                2SERIAL_CONTROL_FLAG_RESPONDSet if the sender wants the receiver to send a response as another SERIAL_CONTROL message
                                                                                                                                                                4SERIAL_CONTROL_FLAG_EXCLUSIVESet if access to the serial port should be removed from whatever driver is currently using it, giving exclusive access to the SERIAL_CONTROL protocol. The port can be handed back by sending a request without this flag set
                                                                                                                                                                8SERIAL_CONTROL_FLAG_BLOCKINGBlock on writes to the serial port
                                                                                                                                                                16SERIAL_CONTROL_FLAG_MULTISend multiple replies until port is drained

                                                                                                                                                                MAV_DISTANCE_SENSOR

                                                                                                                                                                Enumeration of distance sensor types

                                                                                                                                                                ValueNameDescription
                                                                                                                                                                0MAV_DISTANCE_SENSOR_LASERLaser rangefinder, e.g. LightWare SF02/F or PulsedLight units
                                                                                                                                                                1MAV_DISTANCE_SENSOR_ULTRASOUNDUltrasound rangefinder, e.g. MaxBotix units
                                                                                                                                                                2MAV_DISTANCE_SENSOR_INFRAREDInfrared rangefinder, e.g. Sharp units
                                                                                                                                                                3MAV_DISTANCE_SENSOR_RADARRadar type, e.g. uLanding units
                                                                                                                                                                4MAV_DISTANCE_SENSOR_UNKNOWNBroken or unknown type, e.g. analog units

                                                                                                                                                                MAV_SENSOR_ORIENTATION

                                                                                                                                                                Enumeration of sensor orientation, according to its rotations

                                                                                                                                                                ValueNameDescription
                                                                                                                                                                0MAV_SENSOR_ROTATION_NONERoll: 0, Pitch: 0, Yaw: 0
                                                                                                                                                                1MAV_SENSOR_ROTATION_YAW_45Roll: 0, Pitch: 0, Yaw: 45
                                                                                                                                                                2MAV_SENSOR_ROTATION_YAW_90Roll: 0, Pitch: 0, Yaw: 90
                                                                                                                                                                3MAV_SENSOR_ROTATION_YAW_135Roll: 0, Pitch: 0, Yaw: 135
                                                                                                                                                                4MAV_SENSOR_ROTATION_YAW_180Roll: 0, Pitch: 0, Yaw: 180
                                                                                                                                                                5MAV_SENSOR_ROTATION_YAW_225Roll: 0, Pitch: 0, Yaw: 225
                                                                                                                                                                6MAV_SENSOR_ROTATION_YAW_270Roll: 0, Pitch: 0, Yaw: 270
                                                                                                                                                                7MAV_SENSOR_ROTATION_YAW_315Roll: 0, Pitch: 0, Yaw: 315
                                                                                                                                                                8MAV_SENSOR_ROTATION_ROLL_180Roll: 180, Pitch: 0, Yaw: 0
                                                                                                                                                                9MAV_SENSOR_ROTATION_ROLL_180_YAW_45Roll: 180, Pitch: 0, Yaw: 45
                                                                                                                                                                10MAV_SENSOR_ROTATION_ROLL_180_YAW_90Roll: 180, Pitch: 0, Yaw: 90
                                                                                                                                                                11MAV_SENSOR_ROTATION_ROLL_180_YAW_135Roll: 180, Pitch: 0, Yaw: 135
                                                                                                                                                                12MAV_SENSOR_ROTATION_PITCH_180Roll: 0, Pitch: 180, Yaw: 0
                                                                                                                                                                13MAV_SENSOR_ROTATION_ROLL_180_YAW_225Roll: 180, Pitch: 0, Yaw: 225
                                                                                                                                                                14MAV_SENSOR_ROTATION_ROLL_180_YAW_270Roll: 180, Pitch: 0, Yaw: 270
                                                                                                                                                                15MAV_SENSOR_ROTATION_ROLL_180_YAW_315Roll: 180, Pitch: 0, Yaw: 315
                                                                                                                                                                16MAV_SENSOR_ROTATION_ROLL_90Roll: 90, Pitch: 0, Yaw: 0
                                                                                                                                                                17MAV_SENSOR_ROTATION_ROLL_90_YAW_45Roll: 90, Pitch: 0, Yaw: 45
                                                                                                                                                                18MAV_SENSOR_ROTATION_ROLL_90_YAW_90Roll: 90, Pitch: 0, Yaw: 90
                                                                                                                                                                19MAV_SENSOR_ROTATION_ROLL_90_YAW_135Roll: 90, Pitch: 0, Yaw: 135
                                                                                                                                                                20MAV_SENSOR_ROTATION_ROLL_270Roll: 270, Pitch: 0, Yaw: 0
                                                                                                                                                                21MAV_SENSOR_ROTATION_ROLL_270_YAW_45Roll: 270, Pitch: 0, Yaw: 45
                                                                                                                                                                22MAV_SENSOR_ROTATION_ROLL_270_YAW_90Roll: 270, Pitch: 0, Yaw: 90
                                                                                                                                                                23MAV_SENSOR_ROTATION_ROLL_270_YAW_135Roll: 270, Pitch: 0, Yaw: 135
                                                                                                                                                                24MAV_SENSOR_ROTATION_PITCH_90Roll: 0, Pitch: 90, Yaw: 0
                                                                                                                                                                25MAV_SENSOR_ROTATION_PITCH_270Roll: 0, Pitch: 270, Yaw: 0
                                                                                                                                                                26MAV_SENSOR_ROTATION_PITCH_180_YAW_90Roll: 0, Pitch: 180, Yaw: 90
                                                                                                                                                                27MAV_SENSOR_ROTATION_PITCH_180_YAW_270Roll: 0, Pitch: 180, Yaw: 270
                                                                                                                                                                28MAV_SENSOR_ROTATION_ROLL_90_PITCH_90Roll: 90, Pitch: 90, Yaw: 0
                                                                                                                                                                29MAV_SENSOR_ROTATION_ROLL_180_PITCH_90Roll: 180, Pitch: 90, Yaw: 0
                                                                                                                                                                30MAV_SENSOR_ROTATION_ROLL_270_PITCH_90Roll: 270, Pitch: 90, Yaw: 0
                                                                                                                                                                31MAV_SENSOR_ROTATION_ROLL_90_PITCH_180Roll: 90, Pitch: 180, Yaw: 0
                                                                                                                                                                32MAV_SENSOR_ROTATION_ROLL_270_PITCH_180Roll: 270, Pitch: 180, Yaw: 0
                                                                                                                                                                33MAV_SENSOR_ROTATION_ROLL_90_PITCH_270Roll: 90, Pitch: 270, Yaw: 0
                                                                                                                                                                34MAV_SENSOR_ROTATION_ROLL_180_PITCH_270Roll: 180, Pitch: 270, Yaw: 0
                                                                                                                                                                35MAV_SENSOR_ROTATION_ROLL_270_PITCH_270Roll: 270, Pitch: 270, Yaw: 0
                                                                                                                                                                36MAV_SENSOR_ROTATION_ROLL_90_PITCH_180_YAW_90Roll: 90, Pitch: 180, Yaw: 90
                                                                                                                                                                37MAV_SENSOR_ROTATION_ROLL_90_YAW_270Roll: 90, Pitch: 0, Yaw: 270
                                                                                                                                                                38MAV_SENSOR_ROTATION_ROLL_90_PITCH_68_YAW_293Roll: 90, Pitch: 68, Yaw: 293
                                                                                                                                                                39MAV_SENSOR_ROTATION_PITCH_315Pitch: 315
                                                                                                                                                                40MAV_SENSOR_ROTATION_ROLL_90_PITCH_315Roll: 90, Pitch: 315
                                                                                                                                                                100MAV_SENSOR_ROTATION_CUSTOMCustom orientation

                                                                                                                                                                MAV_PROTOCOL_CAPABILITY

                                                                                                                                                                (Bitmask) Bitmask of (optional) autopilot capabilities (64 bit). If a bit is set, the autopilot supports this capability.

                                                                                                                                                                ValueNameDescription
                                                                                                                                                                1MAV_PROTOCOL_CAPABILITY_MISSION_FLOATAutopilot supports the MISSION_ITEM float message type.
                                                                                                                                                                Note that MISSION_ITEM is deprecated, and autopilots should use MISSION_INT instead.
                                                                                                                                                                2MAV_PROTOCOL_CAPABILITY_PARAM_FLOATAutopilot supports the new param float message type.DEPRECATED: Replaced By MAV_PROTOCOL_CAPABILITY_PARAM_ENCODE_C_CAST (2022-03)
                                                                                                                                                                4MAV_PROTOCOL_CAPABILITY_MISSION_INTAutopilot supports MISSION_ITEM_INT scaled integer message type.
                                                                                                                                                                Note that this flag must always be set if missions are supported, because missions must always use MISSION_ITEM_INT (rather than MISSION_ITEM, which is deprecated).
                                                                                                                                                                8MAV_PROTOCOL_CAPABILITY_COMMAND_INTAutopilot supports COMMAND_INT scaled integer message type.
                                                                                                                                                                16MAV_PROTOCOL_CAPABILITY_PARAM_ENCODE_BYTEWISEParameter protocol uses byte-wise encoding of parameter values into param_value (float) fields: https://mavlink.io/en/services/parameter.html#parameter-encoding.
                                                                                                                                                                Note that either this flag or MAV_PROTOCOL_CAPABILITY_PARAM_ENCODE_C_CAST should be set if the parameter protocol is supported.
                                                                                                                                                                32MAV_PROTOCOL_CAPABILITY_FTPAutopilot supports the File Transfer Protocol v1: https://mavlink.io/en/services/ftp.html.
                                                                                                                                                                64MAV_PROTOCOL_CAPABILITY_SET_ATTITUDE_TARGETAutopilot supports commanding attitude offboard.
                                                                                                                                                                128MAV_PROTOCOL_CAPABILITY_SET_POSITION_TARGET_LOCAL_NEDAutopilot supports commanding position and velocity targets in local NED frame.
                                                                                                                                                                256MAV_PROTOCOL_CAPABILITY_SET_POSITION_TARGET_GLOBAL_INTAutopilot supports commanding position and velocity targets in global scaled integers.
                                                                                                                                                                512MAV_PROTOCOL_CAPABILITY_TERRAINAutopilot supports terrain protocol / data handling.
                                                                                                                                                                1024MAV_PROTOCOL_CAPABILITY_RESERVED3Reserved for future use.
                                                                                                                                                                2048MAV_PROTOCOL_CAPABILITY_FLIGHT_TERMINATIONAutopilot supports the MAV_CMD_DO_FLIGHTTERMINATION command (flight termination).
                                                                                                                                                                4096MAV_PROTOCOL_CAPABILITY_COMPASS_CALIBRATIONAutopilot supports onboard compass calibration.
                                                                                                                                                                8192MAV_PROTOCOL_CAPABILITY_MAVLINK2Autopilot supports MAVLink version 2.
                                                                                                                                                                16384MAV_PROTOCOL_CAPABILITY_MISSION_FENCEAutopilot supports mission fence protocol.
                                                                                                                                                                32768MAV_PROTOCOL_CAPABILITY_MISSION_RALLYAutopilot supports mission rally point protocol.
                                                                                                                                                                65536MAV_PROTOCOL_CAPABILITY_RESERVED2Reserved for future use.
                                                                                                                                                                131072MAV_PROTOCOL_CAPABILITY_PARAM_ENCODE_C_CASTParameter protocol uses C-cast of parameter values to set the param_value (float) fields: https://mavlink.io/en/services/parameter.html#parameter-encoding.
                                                                                                                                                                Note that either this flag or MAV_PROTOCOL_CAPABILITY_PARAM_ENCODE_BYTEWISE should be set if the parameter protocol is supported.
                                                                                                                                                                262144MAV_PROTOCOL_CAPABILITY_COMPONENT_IMPLEMENTS_GIMBAL_MANAGERThis component implements/is a gimbal manager. This means the GIMBAL_MANAGER_INFORMATION, and other messages can be requested.
                                                                                                                                                                524288MAV_PROTOCOL_CAPABILITY_COMPONENT_ACCEPTS_GCS_CONTROLComponent supports locking control to a particular GCS independent of its system (via MAV_CMD_REQUEST_OPERATOR_CONTROL).

                                                                                                                                                                MAV_MISSION_TYPE

                                                                                                                                                                Type of mission items being requested/sent in mission protocol.

                                                                                                                                                                ValueNameDescription
                                                                                                                                                                0MAV_MISSION_TYPE_MISSIONItems are mission commands for main mission.
                                                                                                                                                                1MAV_MISSION_TYPE_FENCESpecifies GeoFence area(s). Items are MAVCMD_NAV_FENCE GeoFence items.
                                                                                                                                                                2MAV_MISSION_TYPE_RALLYSpecifies the rally points for the vehicle. Rally points are alternative RTL points. Items are MAV_CMD_NAV_RALLY_POINT rally point items.
                                                                                                                                                                255MAV_MISSION_TYPE_ALLOnly used in MISSION_CLEAR_ALL to clear all mission types.

                                                                                                                                                                MAV_ESTIMATOR_TYPE

                                                                                                                                                                Enumeration of estimator types

                                                                                                                                                                ValueNameDescription
                                                                                                                                                                0MAV_ESTIMATOR_TYPE_UNKNOWNUnknown type of the estimator.
                                                                                                                                                                1MAV_ESTIMATOR_TYPE_NAIVEThis is a naive estimator without any real covariance feedback.
                                                                                                                                                                2MAV_ESTIMATOR_TYPE_VISIONComputer vision based estimate. Might be up to scale.
                                                                                                                                                                3MAV_ESTIMATOR_TYPE_VIOVisual-inertial estimate.
                                                                                                                                                                4MAV_ESTIMATOR_TYPE_GPSPlain GPS estimate.
                                                                                                                                                                5MAV_ESTIMATOR_TYPE_GPS_INSEstimator integrating GPS and inertial sensing.
                                                                                                                                                                6MAV_ESTIMATOR_TYPE_MOCAPEstimate from external motion capturing system.
                                                                                                                                                                7MAV_ESTIMATOR_TYPE_LIDAREstimator based on lidar sensor input.
                                                                                                                                                                8MAV_ESTIMATOR_TYPE_AUTOPILOTEstimator on autopilot.

                                                                                                                                                                MAV_BATTERY_TYPE

                                                                                                                                                                Enumeration of battery types

                                                                                                                                                                ValueNameDescription
                                                                                                                                                                0MAV_BATTERY_TYPE_UNKNOWNNot specified.
                                                                                                                                                                1MAV_BATTERY_TYPE_LIPOLithium polymer battery
                                                                                                                                                                2MAV_BATTERY_TYPE_LIFELithium-iron-phosphate battery
                                                                                                                                                                3MAV_BATTERY_TYPE_LIONLithium-ION battery
                                                                                                                                                                4MAV_BATTERY_TYPE_NIMHNickel metal hydride battery

                                                                                                                                                                MAV_BATTERY_FUNCTION

                                                                                                                                                                Enumeration of battery functions

                                                                                                                                                                ValueNameDescription
                                                                                                                                                                0MAV_BATTERY_FUNCTION_UNKNOWNBattery function is unknown
                                                                                                                                                                1MAV_BATTERY_FUNCTION_ALLBattery supports all flight systems
                                                                                                                                                                2MAV_BATTERY_FUNCTION_PROPULSIONBattery for the propulsion system
                                                                                                                                                                3MAV_BATTERY_FUNCTION_AVIONICSAvionics battery
                                                                                                                                                                4MAV_BATTERY_FUNCTION_PAYLOADPayload battery

                                                                                                                                                                MAV_BATTERY_CHARGE_STATE

                                                                                                                                                                Enumeration for battery charge states.

                                                                                                                                                                ValueNameDescription
                                                                                                                                                                0MAV_BATTERY_CHARGE_STATE_UNDEFINEDLow battery state is not provided
                                                                                                                                                                1MAV_BATTERY_CHARGE_STATE_OKBattery is not in low state. Normal operation.
                                                                                                                                                                2MAV_BATTERY_CHARGE_STATE_LOWBattery state is low, warn and monitor close.
                                                                                                                                                                3MAV_BATTERY_CHARGE_STATE_CRITICALBattery state is critical, return or abort immediately.
                                                                                                                                                                4MAV_BATTERY_CHARGE_STATE_EMERGENCYBattery state is too low for ordinary abort sequence. Perform fastest possible emergency stop to prevent damage.
                                                                                                                                                                5MAV_BATTERY_CHARGE_STATE_FAILEDBattery failed, damage unavoidable. Possible causes (faults) are listed in MAV_BATTERY_FAULT.
                                                                                                                                                                6MAV_BATTERY_CHARGE_STATE_UNHEALTHYBattery is diagnosed to be defective or an error occurred, usage is discouraged / prohibited. Possible causes (faults) are listed in MAV_BATTERY_FAULT.
                                                                                                                                                                7MAV_BATTERY_CHARGE_STATE_CHARGINGBattery is charging.

                                                                                                                                                                MAV_BATTERY_MODE

                                                                                                                                                                Battery mode. Note, the normal operation mode (i.e. when flying) should be reported as MAV_BATTERY_MODE_UNKNOWN to allow message trimming in normal flight.

                                                                                                                                                                ValueNameDescription
                                                                                                                                                                0MAV_BATTERY_MODE_UNKNOWNBattery mode not supported/unknown battery mode/normal operation.
                                                                                                                                                                1MAV_BATTERY_MODE_AUTO_DISCHARGINGBattery is auto discharging (towards storage level).
                                                                                                                                                                2MAV_BATTERY_MODE_HOT_SWAPBattery in hot-swap mode (current limited to prevent spikes that might damage sensitive electrical circuits).

                                                                                                                                                                MAV_BATTERY_FAULT

                                                                                                                                                                (Bitmask) Smart battery supply status/fault flags (bitmask) for health indication. The battery must also report either MAV_BATTERY_CHARGE_STATE_FAILED or MAV_BATTERY_CHARGE_STATE_UNHEALTHY if any of these are set.

                                                                                                                                                                ValueNameDescription
                                                                                                                                                                1MAV_BATTERY_FAULT_DEEP_DISCHARGEBattery has deep discharged.
                                                                                                                                                                2MAV_BATTERY_FAULT_SPIKESVoltage spikes.
                                                                                                                                                                4MAV_BATTERY_FAULT_CELL_FAILOne or more cells have failed. Battery should also report MAV_BATTERY_CHARGE_STATE_FAILE (and should not be used).
                                                                                                                                                                8MAV_BATTERY_FAULT_OVER_CURRENTOver-current fault.
                                                                                                                                                                16MAV_BATTERY_FAULT_OVER_TEMPERATUREOver-temperature fault.
                                                                                                                                                                32MAV_BATTERY_FAULT_UNDER_TEMPERATUREUnder-temperature fault.
                                                                                                                                                                64MAV_BATTERY_FAULT_INCOMPATIBLE_VOLTAGEVehicle voltage is not compatible with this battery (batteries on same power rail should have similar voltage).
                                                                                                                                                                128MAV_BATTERY_FAULT_INCOMPATIBLE_FIRMWAREBattery firmware is not compatible with current autopilot firmware.
                                                                                                                                                                256BATTERY_FAULT_INCOMPATIBLE_CELLS_CONFIGURATIONBattery is not compatible due to cell configuration (e.g. 5s1p when vehicle requires 6s).

                                                                                                                                                                MAV_GENERATOR_STATUS_FLAG

                                                                                                                                                                (Bitmask) Flags to report status/failure cases for a power generator (used in GENERATOR_STATUS). Note that FAULTS are conditions that cause the generator to fail. Warnings are conditions that require attention before the next use (they indicate the system is not operating properly).

                                                                                                                                                                ValueNameDescription
                                                                                                                                                                1MAV_GENERATOR_STATUS_FLAG_OFFGenerator is off.
                                                                                                                                                                2MAV_GENERATOR_STATUS_FLAG_READYGenerator is ready to start generating power.
                                                                                                                                                                4MAV_GENERATOR_STATUS_FLAG_GENERATINGGenerator is generating power.
                                                                                                                                                                8MAV_GENERATOR_STATUS_FLAG_CHARGINGGenerator is charging the batteries (generating enough power to charge and provide the load).
                                                                                                                                                                16MAV_GENERATOR_STATUS_FLAG_REDUCED_POWERGenerator is operating at a reduced maximum power.
                                                                                                                                                                32MAV_GENERATOR_STATUS_FLAG_MAXPOWERGenerator is providing the maximum output.
                                                                                                                                                                64MAV_GENERATOR_STATUS_FLAG_OVERTEMP_WARNINGGenerator is near the maximum operating temperature, cooling is insufficient.
                                                                                                                                                                128MAV_GENERATOR_STATUS_FLAG_OVERTEMP_FAULTGenerator hit the maximum operating temperature and shutdown.
                                                                                                                                                                256MAV_GENERATOR_STATUS_FLAG_ELECTRONICS_OVERTEMP_WARNINGPower electronics are near the maximum operating temperature, cooling is insufficient.
                                                                                                                                                                512MAV_GENERATOR_STATUS_FLAG_ELECTRONICS_OVERTEMP_FAULTPower electronics hit the maximum operating temperature and shutdown.
                                                                                                                                                                1024MAV_GENERATOR_STATUS_FLAG_ELECTRONICS_FAULTPower electronics experienced a fault and shutdown.
                                                                                                                                                                2048MAV_GENERATOR_STATUS_FLAG_POWERSOURCE_FAULTThe power source supplying the generator failed e.g. mechanical generator stopped, tether is no longer providing power, solar cell is in shade, hydrogen reaction no longer happening.
                                                                                                                                                                4096MAV_GENERATOR_STATUS_FLAG_COMMUNICATION_WARNINGGenerator controller having communication problems.
                                                                                                                                                                8192MAV_GENERATOR_STATUS_FLAG_COOLING_WARNINGPower electronic or generator cooling system error.
                                                                                                                                                                16384MAV_GENERATOR_STATUS_FLAG_POWER_RAIL_FAULTGenerator controller power rail experienced a fault.
                                                                                                                                                                32768MAV_GENERATOR_STATUS_FLAG_OVERCURRENT_FAULTGenerator controller exceeded the overcurrent threshold and shutdown to prevent damage.
                                                                                                                                                                65536MAV_GENERATOR_STATUS_FLAG_BATTERY_OVERCHARGE_CURRENT_FAULTGenerator controller detected a high current going into the batteries and shutdown to prevent battery damage.
                                                                                                                                                                131072MAV_GENERATOR_STATUS_FLAG_OVERVOLTAGE_FAULTGenerator controller exceeded it's overvoltage threshold and shutdown to prevent it exceeding the voltage rating.
                                                                                                                                                                262144MAV_GENERATOR_STATUS_FLAG_BATTERY_UNDERVOLT_FAULTBatteries are under voltage (generator will not start).
                                                                                                                                                                524288MAV_GENERATOR_STATUS_FLAG_START_INHIBITEDGenerator start is inhibited by e.g. a safety switch.
                                                                                                                                                                1048576MAV_GENERATOR_STATUS_FLAG_MAINTENANCE_REQUIREDGenerator requires maintenance.
                                                                                                                                                                2097152MAV_GENERATOR_STATUS_FLAG_WARMING_UPGenerator is not ready to generate yet.
                                                                                                                                                                4194304MAV_GENERATOR_STATUS_FLAG_IDLEGenerator is idle.

                                                                                                                                                                MAV_VTOL_STATE

                                                                                                                                                                Enumeration of VTOL states

                                                                                                                                                                ValueNameDescription
                                                                                                                                                                0MAV_VTOL_STATE_UNDEFINEDMAV is not configured as VTOL
                                                                                                                                                                1MAV_VTOL_STATE_TRANSITION_TO_FWVTOL is in transition from multicopter to fixed-wing
                                                                                                                                                                2MAV_VTOL_STATE_TRANSITION_TO_MCVTOL is in transition from fixed-wing to multicopter
                                                                                                                                                                3MAV_VTOL_STATE_MCVTOL is in multicopter state
                                                                                                                                                                4MAV_VTOL_STATE_FWVTOL is in fixed-wing state

                                                                                                                                                                MAV_LANDED_STATE

                                                                                                                                                                Enumeration of landed detector states

                                                                                                                                                                ValueNameDescription
                                                                                                                                                                0MAV_LANDED_STATE_UNDEFINEDMAV landed state is unknown
                                                                                                                                                                1MAV_LANDED_STATE_ON_GROUNDMAV is landed (on ground)
                                                                                                                                                                2MAV_LANDED_STATE_IN_AIRMAV is in air
                                                                                                                                                                3MAV_LANDED_STATE_TAKEOFFMAV currently taking off
                                                                                                                                                                4MAV_LANDED_STATE_LANDINGMAV currently landing

                                                                                                                                                                ADSB_ALTITUDE_TYPE

                                                                                                                                                                Enumeration of the ADSB altimeter types

                                                                                                                                                                ValueNameDescription
                                                                                                                                                                0ADSB_ALTITUDE_TYPE_PRESSURE_QNHAltitude reported from a Baro source using QNH reference
                                                                                                                                                                1ADSB_ALTITUDE_TYPE_GEOMETRICAltitude reported from a GNSS source

                                                                                                                                                                ADSB_EMITTER_TYPE

                                                                                                                                                                ADSB classification for the type of vehicle emitting the transponder signal

                                                                                                                                                                ValueNameDescription
                                                                                                                                                                0ADSB_EMITTER_TYPE_NO_INFO
                                                                                                                                                                1ADSB_EMITTER_TYPE_LIGHT
                                                                                                                                                                2ADSB_EMITTER_TYPE_SMALL
                                                                                                                                                                3ADSB_EMITTER_TYPE_LARGE
                                                                                                                                                                4ADSB_EMITTER_TYPE_HIGH_VORTEX_LARGE
                                                                                                                                                                5ADSB_EMITTER_TYPE_HEAVY
                                                                                                                                                                6ADSB_EMITTER_TYPE_HIGHLY_MANUV
                                                                                                                                                                7ADSB_EMITTER_TYPE_ROTOCRAFT
                                                                                                                                                                8ADSB_EMITTER_TYPE_UNASSIGNED
                                                                                                                                                                9ADSB_EMITTER_TYPE_GLIDER
                                                                                                                                                                10ADSB_EMITTER_TYPE_LIGHTER_AIR
                                                                                                                                                                11ADSB_EMITTER_TYPE_PARACHUTE
                                                                                                                                                                12ADSB_EMITTER_TYPE_ULTRA_LIGHT
                                                                                                                                                                13ADSB_EMITTER_TYPE_UNASSIGNED2
                                                                                                                                                                14ADSB_EMITTER_TYPE_UAV
                                                                                                                                                                15ADSB_EMITTER_TYPE_SPACE
                                                                                                                                                                16ADSB_EMITTER_TYPE_UNASSGINED3
                                                                                                                                                                17ADSB_EMITTER_TYPE_EMERGENCY_SURFACE
                                                                                                                                                                18ADSB_EMITTER_TYPE_SERVICE_SURFACE
                                                                                                                                                                19ADSB_EMITTER_TYPE_POINT_OBSTACLE

                                                                                                                                                                ADSB_FLAGS

                                                                                                                                                                (Bitmask) These flags indicate status such as data validity of each data source. Set = data valid

                                                                                                                                                                ValueNameDescription
                                                                                                                                                                1ADSB_FLAGS_VALID_COORDS
                                                                                                                                                                2ADSB_FLAGS_VALID_ALTITUDE
                                                                                                                                                                4ADSB_FLAGS_VALID_HEADING
                                                                                                                                                                8ADSB_FLAGS_VALID_VELOCITY
                                                                                                                                                                16ADSB_FLAGS_VALID_CALLSIGN
                                                                                                                                                                32ADSB_FLAGS_VALID_SQUAWK
                                                                                                                                                                64ADSB_FLAGS_SIMULATED
                                                                                                                                                                128ADSB_FLAGS_VERTICAL_VELOCITY_VALID
                                                                                                                                                                256ADSB_FLAGS_BARO_VALID
                                                                                                                                                                32768ADSB_FLAGS_SOURCE_UAT

                                                                                                                                                                MAV_DO_REPOSITION_FLAGS

                                                                                                                                                                (Bitmask) Bitmap of options for the MAV_CMD_DO_REPOSITION

                                                                                                                                                                ValueNameDescription
                                                                                                                                                                1MAV_DO_REPOSITION_FLAGS_CHANGE_MODEThe aircraft should immediately transition into guided. This should not be set for follow me applications

                                                                                                                                                                SPEED_TYPE

                                                                                                                                                                Speed setpoint types used in MAV_CMD_DO_CHANGE_SPEED

                                                                                                                                                                ValueNameDescription
                                                                                                                                                                0SPEED_TYPE_AIRSPEEDAirspeed
                                                                                                                                                                1SPEED_TYPE_GROUNDSPEEDGroundspeed
                                                                                                                                                                2SPEED_TYPE_CLIMB_SPEEDClimb speed
                                                                                                                                                                3SPEED_TYPE_DESCENT_SPEEDDescent speed

                                                                                                                                                                ESTIMATOR_STATUS_FLAGS

                                                                                                                                                                (Bitmask) Flags in ESTIMATOR_STATUS message

                                                                                                                                                                ValueNameDescription
                                                                                                                                                                1ESTIMATOR_ATTITUDETrue if the attitude estimate is good
                                                                                                                                                                2ESTIMATOR_VELOCITY_HORIZTrue if the horizontal velocity estimate is good
                                                                                                                                                                4ESTIMATOR_VELOCITY_VERTTrue if the vertical velocity estimate is good
                                                                                                                                                                8ESTIMATOR_POS_HORIZ_RELTrue if the horizontal position (relative) estimate is good
                                                                                                                                                                16ESTIMATOR_POS_HORIZ_ABSTrue if the horizontal position (absolute) estimate is good
                                                                                                                                                                32ESTIMATOR_POS_VERT_ABSTrue if the vertical position (absolute) estimate is good
                                                                                                                                                                64ESTIMATOR_POS_VERT_AGLTrue if the vertical position (above ground) estimate is good
                                                                                                                                                                128ESTIMATOR_CONST_POS_MODETrue if the EKF is in a constant position mode and is not using external measurements (eg GPS or optical flow)
                                                                                                                                                                256ESTIMATOR_PRED_POS_HORIZ_RELTrue if the EKF has sufficient data to enter a mode that will provide a (relative) position estimate
                                                                                                                                                                512ESTIMATOR_PRED_POS_HORIZ_ABSTrue if the EKF has sufficient data to enter a mode that will provide a (absolute) position estimate
                                                                                                                                                                1024ESTIMATOR_GPS_GLITCHTrue if the EKF has detected a GPS glitch
                                                                                                                                                                2048ESTIMATOR_ACCEL_ERRORTrue if the EKF has detected bad accelerometer data

                                                                                                                                                                MOTOR_TEST_ORDER

                                                                                                                                                                Sequence that motors are tested when using MAV_CMD_DO_MOTOR_TEST.

                                                                                                                                                                ValueNameDescription
                                                                                                                                                                0MOTOR_TEST_ORDER_DEFAULTDefault autopilot motor test method.
                                                                                                                                                                1MOTOR_TEST_ORDER_SEQUENCEMotor numbers are specified as their index in a predefined vehicle-specific sequence.
                                                                                                                                                                2MOTOR_TEST_ORDER_BOARDMotor numbers are specified as the output as labeled on the board.

                                                                                                                                                                MOTOR_TEST_THROTTLE_TYPE

                                                                                                                                                                Defines how throttle value is represented in MAV_CMD_DO_MOTOR_TEST.

                                                                                                                                                                ValueNameDescription
                                                                                                                                                                0MOTOR_TEST_THROTTLE_PERCENTThrottle as a percentage (0 ~ 100)
                                                                                                                                                                1MOTOR_TEST_THROTTLE_PWMThrottle as an absolute PWM value (normally in range of 1000~2000).
                                                                                                                                                                2MOTOR_TEST_THROTTLE_PILOTThrottle pass-through from pilot's transmitter.
                                                                                                                                                                3MOTOR_TEST_COMPASS_CALPer-motor compass calibration test.

                                                                                                                                                                GPS_INPUT_IGNORE_FLAGS

                                                                                                                                                                (Bitmask)

                                                                                                                                                                ValueNameDescription
                                                                                                                                                                1GPS_INPUT_IGNORE_FLAG_ALTignore altitude field
                                                                                                                                                                2GPS_INPUT_IGNORE_FLAG_HDOPignore hdop field
                                                                                                                                                                4GPS_INPUT_IGNORE_FLAG_VDOPignore vdop field
                                                                                                                                                                8GPS_INPUT_IGNORE_FLAG_VEL_HORIZignore horizontal velocity field (vn and ve)
                                                                                                                                                                16GPS_INPUT_IGNORE_FLAG_VEL_VERTignore vertical velocity field (vd)
                                                                                                                                                                32GPS_INPUT_IGNORE_FLAG_SPEED_ACCURACYignore speed accuracy field
                                                                                                                                                                64GPS_INPUT_IGNORE_FLAG_HORIZONTAL_ACCURACYignore horizontal accuracy field
                                                                                                                                                                128GPS_INPUT_IGNORE_FLAG_VERTICAL_ACCURACYignore vertical accuracy field

                                                                                                                                                                MAV_COLLISION_ACTION

                                                                                                                                                                Possible actions an aircraft can take to avoid a collision.

                                                                                                                                                                ValueNameDescription
                                                                                                                                                                0MAV_COLLISION_ACTION_NONEIgnore any potential collisions
                                                                                                                                                                1MAV_COLLISION_ACTION_REPORTReport potential collision
                                                                                                                                                                2MAV_COLLISION_ACTION_ASCEND_OR_DESCENDAscend or Descend to avoid threat
                                                                                                                                                                3MAV_COLLISION_ACTION_MOVE_HORIZONTALLYMove horizontally to avoid threat
                                                                                                                                                                4MAV_COLLISION_ACTION_MOVE_PERPENDICULARAircraft to move perpendicular to the collision's velocity vector
                                                                                                                                                                5MAV_COLLISION_ACTION_RTLAircraft to fly directly back to its launch point
                                                                                                                                                                6MAV_COLLISION_ACTION_HOVERAircraft to stop in place

                                                                                                                                                                MAV_COLLISION_THREAT_LEVEL

                                                                                                                                                                Aircraft-rated danger from this threat.

                                                                                                                                                                ValueNameDescription
                                                                                                                                                                0MAV_COLLISION_THREAT_LEVEL_NONENot a threat
                                                                                                                                                                1MAV_COLLISION_THREAT_LEVEL_LOWCraft is mildly concerned about this threat
                                                                                                                                                                2MAV_COLLISION_THREAT_LEVEL_HIGHCraft is panicking, and may take actions to avoid threat

                                                                                                                                                                MAV_COLLISION_SRC

                                                                                                                                                                Source of information about this collision.

                                                                                                                                                                ValueNameDescription
                                                                                                                                                                0MAV_COLLISION_SRC_ADSBID field references ADSB_VEHICLE packets
                                                                                                                                                                1MAV_COLLISION_SRC_MAVLINK_GPS_GLOBAL_INTID field references MAVLink SRC ID

                                                                                                                                                                GPS_FIX_TYPE

                                                                                                                                                                Type of GPS fix

                                                                                                                                                                ValueNameDescription
                                                                                                                                                                0GPS_FIX_TYPE_NO_GPSNo GPS connected
                                                                                                                                                                1GPS_FIX_TYPE_NO_FIXNo position information, GPS is connected
                                                                                                                                                                2GPS_FIX_TYPE_2D_FIX2D position
                                                                                                                                                                3GPS_FIX_TYPE_3D_FIX3D position
                                                                                                                                                                4GPS_FIX_TYPE_DGPSDGPS/SBAS aided 3D position
                                                                                                                                                                5GPS_FIX_TYPE_RTK_FLOATRTK float, 3D position
                                                                                                                                                                6GPS_FIX_TYPE_RTK_FIXEDRTK Fixed, 3D position
                                                                                                                                                                7GPS_FIX_TYPE_STATICStatic fixed, typically used for base stations
                                                                                                                                                                8GPS_FIX_TYPE_PPPPPP, 3D position.

                                                                                                                                                                RTK_BASELINE_COORDINATE_SYSTEM

                                                                                                                                                                RTK GPS baseline coordinate system, used for RTK corrections

                                                                                                                                                                ValueNameDescription
                                                                                                                                                                0RTK_BASELINE_COORDINATE_SYSTEM_ECEFEarth-centered, Earth-fixed
                                                                                                                                                                1RTK_BASELINE_COORDINATE_SYSTEM_NEDRTK basestation centered, north, east, down

                                                                                                                                                                LANDING_TARGET_TYPE

                                                                                                                                                                Type of landing target

                                                                                                                                                                ValueNameDescription
                                                                                                                                                                0LANDING_TARGET_TYPE_LIGHT_BEACONLanding target signaled by light beacon (ex: IR-LOCK)
                                                                                                                                                                1LANDING_TARGET_TYPE_RADIO_BEACONLanding target signaled by radio beacon (ex: ILS, NDB)
                                                                                                                                                                2LANDING_TARGET_TYPE_VISION_FIDUCIALLanding target represented by a fiducial marker (ex: ARTag)
                                                                                                                                                                3LANDING_TARGET_TYPE_VISION_OTHERLanding target represented by a pre-defined visual shape/feature (ex: X-marker, H-marker, square)

                                                                                                                                                                VTOL_TRANSITION_HEADING

                                                                                                                                                                Direction of VTOL transition

                                                                                                                                                                ValueNameDescription
                                                                                                                                                                0VTOL_TRANSITION_HEADING_VEHICLE_DEFAULTRespect the heading configuration of the vehicle.
                                                                                                                                                                1VTOL_TRANSITION_HEADING_NEXT_WAYPOINTUse the heading pointing towards the next waypoint.
                                                                                                                                                                2VTOL_TRANSITION_HEADING_TAKEOFFUse the heading on takeoff (while sitting on the ground).
                                                                                                                                                                3VTOL_TRANSITION_HEADING_SPECIFIEDUse the specified heading in parameter 4.
                                                                                                                                                                4VTOL_TRANSITION_HEADING_ANYUse the current heading when reaching takeoff altitude (potentially facing the wind when weather-vaning is active).

                                                                                                                                                                CAMERA_CAP_FLAGS

                                                                                                                                                                (Bitmask) Camera capability flags (Bitmap)

                                                                                                                                                                ValueNameDescription
                                                                                                                                                                1CAMERA_CAP_FLAGS_CAPTURE_VIDEOCamera is able to record video
                                                                                                                                                                2CAMERA_CAP_FLAGS_CAPTURE_IMAGECamera is able to capture images
                                                                                                                                                                4CAMERA_CAP_FLAGS_HAS_MODESCamera has separate Video and Image/Photo modes (MAV_CMD_SET_CAMERA_MODE)
                                                                                                                                                                8CAMERA_CAP_FLAGS_CAN_CAPTURE_IMAGE_IN_VIDEO_MODECamera can capture images while in video mode
                                                                                                                                                                16CAMERA_CAP_FLAGS_CAN_CAPTURE_VIDEO_IN_IMAGE_MODECamera can capture videos while in Photo/Image mode
                                                                                                                                                                32CAMERA_CAP_FLAGS_HAS_IMAGE_SURVEY_MODECamera has image survey mode (MAV_CMD_SET_CAMERA_MODE)
                                                                                                                                                                64CAMERA_CAP_FLAGS_HAS_BASIC_ZOOMCamera has basic zoom control (MAV_CMD_SET_CAMERA_ZOOM)
                                                                                                                                                                128CAMERA_CAP_FLAGS_HAS_BASIC_FOCUSCamera has basic focus control (MAV_CMD_SET_CAMERA_FOCUS)
                                                                                                                                                                256CAMERA_CAP_FLAGS_HAS_VIDEO_STREAMCamera has video streaming capabilities (request VIDEO_STREAM_INFORMATION with MAV_CMD_REQUEST_MESSAGE for video streaming info)
                                                                                                                                                                512CAMERA_CAP_FLAGS_HAS_TRACKING_POINTCamera supports tracking of a point on the camera view.
                                                                                                                                                                1024CAMERA_CAP_FLAGS_HAS_TRACKING_RECTANGLECamera supports tracking of a selection rectangle on the camera view.
                                                                                                                                                                2048CAMERA_CAP_FLAGS_HAS_TRACKING_GEO_STATUSCamera supports tracking geo status (CAMERA_TRACKING_GEO_STATUS).
                                                                                                                                                                4096CAMERA_CAP_FLAGS_HAS_THERMAL_RANGECamera supports absolute thermal range (request CAMERA_THERMAL_RANGE with MAV_CMD_REQUEST_MESSAGE) (WIP).

                                                                                                                                                                VIDEO_STREAM_STATUS_FLAGS

                                                                                                                                                                (Bitmask) Stream status flags (Bitmap)

                                                                                                                                                                ValueNameDescription
                                                                                                                                                                1VIDEO_STREAM_STATUS_FLAGS_RUNNINGStream is active (running)
                                                                                                                                                                2VIDEO_STREAM_STATUS_FLAGS_THERMALStream is thermal imaging
                                                                                                                                                                4VIDEO_STREAM_STATUS_FLAGS_THERMAL_RANGE_ENABLEDStream can report absolute thermal range (see CAMERA_THERMAL_RANGE). (WIP).

                                                                                                                                                                VIDEO_STREAM_TYPE

                                                                                                                                                                Video stream types

                                                                                                                                                                ValueNameDescription
                                                                                                                                                                0VIDEO_STREAM_TYPE_RTSPStream is RTSP
                                                                                                                                                                1VIDEO_STREAM_TYPE_RTPUDPStream is RTP UDP (URI gives the port number)
                                                                                                                                                                2VIDEO_STREAM_TYPE_TCP_MPEGStream is MPEG on TCP
                                                                                                                                                                3VIDEO_STREAM_TYPE_MPEG_TSStream is MPEG TS (URI gives the port number)

                                                                                                                                                                VIDEO_STREAM_ENCODING

                                                                                                                                                                Video stream encodings

                                                                                                                                                                ValueNameDescription
                                                                                                                                                                0VIDEO_STREAM_ENCODING_UNKNOWNStream encoding is unknown
                                                                                                                                                                1VIDEO_STREAM_ENCODING_H264Stream encoding is H.264
                                                                                                                                                                2VIDEO_STREAM_ENCODING_H265Stream encoding is H.265

                                                                                                                                                                CAMERA_TRACKING_STATUS_FLAGS

                                                                                                                                                                Camera tracking status flags

                                                                                                                                                                ValueNameDescription
                                                                                                                                                                0CAMERA_TRACKING_STATUS_FLAGS_IDLECamera is not tracking
                                                                                                                                                                1CAMERA_TRACKING_STATUS_FLAGS_ACTIVECamera is tracking
                                                                                                                                                                2CAMERA_TRACKING_STATUS_FLAGS_ERRORCamera tracking in error state

                                                                                                                                                                CAMERA_TRACKING_MODE

                                                                                                                                                                Camera tracking modes

                                                                                                                                                                ValueNameDescription
                                                                                                                                                                0CAMERA_TRACKING_MODE_NONENot tracking
                                                                                                                                                                1CAMERA_TRACKING_MODE_POINTTarget is a point
                                                                                                                                                                2CAMERA_TRACKING_MODE_RECTANGLETarget is a rectangle

                                                                                                                                                                CAMERA_TRACKING_TARGET_DATA

                                                                                                                                                                (Bitmask) Camera tracking target data (shows where tracked target is within image)

                                                                                                                                                                ValueNameDescription
                                                                                                                                                                0CAMERA_TRACKING_TARGET_DATA_NONENo target data
                                                                                                                                                                1CAMERA_TRACKING_TARGET_DATA_EMBEDDEDTarget data embedded in image data (proprietary)
                                                                                                                                                                2CAMERA_TRACKING_TARGET_DATA_RENDEREDTarget data rendered in image
                                                                                                                                                                4CAMERA_TRACKING_TARGET_DATA_IN_STATUSTarget data within status message (Point or Rectangle)

                                                                                                                                                                CAMERA_ZOOM_TYPE

                                                                                                                                                                Zoom types for MAV_CMD_SET_CAMERA_ZOOM

                                                                                                                                                                ValueNameDescription
                                                                                                                                                                0ZOOM_TYPE_STEPZoom one step increment (-1 for wide, 1 for tele)
                                                                                                                                                                1ZOOM_TYPE_CONTINUOUSContinuous zoom up/down until stopped (-1 for wide, 1 for tele, 0 to stop zooming)
                                                                                                                                                                2ZOOM_TYPE_RANGEZoom value as proportion of full camera range (a percentage value between 0.0 and 100.0)
                                                                                                                                                                3ZOOM_TYPE_FOCAL_LENGTHZoom value/variable focal length in millimetres. Note that there is no message to get the valid zoom range of the camera, so this can type can only be used for cameras where the zoom range is known (implying that this cannot reliably be used in a GCS for an arbitrary camera)
                                                                                                                                                                4ZOOM_TYPE_HORIZONTAL_FOVZoom value as horizontal field of view in degrees.

                                                                                                                                                                SET_FOCUS_TYPE

                                                                                                                                                                Focus types for MAV_CMD_SET_CAMERA_FOCUS

                                                                                                                                                                ValueNameDescription
                                                                                                                                                                0FOCUS_TYPE_STEPFocus one step increment (-1 for focusing in, 1 for focusing out towards infinity).
                                                                                                                                                                1FOCUS_TYPE_CONTINUOUSContinuous focus up/down until stopped (-1 for focusing in, 1 for focusing out towards infinity, 0 to stop focusing)
                                                                                                                                                                2FOCUS_TYPE_RANGEFocus value as proportion of full camera focus range (a value between 0.0 and 100.0)
                                                                                                                                                                3FOCUS_TYPE_METERSFocus value in metres. Note that there is no message to get the valid focus range of the camera, so this can type can only be used for cameras where the range is known (implying that this cannot reliably be used in a GCS for an arbitrary camera).
                                                                                                                                                                4FOCUS_TYPE_AUTOFocus automatically.
                                                                                                                                                                5FOCUS_TYPE_AUTO_SINGLESingle auto focus. Mainly used for still pictures. Usually abbreviated as AF-S.
                                                                                                                                                                6FOCUS_TYPE_AUTO_CONTINUOUSContinuous auto focus. Mainly used for dynamic scenes. Abbreviated as AF-C.

                                                                                                                                                                CAMERA_SOURCE

                                                                                                                                                                Camera sources for MAV_CMD_SET_CAMERA_SOURCE

                                                                                                                                                                ValueNameDescription
                                                                                                                                                                0CAMERA_SOURCE_DEFAULTDefault camera source.
                                                                                                                                                                1CAMERA_SOURCE_RGBRGB camera source.
                                                                                                                                                                2CAMERA_SOURCE_IRIR camera source.
                                                                                                                                                                3CAMERA_SOURCE_NDVINDVI camera source.

                                                                                                                                                                PARAM_ACK

                                                                                                                                                                Result from PARAM_EXT_SET message (or a PARAM_SET within a transaction).

                                                                                                                                                                ValueNameDescription
                                                                                                                                                                0PARAM_ACK_ACCEPTEDParameter value ACCEPTED and SET
                                                                                                                                                                1PARAM_ACK_VALUE_UNSUPPORTEDParameter value UNKNOWN/UNSUPPORTED
                                                                                                                                                                2PARAM_ACK_FAILEDParameter failed to set
                                                                                                                                                                3PARAM_ACK_IN_PROGRESSParameter value received but not yet set/accepted. A subsequent PARAM_ACK_TRANSACTION or PARAM_EXT_ACK with the final result will follow once operation is completed. This is returned immediately for parameters that take longer to set, indicating that the the parameter was received and does not need to be resent.

                                                                                                                                                                CAMERA_MODE

                                                                                                                                                                Camera Modes.

                                                                                                                                                                ValueNameDescription
                                                                                                                                                                0CAMERA_MODE_IMAGECamera is in image/photo capture mode.
                                                                                                                                                                1CAMERA_MODE_VIDEOCamera is in video capture mode.
                                                                                                                                                                2CAMERA_MODE_IMAGE_SURVEYCamera is in image survey capture mode. It allows for camera controller to do specific settings for surveys.

                                                                                                                                                                MAV_ARM_AUTH_DENIED_REASON

                                                                                                                                                                ValueNameDescription
                                                                                                                                                                0MAV_ARM_AUTH_DENIED_REASON_GENERICNot a specific reason
                                                                                                                                                                1MAV_ARM_AUTH_DENIED_REASON_NONEAuthorizer will send the error as string to GCS
                                                                                                                                                                2MAV_ARM_AUTH_DENIED_REASON_INVALID_WAYPOINTAt least one waypoint have a invalid value
                                                                                                                                                                3MAV_ARM_AUTH_DENIED_REASON_TIMEOUTTimeout in the authorizer process(in case it depends on network)
                                                                                                                                                                4MAV_ARM_AUTH_DENIED_REASON_AIRSPACE_IN_USEAirspace of the mission in use by another vehicle, second result parameter can have the waypoint id that caused it to be denied.
                                                                                                                                                                5MAV_ARM_AUTH_DENIED_REASON_BAD_WEATHERWeather is not good to fly

                                                                                                                                                                RC_TYPE

                                                                                                                                                                RC type. Used in MAV_CMD_START_RX_PAIR.

                                                                                                                                                                ValueNameDescription
                                                                                                                                                                0RC_TYPE_SPEKTRUMSpektrum
                                                                                                                                                                1RC_TYPE_CRSFCRSF

                                                                                                                                                                RC_SUB_TYPE

                                                                                                                                                                RC sub-type of types defined in RC_TYPE. Used in MAV_CMD_START_RX_PAIR. Ignored if value does not correspond to the set RC_TYPE.

                                                                                                                                                                ValueNameDescription
                                                                                                                                                                0RC_SUB_TYPE_SPEKTRUM_DSM2Spektrum DSM2
                                                                                                                                                                1RC_SUB_TYPE_SPEKTRUM_DSMXSpektrum DSMX
                                                                                                                                                                2RC_SUB_TYPE_SPEKTRUM_DSMX8Spektrum DSMX8

                                                                                                                                                                POSITION_TARGET_TYPEMASK

                                                                                                                                                                (Bitmask) Bitmap to indicate which dimensions should be ignored by the vehicle: a value of 0b0000000000000000 or 0b0000001000000000 indicates that none of the setpoint dimensions should be ignored. If bit 9 is set the floats afx afy afz should be interpreted as force instead of acceleration.

                                                                                                                                                                ValueNameDescription
                                                                                                                                                                1POSITION_TARGET_TYPEMASK_X_IGNOREIgnore position x
                                                                                                                                                                2POSITION_TARGET_TYPEMASK_Y_IGNOREIgnore position y
                                                                                                                                                                4POSITION_TARGET_TYPEMASK_Z_IGNOREIgnore position z
                                                                                                                                                                8POSITION_TARGET_TYPEMASK_VX_IGNOREIgnore velocity x
                                                                                                                                                                16POSITION_TARGET_TYPEMASK_VY_IGNOREIgnore velocity y
                                                                                                                                                                32POSITION_TARGET_TYPEMASK_VZ_IGNOREIgnore velocity z
                                                                                                                                                                64POSITION_TARGET_TYPEMASK_AX_IGNOREIgnore acceleration x
                                                                                                                                                                128POSITION_TARGET_TYPEMASK_AY_IGNOREIgnore acceleration y
                                                                                                                                                                256POSITION_TARGET_TYPEMASK_AZ_IGNOREIgnore acceleration z
                                                                                                                                                                512POSITION_TARGET_TYPEMASK_FORCE_SETUse force instead of acceleration
                                                                                                                                                                1024POSITION_TARGET_TYPEMASK_YAW_IGNOREIgnore yaw
                                                                                                                                                                2048POSITION_TARGET_TYPEMASK_YAW_RATE_IGNOREIgnore yaw rate

                                                                                                                                                                ATTITUDE_TARGET_TYPEMASK

                                                                                                                                                                (Bitmask) Bitmap to indicate which dimensions should be ignored by the vehicle: a value of 0b00000000 indicates that none of the setpoint dimensions should be ignored.

                                                                                                                                                                ValueNameDescription
                                                                                                                                                                1ATTITUDE_TARGET_TYPEMASK_BODY_ROLL_RATE_IGNOREIgnore body roll rate
                                                                                                                                                                2ATTITUDE_TARGET_TYPEMASK_BODY_PITCH_RATE_IGNOREIgnore body pitch rate
                                                                                                                                                                4ATTITUDE_TARGET_TYPEMASK_BODY_YAW_RATE_IGNOREIgnore body yaw rate
                                                                                                                                                                32ATTITUDE_TARGET_TYPEMASK_THRUST_BODY_SETUse 3D body thrust setpoint instead of throttle
                                                                                                                                                                64ATTITUDE_TARGET_TYPEMASK_THROTTLE_IGNOREIgnore throttle
                                                                                                                                                                128ATTITUDE_TARGET_TYPEMASK_ATTITUDE_IGNOREIgnore attitude

                                                                                                                                                                UTM_FLIGHT_STATE

                                                                                                                                                                Airborne status of UAS.

                                                                                                                                                                ValueNameDescription
                                                                                                                                                                1UTM_FLIGHT_STATE_UNKNOWNThe flight state can't be determined.
                                                                                                                                                                2UTM_FLIGHT_STATE_GROUNDUAS on ground.
                                                                                                                                                                3UTM_FLIGHT_STATE_AIRBORNEUAS airborne.
                                                                                                                                                                16UTM_FLIGHT_STATE_EMERGENCYUAS is in an emergency flight state.
                                                                                                                                                                32UTM_FLIGHT_STATE_NOCTRLUAS has no active controls.

                                                                                                                                                                UTM_DATA_AVAIL_FLAGS

                                                                                                                                                                (Bitmask) Flags for the global position report.

                                                                                                                                                                ValueNameDescription
                                                                                                                                                                1UTM_DATA_AVAIL_FLAGS_TIME_VALIDThe field time contains valid data.
                                                                                                                                                                2UTM_DATA_AVAIL_FLAGS_UAS_ID_AVAILABLEThe field uas_id contains valid data.
                                                                                                                                                                4UTM_DATA_AVAIL_FLAGS_POSITION_AVAILABLEThe fields lat, lon and h_acc contain valid data.
                                                                                                                                                                8UTM_DATA_AVAIL_FLAGS_ALTITUDE_AVAILABLEThe fields alt and v_acc contain valid data.
                                                                                                                                                                16UTM_DATA_AVAIL_FLAGS_RELATIVE_ALTITUDE_AVAILABLEThe field relative_alt contains valid data.
                                                                                                                                                                32UTM_DATA_AVAIL_FLAGS_HORIZONTAL_VELO_AVAILABLEThe fields vx and vy contain valid data.
                                                                                                                                                                64UTM_DATA_AVAIL_FLAGS_VERTICAL_VELO_AVAILABLEThe field vz contains valid data.
                                                                                                                                                                128UTM_DATA_AVAIL_FLAGS_NEXT_WAYPOINT_AVAILABLEThe fields next_lat, next_lon and next_alt contain valid data.

                                                                                                                                                                CELLULAR_STATUS_FLAG

                                                                                                                                                                These flags encode the cellular network status

                                                                                                                                                                ValueNameDescription
                                                                                                                                                                0CELLULAR_STATUS_FLAG_UNKNOWNState unknown or not reportable.
                                                                                                                                                                1CELLULAR_STATUS_FLAG_FAILEDModem is unusable
                                                                                                                                                                2CELLULAR_STATUS_FLAG_INITIALIZINGModem is being initialized
                                                                                                                                                                3CELLULAR_STATUS_FLAG_LOCKEDModem is locked
                                                                                                                                                                4CELLULAR_STATUS_FLAG_DISABLEDModem is not enabled and is powered down
                                                                                                                                                                5CELLULAR_STATUS_FLAG_DISABLINGModem is currently transitioning to the CELLULAR_STATUS_FLAG_DISABLED state
                                                                                                                                                                6CELLULAR_STATUS_FLAG_ENABLINGModem is currently transitioning to the CELLULAR_STATUS_FLAG_ENABLED state
                                                                                                                                                                7CELLULAR_STATUS_FLAG_ENABLEDModem is enabled and powered on but not registered with a network provider and not available for data connections
                                                                                                                                                                8CELLULAR_STATUS_FLAG_SEARCHINGModem is searching for a network provider to register
                                                                                                                                                                9CELLULAR_STATUS_FLAG_REGISTEREDModem is registered with a network provider, and data connections and messaging may be available for use
                                                                                                                                                                10CELLULAR_STATUS_FLAG_DISCONNECTINGModem is disconnecting and deactivating the last active packet data bearer. This state will not be entered if more than one packet data bearer is active and one of the active bearers is deactivated
                                                                                                                                                                11CELLULAR_STATUS_FLAG_CONNECTINGModem is activating and connecting the first packet data bearer. Subsequent bearer activations when another bearer is already active do not cause this state to be entered
                                                                                                                                                                12CELLULAR_STATUS_FLAG_CONNECTEDOne or more packet data bearers is active and connected

                                                                                                                                                                CELLULAR_NETWORK_FAILED_REASON

                                                                                                                                                                These flags are used to diagnose the failure state of CELLULAR_STATUS

                                                                                                                                                                ValueNameDescription
                                                                                                                                                                0CELLULAR_NETWORK_FAILED_REASON_NONENo error
                                                                                                                                                                1CELLULAR_NETWORK_FAILED_REASON_UNKNOWNError state is unknown
                                                                                                                                                                2CELLULAR_NETWORK_FAILED_REASON_SIM_MISSINGSIM is required for the modem but missing
                                                                                                                                                                3CELLULAR_NETWORK_FAILED_REASON_SIM_ERRORSIM is available, but not usable for connection

                                                                                                                                                                CELLULAR_NETWORK_RADIO_TYPE

                                                                                                                                                                Cellular network radio type

                                                                                                                                                                ValueNameDescription
                                                                                                                                                                0CELLULAR_NETWORK_RADIO_TYPE_NONE
                                                                                                                                                                1CELLULAR_NETWORK_RADIO_TYPE_GSM
                                                                                                                                                                2CELLULAR_NETWORK_RADIO_TYPE_CDMA
                                                                                                                                                                3CELLULAR_NETWORK_RADIO_TYPE_WCDMA
                                                                                                                                                                4CELLULAR_NETWORK_RADIO_TYPE_LTE

                                                                                                                                                                PRECISION_LAND_MODE

                                                                                                                                                                Precision land modes (used in MAV_CMD_NAV_LAND).

                                                                                                                                                                ValueNameDescription
                                                                                                                                                                0PRECISION_LAND_MODE_DISABLEDNormal (non-precision) landing.
                                                                                                                                                                1PRECISION_LAND_MODE_OPPORTUNISTICUse precision landing if beacon detected when land command accepted, otherwise land normally.
                                                                                                                                                                2PRECISION_LAND_MODE_REQUIREDUse precision landing, searching for beacon if not found when land command accepted (land normally if beacon cannot be found).

                                                                                                                                                                PARACHUTE_ACTION

                                                                                                                                                                Parachute actions. Trigger release and enable/disable auto-release.

                                                                                                                                                                ValueNameDescription
                                                                                                                                                                0PARACHUTE_DISABLEDisable auto-release of parachute (i.e. release triggered by crash detectors).
                                                                                                                                                                1PARACHUTE_ENABLEEnable auto-release of parachute.
                                                                                                                                                                2PARACHUTE_RELEASERelease parachute and kill motors.

                                                                                                                                                                MAV_TUNNEL_PAYLOAD_TYPE

                                                                                                                                                                ValueNameDescription
                                                                                                                                                                0MAV_TUNNEL_PAYLOAD_TYPE_UNKNOWNEncoding of payload unknown.
                                                                                                                                                                200MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED0Registered for STorM32 gimbal controller.
                                                                                                                                                                201MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED1Registered for STorM32 gimbal controller.
                                                                                                                                                                202MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED2Registered for STorM32 gimbal controller.
                                                                                                                                                                203MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED3Registered for STorM32 gimbal controller.
                                                                                                                                                                204MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED4Registered for STorM32 gimbal controller.
                                                                                                                                                                205MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED5Registered for STorM32 gimbal controller.
                                                                                                                                                                206MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED6Registered for STorM32 gimbal controller.
                                                                                                                                                                207MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED7Registered for STorM32 gimbal controller.
                                                                                                                                                                208MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED8Registered for STorM32 gimbal controller.
                                                                                                                                                                209MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED9Registered for STorM32 gimbal controller.

                                                                                                                                                                MAV_ODID_ID_TYPE

                                                                                                                                                                ValueNameDescription
                                                                                                                                                                0MAV_ODID_ID_TYPE_NONENo type defined.
                                                                                                                                                                1MAV_ODID_ID_TYPE_SERIAL_NUMBERManufacturer Serial Number (ANSI/CTA-2063 format).
                                                                                                                                                                2MAV_ODID_ID_TYPE_CAA_REGISTRATION_IDCAA (Civil Aviation Authority) registered ID. Format: [ICAO Country Code].[CAA Assigned ID].
                                                                                                                                                                3MAV_ODID_ID_TYPE_UTM_ASSIGNED_UUIDUTM (Unmanned Traffic Management) assigned UUID (RFC4122).
                                                                                                                                                                4MAV_ODID_ID_TYPE_SPECIFIC_SESSION_IDA 20 byte ID for a specific flight/session. The exact ID type is indicated by the first byte of uas_id and these type values are managed by ICAO.

                                                                                                                                                                MAV_ODID_UA_TYPE

                                                                                                                                                                ValueNameDescription
                                                                                                                                                                0MAV_ODID_UA_TYPE_NONENo UA (Unmanned Aircraft) type defined.
                                                                                                                                                                1MAV_ODID_UA_TYPE_AEROPLANEAeroplane/Airplane. Fixed wing.
                                                                                                                                                                2MAV_ODID_UA_TYPE_HELICOPTER_OR_MULTIROTORHelicopter or multirotor.
                                                                                                                                                                3MAV_ODID_UA_TYPE_GYROPLANEGyroplane.
                                                                                                                                                                4MAV_ODID_UA_TYPE_HYBRID_LIFTVTOL (Vertical Take-Off and Landing). Fixed wing aircraft that can take off vertically.
                                                                                                                                                                5MAV_ODID_UA_TYPE_ORNITHOPTEROrnithopter.
                                                                                                                                                                6MAV_ODID_UA_TYPE_GLIDERGlider.
                                                                                                                                                                7MAV_ODID_UA_TYPE_KITEKite.
                                                                                                                                                                8MAV_ODID_UA_TYPE_FREE_BALLOONFree Balloon.
                                                                                                                                                                9MAV_ODID_UA_TYPE_CAPTIVE_BALLOONCaptive Balloon.
                                                                                                                                                                10MAV_ODID_UA_TYPE_AIRSHIPAirship. E.g. a blimp.
                                                                                                                                                                11MAV_ODID_UA_TYPE_FREE_FALL_PARACHUTEFree Fall/Parachute (unpowered).
                                                                                                                                                                12MAV_ODID_UA_TYPE_ROCKETRocket.
                                                                                                                                                                13MAV_ODID_UA_TYPE_TETHERED_POWERED_AIRCRAFTTethered powered aircraft.
                                                                                                                                                                14MAV_ODID_UA_TYPE_GROUND_OBSTACLEGround Obstacle.
                                                                                                                                                                15MAV_ODID_UA_TYPE_OTHEROther type of aircraft not listed earlier.

                                                                                                                                                                MAV_ODID_STATUS

                                                                                                                                                                ValueNameDescription
                                                                                                                                                                0MAV_ODID_STATUS_UNDECLAREDThe status of the (UA) Unmanned Aircraft is undefined.
                                                                                                                                                                1MAV_ODID_STATUS_GROUNDThe UA is on the ground.
                                                                                                                                                                2MAV_ODID_STATUS_AIRBORNEThe UA is in the air.
                                                                                                                                                                3MAV_ODID_STATUS_EMERGENCYThe UA is having an emergency.
                                                                                                                                                                4MAV_ODID_STATUS_REMOTE_ID_SYSTEM_FAILUREThe remote ID system is failing or unreliable in some way.

                                                                                                                                                                MAV_ODID_HEIGHT_REF

                                                                                                                                                                ValueNameDescription
                                                                                                                                                                0MAV_ODID_HEIGHT_REF_OVER_TAKEOFFThe height field is relative to the take-off location.
                                                                                                                                                                1MAV_ODID_HEIGHT_REF_OVER_GROUNDThe height field is relative to ground.

                                                                                                                                                                MAV_ODID_HOR_ACC

                                                                                                                                                                ValueNameDescription
                                                                                                                                                                0MAV_ODID_HOR_ACC_UNKNOWNThe horizontal accuracy is unknown.
                                                                                                                                                                1MAV_ODID_HOR_ACC_10NMThe horizontal accuracy is smaller than 10 Nautical Miles. 18.52 km.
                                                                                                                                                                2MAV_ODID_HOR_ACC_4NMThe horizontal accuracy is smaller than 4 Nautical Miles. 7.408 km.
                                                                                                                                                                3MAV_ODID_HOR_ACC_2NMThe horizontal accuracy is smaller than 2 Nautical Miles. 3.704 km.
                                                                                                                                                                4MAV_ODID_HOR_ACC_1NMThe horizontal accuracy is smaller than 1 Nautical Miles. 1.852 km.
                                                                                                                                                                5MAV_ODID_HOR_ACC_0_5NMThe horizontal accuracy is smaller than 0.5 Nautical Miles. 926 m.
                                                                                                                                                                6MAV_ODID_HOR_ACC_0_3NMThe horizontal accuracy is smaller than 0.3 Nautical Miles. 555.6 m.
                                                                                                                                                                7MAV_ODID_HOR_ACC_0_1NMThe horizontal accuracy is smaller than 0.1 Nautical Miles. 185.2 m.
                                                                                                                                                                8MAV_ODID_HOR_ACC_0_05NMThe horizontal accuracy is smaller than 0.05 Nautical Miles. 92.6 m.
                                                                                                                                                                9MAV_ODID_HOR_ACC_30_METERThe horizontal accuracy is smaller than 30 meter.
                                                                                                                                                                10MAV_ODID_HOR_ACC_10_METERThe horizontal accuracy is smaller than 10 meter.
                                                                                                                                                                11MAV_ODID_HOR_ACC_3_METERThe horizontal accuracy is smaller than 3 meter.
                                                                                                                                                                12MAV_ODID_HOR_ACC_1_METERThe horizontal accuracy is smaller than 1 meter.

                                                                                                                                                                MAV_ODID_VER_ACC

                                                                                                                                                                ValueNameDescription
                                                                                                                                                                0MAV_ODID_VER_ACC_UNKNOWNThe vertical accuracy is unknown.
                                                                                                                                                                1MAV_ODID_VER_ACC_150_METERThe vertical accuracy is smaller than 150 meter.
                                                                                                                                                                2MAV_ODID_VER_ACC_45_METERThe vertical accuracy is smaller than 45 meter.
                                                                                                                                                                3MAV_ODID_VER_ACC_25_METERThe vertical accuracy is smaller than 25 meter.
                                                                                                                                                                4MAV_ODID_VER_ACC_10_METERThe vertical accuracy is smaller than 10 meter.
                                                                                                                                                                5MAV_ODID_VER_ACC_3_METERThe vertical accuracy is smaller than 3 meter.
                                                                                                                                                                6MAV_ODID_VER_ACC_1_METERThe vertical accuracy is smaller than 1 meter.

                                                                                                                                                                MAV_ODID_SPEED_ACC

                                                                                                                                                                ValueNameDescription
                                                                                                                                                                0MAV_ODID_SPEED_ACC_UNKNOWNThe speed accuracy is unknown.
                                                                                                                                                                1MAV_ODID_SPEED_ACC_10_METERS_PER_SECONDThe speed accuracy is smaller than 10 meters per second.
                                                                                                                                                                2MAV_ODID_SPEED_ACC_3_METERS_PER_SECONDThe speed accuracy is smaller than 3 meters per second.
                                                                                                                                                                3MAV_ODID_SPEED_ACC_1_METERS_PER_SECONDThe speed accuracy is smaller than 1 meters per second.
                                                                                                                                                                4MAV_ODID_SPEED_ACC_0_3_METERS_PER_SECONDThe speed accuracy is smaller than 0.3 meters per second.

                                                                                                                                                                MAV_ODID_TIME_ACC

                                                                                                                                                                ValueNameDescription
                                                                                                                                                                0MAV_ODID_TIME_ACC_UNKNOWNThe timestamp accuracy is unknown.
                                                                                                                                                                1MAV_ODID_TIME_ACC_0_1_SECONDThe timestamp accuracy is smaller than or equal to 0.1 second.
                                                                                                                                                                2MAV_ODID_TIME_ACC_0_2_SECONDThe timestamp accuracy is smaller than or equal to 0.2 second.
                                                                                                                                                                3MAV_ODID_TIME_ACC_0_3_SECONDThe timestamp accuracy is smaller than or equal to 0.3 second.
                                                                                                                                                                4MAV_ODID_TIME_ACC_0_4_SECONDThe timestamp accuracy is smaller than or equal to 0.4 second.
                                                                                                                                                                5MAV_ODID_TIME_ACC_0_5_SECONDThe timestamp accuracy is smaller than or equal to 0.5 second.
                                                                                                                                                                6MAV_ODID_TIME_ACC_0_6_SECONDThe timestamp accuracy is smaller than or equal to 0.6 second.
                                                                                                                                                                7MAV_ODID_TIME_ACC_0_7_SECONDThe timestamp accuracy is smaller than or equal to 0.7 second.
                                                                                                                                                                8MAV_ODID_TIME_ACC_0_8_SECONDThe timestamp accuracy is smaller than or equal to 0.8 second.
                                                                                                                                                                9MAV_ODID_TIME_ACC_0_9_SECONDThe timestamp accuracy is smaller than or equal to 0.9 second.
                                                                                                                                                                10MAV_ODID_TIME_ACC_1_0_SECONDThe timestamp accuracy is smaller than or equal to 1.0 second.
                                                                                                                                                                11MAV_ODID_TIME_ACC_1_1_SECONDThe timestamp accuracy is smaller than or equal to 1.1 second.
                                                                                                                                                                12MAV_ODID_TIME_ACC_1_2_SECONDThe timestamp accuracy is smaller than or equal to 1.2 second.
                                                                                                                                                                13MAV_ODID_TIME_ACC_1_3_SECONDThe timestamp accuracy is smaller than or equal to 1.3 second.
                                                                                                                                                                14MAV_ODID_TIME_ACC_1_4_SECONDThe timestamp accuracy is smaller than or equal to 1.4 second.
                                                                                                                                                                15MAV_ODID_TIME_ACC_1_5_SECONDThe timestamp accuracy is smaller than or equal to 1.5 second.

                                                                                                                                                                MAV_ODID_AUTH_TYPE

                                                                                                                                                                ValueNameDescription
                                                                                                                                                                0MAV_ODID_AUTH_TYPE_NONENo authentication type is specified.
                                                                                                                                                                1MAV_ODID_AUTH_TYPE_UAS_ID_SIGNATURESignature for the UAS (Unmanned Aircraft System) ID.
                                                                                                                                                                2MAV_ODID_AUTH_TYPE_OPERATOR_ID_SIGNATURESignature for the Operator ID.
                                                                                                                                                                3MAV_ODID_AUTH_TYPE_MESSAGE_SET_SIGNATURESignature for the entire message set.
                                                                                                                                                                4MAV_ODID_AUTH_TYPE_NETWORK_REMOTE_IDAuthentication is provided by Network Remote ID.
                                                                                                                                                                5MAV_ODID_AUTH_TYPE_SPECIFIC_AUTHENTICATIONThe exact authentication type is indicated by the first byte of authentication_data and these type values are managed by ICAO.

                                                                                                                                                                MAV_ODID_DESC_TYPE

                                                                                                                                                                ValueNameDescription
                                                                                                                                                                0MAV_ODID_DESC_TYPE_TEXTOptional free-form text description of the purpose of the flight.
                                                                                                                                                                1MAV_ODID_DESC_TYPE_EMERGENCYOptional additional clarification when status == MAV_ODID_STATUS_EMERGENCY.
                                                                                                                                                                2MAV_ODID_DESC_TYPE_EXTENDED_STATUSOptional additional clarification when status != MAV_ODID_STATUS_EMERGENCY.

                                                                                                                                                                MAV_ODID_OPERATOR_LOCATION_TYPE

                                                                                                                                                                ValueNameDescription
                                                                                                                                                                0MAV_ODID_OPERATOR_LOCATION_TYPE_TAKEOFFThe location/altitude of the operator is the same as the take-off location.
                                                                                                                                                                1MAV_ODID_OPERATOR_LOCATION_TYPE_LIVE_GNSSThe location/altitude of the operator is dynamic. E.g. based on live GNSS data.
                                                                                                                                                                2MAV_ODID_OPERATOR_LOCATION_TYPE_FIXEDThe location/altitude of the operator are fixed values.

                                                                                                                                                                MAV_ODID_CLASSIFICATION_TYPE

                                                                                                                                                                ValueNameDescription
                                                                                                                                                                0MAV_ODID_CLASSIFICATION_TYPE_UNDECLAREDThe classification type for the UA is undeclared.
                                                                                                                                                                1MAV_ODID_CLASSIFICATION_TYPE_EUThe classification type for the UA follows EU (European Union) specifications.

                                                                                                                                                                MAV_ODID_CATEGORY_EU

                                                                                                                                                                ValueNameDescription
                                                                                                                                                                0MAV_ODID_CATEGORY_EU_UNDECLAREDThe category for the UA, according to the EU specification, is undeclared.
                                                                                                                                                                1MAV_ODID_CATEGORY_EU_OPENThe category for the UA, according to the EU specification, is the Open category.
                                                                                                                                                                2MAV_ODID_CATEGORY_EU_SPECIFICThe category for the UA, according to the EU specification, is the Specific category.
                                                                                                                                                                3MAV_ODID_CATEGORY_EU_CERTIFIEDThe category for the UA, according to the EU specification, is the Certified category.

                                                                                                                                                                MAV_ODID_CLASS_EU

                                                                                                                                                                ValueNameDescription
                                                                                                                                                                0MAV_ODID_CLASS_EU_UNDECLAREDThe class for the UA, according to the EU specification, is undeclared.
                                                                                                                                                                1MAV_ODID_CLASS_EU_CLASS_0The class for the UA, according to the EU specification, is Class 0.
                                                                                                                                                                2MAV_ODID_CLASS_EU_CLASS_1The class for the UA, according to the EU specification, is Class 1.
                                                                                                                                                                3MAV_ODID_CLASS_EU_CLASS_2The class for the UA, according to the EU specification, is Class 2.
                                                                                                                                                                4MAV_ODID_CLASS_EU_CLASS_3The class for the UA, according to the EU specification, is Class 3.
                                                                                                                                                                5MAV_ODID_CLASS_EU_CLASS_4The class for the UA, according to the EU specification, is Class 4.
                                                                                                                                                                6MAV_ODID_CLASS_EU_CLASS_5The class for the UA, according to the EU specification, is Class 5.
                                                                                                                                                                7MAV_ODID_CLASS_EU_CLASS_6The class for the UA, according to the EU specification, is Class 6.

                                                                                                                                                                MAV_ODID_OPERATOR_ID_TYPE

                                                                                                                                                                ValueNameDescription
                                                                                                                                                                0MAV_ODID_OPERATOR_ID_TYPE_CAACAA (Civil Aviation Authority) registered operator ID.

                                                                                                                                                                MAV_ODID_ARM_STATUS

                                                                                                                                                                ValueNameDescription
                                                                                                                                                                0MAV_ODID_ARM_STATUS_GOOD_TO_ARMPassing arming checks.
                                                                                                                                                                1MAV_ODID_ARM_STATUS_PRE_ARM_FAIL_GENERICGeneric arming failure, see error string for details.

                                                                                                                                                                TUNE_FORMAT

                                                                                                                                                                Tune formats (used for vehicle buzzer/tone generation).

                                                                                                                                                                ValueNameDescription
                                                                                                                                                                1TUNE_FORMAT_QBASIC1_1Format is QBasic 1.1 Play: https://www.qbasic.net/en/reference/qb11/Statement/PLAY-006.htm.
                                                                                                                                                                2TUNE_FORMAT_MML_MODERNFormat is Modern Music Markup Language (MML): https://en.wikipedia.org/wiki/Music_Macro_Language#Modern_MML.

                                                                                                                                                                AIS_TYPE

                                                                                                                                                                Type of AIS vessel, enum duplicated from AIS standard, https://gpsd.gitlab.io/gpsd/AIVDM.html

                                                                                                                                                                ValueNameDescription
                                                                                                                                                                0AIS_TYPE_UNKNOWNNot available (default).
                                                                                                                                                                1AIS_TYPE_RESERVED_1
                                                                                                                                                                2AIS_TYPE_RESERVED_2
                                                                                                                                                                3AIS_TYPE_RESERVED_3
                                                                                                                                                                4AIS_TYPE_RESERVED_4
                                                                                                                                                                5AIS_TYPE_RESERVED_5
                                                                                                                                                                6AIS_TYPE_RESERVED_6
                                                                                                                                                                7AIS_TYPE_RESERVED_7
                                                                                                                                                                8AIS_TYPE_RESERVED_8
                                                                                                                                                                9AIS_TYPE_RESERVED_9
                                                                                                                                                                10AIS_TYPE_RESERVED_10
                                                                                                                                                                11AIS_TYPE_RESERVED_11
                                                                                                                                                                12AIS_TYPE_RESERVED_12
                                                                                                                                                                13AIS_TYPE_RESERVED_13
                                                                                                                                                                14AIS_TYPE_RESERVED_14
                                                                                                                                                                15AIS_TYPE_RESERVED_15
                                                                                                                                                                16AIS_TYPE_RESERVED_16
                                                                                                                                                                17AIS_TYPE_RESERVED_17
                                                                                                                                                                18AIS_TYPE_RESERVED_18
                                                                                                                                                                19AIS_TYPE_RESERVED_19
                                                                                                                                                                20AIS_TYPE_WIGWing In Ground effect.
                                                                                                                                                                21AIS_TYPE_WIG_HAZARDOUS_A
                                                                                                                                                                22AIS_TYPE_WIG_HAZARDOUS_B
                                                                                                                                                                23AIS_TYPE_WIG_HAZARDOUS_C
                                                                                                                                                                24AIS_TYPE_WIG_HAZARDOUS_D
                                                                                                                                                                25AIS_TYPE_WIG_RESERVED_1
                                                                                                                                                                26AIS_TYPE_WIG_RESERVED_2
                                                                                                                                                                27AIS_TYPE_WIG_RESERVED_3
                                                                                                                                                                28AIS_TYPE_WIG_RESERVED_4
                                                                                                                                                                29AIS_TYPE_WIG_RESERVED_5
                                                                                                                                                                30AIS_TYPE_FISHING
                                                                                                                                                                31AIS_TYPE_TOWING
                                                                                                                                                                32AIS_TYPE_TOWING_LARGETowing: length exceeds 200m or breadth exceeds 25m.
                                                                                                                                                                33AIS_TYPE_DREDGINGDredging or other underwater ops.
                                                                                                                                                                34AIS_TYPE_DIVING
                                                                                                                                                                35AIS_TYPE_MILITARY
                                                                                                                                                                36AIS_TYPE_SAILING
                                                                                                                                                                37AIS_TYPE_PLEASURE
                                                                                                                                                                38AIS_TYPE_RESERVED_20
                                                                                                                                                                39AIS_TYPE_RESERVED_21
                                                                                                                                                                40AIS_TYPE_HSCHigh Speed Craft.
                                                                                                                                                                41AIS_TYPE_HSC_HAZARDOUS_A
                                                                                                                                                                42AIS_TYPE_HSC_HAZARDOUS_B
                                                                                                                                                                43AIS_TYPE_HSC_HAZARDOUS_C
                                                                                                                                                                44AIS_TYPE_HSC_HAZARDOUS_D
                                                                                                                                                                45AIS_TYPE_HSC_RESERVED_1
                                                                                                                                                                46AIS_TYPE_HSC_RESERVED_2
                                                                                                                                                                47AIS_TYPE_HSC_RESERVED_3
                                                                                                                                                                48AIS_TYPE_HSC_RESERVED_4
                                                                                                                                                                49AIS_TYPE_HSC_UNKNOWN
                                                                                                                                                                50AIS_TYPE_PILOT
                                                                                                                                                                51AIS_TYPE_SARSearch And Rescue vessel.
                                                                                                                                                                52AIS_TYPE_TUG
                                                                                                                                                                53AIS_TYPE_PORT_TENDER
                                                                                                                                                                54AIS_TYPE_ANTI_POLLUTIONAnti-pollution equipment.
                                                                                                                                                                55AIS_TYPE_LAW_ENFORCEMENT
                                                                                                                                                                56AIS_TYPE_SPARE_LOCAL_1
                                                                                                                                                                57AIS_TYPE_SPARE_LOCAL_2
                                                                                                                                                                58AIS_TYPE_MEDICAL_TRANSPORT
                                                                                                                                                                59AIS_TYPE_NONECOMBATANTNoncombatant ship according to RR Resolution No. 18.
                                                                                                                                                                60AIS_TYPE_PASSENGER
                                                                                                                                                                61AIS_TYPE_PASSENGER_HAZARDOUS_A
                                                                                                                                                                62AIS_TYPE_PASSENGER_HAZARDOUS_B
                                                                                                                                                                63AIS_TYPE_PASSENGER_HAZARDOUS_C
                                                                                                                                                                64AIS_TYPE_PASSENGER_HAZARDOUS_D
                                                                                                                                                                65AIS_TYPE_PASSENGER_RESERVED_1
                                                                                                                                                                66AIS_TYPE_PASSENGER_RESERVED_2
                                                                                                                                                                67AIS_TYPE_PASSENGER_RESERVED_3
                                                                                                                                                                68AIS_TYPE_PASSENGER_RESERVED_4
                                                                                                                                                                69AIS_TYPE_PASSENGER_UNKNOWN
                                                                                                                                                                70AIS_TYPE_CARGO
                                                                                                                                                                71AIS_TYPE_CARGO_HAZARDOUS_A
                                                                                                                                                                72AIS_TYPE_CARGO_HAZARDOUS_B
                                                                                                                                                                73AIS_TYPE_CARGO_HAZARDOUS_C
                                                                                                                                                                74AIS_TYPE_CARGO_HAZARDOUS_D
                                                                                                                                                                75AIS_TYPE_CARGO_RESERVED_1
                                                                                                                                                                76AIS_TYPE_CARGO_RESERVED_2
                                                                                                                                                                77AIS_TYPE_CARGO_RESERVED_3
                                                                                                                                                                78AIS_TYPE_CARGO_RESERVED_4
                                                                                                                                                                79AIS_TYPE_CARGO_UNKNOWN
                                                                                                                                                                80AIS_TYPE_TANKER
                                                                                                                                                                81AIS_TYPE_TANKER_HAZARDOUS_A
                                                                                                                                                                82AIS_TYPE_TANKER_HAZARDOUS_B
                                                                                                                                                                83AIS_TYPE_TANKER_HAZARDOUS_C
                                                                                                                                                                84AIS_TYPE_TANKER_HAZARDOUS_D
                                                                                                                                                                85AIS_TYPE_TANKER_RESERVED_1
                                                                                                                                                                86AIS_TYPE_TANKER_RESERVED_2
                                                                                                                                                                87AIS_TYPE_TANKER_RESERVED_3
                                                                                                                                                                88AIS_TYPE_TANKER_RESERVED_4
                                                                                                                                                                89AIS_TYPE_TANKER_UNKNOWN
                                                                                                                                                                90AIS_TYPE_OTHER
                                                                                                                                                                91AIS_TYPE_OTHER_HAZARDOUS_A
                                                                                                                                                                92AIS_TYPE_OTHER_HAZARDOUS_B
                                                                                                                                                                93AIS_TYPE_OTHER_HAZARDOUS_C
                                                                                                                                                                94AIS_TYPE_OTHER_HAZARDOUS_D
                                                                                                                                                                95AIS_TYPE_OTHER_RESERVED_1
                                                                                                                                                                96AIS_TYPE_OTHER_RESERVED_2
                                                                                                                                                                97AIS_TYPE_OTHER_RESERVED_3
                                                                                                                                                                98AIS_TYPE_OTHER_RESERVED_4
                                                                                                                                                                99AIS_TYPE_OTHER_UNKNOWN

                                                                                                                                                                AIS_NAV_STATUS

                                                                                                                                                                Navigational status of AIS vessel, enum duplicated from AIS standard, https://gpsd.gitlab.io/gpsd/AIVDM.html

                                                                                                                                                                ValueNameDescription
                                                                                                                                                                0UNDER_WAYUnder way using engine.
                                                                                                                                                                1AIS_NAV_ANCHORED
                                                                                                                                                                2AIS_NAV_UN_COMMANDED
                                                                                                                                                                3AIS_NAV_RESTRICTED_MANOEUVERABILITY
                                                                                                                                                                4AIS_NAV_DRAUGHT_CONSTRAINED
                                                                                                                                                                5AIS_NAV_MOORED
                                                                                                                                                                6AIS_NAV_AGROUND
                                                                                                                                                                7AIS_NAV_FISHING
                                                                                                                                                                8AIS_NAV_SAILING
                                                                                                                                                                9AIS_NAV_RESERVED_HSC
                                                                                                                                                                10AIS_NAV_RESERVED_WIG
                                                                                                                                                                11AIS_NAV_RESERVED_1
                                                                                                                                                                12AIS_NAV_RESERVED_2
                                                                                                                                                                13AIS_NAV_RESERVED_3
                                                                                                                                                                14AIS_NAV_AIS_SARTSearch And Rescue Transponder.
                                                                                                                                                                15AIS_NAV_UNKNOWNNot available (default).

                                                                                                                                                                AIS_FLAGS

                                                                                                                                                                (Bitmask) These flags are used in the AIS_VESSEL.fields bitmask to indicate validity of data in the other message fields. When set, the data is valid.

                                                                                                                                                                ValueNameDescription
                                                                                                                                                                1AIS_FLAGS_POSITION_ACCURACY1 = Position accuracy less than 10m, 0 = position accuracy greater than 10m.
                                                                                                                                                                2AIS_FLAGS_VALID_COG
                                                                                                                                                                4AIS_FLAGS_VALID_VELOCITY
                                                                                                                                                                8AIS_FLAGS_HIGH_VELOCITY1 = Velocity over 52.5765m/s (102.2 knots)
                                                                                                                                                                16AIS_FLAGS_VALID_TURN_RATE
                                                                                                                                                                32AIS_FLAGS_TURN_RATE_SIGN_ONLYOnly the sign of the returned turn rate value is valid, either greater than 5deg/30s or less than -5deg/30s
                                                                                                                                                                64AIS_FLAGS_VALID_DIMENSIONS
                                                                                                                                                                128AIS_FLAGS_LARGE_BOW_DIMENSIONDistance to bow is larger than 511m
                                                                                                                                                                256AIS_FLAGS_LARGE_STERN_DIMENSIONDistance to stern is larger than 511m
                                                                                                                                                                512AIS_FLAGS_LARGE_PORT_DIMENSIONDistance to port side is larger than 63m
                                                                                                                                                                1024AIS_FLAGS_LARGE_STARBOARD_DIMENSIONDistance to starboard side is larger than 63m
                                                                                                                                                                2048AIS_FLAGS_VALID_CALLSIGN
                                                                                                                                                                4096AIS_FLAGS_VALID_NAME

                                                                                                                                                                FAILURE_UNIT

                                                                                                                                                                List of possible units where failures can be injected.

                                                                                                                                                                ValueNameDescription
                                                                                                                                                                0FAILURE_UNIT_SENSOR_GYRO
                                                                                                                                                                1FAILURE_UNIT_SENSOR_ACCEL
                                                                                                                                                                2FAILURE_UNIT_SENSOR_MAG
                                                                                                                                                                3FAILURE_UNIT_SENSOR_BARO
                                                                                                                                                                4FAILURE_UNIT_SENSOR_GPS
                                                                                                                                                                5FAILURE_UNIT_SENSOR_OPTICAL_FLOW
                                                                                                                                                                6FAILURE_UNIT_SENSOR_VIO
                                                                                                                                                                7FAILURE_UNIT_SENSOR_DISTANCE_SENSOR
                                                                                                                                                                8FAILURE_UNIT_SENSOR_AIRSPEED
                                                                                                                                                                100FAILURE_UNIT_SYSTEM_BATTERY
                                                                                                                                                                101FAILURE_UNIT_SYSTEM_MOTOR
                                                                                                                                                                102FAILURE_UNIT_SYSTEM_SERVO
                                                                                                                                                                103FAILURE_UNIT_SYSTEM_AVOIDANCE
                                                                                                                                                                104FAILURE_UNIT_SYSTEM_RC_SIGNAL
                                                                                                                                                                105FAILURE_UNIT_SYSTEM_MAVLINK_SIGNAL

                                                                                                                                                                FAILURE_TYPE

                                                                                                                                                                List of possible failure type to inject.

                                                                                                                                                                ValueNameDescription
                                                                                                                                                                0FAILURE_TYPE_OKNo failure injected, used to reset a previous failure.
                                                                                                                                                                1FAILURE_TYPE_OFFSets unit off, so completely non-responsive.
                                                                                                                                                                2FAILURE_TYPE_STUCKUnit is stuck e.g. keeps reporting the same value.
                                                                                                                                                                3FAILURE_TYPE_GARBAGEUnit is reporting complete garbage.
                                                                                                                                                                4FAILURE_TYPE_WRONGUnit is consistently wrong.
                                                                                                                                                                5FAILURE_TYPE_SLOWUnit is slow, so e.g. reporting at slower than expected rate.
                                                                                                                                                                6FAILURE_TYPE_DELAYEDData of unit is delayed in time.
                                                                                                                                                                7FAILURE_TYPE_INTERMITTENTUnit is sometimes working, sometimes not.
                                                                                                                                                                ValueNameDescription
                                                                                                                                                                0NAV_VTOL_LAND_OPTIONS_DEFAULTDefault autopilot landing behaviour.
                                                                                                                                                                1NAV_VTOL_LAND_OPTIONS_FW_DESCENTDescend in fixed wing mode, transitioning to multicopter mode for vertical landing when close to the ground.
                                                                                                                                                                The fixed wing descent pattern is at the discretion of the vehicle (e.g. transition altitude, loiter direction, radius, and speed, etc.).
                                                                                                                                                                2NAV_VTOL_LAND_OPTIONS_HOVER_DESCENTLand in multicopter mode on reaching the landing coordinates (the whole landing is by "hover descent").

                                                                                                                                                                MAV_WINCH_STATUS_FLAG

                                                                                                                                                                (Bitmask) Winch status flags used in WINCH_STATUS

                                                                                                                                                                ValueNameDescription
                                                                                                                                                                1MAV_WINCH_STATUS_HEALTHYWinch is healthy
                                                                                                                                                                2MAV_WINCH_STATUS_FULLY_RETRACTEDWinch line is fully retracted
                                                                                                                                                                4MAV_WINCH_STATUS_MOVINGWinch motor is moving
                                                                                                                                                                8MAV_WINCH_STATUS_CLUTCH_ENGAGEDWinch clutch is engaged allowing motor to move freely.
                                                                                                                                                                16MAV_WINCH_STATUS_LOCKEDWinch is locked by locking mechanism.
                                                                                                                                                                32MAV_WINCH_STATUS_DROPPINGWinch is gravity dropping payload.
                                                                                                                                                                64MAV_WINCH_STATUS_ARRESTINGWinch is arresting payload descent.
                                                                                                                                                                128MAV_WINCH_STATUS_GROUND_SENSEWinch is using torque measurements to sense the ground.
                                                                                                                                                                256MAV_WINCH_STATUS_RETRACTINGWinch is returning to the fully retracted position.
                                                                                                                                                                512MAV_WINCH_STATUS_REDELIVERWinch is redelivering the payload. This is a failover state if the line tension goes above a threshold during RETRACTING.
                                                                                                                                                                1024MAV_WINCH_STATUS_ABANDON_LINEWinch is abandoning the line and possibly payload. Winch unspools the entire calculated line length. This is a failover state from REDELIVER if the number of attempts exceeds a threshold.
                                                                                                                                                                2048MAV_WINCH_STATUS_LOCKINGWinch is engaging the locking mechanism.
                                                                                                                                                                4096MAV_WINCH_STATUS_LOAD_LINEWinch is spooling on line.
                                                                                                                                                                8192MAV_WINCH_STATUS_LOAD_PAYLOADWinch is loading a payload.

                                                                                                                                                                MAG_CAL_STATUS

                                                                                                                                                                ValueNameDescription
                                                                                                                                                                0MAG_CAL_NOT_STARTED
                                                                                                                                                                1MAG_CAL_WAITING_TO_START
                                                                                                                                                                2MAG_CAL_RUNNING_STEP_ONE
                                                                                                                                                                3MAG_CAL_RUNNING_STEP_TWO
                                                                                                                                                                4MAG_CAL_SUCCESS
                                                                                                                                                                5MAG_CAL_FAILED
                                                                                                                                                                6MAG_CAL_BAD_ORIENTATION
                                                                                                                                                                7MAG_CAL_BAD_RADIUS

                                                                                                                                                                MAV_EVENT_ERROR_REASON

                                                                                                                                                                Reason for an event error response.

                                                                                                                                                                ValueNameDescription
                                                                                                                                                                0MAV_EVENT_ERROR_REASON_UNAVAILABLEThe requested event is not available (anymore).

                                                                                                                                                                MAV_EVENT_CURRENT_SEQUENCE_FLAGS

                                                                                                                                                                Flags for CURRENT_EVENT_SEQUENCE.

                                                                                                                                                                ValueNameDescription
                                                                                                                                                                1MAV_EVENT_CURRENT_SEQUENCE_FLAGS_RESETA sequence reset has happened (e.g. vehicle reboot).

                                                                                                                                                                HIL_SENSOR_UPDATED_FLAGS

                                                                                                                                                                (Bitmask) Flags in the HIL_SENSOR message indicate which fields have updated since the last message

                                                                                                                                                                ValueNameDescription
                                                                                                                                                                0HIL_SENSOR_UPDATED_NONENone of the fields in HIL_SENSOR have been updated
                                                                                                                                                                1HIL_SENSOR_UPDATED_XACCThe value in the xacc field has been updated
                                                                                                                                                                2HIL_SENSOR_UPDATED_YACCThe value in the yacc field has been updated
                                                                                                                                                                4HIL_SENSOR_UPDATED_ZACCThe value in the zacc field has been updated
                                                                                                                                                                8HIL_SENSOR_UPDATED_XGYROThe value in the xgyro field has been updated
                                                                                                                                                                16HIL_SENSOR_UPDATED_YGYROThe value in the ygyro field has been updated
                                                                                                                                                                32HIL_SENSOR_UPDATED_ZGYROThe value in the zgyro field has been updated
                                                                                                                                                                64HIL_SENSOR_UPDATED_XMAGThe value in the xmag field has been updated
                                                                                                                                                                128HIL_SENSOR_UPDATED_YMAGThe value in the ymag field has been updated
                                                                                                                                                                256HIL_SENSOR_UPDATED_ZMAGThe value in the zmag field has been updated
                                                                                                                                                                512HIL_SENSOR_UPDATED_ABS_PRESSUREThe value in the abs_pressure field has been updated
                                                                                                                                                                1024HIL_SENSOR_UPDATED_DIFF_PRESSUREThe value in the diff_pressure field has been updated
                                                                                                                                                                2048HIL_SENSOR_UPDATED_PRESSURE_ALTThe value in the pressure_alt field has been updated
                                                                                                                                                                4096HIL_SENSOR_UPDATED_TEMPERATUREThe value in the temperature field has been updated
                                                                                                                                                                2147483648HIL_SENSOR_UPDATED_RESETFull reset of attitude/position/velocities/etc was performed in sim (Bit 31).

                                                                                                                                                                HIGHRES_IMU_UPDATED_FLAGS

                                                                                                                                                                (Bitmask) Flags in the HIGHRES_IMU message indicate which fields have updated since the last message

                                                                                                                                                                ValueNameDescription
                                                                                                                                                                0HIGHRES_IMU_UPDATED_NONENone of the fields in HIGHRES_IMU have been updated
                                                                                                                                                                1HIGHRES_IMU_UPDATED_XACCThe value in the xacc field has been updated
                                                                                                                                                                2HIGHRES_IMU_UPDATED_YACCThe value in the yacc field has been updated
                                                                                                                                                                4HIGHRES_IMU_UPDATED_ZACCThe value in the zacc field has been updated since
                                                                                                                                                                8HIGHRES_IMU_UPDATED_XGYROThe value in the xgyro field has been updated
                                                                                                                                                                16HIGHRES_IMU_UPDATED_YGYROThe value in the ygyro field has been updated
                                                                                                                                                                32HIGHRES_IMU_UPDATED_ZGYROThe value in the zgyro field has been updated
                                                                                                                                                                64HIGHRES_IMU_UPDATED_XMAGThe value in the xmag field has been updated
                                                                                                                                                                128HIGHRES_IMU_UPDATED_YMAGThe value in the ymag field has been updated
                                                                                                                                                                256HIGHRES_IMU_UPDATED_ZMAGThe value in the zmag field has been updated
                                                                                                                                                                512HIGHRES_IMU_UPDATED_ABS_PRESSUREThe value in the abs_pressure field has been updated
                                                                                                                                                                1024HIGHRES_IMU_UPDATED_DIFF_PRESSUREThe value in the diff_pressure field has been updated
                                                                                                                                                                2048HIGHRES_IMU_UPDATED_PRESSURE_ALTThe value in the pressure_alt field has been updated
                                                                                                                                                                4096HIGHRES_IMU_UPDATED_TEMPERATUREThe value in the temperature field has been updated
                                                                                                                                                                65535HIGHRES_IMU_UPDATED_ALLAll fields in HIGHRES_IMU have been updated.

                                                                                                                                                                CAN_FILTER_OP

                                                                                                                                                                ValueNameDescription
                                                                                                                                                                0CAN_FILTER_REPLACE
                                                                                                                                                                1CAN_FILTER_ADD
                                                                                                                                                                2CAN_FILTER_REMOVE

                                                                                                                                                                MAV_FTP_ERR

                                                                                                                                                                MAV FTP error codes (https://mavlink.io/en/services/ftp.html)

                                                                                                                                                                ValueNameDescription
                                                                                                                                                                0MAV_FTP_ERR_NONENone: No error
                                                                                                                                                                1MAV_FTP_ERR_FAILFail: Unknown failure
                                                                                                                                                                2MAV_FTP_ERR_FAILERRNOFailErrno: Command failed, Err number sent back in PayloadHeader.data[1].
                                                                                                                                                                This is a file-system error number understood by the server operating system.
                                                                                                                                                                3MAV_FTP_ERR_INVALIDDATASIZEInvalidDataSize: Payload size is invalid
                                                                                                                                                                4MAV_FTP_ERR_INVALIDSESSIONInvalidSession: Session is not currently open
                                                                                                                                                                5MAV_FTP_ERR_NOSESSIONSAVAILABLENoSessionsAvailable: All available sessions are already in use
                                                                                                                                                                6MAV_FTP_ERR_EOFEOF: Offset past end of file for ListDirectory and ReadFile commands
                                                                                                                                                                7MAV_FTP_ERR_UNKNOWNCOMMANDUnknownCommand: Unknown command / opcode
                                                                                                                                                                8MAV_FTP_ERR_FILEEXISTSFileExists: File/directory already exists
                                                                                                                                                                9MAV_FTP_ERR_FILEPROTECTEDFileProtected: File/directory is write protected
                                                                                                                                                                10MAV_FTP_ERR_FILENOTFOUNDFileNotFound: File/directory not found

                                                                                                                                                                MAV_FTP_OPCODE

                                                                                                                                                                MAV FTP opcodes: https://mavlink.io/en/services/ftp.html

                                                                                                                                                                ValueNameDescription
                                                                                                                                                                0MAV_FTP_OPCODE_NONENone. Ignored, always ACKed
                                                                                                                                                                1MAV_FTP_OPCODE_TERMINATESESSIONTerminateSession: Terminates open Read session
                                                                                                                                                                2MAV_FTP_OPCODE_RESETSESSIONResetSessions: Terminates all open read sessions
                                                                                                                                                                3MAV_FTP_OPCODE_LISTDIRECTORYListDirectory. List files and directories in path from offset
                                                                                                                                                                4MAV_FTP_OPCODE_OPENFILEROOpenFileRO: Opens file at path for reading, returns session
                                                                                                                                                                5MAV_FTP_OPCODE_READFILEReadFile: Reads size bytes from offset in session
                                                                                                                                                                6MAV_FTP_OPCODE_CREATEFILECreateFile: Creates file at path for writing, returns session
                                                                                                                                                                7MAV_FTP_OPCODE_WRITEFILEWriteFile: Writes size bytes to offset in session
                                                                                                                                                                8MAV_FTP_OPCODE_REMOVEFILERemoveFile: Remove file at path
                                                                                                                                                                9MAV_FTP_OPCODE_CREATEDIRECTORYCreateDirectory: Creates directory at path
                                                                                                                                                                10MAV_FTP_OPCODE_REMOVEDIRECTORYRemoveDirectory: Removes directory at path. The directory must be empty.
                                                                                                                                                                11MAV_FTP_OPCODE_OPENFILEWOOpenFileWO: Opens file at path for writing, returns session
                                                                                                                                                                12MAV_FTP_OPCODE_TRUNCATEFILETruncateFile: Truncate file at path to offset length
                                                                                                                                                                13MAV_FTP_OPCODE_RENAMERename: Rename path1 to path2
                                                                                                                                                                14MAV_FTP_OPCODE_CALCFILECRCCalcFileCRC32: Calculate CRC32 for file at path
                                                                                                                                                                15MAV_FTP_OPCODE_BURSTREADFILEBurstReadFile: Burst download session file
                                                                                                                                                                128MAV_FTP_OPCODE_ACKACK: ACK response
                                                                                                                                                                129MAV_FTP_OPCODE_NAKNAK: NAK response

                                                                                                                                                                MISSION_STATE

                                                                                                                                                                States of the mission state machine. Note that these states are independent of whether the mission is in a mode that can execute mission items or not (is suspended). They may not all be relevant on all vehicles.

                                                                                                                                                                ValueNameDescription
                                                                                                                                                                0MISSION_STATE_UNKNOWNThe mission status reporting is not supported.
                                                                                                                                                                1MISSION_STATE_NO_MISSIONNo mission on the vehicle.
                                                                                                                                                                2MISSION_STATE_NOT_STARTEDMission has not started. This is the case after a mission has uploaded but not yet started executing.
                                                                                                                                                                3MISSION_STATE_ACTIVEMission is active, and will execute mission items when in auto mode.
                                                                                                                                                                4MISSION_STATE_PAUSEDMission is paused when in auto mode.
                                                                                                                                                                5MISSION_STATE_COMPLETEMission has executed all mission items.

                                                                                                                                                                SAFETY_SWITCH_STATE

                                                                                                                                                                Possible safety switch states.

                                                                                                                                                                ValueNameDescription
                                                                                                                                                                0SAFETY_SWITCH_STATE_SAFESafety switch is engaged and vehicle should be safe to approach.
                                                                                                                                                                1SAFETY_SWITCH_STATE_DANGEROUSSafety switch is NOT engaged and motors, propellers and other actuators should be considered active.

                                                                                                                                                                ILLUMINATOR_MODE

                                                                                                                                                                Modes of illuminator

                                                                                                                                                                ValueNameDescription
                                                                                                                                                                0ILLUMINATOR_MODE_UNKNOWNIlluminator mode is not specified/unknown
                                                                                                                                                                1ILLUMINATOR_MODE_INTERNAL_CONTROLIlluminator behavior is controlled by MAV_CMD_DO_ILLUMINATOR_CONFIGURE settings
                                                                                                                                                                2ILLUMINATOR_MODE_EXTERNAL_SYNCIlluminator behavior is controlled by external factors: e.g. an external hardware signal

                                                                                                                                                                ILLUMINATOR_ERROR_FLAGS

                                                                                                                                                                (Bitmask) Illuminator module error flags (bitmap, 0 means no error)

                                                                                                                                                                ValueNameDescription
                                                                                                                                                                1ILLUMINATOR_ERROR_FLAGS_THERMAL_THROTTLINGIlluminator thermal throttling error.
                                                                                                                                                                2ILLUMINATOR_ERROR_FLAGS_OVER_TEMPERATURE_SHUTDOWNIlluminator over temperature shutdown error.
                                                                                                                                                                4ILLUMINATOR_ERROR_FLAGS_THERMISTOR_FAILUREIlluminator thermistor failure.

                                                                                                                                                                MAV_AUTOPILOT — [from: minimal]

                                                                                                                                                                Micro air vehicle / autopilot classes. This identifies the individual model.

                                                                                                                                                                ValueNameDescription
                                                                                                                                                                0MAV_AUTOPILOT_GENERICGeneric autopilot, full support for everything
                                                                                                                                                                1MAV_AUTOPILOT_RESERVEDReserved for future use.
                                                                                                                                                                2MAV_AUTOPILOT_SLUGSSLUGS autopilot, http://slugsuav.soe.ucsc.edu
                                                                                                                                                                3MAV_AUTOPILOT_ARDUPILOTMEGAArduPilot - Plane/Copter/Rover/Sub/Tracker, https://ardupilot.org
                                                                                                                                                                4MAV_AUTOPILOT_OPENPILOTOpenPilot, http://openpilot.org
                                                                                                                                                                5MAV_AUTOPILOT_GENERIC_WAYPOINTS_ONLYGeneric autopilot only supporting simple waypoints
                                                                                                                                                                6MAV_AUTOPILOT_GENERIC_WAYPOINTS_AND_SIMPLE_NAVIGATION_ONLYGeneric autopilot supporting waypoints and other simple navigation commands
                                                                                                                                                                7MAV_AUTOPILOT_GENERIC_MISSION_FULLGeneric autopilot supporting the full mission command set
                                                                                                                                                                8MAV_AUTOPILOT_INVALIDNo valid autopilot, e.g. a GCS or other MAVLink component
                                                                                                                                                                9MAV_AUTOPILOT_PPZPPZ UAV - http://nongnu.org/paparazzi
                                                                                                                                                                10MAV_AUTOPILOT_UDBUAV Dev Board
                                                                                                                                                                11MAV_AUTOPILOT_FPFlexiPilot
                                                                                                                                                                12MAV_AUTOPILOT_PX4PX4 Autopilot - http://px4.io/
                                                                                                                                                                13MAV_AUTOPILOT_SMACCMPILOTSMACCMPilot - http://smaccmpilot.org
                                                                                                                                                                14MAV_AUTOPILOT_AUTOQUADAutoQuad -- http://autoquad.org
                                                                                                                                                                15MAV_AUTOPILOT_ARMAZILAArmazila -- http://armazila.com
                                                                                                                                                                16MAV_AUTOPILOT_AEROBAerob -- http://aerob.ru
                                                                                                                                                                17MAV_AUTOPILOT_ASLUAVASLUAV autopilot -- http://www.asl.ethz.ch
                                                                                                                                                                18MAV_AUTOPILOT_SMARTAPSmartAP Autopilot - http://sky-drones.com
                                                                                                                                                                19MAV_AUTOPILOT_AIRRAILSAirRails - http://uaventure.com
                                                                                                                                                                20MAV_AUTOPILOT_REFLEXFusion Reflex - https://fusion.engineering

                                                                                                                                                                MAV_TYPE — [from: minimal]

                                                                                                                                                                MAVLINK component type reported in HEARTBEAT message. Flight controllers must report the type of the vehicle on which they are mounted (e.g. MAV_TYPE_OCTOROTOR). All other components must report a value appropriate for their type (e.g. a camera must use MAV_TYPE_CAMERA).

                                                                                                                                                                ValueNameDescription
                                                                                                                                                                0MAV_TYPE_GENERICGeneric micro air vehicle
                                                                                                                                                                1MAV_TYPE_FIXED_WINGFixed wing aircraft.
                                                                                                                                                                2MAV_TYPE_QUADROTORQuadrotor
                                                                                                                                                                3MAV_TYPE_COAXIALCoaxial helicopter
                                                                                                                                                                4MAV_TYPE_HELICOPTERNormal helicopter with tail rotor.
                                                                                                                                                                5MAV_TYPE_ANTENNA_TRACKERGround installation
                                                                                                                                                                6MAV_TYPE_GCSOperator control unit / ground control station
                                                                                                                                                                7MAV_TYPE_AIRSHIPAirship, controlled
                                                                                                                                                                8MAV_TYPE_FREE_BALLOONFree balloon, uncontrolled
                                                                                                                                                                9MAV_TYPE_ROCKETRocket
                                                                                                                                                                10MAV_TYPE_GROUND_ROVERGround rover
                                                                                                                                                                11MAV_TYPE_SURFACE_BOATSurface vessel, boat, ship
                                                                                                                                                                12MAV_TYPE_SUBMARINESubmarine
                                                                                                                                                                13MAV_TYPE_HEXAROTORHexarotor
                                                                                                                                                                14MAV_TYPE_OCTOROTOROctorotor
                                                                                                                                                                15MAV_TYPE_TRICOPTERTricopter
                                                                                                                                                                16MAV_TYPE_FLAPPING_WINGFlapping wing
                                                                                                                                                                17MAV_TYPE_KITEKite
                                                                                                                                                                18MAV_TYPE_ONBOARD_CONTROLLEROnboard companion controller
                                                                                                                                                                19MAV_TYPE_VTOL_TAILSITTER_DUOROTORTwo-rotor Tailsitter VTOL that additionally uses control surfaces in vertical operation. Note, value previously named MAV_TYPE_VTOL_DUOROTOR.
                                                                                                                                                                20MAV_TYPE_VTOL_TAILSITTER_QUADROTORQuad-rotor Tailsitter VTOL using a V-shaped quad config in vertical operation. Note: value previously named MAV_TYPE_VTOL_QUADROTOR.
                                                                                                                                                                21MAV_TYPE_VTOL_TILTROTORTiltrotor VTOL. Fuselage and wings stay (nominally) horizontal in all flight phases. It able to tilt (some) rotors to provide thrust in cruise flight.
                                                                                                                                                                22MAV_TYPE_VTOL_FIXEDROTORVTOL with separate fixed rotors for hover and cruise flight. Fuselage and wings stay (nominally) horizontal in all flight phases.
                                                                                                                                                                23MAV_TYPE_VTOL_TAILSITTERTailsitter VTOL. Fuselage and wings orientation changes depending on flight phase: vertical for hover, horizontal for cruise. Use more specific VTOL MAV_TYPE_VTOL_TAILSITTER_DUOROTOR or MAV_TYPE_VTOL_TAILSITTER_QUADROTOR if appropriate.
                                                                                                                                                                24MAV_TYPE_VTOL_TILTWINGTiltwing VTOL. Fuselage stays horizontal in all flight phases. The whole wing, along with any attached engine, can tilt between vertical and horizontal mode.
                                                                                                                                                                25MAV_TYPE_VTOL_RESERVED5VTOL reserved 5
                                                                                                                                                                26MAV_TYPE_GIMBALGimbal
                                                                                                                                                                27MAV_TYPE_ADSBADSB system
                                                                                                                                                                28MAV_TYPE_PARAFOILSteerable, nonrigid airfoil
                                                                                                                                                                29MAV_TYPE_DODECAROTORDodecarotor
                                                                                                                                                                30MAV_TYPE_CAMERACamera
                                                                                                                                                                31MAV_TYPE_CHARGING_STATIONCharging station
                                                                                                                                                                32MAV_TYPE_FLARMFLARM collision avoidance system
                                                                                                                                                                33MAV_TYPE_SERVOServo
                                                                                                                                                                34MAV_TYPE_ODIDOpen Drone ID. See https://mavlink.io/en/services/opendroneid.html.
                                                                                                                                                                35MAV_TYPE_DECAROTORDecarotor
                                                                                                                                                                36MAV_TYPE_BATTERYBattery
                                                                                                                                                                37MAV_TYPE_PARACHUTEParachute
                                                                                                                                                                38MAV_TYPE_LOGLog
                                                                                                                                                                39MAV_TYPE_OSDOSD
                                                                                                                                                                40MAV_TYPE_IMUIMU
                                                                                                                                                                41MAV_TYPE_GPSGPS
                                                                                                                                                                42MAV_TYPE_WINCHWinch
                                                                                                                                                                43MAV_TYPE_GENERIC_MULTIROTORGeneric multirotor that does not fit into a specific type or whose type is unknown
                                                                                                                                                                44MAV_TYPE_ILLUMINATORIlluminator. An illuminator is a light source that is used for lighting up dark areas external to the sytstem: e.g. a torch or searchlight (as opposed to a light source for illuminating the system itself, e.g. an indicator light).

                                                                                                                                                                MAV_MODE_FLAG — [from: minimal]

                                                                                                                                                                (Bitmask) These flags encode the MAV mode.

                                                                                                                                                                ValueNameDescription
                                                                                                                                                                1MAV_MODE_FLAG_CUSTOM_MODE_ENABLED0b00000001 Reserved for future use.
                                                                                                                                                                2MAV_MODE_FLAG_TEST_ENABLED0b00000010 system has a test mode enabled. This flag is intended for temporary system tests and should not be used for stable implementations.
                                                                                                                                                                4MAV_MODE_FLAG_AUTO_ENABLED0b00000100 autonomous mode enabled, system finds its own goal positions. Guided flag can be set or not, depends on the actual implementation.
                                                                                                                                                                8MAV_MODE_FLAG_GUIDED_ENABLED0b00001000 guided mode enabled, system flies waypoints / mission items.
                                                                                                                                                                16MAV_MODE_FLAG_STABILIZE_ENABLED0b00010000 system stabilizes electronically its attitude (and optionally position). It needs however further control inputs to move around.
                                                                                                                                                                32MAV_MODE_FLAG_HIL_ENABLED0b00100000 hardware in the loop simulation. All motors / actuators are blocked, but internal software is full operational.
                                                                                                                                                                64MAV_MODE_FLAG_MANUAL_INPUT_ENABLED0b01000000 remote control input is enabled.
                                                                                                                                                                128MAV_MODE_FLAG_SAFETY_ARMED0b10000000 MAV safety set to armed. Motors are enabled / running / can start. Ready to fly. Additional note: this flag is to be ignore when sent in the command MAV_CMD_DO_SET_MODE and MAV_CMD_COMPONENT_ARM_DISARM shall be used instead. The flag can still be used to report the armed state.

                                                                                                                                                                MAV_MODE_FLAG_DECODE_POSITION — [from: minimal]

                                                                                                                                                                (Bitmask) These values encode the bit positions of the decode position. These values can be used to read the value of a flag bit by combining the base_mode variable with AND with the flag position value. The result will be either 0 or 1, depending on if the flag is set or not.

                                                                                                                                                                ValueNameDescription
                                                                                                                                                                1MAV_MODE_FLAG_DECODE_POSITION_CUSTOM_MODEEighth bit: 00000001
                                                                                                                                                                2MAV_MODE_FLAG_DECODE_POSITION_TESTSeventh bit: 00000010
                                                                                                                                                                4MAV_MODE_FLAG_DECODE_POSITION_AUTOSixth bit: 00000100
                                                                                                                                                                8MAV_MODE_FLAG_DECODE_POSITION_GUIDEDFifth bit: 00001000
                                                                                                                                                                16MAV_MODE_FLAG_DECODE_POSITION_STABILIZEFourth bit: 00010000
                                                                                                                                                                32MAV_MODE_FLAG_DECODE_POSITION_HILThird bit: 00100000
                                                                                                                                                                64MAV_MODE_FLAG_DECODE_POSITION_MANUALSecond bit: 01000000
                                                                                                                                                                128MAV_MODE_FLAG_DECODE_POSITION_SAFETYFirst bit: 10000000

                                                                                                                                                                MAV_STATE — [from: minimal]

                                                                                                                                                                ValueNameDescription
                                                                                                                                                                0MAV_STATE_UNINITUninitialized system, state is unknown.
                                                                                                                                                                1MAV_STATE_BOOTSystem is booting up.
                                                                                                                                                                2MAV_STATE_CALIBRATINGSystem is calibrating and not flight-ready.
                                                                                                                                                                3MAV_STATE_STANDBYSystem is grounded and on standby. It can be launched any time.
                                                                                                                                                                4MAV_STATE_ACTIVESystem is active and might be already airborne. Motors are engaged.
                                                                                                                                                                5MAV_STATE_CRITICALSystem is in a non-normal flight mode (failsafe). It can however still navigate.
                                                                                                                                                                6MAV_STATE_EMERGENCYSystem is in a non-normal flight mode (failsafe). It lost control over parts or over the whole airframe. It is in mayday and going down.
                                                                                                                                                                7MAV_STATE_POWEROFFSystem just initialized its power-down sequence, will shut down now.
                                                                                                                                                                8MAV_STATE_FLIGHT_TERMINATIONSystem is terminating itself (failsafe or commanded).

                                                                                                                                                                MAV_COMPONENT — [from: minimal]

                                                                                                                                                                Component ids (values) for the different types and instances of onboard hardware/software that might make up a MAVLink system (autopilot, cameras, servos, GPS systems, avoidance systems etc.).

                                                                                                                                                                Components must use the appropriate ID in their source address when sending messages. Components can also use IDs to determine if they are the intended recipient of an incoming message. The MAV_COMP_ID_ALL value is used to indicate messages that must be processed by all components. When creating new entries, components that can have multiple instances (e.g. cameras, servos etc.) should be allocated sequential values. An appropriate number of values should be left free after these components to allow the number of instances to be expanded.

                                                                                                                                                                ValueNameDescription
                                                                                                                                                                0MAV_COMP_ID_ALLTarget id (target_component) used to broadcast messages to all components of the receiving system. Components should attempt to process messages with this component ID and forward to components on any other interfaces. Note: This is not a valid source component id for a message.
                                                                                                                                                                1MAV_COMP_ID_AUTOPILOT1System flight controller component ("autopilot"). Only one autopilot is expected in a particular system.
                                                                                                                                                                25MAV_COMP_ID_USER1Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                26MAV_COMP_ID_USER2Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                27MAV_COMP_ID_USER3Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                28MAV_COMP_ID_USER4Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                29MAV_COMP_ID_USER5Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                30MAV_COMP_ID_USER6Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                31MAV_COMP_ID_USER7Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                32MAV_COMP_ID_USER8Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                33MAV_COMP_ID_USER9Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                34MAV_COMP_ID_USER10Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                35MAV_COMP_ID_USER11Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                36MAV_COMP_ID_USER12Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                37MAV_COMP_ID_USER13Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                38MAV_COMP_ID_USER14Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                39MAV_COMP_ID_USER15Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                40MAV_COMP_ID_USER16Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                41MAV_COMP_ID_USER17Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                42MAV_COMP_ID_USER18Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                43MAV_COMP_ID_USER19Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                44MAV_COMP_ID_USER20Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                45MAV_COMP_ID_USER21Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                46MAV_COMP_ID_USER22Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                47MAV_COMP_ID_USER23Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                48MAV_COMP_ID_USER24Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                49MAV_COMP_ID_USER25Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                50MAV_COMP_ID_USER26Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                51MAV_COMP_ID_USER27Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                52MAV_COMP_ID_USER28Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                53MAV_COMP_ID_USER29Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                54MAV_COMP_ID_USER30Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                55MAV_COMP_ID_USER31Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                56MAV_COMP_ID_USER32Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                57MAV_COMP_ID_USER33Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                58MAV_COMP_ID_USER34Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                59MAV_COMP_ID_USER35Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                60MAV_COMP_ID_USER36Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                61MAV_COMP_ID_USER37Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                62MAV_COMP_ID_USER38Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                63MAV_COMP_ID_USER39Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                64MAV_COMP_ID_USER40Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                65MAV_COMP_ID_USER41Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                66MAV_COMP_ID_USER42Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                67MAV_COMP_ID_USER43Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                68MAV_COMP_ID_TELEMETRY_RADIOTelemetry radio (e.g. SiK radio, or other component that emits RADIO_STATUS messages).
                                                                                                                                                                69MAV_COMP_ID_USER45Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                70MAV_COMP_ID_USER46Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                71MAV_COMP_ID_USER47Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                72MAV_COMP_ID_USER48Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                73MAV_COMP_ID_USER49Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                74MAV_COMP_ID_USER50Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                75MAV_COMP_ID_USER51Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                76MAV_COMP_ID_USER52Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                77MAV_COMP_ID_USER53Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                78MAV_COMP_ID_USER54Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                79MAV_COMP_ID_USER55Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                80MAV_COMP_ID_USER56Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                81MAV_COMP_ID_USER57Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                82MAV_COMP_ID_USER58Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                83MAV_COMP_ID_USER59Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                84MAV_COMP_ID_USER60Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                85MAV_COMP_ID_USER61Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                86MAV_COMP_ID_USER62Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                87MAV_COMP_ID_USER63Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                88MAV_COMP_ID_USER64Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                89MAV_COMP_ID_USER65Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                90MAV_COMP_ID_USER66Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                91MAV_COMP_ID_USER67Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                92MAV_COMP_ID_USER68Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                93MAV_COMP_ID_USER69Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                94MAV_COMP_ID_USER70Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                95MAV_COMP_ID_USER71Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                96MAV_COMP_ID_USER72Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                97MAV_COMP_ID_USER73Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                98MAV_COMP_ID_USER74Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                99MAV_COMP_ID_USER75Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                100MAV_COMP_ID_CAMERACamera #1.
                                                                                                                                                                101MAV_COMP_ID_CAMERA2Camera #2.
                                                                                                                                                                102MAV_COMP_ID_CAMERA3Camera #3.
                                                                                                                                                                103MAV_COMP_ID_CAMERA4Camera #4.
                                                                                                                                                                104MAV_COMP_ID_CAMERA5Camera #5.
                                                                                                                                                                105MAV_COMP_ID_CAMERA6Camera #6.
                                                                                                                                                                140MAV_COMP_ID_SERVO1Servo #1.
                                                                                                                                                                141MAV_COMP_ID_SERVO2Servo #2.
                                                                                                                                                                142MAV_COMP_ID_SERVO3Servo #3.
                                                                                                                                                                143MAV_COMP_ID_SERVO4Servo #4.
                                                                                                                                                                144MAV_COMP_ID_SERVO5Servo #5.
                                                                                                                                                                145MAV_COMP_ID_SERVO6Servo #6.
                                                                                                                                                                146MAV_COMP_ID_SERVO7Servo #7.
                                                                                                                                                                147MAV_COMP_ID_SERVO8Servo #8.
                                                                                                                                                                148MAV_COMP_ID_SERVO9Servo #9.
                                                                                                                                                                149MAV_COMP_ID_SERVO10Servo #10.
                                                                                                                                                                150MAV_COMP_ID_SERVO11Servo #11.
                                                                                                                                                                151MAV_COMP_ID_SERVO12Servo #12.
                                                                                                                                                                152MAV_COMP_ID_SERVO13Servo #13.
                                                                                                                                                                153MAV_COMP_ID_SERVO14Servo #14.
                                                                                                                                                                154MAV_COMP_ID_GIMBALGimbal #1.
                                                                                                                                                                155MAV_COMP_ID_LOGLogging component.
                                                                                                                                                                156MAV_COMP_ID_ADSBAutomatic Dependent Surveillance-Broadcast (ADS-B) component.
                                                                                                                                                                157MAV_COMP_ID_OSDOn Screen Display (OSD) devices for video links.
                                                                                                                                                                158MAV_COMP_ID_PERIPHERALGeneric autopilot peripheral component ID. Meant for devices that do not implement the parameter microservice.
                                                                                                                                                                159MAV_COMP_ID_QX1_GIMBALGimbal ID for QX1.DEPRECATED: Replaced By MAV_COMP_ID_GIMBAL (2018-11) — All gimbals should use MAV_COMP_ID_GIMBAL.)
                                                                                                                                                                160MAV_COMP_ID_FLARMFLARM collision alert component.
                                                                                                                                                                161MAV_COMP_ID_PARACHUTEParachute component.
                                                                                                                                                                169MAV_COMP_ID_WINCHWinch component.
                                                                                                                                                                171MAV_COMP_ID_GIMBAL2Gimbal #2.
                                                                                                                                                                172MAV_COMP_ID_GIMBAL3Gimbal #3.
                                                                                                                                                                173MAV_COMP_ID_GIMBAL4Gimbal #4
                                                                                                                                                                174MAV_COMP_ID_GIMBAL5Gimbal #5.
                                                                                                                                                                175MAV_COMP_ID_GIMBAL6Gimbal #6.
                                                                                                                                                                180MAV_COMP_ID_BATTERYBattery #1.
                                                                                                                                                                181MAV_COMP_ID_BATTERY2Battery #2.
                                                                                                                                                                189MAV_COMP_ID_MAVCANCAN over MAVLink client.
                                                                                                                                                                190MAV_COMP_ID_MISSIONPLANNERComponent that can generate/supply a mission flight plan (e.g. GCS or developer API).
                                                                                                                                                                191MAV_COMP_ID_ONBOARD_COMPUTERComponent that lives on the onboard computer (companion computer) and has some generic functionalities, such as settings system parameters and monitoring the status of some processes that don't directly speak mavlink and so on.
                                                                                                                                                                192MAV_COMP_ID_ONBOARD_COMPUTER2Component that lives on the onboard computer (companion computer) and has some generic functionalities, such as settings system parameters and monitoring the status of some processes that don't directly speak mavlink and so on.
                                                                                                                                                                193MAV_COMP_ID_ONBOARD_COMPUTER3Component that lives on the onboard computer (companion computer) and has some generic functionalities, such as settings system parameters and monitoring the status of some processes that don't directly speak mavlink and so on.
                                                                                                                                                                194MAV_COMP_ID_ONBOARD_COMPUTER4Component that lives on the onboard computer (companion computer) and has some generic functionalities, such as settings system parameters and monitoring the status of some processes that don't directly speak mavlink and so on.
                                                                                                                                                                195MAV_COMP_ID_PATHPLANNERComponent that finds an optimal path between points based on a certain constraint (e.g. minimum snap, shortest path, cost, etc.).
                                                                                                                                                                196MAV_COMP_ID_OBSTACLE_AVOIDANCEComponent that plans a collision free path between two points.
                                                                                                                                                                197MAV_COMP_ID_VISUAL_INERTIAL_ODOMETRYComponent that provides position estimates using VIO techniques.
                                                                                                                                                                198MAV_COMP_ID_PAIRING_MANAGERComponent that manages pairing of vehicle and GCS.
                                                                                                                                                                200MAV_COMP_ID_IMUInertial Measurement Unit (IMU) #1.
                                                                                                                                                                201MAV_COMP_ID_IMU_2Inertial Measurement Unit (IMU) #2.
                                                                                                                                                                202MAV_COMP_ID_IMU_3Inertial Measurement Unit (IMU) #3.
                                                                                                                                                                220MAV_COMP_ID_GPSGPS #1.
                                                                                                                                                                221MAV_COMP_ID_GPS2GPS #2.
                                                                                                                                                                236MAV_COMP_ID_ODID_TXRX_1Open Drone ID transmitter/receiver (Bluetooth/WiFi/Internet).
                                                                                                                                                                237MAV_COMP_ID_ODID_TXRX_2Open Drone ID transmitter/receiver (Bluetooth/WiFi/Internet).
                                                                                                                                                                238MAV_COMP_ID_ODID_TXRX_3Open Drone ID transmitter/receiver (Bluetooth/WiFi/Internet).
                                                                                                                                                                240MAV_COMP_ID_UDP_BRIDGEComponent to bridge MAVLink to UDP (i.e. from a UART).
                                                                                                                                                                241MAV_COMP_ID_UART_BRIDGEComponent to bridge to UART (i.e. from UDP).
                                                                                                                                                                242MAV_COMP_ID_TUNNEL_NODEComponent handling TUNNEL messages (e.g. vendor specific GUI of a component).
                                                                                                                                                                243MAV_COMP_ID_ILLUMINATORIlluminator
                                                                                                                                                                250MAV_COMP_ID_SYSTEM_CONTROLDeprecated, don't use. Component for handling system messages (e.g. to ARM, takeoff, etc.).DEPRECATED: Replaced By MAV_COMP_ID_ALL (2018-11) — System control does not require a separate component ID. Instead, system commands should be sent with target_component=MAV_COMP_ID_ALL allowing the target component to use any appropriate component id.)

                                                                                                                                                                Commands (MAV_CMD)

                                                                                                                                                                MAV_CMD_NAV_WAYPOINT (16)

                                                                                                                                                                Navigate to waypoint. This is intended for use in missions (for guided commands outside of missions use MAV_CMD_DO_REPOSITION).

                                                                                                                                                                Param (Label)DescriptionValuesUnits
                                                                                                                                                                1 (Hold)Hold time. (ignored by fixed wing, time to stay at waypoint for rotary wing)min: 0s
                                                                                                                                                                2 (Accept Radius)Acceptance radius (if the sphere with this radius is hit, the waypoint counts as reached)min: 0m
                                                                                                                                                                3 (Pass Radius)0 to pass through the WP, if > 0 radius to pass by WP. Positive value for clockwise orbit, negative value for counter-clockwise orbit. Allows trajectory control.m
                                                                                                                                                                4 (Yaw)Desired yaw angle at waypoint (rotary wing). NaN to use the current system yaw heading mode (e.g. yaw towards next waypoint, yaw to home, etc.).deg
                                                                                                                                                                5 (Latitude)Latitude
                                                                                                                                                                6 (Longitude)Longitude
                                                                                                                                                                7 (Altitude)Altitudem

                                                                                                                                                                MAV_CMD_NAV_LOITER_UNLIM (17)

                                                                                                                                                                Loiter around this waypoint an unlimited amount of time

                                                                                                                                                                Param (Label)DescriptionUnits
                                                                                                                                                                1Empty
                                                                                                                                                                2Empty
                                                                                                                                                                3 (Radius)Loiter radius around waypoint for forward-only moving vehicles (not multicopters). If positive loiter clockwise, else counter-clockwisem
                                                                                                                                                                4 (Yaw)Desired yaw angle. NaN to use the current system yaw heading mode (e.g. yaw towards next waypoint, yaw to home, etc.).deg
                                                                                                                                                                5 (Latitude)Latitude
                                                                                                                                                                6 (Longitude)Longitude
                                                                                                                                                                7 (Altitude)Altitudem

                                                                                                                                                                MAV_CMD_NAV_LOITER_TURNS (18)

                                                                                                                                                                Loiter around this waypoint for X turns

                                                                                                                                                                Param (Label)DescriptionValuesUnits
                                                                                                                                                                1 (Turns)Number of turns.min: 0
                                                                                                                                                                2 (Heading Required)Leave loiter circle only once heading towards the next waypoint (0 = False)min: 0 max: 1 inc: 1
                                                                                                                                                                3 (Radius)Loiter radius around waypoint for forward-only moving vehicles (not multicopters). If positive loiter clockwise, else counter-clockwisem
                                                                                                                                                                4 (Xtrack Location)Loiter circle exit location and/or path to next waypoint ("xtrack") for forward-only moving vehicles (not multicopters). 0 for the vehicle to converge towards the center xtrack when it leaves the loiter (the line between the centers of the current and next waypoint), 1 to converge to the direct line between the location that the vehicle exits the loiter radius and the next waypoint. Otherwise the angle (in degrees) between the tangent of the loiter circle and the center xtrack at which the vehicle must leave the loiter (and converge to the center xtrack). NaN to use the current system default xtrack behaviour.
                                                                                                                                                                5 (Latitude)Latitude
                                                                                                                                                                6 (Longitude)Longitude
                                                                                                                                                                7 (Altitude)Altitudem

                                                                                                                                                                MAV_CMD_NAV_LOITER_TIME (19)

                                                                                                                                                                Loiter at the specified latitude, longitude and altitude for a certain amount of time. Multicopter vehicles stop at the point (within a vehicle-specific acceptance radius). Forward-only moving vehicles (e.g. fixed-wing) circle the point with the specified radius/direction. If the Heading Required parameter (2) is non-zero forward moving aircraft will only leave the loiter circle once heading towards the next waypoint.

                                                                                                                                                                Param (Label)DescriptionValuesUnits
                                                                                                                                                                1 (Time)Loiter time (only starts once Lat, Lon and Alt is reached).min: 0s
                                                                                                                                                                2 (Heading Required)Leave loiter circle only once heading towards the next waypoint (0 = False)min: 0 max: 1 inc: 1
                                                                                                                                                                3 (Radius)Loiter radius around waypoint for forward-only moving vehicles (not multicopters). If positive loiter clockwise, else counter-clockwise.m
                                                                                                                                                                4 (Xtrack Location)Loiter circle exit location and/or path to next waypoint ("xtrack") for forward-only moving vehicles (not multicopters). 0 for the vehicle to converge towards the center xtrack when it leaves the loiter (the line between the centers of the current and next waypoint), 1 to converge to the direct line between the location that the vehicle exits the loiter radius and the next waypoint. Otherwise the angle (in degrees) between the tangent of the loiter circle and the center xtrack at which the vehicle must leave the loiter (and converge to the center xtrack). NaN to use the current system default xtrack behaviour.
                                                                                                                                                                5 (Latitude)Latitude
                                                                                                                                                                6 (Longitude)Longitude
                                                                                                                                                                7 (Altitude)Altitudem

                                                                                                                                                                MAV_CMD_NAV_RETURN_TO_LAUNCH (20)

                                                                                                                                                                Return to launch location

                                                                                                                                                                Param (Label)Description
                                                                                                                                                                1Empty
                                                                                                                                                                2Empty
                                                                                                                                                                3Empty
                                                                                                                                                                4Empty
                                                                                                                                                                5Empty
                                                                                                                                                                6Empty
                                                                                                                                                                7Empty

                                                                                                                                                                MAV_CMD_NAV_LAND (21)

                                                                                                                                                                Land at location.

                                                                                                                                                                Param (Label)DescriptionValuesUnits
                                                                                                                                                                1 (Abort Alt)Minimum target altitude if landing is aborted (0 = undefined/use system default).m
                                                                                                                                                                2 (Land Mode)Precision land mode.PRECISION_LAND_MODE
                                                                                                                                                                3Empty.
                                                                                                                                                                4 (Yaw Angle)Desired yaw angle. NaN to use the current system yaw heading mode (e.g. yaw towards next waypoint, yaw to home, etc.).deg
                                                                                                                                                                5 (Latitude)Latitude.
                                                                                                                                                                6 (Longitude)Longitude.
                                                                                                                                                                7 (Altitude)Landing altitude (ground level in current frame).m

                                                                                                                                                                MAV_CMD_NAV_TAKEOFF (22)

                                                                                                                                                                Takeoff from ground / hand. Vehicles that support multiple takeoff modes (e.g. VTOL quadplane) should take off using the currently configured mode.

                                                                                                                                                                Param (Label)DescriptionUnits
                                                                                                                                                                1 (Pitch)Minimum pitch (if airspeed sensor present), desired pitch without sensordeg
                                                                                                                                                                2Empty
                                                                                                                                                                3Empty
                                                                                                                                                                4 (Yaw)Yaw angle (if magnetometer present), ignored without magnetometer. NaN to use the current system yaw heading mode (e.g. yaw towards next waypoint, yaw to home, etc.).deg
                                                                                                                                                                5 (Latitude)Latitude
                                                                                                                                                                6 (Longitude)Longitude
                                                                                                                                                                7 (Altitude)Altitudem

                                                                                                                                                                MAV_CMD_NAV_LAND_LOCAL (23)

                                                                                                                                                                Land at local position (local frame only)

                                                                                                                                                                Param (Label)DescriptionValuesUnits
                                                                                                                                                                1 (Target)Landing target number (if available)min: 0 inc: 1
                                                                                                                                                                2 (Offset)Maximum accepted offset from desired landing position - computed magnitude from spherical coordinates: d = sqrt(x^2 + y^2 + z^2), which gives the maximum accepted distance between the desired landing position and the position where the vehicle is about to landmin: 0m
                                                                                                                                                                3 (Descend Rate)Landing descend ratem/s
                                                                                                                                                                4 (Yaw)Desired yaw anglerad
                                                                                                                                                                5 (Y Position)Y-axis positionm
                                                                                                                                                                6 (X Position)X-axis positionm
                                                                                                                                                                7 (Z Position)Z-axis / ground level positionm

                                                                                                                                                                MAV_CMD_NAV_TAKEOFF_LOCAL (24)

                                                                                                                                                                Takeoff from local position (local frame only)

                                                                                                                                                                Param (Label)DescriptionUnits
                                                                                                                                                                1 (Pitch)Minimum pitch (if airspeed sensor present), desired pitch without sensorrad
                                                                                                                                                                2Empty
                                                                                                                                                                3 (Ascend Rate)Takeoff ascend ratem/s
                                                                                                                                                                4 (Yaw)Yaw angle (if magnetometer or another yaw estimation source present), ignored without one of theserad
                                                                                                                                                                5 (Y Position)Y-axis positionm
                                                                                                                                                                6 (X Position)X-axis positionm
                                                                                                                                                                7 (Z Position)Z-axis positionm

                                                                                                                                                                MAV_CMD_NAV_FOLLOW (25)

                                                                                                                                                                Vehicle following, i.e. this waypoint represents the position of a moving vehicle

                                                                                                                                                                Param (Label)DescriptionValuesUnits
                                                                                                                                                                1 (Following)Following logic to use (e.g. loitering or sinusoidal following) - depends on specific autopilot implementationinc: 1
                                                                                                                                                                2 (Ground Speed)Ground speed of vehicle to be followedm/s
                                                                                                                                                                3 (Radius)Radius around waypoint. If positive loiter clockwise, else counter-clockwisem
                                                                                                                                                                4 (Yaw)Desired yaw angle.deg
                                                                                                                                                                5 (Latitude)Latitude
                                                                                                                                                                6 (Longitude)Longitude
                                                                                                                                                                7 (Altitude)Altitudem

                                                                                                                                                                MAV_CMD_NAV_CONTINUE_AND_CHANGE_ALT (30)

                                                                                                                                                                Continue on the current course and climb/descend to specified altitude. When the altitude is reached continue to the next command (i.e., don't proceed to the next command until the desired altitude is reached.

                                                                                                                                                                Param (Label)DescriptionValuesUnits
                                                                                                                                                                1 (Action)Climb or Descend (0 = Neutral, command completes when within 5m of this command's altitude, 1 = Climbing, command completes when at or above this command's altitude, 2 = Descending, command completes when at or below this command's altitude.min: 0 max: 2 inc: 1
                                                                                                                                                                2Empty
                                                                                                                                                                3Empty
                                                                                                                                                                4Empty
                                                                                                                                                                5Empty
                                                                                                                                                                6Empty
                                                                                                                                                                7 (Altitude)Desired altitudem

                                                                                                                                                                MAV_CMD_NAV_LOITER_TO_ALT (31)

                                                                                                                                                                Begin loiter at the specified Latitude and Longitude. If Lat=Lon=0, then loiter at the current position. Don't consider the navigation command complete (don't leave loiter) until the altitude has been reached. Additionally, if the Heading Required parameter is non-zero the aircraft will not leave the loiter until heading toward the next waypoint.

                                                                                                                                                                Param (Label)DescriptionValuesUnits
                                                                                                                                                                1 (Heading Required)Leave loiter circle only once heading towards the next waypoint (0 = False)min: 0 max: 1 inc: 1
                                                                                                                                                                2 (Radius)Loiter radius around waypoint for forward-only moving vehicles (not multicopters). If positive loiter clockwise, negative counter-clockwise, 0 means no change to standard loiter.m
                                                                                                                                                                3Empty
                                                                                                                                                                4 (Xtrack Location)Loiter circle exit location and/or path to next waypoint ("xtrack") for forward-only moving vehicles (not multicopters). 0 for the vehicle to converge towards the center xtrack when it leaves the loiter (the line between the centers of the current and next waypoint), 1 to converge to the direct line between the location that the vehicle exits the loiter radius and the next waypoint. Otherwise the angle (in degrees) between the tangent of the loiter circle and the center xtrack at which the vehicle must leave the loiter (and converge to the center xtrack). NaN to use the current system default xtrack behaviour.min: 0 max: 1 inc: 1
                                                                                                                                                                5 (Latitude)Latitude
                                                                                                                                                                6 (Longitude)Longitude
                                                                                                                                                                7 (Altitude)Altitudem

                                                                                                                                                                MAV_CMD_DO_FOLLOW (32)

                                                                                                                                                                Begin following a target

                                                                                                                                                                Param (Label)DescriptionValuesUnits
                                                                                                                                                                1 (System ID)System ID (of the FOLLOW_TARGET beacon). Send 0 to disable follow-me and return to the default position hold mode.min: 0 max: 255 inc: 1
                                                                                                                                                                2Reserved
                                                                                                                                                                3Reserved
                                                                                                                                                                4 (Altitude Mode)Altitude mode: 0: Keep current altitude, 1: keep altitude difference to target, 2: go to a fixed altitude above home.min: 0 max: 2 inc: 1
                                                                                                                                                                5 (Altitude)Altitude above home. (used if mode=2)m
                                                                                                                                                                6Reserved
                                                                                                                                                                7 (Time to Land)Time to land in which the MAV should go to the default position hold mode after a message RX timeout.min: 0s

                                                                                                                                                                MAV_CMD_DO_FOLLOW_REPOSITION (33)

                                                                                                                                                                Reposition the MAV after a follow target command has been sent

                                                                                                                                                                Param (Label)DescriptionUnits
                                                                                                                                                                1 (Camera Q1)Camera q1 (where 0 is on the ray from the camera to the tracking device)
                                                                                                                                                                2 (Camera Q2)Camera q2
                                                                                                                                                                3 (Camera Q3)Camera q3
                                                                                                                                                                4 (Camera Q4)Camera q4
                                                                                                                                                                5 (Altitude Offset)altitude offset from targetm
                                                                                                                                                                6 (X Offset)X offset from targetm
                                                                                                                                                                7 (Y Offset)Y offset from targetm

                                                                                                                                                                MAV_CMD_DO_ORBIT (34) — [WIP]

                                                                                                                                                                WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                Start orbiting on the circumference of a circle defined by the parameters. Setting values to NaN/INT32_MAX (as appropriate) results in using defaults.

                                                                                                                                                                Param (Label)DescriptionValuesUnits
                                                                                                                                                                1 (Radius)Radius of the circle. Positive: orbit clockwise. Negative: orbit counter-clockwise. NaN: Use vehicle default radius, or current radius if already orbiting.m
                                                                                                                                                                2 (Velocity)Tangential Velocity. NaN: Use vehicle default velocity, or current velocity if already orbiting.m/s
                                                                                                                                                                3 (Yaw Behavior)Yaw behavior of the vehicle.ORBIT_YAW_BEHAVIOUR
                                                                                                                                                                4 (Orbits)Orbit around the centre point for this many radians (i.e. for a three-quarter orbit set 270*Pi/180). 0: Orbit forever. NaN: Use vehicle default, or current value if already orbiting.min: 0rad
                                                                                                                                                                5 (Latitude/X)Center point latitude (if no MAV_FRAME specified) / X coordinate according to MAV_FRAME. INT32_MAX (or NaN if sent in COMMAND_LONG): Use current vehicle position, or current center if already orbiting.
                                                                                                                                                                6 (Longitude/Y)Center point longitude (if no MAV_FRAME specified) / Y coordinate according to MAV_FRAME. INT32_MAX (or NaN if sent in COMMAND_LONG): Use current vehicle position, or current center if already orbiting.
                                                                                                                                                                7 (Altitude/Z)Center point altitude (MSL) (if no MAV_FRAME specified) / Z coordinate according to MAV_FRAME. NaN: Use current vehicle altitude.

                                                                                                                                                                MAV_CMD_NAV_ROI (80) — [DEP]

                                                                                                                                                                DEPRECATED: Replaced By MAV_CMD_DO_SET_ROI_* (2018-01)

                                                                                                                                                                Sets the region of interest (ROI) for a sensor set or the vehicle itself. This can then be used by the vehicle's control system to control the vehicle attitude and the attitude of various sensors such as cameras.

                                                                                                                                                                Param (Label)DescriptionValues
                                                                                                                                                                1 (ROI Mode)Region of interest mode.MAV_ROI
                                                                                                                                                                2 (WP Index)Waypoint index/ target ID. (see MAV_ROI enum)min: 0 inc: 1
                                                                                                                                                                3 (ROI Index)ROI index (allows a vehicle to manage multiple ROI's)min: 0 inc: 1
                                                                                                                                                                4Empty
                                                                                                                                                                5 (X)x the location of the fixed ROI (see MAV_FRAME)
                                                                                                                                                                6 (Y)y
                                                                                                                                                                7 (Z)z

                                                                                                                                                                MAV_CMD_NAV_PATHPLANNING (81)

                                                                                                                                                                Control autonomous path planning on the MAV.

                                                                                                                                                                Param (Label)DescriptionValuesUnits
                                                                                                                                                                1 (Local Ctrl)0: Disable local obstacle avoidance / local path planning (without resetting map), 1: Enable local path planning, 2: Enable and reset local path planningmin: 0 max: 2 inc: 1
                                                                                                                                                                2 (Global Ctrl)0: Disable full path planning (without resetting map), 1: Enable, 2: Enable and reset map/occupancy grid, 3: Enable and reset planned route, but not occupancy gridmin: 0 max: 3 inc: 1
                                                                                                                                                                3Empty
                                                                                                                                                                4 (Yaw)Yaw angle at goaldeg
                                                                                                                                                                5 (Latitude/X)Latitude/X of goal
                                                                                                                                                                6 (Longitude/Y)Longitude/Y of goal
                                                                                                                                                                7 (Altitude/Z)Altitude/Z of goal

                                                                                                                                                                MAV_CMD_NAV_SPLINE_WAYPOINT (82)

                                                                                                                                                                Navigate to waypoint using a spline path.

                                                                                                                                                                Param (Label)DescriptionValuesUnits
                                                                                                                                                                1 (Hold)Hold time. (ignored by fixed wing, time to stay at waypoint for rotary wing)min: 0s
                                                                                                                                                                2Empty
                                                                                                                                                                3Empty
                                                                                                                                                                4Empty
                                                                                                                                                                5 (Latitude/X)Latitude/X of goal
                                                                                                                                                                6 (Longitude/Y)Longitude/Y of goal
                                                                                                                                                                7 (Altitude/Z)Altitude/Z of goal

                                                                                                                                                                MAV_CMD_NAV_VTOL_TAKEOFF (84)

                                                                                                                                                                Takeoff from ground using VTOL mode, and transition to forward flight with specified heading. The command should be ignored by vehicles that dont support both VTOL and fixed-wing flight (multicopters, boats,etc.).

                                                                                                                                                                Param (Label)DescriptionValuesUnits
                                                                                                                                                                1Empty
                                                                                                                                                                2 (Transition Heading)Front transition heading.VTOL_TRANSITION_HEADING
                                                                                                                                                                3Empty
                                                                                                                                                                4 (Yaw Angle)Yaw angle. NaN to use the current system yaw heading mode (e.g. yaw towards next waypoint, yaw to home, etc.).deg
                                                                                                                                                                5 (Latitude)Latitude
                                                                                                                                                                6 (Longitude)Longitude
                                                                                                                                                                7 (Altitude)Altitudem

                                                                                                                                                                MAV_CMD_NAV_VTOL_LAND (85)

                                                                                                                                                                Land using VTOL mode

                                                                                                                                                                Param (Label)DescriptionValuesUnits
                                                                                                                                                                1 (Land Options)Landing behaviour.NAV_VTOL_LAND_OPTIONS
                                                                                                                                                                2Empty
                                                                                                                                                                3 (Approach Altitude)Approach altitude (with the same reference as the Altitude field). NaN if unspecified.m
                                                                                                                                                                4 (Yaw)Yaw angle. NaN to use the current system yaw heading mode (e.g. yaw towards next waypoint, yaw to home, etc.).deg
                                                                                                                                                                5 (Latitude)Latitude
                                                                                                                                                                6 (Longitude)Longitude
                                                                                                                                                                7 (Ground Altitude)Altitude (ground level) relative to the current coordinate frame. NaN to use system default landing altitude (ignore value).m

                                                                                                                                                                MAV_CMD_NAV_GUIDED_ENABLE (92)

                                                                                                                                                                hand control over to an external controller

                                                                                                                                                                Param (Label)DescriptionValues
                                                                                                                                                                1 (Enable)On / Off (> 0.5f on)min: 0 max: 1 inc: 1
                                                                                                                                                                2Empty
                                                                                                                                                                3Empty
                                                                                                                                                                4Empty
                                                                                                                                                                5Empty
                                                                                                                                                                6Empty
                                                                                                                                                                7Empty

                                                                                                                                                                MAV_CMD_NAV_DELAY (93)

                                                                                                                                                                Delay the next navigation command a number of seconds or until a specified time

                                                                                                                                                                Param (Label)DescriptionValuesUnits
                                                                                                                                                                1 (Delay)Delay (-1 to enable time-of-day fields)min: -1 inc: 1s
                                                                                                                                                                2 (Hour)hour (24h format, UTC, -1 to ignore)min: -1 max: 23 inc: 1
                                                                                                                                                                3 (Minute)minute (24h format, UTC, -1 to ignore)min: -1 max: 59 inc: 1
                                                                                                                                                                4 (Second)second (24h format, UTC, -1 to ignore)min: -1 max: 59 inc: 1
                                                                                                                                                                5Empty
                                                                                                                                                                6Empty
                                                                                                                                                                7Empty

                                                                                                                                                                MAV_CMD_NAV_PAYLOAD_PLACE (94)

                                                                                                                                                                Descend and place payload. Vehicle moves to specified location, descends until it detects a hanging payload has reached the ground, and then releases the payload. If ground is not detected before the reaching the maximum descent value (param1), the command will complete without releasing the payload.

                                                                                                                                                                Param (Label)DescriptionValuesUnits
                                                                                                                                                                1 (Max Descent)Maximum distance to descend.min: 0m
                                                                                                                                                                2Empty
                                                                                                                                                                3Empty
                                                                                                                                                                4Empty
                                                                                                                                                                5 (Latitude)Latitude
                                                                                                                                                                6 (Longitude)Longitude
                                                                                                                                                                7 (Altitude)Altitudem

                                                                                                                                                                MAV_CMD_NAV_LAST (95)

                                                                                                                                                                NOP - This command is only used to mark the upper limit of the NAV/ACTION commands in the enumeration

                                                                                                                                                                Param (Label)Description
                                                                                                                                                                1Empty
                                                                                                                                                                2Empty
                                                                                                                                                                3Empty
                                                                                                                                                                4Empty
                                                                                                                                                                5Empty
                                                                                                                                                                6Empty
                                                                                                                                                                7Empty

                                                                                                                                                                MAV_CMD_CONDITION_DELAY (112)

                                                                                                                                                                Delay mission state machine.

                                                                                                                                                                Param (Label)DescriptionValuesUnits
                                                                                                                                                                1 (Delay)Delaymin: 0s
                                                                                                                                                                2Empty
                                                                                                                                                                3Empty
                                                                                                                                                                4Empty
                                                                                                                                                                5Empty
                                                                                                                                                                6Empty
                                                                                                                                                                7Empty

                                                                                                                                                                MAV_CMD_CONDITION_CHANGE_ALT (113)

                                                                                                                                                                Ascend/descend to target altitude at specified rate. Delay mission state machine until desired altitude reached.

                                                                                                                                                                Param (Label)DescriptionUnits
                                                                                                                                                                1 (Rate)Descent / Ascend rate.m/s
                                                                                                                                                                2Empty
                                                                                                                                                                3Empty
                                                                                                                                                                4Empty
                                                                                                                                                                5Empty
                                                                                                                                                                6Empty
                                                                                                                                                                7 (Altitude)Target Altitudem

                                                                                                                                                                MAV_CMD_CONDITION_DISTANCE (114)

                                                                                                                                                                Delay mission state machine until within desired distance of next NAV point.

                                                                                                                                                                Param (Label)DescriptionValuesUnits
                                                                                                                                                                1 (Distance)Distance.min: 0m
                                                                                                                                                                2Empty
                                                                                                                                                                3Empty
                                                                                                                                                                4Empty
                                                                                                                                                                5Empty
                                                                                                                                                                6Empty
                                                                                                                                                                7Empty

                                                                                                                                                                MAV_CMD_CONDITION_YAW (115)

                                                                                                                                                                Reach a certain target angle.

                                                                                                                                                                Param (Label)DescriptionValuesUnits
                                                                                                                                                                1 (Angle)target angle [0-360]. Absolute angles: 0 is north. Relative angle: 0 is initial yaw. Direction set by param3.min: 0 max: 360deg
                                                                                                                                                                2 (Angular Speed)angular speedmin: 0deg/s
                                                                                                                                                                3 (Direction)direction: -1: counter clockwise, 0: shortest direction, 1: clockwisemin: -1 max: 1 inc: 1
                                                                                                                                                                4 (Relative)0: absolute angle, 1: relative offsetmin: 0 max: 1 inc: 1
                                                                                                                                                                5Empty
                                                                                                                                                                6Empty
                                                                                                                                                                7Empty

                                                                                                                                                                MAV_CMD_CONDITION_LAST (159)

                                                                                                                                                                NOP - This command is only used to mark the upper limit of the CONDITION commands in the enumeration

                                                                                                                                                                Param (Label)Description
                                                                                                                                                                1Empty
                                                                                                                                                                2Empty
                                                                                                                                                                3Empty
                                                                                                                                                                4Empty
                                                                                                                                                                5Empty
                                                                                                                                                                6Empty
                                                                                                                                                                7Empty

                                                                                                                                                                MAV_CMD_DO_SET_MODE (176)

                                                                                                                                                                Set system mode.

                                                                                                                                                                Param (Label)DescriptionValues
                                                                                                                                                                1 (Mode)ModeMAV_MODE
                                                                                                                                                                2 (Custom Mode)Custom mode - this is system specific, please refer to the individual autopilot specifications for details.
                                                                                                                                                                3 (Custom Submode)Custom sub mode - this is system specific, please refer to the individual autopilot specifications for details.
                                                                                                                                                                4Empty
                                                                                                                                                                5Empty
                                                                                                                                                                6Empty
                                                                                                                                                                7Empty

                                                                                                                                                                MAV_CMD_DO_JUMP (177)

                                                                                                                                                                Jump to the desired command in the mission list. Repeat this action only the specified number of times

                                                                                                                                                                Param (Label)DescriptionValues
                                                                                                                                                                1 (Number)Sequence numbermin: 0 inc: 1
                                                                                                                                                                2 (Repeat)Repeat countmin: 0 inc: 1
                                                                                                                                                                3Empty
                                                                                                                                                                4Empty
                                                                                                                                                                5Empty
                                                                                                                                                                6Empty
                                                                                                                                                                7Empty

                                                                                                                                                                MAV_CMD_DO_CHANGE_SPEED (178)

                                                                                                                                                                Change speed and/or throttle set points. The value persists until it is overridden or there is a mode change

                                                                                                                                                                Param (Label)DescriptionValuesUnits
                                                                                                                                                                1 (Speed Type)Speed type of value set in param2 (such as airspeed, ground speed, and so on)SPEED_TYPE
                                                                                                                                                                2 (Speed)Speed (-1 indicates no change, -2 indicates return to default vehicle speed)min: -2m/s
                                                                                                                                                                3 (Throttle)Throttle (-1 indicates no change, -2 indicates return to default vehicle throttle value)min: -2%
                                                                                                                                                                4
                                                                                                                                                                5
                                                                                                                                                                6
                                                                                                                                                                7

                                                                                                                                                                MAV_CMD_DO_SET_HOME (179)

                                                                                                                                                                Sets the home position to either to the current position or a specified position. The home position is the default position that the system will return to and land on. The position is set automatically by the system during the takeoff (and may also be set using this command). Note: the current home position may be emitted in a HOME_POSITION message on request (using MAV_CMD_REQUEST_MESSAGE with param1=242).

                                                                                                                                                                Param (Label)DescriptionValuesUnits
                                                                                                                                                                1 (Use Current)Use current (1=use current location, 0=use specified location)min: 0 max: 1 inc: 1
                                                                                                                                                                2 (Roll)Roll angle (of surface). Range: -180..180 degrees. NAN or 0 means value not set. 0.01 indicates zero roll.min: -180 max: 180deg
                                                                                                                                                                3 (Pitch)Pitch angle (of surface). Range: -90..90 degrees. NAN or 0 means value not set. 0.01 means zero pitch.min: -90 max: 90deg
                                                                                                                                                                4 (Yaw)Yaw angle. NaN to use default heading. Range: -180..180 degrees.min: -180 max: 180deg
                                                                                                                                                                5 (Latitude)Latitude
                                                                                                                                                                6 (Longitude)Longitude
                                                                                                                                                                7 (Altitude)Altitudem

                                                                                                                                                                MAV_CMD_DO_SET_PARAMETER (180) — [DEP]

                                                                                                                                                                DEPRECATED: Replaced By PARAM_SET (2024-04)

                                                                                                                                                                Set a system parameter. Caution! Use of this command requires knowledge of the numeric enumeration value of the parameter.

                                                                                                                                                                Param (Label)DescriptionValues
                                                                                                                                                                1 (Number)Parameter numbermin: 0 inc: 1
                                                                                                                                                                2 (Value)Parameter value
                                                                                                                                                                3Empty
                                                                                                                                                                4Empty
                                                                                                                                                                5Empty
                                                                                                                                                                6Empty
                                                                                                                                                                7Empty

                                                                                                                                                                MAV_CMD_DO_SET_RELAY (181)

                                                                                                                                                                Set a relay to a condition.

                                                                                                                                                                Param (Label)DescriptionValues
                                                                                                                                                                1 (Instance)Relay instance number.min: 0 inc: 1
                                                                                                                                                                2 (Setting)Setting. (1=on, 0=off, others possible depending on system hardware)min: 0 inc: 1
                                                                                                                                                                3Empty
                                                                                                                                                                4Empty
                                                                                                                                                                5Empty
                                                                                                                                                                6Empty
                                                                                                                                                                7Empty

                                                                                                                                                                MAV_CMD_DO_REPEAT_RELAY (182)

                                                                                                                                                                Cycle a relay on and off for a desired number of cycles with a desired period.

                                                                                                                                                                Param (Label)DescriptionValuesUnits
                                                                                                                                                                1 (Instance)Relay instance number.min: 0 inc: 1
                                                                                                                                                                2 (Count)Cycle count.min: 1 inc: 1
                                                                                                                                                                3 (Time)Cycle time.min: 0s
                                                                                                                                                                4Empty
                                                                                                                                                                5Empty
                                                                                                                                                                6Empty
                                                                                                                                                                7Empty

                                                                                                                                                                MAV_CMD_DO_SET_SERVO (183)

                                                                                                                                                                Set a servo to a desired PWM value.

                                                                                                                                                                Param (Label)DescriptionValuesUnits
                                                                                                                                                                1 (Instance)Servo instance number.min: 0 inc: 1
                                                                                                                                                                2 (PWM)Pulse Width Modulation.min: 0 inc: 1us
                                                                                                                                                                3Empty
                                                                                                                                                                4Empty
                                                                                                                                                                5Empty
                                                                                                                                                                6Empty
                                                                                                                                                                7Empty

                                                                                                                                                                MAV_CMD_DO_REPEAT_SERVO (184)

                                                                                                                                                                Cycle a between its nominal setting and a desired PWM for a desired number of cycles with a desired period.

                                                                                                                                                                Param (Label)DescriptionValuesUnits
                                                                                                                                                                1 (Instance)Servo instance number.min: 0 inc: 1
                                                                                                                                                                2 (PWM)Pulse Width Modulation.min: 0 inc: 1us
                                                                                                                                                                3 (Count)Cycle count.min: 1 inc: 1
                                                                                                                                                                4 (Time)Cycle time.min: 0s
                                                                                                                                                                5Empty
                                                                                                                                                                6Empty
                                                                                                                                                                7Empty

                                                                                                                                                                MAV_CMD_DO_FLIGHTTERMINATION (185)

                                                                                                                                                                Terminate flight immediately.

                                                                                                                                                                Flight termination immediately and irreversibly terminates the current flight, returning the vehicle to ground. The vehicle will ignore RC or other input until it has been power-cycled. Termination may trigger safety measures, including: disabling motors and deployment of parachute on multicopters, and setting flight surfaces to initiate a landing pattern on fixed-wing). On multicopters without a parachute it may trigger a crash landing. Support for this command can be tested using the protocol bit: MAV_PROTOCOL_CAPABILITY_FLIGHT_TERMINATION. Support for this command can also be tested by sending the command with param1=0 (< 0.5); the ACK should be either MAV_RESULT_FAILED or MAV_RESULT_UNSUPPORTED.

                                                                                                                                                                Param (Label)DescriptionValues
                                                                                                                                                                1 (Terminate)Flight termination activated if > 0.5. Otherwise not activated and ACK with MAV_RESULT_FAILED.min: 0 max: 1 inc: 1
                                                                                                                                                                2Empty
                                                                                                                                                                3Empty
                                                                                                                                                                4Empty
                                                                                                                                                                5Empty
                                                                                                                                                                6Empty
                                                                                                                                                                7Empty

                                                                                                                                                                MAV_CMD_DO_CHANGE_ALTITUDE (186)

                                                                                                                                                                Change altitude set point.

                                                                                                                                                                Param (Label)DescriptionValuesUnits
                                                                                                                                                                1 (Altitude)Altitude.m
                                                                                                                                                                2 (Frame)Frame of new altitude.MAV_FRAME
                                                                                                                                                                3Empty
                                                                                                                                                                4Empty
                                                                                                                                                                5Empty
                                                                                                                                                                6Empty
                                                                                                                                                                7Empty

                                                                                                                                                                MAV_CMD_DO_SET_ACTUATOR (187)

                                                                                                                                                                Sets actuators (e.g. servos) to a desired value. The actuator numbers are mapped to specific outputs (e.g. on any MAIN or AUX PWM or UAVCAN) using a flight-stack specific mechanism (i.e. a parameter).

                                                                                                                                                                Param (Label)DescriptionValues
                                                                                                                                                                1 (Actuator 1)Actuator 1 value, scaled from [-1 to 1]. NaN to ignore.min: -1 max: 1
                                                                                                                                                                2 (Actuator 2)Actuator 2 value, scaled from [-1 to 1]. NaN to ignore.min: -1 max: 1
                                                                                                                                                                3 (Actuator 3)Actuator 3 value, scaled from [-1 to 1]. NaN to ignore.min: -1 max: 1
                                                                                                                                                                4 (Actuator 4)Actuator 4 value, scaled from [-1 to 1]. NaN to ignore.min: -1 max: 1
                                                                                                                                                                5 (Actuator 5)Actuator 5 value, scaled from [-1 to 1]. NaN to ignore.min: -1 max: 1
                                                                                                                                                                6 (Actuator 6)Actuator 6 value, scaled from [-1 to 1]. NaN to ignore.min: -1 max: 1
                                                                                                                                                                7 (Index)Index of actuator set (i.e if set to 1, Actuator 1 becomes Actuator 7)min: 0 inc: 1

                                                                                                                                                                MAV_CMD_DO_RETURN_PATH_START (188) — [WIP]

                                                                                                                                                                WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                Mission item to specify the start of a failsafe/landing return-path segment (the end of the segment is the next MAV_CMD_DO_LAND_START item).

                                                                                                                                                                A vehicle that is using missions for landing (e.g. in a return mode) will join the mission on the closest path of the return-path segment (instead of MAV_CMD_DO_LAND_START or the nearest waypoint). The main use case is to minimize the failsafe flight path in corridor missions, where the inbound/outbound paths are constrained (by geofences) to the same particular path. The MAV_CMD_NAV_RETURN_PATH_START would be placed at the start of the return path. If a failsafe occurs on the outbound path the vehicle will move to the nearest point on the return path (which is parallel for this kind of mission), effectively turning round and following the shortest path to landing. If a failsafe occurs on the inbound path the vehicle is already on the return segment and will continue to landing. The Latitude/Longitude/Altitude are optional, and may be set to 0 if not needed. If specified, the item defines the waypoint at which the return segment starts. If sent using as a command, the vehicle will perform a mission landing (using the land segment if defined) or reject the command if mission landings are not supported, or no mission landing is defined. When used as a command any position information in the command is ignored.

                                                                                                                                                                Param (Label)DescriptionUnits
                                                                                                                                                                1Empty
                                                                                                                                                                2Empty
                                                                                                                                                                3Empty
                                                                                                                                                                4Empty
                                                                                                                                                                5 (Latitude)Latitudee. 0: not used.
                                                                                                                                                                6 (Longitude)Longitudee. 0: not used.
                                                                                                                                                                7 (Altitude)Altitudee. 0: not used.m

                                                                                                                                                                MAV_CMD_DO_LAND_START (189)

                                                                                                                                                                Mission command to perform a landing. This is used as a marker in a mission to tell the autopilot where a sequence of mission items that represents a landing starts.

                                                                                                                                                                It may also be sent via a COMMAND_LONG to trigger a landing, in which case the nearest (geographically) landing sequence in the mission will be used. The Latitude/Longitude/Altitude is optional, and may be set to 0 if not needed. If specified then it will be used to help find the closest landing sequence.

                                                                                                                                                                Param (Label)DescriptionUnits
                                                                                                                                                                1Empty
                                                                                                                                                                2Empty
                                                                                                                                                                3Empty
                                                                                                                                                                4Empty
                                                                                                                                                                5 (Latitude)Latitude
                                                                                                                                                                6 (Longitude)Longitude
                                                                                                                                                                7 (Altitude)Altitudem

                                                                                                                                                                MAV_CMD_DO_RALLY_LAND (190)

                                                                                                                                                                Mission command to perform a landing from a rally point.

                                                                                                                                                                Param (Label)DescriptionUnits
                                                                                                                                                                1 (Altitude)Break altitudem
                                                                                                                                                                2 (Speed)Landing speedm/s
                                                                                                                                                                3Empty
                                                                                                                                                                4Empty
                                                                                                                                                                5Empty
                                                                                                                                                                6Empty
                                                                                                                                                                7Empty

                                                                                                                                                                MAV_CMD_DO_GO_AROUND (191)

                                                                                                                                                                Mission command to safely abort an autonomous landing.

                                                                                                                                                                Param (Label)DescriptionUnits
                                                                                                                                                                1 (Altitude)Altitudem
                                                                                                                                                                2Empty
                                                                                                                                                                3Empty
                                                                                                                                                                4Empty
                                                                                                                                                                5Empty
                                                                                                                                                                6Empty
                                                                                                                                                                7Empty

                                                                                                                                                                MAV_CMD_DO_REPOSITION (192)

                                                                                                                                                                Reposition the vehicle to a specific WGS84 global position. This command is intended for guided commands (for missions use MAV_CMD_NAV_WAYPOINT instead).

                                                                                                                                                                Param (Label)DescriptionValuesUnits
                                                                                                                                                                1 (Speed)Ground speed, less than 0 (-1) for defaultmin: -1m/s
                                                                                                                                                                2 (Bitmask)Bitmask of option flags.MAV_DO_REPOSITION_FLAGS
                                                                                                                                                                3 (Radius)Loiter radius for planes. Positive values only, direction is controlled by Yaw value. A value of zero or NaN is ignored.m
                                                                                                                                                                4 (Yaw)Yaw heading. NaN to use the current system yaw heading mode (e.g. yaw towards next waypoint, yaw to home, etc.). For planes indicates loiter direction (0: clockwise, 1: counter clockwise)deg
                                                                                                                                                                5 (Latitude)Latitude
                                                                                                                                                                6 (Longitude)Longitude
                                                                                                                                                                7 (Altitude)Altitudem

                                                                                                                                                                MAV_CMD_DO_PAUSE_CONTINUE (193)

                                                                                                                                                                If in a GPS controlled position mode, hold the current position or continue.

                                                                                                                                                                Param (Label)DescriptionValues
                                                                                                                                                                1 (Continue)0: Pause current mission or reposition command, hold current position. 1: Continue mission. A VTOL capable vehicle should enter hover mode (multicopter and VTOL planes). A plane should loiter with the default loiter radius.min: 0 max: 1 inc: 1
                                                                                                                                                                2Reserved
                                                                                                                                                                3Reserved
                                                                                                                                                                4Reserved
                                                                                                                                                                5Reserved
                                                                                                                                                                6Reserved
                                                                                                                                                                7Reserved

                                                                                                                                                                MAV_CMD_DO_SET_REVERSE (194)

                                                                                                                                                                Set moving direction to forward or reverse.

                                                                                                                                                                Param (Label)DescriptionValues
                                                                                                                                                                1 (Reverse)Direction (0=Forward, 1=Reverse)min: 0 max: 1 inc: 1
                                                                                                                                                                2Empty
                                                                                                                                                                3Empty
                                                                                                                                                                4Empty
                                                                                                                                                                5Empty
                                                                                                                                                                6Empty
                                                                                                                                                                7Empty

                                                                                                                                                                MAV_CMD_DO_SET_ROI_LOCATION (195)

                                                                                                                                                                Sets the region of interest (ROI) to a location. This can then be used by the vehicle's control system to control the vehicle attitude and the attitude of various sensors such as cameras. This command can be sent to a gimbal manager but not to a gimbal device. A gimbal is not to react to this message.

                                                                                                                                                                Param (Label)DescriptionUnits
                                                                                                                                                                1 (Gimbal device ID)Component ID of gimbal device to address (or 1-6 for non-MAVLink gimbal), 0 for all gimbal device components. Send command multiple times for more than one gimbal (but not all gimbals).
                                                                                                                                                                2Empty
                                                                                                                                                                3Empty
                                                                                                                                                                4Empty
                                                                                                                                                                5 (Latitude)Latitude of ROI locationdegE7
                                                                                                                                                                6 (Longitude)Longitude of ROI locationdegE7
                                                                                                                                                                7 (Altitude)Altitude of ROI locationm

                                                                                                                                                                MAV_CMD_DO_SET_ROI_WPNEXT_OFFSET (196)

                                                                                                                                                                Sets the region of interest (ROI) to be toward next waypoint, with optional pitch/roll/yaw offset. This can then be used by the vehicle's control system to control the vehicle attitude and the attitude of various sensors such as cameras. This command can be sent to a gimbal manager but not to a gimbal device. A gimbal device is not to react to this message.

                                                                                                                                                                Param (Label)DescriptionUnits
                                                                                                                                                                1 (Gimbal device ID)Component ID of gimbal device to address (or 1-6 for non-MAVLink gimbal), 0 for all gimbal device components. Send command multiple times for more than one gimbal (but not all gimbals).
                                                                                                                                                                2Empty
                                                                                                                                                                3Empty
                                                                                                                                                                4Empty
                                                                                                                                                                5 (Pitch Offset)Pitch offset from next waypoint, positive pitching updeg
                                                                                                                                                                6 (Roll Offset)Roll offset from next waypoint, positive rolling to the rightdeg
                                                                                                                                                                7 (Yaw Offset)Yaw offset from next waypoint, positive yawing to the rightdeg

                                                                                                                                                                MAV_CMD_DO_SET_ROI_NONE (197)

                                                                                                                                                                Cancels any previous ROI command returning the vehicle/sensors to default flight characteristics. This can then be used by the vehicle's control system to control the vehicle attitude and the attitude of various sensors such as cameras. This command can be sent to a gimbal manager but not to a gimbal device. A gimbal device is not to react to this message. After this command the gimbal manager should go back to manual input if available, and otherwise assume a neutral position.

                                                                                                                                                                Param (Label)Description
                                                                                                                                                                1 (Gimbal device ID)Component ID of gimbal device to address (or 1-6 for non-MAVLink gimbal), 0 for all gimbal device components. Send command multiple times for more than one gimbal (but not all gimbals).
                                                                                                                                                                2Empty
                                                                                                                                                                3Empty
                                                                                                                                                                4Empty
                                                                                                                                                                5Empty
                                                                                                                                                                6Empty
                                                                                                                                                                7Empty

                                                                                                                                                                MAV_CMD_DO_SET_ROI_SYSID (198)

                                                                                                                                                                Mount tracks system with specified system ID. Determination of target vehicle position may be done with GLOBAL_POSITION_INT or any other means. This command can be sent to a gimbal manager but not to a gimbal device. A gimbal device is not to react to this message.

                                                                                                                                                                Param (Label)DescriptionValues
                                                                                                                                                                1 (System ID)System IDmin: 1 max: 255 inc: 1
                                                                                                                                                                2 (Gimbal device ID)Component ID of gimbal device to address (or 1-6 for non-MAVLink gimbal), 0 for all gimbal device components. Send command multiple times for more than one gimbal (but not all gimbals).

                                                                                                                                                                MAV_CMD_DO_CONTROL_VIDEO (200)

                                                                                                                                                                Control onboard camera system.

                                                                                                                                                                Param (Label)DescriptionValuesUnits
                                                                                                                                                                1 (ID)Camera ID (-1 for all)min: -1 inc: 1
                                                                                                                                                                2 (Transmission)Transmission: 0: disabled, 1: enabled compressed, 2: enabled rawmin: 0 max: 2 inc: 1
                                                                                                                                                                3 (Interval)Transmission mode: 0: video stream, >0: single images every n secondsmin: 0s
                                                                                                                                                                4 (Recording)Recording: 0: disabled, 1: enabled compressed, 2: enabled rawmin: 0 max: 2 inc: 1
                                                                                                                                                                5Empty
                                                                                                                                                                6Empty
                                                                                                                                                                7Empty

                                                                                                                                                                MAV_CMD_DO_SET_ROI (201) — [DEP]

                                                                                                                                                                DEPRECATED: Replaced By MAV_CMD_DO_SET_ROI_* (2018-01)

                                                                                                                                                                Sets the region of interest (ROI) for a sensor set or the vehicle itself. This can then be used by the vehicle's control system to control the vehicle attitude and the attitude of various sensors such as cameras.

                                                                                                                                                                Param (Label)DescriptionValues
                                                                                                                                                                1 (ROI Mode)Region of interest mode.MAV_ROI
                                                                                                                                                                2 (WP Index)Waypoint index/ target ID (depends on param 1).min: 0 inc: 1
                                                                                                                                                                3 (ROI Index)Region of interest index. (allows a vehicle to manage multiple ROI's)min: 0 inc: 1
                                                                                                                                                                4Empty
                                                                                                                                                                5MAV_ROI_WPNEXT: pitch offset from next waypoint, MAV_ROI_LOCATION: latitude
                                                                                                                                                                6MAV_ROI_WPNEXT: roll offset from next waypoint, MAV_ROI_LOCATION: longitude
                                                                                                                                                                7MAV_ROI_WPNEXT: yaw offset from next waypoint, MAV_ROI_LOCATION: altitude

                                                                                                                                                                MAV_CMD_DO_DIGICAM_CONFIGURE (202)

                                                                                                                                                                Configure digital camera. This is a fallback message for systems that have not yet implemented PARAM_EXT_XXX messages and camera definition files (see https://mavlink.io/en/services/camera_def.html ).

                                                                                                                                                                Param (Label)DescriptionValuesUnits
                                                                                                                                                                1 (Mode)Modes: P, TV, AV, M, Etc.min: 0 inc: 1
                                                                                                                                                                2 (Shutter Speed)Shutter speed: Divisor number for one second.min: 0 inc: 1
                                                                                                                                                                3 (Aperture)Aperture: F stop number.min: 0
                                                                                                                                                                4 (ISO)ISO number e.g. 80, 100, 200, Etc.min: 0 inc: 1
                                                                                                                                                                5 (Exposure)Exposure type enumerator.
                                                                                                                                                                6 (Command Identity)Command Identity.
                                                                                                                                                                7 (Engine Cut-off)Main engine cut-off time before camera trigger. (0 means no cut-off)min: 0 inc: 1ds

                                                                                                                                                                MAV_CMD_DO_DIGICAM_CONTROL (203)

                                                                                                                                                                Control digital camera. This is a fallback message for systems that have not yet implemented PARAM_EXT_XXX messages and camera definition files (see https://mavlink.io/en/services/camera_def.html ).

                                                                                                                                                                Param (Label)Description
                                                                                                                                                                1 (Session Control)Session control e.g. show/hide lens
                                                                                                                                                                2 (Zoom Absolute)Zoom's absolute position
                                                                                                                                                                3 (Zoom Relative)Zooming step value to offset zoom from the current position
                                                                                                                                                                4 (Focus)Focus Locking, Unlocking or Re-locking
                                                                                                                                                                5 (Shoot Command)Shooting Command
                                                                                                                                                                6 (Command Identity)Command Identity
                                                                                                                                                                7 (Shot ID)Test shot identifier. If set to 1, image will only be captured, but not counted towards internal frame count.

                                                                                                                                                                MAV_CMD_DO_MOUNT_CONFIGURE (204) — [DEP]

                                                                                                                                                                DEPRECATED: Replaced By MAV_CMD_DO_GIMBAL_MANAGER_CONFIGURE (2020-01) — This message has been superseded by MAV_CMD_DO_GIMBAL_MANAGER_CONFIGURE. The message can still be used to communicate with legacy gimbals implementing it.)

                                                                                                                                                                Mission command to configure a camera or antenna mount

                                                                                                                                                                Param (Label)DescriptionValues
                                                                                                                                                                1 (Mode)Mount operation modeMAV_MOUNT_MODE
                                                                                                                                                                2 (Stabilize Roll)stabilize roll? (1 = yes, 0 = no)min: 0 max: 1 inc: 1
                                                                                                                                                                3 (Stabilize Pitch)stabilize pitch? (1 = yes, 0 = no)min: 0 max: 1 inc: 1
                                                                                                                                                                4 (Stabilize Yaw)stabilize yaw? (1 = yes, 0 = no)min: 0 max: 1 inc: 1
                                                                                                                                                                5 (Roll Input Mode)roll input (0 = angle body frame, 1 = angular rate, 2 = angle absolute frame)
                                                                                                                                                                6 (Pitch Input Mode)pitch input (0 = angle body frame, 1 = angular rate, 2 = angle absolute frame)
                                                                                                                                                                7 (Yaw Input Mode)yaw input (0 = angle body frame, 1 = angular rate, 2 = angle absolute frame)

                                                                                                                                                                MAV_CMD_DO_MOUNT_CONTROL (205) — [DEP]

                                                                                                                                                                DEPRECATED: Replaced By MAV_CMD_DO_GIMBAL_MANAGER_PITCHYAW (2020-01) — This message is ambiguous and inconsistent. It has been superseded by MAV_CMD_DO_GIMBAL_MANAGER_PITCHYAW and MAV_CMD_DO_SET_ROI_* variants. The message can still be used to communicate with legacy gimbals implementing it.)

                                                                                                                                                                Mission command to control a camera or antenna mount

                                                                                                                                                                Param (Label)DescriptionValuesUnits
                                                                                                                                                                1 (Pitch)pitch depending on mount mode (degrees or degrees/second depending on pitch input).
                                                                                                                                                                2 (Roll)roll depending on mount mode (degrees or degrees/second depending on roll input).
                                                                                                                                                                3 (Yaw)yaw depending on mount mode (degrees or degrees/second depending on yaw input).
                                                                                                                                                                4 (Altitude)altitude depending on mount mode.m
                                                                                                                                                                5 (Latitude)latitude, set if appropriate mount mode.
                                                                                                                                                                6 (Longitude)longitude, set if appropriate mount mode.
                                                                                                                                                                7 (Mode)Mount mode.MAV_MOUNT_MODE

                                                                                                                                                                MAV_CMD_DO_SET_CAM_TRIGG_DIST (206)

                                                                                                                                                                Mission command to set camera trigger distance for this flight. The camera is triggered each time this distance is exceeded. This command can also be used to set the shutter integration time for the camera.

                                                                                                                                                                Param (Label)DescriptionValuesUnits
                                                                                                                                                                1 (Distance)Camera trigger distance. 0 to stop triggering.min: 0m
                                                                                                                                                                2 (Shutter)Camera shutter integration time. -1 or 0 to ignoremin: -1 inc: 1ms
                                                                                                                                                                3 (Trigger)Trigger camera once immediately. (0 = no trigger, 1 = trigger)min: 0 max: 1 inc: 1
                                                                                                                                                                4 (Target Camera ID)Target camera ID. 7 to 255: MAVLink camera component id. 1 to 6 for cameras attached to the autopilot, which don't have a distinct component id. 0: all cameras. This is used to target specific autopilot-connected cameras. It is also used to target specific cameras when the MAV_CMD is used in a mission.min: 0 max: 255 inc: 1
                                                                                                                                                                5Empty
                                                                                                                                                                6Empty
                                                                                                                                                                7Empty

                                                                                                                                                                MAV_CMD_DO_FENCE_ENABLE (207)

                                                                                                                                                                Enable the geofence. This can be used in a mission or via the command protocol. The persistence/lifetime of the setting is undefined. Depending on flight stack implementation it may persist until superseded, or it may revert to a system default at the end of a mission. Flight stacks typically reset the setting to system defaults on reboot.

                                                                                                                                                                Param (Label)DescriptionValues
                                                                                                                                                                1 (Enable)enable? (0=disable, 1=enable, 2=disable_floor_only)min: 0 max: 2 inc: 1
                                                                                                                                                                2 (Types)Fence types to enable or disable as a bitmask. A value of 0 indicates that all fences should be enabled or disabled. This parameter is ignored if param 1 has the value 2FENCE_TYPE
                                                                                                                                                                3Empty
                                                                                                                                                                4Empty
                                                                                                                                                                5Empty
                                                                                                                                                                6Empty
                                                                                                                                                                7Empty

                                                                                                                                                                MAV_CMD_DO_PARACHUTE (208)

                                                                                                                                                                Mission item/command to release a parachute or enable/disable auto release.

                                                                                                                                                                Param (Label)DescriptionValues
                                                                                                                                                                1 (Action)ActionPARACHUTE_ACTION
                                                                                                                                                                2Empty
                                                                                                                                                                3Empty
                                                                                                                                                                4Empty
                                                                                                                                                                5Empty
                                                                                                                                                                6Empty
                                                                                                                                                                7Empty

                                                                                                                                                                MAV_CMD_DO_MOTOR_TEST (209)

                                                                                                                                                                Command to perform motor test.

                                                                                                                                                                Param (Label)DescriptionValuesUnits
                                                                                                                                                                1 (Instance)Motor instance number (from 1 to max number of motors on the vehicle).min: 1 inc: 1
                                                                                                                                                                2 (Throttle Type)Throttle type (whether the Throttle Value in param3 is a percentage, PWM value, etc.)MOTOR_TEST_THROTTLE_TYPE
                                                                                                                                                                3 (Throttle)Throttle value.
                                                                                                                                                                4 (Timeout)Timeout between tests that are run in sequence.min: 0s
                                                                                                                                                                5 (Motor Count)Motor count. Number of motors to test in sequence: 0/1=one motor, 2= two motors, etc. The Timeout (param4) is used between tests.min: 0 inc: 1
                                                                                                                                                                6 (Test Order)Motor test order.MOTOR_TEST_ORDER
                                                                                                                                                                7Empty

                                                                                                                                                                MAV_CMD_DO_INVERTED_FLIGHT (210)

                                                                                                                                                                Change to/from inverted flight.

                                                                                                                                                                Param (Label)DescriptionValues
                                                                                                                                                                1 (Inverted)Inverted flight. (0=normal, 1=inverted)min: 0 max: 1 inc: 1
                                                                                                                                                                2Empty
                                                                                                                                                                3Empty
                                                                                                                                                                4Empty
                                                                                                                                                                5Empty
                                                                                                                                                                6Empty
                                                                                                                                                                7Empty

                                                                                                                                                                MAV_CMD_DO_GRIPPER (211)

                                                                                                                                                                Mission command to operate a gripper.

                                                                                                                                                                Param (Label)DescriptionValues
                                                                                                                                                                1 (Instance)Gripper instance number.min: 1 inc: 1
                                                                                                                                                                2 (Action)Gripper action to perform.GRIPPER_ACTIONS
                                                                                                                                                                3Empty
                                                                                                                                                                4Empty
                                                                                                                                                                5Empty
                                                                                                                                                                6Empty
                                                                                                                                                                7Empty

                                                                                                                                                                MAV_CMD_DO_AUTOTUNE_ENABLE (212)

                                                                                                                                                                Enable/disable autotune.

                                                                                                                                                                Param (Label)DescriptionValues
                                                                                                                                                                1 (Enable)Enable (1: enable, 0:disable).min: 0 max: 1 inc: 1
                                                                                                                                                                2 (Axis)Specify which axis are autotuned. 0 indicates autopilot default settings.AUTOTUNE_AXIS
                                                                                                                                                                3Empty.
                                                                                                                                                                4Empty.
                                                                                                                                                                5Empty.
                                                                                                                                                                6Empty.
                                                                                                                                                                7Empty.

                                                                                                                                                                MAV_CMD_NAV_SET_YAW_SPEED (213)

                                                                                                                                                                Sets a desired vehicle turn angle and speed change.

                                                                                                                                                                Param (Label)DescriptionValuesUnits
                                                                                                                                                                1 (Yaw)Yaw angle to adjust steering by.deg
                                                                                                                                                                2 (Speed)Speed.m/s
                                                                                                                                                                3 (Angle)Final angle. (0=absolute, 1=relative)min: 0 max: 1 inc: 1
                                                                                                                                                                4Empty
                                                                                                                                                                5Empty
                                                                                                                                                                6Empty
                                                                                                                                                                7Empty

                                                                                                                                                                MAV_CMD_DO_SET_CAM_TRIGG_INTERVAL (214)

                                                                                                                                                                Mission command to set camera trigger interval for this flight. If triggering is enabled, the camera is triggered each time this interval expires. This command can also be used to set the shutter integration time for the camera.

                                                                                                                                                                Param (Label)DescriptionValuesUnits
                                                                                                                                                                1 (Trigger Cycle)Camera trigger cycle time. -1 or 0 to ignore.min: -1 inc: 1ms
                                                                                                                                                                2 (Shutter Integration)Camera shutter integration time. Should be less than trigger cycle time. -1 or 0 to ignore.min: -1 inc: 1ms
                                                                                                                                                                3 (Target Camera ID)Target camera ID. 7 to 255: MAVLink camera component id. 1 to 6 for cameras attached to the autopilot, which don't have a distinct component id. 0: all cameras. This is used to target specific autopilot-connected cameras. It is also used to target specific cameras when the MAV_CMD is used in a mission.min: 0 max: 255 inc: 1
                                                                                                                                                                4Empty
                                                                                                                                                                5Empty
                                                                                                                                                                6Empty
                                                                                                                                                                7Empty

                                                                                                                                                                MAV_CMD_DO_MOUNT_CONTROL_QUAT (220) — [DEP]

                                                                                                                                                                DEPRECATED: Replaced By MAV_CMD_DO_GIMBAL_MANAGER_PITCHYAW (2020-01)

                                                                                                                                                                Mission command to control a camera or antenna mount, using a quaternion as reference.

                                                                                                                                                                Param (Label)Description
                                                                                                                                                                1 (Q1)quaternion param q1, w (1 in null-rotation)
                                                                                                                                                                2 (Q2)quaternion param q2, x (0 in null-rotation)
                                                                                                                                                                3 (Q3)quaternion param q3, y (0 in null-rotation)
                                                                                                                                                                4 (Q4)quaternion param q4, z (0 in null-rotation)
                                                                                                                                                                5Empty
                                                                                                                                                                6Empty
                                                                                                                                                                7Empty

                                                                                                                                                                MAV_CMD_DO_GUIDED_MASTER (221)

                                                                                                                                                                set id of master controller

                                                                                                                                                                Param (Label)DescriptionValues
                                                                                                                                                                1 (System ID)System IDmin: 0 max: 255 inc: 1
                                                                                                                                                                2 (Component ID)Component IDmin: 0 max: 255 inc: 1
                                                                                                                                                                3Empty
                                                                                                                                                                4Empty
                                                                                                                                                                5Empty
                                                                                                                                                                6Empty
                                                                                                                                                                7Empty

                                                                                                                                                                MAV_CMD_DO_GUIDED_LIMITS (222)

                                                                                                                                                                Set limits for external control

                                                                                                                                                                Param (Label)DescriptionValuesUnits
                                                                                                                                                                1 (Timeout)Timeout - maximum time that external controller will be allowed to control vehicle. 0 means no timeout.min: 0s
                                                                                                                                                                2 (Min Altitude)Altitude (MSL) min - if vehicle moves below this alt, the command will be aborted and the mission will continue. 0 means no lower altitude limit.m
                                                                                                                                                                3 (Max Altitude)Altitude (MSL) max - if vehicle moves above this alt, the command will be aborted and the mission will continue. 0 means no upper altitude limit.m
                                                                                                                                                                4 (Horiz. Move Limit)Horizontal move limit - if vehicle moves more than this distance from its location at the moment the command was executed, the command will be aborted and the mission will continue. 0 means no horizontal move limit.min: 0m
                                                                                                                                                                5Empty
                                                                                                                                                                6Empty
                                                                                                                                                                7Empty

                                                                                                                                                                MAV_CMD_DO_ENGINE_CONTROL (223)

                                                                                                                                                                Control vehicle engine. This is interpreted by the vehicles engine controller to change the target engine state. It is intended for vehicles with internal combustion engines

                                                                                                                                                                Param (Label)DescriptionValuesUnits
                                                                                                                                                                1 (Start Engine)0: Stop engine, 1:Start Enginemin: 0 max: 1 inc: 1
                                                                                                                                                                2 (Cold Start)0: Warm start, 1:Cold start. Controls use of choke where applicablemin: 0 max: 1 inc: 1
                                                                                                                                                                3 (Height Delay)Height delay. This is for commanding engine start only after the vehicle has gained the specified height. Used in VTOL vehicles during takeoff to start engine after the aircraft is off the ground. Zero for no delay.min: 0m
                                                                                                                                                                4Empty
                                                                                                                                                                5Empty
                                                                                                                                                                6Empty
                                                                                                                                                                7Empty

                                                                                                                                                                MAV_CMD_DO_SET_MISSION_CURRENT (224)

                                                                                                                                                                Set the mission item with sequence number seq as the current item and emit MISSION_CURRENT (whether or not the mission number changed). If a mission is currently being executed, the system will continue to this new mission item on the shortest path, skipping any intermediate mission items. Note that mission jump repeat counters are not reset unless param2 is set (see MAV_CMD_DO_JUMP param2).

                                                                                                                                                                This command may trigger a mission state-machine change on some systems: for example from MISSION_STATE_NOT_STARTED or MISSION_STATE_PAUSED to MISSION_STATE_ACTIVE. If the system is in mission mode, on those systems this command might therefore start, restart or resume the mission. If the system is not in mission mode this command must not trigger a switch to mission mode.

                                                                                                                                                                The mission may be "reset" using param2. Resetting sets jump counters to initial values (to reset counters without changing the current mission item set the param1 to -1). Resetting also explicitly changes a mission state of MISSION_STATE_COMPLETE to MISSION_STATE_PAUSED or MISSION_STATE_ACTIVE, potentially allowing it to resume when it is (next) in a mission mode.

                                                                                                                                                                The command will ACK with MAV_RESULT_FAILED if the sequence number is out of range (including if there is no mission item).

                                                                                                                                                                Param (Label)DescriptionValues
                                                                                                                                                                1 (Number)Mission sequence value to set. -1 for the current mission item (use to reset mission without changing current mission item).min: -1 inc: 1
                                                                                                                                                                2 (Reset Mission)Resets mission. 1: true, 0: false. Resets jump counters to initial values and changes mission state "completed" to be "active" or "paused".min: 0 max: 1 inc: 1
                                                                                                                                                                3Empty
                                                                                                                                                                4Empty
                                                                                                                                                                5Empty
                                                                                                                                                                6Empty
                                                                                                                                                                7Empty

                                                                                                                                                                MAV_CMD_DO_LAST (240)

                                                                                                                                                                NOP - This command is only used to mark the upper limit of the DO commands in the enumeration

                                                                                                                                                                Param (Label)Description
                                                                                                                                                                1Empty
                                                                                                                                                                2Empty
                                                                                                                                                                3Empty
                                                                                                                                                                4Empty
                                                                                                                                                                5Empty
                                                                                                                                                                6Empty
                                                                                                                                                                7Empty

                                                                                                                                                                MAV_CMD_PREFLIGHT_CALIBRATION (241)

                                                                                                                                                                Trigger calibration. This command will be only accepted if in pre-flight mode. Except for Temperature Calibration, only one sensor should be set in a single message and all others should be zero.

                                                                                                                                                                Param (Label)DescriptionValues
                                                                                                                                                                1 (Gyro Temperature)1: gyro calibration, 3: gyro temperature calibrationmin: 0 max: 3 inc: 1
                                                                                                                                                                2 (Magnetometer)1: magnetometer calibrationmin: 0 max: 1 inc: 1
                                                                                                                                                                3 (Ground Pressure)1: ground pressure calibrationmin: 0 max: 1 inc: 1
                                                                                                                                                                4 (Remote Control)1: radio RC calibration, 2: RC trim calibrationmin: 0 max: 1 inc: 1
                                                                                                                                                                5 (Accelerometer)1: accelerometer calibration, 2: board level calibration, 3: accelerometer temperature calibration, 4: simple accelerometer calibrationmin: 0 max: 4 inc: 1
                                                                                                                                                                6 (Compmot or Airspeed)1: APM: compass/motor interference calibration (PX4: airspeed calibration, deprecated), 2: airspeed calibrationmin: 0 max: 2 inc: 1
                                                                                                                                                                7 (ESC or Baro)1: ESC calibration, 3: barometer temperature calibrationmin: 0 max: 3 inc: 1

                                                                                                                                                                MAV_CMD_PREFLIGHT_SET_SENSOR_OFFSETS (242)

                                                                                                                                                                Set sensor offsets. This command will be only accepted if in pre-flight mode.

                                                                                                                                                                Param (Label)DescriptionValues
                                                                                                                                                                1 (Sensor Type)Sensor to adjust the offsets for: 0: gyros, 1: accelerometer, 2: magnetometer, 3: barometer, 4: optical flow, 5: second magnetometer, 6: third magnetometermin: 0 max: 6 inc: 1
                                                                                                                                                                2 (X Offset)X axis offset (or generic dimension 1), in the sensor's raw units
                                                                                                                                                                3 (Y Offset)Y axis offset (or generic dimension 2), in the sensor's raw units
                                                                                                                                                                4 (Z Offset)Z axis offset (or generic dimension 3), in the sensor's raw units
                                                                                                                                                                5 (4th Dimension)Generic dimension 4, in the sensor's raw units
                                                                                                                                                                6 (5th Dimension)Generic dimension 5, in the sensor's raw units
                                                                                                                                                                7 (6th Dimension)Generic dimension 6, in the sensor's raw units

                                                                                                                                                                MAV_CMD_PREFLIGHT_UAVCAN (243)

                                                                                                                                                                Trigger UAVCAN configuration (actuator ID assignment and direction mapping). Note that this maps to the legacy UAVCAN v0 function UAVCAN_ENUMERATE, which is intended to be executed just once during initial vehicle configuration (it is not a normal pre-flight command and has been poorly named).

                                                                                                                                                                Param (Label)Description
                                                                                                                                                                1 (Actuator ID)1: Trigger actuator ID assignment and direction mapping. 0: Cancel command.
                                                                                                                                                                2Reserved
                                                                                                                                                                3Reserved
                                                                                                                                                                4Reserved
                                                                                                                                                                5Reserved
                                                                                                                                                                6Reserved
                                                                                                                                                                7Reserved

                                                                                                                                                                MAV_CMD_PREFLIGHT_STORAGE (245)

                                                                                                                                                                Request storage of different parameter values and logs. This command will be only accepted if in pre-flight mode.

                                                                                                                                                                Param (Label)DescriptionValuesUnits
                                                                                                                                                                1 (Parameter Storage)Action to perform on the persistent parameter storagePREFLIGHT_STORAGE_PARAMETER_ACTION
                                                                                                                                                                2 (Mission Storage)Action to perform on the persistent mission storagePREFLIGHT_STORAGE_MISSION_ACTION
                                                                                                                                                                3 (Logging Rate)Onboard logging: 0: Ignore, 1: Start default rate logging, -1: Stop logging, > 1: logging rate (e.g. set to 1000 for 1000 Hz logging)min: -1 inc: 1Hz
                                                                                                                                                                4Reserved
                                                                                                                                                                5Empty
                                                                                                                                                                6Empty
                                                                                                                                                                7Empty

                                                                                                                                                                MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN (246)

                                                                                                                                                                Request the reboot or shutdown of system components.

                                                                                                                                                                Param (Label)DescriptionValues
                                                                                                                                                                1 (Autopilot)0: Do nothing for autopilot, 1: Reboot autopilot, 2: Shutdown autopilot, 3: Reboot autopilot and keep it in the bootloader until upgraded.min: 0 max: 3 inc: 1
                                                                                                                                                                2 (Companion)0: Do nothing for onboard computer, 1: Reboot onboard computer, 2: Shutdown onboard computer, 3: Reboot onboard computer and keep it in the bootloader until upgraded.min: 0 max: 3 inc: 1
                                                                                                                                                                3 (Component action)0: Do nothing for component, 1: Reboot component, 2: Shutdown component, 3: Reboot component and keep it in the bootloader until upgradedmin: 0 max: 3 inc: 1
                                                                                                                                                                4 (Component ID)MAVLink Component ID targeted in param3 (0 for all components).min: 0 max: 255 inc: 1
                                                                                                                                                                5Reserved (set to 0)
                                                                                                                                                                6Reserved (set to 0)
                                                                                                                                                                7WIP: ID (e.g. camera ID -1 for all IDs)

                                                                                                                                                                MAV_CMD_OVERRIDE_GOTO (252)

                                                                                                                                                                Override current mission with command to pause mission, pause mission and move to position, continue/resume mission. When param 1 indicates that the mission is paused (MAV_GOTO_DO_HOLD), param 2 defines whether it holds in place or moves to another position.

                                                                                                                                                                Param (Label)DescriptionValuesUnits
                                                                                                                                                                1 (Continue)MAV_GOTO_DO_HOLD: pause mission and either hold or move to specified position (depending on param2), MAV_GOTO_DO_CONTINUE: resume mission.MAV_GOTO
                                                                                                                                                                2 (Position)MAV_GOTO_HOLD_AT_CURRENT_POSITION: hold at current position, MAV_GOTO_HOLD_AT_SPECIFIED_POSITION: hold at specified position.MAV_GOTO
                                                                                                                                                                3 (Frame)Coordinate frame of hold point.MAV_FRAME
                                                                                                                                                                4 (Yaw)Desired yaw angle.deg
                                                                                                                                                                5 (Latitude/X)Latitude/X position.
                                                                                                                                                                6 (Longitude/Y)Longitude/Y position.
                                                                                                                                                                7 (Altitude/Z)Altitude/Z position.

                                                                                                                                                                MAV_CMD_OBLIQUE_SURVEY (260)

                                                                                                                                                                Mission command to set a Camera Auto Mount Pivoting Oblique Survey (Replaces CAM_TRIGG_DIST for this purpose). The camera is triggered each time this distance is exceeded, then the mount moves to the next position. Params 4~6 set-up the angle limits and number of positions for oblique survey, where mount-enabled vehicles automatically roll the camera between shots to emulate an oblique camera setup (providing an increased HFOV). This command can also be used to set the shutter integration time for the camera.

                                                                                                                                                                Param (Label)DescriptionValuesUnits
                                                                                                                                                                1 (Distance)Camera trigger distance. 0 to stop triggering.min: 0m
                                                                                                                                                                2 (Shutter)Camera shutter integration time. 0 to ignoremin: 0 inc: 1ms
                                                                                                                                                                3 (Min Interval)The minimum interval in which the camera is capable of taking subsequent pictures repeatedly. 0 to ignore.min: 0 max: 10000 inc: 1ms
                                                                                                                                                                4 (Positions)Total number of roll positions at which the camera will capture photos (images captures spread evenly across the limits defined by param5).min: 2 inc: 1
                                                                                                                                                                5 (Roll Angle)Angle limits that the camera can be rolled to left and right of center.min: 0deg
                                                                                                                                                                6 (Pitch Angle)Fixed pitch angle that the camera will hold in oblique mode if the mount is actuated in the pitch axis.min: -180 max: 180deg
                                                                                                                                                                7Empty

                                                                                                                                                                MAV_CMD_MISSION_START (300)

                                                                                                                                                                start running a mission

                                                                                                                                                                Param (Label)DescriptionValues
                                                                                                                                                                1 (First Item)first_item: the first mission item to runmin: 0 inc: 1
                                                                                                                                                                2 (Last Item)last_item: the last mission item to run (after this item is run, the mission ends)min: 0 inc: 1

                                                                                                                                                                MAV_CMD_ACTUATOR_TEST (310)

                                                                                                                                                                Actuator testing command. This is similar to MAV_CMD_DO_MOTOR_TEST but operates on the level of output functions, i.e. it is possible to test Motor1 independent from which output it is configured on. Autopilots typically refuse this command while armed.

                                                                                                                                                                Param (Label)DescriptionValuesUnits
                                                                                                                                                                1 (Value)Output value: 1 means maximum positive output, 0 to center servos or minimum motor thrust (expected to spin), -1 for maximum negative (if not supported by the motors, i.e. motor is not reversible, smaller than 0 maps to NaN). And NaN maps to disarmed (stop the motors).min: -1 max: 1
                                                                                                                                                                2 (Timeout)Timeout after which the test command expires and the output is restored to the previous value. A timeout has to be set for safety reasons. A timeout of 0 means to restore the previous value immediately.min: 0 max: 3s
                                                                                                                                                                3
                                                                                                                                                                4
                                                                                                                                                                5 (Output Function)Actuator Output functionACTUATOR_OUTPUT_FUNCTION
                                                                                                                                                                6
                                                                                                                                                                7

                                                                                                                                                                MAV_CMD_CONFIGURE_ACTUATOR (311)

                                                                                                                                                                Actuator configuration command.

                                                                                                                                                                Param (Label)DescriptionValues
                                                                                                                                                                1 (Configuration)Actuator configuration actionACTUATOR_CONFIGURATION
                                                                                                                                                                2
                                                                                                                                                                3
                                                                                                                                                                4
                                                                                                                                                                5 (Output Function)Actuator Output functionACTUATOR_OUTPUT_FUNCTION
                                                                                                                                                                6
                                                                                                                                                                7

                                                                                                                                                                MAV_CMD_COMPONENT_ARM_DISARM (400)

                                                                                                                                                                Arms / Disarms a component

                                                                                                                                                                Param (Label)DescriptionValues
                                                                                                                                                                1 (Arm)0: disarm, 1: armmin: 0 max: 1 inc: 1
                                                                                                                                                                2 (Force)0: arm-disarm unless prevented by safety checks (i.e. when landed), 21196: force arming/disarming (e.g. allow arming to override preflight checks and disarming in flight)min: 0 max: 21196 inc: 21196

                                                                                                                                                                MAV_CMD_RUN_PREARM_CHECKS (401)

                                                                                                                                                                Instructs a target system to run pre-arm checks.

                                                                                                                                                                This allows preflight checks to be run on demand, which may be useful on systems that normally run them at low rate, or which do not trigger checks when the armable state might have changed. This command should return MAV_RESULT_ACCEPTED if it will run the checks. The results of the checks are usually then reported in SYS_STATUS messages (this is system-specific). The command should return MAV_RESULT_TEMPORARILY_REJECTED if the system is already armed.

                                                                                                                                                                Param (Label)Description

                                                                                                                                                                MAV_CMD_ILLUMINATOR_ON_OFF (405)

                                                                                                                                                                Turns illuminators ON/OFF. An illuminator is a light source that is used for lighting up dark areas external to the system: e.g. a torch or searchlight (as opposed to a light source for illuminating the system itself, e.g. an indicator light).

                                                                                                                                                                Param (Label)DescriptionValues
                                                                                                                                                                1 (Enable)0: Illuminators OFF, 1: Illuminators ONmin: 0 max: 1 inc: 1

                                                                                                                                                                MAV_CMD_DO_ILLUMINATOR_CONFIGURE (406)

                                                                                                                                                                Configures illuminator settings. An illuminator is a light source that is used for lighting up dark areas external to the system: e.g. a torch or searchlight (as opposed to a light source for illuminating the system itself, e.g. an indicator light).

                                                                                                                                                                Param (Label)DescriptionValuesUnits
                                                                                                                                                                1 (Mode)ModeILLUMINATOR_MODE
                                                                                                                                                                2 (Brightness)0%: Off, 100%: Max Brightnessmin: 0 max: 100%
                                                                                                                                                                3 (Strobe Period)Strobe period in seconds where 0 means strobing is not usedmin: 0s
                                                                                                                                                                4 (Strobe Duty)Strobe duty cycle where 100% means it is on constantly and 0 means strobing is not usedmin: 0 max: 100%

                                                                                                                                                                MAV_CMD_GET_HOME_POSITION (410) — [DEP]

                                                                                                                                                                DEPRECATED: Replaced By MAV_CMD_REQUEST_MESSAGE (2022-04)

                                                                                                                                                                Request the home position from the vehicle.

                                                                                                                                                                The vehicle will ACK the command and then emit the HOME_POSITION message.

                                                                                                                                                                Param (Label)Description
                                                                                                                                                                1Reserved
                                                                                                                                                                2Reserved
                                                                                                                                                                3Reserved
                                                                                                                                                                4Reserved
                                                                                                                                                                5Reserved
                                                                                                                                                                6Reserved
                                                                                                                                                                7Reserved

                                                                                                                                                                MAV_CMD_INJECT_FAILURE (420)

                                                                                                                                                                Inject artificial failure for testing purposes. Note that autopilots should implement an additional protection before accepting this command such as a specific param setting.

                                                                                                                                                                Param (Label)DescriptionValues
                                                                                                                                                                1 (Failure unit)The unit which is affected by the failure.FAILURE_UNIT
                                                                                                                                                                2 (Failure type)The type how the failure manifests itself.FAILURE_TYPE
                                                                                                                                                                3 (Instance)Instance affected by failure (0 to signal all).

                                                                                                                                                                MAV_CMD_START_RX_PAIR (500)

                                                                                                                                                                Starts receiver pairing.

                                                                                                                                                                Param (Label)DescriptionValues
                                                                                                                                                                1 (RC Type)RC type.RC_TYPE
                                                                                                                                                                2 (RC Sub Type)RC sub type.RC_SUB_TYPE

                                                                                                                                                                MAV_CMD_GET_MESSAGE_INTERVAL (510) — [DEP]

                                                                                                                                                                DEPRECATED: Replaced By MAV_CMD_REQUEST_MESSAGE (2022-04)

                                                                                                                                                                Request the interval between messages for a particular MAVLink message ID. The receiver should ACK the command and then emit its response in a MESSAGE_INTERVAL message.

                                                                                                                                                                Param (Label)DescriptionValues
                                                                                                                                                                1 (Message ID)The MAVLink message IDmin: 0 max: 16777215 inc: 1

                                                                                                                                                                MAV_CMD_SET_MESSAGE_INTERVAL (511)

                                                                                                                                                                Set the interval between messages for a particular MAVLink message ID. This interface replaces REQUEST_DATA_STREAM.

                                                                                                                                                                Param (Label)DescriptionValuesUnits
                                                                                                                                                                1 (Message ID)The MAVLink message IDmin: 0 max: 16777215 inc: 1
                                                                                                                                                                2 (Interval)The interval between two messages. -1: disable. 0: request default rate (which may be zero).min: -1 inc: 1us
                                                                                                                                                                3 (Req Param 3)Use for index ID, if required. Otherwise, the use of this parameter (if any) must be defined in the requested message. By default assumed not used (0).
                                                                                                                                                                4 (Req Param 4)The use of this parameter (if any), must be defined in the requested message. By default assumed not used (0).
                                                                                                                                                                5 (Req Param 5)The use of this parameter (if any), must be defined in the requested message. By default assumed not used (0).
                                                                                                                                                                6 (Req Param 6)The use of this parameter (if any), must be defined in the requested message. By default assumed not used (0).
                                                                                                                                                                7 (Response Target)Target address of message stream (if message has target address fields). 0: Flight-stack default (recommended), 1: address of requestor, 2: broadcast.min: 0 max: 2 inc: 1

                                                                                                                                                                MAV_CMD_REQUEST_MESSAGE (512)

                                                                                                                                                                Request the target system(s) emit a single instance of a specified message (i.e. a "one-shot" version of MAV_CMD_SET_MESSAGE_INTERVAL).

                                                                                                                                                                Param (Label)DescriptionValues
                                                                                                                                                                1 (Message ID)The MAVLink message ID of the requested message.min: 0 max: 16777215 inc: 1
                                                                                                                                                                2 (Req Param 1)Use for index ID, if required. Otherwise, the use of this parameter (if any) must be defined in the requested message. By default assumed not used (0).
                                                                                                                                                                3 (Req Param 2)The use of this parameter (if any), must be defined in the requested message. By default assumed not used (0).
                                                                                                                                                                4 (Req Param 3)The use of this parameter (if any), must be defined in the requested message. By default assumed not used (0).
                                                                                                                                                                5 (Req Param 4)The use of this parameter (if any), must be defined in the requested message. By default assumed not used (0).
                                                                                                                                                                6 (Req Param 5)The use of this parameter (if any), must be defined in the requested message. By default assumed not used (0).
                                                                                                                                                                7 (Response Target)Target address for requested message (if message has target address fields). 0: Flight-stack default, 1: address of requestor, 2: broadcast.min: 0 max: 2 inc: 1

                                                                                                                                                                MAV_CMD_REQUEST_PROTOCOL_VERSION (519) — [DEP]

                                                                                                                                                                DEPRECATED: Replaced By MAV_CMD_REQUEST_MESSAGE (2019-08)

                                                                                                                                                                Request MAVLink protocol version compatibility. All receivers should ACK the command and then emit their capabilities in an PROTOCOL_VERSION message

                                                                                                                                                                Param (Label)DescriptionValues
                                                                                                                                                                1 (Protocol)1: Request supported protocol versions by all nodes on the networkmin: 0 max: 1 inc: 1
                                                                                                                                                                2Reserved (all remaining params)

                                                                                                                                                                MAV_CMD_REQUEST_AUTOPILOT_CAPABILITIES (520) — [DEP]

                                                                                                                                                                DEPRECATED: Replaced By MAV_CMD_REQUEST_MESSAGE (2019-08)

                                                                                                                                                                Request autopilot capabilities. The receiver should ACK the command and then emit its capabilities in an AUTOPILOT_VERSION message

                                                                                                                                                                Param (Label)DescriptionValues
                                                                                                                                                                1 (Version)1: Request autopilot versionmin: 0 max: 1 inc: 1
                                                                                                                                                                2Reserved (all remaining params)

                                                                                                                                                                MAV_CMD_REQUEST_CAMERA_INFORMATION (521) — [DEP]

                                                                                                                                                                DEPRECATED: Replaced By MAV_CMD_REQUEST_MESSAGE (2019-08)

                                                                                                                                                                Request camera information (CAMERA_INFORMATION).

                                                                                                                                                                Param (Label)DescriptionValues
                                                                                                                                                                1 (Capabilities)0: No action 1: Request camera capabilitiesmin: 0 max: 1 inc: 1
                                                                                                                                                                2Reserved (all remaining params)

                                                                                                                                                                MAV_CMD_REQUEST_CAMERA_SETTINGS (522) — [DEP]

                                                                                                                                                                DEPRECATED: Replaced By MAV_CMD_REQUEST_MESSAGE (2019-08)

                                                                                                                                                                Request camera settings (CAMERA_SETTINGS).

                                                                                                                                                                Param (Label)DescriptionValues
                                                                                                                                                                1 (Settings)0: No Action 1: Request camera settingsmin: 0 max: 1 inc: 1
                                                                                                                                                                2Reserved (all remaining params)

                                                                                                                                                                MAV_CMD_REQUEST_STORAGE_INFORMATION (525) — [DEP]

                                                                                                                                                                DEPRECATED: Replaced By MAV_CMD_REQUEST_MESSAGE (2019-08)

                                                                                                                                                                Request storage information (STORAGE_INFORMATION). Use the command's target_component to target a specific component's storage.

                                                                                                                                                                Param (Label)DescriptionValues
                                                                                                                                                                1 (Storage ID)Storage ID (0 for all, 1 for first, 2 for second, etc.)min: 0 inc: 1
                                                                                                                                                                2 (Information)0: No Action 1: Request storage informationmin: 0 max: 1 inc: 1
                                                                                                                                                                3Reserved (all remaining params)

                                                                                                                                                                MAV_CMD_STORAGE_FORMAT (526)

                                                                                                                                                                Format a storage medium. Once format is complete, a STORAGE_INFORMATION message is sent. Use the command's target_component to target a specific component's storage.

                                                                                                                                                                Param (Label)DescriptionValues
                                                                                                                                                                1 (Storage ID)Storage ID (1 for first, 2 for second, etc.)min: 0 inc: 1
                                                                                                                                                                2 (Format)Format storage (and reset image log). 0: No action 1: Format storagemin: 0 max: 1 inc: 1
                                                                                                                                                                3 (Reset Image Log)Reset Image Log (without formatting storage medium). This will reset CAMERA_CAPTURE_STATUS.image_count and CAMERA_IMAGE_CAPTURED.image_index. 0: No action 1: Reset Image Logmin: 0 max: 1 inc: 1
                                                                                                                                                                4Reserved (all remaining params)

                                                                                                                                                                MAV_CMD_REQUEST_CAMERA_CAPTURE_STATUS (527) — [DEP]

                                                                                                                                                                DEPRECATED: Replaced By MAV_CMD_REQUEST_MESSAGE (2019-08)

                                                                                                                                                                Request camera capture status (CAMERA_CAPTURE_STATUS)

                                                                                                                                                                Param (Label)DescriptionValues
                                                                                                                                                                1 (Capture Status)0: No Action 1: Request camera capture statusmin: 0 max: 1 inc: 1
                                                                                                                                                                2Reserved (all remaining params)

                                                                                                                                                                MAV_CMD_REQUEST_FLIGHT_INFORMATION (528) — [DEP]

                                                                                                                                                                DEPRECATED: Replaced By MAV_CMD_REQUEST_MESSAGE (2019-08)

                                                                                                                                                                Request flight information (FLIGHT_INFORMATION)

                                                                                                                                                                Param (Label)DescriptionValues
                                                                                                                                                                1 (Flight Information)1: Request flight informationmin: 0 max: 1 inc: 1
                                                                                                                                                                2Reserved (all remaining params)

                                                                                                                                                                MAV_CMD_RESET_CAMERA_SETTINGS (529)

                                                                                                                                                                Reset all camera settings to Factory Default

                                                                                                                                                                Param (Label)DescriptionValues
                                                                                                                                                                1 (Reset)0: No Action 1: Reset all settingsmin: 0 max: 1 inc: 1
                                                                                                                                                                2 (Target Camera ID)Target camera ID. 7 to 255: MAVLink camera component id. 1 to 6 for cameras attached to the autopilot, which don't have a distinct component id. 0: all cameras. This is used to target specific autopilot-connected cameras. It is also used to target specific cameras when the MAV_CMD is used in a mission.min: 0 max: 255 inc: 1

                                                                                                                                                                MAV_CMD_SET_CAMERA_MODE (530)

                                                                                                                                                                Set camera running mode. Use NaN for reserved values. GCS will send a MAV_CMD_REQUEST_VIDEO_STREAM_STATUS command after a mode change if the camera supports video streaming.

                                                                                                                                                                Param (Label)DescriptionValues
                                                                                                                                                                1 (id)Target camera ID. 7 to 255: MAVLink camera component id. 1 to 6 for cameras attached to the autopilot, which don't have a distinct component id. 0: all cameras. This is used to target specific autopilot-connected cameras. It is also used to target specific cameras when the MAV_CMD is used in a mission.min: 0 max: 255 inc: 1
                                                                                                                                                                2 (Camera Mode)Camera modeCAMERA_MODE
                                                                                                                                                                3
                                                                                                                                                                4
                                                                                                                                                                7

                                                                                                                                                                MAV_CMD_SET_CAMERA_ZOOM (531)

                                                                                                                                                                Set camera zoom. Camera must respond with a CAMERA_SETTINGS message (on success).

                                                                                                                                                                Param (Label)DescriptionValues
                                                                                                                                                                1 (Zoom Type)Zoom typeCAMERA_ZOOM_TYPE
                                                                                                                                                                2 (Zoom Value)Zoom value. The range of valid values depend on the zoom type.
                                                                                                                                                                3 (Target Camera ID)Target camera ID. 7 to 255: MAVLink camera component id. 1 to 6 for cameras attached to the autopilot, which don't have a distinct component id. 0: all cameras. This is used to target specific autopilot-connected cameras. It is also used to target specific cameras when the MAV_CMD is used in a mission.min: 0 max: 255 inc: 1
                                                                                                                                                                4

                                                                                                                                                                MAV_CMD_SET_CAMERA_FOCUS (532)

                                                                                                                                                                Set camera focus. Camera must respond with a CAMERA_SETTINGS message (on success).

                                                                                                                                                                Param (Label)DescriptionValues
                                                                                                                                                                1 (Focus Type)Focus typeSET_FOCUS_TYPE
                                                                                                                                                                2 (Focus Value)Focus value
                                                                                                                                                                3 (Target Camera ID)Target camera ID. 7 to 255: MAVLink camera component id. 1 to 6 for cameras attached to the autopilot, which don't have a distinct component id. 0: all cameras. This is used to target specific autopilot-connected cameras. It is also used to target specific cameras when the MAV_CMD is used in a mission.min: 0 max: 255 inc: 1
                                                                                                                                                                4

                                                                                                                                                                MAV_CMD_SET_STORAGE_USAGE (533)

                                                                                                                                                                Set that a particular storage is the preferred location for saving photos, videos, and/or other media (e.g. to set that an SD card is used for storing videos).

                                                                                                                                                                There can only be one preferred save location for each particular media type: setting a media usage flag will clear/reset that same flag if set on any other storage. If no flag is set the system should use its default storage. A target system can choose to always use default storage, in which case it should ACK the command with MAV_RESULT_UNSUPPORTED. A target system can choose to not allow a particular storage to be set as preferred storage, in which case it should ACK the command with MAV_RESULT_DENIED.

                                                                                                                                                                Param (Label)DescriptionValues
                                                                                                                                                                1 (Storage ID)Storage ID (1 for first, 2 for second, etc.)min: 0 inc: 1
                                                                                                                                                                2 (Usage)Usage flagsSTORAGE_USAGE_FLAG

                                                                                                                                                                MAV_CMD_SET_CAMERA_SOURCE (534)

                                                                                                                                                                Set camera source. Changes the camera's active sources on cameras with multiple image sensors.

                                                                                                                                                                Param (Label)DescriptionValues
                                                                                                                                                                1 (device id)Component Id of camera to address or 1-6 for non-MAVLink cameras, 0 for all cameras.
                                                                                                                                                                2 (primary source)Primary SourceCAMERA_SOURCE
                                                                                                                                                                3 (secondary source)Secondary Source. If non-zero the second source will be displayed as picture-in-picture.CAMERA_SOURCE

                                                                                                                                                                MAV_CMD_JUMP_TAG (600)

                                                                                                                                                                Tagged jump target. Can be jumped to with MAV_CMD_DO_JUMP_TAG.

                                                                                                                                                                Param (Label)DescriptionValues
                                                                                                                                                                1 (Tag)Tag.min: 0 inc: 1

                                                                                                                                                                MAV_CMD_DO_JUMP_TAG (601)

                                                                                                                                                                Jump to the matching tag in the mission list. Repeat this action for the specified number of times. A mission should contain a single matching tag for each jump. If this is not the case then a jump to a missing tag should complete the mission, and a jump where there are multiple matching tags should always select the one with the lowest mission sequence number.

                                                                                                                                                                Param (Label)DescriptionValues
                                                                                                                                                                1 (Tag)Target tag to jump to.min: 0 inc: 1
                                                                                                                                                                2 (Repeat)Repeat count.min: 0 inc: 1

                                                                                                                                                                MAV_CMD_DO_GIMBAL_MANAGER_PITCHYAW (1000)

                                                                                                                                                                Set gimbal manager pitch/yaw setpoints (low rate command). It is possible to set combinations of the values below. E.g. an angle as well as a desired angular rate can be used to get to this angle at a certain angular rate, or an angular rate only will result in continuous turning. NaN is to be used to signal unset. Note: only the gimbal manager will react to this command - it will be ignored by a gimbal device. Use GIMBAL_MANAGER_SET_PITCHYAW if you need to stream pitch/yaw setpoints at higher rate.

                                                                                                                                                                Param (Label)DescriptionValuesUnits
                                                                                                                                                                1 (Pitch angle)Pitch angle (positive to pitch up, relative to vehicle for FOLLOW mode, relative to world horizon for LOCK mode).min: -180 max: 180deg
                                                                                                                                                                2 (Yaw angle)Yaw angle (positive to yaw to the right, relative to vehicle for FOLLOW mode, absolute to North for LOCK mode).min: -180 max: 180deg
                                                                                                                                                                3 (Pitch rate)Pitch rate (positive to pitch up).deg/s
                                                                                                                                                                4 (Yaw rate)Yaw rate (positive to yaw to the right).deg/s
                                                                                                                                                                5 (Gimbal manager flags)Gimbal manager flags to use.GIMBAL_MANAGER_FLAGS
                                                                                                                                                                7 (Gimbal device ID)Component ID of gimbal device to address (or 1-6 for non-MAVLink gimbal), 0 for all gimbal device components. Send command multiple times for more than one gimbal (but not all gimbals).

                                                                                                                                                                MAV_CMD_DO_GIMBAL_MANAGER_CONFIGURE (1001)

                                                                                                                                                                Gimbal configuration to set which sysid/compid is in primary and secondary control.

                                                                                                                                                                Param (Label)Description
                                                                                                                                                                1 (sysid primary control)Sysid for primary control (0: no one in control, -1: leave unchanged, -2: set itself in control (for missions where the own sysid is still unknown), -3: remove control if currently in control).
                                                                                                                                                                2 (compid primary control)Compid for primary control (0: no one in control, -1: leave unchanged, -2: set itself in control (for missions where the own sysid is still unknown), -3: remove control if currently in control).
                                                                                                                                                                3 (sysid secondary control)Sysid for secondary control (0: no one in control, -1: leave unchanged, -2: set itself in control (for missions where the own sysid is still unknown), -3: remove control if currently in control).
                                                                                                                                                                4 (compid secondary control)Compid for secondary control (0: no one in control, -1: leave unchanged, -2: set itself in control (for missions where the own sysid is still unknown), -3: remove control if currently in control).
                                                                                                                                                                7 (Gimbal device ID)Component ID of gimbal device to address (or 1-6 for non-MAVLink gimbal), 0 for all gimbal device components. Send command multiple times for more than one gimbal (but not all gimbals).

                                                                                                                                                                MAV_CMD_IMAGE_START_CAPTURE (2000)

                                                                                                                                                                Start image capture sequence. CAMERA_IMAGE_CAPTURED must be emitted after each capture.

                                                                                                                                                                Param1 (id) may be used to specify the target camera: 0: all cameras, 1 to 6: autopilot-connected cameras, 7-255: MAVLink camera component ID. It is needed in order to target specific cameras connected to the autopilot, or specific sensors in a multi-sensor camera (neither of which have a distinct MAVLink component ID). It is also needed to specify the target camera in missions.

                                                                                                                                                                When used in a mission, an autopilot should execute the MAV_CMD for a specified local camera (param1 = 1-6), or resend it as a command if it is intended for a MAVLink camera (param1 = 7 - 255), setting the command's target_component as the param1 value (and setting param1 in the command to zero). If the param1 is 0 the autopilot should do both.

                                                                                                                                                                When sent in a command the target MAVLink address is set using target_component. If addressed specifically to an autopilot: param1 should be used in the same way as it is for missions (though command should NACK with MAV_RESULT_DENIED if a specified local camera does not exist). If addressed to a MAVLink camera, param 1 can be used to address all cameras (0), or to separately address 1 to 7 individual sensors. Other values should be NACKed with MAV_RESULT_DENIED. If the command is broadcast (target_component is 0) then param 1 should be set to 0 (any other value should be NACKED with MAV_RESULT_DENIED). An autopilot would trigger any local cameras and forward the command to all channels.

                                                                                                                                                                Param (Label)DescriptionValuesUnits
                                                                                                                                                                1 (Target Camera ID)Target camera ID. 7 to 255: MAVLink camera component id. 1 to 6 for cameras attached to the autopilot, which don't have a distinct component id. 0: all cameras. This is used to target specific autopilot-connected cameras. It is also used to target specific cameras when the MAV_CMD is used in a mission.min: 0 max: 255 inc: 1
                                                                                                                                                                2 (Interval)Desired elapsed time between two consecutive pictures (in seconds). Minimum values depend on hardware (typically greater than 2 seconds).min: 0s
                                                                                                                                                                3 (Total Images)Total number of images to capture. 0 to capture forever/until MAV_CMD_IMAGE_STOP_CAPTURE.min: 0 inc: 1
                                                                                                                                                                4 (Sequence Number)Capture sequence number starting from 1. This is only valid for single-capture (param3 == 1), otherwise set to 0. Increment the capture ID for each capture command to prevent double captures when a command is re-transmitted.min: 1 inc: 1
                                                                                                                                                                5
                                                                                                                                                                6
                                                                                                                                                                7

                                                                                                                                                                MAV_CMD_IMAGE_STOP_CAPTURE (2001)

                                                                                                                                                                Stop image capture sequence.

                                                                                                                                                                Param1 (id) may be used to specify the target camera: 0: all cameras, 1 to 6: autopilot-connected cameras, 7-255: MAVLink camera component ID. It is needed in order to target specific cameras connected to the autopilot, or specific sensors in a multi-sensor camera (neither of which have a distinct MAVLink component ID). It is also needed to specify the target camera in missions.

                                                                                                                                                                When used in a mission, an autopilot should execute the MAV_CMD for a specified local camera (param1 = 1-6), or resend it as a command if it is intended for a MAVLink camera (param1 = 7 - 255), setting the command's target_component as the param1 value (and setting param1 in the command to zero). If the param1 is 0 the autopilot should do both.

                                                                                                                                                                When sent in a command the target MAVLink address is set using target_component. If addressed specifically to an autopilot: param1 should be used in the same way as it is for missions (though command should NACK with MAV_RESULT_DENIED if a specified local camera does not exist). If addressed to a MAVLink camera, param1 can be used to address all cameras (0), or to separately address 1 to 7 individual sensors. Other values should be NACKed with MAV_RESULT_DENIED. If the command is broadcast (target_component is 0) then param 1 should be set to 0 (any other value should be NACKED with MAV_RESULT_DENIED). An autopilot would trigger any local cameras and forward the command to all channels.

                                                                                                                                                                Param (Label)DescriptionValues
                                                                                                                                                                1 (Target Camera ID)Target camera ID. 7 to 255: MAVLink camera component id. 1 to 6 for cameras attached to the autopilot, which don't have a distinct component id. 0: all cameras. This is used to target specific autopilot-connected cameras. It is also used to target specific cameras when the MAV_CMD is used in a mission.min: 0 max: 255 inc: 1
                                                                                                                                                                2
                                                                                                                                                                3
                                                                                                                                                                4
                                                                                                                                                                5
                                                                                                                                                                6
                                                                                                                                                                7

                                                                                                                                                                MAV_CMD_REQUEST_CAMERA_IMAGE_CAPTURE (2002) — [DEP]

                                                                                                                                                                DEPRECATED: Replaced By MAV_CMD_REQUEST_MESSAGE (2019-08)

                                                                                                                                                                Re-request a CAMERA_IMAGE_CAPTURED message.

                                                                                                                                                                Param (Label)DescriptionValues
                                                                                                                                                                1 (Number)Sequence number for missing CAMERA_IMAGE_CAPTURED messagemin: 0 inc: 1
                                                                                                                                                                2
                                                                                                                                                                3
                                                                                                                                                                4
                                                                                                                                                                5
                                                                                                                                                                6
                                                                                                                                                                7

                                                                                                                                                                MAV_CMD_DO_TRIGGER_CONTROL (2003)

                                                                                                                                                                Enable or disable on-board camera triggering system.

                                                                                                                                                                Param (Label)DescriptionValues
                                                                                                                                                                1 (Enable)Trigger enable/disable (0 for disable, 1 for start), -1 to ignoremin: -1 max: 1 inc: 1
                                                                                                                                                                2 (Reset)1 to reset the trigger sequence, -1 or 0 to ignoremin: -1 max: 1 inc: 1
                                                                                                                                                                3 (Pause)1 to pause triggering, but without switching the camera off or retracting it. -1 to ignoremin: -1 max: 1 inc: 2
                                                                                                                                                                4 (Target Camera ID)Target camera ID. 7 to 255: MAVLink camera component id. 1 to 6 for cameras attached to the autopilot, which don't have a distinct component id. 0: all cameras. This is used to target specific autopilot-connected cameras. It is also used to target specific cameras when the MAV_CMD is used in a mission.min: 0 max: 255 inc: 1

                                                                                                                                                                MAV_CMD_CAMERA_TRACK_POINT (2004)

                                                                                                                                                                If the camera supports point visual tracking (CAMERA_CAP_FLAGS_HAS_TRACKING_POINT is set), this command allows to initiate the tracking.

                                                                                                                                                                Param (Label)DescriptionValues
                                                                                                                                                                1 (Point x)Point to track x value (normalized 0..1, 0 is left, 1 is right).min: 0 max: 1
                                                                                                                                                                2 (Point y)Point to track y value (normalized 0..1, 0 is top, 1 is bottom).min: 0 max: 1
                                                                                                                                                                3 (Radius)Point radius (normalized 0..1, 0 is one pixel, 1 is full image width).min: 0 max: 1
                                                                                                                                                                4 (Target Camera ID)Target camera ID. 7 to 255: MAVLink camera component id. 1 to 6 for cameras attached to the autopilot, which don't have a distinct component id. 0: all cameras. This is used to target specific autopilot-connected cameras. It is also used to target specific cameras when the MAV_CMD is used in a mission.min: 0 max: 255 inc: 1

                                                                                                                                                                MAV_CMD_CAMERA_TRACK_RECTANGLE (2005)

                                                                                                                                                                If the camera supports rectangle visual tracking (CAMERA_CAP_FLAGS_HAS_TRACKING_RECTANGLE is set), this command allows to initiate the tracking.

                                                                                                                                                                Param (Label)DescriptionValues
                                                                                                                                                                1 (Top left corner x)Top left corner of rectangle x value (normalized 0..1, 0 is left, 1 is right).min: 0 max: 1
                                                                                                                                                                2 (Top left corner y)Top left corner of rectangle y value (normalized 0..1, 0 is top, 1 is bottom).min: 0 max: 1
                                                                                                                                                                3 (Bottom right corner x)Bottom right corner of rectangle x value (normalized 0..1, 0 is left, 1 is right).min: 0 max: 1
                                                                                                                                                                4 (Bottom right corner y)Bottom right corner of rectangle y value (normalized 0..1, 0 is top, 1 is bottom).min: 0 max: 1
                                                                                                                                                                5 (Target Camera ID)Target camera ID. 7 to 255: MAVLink camera component id. 1 to 6 for cameras attached to the autopilot, which don't have a distinct component id. 0: all cameras. This is used to target specific autopilot-connected cameras. It is also used to target specific cameras when the MAV_CMD is used in a mission.min: 0 max: 255 inc: 1

                                                                                                                                                                MAV_CMD_CAMERA_STOP_TRACKING (2010)

                                                                                                                                                                Stops ongoing tracking.

                                                                                                                                                                Param (Label)DescriptionValues
                                                                                                                                                                1 (Target Camera ID)Target camera ID. 7 to 255: MAVLink camera component id. 1 to 6 for cameras attached to the autopilot, which don't have a distinct component id. 0: all cameras. This is used to target specific autopilot-connected cameras. It is also used to target specific cameras when the MAV_CMD is used in a mission.min: 0 max: 255 inc: 1

                                                                                                                                                                MAV_CMD_VIDEO_START_CAPTURE (2500)

                                                                                                                                                                Starts video capture (recording).

                                                                                                                                                                Param (Label)DescriptionValuesUnits
                                                                                                                                                                1 (Stream ID)Video Stream ID (0 for all streams)min: 0 inc: 1
                                                                                                                                                                2 (Status Frequency)Frequency CAMERA_CAPTURE_STATUS messages should be sent while recording (0 for no messages, otherwise frequency)min: 0Hz
                                                                                                                                                                3 (Target Camera ID)Target camera ID. 7 to 255: MAVLink camera component id. 1 to 6 for cameras attached to the autopilot, which don't have a distinct component id. 0: all cameras. This is used to target specific autopilot-connected cameras. It is also used to target specific cameras when the MAV_CMD is used in a mission.min: 0 max: 255 inc: 1
                                                                                                                                                                4
                                                                                                                                                                5
                                                                                                                                                                6
                                                                                                                                                                7

                                                                                                                                                                MAV_CMD_VIDEO_STOP_CAPTURE (2501)

                                                                                                                                                                Stop the current video capture (recording).

                                                                                                                                                                Param (Label)DescriptionValues
                                                                                                                                                                1 (Stream ID)Video Stream ID (0 for all streams)min: 0 inc: 1
                                                                                                                                                                2 (Target Camera ID)Target camera ID. 7 to 255: MAVLink camera component id. 1 to 6 for cameras attached to the autopilot, which don't have a distinct component id. 0: all cameras. This is used to target specific autopilot-connected cameras. It is also used to target specific cameras when the MAV_CMD is used in a mission.min: 0 max: 255 inc: 1
                                                                                                                                                                3
                                                                                                                                                                4
                                                                                                                                                                5
                                                                                                                                                                6
                                                                                                                                                                7

                                                                                                                                                                MAV_CMD_VIDEO_START_STREAMING (2502)

                                                                                                                                                                Start video streaming

                                                                                                                                                                Param (Label)DescriptionValues
                                                                                                                                                                1 (Stream ID)Video Stream ID (0 for all streams, 1 for first, 2 for second, etc.)min: 0 inc: 1
                                                                                                                                                                2 (Target Camera ID)Target camera ID. 7 to 255: MAVLink camera component id. 1 to 6 for cameras attached to the autopilot, which don't have a distinct component id. 0: all cameras. This is used to target specific autopilot-connected cameras. It is also used to target specific cameras when the MAV_CMD is used in a mission.min: 0 max: 255 inc: 1

                                                                                                                                                                MAV_CMD_VIDEO_STOP_STREAMING (2503)

                                                                                                                                                                Stop the given video stream

                                                                                                                                                                Param (Label)DescriptionValues
                                                                                                                                                                1 (Stream ID)Video Stream ID (0 for all streams, 1 for first, 2 for second, etc.)min: 0 inc: 1
                                                                                                                                                                2 (Target Camera ID)Target camera ID. 7 to 255: MAVLink camera component id. 1 to 6 for cameras attached to the autopilot, which don't have a distinct component id. 0: all cameras. This is used to target specific autopilot-connected cameras. It is also used to target specific cameras when the MAV_CMD is used in a mission.min: 0 max: 255 inc: 1

                                                                                                                                                                MAV_CMD_REQUEST_VIDEO_STREAM_INFORMATION (2504) — [DEP]

                                                                                                                                                                DEPRECATED: Replaced By MAV_CMD_REQUEST_MESSAGE (2019-08)

                                                                                                                                                                Request video stream information (VIDEO_STREAM_INFORMATION)

                                                                                                                                                                Param (Label)DescriptionValues
                                                                                                                                                                1 (Stream ID)Video Stream ID (0 for all streams, 1 for first, 2 for second, etc.)min: 0 inc: 1

                                                                                                                                                                MAV_CMD_REQUEST_VIDEO_STREAM_STATUS (2505) — [DEP]

                                                                                                                                                                DEPRECATED: Replaced By MAV_CMD_REQUEST_MESSAGE (2019-08)

                                                                                                                                                                Request video stream status (VIDEO_STREAM_STATUS)

                                                                                                                                                                Param (Label)DescriptionValues
                                                                                                                                                                1 (Stream ID)Video Stream ID (0 for all streams, 1 for first, 2 for second, etc.)min: 0 inc: 1

                                                                                                                                                                MAV_CMD_LOGGING_START (2510)

                                                                                                                                                                Request to start streaming logging data over MAVLink (see also LOGGING_DATA message)

                                                                                                                                                                Param (Label)DescriptionValues
                                                                                                                                                                1 (Format)Format: 0: ULogmin: 0 inc: 1
                                                                                                                                                                2Reserved (set to 0)
                                                                                                                                                                3Reserved (set to 0)
                                                                                                                                                                4Reserved (set to 0)
                                                                                                                                                                5Reserved (set to 0)
                                                                                                                                                                6Reserved (set to 0)
                                                                                                                                                                7Reserved (set to 0)

                                                                                                                                                                MAV_CMD_LOGGING_STOP (2511)

                                                                                                                                                                Request to stop streaming log data over MAVLink

                                                                                                                                                                Param (Label)Description
                                                                                                                                                                1Reserved (set to 0)
                                                                                                                                                                2Reserved (set to 0)
                                                                                                                                                                3Reserved (set to 0)
                                                                                                                                                                4Reserved (set to 0)
                                                                                                                                                                5Reserved (set to 0)
                                                                                                                                                                6Reserved (set to 0)
                                                                                                                                                                7Reserved (set to 0)

                                                                                                                                                                MAV_CMD_AIRFRAME_CONFIGURATION (2520)

                                                                                                                                                                Param (Label)DescriptionValues
                                                                                                                                                                1 (Landing Gear ID)Landing gear ID (default: 0, -1 for all)min: -1 inc: 1
                                                                                                                                                                2 (Landing Gear Position)Landing gear position (Down: 0, Up: 1, NaN for no change)
                                                                                                                                                                3
                                                                                                                                                                4
                                                                                                                                                                5
                                                                                                                                                                6
                                                                                                                                                                7

                                                                                                                                                                MAV_CMD_CONTROL_HIGH_LATENCY (2600)

                                                                                                                                                                Request to start/stop transmitting over the high latency telemetry

                                                                                                                                                                Param (Label)DescriptionValues
                                                                                                                                                                1 (Enable)Control transmission over high latency telemetry (0: stop, 1: start)min: 0 max: 1 inc: 1
                                                                                                                                                                2Empty
                                                                                                                                                                3Empty
                                                                                                                                                                4Empty
                                                                                                                                                                5Empty
                                                                                                                                                                6Empty
                                                                                                                                                                7Empty

                                                                                                                                                                MAV_CMD_PANORAMA_CREATE (2800)

                                                                                                                                                                Create a panorama at the current position

                                                                                                                                                                Param (Label)DescriptionUnits
                                                                                                                                                                1 (Horizontal Angle)Viewing angle horizontal of the panorama (+- 0.5 the total angle)deg
                                                                                                                                                                2 (Vertical Angle)Viewing angle vertical of panorama.deg
                                                                                                                                                                3 (Horizontal Speed)Speed of the horizontal rotation.deg/s
                                                                                                                                                                4 (Vertical Speed)Speed of the vertical rotation.deg/s

                                                                                                                                                                MAV_CMD_DO_VTOL_TRANSITION (3000)

                                                                                                                                                                Request VTOL transition

                                                                                                                                                                Param (Label)DescriptionValues
                                                                                                                                                                1 (State)The target VTOL state. For normal transitions, only MAV_VTOL_STATE_MC and MAV_VTOL_STATE_FW can be used.MAV_VTOL_STATE
                                                                                                                                                                2 (Immediate)Force immediate transition to the specified MAV_VTOL_STATE. 1: Force immediate, 0: normal transition. Can be used, for example, to trigger an emergency "Quadchute". Caution: Can be dangerous/damage vehicle, depending on autopilot implementation of this command.

                                                                                                                                                                MAV_CMD_ARM_AUTHORIZATION_REQUEST (3001)

                                                                                                                                                                Request authorization to arm the vehicle to a external entity, the arm authorizer is responsible to request all data that is needs from the vehicle before authorize or deny the request.

                                                                                                                                                                If approved the COMMAND_ACK message progress field should be set with period of time that this authorization is valid in seconds. If the authorization is denied COMMAND_ACK.result_param2 should be set with one of the reasons in ARM_AUTH_DENIED_REASON.

                                                                                                                                                                Param (Label)DescriptionValues
                                                                                                                                                                1 (System ID)Vehicle system id, this way ground station can request arm authorization on behalf of any vehiclemin: 0 max: 255 inc: 1

                                                                                                                                                                MAV_CMD_SET_GUIDED_SUBMODE_STANDARD (4000)

                                                                                                                                                                This command sets the submode to standard guided when vehicle is in guided mode. The vehicle holds position and altitude and the user can input the desired velocities along all three axes.

                                                                                                                                                                Param (Label)Description

                                                                                                                                                                MAV_CMD_SET_GUIDED_SUBMODE_CIRCLE (4001)

                                                                                                                                                                This command sets submode circle when vehicle is in guided mode. Vehicle flies along a circle facing the center of the circle. The user can input the velocity along the circle and change the radius. If no input is given the vehicle will hold position.

                                                                                                                                                                Param (Label)DescriptionUnits
                                                                                                                                                                1 (Radius)Radius of desired circle in CIRCLE_MODEm
                                                                                                                                                                2User defined
                                                                                                                                                                3User defined
                                                                                                                                                                4User defined
                                                                                                                                                                5 (Latitude)Target latitude of center of circle in CIRCLE_MODEdegE7
                                                                                                                                                                6 (Longitude)Target longitude of center of circle in CIRCLE_MODEdegE7

                                                                                                                                                                MAV_CMD_CONDITION_GATE (4501) — [WIP]

                                                                                                                                                                WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                Delay mission state machine until gate has been reached.

                                                                                                                                                                Param (Label)DescriptionValuesUnits
                                                                                                                                                                1 (Geometry)Geometry: 0: orthogonal to path between previous and next waypoint.min: 0 inc: 1
                                                                                                                                                                2 (UseAltitude)Altitude: 0: ignore altitudemin: 0 max: 1 inc: 1
                                                                                                                                                                3Empty
                                                                                                                                                                4Empty
                                                                                                                                                                5 (Latitude)Latitude
                                                                                                                                                                6 (Longitude)Longitude
                                                                                                                                                                7 (Altitude)Altitudem

                                                                                                                                                                MAV_CMD_NAV_FENCE_RETURN_POINT (5000)

                                                                                                                                                                Fence return point (there can only be one such point in a geofence definition). If rally points are supported they should be used instead.

                                                                                                                                                                Param (Label)DescriptionUnits
                                                                                                                                                                1Reserved
                                                                                                                                                                2Reserved
                                                                                                                                                                3Reserved
                                                                                                                                                                4Reserved
                                                                                                                                                                5 (Latitude)Latitude
                                                                                                                                                                6 (Longitude)Longitude
                                                                                                                                                                7 (Altitude)Altitudem

                                                                                                                                                                MAV_CMD_NAV_FENCE_POLYGON_VERTEX_INCLUSION (5001)

                                                                                                                                                                Fence vertex for an inclusion polygon (the polygon must not be self-intersecting). The vehicle must stay within this area. Minimum of 3 vertices required.

                                                                                                                                                                Param (Label)DescriptionValues
                                                                                                                                                                1 (Vertex Count)Polygon vertex countmin: 3 inc: 1
                                                                                                                                                                2 (Inclusion Group)Vehicle must be inside ALL inclusion zones in a single group, vehicle must be inside at least one group, must be the same for all points in each polygonmin: 0 inc: 1
                                                                                                                                                                3Reserved
                                                                                                                                                                4Reserved
                                                                                                                                                                5 (Latitude)Latitude
                                                                                                                                                                6 (Longitude)Longitude
                                                                                                                                                                7Reserved

                                                                                                                                                                MAV_CMD_NAV_FENCE_POLYGON_VERTEX_EXCLUSION (5002)

                                                                                                                                                                Fence vertex for an exclusion polygon (the polygon must not be self-intersecting). The vehicle must stay outside this area. Minimum of 3 vertices required.

                                                                                                                                                                Param (Label)DescriptionValues
                                                                                                                                                                1 (Vertex Count)Polygon vertex countmin: 3 inc: 1
                                                                                                                                                                2Reserved
                                                                                                                                                                3Reserved
                                                                                                                                                                4Reserved
                                                                                                                                                                5 (Latitude)Latitude
                                                                                                                                                                6 (Longitude)Longitude
                                                                                                                                                                7Reserved

                                                                                                                                                                MAV_CMD_NAV_FENCE_CIRCLE_INCLUSION (5003)

                                                                                                                                                                Circular fence area. The vehicle must stay inside this area.

                                                                                                                                                                Param (Label)DescriptionValuesUnits
                                                                                                                                                                1 (Radius)Radius.m
                                                                                                                                                                2 (Inclusion Group)Vehicle must be inside ALL inclusion zones in a single group, vehicle must be inside at least one groupmin: 0 inc: 1
                                                                                                                                                                3Reserved
                                                                                                                                                                4Reserved
                                                                                                                                                                5 (Latitude)Latitude
                                                                                                                                                                6 (Longitude)Longitude
                                                                                                                                                                7Reserved

                                                                                                                                                                MAV_CMD_NAV_FENCE_CIRCLE_EXCLUSION (5004)

                                                                                                                                                                Circular fence area. The vehicle must stay outside this area.

                                                                                                                                                                Param (Label)DescriptionUnits
                                                                                                                                                                1 (Radius)Radius.m
                                                                                                                                                                2Reserved
                                                                                                                                                                3Reserved
                                                                                                                                                                4Reserved
                                                                                                                                                                5 (Latitude)Latitude
                                                                                                                                                                6 (Longitude)Longitude
                                                                                                                                                                7Reserved

                                                                                                                                                                MAV_CMD_NAV_RALLY_POINT (5100)

                                                                                                                                                                Rally point. You can have multiple rally points defined.

                                                                                                                                                                Param (Label)DescriptionUnits
                                                                                                                                                                1Reserved
                                                                                                                                                                2Reserved
                                                                                                                                                                3Reserved
                                                                                                                                                                4Reserved
                                                                                                                                                                5 (Latitude)Latitude
                                                                                                                                                                6 (Longitude)Longitude
                                                                                                                                                                7 (Altitude)Altitudem

                                                                                                                                                                MAV_CMD_UAVCAN_GET_NODE_INFO (5200)

                                                                                                                                                                Commands the vehicle to respond with a sequence of messages UAVCAN_NODE_INFO, one message per every UAVCAN node that is online. Note that some of the response messages can be lost, which the receiver can detect easily by checking whether every received UAVCAN_NODE_STATUS has a matching message UAVCAN_NODE_INFO received earlier; if not, this command should be sent again in order to request re-transmission of the node information messages.

                                                                                                                                                                Param (Label)Description
                                                                                                                                                                1Reserved (set to 0)
                                                                                                                                                                2Reserved (set to 0)
                                                                                                                                                                3Reserved (set to 0)
                                                                                                                                                                4Reserved (set to 0)
                                                                                                                                                                5Reserved (set to 0)
                                                                                                                                                                6Reserved (set to 0)
                                                                                                                                                                7Reserved (set to 0)

                                                                                                                                                                MAV_CMD_DO_SET_SAFETY_SWITCH_STATE (5300)

                                                                                                                                                                Change state of safety switch.

                                                                                                                                                                Param (Label)DescriptionValues
                                                                                                                                                                1 (Desired State)New safety switch state.SAFETY_SWITCH_STATE
                                                                                                                                                                2Empty.
                                                                                                                                                                3Empty.
                                                                                                                                                                4Empty
                                                                                                                                                                5Empty.
                                                                                                                                                                6Empty.
                                                                                                                                                                7Empty.

                                                                                                                                                                MAV_CMD_DO_ADSB_OUT_IDENT (10001)

                                                                                                                                                                Trigger the start of an ADSB-out IDENT. This should only be used when requested to do so by an Air Traffic Controller in controlled airspace. This starts the IDENT which is then typically held for 18 seconds by the hardware per the Mode A, C, and S transponder spec.

                                                                                                                                                                Param (Label)Description
                                                                                                                                                                1Reserved (set to 0)
                                                                                                                                                                2Reserved (set to 0)
                                                                                                                                                                3Reserved (set to 0)
                                                                                                                                                                4Reserved (set to 0)
                                                                                                                                                                5Reserved (set to 0)
                                                                                                                                                                6Reserved (set to 0)
                                                                                                                                                                7Reserved (set to 0)

                                                                                                                                                                MAV_CMD_PAYLOAD_PREPARE_DEPLOY (30001) — [DEP]

                                                                                                                                                                DEPRECATED:(2021-06)

                                                                                                                                                                Deploy payload on a Lat / Lon / Alt position. This includes the navigation to reach the required release position and velocity.

                                                                                                                                                                Param (Label)DescriptionValuesUnits
                                                                                                                                                                1 (Operation Mode)Operation mode. 0: prepare single payload deploy (overwriting previous requests), but do not execute it. 1: execute payload deploy immediately (rejecting further deploy commands during execution, but allowing abort). 2: add payload deploy to existing deployment list.min: 0 max: 2 inc: 1
                                                                                                                                                                2 (Approach Vector)Desired approach vector in compass heading. A negative value indicates the system can define the approach vector at will.min: -1 max: 360deg
                                                                                                                                                                3 (Ground Speed)Desired ground speed at release time. This can be overridden by the airframe in case it needs to meet minimum airspeed. A negative value indicates the system can define the ground speed at will.min: -1
                                                                                                                                                                4 (Altitude Clearance)Minimum altitude clearance to the release position. A negative value indicates the system can define the clearance at will.min: -1m
                                                                                                                                                                5 (Latitude)Latitude.degE7
                                                                                                                                                                6 (Longitude)Longitude.degE7
                                                                                                                                                                7 (Altitude)Altitude (MSL)m

                                                                                                                                                                MAV_CMD_PAYLOAD_CONTROL_DEPLOY (30002) — [DEP]

                                                                                                                                                                DEPRECATED:(2021-06)

                                                                                                                                                                Control the payload deployment.

                                                                                                                                                                Param (Label)DescriptionValues
                                                                                                                                                                1 (Operation Mode)Operation mode. 0: Abort deployment, continue normal mission. 1: switch to payload deployment mode. 100: delete first payload deployment request. 101: delete all payload deployment requests.min: 0 max: 101 inc: 1
                                                                                                                                                                2Reserved
                                                                                                                                                                3Reserved
                                                                                                                                                                4Reserved
                                                                                                                                                                5Reserved
                                                                                                                                                                6Reserved
                                                                                                                                                                7Reserved

                                                                                                                                                                MAV_CMD_WAYPOINT_USER_1 (31000)

                                                                                                                                                                User defined waypoint item. Ground Station will show the Vehicle as flying through this item.

                                                                                                                                                                Param (Label)DescriptionUnits
                                                                                                                                                                1User defined
                                                                                                                                                                2User defined
                                                                                                                                                                3User defined
                                                                                                                                                                4User defined
                                                                                                                                                                5 (Latitude)Latitude unscaled
                                                                                                                                                                6 (Longitude)Longitude unscaled
                                                                                                                                                                7 (Altitude)Altitude (MSL)m

                                                                                                                                                                MAV_CMD_WAYPOINT_USER_2 (31001)

                                                                                                                                                                User defined waypoint item. Ground Station will show the Vehicle as flying through this item.

                                                                                                                                                                Param (Label)DescriptionUnits
                                                                                                                                                                1User defined
                                                                                                                                                                2User defined
                                                                                                                                                                3User defined
                                                                                                                                                                4User defined
                                                                                                                                                                5 (Latitude)Latitude unscaled
                                                                                                                                                                6 (Longitude)Longitude unscaled
                                                                                                                                                                7 (Altitude)Altitude (MSL)m

                                                                                                                                                                MAV_CMD_WAYPOINT_USER_3 (31002)

                                                                                                                                                                User defined waypoint item. Ground Station will show the Vehicle as flying through this item.

                                                                                                                                                                Param (Label)DescriptionUnits
                                                                                                                                                                1User defined
                                                                                                                                                                2User defined
                                                                                                                                                                3User defined
                                                                                                                                                                4User defined
                                                                                                                                                                5 (Latitude)Latitude unscaled
                                                                                                                                                                6 (Longitude)Longitude unscaled
                                                                                                                                                                7 (Altitude)Altitude (MSL)m

                                                                                                                                                                MAV_CMD_WAYPOINT_USER_4 (31003)

                                                                                                                                                                User defined waypoint item. Ground Station will show the Vehicle as flying through this item.

                                                                                                                                                                Param (Label)DescriptionUnits
                                                                                                                                                                1User defined
                                                                                                                                                                2User defined
                                                                                                                                                                3User defined
                                                                                                                                                                4User defined
                                                                                                                                                                5 (Latitude)Latitude unscaled
                                                                                                                                                                6 (Longitude)Longitude unscaled
                                                                                                                                                                7 (Altitude)Altitude (MSL)m

                                                                                                                                                                MAV_CMD_WAYPOINT_USER_5 (31004)

                                                                                                                                                                User defined waypoint item. Ground Station will show the Vehicle as flying through this item.

                                                                                                                                                                Param (Label)DescriptionUnits
                                                                                                                                                                1User defined
                                                                                                                                                                2User defined
                                                                                                                                                                3User defined
                                                                                                                                                                4User defined
                                                                                                                                                                5 (Latitude)Latitude unscaled
                                                                                                                                                                6 (Longitude)Longitude unscaled
                                                                                                                                                                7 (Altitude)Altitude (MSL)m

                                                                                                                                                                MAV_CMD_SPATIAL_USER_1 (31005)

                                                                                                                                                                User defined spatial item. Ground Station will not show the Vehicle as flying through this item. Example: ROI item.

                                                                                                                                                                Param (Label)DescriptionUnits
                                                                                                                                                                1User defined
                                                                                                                                                                2User defined
                                                                                                                                                                3User defined
                                                                                                                                                                4User defined
                                                                                                                                                                5 (Latitude)Latitude unscaled
                                                                                                                                                                6 (Longitude)Longitude unscaled
                                                                                                                                                                7 (Altitude)Altitude (MSL)m

                                                                                                                                                                MAV_CMD_SPATIAL_USER_2 (31006)

                                                                                                                                                                User defined spatial item. Ground Station will not show the Vehicle as flying through this item. Example: ROI item.

                                                                                                                                                                Param (Label)DescriptionUnits
                                                                                                                                                                1User defined
                                                                                                                                                                2User defined
                                                                                                                                                                3User defined
                                                                                                                                                                4User defined
                                                                                                                                                                5 (Latitude)Latitude unscaled
                                                                                                                                                                6 (Longitude)Longitude unscaled
                                                                                                                                                                7 (Altitude)Altitude (MSL)m

                                                                                                                                                                MAV_CMD_SPATIAL_USER_3 (31007)

                                                                                                                                                                User defined spatial item. Ground Station will not show the Vehicle as flying through this item. Example: ROI item.

                                                                                                                                                                Param (Label)DescriptionUnits
                                                                                                                                                                1User defined
                                                                                                                                                                2User defined
                                                                                                                                                                3User defined
                                                                                                                                                                4User defined
                                                                                                                                                                5 (Latitude)Latitude unscaled
                                                                                                                                                                6 (Longitude)Longitude unscaled
                                                                                                                                                                7 (Altitude)Altitude (MSL)m

                                                                                                                                                                MAV_CMD_SPATIAL_USER_4 (31008)

                                                                                                                                                                User defined spatial item. Ground Station will not show the Vehicle as flying through this item. Example: ROI item.

                                                                                                                                                                Param (Label)DescriptionUnits
                                                                                                                                                                1User defined
                                                                                                                                                                2User defined
                                                                                                                                                                3User defined
                                                                                                                                                                4User defined
                                                                                                                                                                5 (Latitude)Latitude unscaled
                                                                                                                                                                6 (Longitude)Longitude unscaled
                                                                                                                                                                7 (Altitude)Altitude (MSL)m

                                                                                                                                                                MAV_CMD_SPATIAL_USER_5 (31009)

                                                                                                                                                                User defined spatial item. Ground Station will not show the Vehicle as flying through this item. Example: ROI item.

                                                                                                                                                                Param (Label)DescriptionUnits
                                                                                                                                                                1User defined
                                                                                                                                                                2User defined
                                                                                                                                                                3User defined
                                                                                                                                                                4User defined
                                                                                                                                                                5 (Latitude)Latitude unscaled
                                                                                                                                                                6 (Longitude)Longitude unscaled
                                                                                                                                                                7 (Altitude)Altitude (MSL)m

                                                                                                                                                                MAV_CMD_USER_1 (31010)

                                                                                                                                                                User defined command. Ground Station will not show the Vehicle as flying through this item. Example: MAV_CMD_DO_SET_PARAMETER item.

                                                                                                                                                                Param (Label)Description
                                                                                                                                                                1User defined
                                                                                                                                                                2User defined
                                                                                                                                                                3User defined
                                                                                                                                                                4User defined
                                                                                                                                                                5User defined
                                                                                                                                                                6User defined
                                                                                                                                                                7User defined

                                                                                                                                                                MAV_CMD_USER_2 (31011)

                                                                                                                                                                User defined command. Ground Station will not show the Vehicle as flying through this item. Example: MAV_CMD_DO_SET_PARAMETER item.

                                                                                                                                                                Param (Label)Description
                                                                                                                                                                1User defined
                                                                                                                                                                2User defined
                                                                                                                                                                3User defined
                                                                                                                                                                4User defined
                                                                                                                                                                5User defined
                                                                                                                                                                6User defined
                                                                                                                                                                7User defined

                                                                                                                                                                MAV_CMD_USER_3 (31012)

                                                                                                                                                                User defined command. Ground Station will not show the Vehicle as flying through this item. Example: MAV_CMD_DO_SET_PARAMETER item.

                                                                                                                                                                Param (Label)Description
                                                                                                                                                                1User defined
                                                                                                                                                                2User defined
                                                                                                                                                                3User defined
                                                                                                                                                                4User defined
                                                                                                                                                                5User defined
                                                                                                                                                                6User defined
                                                                                                                                                                7User defined

                                                                                                                                                                MAV_CMD_USER_4 (31013)

                                                                                                                                                                User defined command. Ground Station will not show the Vehicle as flying through this item. Example: MAV_CMD_DO_SET_PARAMETER item.

                                                                                                                                                                Param (Label)Description
                                                                                                                                                                1User defined
                                                                                                                                                                2User defined
                                                                                                                                                                3User defined
                                                                                                                                                                4User defined
                                                                                                                                                                5User defined
                                                                                                                                                                6User defined
                                                                                                                                                                7User defined

                                                                                                                                                                MAV_CMD_USER_5 (31014)

                                                                                                                                                                User defined command. Ground Station will not show the Vehicle as flying through this item. Example: MAV_CMD_DO_SET_PARAMETER item.

                                                                                                                                                                Param (Label)Description
                                                                                                                                                                1User defined
                                                                                                                                                                2User defined
                                                                                                                                                                3User defined
                                                                                                                                                                4User defined
                                                                                                                                                                5User defined
                                                                                                                                                                6User defined
                                                                                                                                                                7User defined

                                                                                                                                                                MAV_CMD_CAN_FORWARD (32000)

                                                                                                                                                                Request forwarding of CAN packets from the given CAN bus to this component. CAN Frames are sent using CAN_FRAME and CANFD_FRAME messages

                                                                                                                                                                Param (Label)Description
                                                                                                                                                                1 (bus)Bus number (0 to disable forwarding, 1 for first bus, 2 for 2nd bus, 3 for 3rd bus).
                                                                                                                                                                2Empty.
                                                                                                                                                                3Empty.
                                                                                                                                                                4Empty.
                                                                                                                                                                5Empty.
                                                                                                                                                                6Empty.
                                                                                                                                                                7Empty.

                                                                                                                                                                MAV_CMD_FIXED_MAG_CAL_YAW (42006)

                                                                                                                                                                Magnetometer calibration based on provided known yaw. This allows for fast calibration using WMM field tables in the vehicle, given only the known yaw of the vehicle. If Latitude and longitude are both zero then use the current vehicle location.

                                                                                                                                                                Param (Label)DescriptionUnits
                                                                                                                                                                1 (Yaw)Yaw of vehicle in earth frame.deg
                                                                                                                                                                2 (CompassMask)CompassMask, 0 for all.
                                                                                                                                                                3 (Latitude)Latitude.deg
                                                                                                                                                                4 (Longitude)Longitude.deg
                                                                                                                                                                5Empty.
                                                                                                                                                                6Empty.
                                                                                                                                                                7Empty.

                                                                                                                                                                MAV_CMD_DO_WINCH (42600)

                                                                                                                                                                Command to operate winch.

                                                                                                                                                                Param (Label)DescriptionValuesUnits
                                                                                                                                                                1 (Instance)Winch instance number.min: 1 inc: 1
                                                                                                                                                                2 (Action)Action to perform.WINCH_ACTIONS
                                                                                                                                                                3 (Length)Length of line to release (negative to wind).m
                                                                                                                                                                4 (Rate)Release rate (negative to wind).m/s
                                                                                                                                                                5Empty.
                                                                                                                                                                6Empty.
                                                                                                                                                                7Empty.

                                                                                                                                                                MAV_CMD_EXTERNAL_POSITION_ESTIMATE (43003)

                                                                                                                                                                Provide an external position estimate for use when dead-reckoning. This is meant to be used for occasional position resets that may be provided by a external system such as a remote pilot using landmarks over a video link.

                                                                                                                                                                Param (Label)DescriptionUnits
                                                                                                                                                                1 (transmission_time)Timestamp that this message was sent as a time in the transmitters time domain. The sender should wrap this time back to zero based on required timing accuracy for the application and the limitations of a 32 bit float. For example, wrapping at 10 hours would give approximately 1ms accuracy. Recipient must handle time wrap in any timing jitter correction applied to this field. Wrap rollover time should not be at not more than 250 seconds, which would give approximately 10 microsecond accuracy.s
                                                                                                                                                                2 (processing_time)The time spent in processing the sensor data that is the basis for this position. The recipient can use this to improve time alignment of the data. Set to zero if not known.s
                                                                                                                                                                3 (accuracy)estimated one standard deviation accuracy of the measurement. Set to NaN if not known.
                                                                                                                                                                4Empty
                                                                                                                                                                5 (Latitude)Latitude
                                                                                                                                                                6 (Longitude)Longitude
                                                                                                                                                                7 (Altitude)Altitude, not used. Should be sent as NaN. May be supported in a future version of this message.m

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                                                                                                                                                                  \ No newline at end of file diff --git a/en/messages/development.html b/en/messages/development.html index 7488affd2..c16b55d0c 100644 --- a/en/messages/development.html +++ b/en/messages/development.html @@ -1 +1 @@ -development.xml · MAVLink Developer Guide
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                                                                                                                                                                  Dialect: development

                                                                                                                                                                  This dialect contains messages that are proposed for inclusion in the standard set, in order to ease development of prototype implementations. They should be considered a 'work in progress' and not included in production builds.

                                                                                                                                                                  This topic is a human-readable form of the XML definition file: development.xml.

                                                                                                                                                                  • MAVLink 2 extension fields are displayed in blue.
                                                                                                                                                                  • Entities from dialects are displayed only as headings (with link to original)

                                                                                                                                                                  Protocol dialect: 0

                                                                                                                                                                  Protocol version: 0

                                                                                                                                                                  Summary

                                                                                                                                                                  TypeDefinedIncluded
                                                                                                                                                                  Messages18224
                                                                                                                                                                  Enums17143
                                                                                                                                                                  Commands1750

                                                                                                                                                                  The following sections list all entities in the dialect (both included and defined in this file).

                                                                                                                                                                  Messages

                                                                                                                                                                  PARAM_ACK_TRANSACTION (19) — [WIP]

                                                                                                                                                                  WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                  Response from a PARAM_SET message when it is used in a transaction.

                                                                                                                                                                  Field NameTypeValuesDescription
                                                                                                                                                                  target_systemuint8_tId of system that sent PARAM_SET message.
                                                                                                                                                                  target_componentuint8_tId of system that sent PARAM_SET message.
                                                                                                                                                                  param_idchar[16]Parameter id, terminated by NULL if the length is less than 16 human-readable chars and WITHOUT null termination (NULL) byte if the length is exactly 16 chars - applications have to provide 16+1 bytes storage if the ID is stored as string
                                                                                                                                                                  param_valuefloatParameter value (new value if PARAM_ACCEPTED, current value otherwise)
                                                                                                                                                                  param_typeuint8_tMAV_PARAM_TYPEParameter type.
                                                                                                                                                                  param_resultuint8_tPARAM_ACKResult code.

                                                                                                                                                                  AIRSPEED (295) — [WIP]

                                                                                                                                                                  WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                  Airspeed information from a sensor.

                                                                                                                                                                  Field NameTypeUnitsValuesDescription
                                                                                                                                                                  iduint8_tSensor ID.
                                                                                                                                                                  Messages with same value are from the same source (instance).
                                                                                                                                                                  airspeedfloatm/sCalibrated airspeed (CAS).
                                                                                                                                                                  temperatureint16_tcdegCTemperature. INT16_MAX for value unknown/not supplied.
                                                                                                                                                                  raw_pressfloathPaRaw differential pressure. NaN for value unknown/not supplied.
                                                                                                                                                                  flagsuint8_tAIRSPEED_SENSOR_FLAGSAirspeed sensor flags.

                                                                                                                                                                  WIFI_NETWORK_INFO (298) — [WIP]

                                                                                                                                                                  WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                  Detected WiFi network status information. This message is sent per each WiFi network detected in range with known SSID and general status parameters.

                                                                                                                                                                  Field NameTypeUnitsValuesDescription
                                                                                                                                                                  ssidchar[32]Name of Wi-Fi network (SSID).
                                                                                                                                                                  channel_iduint8_tWiFi network operating channel ID. Set to 0 if unknown or unidentified.
                                                                                                                                                                  signal_qualityuint8_t%WiFi network signal quality.
                                                                                                                                                                  data_rateuint16_tMiB/sWiFi network data rate. Set to UINT16_MAX if data_rate information is not supplied.
                                                                                                                                                                  securityuint8_tWIFI_NETWORK_SECURITYWiFi network security type.

                                                                                                                                                                  SET_VELOCITY_LIMITS (354) — [WIP]

                                                                                                                                                                  WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                  Set temporary maximum limits for horizontal speed, vertical speed and yaw rate.

                                                                                                                                                                  The consumer must stream the current limits in VELOCITY_LIMITS at 1 Hz or more (when limits are being set). The consumer should latch the limits until a new limit is received or the mode is changed.

                                                                                                                                                                  Field NameTypeUnitsDescription
                                                                                                                                                                  target_systemuint8_tSystem ID (0 for broadcast).
                                                                                                                                                                  target_componentuint8_tComponent ID (0 for broadcast).
                                                                                                                                                                  horizontal_speed_limitfloatm/sLimit for horizontal movement in MAV_FRAME_LOCAL_NED. NaN: Field not used (ignore)
                                                                                                                                                                  vertical_speed_limitfloatm/sLimit for vertical movement in MAV_FRAME_LOCAL_NED. NaN: Field not used (ignore)
                                                                                                                                                                  yaw_rate_limitfloatrad/sLimit for vehicle turn rate around its yaw axis. NaN: Field not used (ignore)

                                                                                                                                                                  VELOCITY_LIMITS (355) — [WIP]

                                                                                                                                                                  WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                  Current limits for horizontal speed, vertical speed and yaw rate, as set by SET_VELOCITY_LIMITS.

                                                                                                                                                                  Field NameTypeUnitsDescription
                                                                                                                                                                  horizontal_speed_limitfloatm/sLimit for horizontal movement in MAV_FRAME_LOCAL_NED. NaN: No limit applied
                                                                                                                                                                  vertical_speed_limitfloatm/sLimit for vertical movement in MAV_FRAME_LOCAL_NED. NaN: No limit applied
                                                                                                                                                                  yaw_rate_limitfloatrad/sLimit for vehicle turn rate around its yaw axis. NaN: No limit applied

                                                                                                                                                                  FIGURE_EIGHT_EXECUTION_STATUS (361) — [WIP]

                                                                                                                                                                  WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                  Vehicle status report that is sent out while figure eight execution is in progress (see MAV_CMD_DO_FIGURE_EIGHT). This may typically send at low rates: of the order of 2Hz.

                                                                                                                                                                  Field NameTypeUnitsValuesDescription
                                                                                                                                                                  time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
                                                                                                                                                                  major_radiusfloatmMajor axis radius of the figure eight. Positive: orbit the north circle clockwise. Negative: orbit the north circle counter-clockwise.
                                                                                                                                                                  minor_radiusfloatmMinor axis radius of the figure eight. Defines the radius of two circles that make up the figure.
                                                                                                                                                                  orientationfloatradOrientation of the figure eight major axis with respect to true north in [-pi,pi).
                                                                                                                                                                  frameuint8_tMAV_FRAMEThe coordinate system of the fields: x, y, z.
                                                                                                                                                                  xint32_tX coordinate of center point. Coordinate system depends on frame field.
                                                                                                                                                                  yint32_tY coordinate of center point. Coordinate system depends on frame field.
                                                                                                                                                                  zfloatmAltitude of center point. Coordinate system depends on frame field.

                                                                                                                                                                  BATTERY_STATUS_V2 (369) — [WIP]

                                                                                                                                                                  WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                  Battery dynamic information.

                                                                                                                                                                  This should be streamed (nominally at 1Hz). Static/invariant battery information is sent in BATTERY_INFO. Note that smart batteries should set the MAV_BATTERY_STATUS_FLAGS_CAPACITY_RELATIVE_TO_FULL bit to indicate that supplied capacity values are relative to a battery that is known to be full. Power monitors would not set this bit, indicating that capacity_consumed is relative to drone power-on, and that other values are estimated based on the assumption that the battery was full on power-on.

                                                                                                                                                                  Field NameTypeUnitsValuesDescription
                                                                                                                                                                  iduint8_tBattery ID
                                                                                                                                                                  Messages with same value are from the same source (instance).
                                                                                                                                                                  temperatureint16_tcdegCinvalid:INT16_MAXTemperature of the whole battery pack (not internal electronics). INT16_MAX field not provided.
                                                                                                                                                                  voltagefloatVinvalid:NaNBattery voltage (total). NaN: field not provided.
                                                                                                                                                                  currentfloatAinvalid:NaNBattery current (through all cells/loads). Positive value when discharging and negative if charging. NaN: field not provided.
                                                                                                                                                                  capacity_consumedfloatAhinvalid:NaNConsumed charge. NaN: field not provided. This is either the consumption since power-on or since the battery was full, depending on the value of MAV_BATTERY_STATUS_FLAGS_CAPACITY_RELATIVE_TO_FULL.
                                                                                                                                                                  capacity_remainingfloatAhinvalid:NaNRemaining charge (until empty). NaN: field not provided. Note: If MAV_BATTERY_STATUS_FLAGS_CAPACITY_RELATIVE_TO_FULL is unset, this value is based on the assumption the battery was full when the system was powered.
                                                                                                                                                                  percent_remaininguint8_t%invalid:UINT8_MAXRemaining battery energy. Values: [0-100], UINT8_MAX: field not provided.
                                                                                                                                                                  status_flagsuint32_tMAV_BATTERY_STATUS_FLAGSFault, health, readiness, and other status indications.

                                                                                                                                                                  FUEL_STATUS (371) — [WIP]

                                                                                                                                                                  WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                  Fuel status.

                                                                                                                                                                  This message provides "generic" fuel level information for display in a GCS and for triggering failsafes in an autopilot. The fuel type and associated units for fields in this message are defined in the enum MAV_FUEL_TYPE.

                                                                                                                                                                  The reported consumed_fuel and remaining_fuel must only be supplied if measured: they must not be inferred from the maximum_fuel and the other value. A recipient can assume that if these fields are supplied they are accurate. If not provided, the recipient can infer remaining_fuel from maximum_fuel and consumed_fuel on the assumption that the fuel was initially at its maximum (this is what battery monitors assume). Note however that this is an assumption, and the UI should prompt the user appropriately (i.e. notify user that they should fill the tank before boot).

                                                                                                                                                                  This kind of information may also be sent in fuel-specific messages such as BATTERY_STATUS_V2. If both messages are sent for the same fuel system, the ids and corresponding information must match.

                                                                                                                                                                  This should be streamed (nominally at 0.1 Hz).

                                                                                                                                                                  Field NameTypeUnitsValuesDescription
                                                                                                                                                                  iduint8_tFuel ID. Must match ID of other messages for same fuel system, such as BATTERY_STATUS_V2.
                                                                                                                                                                  Messages with same value are from the same source (instance).
                                                                                                                                                                  maximum_fuelfloatCapacity when full. Must be provided.
                                                                                                                                                                  consumed_fuelfloatinvalid:NaNConsumed fuel (measured). This value should not be inferred: if not measured set to NaN. NaN: field not provided.
                                                                                                                                                                  remaining_fuelfloatinvalid:NaNRemaining fuel until empty (measured). The value should not be inferred: if not measured set to NaN. NaN: field not provided.
                                                                                                                                                                  percent_remaininguint8_t%invalid:UINT8_MAXPercentage of remaining fuel, relative to full. Values: [0-100], UINT8_MAX: field not provided.
                                                                                                                                                                  flow_ratefloatinvalid:NaNPositive value when emptying/using, and negative if filling/replacing. NaN: field not provided.
                                                                                                                                                                  temperaturefloatKinvalid:NaNFuel temperature. NaN: field not provided.
                                                                                                                                                                  fuel_typeuint32_tMAV_FUEL_TYPEFuel type. Defines units for fuel capacity and consumption fields above.

                                                                                                                                                                  GROUP_START (414) — [WIP]

                                                                                                                                                                  WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                  Emitted during mission execution when control reaches MAV_CMD_GROUP_START.

                                                                                                                                                                  Field NameTypeUnitsDescription
                                                                                                                                                                  group_iduint32_tMission-unique group id (from MAV_CMD_GROUP_START).
                                                                                                                                                                  mission_checksumuint32_tCRC32 checksum of current plan for MAV_MISSION_TYPE_ALL. As defined in MISSION_CHECKSUM message.
                                                                                                                                                                  time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot).
                                                                                                                                                                  The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.

                                                                                                                                                                  GROUP_END (415) — [WIP]

                                                                                                                                                                  WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                  Emitted during mission execution when control reaches MAV_CMD_GROUP_END.

                                                                                                                                                                  Field NameTypeUnitsDescription
                                                                                                                                                                  group_iduint32_tMission-unique group id (from MAV_CMD_GROUP_END).
                                                                                                                                                                  mission_checksumuint32_tCRC32 checksum of current plan for MAV_MISSION_TYPE_ALL. As defined in MISSION_CHECKSUM message.
                                                                                                                                                                  time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot).
                                                                                                                                                                  The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.

                                                                                                                                                                  RADIO_RC_CHANNELS (420) — [WIP]

                                                                                                                                                                  WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                  RC channel outputs from a MAVLink RC receiver for input to a flight controller or other components (allows an RC receiver to connect via MAVLink instead of some other protocol such as PPM-Sum or S.BUS).

                                                                                                                                                                  Note that this is not intended to be an over-the-air format, and does not replace RC_CHANNELS and similar messages reported by the flight controller. The target_system field should normally be set to the system id of the system to control, typically the flight controller. The target_component field can normally be set to 0, so that all components of the system can receive the message. The channels array field can publish up to 32 channels; the number of channel items used in the array is specified in the count field. The time_last_update_ms field contains the timestamp of the last received valid channels data in the receiver's time domain. The count field indicates the first index of the channel array that is not used for channel data (this and later indexes are zero-filled). The RADIO_RC_CHANNELS_FLAGS_OUTDATED flag is set by the receiver if the channels data is not up-to-date (for example, if new data from the transmitter could not be validated so the last valid data is resent). The RADIO_RC_CHANNELS_FLAGS_FAILSAFE failsafe flag is set by the receiver if the receiver's failsafe condition is met (implementation dependent, e.g., connection to the RC radio is lost). In this case time_last_update_ms still contains the timestamp of the last valid channels data, but the content of the channels data is not defined by the protocol (it is up to the implementation of the receiver). For instance, the channels data could contain failsafe values configured in the receiver; the default is to carry the last valid data. Note: The RC channels fields are extensions to ensure that they are located at the end of the serialized payload and subject to MAVLink's trailing-zero trimming.

                                                                                                                                                                  Field NameTypeUnitsValuesDescription
                                                                                                                                                                  target_systemuint8_tSystem ID (ID of target system, normally flight controller).
                                                                                                                                                                  target_componentuint8_tComponent ID (normally 0 for broadcast).
                                                                                                                                                                  time_last_update_msuint32_tmsTime when the data in the channels field were last updated (time since boot in the receiver's time domain).
                                                                                                                                                                  flagsuint16_tRADIO_RC_CHANNELS_FLAGSRadio RC channels status flags.
                                                                                                                                                                  countuint8_tTotal number of RC channels being received. This can be larger than 32, indicating that more channels are available but not given in this message.
                                                                                                                                                                  channels ++int16_t[32]min:-4096 max:4096RC channels.
                                                                                                                                                                  Channel values are in centered 13 bit format. Range is -4096 to 4096, center is 0. Conversion to PWM is x * 5/32 + 1500.
                                                                                                                                                                  Channels with indexes equal or above count should be set to 0, to benefit from MAVLink's trailing-zero trimming.

                                                                                                                                                                  AVAILABLE_MODES (435) — [WIP]

                                                                                                                                                                  WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                  Get information about a particular flight modes.

                                                                                                                                                                  The message can be enumerated or requested for a particular mode using MAV_CMD_REQUEST_MESSAGE. Specify 0 in param2 to request that the message is emitted for all available modes or the specific index for just one mode. The modes must be available/settable for the current vehicle/frame type. Each modes should only be emitted once (even if it is both standard and custom).

                                                                                                                                                                  Field NameTypeValuesDescription
                                                                                                                                                                  number_modesuint8_tThe total number of available modes for the current vehicle type.
                                                                                                                                                                  mode_indexuint8_tThe current mode index within number_modes, indexed from 1.
                                                                                                                                                                  standard_modeuint8_tMAV_STANDARD_MODEStandard mode.
                                                                                                                                                                  custom_modeuint32_tA bitfield for use for autopilot-specific flags
                                                                                                                                                                  propertiesuint32_tMAV_MODE_PROPERTYMode properties.
                                                                                                                                                                  mode_namechar[35]Name of custom mode, with null termination character. Should be omitted for standard modes.

                                                                                                                                                                  CURRENT_MODE (436) — [WIP]

                                                                                                                                                                  WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                  Get the current mode.

                                                                                                                                                                  This should be emitted on any mode change, and broadcast at low rate (nominally 0.5 Hz). It may be requested using MAV_CMD_REQUEST_MESSAGE.

                                                                                                                                                                  Field NameTypeValuesDescription
                                                                                                                                                                  standard_modeuint8_tMAV_STANDARD_MODEStandard mode.
                                                                                                                                                                  custom_modeuint32_tA bitfield for use for autopilot-specific flags
                                                                                                                                                                  intended_custom_modeuint32_tinvalid:0The custom_mode of the mode that was last commanded by the user (for example, with MAV_CMD_DO_SET_STANDARD_MODE, MAV_CMD_DO_SET_MODE or via RC). This should usually be the same as custom_mode. It will be different if the vehicle is unable to enter the intended mode, or has left that mode due to a failsafe condition. 0 indicates the intended custom mode is unknown/not supplied

                                                                                                                                                                  AVAILABLE_MODES_MONITOR (437) — [WIP]

                                                                                                                                                                  WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                  A change to the sequence number indicates that the set of AVAILABLE_MODES has changed.

                                                                                                                                                                  A receiver must re-request all available modes whenever the sequence number changes. This is only emitted after the first change and should then be broadcast at low rate (nominally 0.3 Hz) and on change.

                                                                                                                                                                  Field NameTypeDescription
                                                                                                                                                                  sequint8_tSequence number. The value iterates sequentially whenever AVAILABLE_MODES changes (e.g. support for a new mode is added/removed dynamically).

                                                                                                                                                                  GNSS_INTEGRITY (441) — [WIP]

                                                                                                                                                                  WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                  Information about key components of GNSS receivers, like signal authentication, interference and system errors.

                                                                                                                                                                  Field NameTypeUnitsValuesDescription
                                                                                                                                                                  iduint8_tGNSS receiver id. Must match instance ids of other messages from same receiver.
                                                                                                                                                                  Messages with same value are from the same source (instance).
                                                                                                                                                                  system_errorsuint32_tGPS_SYSTEM_ERROR_FLAGSErrors in the GPS system.
                                                                                                                                                                  authentication_stateuint8_tGPS_AUTHENTICATION_STATESignal authentication state of the GPS system.
                                                                                                                                                                  jamming_stateuint8_tGPS_JAMMING_STATESignal jamming state of the GPS system.
                                                                                                                                                                  spoofing_stateuint8_tGPS_SPOOFING_STATESignal spoofing state of the GPS system.
                                                                                                                                                                  raim_stateuint8_tGPS_RAIM_STATEThe state of the RAIM processing.
                                                                                                                                                                  raim_hfomuint16_tcminvalid:UINT16_MAXHorizontal expected accuracy using satellites successfully validated using RAIM.
                                                                                                                                                                  raim_vfomuint16_tcminvalid:UINT16_MAXVertical expected accuracy using satellites successfully validated using RAIM.
                                                                                                                                                                  corrections_qualityuint8_tinvalid:UINT8_MAX min:0 max:10An abstract value representing the estimated quality of incoming corrections, or 255 if not available.
                                                                                                                                                                  system_status_summaryuint8_tinvalid:UINT8_MAX min:0 max:10An abstract value representing the overall status of the receiver, or 255 if not available.
                                                                                                                                                                  gnss_signal_qualityuint8_tinvalid:UINT8_MAX min:0 max:10An abstract value representing the quality of incoming GNSS signals, or 255 if not available.
                                                                                                                                                                  post_processing_qualityuint8_tinvalid:UINT8_MAX min:0 max:10An abstract value representing the estimated PPK quality, or 255 if not available.

                                                                                                                                                                  TARGET_ABSOLUTE (510) — [WIP]

                                                                                                                                                                  WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                  Current motion information from sensors on a target

                                                                                                                                                                  Field NameTypeUnitsValuesDescription
                                                                                                                                                                  timestampuint64_tusTimestamp (UNIX epoch time).
                                                                                                                                                                  iduint8_tThe ID of the target if multiple targets are present
                                                                                                                                                                  sensor_capabilitiesuint8_tTARGET_ABSOLUTE_SENSOR_CAPABILITY_FLAGSBitmap to indicate the sensor's reporting capabilities
                                                                                                                                                                  latint32_tdegE7Target's latitude (WGS84)
                                                                                                                                                                  lonint32_tdegE7Target's longitude (WGS84)
                                                                                                                                                                  altfloatmTarget's altitude (AMSL)
                                                                                                                                                                  velfloat[3]m/sinvalid:[0]Target's velocity in its body frame
                                                                                                                                                                  accfloat[3]m/s/sinvalid:[0]Linear target's acceleration in its body frame
                                                                                                                                                                  q_targetfloat[4]invalid:[0]Quaternion of the target's orientation from its body frame to the vehicle's NED frame.
                                                                                                                                                                  ratesfloat[3]rad/sinvalid:[0]Target's roll, pitch and yaw rates
                                                                                                                                                                  position_stdfloat[2]mStandard deviation of horizontal (eph) and vertical (epv) position errors
                                                                                                                                                                  vel_stdfloat[3]m/sStandard deviation of the target's velocity in its body frame
                                                                                                                                                                  acc_stdfloat[3]m/s/sStandard deviation of the target's acceleration in its body frame

                                                                                                                                                                  TARGET_RELATIVE (511) — [WIP]

                                                                                                                                                                  WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                  The location of a target measured by MAV's onboard sensors.

                                                                                                                                                                  Field NameTypeUnitsValuesDescription
                                                                                                                                                                  timestampuint64_tusTimestamp (UNIX epoch time)
                                                                                                                                                                  iduint8_tThe ID of the target if multiple targets are present
                                                                                                                                                                  Messages with same value are from the same source (instance).
                                                                                                                                                                  frameuint8_tTARGET_OBS_FRAMECoordinate frame used for following fields.
                                                                                                                                                                  xfloatmX Position of the target in TARGET_OBS_FRAME
                                                                                                                                                                  yfloatmY Position of the target in TARGET_OBS_FRAME
                                                                                                                                                                  zfloatmZ Position of the target in TARGET_OBS_FRAME
                                                                                                                                                                  pos_stdfloat[3]mStandard deviation of the target's position in TARGET_OBS_FRAME
                                                                                                                                                                  yaw_stdfloatradStandard deviation of the target's orientation in TARGET_OBS_FRAME
                                                                                                                                                                  q_targetfloat[4]Quaternion of the target's orientation from the target's frame to the TARGET_OBS_FRAME (w, x, y, z order, zero-rotation is 1, 0, 0, 0)
                                                                                                                                                                  q_sensorfloat[4]Quaternion of the sensor's orientation from TARGET_OBS_FRAME to vehicle-carried NED. (Ignored if set to (0,0,0,0)) (w, x, y, z order, zero-rotation is 1, 0, 0, 0)
                                                                                                                                                                  typeuint8_tLANDING_TARGET_TYPEType of target

                                                                                                                                                                  CONTROL_STATUS (512) — [WIP]

                                                                                                                                                                  WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                  Information about GCS in control of this MAV. This should be broadcast at low rate (nominally 1 Hz) and emitted when ownership or takeover status change. Control over MAV is requested using MAV_CMD_REQUEST_OPERATOR_CONTROL.

                                                                                                                                                                  Field NameTypeValuesDescription
                                                                                                                                                                  sysid_in_controluint8_tSystem ID of GCS MAVLink component in control (0: no GCS in control).
                                                                                                                                                                  flagsuint8_tGCS_CONTROL_STATUS_FLAGSControl status. For example, whether takeover is allowed, and whether this message instance defines the default controlling GCS for the whole system.

                                                                                                                                                                  Enumerated Types

                                                                                                                                                                  WIFI_NETWORK_SECURITY — [WIP]

                                                                                                                                                                  WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                  WiFi wireless security protocols.

                                                                                                                                                                  ValueNameDescription
                                                                                                                                                                  0WIFI_NETWORK_SECURITY_UNDEFINEDUndefined or unknown security protocol.
                                                                                                                                                                  1WIFI_NETWORK_SECURITY_OPENOpen network, no security.
                                                                                                                                                                  2WIFI_NETWORK_SECURITY_WEPWEP.
                                                                                                                                                                  3WIFI_NETWORK_SECURITY_WPA1WPA1.
                                                                                                                                                                  4WIFI_NETWORK_SECURITY_WPA2WPA2.
                                                                                                                                                                  5WIFI_NETWORK_SECURITY_WPA3WPA3.

                                                                                                                                                                  AIRSPEED_SENSOR_FLAGS — [WIP]

                                                                                                                                                                  WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                  (Bitmask) Airspeed sensor flags

                                                                                                                                                                  ValueNameDescription
                                                                                                                                                                  0AIRSPEED_SENSOR_UNHEALTHYAirspeed sensor is unhealthy
                                                                                                                                                                  1AIRSPEED_SENSOR_USINGTrue if the data from this sensor is being actively used by the flight controller for guidance, navigation or control.

                                                                                                                                                                  PARAM_TRANSACTION_TRANSPORT — [WIP]

                                                                                                                                                                  WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                  Possible transport layers to set and get parameters via mavlink during a parameter transaction.

                                                                                                                                                                  ValueNameDescription
                                                                                                                                                                  0PARAM_TRANSACTION_TRANSPORT_PARAMTransaction over param transport.
                                                                                                                                                                  1PARAM_TRANSACTION_TRANSPORT_PARAM_EXTTransaction over param_ext transport.

                                                                                                                                                                  PARAM_TRANSACTION_ACTION — [WIP]

                                                                                                                                                                  WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                  Possible parameter transaction actions.

                                                                                                                                                                  ValueNameDescription
                                                                                                                                                                  0PARAM_TRANSACTION_ACTION_STARTCommit the current parameter transaction.
                                                                                                                                                                  1PARAM_TRANSACTION_ACTION_COMMITCommit the current parameter transaction.
                                                                                                                                                                  2PARAM_TRANSACTION_ACTION_CANCELCancel the current parameter transaction.

                                                                                                                                                                  MAV_STANDARD_MODE — [WIP]

                                                                                                                                                                  WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                  Standard modes with a well understood meaning across flight stacks and vehicle types.

                                                                                                                                                                  For example, most flight stack have the concept of a "return" or "RTL" mode that takes a vehicle to safety, even though the precise mechanics of this mode may differ. Modes may be set using MAV_CMD_DO_SET_STANDARD_MODE.

                                                                                                                                                                  ValueNameDescription
                                                                                                                                                                  0MAV_STANDARD_MODE_NON_STANDARDNon standard mode.
                                                                                                                                                                  This may be used when reporting the mode if the current flight mode is not a standard mode.
                                                                                                                                                                  1MAV_STANDARD_MODE_POSITION_HOLDPosition mode (manual).
                                                                                                                                                                  Position-controlled and stabilized manual mode.
                                                                                                                                                                  When sticks are released vehicles return to their level-flight orientation and hold both position and altitude against wind and external forces.
                                                                                                                                                                  This mode can only be set by vehicles that can hold a fixed position.
                                                                                                                                                                  Multicopter (MC) vehicles actively brake and hold both position and altitude against wind and external forces.
                                                                                                                                                                  Hybrid MC/FW ("VTOL") vehicles first transition to multicopter mode (if needed) but otherwise behave in the same way as MC vehicles.
                                                                                                                                                                  Fixed-wing (FW) vehicles must not support this mode.
                                                                                                                                                                  Other vehicle types must not support this mode (this may be revisited through the PR process).
                                                                                                                                                                  2MAV_STANDARD_MODE_ORBITOrbit (manual).
                                                                                                                                                                  Position-controlled and stabilized manual mode.
                                                                                                                                                                  The vehicle circles around a fixed setpoint in the horizontal plane at a particular radius, altitude, and direction.
                                                                                                                                                                  Flight stacks may further allow manual control over the setpoint position, radius, direction, speed, and/or altitude of the circle, but this is not mandated.
                                                                                                                                                                  Flight stacks may support the MAV_CMD_DO_ORBIT for changing the orbit parameters.
                                                                                                                                                                  MC and FW vehicles may support this mode.
                                                                                                                                                                  Hybrid MC/FW ("VTOL") vehicles may support this mode in MC/FW or both modes; if the mode is not supported by the current configuration the vehicle should transition to the supported configuration.
                                                                                                                                                                  Other vehicle types must not support this mode (this may be revisited through the PR process).
                                                                                                                                                                  3MAV_STANDARD_MODE_CRUISECruise mode (manual).
                                                                                                                                                                  Position-controlled and stabilized manual mode.
                                                                                                                                                                  When sticks are released vehicles return to their level-flight orientation and hold their original track against wind and external forces.
                                                                                                                                                                  Fixed-wing (FW) vehicles level orientation and maintain current track and altitude against wind and external forces.
                                                                                                                                                                  Hybrid MC/FW ("VTOL") vehicles first transition to FW mode (if needed) but otherwise behave in the same way as MC vehicles.
                                                                                                                                                                  Multicopter (MC) vehicles must not support this mode.
                                                                                                                                                                  Other vehicle types must not support this mode (this may be revisited through the PR process).
                                                                                                                                                                  4MAV_STANDARD_MODE_ALTITUDE_HOLDAltitude hold (manual).
                                                                                                                                                                  Altitude-controlled and stabilized manual mode.
                                                                                                                                                                  When sticks are released vehicles return to their level-flight orientation and hold their altitude.
                                                                                                                                                                  MC vehicles continue with existing momentum and may move with wind (or other external forces).
                                                                                                                                                                  FW vehicles continue with current heading, but may be moved off-track by wind.
                                                                                                                                                                  Hybrid MC/FW ("VTOL") vehicles behave according to their current configuration/mode (FW or MC).
                                                                                                                                                                  Other vehicle types must not support this mode (this may be revisited through the PR process).
                                                                                                                                                                  5MAV_STANDARD_MODE_RETURN_HOMEReturn home mode (auto).
                                                                                                                                                                  Automatic mode that returns vehicle to home via a safe flight path.
                                                                                                                                                                  It may also automatically land the vehicle (i.e. RTL).
                                                                                                                                                                  The precise flight path and landing behaviour depend on vehicle configuration and type.
                                                                                                                                                                  6MAV_STANDARD_MODE_SAFE_RECOVERYSafe recovery mode (auto).
                                                                                                                                                                  Automatic mode that takes vehicle to a predefined safe location via a safe flight path (rally point or mission defined landing) .
                                                                                                                                                                  It may also automatically land the vehicle.
                                                                                                                                                                  The precise return location, flight path, and landing behaviour depend on vehicle configuration and type.
                                                                                                                                                                  7MAV_STANDARD_MODE_MISSIONMission mode (automatic).
                                                                                                                                                                  Automatic mode that executes MAVLink missions.
                                                                                                                                                                  Missions are executed from the current waypoint as soon as the mode is enabled.
                                                                                                                                                                  8MAV_STANDARD_MODE_LANDLand mode (auto).
                                                                                                                                                                  Automatic mode that lands the vehicle at the current location.
                                                                                                                                                                  The precise landing behaviour depends on vehicle configuration and type.
                                                                                                                                                                  9MAV_STANDARD_MODE_TAKEOFFTakeoff mode (auto).
                                                                                                                                                                  Automatic takeoff mode.
                                                                                                                                                                  The precise takeoff behaviour depends on vehicle configuration and type.

                                                                                                                                                                  MAV_MODE_PROPERTY — [WIP]

                                                                                                                                                                  WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                  (Bitmask) Mode properties.

                                                                                                                                                                  ValueNameDescription
                                                                                                                                                                  1MAV_MODE_PROPERTY_ADVANCEDIf set, this mode is an advanced mode.
                                                                                                                                                                  For example a rate-controlled manual mode might be advanced, whereas a position-controlled manual mode is not.
                                                                                                                                                                  A GCS can optionally use this flag to configure the UI for its intended users.
                                                                                                                                                                  2MAV_MODE_PROPERTY_NOT_USER_SELECTABLEIf set, this mode should not be added to the list of selectable modes.
                                                                                                                                                                  The mode might still be selected by the FC directly (for example as part of a failsafe).

                                                                                                                                                                  MAV_BATTERY_STATUS_FLAGS — [WIP]

                                                                                                                                                                  WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                  (Bitmask) Battery status flags for fault, health and state indication.

                                                                                                                                                                  ValueNameDescription
                                                                                                                                                                  1MAV_BATTERY_STATUS_FLAGS_NOT_READY_TO_USEThe battery is not ready to use (fly).
                                                                                                                                                                  Set if the battery has faults or other conditions that make it unsafe to fly with.
                                                                                                                                                                  Note: It will be the logical OR of other status bits (chosen by the manufacturer/integrator).
                                                                                                                                                                  2MAV_BATTERY_STATUS_FLAGS_CHARGINGBattery is charging.
                                                                                                                                                                  4MAV_BATTERY_STATUS_FLAGS_CELL_BALANCINGBattery is cell balancing (during charging).
                                                                                                                                                                  Not ready to use (MAV_BATTERY_STATUS_FLAGS_NOT_READY_TO_USE may be set).
                                                                                                                                                                  8MAV_BATTERY_STATUS_FLAGS_FAULT_CELL_IMBALANCEBattery cells are not balanced.
                                                                                                                                                                  Not ready to use.
                                                                                                                                                                  16MAV_BATTERY_STATUS_FLAGS_AUTO_DISCHARGINGBattery is auto discharging (towards storage level).
                                                                                                                                                                  Not ready to use (MAV_BATTERY_STATUS_FLAGS_NOT_READY_TO_USE would be set).
                                                                                                                                                                  32MAV_BATTERY_STATUS_FLAGS_REQUIRES_SERVICEBattery requires service (not safe to fly).
                                                                                                                                                                  This is set at vendor discretion.
                                                                                                                                                                  It is likely to be set for most faults, and may also be set according to a maintenance schedule (such as age, or number of recharge cycles, etc.).
                                                                                                                                                                  64MAV_BATTERY_STATUS_FLAGS_BAD_BATTERYBattery is faulty and cannot be repaired (not safe to fly).
                                                                                                                                                                  This is set at vendor discretion.
                                                                                                                                                                  The battery should be disposed of safely.
                                                                                                                                                                  128MAV_BATTERY_STATUS_FLAGS_PROTECTIONS_ENABLEDAutomatic battery protection monitoring is enabled.
                                                                                                                                                                  When enabled, the system will monitor for certain kinds of faults, such as cells being over-voltage.
                                                                                                                                                                  If a fault is triggered then and protections are enabled then a safety fault (MAV_BATTERY_STATUS_FLAGS_FAULT_PROTECTION_SYSTEM) will be set and power from the battery will be stopped.
                                                                                                                                                                  Note that battery protection monitoring should only be enabled when the vehicle is landed. Once the vehicle is armed, or starts moving, the protections should be disabled to prevent false positives from disabling the output.
                                                                                                                                                                  256MAV_BATTERY_STATUS_FLAGS_FAULT_PROTECTION_SYSTEMThe battery fault protection system had detected a fault and cut all power from the battery.
                                                                                                                                                                  This will only trigger if MAV_BATTERY_STATUS_FLAGS_PROTECTIONS_ENABLED is set.
                                                                                                                                                                  Other faults like MAV_BATTERY_STATUS_FLAGS_FAULT_OVER_VOLT may also be set, indicating the cause of the protection fault.
                                                                                                                                                                  512MAV_BATTERY_STATUS_FLAGS_FAULT_OVER_VOLTOne or more cells are above their maximum voltage rating.
                                                                                                                                                                  1024MAV_BATTERY_STATUS_FLAGS_FAULT_UNDER_VOLTOne or more cells are below their minimum voltage rating.
                                                                                                                                                                  A battery that had deep-discharged might be irrepairably damaged, and set both MAV_BATTERY_STATUS_FLAGS_FAULT_UNDER_VOLT and MAV_BATTERY_STATUS_FLAGS_BAD_BATTERY.
                                                                                                                                                                  2048MAV_BATTERY_STATUS_FLAGS_FAULT_OVER_TEMPERATUREOver-temperature fault.
                                                                                                                                                                  4096MAV_BATTERY_STATUS_FLAGS_FAULT_UNDER_TEMPERATUREUnder-temperature fault.
                                                                                                                                                                  8192MAV_BATTERY_STATUS_FLAGS_FAULT_OVER_CURRENTOver-current fault.
                                                                                                                                                                  16384MAV_BATTERY_STATUS_FLAGS_FAULT_SHORT_CIRCUITShort circuit event detected.
                                                                                                                                                                  The battery may or may not be safe to use (check other flags).
                                                                                                                                                                  32768MAV_BATTERY_STATUS_FLAGS_FAULT_INCOMPATIBLE_VOLTAGEVoltage not compatible with power rail voltage (batteries on same power rail should have similar voltage).
                                                                                                                                                                  65536MAV_BATTERY_STATUS_FLAGS_FAULT_INCOMPATIBLE_FIRMWAREBattery firmware is not compatible with current autopilot firmware.
                                                                                                                                                                  131072MAV_BATTERY_STATUS_FLAGS_FAULT_INCOMPATIBLE_CELLS_CONFIGURATIONBattery is not compatible due to cell configuration (e.g. 5s1p when vehicle requires 6s).
                                                                                                                                                                  262144MAV_BATTERY_STATUS_FLAGS_CAPACITY_RELATIVE_TO_FULLBattery capacity_consumed and capacity_remaining values are relative to a full battery (they sum to the total capacity of the battery).
                                                                                                                                                                  This flag would be set for a smart battery that can accurately determine its remaining charge across vehicle reboots and discharge/recharge cycles.
                                                                                                                                                                  If unset the capacity_consumed indicates the consumption since vehicle power-on, as measured using a power monitor. The capacity_remaining, if provided, indicates the estimated remaining capacity on the assumption that the battery was full on vehicle boot.
                                                                                                                                                                  If unset a GCS is recommended to advise that users fully charge the battery on power on.
                                                                                                                                                                  4294967295MAV_BATTERY_STATUS_FLAGS_EXTENDEDReserved (not used). If set, this will indicate that an additional status field exists for higher status values.

                                                                                                                                                                  GCS_CONTROL_STATUS_FLAGS — [WIP]

                                                                                                                                                                  WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                  (Bitmask) CONTROL_STATUS flags.

                                                                                                                                                                  ValueNameDescription
                                                                                                                                                                  1GCS_CONTROL_STATUS_FLAGS_SYSTEM_MANAGERIf set, this CONTROL_STATUS publishes the controlling GCS for the whole system. If unset, the CONTROL_STATUS indicates the controlling GCS for just the component emitting the message. Note that to request control of the system a GCS should send MAV_CMD_REQUEST_OPERATOR_CONTROL to the component emitting CONTROL_STATUS with this flag set.
                                                                                                                                                                  2GCS_CONTROL_STATUS_FLAGS_TAKEOVER_ALLOWEDTakeover allowed (requests for control will be granted). If not set requests for control will be rejected, but the controlling GCS will be notified (and may release control or allow takeover).

                                                                                                                                                                  TARGET_ABSOLUTE_SENSOR_CAPABILITY_FLAGS — [WIP]

                                                                                                                                                                  WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                  (Bitmask) These flags indicate the sensor reporting capabilities for TARGET_ABSOLUTE.

                                                                                                                                                                  ValueNameDescription
                                                                                                                                                                  1TARGET_ABSOLUTE_SENSOR_CAPABILITY_POSITION
                                                                                                                                                                  2TARGET_ABSOLUTE_SENSOR_CAPABILITY_VELOCITY
                                                                                                                                                                  4TARGET_ABSOLUTE_SENSOR_CAPABILITY_ACCELERATION
                                                                                                                                                                  8TARGET_ABSOLUTE_SENSOR_CAPABILITY_ATTITUDE
                                                                                                                                                                  16TARGET_ABSOLUTE_SENSOR_CAPABILITY_RATES

                                                                                                                                                                  TARGET_OBS_FRAME — [WIP]

                                                                                                                                                                  WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                  The frame of a target observation from an onboard sensor.

                                                                                                                                                                  ValueNameDescription
                                                                                                                                                                  0TARGET_OBS_FRAME_LOCAL_NEDNED local tangent frame (x: North, y: East, z: Down) with origin fixed relative to earth.
                                                                                                                                                                  1TARGET_OBS_FRAME_BODY_FRDFRD local frame aligned to the vehicle's attitude (x: Forward, y: Right, z: Down) with an origin that travels with vehicle.
                                                                                                                                                                  2TARGET_OBS_FRAME_LOCAL_OFFSET_NEDNED local tangent frame (x: North, y: East, z: Down) with an origin that travels with vehicle.
                                                                                                                                                                  3TARGET_OBS_FRAME_OTHEROther sensor frame for target observations neither in local NED nor in body FRD.

                                                                                                                                                                  RADIO_RC_CHANNELS_FLAGS — [WIP]

                                                                                                                                                                  WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                  (Bitmask) RADIO_RC_CHANNELS flags (bitmask).

                                                                                                                                                                  ValueNameDescription
                                                                                                                                                                  1RADIO_RC_CHANNELS_FLAGS_FAILSAFEFailsafe is active. The content of the RC channels data in the RADIO_RC_CHANNELS message is implementation dependent.
                                                                                                                                                                  2RADIO_RC_CHANNELS_FLAGS_OUTDATEDChannel data may be out of date. This is set when the receiver is unable to validate incoming data from the transmitter and has therefore resent the last valid data it received.

                                                                                                                                                                  MAV_FUEL_TYPE — [WIP]

                                                                                                                                                                  WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                  Fuel types for use in FUEL_TYPE. Fuel types specify the units for the maximum, available and consumed fuel, and for the flow rates.

                                                                                                                                                                  ValueNameDescription
                                                                                                                                                                  0MAV_FUEL_TYPE_UNKNOWNNot specified. Fuel levels are normalized (i.e. maximum is 1, and other levels are relative to 1.
                                                                                                                                                                  1MAV_FUEL_TYPE_LIQUIDA generic liquid fuel. Fuel levels are in millilitres (ml). Fuel rates are in millilitres/second.
                                                                                                                                                                  2MAV_FUEL_TYPE_GASA gas tank. Fuel levels are in kilo-Pascal (kPa), and flow rates are in milliliters per second (ml/s).

                                                                                                                                                                  GPS_SYSTEM_ERROR_FLAGS — [WIP]

                                                                                                                                                                  WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                  (Bitmask) Flags indicating errors in a GPS receiver.

                                                                                                                                                                  ValueNameDescription
                                                                                                                                                                  1GPS_SYSTEM_ERROR_INCOMING_CORRECTIONSThere are problems with incoming correction streams.
                                                                                                                                                                  2GPS_SYSTEM_ERROR_CONFIGURATIONThere are problems with the configuration.
                                                                                                                                                                  4GPS_SYSTEM_ERROR_SOFTWAREThere are problems with the software on the GPS receiver.
                                                                                                                                                                  8GPS_SYSTEM_ERROR_ANTENNAThere are problems with an antenna connected to the GPS receiver.
                                                                                                                                                                  16GPS_SYSTEM_ERROR_EVENT_CONGESTIONThere are problems handling all incoming events.
                                                                                                                                                                  32GPS_SYSTEM_ERROR_CPU_OVERLOADThe GPS receiver CPU is overloaded.
                                                                                                                                                                  64GPS_SYSTEM_ERROR_OUTPUT_CONGESTIONThe GPS receiver is experiencing output congestion.

                                                                                                                                                                  GPS_AUTHENTICATION_STATE — [WIP]

                                                                                                                                                                  WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                  Signal authentication state in a GPS receiver.

                                                                                                                                                                  ValueNameDescription
                                                                                                                                                                  0GPS_AUTHENTICATION_STATE_UNKNOWNThe GPS receiver does not provide GPS signal authentication info.
                                                                                                                                                                  1GPS_AUTHENTICATION_STATE_INITIALIZINGThe GPS receiver is initializing signal authentication.
                                                                                                                                                                  2GPS_AUTHENTICATION_STATE_ERRORThe GPS receiver encountered an error while initializing signal authentication.
                                                                                                                                                                  3GPS_AUTHENTICATION_STATE_OKThe GPS receiver has correctly authenticated all signals.
                                                                                                                                                                  4GPS_AUTHENTICATION_STATE_DISABLEDGPS signal authentication is disabled on the receiver.

                                                                                                                                                                  GPS_JAMMING_STATE — [WIP]

                                                                                                                                                                  WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                  Signal jamming state in a GPS receiver.

                                                                                                                                                                  ValueNameDescription
                                                                                                                                                                  0GPS_JAMMING_STATE_UNKNOWNThe GPS receiver does not provide GPS signal jamming info.
                                                                                                                                                                  1GPS_JAMMING_STATE_OKThe GPS receiver detected no signal jamming.
                                                                                                                                                                  2GPS_JAMMING_STATE_MITIGATEDThe GPS receiver detected and mitigated signal jamming.
                                                                                                                                                                  3GPS_JAMMING_STATE_DETECTEDThe GPS receiver detected signal jamming.

                                                                                                                                                                  GPS_SPOOFING_STATE — [WIP]

                                                                                                                                                                  WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                  Signal spoofing state in a GPS receiver.

                                                                                                                                                                  ValueNameDescription
                                                                                                                                                                  0GPS_SPOOFING_STATE_UNKNOWNThe GPS receiver does not provide GPS signal spoofing info.
                                                                                                                                                                  1GPS_SPOOFING_STATE_OKThe GPS receiver detected no signal spoofing.
                                                                                                                                                                  2GPS_SPOOFING_STATE_MITIGATEDThe GPS receiver detected and mitigated signal spoofing.
                                                                                                                                                                  3GPS_SPOOFING_STATE_DETECTEDThe GPS receiver detected signal spoofing but still has a fix.

                                                                                                                                                                  GPS_RAIM_STATE — [WIP]

                                                                                                                                                                  WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                  State of RAIM processing.

                                                                                                                                                                  ValueNameDescription
                                                                                                                                                                  0GPS_RAIM_STATE_UNKNOWNRAIM capability is unknown.
                                                                                                                                                                  1GPS_RAIM_STATE_DISABLEDRAIM is disabled.
                                                                                                                                                                  2GPS_RAIM_STATE_OKRAIM integrity check was successful.
                                                                                                                                                                  3GPS_RAIM_STATE_FAILEDRAIM integrity check failed.

                                                                                                                                                                  Commands (MAV_CMD)

                                                                                                                                                                  MAV_CMD_DO_FIGURE_EIGHT (35) — [WIP]

                                                                                                                                                                  WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                  Fly a figure eight path as defined by the parameters.

                                                                                                                                                                  Set parameters to NaN/INT32_MAX (as appropriate) to use system-default values. The command is intended for fixed wing vehicles (and VTOL hybrids flying in fixed-wing mode), allowing POI tracking for gimbals that don't support infinite rotation. This command only defines the flight path. Speed should be set independently (use e.g. MAV_CMD_DO_CHANGE_SPEED). Yaw and other degrees of freedom are not specified, and will be flight-stack specific (on vehicles where they can be controlled independent of the heading).

                                                                                                                                                                  Param (Label)DescriptionUnits
                                                                                                                                                                  1 (Major Radius)Major axis radius of the figure eight. Positive: orbit the north circle clockwise. Negative: orbit the north circle counter-clockwise.
                                                                                                                                                                  NaN: The radius will be set to 2.5 times the minor radius and direction is clockwise.
                                                                                                                                                                  Must be greater or equal to two times the minor radius for feasible values.                                                                                                                                                                  		m
                                                                                                                                                                  2 (Minor Radius)Minor axis radius of the figure eight. Defines the radius of the two circles that make up the figure. Negative value has no effect.
                                                                                                                                                                  NaN: The radius will be set to the default loiter radius.                                                                                                                                                                  		m
                                                                                                                                                                  3
                                                                                                                                                                  4 (Orientation)Orientation of the figure eight major axis with respect to true north (range: [-pi,pi]). NaN: use default orientation aligned to true north.rad
                                                                                                                                                                  5 (Latitude/X)Center point latitude/X coordinate according to MAV_FRAME. If no MAV_FRAME specified, MAV_FRAME_GLOBAL is assumed.
                                                                                                                                                                  INT32_MAX or NaN: Use current vehicle position, or current center if already loitering.
                                                                                                                                                                  6 (Longitude/Y)Center point longitude/Y coordinate according to MAV_FRAME. If no MAV_FRAME specified, MAV_FRAME_GLOBAL is assumed.
                                                                                                                                                                  INT32_MAX or NaN: Use current vehicle position, or current center if already loitering.
                                                                                                                                                                  7 (Altitude/Z)Center point altitude MSL/Z coordinate according to MAV_FRAME. If no MAV_FRAME specified, MAV_FRAME_GLOBAL is assumed.
                                                                                                                                                                  INT32_MAX or NaN: Use current vehicle altitude.

                                                                                                                                                                  MAV_CMD_DO_UPGRADE (247) — [WIP]

                                                                                                                                                                  WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                  Request a target system to start an upgrade of one (or all) of its components.

                                                                                                                                                                  For example, the command might be sent to a companion computer to cause it to upgrade a connected flight controller. The system doing the upgrade will report progress using the normal command protocol sequence for a long running operation. Command protocol information: https://mavlink.io/en/services/command.html.

                                                                                                                                                                  Param (Label)DescriptionValues
                                                                                                                                                                  1 (Component ID)Component id of the component to be upgraded. If set to 0, all components should be upgraded.MAV_COMPONENT
                                                                                                                                                                  2 (Reboot)0: Do not reboot component after the action is executed, 1: Reboot component after the action is executed.min: 0 max: 1 inc: 1
                                                                                                                                                                  3Reserved
                                                                                                                                                                  4Reserved
                                                                                                                                                                  5Reserved
                                                                                                                                                                  6Reserved
                                                                                                                                                                  7WIP: upgrade progress report rate (can be used for more granular control).

                                                                                                                                                                  MAV_CMD_DO_SET_STANDARD_MODE (262) — [WIP]

                                                                                                                                                                  WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                  Enable the specified standard MAVLink mode.

                                                                                                                                                                  If the mode is not supported the vehicle should ACK with MAV_RESULT_FAILED.

                                                                                                                                                                  Param (Label)DescriptionValues
                                                                                                                                                                  1 (Standard Mode)The mode to set.MAV_STANDARD_MODE
                                                                                                                                                                  2
                                                                                                                                                                  3
                                                                                                                                                                  4
                                                                                                                                                                  5
                                                                                                                                                                  6
                                                                                                                                                                  7

                                                                                                                                                                  MAV_CMD_GROUP_START (301) — [WIP]

                                                                                                                                                                  WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                  Define start of a group of mission items. When control reaches this command a GROUP_START message is emitted.

                                                                                                                                                                  The end of a group is marked using MAV_CMD_GROUP_END with the same group id. Group ids are expected, but not required, to iterate sequentially. Groups can be nested.

                                                                                                                                                                  Param (Label)DescriptionValues
                                                                                                                                                                  1 (Group ID)Mission-unique group id.
                                                                                                                                                                  Group id is limited because only 24 bit integer can be stored in 32 bit float.                                                                                                                                                                  		min: 0 max: 16777216 inc: 1

                                                                                                                                                                  MAV_CMD_GROUP_END (302) — [WIP]

                                                                                                                                                                  WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                  Define end of a group of mission items. When control reaches this command a GROUP_END message is emitted.

                                                                                                                                                                  The start of the group is marked is marked using MAV_CMD_GROUP_START with the same group id. Group ids are expected, but not required, to iterate sequentially. Groups can be nested.

                                                                                                                                                                  Param (Label)DescriptionValues
                                                                                                                                                                  1 (Group ID)Mission-unique group id.
                                                                                                                                                                  Group id is limited because only 24 bit integer can be stored in 32 bit float.                                                                                                                                                                  		min: 0 max: 16777216 inc: 1

                                                                                                                                                                  MAV_CMD_SET_AT_S_PARAM (550) — [WIP]

                                                                                                                                                                  WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                  Allows setting an AT S command of an SiK radio.

                                                                                                                                                                  Param (Label)Description
                                                                                                                                                                  1 (Radio instance)The radio instance, one-based, 0 for all.
                                                                                                                                                                  2 (Index)The Sx index, e.g. 3 for S3 which is NETID.
                                                                                                                                                                  3 (Value)The value to set it to, e.g. default 25 for NETID
                                                                                                                                                                  4
                                                                                                                                                                  5
                                                                                                                                                                  6
                                                                                                                                                                  7

                                                                                                                                                                  MAV_CMD_DO_SET_SYS_CMP_ID (610) — [WIP]

                                                                                                                                                                  WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                  Set system and component id. This allows moving of a system and all its components to a new system id, or moving a particular component to a new system/component id. Recipients must reject command addressed to broadcast system ID.

                                                                                                                                                                  Param (Label)DescriptionValues
                                                                                                                                                                  1 (System ID)New system ID for target component(s). 0: ignore and reject command (broadcast system ID not allowed).min: 1 max: 255 inc: 1
                                                                                                                                                                  2 (Component ID)New component ID for target component(s). 0: ignore (component IDs don't change).min: 0 max: 255 inc: 1
                                                                                                                                                                  3 (Reboot)Reboot components after ID change. Any non-zero value triggers the reboot.
                                                                                                                                                                  4

                                                                                                                                                                  MAV_CMD_PARAM_TRANSACTION (900) — [WIP]

                                                                                                                                                                  WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                  Request to start or end a parameter transaction. Multiple kinds of transport layers can be used to exchange parameters in the transaction (param, param_ext and mavftp). The command response can either be a success/failure or an in progress in case the receiving side takes some time to apply the parameters.

                                                                                                                                                                  Param (Label)DescriptionValues
                                                                                                                                                                  1 (Action)Action to be performed (start, commit, cancel, etc.)PARAM_TRANSACTION_ACTION
                                                                                                                                                                  2 (Transport)Possible transport layers to set and get parameters via mavlink during a parameter transaction.PARAM_TRANSACTION_TRANSPORT
                                                                                                                                                                  3 (Transaction ID)Identifier for a specific transaction.

                                                                                                                                                                  MAV_CMD_ODID_SET_EMERGENCY (12900) — [WIP]

                                                                                                                                                                  WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                  Used to manually set/unset emergency status for remote id.

                                                                                                                                                                  This is for compliance with MOC ASTM docs, specifically F358 section 7.7: "Emergency Status Indicator". The requirement can also be satisfied by automatic setting of the emergency status by flight stack, and that approach is preferred. See https://mavlink.io/en/services/opendroneid.html for more information.

                                                                                                                                                                  Param (Label)DescriptionValues
                                                                                                                                                                  1 (Number)Set/unset emergency 0: unset, 1: setmin: 0 inc: 1
                                                                                                                                                                  2
                                                                                                                                                                  3
                                                                                                                                                                  4Empty
                                                                                                                                                                  5Empty
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                                                                                                                                                                  MAV_CMD_EXTERNAL_WIND_ESTIMATE (43004) — [WIP]

                                                                                                                                                                  WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                  Set an external estimate of wind direction and speed.

                                                                                                                                                                  This might be used to provide an initial wind estimate to the estimator (EKF) in the case where the vehicle is wind dead-reckoning, extending the time when operating without GPS before before position drift builds to an unsafe level. For this use case the command might reasonably be sent every few minutes when operating at altitude, and the value is cleared if the estimator resets itself.

                                                                                                                                                                  Param (Label)DescriptionValuesUnits
                                                                                                                                                                  1 (Wind speed)Horizontal wind speed.min: 0m/s
                                                                                                                                                                  2 (Wind speed accuracy)Estimated 1 sigma accuracy of wind speed. Set to NaN if unknown.m/s
                                                                                                                                                                  3 (Direction)Azimuth (relative to true north) from where the wind is blowing.min: 0 max: 360deg
                                                                                                                                                                  4 (Direction accuracy)Estimated 1 sigma accuracy of wind direction. Set to NaN if unknown.deg
                                                                                                                                                                  5Empty
                                                                                                                                                                  6Empty
                                                                                                                                                                  7Empty

                                                                                                                                                                  MAV_CMD_REQUEST_OPERATOR_CONTROL (43005) — [WIP]

                                                                                                                                                                  WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                  Request GCS control of a system (or of a specific component in a system).

                                                                                                                                                                  A controlled system should only accept MAVLink commands and command-like messages that are sent by its controlling GCS, or from other components with the same system id. Commands from other systems should be rejected with MAV_RESULT_PERMISSION_DENIED (except for this command, which may be acknowledged with MAV_RESULT_ACCEPTED if control is granted). Command-like messages should be ignored (or rejected if that is supported by their associated protocol).

                                                                                                                                                                  GCS control of the whole system is managed via a single component that we will refer to here as the "system manager component". This component streams the CONTROL_STATUS message and sets the GCS_CONTROL_STATUS_FLAGS_SYSTEM_MANAGER flag. Other components in the system should monitor for the CONTROL_STATUS message with this flag, and set their controlling GCS to match its published system id. A GCS that wants to control the system should also monitor for the same message and flag, and address the MAV_CMD_REQUEST_OPERATOR_CONTROL to its component id. Note that integrators are required to ensure that there is only one system manager component in the system (i.e. one component emitting the message with GCS_CONTROL_STATUS_FLAGS_SYSTEM_MANAGER set).

                                                                                                                                                                  The MAV_CMD_REQUEST_OPERATOR_CONTROL command is sent by a GCS to the system manager component to request or release control of a system, specifying whether subsequent takeover requests from another GCS are automatically granted, or require permission.

                                                                                                                                                                  The system manager component should grant control to the GCS if the system does not require takeover permission (or is uncontrolled) and ACK the request with MAV_RESULT_ACCEPTED. The system manager component should then stream CONTROL_STATUS indicating its controlling system: all other components with the same system id should monitor this message and set their own controlling GCS to match that of the system manager component.

                                                                                                                                                                  If the system manager component cannot grant control (because takeover requires permission), the request should be rejected with MAV_RESULT_PERMISSION_DENIED. The system manager component should then send this same command to the current owning GCS in order to notify of the request. The owning GCS would ACK with MAV_RESULT_ACCEPTED, and might choose to release control of the vehicle, or re-request control with the takeover bit set to allow permission. Note that the pilots of both GCS should co-ordinate safe handover offline.

                                                                                                                                                                  Note that in most systems the only controlled component will be the "system manager component", and that will be the autopilot. However separate GCS control of a particular component is also permitted, if supported by the component. In this case the GCS will address MAV_CMD_REQUEST_OPERATOR_CONTROL to the specific component it wants to control. The component will then stream CONTROL_STATUS for its controlling GCS (it must not set GCS_CONTROL_STATUS_FLAGS_SYSTEM_MANAGER). The component should fall back to the system GCS (if any) when it is not directly controlled, and may stop emitting CONTROL_STATUS. The flow is otherwise the same as for requesting control over the whole system.

                                                                                                                                                                  Param (Label)Description
                                                                                                                                                                  1 (Sysid requesting control)System ID of GCS requesting control. 0 when command sent from GCS to autopilot (autopilot determines requesting GCS sysid from message header). Sysid of GCS requesting control when command sent by autopilot to controlling GCS.
                                                                                                                                                                  2 (Action)0: Release control, 1: Request control.
                                                                                                                                                                  3 (Allow takeover)Enable automatic granting of ownership on request (by default reject request and notify current owner). 0: Ask current owner and reject request, 1: Allow automatic takeover.
                                                                                                                                                                  4Empty
                                                                                                                                                                  5Empty
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                                                                                                                                                                    \ No newline at end of file +development.xml · MAVLink Developer Guide
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                                                                                                                                                                    Dialect: development

                                                                                                                                                                    This dialect contains messages that are proposed for inclusion in the standard set, in order to ease development of prototype implementations. They should be considered a 'work in progress' and not included in production builds.

                                                                                                                                                                    This topic is a human-readable form of the XML definition file: development.xml.

                                                                                                                                                                    • MAVLink 2 extension fields are displayed in blue.
                                                                                                                                                                    • Entities from dialects are displayed only as headings (with link to original)

                                                                                                                                                                    Protocol dialect: 0

                                                                                                                                                                    Protocol version: 0

                                                                                                                                                                    Summary

                                                                                                                                                                    TypeDefinedIncluded
                                                                                                                                                                    Messages18224
                                                                                                                                                                    Enums17143
                                                                                                                                                                    Commands1750

                                                                                                                                                                    The following sections list all entities in the dialect (both included and defined in this file).

                                                                                                                                                                    Messages

                                                                                                                                                                    PARAM_ACK_TRANSACTION (19) — [WIP]

                                                                                                                                                                    WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                    Response from a PARAM_SET message when it is used in a transaction.

                                                                                                                                                                    Field NameTypeValuesDescription
                                                                                                                                                                    target_systemuint8_tId of system that sent PARAM_SET message.
                                                                                                                                                                    target_componentuint8_tId of system that sent PARAM_SET message.
                                                                                                                                                                    param_idchar[16]Parameter id, terminated by NULL if the length is less than 16 human-readable chars and WITHOUT null termination (NULL) byte if the length is exactly 16 chars - applications have to provide 16+1 bytes storage if the ID is stored as string
                                                                                                                                                                    param_valuefloatParameter value (new value if PARAM_ACCEPTED, current value otherwise)
                                                                                                                                                                    param_typeuint8_tMAV_PARAM_TYPEParameter type.
                                                                                                                                                                    param_resultuint8_tPARAM_ACKResult code.

                                                                                                                                                                    AIRSPEED (295) — [WIP]

                                                                                                                                                                    WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                    Airspeed information from a sensor.

                                                                                                                                                                    Field NameTypeUnitsValuesDescription
                                                                                                                                                                    iduint8_tSensor ID.
                                                                                                                                                                    Messages with same value are from the same source (instance).
                                                                                                                                                                    airspeedfloatm/sCalibrated airspeed (CAS).
                                                                                                                                                                    temperatureint16_tcdegCTemperature. INT16_MAX for value unknown/not supplied.
                                                                                                                                                                    raw_pressfloathPaRaw differential pressure. NaN for value unknown/not supplied.
                                                                                                                                                                    flagsuint8_tAIRSPEED_SENSOR_FLAGSAirspeed sensor flags.

                                                                                                                                                                    WIFI_NETWORK_INFO (298) — [WIP]

                                                                                                                                                                    WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                    Detected WiFi network status information. This message is sent per each WiFi network detected in range with known SSID and general status parameters.

                                                                                                                                                                    Field NameTypeUnitsValuesDescription
                                                                                                                                                                    ssidchar[32]Name of Wi-Fi network (SSID).
                                                                                                                                                                    channel_iduint8_tWiFi network operating channel ID. Set to 0 if unknown or unidentified.
                                                                                                                                                                    signal_qualityuint8_t%WiFi network signal quality.
                                                                                                                                                                    data_rateuint16_tMiB/sWiFi network data rate. Set to UINT16_MAX if data_rate information is not supplied.
                                                                                                                                                                    securityuint8_tWIFI_NETWORK_SECURITYWiFi network security type.

                                                                                                                                                                    SET_VELOCITY_LIMITS (354) — [WIP]

                                                                                                                                                                    WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                    Set temporary maximum limits for horizontal speed, vertical speed and yaw rate.

                                                                                                                                                                    The consumer must stream the current limits in VELOCITY_LIMITS at 1 Hz or more (when limits are being set). The consumer should latch the limits until a new limit is received or the mode is changed.

                                                                                                                                                                    Field NameTypeUnitsDescription
                                                                                                                                                                    target_systemuint8_tSystem ID (0 for broadcast).
                                                                                                                                                                    target_componentuint8_tComponent ID (0 for broadcast).
                                                                                                                                                                    horizontal_speed_limitfloatm/sLimit for horizontal movement in MAV_FRAME_LOCAL_NED. NaN: Field not used (ignore)
                                                                                                                                                                    vertical_speed_limitfloatm/sLimit for vertical movement in MAV_FRAME_LOCAL_NED. NaN: Field not used (ignore)
                                                                                                                                                                    yaw_rate_limitfloatrad/sLimit for vehicle turn rate around its yaw axis. NaN: Field not used (ignore)

                                                                                                                                                                    VELOCITY_LIMITS (355) — [WIP]

                                                                                                                                                                    WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                    Current limits for horizontal speed, vertical speed and yaw rate, as set by SET_VELOCITY_LIMITS.

                                                                                                                                                                    Field NameTypeUnitsDescription
                                                                                                                                                                    horizontal_speed_limitfloatm/sLimit for horizontal movement in MAV_FRAME_LOCAL_NED. NaN: No limit applied
                                                                                                                                                                    vertical_speed_limitfloatm/sLimit for vertical movement in MAV_FRAME_LOCAL_NED. NaN: No limit applied
                                                                                                                                                                    yaw_rate_limitfloatrad/sLimit for vehicle turn rate around its yaw axis. NaN: No limit applied

                                                                                                                                                                    FIGURE_EIGHT_EXECUTION_STATUS (361) — [WIP]

                                                                                                                                                                    WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                    Vehicle status report that is sent out while figure eight execution is in progress (see MAV_CMD_DO_FIGURE_EIGHT). This may typically send at low rates: of the order of 2Hz.

                                                                                                                                                                    Field NameTypeUnitsValuesDescription
                                                                                                                                                                    time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
                                                                                                                                                                    major_radiusfloatmMajor axis radius of the figure eight. Positive: orbit the north circle clockwise. Negative: orbit the north circle counter-clockwise.
                                                                                                                                                                    minor_radiusfloatmMinor axis radius of the figure eight. Defines the radius of two circles that make up the figure.
                                                                                                                                                                    orientationfloatradOrientation of the figure eight major axis with respect to true north in [-pi,pi).
                                                                                                                                                                    frameuint8_tMAV_FRAMEThe coordinate system of the fields: x, y, z.
                                                                                                                                                                    xint32_tX coordinate of center point. Coordinate system depends on frame field.
                                                                                                                                                                    yint32_tY coordinate of center point. Coordinate system depends on frame field.
                                                                                                                                                                    zfloatmAltitude of center point. Coordinate system depends on frame field.

                                                                                                                                                                    BATTERY_STATUS_V2 (369) — [WIP]

                                                                                                                                                                    WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                    Battery dynamic information.

                                                                                                                                                                    This should be streamed (nominally at 1Hz). Static/invariant battery information is sent in BATTERY_INFO. Note that smart batteries should set the MAV_BATTERY_STATUS_FLAGS_CAPACITY_RELATIVE_TO_FULL bit to indicate that supplied capacity values are relative to a battery that is known to be full. Power monitors would not set this bit, indicating that capacity_consumed is relative to drone power-on, and that other values are estimated based on the assumption that the battery was full on power-on.

                                                                                                                                                                    Field NameTypeUnitsValuesDescription
                                                                                                                                                                    iduint8_tBattery ID
                                                                                                                                                                    Messages with same value are from the same source (instance).
                                                                                                                                                                    temperatureint16_tcdegCinvalid:INT16_MAXTemperature of the whole battery pack (not internal electronics). INT16_MAX field not provided.
                                                                                                                                                                    voltagefloatVinvalid:NaNBattery voltage (total). NaN: field not provided.
                                                                                                                                                                    currentfloatAinvalid:NaNBattery current (through all cells/loads). Positive value when discharging and negative if charging. NaN: field not provided.
                                                                                                                                                                    capacity_consumedfloatAhinvalid:NaNConsumed charge. NaN: field not provided. This is either the consumption since power-on or since the battery was full, depending on the value of MAV_BATTERY_STATUS_FLAGS_CAPACITY_RELATIVE_TO_FULL.
                                                                                                                                                                    capacity_remainingfloatAhinvalid:NaNRemaining charge (until empty). NaN: field not provided. Note: If MAV_BATTERY_STATUS_FLAGS_CAPACITY_RELATIVE_TO_FULL is unset, this value is based on the assumption the battery was full when the system was powered.
                                                                                                                                                                    percent_remaininguint8_t%invalid:UINT8_MAXRemaining battery energy. Values: [0-100], UINT8_MAX: field not provided.
                                                                                                                                                                    status_flagsuint32_tMAV_BATTERY_STATUS_FLAGSFault, health, readiness, and other status indications.

                                                                                                                                                                    FUEL_STATUS (371) — [WIP]

                                                                                                                                                                    WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                    Fuel status.

                                                                                                                                                                    This message provides "generic" fuel level information for display in a GCS and for triggering failsafes in an autopilot. The fuel type and associated units for fields in this message are defined in the enum MAV_FUEL_TYPE.

                                                                                                                                                                    The reported consumed_fuel and remaining_fuel must only be supplied if measured: they must not be inferred from the maximum_fuel and the other value. A recipient can assume that if these fields are supplied they are accurate. If not provided, the recipient can infer remaining_fuel from maximum_fuel and consumed_fuel on the assumption that the fuel was initially at its maximum (this is what battery monitors assume). Note however that this is an assumption, and the UI should prompt the user appropriately (i.e. notify user that they should fill the tank before boot).

                                                                                                                                                                    This kind of information may also be sent in fuel-specific messages such as BATTERY_STATUS_V2. If both messages are sent for the same fuel system, the ids and corresponding information must match.

                                                                                                                                                                    This should be streamed (nominally at 0.1 Hz).

                                                                                                                                                                    Field NameTypeUnitsValuesDescription
                                                                                                                                                                    iduint8_tFuel ID. Must match ID of other messages for same fuel system, such as BATTERY_STATUS_V2.
                                                                                                                                                                    Messages with same value are from the same source (instance).
                                                                                                                                                                    maximum_fuelfloatCapacity when full. Must be provided.
                                                                                                                                                                    consumed_fuelfloatinvalid:NaNConsumed fuel (measured). This value should not be inferred: if not measured set to NaN. NaN: field not provided.
                                                                                                                                                                    remaining_fuelfloatinvalid:NaNRemaining fuel until empty (measured). The value should not be inferred: if not measured set to NaN. NaN: field not provided.
                                                                                                                                                                    percent_remaininguint8_t%invalid:UINT8_MAXPercentage of remaining fuel, relative to full. Values: [0-100], UINT8_MAX: field not provided.
                                                                                                                                                                    flow_ratefloatinvalid:NaNPositive value when emptying/using, and negative if filling/replacing. NaN: field not provided.
                                                                                                                                                                    temperaturefloatKinvalid:NaNFuel temperature. NaN: field not provided.
                                                                                                                                                                    fuel_typeuint32_tMAV_FUEL_TYPEFuel type. Defines units for fuel capacity and consumption fields above.

                                                                                                                                                                    GROUP_START (414) — [WIP]

                                                                                                                                                                    WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                    Emitted during mission execution when control reaches MAV_CMD_GROUP_START.

                                                                                                                                                                    Field NameTypeUnitsDescription
                                                                                                                                                                    group_iduint32_tMission-unique group id (from MAV_CMD_GROUP_START).
                                                                                                                                                                    mission_checksumuint32_tCRC32 checksum of current plan for MAV_MISSION_TYPE_ALL. As defined in MISSION_CHECKSUM message.
                                                                                                                                                                    time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot).
                                                                                                                                                                    The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.

                                                                                                                                                                    GROUP_END (415) — [WIP]

                                                                                                                                                                    WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                    Emitted during mission execution when control reaches MAV_CMD_GROUP_END.

                                                                                                                                                                    Field NameTypeUnitsDescription
                                                                                                                                                                    group_iduint32_tMission-unique group id (from MAV_CMD_GROUP_END).
                                                                                                                                                                    mission_checksumuint32_tCRC32 checksum of current plan for MAV_MISSION_TYPE_ALL. As defined in MISSION_CHECKSUM message.
                                                                                                                                                                    time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot).
                                                                                                                                                                    The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.

                                                                                                                                                                    RADIO_RC_CHANNELS (420) — [WIP]

                                                                                                                                                                    WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                    RC channel outputs from a MAVLink RC receiver for input to a flight controller or other components (allows an RC receiver to connect via MAVLink instead of some other protocol such as PPM-Sum or S.BUS).

                                                                                                                                                                    Note that this is not intended to be an over-the-air format, and does not replace RC_CHANNELS and similar messages reported by the flight controller. The target_system field should normally be set to the system id of the system to control, typically the flight controller. The target_component field can normally be set to 0, so that all components of the system can receive the message. The channels array field can publish up to 32 channels; the number of channel items used in the array is specified in the count field. The time_last_update_ms field contains the timestamp of the last received valid channels data in the receiver's time domain. The count field indicates the first index of the channel array that is not used for channel data (this and later indexes are zero-filled). The RADIO_RC_CHANNELS_FLAGS_OUTDATED flag is set by the receiver if the channels data is not up-to-date (for example, if new data from the transmitter could not be validated so the last valid data is resent). The RADIO_RC_CHANNELS_FLAGS_FAILSAFE failsafe flag is set by the receiver if the receiver's failsafe condition is met (implementation dependent, e.g., connection to the RC radio is lost). In this case time_last_update_ms still contains the timestamp of the last valid channels data, but the content of the channels data is not defined by the protocol (it is up to the implementation of the receiver). For instance, the channels data could contain failsafe values configured in the receiver; the default is to carry the last valid data. Note: The RC channels fields are extensions to ensure that they are located at the end of the serialized payload and subject to MAVLink's trailing-zero trimming.

                                                                                                                                                                    Field NameTypeUnitsValuesDescription
                                                                                                                                                                    target_systemuint8_tSystem ID (ID of target system, normally flight controller).
                                                                                                                                                                    target_componentuint8_tComponent ID (normally 0 for broadcast).
                                                                                                                                                                    time_last_update_msuint32_tmsTime when the data in the channels field were last updated (time since boot in the receiver's time domain).
                                                                                                                                                                    flagsuint16_tRADIO_RC_CHANNELS_FLAGSRadio RC channels status flags.
                                                                                                                                                                    countuint8_tTotal number of RC channels being received. This can be larger than 32, indicating that more channels are available but not given in this message.
                                                                                                                                                                    channels ++int16_t[32]min:-4096 max:4096RC channels.
                                                                                                                                                                    Channel values are in centered 13 bit format. Range is -4096 to 4096, center is 0. Conversion to PWM is x * 5/32 + 1500.
                                                                                                                                                                    Channels with indexes equal or above count should be set to 0, to benefit from MAVLink's trailing-zero trimming.

                                                                                                                                                                    AVAILABLE_MODES (435) — [WIP]

                                                                                                                                                                    WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                    Get information about a particular flight modes.

                                                                                                                                                                    The message can be enumerated or requested for a particular mode using MAV_CMD_REQUEST_MESSAGE. Specify 0 in param2 to request that the message is emitted for all available modes or the specific index for just one mode. The modes must be available/settable for the current vehicle/frame type. Each modes should only be emitted once (even if it is both standard and custom).

                                                                                                                                                                    Field NameTypeValuesDescription
                                                                                                                                                                    number_modesuint8_tThe total number of available modes for the current vehicle type.
                                                                                                                                                                    mode_indexuint8_tThe current mode index within number_modes, indexed from 1.
                                                                                                                                                                    standard_modeuint8_tMAV_STANDARD_MODEStandard mode.
                                                                                                                                                                    custom_modeuint32_tA bitfield for use for autopilot-specific flags
                                                                                                                                                                    propertiesuint32_tMAV_MODE_PROPERTYMode properties.
                                                                                                                                                                    mode_namechar[35]Name of custom mode, with null termination character. Should be omitted for standard modes.

                                                                                                                                                                    CURRENT_MODE (436) — [WIP]

                                                                                                                                                                    WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                    Get the current mode.

                                                                                                                                                                    This should be emitted on any mode change, and broadcast at low rate (nominally 0.5 Hz). It may be requested using MAV_CMD_REQUEST_MESSAGE.

                                                                                                                                                                    Field NameTypeValuesDescription
                                                                                                                                                                    standard_modeuint8_tMAV_STANDARD_MODEStandard mode.
                                                                                                                                                                    custom_modeuint32_tA bitfield for use for autopilot-specific flags
                                                                                                                                                                    intended_custom_modeuint32_tinvalid:0The custom_mode of the mode that was last commanded by the user (for example, with MAV_CMD_DO_SET_STANDARD_MODE, MAV_CMD_DO_SET_MODE or via RC). This should usually be the same as custom_mode. It will be different if the vehicle is unable to enter the intended mode, or has left that mode due to a failsafe condition. 0 indicates the intended custom mode is unknown/not supplied

                                                                                                                                                                    AVAILABLE_MODES_MONITOR (437) — [WIP]

                                                                                                                                                                    WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                    A change to the sequence number indicates that the set of AVAILABLE_MODES has changed.

                                                                                                                                                                    A receiver must re-request all available modes whenever the sequence number changes. This is only emitted after the first change and should then be broadcast at low rate (nominally 0.3 Hz) and on change.

                                                                                                                                                                    Field NameTypeDescription
                                                                                                                                                                    sequint8_tSequence number. The value iterates sequentially whenever AVAILABLE_MODES changes (e.g. support for a new mode is added/removed dynamically).

                                                                                                                                                                    GNSS_INTEGRITY (441) — [WIP]

                                                                                                                                                                    WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                    Information about key components of GNSS receivers, like signal authentication, interference and system errors.

                                                                                                                                                                    Field NameTypeUnitsValuesDescription
                                                                                                                                                                    iduint8_tGNSS receiver id. Must match instance ids of other messages from same receiver.
                                                                                                                                                                    Messages with same value are from the same source (instance).
                                                                                                                                                                    system_errorsuint32_tGPS_SYSTEM_ERROR_FLAGSErrors in the GPS system.
                                                                                                                                                                    authentication_stateuint8_tGPS_AUTHENTICATION_STATESignal authentication state of the GPS system.
                                                                                                                                                                    jamming_stateuint8_tGPS_JAMMING_STATESignal jamming state of the GPS system.
                                                                                                                                                                    spoofing_stateuint8_tGPS_SPOOFING_STATESignal spoofing state of the GPS system.
                                                                                                                                                                    raim_stateuint8_tGPS_RAIM_STATEThe state of the RAIM processing.
                                                                                                                                                                    raim_hfomuint16_tcminvalid:UINT16_MAXHorizontal expected accuracy using satellites successfully validated using RAIM.
                                                                                                                                                                    raim_vfomuint16_tcminvalid:UINT16_MAXVertical expected accuracy using satellites successfully validated using RAIM.
                                                                                                                                                                    corrections_qualityuint8_tinvalid:UINT8_MAX min:0 max:10An abstract value representing the estimated quality of incoming corrections, or 255 if not available.
                                                                                                                                                                    system_status_summaryuint8_tinvalid:UINT8_MAX min:0 max:10An abstract value representing the overall status of the receiver, or 255 if not available.
                                                                                                                                                                    gnss_signal_qualityuint8_tinvalid:UINT8_MAX min:0 max:10An abstract value representing the quality of incoming GNSS signals, or 255 if not available.
                                                                                                                                                                    post_processing_qualityuint8_tinvalid:UINT8_MAX min:0 max:10An abstract value representing the estimated PPK quality, or 255 if not available.

                                                                                                                                                                    TARGET_ABSOLUTE (510) — [WIP]

                                                                                                                                                                    WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                    Current motion information from sensors on a target

                                                                                                                                                                    Field NameTypeUnitsValuesDescription
                                                                                                                                                                    timestampuint64_tusTimestamp (UNIX epoch time).
                                                                                                                                                                    iduint8_tThe ID of the target if multiple targets are present
                                                                                                                                                                    sensor_capabilitiesuint8_tTARGET_ABSOLUTE_SENSOR_CAPABILITY_FLAGSBitmap to indicate the sensor's reporting capabilities
                                                                                                                                                                    latint32_tdegE7Target's latitude (WGS84)
                                                                                                                                                                    lonint32_tdegE7Target's longitude (WGS84)
                                                                                                                                                                    altfloatmTarget's altitude (AMSL)
                                                                                                                                                                    velfloat[3]m/sinvalid:[0]Target's velocity in its body frame
                                                                                                                                                                    accfloat[3]m/s/sinvalid:[0]Linear target's acceleration in its body frame
                                                                                                                                                                    q_targetfloat[4]invalid:[0]Quaternion of the target's orientation from its body frame to the vehicle's NED frame.
                                                                                                                                                                    ratesfloat[3]rad/sinvalid:[0]Target's roll, pitch and yaw rates
                                                                                                                                                                    position_stdfloat[2]mStandard deviation of horizontal (eph) and vertical (epv) position errors
                                                                                                                                                                    vel_stdfloat[3]m/sStandard deviation of the target's velocity in its body frame
                                                                                                                                                                    acc_stdfloat[3]m/s/sStandard deviation of the target's acceleration in its body frame

                                                                                                                                                                    TARGET_RELATIVE (511) — [WIP]

                                                                                                                                                                    WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                    The location of a target measured by MAV's onboard sensors.

                                                                                                                                                                    Field NameTypeUnitsValuesDescription
                                                                                                                                                                    timestampuint64_tusTimestamp (UNIX epoch time)
                                                                                                                                                                    iduint8_tThe ID of the target if multiple targets are present
                                                                                                                                                                    Messages with same value are from the same source (instance).
                                                                                                                                                                    frameuint8_tTARGET_OBS_FRAMECoordinate frame used for following fields.
                                                                                                                                                                    xfloatmX Position of the target in TARGET_OBS_FRAME
                                                                                                                                                                    yfloatmY Position of the target in TARGET_OBS_FRAME
                                                                                                                                                                    zfloatmZ Position of the target in TARGET_OBS_FRAME
                                                                                                                                                                    pos_stdfloat[3]mStandard deviation of the target's position in TARGET_OBS_FRAME
                                                                                                                                                                    yaw_stdfloatradStandard deviation of the target's orientation in TARGET_OBS_FRAME
                                                                                                                                                                    q_targetfloat[4]Quaternion of the target's orientation from the target's frame to the TARGET_OBS_FRAME (w, x, y, z order, zero-rotation is 1, 0, 0, 0)
                                                                                                                                                                    q_sensorfloat[4]Quaternion of the sensor's orientation from TARGET_OBS_FRAME to vehicle-carried NED. (Ignored if set to (0,0,0,0)) (w, x, y, z order, zero-rotation is 1, 0, 0, 0)
                                                                                                                                                                    typeuint8_tLANDING_TARGET_TYPEType of target

                                                                                                                                                                    CONTROL_STATUS (512) — [WIP]

                                                                                                                                                                    WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                    Information about GCS in control of this MAV. This should be broadcast at low rate (nominally 1 Hz) and emitted when ownership or takeover status change. Control over MAV is requested using MAV_CMD_REQUEST_OPERATOR_CONTROL.

                                                                                                                                                                    Field NameTypeValuesDescription
                                                                                                                                                                    sysid_in_controluint8_tSystem ID of GCS MAVLink component in control (0: no GCS in control).
                                                                                                                                                                    flagsuint8_tGCS_CONTROL_STATUS_FLAGSControl status. For example, whether takeover is allowed, and whether this message instance defines the default controlling GCS for the whole system.

                                                                                                                                                                    Enumerated Types

                                                                                                                                                                    WIFI_NETWORK_SECURITY — [WIP]

                                                                                                                                                                    WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                    WiFi wireless security protocols.

                                                                                                                                                                    ValueNameDescription
                                                                                                                                                                    0WIFI_NETWORK_SECURITY_UNDEFINEDUndefined or unknown security protocol.
                                                                                                                                                                    1WIFI_NETWORK_SECURITY_OPENOpen network, no security.
                                                                                                                                                                    2WIFI_NETWORK_SECURITY_WEPWEP.
                                                                                                                                                                    3WIFI_NETWORK_SECURITY_WPA1WPA1.
                                                                                                                                                                    4WIFI_NETWORK_SECURITY_WPA2WPA2.
                                                                                                                                                                    5WIFI_NETWORK_SECURITY_WPA3WPA3.

                                                                                                                                                                    AIRSPEED_SENSOR_FLAGS — [WIP]

                                                                                                                                                                    WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                    (Bitmask) Airspeed sensor flags

                                                                                                                                                                    ValueNameDescription
                                                                                                                                                                    0AIRSPEED_SENSOR_UNHEALTHYAirspeed sensor is unhealthy
                                                                                                                                                                    1AIRSPEED_SENSOR_USINGTrue if the data from this sensor is being actively used by the flight controller for guidance, navigation or control.

                                                                                                                                                                    PARAM_TRANSACTION_TRANSPORT — [WIP]

                                                                                                                                                                    WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                    Possible transport layers to set and get parameters via mavlink during a parameter transaction.

                                                                                                                                                                    ValueNameDescription
                                                                                                                                                                    0PARAM_TRANSACTION_TRANSPORT_PARAMTransaction over param transport.
                                                                                                                                                                    1PARAM_TRANSACTION_TRANSPORT_PARAM_EXTTransaction over param_ext transport.

                                                                                                                                                                    PARAM_TRANSACTION_ACTION — [WIP]

                                                                                                                                                                    WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                    Possible parameter transaction actions.

                                                                                                                                                                    ValueNameDescription
                                                                                                                                                                    0PARAM_TRANSACTION_ACTION_STARTCommit the current parameter transaction.
                                                                                                                                                                    1PARAM_TRANSACTION_ACTION_COMMITCommit the current parameter transaction.
                                                                                                                                                                    2PARAM_TRANSACTION_ACTION_CANCELCancel the current parameter transaction.

                                                                                                                                                                    MAV_STANDARD_MODE — [WIP]

                                                                                                                                                                    WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                    Standard modes with a well understood meaning across flight stacks and vehicle types.

                                                                                                                                                                    For example, most flight stack have the concept of a "return" or "RTL" mode that takes a vehicle to safety, even though the precise mechanics of this mode may differ. Modes may be set using MAV_CMD_DO_SET_STANDARD_MODE.

                                                                                                                                                                    ValueNameDescription
                                                                                                                                                                    0MAV_STANDARD_MODE_NON_STANDARDNon standard mode.
                                                                                                                                                                    This may be used when reporting the mode if the current flight mode is not a standard mode.
                                                                                                                                                                    1MAV_STANDARD_MODE_POSITION_HOLDPosition mode (manual).
                                                                                                                                                                    Position-controlled and stabilized manual mode.
                                                                                                                                                                    When sticks are released vehicles return to their level-flight orientation and hold both position and altitude against wind and external forces.
                                                                                                                                                                    This mode can only be set by vehicles that can hold a fixed position.
                                                                                                                                                                    Multicopter (MC) vehicles actively brake and hold both position and altitude against wind and external forces.
                                                                                                                                                                    Hybrid MC/FW ("VTOL") vehicles first transition to multicopter mode (if needed) but otherwise behave in the same way as MC vehicles.
                                                                                                                                                                    Fixed-wing (FW) vehicles must not support this mode.
                                                                                                                                                                    Other vehicle types must not support this mode (this may be revisited through the PR process).
                                                                                                                                                                    2MAV_STANDARD_MODE_ORBITOrbit (manual).
                                                                                                                                                                    Position-controlled and stabilized manual mode.
                                                                                                                                                                    The vehicle circles around a fixed setpoint in the horizontal plane at a particular radius, altitude, and direction.
                                                                                                                                                                    Flight stacks may further allow manual control over the setpoint position, radius, direction, speed, and/or altitude of the circle, but this is not mandated.
                                                                                                                                                                    Flight stacks may support the MAV_CMD_DO_ORBIT for changing the orbit parameters.
                                                                                                                                                                    MC and FW vehicles may support this mode.
                                                                                                                                                                    Hybrid MC/FW ("VTOL") vehicles may support this mode in MC/FW or both modes; if the mode is not supported by the current configuration the vehicle should transition to the supported configuration.
                                                                                                                                                                    Other vehicle types must not support this mode (this may be revisited through the PR process).
                                                                                                                                                                    3MAV_STANDARD_MODE_CRUISECruise mode (manual).
                                                                                                                                                                    Position-controlled and stabilized manual mode.
                                                                                                                                                                    When sticks are released vehicles return to their level-flight orientation and hold their original track against wind and external forces.
                                                                                                                                                                    Fixed-wing (FW) vehicles level orientation and maintain current track and altitude against wind and external forces.
                                                                                                                                                                    Hybrid MC/FW ("VTOL") vehicles first transition to FW mode (if needed) but otherwise behave in the same way as MC vehicles.
                                                                                                                                                                    Multicopter (MC) vehicles must not support this mode.
                                                                                                                                                                    Other vehicle types must not support this mode (this may be revisited through the PR process).
                                                                                                                                                                    4MAV_STANDARD_MODE_ALTITUDE_HOLDAltitude hold (manual).
                                                                                                                                                                    Altitude-controlled and stabilized manual mode.
                                                                                                                                                                    When sticks are released vehicles return to their level-flight orientation and hold their altitude.
                                                                                                                                                                    MC vehicles continue with existing momentum and may move with wind (or other external forces).
                                                                                                                                                                    FW vehicles continue with current heading, but may be moved off-track by wind.
                                                                                                                                                                    Hybrid MC/FW ("VTOL") vehicles behave according to their current configuration/mode (FW or MC).
                                                                                                                                                                    Other vehicle types must not support this mode (this may be revisited through the PR process).
                                                                                                                                                                    5MAV_STANDARD_MODE_RETURN_HOMEReturn home mode (auto).
                                                                                                                                                                    Automatic mode that returns vehicle to home via a safe flight path.
                                                                                                                                                                    It may also automatically land the vehicle (i.e. RTL).
                                                                                                                                                                    The precise flight path and landing behaviour depend on vehicle configuration and type.
                                                                                                                                                                    6MAV_STANDARD_MODE_SAFE_RECOVERYSafe recovery mode (auto).
                                                                                                                                                                    Automatic mode that takes vehicle to a predefined safe location via a safe flight path (rally point or mission defined landing) .
                                                                                                                                                                    It may also automatically land the vehicle.
                                                                                                                                                                    The precise return location, flight path, and landing behaviour depend on vehicle configuration and type.
                                                                                                                                                                    7MAV_STANDARD_MODE_MISSIONMission mode (automatic).
                                                                                                                                                                    Automatic mode that executes MAVLink missions.
                                                                                                                                                                    Missions are executed from the current waypoint as soon as the mode is enabled.
                                                                                                                                                                    8MAV_STANDARD_MODE_LANDLand mode (auto).
                                                                                                                                                                    Automatic mode that lands the vehicle at the current location.
                                                                                                                                                                    The precise landing behaviour depends on vehicle configuration and type.
                                                                                                                                                                    9MAV_STANDARD_MODE_TAKEOFFTakeoff mode (auto).
                                                                                                                                                                    Automatic takeoff mode.
                                                                                                                                                                    The precise takeoff behaviour depends on vehicle configuration and type.

                                                                                                                                                                    MAV_MODE_PROPERTY — [WIP]

                                                                                                                                                                    WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                    (Bitmask) Mode properties.

                                                                                                                                                                    ValueNameDescription
                                                                                                                                                                    1MAV_MODE_PROPERTY_ADVANCEDIf set, this mode is an advanced mode.
                                                                                                                                                                    For example a rate-controlled manual mode might be advanced, whereas a position-controlled manual mode is not.
                                                                                                                                                                    A GCS can optionally use this flag to configure the UI for its intended users.
                                                                                                                                                                    2MAV_MODE_PROPERTY_NOT_USER_SELECTABLEIf set, this mode should not be added to the list of selectable modes.
                                                                                                                                                                    The mode might still be selected by the FC directly (for example as part of a failsafe).

                                                                                                                                                                    MAV_BATTERY_STATUS_FLAGS — [WIP]

                                                                                                                                                                    WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                    (Bitmask) Battery status flags for fault, health and state indication.

                                                                                                                                                                    ValueNameDescription
                                                                                                                                                                    1MAV_BATTERY_STATUS_FLAGS_NOT_READY_TO_USEThe battery is not ready to use (fly).
                                                                                                                                                                    Set if the battery has faults or other conditions that make it unsafe to fly with.
                                                                                                                                                                    Note: It will be the logical OR of other status bits (chosen by the manufacturer/integrator).
                                                                                                                                                                    2MAV_BATTERY_STATUS_FLAGS_CHARGINGBattery is charging.
                                                                                                                                                                    4MAV_BATTERY_STATUS_FLAGS_CELL_BALANCINGBattery is cell balancing (during charging).
                                                                                                                                                                    Not ready to use (MAV_BATTERY_STATUS_FLAGS_NOT_READY_TO_USE may be set).
                                                                                                                                                                    8MAV_BATTERY_STATUS_FLAGS_FAULT_CELL_IMBALANCEBattery cells are not balanced.
                                                                                                                                                                    Not ready to use.
                                                                                                                                                                    16MAV_BATTERY_STATUS_FLAGS_AUTO_DISCHARGINGBattery is auto discharging (towards storage level).
                                                                                                                                                                    Not ready to use (MAV_BATTERY_STATUS_FLAGS_NOT_READY_TO_USE would be set).
                                                                                                                                                                    32MAV_BATTERY_STATUS_FLAGS_REQUIRES_SERVICEBattery requires service (not safe to fly).
                                                                                                                                                                    This is set at vendor discretion.
                                                                                                                                                                    It is likely to be set for most faults, and may also be set according to a maintenance schedule (such as age, or number of recharge cycles, etc.).
                                                                                                                                                                    64MAV_BATTERY_STATUS_FLAGS_BAD_BATTERYBattery is faulty and cannot be repaired (not safe to fly).
                                                                                                                                                                    This is set at vendor discretion.
                                                                                                                                                                    The battery should be disposed of safely.
                                                                                                                                                                    128MAV_BATTERY_STATUS_FLAGS_PROTECTIONS_ENABLEDAutomatic battery protection monitoring is enabled.
                                                                                                                                                                    When enabled, the system will monitor for certain kinds of faults, such as cells being over-voltage.
                                                                                                                                                                    If a fault is triggered then and protections are enabled then a safety fault (MAV_BATTERY_STATUS_FLAGS_FAULT_PROTECTION_SYSTEM) will be set and power from the battery will be stopped.
                                                                                                                                                                    Note that battery protection monitoring should only be enabled when the vehicle is landed. Once the vehicle is armed, or starts moving, the protections should be disabled to prevent false positives from disabling the output.
                                                                                                                                                                    256MAV_BATTERY_STATUS_FLAGS_FAULT_PROTECTION_SYSTEMThe battery fault protection system had detected a fault and cut all power from the battery.
                                                                                                                                                                    This will only trigger if MAV_BATTERY_STATUS_FLAGS_PROTECTIONS_ENABLED is set.
                                                                                                                                                                    Other faults like MAV_BATTERY_STATUS_FLAGS_FAULT_OVER_VOLT may also be set, indicating the cause of the protection fault.
                                                                                                                                                                    512MAV_BATTERY_STATUS_FLAGS_FAULT_OVER_VOLTOne or more cells are above their maximum voltage rating.
                                                                                                                                                                    1024MAV_BATTERY_STATUS_FLAGS_FAULT_UNDER_VOLTOne or more cells are below their minimum voltage rating.
                                                                                                                                                                    A battery that had deep-discharged might be irrepairably damaged, and set both MAV_BATTERY_STATUS_FLAGS_FAULT_UNDER_VOLT and MAV_BATTERY_STATUS_FLAGS_BAD_BATTERY.
                                                                                                                                                                    2048MAV_BATTERY_STATUS_FLAGS_FAULT_OVER_TEMPERATUREOver-temperature fault.
                                                                                                                                                                    4096MAV_BATTERY_STATUS_FLAGS_FAULT_UNDER_TEMPERATUREUnder-temperature fault.
                                                                                                                                                                    8192MAV_BATTERY_STATUS_FLAGS_FAULT_OVER_CURRENTOver-current fault.
                                                                                                                                                                    16384MAV_BATTERY_STATUS_FLAGS_FAULT_SHORT_CIRCUITShort circuit event detected.
                                                                                                                                                                    The battery may or may not be safe to use (check other flags).
                                                                                                                                                                    32768MAV_BATTERY_STATUS_FLAGS_FAULT_INCOMPATIBLE_VOLTAGEVoltage not compatible with power rail voltage (batteries on same power rail should have similar voltage).
                                                                                                                                                                    65536MAV_BATTERY_STATUS_FLAGS_FAULT_INCOMPATIBLE_FIRMWAREBattery firmware is not compatible with current autopilot firmware.
                                                                                                                                                                    131072MAV_BATTERY_STATUS_FLAGS_FAULT_INCOMPATIBLE_CELLS_CONFIGURATIONBattery is not compatible due to cell configuration (e.g. 5s1p when vehicle requires 6s).
                                                                                                                                                                    262144MAV_BATTERY_STATUS_FLAGS_CAPACITY_RELATIVE_TO_FULLBattery capacity_consumed and capacity_remaining values are relative to a full battery (they sum to the total capacity of the battery).
                                                                                                                                                                    This flag would be set for a smart battery that can accurately determine its remaining charge across vehicle reboots and discharge/recharge cycles.
                                                                                                                                                                    If unset the capacity_consumed indicates the consumption since vehicle power-on, as measured using a power monitor. The capacity_remaining, if provided, indicates the estimated remaining capacity on the assumption that the battery was full on vehicle boot.
                                                                                                                                                                    If unset a GCS is recommended to advise that users fully charge the battery on power on.
                                                                                                                                                                    4294967295MAV_BATTERY_STATUS_FLAGS_EXTENDEDReserved (not used). If set, this will indicate that an additional status field exists for higher status values.

                                                                                                                                                                    GCS_CONTROL_STATUS_FLAGS — [WIP]

                                                                                                                                                                    WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                    (Bitmask) CONTROL_STATUS flags.

                                                                                                                                                                    ValueNameDescription
                                                                                                                                                                    1GCS_CONTROL_STATUS_FLAGS_SYSTEM_MANAGERIf set, this CONTROL_STATUS publishes the controlling GCS for the whole system. If unset, the CONTROL_STATUS indicates the controlling GCS for just the component emitting the message. Note that to request control of the system a GCS should send MAV_CMD_REQUEST_OPERATOR_CONTROL to the component emitting CONTROL_STATUS with this flag set.
                                                                                                                                                                    2GCS_CONTROL_STATUS_FLAGS_TAKEOVER_ALLOWEDTakeover allowed (requests for control will be granted). If not set requests for control will be rejected, but the controlling GCS will be notified (and may release control or allow takeover).

                                                                                                                                                                    TARGET_ABSOLUTE_SENSOR_CAPABILITY_FLAGS — [WIP]

                                                                                                                                                                    WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                    (Bitmask) These flags indicate the sensor reporting capabilities for TARGET_ABSOLUTE.

                                                                                                                                                                    ValueNameDescription
                                                                                                                                                                    1TARGET_ABSOLUTE_SENSOR_CAPABILITY_POSITION
                                                                                                                                                                    2TARGET_ABSOLUTE_SENSOR_CAPABILITY_VELOCITY
                                                                                                                                                                    4TARGET_ABSOLUTE_SENSOR_CAPABILITY_ACCELERATION
                                                                                                                                                                    8TARGET_ABSOLUTE_SENSOR_CAPABILITY_ATTITUDE
                                                                                                                                                                    16TARGET_ABSOLUTE_SENSOR_CAPABILITY_RATES

                                                                                                                                                                    TARGET_OBS_FRAME — [WIP]

                                                                                                                                                                    WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                    The frame of a target observation from an onboard sensor.

                                                                                                                                                                    ValueNameDescription
                                                                                                                                                                    0TARGET_OBS_FRAME_LOCAL_NEDNED local tangent frame (x: North, y: East, z: Down) with origin fixed relative to earth.
                                                                                                                                                                    1TARGET_OBS_FRAME_BODY_FRDFRD local frame aligned to the vehicle's attitude (x: Forward, y: Right, z: Down) with an origin that travels with vehicle.
                                                                                                                                                                    2TARGET_OBS_FRAME_LOCAL_OFFSET_NEDNED local tangent frame (x: North, y: East, z: Down) with an origin that travels with vehicle.
                                                                                                                                                                    3TARGET_OBS_FRAME_OTHEROther sensor frame for target observations neither in local NED nor in body FRD.

                                                                                                                                                                    RADIO_RC_CHANNELS_FLAGS — [WIP]

                                                                                                                                                                    WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                    (Bitmask) RADIO_RC_CHANNELS flags (bitmask).

                                                                                                                                                                    ValueNameDescription
                                                                                                                                                                    1RADIO_RC_CHANNELS_FLAGS_FAILSAFEFailsafe is active. The content of the RC channels data in the RADIO_RC_CHANNELS message is implementation dependent.
                                                                                                                                                                    2RADIO_RC_CHANNELS_FLAGS_OUTDATEDChannel data may be out of date. This is set when the receiver is unable to validate incoming data from the transmitter and has therefore resent the last valid data it received.

                                                                                                                                                                    MAV_FUEL_TYPE — [WIP]

                                                                                                                                                                    WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                    Fuel types for use in FUEL_TYPE. Fuel types specify the units for the maximum, available and consumed fuel, and for the flow rates.

                                                                                                                                                                    ValueNameDescription
                                                                                                                                                                    0MAV_FUEL_TYPE_UNKNOWNNot specified. Fuel levels are normalized (i.e. maximum is 1, and other levels are relative to 1.
                                                                                                                                                                    1MAV_FUEL_TYPE_LIQUIDA generic liquid fuel. Fuel levels are in millilitres (ml). Fuel rates are in millilitres/second.
                                                                                                                                                                    2MAV_FUEL_TYPE_GASA gas tank. Fuel levels are in kilo-Pascal (kPa), and flow rates are in milliliters per second (ml/s).

                                                                                                                                                                    GPS_SYSTEM_ERROR_FLAGS — [WIP]

                                                                                                                                                                    WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                    (Bitmask) Flags indicating errors in a GPS receiver.

                                                                                                                                                                    ValueNameDescription
                                                                                                                                                                    1GPS_SYSTEM_ERROR_INCOMING_CORRECTIONSThere are problems with incoming correction streams.
                                                                                                                                                                    2GPS_SYSTEM_ERROR_CONFIGURATIONThere are problems with the configuration.
                                                                                                                                                                    4GPS_SYSTEM_ERROR_SOFTWAREThere are problems with the software on the GPS receiver.
                                                                                                                                                                    8GPS_SYSTEM_ERROR_ANTENNAThere are problems with an antenna connected to the GPS receiver.
                                                                                                                                                                    16GPS_SYSTEM_ERROR_EVENT_CONGESTIONThere are problems handling all incoming events.
                                                                                                                                                                    32GPS_SYSTEM_ERROR_CPU_OVERLOADThe GPS receiver CPU is overloaded.
                                                                                                                                                                    64GPS_SYSTEM_ERROR_OUTPUT_CONGESTIONThe GPS receiver is experiencing output congestion.

                                                                                                                                                                    GPS_AUTHENTICATION_STATE — [WIP]

                                                                                                                                                                    WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                    Signal authentication state in a GPS receiver.

                                                                                                                                                                    ValueNameDescription
                                                                                                                                                                    0GPS_AUTHENTICATION_STATE_UNKNOWNThe GPS receiver does not provide GPS signal authentication info.
                                                                                                                                                                    1GPS_AUTHENTICATION_STATE_INITIALIZINGThe GPS receiver is initializing signal authentication.
                                                                                                                                                                    2GPS_AUTHENTICATION_STATE_ERRORThe GPS receiver encountered an error while initializing signal authentication.
                                                                                                                                                                    3GPS_AUTHENTICATION_STATE_OKThe GPS receiver has correctly authenticated all signals.
                                                                                                                                                                    4GPS_AUTHENTICATION_STATE_DISABLEDGPS signal authentication is disabled on the receiver.

                                                                                                                                                                    GPS_JAMMING_STATE — [WIP]

                                                                                                                                                                    WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                    Signal jamming state in a GPS receiver.

                                                                                                                                                                    ValueNameDescription
                                                                                                                                                                    0GPS_JAMMING_STATE_UNKNOWNThe GPS receiver does not provide GPS signal jamming info.
                                                                                                                                                                    1GPS_JAMMING_STATE_OKThe GPS receiver detected no signal jamming.
                                                                                                                                                                    2GPS_JAMMING_STATE_MITIGATEDThe GPS receiver detected and mitigated signal jamming.
                                                                                                                                                                    3GPS_JAMMING_STATE_DETECTEDThe GPS receiver detected signal jamming.

                                                                                                                                                                    GPS_SPOOFING_STATE — [WIP]

                                                                                                                                                                    WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                    Signal spoofing state in a GPS receiver.

                                                                                                                                                                    ValueNameDescription
                                                                                                                                                                    0GPS_SPOOFING_STATE_UNKNOWNThe GPS receiver does not provide GPS signal spoofing info.
                                                                                                                                                                    1GPS_SPOOFING_STATE_OKThe GPS receiver detected no signal spoofing.
                                                                                                                                                                    2GPS_SPOOFING_STATE_MITIGATEDThe GPS receiver detected and mitigated signal spoofing.
                                                                                                                                                                    3GPS_SPOOFING_STATE_DETECTEDThe GPS receiver detected signal spoofing but still has a fix.

                                                                                                                                                                    GPS_RAIM_STATE — [WIP]

                                                                                                                                                                    WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                    State of RAIM processing.

                                                                                                                                                                    ValueNameDescription
                                                                                                                                                                    0GPS_RAIM_STATE_UNKNOWNRAIM capability is unknown.
                                                                                                                                                                    1GPS_RAIM_STATE_DISABLEDRAIM is disabled.
                                                                                                                                                                    2GPS_RAIM_STATE_OKRAIM integrity check was successful.
                                                                                                                                                                    3GPS_RAIM_STATE_FAILEDRAIM integrity check failed.

                                                                                                                                                                    Commands (MAV_CMD)

                                                                                                                                                                    MAV_CMD_DO_FIGURE_EIGHT (35) — [WIP]

                                                                                                                                                                    WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                    Fly a figure eight path as defined by the parameters.

                                                                                                                                                                    Set parameters to NaN/INT32_MAX (as appropriate) to use system-default values. The command is intended for fixed wing vehicles (and VTOL hybrids flying in fixed-wing mode), allowing POI tracking for gimbals that don't support infinite rotation. This command only defines the flight path. Speed should be set independently (use e.g. MAV_CMD_DO_CHANGE_SPEED). Yaw and other degrees of freedom are not specified, and will be flight-stack specific (on vehicles where they can be controlled independent of the heading).

                                                                                                                                                                    Param (Label)DescriptionUnits
                                                                                                                                                                    1 (Major Radius)Major axis radius of the figure eight. Positive: orbit the north circle clockwise. Negative: orbit the north circle counter-clockwise.
                                                                                                                                                                    NaN: The radius will be set to 2.5 times the minor radius and direction is clockwise.
                                                                                                                                                                    Must be greater or equal to two times the minor radius for feasible values.                                                                                                                                                                    		m
                                                                                                                                                                    2 (Minor Radius)Minor axis radius of the figure eight. Defines the radius of the two circles that make up the figure. Negative value has no effect.
                                                                                                                                                                    NaN: The radius will be set to the default loiter radius.                                                                                                                                                                    		m
                                                                                                                                                                    3
                                                                                                                                                                    4 (Orientation)Orientation of the figure eight major axis with respect to true north (range: [-pi,pi]). NaN: use default orientation aligned to true north.rad
                                                                                                                                                                    5 (Latitude/X)Center point latitude/X coordinate according to MAV_FRAME. If no MAV_FRAME specified, MAV_FRAME_GLOBAL is assumed.
                                                                                                                                                                    INT32_MAX or NaN: Use current vehicle position, or current center if already loitering.
                                                                                                                                                                    6 (Longitude/Y)Center point longitude/Y coordinate according to MAV_FRAME. If no MAV_FRAME specified, MAV_FRAME_GLOBAL is assumed.
                                                                                                                                                                    INT32_MAX or NaN: Use current vehicle position, or current center if already loitering.
                                                                                                                                                                    7 (Altitude/Z)Center point altitude MSL/Z coordinate according to MAV_FRAME. If no MAV_FRAME specified, MAV_FRAME_GLOBAL is assumed.
                                                                                                                                                                    INT32_MAX or NaN: Use current vehicle altitude.

                                                                                                                                                                    MAV_CMD_DO_UPGRADE (247) — [WIP]

                                                                                                                                                                    WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                    Request a target system to start an upgrade of one (or all) of its components.

                                                                                                                                                                    For example, the command might be sent to a companion computer to cause it to upgrade a connected flight controller. The system doing the upgrade will report progress using the normal command protocol sequence for a long running operation. Command protocol information: https://mavlink.io/en/services/command.html.

                                                                                                                                                                    Param (Label)DescriptionValues
                                                                                                                                                                    1 (Component ID)Component id of the component to be upgraded. If set to 0, all components should be upgraded.MAV_COMPONENT
                                                                                                                                                                    2 (Reboot)0: Do not reboot component after the action is executed, 1: Reboot component after the action is executed.min: 0 max: 1 inc: 1
                                                                                                                                                                    3Reserved
                                                                                                                                                                    4Reserved
                                                                                                                                                                    5Reserved
                                                                                                                                                                    6Reserved
                                                                                                                                                                    7WIP: upgrade progress report rate (can be used for more granular control).

                                                                                                                                                                    MAV_CMD_DO_SET_STANDARD_MODE (262) — [WIP]

                                                                                                                                                                    WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                    Enable the specified standard MAVLink mode.

                                                                                                                                                                    If the mode is not supported the vehicle should ACK with MAV_RESULT_FAILED.

                                                                                                                                                                    Param (Label)DescriptionValues
                                                                                                                                                                    1 (Standard Mode)The mode to set.MAV_STANDARD_MODE
                                                                                                                                                                    2
                                                                                                                                                                    3
                                                                                                                                                                    4
                                                                                                                                                                    5
                                                                                                                                                                    6
                                                                                                                                                                    7

                                                                                                                                                                    MAV_CMD_GROUP_START (301) — [WIP]

                                                                                                                                                                    WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                    Define start of a group of mission items. When control reaches this command a GROUP_START message is emitted.

                                                                                                                                                                    The end of a group is marked using MAV_CMD_GROUP_END with the same group id. Group ids are expected, but not required, to iterate sequentially. Groups can be nested.

                                                                                                                                                                    Param (Label)DescriptionValues
                                                                                                                                                                    1 (Group ID)Mission-unique group id.
                                                                                                                                                                    Group id is limited because only 24 bit integer can be stored in 32 bit float.                                                                                                                                                                    		min: 0 max: 16777216 inc: 1

                                                                                                                                                                    MAV_CMD_GROUP_END (302) — [WIP]

                                                                                                                                                                    WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                    Define end of a group of mission items. When control reaches this command a GROUP_END message is emitted.

                                                                                                                                                                    The start of the group is marked is marked using MAV_CMD_GROUP_START with the same group id. Group ids are expected, but not required, to iterate sequentially. Groups can be nested.

                                                                                                                                                                    Param (Label)DescriptionValues
                                                                                                                                                                    1 (Group ID)Mission-unique group id.
                                                                                                                                                                    Group id is limited because only 24 bit integer can be stored in 32 bit float.                                                                                                                                                                    		min: 0 max: 16777216 inc: 1

                                                                                                                                                                    MAV_CMD_SET_AT_S_PARAM (550) — [WIP]

                                                                                                                                                                    WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                    Allows setting an AT S command of an SiK radio.

                                                                                                                                                                    Param (Label)Description
                                                                                                                                                                    1 (Radio instance)The radio instance, one-based, 0 for all.
                                                                                                                                                                    2 (Index)The Sx index, e.g. 3 for S3 which is NETID.
                                                                                                                                                                    3 (Value)The value to set it to, e.g. default 25 for NETID
                                                                                                                                                                    4
                                                                                                                                                                    5
                                                                                                                                                                    6
                                                                                                                                                                    7

                                                                                                                                                                    MAV_CMD_DO_SET_SYS_CMP_ID (610) — [WIP]

                                                                                                                                                                    WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                    Set system and component id. This allows moving of a system and all its components to a new system id, or moving a particular component to a new system/component id. Recipients must reject command addressed to broadcast system ID.

                                                                                                                                                                    Param (Label)DescriptionValues
                                                                                                                                                                    1 (System ID)New system ID for target component(s). 0: ignore and reject command (broadcast system ID not allowed).min: 1 max: 255 inc: 1
                                                                                                                                                                    2 (Component ID)New component ID for target component(s). 0: ignore (component IDs don't change).min: 0 max: 255 inc: 1
                                                                                                                                                                    3 (Reboot)Reboot components after ID change. Any non-zero value triggers the reboot.
                                                                                                                                                                    4

                                                                                                                                                                    MAV_CMD_PARAM_TRANSACTION (900) — [WIP]

                                                                                                                                                                    WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                    Request to start or end a parameter transaction. Multiple kinds of transport layers can be used to exchange parameters in the transaction (param, param_ext and mavftp). The command response can either be a success/failure or an in progress in case the receiving side takes some time to apply the parameters.

                                                                                                                                                                    Param (Label)DescriptionValues
                                                                                                                                                                    1 (Action)Action to be performed (start, commit, cancel, etc.)PARAM_TRANSACTION_ACTION
                                                                                                                                                                    2 (Transport)Possible transport layers to set and get parameters via mavlink during a parameter transaction.PARAM_TRANSACTION_TRANSPORT
                                                                                                                                                                    3 (Transaction ID)Identifier for a specific transaction.

                                                                                                                                                                    MAV_CMD_ODID_SET_EMERGENCY (12900) — [WIP]

                                                                                                                                                                    WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                    Used to manually set/unset emergency status for remote id.

                                                                                                                                                                    This is for compliance with MOC ASTM docs, specifically F358 section 7.7: "Emergency Status Indicator". The requirement can also be satisfied by automatic setting of the emergency status by flight stack, and that approach is preferred. See https://mavlink.io/en/services/opendroneid.html for more information.

                                                                                                                                                                    Param (Label)DescriptionValues
                                                                                                                                                                    1 (Number)Set/unset emergency 0: unset, 1: setmin: 0 inc: 1
                                                                                                                                                                    2
                                                                                                                                                                    3
                                                                                                                                                                    4Empty
                                                                                                                                                                    5Empty
                                                                                                                                                                    5Empty
                                                                                                                                                                    6Empty
                                                                                                                                                                    7Empty

                                                                                                                                                                    MAV_CMD_EXTERNAL_WIND_ESTIMATE (43004) — [WIP]

                                                                                                                                                                    WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                    Set an external estimate of wind direction and speed.

                                                                                                                                                                    This might be used to provide an initial wind estimate to the estimator (EKF) in the case where the vehicle is wind dead-reckoning, extending the time when operating without GPS before before position drift builds to an unsafe level. For this use case the command might reasonably be sent every few minutes when operating at altitude, and the value is cleared if the estimator resets itself.

                                                                                                                                                                    Param (Label)DescriptionValuesUnits
                                                                                                                                                                    1 (Wind speed)Horizontal wind speed.min: 0m/s
                                                                                                                                                                    2 (Wind speed accuracy)Estimated 1 sigma accuracy of wind speed. Set to NaN if unknown.m/s
                                                                                                                                                                    3 (Direction)Azimuth (relative to true north) from where the wind is blowing.min: 0 max: 360deg
                                                                                                                                                                    4 (Direction accuracy)Estimated 1 sigma accuracy of wind direction. Set to NaN if unknown.deg
                                                                                                                                                                    5Empty
                                                                                                                                                                    6Empty
                                                                                                                                                                    7Empty

                                                                                                                                                                    MAV_CMD_REQUEST_OPERATOR_CONTROL (43005) — [WIP]

                                                                                                                                                                    WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                    Request GCS control of a system (or of a specific component in a system).

                                                                                                                                                                    A controlled system should only accept MAVLink commands and command-like messages that are sent by its controlling GCS, or from other components with the same system id. Commands from other systems should be rejected with MAV_RESULT_PERMISSION_DENIED (except for this command, which may be acknowledged with MAV_RESULT_ACCEPTED if control is granted). Command-like messages should be ignored (or rejected if that is supported by their associated protocol).

                                                                                                                                                                    GCS control of the whole system is managed via a single component that we will refer to here as the "system manager component". This component streams the CONTROL_STATUS message and sets the GCS_CONTROL_STATUS_FLAGS_SYSTEM_MANAGER flag. Other components in the system should monitor for the CONTROL_STATUS message with this flag, and set their controlling GCS to match its published system id. A GCS that wants to control the system should also monitor for the same message and flag, and address the MAV_CMD_REQUEST_OPERATOR_CONTROL to its component id. Note that integrators are required to ensure that there is only one system manager component in the system (i.e. one component emitting the message with GCS_CONTROL_STATUS_FLAGS_SYSTEM_MANAGER set).

                                                                                                                                                                    The MAV_CMD_REQUEST_OPERATOR_CONTROL command is sent by a GCS to the system manager component to request or release control of a system, specifying whether subsequent takeover requests from another GCS are automatically granted, or require permission.

                                                                                                                                                                    The system manager component should grant control to the GCS if the system does not require takeover permission (or is uncontrolled) and ACK the request with MAV_RESULT_ACCEPTED. The system manager component should then stream CONTROL_STATUS indicating its controlling system: all other components with the same system id should monitor this message and set their own controlling GCS to match that of the system manager component.

                                                                                                                                                                    If the system manager component cannot grant control (because takeover requires permission), the request should be rejected with MAV_RESULT_PERMISSION_DENIED. The system manager component should then send this same command to the current owning GCS in order to notify of the request. The owning GCS would ACK with MAV_RESULT_ACCEPTED, and might choose to release control of the vehicle, or re-request control with the takeover bit set to allow permission. Note that the pilots of both GCS should co-ordinate safe handover offline.

                                                                                                                                                                    Note that in most systems the only controlled component will be the "system manager component", and that will be the autopilot. However separate GCS control of a particular component is also permitted, if supported by the component. In this case the GCS will address MAV_CMD_REQUEST_OPERATOR_CONTROL to the specific component it wants to control. The component will then stream CONTROL_STATUS for its controlling GCS (it must not set GCS_CONTROL_STATUS_FLAGS_SYSTEM_MANAGER). The component should fall back to the system GCS (if any) when it is not directly controlled, and may stop emitting CONTROL_STATUS. The flow is otherwise the same as for requesting control over the whole system.

                                                                                                                                                                    Param (Label)Description
                                                                                                                                                                    1 (Sysid requesting control)System ID of GCS requesting control. 0 when command sent from GCS to autopilot (autopilot determines requesting GCS sysid from message header). Sysid of GCS requesting control when command sent by autopilot to controlling GCS.
                                                                                                                                                                    2 (Action)0: Release control, 1: Request control.
                                                                                                                                                                    3 (Allow takeover)Enable automatic granting of ownership on request (by default reject request and notify current owner). 0: Ask current owner and reject request, 1: Allow automatic takeover.
                                                                                                                                                                    4Empty
                                                                                                                                                                    5Empty
                                                                                                                                                                    6Empty
                                                                                                                                                                    7Empty

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                                                                                                                                                                      Dialect: icarous

                                                                                                                                                                      This topic documents the version of the dialect file in the mavlink/mavlink Github repository, which may not be up to date with the file in the source repository (it is up to the dialect owner to push changes when needed). The source repo should be listed in the comments at the top of the XML definition file listed below (but may not be).

                                                                                                                                                                      This topic is a human-readable form of the XML definition file: icarous.xml.

                                                                                                                                                                      • MAVLink 2 extension fields are displayed in blue.
                                                                                                                                                                      • Entities from dialects are displayed only as headings (with link to original)

                                                                                                                                                                      None

                                                                                                                                                                      Summary

                                                                                                                                                                      TypeDefinedIncluded
                                                                                                                                                                      Messages20
                                                                                                                                                                      Enums20
                                                                                                                                                                      Commands00

                                                                                                                                                                      The following sections list all entities in the dialect (both included and defined in this file).

                                                                                                                                                                      Messages

                                                                                                                                                                      ICAROUS_HEARTBEAT (42000)

                                                                                                                                                                      ICAROUS heartbeat

                                                                                                                                                                      Field NameTypeValuesDescription
                                                                                                                                                                      statusuint8_tICAROUS_FMS_STATESee the FMS_STATE enum.

                                                                                                                                                                      ICAROUS_KINEMATIC_BANDS (42001)

                                                                                                                                                                      Kinematic multi bands (track) output from Daidalus

                                                                                                                                                                      Field NameTypeUnitsValuesDescription
                                                                                                                                                                      numBandsint8_tNumber of track bands
                                                                                                                                                                      type1uint8_tICAROUS_TRACK_BAND_TYPESSee the TRACK_BAND_TYPES enum.
                                                                                                                                                                      min1floatdegmin angle (degrees)
                                                                                                                                                                      max1floatdegmax angle (degrees)
                                                                                                                                                                      type2uint8_tICAROUS_TRACK_BAND_TYPESSee the TRACK_BAND_TYPES enum.
                                                                                                                                                                      min2floatdegmin angle (degrees)
                                                                                                                                                                      max2floatdegmax angle (degrees)
                                                                                                                                                                      type3uint8_tICAROUS_TRACK_BAND_TYPESSee the TRACK_BAND_TYPES enum.
                                                                                                                                                                      min3floatdegmin angle (degrees)
                                                                                                                                                                      max3floatdegmax angle (degrees)
                                                                                                                                                                      type4uint8_tICAROUS_TRACK_BAND_TYPESSee the TRACK_BAND_TYPES enum.
                                                                                                                                                                      min4floatdegmin angle (degrees)
                                                                                                                                                                      max4floatdegmax angle (degrees)
                                                                                                                                                                      type5uint8_tICAROUS_TRACK_BAND_TYPESSee the TRACK_BAND_TYPES enum.
                                                                                                                                                                      min5floatdegmin angle (degrees)
                                                                                                                                                                      max5floatdegmax angle (degrees)

                                                                                                                                                                      Enumerated Types

                                                                                                                                                                      ICAROUS_TRACK_BAND_TYPES

                                                                                                                                                                      ValueNameDescription
                                                                                                                                                                      0ICAROUS_TRACK_BAND_TYPE_NONE
                                                                                                                                                                      1ICAROUS_TRACK_BAND_TYPE_NEAR
                                                                                                                                                                      2ICAROUS_TRACK_BAND_TYPE_RECOVERY

                                                                                                                                                                      ICAROUS_FMS_STATE

                                                                                                                                                                      ValueNameDescription
                                                                                                                                                                      0ICAROUS_FMS_STATE_IDLE
                                                                                                                                                                      1ICAROUS_FMS_STATE_TAKEOFF
                                                                                                                                                                      2ICAROUS_FMS_STATE_CLIMB
                                                                                                                                                                      3ICAROUS_FMS_STATE_CRUISE
                                                                                                                                                                      4ICAROUS_FMS_STATE_APPROACH
                                                                                                                                                                      5ICAROUS_FMS_STATE_LAND

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                                                                                                                                                                        Dialect: icarous

                                                                                                                                                                        This topic documents the version of the dialect file in the mavlink/mavlink Github repository, which may not be up to date with the file in the source repository (it is up to the dialect owner to push changes when needed). The source repo should be listed in the comments at the top of the XML definition file listed below (but may not be).

                                                                                                                                                                        This topic is a human-readable form of the XML definition file: icarous.xml.

                                                                                                                                                                        • MAVLink 2 extension fields are displayed in blue.
                                                                                                                                                                        • Entities from dialects are displayed only as headings (with link to original)

                                                                                                                                                                        None

                                                                                                                                                                        Summary

                                                                                                                                                                        TypeDefinedIncluded
                                                                                                                                                                        Messages20
                                                                                                                                                                        Enums20
                                                                                                                                                                        Commands00

                                                                                                                                                                        The following sections list all entities in the dialect (both included and defined in this file).

                                                                                                                                                                        Messages

                                                                                                                                                                        ICAROUS_HEARTBEAT (42000)

                                                                                                                                                                        ICAROUS heartbeat

                                                                                                                                                                        Field NameTypeValuesDescription
                                                                                                                                                                        statusuint8_tICAROUS_FMS_STATESee the FMS_STATE enum.

                                                                                                                                                                        ICAROUS_KINEMATIC_BANDS (42001)

                                                                                                                                                                        Kinematic multi bands (track) output from Daidalus

                                                                                                                                                                        Field NameTypeUnitsValuesDescription
                                                                                                                                                                        numBandsint8_tNumber of track bands
                                                                                                                                                                        type1uint8_tICAROUS_TRACK_BAND_TYPESSee the TRACK_BAND_TYPES enum.
                                                                                                                                                                        min1floatdegmin angle (degrees)
                                                                                                                                                                        max1floatdegmax angle (degrees)
                                                                                                                                                                        type2uint8_tICAROUS_TRACK_BAND_TYPESSee the TRACK_BAND_TYPES enum.
                                                                                                                                                                        min2floatdegmin angle (degrees)
                                                                                                                                                                        max2floatdegmax angle (degrees)
                                                                                                                                                                        type3uint8_tICAROUS_TRACK_BAND_TYPESSee the TRACK_BAND_TYPES enum.
                                                                                                                                                                        min3floatdegmin angle (degrees)
                                                                                                                                                                        max3floatdegmax angle (degrees)
                                                                                                                                                                        type4uint8_tICAROUS_TRACK_BAND_TYPESSee the TRACK_BAND_TYPES enum.
                                                                                                                                                                        min4floatdegmin angle (degrees)
                                                                                                                                                                        max4floatdegmax angle (degrees)
                                                                                                                                                                        type5uint8_tICAROUS_TRACK_BAND_TYPESSee the TRACK_BAND_TYPES enum.
                                                                                                                                                                        min5floatdegmin angle (degrees)
                                                                                                                                                                        max5floatdegmax angle (degrees)

                                                                                                                                                                        Enumerated Types

                                                                                                                                                                        ICAROUS_TRACK_BAND_TYPES

                                                                                                                                                                        ValueNameDescription
                                                                                                                                                                        0ICAROUS_TRACK_BAND_TYPE_NONE
                                                                                                                                                                        1ICAROUS_TRACK_BAND_TYPE_NEAR
                                                                                                                                                                        2ICAROUS_TRACK_BAND_TYPE_RECOVERY

                                                                                                                                                                        ICAROUS_FMS_STATE

                                                                                                                                                                        ValueNameDescription
                                                                                                                                                                        0ICAROUS_FMS_STATE_IDLE
                                                                                                                                                                        1ICAROUS_FMS_STATE_TAKEOFF
                                                                                                                                                                        2ICAROUS_FMS_STATE_CLIMB
                                                                                                                                                                        3ICAROUS_FMS_STATE_CRUISE
                                                                                                                                                                        4ICAROUS_FMS_STATE_APPROACH
                                                                                                                                                                        5ICAROUS_FMS_STATE_LAND

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                                                                                                                                                                          XML Definition Files & Dialects

                                                                                                                                                                          MAVLink definitions files can be found in mavlink/message definitions. These can roughly be divided into:

                                                                                                                                                                          Standard Definitions

                                                                                                                                                                          The following XML definition files are considered standard/core (i.e. not dialects):

                                                                                                                                                                          • minimal.xml - the minimum set of entities (messages, enums, MAV_CMD) required to set up a MAVLink network.
                                                                                                                                                                          • standard.xml - the standard set of entities that are implemented by almost all flight stacks (at least 2, in a compatible way). This includes minimal.xml.
                                                                                                                                                                          • common.xml - the set of entities that have been implemented in at least one core flight stack. This includes standard.xml

                                                                                                                                                                          We are still working towards moving the truly standard entities from common.xml to standard.xml Currently you should include common.xml

                                                                                                                                                                          In addition:

                                                                                                                                                                          • development.xml - XML definitions that are proposed for inclusion in the standard definitions. These are work in progress.

                                                                                                                                                                          Test Definitions

                                                                                                                                                                          The following definitions are used for testing and dialect validation:

                                                                                                                                                                          • all.xml - This includes all other XML files, and is used to verify that there are no ID clashes (and can potentially be used by GCS to communicate with any core dialect).
                                                                                                                                                                          • test.xml - Test XML definition file.

                                                                                                                                                                          Dialects

                                                                                                                                                                          MAVLink dialects are XML definition files that define protocol- and vendor-specific messages, enums and commands.

                                                                                                                                                                          Vendor forks of MAVLink may contain XML entities that have not yet been pushed into the main repository (and will not be documented).

                                                                                                                                                                          Dialects may include other MAVLink XML files, which may in turn contain other XML files (up to 5 levels of XML file nesting are allowed - see MAXIMUM_INCLUDE_FILE_NESTING in mavgen.py). A typical pattern is for a dialect to include common.xml (containing the MAVLink standard definitions), extending it with vendor or protocol specific messages.

                                                                                                                                                                          The dialect definitions are:

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                                                                                                                                                                            Support
                                                                                                                                                                            Help

                                                                                                                                                                            XML Definition Files & Dialects

                                                                                                                                                                            MAVLink definitions files can be found in mavlink/message definitions. These can roughly be divided into:

                                                                                                                                                                            Standard Definitions

                                                                                                                                                                            The following XML definition files are considered standard/core (i.e. not dialects):

                                                                                                                                                                            • minimal.xml - the minimum set of entities (messages, enums, MAV_CMD) required to set up a MAVLink network.
                                                                                                                                                                            • standard.xml - the standard set of entities that are implemented by almost all flight stacks (at least 2, in a compatible way). This includes minimal.xml.
                                                                                                                                                                            • common.xml - the set of entities that have been implemented in at least one core flight stack. This includes standard.xml

                                                                                                                                                                            We are still working towards moving the truly standard entities from common.xml to standard.xml Currently you should include common.xml

                                                                                                                                                                            In addition:

                                                                                                                                                                            • development.xml - XML definitions that are proposed for inclusion in the standard definitions. These are work in progress.

                                                                                                                                                                            Test Definitions

                                                                                                                                                                            The following definitions are used for testing and dialect validation:

                                                                                                                                                                            • all.xml - This includes all other XML files, and is used to verify that there are no ID clashes (and can potentially be used by GCS to communicate with any core dialect).
                                                                                                                                                                            • test.xml - Test XML definition file.

                                                                                                                                                                            Dialects

                                                                                                                                                                            MAVLink dialects are XML definition files that define protocol- and vendor-specific messages, enums and commands.

                                                                                                                                                                            Vendor forks of MAVLink may contain XML entities that have not yet been pushed into the main repository (and will not be documented).

                                                                                                                                                                            Dialects may include other MAVLink XML files, which may in turn contain other XML files (up to 5 levels of XML file nesting are allowed - see MAXIMUM_INCLUDE_FILE_NESTING in mavgen.py). A typical pattern is for a dialect to include common.xml (containing the MAVLink standard definitions), extending it with vendor or protocol specific messages.

                                                                                                                                                                            The dialect definitions are:

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                                                                                                                                                                              \ No newline at end of file diff --git a/en/messages/matrixpilot.html b/en/messages/matrixpilot.html index 2d23a3bc0..13d4a0bae 100644 --- a/en/messages/matrixpilot.html +++ b/en/messages/matrixpilot.html @@ -1 +1 @@ -matrixpilot.xml · MAVLink Developer Guide
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                                                                                                                                                                              Dialect: matrixpilot

                                                                                                                                                                              This topic documents the version of the dialect file in the mavlink/mavlink Github repository, which may not be up to date with the file in the source repository (it is up to the dialect owner to push changes when needed). The source repo should be listed in the comments at the top of the XML definition file listed below (but may not be).

                                                                                                                                                                              This topic is a human-readable form of the XML definition file: matrixpilot.xml.

                                                                                                                                                                              • MAVLink 2 extension fields are displayed in blue.
                                                                                                                                                                              • Entities from dialects are displayed only as headings (with link to original)

                                                                                                                                                                              Summary

                                                                                                                                                                              TypeDefinedIncluded
                                                                                                                                                                              Messages27224
                                                                                                                                                                              Enums1143
                                                                                                                                                                              Commands1650

                                                                                                                                                                              The following sections list all entities in the dialect (both included and defined in this file).

                                                                                                                                                                              Messages

                                                                                                                                                                              FLEXIFUNCTION_SET (150)

                                                                                                                                                                              Depreciated but used as a compiler flag. Do not remove

                                                                                                                                                                              Field NameTypeDescription
                                                                                                                                                                              target_systemuint8_tSystem ID
                                                                                                                                                                              target_componentuint8_tComponent ID

                                                                                                                                                                              FLEXIFUNCTION_READ_REQ (151)

                                                                                                                                                                              Request reading of flexifunction data

                                                                                                                                                                              Field NameTypeDescription
                                                                                                                                                                              target_systemuint8_tSystem ID
                                                                                                                                                                              target_componentuint8_tComponent ID
                                                                                                                                                                              read_req_typeint16_tType of flexifunction data requested
                                                                                                                                                                              data_indexint16_tindex into data where needed

                                                                                                                                                                              FLEXIFUNCTION_BUFFER_FUNCTION (152)

                                                                                                                                                                              Flexifunction type and parameters for component at function index from buffer

                                                                                                                                                                              Field NameTypeDescription
                                                                                                                                                                              target_systemuint8_tSystem ID
                                                                                                                                                                              target_componentuint8_tComponent ID
                                                                                                                                                                              func_indexuint16_tFunction index
                                                                                                                                                                              func_countuint16_tTotal count of functions
                                                                                                                                                                              data_addressuint16_tAddress in the flexifunction data, Set to 0xFFFF to use address in target memory
                                                                                                                                                                              data_sizeuint16_tSize of the
                                                                                                                                                                              dataint8_t[48]Settings data

                                                                                                                                                                              FLEXIFUNCTION_BUFFER_FUNCTION_ACK (153)

                                                                                                                                                                              Flexifunction type and parameters for component at function index from buffer

                                                                                                                                                                              Field NameTypeDescription
                                                                                                                                                                              target_systemuint8_tSystem ID
                                                                                                                                                                              target_componentuint8_tComponent ID
                                                                                                                                                                              func_indexuint16_tFunction index
                                                                                                                                                                              resultuint16_tresult of acknowledge, 0=fail, 1=good

                                                                                                                                                                              FLEXIFUNCTION_DIRECTORY (155)

                                                                                                                                                                              Acknowldge success or failure of a flexifunction command

                                                                                                                                                                              Field NameTypeDescription
                                                                                                                                                                              target_systemuint8_tSystem ID
                                                                                                                                                                              target_componentuint8_tComponent ID
                                                                                                                                                                              directory_typeuint8_t0=inputs, 1=outputs
                                                                                                                                                                              start_indexuint8_tindex of first directory entry to write
                                                                                                                                                                              countuint8_tcount of directory entries to write
                                                                                                                                                                              directory_dataint8_t[48]Settings data

                                                                                                                                                                              FLEXIFUNCTION_DIRECTORY_ACK (156)

                                                                                                                                                                              Acknowldge success or failure of a flexifunction command

                                                                                                                                                                              Field NameTypeDescription
                                                                                                                                                                              target_systemuint8_tSystem ID
                                                                                                                                                                              target_componentuint8_tComponent ID
                                                                                                                                                                              directory_typeuint8_t0=inputs, 1=outputs
                                                                                                                                                                              start_indexuint8_tindex of first directory entry to write
                                                                                                                                                                              countuint8_tcount of directory entries to write
                                                                                                                                                                              resultuint16_tresult of acknowledge, 0=fail, 1=good

                                                                                                                                                                              FLEXIFUNCTION_COMMAND (157)

                                                                                                                                                                              Acknowldge success or failure of a flexifunction command

                                                                                                                                                                              Field NameTypeDescription
                                                                                                                                                                              target_systemuint8_tSystem ID
                                                                                                                                                                              target_componentuint8_tComponent ID
                                                                                                                                                                              command_typeuint8_tFlexifunction command type

                                                                                                                                                                              FLEXIFUNCTION_COMMAND_ACK (158)

                                                                                                                                                                              Acknowldge success or failure of a flexifunction command

                                                                                                                                                                              Field NameTypeDescription
                                                                                                                                                                              command_typeuint16_tCommand acknowledged
                                                                                                                                                                              resultuint16_tresult of acknowledge

                                                                                                                                                                              SERIAL_UDB_EXTRA_F2_A (170)

                                                                                                                                                                              Backwards compatible MAVLink version of SERIAL_UDB_EXTRA - F2: Format Part A

                                                                                                                                                                              Field NameTypeDescription
                                                                                                                                                                              sue_timeuint32_tSerial UDB Extra Time
                                                                                                                                                                              sue_statusuint8_tSerial UDB Extra Status
                                                                                                                                                                              sue_latitudeint32_tSerial UDB Extra Latitude
                                                                                                                                                                              sue_longitudeint32_tSerial UDB Extra Longitude
                                                                                                                                                                              sue_altitudeint32_tSerial UDB Extra Altitude
                                                                                                                                                                              sue_waypoint_indexuint16_tSerial UDB Extra Waypoint Index
                                                                                                                                                                              sue_rmat0int16_tSerial UDB Extra Rmat 0
                                                                                                                                                                              sue_rmat1int16_tSerial UDB Extra Rmat 1
                                                                                                                                                                              sue_rmat2int16_tSerial UDB Extra Rmat 2
                                                                                                                                                                              sue_rmat3int16_tSerial UDB Extra Rmat 3
                                                                                                                                                                              sue_rmat4int16_tSerial UDB Extra Rmat 4
                                                                                                                                                                              sue_rmat5int16_tSerial UDB Extra Rmat 5
                                                                                                                                                                              sue_rmat6int16_tSerial UDB Extra Rmat 6
                                                                                                                                                                              sue_rmat7int16_tSerial UDB Extra Rmat 7
                                                                                                                                                                              sue_rmat8int16_tSerial UDB Extra Rmat 8
                                                                                                                                                                              sue_coguint16_tSerial UDB Extra GPS Course Over Ground
                                                                                                                                                                              sue_sogint16_tSerial UDB Extra Speed Over Ground
                                                                                                                                                                              sue_cpu_loaduint16_tSerial UDB Extra CPU Load
                                                                                                                                                                              sue_air_speed_3DIMUuint16_tSerial UDB Extra 3D IMU Air Speed
                                                                                                                                                                              sue_estimated_wind_0int16_tSerial UDB Extra Estimated Wind 0
                                                                                                                                                                              sue_estimated_wind_1int16_tSerial UDB Extra Estimated Wind 1
                                                                                                                                                                              sue_estimated_wind_2int16_tSerial UDB Extra Estimated Wind 2
                                                                                                                                                                              sue_magFieldEarth0int16_tSerial UDB Extra Magnetic Field Earth 0
                                                                                                                                                                              sue_magFieldEarth1int16_tSerial UDB Extra Magnetic Field Earth 1
                                                                                                                                                                              sue_magFieldEarth2int16_tSerial UDB Extra Magnetic Field Earth 2
                                                                                                                                                                              sue_svsint16_tSerial UDB Extra Number of Satellites in View
                                                                                                                                                                              sue_hdopint16_tSerial UDB Extra GPS Horizontal Dilution of Precision

                                                                                                                                                                              SERIAL_UDB_EXTRA_F2_B (171)

                                                                                                                                                                              Backwards compatible version of SERIAL_UDB_EXTRA - F2: Part B

                                                                                                                                                                              Field NameTypeDescription
                                                                                                                                                                              sue_timeuint32_tSerial UDB Extra Time
                                                                                                                                                                              sue_pwm_input_1int16_tSerial UDB Extra PWM Input Channel 1
                                                                                                                                                                              sue_pwm_input_2int16_tSerial UDB Extra PWM Input Channel 2
                                                                                                                                                                              sue_pwm_input_3int16_tSerial UDB Extra PWM Input Channel 3
                                                                                                                                                                              sue_pwm_input_4int16_tSerial UDB Extra PWM Input Channel 4
                                                                                                                                                                              sue_pwm_input_5int16_tSerial UDB Extra PWM Input Channel 5
                                                                                                                                                                              sue_pwm_input_6int16_tSerial UDB Extra PWM Input Channel 6
                                                                                                                                                                              sue_pwm_input_7int16_tSerial UDB Extra PWM Input Channel 7
                                                                                                                                                                              sue_pwm_input_8int16_tSerial UDB Extra PWM Input Channel 8
                                                                                                                                                                              sue_pwm_input_9int16_tSerial UDB Extra PWM Input Channel 9
                                                                                                                                                                              sue_pwm_input_10int16_tSerial UDB Extra PWM Input Channel 10
                                                                                                                                                                              sue_pwm_input_11int16_tSerial UDB Extra PWM Input Channel 11
                                                                                                                                                                              sue_pwm_input_12int16_tSerial UDB Extra PWM Input Channel 12
                                                                                                                                                                              sue_pwm_output_1int16_tSerial UDB Extra PWM Output Channel 1
                                                                                                                                                                              sue_pwm_output_2int16_tSerial UDB Extra PWM Output Channel 2
                                                                                                                                                                              sue_pwm_output_3int16_tSerial UDB Extra PWM Output Channel 3
                                                                                                                                                                              sue_pwm_output_4int16_tSerial UDB Extra PWM Output Channel 4
                                                                                                                                                                              sue_pwm_output_5int16_tSerial UDB Extra PWM Output Channel 5
                                                                                                                                                                              sue_pwm_output_6int16_tSerial UDB Extra PWM Output Channel 6
                                                                                                                                                                              sue_pwm_output_7int16_tSerial UDB Extra PWM Output Channel 7
                                                                                                                                                                              sue_pwm_output_8int16_tSerial UDB Extra PWM Output Channel 8
                                                                                                                                                                              sue_pwm_output_9int16_tSerial UDB Extra PWM Output Channel 9
                                                                                                                                                                              sue_pwm_output_10int16_tSerial UDB Extra PWM Output Channel 10
                                                                                                                                                                              sue_pwm_output_11int16_tSerial UDB Extra PWM Output Channel 11
                                                                                                                                                                              sue_pwm_output_12int16_tSerial UDB Extra PWM Output Channel 12
                                                                                                                                                                              sue_imu_location_xint16_tSerial UDB Extra IMU Location X
                                                                                                                                                                              sue_imu_location_yint16_tSerial UDB Extra IMU Location Y
                                                                                                                                                                              sue_imu_location_zint16_tSerial UDB Extra IMU Location Z
                                                                                                                                                                              sue_location_error_earth_xint16_tSerial UDB Location Error Earth X
                                                                                                                                                                              sue_location_error_earth_yint16_tSerial UDB Location Error Earth Y
                                                                                                                                                                              sue_location_error_earth_zint16_tSerial UDB Location Error Earth Z
                                                                                                                                                                              sue_flagsuint32_tSerial UDB Extra Status Flags
                                                                                                                                                                              sue_osc_failsint16_tSerial UDB Extra Oscillator Failure Count
                                                                                                                                                                              sue_imu_velocity_xint16_tSerial UDB Extra IMU Velocity X
                                                                                                                                                                              sue_imu_velocity_yint16_tSerial UDB Extra IMU Velocity Y
                                                                                                                                                                              sue_imu_velocity_zint16_tSerial UDB Extra IMU Velocity Z
                                                                                                                                                                              sue_waypoint_goal_xint16_tSerial UDB Extra Current Waypoint Goal X
                                                                                                                                                                              sue_waypoint_goal_yint16_tSerial UDB Extra Current Waypoint Goal Y
                                                                                                                                                                              sue_waypoint_goal_zint16_tSerial UDB Extra Current Waypoint Goal Z
                                                                                                                                                                              sue_aero_xint16_tAeroforce in UDB X Axis
                                                                                                                                                                              sue_aero_yint16_tAeroforce in UDB Y Axis
                                                                                                                                                                              sue_aero_zint16_tAeroforce in UDB Z axis
                                                                                                                                                                              sue_barom_tempint16_tSUE barometer temperature
                                                                                                                                                                              sue_barom_pressint32_tSUE barometer pressure
                                                                                                                                                                              sue_barom_altint32_tSUE barometer altitude
                                                                                                                                                                              sue_bat_voltint16_tSUE battery voltage
                                                                                                                                                                              sue_bat_ampint16_tSUE battery current
                                                                                                                                                                              sue_bat_amp_hoursint16_tSUE battery milli amp hours used
                                                                                                                                                                              sue_desired_heightint16_tSue autopilot desired height
                                                                                                                                                                              sue_memory_stack_freeint16_tSerial UDB Extra Stack Memory Free

                                                                                                                                                                              SERIAL_UDB_EXTRA_F4 (172)

                                                                                                                                                                              Backwards compatible version of SERIAL_UDB_EXTRA F4: format

                                                                                                                                                                              Field NameTypeDescription
                                                                                                                                                                              sue_ROLL_STABILIZATION_AILERONSuint8_tSerial UDB Extra Roll Stabilization with Ailerons Enabled
                                                                                                                                                                              sue_ROLL_STABILIZATION_RUDDERuint8_tSerial UDB Extra Roll Stabilization with Rudder Enabled
                                                                                                                                                                              sue_PITCH_STABILIZATIONuint8_tSerial UDB Extra Pitch Stabilization Enabled
                                                                                                                                                                              sue_YAW_STABILIZATION_RUDDERuint8_tSerial UDB Extra Yaw Stabilization using Rudder Enabled
                                                                                                                                                                              sue_YAW_STABILIZATION_AILERONuint8_tSerial UDB Extra Yaw Stabilization using Ailerons Enabled
                                                                                                                                                                              sue_AILERON_NAVIGATIONuint8_tSerial UDB Extra Navigation with Ailerons Enabled
                                                                                                                                                                              sue_RUDDER_NAVIGATIONuint8_tSerial UDB Extra Navigation with Rudder Enabled
                                                                                                                                                                              sue_ALTITUDEHOLD_STABILIZEDuint8_tSerial UDB Extra Type of Alitude Hold when in Stabilized Mode
                                                                                                                                                                              sue_ALTITUDEHOLD_WAYPOINTuint8_tSerial UDB Extra Type of Alitude Hold when in Waypoint Mode
                                                                                                                                                                              sue_RACING_MODEuint8_tSerial UDB Extra Firmware racing mode enabled

                                                                                                                                                                              SERIAL_UDB_EXTRA_F5 (173)

                                                                                                                                                                              Backwards compatible version of SERIAL_UDB_EXTRA F5: format

                                                                                                                                                                              Field NameTypeDescription
                                                                                                                                                                              sue_YAWKP_AILERONfloatSerial UDB YAWKP_AILERON Gain for Proporional control of navigation
                                                                                                                                                                              sue_YAWKD_AILERONfloatSerial UDB YAWKD_AILERON Gain for Rate control of navigation
                                                                                                                                                                              sue_ROLLKPfloatSerial UDB Extra ROLLKP Gain for Proportional control of roll stabilization
                                                                                                                                                                              sue_ROLLKDfloatSerial UDB Extra ROLLKD Gain for Rate control of roll stabilization

                                                                                                                                                                              SERIAL_UDB_EXTRA_F6 (174)

                                                                                                                                                                              Backwards compatible version of SERIAL_UDB_EXTRA F6: format

                                                                                                                                                                              Field NameTypeDescription
                                                                                                                                                                              sue_PITCHGAINfloatSerial UDB Extra PITCHGAIN Proportional Control
                                                                                                                                                                              sue_PITCHKDfloatSerial UDB Extra Pitch Rate Control
                                                                                                                                                                              sue_RUDDER_ELEV_MIXfloatSerial UDB Extra Rudder to Elevator Mix
                                                                                                                                                                              sue_ROLL_ELEV_MIXfloatSerial UDB Extra Roll to Elevator Mix
                                                                                                                                                                              sue_ELEVATOR_BOOSTfloatGain For Boosting Manual Elevator control When Plane Stabilized

                                                                                                                                                                              SERIAL_UDB_EXTRA_F7 (175)

                                                                                                                                                                              Backwards compatible version of SERIAL_UDB_EXTRA F7: format

                                                                                                                                                                              Field NameTypeDescription
                                                                                                                                                                              sue_YAWKP_RUDDERfloatSerial UDB YAWKP_RUDDER Gain for Proporional control of navigation
                                                                                                                                                                              sue_YAWKD_RUDDERfloatSerial UDB YAWKD_RUDDER Gain for Rate control of navigation
                                                                                                                                                                              sue_ROLLKP_RUDDERfloatSerial UDB Extra ROLLKP_RUDDER Gain for Proportional control of roll stabilization
                                                                                                                                                                              sue_ROLLKD_RUDDERfloatSerial UDB Extra ROLLKD_RUDDER Gain for Rate control of roll stabilization
                                                                                                                                                                              sue_RUDDER_BOOSTfloatSERIAL UDB EXTRA Rudder Boost Gain to Manual Control when stabilized
                                                                                                                                                                              sue_RTL_PITCH_DOWNfloatSerial UDB Extra Return To Landing - Angle to Pitch Plane Down

                                                                                                                                                                              SERIAL_UDB_EXTRA_F8 (176)

                                                                                                                                                                              Backwards compatible version of SERIAL_UDB_EXTRA F8: format

                                                                                                                                                                              Field NameTypeDescription
                                                                                                                                                                              sue_HEIGHT_TARGET_MAXfloatSerial UDB Extra HEIGHT_TARGET_MAX
                                                                                                                                                                              sue_HEIGHT_TARGET_MINfloatSerial UDB Extra HEIGHT_TARGET_MIN
                                                                                                                                                                              sue_ALT_HOLD_THROTTLE_MINfloatSerial UDB Extra ALT_HOLD_THROTTLE_MIN
                                                                                                                                                                              sue_ALT_HOLD_THROTTLE_MAXfloatSerial UDB Extra ALT_HOLD_THROTTLE_MAX
                                                                                                                                                                              sue_ALT_HOLD_PITCH_MINfloatSerial UDB Extra ALT_HOLD_PITCH_MIN
                                                                                                                                                                              sue_ALT_HOLD_PITCH_MAXfloatSerial UDB Extra ALT_HOLD_PITCH_MAX
                                                                                                                                                                              sue_ALT_HOLD_PITCH_HIGHfloatSerial UDB Extra ALT_HOLD_PITCH_HIGH

                                                                                                                                                                              SERIAL_UDB_EXTRA_F13 (177)

                                                                                                                                                                              Backwards compatible version of SERIAL_UDB_EXTRA F13: format

                                                                                                                                                                              Field NameTypeDescription
                                                                                                                                                                              sue_week_noint16_tSerial UDB Extra GPS Week Number
                                                                                                                                                                              sue_lat_originint32_tSerial UDB Extra MP Origin Latitude
                                                                                                                                                                              sue_lon_originint32_tSerial UDB Extra MP Origin Longitude
                                                                                                                                                                              sue_alt_originint32_tSerial UDB Extra MP Origin Altitude Above Sea Level

                                                                                                                                                                              SERIAL_UDB_EXTRA_F14 (178)

                                                                                                                                                                              Backwards compatible version of SERIAL_UDB_EXTRA F14: format

                                                                                                                                                                              Field NameTypeDescription
                                                                                                                                                                              sue_WIND_ESTIMATIONuint8_tSerial UDB Extra Wind Estimation Enabled
                                                                                                                                                                              sue_GPS_TYPEuint8_tSerial UDB Extra Type of GPS Unit
                                                                                                                                                                              sue_DRuint8_tSerial UDB Extra Dead Reckoning Enabled
                                                                                                                                                                              sue_BOARD_TYPEuint8_tSerial UDB Extra Type of UDB Hardware
                                                                                                                                                                              sue_AIRFRAMEuint8_tSerial UDB Extra Type of Airframe
                                                                                                                                                                              sue_RCONint16_tSerial UDB Extra Reboot Register of DSPIC
                                                                                                                                                                              sue_TRAP_FLAGSint16_tSerial UDB Extra Last dspic Trap Flags
                                                                                                                                                                              sue_TRAP_SOURCEuint32_tSerial UDB Extra Type Program Address of Last Trap
                                                                                                                                                                              sue_osc_fail_countint16_tSerial UDB Extra Number of Ocillator Failures
                                                                                                                                                                              sue_CLOCK_CONFIGuint8_tSerial UDB Extra UDB Internal Clock Configuration
                                                                                                                                                                              sue_FLIGHT_PLAN_TYPEuint8_tSerial UDB Extra Type of Flight Plan

                                                                                                                                                                              SERIAL_UDB_EXTRA_F15 (179)

                                                                                                                                                                              Backwards compatible version of SERIAL_UDB_EXTRA F15 format

                                                                                                                                                                              Field NameTypeDescription
                                                                                                                                                                              sue_ID_VEHICLE_MODEL_NAMEuint8_t[40]Serial UDB Extra Model Name Of Vehicle
                                                                                                                                                                              sue_ID_VEHICLE_REGISTRATIONuint8_t[20]Serial UDB Extra Registraton Number of Vehicle

                                                                                                                                                                              SERIAL_UDB_EXTRA_F16 (180)

                                                                                                                                                                              Backwards compatible version of SERIAL_UDB_EXTRA F16 format

                                                                                                                                                                              Field NameTypeDescription
                                                                                                                                                                              sue_ID_LEAD_PILOTuint8_t[40]Serial UDB Extra Name of Expected Lead Pilot
                                                                                                                                                                              sue_ID_DIY_DRONES_URLuint8_t[70]Serial UDB Extra URL of Lead Pilot or Team

                                                                                                                                                                              ALTITUDES (181)

                                                                                                                                                                              The altitude measured by sensors and IMU

                                                                                                                                                                              Field NameTypeDescription
                                                                                                                                                                              time_boot_msuint32_tTimestamp (milliseconds since system boot)
                                                                                                                                                                              alt_gpsint32_tGPS altitude (MSL) in meters, expressed as * 1000 (millimeters)
                                                                                                                                                                              alt_imuint32_tIMU altitude above ground in meters, expressed as * 1000 (millimeters)
                                                                                                                                                                              alt_barometricint32_tbarometeric altitude above ground in meters, expressed as * 1000 (millimeters)
                                                                                                                                                                              alt_optical_flowint32_tOptical flow altitude above ground in meters, expressed as * 1000 (millimeters)
                                                                                                                                                                              alt_range_finderint32_tRangefinder Altitude above ground in meters, expressed as * 1000 (millimeters)
                                                                                                                                                                              alt_extraint32_tExtra altitude above ground in meters, expressed as * 1000 (millimeters)

                                                                                                                                                                              AIRSPEEDS (182)

                                                                                                                                                                              The airspeed measured by sensors and IMU

                                                                                                                                                                              Field NameTypeDescription
                                                                                                                                                                              time_boot_msuint32_tTimestamp (milliseconds since system boot)
                                                                                                                                                                              airspeed_imuint16_tAirspeed estimate from IMU, cm/s
                                                                                                                                                                              airspeed_pitotint16_tPitot measured forward airpseed, cm/s
                                                                                                                                                                              airspeed_hot_wireint16_tHot wire anenometer measured airspeed, cm/s
                                                                                                                                                                              airspeed_ultrasonicint16_tUltrasonic measured airspeed, cm/s
                                                                                                                                                                              aoaint16_tAngle of attack sensor, degrees * 10
                                                                                                                                                                              aoyint16_tYaw angle sensor, degrees * 10

                                                                                                                                                                              SERIAL_UDB_EXTRA_F17 (183)

                                                                                                                                                                              Backwards compatible version of SERIAL_UDB_EXTRA F17 format

                                                                                                                                                                              Field NameTypeDescription
                                                                                                                                                                              sue_feed_forwardfloatSUE Feed Forward Gain
                                                                                                                                                                              sue_turn_rate_navfloatSUE Max Turn Rate when Navigating
                                                                                                                                                                              sue_turn_rate_fbwfloatSUE Max Turn Rate in Fly By Wire Mode

                                                                                                                                                                              SERIAL_UDB_EXTRA_F18 (184)

                                                                                                                                                                              Backwards compatible version of SERIAL_UDB_EXTRA F18 format

                                                                                                                                                                              Field NameTypeDescription
                                                                                                                                                                              angle_of_attack_normalfloatSUE Angle of Attack Normal
                                                                                                                                                                              angle_of_attack_invertedfloatSUE Angle of Attack Inverted
                                                                                                                                                                              elevator_trim_normalfloatSUE Elevator Trim Normal
                                                                                                                                                                              elevator_trim_invertedfloatSUE Elevator Trim Inverted
                                                                                                                                                                              reference_speedfloatSUE reference_speed

                                                                                                                                                                              SERIAL_UDB_EXTRA_F19 (185)

                                                                                                                                                                              Backwards compatible version of SERIAL_UDB_EXTRA F19 format

                                                                                                                                                                              Field NameTypeDescription
                                                                                                                                                                              sue_aileron_output_channeluint8_tSUE aileron output channel
                                                                                                                                                                              sue_aileron_reverseduint8_tSUE aileron reversed
                                                                                                                                                                              sue_elevator_output_channeluint8_tSUE elevator output channel
                                                                                                                                                                              sue_elevator_reverseduint8_tSUE elevator reversed
                                                                                                                                                                              sue_throttle_output_channeluint8_tSUE throttle output channel
                                                                                                                                                                              sue_throttle_reverseduint8_tSUE throttle reversed
                                                                                                                                                                              sue_rudder_output_channeluint8_tSUE rudder output channel
                                                                                                                                                                              sue_rudder_reverseduint8_tSUE rudder reversed

                                                                                                                                                                              SERIAL_UDB_EXTRA_F20 (186)

                                                                                                                                                                              Backwards compatible version of SERIAL_UDB_EXTRA F20 format

                                                                                                                                                                              Field NameTypeDescription
                                                                                                                                                                              sue_number_of_inputsuint8_tSUE Number of Input Channels
                                                                                                                                                                              sue_trim_value_input_1int16_tSUE UDB PWM Trim Value on Input 1
                                                                                                                                                                              sue_trim_value_input_2int16_tSUE UDB PWM Trim Value on Input 2
                                                                                                                                                                              sue_trim_value_input_3int16_tSUE UDB PWM Trim Value on Input 3
                                                                                                                                                                              sue_trim_value_input_4int16_tSUE UDB PWM Trim Value on Input 4
                                                                                                                                                                              sue_trim_value_input_5int16_tSUE UDB PWM Trim Value on Input 5
                                                                                                                                                                              sue_trim_value_input_6int16_tSUE UDB PWM Trim Value on Input 6
                                                                                                                                                                              sue_trim_value_input_7int16_tSUE UDB PWM Trim Value on Input 7
                                                                                                                                                                              sue_trim_value_input_8int16_tSUE UDB PWM Trim Value on Input 8
                                                                                                                                                                              sue_trim_value_input_9int16_tSUE UDB PWM Trim Value on Input 9
                                                                                                                                                                              sue_trim_value_input_10int16_tSUE UDB PWM Trim Value on Input 10
                                                                                                                                                                              sue_trim_value_input_11int16_tSUE UDB PWM Trim Value on Input 11
                                                                                                                                                                              sue_trim_value_input_12int16_tSUE UDB PWM Trim Value on Input 12

                                                                                                                                                                              SERIAL_UDB_EXTRA_F21 (187)

                                                                                                                                                                              Backwards compatible version of SERIAL_UDB_EXTRA F21 format

                                                                                                                                                                              Field NameTypeDescription
                                                                                                                                                                              sue_accel_x_offsetint16_tSUE X accelerometer offset
                                                                                                                                                                              sue_accel_y_offsetint16_tSUE Y accelerometer offset
                                                                                                                                                                              sue_accel_z_offsetint16_tSUE Z accelerometer offset
                                                                                                                                                                              sue_gyro_x_offsetint16_tSUE X gyro offset
                                                                                                                                                                              sue_gyro_y_offsetint16_tSUE Y gyro offset
                                                                                                                                                                              sue_gyro_z_offsetint16_tSUE Z gyro offset

                                                                                                                                                                              SERIAL_UDB_EXTRA_F22 (188)

                                                                                                                                                                              Backwards compatible version of SERIAL_UDB_EXTRA F22 format

                                                                                                                                                                              Field NameTypeDescription
                                                                                                                                                                              sue_accel_x_at_calibrationint16_tSUE X accelerometer at calibration time
                                                                                                                                                                              sue_accel_y_at_calibrationint16_tSUE Y accelerometer at calibration time
                                                                                                                                                                              sue_accel_z_at_calibrationint16_tSUE Z accelerometer at calibration time
                                                                                                                                                                              sue_gyro_x_at_calibrationint16_tSUE X gyro at calibration time
                                                                                                                                                                              sue_gyro_y_at_calibrationint16_tSUE Y gyro at calibration time
                                                                                                                                                                              sue_gyro_z_at_calibrationint16_tSUE Z gyro at calibration time

                                                                                                                                                                              Enumerated Types

                                                                                                                                                                              MAV_PREFLIGHT_STORAGE_ACTION

                                                                                                                                                                              Action required when performing CMD_PREFLIGHT_STORAGE

                                                                                                                                                                              ValueNameDescription
                                                                                                                                                                              0MAV_PFS_CMD_READ_ALLRead all parameters from storage
                                                                                                                                                                              1MAV_PFS_CMD_WRITE_ALLWrite all parameters to storage
                                                                                                                                                                              2MAV_PFS_CMD_CLEAR_ALLClear all parameters in storage
                                                                                                                                                                              3MAV_PFS_CMD_READ_SPECIFICRead specific parameters from storage
                                                                                                                                                                              4MAV_PFS_CMD_WRITE_SPECIFICWrite specific parameters to storage
                                                                                                                                                                              5MAV_PFS_CMD_CLEAR_SPECIFICClear specific parameters in storage
                                                                                                                                                                              6MAV_PFS_CMD_DO_NOTHINGdo nothing

                                                                                                                                                                              Commands (MAV_CMD)

                                                                                                                                                                              MAV_CMD_PREFLIGHT_STORAGE_ADVANCED (0)

                                                                                                                                                                              Request storage of different parameter values and logs. This command will be only accepted if in pre-flight mode.

                                                                                                                                                                              Param (Label)Description
                                                                                                                                                                              1Storage action: Action defined by MAV_PREFLIGHT_STORAGE_ACTION_ADVANCED
                                                                                                                                                                              2Storage area as defined by parameter database
                                                                                                                                                                              3Storage flags as defined by parameter database
                                                                                                                                                                              4Empty
                                                                                                                                                                              5Empty
                                                                                                                                                                              6Empty
                                                                                                                                                                              7Empty

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                                                                                                                                                                                Dialect: matrixpilot

                                                                                                                                                                                This topic documents the version of the dialect file in the mavlink/mavlink Github repository, which may not be up to date with the file in the source repository (it is up to the dialect owner to push changes when needed). The source repo should be listed in the comments at the top of the XML definition file listed below (but may not be).

                                                                                                                                                                                This topic is a human-readable form of the XML definition file: matrixpilot.xml.

                                                                                                                                                                                • MAVLink 2 extension fields are displayed in blue.
                                                                                                                                                                                • Entities from dialects are displayed only as headings (with link to original)

                                                                                                                                                                                Summary

                                                                                                                                                                                TypeDefinedIncluded
                                                                                                                                                                                Messages27224
                                                                                                                                                                                Enums1143
                                                                                                                                                                                Commands1650

                                                                                                                                                                                The following sections list all entities in the dialect (both included and defined in this file).

                                                                                                                                                                                Messages

                                                                                                                                                                                FLEXIFUNCTION_SET (150)

                                                                                                                                                                                Depreciated but used as a compiler flag. Do not remove

                                                                                                                                                                                Field NameTypeDescription
                                                                                                                                                                                target_systemuint8_tSystem ID
                                                                                                                                                                                target_componentuint8_tComponent ID

                                                                                                                                                                                FLEXIFUNCTION_READ_REQ (151)

                                                                                                                                                                                Request reading of flexifunction data

                                                                                                                                                                                Field NameTypeDescription
                                                                                                                                                                                target_systemuint8_tSystem ID
                                                                                                                                                                                target_componentuint8_tComponent ID
                                                                                                                                                                                read_req_typeint16_tType of flexifunction data requested
                                                                                                                                                                                data_indexint16_tindex into data where needed

                                                                                                                                                                                FLEXIFUNCTION_BUFFER_FUNCTION (152)

                                                                                                                                                                                Flexifunction type and parameters for component at function index from buffer

                                                                                                                                                                                Field NameTypeDescription
                                                                                                                                                                                target_systemuint8_tSystem ID
                                                                                                                                                                                target_componentuint8_tComponent ID
                                                                                                                                                                                func_indexuint16_tFunction index
                                                                                                                                                                                func_countuint16_tTotal count of functions
                                                                                                                                                                                data_addressuint16_tAddress in the flexifunction data, Set to 0xFFFF to use address in target memory
                                                                                                                                                                                data_sizeuint16_tSize of the
                                                                                                                                                                                dataint8_t[48]Settings data

                                                                                                                                                                                FLEXIFUNCTION_BUFFER_FUNCTION_ACK (153)

                                                                                                                                                                                Flexifunction type and parameters for component at function index from buffer

                                                                                                                                                                                Field NameTypeDescription
                                                                                                                                                                                target_systemuint8_tSystem ID
                                                                                                                                                                                target_componentuint8_tComponent ID
                                                                                                                                                                                func_indexuint16_tFunction index
                                                                                                                                                                                resultuint16_tresult of acknowledge, 0=fail, 1=good

                                                                                                                                                                                FLEXIFUNCTION_DIRECTORY (155)

                                                                                                                                                                                Acknowldge success or failure of a flexifunction command

                                                                                                                                                                                Field NameTypeDescription
                                                                                                                                                                                target_systemuint8_tSystem ID
                                                                                                                                                                                target_componentuint8_tComponent ID
                                                                                                                                                                                directory_typeuint8_t0=inputs, 1=outputs
                                                                                                                                                                                start_indexuint8_tindex of first directory entry to write
                                                                                                                                                                                countuint8_tcount of directory entries to write
                                                                                                                                                                                directory_dataint8_t[48]Settings data

                                                                                                                                                                                FLEXIFUNCTION_DIRECTORY_ACK (156)

                                                                                                                                                                                Acknowldge success or failure of a flexifunction command

                                                                                                                                                                                Field NameTypeDescription
                                                                                                                                                                                target_systemuint8_tSystem ID
                                                                                                                                                                                target_componentuint8_tComponent ID
                                                                                                                                                                                directory_typeuint8_t0=inputs, 1=outputs
                                                                                                                                                                                start_indexuint8_tindex of first directory entry to write
                                                                                                                                                                                countuint8_tcount of directory entries to write
                                                                                                                                                                                resultuint16_tresult of acknowledge, 0=fail, 1=good

                                                                                                                                                                                FLEXIFUNCTION_COMMAND (157)

                                                                                                                                                                                Acknowldge success or failure of a flexifunction command

                                                                                                                                                                                Field NameTypeDescription
                                                                                                                                                                                target_systemuint8_tSystem ID
                                                                                                                                                                                target_componentuint8_tComponent ID
                                                                                                                                                                                command_typeuint8_tFlexifunction command type

                                                                                                                                                                                FLEXIFUNCTION_COMMAND_ACK (158)

                                                                                                                                                                                Acknowldge success or failure of a flexifunction command

                                                                                                                                                                                Field NameTypeDescription
                                                                                                                                                                                command_typeuint16_tCommand acknowledged
                                                                                                                                                                                resultuint16_tresult of acknowledge

                                                                                                                                                                                SERIAL_UDB_EXTRA_F2_A (170)

                                                                                                                                                                                Backwards compatible MAVLink version of SERIAL_UDB_EXTRA - F2: Format Part A

                                                                                                                                                                                Field NameTypeDescription
                                                                                                                                                                                sue_timeuint32_tSerial UDB Extra Time
                                                                                                                                                                                sue_statusuint8_tSerial UDB Extra Status
                                                                                                                                                                                sue_latitudeint32_tSerial UDB Extra Latitude
                                                                                                                                                                                sue_longitudeint32_tSerial UDB Extra Longitude
                                                                                                                                                                                sue_altitudeint32_tSerial UDB Extra Altitude
                                                                                                                                                                                sue_waypoint_indexuint16_tSerial UDB Extra Waypoint Index
                                                                                                                                                                                sue_rmat0int16_tSerial UDB Extra Rmat 0
                                                                                                                                                                                sue_rmat1int16_tSerial UDB Extra Rmat 1
                                                                                                                                                                                sue_rmat2int16_tSerial UDB Extra Rmat 2
                                                                                                                                                                                sue_rmat3int16_tSerial UDB Extra Rmat 3
                                                                                                                                                                                sue_rmat4int16_tSerial UDB Extra Rmat 4
                                                                                                                                                                                sue_rmat5int16_tSerial UDB Extra Rmat 5
                                                                                                                                                                                sue_rmat6int16_tSerial UDB Extra Rmat 6
                                                                                                                                                                                sue_rmat7int16_tSerial UDB Extra Rmat 7
                                                                                                                                                                                sue_rmat8int16_tSerial UDB Extra Rmat 8
                                                                                                                                                                                sue_coguint16_tSerial UDB Extra GPS Course Over Ground
                                                                                                                                                                                sue_sogint16_tSerial UDB Extra Speed Over Ground
                                                                                                                                                                                sue_cpu_loaduint16_tSerial UDB Extra CPU Load
                                                                                                                                                                                sue_air_speed_3DIMUuint16_tSerial UDB Extra 3D IMU Air Speed
                                                                                                                                                                                sue_estimated_wind_0int16_tSerial UDB Extra Estimated Wind 0
                                                                                                                                                                                sue_estimated_wind_1int16_tSerial UDB Extra Estimated Wind 1
                                                                                                                                                                                sue_estimated_wind_2int16_tSerial UDB Extra Estimated Wind 2
                                                                                                                                                                                sue_magFieldEarth0int16_tSerial UDB Extra Magnetic Field Earth 0
                                                                                                                                                                                sue_magFieldEarth1int16_tSerial UDB Extra Magnetic Field Earth 1
                                                                                                                                                                                sue_magFieldEarth2int16_tSerial UDB Extra Magnetic Field Earth 2
                                                                                                                                                                                sue_svsint16_tSerial UDB Extra Number of Satellites in View
                                                                                                                                                                                sue_hdopint16_tSerial UDB Extra GPS Horizontal Dilution of Precision

                                                                                                                                                                                SERIAL_UDB_EXTRA_F2_B (171)

                                                                                                                                                                                Backwards compatible version of SERIAL_UDB_EXTRA - F2: Part B

                                                                                                                                                                                Field NameTypeDescription
                                                                                                                                                                                sue_timeuint32_tSerial UDB Extra Time
                                                                                                                                                                                sue_pwm_input_1int16_tSerial UDB Extra PWM Input Channel 1
                                                                                                                                                                                sue_pwm_input_2int16_tSerial UDB Extra PWM Input Channel 2
                                                                                                                                                                                sue_pwm_input_3int16_tSerial UDB Extra PWM Input Channel 3
                                                                                                                                                                                sue_pwm_input_4int16_tSerial UDB Extra PWM Input Channel 4
                                                                                                                                                                                sue_pwm_input_5int16_tSerial UDB Extra PWM Input Channel 5
                                                                                                                                                                                sue_pwm_input_6int16_tSerial UDB Extra PWM Input Channel 6
                                                                                                                                                                                sue_pwm_input_7int16_tSerial UDB Extra PWM Input Channel 7
                                                                                                                                                                                sue_pwm_input_8int16_tSerial UDB Extra PWM Input Channel 8
                                                                                                                                                                                sue_pwm_input_9int16_tSerial UDB Extra PWM Input Channel 9
                                                                                                                                                                                sue_pwm_input_10int16_tSerial UDB Extra PWM Input Channel 10
                                                                                                                                                                                sue_pwm_input_11int16_tSerial UDB Extra PWM Input Channel 11
                                                                                                                                                                                sue_pwm_input_12int16_tSerial UDB Extra PWM Input Channel 12
                                                                                                                                                                                sue_pwm_output_1int16_tSerial UDB Extra PWM Output Channel 1
                                                                                                                                                                                sue_pwm_output_2int16_tSerial UDB Extra PWM Output Channel 2
                                                                                                                                                                                sue_pwm_output_3int16_tSerial UDB Extra PWM Output Channel 3
                                                                                                                                                                                sue_pwm_output_4int16_tSerial UDB Extra PWM Output Channel 4
                                                                                                                                                                                sue_pwm_output_5int16_tSerial UDB Extra PWM Output Channel 5
                                                                                                                                                                                sue_pwm_output_6int16_tSerial UDB Extra PWM Output Channel 6
                                                                                                                                                                                sue_pwm_output_7int16_tSerial UDB Extra PWM Output Channel 7
                                                                                                                                                                                sue_pwm_output_8int16_tSerial UDB Extra PWM Output Channel 8
                                                                                                                                                                                sue_pwm_output_9int16_tSerial UDB Extra PWM Output Channel 9
                                                                                                                                                                                sue_pwm_output_10int16_tSerial UDB Extra PWM Output Channel 10
                                                                                                                                                                                sue_pwm_output_11int16_tSerial UDB Extra PWM Output Channel 11
                                                                                                                                                                                sue_pwm_output_12int16_tSerial UDB Extra PWM Output Channel 12
                                                                                                                                                                                sue_imu_location_xint16_tSerial UDB Extra IMU Location X
                                                                                                                                                                                sue_imu_location_yint16_tSerial UDB Extra IMU Location Y
                                                                                                                                                                                sue_imu_location_zint16_tSerial UDB Extra IMU Location Z
                                                                                                                                                                                sue_location_error_earth_xint16_tSerial UDB Location Error Earth X
                                                                                                                                                                                sue_location_error_earth_yint16_tSerial UDB Location Error Earth Y
                                                                                                                                                                                sue_location_error_earth_zint16_tSerial UDB Location Error Earth Z
                                                                                                                                                                                sue_flagsuint32_tSerial UDB Extra Status Flags
                                                                                                                                                                                sue_osc_failsint16_tSerial UDB Extra Oscillator Failure Count
                                                                                                                                                                                sue_imu_velocity_xint16_tSerial UDB Extra IMU Velocity X
                                                                                                                                                                                sue_imu_velocity_yint16_tSerial UDB Extra IMU Velocity Y
                                                                                                                                                                                sue_imu_velocity_zint16_tSerial UDB Extra IMU Velocity Z
                                                                                                                                                                                sue_waypoint_goal_xint16_tSerial UDB Extra Current Waypoint Goal X
                                                                                                                                                                                sue_waypoint_goal_yint16_tSerial UDB Extra Current Waypoint Goal Y
                                                                                                                                                                                sue_waypoint_goal_zint16_tSerial UDB Extra Current Waypoint Goal Z
                                                                                                                                                                                sue_aero_xint16_tAeroforce in UDB X Axis
                                                                                                                                                                                sue_aero_yint16_tAeroforce in UDB Y Axis
                                                                                                                                                                                sue_aero_zint16_tAeroforce in UDB Z axis
                                                                                                                                                                                sue_barom_tempint16_tSUE barometer temperature
                                                                                                                                                                                sue_barom_pressint32_tSUE barometer pressure
                                                                                                                                                                                sue_barom_altint32_tSUE barometer altitude
                                                                                                                                                                                sue_bat_voltint16_tSUE battery voltage
                                                                                                                                                                                sue_bat_ampint16_tSUE battery current
                                                                                                                                                                                sue_bat_amp_hoursint16_tSUE battery milli amp hours used
                                                                                                                                                                                sue_desired_heightint16_tSue autopilot desired height
                                                                                                                                                                                sue_memory_stack_freeint16_tSerial UDB Extra Stack Memory Free

                                                                                                                                                                                SERIAL_UDB_EXTRA_F4 (172)

                                                                                                                                                                                Backwards compatible version of SERIAL_UDB_EXTRA F4: format

                                                                                                                                                                                Field NameTypeDescription
                                                                                                                                                                                sue_ROLL_STABILIZATION_AILERONSuint8_tSerial UDB Extra Roll Stabilization with Ailerons Enabled
                                                                                                                                                                                sue_ROLL_STABILIZATION_RUDDERuint8_tSerial UDB Extra Roll Stabilization with Rudder Enabled
                                                                                                                                                                                sue_PITCH_STABILIZATIONuint8_tSerial UDB Extra Pitch Stabilization Enabled
                                                                                                                                                                                sue_YAW_STABILIZATION_RUDDERuint8_tSerial UDB Extra Yaw Stabilization using Rudder Enabled
                                                                                                                                                                                sue_YAW_STABILIZATION_AILERONuint8_tSerial UDB Extra Yaw Stabilization using Ailerons Enabled
                                                                                                                                                                                sue_AILERON_NAVIGATIONuint8_tSerial UDB Extra Navigation with Ailerons Enabled
                                                                                                                                                                                sue_RUDDER_NAVIGATIONuint8_tSerial UDB Extra Navigation with Rudder Enabled
                                                                                                                                                                                sue_ALTITUDEHOLD_STABILIZEDuint8_tSerial UDB Extra Type of Alitude Hold when in Stabilized Mode
                                                                                                                                                                                sue_ALTITUDEHOLD_WAYPOINTuint8_tSerial UDB Extra Type of Alitude Hold when in Waypoint Mode
                                                                                                                                                                                sue_RACING_MODEuint8_tSerial UDB Extra Firmware racing mode enabled

                                                                                                                                                                                SERIAL_UDB_EXTRA_F5 (173)

                                                                                                                                                                                Backwards compatible version of SERIAL_UDB_EXTRA F5: format

                                                                                                                                                                                Field NameTypeDescription
                                                                                                                                                                                sue_YAWKP_AILERONfloatSerial UDB YAWKP_AILERON Gain for Proporional control of navigation
                                                                                                                                                                                sue_YAWKD_AILERONfloatSerial UDB YAWKD_AILERON Gain for Rate control of navigation
                                                                                                                                                                                sue_ROLLKPfloatSerial UDB Extra ROLLKP Gain for Proportional control of roll stabilization
                                                                                                                                                                                sue_ROLLKDfloatSerial UDB Extra ROLLKD Gain for Rate control of roll stabilization

                                                                                                                                                                                SERIAL_UDB_EXTRA_F6 (174)

                                                                                                                                                                                Backwards compatible version of SERIAL_UDB_EXTRA F6: format

                                                                                                                                                                                Field NameTypeDescription
                                                                                                                                                                                sue_PITCHGAINfloatSerial UDB Extra PITCHGAIN Proportional Control
                                                                                                                                                                                sue_PITCHKDfloatSerial UDB Extra Pitch Rate Control
                                                                                                                                                                                sue_RUDDER_ELEV_MIXfloatSerial UDB Extra Rudder to Elevator Mix
                                                                                                                                                                                sue_ROLL_ELEV_MIXfloatSerial UDB Extra Roll to Elevator Mix
                                                                                                                                                                                sue_ELEVATOR_BOOSTfloatGain For Boosting Manual Elevator control When Plane Stabilized

                                                                                                                                                                                SERIAL_UDB_EXTRA_F7 (175)

                                                                                                                                                                                Backwards compatible version of SERIAL_UDB_EXTRA F7: format

                                                                                                                                                                                Field NameTypeDescription
                                                                                                                                                                                sue_YAWKP_RUDDERfloatSerial UDB YAWKP_RUDDER Gain for Proporional control of navigation
                                                                                                                                                                                sue_YAWKD_RUDDERfloatSerial UDB YAWKD_RUDDER Gain for Rate control of navigation
                                                                                                                                                                                sue_ROLLKP_RUDDERfloatSerial UDB Extra ROLLKP_RUDDER Gain for Proportional control of roll stabilization
                                                                                                                                                                                sue_ROLLKD_RUDDERfloatSerial UDB Extra ROLLKD_RUDDER Gain for Rate control of roll stabilization
                                                                                                                                                                                sue_RUDDER_BOOSTfloatSERIAL UDB EXTRA Rudder Boost Gain to Manual Control when stabilized
                                                                                                                                                                                sue_RTL_PITCH_DOWNfloatSerial UDB Extra Return To Landing - Angle to Pitch Plane Down

                                                                                                                                                                                SERIAL_UDB_EXTRA_F8 (176)

                                                                                                                                                                                Backwards compatible version of SERIAL_UDB_EXTRA F8: format

                                                                                                                                                                                Field NameTypeDescription
                                                                                                                                                                                sue_HEIGHT_TARGET_MAXfloatSerial UDB Extra HEIGHT_TARGET_MAX
                                                                                                                                                                                sue_HEIGHT_TARGET_MINfloatSerial UDB Extra HEIGHT_TARGET_MIN
                                                                                                                                                                                sue_ALT_HOLD_THROTTLE_MINfloatSerial UDB Extra ALT_HOLD_THROTTLE_MIN
                                                                                                                                                                                sue_ALT_HOLD_THROTTLE_MAXfloatSerial UDB Extra ALT_HOLD_THROTTLE_MAX
                                                                                                                                                                                sue_ALT_HOLD_PITCH_MINfloatSerial UDB Extra ALT_HOLD_PITCH_MIN
                                                                                                                                                                                sue_ALT_HOLD_PITCH_MAXfloatSerial UDB Extra ALT_HOLD_PITCH_MAX
                                                                                                                                                                                sue_ALT_HOLD_PITCH_HIGHfloatSerial UDB Extra ALT_HOLD_PITCH_HIGH

                                                                                                                                                                                SERIAL_UDB_EXTRA_F13 (177)

                                                                                                                                                                                Backwards compatible version of SERIAL_UDB_EXTRA F13: format

                                                                                                                                                                                Field NameTypeDescription
                                                                                                                                                                                sue_week_noint16_tSerial UDB Extra GPS Week Number
                                                                                                                                                                                sue_lat_originint32_tSerial UDB Extra MP Origin Latitude
                                                                                                                                                                                sue_lon_originint32_tSerial UDB Extra MP Origin Longitude
                                                                                                                                                                                sue_alt_originint32_tSerial UDB Extra MP Origin Altitude Above Sea Level

                                                                                                                                                                                SERIAL_UDB_EXTRA_F14 (178)

                                                                                                                                                                                Backwards compatible version of SERIAL_UDB_EXTRA F14: format

                                                                                                                                                                                Field NameTypeDescription
                                                                                                                                                                                sue_WIND_ESTIMATIONuint8_tSerial UDB Extra Wind Estimation Enabled
                                                                                                                                                                                sue_GPS_TYPEuint8_tSerial UDB Extra Type of GPS Unit
                                                                                                                                                                                sue_DRuint8_tSerial UDB Extra Dead Reckoning Enabled
                                                                                                                                                                                sue_BOARD_TYPEuint8_tSerial UDB Extra Type of UDB Hardware
                                                                                                                                                                                sue_AIRFRAMEuint8_tSerial UDB Extra Type of Airframe
                                                                                                                                                                                sue_RCONint16_tSerial UDB Extra Reboot Register of DSPIC
                                                                                                                                                                                sue_TRAP_FLAGSint16_tSerial UDB Extra Last dspic Trap Flags
                                                                                                                                                                                sue_TRAP_SOURCEuint32_tSerial UDB Extra Type Program Address of Last Trap
                                                                                                                                                                                sue_osc_fail_countint16_tSerial UDB Extra Number of Ocillator Failures
                                                                                                                                                                                sue_CLOCK_CONFIGuint8_tSerial UDB Extra UDB Internal Clock Configuration
                                                                                                                                                                                sue_FLIGHT_PLAN_TYPEuint8_tSerial UDB Extra Type of Flight Plan

                                                                                                                                                                                SERIAL_UDB_EXTRA_F15 (179)

                                                                                                                                                                                Backwards compatible version of SERIAL_UDB_EXTRA F15 format

                                                                                                                                                                                Field NameTypeDescription
                                                                                                                                                                                sue_ID_VEHICLE_MODEL_NAMEuint8_t[40]Serial UDB Extra Model Name Of Vehicle
                                                                                                                                                                                sue_ID_VEHICLE_REGISTRATIONuint8_t[20]Serial UDB Extra Registraton Number of Vehicle

                                                                                                                                                                                SERIAL_UDB_EXTRA_F16 (180)

                                                                                                                                                                                Backwards compatible version of SERIAL_UDB_EXTRA F16 format

                                                                                                                                                                                Field NameTypeDescription
                                                                                                                                                                                sue_ID_LEAD_PILOTuint8_t[40]Serial UDB Extra Name of Expected Lead Pilot
                                                                                                                                                                                sue_ID_DIY_DRONES_URLuint8_t[70]Serial UDB Extra URL of Lead Pilot or Team

                                                                                                                                                                                ALTITUDES (181)

                                                                                                                                                                                The altitude measured by sensors and IMU

                                                                                                                                                                                Field NameTypeDescription
                                                                                                                                                                                time_boot_msuint32_tTimestamp (milliseconds since system boot)
                                                                                                                                                                                alt_gpsint32_tGPS altitude (MSL) in meters, expressed as * 1000 (millimeters)
                                                                                                                                                                                alt_imuint32_tIMU altitude above ground in meters, expressed as * 1000 (millimeters)
                                                                                                                                                                                alt_barometricint32_tbarometeric altitude above ground in meters, expressed as * 1000 (millimeters)
                                                                                                                                                                                alt_optical_flowint32_tOptical flow altitude above ground in meters, expressed as * 1000 (millimeters)
                                                                                                                                                                                alt_range_finderint32_tRangefinder Altitude above ground in meters, expressed as * 1000 (millimeters)
                                                                                                                                                                                alt_extraint32_tExtra altitude above ground in meters, expressed as * 1000 (millimeters)

                                                                                                                                                                                AIRSPEEDS (182)

                                                                                                                                                                                The airspeed measured by sensors and IMU

                                                                                                                                                                                Field NameTypeDescription
                                                                                                                                                                                time_boot_msuint32_tTimestamp (milliseconds since system boot)
                                                                                                                                                                                airspeed_imuint16_tAirspeed estimate from IMU, cm/s
                                                                                                                                                                                airspeed_pitotint16_tPitot measured forward airpseed, cm/s
                                                                                                                                                                                airspeed_hot_wireint16_tHot wire anenometer measured airspeed, cm/s
                                                                                                                                                                                airspeed_ultrasonicint16_tUltrasonic measured airspeed, cm/s
                                                                                                                                                                                aoaint16_tAngle of attack sensor, degrees * 10
                                                                                                                                                                                aoyint16_tYaw angle sensor, degrees * 10

                                                                                                                                                                                SERIAL_UDB_EXTRA_F17 (183)

                                                                                                                                                                                Backwards compatible version of SERIAL_UDB_EXTRA F17 format

                                                                                                                                                                                Field NameTypeDescription
                                                                                                                                                                                sue_feed_forwardfloatSUE Feed Forward Gain
                                                                                                                                                                                sue_turn_rate_navfloatSUE Max Turn Rate when Navigating
                                                                                                                                                                                sue_turn_rate_fbwfloatSUE Max Turn Rate in Fly By Wire Mode

                                                                                                                                                                                SERIAL_UDB_EXTRA_F18 (184)

                                                                                                                                                                                Backwards compatible version of SERIAL_UDB_EXTRA F18 format

                                                                                                                                                                                Field NameTypeDescription
                                                                                                                                                                                angle_of_attack_normalfloatSUE Angle of Attack Normal
                                                                                                                                                                                angle_of_attack_invertedfloatSUE Angle of Attack Inverted
                                                                                                                                                                                elevator_trim_normalfloatSUE Elevator Trim Normal
                                                                                                                                                                                elevator_trim_invertedfloatSUE Elevator Trim Inverted
                                                                                                                                                                                reference_speedfloatSUE reference_speed

                                                                                                                                                                                SERIAL_UDB_EXTRA_F19 (185)

                                                                                                                                                                                Backwards compatible version of SERIAL_UDB_EXTRA F19 format

                                                                                                                                                                                Field NameTypeDescription
                                                                                                                                                                                sue_aileron_output_channeluint8_tSUE aileron output channel
                                                                                                                                                                                sue_aileron_reverseduint8_tSUE aileron reversed
                                                                                                                                                                                sue_elevator_output_channeluint8_tSUE elevator output channel
                                                                                                                                                                                sue_elevator_reverseduint8_tSUE elevator reversed
                                                                                                                                                                                sue_throttle_output_channeluint8_tSUE throttle output channel
                                                                                                                                                                                sue_throttle_reverseduint8_tSUE throttle reversed
                                                                                                                                                                                sue_rudder_output_channeluint8_tSUE rudder output channel
                                                                                                                                                                                sue_rudder_reverseduint8_tSUE rudder reversed

                                                                                                                                                                                SERIAL_UDB_EXTRA_F20 (186)

                                                                                                                                                                                Backwards compatible version of SERIAL_UDB_EXTRA F20 format

                                                                                                                                                                                Field NameTypeDescription
                                                                                                                                                                                sue_number_of_inputsuint8_tSUE Number of Input Channels
                                                                                                                                                                                sue_trim_value_input_1int16_tSUE UDB PWM Trim Value on Input 1
                                                                                                                                                                                sue_trim_value_input_2int16_tSUE UDB PWM Trim Value on Input 2
                                                                                                                                                                                sue_trim_value_input_3int16_tSUE UDB PWM Trim Value on Input 3
                                                                                                                                                                                sue_trim_value_input_4int16_tSUE UDB PWM Trim Value on Input 4
                                                                                                                                                                                sue_trim_value_input_5int16_tSUE UDB PWM Trim Value on Input 5
                                                                                                                                                                                sue_trim_value_input_6int16_tSUE UDB PWM Trim Value on Input 6
                                                                                                                                                                                sue_trim_value_input_7int16_tSUE UDB PWM Trim Value on Input 7
                                                                                                                                                                                sue_trim_value_input_8int16_tSUE UDB PWM Trim Value on Input 8
                                                                                                                                                                                sue_trim_value_input_9int16_tSUE UDB PWM Trim Value on Input 9
                                                                                                                                                                                sue_trim_value_input_10int16_tSUE UDB PWM Trim Value on Input 10
                                                                                                                                                                                sue_trim_value_input_11int16_tSUE UDB PWM Trim Value on Input 11
                                                                                                                                                                                sue_trim_value_input_12int16_tSUE UDB PWM Trim Value on Input 12

                                                                                                                                                                                SERIAL_UDB_EXTRA_F21 (187)

                                                                                                                                                                                Backwards compatible version of SERIAL_UDB_EXTRA F21 format

                                                                                                                                                                                Field NameTypeDescription
                                                                                                                                                                                sue_accel_x_offsetint16_tSUE X accelerometer offset
                                                                                                                                                                                sue_accel_y_offsetint16_tSUE Y accelerometer offset
                                                                                                                                                                                sue_accel_z_offsetint16_tSUE Z accelerometer offset
                                                                                                                                                                                sue_gyro_x_offsetint16_tSUE X gyro offset
                                                                                                                                                                                sue_gyro_y_offsetint16_tSUE Y gyro offset
                                                                                                                                                                                sue_gyro_z_offsetint16_tSUE Z gyro offset

                                                                                                                                                                                SERIAL_UDB_EXTRA_F22 (188)

                                                                                                                                                                                Backwards compatible version of SERIAL_UDB_EXTRA F22 format

                                                                                                                                                                                Field NameTypeDescription
                                                                                                                                                                                sue_accel_x_at_calibrationint16_tSUE X accelerometer at calibration time
                                                                                                                                                                                sue_accel_y_at_calibrationint16_tSUE Y accelerometer at calibration time
                                                                                                                                                                                sue_accel_z_at_calibrationint16_tSUE Z accelerometer at calibration time
                                                                                                                                                                                sue_gyro_x_at_calibrationint16_tSUE X gyro at calibration time
                                                                                                                                                                                sue_gyro_y_at_calibrationint16_tSUE Y gyro at calibration time
                                                                                                                                                                                sue_gyro_z_at_calibrationint16_tSUE Z gyro at calibration time

                                                                                                                                                                                Enumerated Types

                                                                                                                                                                                MAV_PREFLIGHT_STORAGE_ACTION

                                                                                                                                                                                Action required when performing CMD_PREFLIGHT_STORAGE

                                                                                                                                                                                ValueNameDescription
                                                                                                                                                                                0MAV_PFS_CMD_READ_ALLRead all parameters from storage
                                                                                                                                                                                1MAV_PFS_CMD_WRITE_ALLWrite all parameters to storage
                                                                                                                                                                                2MAV_PFS_CMD_CLEAR_ALLClear all parameters in storage
                                                                                                                                                                                3MAV_PFS_CMD_READ_SPECIFICRead specific parameters from storage
                                                                                                                                                                                4MAV_PFS_CMD_WRITE_SPECIFICWrite specific parameters to storage
                                                                                                                                                                                5MAV_PFS_CMD_CLEAR_SPECIFICClear specific parameters in storage
                                                                                                                                                                                6MAV_PFS_CMD_DO_NOTHINGdo nothing

                                                                                                                                                                                Commands (MAV_CMD)

                                                                                                                                                                                MAV_CMD_PREFLIGHT_STORAGE_ADVANCED (0)

                                                                                                                                                                                Request storage of different parameter values and logs. This command will be only accepted if in pre-flight mode.

                                                                                                                                                                                Param (Label)Description
                                                                                                                                                                                1Storage action: Action defined by MAV_PREFLIGHT_STORAGE_ACTION_ADVANCED
                                                                                                                                                                                2Storage area as defined by parameter database
                                                                                                                                                                                3Storage flags as defined by parameter database
                                                                                                                                                                                4Empty
                                                                                                                                                                                5Empty
                                                                                                                                                                                6Empty
                                                                                                                                                                                7Empty

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                                                                                                                                                                                  \ No newline at end of file diff --git a/en/messages/minimal.html b/en/messages/minimal.html index 5027dfb97..3e32c1a72 100644 --- a/en/messages/minimal.html +++ b/en/messages/minimal.html @@ -1 +1 @@ -minimal.xml · MAVLink Developer Guide
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                                                                                                                                                                                  MAVLink Minimal Set (minimal.xml)

                                                                                                                                                                                  The MAVLink minimal set contains the minimal set of definitions for a viable MAVLink system.

                                                                                                                                                                                  The message set is defined in minimal.xml and is managed by the MAVLink project.

                                                                                                                                                                                  The minimal set is included (imported into) other xml definition files, including the MAVLink Common Message Set (common.xml).

                                                                                                                                                                                  • MAVLink 2 extension fields are displayed in blue.
                                                                                                                                                                                  • Entities from dialects are displayed only as headings (with link to original)

                                                                                                                                                                                  Protocol version: 3

                                                                                                                                                                                  None

                                                                                                                                                                                  Summary

                                                                                                                                                                                  TypeDefinedIncluded
                                                                                                                                                                                  Messages20
                                                                                                                                                                                  Enums60
                                                                                                                                                                                  Commands00

                                                                                                                                                                                  The following sections list all entities in the dialect (both included and defined in this file).

                                                                                                                                                                                  Messages

                                                                                                                                                                                  HEARTBEAT (0)

                                                                                                                                                                                  The heartbeat message shows that a system or component is present and responding. The type and autopilot fields (along with the message component id), allow the receiving system to treat further messages from this system appropriately (e.g. by laying out the user interface based on the autopilot). This microservice is documented at https://mavlink.io/en/services/heartbeat.html

                                                                                                                                                                                  Field NameTypeValuesDescription
                                                                                                                                                                                  typeuint8_tMAV_TYPEVehicle or component type. For a flight controller component the vehicle type (quadrotor, helicopter, etc.). For other components the component type (e.g. camera, gimbal, etc.). This should be used in preference to component id for identifying the component type.
                                                                                                                                                                                  autopilotuint8_tMAV_AUTOPILOTAutopilot type / class. Use MAV_AUTOPILOT_INVALID for components that are not flight controllers.
                                                                                                                                                                                  base_modeuint8_tMAV_MODE_FLAGSystem mode bitmap.
                                                                                                                                                                                  custom_modeuint32_tA bitfield for use for autopilot-specific flags
                                                                                                                                                                                  system_statusuint8_tMAV_STATESystem status flag.
                                                                                                                                                                                  mavlink_versionuint8_t_mavlink_versionMAVLink version, not writable by user, gets added by protocol because of magic data type: uint8_t_mavlink_version

                                                                                                                                                                                  PROTOCOL_VERSION (300) — [WIP]

                                                                                                                                                                                  WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                                  Version and capability of protocol version. This message can be requested with MAV_CMD_REQUEST_MESSAGE and is used as part of the handshaking to establish which MAVLink version should be used on the network. Every node should respond to a request for PROTOCOL_VERSION to enable the handshaking. Library implementers should consider adding this into the default decoding state machine to allow the protocol core to respond directly.

                                                                                                                                                                                  Field NameTypeDescription
                                                                                                                                                                                  versionuint16_tCurrently active MAVLink version number * 100: v1.0 is 100, v2.0 is 200, etc.
                                                                                                                                                                                  min_versionuint16_tMinimum MAVLink version supported
                                                                                                                                                                                  max_versionuint16_tMaximum MAVLink version supported (set to the same value as version by default)
                                                                                                                                                                                  spec_version_hashuint8_t[8]The first 8 bytes (not characters printed in hex!) of the git hash.
                                                                                                                                                                                  library_version_hashuint8_t[8]The first 8 bytes (not characters printed in hex!) of the git hash.

                                                                                                                                                                                  Enumerated Types

                                                                                                                                                                                  MAV_AUTOPILOT

                                                                                                                                                                                  Micro air vehicle / autopilot classes. This identifies the individual model.

                                                                                                                                                                                  ValueNameDescription
                                                                                                                                                                                  0MAV_AUTOPILOT_GENERICGeneric autopilot, full support for everything
                                                                                                                                                                                  1MAV_AUTOPILOT_RESERVEDReserved for future use.
                                                                                                                                                                                  2MAV_AUTOPILOT_SLUGSSLUGS autopilot, http://slugsuav.soe.ucsc.edu
                                                                                                                                                                                  3MAV_AUTOPILOT_ARDUPILOTMEGAArduPilot - Plane/Copter/Rover/Sub/Tracker, https://ardupilot.org
                                                                                                                                                                                  4MAV_AUTOPILOT_OPENPILOTOpenPilot, http://openpilot.org
                                                                                                                                                                                  5MAV_AUTOPILOT_GENERIC_WAYPOINTS_ONLYGeneric autopilot only supporting simple waypoints
                                                                                                                                                                                  6MAV_AUTOPILOT_GENERIC_WAYPOINTS_AND_SIMPLE_NAVIGATION_ONLYGeneric autopilot supporting waypoints and other simple navigation commands
                                                                                                                                                                                  7MAV_AUTOPILOT_GENERIC_MISSION_FULLGeneric autopilot supporting the full mission command set
                                                                                                                                                                                  8MAV_AUTOPILOT_INVALIDNo valid autopilot, e.g. a GCS or other MAVLink component
                                                                                                                                                                                  9MAV_AUTOPILOT_PPZPPZ UAV - http://nongnu.org/paparazzi
                                                                                                                                                                                  10MAV_AUTOPILOT_UDBUAV Dev Board
                                                                                                                                                                                  11MAV_AUTOPILOT_FPFlexiPilot
                                                                                                                                                                                  12MAV_AUTOPILOT_PX4PX4 Autopilot - http://px4.io/
                                                                                                                                                                                  13MAV_AUTOPILOT_SMACCMPILOTSMACCMPilot - http://smaccmpilot.org
                                                                                                                                                                                  14MAV_AUTOPILOT_AUTOQUADAutoQuad -- http://autoquad.org
                                                                                                                                                                                  15MAV_AUTOPILOT_ARMAZILAArmazila -- http://armazila.com
                                                                                                                                                                                  16MAV_AUTOPILOT_AEROBAerob -- http://aerob.ru
                                                                                                                                                                                  17MAV_AUTOPILOT_ASLUAVASLUAV autopilot -- http://www.asl.ethz.ch
                                                                                                                                                                                  18MAV_AUTOPILOT_SMARTAPSmartAP Autopilot - http://sky-drones.com
                                                                                                                                                                                  19MAV_AUTOPILOT_AIRRAILSAirRails - http://uaventure.com
                                                                                                                                                                                  20MAV_AUTOPILOT_REFLEXFusion Reflex - https://fusion.engineering

                                                                                                                                                                                  MAV_TYPE

                                                                                                                                                                                  MAVLINK component type reported in HEARTBEAT message. Flight controllers must report the type of the vehicle on which they are mounted (e.g. MAV_TYPE_OCTOROTOR). All other components must report a value appropriate for their type (e.g. a camera must use MAV_TYPE_CAMERA).

                                                                                                                                                                                  ValueNameDescription
                                                                                                                                                                                  0MAV_TYPE_GENERICGeneric micro air vehicle
                                                                                                                                                                                  1MAV_TYPE_FIXED_WINGFixed wing aircraft.
                                                                                                                                                                                  2MAV_TYPE_QUADROTORQuadrotor
                                                                                                                                                                                  3MAV_TYPE_COAXIALCoaxial helicopter
                                                                                                                                                                                  4MAV_TYPE_HELICOPTERNormal helicopter with tail rotor.
                                                                                                                                                                                  5MAV_TYPE_ANTENNA_TRACKERGround installation
                                                                                                                                                                                  6MAV_TYPE_GCSOperator control unit / ground control station
                                                                                                                                                                                  7MAV_TYPE_AIRSHIPAirship, controlled
                                                                                                                                                                                  8MAV_TYPE_FREE_BALLOONFree balloon, uncontrolled
                                                                                                                                                                                  9MAV_TYPE_ROCKETRocket
                                                                                                                                                                                  10MAV_TYPE_GROUND_ROVERGround rover
                                                                                                                                                                                  11MAV_TYPE_SURFACE_BOATSurface vessel, boat, ship
                                                                                                                                                                                  12MAV_TYPE_SUBMARINESubmarine
                                                                                                                                                                                  13MAV_TYPE_HEXAROTORHexarotor
                                                                                                                                                                                  14MAV_TYPE_OCTOROTOROctorotor
                                                                                                                                                                                  15MAV_TYPE_TRICOPTERTricopter
                                                                                                                                                                                  16MAV_TYPE_FLAPPING_WINGFlapping wing
                                                                                                                                                                                  17MAV_TYPE_KITEKite
                                                                                                                                                                                  18MAV_TYPE_ONBOARD_CONTROLLEROnboard companion controller
                                                                                                                                                                                  19MAV_TYPE_VTOL_TAILSITTER_DUOROTORTwo-rotor Tailsitter VTOL that additionally uses control surfaces in vertical operation. Note, value previously named MAV_TYPE_VTOL_DUOROTOR.
                                                                                                                                                                                  20MAV_TYPE_VTOL_TAILSITTER_QUADROTORQuad-rotor Tailsitter VTOL using a V-shaped quad config in vertical operation. Note: value previously named MAV_TYPE_VTOL_QUADROTOR.
                                                                                                                                                                                  21MAV_TYPE_VTOL_TILTROTORTiltrotor VTOL. Fuselage and wings stay (nominally) horizontal in all flight phases. It able to tilt (some) rotors to provide thrust in cruise flight.
                                                                                                                                                                                  22MAV_TYPE_VTOL_FIXEDROTORVTOL with separate fixed rotors for hover and cruise flight. Fuselage and wings stay (nominally) horizontal in all flight phases.
                                                                                                                                                                                  23MAV_TYPE_VTOL_TAILSITTERTailsitter VTOL. Fuselage and wings orientation changes depending on flight phase: vertical for hover, horizontal for cruise. Use more specific VTOL MAV_TYPE_VTOL_TAILSITTER_DUOROTOR or MAV_TYPE_VTOL_TAILSITTER_QUADROTOR if appropriate.
                                                                                                                                                                                  24MAV_TYPE_VTOL_TILTWINGTiltwing VTOL. Fuselage stays horizontal in all flight phases. The whole wing, along with any attached engine, can tilt between vertical and horizontal mode.
                                                                                                                                                                                  25MAV_TYPE_VTOL_RESERVED5VTOL reserved 5
                                                                                                                                                                                  26MAV_TYPE_GIMBALGimbal
                                                                                                                                                                                  27MAV_TYPE_ADSBADSB system
                                                                                                                                                                                  28MAV_TYPE_PARAFOILSteerable, nonrigid airfoil
                                                                                                                                                                                  29MAV_TYPE_DODECAROTORDodecarotor
                                                                                                                                                                                  30MAV_TYPE_CAMERACamera
                                                                                                                                                                                  31MAV_TYPE_CHARGING_STATIONCharging station
                                                                                                                                                                                  32MAV_TYPE_FLARMFLARM collision avoidance system
                                                                                                                                                                                  33MAV_TYPE_SERVOServo
                                                                                                                                                                                  34MAV_TYPE_ODIDOpen Drone ID. See https://mavlink.io/en/services/opendroneid.html.
                                                                                                                                                                                  35MAV_TYPE_DECAROTORDecarotor
                                                                                                                                                                                  36MAV_TYPE_BATTERYBattery
                                                                                                                                                                                  37MAV_TYPE_PARACHUTEParachute
                                                                                                                                                                                  38MAV_TYPE_LOGLog
                                                                                                                                                                                  39MAV_TYPE_OSDOSD
                                                                                                                                                                                  40MAV_TYPE_IMUIMU
                                                                                                                                                                                  41MAV_TYPE_GPSGPS
                                                                                                                                                                                  42MAV_TYPE_WINCHWinch
                                                                                                                                                                                  43MAV_TYPE_GENERIC_MULTIROTORGeneric multirotor that does not fit into a specific type or whose type is unknown
                                                                                                                                                                                  44MAV_TYPE_ILLUMINATORIlluminator. An illuminator is a light source that is used for lighting up dark areas external to the sytstem: e.g. a torch or searchlight (as opposed to a light source for illuminating the system itself, e.g. an indicator light).

                                                                                                                                                                                  MAV_MODE_FLAG

                                                                                                                                                                                  (Bitmask) These flags encode the MAV mode.

                                                                                                                                                                                  ValueNameDescription
                                                                                                                                                                                  1MAV_MODE_FLAG_CUSTOM_MODE_ENABLED0b00000001 Reserved for future use.
                                                                                                                                                                                  2MAV_MODE_FLAG_TEST_ENABLED0b00000010 system has a test mode enabled. This flag is intended for temporary system tests and should not be used for stable implementations.
                                                                                                                                                                                  4MAV_MODE_FLAG_AUTO_ENABLED0b00000100 autonomous mode enabled, system finds its own goal positions. Guided flag can be set or not, depends on the actual implementation.
                                                                                                                                                                                  8MAV_MODE_FLAG_GUIDED_ENABLED0b00001000 guided mode enabled, system flies waypoints / mission items.
                                                                                                                                                                                  16MAV_MODE_FLAG_STABILIZE_ENABLED0b00010000 system stabilizes electronically its attitude (and optionally position). It needs however further control inputs to move around.
                                                                                                                                                                                  32MAV_MODE_FLAG_HIL_ENABLED0b00100000 hardware in the loop simulation. All motors / actuators are blocked, but internal software is full operational.
                                                                                                                                                                                  64MAV_MODE_FLAG_MANUAL_INPUT_ENABLED0b01000000 remote control input is enabled.
                                                                                                                                                                                  128MAV_MODE_FLAG_SAFETY_ARMED0b10000000 MAV safety set to armed. Motors are enabled / running / can start. Ready to fly. Additional note: this flag is to be ignore when sent in the command MAV_CMD_DO_SET_MODE and MAV_CMD_COMPONENT_ARM_DISARM shall be used instead. The flag can still be used to report the armed state.

                                                                                                                                                                                  MAV_MODE_FLAG_DECODE_POSITION

                                                                                                                                                                                  (Bitmask) These values encode the bit positions of the decode position. These values can be used to read the value of a flag bit by combining the base_mode variable with AND with the flag position value. The result will be either 0 or 1, depending on if the flag is set or not.

                                                                                                                                                                                  ValueNameDescription
                                                                                                                                                                                  1MAV_MODE_FLAG_DECODE_POSITION_CUSTOM_MODEEighth bit: 00000001
                                                                                                                                                                                  2MAV_MODE_FLAG_DECODE_POSITION_TESTSeventh bit: 00000010
                                                                                                                                                                                  4MAV_MODE_FLAG_DECODE_POSITION_AUTOSixth bit: 00000100
                                                                                                                                                                                  8MAV_MODE_FLAG_DECODE_POSITION_GUIDEDFifth bit: 00001000
                                                                                                                                                                                  16MAV_MODE_FLAG_DECODE_POSITION_STABILIZEFourth bit: 00010000
                                                                                                                                                                                  32MAV_MODE_FLAG_DECODE_POSITION_HILThird bit: 00100000
                                                                                                                                                                                  64MAV_MODE_FLAG_DECODE_POSITION_MANUALSecond bit: 01000000
                                                                                                                                                                                  128MAV_MODE_FLAG_DECODE_POSITION_SAFETYFirst bit: 10000000

                                                                                                                                                                                  MAV_STATE

                                                                                                                                                                                  ValueNameDescription
                                                                                                                                                                                  0MAV_STATE_UNINITUninitialized system, state is unknown.
                                                                                                                                                                                  1MAV_STATE_BOOTSystem is booting up.
                                                                                                                                                                                  2MAV_STATE_CALIBRATINGSystem is calibrating and not flight-ready.
                                                                                                                                                                                  3MAV_STATE_STANDBYSystem is grounded and on standby. It can be launched any time.
                                                                                                                                                                                  4MAV_STATE_ACTIVESystem is active and might be already airborne. Motors are engaged.
                                                                                                                                                                                  5MAV_STATE_CRITICALSystem is in a non-normal flight mode (failsafe). It can however still navigate.
                                                                                                                                                                                  6MAV_STATE_EMERGENCYSystem is in a non-normal flight mode (failsafe). It lost control over parts or over the whole airframe. It is in mayday and going down.
                                                                                                                                                                                  7MAV_STATE_POWEROFFSystem just initialized its power-down sequence, will shut down now.
                                                                                                                                                                                  8MAV_STATE_FLIGHT_TERMINATIONSystem is terminating itself (failsafe or commanded).

                                                                                                                                                                                  MAV_COMPONENT

                                                                                                                                                                                  Component ids (values) for the different types and instances of onboard hardware/software that might make up a MAVLink system (autopilot, cameras, servos, GPS systems, avoidance systems etc.).

                                                                                                                                                                                  Components must use the appropriate ID in their source address when sending messages. Components can also use IDs to determine if they are the intended recipient of an incoming message. The MAV_COMP_ID_ALL value is used to indicate messages that must be processed by all components. When creating new entries, components that can have multiple instances (e.g. cameras, servos etc.) should be allocated sequential values. An appropriate number of values should be left free after these components to allow the number of instances to be expanded.

                                                                                                                                                                                  ValueNameDescription
                                                                                                                                                                                  0MAV_COMP_ID_ALLTarget id (target_component) used to broadcast messages to all components of the receiving system. Components should attempt to process messages with this component ID and forward to components on any other interfaces. Note: This is not a valid source component id for a message.
                                                                                                                                                                                  1MAV_COMP_ID_AUTOPILOT1System flight controller component ("autopilot"). Only one autopilot is expected in a particular system.
                                                                                                                                                                                  25MAV_COMP_ID_USER1Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                  26MAV_COMP_ID_USER2Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                  27MAV_COMP_ID_USER3Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                  28MAV_COMP_ID_USER4Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                  29MAV_COMP_ID_USER5Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                  30MAV_COMP_ID_USER6Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                  31MAV_COMP_ID_USER7Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                  32MAV_COMP_ID_USER8Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                  33MAV_COMP_ID_USER9Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                  34MAV_COMP_ID_USER10Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                  35MAV_COMP_ID_USER11Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                  36MAV_COMP_ID_USER12Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                  37MAV_COMP_ID_USER13Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                  38MAV_COMP_ID_USER14Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                  39MAV_COMP_ID_USER15Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                  40MAV_COMP_ID_USER16Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                  41MAV_COMP_ID_USER17Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                  42MAV_COMP_ID_USER18Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                  43MAV_COMP_ID_USER19Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                  44MAV_COMP_ID_USER20Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                  45MAV_COMP_ID_USER21Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                  46MAV_COMP_ID_USER22Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                  47MAV_COMP_ID_USER23Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                  48MAV_COMP_ID_USER24Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                  49MAV_COMP_ID_USER25Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                  50MAV_COMP_ID_USER26Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                  51MAV_COMP_ID_USER27Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                  52MAV_COMP_ID_USER28Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                  53MAV_COMP_ID_USER29Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                  54MAV_COMP_ID_USER30Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                  55MAV_COMP_ID_USER31Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                  56MAV_COMP_ID_USER32Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                  57MAV_COMP_ID_USER33Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                  58MAV_COMP_ID_USER34Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                  59MAV_COMP_ID_USER35Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                  60MAV_COMP_ID_USER36Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                  61MAV_COMP_ID_USER37Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                  62MAV_COMP_ID_USER38Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                  63MAV_COMP_ID_USER39Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                  64MAV_COMP_ID_USER40Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                  65MAV_COMP_ID_USER41Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                  66MAV_COMP_ID_USER42Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                  67MAV_COMP_ID_USER43Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                  68MAV_COMP_ID_TELEMETRY_RADIOTelemetry radio (e.g. SiK radio, or other component that emits RADIO_STATUS messages).
                                                                                                                                                                                  69MAV_COMP_ID_USER45Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                  70MAV_COMP_ID_USER46Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                  71MAV_COMP_ID_USER47Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                  72MAV_COMP_ID_USER48Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                  73MAV_COMP_ID_USER49Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                  74MAV_COMP_ID_USER50Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                  75MAV_COMP_ID_USER51Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                  76MAV_COMP_ID_USER52Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                  77MAV_COMP_ID_USER53Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                  78MAV_COMP_ID_USER54Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                  79MAV_COMP_ID_USER55Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                  80MAV_COMP_ID_USER56Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                  81MAV_COMP_ID_USER57Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                  82MAV_COMP_ID_USER58Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                  83MAV_COMP_ID_USER59Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                  84MAV_COMP_ID_USER60Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                  85MAV_COMP_ID_USER61Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                  86MAV_COMP_ID_USER62Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                  87MAV_COMP_ID_USER63Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                  88MAV_COMP_ID_USER64Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                  89MAV_COMP_ID_USER65Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                  90MAV_COMP_ID_USER66Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                  91MAV_COMP_ID_USER67Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                  92MAV_COMP_ID_USER68Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                  93MAV_COMP_ID_USER69Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                  94MAV_COMP_ID_USER70Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                  95MAV_COMP_ID_USER71Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                  96MAV_COMP_ID_USER72Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                  97MAV_COMP_ID_USER73Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                  98MAV_COMP_ID_USER74Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                  99MAV_COMP_ID_USER75Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                  100MAV_COMP_ID_CAMERACamera #1.
                                                                                                                                                                                  101MAV_COMP_ID_CAMERA2Camera #2.
                                                                                                                                                                                  102MAV_COMP_ID_CAMERA3Camera #3.
                                                                                                                                                                                  103MAV_COMP_ID_CAMERA4Camera #4.
                                                                                                                                                                                  104MAV_COMP_ID_CAMERA5Camera #5.
                                                                                                                                                                                  105MAV_COMP_ID_CAMERA6Camera #6.
                                                                                                                                                                                  140MAV_COMP_ID_SERVO1Servo #1.
                                                                                                                                                                                  141MAV_COMP_ID_SERVO2Servo #2.
                                                                                                                                                                                  142MAV_COMP_ID_SERVO3Servo #3.
                                                                                                                                                                                  143MAV_COMP_ID_SERVO4Servo #4.
                                                                                                                                                                                  144MAV_COMP_ID_SERVO5Servo #5.
                                                                                                                                                                                  145MAV_COMP_ID_SERVO6Servo #6.
                                                                                                                                                                                  146MAV_COMP_ID_SERVO7Servo #7.
                                                                                                                                                                                  147MAV_COMP_ID_SERVO8Servo #8.
                                                                                                                                                                                  148MAV_COMP_ID_SERVO9Servo #9.
                                                                                                                                                                                  149MAV_COMP_ID_SERVO10Servo #10.
                                                                                                                                                                                  150MAV_COMP_ID_SERVO11Servo #11.
                                                                                                                                                                                  151MAV_COMP_ID_SERVO12Servo #12.
                                                                                                                                                                                  152MAV_COMP_ID_SERVO13Servo #13.
                                                                                                                                                                                  153MAV_COMP_ID_SERVO14Servo #14.
                                                                                                                                                                                  154MAV_COMP_ID_GIMBALGimbal #1.
                                                                                                                                                                                  155MAV_COMP_ID_LOGLogging component.
                                                                                                                                                                                  156MAV_COMP_ID_ADSBAutomatic Dependent Surveillance-Broadcast (ADS-B) component.
                                                                                                                                                                                  157MAV_COMP_ID_OSDOn Screen Display (OSD) devices for video links.
                                                                                                                                                                                  158MAV_COMP_ID_PERIPHERALGeneric autopilot peripheral component ID. Meant for devices that do not implement the parameter microservice.
                                                                                                                                                                                  159MAV_COMP_ID_QX1_GIMBALGimbal ID for QX1.DEPRECATED: Replaced By MAV_COMP_ID_GIMBAL (2018-11) — All gimbals should use MAV_COMP_ID_GIMBAL.)
                                                                                                                                                                                  160MAV_COMP_ID_FLARMFLARM collision alert component.
                                                                                                                                                                                  161MAV_COMP_ID_PARACHUTEParachute component.
                                                                                                                                                                                  169MAV_COMP_ID_WINCHWinch component.
                                                                                                                                                                                  171MAV_COMP_ID_GIMBAL2Gimbal #2.
                                                                                                                                                                                  172MAV_COMP_ID_GIMBAL3Gimbal #3.
                                                                                                                                                                                  173MAV_COMP_ID_GIMBAL4Gimbal #4
                                                                                                                                                                                  174MAV_COMP_ID_GIMBAL5Gimbal #5.
                                                                                                                                                                                  175MAV_COMP_ID_GIMBAL6Gimbal #6.
                                                                                                                                                                                  180MAV_COMP_ID_BATTERYBattery #1.
                                                                                                                                                                                  181MAV_COMP_ID_BATTERY2Battery #2.
                                                                                                                                                                                  189MAV_COMP_ID_MAVCANCAN over MAVLink client.
                                                                                                                                                                                  190MAV_COMP_ID_MISSIONPLANNERComponent that can generate/supply a mission flight plan (e.g. GCS or developer API).
                                                                                                                                                                                  191MAV_COMP_ID_ONBOARD_COMPUTERComponent that lives on the onboard computer (companion computer) and has some generic functionalities, such as settings system parameters and monitoring the status of some processes that don't directly speak mavlink and so on.
                                                                                                                                                                                  192MAV_COMP_ID_ONBOARD_COMPUTER2Component that lives on the onboard computer (companion computer) and has some generic functionalities, such as settings system parameters and monitoring the status of some processes that don't directly speak mavlink and so on.
                                                                                                                                                                                  193MAV_COMP_ID_ONBOARD_COMPUTER3Component that lives on the onboard computer (companion computer) and has some generic functionalities, such as settings system parameters and monitoring the status of some processes that don't directly speak mavlink and so on.
                                                                                                                                                                                  194MAV_COMP_ID_ONBOARD_COMPUTER4Component that lives on the onboard computer (companion computer) and has some generic functionalities, such as settings system parameters and monitoring the status of some processes that don't directly speak mavlink and so on.
                                                                                                                                                                                  195MAV_COMP_ID_PATHPLANNERComponent that finds an optimal path between points based on a certain constraint (e.g. minimum snap, shortest path, cost, etc.).
                                                                                                                                                                                  196MAV_COMP_ID_OBSTACLE_AVOIDANCEComponent that plans a collision free path between two points.
                                                                                                                                                                                  197MAV_COMP_ID_VISUAL_INERTIAL_ODOMETRYComponent that provides position estimates using VIO techniques.
                                                                                                                                                                                  198MAV_COMP_ID_PAIRING_MANAGERComponent that manages pairing of vehicle and GCS.
                                                                                                                                                                                  200MAV_COMP_ID_IMUInertial Measurement Unit (IMU) #1.
                                                                                                                                                                                  201MAV_COMP_ID_IMU_2Inertial Measurement Unit (IMU) #2.
                                                                                                                                                                                  202MAV_COMP_ID_IMU_3Inertial Measurement Unit (IMU) #3.
                                                                                                                                                                                  220MAV_COMP_ID_GPSGPS #1.
                                                                                                                                                                                  221MAV_COMP_ID_GPS2GPS #2.
                                                                                                                                                                                  236MAV_COMP_ID_ODID_TXRX_1Open Drone ID transmitter/receiver (Bluetooth/WiFi/Internet).
                                                                                                                                                                                  237MAV_COMP_ID_ODID_TXRX_2Open Drone ID transmitter/receiver (Bluetooth/WiFi/Internet).
                                                                                                                                                                                  238MAV_COMP_ID_ODID_TXRX_3Open Drone ID transmitter/receiver (Bluetooth/WiFi/Internet).
                                                                                                                                                                                  240MAV_COMP_ID_UDP_BRIDGEComponent to bridge MAVLink to UDP (i.e. from a UART).
                                                                                                                                                                                  241MAV_COMP_ID_UART_BRIDGEComponent to bridge to UART (i.e. from UDP).
                                                                                                                                                                                  242MAV_COMP_ID_TUNNEL_NODEComponent handling TUNNEL messages (e.g. vendor specific GUI of a component).
                                                                                                                                                                                  243MAV_COMP_ID_ILLUMINATORIlluminator
                                                                                                                                                                                  250MAV_COMP_ID_SYSTEM_CONTROLDeprecated, don't use. Component for handling system messages (e.g. to ARM, takeoff, etc.).DEPRECATED: Replaced By MAV_COMP_ID_ALL (2018-11) — System control does not require a separate component ID. Instead, system commands should be sent with target_component=MAV_COMP_ID_ALL allowing the target component to use any appropriate component id.)

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                                                                                                                                                                                    MAVLink Minimal Set (minimal.xml)

                                                                                                                                                                                    The MAVLink minimal set contains the minimal set of definitions for a viable MAVLink system.

                                                                                                                                                                                    The message set is defined in minimal.xml and is managed by the MAVLink project.

                                                                                                                                                                                    The minimal set is included (imported into) other xml definition files, including the MAVLink Common Message Set (common.xml).

                                                                                                                                                                                    • MAVLink 2 extension fields are displayed in blue.
                                                                                                                                                                                    • Entities from dialects are displayed only as headings (with link to original)

                                                                                                                                                                                    Protocol version: 3

                                                                                                                                                                                    None

                                                                                                                                                                                    Summary

                                                                                                                                                                                    TypeDefinedIncluded
                                                                                                                                                                                    Messages20
                                                                                                                                                                                    Enums60
                                                                                                                                                                                    Commands00

                                                                                                                                                                                    The following sections list all entities in the dialect (both included and defined in this file).

                                                                                                                                                                                    Messages

                                                                                                                                                                                    HEARTBEAT (0)

                                                                                                                                                                                    The heartbeat message shows that a system or component is present and responding. The type and autopilot fields (along with the message component id), allow the receiving system to treat further messages from this system appropriately (e.g. by laying out the user interface based on the autopilot). This microservice is documented at https://mavlink.io/en/services/heartbeat.html

                                                                                                                                                                                    Field NameTypeValuesDescription
                                                                                                                                                                                    typeuint8_tMAV_TYPEVehicle or component type. For a flight controller component the vehicle type (quadrotor, helicopter, etc.). For other components the component type (e.g. camera, gimbal, etc.). This should be used in preference to component id for identifying the component type.
                                                                                                                                                                                    autopilotuint8_tMAV_AUTOPILOTAutopilot type / class. Use MAV_AUTOPILOT_INVALID for components that are not flight controllers.
                                                                                                                                                                                    base_modeuint8_tMAV_MODE_FLAGSystem mode bitmap.
                                                                                                                                                                                    custom_modeuint32_tA bitfield for use for autopilot-specific flags
                                                                                                                                                                                    system_statusuint8_tMAV_STATESystem status flag.
                                                                                                                                                                                    mavlink_versionuint8_t_mavlink_versionMAVLink version, not writable by user, gets added by protocol because of magic data type: uint8_t_mavlink_version

                                                                                                                                                                                    PROTOCOL_VERSION (300) — [WIP]

                                                                                                                                                                                    WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                                    Version and capability of protocol version. This message can be requested with MAV_CMD_REQUEST_MESSAGE and is used as part of the handshaking to establish which MAVLink version should be used on the network. Every node should respond to a request for PROTOCOL_VERSION to enable the handshaking. Library implementers should consider adding this into the default decoding state machine to allow the protocol core to respond directly.

                                                                                                                                                                                    Field NameTypeDescription
                                                                                                                                                                                    versionuint16_tCurrently active MAVLink version number * 100: v1.0 is 100, v2.0 is 200, etc.
                                                                                                                                                                                    min_versionuint16_tMinimum MAVLink version supported
                                                                                                                                                                                    max_versionuint16_tMaximum MAVLink version supported (set to the same value as version by default)
                                                                                                                                                                                    spec_version_hashuint8_t[8]The first 8 bytes (not characters printed in hex!) of the git hash.
                                                                                                                                                                                    library_version_hashuint8_t[8]The first 8 bytes (not characters printed in hex!) of the git hash.

                                                                                                                                                                                    Enumerated Types

                                                                                                                                                                                    MAV_AUTOPILOT

                                                                                                                                                                                    Micro air vehicle / autopilot classes. This identifies the individual model.

                                                                                                                                                                                    ValueNameDescription
                                                                                                                                                                                    0MAV_AUTOPILOT_GENERICGeneric autopilot, full support for everything
                                                                                                                                                                                    1MAV_AUTOPILOT_RESERVEDReserved for future use.
                                                                                                                                                                                    2MAV_AUTOPILOT_SLUGSSLUGS autopilot, http://slugsuav.soe.ucsc.edu
                                                                                                                                                                                    3MAV_AUTOPILOT_ARDUPILOTMEGAArduPilot - Plane/Copter/Rover/Sub/Tracker, https://ardupilot.org
                                                                                                                                                                                    4MAV_AUTOPILOT_OPENPILOTOpenPilot, http://openpilot.org
                                                                                                                                                                                    5MAV_AUTOPILOT_GENERIC_WAYPOINTS_ONLYGeneric autopilot only supporting simple waypoints
                                                                                                                                                                                    6MAV_AUTOPILOT_GENERIC_WAYPOINTS_AND_SIMPLE_NAVIGATION_ONLYGeneric autopilot supporting waypoints and other simple navigation commands
                                                                                                                                                                                    7MAV_AUTOPILOT_GENERIC_MISSION_FULLGeneric autopilot supporting the full mission command set
                                                                                                                                                                                    8MAV_AUTOPILOT_INVALIDNo valid autopilot, e.g. a GCS or other MAVLink component
                                                                                                                                                                                    9MAV_AUTOPILOT_PPZPPZ UAV - http://nongnu.org/paparazzi
                                                                                                                                                                                    10MAV_AUTOPILOT_UDBUAV Dev Board
                                                                                                                                                                                    11MAV_AUTOPILOT_FPFlexiPilot
                                                                                                                                                                                    12MAV_AUTOPILOT_PX4PX4 Autopilot - http://px4.io/
                                                                                                                                                                                    13MAV_AUTOPILOT_SMACCMPILOTSMACCMPilot - http://smaccmpilot.org
                                                                                                                                                                                    14MAV_AUTOPILOT_AUTOQUADAutoQuad -- http://autoquad.org
                                                                                                                                                                                    15MAV_AUTOPILOT_ARMAZILAArmazila -- http://armazila.com
                                                                                                                                                                                    16MAV_AUTOPILOT_AEROBAerob -- http://aerob.ru
                                                                                                                                                                                    17MAV_AUTOPILOT_ASLUAVASLUAV autopilot -- http://www.asl.ethz.ch
                                                                                                                                                                                    18MAV_AUTOPILOT_SMARTAPSmartAP Autopilot - http://sky-drones.com
                                                                                                                                                                                    19MAV_AUTOPILOT_AIRRAILSAirRails - http://uaventure.com
                                                                                                                                                                                    20MAV_AUTOPILOT_REFLEXFusion Reflex - https://fusion.engineering

                                                                                                                                                                                    MAV_TYPE

                                                                                                                                                                                    MAVLINK component type reported in HEARTBEAT message. Flight controllers must report the type of the vehicle on which they are mounted (e.g. MAV_TYPE_OCTOROTOR). All other components must report a value appropriate for their type (e.g. a camera must use MAV_TYPE_CAMERA).

                                                                                                                                                                                    ValueNameDescription
                                                                                                                                                                                    0MAV_TYPE_GENERICGeneric micro air vehicle
                                                                                                                                                                                    1MAV_TYPE_FIXED_WINGFixed wing aircraft.
                                                                                                                                                                                    2MAV_TYPE_QUADROTORQuadrotor
                                                                                                                                                                                    3MAV_TYPE_COAXIALCoaxial helicopter
                                                                                                                                                                                    4MAV_TYPE_HELICOPTERNormal helicopter with tail rotor.
                                                                                                                                                                                    5MAV_TYPE_ANTENNA_TRACKERGround installation
                                                                                                                                                                                    6MAV_TYPE_GCSOperator control unit / ground control station
                                                                                                                                                                                    7MAV_TYPE_AIRSHIPAirship, controlled
                                                                                                                                                                                    8MAV_TYPE_FREE_BALLOONFree balloon, uncontrolled
                                                                                                                                                                                    9MAV_TYPE_ROCKETRocket
                                                                                                                                                                                    10MAV_TYPE_GROUND_ROVERGround rover
                                                                                                                                                                                    11MAV_TYPE_SURFACE_BOATSurface vessel, boat, ship
                                                                                                                                                                                    12MAV_TYPE_SUBMARINESubmarine
                                                                                                                                                                                    13MAV_TYPE_HEXAROTORHexarotor
                                                                                                                                                                                    14MAV_TYPE_OCTOROTOROctorotor
                                                                                                                                                                                    15MAV_TYPE_TRICOPTERTricopter
                                                                                                                                                                                    16MAV_TYPE_FLAPPING_WINGFlapping wing
                                                                                                                                                                                    17MAV_TYPE_KITEKite
                                                                                                                                                                                    18MAV_TYPE_ONBOARD_CONTROLLEROnboard companion controller
                                                                                                                                                                                    19MAV_TYPE_VTOL_TAILSITTER_DUOROTORTwo-rotor Tailsitter VTOL that additionally uses control surfaces in vertical operation. Note, value previously named MAV_TYPE_VTOL_DUOROTOR.
                                                                                                                                                                                    20MAV_TYPE_VTOL_TAILSITTER_QUADROTORQuad-rotor Tailsitter VTOL using a V-shaped quad config in vertical operation. Note: value previously named MAV_TYPE_VTOL_QUADROTOR.
                                                                                                                                                                                    21MAV_TYPE_VTOL_TILTROTORTiltrotor VTOL. Fuselage and wings stay (nominally) horizontal in all flight phases. It able to tilt (some) rotors to provide thrust in cruise flight.
                                                                                                                                                                                    22MAV_TYPE_VTOL_FIXEDROTORVTOL with separate fixed rotors for hover and cruise flight. Fuselage and wings stay (nominally) horizontal in all flight phases.
                                                                                                                                                                                    23MAV_TYPE_VTOL_TAILSITTERTailsitter VTOL. Fuselage and wings orientation changes depending on flight phase: vertical for hover, horizontal for cruise. Use more specific VTOL MAV_TYPE_VTOL_TAILSITTER_DUOROTOR or MAV_TYPE_VTOL_TAILSITTER_QUADROTOR if appropriate.
                                                                                                                                                                                    24MAV_TYPE_VTOL_TILTWINGTiltwing VTOL. Fuselage stays horizontal in all flight phases. The whole wing, along with any attached engine, can tilt between vertical and horizontal mode.
                                                                                                                                                                                    25MAV_TYPE_VTOL_RESERVED5VTOL reserved 5
                                                                                                                                                                                    26MAV_TYPE_GIMBALGimbal
                                                                                                                                                                                    27MAV_TYPE_ADSBADSB system
                                                                                                                                                                                    28MAV_TYPE_PARAFOILSteerable, nonrigid airfoil
                                                                                                                                                                                    29MAV_TYPE_DODECAROTORDodecarotor
                                                                                                                                                                                    30MAV_TYPE_CAMERACamera
                                                                                                                                                                                    31MAV_TYPE_CHARGING_STATIONCharging station
                                                                                                                                                                                    32MAV_TYPE_FLARMFLARM collision avoidance system
                                                                                                                                                                                    33MAV_TYPE_SERVOServo
                                                                                                                                                                                    34MAV_TYPE_ODIDOpen Drone ID. See https://mavlink.io/en/services/opendroneid.html.
                                                                                                                                                                                    35MAV_TYPE_DECAROTORDecarotor
                                                                                                                                                                                    36MAV_TYPE_BATTERYBattery
                                                                                                                                                                                    37MAV_TYPE_PARACHUTEParachute
                                                                                                                                                                                    38MAV_TYPE_LOGLog
                                                                                                                                                                                    39MAV_TYPE_OSDOSD
                                                                                                                                                                                    40MAV_TYPE_IMUIMU
                                                                                                                                                                                    41MAV_TYPE_GPSGPS
                                                                                                                                                                                    42MAV_TYPE_WINCHWinch
                                                                                                                                                                                    43MAV_TYPE_GENERIC_MULTIROTORGeneric multirotor that does not fit into a specific type or whose type is unknown
                                                                                                                                                                                    44MAV_TYPE_ILLUMINATORIlluminator. An illuminator is a light source that is used for lighting up dark areas external to the sytstem: e.g. a torch or searchlight (as opposed to a light source for illuminating the system itself, e.g. an indicator light).

                                                                                                                                                                                    MAV_MODE_FLAG

                                                                                                                                                                                    (Bitmask) These flags encode the MAV mode.

                                                                                                                                                                                    ValueNameDescription
                                                                                                                                                                                    1MAV_MODE_FLAG_CUSTOM_MODE_ENABLED0b00000001 Reserved for future use.
                                                                                                                                                                                    2MAV_MODE_FLAG_TEST_ENABLED0b00000010 system has a test mode enabled. This flag is intended for temporary system tests and should not be used for stable implementations.
                                                                                                                                                                                    4MAV_MODE_FLAG_AUTO_ENABLED0b00000100 autonomous mode enabled, system finds its own goal positions. Guided flag can be set or not, depends on the actual implementation.
                                                                                                                                                                                    8MAV_MODE_FLAG_GUIDED_ENABLED0b00001000 guided mode enabled, system flies waypoints / mission items.
                                                                                                                                                                                    16MAV_MODE_FLAG_STABILIZE_ENABLED0b00010000 system stabilizes electronically its attitude (and optionally position). It needs however further control inputs to move around.
                                                                                                                                                                                    32MAV_MODE_FLAG_HIL_ENABLED0b00100000 hardware in the loop simulation. All motors / actuators are blocked, but internal software is full operational.
                                                                                                                                                                                    64MAV_MODE_FLAG_MANUAL_INPUT_ENABLED0b01000000 remote control input is enabled.
                                                                                                                                                                                    128MAV_MODE_FLAG_SAFETY_ARMED0b10000000 MAV safety set to armed. Motors are enabled / running / can start. Ready to fly. Additional note: this flag is to be ignore when sent in the command MAV_CMD_DO_SET_MODE and MAV_CMD_COMPONENT_ARM_DISARM shall be used instead. The flag can still be used to report the armed state.

                                                                                                                                                                                    MAV_MODE_FLAG_DECODE_POSITION

                                                                                                                                                                                    (Bitmask) These values encode the bit positions of the decode position. These values can be used to read the value of a flag bit by combining the base_mode variable with AND with the flag position value. The result will be either 0 or 1, depending on if the flag is set or not.

                                                                                                                                                                                    ValueNameDescription
                                                                                                                                                                                    1MAV_MODE_FLAG_DECODE_POSITION_CUSTOM_MODEEighth bit: 00000001
                                                                                                                                                                                    2MAV_MODE_FLAG_DECODE_POSITION_TESTSeventh bit: 00000010
                                                                                                                                                                                    4MAV_MODE_FLAG_DECODE_POSITION_AUTOSixth bit: 00000100
                                                                                                                                                                                    8MAV_MODE_FLAG_DECODE_POSITION_GUIDEDFifth bit: 00001000
                                                                                                                                                                                    16MAV_MODE_FLAG_DECODE_POSITION_STABILIZEFourth bit: 00010000
                                                                                                                                                                                    32MAV_MODE_FLAG_DECODE_POSITION_HILThird bit: 00100000
                                                                                                                                                                                    64MAV_MODE_FLAG_DECODE_POSITION_MANUALSecond bit: 01000000
                                                                                                                                                                                    128MAV_MODE_FLAG_DECODE_POSITION_SAFETYFirst bit: 10000000

                                                                                                                                                                                    MAV_STATE

                                                                                                                                                                                    ValueNameDescription
                                                                                                                                                                                    0MAV_STATE_UNINITUninitialized system, state is unknown.
                                                                                                                                                                                    1MAV_STATE_BOOTSystem is booting up.
                                                                                                                                                                                    2MAV_STATE_CALIBRATINGSystem is calibrating and not flight-ready.
                                                                                                                                                                                    3MAV_STATE_STANDBYSystem is grounded and on standby. It can be launched any time.
                                                                                                                                                                                    4MAV_STATE_ACTIVESystem is active and might be already airborne. Motors are engaged.
                                                                                                                                                                                    5MAV_STATE_CRITICALSystem is in a non-normal flight mode (failsafe). It can however still navigate.
                                                                                                                                                                                    6MAV_STATE_EMERGENCYSystem is in a non-normal flight mode (failsafe). It lost control over parts or over the whole airframe. It is in mayday and going down.
                                                                                                                                                                                    7MAV_STATE_POWEROFFSystem just initialized its power-down sequence, will shut down now.
                                                                                                                                                                                    8MAV_STATE_FLIGHT_TERMINATIONSystem is terminating itself (failsafe or commanded).

                                                                                                                                                                                    MAV_COMPONENT

                                                                                                                                                                                    Component ids (values) for the different types and instances of onboard hardware/software that might make up a MAVLink system (autopilot, cameras, servos, GPS systems, avoidance systems etc.).

                                                                                                                                                                                    Components must use the appropriate ID in their source address when sending messages. Components can also use IDs to determine if they are the intended recipient of an incoming message. The MAV_COMP_ID_ALL value is used to indicate messages that must be processed by all components. When creating new entries, components that can have multiple instances (e.g. cameras, servos etc.) should be allocated sequential values. An appropriate number of values should be left free after these components to allow the number of instances to be expanded.

                                                                                                                                                                                    ValueNameDescription
                                                                                                                                                                                    0MAV_COMP_ID_ALLTarget id (target_component) used to broadcast messages to all components of the receiving system. Components should attempt to process messages with this component ID and forward to components on any other interfaces. Note: This is not a valid source component id for a message.
                                                                                                                                                                                    1MAV_COMP_ID_AUTOPILOT1System flight controller component ("autopilot"). Only one autopilot is expected in a particular system.
                                                                                                                                                                                    25MAV_COMP_ID_USER1Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                    26MAV_COMP_ID_USER2Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                    27MAV_COMP_ID_USER3Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                    28MAV_COMP_ID_USER4Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                    29MAV_COMP_ID_USER5Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                    30MAV_COMP_ID_USER6Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                    31MAV_COMP_ID_USER7Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                    32MAV_COMP_ID_USER8Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                    33MAV_COMP_ID_USER9Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                    34MAV_COMP_ID_USER10Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                    35MAV_COMP_ID_USER11Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                    36MAV_COMP_ID_USER12Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                    37MAV_COMP_ID_USER13Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                    38MAV_COMP_ID_USER14Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                    39MAV_COMP_ID_USER15Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                    40MAV_COMP_ID_USER16Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                    41MAV_COMP_ID_USER17Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                    42MAV_COMP_ID_USER18Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                    43MAV_COMP_ID_USER19Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                    44MAV_COMP_ID_USER20Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                    45MAV_COMP_ID_USER21Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                    46MAV_COMP_ID_USER22Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                    47MAV_COMP_ID_USER23Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                    48MAV_COMP_ID_USER24Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                    49MAV_COMP_ID_USER25Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                    50MAV_COMP_ID_USER26Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                    51MAV_COMP_ID_USER27Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                    52MAV_COMP_ID_USER28Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                    53MAV_COMP_ID_USER29Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                    54MAV_COMP_ID_USER30Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                    55MAV_COMP_ID_USER31Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                    56MAV_COMP_ID_USER32Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                    57MAV_COMP_ID_USER33Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                    58MAV_COMP_ID_USER34Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                    59MAV_COMP_ID_USER35Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                    60MAV_COMP_ID_USER36Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                    61MAV_COMP_ID_USER37Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                    62MAV_COMP_ID_USER38Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                    63MAV_COMP_ID_USER39Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                    64MAV_COMP_ID_USER40Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                    65MAV_COMP_ID_USER41Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                    66MAV_COMP_ID_USER42Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                    67MAV_COMP_ID_USER43Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                    68MAV_COMP_ID_TELEMETRY_RADIOTelemetry radio (e.g. SiK radio, or other component that emits RADIO_STATUS messages).
                                                                                                                                                                                    69MAV_COMP_ID_USER45Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                    70MAV_COMP_ID_USER46Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                    71MAV_COMP_ID_USER47Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                    72MAV_COMP_ID_USER48Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                    73MAV_COMP_ID_USER49Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                    74MAV_COMP_ID_USER50Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                    75MAV_COMP_ID_USER51Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                    76MAV_COMP_ID_USER52Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                    77MAV_COMP_ID_USER53Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                    78MAV_COMP_ID_USER54Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                    79MAV_COMP_ID_USER55Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                    80MAV_COMP_ID_USER56Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                    81MAV_COMP_ID_USER57Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                    82MAV_COMP_ID_USER58Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                    83MAV_COMP_ID_USER59Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                    84MAV_COMP_ID_USER60Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                    85MAV_COMP_ID_USER61Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                    86MAV_COMP_ID_USER62Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                    87MAV_COMP_ID_USER63Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                    88MAV_COMP_ID_USER64Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                    89MAV_COMP_ID_USER65Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                    90MAV_COMP_ID_USER66Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                    91MAV_COMP_ID_USER67Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                    92MAV_COMP_ID_USER68Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                    93MAV_COMP_ID_USER69Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                    94MAV_COMP_ID_USER70Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                    95MAV_COMP_ID_USER71Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                    96MAV_COMP_ID_USER72Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                    97MAV_COMP_ID_USER73Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                    98MAV_COMP_ID_USER74Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                    99MAV_COMP_ID_USER75Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                    100MAV_COMP_ID_CAMERACamera #1.
                                                                                                                                                                                    101MAV_COMP_ID_CAMERA2Camera #2.
                                                                                                                                                                                    102MAV_COMP_ID_CAMERA3Camera #3.
                                                                                                                                                                                    103MAV_COMP_ID_CAMERA4Camera #4.
                                                                                                                                                                                    104MAV_COMP_ID_CAMERA5Camera #5.
                                                                                                                                                                                    105MAV_COMP_ID_CAMERA6Camera #6.
                                                                                                                                                                                    140MAV_COMP_ID_SERVO1Servo #1.
                                                                                                                                                                                    141MAV_COMP_ID_SERVO2Servo #2.
                                                                                                                                                                                    142MAV_COMP_ID_SERVO3Servo #3.
                                                                                                                                                                                    143MAV_COMP_ID_SERVO4Servo #4.
                                                                                                                                                                                    144MAV_COMP_ID_SERVO5Servo #5.
                                                                                                                                                                                    145MAV_COMP_ID_SERVO6Servo #6.
                                                                                                                                                                                    146MAV_COMP_ID_SERVO7Servo #7.
                                                                                                                                                                                    147MAV_COMP_ID_SERVO8Servo #8.
                                                                                                                                                                                    148MAV_COMP_ID_SERVO9Servo #9.
                                                                                                                                                                                    149MAV_COMP_ID_SERVO10Servo #10.
                                                                                                                                                                                    150MAV_COMP_ID_SERVO11Servo #11.
                                                                                                                                                                                    151MAV_COMP_ID_SERVO12Servo #12.
                                                                                                                                                                                    152MAV_COMP_ID_SERVO13Servo #13.
                                                                                                                                                                                    153MAV_COMP_ID_SERVO14Servo #14.
                                                                                                                                                                                    154MAV_COMP_ID_GIMBALGimbal #1.
                                                                                                                                                                                    155MAV_COMP_ID_LOGLogging component.
                                                                                                                                                                                    156MAV_COMP_ID_ADSBAutomatic Dependent Surveillance-Broadcast (ADS-B) component.
                                                                                                                                                                                    157MAV_COMP_ID_OSDOn Screen Display (OSD) devices for video links.
                                                                                                                                                                                    158MAV_COMP_ID_PERIPHERALGeneric autopilot peripheral component ID. Meant for devices that do not implement the parameter microservice.
                                                                                                                                                                                    159MAV_COMP_ID_QX1_GIMBALGimbal ID for QX1.DEPRECATED: Replaced By MAV_COMP_ID_GIMBAL (2018-11) — All gimbals should use MAV_COMP_ID_GIMBAL.)
                                                                                                                                                                                    160MAV_COMP_ID_FLARMFLARM collision alert component.
                                                                                                                                                                                    161MAV_COMP_ID_PARACHUTEParachute component.
                                                                                                                                                                                    169MAV_COMP_ID_WINCHWinch component.
                                                                                                                                                                                    171MAV_COMP_ID_GIMBAL2Gimbal #2.
                                                                                                                                                                                    172MAV_COMP_ID_GIMBAL3Gimbal #3.
                                                                                                                                                                                    173MAV_COMP_ID_GIMBAL4Gimbal #4
                                                                                                                                                                                    174MAV_COMP_ID_GIMBAL5Gimbal #5.
                                                                                                                                                                                    175MAV_COMP_ID_GIMBAL6Gimbal #6.
                                                                                                                                                                                    180MAV_COMP_ID_BATTERYBattery #1.
                                                                                                                                                                                    181MAV_COMP_ID_BATTERY2Battery #2.
                                                                                                                                                                                    189MAV_COMP_ID_MAVCANCAN over MAVLink client.
                                                                                                                                                                                    190MAV_COMP_ID_MISSIONPLANNERComponent that can generate/supply a mission flight plan (e.g. GCS or developer API).
                                                                                                                                                                                    191MAV_COMP_ID_ONBOARD_COMPUTERComponent that lives on the onboard computer (companion computer) and has some generic functionalities, such as settings system parameters and monitoring the status of some processes that don't directly speak mavlink and so on.
                                                                                                                                                                                    192MAV_COMP_ID_ONBOARD_COMPUTER2Component that lives on the onboard computer (companion computer) and has some generic functionalities, such as settings system parameters and monitoring the status of some processes that don't directly speak mavlink and so on.
                                                                                                                                                                                    193MAV_COMP_ID_ONBOARD_COMPUTER3Component that lives on the onboard computer (companion computer) and has some generic functionalities, such as settings system parameters and monitoring the status of some processes that don't directly speak mavlink and so on.
                                                                                                                                                                                    194MAV_COMP_ID_ONBOARD_COMPUTER4Component that lives on the onboard computer (companion computer) and has some generic functionalities, such as settings system parameters and monitoring the status of some processes that don't directly speak mavlink and so on.
                                                                                                                                                                                    195MAV_COMP_ID_PATHPLANNERComponent that finds an optimal path between points based on a certain constraint (e.g. minimum snap, shortest path, cost, etc.).
                                                                                                                                                                                    196MAV_COMP_ID_OBSTACLE_AVOIDANCEComponent that plans a collision free path between two points.
                                                                                                                                                                                    197MAV_COMP_ID_VISUAL_INERTIAL_ODOMETRYComponent that provides position estimates using VIO techniques.
                                                                                                                                                                                    198MAV_COMP_ID_PAIRING_MANAGERComponent that manages pairing of vehicle and GCS.
                                                                                                                                                                                    200MAV_COMP_ID_IMUInertial Measurement Unit (IMU) #1.
                                                                                                                                                                                    201MAV_COMP_ID_IMU_2Inertial Measurement Unit (IMU) #2.
                                                                                                                                                                                    202MAV_COMP_ID_IMU_3Inertial Measurement Unit (IMU) #3.
                                                                                                                                                                                    220MAV_COMP_ID_GPSGPS #1.
                                                                                                                                                                                    221MAV_COMP_ID_GPS2GPS #2.
                                                                                                                                                                                    236MAV_COMP_ID_ODID_TXRX_1Open Drone ID transmitter/receiver (Bluetooth/WiFi/Internet).
                                                                                                                                                                                    237MAV_COMP_ID_ODID_TXRX_2Open Drone ID transmitter/receiver (Bluetooth/WiFi/Internet).
                                                                                                                                                                                    238MAV_COMP_ID_ODID_TXRX_3Open Drone ID transmitter/receiver (Bluetooth/WiFi/Internet).
                                                                                                                                                                                    240MAV_COMP_ID_UDP_BRIDGEComponent to bridge MAVLink to UDP (i.e. from a UART).
                                                                                                                                                                                    241MAV_COMP_ID_UART_BRIDGEComponent to bridge to UART (i.e. from UDP).
                                                                                                                                                                                    242MAV_COMP_ID_TUNNEL_NODEComponent handling TUNNEL messages (e.g. vendor specific GUI of a component).
                                                                                                                                                                                    243MAV_COMP_ID_ILLUMINATORIlluminator
                                                                                                                                                                                    250MAV_COMP_ID_SYSTEM_CONTROLDeprecated, don't use. Component for handling system messages (e.g. to ARM, takeoff, etc.).DEPRECATED: Replaced By MAV_COMP_ID_ALL (2018-11) — System control does not require a separate component ID. Instead, system commands should be sent with target_component=MAV_COMP_ID_ALL allowing the target component to use any appropriate component id.)

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                                                                                                                                                                                      \ No newline at end of file diff --git a/en/messages/paparazzi.html b/en/messages/paparazzi.html index 603960d07..2926439be 100644 --- a/en/messages/paparazzi.html +++ b/en/messages/paparazzi.html @@ -1 +1 @@ -paparazzi.xml · MAVLink Developer Guide
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                                                                                                                                                                                      Dialect: paparazzi

                                                                                                                                                                                      This topic documents the version of the dialect file in the mavlink/mavlink Github repository, which may not be up to date with the file in the source repository (it is up to the dialect owner to push changes when needed). The source repo should be listed in the comments at the top of the XML definition file listed below (but may not be).

                                                                                                                                                                                      This topic is a human-readable form of the XML definition file: paparazzi.xml.

                                                                                                                                                                                      • MAVLink 2 extension fields are displayed in blue.
                                                                                                                                                                                      • Entities from dialects are displayed only as headings (with link to original)

                                                                                                                                                                                      Protocol version: 3

                                                                                                                                                                                      Summary

                                                                                                                                                                                      TypeDefinedIncluded
                                                                                                                                                                                      Messages5224
                                                                                                                                                                                      Enums0143
                                                                                                                                                                                      Commands1640

                                                                                                                                                                                      The following sections list all entities in the dialect (both included and defined in this file).

                                                                                                                                                                                      Messages

                                                                                                                                                                                      SCRIPT_ITEM (180)

                                                                                                                                                                                      Message encoding a mission script item. This message is emitted upon a request for the next script item.

                                                                                                                                                                                      Field NameTypeDescription
                                                                                                                                                                                      target_systemuint8_tSystem ID
                                                                                                                                                                                      target_componentuint8_tComponent ID
                                                                                                                                                                                      sequint16_tSequence
                                                                                                                                                                                      namechar[50]The name of the mission script, NULL terminated.

                                                                                                                                                                                      SCRIPT_REQUEST (181)

                                                                                                                                                                                      Request script item with the sequence number seq. The response of the system to this message should be a SCRIPT_ITEM message.

                                                                                                                                                                                      Field NameTypeDescription
                                                                                                                                                                                      target_systemuint8_tSystem ID
                                                                                                                                                                                      target_componentuint8_tComponent ID
                                                                                                                                                                                      sequint16_tSequence

                                                                                                                                                                                      SCRIPT_REQUEST_LIST (182)

                                                                                                                                                                                      Request the overall list of mission items from the system/component.

                                                                                                                                                                                      Field NameTypeDescription
                                                                                                                                                                                      target_systemuint8_tSystem ID
                                                                                                                                                                                      target_componentuint8_tComponent ID

                                                                                                                                                                                      SCRIPT_COUNT (183)

                                                                                                                                                                                      This message is emitted as response to SCRIPT_REQUEST_LIST by the MAV to get the number of mission scripts.

                                                                                                                                                                                      Field NameTypeDescription
                                                                                                                                                                                      target_systemuint8_tSystem ID
                                                                                                                                                                                      target_componentuint8_tComponent ID
                                                                                                                                                                                      countuint16_tNumber of script items in the sequence

                                                                                                                                                                                      SCRIPT_CURRENT (184)

                                                                                                                                                                                      This message informs about the currently active SCRIPT.

                                                                                                                                                                                      Field NameTypeDescription
                                                                                                                                                                                      sequint16_tActive Sequence

                                                                                                                                                                                      Enumerated Types

                                                                                                                                                                                      Commands (MAV_CMD)

                                                                                                                                                                                      results matching ""

                                                                                                                                                                                        No results matching ""

                                                                                                                                                                                        \ No newline at end of file +paparazzi.xml · MAVLink Developer Guide
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                                                                                                                                                                                        Dialect: paparazzi

                                                                                                                                                                                        This topic documents the version of the dialect file in the mavlink/mavlink Github repository, which may not be up to date with the file in the source repository (it is up to the dialect owner to push changes when needed). The source repo should be listed in the comments at the top of the XML definition file listed below (but may not be).

                                                                                                                                                                                        This topic is a human-readable form of the XML definition file: paparazzi.xml.

                                                                                                                                                                                        • MAVLink 2 extension fields are displayed in blue.
                                                                                                                                                                                        • Entities from dialects are displayed only as headings (with link to original)

                                                                                                                                                                                        Protocol version: 3

                                                                                                                                                                                        Summary

                                                                                                                                                                                        TypeDefinedIncluded
                                                                                                                                                                                        Messages5224
                                                                                                                                                                                        Enums0143
                                                                                                                                                                                        Commands1640

                                                                                                                                                                                        The following sections list all entities in the dialect (both included and defined in this file).

                                                                                                                                                                                        Messages

                                                                                                                                                                                        SCRIPT_ITEM (180)

                                                                                                                                                                                        Message encoding a mission script item. This message is emitted upon a request for the next script item.

                                                                                                                                                                                        Field NameTypeDescription
                                                                                                                                                                                        target_systemuint8_tSystem ID
                                                                                                                                                                                        target_componentuint8_tComponent ID
                                                                                                                                                                                        sequint16_tSequence
                                                                                                                                                                                        namechar[50]The name of the mission script, NULL terminated.

                                                                                                                                                                                        SCRIPT_REQUEST (181)

                                                                                                                                                                                        Request script item with the sequence number seq. The response of the system to this message should be a SCRIPT_ITEM message.

                                                                                                                                                                                        Field NameTypeDescription
                                                                                                                                                                                        target_systemuint8_tSystem ID
                                                                                                                                                                                        target_componentuint8_tComponent ID
                                                                                                                                                                                        sequint16_tSequence

                                                                                                                                                                                        SCRIPT_REQUEST_LIST (182)

                                                                                                                                                                                        Request the overall list of mission items from the system/component.

                                                                                                                                                                                        Field NameTypeDescription
                                                                                                                                                                                        target_systemuint8_tSystem ID
                                                                                                                                                                                        target_componentuint8_tComponent ID

                                                                                                                                                                                        SCRIPT_COUNT (183)

                                                                                                                                                                                        This message is emitted as response to SCRIPT_REQUEST_LIST by the MAV to get the number of mission scripts.

                                                                                                                                                                                        Field NameTypeDescription
                                                                                                                                                                                        target_systemuint8_tSystem ID
                                                                                                                                                                                        target_componentuint8_tComponent ID
                                                                                                                                                                                        countuint16_tNumber of script items in the sequence

                                                                                                                                                                                        SCRIPT_CURRENT (184)

                                                                                                                                                                                        This message informs about the currently active SCRIPT.

                                                                                                                                                                                        Field NameTypeDescription
                                                                                                                                                                                        sequint16_tActive Sequence

                                                                                                                                                                                        Enumerated Types

                                                                                                                                                                                        Commands (MAV_CMD)

                                                                                                                                                                                        results matching ""

                                                                                                                                                                                          No results matching ""

                                                                                                                                                                                          \ No newline at end of file diff --git a/en/messages/python_array_test.html b/en/messages/python_array_test.html index b26e5ff19..c611ac55f 100644 --- a/en/messages/python_array_test.html +++ b/en/messages/python_array_test.html @@ -1 +1 @@ -python_array_test.xml · MAVLink Developer Guide
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                                                                                                                                                                                          Dialect: python_array_test

                                                                                                                                                                                          This topic documents the version of the dialect file in the mavlink/mavlink Github repository, which may not be up to date with the file in the source repository (it is up to the dialect owner to push changes when needed). The source repo should be listed in the comments at the top of the XML definition file listed below (but may not be).

                                                                                                                                                                                          This topic is a human-readable form of the XML definition file: python_array_test.xml.

                                                                                                                                                                                          • MAVLink 2 extension fields are displayed in blue.
                                                                                                                                                                                          • Entities from dialects are displayed only as headings (with link to original)

                                                                                                                                                                                          Summary

                                                                                                                                                                                          TypeDefinedIncluded
                                                                                                                                                                                          Messages8224
                                                                                                                                                                                          Enums0143
                                                                                                                                                                                          Commands1640

                                                                                                                                                                                          The following sections list all entities in the dialect (both included and defined in this file).

                                                                                                                                                                                          Messages

                                                                                                                                                                                          ARRAY_TEST_0 (17150)

                                                                                                                                                                                          Array test #0.

                                                                                                                                                                                          Field NameTypeDescription
                                                                                                                                                                                          v1uint8_tStub field
                                                                                                                                                                                          ar_i8int8_t[4]Value array
                                                                                                                                                                                          ar_u8uint8_t[4]Value array
                                                                                                                                                                                          ar_u16uint16_t[4]Value array
                                                                                                                                                                                          ar_u32uint32_t[4]Value array

                                                                                                                                                                                          ARRAY_TEST_1 (17151)

                                                                                                                                                                                          Array test #1.

                                                                                                                                                                                          Field NameTypeDescription
                                                                                                                                                                                          ar_u32uint32_t[4]Value array

                                                                                                                                                                                          ARRAY_TEST_3 (17153)

                                                                                                                                                                                          Array test #3.

                                                                                                                                                                                          Field NameTypeDescription
                                                                                                                                                                                          vuint8_tStub field
                                                                                                                                                                                          ar_u32uint32_t[4]Value array

                                                                                                                                                                                          ARRAY_TEST_4 (17154)

                                                                                                                                                                                          Array test #4.

                                                                                                                                                                                          Field NameTypeDescription
                                                                                                                                                                                          ar_u32uint32_t[4]Value array
                                                                                                                                                                                          vuint8_tStub field

                                                                                                                                                                                          ARRAY_TEST_5 (17155)

                                                                                                                                                                                          Array test #5.

                                                                                                                                                                                          Field NameTypeDescription
                                                                                                                                                                                          c1char[5]Value array
                                                                                                                                                                                          c2char[5]Value array

                                                                                                                                                                                          ARRAY_TEST_6 (17156)

                                                                                                                                                                                          Array test #6.

                                                                                                                                                                                          Field NameTypeDescription
                                                                                                                                                                                          v1uint8_tStub field
                                                                                                                                                                                          v2uint16_tStub field
                                                                                                                                                                                          v3uint32_tStub field
                                                                                                                                                                                          ar_u32uint32_t[2]Value array
                                                                                                                                                                                          ar_i32int32_t[2]Value array
                                                                                                                                                                                          ar_u16uint16_t[2]Value array
                                                                                                                                                                                          ar_i16int16_t[2]Value array
                                                                                                                                                                                          ar_u8uint8_t[2]Value array
                                                                                                                                                                                          ar_i8int8_t[2]Value array
                                                                                                                                                                                          ar_cchar[32]Value array
                                                                                                                                                                                          ar_ddouble[2]Value array
                                                                                                                                                                                          ar_ffloat[2]Value array

                                                                                                                                                                                          ARRAY_TEST_7 (17157)

                                                                                                                                                                                          Array test #7.

                                                                                                                                                                                          Field NameTypeDescription
                                                                                                                                                                                          ar_ddouble[2]Value array
                                                                                                                                                                                          ar_ffloat[2]Value array
                                                                                                                                                                                          ar_u32uint32_t[2]Value array
                                                                                                                                                                                          ar_i32int32_t[2]Value array
                                                                                                                                                                                          ar_u16uint16_t[2]Value array
                                                                                                                                                                                          ar_i16int16_t[2]Value array
                                                                                                                                                                                          ar_u8uint8_t[2]Value array
                                                                                                                                                                                          ar_i8int8_t[2]Value array
                                                                                                                                                                                          ar_cchar[32]Value array

                                                                                                                                                                                          ARRAY_TEST_8 (17158)

                                                                                                                                                                                          Array test #8.

                                                                                                                                                                                          Field NameTypeDescription
                                                                                                                                                                                          v3uint32_tStub field
                                                                                                                                                                                          ar_ddouble[2]Value array
                                                                                                                                                                                          ar_u16uint16_t[2]Value array

                                                                                                                                                                                          Enumerated Types

                                                                                                                                                                                          Commands (MAV_CMD)

                                                                                                                                                                                          results matching ""

                                                                                                                                                                                            No results matching ""

                                                                                                                                                                                            \ No newline at end of file +python_array_test.xml · MAVLink Developer Guide
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                                                                                                                                                                                            Dialect: python_array_test

                                                                                                                                                                                            This topic documents the version of the dialect file in the mavlink/mavlink Github repository, which may not be up to date with the file in the source repository (it is up to the dialect owner to push changes when needed). The source repo should be listed in the comments at the top of the XML definition file listed below (but may not be).

                                                                                                                                                                                            This topic is a human-readable form of the XML definition file: python_array_test.xml.

                                                                                                                                                                                            • MAVLink 2 extension fields are displayed in blue.
                                                                                                                                                                                            • Entities from dialects are displayed only as headings (with link to original)

                                                                                                                                                                                            Summary

                                                                                                                                                                                            TypeDefinedIncluded
                                                                                                                                                                                            Messages8224
                                                                                                                                                                                            Enums0143
                                                                                                                                                                                            Commands1640

                                                                                                                                                                                            The following sections list all entities in the dialect (both included and defined in this file).

                                                                                                                                                                                            Messages

                                                                                                                                                                                            ARRAY_TEST_0 (17150)

                                                                                                                                                                                            Array test #0.

                                                                                                                                                                                            Field NameTypeDescription
                                                                                                                                                                                            v1uint8_tStub field
                                                                                                                                                                                            ar_i8int8_t[4]Value array
                                                                                                                                                                                            ar_u8uint8_t[4]Value array
                                                                                                                                                                                            ar_u16uint16_t[4]Value array
                                                                                                                                                                                            ar_u32uint32_t[4]Value array

                                                                                                                                                                                            ARRAY_TEST_1 (17151)

                                                                                                                                                                                            Array test #1.

                                                                                                                                                                                            Field NameTypeDescription
                                                                                                                                                                                            ar_u32uint32_t[4]Value array

                                                                                                                                                                                            ARRAY_TEST_3 (17153)

                                                                                                                                                                                            Array test #3.

                                                                                                                                                                                            Field NameTypeDescription
                                                                                                                                                                                            vuint8_tStub field
                                                                                                                                                                                            ar_u32uint32_t[4]Value array

                                                                                                                                                                                            ARRAY_TEST_4 (17154)

                                                                                                                                                                                            Array test #4.

                                                                                                                                                                                            Field NameTypeDescription
                                                                                                                                                                                            ar_u32uint32_t[4]Value array
                                                                                                                                                                                            vuint8_tStub field

                                                                                                                                                                                            ARRAY_TEST_5 (17155)

                                                                                                                                                                                            Array test #5.

                                                                                                                                                                                            Field NameTypeDescription
                                                                                                                                                                                            c1char[5]Value array
                                                                                                                                                                                            c2char[5]Value array

                                                                                                                                                                                            ARRAY_TEST_6 (17156)

                                                                                                                                                                                            Array test #6.

                                                                                                                                                                                            Field NameTypeDescription
                                                                                                                                                                                            v1uint8_tStub field
                                                                                                                                                                                            v2uint16_tStub field
                                                                                                                                                                                            v3uint32_tStub field
                                                                                                                                                                                            ar_u32uint32_t[2]Value array
                                                                                                                                                                                            ar_i32int32_t[2]Value array
                                                                                                                                                                                            ar_u16uint16_t[2]Value array
                                                                                                                                                                                            ar_i16int16_t[2]Value array
                                                                                                                                                                                            ar_u8uint8_t[2]Value array
                                                                                                                                                                                            ar_i8int8_t[2]Value array
                                                                                                                                                                                            ar_cchar[32]Value array
                                                                                                                                                                                            ar_ddouble[2]Value array
                                                                                                                                                                                            ar_ffloat[2]Value array

                                                                                                                                                                                            ARRAY_TEST_7 (17157)

                                                                                                                                                                                            Array test #7.

                                                                                                                                                                                            Field NameTypeDescription
                                                                                                                                                                                            ar_ddouble[2]Value array
                                                                                                                                                                                            ar_ffloat[2]Value array
                                                                                                                                                                                            ar_u32uint32_t[2]Value array
                                                                                                                                                                                            ar_i32int32_t[2]Value array
                                                                                                                                                                                            ar_u16uint16_t[2]Value array
                                                                                                                                                                                            ar_i16int16_t[2]Value array
                                                                                                                                                                                            ar_u8uint8_t[2]Value array
                                                                                                                                                                                            ar_i8int8_t[2]Value array
                                                                                                                                                                                            ar_cchar[32]Value array

                                                                                                                                                                                            ARRAY_TEST_8 (17158)

                                                                                                                                                                                            Array test #8.

                                                                                                                                                                                            Field NameTypeDescription
                                                                                                                                                                                            v3uint32_tStub field
                                                                                                                                                                                            ar_ddouble[2]Value array
                                                                                                                                                                                            ar_u16uint16_t[2]Value array

                                                                                                                                                                                            Enumerated Types

                                                                                                                                                                                            Commands (MAV_CMD)

                                                                                                                                                                                            results matching ""

                                                                                                                                                                                              No results matching ""

                                                                                                                                                                                              \ No newline at end of file diff --git a/en/messages/standard.html b/en/messages/standard.html index 775406e0b..25e0054d6 100644 --- a/en/messages/standard.html +++ b/en/messages/standard.html @@ -1 +1 @@ -standard.xml · MAVLink Developer Guide
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                                                                                                                                                                                              Dialect: MAVLINK Standard Message Set (standard.xml)

                                                                                                                                                                                              The MAVLink standard message set contains standard definitions that are managed by the MAVLink project. The definitions are those that are expected to be implemented in all flight stacks/ground stations AND are likely to be implemented in a compatible way. The original definitions are defined in standard.xml.

                                                                                                                                                                                              • MAVLink 2 extension fields are displayed in blue.
                                                                                                                                                                                              • Entities from dialects are displayed only as headings (with link to original)

                                                                                                                                                                                              Protocol dialect: 0

                                                                                                                                                                                              Summary

                                                                                                                                                                                              TypeDefinedIncluded
                                                                                                                                                                                              Messages02
                                                                                                                                                                                              Enums06
                                                                                                                                                                                              Commands00

                                                                                                                                                                                              The following sections list all entities in the dialect (both included and defined in this file).

                                                                                                                                                                                              Messages

                                                                                                                                                                                              Enumerated Types

                                                                                                                                                                                              results matching ""

                                                                                                                                                                                                No results matching ""

                                                                                                                                                                                                \ No newline at end of file +standard.xml · MAVLink Developer Guide
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                                                                                                                                                                                                Support
                                                                                                                                                                                                Help

                                                                                                                                                                                                Dialect: MAVLINK Standard Message Set (standard.xml)

                                                                                                                                                                                                The MAVLink standard message set contains standard definitions that are managed by the MAVLink project. The definitions are those that are expected to be implemented in all flight stacks/ground stations AND are likely to be implemented in a compatible way. The original definitions are defined in standard.xml.

                                                                                                                                                                                                • MAVLink 2 extension fields are displayed in blue.
                                                                                                                                                                                                • Entities from dialects are displayed only as headings (with link to original)

                                                                                                                                                                                                Protocol dialect: 0

                                                                                                                                                                                                Summary

                                                                                                                                                                                                TypeDefinedIncluded
                                                                                                                                                                                                Messages02
                                                                                                                                                                                                Enums06
                                                                                                                                                                                                Commands00

                                                                                                                                                                                                The following sections list all entities in the dialect (both included and defined in this file).

                                                                                                                                                                                                Messages

                                                                                                                                                                                                Enumerated Types

                                                                                                                                                                                                results matching ""

                                                                                                                                                                                                  No results matching ""

                                                                                                                                                                                                  \ No newline at end of file diff --git a/en/messages/test.html b/en/messages/test.html index 378c2ceb0..650ddc02b 100644 --- a/en/messages/test.html +++ b/en/messages/test.html @@ -1 +1 @@ -test.xml · MAVLink Developer Guide
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                                                                                                                                                                                                  Dialect: test

                                                                                                                                                                                                  The test dialect is used for testing XML file parsing.

                                                                                                                                                                                                  This topic is a human-readable form of the XML definition file: test.xml.

                                                                                                                                                                                                  • MAVLink 2 extension fields are displayed in blue.
                                                                                                                                                                                                  • Entities from dialects are displayed only as headings (with link to original)

                                                                                                                                                                                                  Protocol version: 3

                                                                                                                                                                                                  None

                                                                                                                                                                                                  Summary

                                                                                                                                                                                                  TypeDefinedIncluded
                                                                                                                                                                                                  Messages10
                                                                                                                                                                                                  Enums00
                                                                                                                                                                                                  Commands00

                                                                                                                                                                                                  The following sections list all entities in the dialect (both included and defined in this file).

                                                                                                                                                                                                  Messages

                                                                                                                                                                                                  TEST_TYPES (17000)

                                                                                                                                                                                                  Test all field types

                                                                                                                                                                                                  Field NameTypeDescription
                                                                                                                                                                                                  ccharchar
                                                                                                                                                                                                  schar[10]string
                                                                                                                                                                                                  u8uint8_tuint8_t
                                                                                                                                                                                                  u16uint16_tuint16_t
                                                                                                                                                                                                  u32uint32_tuint32_t
                                                                                                                                                                                                  u64uint64_tuint64_t
                                                                                                                                                                                                  s8int8_tint8_t
                                                                                                                                                                                                  s16int16_tint16_t
                                                                                                                                                                                                  s32int32_tint32_t
                                                                                                                                                                                                  s64int64_tint64_t
                                                                                                                                                                                                  ffloatfloat
                                                                                                                                                                                                  ddoubledouble
                                                                                                                                                                                                  u8_arrayuint8_t[3]uint8_t_array
                                                                                                                                                                                                  u16_arrayuint16_t[3]uint16_t_array
                                                                                                                                                                                                  u32_arrayuint32_t[3]uint32_t_array
                                                                                                                                                                                                  u64_arrayuint64_t[3]uint64_t_array
                                                                                                                                                                                                  s8_arrayint8_t[3]int8_t_array
                                                                                                                                                                                                  s16_arrayint16_t[3]int16_t_array
                                                                                                                                                                                                  s32_arrayint32_t[3]int32_t_array
                                                                                                                                                                                                  s64_arrayint64_t[3]int64_t_array
                                                                                                                                                                                                  f_arrayfloat[3]float_array
                                                                                                                                                                                                  d_arraydouble[3]double_array

                                                                                                                                                                                                  results matching ""

                                                                                                                                                                                                    No results matching ""

                                                                                                                                                                                                    \ No newline at end of file +test.xml · MAVLink Developer Guide
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                                                                                                                                                                                                    Dialect: test

                                                                                                                                                                                                    The test dialect is used for testing XML file parsing.

                                                                                                                                                                                                    This topic is a human-readable form of the XML definition file: test.xml.

                                                                                                                                                                                                    • MAVLink 2 extension fields are displayed in blue.
                                                                                                                                                                                                    • Entities from dialects are displayed only as headings (with link to original)

                                                                                                                                                                                                    Protocol version: 3

                                                                                                                                                                                                    None

                                                                                                                                                                                                    Summary

                                                                                                                                                                                                    TypeDefinedIncluded
                                                                                                                                                                                                    Messages10
                                                                                                                                                                                                    Enums00
                                                                                                                                                                                                    Commands00

                                                                                                                                                                                                    The following sections list all entities in the dialect (both included and defined in this file).

                                                                                                                                                                                                    Messages

                                                                                                                                                                                                    TEST_TYPES (17000)

                                                                                                                                                                                                    Test all field types

                                                                                                                                                                                                    Field NameTypeDescription
                                                                                                                                                                                                    ccharchar
                                                                                                                                                                                                    schar[10]string
                                                                                                                                                                                                    u8uint8_tuint8_t
                                                                                                                                                                                                    u16uint16_tuint16_t
                                                                                                                                                                                                    u32uint32_tuint32_t
                                                                                                                                                                                                    u64uint64_tuint64_t
                                                                                                                                                                                                    s8int8_tint8_t
                                                                                                                                                                                                    s16int16_tint16_t
                                                                                                                                                                                                    s32int32_tint32_t
                                                                                                                                                                                                    s64int64_tint64_t
                                                                                                                                                                                                    ffloatfloat
                                                                                                                                                                                                    ddoubledouble
                                                                                                                                                                                                    u8_arrayuint8_t[3]uint8_t_array
                                                                                                                                                                                                    u16_arrayuint16_t[3]uint16_t_array
                                                                                                                                                                                                    u32_arrayuint32_t[3]uint32_t_array
                                                                                                                                                                                                    u64_arrayuint64_t[3]uint64_t_array
                                                                                                                                                                                                    s8_arrayint8_t[3]int8_t_array
                                                                                                                                                                                                    s16_arrayint16_t[3]int16_t_array
                                                                                                                                                                                                    s32_arrayint32_t[3]int32_t_array
                                                                                                                                                                                                    s64_arrayint64_t[3]int64_t_array
                                                                                                                                                                                                    f_arrayfloat[3]float_array
                                                                                                                                                                                                    d_arraydouble[3]double_array

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                                                                                                                                                                                                      \ No newline at end of file diff --git a/en/messages/uAvionix.html b/en/messages/uAvionix.html index 5fceec5ae..68ee68226 100644 --- a/en/messages/uAvionix.html +++ b/en/messages/uAvionix.html @@ -1 +1 @@ -uAvionix.xml · MAVLink Developer Guide
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                                                                                                                                                                                                      Dialect: uAvionix

                                                                                                                                                                                                      This topic documents the version of the dialect file in the mavlink/mavlink Github repository, which may not be up to date with the file in the source repository (it is up to the dialect owner to push changes when needed). The source repo should be listed in the comments at the top of the XML definition file listed below (but may not be).

                                                                                                                                                                                                      This topic is a human-readable form of the XML definition file: uAvionix.xml.

                                                                                                                                                                                                      • MAVLink 2 extension fields are displayed in blue.
                                                                                                                                                                                                      • Entities from dialects are displayed only as headings (with link to original)

                                                                                                                                                                                                      Summary

                                                                                                                                                                                                      TypeDefinedIncluded
                                                                                                                                                                                                      Messages3224
                                                                                                                                                                                                      Enums8143
                                                                                                                                                                                                      Commands1640

                                                                                                                                                                                                      The following sections list all entities in the dialect (both included and defined in this file).

                                                                                                                                                                                                      Messages

                                                                                                                                                                                                      UAVIONIX_ADSB_OUT_CFG (10001)

                                                                                                                                                                                                      Static data to configure the ADS-B transponder (send within 10 sec of a POR and every 10 sec thereafter)

                                                                                                                                                                                                      Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                      ICAOuint32_tVehicle address (24 bit)
                                                                                                                                                                                                      callsignchar[9]Vehicle identifier (8 characters, null terminated, valid characters are A-Z, 0-9, " " only)
                                                                                                                                                                                                      emitterTypeuint8_tADSB_EMITTER_TYPETransmitting vehicle type. See ADSB_EMITTER_TYPE enum
                                                                                                                                                                                                      aircraftSizeuint8_tUAVIONIX_ADSB_OUT_CFG_AIRCRAFT_SIZEAircraft length and width encoding (table 2-35 of DO-282B)
                                                                                                                                                                                                      gpsOffsetLatuint8_tUAVIONIX_ADSB_OUT_CFG_GPS_OFFSET_LATGPS antenna lateral offset (table 2-36 of DO-282B)
                                                                                                                                                                                                      gpsOffsetLonuint8_tUAVIONIX_ADSB_OUT_CFG_GPS_OFFSET_LONGPS antenna longitudinal offset from nose [if non-zero, take position (in meters) divide by 2 and add one] (table 2-37 DO-282B)
                                                                                                                                                                                                      stallSpeeduint16_tcm/sAircraft stall speed in cm/s
                                                                                                                                                                                                      rfSelectuint8_tUAVIONIX_ADSB_OUT_RF_SELECTADS-B transponder receiver and transmit enable flags

                                                                                                                                                                                                      UAVIONIX_ADSB_OUT_DYNAMIC (10002)

                                                                                                                                                                                                      Dynamic data used to generate ADS-B out transponder data (send at 5Hz)

                                                                                                                                                                                                      Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                      utcTimeuint32_tsUTC time in seconds since GPS epoch (Jan 6, 1980). If unknown set to UINT32_MAX
                                                                                                                                                                                                      gpsLatint32_tdegE7Latitude WGS84 (deg * 1E7). If unknown set to INT32_MAX
                                                                                                                                                                                                      gpsLonint32_tdegE7Longitude WGS84 (deg * 1E7). If unknown set to INT32_MAX
                                                                                                                                                                                                      gpsAltint32_tmmAltitude (WGS84). UP +ve. If unknown set to INT32_MAX
                                                                                                                                                                                                      gpsFixuint8_tUAVIONIX_ADSB_OUT_DYNAMIC_GPS_FIX0-1: no fix, 2: 2D fix, 3: 3D fix, 4: DGPS, 5: RTK
                                                                                                                                                                                                      numSatsuint8_tNumber of satellites visible. If unknown set to UINT8_MAX
                                                                                                                                                                                                      baroAltMSLint32_tmbarBarometric pressure altitude (MSL) relative to a standard atmosphere of 1013.2 mBar and NOT bar corrected altitude (m * 1E-3). (up +ve). If unknown set to INT32_MAX
                                                                                                                                                                                                      accuracyHoruint32_tmmHorizontal accuracy in mm (m * 1E-3). If unknown set to UINT32_MAX
                                                                                                                                                                                                      accuracyVertuint16_tcmVertical accuracy in cm. If unknown set to UINT16_MAX
                                                                                                                                                                                                      accuracyVeluint16_tmm/sVelocity accuracy in mm/s (m * 1E-3). If unknown set to UINT16_MAX
                                                                                                                                                                                                      velVertint16_tcm/sGPS vertical speed in cm/s. If unknown set to INT16_MAX
                                                                                                                                                                                                      velNSint16_tcm/sNorth-South velocity over ground in cm/s North +ve. If unknown set to INT16_MAX
                                                                                                                                                                                                      VelEWint16_tcm/sEast-West velocity over ground in cm/s East +ve. If unknown set to INT16_MAX
                                                                                                                                                                                                      emergencyStatusuint8_tUAVIONIX_ADSB_EMERGENCY_STATUSEmergency status
                                                                                                                                                                                                      stateuint16_tUAVIONIX_ADSB_OUT_DYNAMIC_STATEADS-B transponder dynamic input state flags
                                                                                                                                                                                                      squawkuint16_tMode A code (typically 1200 [0x04B0] for VFR)

                                                                                                                                                                                                      UAVIONIX_ADSB_TRANSCEIVER_HEALTH_REPORT (10003)

                                                                                                                                                                                                      Transceiver heartbeat with health report (updated every 10s)

                                                                                                                                                                                                      Field NameTypeValuesDescription
                                                                                                                                                                                                      rfHealthuint8_tUAVIONIX_ADSB_RF_HEALTHADS-B transponder messages

                                                                                                                                                                                                      Enumerated Types

                                                                                                                                                                                                      UAVIONIX_ADSB_OUT_DYNAMIC_STATE

                                                                                                                                                                                                      (Bitmask) State flags for ADS-B transponder dynamic report

                                                                                                                                                                                                      ValueNameDescription
                                                                                                                                                                                                      1UAVIONIX_ADSB_OUT_DYNAMIC_STATE_INTENT_CHANGE
                                                                                                                                                                                                      2UAVIONIX_ADSB_OUT_DYNAMIC_STATE_AUTOPILOT_ENABLED
                                                                                                                                                                                                      4UAVIONIX_ADSB_OUT_DYNAMIC_STATE_NICBARO_CROSSCHECKED
                                                                                                                                                                                                      8UAVIONIX_ADSB_OUT_DYNAMIC_STATE_ON_GROUND
                                                                                                                                                                                                      16UAVIONIX_ADSB_OUT_DYNAMIC_STATE_IDENT

                                                                                                                                                                                                      UAVIONIX_ADSB_OUT_RF_SELECT

                                                                                                                                                                                                      (Bitmask) Transceiver RF control flags for ADS-B transponder dynamic reports

                                                                                                                                                                                                      ValueNameDescription
                                                                                                                                                                                                      0UAVIONIX_ADSB_OUT_RF_SELECT_STANDBY
                                                                                                                                                                                                      1UAVIONIX_ADSB_OUT_RF_SELECT_RX_ENABLED
                                                                                                                                                                                                      2UAVIONIX_ADSB_OUT_RF_SELECT_TX_ENABLED

                                                                                                                                                                                                      UAVIONIX_ADSB_OUT_DYNAMIC_GPS_FIX

                                                                                                                                                                                                      Status for ADS-B transponder dynamic input

                                                                                                                                                                                                      ValueNameDescription
                                                                                                                                                                                                      0UAVIONIX_ADSB_OUT_DYNAMIC_GPS_FIX_NONE_0
                                                                                                                                                                                                      1UAVIONIX_ADSB_OUT_DYNAMIC_GPS_FIX_NONE_1
                                                                                                                                                                                                      2UAVIONIX_ADSB_OUT_DYNAMIC_GPS_FIX_2D
                                                                                                                                                                                                      3UAVIONIX_ADSB_OUT_DYNAMIC_GPS_FIX_3D
                                                                                                                                                                                                      4UAVIONIX_ADSB_OUT_DYNAMIC_GPS_FIX_DGPS
                                                                                                                                                                                                      5UAVIONIX_ADSB_OUT_DYNAMIC_GPS_FIX_RTK

                                                                                                                                                                                                      UAVIONIX_ADSB_RF_HEALTH

                                                                                                                                                                                                      (Bitmask) Status flags for ADS-B transponder dynamic output

                                                                                                                                                                                                      ValueNameDescription
                                                                                                                                                                                                      0UAVIONIX_ADSB_RF_HEALTH_INITIALIZING
                                                                                                                                                                                                      1UAVIONIX_ADSB_RF_HEALTH_OK
                                                                                                                                                                                                      2UAVIONIX_ADSB_RF_HEALTH_FAIL_TX
                                                                                                                                                                                                      16UAVIONIX_ADSB_RF_HEALTH_FAIL_RX

                                                                                                                                                                                                      UAVIONIX_ADSB_OUT_CFG_AIRCRAFT_SIZE

                                                                                                                                                                                                      Definitions for aircraft size

                                                                                                                                                                                                      ValueNameDescription
                                                                                                                                                                                                      0UAVIONIX_ADSB_OUT_CFG_AIRCRAFT_SIZE_NO_DATA
                                                                                                                                                                                                      1UAVIONIX_ADSB_OUT_CFG_AIRCRAFT_SIZE_L15M_W23M
                                                                                                                                                                                                      2UAVIONIX_ADSB_OUT_CFG_AIRCRAFT_SIZE_L25M_W28P5M
                                                                                                                                                                                                      3UAVIONIX_ADSB_OUT_CFG_AIRCRAFT_SIZE_L25_34M
                                                                                                                                                                                                      4UAVIONIX_ADSB_OUT_CFG_AIRCRAFT_SIZE_L35_33M
                                                                                                                                                                                                      5UAVIONIX_ADSB_OUT_CFG_AIRCRAFT_SIZE_L35_38M
                                                                                                                                                                                                      6UAVIONIX_ADSB_OUT_CFG_AIRCRAFT_SIZE_L45_39P5M
                                                                                                                                                                                                      7UAVIONIX_ADSB_OUT_CFG_AIRCRAFT_SIZE_L45_45M
                                                                                                                                                                                                      8UAVIONIX_ADSB_OUT_CFG_AIRCRAFT_SIZE_L55_45M
                                                                                                                                                                                                      9UAVIONIX_ADSB_OUT_CFG_AIRCRAFT_SIZE_L55_52M
                                                                                                                                                                                                      10UAVIONIX_ADSB_OUT_CFG_AIRCRAFT_SIZE_L65_59P5M
                                                                                                                                                                                                      11UAVIONIX_ADSB_OUT_CFG_AIRCRAFT_SIZE_L65_67M
                                                                                                                                                                                                      12UAVIONIX_ADSB_OUT_CFG_AIRCRAFT_SIZE_L75_W72P5M
                                                                                                                                                                                                      13UAVIONIX_ADSB_OUT_CFG_AIRCRAFT_SIZE_L75_W80M
                                                                                                                                                                                                      14UAVIONIX_ADSB_OUT_CFG_AIRCRAFT_SIZE_L85_W80M
                                                                                                                                                                                                      15UAVIONIX_ADSB_OUT_CFG_AIRCRAFT_SIZE_L85_W90M

                                                                                                                                                                                                      UAVIONIX_ADSB_OUT_CFG_GPS_OFFSET_LAT

                                                                                                                                                                                                      GPS lataral offset encoding

                                                                                                                                                                                                      ValueNameDescription
                                                                                                                                                                                                      0UAVIONIX_ADSB_OUT_CFG_GPS_OFFSET_LAT_NO_DATA
                                                                                                                                                                                                      1UAVIONIX_ADSB_OUT_CFG_GPS_OFFSET_LAT_LEFT_2M
                                                                                                                                                                                                      2UAVIONIX_ADSB_OUT_CFG_GPS_OFFSET_LAT_LEFT_4M
                                                                                                                                                                                                      3UAVIONIX_ADSB_OUT_CFG_GPS_OFFSET_LAT_LEFT_6M
                                                                                                                                                                                                      4UAVIONIX_ADSB_OUT_CFG_GPS_OFFSET_LAT_RIGHT_0M
                                                                                                                                                                                                      5UAVIONIX_ADSB_OUT_CFG_GPS_OFFSET_LAT_RIGHT_2M
                                                                                                                                                                                                      6UAVIONIX_ADSB_OUT_CFG_GPS_OFFSET_LAT_RIGHT_4M
                                                                                                                                                                                                      7UAVIONIX_ADSB_OUT_CFG_GPS_OFFSET_LAT_RIGHT_6M

                                                                                                                                                                                                      UAVIONIX_ADSB_OUT_CFG_GPS_OFFSET_LON

                                                                                                                                                                                                      GPS longitudinal offset encoding

                                                                                                                                                                                                      ValueNameDescription
                                                                                                                                                                                                      0UAVIONIX_ADSB_OUT_CFG_GPS_OFFSET_LON_NO_DATA
                                                                                                                                                                                                      1UAVIONIX_ADSB_OUT_CFG_GPS_OFFSET_LON_APPLIED_BY_SENSOR

                                                                                                                                                                                                      UAVIONIX_ADSB_EMERGENCY_STATUS

                                                                                                                                                                                                      Emergency status encoding

                                                                                                                                                                                                      ValueNameDescription
                                                                                                                                                                                                      0UAVIONIX_ADSB_OUT_NO_EMERGENCY
                                                                                                                                                                                                      1UAVIONIX_ADSB_OUT_GENERAL_EMERGENCY
                                                                                                                                                                                                      2UAVIONIX_ADSB_OUT_LIFEGUARD_EMERGENCY
                                                                                                                                                                                                      3UAVIONIX_ADSB_OUT_MINIMUM_FUEL_EMERGENCY
                                                                                                                                                                                                      4UAVIONIX_ADSB_OUT_NO_COMM_EMERGENCY
                                                                                                                                                                                                      5UAVIONIX_ADSB_OUT_UNLAWFUL_INTERFERANCE_EMERGENCY
                                                                                                                                                                                                      6UAVIONIX_ADSB_OUT_DOWNED_AIRCRAFT_EMERGENCY
                                                                                                                                                                                                      7UAVIONIX_ADSB_OUT_RESERVED

                                                                                                                                                                                                      Commands (MAV_CMD)

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                                                                                                                                                                                                        \ No newline at end of file +uAvionix.xml · MAVLink Developer Guide
                                                                                                                                                                                                        Messages
                                                                                                                                                                                                        Messages
                                                                                                                                                                                                        FAQ
                                                                                                                                                                                                        FAQ
                                                                                                                                                                                                        Implementations
                                                                                                                                                                                                        Implementations
                                                                                                                                                                                                        Examples
                                                                                                                                                                                                        Examples
                                                                                                                                                                                                        Support
                                                                                                                                                                                                        Help

                                                                                                                                                                                                        Dialect: uAvionix

                                                                                                                                                                                                        This topic documents the version of the dialect file in the mavlink/mavlink Github repository, which may not be up to date with the file in the source repository (it is up to the dialect owner to push changes when needed). The source repo should be listed in the comments at the top of the XML definition file listed below (but may not be).

                                                                                                                                                                                                        This topic is a human-readable form of the XML definition file: uAvionix.xml.

                                                                                                                                                                                                        • MAVLink 2 extension fields are displayed in blue.
                                                                                                                                                                                                        • Entities from dialects are displayed only as headings (with link to original)

                                                                                                                                                                                                        Summary

                                                                                                                                                                                                        TypeDefinedIncluded
                                                                                                                                                                                                        Messages3224
                                                                                                                                                                                                        Enums8143
                                                                                                                                                                                                        Commands1640

                                                                                                                                                                                                        The following sections list all entities in the dialect (both included and defined in this file).

                                                                                                                                                                                                        Messages

                                                                                                                                                                                                        UAVIONIX_ADSB_OUT_CFG (10001)

                                                                                                                                                                                                        Static data to configure the ADS-B transponder (send within 10 sec of a POR and every 10 sec thereafter)

                                                                                                                                                                                                        Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                        ICAOuint32_tVehicle address (24 bit)
                                                                                                                                                                                                        callsignchar[9]Vehicle identifier (8 characters, null terminated, valid characters are A-Z, 0-9, " " only)
                                                                                                                                                                                                        emitterTypeuint8_tADSB_EMITTER_TYPETransmitting vehicle type. See ADSB_EMITTER_TYPE enum
                                                                                                                                                                                                        aircraftSizeuint8_tUAVIONIX_ADSB_OUT_CFG_AIRCRAFT_SIZEAircraft length and width encoding (table 2-35 of DO-282B)
                                                                                                                                                                                                        gpsOffsetLatuint8_tUAVIONIX_ADSB_OUT_CFG_GPS_OFFSET_LATGPS antenna lateral offset (table 2-36 of DO-282B)
                                                                                                                                                                                                        gpsOffsetLonuint8_tUAVIONIX_ADSB_OUT_CFG_GPS_OFFSET_LONGPS antenna longitudinal offset from nose [if non-zero, take position (in meters) divide by 2 and add one] (table 2-37 DO-282B)
                                                                                                                                                                                                        stallSpeeduint16_tcm/sAircraft stall speed in cm/s
                                                                                                                                                                                                        rfSelectuint8_tUAVIONIX_ADSB_OUT_RF_SELECTADS-B transponder receiver and transmit enable flags

                                                                                                                                                                                                        UAVIONIX_ADSB_OUT_DYNAMIC (10002)

                                                                                                                                                                                                        Dynamic data used to generate ADS-B out transponder data (send at 5Hz)

                                                                                                                                                                                                        Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                        utcTimeuint32_tsUTC time in seconds since GPS epoch (Jan 6, 1980). If unknown set to UINT32_MAX
                                                                                                                                                                                                        gpsLatint32_tdegE7Latitude WGS84 (deg * 1E7). If unknown set to INT32_MAX
                                                                                                                                                                                                        gpsLonint32_tdegE7Longitude WGS84 (deg * 1E7). If unknown set to INT32_MAX
                                                                                                                                                                                                        gpsAltint32_tmmAltitude (WGS84). UP +ve. If unknown set to INT32_MAX
                                                                                                                                                                                                        gpsFixuint8_tUAVIONIX_ADSB_OUT_DYNAMIC_GPS_FIX0-1: no fix, 2: 2D fix, 3: 3D fix, 4: DGPS, 5: RTK
                                                                                                                                                                                                        numSatsuint8_tNumber of satellites visible. If unknown set to UINT8_MAX
                                                                                                                                                                                                        baroAltMSLint32_tmbarBarometric pressure altitude (MSL) relative to a standard atmosphere of 1013.2 mBar and NOT bar corrected altitude (m * 1E-3). (up +ve). If unknown set to INT32_MAX
                                                                                                                                                                                                        accuracyHoruint32_tmmHorizontal accuracy in mm (m * 1E-3). If unknown set to UINT32_MAX
                                                                                                                                                                                                        accuracyVertuint16_tcmVertical accuracy in cm. If unknown set to UINT16_MAX
                                                                                                                                                                                                        accuracyVeluint16_tmm/sVelocity accuracy in mm/s (m * 1E-3). If unknown set to UINT16_MAX
                                                                                                                                                                                                        velVertint16_tcm/sGPS vertical speed in cm/s. If unknown set to INT16_MAX
                                                                                                                                                                                                        velNSint16_tcm/sNorth-South velocity over ground in cm/s North +ve. If unknown set to INT16_MAX
                                                                                                                                                                                                        VelEWint16_tcm/sEast-West velocity over ground in cm/s East +ve. If unknown set to INT16_MAX
                                                                                                                                                                                                        emergencyStatusuint8_tUAVIONIX_ADSB_EMERGENCY_STATUSEmergency status
                                                                                                                                                                                                        stateuint16_tUAVIONIX_ADSB_OUT_DYNAMIC_STATEADS-B transponder dynamic input state flags
                                                                                                                                                                                                        squawkuint16_tMode A code (typically 1200 [0x04B0] for VFR)

                                                                                                                                                                                                        UAVIONIX_ADSB_TRANSCEIVER_HEALTH_REPORT (10003)

                                                                                                                                                                                                        Transceiver heartbeat with health report (updated every 10s)

                                                                                                                                                                                                        Field NameTypeValuesDescription
                                                                                                                                                                                                        rfHealthuint8_tUAVIONIX_ADSB_RF_HEALTHADS-B transponder messages

                                                                                                                                                                                                        Enumerated Types

                                                                                                                                                                                                        UAVIONIX_ADSB_OUT_DYNAMIC_STATE

                                                                                                                                                                                                        (Bitmask) State flags for ADS-B transponder dynamic report

                                                                                                                                                                                                        ValueNameDescription
                                                                                                                                                                                                        1UAVIONIX_ADSB_OUT_DYNAMIC_STATE_INTENT_CHANGE
                                                                                                                                                                                                        2UAVIONIX_ADSB_OUT_DYNAMIC_STATE_AUTOPILOT_ENABLED
                                                                                                                                                                                                        4UAVIONIX_ADSB_OUT_DYNAMIC_STATE_NICBARO_CROSSCHECKED
                                                                                                                                                                                                        8UAVIONIX_ADSB_OUT_DYNAMIC_STATE_ON_GROUND
                                                                                                                                                                                                        16UAVIONIX_ADSB_OUT_DYNAMIC_STATE_IDENT

                                                                                                                                                                                                        UAVIONIX_ADSB_OUT_RF_SELECT

                                                                                                                                                                                                        (Bitmask) Transceiver RF control flags for ADS-B transponder dynamic reports

                                                                                                                                                                                                        ValueNameDescription
                                                                                                                                                                                                        0UAVIONIX_ADSB_OUT_RF_SELECT_STANDBY
                                                                                                                                                                                                        1UAVIONIX_ADSB_OUT_RF_SELECT_RX_ENABLED
                                                                                                                                                                                                        2UAVIONIX_ADSB_OUT_RF_SELECT_TX_ENABLED

                                                                                                                                                                                                        UAVIONIX_ADSB_OUT_DYNAMIC_GPS_FIX

                                                                                                                                                                                                        Status for ADS-B transponder dynamic input

                                                                                                                                                                                                        ValueNameDescription
                                                                                                                                                                                                        0UAVIONIX_ADSB_OUT_DYNAMIC_GPS_FIX_NONE_0
                                                                                                                                                                                                        1UAVIONIX_ADSB_OUT_DYNAMIC_GPS_FIX_NONE_1
                                                                                                                                                                                                        2UAVIONIX_ADSB_OUT_DYNAMIC_GPS_FIX_2D
                                                                                                                                                                                                        3UAVIONIX_ADSB_OUT_DYNAMIC_GPS_FIX_3D
                                                                                                                                                                                                        4UAVIONIX_ADSB_OUT_DYNAMIC_GPS_FIX_DGPS
                                                                                                                                                                                                        5UAVIONIX_ADSB_OUT_DYNAMIC_GPS_FIX_RTK

                                                                                                                                                                                                        UAVIONIX_ADSB_RF_HEALTH

                                                                                                                                                                                                        (Bitmask) Status flags for ADS-B transponder dynamic output

                                                                                                                                                                                                        ValueNameDescription
                                                                                                                                                                                                        0UAVIONIX_ADSB_RF_HEALTH_INITIALIZING
                                                                                                                                                                                                        1UAVIONIX_ADSB_RF_HEALTH_OK
                                                                                                                                                                                                        2UAVIONIX_ADSB_RF_HEALTH_FAIL_TX
                                                                                                                                                                                                        16UAVIONIX_ADSB_RF_HEALTH_FAIL_RX

                                                                                                                                                                                                        UAVIONIX_ADSB_OUT_CFG_AIRCRAFT_SIZE

                                                                                                                                                                                                        Definitions for aircraft size

                                                                                                                                                                                                        ValueNameDescription
                                                                                                                                                                                                        0UAVIONIX_ADSB_OUT_CFG_AIRCRAFT_SIZE_NO_DATA
                                                                                                                                                                                                        1UAVIONIX_ADSB_OUT_CFG_AIRCRAFT_SIZE_L15M_W23M
                                                                                                                                                                                                        2UAVIONIX_ADSB_OUT_CFG_AIRCRAFT_SIZE_L25M_W28P5M
                                                                                                                                                                                                        3UAVIONIX_ADSB_OUT_CFG_AIRCRAFT_SIZE_L25_34M
                                                                                                                                                                                                        4UAVIONIX_ADSB_OUT_CFG_AIRCRAFT_SIZE_L35_33M
                                                                                                                                                                                                        5UAVIONIX_ADSB_OUT_CFG_AIRCRAFT_SIZE_L35_38M
                                                                                                                                                                                                        6UAVIONIX_ADSB_OUT_CFG_AIRCRAFT_SIZE_L45_39P5M
                                                                                                                                                                                                        7UAVIONIX_ADSB_OUT_CFG_AIRCRAFT_SIZE_L45_45M
                                                                                                                                                                                                        8UAVIONIX_ADSB_OUT_CFG_AIRCRAFT_SIZE_L55_45M
                                                                                                                                                                                                        9UAVIONIX_ADSB_OUT_CFG_AIRCRAFT_SIZE_L55_52M
                                                                                                                                                                                                        10UAVIONIX_ADSB_OUT_CFG_AIRCRAFT_SIZE_L65_59P5M
                                                                                                                                                                                                        11UAVIONIX_ADSB_OUT_CFG_AIRCRAFT_SIZE_L65_67M
                                                                                                                                                                                                        12UAVIONIX_ADSB_OUT_CFG_AIRCRAFT_SIZE_L75_W72P5M
                                                                                                                                                                                                        13UAVIONIX_ADSB_OUT_CFG_AIRCRAFT_SIZE_L75_W80M
                                                                                                                                                                                                        14UAVIONIX_ADSB_OUT_CFG_AIRCRAFT_SIZE_L85_W80M
                                                                                                                                                                                                        15UAVIONIX_ADSB_OUT_CFG_AIRCRAFT_SIZE_L85_W90M

                                                                                                                                                                                                        UAVIONIX_ADSB_OUT_CFG_GPS_OFFSET_LAT

                                                                                                                                                                                                        GPS lataral offset encoding

                                                                                                                                                                                                        ValueNameDescription
                                                                                                                                                                                                        0UAVIONIX_ADSB_OUT_CFG_GPS_OFFSET_LAT_NO_DATA
                                                                                                                                                                                                        1UAVIONIX_ADSB_OUT_CFG_GPS_OFFSET_LAT_LEFT_2M
                                                                                                                                                                                                        2UAVIONIX_ADSB_OUT_CFG_GPS_OFFSET_LAT_LEFT_4M
                                                                                                                                                                                                        3UAVIONIX_ADSB_OUT_CFG_GPS_OFFSET_LAT_LEFT_6M
                                                                                                                                                                                                        4UAVIONIX_ADSB_OUT_CFG_GPS_OFFSET_LAT_RIGHT_0M
                                                                                                                                                                                                        5UAVIONIX_ADSB_OUT_CFG_GPS_OFFSET_LAT_RIGHT_2M
                                                                                                                                                                                                        6UAVIONIX_ADSB_OUT_CFG_GPS_OFFSET_LAT_RIGHT_4M
                                                                                                                                                                                                        7UAVIONIX_ADSB_OUT_CFG_GPS_OFFSET_LAT_RIGHT_6M

                                                                                                                                                                                                        UAVIONIX_ADSB_OUT_CFG_GPS_OFFSET_LON

                                                                                                                                                                                                        GPS longitudinal offset encoding

                                                                                                                                                                                                        ValueNameDescription
                                                                                                                                                                                                        0UAVIONIX_ADSB_OUT_CFG_GPS_OFFSET_LON_NO_DATA
                                                                                                                                                                                                        1UAVIONIX_ADSB_OUT_CFG_GPS_OFFSET_LON_APPLIED_BY_SENSOR

                                                                                                                                                                                                        UAVIONIX_ADSB_EMERGENCY_STATUS

                                                                                                                                                                                                        Emergency status encoding

                                                                                                                                                                                                        ValueNameDescription
                                                                                                                                                                                                        0UAVIONIX_ADSB_OUT_NO_EMERGENCY
                                                                                                                                                                                                        1UAVIONIX_ADSB_OUT_GENERAL_EMERGENCY
                                                                                                                                                                                                        2UAVIONIX_ADSB_OUT_LIFEGUARD_EMERGENCY
                                                                                                                                                                                                        3UAVIONIX_ADSB_OUT_MINIMUM_FUEL_EMERGENCY
                                                                                                                                                                                                        4UAVIONIX_ADSB_OUT_NO_COMM_EMERGENCY
                                                                                                                                                                                                        5UAVIONIX_ADSB_OUT_UNLAWFUL_INTERFERANCE_EMERGENCY
                                                                                                                                                                                                        6UAVIONIX_ADSB_OUT_DOWNED_AIRCRAFT_EMERGENCY
                                                                                                                                                                                                        7UAVIONIX_ADSB_OUT_RESERVED

                                                                                                                                                                                                        Commands (MAV_CMD)

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                                                                                                                                                                                                          \ No newline at end of file diff --git a/en/messages/ualberta.html b/en/messages/ualberta.html index 8a112b2cc..c2809932f 100644 --- a/en/messages/ualberta.html +++ b/en/messages/ualberta.html @@ -1 +1 @@ -ualberta.xml · MAVLink Developer Guide
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                                                                                                                                                                                                          Dialect: ualberta

                                                                                                                                                                                                          This topic documents the version of the dialect file in the mavlink/mavlink Github repository, which may not be up to date with the file in the source repository (it is up to the dialect owner to push changes when needed). The source repo should be listed in the comments at the top of the XML definition file listed below (but may not be).

                                                                                                                                                                                                          This topic is a human-readable form of the XML definition file: ualberta.xml.

                                                                                                                                                                                                          • MAVLink 2 extension fields are displayed in blue.
                                                                                                                                                                                                          • Entities from dialects are displayed only as headings (with link to original)

                                                                                                                                                                                                          Summary

                                                                                                                                                                                                          TypeDefinedIncluded
                                                                                                                                                                                                          Messages3224
                                                                                                                                                                                                          Enums3143
                                                                                                                                                                                                          Commands1640

                                                                                                                                                                                                          The following sections list all entities in the dialect (both included and defined in this file).

                                                                                                                                                                                                          Messages

                                                                                                                                                                                                          Accelerometer and Gyro biases from the navigation filter

                                                                                                                                                                                                          Field NameTypeDescription
                                                                                                                                                                                                          usecuint64_tTimestamp (microseconds)
                                                                                                                                                                                                          accel_0floatb_f[0]
                                                                                                                                                                                                          accel_1floatb_f[1]
                                                                                                                                                                                                          accel_2floatb_f[2]
                                                                                                                                                                                                          gyro_0floatb_f[0]
                                                                                                                                                                                                          gyro_1floatb_f[1]
                                                                                                                                                                                                          gyro_2floatb_f[2]

                                                                                                                                                                                                          RADIO_CALIBRATION (221)

                                                                                                                                                                                                          Complete set of calibration parameters for the radio

                                                                                                                                                                                                          Field NameTypeDescription
                                                                                                                                                                                                          aileronuint16_t[3]Aileron setpoints: left, center, right
                                                                                                                                                                                                          elevatoruint16_t[3]Elevator setpoints: nose down, center, nose up
                                                                                                                                                                                                          rudderuint16_t[3]Rudder setpoints: nose left, center, nose right
                                                                                                                                                                                                          gyrouint16_t[2]Tail gyro mode/gain setpoints: heading hold, rate mode
                                                                                                                                                                                                          pitchuint16_t[5]Pitch curve setpoints (every 25%)
                                                                                                                                                                                                          throttleuint16_t[5]Throttle curve setpoints (every 25%)

                                                                                                                                                                                                          UALBERTA_SYS_STATUS (222)

                                                                                                                                                                                                          System status specific to ualberta uav

                                                                                                                                                                                                          Field NameTypeDescription
                                                                                                                                                                                                          modeuint8_tSystem mode, see UALBERTA_AUTOPILOT_MODE ENUM
                                                                                                                                                                                                          nav_modeuint8_tNavigation mode, see UALBERTA_NAV_MODE ENUM
                                                                                                                                                                                                          pilotuint8_tPilot mode, see UALBERTA_PILOT_MODE

                                                                                                                                                                                                          Enumerated Types

                                                                                                                                                                                                          UALBERTA_AUTOPILOT_MODE

                                                                                                                                                                                                          Available autopilot modes for ualberta uav

                                                                                                                                                                                                          ValueNameDescription
                                                                                                                                                                                                          1MODE_MANUAL_DIRECTRaw input pulse widts sent to output
                                                                                                                                                                                                          2MODE_MANUAL_SCALEDInputs are normalized using calibration, the converted back to raw pulse widths for output
                                                                                                                                                                                                          3MODE_AUTO_PID_ATT
                                                                                                                                                                                                          4MODE_AUTO_PID_VEL
                                                                                                                                                                                                          5MODE_AUTO_PID_POS

                                                                                                                                                                                                          UALBERTA_NAV_MODE

                                                                                                                                                                                                          Navigation filter mode

                                                                                                                                                                                                          ValueNameDescription
                                                                                                                                                                                                          1NAV_AHRS_INIT
                                                                                                                                                                                                          2NAV_AHRSAHRS mode
                                                                                                                                                                                                          3NAV_INS_GPS_INITINS/GPS initialization mode
                                                                                                                                                                                                          4NAV_INS_GPSINS/GPS mode

                                                                                                                                                                                                          UALBERTA_PILOT_MODE

                                                                                                                                                                                                          Mode currently commanded by pilot

                                                                                                                                                                                                          ValueNameDescription
                                                                                                                                                                                                          1PILOT_MANUAL
                                                                                                                                                                                                          2PILOT_AUTO
                                                                                                                                                                                                          3PILOT_ROTORotomotion mode

                                                                                                                                                                                                          Commands (MAV_CMD)

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                                                                                                                                                                                                            Messages
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                                                                                                                                                                                                            FAQ
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                                                                                                                                                                                                            Examples
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                                                                                                                                                                                                            Support
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                                                                                                                                                                                                            Dialect: ualberta

                                                                                                                                                                                                            This topic documents the version of the dialect file in the mavlink/mavlink Github repository, which may not be up to date with the file in the source repository (it is up to the dialect owner to push changes when needed). The source repo should be listed in the comments at the top of the XML definition file listed below (but may not be).

                                                                                                                                                                                                            This topic is a human-readable form of the XML definition file: ualberta.xml.

                                                                                                                                                                                                            • MAVLink 2 extension fields are displayed in blue.
                                                                                                                                                                                                            • Entities from dialects are displayed only as headings (with link to original)

                                                                                                                                                                                                            Summary

                                                                                                                                                                                                            TypeDefinedIncluded
                                                                                                                                                                                                            Messages3224
                                                                                                                                                                                                            Enums3143
                                                                                                                                                                                                            Commands1640

                                                                                                                                                                                                            The following sections list all entities in the dialect (both included and defined in this file).

                                                                                                                                                                                                            Messages

                                                                                                                                                                                                            Accelerometer and Gyro biases from the navigation filter

                                                                                                                                                                                                            Field NameTypeDescription
                                                                                                                                                                                                            usecuint64_tTimestamp (microseconds)
                                                                                                                                                                                                            accel_0floatb_f[0]
                                                                                                                                                                                                            accel_1floatb_f[1]
                                                                                                                                                                                                            accel_2floatb_f[2]
                                                                                                                                                                                                            gyro_0floatb_f[0]
                                                                                                                                                                                                            gyro_1floatb_f[1]
                                                                                                                                                                                                            gyro_2floatb_f[2]

                                                                                                                                                                                                            RADIO_CALIBRATION (221)

                                                                                                                                                                                                            Complete set of calibration parameters for the radio

                                                                                                                                                                                                            Field NameTypeDescription
                                                                                                                                                                                                            aileronuint16_t[3]Aileron setpoints: left, center, right
                                                                                                                                                                                                            elevatoruint16_t[3]Elevator setpoints: nose down, center, nose up
                                                                                                                                                                                                            rudderuint16_t[3]Rudder setpoints: nose left, center, nose right
                                                                                                                                                                                                            gyrouint16_t[2]Tail gyro mode/gain setpoints: heading hold, rate mode
                                                                                                                                                                                                            pitchuint16_t[5]Pitch curve setpoints (every 25%)
                                                                                                                                                                                                            throttleuint16_t[5]Throttle curve setpoints (every 25%)

                                                                                                                                                                                                            UALBERTA_SYS_STATUS (222)

                                                                                                                                                                                                            System status specific to ualberta uav

                                                                                                                                                                                                            Field NameTypeDescription
                                                                                                                                                                                                            modeuint8_tSystem mode, see UALBERTA_AUTOPILOT_MODE ENUM
                                                                                                                                                                                                            nav_modeuint8_tNavigation mode, see UALBERTA_NAV_MODE ENUM
                                                                                                                                                                                                            pilotuint8_tPilot mode, see UALBERTA_PILOT_MODE

                                                                                                                                                                                                            Enumerated Types

                                                                                                                                                                                                            UALBERTA_AUTOPILOT_MODE

                                                                                                                                                                                                            Available autopilot modes for ualberta uav

                                                                                                                                                                                                            ValueNameDescription
                                                                                                                                                                                                            1MODE_MANUAL_DIRECTRaw input pulse widts sent to output
                                                                                                                                                                                                            2MODE_MANUAL_SCALEDInputs are normalized using calibration, the converted back to raw pulse widths for output
                                                                                                                                                                                                            3MODE_AUTO_PID_ATT
                                                                                                                                                                                                            4MODE_AUTO_PID_VEL
                                                                                                                                                                                                            5MODE_AUTO_PID_POS

                                                                                                                                                                                                            UALBERTA_NAV_MODE

                                                                                                                                                                                                            Navigation filter mode

                                                                                                                                                                                                            ValueNameDescription
                                                                                                                                                                                                            1NAV_AHRS_INIT
                                                                                                                                                                                                            2NAV_AHRSAHRS mode
                                                                                                                                                                                                            3NAV_INS_GPS_INITINS/GPS initialization mode
                                                                                                                                                                                                            4NAV_INS_GPSINS/GPS mode

                                                                                                                                                                                                            UALBERTA_PILOT_MODE

                                                                                                                                                                                                            Mode currently commanded by pilot

                                                                                                                                                                                                            ValueNameDescription
                                                                                                                                                                                                            1PILOT_MANUAL
                                                                                                                                                                                                            2PILOT_AUTO
                                                                                                                                                                                                            3PILOT_ROTORotomotion mode

                                                                                                                                                                                                            Commands (MAV_CMD)

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                                                                                                                                                                                                              \ No newline at end of file diff --git a/en/services/arm_authorization.html b/en/services/arm_authorization.html index 0c35dca73..e788fb465 100644 --- a/en/services/arm_authorization.html +++ b/en/services/arm_authorization.html @@ -7,4 +7,4 @@ result_param2=if result is ACCEPTED the it should be set with the time in seconds that this authorization is valid otherwise an aditional information about why it was denied should be set. example: for result_param1=MAV_ARM_AUTH_DENIED_REASON_INVALID_WAYPOINT or MAV_ARM_AUTH_DENIED_REASON_AIRSPACE_IN_USE it may have the index of the waypoint that caused it to be denied. target_system=system id of the drone target_component=component id of the drone -

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                                                                                                                                                                                                                  Battery Protocol

                                                                                                                                                                                                                  MAVLink provides a number of messages for providing battery information:

                                                                                                                                                                                                                  The messages should be sent individually for each battery in the system (the messages have an instance id field that is used to identify the corresponding battery). It is up to the GCS to provide an appropriate mechanism that allows the user to assess the aggregate battery status on systems that have multiple batteries.

                                                                                                                                                                                                                  There is no standardized mechanism to report the "aggregate" battery state on a multi-battery system. A GCS is expected to provide enough information from the individual battery reports to allow a user to make a reasonable assessment of vehicle battery status.

                                                                                                                                                                                                                  Message/Enum Summary

                                                                                                                                                                                                                  MessageDescription
                                                                                                                                                                                                                  BATTERY_STATUSBattery message used for frequent status update - e.g. of current capacity, voltages, faults, etc.
                                                                                                                                                                                                                  BATTERY_INFO (WIP)Battery message used for invariant or infrequently changing data - e.g. battery name, battery full/empty capacity and voltages etc.
                                                                                                                                                                                                                  EnumDescription
                                                                                                                                                                                                                  MAV_BATTERY_FAULTFault/health indications.
                                                                                                                                                                                                                  MAV_BATTERY_MODEBattery mode.

                                                                                                                                                                                                                  Battery Components

                                                                                                                                                                                                                  Batteries that are connected to a flight controller via a non-MAVLink bus are treated as part of the flight controller component. Specifically, the battery messages are emitted with the autopilot system and component ids, and the MAV_TYPE for the type of vehicle.

                                                                                                                                                                                                                  Batteries that are distinct components on the MAVLink network must:

                                                                                                                                                                                                                  Ground stations (and other components) that are interested in battery messages should differentiate batteries based on BATTERY_STATUS.id/BATTERY_INFO.id.

                                                                                                                                                                                                                  A Note on SYS_STATUS

                                                                                                                                                                                                                  SYS_STATUS contains three battery information fields: voltage_battery, current_battery, battery_remaining.

                                                                                                                                                                                                                  On a single-battery system these usually provide the same information as the BATTERY_STATUS message.

                                                                                                                                                                                                                  On multi-battery systems the values are not standardised, and depend on the flight stack and/or flight stack configuration. For example, a system may report the same information as the first BATTERY_STATUS, allow the user to configure which battery is reported (i.e. with a parameter), report the battery with the lowest remaining capacity.

                                                                                                                                                                                                                  GCS should not rely on the value of SYS_STATUS. However it cannot be removed because it is used for battery reporting on many legacy systems (e.g. On-screen displays).

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                                                                                                                                                                                                                    Battery Protocol

                                                                                                                                                                                                                    MAVLink provides a number of messages for providing battery information:

                                                                                                                                                                                                                    The messages should be sent individually for each battery in the system (the messages have an instance id field that is used to identify the corresponding battery). It is up to the GCS to provide an appropriate mechanism that allows the user to assess the aggregate battery status on systems that have multiple batteries.

                                                                                                                                                                                                                    There is no standardized mechanism to report the "aggregate" battery state on a multi-battery system. A GCS is expected to provide enough information from the individual battery reports to allow a user to make a reasonable assessment of vehicle battery status.

                                                                                                                                                                                                                    Message/Enum Summary

                                                                                                                                                                                                                    MessageDescription
                                                                                                                                                                                                                    BATTERY_STATUSBattery message used for frequent status update - e.g. of current capacity, voltages, faults, etc.
                                                                                                                                                                                                                    BATTERY_INFO (WIP)Battery message used for invariant or infrequently changing data - e.g. battery name, battery full/empty capacity and voltages etc.
                                                                                                                                                                                                                    EnumDescription
                                                                                                                                                                                                                    MAV_BATTERY_FAULTFault/health indications.
                                                                                                                                                                                                                    MAV_BATTERY_MODEBattery mode.

                                                                                                                                                                                                                    Battery Components

                                                                                                                                                                                                                    Batteries that are connected to a flight controller via a non-MAVLink bus are treated as part of the flight controller component. Specifically, the battery messages are emitted with the autopilot system and component ids, and the MAV_TYPE for the type of vehicle.

                                                                                                                                                                                                                    Batteries that are distinct components on the MAVLink network must:

                                                                                                                                                                                                                    Ground stations (and other components) that are interested in battery messages should differentiate batteries based on BATTERY_STATUS.id/BATTERY_INFO.id.

                                                                                                                                                                                                                    A Note on SYS_STATUS

                                                                                                                                                                                                                    SYS_STATUS contains three battery information fields: voltage_battery, current_battery, battery_remaining.

                                                                                                                                                                                                                    On a single-battery system these usually provide the same information as the BATTERY_STATUS message.

                                                                                                                                                                                                                    On multi-battery systems the values are not standardised, and depend on the flight stack and/or flight stack configuration. For example, a system may report the same information as the first BATTERY_STATUS, allow the user to configure which battery is reported (i.e. with a parameter), report the battery with the lowest remaining capacity.

                                                                                                                                                                                                                    GCS should not rely on the value of SYS_STATUS. However it cannot be removed because it is used for battery reporting on many legacy systems (e.g. On-screen displays).

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                                                                                                                                                                                                                      Camera Protocol v2

                                                                                                                                                                                                                      The camera protocol v2 is used to configure camera payloads and request their status. It provides basic methods for photo capture, video capture and streaming, setting zoom and focus, querying and configuring camera storage, and selecting multiple cameras. It also defines a camera definition file format that allows a GCS to generate a configuration UI for setting any property of the camera using parameters.

                                                                                                                                                                                                                      This protocol supersedes Camera Protocol v1 (Simple Trigger Protocol). The older protocol enables camera triggering, but does not support other features or querying camera capabilities.

                                                                                                                                                                                                                      We are transitioning from specific request commands to a single generic requestor. GCS and MAVLink SDKs/apps should support both approaches as we migrate to exclusive use of the new method (documented here). For more information see Migration Notes for GCS & Camera Servers.

                                                                                                                                                                                                                      Camera Managers provide a MAVLink Camera protocol interface for cameras that don't directly implement MAVLink support. These generally run on a companion computer:

                                                                                                                                                                                                                      These cameras have inbuilt support for MAVLink (but not necessarily camera protocol v2):

                                                                                                                                                                                                                      Camera Addressing

                                                                                                                                                                                                                      MAVLink cameras are identified and addressed by their system and component id.

                                                                                                                                                                                                                      Components that have non-MAVLink cameras attached, such as companion computers, are expected expose each of them as a separate MAVLink camera component with its own HEARTBEAT.

                                                                                                                                                                                                                      The exception is the autopilot component, which can "proxy" up to 6 attached non-MAVLink cameras: these are identified by a camera_device_id field in messages and Target Camera ID label in commands.

                                                                                                                                                                                                                      Camera Messages

                                                                                                                                                                                                                      All MAVLink components include their system id and component id fields in the MAVLink packet header when sending messages. As each MAVLink camera component (with HEARTBEAT.type=MAV_TYPE_CAMERA) represents just one camera, these ids can be used to uniquely identify the camera associated with a message.

                                                                                                                                                                                                                      non-MAVLink cameras attached to the autopilot are identified first by the autopilot system/component id, and then by a camera_device_id field in the message payload (all camera messages should have an id field with this or a similar name). An autopilot should set this to the id of the associated camera device, and otherwise this should always be set to zero.

                                                                                                                                                                                                                      Camera Addressing in Commands

                                                                                                                                                                                                                      MAVLink cameras are sent commands addressed using their system and component ids (just as when addressing commands to any other component).

                                                                                                                                                                                                                      To send commands to autopilot-attached cameras, the command should be send to the autopilot component. The device id of the target attached camera must further be set in the command's Target Camera ID parameter (the index and precise label of this parameter may vary). The autopilot is required to respond to the command with COMMAND_ACK, populating the COMMAND_ACK.result_param2 field with the id of the targeted autopilot connected camera, if any.

                                                                                                                                                                                                                      Note that the Target Camera ID parameter should be set to 0 in order to target all cameras, or if targeting a MAVLink camera.

                                                                                                                                                                                                                      Camera Addressing in Missions

                                                                                                                                                                                                                      When using a camera MAV_CMD in a mission, the id parameter (if present) indicates the target camera:

                                                                                                                                                                                                                      • 1 - 6 indicates a flight-stack connected camera
                                                                                                                                                                                                                      • 7-255 is the component id of a MAVLink connected camera. Note that component ids 1-6 should never be used for MAVLink cameras!
                                                                                                                                                                                                                      • 0 indicates "all connected cameras".

                                                                                                                                                                                                                      When processing a camera item in a mission the autopilot should:

                                                                                                                                                                                                                      • For Target Camera ID values of 1-6, perform the specified camera action on the connected camera if it exists, and otherwise log an error.
                                                                                                                                                                                                                      • For other Target Camera ID values, re-emit the MAV_CMD using the command protocol, setting the target component id to the id set in the camera mission item. It should also log any errors from the returned COMMAND_ACK.

                                                                                                                                                                                                                      Flight stacks that predate using a camera id typically re-emit the mission command addressed either to the broadcast component id (0) or to MAV_COMP_ID_CAMERA. The former triggers all cameras on the system, while the later provides better command handling because there is only one COMMAND_ACK.

                                                                                                                                                                                                                      Camera Discovery

                                                                                                                                                                                                                      Connection

                                                                                                                                                                                                                      MAVLink Camera components are expected to follow the Heartbeat/Connection Protocol and sent a constant flow of heartbeats (nominally at 1Hz). Cameras must set a HEARTBEAT.type of MAV_TYPE_CAMERA. Each camera must use a different pre-defined camera component ID. Values of MAV_COMP_ID_CAMERA to MAV_COMP_ID_CAMERA6 are recommended, but in theory any camera ID may be used except for 0 to 6 (which are reserved for cameras proxied by another component, such as the autopilot).

                                                                                                                                                                                                                      A GCS should start the Camera Identification process the first time it detects a HEARTBEAT from a new:

                                                                                                                                                                                                                      • MAVLink camera component.
                                                                                                                                                                                                                      • Autopilot, in order to detect autopilot-connected cameras.

                                                                                                                                                                                                                      If a receiving system stops receiving heartbeats from the camera it is assumed to be disconnected, and should be removed from the list of available cameras. If heartbeats are again detected, the camera identification process below must be restarted from the beginning.

                                                                                                                                                                                                                      If a vehicle has more than one MAVLink camera, each camera will have a different component ID and send its own heartbeat. The vehicle autopilot might also have directly connected cameras, which are separately addressed by a camera device id. The GCS should create multiple instances of a camera controller based on the component ID of each camera, and also the component ID of the autopilot and each of its attached camera devices. All commands are sent to a specific camera by addressing the command to a specific component ID, and additionally the camera device id for autopilots.

                                                                                                                                                                                                                      Camera Identification

                                                                                                                                                                                                                      The camera identification operation identifies all the available cameras associated with a system and determines their capabilities. It is used to discover both MAVLink cameras and non-MAVLink cameras attached to the autopilot.

                                                                                                                                                                                                                      The process involves requesting the CAMERA_INFORMATION message from autopilots and MAVLink cameras as they are discovered. CAMERA_INFORMATION.flags provides information about camera capabilities. It contains a bitmap of CAMERA_CAP_FLAGS values that tell the GCS if the camera supports still image capture, video capture, or video streaming, and if it needs to be in a certain mode for capture, etc.

                                                                                                                                                                                                                      Camera identification must be carried out before all other camera operations!

                                                                                                                                                                                                                      The first time a heartbeat is received from a new camera component (HEARTBEAT.type=MAV_TYPE_CAMERA), the GCS should send it a MAV_CMD_REQUEST_MESSAGE message asking for CAMERA_INFORMATION (message id 259). The camera will then respond with the a COMMAND_ACK message containing a result. On success (result is MAV_RESULT_ACCEPTED) the camera component must then send a CAMERA_INFORMATION message.

                                                                                                                                                                                                                      Mermaid Sequence: Camera Type

                                                                                                                                                                                                                      The operation follows the normal Command Protocol rules for command/acknowledgment (if no COMMAND_ACK response is received for MAV_CMD_REQUEST_MESSAGE the command will be re-sent a number of times before failing). If CAMERA_INFORMATION is not received after receiving an ACK with MAV_RESULT_ACCEPTED, the protocol assumes the message was lost, and the cycle of sending MAV_CMD_REQUEST_MESSAGE is repeated. If CAMERA_INFORMATION is still not received after three cycle repeats, the GCS may assume that the camera is not supported.

                                                                                                                                                                                                                      The first time a heartbeat is received from an autopilot, the GCS follow the same process to query for information about directly connected cameras. The only difference is that the autopilot should return a CAMERA_INFORMATION message for each connected camera, populated with its camera_device_id.

                                                                                                                                                                                                                      Mermaid Sequence: Autopilot

                                                                                                                                                                                                                      Additional Camera Information

                                                                                                                                                                                                                      The CAMERA_INFORMATION response contains the bare minimum information about the camera and what it can or cannot do. This is sufficient for basic image and/or video capture.

                                                                                                                                                                                                                      If a camera provides finer control over its settings CAMERA_INFORMATION.cam_definition_uri will include a URI to a Camera Definition File. If this URI exists, the GCS will request it, parse it and prepare the UI for the user to control the camera settings.

                                                                                                                                                                                                                      The CAMERA_INFORMATION.cam_definition_version field should provide a version for the definition file, allowing the GCS to cache it. Once downloaded, it would only be requested again if the version number changes.

                                                                                                                                                                                                                      A GCS that implements this protocol is expected to support both HTTP (http://) and MAVLink FTP (mftp://) URIs for download of the camera definition file. If the camera provides an HTTP or MAVLink FTP interface, the definition file can be hosted on the camera itself. Otherwise, it can be hosted anywhere (on any reachable server).

                                                                                                                                                                                                                      Basic Camera Operations

                                                                                                                                                                                                                      Camera Modes

                                                                                                                                                                                                                      Some cameras must be in a certain mode for still and/or video capture.

                                                                                                                                                                                                                      The GCS can determine if it needs to make sure the camera is in the proper mode prior to sending a start capture (image or video) command by checking whether the CAMERA_CAP_FLAGS_HAS_MODES bit is set true in CAMERA_INFORMATION.flags.

                                                                                                                                                                                                                      In addition, some cameras can capture images in any mode but with different resolutions. For example, a 20 megapixel camera would take a full resolution image when set to CAMERA_MODE_IMAGE but only at the current video resolution if it is set to CAMERA_MODE_VIDEO.

                                                                                                                                                                                                                      To get the current mode, the GCS would send a MAV_CMD_REQUEST_MESSAGE command asking for CAMERA_SETTINGS. The camera component will then respond with the COMMAND_ACK message containing a result. On success (COMMAND_ACK.result is MAV_RESULT_ACCEPTED) the camera must then send a CAMERA_SETTINGS message. The current mode is the CAMERA_SETTINGS.mode_id field.

                                                                                                                                                                                                                      The sequence is shown below:

                                                                                                                                                                                                                      Camera Settings

                                                                                                                                                                                                                      Command acknowledgment and message resending is handled in the same way as for camera identification (if a successful ACK is received the camera will expect the CAMERA_SETTINGS message, and repeat the cycle - up to 3 times - until it is received).

                                                                                                                                                                                                                      To set the camera to a specific mode, the GCS would send the MAV_CMD_SET_CAMERA_MODE command with the appropriate mode.

                                                                                                                                                                                                                      The sequence is shown below:

                                                                                                                                                                                                                      The operation follows the normal Command Protocol rules for command/acknowledgment.

                                                                                                                                                                                                                      Storage Status

                                                                                                                                                                                                                      Before capturing images and/or videos, a GCS should query the storage status to determine if the camera has enough free space for these operations (and provide the user with feedback as to the current storage status). The GCS will send the MAV_CMD_REQUEST_MESSAGE command and it expects a COMMAND_ACK message back as well as a STORAGE_INFORMATION response. For formatting (or erasing depending on your implementation), the GCS will send a MAV_CMD_STORAGE_FORMAT command.

                                                                                                                                                                                                                      Camera Capture Status

                                                                                                                                                                                                                      In addition to querying about storage status, the GCS should also stream the Camera Capture Status in order to provide the user with proper UI indicators.

                                                                                                                                                                                                                      This can be done by sending a MAV_CMD_SET_MESSAGE_INTERVAL command asking for CAMERA_CAPTURE_STATUS. The command it expects a COMMAND_ACK message back and then CAMERA_CAPTURE_STATUS should be streamed at the specified rate.

                                                                                                                                                                                                                      Still Image Capture

                                                                                                                                                                                                                      A camera supports still image capture if the CAMERA_CAP_FLAGS_CAPTURE_IMAGE bit is set in CAMERA_INFORMATION.flags.

                                                                                                                                                                                                                      A GCS/MAVLink app uses the MAV_CMD_IMAGE_START_CAPTURE command to request that the camera capture a specified number of images (or forever), and the duration between them. The camera immediately returns the normal command acknowledgment (MAV_RESULT).

                                                                                                                                                                                                                      Each time an image is captured, the camera broadcasts a CAMERA_IMAGE_CAPTURED message. This message not only tells the GCS the image was captured, it is also intended for geo-tagging.

                                                                                                                                                                                                                      The camera must iterate CAMERA_IMAGE_CAPTURED.image_index and the counter used in CAMERA_CAPTURE_STATUS.image_count for every new image capture (these values iterate until explicitly cleared using MAV_CMD_STORAGE_FORMAT). The index and total image count can be used to re-request missing images (e.g. images captured when the vehicle was out of telemetry range).

                                                                                                                                                                                                                      The MAV_CMD_IMAGE_STOP_CAPTURE command can optionally be sent to stop an image capture sequence (this is needed if image capture has been set to continue forever).

                                                                                                                                                                                                                      The still image capture message sequence for missions (as described above) is shown below:

                                                                                                                                                                                                                      Mermaid Sequence: Image capture

                                                                                                                                                                                                                      The message sequence for interactive user-initiated image capture through a GUI is slightly different. In this case the GCS should:

                                                                                                                                                                                                                      The sequence is as shown below:

                                                                                                                                                                                                                      Mermaid Sequence: Interactive user initiated image capture

                                                                                                                                                                                                                      Request Lost CAMERA_IMAGE_CAPTURED Messages

                                                                                                                                                                                                                      The camera broadcasts a CAMERA_IMAGE_CAPTURED every time a new image is captured, iterating both the current image index (CAMERA_IMAGE_CAPTURED.image_index) and the total image count (CAMERA_CAPTURE_STATUS.image_count).

                                                                                                                                                                                                                      These messages can be lost during transmission; for example if the vehicle is out of data-link range of the ground stations.

                                                                                                                                                                                                                      Lost image capture messages can be detected by comparing GCS and camera image counts. Individual entries can be requested using MAV_CMD_REQUEST_MESSAGE, where param1="MAVLINK_MSG_ID_CAMERA_IMAGE_CAPTURED" and param2="the index of the missing image".

                                                                                                                                                                                                                      The camera image log iterates "forever" (but may be explicitly reset using MAV_CMD_STORAGE_FORMAT.param3=1).

                                                                                                                                                                                                                      Video Capture

                                                                                                                                                                                                                      A camera supports video capture if the CAMERA_CAP_FLAGS_CAPTURE_VIDEO bit is set in CAMERA_INFORMATION.flags.

                                                                                                                                                                                                                      To start recording videos, the GCS uses the MAV_CMD_VIDEO_START_CAPTURE command. If requested, the CAMERA_CAPTURE_STATUS message is sent to the GCS at a set interval.

                                                                                                                                                                                                                      To stop recording, the GCS uses the MAV_CMD_VIDEO_STOP_CAPTURE command.

                                                                                                                                                                                                                      Video Streaming

                                                                                                                                                                                                                      The GCS should already have identified all connected cameras by their heartbeat and followed the Camera Identification steps to get CAMERA_INFORMATION for every camera.

                                                                                                                                                                                                                      A camera is capable of streaming video if it sets the CAMERA_CAP_FLAGS_HAS_VIDEO_STREAM bit set in CAMERA_INFORMATION.flags.

                                                                                                                                                                                                                      The sequence for requesting all video streams from a particular camera is shown below:

                                                                                                                                                                                                                      Mermaid Sequence: Video stream info

                                                                                                                                                                                                                      The steps are:

                                                                                                                                                                                                                      1. GCS follows the Camera Identification steps to get CAMERA_INFORMATION for every camera.
                                                                                                                                                                                                                      2. GCS checks if CAMERA_INFORMATION.flags contains the CAMERA_CAP_FLAGS_HAS_VIDEO_STREAM flag.
                                                                                                                                                                                                                      3. If so, the GCS sends the MAV_CMD_REQUEST_MESSAGE message to the camera requesting the video streaming configuration (param1=269) for all streams (param2=0).

                                                                                                                                                                                                                        A GCS can also request information for a particular stream by setting its id in param2.

                                                                                                                                                                                                                      4. Camera returns a VIDEO_STREAM_INFORMATION message for the specified stream or all streams it supports.

                                                                                                                                                                                                                      If your camera only provides video streaming and nothing else (no camera features), the CAMERA_CAP_FLAGS_HAS_VIDEO_STREAM flag is the only flag you need to set. The GCS will then provide video streaming support and skip camera control.

                                                                                                                                                                                                                      Video Metadata

                                                                                                                                                                                                                      The protocol provides some information about video streaming support in CAMERA_CAP_FLAGS, such as support for video streaming (CAMERA_CAP_FLAGS_HAS_VIDEO_STREAM) and thermal range information (CAMERA_CAP_FLAGS_HAS_THERMAL_RANGE), In addition the VIDEO_STREAM_INFORMATION and VIDEO_STREAM_STATUS provide broad information about each stream, including its transport mechanism, encoding, resolution, frame rate, and status (VIDEO_STREAM_STATUS_FLAGS).

                                                                                                                                                                                                                      MAVLink does not specify any mechanism for getting frame-synchronized video metadata, such as absolute thermal values of thermal video streams, text-tracks, and so on. The following sections outline some MAVLink-centric methods for getting "approximate" video-synchronized metadata.

                                                                                                                                                                                                                      Camera absolute thermal range

                                                                                                                                                                                                                      A thermal video stream is often coloured as a heatmap in order to highlight hotter and colder sections. This heatmap is relative to the hottest and coldest points on the frame, so the hot sections are not necessarily hot, they are just hotter than their surroundings. If you're searching for things that have a specific temperature, it can be useful to know the absolute temperatures represented by the image.

                                                                                                                                                                                                                      The CAMERA_THERMAL_RANGE message can be streamed alongside a video stream to provide this information. The message includes the associated stream and camera id, along with the position and value of the maximum and minimum temperature in the video frame. That is sufficient to overlay the hottest and coldest points on a video, and in theory to determine the absolute temperature of all pixels.

                                                                                                                                                                                                                      The message is streamed alongside the video stream, but there is no precise mechanism to synchronize values to frames. The information is therefore an estimate/approximate.

                                                                                                                                                                                                                      The message can be requested for a particular camera and stream using the MAV_CMD_SET_MESSAGE_INTERVAL, when the associated VIDEO_STREAM_STATUS.flag for the stream has bit VIDEO_STREAM_STATUS_FLAGS_THERMAL_RANGE_ENABLED set. Note that MAV_CMD_SET_MESSAGE_INTERVAL.param3 indicates the stream id of the current camera, or 0 for all streams, while param4 indicates the target camera_device_id for autopilot-attached cameras or 0 for MAVLink cameras.

                                                                                                                                                                                                                      Camera Tracking

                                                                                                                                                                                                                      A camera may support tracking a point and/or a rectangle. Information about the tracked point can be streamed during tracking, and may be passed to a gimbal in order to move the camera to track the target (or control vehicle attitude to track the target).

                                                                                                                                                                                                                      Support for tracking different types of targets is indicated by the CAMERA_CAP_FLAGS_HAS_TRACKING_POINT and/or CAMERA_CAP_FLAGS_HAS_TRACKING_RECTANGLE flags in CAMERA_INFORMATION.flags.

                                                                                                                                                                                                                      To start camera tracking a GCS uses either the MAV_CMD_CAMERA_TRACK_POINT or MAV_CMD_CAMERA_TRACK_RECTANGLE command.

                                                                                                                                                                                                                      After starting camera tracking you should call MAV_CMD_SET_MESSAGE_INTERVAL to start streaming the CAMERA_TRACKING_IMAGE_STATUS message at your desired rate. This message contains information about the tracked point/rectangle in an image, and may be used by the receiving system to determine the location of the target (alongside other information like the CAMERA_FOV_STATUS).

                                                                                                                                                                                                                      If geo-tracking status information is supported (indicated by CAMERA_CAP_FLAGS_HAS_TRACKING_GEO_STATUS) you should also call MAV_CMD_SET_MESSAGE_INTERVAL to stream CAMERA_TRACKING_GEO_STATUS at your desired rate. This message provides the location of the target in physical co-ordinates that can be passed to a gimbal.

                                                                                                                                                                                                                      To stop any kind of tracking, a GCS uses the MAV_CMD_CAMERA_STOP_TRACKING command. After stopping tracking you should call MAV_CMD_SET_MESSAGE_INTERVAL to stop streaming CAMERA_TRACKING_IMAGE_STATUS and CAMERA_TRACKING_GEO_STATUS (set their rates to 0).

                                                                                                                                                                                                                      Camera tracking message sequence

                                                                                                                                                                                                                      The GCS should already have identified all connected cameras by their heartbeat and followed the Camera Identification steps to get CAMERA_INFORMATION for every camera.

                                                                                                                                                                                                                      The sequence for tracking a point is shown below (tracking a rectangle is the same sequence but a different tracking command).

                                                                                                                                                                                                                      Mermaid Sequence: tracking info

                                                                                                                                                                                                                      The steps are:

                                                                                                                                                                                                                      1. GCS follows the Camera Identification steps to get CAMERA_INFORMATION for every camera.
                                                                                                                                                                                                                      2. GCS checks if CAMERA_INFORMATION.flags contains the CAMERA_CAP_FLAGS_HAS_TRACKING_RECTANGLE, CAMERA_CAP_FLAGS_HAS_TRACKING_POINT, CAMERA_CAP_FLAGS_HAS_TRACKING_GEO_STATUS.
                                                                                                                                                                                                                      3. If tracking is supported the GCS sends the command to start the type of tracking it wants to do: MAV_CMD_CAMERA_TRACK_POINT or MAV_CMD_CAMERA_TRACK_RECTANGLE. The sequence above just shows point tracking.
                                                                                                                                                                                                                      4. Set the desired rates (intervals) for streaming the tracking status messages.
                                                                                                                                                                                                                      5. Camera streams CAMERA_TRACKING_IMAGE_STATUS and/or CAMERA_TRACKING_GEO_STATUS. These are used to provide camera targetting information.
                                                                                                                                                                                                                      6. To stop tracking, a GCS uses the MAV_CMD_CAMERA_STOP_TRACKING command. The streaming intervals must also be set to zero.

                                                                                                                                                                                                                      Battery Status

                                                                                                                                                                                                                      Camera components that are powered from their own battery should publish BATTERY_STATUS messages.

                                                                                                                                                                                                                      Other components like a GCS will typically only use the camera BATTERY_STATUS.battery_remaining field (or possibly time_remaining); generally other fields can be set as "not supported".

                                                                                                                                                                                                                      Message/Command/Enum Summary

                                                                                                                                                                                                                      Messages

                                                                                                                                                                                                                      MessageDescription
                                                                                                                                                                                                                      CAMERA_INFORMATIONBasic information about camera including supported features and URI link to extended information (cam_definition_uri field).
                                                                                                                                                                                                                      CAMERA_SETTINGSTimestamp and camera mode information.
                                                                                                                                                                                                                      VIDEO_STREAM_INFORMATIONInformation defining a video stream configuration. If a camera has more than one video stream, it would send one of this for each video stream, with their specific configuration. Each stream must have its own, unique stream_id.
                                                                                                                                                                                                                      VIDEO_STREAM_STATUSInformation updating a video stream configuration.
                                                                                                                                                                                                                      STORAGE_INFORMATIONStorage information (e.g. number and type of storage devices, total/used/available capacity, read/write speeds).
                                                                                                                                                                                                                      CAMERA_CAPTURE_STATUSCamera capture status, including current capture type (if any), capture interval, available capacity.
                                                                                                                                                                                                                      CAMERA_IMAGE_CAPTUREDInformation about image captured (returned to GPS every time an image is captured).
                                                                                                                                                                                                                      CAMERA_FOV_STATUSInformation about the field of view of a camera. Requested using MAV_CMD_REQUEST_MESSAGE.
                                                                                                                                                                                                                      CAMERA_TRACKING_IMAGE_STATUSCamera tracking status, sent while in active tracking. Use MAV_CMD_SET_MESSAGE_INTERVAL to define message interval.
                                                                                                                                                                                                                      CAMERA_TRACKING_GEO_STATUSCamera tracking status, sent while in active tracking. Use MAV_CMD_SET_MESSAGE_INTERVAL to define message interval.
                                                                                                                                                                                                                      CAMERA_THERMAL_RANGECamera absolute thermal range. This provides value and position of max/min temperature in a video stream, allowing thermal range of video to be calibrated to absolute rather than relative temperature. Use MAV_CMD_SET_MESSAGE_INTERVAL to define message interval for a particular camera and stream.

                                                                                                                                                                                                                      Commands

                                                                                                                                                                                                                      CommandDescription
                                                                                                                                                                                                                      MAV_CMD_REQUEST_MESSAGESend command to request any message (used to request CAMERA_INFORMATION and the other messages above)
                                                                                                                                                                                                                      MAV_CMD_SET_CAMERA_MODESend command to set CAMERA_MODE.
                                                                                                                                                                                                                      MAV_CMD_IMAGE_START_CAPTURESend command to start image capture, specifying the duration between captures and total number of images to capture.
                                                                                                                                                                                                                      MAV_CMD_IMAGE_STOP_CAPTURESend command to stop image capture.
                                                                                                                                                                                                                      MAV_CMD_VIDEO_START_CAPTURESend command to start video capture, specifying the frequency that CAMERA_CAPTURE_STATUS messages should be sent while recording.
                                                                                                                                                                                                                      MAV_CMD_VIDEO_STOP_CAPTURESend command to stop video capture.
                                                                                                                                                                                                                      MAV_CMD_VIDEO_START_STREAMINGSend command to start video streaming for the given Stream ID (stream_id.) This is mostly for streaming protocols that push a stream. If your camera uses a connection based streaming configuration (RTSP, TCP, etc.), you may ignore it if you don't need it but note that you still must ACK the command, like all MAV_CMD_XXX commands. When using a connection based streaming configuration, the GCS will connect the stream from its side. When a camera offers more than one stream and the user switches from one stream to another, the GCS will send a MAV_CMD_VIDEO_STOP_STREAMING command targeting the current Stream ID followed by a MAV_CMD_VIDEO_START_STREAMING targeting the newly selected Stream ID.
                                                                                                                                                                                                                      MAV_CMD_VIDEO_STOP_STREAMINGSend command to stop video streaming for the given Stream ID (stream_id.) This is mostly for streaming protocols that push a stream. If your camera uses a connection based streaming configuration (RTSP, TCP, etc.), you may ignore it if you don't need it but note that you still must ACK the command, like all MAV_CMD_XXX commands. When using a connection based streaming configuration, the GCS will disconnect the stream from its side. When a camera offers more than one stream and the user switches from one stream to another, the GCS will send a MAV_CMD_VIDEO_STOP_STREAMING command targeting the current Stream ID followed by a MAV_CMD_VIDEO_START_STREAMING targeting the newly selected Stream ID.
                                                                                                                                                                                                                      MAV_CMD_CAMERA_TRACK_POINTInitate visual point tracking, if supported by the camera (CAMERA_CAP_FLAGS_HAS_TRACKING_POINT is set).
                                                                                                                                                                                                                      MAV_CMD_CAMERA_TRACK_RECTANGLEInitiate visual rectangle tracking, if supported by the camera (CAMERA_CAP_FLAGS_HAS_TRACKING_RECTANGLE is set).
                                                                                                                                                                                                                      MAV_CMD_CAMERA_STOP_TRACKINGStop camera tracking (as initiated using MAV_CMD_CAMERA_TRACK_POINT or MAV_CMD_CAMERA_TRACK_RECTANGLE).

                                                                                                                                                                                                                      Deprecated Commands

                                                                                                                                                                                                                      These commands have been deprecated, replaced by the generic requester command MAV_CMD_REQUEST_MESSAGE

                                                                                                                                                                                                                      CommandDescription
                                                                                                                                                                                                                      MAV_CMD_REQUEST_CAMERA_SETTINGSSend command to request CAMERA_SETTINGS.
                                                                                                                                                                                                                      MAV_CMD_REQUEST_CAMERA_INFORMATIONSend command to request CAMERA_INFORMATION.
                                                                                                                                                                                                                      MAV_CMD_REQUEST_VIDEO_STREAM_INFORMATIONSend command to request VIDEO_STREAM_INFORMATION. This is sent once for each camera when a camera is detected and it has set the CAMERA_CAP_FLAGS_HAS_VIDEO_STREAM flag within the CAMERA_INFORMATION message flags field.
                                                                                                                                                                                                                      MAV_CMD_REQUEST_VIDEO_STREAM_STATUSSend command to request VIDEO_STREAM_STATUS. This is sent whenever there is a mode change (when MAV_CMD_SET_CAMERA_MODE is sent.) It allows the camera to update the stream configuration when a camera mode change occurs.
                                                                                                                                                                                                                      MAV_CMD_REQUEST_STORAGE_INFORMATIONSend command to request STORAGE_INFORMATION.
                                                                                                                                                                                                                      MAV_CMD_REQUEST_CAMERA_CAPTURE_STATUSSend command to request CAMERA_CAPTURE_STATUS.

                                                                                                                                                                                                                      Enum

                                                                                                                                                                                                                      EnumDescription
                                                                                                                                                                                                                      CAMERA_CAP_FLAGSCamera capability flags (Bitmap). For example: ability to capture images in video mode, support for survey mode etc. Received in CAMERA_INFORMATION.
                                                                                                                                                                                                                      CAMERA_MODECamera mode (image, video, survey etc.). Received in CAMERA_SETTINGS.
                                                                                                                                                                                                                      VIDEO_STREAM_TYPEType of stream - e.g. RTSP, MPEG. Received in VIDEO_STREAM_INFORMATION.
                                                                                                                                                                                                                      VIDEO_STREAM_STATUS_FLAGSBitmap of stream status flags - e.g. zoom, thermal imaging, etc. Received in VIDEO_STREAM_INFORMATION.
                                                                                                                                                                                                                      CAMERA_TRACKING_STATUS_FLAGSCurrent tracking status. Received in CAMERA_TRACKING_IMAGE_STATUS amd CAMERA_TRACKING_GEO_STATUS.
                                                                                                                                                                                                                      CAMERA_TRACKING_MODECurrent tracking mode. Received in CAMERA_TRACKING_IMAGE_STATUS.
                                                                                                                                                                                                                      CAMERA_TRACKING_TARGET_DATAIndicates how target data is encoded in image. Received in CAMERA_TRACKING_IMAGE_STATUS.

                                                                                                                                                                                                                      Migration Notes for GCS & MAVLink SDKs

                                                                                                                                                                                                                      The original definition of this protocol used specific commands to query for each type of information requested from the camera: MAV_CMD_REQUEST_CAMERA_INFORMATION (for CAMERA_INFORMATION), MAV_CMD_REQUEST_CAMERA_SETTINGS, MAV_CMD_REQUEST_CAMERA_CAPTURE_STATUS, MAV_CMD_REQUEST_VIDEO_STREAM_INFORMATION, MAV_CMD_REQUEST_STORAGE_INFORMATION.

                                                                                                                                                                                                                      The latest version replaces all of these specific commands with the general requestor MAV_CMD_REQUEST_MESSAGE.

                                                                                                                                                                                                                      The transition works like this:

                                                                                                                                                                                                                      1. Cameras need to handle both approaches for now (i.e. support both new generic and old specific commands).
                                                                                                                                                                                                                      2. Ground stations will move from using the old specific commands to using both. They can try the new one and if they don't get an answer within a timeout they need to fall back to the previous command.
                                                                                                                                                                                                                      3. After the new commands have been established in server and ground stations, the old specific commands may be removed from the implementations.

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                                                                                                                                                                                                                        Camera Protocol v2

                                                                                                                                                                                                                        The camera protocol v2 is used to configure camera payloads and request their status. It provides basic methods for photo capture, video capture and streaming, setting zoom and focus, querying and configuring camera storage, and selecting multiple cameras. It also defines a camera definition file format that allows a GCS to generate a configuration UI for setting any property of the camera using parameters.

                                                                                                                                                                                                                        This protocol supersedes Camera Protocol v1 (Simple Trigger Protocol). The older protocol enables camera triggering, but does not support other features or querying camera capabilities.

                                                                                                                                                                                                                        We are transitioning from specific request commands to a single generic requestor. GCS and MAVLink SDKs/apps should support both approaches as we migrate to exclusive use of the new method (documented here). For more information see Migration Notes for GCS & Camera Servers.

                                                                                                                                                                                                                        Camera Managers provide a MAVLink Camera protocol interface for cameras that don't directly implement MAVLink support. These generally run on a companion computer:

                                                                                                                                                                                                                        These cameras have inbuilt support for MAVLink (but not necessarily camera protocol v2):

                                                                                                                                                                                                                        Camera Addressing

                                                                                                                                                                                                                        MAVLink cameras are identified and addressed by their system and component id.

                                                                                                                                                                                                                        Components that have non-MAVLink cameras attached, such as companion computers, are expected expose each of them as a separate MAVLink camera component with its own HEARTBEAT.

                                                                                                                                                                                                                        The exception is the autopilot component, which can "proxy" up to 6 attached non-MAVLink cameras: these are identified by a camera_device_id field in messages and Target Camera ID label in commands.

                                                                                                                                                                                                                        Camera Messages

                                                                                                                                                                                                                        All MAVLink components include their system id and component id fields in the MAVLink packet header when sending messages. As each MAVLink camera component (with HEARTBEAT.type=MAV_TYPE_CAMERA) represents just one camera, these ids can be used to uniquely identify the camera associated with a message.

                                                                                                                                                                                                                        non-MAVLink cameras attached to the autopilot are identified first by the autopilot system/component id, and then by a camera_device_id field in the message payload (all camera messages should have an id field with this or a similar name). An autopilot should set this to the id of the associated camera device, and otherwise this should always be set to zero.

                                                                                                                                                                                                                        Camera Addressing in Commands

                                                                                                                                                                                                                        MAVLink cameras are sent commands addressed using their system and component ids (just as when addressing commands to any other component).

                                                                                                                                                                                                                        To send commands to autopilot-attached cameras, the command should be send to the autopilot component. The device id of the target attached camera must further be set in the command's Target Camera ID parameter (the index and precise label of this parameter may vary). The autopilot is required to respond to the command with COMMAND_ACK, populating the COMMAND_ACK.result_param2 field with the id of the targeted autopilot connected camera, if any.

                                                                                                                                                                                                                        Note that the Target Camera ID parameter should be set to 0 in order to target all cameras, or if targeting a MAVLink camera.

                                                                                                                                                                                                                        Camera Addressing in Missions

                                                                                                                                                                                                                        When using a camera MAV_CMD in a mission, the id parameter (if present) indicates the target camera:

                                                                                                                                                                                                                        • 1 - 6 indicates a flight-stack connected camera
                                                                                                                                                                                                                        • 7-255 is the component id of a MAVLink connected camera. Note that component ids 1-6 should never be used for MAVLink cameras!
                                                                                                                                                                                                                        • 0 indicates "all connected cameras".

                                                                                                                                                                                                                        When processing a camera item in a mission the autopilot should:

                                                                                                                                                                                                                        • For Target Camera ID values of 1-6, perform the specified camera action on the connected camera if it exists, and otherwise log an error.
                                                                                                                                                                                                                        • For other Target Camera ID values, re-emit the MAV_CMD using the command protocol, setting the target component id to the id set in the camera mission item. It should also log any errors from the returned COMMAND_ACK.

                                                                                                                                                                                                                        Flight stacks that predate using a camera id typically re-emit the mission command addressed either to the broadcast component id (0) or to MAV_COMP_ID_CAMERA. The former triggers all cameras on the system, while the later provides better command handling because there is only one COMMAND_ACK.

                                                                                                                                                                                                                        Camera Discovery

                                                                                                                                                                                                                        Connection

                                                                                                                                                                                                                        MAVLink Camera components are expected to follow the Heartbeat/Connection Protocol and sent a constant flow of heartbeats (nominally at 1Hz). Cameras must set a HEARTBEAT.type of MAV_TYPE_CAMERA. Each camera must use a different pre-defined camera component ID. Values of MAV_COMP_ID_CAMERA to MAV_COMP_ID_CAMERA6 are recommended, but in theory any camera ID may be used except for 0 to 6 (which are reserved for cameras proxied by another component, such as the autopilot).

                                                                                                                                                                                                                        A GCS should start the Camera Identification process the first time it detects a HEARTBEAT from a new:

                                                                                                                                                                                                                        • MAVLink camera component.
                                                                                                                                                                                                                        • Autopilot, in order to detect autopilot-connected cameras.

                                                                                                                                                                                                                        If a receiving system stops receiving heartbeats from the camera it is assumed to be disconnected, and should be removed from the list of available cameras. If heartbeats are again detected, the camera identification process below must be restarted from the beginning.

                                                                                                                                                                                                                        If a vehicle has more than one MAVLink camera, each camera will have a different component ID and send its own heartbeat. The vehicle autopilot might also have directly connected cameras, which are separately addressed by a camera device id. The GCS should create multiple instances of a camera controller based on the component ID of each camera, and also the component ID of the autopilot and each of its attached camera devices. All commands are sent to a specific camera by addressing the command to a specific component ID, and additionally the camera device id for autopilots.

                                                                                                                                                                                                                        Camera Identification

                                                                                                                                                                                                                        The camera identification operation identifies all the available cameras associated with a system and determines their capabilities. It is used to discover both MAVLink cameras and non-MAVLink cameras attached to the autopilot.

                                                                                                                                                                                                                        The process involves requesting the CAMERA_INFORMATION message from autopilots and MAVLink cameras as they are discovered. CAMERA_INFORMATION.flags provides information about camera capabilities. It contains a bitmap of CAMERA_CAP_FLAGS values that tell the GCS if the camera supports still image capture, video capture, or video streaming, and if it needs to be in a certain mode for capture, etc.

                                                                                                                                                                                                                        Camera identification must be carried out before all other camera operations!

                                                                                                                                                                                                                        The first time a heartbeat is received from a new camera component (HEARTBEAT.type=MAV_TYPE_CAMERA), the GCS should send it a MAV_CMD_REQUEST_MESSAGE message asking for CAMERA_INFORMATION (message id 259). The camera will then respond with the a COMMAND_ACK message containing a result. On success (result is MAV_RESULT_ACCEPTED) the camera component must then send a CAMERA_INFORMATION message.

                                                                                                                                                                                                                        Mermaid Sequence: Camera Type

                                                                                                                                                                                                                        The operation follows the normal Command Protocol rules for command/acknowledgment (if no COMMAND_ACK response is received for MAV_CMD_REQUEST_MESSAGE the command will be re-sent a number of times before failing). If CAMERA_INFORMATION is not received after receiving an ACK with MAV_RESULT_ACCEPTED, the protocol assumes the message was lost, and the cycle of sending MAV_CMD_REQUEST_MESSAGE is repeated. If CAMERA_INFORMATION is still not received after three cycle repeats, the GCS may assume that the camera is not supported.

                                                                                                                                                                                                                        The first time a heartbeat is received from an autopilot, the GCS follow the same process to query for information about directly connected cameras. The only difference is that the autopilot should return a CAMERA_INFORMATION message for each connected camera, populated with its camera_device_id.

                                                                                                                                                                                                                        Mermaid Sequence: Autopilot

                                                                                                                                                                                                                        Additional Camera Information

                                                                                                                                                                                                                        The CAMERA_INFORMATION response contains the bare minimum information about the camera and what it can or cannot do. This is sufficient for basic image and/or video capture.

                                                                                                                                                                                                                        If a camera provides finer control over its settings CAMERA_INFORMATION.cam_definition_uri will include a URI to a Camera Definition File. If this URI exists, the GCS will request it, parse it and prepare the UI for the user to control the camera settings.

                                                                                                                                                                                                                        The CAMERA_INFORMATION.cam_definition_version field should provide a version for the definition file, allowing the GCS to cache it. Once downloaded, it would only be requested again if the version number changes.

                                                                                                                                                                                                                        A GCS that implements this protocol is expected to support both HTTP (http://) and MAVLink FTP (mftp://) URIs for download of the camera definition file. If the camera provides an HTTP or MAVLink FTP interface, the definition file can be hosted on the camera itself. Otherwise, it can be hosted anywhere (on any reachable server).

                                                                                                                                                                                                                        Basic Camera Operations

                                                                                                                                                                                                                        Camera Modes

                                                                                                                                                                                                                        Some cameras must be in a certain mode for still and/or video capture.

                                                                                                                                                                                                                        The GCS can determine if it needs to make sure the camera is in the proper mode prior to sending a start capture (image or video) command by checking whether the CAMERA_CAP_FLAGS_HAS_MODES bit is set true in CAMERA_INFORMATION.flags.

                                                                                                                                                                                                                        In addition, some cameras can capture images in any mode but with different resolutions. For example, a 20 megapixel camera would take a full resolution image when set to CAMERA_MODE_IMAGE but only at the current video resolution if it is set to CAMERA_MODE_VIDEO.

                                                                                                                                                                                                                        To get the current mode, the GCS would send a MAV_CMD_REQUEST_MESSAGE command asking for CAMERA_SETTINGS. The camera component will then respond with the COMMAND_ACK message containing a result. On success (COMMAND_ACK.result is MAV_RESULT_ACCEPTED) the camera must then send a CAMERA_SETTINGS message. The current mode is the CAMERA_SETTINGS.mode_id field.

                                                                                                                                                                                                                        The sequence is shown below:

                                                                                                                                                                                                                        Camera Settings

                                                                                                                                                                                                                        Command acknowledgment and message resending is handled in the same way as for camera identification (if a successful ACK is received the camera will expect the CAMERA_SETTINGS message, and repeat the cycle - up to 3 times - until it is received).

                                                                                                                                                                                                                        To set the camera to a specific mode, the GCS would send the MAV_CMD_SET_CAMERA_MODE command with the appropriate mode.

                                                                                                                                                                                                                        The sequence is shown below:

                                                                                                                                                                                                                        The operation follows the normal Command Protocol rules for command/acknowledgment.

                                                                                                                                                                                                                        Storage Status

                                                                                                                                                                                                                        Before capturing images and/or videos, a GCS should query the storage status to determine if the camera has enough free space for these operations (and provide the user with feedback as to the current storage status). The GCS will send the MAV_CMD_REQUEST_MESSAGE command and it expects a COMMAND_ACK message back as well as a STORAGE_INFORMATION response. For formatting (or erasing depending on your implementation), the GCS will send a MAV_CMD_STORAGE_FORMAT command.

                                                                                                                                                                                                                        Camera Capture Status

                                                                                                                                                                                                                        In addition to querying about storage status, the GCS should also stream the Camera Capture Status in order to provide the user with proper UI indicators.

                                                                                                                                                                                                                        This can be done by sending a MAV_CMD_SET_MESSAGE_INTERVAL command asking for CAMERA_CAPTURE_STATUS. The command it expects a COMMAND_ACK message back and then CAMERA_CAPTURE_STATUS should be streamed at the specified rate.

                                                                                                                                                                                                                        Still Image Capture

                                                                                                                                                                                                                        A camera supports still image capture if the CAMERA_CAP_FLAGS_CAPTURE_IMAGE bit is set in CAMERA_INFORMATION.flags.

                                                                                                                                                                                                                        A GCS/MAVLink app uses the MAV_CMD_IMAGE_START_CAPTURE command to request that the camera capture a specified number of images (or forever), and the duration between them. The camera immediately returns the normal command acknowledgment (MAV_RESULT).

                                                                                                                                                                                                                        Each time an image is captured, the camera broadcasts a CAMERA_IMAGE_CAPTURED message. This message not only tells the GCS the image was captured, it is also intended for geo-tagging.

                                                                                                                                                                                                                        The camera must iterate CAMERA_IMAGE_CAPTURED.image_index and the counter used in CAMERA_CAPTURE_STATUS.image_count for every new image capture (these values iterate until explicitly cleared using MAV_CMD_STORAGE_FORMAT). The index and total image count can be used to re-request missing images (e.g. images captured when the vehicle was out of telemetry range).

                                                                                                                                                                                                                        The MAV_CMD_IMAGE_STOP_CAPTURE command can optionally be sent to stop an image capture sequence (this is needed if image capture has been set to continue forever).

                                                                                                                                                                                                                        The still image capture message sequence for missions (as described above) is shown below:

                                                                                                                                                                                                                        Mermaid Sequence: Image capture

                                                                                                                                                                                                                        The message sequence for interactive user-initiated image capture through a GUI is slightly different. In this case the GCS should:

                                                                                                                                                                                                                        The sequence is as shown below:

                                                                                                                                                                                                                        Mermaid Sequence: Interactive user initiated image capture

                                                                                                                                                                                                                        Request Lost CAMERA_IMAGE_CAPTURED Messages

                                                                                                                                                                                                                        The camera broadcasts a CAMERA_IMAGE_CAPTURED every time a new image is captured, iterating both the current image index (CAMERA_IMAGE_CAPTURED.image_index) and the total image count (CAMERA_CAPTURE_STATUS.image_count).

                                                                                                                                                                                                                        These messages can be lost during transmission; for example if the vehicle is out of data-link range of the ground stations.

                                                                                                                                                                                                                        Lost image capture messages can be detected by comparing GCS and camera image counts. Individual entries can be requested using MAV_CMD_REQUEST_MESSAGE, where param1="MAVLINK_MSG_ID_CAMERA_IMAGE_CAPTURED" and param2="the index of the missing image".

                                                                                                                                                                                                                        The camera image log iterates "forever" (but may be explicitly reset using MAV_CMD_STORAGE_FORMAT.param3=1).

                                                                                                                                                                                                                        Video Capture

                                                                                                                                                                                                                        A camera supports video capture if the CAMERA_CAP_FLAGS_CAPTURE_VIDEO bit is set in CAMERA_INFORMATION.flags.

                                                                                                                                                                                                                        To start recording videos, the GCS uses the MAV_CMD_VIDEO_START_CAPTURE command. If requested, the CAMERA_CAPTURE_STATUS message is sent to the GCS at a set interval.

                                                                                                                                                                                                                        To stop recording, the GCS uses the MAV_CMD_VIDEO_STOP_CAPTURE command.

                                                                                                                                                                                                                        Video Streaming

                                                                                                                                                                                                                        The GCS should already have identified all connected cameras by their heartbeat and followed the Camera Identification steps to get CAMERA_INFORMATION for every camera.

                                                                                                                                                                                                                        A camera is capable of streaming video if it sets the CAMERA_CAP_FLAGS_HAS_VIDEO_STREAM bit set in CAMERA_INFORMATION.flags.

                                                                                                                                                                                                                        The sequence for requesting all video streams from a particular camera is shown below:

                                                                                                                                                                                                                        Mermaid Sequence: Video stream info

                                                                                                                                                                                                                        The steps are:

                                                                                                                                                                                                                        1. GCS follows the Camera Identification steps to get CAMERA_INFORMATION for every camera.
                                                                                                                                                                                                                        2. GCS checks if CAMERA_INFORMATION.flags contains the CAMERA_CAP_FLAGS_HAS_VIDEO_STREAM flag.
                                                                                                                                                                                                                        3. If so, the GCS sends the MAV_CMD_REQUEST_MESSAGE message to the camera requesting the video streaming configuration (param1=269) for all streams (param2=0).

                                                                                                                                                                                                                          A GCS can also request information for a particular stream by setting its id in param2.

                                                                                                                                                                                                                        4. Camera returns a VIDEO_STREAM_INFORMATION message for the specified stream or all streams it supports.

                                                                                                                                                                                                                        If your camera only provides video streaming and nothing else (no camera features), the CAMERA_CAP_FLAGS_HAS_VIDEO_STREAM flag is the only flag you need to set. The GCS will then provide video streaming support and skip camera control.

                                                                                                                                                                                                                        Video Metadata

                                                                                                                                                                                                                        The protocol provides some information about video streaming support in CAMERA_CAP_FLAGS, such as support for video streaming (CAMERA_CAP_FLAGS_HAS_VIDEO_STREAM) and thermal range information (CAMERA_CAP_FLAGS_HAS_THERMAL_RANGE), In addition the VIDEO_STREAM_INFORMATION and VIDEO_STREAM_STATUS provide broad information about each stream, including its transport mechanism, encoding, resolution, frame rate, and status (VIDEO_STREAM_STATUS_FLAGS).

                                                                                                                                                                                                                        MAVLink does not specify any mechanism for getting frame-synchronized video metadata, such as absolute thermal values of thermal video streams, text-tracks, and so on. The following sections outline some MAVLink-centric methods for getting "approximate" video-synchronized metadata.

                                                                                                                                                                                                                        Camera absolute thermal range

                                                                                                                                                                                                                        A thermal video stream is often coloured as a heatmap in order to highlight hotter and colder sections. This heatmap is relative to the hottest and coldest points on the frame, so the hot sections are not necessarily hot, they are just hotter than their surroundings. If you're searching for things that have a specific temperature, it can be useful to know the absolute temperatures represented by the image.

                                                                                                                                                                                                                        The CAMERA_THERMAL_RANGE message can be streamed alongside a video stream to provide this information. The message includes the associated stream and camera id, along with the position and value of the maximum and minimum temperature in the video frame. That is sufficient to overlay the hottest and coldest points on a video, and in theory to determine the absolute temperature of all pixels.

                                                                                                                                                                                                                        The message is streamed alongside the video stream, but there is no precise mechanism to synchronize values to frames. The information is therefore an estimate/approximate.

                                                                                                                                                                                                                        The message can be requested for a particular camera and stream using the MAV_CMD_SET_MESSAGE_INTERVAL, when the associated VIDEO_STREAM_STATUS.flag for the stream has bit VIDEO_STREAM_STATUS_FLAGS_THERMAL_RANGE_ENABLED set. Note that MAV_CMD_SET_MESSAGE_INTERVAL.param3 indicates the stream id of the current camera, or 0 for all streams, while param4 indicates the target camera_device_id for autopilot-attached cameras or 0 for MAVLink cameras.

                                                                                                                                                                                                                        Camera Tracking

                                                                                                                                                                                                                        A camera may support tracking a point and/or a rectangle. Information about the tracked point can be streamed during tracking, and may be passed to a gimbal in order to move the camera to track the target (or control vehicle attitude to track the target).

                                                                                                                                                                                                                        Support for tracking different types of targets is indicated by the CAMERA_CAP_FLAGS_HAS_TRACKING_POINT and/or CAMERA_CAP_FLAGS_HAS_TRACKING_RECTANGLE flags in CAMERA_INFORMATION.flags.

                                                                                                                                                                                                                        To start camera tracking a GCS uses either the MAV_CMD_CAMERA_TRACK_POINT or MAV_CMD_CAMERA_TRACK_RECTANGLE command.

                                                                                                                                                                                                                        After starting camera tracking you should call MAV_CMD_SET_MESSAGE_INTERVAL to start streaming the CAMERA_TRACKING_IMAGE_STATUS message at your desired rate. This message contains information about the tracked point/rectangle in an image, and may be used by the receiving system to determine the location of the target (alongside other information like the CAMERA_FOV_STATUS).

                                                                                                                                                                                                                        If geo-tracking status information is supported (indicated by CAMERA_CAP_FLAGS_HAS_TRACKING_GEO_STATUS) you should also call MAV_CMD_SET_MESSAGE_INTERVAL to stream CAMERA_TRACKING_GEO_STATUS at your desired rate. This message provides the location of the target in physical co-ordinates that can be passed to a gimbal.

                                                                                                                                                                                                                        To stop any kind of tracking, a GCS uses the MAV_CMD_CAMERA_STOP_TRACKING command. After stopping tracking you should call MAV_CMD_SET_MESSAGE_INTERVAL to stop streaming CAMERA_TRACKING_IMAGE_STATUS and CAMERA_TRACKING_GEO_STATUS (set their rates to 0).

                                                                                                                                                                                                                        Camera tracking message sequence

                                                                                                                                                                                                                        The GCS should already have identified all connected cameras by their heartbeat and followed the Camera Identification steps to get CAMERA_INFORMATION for every camera.

                                                                                                                                                                                                                        The sequence for tracking a point is shown below (tracking a rectangle is the same sequence but a different tracking command).

                                                                                                                                                                                                                        Mermaid Sequence: tracking info

                                                                                                                                                                                                                        The steps are:

                                                                                                                                                                                                                        1. GCS follows the Camera Identification steps to get CAMERA_INFORMATION for every camera.
                                                                                                                                                                                                                        2. GCS checks if CAMERA_INFORMATION.flags contains the CAMERA_CAP_FLAGS_HAS_TRACKING_RECTANGLE, CAMERA_CAP_FLAGS_HAS_TRACKING_POINT, CAMERA_CAP_FLAGS_HAS_TRACKING_GEO_STATUS.
                                                                                                                                                                                                                        3. If tracking is supported the GCS sends the command to start the type of tracking it wants to do: MAV_CMD_CAMERA_TRACK_POINT or MAV_CMD_CAMERA_TRACK_RECTANGLE. The sequence above just shows point tracking.
                                                                                                                                                                                                                        4. Set the desired rates (intervals) for streaming the tracking status messages.
                                                                                                                                                                                                                        5. Camera streams CAMERA_TRACKING_IMAGE_STATUS and/or CAMERA_TRACKING_GEO_STATUS. These are used to provide camera targetting information.
                                                                                                                                                                                                                        6. To stop tracking, a GCS uses the MAV_CMD_CAMERA_STOP_TRACKING command. The streaming intervals must also be set to zero.

                                                                                                                                                                                                                        Battery Status

                                                                                                                                                                                                                        Camera components that are powered from their own battery should publish BATTERY_STATUS messages.

                                                                                                                                                                                                                        Other components like a GCS will typically only use the camera BATTERY_STATUS.battery_remaining field (or possibly time_remaining); generally other fields can be set as "not supported".

                                                                                                                                                                                                                        Message/Command/Enum Summary

                                                                                                                                                                                                                        Messages

                                                                                                                                                                                                                        MessageDescription
                                                                                                                                                                                                                        CAMERA_INFORMATIONBasic information about camera including supported features and URI link to extended information (cam_definition_uri field).
                                                                                                                                                                                                                        CAMERA_SETTINGSTimestamp and camera mode information.
                                                                                                                                                                                                                        VIDEO_STREAM_INFORMATIONInformation defining a video stream configuration. If a camera has more than one video stream, it would send one of this for each video stream, with their specific configuration. Each stream must have its own, unique stream_id.
                                                                                                                                                                                                                        VIDEO_STREAM_STATUSInformation updating a video stream configuration.
                                                                                                                                                                                                                        STORAGE_INFORMATIONStorage information (e.g. number and type of storage devices, total/used/available capacity, read/write speeds).
                                                                                                                                                                                                                        CAMERA_CAPTURE_STATUSCamera capture status, including current capture type (if any), capture interval, available capacity.
                                                                                                                                                                                                                        CAMERA_IMAGE_CAPTUREDInformation about image captured (returned to GPS every time an image is captured).
                                                                                                                                                                                                                        CAMERA_FOV_STATUSInformation about the field of view of a camera. Requested using MAV_CMD_REQUEST_MESSAGE.
                                                                                                                                                                                                                        CAMERA_TRACKING_IMAGE_STATUSCamera tracking status, sent while in active tracking. Use MAV_CMD_SET_MESSAGE_INTERVAL to define message interval.
                                                                                                                                                                                                                        CAMERA_TRACKING_GEO_STATUSCamera tracking status, sent while in active tracking. Use MAV_CMD_SET_MESSAGE_INTERVAL to define message interval.
                                                                                                                                                                                                                        CAMERA_THERMAL_RANGECamera absolute thermal range. This provides value and position of max/min temperature in a video stream, allowing thermal range of video to be calibrated to absolute rather than relative temperature. Use MAV_CMD_SET_MESSAGE_INTERVAL to define message interval for a particular camera and stream.

                                                                                                                                                                                                                        Commands

                                                                                                                                                                                                                        CommandDescription
                                                                                                                                                                                                                        MAV_CMD_REQUEST_MESSAGESend command to request any message (used to request CAMERA_INFORMATION and the other messages above)
                                                                                                                                                                                                                        MAV_CMD_SET_CAMERA_MODESend command to set CAMERA_MODE.
                                                                                                                                                                                                                        MAV_CMD_IMAGE_START_CAPTURESend command to start image capture, specifying the duration between captures and total number of images to capture.
                                                                                                                                                                                                                        MAV_CMD_IMAGE_STOP_CAPTURESend command to stop image capture.
                                                                                                                                                                                                                        MAV_CMD_VIDEO_START_CAPTURESend command to start video capture, specifying the frequency that CAMERA_CAPTURE_STATUS messages should be sent while recording.
                                                                                                                                                                                                                        MAV_CMD_VIDEO_STOP_CAPTURESend command to stop video capture.
                                                                                                                                                                                                                        MAV_CMD_VIDEO_START_STREAMINGSend command to start video streaming for the given Stream ID (stream_id.) This is mostly for streaming protocols that push a stream. If your camera uses a connection based streaming configuration (RTSP, TCP, etc.), you may ignore it if you don't need it but note that you still must ACK the command, like all MAV_CMD_XXX commands. When using a connection based streaming configuration, the GCS will connect the stream from its side. When a camera offers more than one stream and the user switches from one stream to another, the GCS will send a MAV_CMD_VIDEO_STOP_STREAMING command targeting the current Stream ID followed by a MAV_CMD_VIDEO_START_STREAMING targeting the newly selected Stream ID.
                                                                                                                                                                                                                        MAV_CMD_VIDEO_STOP_STREAMINGSend command to stop video streaming for the given Stream ID (stream_id.) This is mostly for streaming protocols that push a stream. If your camera uses a connection based streaming configuration (RTSP, TCP, etc.), you may ignore it if you don't need it but note that you still must ACK the command, like all MAV_CMD_XXX commands. When using a connection based streaming configuration, the GCS will disconnect the stream from its side. When a camera offers more than one stream and the user switches from one stream to another, the GCS will send a MAV_CMD_VIDEO_STOP_STREAMING command targeting the current Stream ID followed by a MAV_CMD_VIDEO_START_STREAMING targeting the newly selected Stream ID.
                                                                                                                                                                                                                        MAV_CMD_CAMERA_TRACK_POINTInitate visual point tracking, if supported by the camera (CAMERA_CAP_FLAGS_HAS_TRACKING_POINT is set).
                                                                                                                                                                                                                        MAV_CMD_CAMERA_TRACK_RECTANGLEInitiate visual rectangle tracking, if supported by the camera (CAMERA_CAP_FLAGS_HAS_TRACKING_RECTANGLE is set).
                                                                                                                                                                                                                        MAV_CMD_CAMERA_STOP_TRACKINGStop camera tracking (as initiated using MAV_CMD_CAMERA_TRACK_POINT or MAV_CMD_CAMERA_TRACK_RECTANGLE).

                                                                                                                                                                                                                        Deprecated Commands

                                                                                                                                                                                                                        These commands have been deprecated, replaced by the generic requester command MAV_CMD_REQUEST_MESSAGE

                                                                                                                                                                                                                        CommandDescription
                                                                                                                                                                                                                        MAV_CMD_REQUEST_CAMERA_SETTINGSSend command to request CAMERA_SETTINGS.
                                                                                                                                                                                                                        MAV_CMD_REQUEST_CAMERA_INFORMATIONSend command to request CAMERA_INFORMATION.
                                                                                                                                                                                                                        MAV_CMD_REQUEST_VIDEO_STREAM_INFORMATIONSend command to request VIDEO_STREAM_INFORMATION. This is sent once for each camera when a camera is detected and it has set the CAMERA_CAP_FLAGS_HAS_VIDEO_STREAM flag within the CAMERA_INFORMATION message flags field.
                                                                                                                                                                                                                        MAV_CMD_REQUEST_VIDEO_STREAM_STATUSSend command to request VIDEO_STREAM_STATUS. This is sent whenever there is a mode change (when MAV_CMD_SET_CAMERA_MODE is sent.) It allows the camera to update the stream configuration when a camera mode change occurs.
                                                                                                                                                                                                                        MAV_CMD_REQUEST_STORAGE_INFORMATIONSend command to request STORAGE_INFORMATION.
                                                                                                                                                                                                                        MAV_CMD_REQUEST_CAMERA_CAPTURE_STATUSSend command to request CAMERA_CAPTURE_STATUS.

                                                                                                                                                                                                                        Enum

                                                                                                                                                                                                                        EnumDescription
                                                                                                                                                                                                                        CAMERA_CAP_FLAGSCamera capability flags (Bitmap). For example: ability to capture images in video mode, support for survey mode etc. Received in CAMERA_INFORMATION.
                                                                                                                                                                                                                        CAMERA_MODECamera mode (image, video, survey etc.). Received in CAMERA_SETTINGS.
                                                                                                                                                                                                                        VIDEO_STREAM_TYPEType of stream - e.g. RTSP, MPEG. Received in VIDEO_STREAM_INFORMATION.
                                                                                                                                                                                                                        VIDEO_STREAM_STATUS_FLAGSBitmap of stream status flags - e.g. zoom, thermal imaging, etc. Received in VIDEO_STREAM_INFORMATION.
                                                                                                                                                                                                                        CAMERA_TRACKING_STATUS_FLAGSCurrent tracking status. Received in CAMERA_TRACKING_IMAGE_STATUS amd CAMERA_TRACKING_GEO_STATUS.
                                                                                                                                                                                                                        CAMERA_TRACKING_MODECurrent tracking mode. Received in CAMERA_TRACKING_IMAGE_STATUS.
                                                                                                                                                                                                                        CAMERA_TRACKING_TARGET_DATAIndicates how target data is encoded in image. Received in CAMERA_TRACKING_IMAGE_STATUS.

                                                                                                                                                                                                                        Migration Notes for GCS & MAVLink SDKs

                                                                                                                                                                                                                        The original definition of this protocol used specific commands to query for each type of information requested from the camera: MAV_CMD_REQUEST_CAMERA_INFORMATION (for CAMERA_INFORMATION), MAV_CMD_REQUEST_CAMERA_SETTINGS, MAV_CMD_REQUEST_CAMERA_CAPTURE_STATUS, MAV_CMD_REQUEST_VIDEO_STREAM_INFORMATION, MAV_CMD_REQUEST_STORAGE_INFORMATION.

                                                                                                                                                                                                                        The latest version replaces all of these specific commands with the general requestor MAV_CMD_REQUEST_MESSAGE.

                                                                                                                                                                                                                        The transition works like this:

                                                                                                                                                                                                                        1. Cameras need to handle both approaches for now (i.e. support both new generic and old specific commands).
                                                                                                                                                                                                                        2. Ground stations will move from using the old specific commands to using both. They can try the new one and if they don't get an answer within a timeout they need to fall back to the previous command.
                                                                                                                                                                                                                        3. After the new commands have been established in server and ground stations, the old specific commands may be removed from the implementations.

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                                                                                                                                                                                                                              Camera Protocol v1: Camera Triggering

                                                                                                                                                                                                                              The MAVLink Camera Protocol v1 defines a set of commands for configuring a camera to capture images at a particular time or distance interval, and to start/stop/pause/reset triggering. It also includes commands to configure/control a video camera.

                                                                                                                                                                                                                              This API has been superseded by Camera Protocol v2, which provides a more natural set of commands for using a camera, along with a comprehensive API for querying camera capabilities. This API is used by some older MAVLink cameras, and can be supported in parallel with the new protocol.

                                                                                                                                                                                                                              The protocol can be used to control cameras attached to autopilot outputs or standalone MAVLink cameras that support this protocol

                                                                                                                                                                                                                              A standalone MAVLink camera that needs to interact with a ground station must be able to send and recieve MAVLink messages from the ground station. If the GCS and Camera are connected to the flight stack on different MAVLink channels then the flight stack will need to forward messages between them.

                                                                                                                                                                                                                              If the MAVLink camera does not emit the CAMERA_TRIGGER message on image capture then the flight stack may need to do this on its behalf.

                                                                                                                                                                                                                              When processing a mission, the flight stack should re-emit camera command items using the command protocol (in order to trigger a connected MAVLink camera). The commands should be addressed to the same system ID as the autopilot, and with MAV_COMP_ID_ALL as the component ID. This ensures that any and all MAVLink cameras associated with the system will be triggered.

                                                                                                                                                                                                                              Note that setting the component ID to MAV_COMP_ID_CAMERA is not recommended, as a camera does not have to use this component ID.

                                                                                                                                                                                                                              Flight Controller Connected Cameras

                                                                                                                                                                                                                              The commands can be used to control a camera attached to autopilot outputs.

                                                                                                                                                                                                                              A GCS should address the commands to the autopilot component, which will need to trigger the connected camera appropriately. The flight stack will also need to trigger the camera when the commands are found in a mission.

                                                                                                                                                                                                                              Note that a flight stack implementation can generally trigger attached cameras and emit a MAVLink command in missions. If a connected camera and MAVLink camera are connected, both with be triggered.

                                                                                                                                                                                                                              Message/Command Summary

                                                                                                                                                                                                                              Image Capture

                                                                                                                                                                                                                              CommandDescription
                                                                                                                                                                                                                              MAV_CMD_DO_SET_CAM_TRIGG_INTERVALSet time interval between captures.
                                                                                                                                                                                                                              MAV_CMD_DO_SET_CAM_TRIGG_DISTSet distance between image captures (or trigger once, immediately).
                                                                                                                                                                                                                              MAV_CMD_DO_TRIGGER_CONTROLStart/stop capturing images (using distance or time, as defined using above messages).
                                                                                                                                                                                                                              MAV_CMD_OBLIQUE_SURVEYStart/stop/configure an camera mount pivoting oblique survey.
                                                                                                                                                                                                                              MessageDescription
                                                                                                                                                                                                                              CAMERA_TRIGGERCamera-IMU triggering and synchronisation message. Should be emitted when an image is captured. Depending on the camera integration this might be when the camera is commanded to capture an image and or when the camera provides feedback that it has been triggered.

                                                                                                                                                                                                                              Video Capture

                                                                                                                                                                                                                              CommandDescription
                                                                                                                                                                                                                              MAV_CMD_DO_DIGICAM_CONFIGUREConfigure digital camera features such as ISO, aperture, etc. Replaced by Camera Definition Files in Camera Protocol v2.
                                                                                                                                                                                                                              MAV_CMD_DO_DIGICAM_CONTROLControl digital camera features such as zoom, focus, shooting. Replaced by basic camera commands and Camera Definition Files in Camera Protocol v2.

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                                                                                                                                                                                                                                Camera Protocol v1: Camera Triggering

                                                                                                                                                                                                                                The MAVLink Camera Protocol v1 defines a set of commands for configuring a camera to capture images at a particular time or distance interval, and to start/stop/pause/reset triggering. It also includes commands to configure/control a video camera.

                                                                                                                                                                                                                                This API has been superseded by Camera Protocol v2, which provides a more natural set of commands for using a camera, along with a comprehensive API for querying camera capabilities. This API is used by some older MAVLink cameras, and can be supported in parallel with the new protocol.

                                                                                                                                                                                                                                The protocol can be used to control cameras attached to autopilot outputs or standalone MAVLink cameras that support this protocol

                                                                                                                                                                                                                                A standalone MAVLink camera that needs to interact with a ground station must be able to send and recieve MAVLink messages from the ground station. If the GCS and Camera are connected to the flight stack on different MAVLink channels then the flight stack will need to forward messages between them.

                                                                                                                                                                                                                                If the MAVLink camera does not emit the CAMERA_TRIGGER message on image capture then the flight stack may need to do this on its behalf.

                                                                                                                                                                                                                                When processing a mission, the flight stack should re-emit camera command items using the command protocol (in order to trigger a connected MAVLink camera). The commands should be addressed to the same system ID as the autopilot, and with MAV_COMP_ID_ALL as the component ID. This ensures that any and all MAVLink cameras associated with the system will be triggered.

                                                                                                                                                                                                                                Note that setting the component ID to MAV_COMP_ID_CAMERA is not recommended, as a camera does not have to use this component ID.

                                                                                                                                                                                                                                Flight Controller Connected Cameras

                                                                                                                                                                                                                                The commands can be used to control a camera attached to autopilot outputs.

                                                                                                                                                                                                                                A GCS should address the commands to the autopilot component, which will need to trigger the connected camera appropriately. The flight stack will also need to trigger the camera when the commands are found in a mission.

                                                                                                                                                                                                                                Note that a flight stack implementation can generally trigger attached cameras and emit a MAVLink command in missions. If a connected camera and MAVLink camera are connected, both with be triggered.

                                                                                                                                                                                                                                Message/Command Summary

                                                                                                                                                                                                                                Image Capture

                                                                                                                                                                                                                                CommandDescription
                                                                                                                                                                                                                                MAV_CMD_DO_SET_CAM_TRIGG_INTERVALSet time interval between captures.
                                                                                                                                                                                                                                MAV_CMD_DO_SET_CAM_TRIGG_DISTSet distance between image captures (or trigger once, immediately).
                                                                                                                                                                                                                                MAV_CMD_DO_TRIGGER_CONTROLStart/stop capturing images (using distance or time, as defined using above messages).
                                                                                                                                                                                                                                MAV_CMD_OBLIQUE_SURVEYStart/stop/configure an camera mount pivoting oblique survey.
                                                                                                                                                                                                                                MessageDescription
                                                                                                                                                                                                                                CAMERA_TRIGGERCamera-IMU triggering and synchronisation message. Should be emitted when an image is captured. Depending on the camera integration this might be when the camera is commanded to capture an image and or when the camera provides feedback that it has been triggered.

                                                                                                                                                                                                                                Video Capture

                                                                                                                                                                                                                                CommandDescription
                                                                                                                                                                                                                                MAV_CMD_DO_DIGICAM_CONFIGUREConfigure digital camera features such as ISO, aperture, etc. Replaced by Camera Definition Files in Camera Protocol v2.
                                                                                                                                                                                                                                MAV_CMD_DO_DIGICAM_CONTROLControl digital camera features such as zoom, focus, shooting. Replaced by basic camera commands and Camera Definition Files in Camera Protocol v2.

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                                                                                                                                                                                                                                  \ No newline at end of file diff --git a/en/services/command.html b/en/services/command.html index 4e80cf8e9..f6286ffbc 100644 --- a/en/services/command.html +++ b/en/services/command.html @@ -1 +1 @@ -Command Protocol · MAVLink Developer Guide
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                                                                                                                                                                                                                                  Command Protocol

                                                                                                                                                                                                                                  The MAVLink command protocol allows guaranteed delivery of MAVLink commands.

                                                                                                                                                                                                                                  Commands are values of MAV_CMD that define the values of up to 7 parameters. These parameters and the command id are encoded in COMMAND_INT or COMMAND_LONG for sending.

                                                                                                                                                                                                                                  The protocol provides reliable delivery by expecting a matching acknowledgement (COMMAND_ACK) from commands to indicate command arrival, and result. If no acknowledgement is received the command must be automatically re-sent.

                                                                                                                                                                                                                                  Message/Enum Summary

                                                                                                                                                                                                                                  MessageDescription
                                                                                                                                                                                                                                  COMMAND_INTMessage for encoding a command (MAV_CMD). The message encodes commands into up to 7 parameters: parameters 1-4, 7 are floats, and parameters 5,6 are scaled integers. The scaled integers are used for positional information (scaling depends on the actual command value). The coordinate frame of positional parameters is explicitly specified in a frame field. Commands that require float-only properties in parameters 5, 6 cannot be sent in this message (e.g. commands where NaN has an explicit meaning).
                                                                                                                                                                                                                                  COMMAND_LONGMessage for encoding a command (MAV_CMD). The mesage encodes commands into up to 7 float parameters. The coordinate frame used for positional co-ordinates is implementation dependent. Any command may be packaged in this message, but there may be some loss of precision for positional co-ordinates (latitude, longitude).
                                                                                                                                                                                                                                  COMMAND_ACKCommand acknowledgement. Includes result (success, failure, still in progress) and may include progress information and additional detail about failure reasons.
                                                                                                                                                                                                                                  COMMAND_CANCELCancel a long running command.
                                                                                                                                                                                                                                  EnumDescription
                                                                                                                                                                                                                                  MAV_CMDCommands to be executed/sent in the command messages.
                                                                                                                                                                                                                                  MAV_FRAMECoordinate frame. Used in COMMAND_INT to specify the co-ordinate frame of any positional parameters.
                                                                                                                                                                                                                                  MAV_RESULTResult of command, included in COMMAND_ACK.result.

                                                                                                                                                                                                                                  Use COMMAND_INT or COMMAND_LONG?

                                                                                                                                                                                                                                  COMMAND_INT should be used when sending commands that contain positional or navigation information, if supported by the flight stack for the particular command. This is because it allows the co-ordinate frame to be specified for location and altitude values, which may otherwise be "unspecified". In addition latitudes/longitudes can be sent with greater precision in a COMMAND_INT as scaled integers in params 5 and 6 (than when sent in float values in COMMAND_LONG).

                                                                                                                                                                                                                                  COMMAND_LONG must be used for sending MAV_CMD commands that send float properties in parameters 5 and 6, as these values would be truncated to integers if sent in COMMAND_INT.

                                                                                                                                                                                                                                  Commands that are not positional or that specify integers in params 5 and 6 can be used in either message, if supported by the flight stack.

                                                                                                                                                                                                                                  Flight stacks may support commands in either message COMMAND_INT or COMMAND_LONG or both, albeit with a loss of precision, rounding errors, and/or undefined frames of reference. However they are encouraged to only support positional commands in COMMAND_INT, and commands that have float values in param 5 and 6 in COMMAND_LONG. The flight stack can reject commands sent in the "wrong" message type using the COMMAND_ACK.result of MAV_RESULT_COMMAND_LONG_ONLY or MAV_RESULT_COMMAND_INT_ONLY, as appropriate. Flight stacks that only support a particular command in a particular message type can more generally use these result values to indicate the correct message type for a command.

                                                                                                                                                                                                                                  Sequences

                                                                                                                                                                                                                                  COMMAND_INT sequence

                                                                                                                                                                                                                                  Mermaid Sequence: Command INT

                                                                                                                                                                                                                                  The request is sent by the ground station encoded within a COMMAND_INT. The drone processes the request and responds quickly with a COMMAND_ACK indicating the result. The result is that the command has been accepted (COMMAND_ACK.result=MAV_RESULT_ACCEPTED), has been accepted and is in progress (MAV_RESULT_IN_PROGRESS) or it has been rejected with some reason code. Note that "accepted" means that the command is valid and the flight stack will attempt to act on it, not that the command has completed. Most commands just return "accepted" (they are not implemented as long running commands).

                                                                                                                                                                                                                                  COMMAND_ACK.result_param2 may also include additional information about the reason for command rejection in a command-specific enum.

                                                                                                                                                                                                                                  If no ACK is received the GCS will resend COMMAND_INT for a flight-specific number of times before giving up.

                                                                                                                                                                                                                                  COMMAND_LONG sequence

                                                                                                                                                                                                                                  Mermaid Sequence: Command Long

                                                                                                                                                                                                                                  If the command drops the sender should increase the confirmation field:

                                                                                                                                                                                                                                  Mermaid Sequence: increase confirmation field

                                                                                                                                                                                                                                  Long Running Commands

                                                                                                                                                                                                                                  Some commands are long running, and cannot complete immediately. The drone reports its progress by sending COMMMAND_ACK messages with COMMAND_ACK.result=MAV_RESULT_IN_PROGRESS and the progress as a percentage in COMMMAND_ACK.progress ([0-100] percent complete, 255 if progress not supplied). When the operation completes, the drone must terminate with a COMMMAND_ACK containing the final result of the operation: MAV_RESULT_ACCEPTED, MAV_RESULT_FAILED, MAV_RESULT_CANCELLED).

                                                                                                                                                                                                                                  Mermaid Sequence: MAV_RESULT_IN_PROGRESS

                                                                                                                                                                                                                                  Long running operations may be cancelled by sending the COMMAND_CANCEL message. The drone should cancel the operation and complete the sequence by sending COMMAND_ACK with COMMAND_ACK.result=MAV_RESULT_CANCELLED

                                                                                                                                                                                                                                  • If cancellation is not supported the drone can just continue to send progress updates until completion.
                                                                                                                                                                                                                                  • If the sequence has already completed (or is idle) the cancel command should be ignored.

                                                                                                                                                                                                                                  The rate at which progress messages are emitted is system-dependent. Generally though, the GCS should have a much increased timeout after receiving an ACK with MAV_RESULT_IN_PROGRESS.

                                                                                                                                                                                                                                  If a timeout is triggered when waiting for a progress or completion update, the GCS should terminate the sequence (return to the idle state) and notify the user if appropriate.

                                                                                                                                                                                                                                  Only one instance of a particular long running command can execute at a time; to restart a long running operation (i.e. with new parameters) it must first be cancelled! If the same command is recieved while the operation is in progress the new command should be ACKed with MAV_RESULT_TEMPORARILY_REJECTED (to indicate that the target is busy).

                                                                                                                                                                                                                                  The protocol allows for different long running commands to run in parallel, if supported by the state machine of the recieving flight stack. If a flight stack does not support multiple commands running in parallel it should ACK new commands with MAV_RESULT_TEMPORARILY_REJECTED (with the possible exception of the COMMAND_CANCEL, which might be used to cancel the first request).

                                                                                                                                                                                                                                  Location Commands and Frame Types

                                                                                                                                                                                                                                  Commands that contain a location or altitude should be sent in COMMAND_INT so that the frame can be specified in the COMMAND_INT.frame field (as outlined above). If sent in COMMAND_LONG the frame is arbitrary, and cannot be predicted.

                                                                                                                                                                                                                                  A flight stack that does not support the frame specified in a command (if required by command) should reject it with the MAV_RESULT of MAV_RESULT_COMMAND_UNSUPPORTED_MAV_FRAME. This allows consumers to attempt the same command with other frames. Flight stacks that return MAV_RESULT_COMMAND_UNSUPPORTED for this case should be updated to use MAV_RESULT_COMMAND_UNSUPPORTED_MAV_FRAME.

                                                                                                                                                                                                                                  Note that it is an error to ignore the specified frame and use some other arbitrary frame.

                                                                                                                                                                                                                                  Designing Commands

                                                                                                                                                                                                                                  Guidance for designing commands can be found in Defining XML Elements > Command values.

                                                                                                                                                                                                                                  At high level:

                                                                                                                                                                                                                                  • Commands that include location information should specify latitude in Param 5, Longitude in param 6, and Altitude in param 7. This allows them to be sent in COMMAND_INT with higher precision.
                                                                                                                                                                                                                                  • Otherwise it is desirable to be able to send commands in either command message. Therefore use param 5 and 6 for integers rather than floats if possible. If reserving values, then consider choosing to reserve params 5 and 6, and reserve them with a default value of 0.

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                                                                                                                                                                                                                                    Command Protocol

                                                                                                                                                                                                                                    The MAVLink command protocol allows guaranteed delivery of MAVLink commands.

                                                                                                                                                                                                                                    Commands are values of MAV_CMD that define the values of up to 7 parameters. These parameters and the command id are encoded in COMMAND_INT or COMMAND_LONG for sending.

                                                                                                                                                                                                                                    The protocol provides reliable delivery by expecting a matching acknowledgement (COMMAND_ACK) from commands to indicate command arrival, and result. If no acknowledgement is received the command must be automatically re-sent.

                                                                                                                                                                                                                                    Message/Enum Summary

                                                                                                                                                                                                                                    MessageDescription
                                                                                                                                                                                                                                    COMMAND_INTMessage for encoding a command (MAV_CMD). The message encodes commands into up to 7 parameters: parameters 1-4, 7 are floats, and parameters 5,6 are scaled integers. The scaled integers are used for positional information (scaling depends on the actual command value). The coordinate frame of positional parameters is explicitly specified in a frame field. Commands that require float-only properties in parameters 5, 6 cannot be sent in this message (e.g. commands where NaN has an explicit meaning).
                                                                                                                                                                                                                                    COMMAND_LONGMessage for encoding a command (MAV_CMD). The mesage encodes commands into up to 7 float parameters. The coordinate frame used for positional co-ordinates is implementation dependent. Any command may be packaged in this message, but there may be some loss of precision for positional co-ordinates (latitude, longitude).
                                                                                                                                                                                                                                    COMMAND_ACKCommand acknowledgement. Includes result (success, failure, still in progress) and may include progress information and additional detail about failure reasons.
                                                                                                                                                                                                                                    COMMAND_CANCELCancel a long running command.
                                                                                                                                                                                                                                    EnumDescription
                                                                                                                                                                                                                                    MAV_CMDCommands to be executed/sent in the command messages.
                                                                                                                                                                                                                                    MAV_FRAMECoordinate frame. Used in COMMAND_INT to specify the co-ordinate frame of any positional parameters.
                                                                                                                                                                                                                                    MAV_RESULTResult of command, included in COMMAND_ACK.result.

                                                                                                                                                                                                                                    Use COMMAND_INT or COMMAND_LONG?

                                                                                                                                                                                                                                    COMMAND_INT should be used when sending commands that contain positional or navigation information, if supported by the flight stack for the particular command. This is because it allows the co-ordinate frame to be specified for location and altitude values, which may otherwise be "unspecified". In addition latitudes/longitudes can be sent with greater precision in a COMMAND_INT as scaled integers in params 5 and 6 (than when sent in float values in COMMAND_LONG).

                                                                                                                                                                                                                                    COMMAND_LONG must be used for sending MAV_CMD commands that send float properties in parameters 5 and 6, as these values would be truncated to integers if sent in COMMAND_INT.

                                                                                                                                                                                                                                    Commands that are not positional or that specify integers in params 5 and 6 can be used in either message, if supported by the flight stack.

                                                                                                                                                                                                                                    Flight stacks may support commands in either message COMMAND_INT or COMMAND_LONG or both, albeit with a loss of precision, rounding errors, and/or undefined frames of reference. However they are encouraged to only support positional commands in COMMAND_INT, and commands that have float values in param 5 and 6 in COMMAND_LONG. The flight stack can reject commands sent in the "wrong" message type using the COMMAND_ACK.result of MAV_RESULT_COMMAND_LONG_ONLY or MAV_RESULT_COMMAND_INT_ONLY, as appropriate. Flight stacks that only support a particular command in a particular message type can more generally use these result values to indicate the correct message type for a command.

                                                                                                                                                                                                                                    Sequences

                                                                                                                                                                                                                                    COMMAND_INT sequence

                                                                                                                                                                                                                                    Mermaid Sequence: Command INT

                                                                                                                                                                                                                                    The request is sent by the ground station encoded within a COMMAND_INT. The drone processes the request and responds quickly with a COMMAND_ACK indicating the result. The result is that the command has been accepted (COMMAND_ACK.result=MAV_RESULT_ACCEPTED), has been accepted and is in progress (MAV_RESULT_IN_PROGRESS) or it has been rejected with some reason code. Note that "accepted" means that the command is valid and the flight stack will attempt to act on it, not that the command has completed. Most commands just return "accepted" (they are not implemented as long running commands).

                                                                                                                                                                                                                                    COMMAND_ACK.result_param2 may also include additional information about the reason for command rejection in a command-specific enum.

                                                                                                                                                                                                                                    If no ACK is received the GCS will resend COMMAND_INT for a flight-specific number of times before giving up.

                                                                                                                                                                                                                                    COMMAND_LONG sequence

                                                                                                                                                                                                                                    Mermaid Sequence: Command Long

                                                                                                                                                                                                                                    If the command drops the sender should increase the confirmation field:

                                                                                                                                                                                                                                    Mermaid Sequence: increase confirmation field

                                                                                                                                                                                                                                    Long Running Commands

                                                                                                                                                                                                                                    Some commands are long running, and cannot complete immediately. The drone reports its progress by sending COMMMAND_ACK messages with COMMAND_ACK.result=MAV_RESULT_IN_PROGRESS and the progress as a percentage in COMMMAND_ACK.progress ([0-100] percent complete, 255 if progress not supplied). When the operation completes, the drone must terminate with a COMMMAND_ACK containing the final result of the operation: MAV_RESULT_ACCEPTED, MAV_RESULT_FAILED, MAV_RESULT_CANCELLED).

                                                                                                                                                                                                                                    Mermaid Sequence: MAV_RESULT_IN_PROGRESS

                                                                                                                                                                                                                                    Long running operations may be cancelled by sending the COMMAND_CANCEL message. The drone should cancel the operation and complete the sequence by sending COMMAND_ACK with COMMAND_ACK.result=MAV_RESULT_CANCELLED

                                                                                                                                                                                                                                    • If cancellation is not supported the drone can just continue to send progress updates until completion.
                                                                                                                                                                                                                                    • If the sequence has already completed (or is idle) the cancel command should be ignored.

                                                                                                                                                                                                                                    The rate at which progress messages are emitted is system-dependent. Generally though, the GCS should have a much increased timeout after receiving an ACK with MAV_RESULT_IN_PROGRESS.

                                                                                                                                                                                                                                    If a timeout is triggered when waiting for a progress or completion update, the GCS should terminate the sequence (return to the idle state) and notify the user if appropriate.

                                                                                                                                                                                                                                    Only one instance of a particular long running command can execute at a time; to restart a long running operation (i.e. with new parameters) it must first be cancelled! If the same command is recieved while the operation is in progress the new command should be ACKed with MAV_RESULT_TEMPORARILY_REJECTED (to indicate that the target is busy).

                                                                                                                                                                                                                                    The protocol allows for different long running commands to run in parallel, if supported by the state machine of the recieving flight stack. If a flight stack does not support multiple commands running in parallel it should ACK new commands with MAV_RESULT_TEMPORARILY_REJECTED (with the possible exception of the COMMAND_CANCEL, which might be used to cancel the first request).

                                                                                                                                                                                                                                    Location Commands and Frame Types

                                                                                                                                                                                                                                    Commands that contain a location or altitude should be sent in COMMAND_INT so that the frame can be specified in the COMMAND_INT.frame field (as outlined above). If sent in COMMAND_LONG the frame is arbitrary, and cannot be predicted.

                                                                                                                                                                                                                                    A flight stack that does not support the frame specified in a command (if required by command) should reject it with the MAV_RESULT of MAV_RESULT_COMMAND_UNSUPPORTED_MAV_FRAME. This allows consumers to attempt the same command with other frames. Flight stacks that return MAV_RESULT_COMMAND_UNSUPPORTED for this case should be updated to use MAV_RESULT_COMMAND_UNSUPPORTED_MAV_FRAME.

                                                                                                                                                                                                                                    Note that it is an error to ignore the specified frame and use some other arbitrary frame.

                                                                                                                                                                                                                                    Designing Commands

                                                                                                                                                                                                                                    Guidance for designing commands can be found in Defining XML Elements > Command values.

                                                                                                                                                                                                                                    At high level:

                                                                                                                                                                                                                                    • Commands that include location information should specify latitude in Param 5, Longitude in param 6, and Altitude in param 7. This allows them to be sent in COMMAND_INT with higher precision.
                                                                                                                                                                                                                                    • Otherwise it is desirable to be able to send commands in either command message. Therefore use param 5 and 6 for integers rather than floats if possible. If reserving values, then consider choosing to reserve params 5 and 6, and reserve them with a default value of 0.

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                                                                                                                                                                                                                                      Hosting Translations

                                                                                                                                                                                                                                      Any server can be used to host translations. The following example uses github.com, as it is easy to set up, automate, and download files.

                                                                                                                                                                                                                                      The example repository is https://github.com/PX4/PX4-Metadata-Translations:

                                                                                                                                                                                                                                      Open Issues

                                                                                                                                                                                                                                      Schema Management

                                                                                                                                                                                                                                      Schema management has not yet been signed off.

                                                                                                                                                                                                                                      Guaranteed Availablility of Component Information

                                                                                                                                                                                                                                      There is a concern that vehicles reliant on internet-hosted component information files may stop working if the hosting ceases.

                                                                                                                                                                                                                                      This can generally be avoided by hosting the files compressed on-vehicle.

                                                                                                                                                                                                                                      We propose that manufacturers that use autopilots with limited flash (1MB or below) and do custom firmware development should host the files in github.

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                                                                                                                                                                                                                                        Hosting Translations

                                                                                                                                                                                                                                        Any server can be used to host translations. The following example uses github.com, as it is easy to set up, automate, and download files.

                                                                                                                                                                                                                                        The example repository is https://github.com/PX4/PX4-Metadata-Translations:

                                                                                                                                                                                                                                        Open Issues

                                                                                                                                                                                                                                        Schema Management

                                                                                                                                                                                                                                        Schema management has not yet been signed off.

                                                                                                                                                                                                                                        Guaranteed Availablility of Component Information

                                                                                                                                                                                                                                        There is a concern that vehicles reliant on internet-hosted component information files may stop working if the hosting ceases.

                                                                                                                                                                                                                                        This can generally be avoided by hosting the files compressed on-vehicle.

                                                                                                                                                                                                                                        We propose that manufacturers that use autopilots with limited flash (1MB or below) and do custom firmware development should host the files in github.

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                                                                                                                                                                                                                                          \ No newline at end of file diff --git a/en/services/events.html b/en/services/events.html index 520a63ed1..c95d52fdf 100644 --- a/en/services/events.html +++ b/en/services/events.html @@ -1 +1 @@ -Events Interface (WIP) · MAVLink Developer Guide
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                                                                                                                                                                                                                                          Events Interface (WIP)

                                                                                                                                                                                                                                          The Events Interface is a work in progress and may change. It has an initial implementation in PX4 and QGroundControl and is planned for ArduPilot.

                                                                                                                                                                                                                                          The information below is just an overview. Full details of the interface are provided in the: Events Interface Proposal

                                                                                                                                                                                                                                          The Events Interface is a generic and flexible mechanism that allows one component to reliably notify a GCS (or any other component) of sporadic events and state changes. For example, the interface might be used notifying of arming readiness, calibration completion, and reaching the target takeoff height.

                                                                                                                                                                                                                                          The interface provides for both common events that are shared by flight stacks or other components, and events that are specific to an implementation. MAVLink "common" events are defined in mavlink/libevents/events/common.json.

                                                                                                                                                                                                                                          The events interface is intended to replace the widespread use of STATUSTEXT messages, which are not really fit for purpose.

                                                                                                                                                                                                                                          Key features

                                                                                                                                                                                                                                          The following key features are provided by the interface:

                                                                                                                                                                                                                                          • Reliable delivery with retransmission
                                                                                                                                                                                                                                          • Consistent interface to report system health and arming checks.
                                                                                                                                                                                                                                          • Minimized buffer requirements on the autopilot side.
                                                                                                                                                                                                                                          • Minimized binary message length
                                                                                                                                                                                                                                          • Generic: autopilot- and GCS-agnostic.
                                                                                                                                                                                                                                          • Long-term stable and extensible
                                                                                                                                                                                                                                          • Allows arguments to be attached to an event.
                                                                                                                                                                                                                                          • Possible types: uint8, int8, uint16, int16, uint32, int32, int64, uint64, float
                                                                                                                                                                                                                                          • Enums and bit fields can be built on top of these types
                                                                                                                                                                                                                                          • Enable automated processing (for example from a flight log containing events).
                                                                                                                                                                                                                                          • Minimize amount of auto-generated code for embedded implementations.
                                                                                                                                                                                                                                          • Events volume of <1 Hz on average (may scale with protocol parameters adjustments, like retransmission timeouts).
                                                                                                                                                                                                                                          • Events can be targeted or broadcast
                                                                                                                                                                                                                                          • Any component can send events, including cameras, companion computers, ground stations, etc.
                                                                                                                                                                                                                                          • Events have metadata, like a log level. They can also have a detailed, more extensive description, possibly with URLs.
                                                                                                                                                                                                                                          • Support for message text and message translation.

                                                                                                                                                                                                                                          Message/Enum Summary

                                                                                                                                                                                                                                          MessageDescription
                                                                                                                                                                                                                                          EVENTEvent message. Each new event from a particular component gets a new sequence number. The same message might be sent multiple times if (re-)requested. Most events are broadcast, some can be specific to a target component (as receivers keep track of the sequence for missed events, all events need to be broadcast. Thus we use destination_component instead of target_component).
                                                                                                                                                                                                                                          CURRENT_EVENT_SEQUENCERegular broadcast for the current latest event sequence number for a component. This is used to check for dropped events.
                                                                                                                                                                                                                                          REQUEST_EVENTRequest one or more events to be (re-)sent. If first_sequence==last_sequence, only a single event is requested. Note that first_sequence can be larger than last_sequence (because the sequence number can wrap). Each sequence will trigger an EVENT or EVENT_ERROR response.
                                                                                                                                                                                                                                          RESPONSE_EVENT_ERRORResponse to a REQUEST_EVENT if there is an error requesting an event, including the reason. The most common reason would be that the event is not longer available (has been discarded).
                                                                                                                                                                                                                                          EnumDescription
                                                                                                                                                                                                                                          MAV_EVENT_CURRENT_SEQUENCE_FLAGSFlags for CURRENT_EVENT_SEQUENCE. For exmaple, to indicate when the sequence has reset.
                                                                                                                                                                                                                                          MAV_EVENT_ERROR_REASONReasons for an error, as provided in RESPONSE_EVENT_ERROR. For example, common error would be that the event is not available (i.e. it has been discarded).

                                                                                                                                                                                                                                          Implementations

                                                                                                                                                                                                                                          Implementation PRs and other information is listed below. All of these should be considered prototypes/WIP.

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                                                                                                                                                                                                                                            \ No newline at end of file +Events Interface (WIP) · MAVLink Developer Guide
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                                                                                                                                                                                                                                            Events Interface (WIP)

                                                                                                                                                                                                                                            The Events Interface is a work in progress and may change. It has an initial implementation in PX4 and QGroundControl and is planned for ArduPilot.

                                                                                                                                                                                                                                            The information below is just an overview. Full details of the interface are provided in the: Events Interface Proposal

                                                                                                                                                                                                                                            The Events Interface is a generic and flexible mechanism that allows one component to reliably notify a GCS (or any other component) of sporadic events and state changes. For example, the interface might be used notifying of arming readiness, calibration completion, and reaching the target takeoff height.

                                                                                                                                                                                                                                            The interface provides for both common events that are shared by flight stacks or other components, and events that are specific to an implementation. MAVLink "common" events are defined in mavlink/libevents/events/common.json.

                                                                                                                                                                                                                                            The events interface is intended to replace the widespread use of STATUSTEXT messages, which are not really fit for purpose.

                                                                                                                                                                                                                                            Key features

                                                                                                                                                                                                                                            The following key features are provided by the interface:

                                                                                                                                                                                                                                            • Reliable delivery with retransmission
                                                                                                                                                                                                                                            • Consistent interface to report system health and arming checks.
                                                                                                                                                                                                                                            • Minimized buffer requirements on the autopilot side.
                                                                                                                                                                                                                                            • Minimized binary message length
                                                                                                                                                                                                                                            • Generic: autopilot- and GCS-agnostic.
                                                                                                                                                                                                                                            • Long-term stable and extensible
                                                                                                                                                                                                                                            • Allows arguments to be attached to an event.
                                                                                                                                                                                                                                            • Possible types: uint8, int8, uint16, int16, uint32, int32, int64, uint64, float
                                                                                                                                                                                                                                            • Enums and bit fields can be built on top of these types
                                                                                                                                                                                                                                            • Enable automated processing (for example from a flight log containing events).
                                                                                                                                                                                                                                            • Minimize amount of auto-generated code for embedded implementations.
                                                                                                                                                                                                                                            • Events volume of <1 Hz on average (may scale with protocol parameters adjustments, like retransmission timeouts).
                                                                                                                                                                                                                                            • Events can be targeted or broadcast
                                                                                                                                                                                                                                            • Any component can send events, including cameras, companion computers, ground stations, etc.
                                                                                                                                                                                                                                            • Events have metadata, like a log level. They can also have a detailed, more extensive description, possibly with URLs.
                                                                                                                                                                                                                                            • Support for message text and message translation.

                                                                                                                                                                                                                                            Message/Enum Summary

                                                                                                                                                                                                                                            MessageDescription
                                                                                                                                                                                                                                            EVENTEvent message. Each new event from a particular component gets a new sequence number. The same message might be sent multiple times if (re-)requested. Most events are broadcast, some can be specific to a target component (as receivers keep track of the sequence for missed events, all events need to be broadcast. Thus we use destination_component instead of target_component).
                                                                                                                                                                                                                                            CURRENT_EVENT_SEQUENCERegular broadcast for the current latest event sequence number for a component. This is used to check for dropped events.
                                                                                                                                                                                                                                            REQUEST_EVENTRequest one or more events to be (re-)sent. If first_sequence==last_sequence, only a single event is requested. Note that first_sequence can be larger than last_sequence (because the sequence number can wrap). Each sequence will trigger an EVENT or EVENT_ERROR response.
                                                                                                                                                                                                                                            RESPONSE_EVENT_ERRORResponse to a REQUEST_EVENT if there is an error requesting an event, including the reason. The most common reason would be that the event is not longer available (has been discarded).
                                                                                                                                                                                                                                            EnumDescription
                                                                                                                                                                                                                                            MAV_EVENT_CURRENT_SEQUENCE_FLAGSFlags for CURRENT_EVENT_SEQUENCE. For exmaple, to indicate when the sequence has reset.
                                                                                                                                                                                                                                            MAV_EVENT_ERROR_REASONReasons for an error, as provided in RESPONSE_EVENT_ERROR. For example, common error would be that the event is not available (i.e. it has been discarded).

                                                                                                                                                                                                                                            Implementations

                                                                                                                                                                                                                                            Implementation PRs and other information is listed below. All of these should be considered prototypes/WIP.

                                                                                                                                                                                                                                            results matching ""

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                                                                                                                                                                                                                                              \ No newline at end of file diff --git a/en/services/ftp.html b/en/services/ftp.html index 71969a47b..59dcb274d 100644 --- a/en/services/ftp.html +++ b/en/services/ftp.html @@ -4,4 +4,4 @@ mftp://camera.xml
                                                                                                                                                                                                                                            • A GCS connected to an autopilot through a companion computer might host the metadata on the companion (e.g. due to lack of flash space, faster download or if there's a central MAVFTP server on the vehicle), so it would need to specify the component ID of the component running on the companion (e.g. 100 for the camera), so that the request is redirected:
                                                                                                                                                                                                                                              ## FTP resource '/info/version.json' from component with id 100
 mftp://[;comp=100]/info/version.json
-

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                                                                                                                                                                                                                                                  Gimbal Configuration Protocol (v1)

                                                                                                                                                                                                                                                  This service defintion has been superseded by Gimbal Protocol v2 (gimbal manufacturers/GCSs/autopilots are expected to use the new API, but the old API is still in broad use, and there is no plan to for it to be removed).

                                                                                                                                                                                                                                                  The gimbal configuration message set uses a number of commands and few special-purpose messages to configure a payload mount.

                                                                                                                                                                                                                                                  By default the gimbal should be communicating with the component ID MAV_COMP_ID_GIMBAL.

                                                                                                                                                                                                                                                  Commands to Configure and Control Gimbal

                                                                                                                                                                                                                                                  The commands to use mavlink gimbals are MAV_CMD_DO_MOUNT_CONFIGURE and MAV_CMD_DO_MOUNT_CONTROL. MAV_CMD_DO_MOUNT_CONTROL_QUAT is also defined but does not seem to be implemented by any systems at time of writing.

                                                                                                                                                                                                                                                  CommandDescription
                                                                                                                                                                                                                                                  MAV_CMD_DO_MOUNT_CONFIGUREConfigure a camera or antenna mount
                                                                                                                                                                                                                                                  MAV_CMD_DO_MOUNT_CONTROLControl mount
                                                                                                                                                                                                                                                  MAV_CMD_DO_MOUNT_CONTROL_QUATControl a camera or antenna mount, using a quaternion as reference.
                                                                                                                                                                                                                                                  EnumDescription
                                                                                                                                                                                                                                                  MAV_MOUNT_MODEEnumeration of possible mount operation modes.

                                                                                                                                                                                                                                                  Command to Reboot or Shutdown Gimbal

                                                                                                                                                                                                                                                  To reboot or shut down a gimbal send the command MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN. The options to be set for the gimbal are found in param4.

                                                                                                                                                                                                                                                  This is the same message/process as for autopilot systems.

                                                                                                                                                                                                                                                  Telemetry from Gimbal

                                                                                                                                                                                                                                                  A gimbal (or mount) should send a HEARTBEAT (e.g. every second) just like any other MAVLink component. Additionally, it can send feedback about the angles it's pointing using the message MOUNT_ORIENTATION.

                                                                                                                                                                                                                                                  Known Issues

                                                                                                                                                                                                                                                  This version of the gimbal protocol (v1) has a number of known issues:

                                                                                                                                                                                                                                                  • Unspecified signs in DO_MOUNT_CONTROL.
                                                                                                                                                                                                                                                  • Confusing order of axes in DO_MOUNT_CONTROL.
                                                                                                                                                                                                                                                  • Unclear “stabilize” flags in DO_MOUNT_CONFIGURE.
                                                                                                                                                                                                                                                  • Confusing and unimplemented “absolute” flags in DO_MOUNT_CONFIGURE.
                                                                                                                                                                                                                                                  • Unclear when to use DO_MOUNT_CONTROL or DO_MOUNT_CONFIGURE.
                                                                                                                                                                                                                                                  • Too many overloaded params in DO_MOUNT_CONTROL depending on GPS or targetting.
                                                                                                                                                                                                                                                  • Unusual param number for DO_MOUNT_CONTROL.
                                                                                                                                                                                                                                                  • The GPS mode in DO_MOUNT_CONTROL conflicts with DO_SET_ROI_* commands.
                                                                                                                                                                                                                                                  • MOUNT naming makes discovery hard.
                                                                                                                                                                                                                                                  • Unused DO_MOUNT_CONTROL_QUAT.
                                                                                                                                                                                                                                                  • Confusion and conflicts between gimbal commands used between ground station and gimbal messages between autopilot and gimbal.
                                                                                                                                                                                                                                                  • Commands require acknowledgements back and are therefore not suitable for higher rate setpoint streams for manual control.
                                                                                                                                                                                                                                                  • Control conflicts between different sources. It is not clear what takes precedence and how the deconfliction between different sources and commands should be implemented.

                                                                                                                                                                                                                                                  If possible migrate to Gimbal Protocol v2 which addresses these issues.

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                                                                                                                                                                                                                                                    Gimbal Configuration Protocol (v1)

                                                                                                                                                                                                                                                    This service defintion has been superseded by Gimbal Protocol v2 (gimbal manufacturers/GCSs/autopilots are expected to use the new API, but the old API is still in broad use, and there is no plan to for it to be removed).

                                                                                                                                                                                                                                                    The gimbal configuration message set uses a number of commands and few special-purpose messages to configure a payload mount.

                                                                                                                                                                                                                                                    By default the gimbal should be communicating with the component ID MAV_COMP_ID_GIMBAL.

                                                                                                                                                                                                                                                    Commands to Configure and Control Gimbal

                                                                                                                                                                                                                                                    The commands to use mavlink gimbals are MAV_CMD_DO_MOUNT_CONFIGURE and MAV_CMD_DO_MOUNT_CONTROL. MAV_CMD_DO_MOUNT_CONTROL_QUAT is also defined but does not seem to be implemented by any systems at time of writing.

                                                                                                                                                                                                                                                    CommandDescription
                                                                                                                                                                                                                                                    MAV_CMD_DO_MOUNT_CONFIGUREConfigure a camera or antenna mount
                                                                                                                                                                                                                                                    MAV_CMD_DO_MOUNT_CONTROLControl mount
                                                                                                                                                                                                                                                    MAV_CMD_DO_MOUNT_CONTROL_QUATControl a camera or antenna mount, using a quaternion as reference.
                                                                                                                                                                                                                                                    EnumDescription
                                                                                                                                                                                                                                                    MAV_MOUNT_MODEEnumeration of possible mount operation modes.

                                                                                                                                                                                                                                                    Command to Reboot or Shutdown Gimbal

                                                                                                                                                                                                                                                    To reboot or shut down a gimbal send the command MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN. The options to be set for the gimbal are found in param4.

                                                                                                                                                                                                                                                    This is the same message/process as for autopilot systems.

                                                                                                                                                                                                                                                    Telemetry from Gimbal

                                                                                                                                                                                                                                                    A gimbal (or mount) should send a HEARTBEAT (e.g. every second) just like any other MAVLink component. Additionally, it can send feedback about the angles it's pointing using the message MOUNT_ORIENTATION.

                                                                                                                                                                                                                                                    Known Issues

                                                                                                                                                                                                                                                    This version of the gimbal protocol (v1) has a number of known issues:

                                                                                                                                                                                                                                                    • Unspecified signs in DO_MOUNT_CONTROL.
                                                                                                                                                                                                                                                    • Confusing order of axes in DO_MOUNT_CONTROL.
                                                                                                                                                                                                                                                    • Unclear “stabilize” flags in DO_MOUNT_CONFIGURE.
                                                                                                                                                                                                                                                    • Confusing and unimplemented “absolute” flags in DO_MOUNT_CONFIGURE.
                                                                                                                                                                                                                                                    • Unclear when to use DO_MOUNT_CONTROL or DO_MOUNT_CONFIGURE.
                                                                                                                                                                                                                                                    • Too many overloaded params in DO_MOUNT_CONTROL depending on GPS or targetting.
                                                                                                                                                                                                                                                    • Unusual param number for DO_MOUNT_CONTROL.
                                                                                                                                                                                                                                                    • The GPS mode in DO_MOUNT_CONTROL conflicts with DO_SET_ROI_* commands.
                                                                                                                                                                                                                                                    • MOUNT naming makes discovery hard.
                                                                                                                                                                                                                                                    • Unused DO_MOUNT_CONTROL_QUAT.
                                                                                                                                                                                                                                                    • Confusion and conflicts between gimbal commands used between ground station and gimbal messages between autopilot and gimbal.
                                                                                                                                                                                                                                                    • Commands require acknowledgements back and are therefore not suitable for higher rate setpoint streams for manual control.
                                                                                                                                                                                                                                                    • Control conflicts between different sources. It is not clear what takes precedence and how the deconfliction between different sources and commands should be implemented.

                                                                                                                                                                                                                                                    If possible migrate to Gimbal Protocol v2 which addresses these issues.

                                                                                                                                                                                                                                                    results matching ""

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                                                                                                                                                                                                                                                      \ No newline at end of file diff --git a/en/services/gimbal_v2.html b/en/services/gimbal_v2.html index e88defac4..6ac7714b7 100644 --- a/en/services/gimbal_v2.html +++ b/en/services/gimbal_v2.html @@ -1 +1 @@ -Gimbal Protocol v2 · MAVLink Developer Guide
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                                                                                                                                                                                                                                                      Gimbal Protocol (v2)

                                                                                                                                                                                                                                                      This version supersedes Gimbal Protocol v1 Existing functionality is now fixed, but compatible changes may still be added.

                                                                                                                                                                                                                                                      Introduction

                                                                                                                                                                                                                                                      The gimbal protocol allows MAVLink control over the attitude/orientation of cameras (or other sensors) mounted on the drone. The orientation can be: controlled by the pilot in real time (e.g. using a joystick from a ground station), set as part of a mission, or moved based on camera tracking.

                                                                                                                                                                                                                                                      The protocol also defines what status information is published for developers, configurators, as well as users of the drone. It additionally provides ways to assign control to different sources.

                                                                                                                                                                                                                                                      The protocol supports a number of hardware setups, and enables gimbals with varying capabilities.

                                                                                                                                                                                                                                                      The original protocol design document can be found here.

                                                                                                                                                                                                                                                      Concepts

                                                                                                                                                                                                                                                      Gimbal Manager and Gimbal Device

                                                                                                                                                                                                                                                      To accommodate gimbals with varying capabilities, and various hardware setups, "a gimbal" is conceptually split into two parts:

                                                                                                                                                                                                                                                      • Gimbal Device: the actual gimbal device, hardware and software.
                                                                                                                                                                                                                                                      • Gimbal Manager: software to deconflict gimbal messages and commands from different sources, and to abstract the capabilities of the Gimbal Device from gimbal users.

                                                                                                                                                                                                                                                      The Gimbal Manager and Gimbal Device expose respective message sets that can be used for: gimbal manager/device discovery, querying capabilities, publishing status, and various types of orientation/attitude control.

                                                                                                                                                                                                                                                      The key concept to understand is that a Gimbal Manager has a 1:1 relationship with a particular Gimbal Device, and is the only party on the MAVLink network that is allowed to directly command that device - it does so using the Gimbal Device message set.

                                                                                                                                                                                                                                                      The Gimbal Device must act only upon messages that come from the associated Gimbal Manager! The device will however broadcast its status to all parties on the network (not just its manager).

                                                                                                                                                                                                                                                      MAVLink applications (ground stations, developer APIs like the MAVSDK, etc.), and any other software that wants to control a particular gimbal, must do so via its Gimbal Manager, using the Gimbal Manager message set.

                                                                                                                                                                                                                                                      Note that the gimbal manager is (by default) implemented on the autopilot.

                                                                                                                                                                                                                                                      Common Set-ups

                                                                                                                                                                                                                                                      This section outlines the three most common hardware set-ups.

                                                                                                                                                                                                                                                      Simple Gimbal Directly Connected to Autopilot

                                                                                                                                                                                                                                                      In this (default) set-up the autopilot takes the role of the gimbal manager.

                                                                                                                                                                                                                                                      Standalone Integrated Camera/Gimbal

                                                                                                                                                                                                                                                      In this set-up the integrated camera/gimbal itself can be the Gimbal Manager.

                                                                                                                                                                                                                                                      Therefore, the gimbal device interface is internal (no implementation is required).

                                                                                                                                                                                                                                                      Onboard Computer with Camera and Gimbal Connected to Autopilot

                                                                                                                                                                                                                                                      In this set-up the Gimbal Manager can be on the onboard computer.

                                                                                                                                                                                                                                                      Commands from the GCS (etc.) are sent to the Gimbal Manager on the companion computer. Messages from the Gimbal Manager to the Gimbal Device need to be sent to/routed through the autopilot.

                                                                                                                                                                                                                                                      Multiple Gimbals

                                                                                                                                                                                                                                                      Multiple gimbals per drone are supported.

                                                                                                                                                                                                                                                      Component IDs

                                                                                                                                                                                                                                                      Multiple component IDs are reserved for MAVLink gimbal devices: MAV_COMP_ID_GIMBAL, MAV_COMP_ID_GIMBAL2, MAV_COMP_ID_GIMBAL3, MAV_COMP_ID_GIMBAL4, MAV_COMP_ID_GIMBAL5, MAV_COMP_ID_GIMBAL6.

                                                                                                                                                                                                                                                      The listed component IDs should be used where possible. Ids 0-6 may not be used. Other ids may be used as long as the MAV_TYPE is correctly set to MAV_TYPE_GIMBAL.

                                                                                                                                                                                                                                                      Mapping from Gimbal Managers to Gimbal Devices

                                                                                                                                                                                                                                                      Every Gimbal Manager has a single associated Gimbal Device that it controls (there is a 1:1 relationship). A particular MAVLink component, such as an autopilot, can implement multiple gimbal managers in order to control two or more gimbal devices. The identity of a gimbal device and its associated manager, are represented by a "gimbal device id". This id is used to differentiate messages from different gimbal managers, and also to target a particular gimbal in commands/messages sent to the component that is hosting its gimbal manager.

                                                                                                                                                                                                                                                      A Gimbal Manager publishes the id of its associated device in the gimbal_device_id field of the GIMBAL_MANAGER_INFORMATION message (this same field name is present in all gimbal manager messages so you can identify the source). Similarly, commands that can be sent to a gimbal manager include a parameter with label Gimbal device ID that indicates the particular gimbal manager (and device).

                                                                                                                                                                                                                                                      • A system that wants to control a particular gimbal device will send messages to the component that has the manager(s), such as an autopilot, specifying the device id of the gimbal to be controlled.
                                                                                                                                                                                                                                                      • A system that wants to control all gimbal devices managed by gimbal managers on a particular component, would send the command/message to that component and set the device id to 0.

                                                                                                                                                                                                                                                      Addressing of Gimbal MAVLink Devices

                                                                                                                                                                                                                                                      For MAVLink gimbal devices the gimbal device id (gimbal_device_id) is the MAVLink component ID of the gimbal device controlled by the gimbal manager.

                                                                                                                                                                                                                                                      The gimbal manager processes commands for its associated device, sending appropriate/corresponding gimbal device commands to the MAVLink gimbal device.

                                                                                                                                                                                                                                                      Non-MAVLink gimbal devices are gimbals that don't expose a MAVLink Gimbal Device (or manager) API, but instead are connected to the gimbal manager using some other protocol. For instance, this could be a PWM gimbal connected to an autopilot. Since the gimbal device is not a MAVLink component, it does not have a unique MAVLink component ID that can be used for the gimbal device id. Therefore you either have to make it into a MAVLink component (so it has an id) or assign it a particular non-MAVLink id.

                                                                                                                                                                                                                                                      Autopilots are expected to implement gimbal managers for each attached gimbal and assign each a unique gimbal device id between 1 and 6 (which is why these values can't be used as MAVLink component IDs for gimbal devices). This id would then be used in gimbal manager messages sent by the autopilot, and for addressing the particular gimbal in commands. The autopilot would directly control attached gimbals in response to gimbal manager commands. In addition to sending gimbal manager messages when appropriate, it should also send/stream required gimbal device messages, such as GIMBAL_DEVICE_ATTITUDE_STATUS.

                                                                                                                                                                                                                                                      All other hardware with attached gimbal devices, such as a companion computers, are expected to implement them as separate MAVLink components, with their own MAVLink component ID that can be used for addressing. For example, a companion computer with an attached gimbal would appear as two MAVLink components: a companion computer and a gimbal. The gimbal component would identify as a type MAV_TYPE_GIMBAL and assert that it implements the gimbal manager protocol. As with autopilot-attached cameras it would need to respond as a gimbal manager, and also stream required gimbal device messages.

                                                                                                                                                                                                                                                      Implementing each attached camera as a separate MAVLink component allows cameras attached to a companion computer to be separately addressed in missions executed on the autopilot.

                                                                                                                                                                                                                                                      Implementation and Messages

                                                                                                                                                                                                                                                      Messages between Ground Station and Gimbal Manager

                                                                                                                                                                                                                                                      Discovery of Gimbal Manager

                                                                                                                                                                                                                                                      A ground station should monitor for HEARTBEAT messages from all new components and check their capabilities by requesting AUTOPILOT_VERSION for autopilots and COMPONENT_INFORMATION_BASIC for other components (see HEARTBEAT/Connection protocol).

                                                                                                                                                                                                                                                      If the capabilities field of the above message(s) has the flag MAV_PROTOCOL_CAPABILITY_COMPONENT_IMPLEMENTS_GIMBAL_MANAGER set:

                                                                                                                                                                                                                                                      The GIMBAL_MANAGER_INFORMATION contains important information a particular gimbal, such as its capabilities (GIMBAL_MANAGER_CAP_FLAGS), maximum angles and angle rates, as well as the gimbal_device_id which identifies the specific gimbal device controlled by a particular Gimbal Manager.

                                                                                                                                                                                                                                                      A GCS should always request GIMBAL_MANAGER_INFORMATION from autopilot components prior to: PX4 v1.16, ArduPilot-4.5 (when the protocol bit was added).

                                                                                                                                                                                                                                                      Gimbal Manager Status

                                                                                                                                                                                                                                                      A Gimbal Manager should send out GIMBAL_MANAGER_STATUS at a low regular rate (e.g. 5 Hz) to inform the ground station about its status.

                                                                                                                                                                                                                                                      Starting / Configuring Gimbal Control

                                                                                                                                                                                                                                                      It is possible for multiple components to want to control a gimbal at the same time, e.g.: a ground station, a companion computer, or the autopilot running a mission.

                                                                                                                                                                                                                                                      In order to start controlling a gimbal, a component first needs to send the MAV_CMD_DO_GIMBAL_MANAGER_CONFIGURE command. This allows setting which MAVLink component (set by system ID and component ID) is in primary control and which one is in secondary control. The gimbal manager is to ignore any gimbal controls which come from MAVLink components that are not explicity set to "in control". This should prevent conflicts between various inputs as long as all components are fair/co-operative when using the configure command.

                                                                                                                                                                                                                                                      To be co-operative entails the following rules:

                                                                                                                                                                                                                                                      • Don't send the configure manager configure command continuously but only once to initiate and once to stop control again.
                                                                                                                                                                                                                                                      • Check the GIMBAL_MANAGER_STATUS about who is in control first and - if possible - warn user about planned action. For example, if the autopilot is in control of the gimbal as part of a mission, the ground station should ask the user first (i.e. via a pop-up) if they really want to take over manual control.
                                                                                                                                                                                                                                                      • Don't forget to release control when an action/task is finished and set the sysid/compid to 0.

                                                                                                                                                                                                                                                      It is possible to assign control to another component too, not just to itself. For example, a smart shot running on a companion computer can set itself to be in primary control but assign a ground station for secondary control to e.g. nudge during the smart shot.

                                                                                                                                                                                                                                                      Note The implementation of how primary and secondary control are combined or mixed is not defined by the protocol but up to the implementation. This allows flexibility for different use cases.

                                                                                                                                                                                                                                                      A ground station can manually control a gimbal by sending GIMBAL_MANAGER_SET_MANUAL_CONTROL. This allows controlling the gimbal with either angles, or angular rates, using a normalized unit (-1..1). The gimbal device is responsible for translating the input based on angle, speed, and "smoothness" settings.

                                                                                                                                                                                                                                                      This input can additionally be scaled by the gimbal manager depending on its state. For example, if the gimbal manager is on a camera and knows the current zoom level / focal length of the camera, it can scale the angular rate down to support smooth paning and tilting.

                                                                                                                                                                                                                                                      A ground station, companion computer, or other MAVLink component can set the gimbal angle and/or angular rates using the messages GIMBAL_MANAGER_SET_ATTITUDE or GIMBAL_MANAGER_SET_PITCHYAW.

                                                                                                                                                                                                                                                      Messages between Gimbal Manager and Gimbal Device

                                                                                                                                                                                                                                                      Discovery of Gimbal Device

                                                                                                                                                                                                                                                      The MAVlink node where the Gimbal Manager is implemented needs to discover Gimbal Devices by sending a broadcast MAV_CMD_REQUEST_MESSAGE for GIMBAL_DEVICE_INFORMATION. Every gimbal device should respond with GIMBAL_DEVICE_INFORMATION.

                                                                                                                                                                                                                                                      The MAVLink node should then create as many Gimbal Manager instances as Gimbal Devices found.

                                                                                                                                                                                                                                                      Control of a Gimbal Device

                                                                                                                                                                                                                                                      To control the angle and/or angular rate of the Gimbal Device, use the message GIMBAL_DEVICE_SET_ATTITUDE. If the gimbal manager has multiple gimbal control inputs available it should deconflict them as explained below.

                                                                                                                                                                                                                                                      Autopilot State for Gimbal Device

                                                                                                                                                                                                                                                      The autopilot should also send the message AUTOPILOT_STATE_FOR_GIMBAL_DEVICE to the gimbal device. This data is required by the Gimbal Device attitude estimator (horizon compensation), as well as to anticipate the vehicle's movements (e.g. the feed forward angular velocity in z-axis, so the current yaw intention).

                                                                                                                                                                                                                                                      Gimbal Device Broadcast/Status Messages

                                                                                                                                                                                                                                                      The gimbal device should send out its attitude and status in GIMBAL_DEVICE_ATTITUDE_STATUS at a regular rate, e.g. 10 Hz.

                                                                                                                                                                                                                                                      This message is a meant as broadcast, so it's set to the GCS, Gimbal Manager, and all parties on the network (not just Gimbal Manager, like all other messages).

                                                                                                                                                                                                                                                      Custom Gimbal Device Settings

                                                                                                                                                                                                                                                      Custom gimbal settings can be accomplished using the component information microservice which is based on a component information file (this is similar to the camera definition file).

                                                                                                                                                                                                                                                      FAQ

                                                                                                                                                                                                                                                      How to set the System ID of a gimbal device?

                                                                                                                                                                                                                                                      The system ID of all components (e.g. autopilot, companion computer, camera, gimbal) on a drone/system must be the same. This needs to be either done manually by configuration, or alternatively, the components need to listen to the heartbeat of the autopilot and then adjust their system ID accordingly.

                                                                                                                                                                                                                                                      When is Gimbal Device also a Gimbal Manager?

                                                                                                                                                                                                                                                      The default case should be to use the Gimbal Manager in the autopilot. The only exception to this are integrated solutions containing a camera and gimbal for functionality like visual tracking.

                                                                                                                                                                                                                                                      How to test Gimbal Device?

                                                                                                                                                                                                                                                      A Gimbal Device can be tested by connecting it to an autopilot with a Gimbal Manager. To avoid having to do a full setup including autopilot, a direct test using MAVSDK is available.

                                                                                                                                                                                                                                                      Gimbals that use the (old) Gimbal Protocol v1 should still be supported by autopilot software. Basically, the Gimbal Manager needs to translate the commands to the old protocol.

                                                                                                                                                                                                                                                      Gimbals controlled using a protocol like PPM, PWM, SBUS or something proprietary can still be supported. The autopilot will have to act as the Gimbal Manager and provide the driver and translation to the respective protocol.

                                                                                                                                                                                                                                                      The autopilot needs to be configured to either accept MAVLink input (so GIMBAL_MANAGER_SET_MANUAL_CONTROL) or RC control. In both cases, the autopilot can then calculate a gimbal angle or angular rate from the manual control input and send the resulting setpoint to the gimbal device.

                                                                                                                                                                                                                                                      For RC control, the channels will have to be manually mapped/configured to control the gimbal. This is the same approach as is used for managing the input source for flying; it is up to the implementation to select either RC or MAVLink. The recommendation is to make it configurable using (for instance) a parameter.

                                                                                                                                                                                                                                                      A non-MAVLink gimbal needs to be connected to a gimbal manager, which then takes care of sending the gimbal device messages. Since a non-MAVLink gimbal can't be addressed with a MAVLink component ID, the gimbal_device_id needs to be set to one of the magic values (1 to 6). This signals that the gimbal manager also is also acting as the gimbal device.

                                                                                                                                                                                                                                                      Also see how to address non-MAVLink gimbal devices.

                                                                                                                                                                                                                                                      How to interpret GIMBAL_DEVICE_ATTITUDE_STATUS yaw gimbal angle

                                                                                                                                                                                                                                                      The GIMBAL_DEVICE_ATTITUDE_STATUS.flags field must report the frame used for reported yaw values as either:

                                                                                                                                                                                                                                                      • GIMBAL_DEVICE_FLAGS_YAW_IN_VEHICLE_FRAME: Yaw is relative to vehicle.
                                                                                                                                                                                                                                                      • GIMBAL_DEVICE_FLAGS_YAW_IN_EARTH_FRAME: Yaw is relative to north.

                                                                                                                                                                                                                                                      For older devices, if neither of the flags above are set, the yaw frame must be inferred from the GIMBAL_DEVICE_FLAGS_YAW_LOCK. If it is set, the yaw is relative to North, otherwise to the front of the vehicle.

                                                                                                                                                                                                                                                      Manufacturers working on new gimbal devices should set either GIMBAL_DEVICE_FLAGS_YAW_IN_VEHICLE_FRAME or GIMBAL_DEVICE_FLAGS_YAW_IN_EARTH_FRAME. Components recieving the message should also handle GIMBAL_DEVICE_FLAGS_YAW_LOCK for backwards compatibility with older devices.

                                                                                                                                                                                                                                                      Message/Command/Enum Summary

                                                                                                                                                                                                                                                      Gimbal Manager Messages

                                                                                                                                                                                                                                                      This is the set of messages/enums for communicating with the gimbal manager (by ground station, autopilot, etc.).

                                                                                                                                                                                                                                                      MessageDescription
                                                                                                                                                                                                                                                      GIMBAL_MANAGER_INFORMATIONInformation about a high level gimbal manager. This message should be requested by a ground station using MAV_CMD_REQUEST_MESSAGE.
                                                                                                                                                                                                                                                      GIMBAL_MANAGER_STATUSCurrent status about a high level gimbal manager. This message should be broadcast at a low regular rate (e.g. 5Hz).
                                                                                                                                                                                                                                                      GIMBAL_MANAGER_SET_ATTITUDEHigh level message to control a gimbal's attitude. This message is to be sent to the gimbal manager (e.g. from a ground station).
                                                                                                                                                                                                                                                      GIMBAL_MANAGER_SET_MANUAL_CONTROLHigh level message to control a gimbal manually, so without units. The actual angles or angular rates will be produced by the gimbal manager based on settings. This message is to be sent to the gimbal manager (e.g. from a ground station). Angles and rates can be set to NaN according to use case.
                                                                                                                                                                                                                                                      GIMBAL_MANAGER_SET_PITCHYAWHigh level message to control a gimbal's pitch and yaw angles. This message is to be sent to the gimbal manager (e.g. from a ground station). Angles and rates can be set to NaN according to use case.
                                                                                                                                                                                                                                                      CommandDescription
                                                                                                                                                                                                                                                      MAV_CMD_REQUEST_MESSAGERequest the target system(s) emit a single instance of a specified message. This is used to request GIMBAL_MANAGER_INFORMATION.
                                                                                                                                                                                                                                                      MAV_CMD_DO_GIMBAL_MANAGER_CONFIGUREGimbal configuration to set which sysid/compid is in primary and secondary control.
                                                                                                                                                                                                                                                      MAV_CMD_DO_GIMBAL_MANAGER_PITCHYAWHigh level setpoint to be sent to a gimbal manager to set a gimbal attitude. Note: a gimbal is never to react to this command but only the gimbal manager.
                                                                                                                                                                                                                                                      MAV_CMD_DO_SET_ROI_LOCATIONSets the region of interest (ROI) to a location. This can then be used by the vehicle's control system to control the vehicle attitude and the attitude of various sensors such as cameras. This command can be sent to a gimbal manager but not to a gimbal device. A gimbal is not to react to this message.
                                                                                                                                                                                                                                                      MAV_CMD_DO_SET_ROI_WPNEXT_OFFSETSets the region of interest (ROI) to be toward next waypoint, with optional pitch/roll/yaw offset. This can then be used by the vehicle's control system to control the vehicle attitude and the attitude of various sensors such as cameras. This command can be sent to a gimbal manager but not to a gimbal device. A gimbal device is not to react to this message.
                                                                                                                                                                                                                                                      MAV_CMD_DO_SET_ROI_SYSIDMount tracks system with specified system ID. Determination of target vehicle position may be done with GLOBAL_POSITION_INT or any other means. This command can be sent to a gimbal manager but not to a gimbal device. A gimbal device is not to react to this message.
                                                                                                                                                                                                                                                      MAV_CMD_DO_SET_ROI_NONECancels any previous ROI command returning the vehicle/sensors to default flight characteristics. This can then be used by the vehicle's control system to control the vehicle attitude and the attitude of various sensors such as cameras. This command can be sent to a gimbal manager but not to a gimbal device. A gimbal device is not to react to this message. After this command the gimbal manager should go back to manual input if available, and otherwise assume a neutral position.
                                                                                                                                                                                                                                                      MAV_CMD_DO_GIMBAL_MANAGER_TRACK_POINTIf the gimbal manager supports visual tracking (GIMBAL_MANAGER_CAP_FLAGS_HAS_TRACKING_POINT is set), this command allows to initiate the tracking. Such a tracking gimbal manager would usually be an integrated camera/gimbal, or alternatively a companion computer connected to a camera.
                                                                                                                                                                                                                                                      MAV_CMD_DO_GIMBAL_MANAGER_TRACK_RECTANGLEIf the gimbal supports visual tracking (GIMBAL_MANAGER_CAP_FLAGS_HAS_TRACKING_RECTANGLE is set), this command allows to initiate the tracking. Such a tracking gimbal manager would usually be an integrated camera/gimbal, or alternatively a companion computer connected to a camera.
                                                                                                                                                                                                                                                      EnumDescription
                                                                                                                                                                                                                                                      GIMBAL_MANAGER_FLAGSFlags for high level gimbal manager operation.
                                                                                                                                                                                                                                                      The first 16 bytes are identical to the GIMBAL_DEVICE_FLAGS. Used in MAV_CMD_DO_GIMBAL_MANAGER_PITCHYAW, GIMBAL_MANAGER_STATUS , GIMBAL_MANAGER_SET_ATTITUDE.
                                                                                                                                                                                                                                                      GIMBAL_MANAGER_CAP_FLAGSGimbal manager high level capability flags (bitmap).
                                                                                                                                                                                                                                                      The first 16 bits are identical to the GIMBAL_DEVICE_CAP_FLAGS which are identical with GIMBAL_DEVICE_FLAGS. However, the gimbal manager does not need to copy the flags from the gimbal but can also enhance the capabilities and thus add flags. Used in GIMBAL_MANAGER_INFORMATION

                                                                                                                                                                                                                                                      Gimbal Device Messages

                                                                                                                                                                                                                                                      This is the set of messages/enums for communication between gimbal manager and gimbal device.

                                                                                                                                                                                                                                                      MessageDescription
                                                                                                                                                                                                                                                      GIMBAL_DEVICE_INFORMATIONInformation about a low level gimbal. This message should be requested by the gimbal manager or a ground station using MAV_CMD_REQUEST_MESSAGE.
                                                                                                                                                                                                                                                      GIMBAL_DEVICE_SET_ATTITUDELow level message to control a gimbal device's attitude. This message is to be sent from the gimbal manager to the gimbal device component. Angles and rates can be set to NaN according to use case.
                                                                                                                                                                                                                                                      GIMBAL_DEVICE_ATTITUDE_STATUSMessage reporting the status of a gimbal device. This message should be broadcasted by a gimbal device component.
                                                                                                                                                                                                                                                      CommandDescription
                                                                                                                                                                                                                                                      MAV_CMD_REQUEST_MESSAGERequest the target system(s) emit a single instance of a specified message. This is used to request GIMBAL_DEVICE_INFORMATION.
                                                                                                                                                                                                                                                      EnumDescription
                                                                                                                                                                                                                                                      GIMBAL_DEVICE_CAP_FLAGSGimbal device (low level) capability flags (bitmap).
                                                                                                                                                                                                                                                      Used in GIMBAL_DEVICE_INFORMATION.
                                                                                                                                                                                                                                                      GIMBAL_DEVICE_FLAGSFlags for gimbal device (lower level) operation.
                                                                                                                                                                                                                                                      Used in GIMBAL_DEVICE_ATTITUDE_STATUS and GIMBAL_DEVICE_SET_ATTITUDE.
                                                                                                                                                                                                                                                      GIMBAL_DEVICE_ERROR_FLAGSGimbal device (low level) error flags (bitmap, 0 means no error).
                                                                                                                                                                                                                                                      Used in GIMBAL_DEVICE_ATTITUDE_STATUS.

                                                                                                                                                                                                                                                      Sequences

                                                                                                                                                                                                                                                      Depicted below are message sequences for some common scenarious.

                                                                                                                                                                                                                                                      Discovery

                                                                                                                                                                                                                                                      This shows a possible sequence on startup. Note that the gimbal manager could already discover the gimbal device before the ground station asks for the information.

                                                                                                                                                                                                                                                      Normal Manual Control

                                                                                                                                                                                                                                                      During the normal manual control, all messages are streamed at a regular rate. Note that GIMBAL_DEVICE_ATTITUDE_STATUS is broadcast to anyone, so to the gimbal manager and also the ground station.

                                                                                                                                                                                                                                                      ROI Initiated from Ground Station

                                                                                                                                                                                                                                                      ROI can be started using a command and should also be stopped again with a command. The ROI command is translated to a gimbal attitude in the the gimbal manager.

                                                                                                                                                                                                                                                      Attitude Set During Mission

                                                                                                                                                                                                                                                      In this case the gimbal manager is implemented by the autopilot which "sends" the attitude command (for instance for a survey).

                                                                                                                                                                                                                                                      How to Implement the Gimbal Device Interface

                                                                                                                                                                                                                                                      Below is a short summary of all messages that a gimbal device should implement.

                                                                                                                                                                                                                                                      A Gimbal Device can be tested by connecting it to an autopilot with a Gimbal Manager. To avoid having to do a full setup including autopilot, a direct test using MAVSDK is available.

                                                                                                                                                                                                                                                      Messages to Send

                                                                                                                                                                                                                                                      The messages listed should be broadcast on the network/on all connections (sent to everyone).

                                                                                                                                                                                                                                                      HEARTBEAT

                                                                                                                                                                                                                                                      Heartbeats should always be sent (usually at 1 Hz).

                                                                                                                                                                                                                                                      Gimbals that set their sysid from the autopilot will need to wait for the autopilot's heartbeat before emitting their own (note that if the gimbal can receive heartbeats from multiple autopilots then the sysid must be explicitly/statically configured).

                                                                                                                                                                                                                                                      • sysid: the same sysid as the autopilot (this can either be done by configuration, or by listening to the autopilot's heartbeat first and then copying the sysid, default: 1)
                                                                                                                                                                                                                                                      • compid: MAV_COMP_ID_GIMBAL
                                                                                                                                                                                                                                                      • type: MAV_TYPE_GIMBAL
                                                                                                                                                                                                                                                      • autopilot: MAV_AUTOPILOT_INVALID
                                                                                                                                                                                                                                                      • base_mode: 0
                                                                                                                                                                                                                                                      • custom_mode: 0
                                                                                                                                                                                                                                                      • system_status: MAV_STATE_UNINIT

                                                                                                                                                                                                                                                      GIMBAL_DEVICE_ATTITUDE_STATUS

                                                                                                                                                                                                                                                      The gimbal device should send out its attitude status at a regular rate, e.g. 10 Hz. The fields target_system and target_component can be set to 0 (broadcast) by default.

                                                                                                                                                                                                                                                      GIMBAL_DEVICE_INFORMATION

                                                                                                                                                                                                                                                      The static information about the gimbal device needs to be sent out when requested using MAV_CMD_REQUEST_MESSAGE.

                                                                                                                                                                                                                                                      Messages to Listen To/Handle

                                                                                                                                                                                                                                                      GIMBAL_DEVICE_SET_ATTITUDE

                                                                                                                                                                                                                                                      This is the actual attitude setpoint that the gimbal device should follow. Note that the frame of the quaternion setpoint depends on the GIMBAL_DEVICE_FLAGS.

                                                                                                                                                                                                                                                      AUTOPILOT_STATE_FOR_GIMBAL_DEVICE

                                                                                                                                                                                                                                                      The gimbal device should be able to get all the information from the autopilot that it requires in this one message. If something is missing that should be streamed at a high rate, it should be added to this message.

                                                                                                                                                                                                                                                      If this message is not sent by default by the autopilot, or the rate is not ok, the command MAV_CMD_SET_MESSAGE_INTERVAL can be used to request it at a certain rate.

                                                                                                                                                                                                                                                      COMMAND_LONG

                                                                                                                                                                                                                                                      The gimbal device needs to check for commands. See below which commands should get answered.

                                                                                                                                                                                                                                                      Commands to Answer

                                                                                                                                                                                                                                                      MAV_CMD_REQUEST_MESSAGE

                                                                                                                                                                                                                                                      The gimbal device should send out messages when they get requested, e.g. GIMBAL_DEVICE_INFORMATION.

                                                                                                                                                                                                                                                      MAV_CMD_SET_MESSAGE_INTERVAL

                                                                                                                                                                                                                                                      The gimbal device should stream messages at the rate requested.

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                                                                                                                                                                                                                                                        Gimbal Protocol (v2)

                                                                                                                                                                                                                                                        This version supersedes Gimbal Protocol v1 Existing functionality is now fixed, but compatible changes may still be added.

                                                                                                                                                                                                                                                        Introduction

                                                                                                                                                                                                                                                        The gimbal protocol allows MAVLink control over the attitude/orientation of cameras (or other sensors) mounted on the drone. The orientation can be: controlled by the pilot in real time (e.g. using a joystick from a ground station), set as part of a mission, or moved based on camera tracking.

                                                                                                                                                                                                                                                        The protocol also defines what status information is published for developers, configurators, as well as users of the drone. It additionally provides ways to assign control to different sources.

                                                                                                                                                                                                                                                        The protocol supports a number of hardware setups, and enables gimbals with varying capabilities.

                                                                                                                                                                                                                                                        The original protocol design document can be found here.

                                                                                                                                                                                                                                                        Concepts

                                                                                                                                                                                                                                                        Gimbal Manager and Gimbal Device

                                                                                                                                                                                                                                                        To accommodate gimbals with varying capabilities, and various hardware setups, "a gimbal" is conceptually split into two parts:

                                                                                                                                                                                                                                                        • Gimbal Device: the actual gimbal device, hardware and software.
                                                                                                                                                                                                                                                        • Gimbal Manager: software to deconflict gimbal messages and commands from different sources, and to abstract the capabilities of the Gimbal Device from gimbal users.

                                                                                                                                                                                                                                                        The Gimbal Manager and Gimbal Device expose respective message sets that can be used for: gimbal manager/device discovery, querying capabilities, publishing status, and various types of orientation/attitude control.

                                                                                                                                                                                                                                                        The key concept to understand is that a Gimbal Manager has a 1:1 relationship with a particular Gimbal Device, and is the only party on the MAVLink network that is allowed to directly command that device - it does so using the Gimbal Device message set.

                                                                                                                                                                                                                                                        The Gimbal Device must act only upon messages that come from the associated Gimbal Manager! The device will however broadcast its status to all parties on the network (not just its manager).

                                                                                                                                                                                                                                                        MAVLink applications (ground stations, developer APIs like the MAVSDK, etc.), and any other software that wants to control a particular gimbal, must do so via its Gimbal Manager, using the Gimbal Manager message set.

                                                                                                                                                                                                                                                        Note that the gimbal manager is (by default) implemented on the autopilot.

                                                                                                                                                                                                                                                        Common Set-ups

                                                                                                                                                                                                                                                        This section outlines the three most common hardware set-ups.

                                                                                                                                                                                                                                                        Simple Gimbal Directly Connected to Autopilot

                                                                                                                                                                                                                                                        In this (default) set-up the autopilot takes the role of the gimbal manager.

                                                                                                                                                                                                                                                        Standalone Integrated Camera/Gimbal

                                                                                                                                                                                                                                                        In this set-up the integrated camera/gimbal itself can be the Gimbal Manager.

                                                                                                                                                                                                                                                        Therefore, the gimbal device interface is internal (no implementation is required).

                                                                                                                                                                                                                                                        Onboard Computer with Camera and Gimbal Connected to Autopilot

                                                                                                                                                                                                                                                        In this set-up the Gimbal Manager can be on the onboard computer.

                                                                                                                                                                                                                                                        Commands from the GCS (etc.) are sent to the Gimbal Manager on the companion computer. Messages from the Gimbal Manager to the Gimbal Device need to be sent to/routed through the autopilot.

                                                                                                                                                                                                                                                        Multiple Gimbals

                                                                                                                                                                                                                                                        Multiple gimbals per drone are supported.

                                                                                                                                                                                                                                                        Component IDs

                                                                                                                                                                                                                                                        Multiple component IDs are reserved for MAVLink gimbal devices: MAV_COMP_ID_GIMBAL, MAV_COMP_ID_GIMBAL2, MAV_COMP_ID_GIMBAL3, MAV_COMP_ID_GIMBAL4, MAV_COMP_ID_GIMBAL5, MAV_COMP_ID_GIMBAL6.

                                                                                                                                                                                                                                                        The listed component IDs should be used where possible. Ids 0-6 may not be used. Other ids may be used as long as the MAV_TYPE is correctly set to MAV_TYPE_GIMBAL.

                                                                                                                                                                                                                                                        Mapping from Gimbal Managers to Gimbal Devices

                                                                                                                                                                                                                                                        Every Gimbal Manager has a single associated Gimbal Device that it controls (there is a 1:1 relationship). A particular MAVLink component, such as an autopilot, can implement multiple gimbal managers in order to control two or more gimbal devices. The identity of a gimbal device and its associated manager, are represented by a "gimbal device id". This id is used to differentiate messages from different gimbal managers, and also to target a particular gimbal in commands/messages sent to the component that is hosting its gimbal manager.

                                                                                                                                                                                                                                                        A Gimbal Manager publishes the id of its associated device in the gimbal_device_id field of the GIMBAL_MANAGER_INFORMATION message (this same field name is present in all gimbal manager messages so you can identify the source). Similarly, commands that can be sent to a gimbal manager include a parameter with label Gimbal device ID that indicates the particular gimbal manager (and device).

                                                                                                                                                                                                                                                        • A system that wants to control a particular gimbal device will send messages to the component that has the manager(s), such as an autopilot, specifying the device id of the gimbal to be controlled.
                                                                                                                                                                                                                                                        • A system that wants to control all gimbal devices managed by gimbal managers on a particular component, would send the command/message to that component and set the device id to 0.

                                                                                                                                                                                                                                                        Addressing of Gimbal MAVLink Devices

                                                                                                                                                                                                                                                        For MAVLink gimbal devices the gimbal device id (gimbal_device_id) is the MAVLink component ID of the gimbal device controlled by the gimbal manager.

                                                                                                                                                                                                                                                        The gimbal manager processes commands for its associated device, sending appropriate/corresponding gimbal device commands to the MAVLink gimbal device.

                                                                                                                                                                                                                                                        Non-MAVLink gimbal devices are gimbals that don't expose a MAVLink Gimbal Device (or manager) API, but instead are connected to the gimbal manager using some other protocol. For instance, this could be a PWM gimbal connected to an autopilot. Since the gimbal device is not a MAVLink component, it does not have a unique MAVLink component ID that can be used for the gimbal device id. Therefore you either have to make it into a MAVLink component (so it has an id) or assign it a particular non-MAVLink id.

                                                                                                                                                                                                                                                        Autopilots are expected to implement gimbal managers for each attached gimbal and assign each a unique gimbal device id between 1 and 6 (which is why these values can't be used as MAVLink component IDs for gimbal devices). This id would then be used in gimbal manager messages sent by the autopilot, and for addressing the particular gimbal in commands. The autopilot would directly control attached gimbals in response to gimbal manager commands. In addition to sending gimbal manager messages when appropriate, it should also send/stream required gimbal device messages, such as GIMBAL_DEVICE_ATTITUDE_STATUS.

                                                                                                                                                                                                                                                        All other hardware with attached gimbal devices, such as a companion computers, are expected to implement them as separate MAVLink components, with their own MAVLink component ID that can be used for addressing. For example, a companion computer with an attached gimbal would appear as two MAVLink components: a companion computer and a gimbal. The gimbal component would identify as a type MAV_TYPE_GIMBAL and assert that it implements the gimbal manager protocol. As with autopilot-attached cameras it would need to respond as a gimbal manager, and also stream required gimbal device messages.

                                                                                                                                                                                                                                                        Implementing each attached camera as a separate MAVLink component allows cameras attached to a companion computer to be separately addressed in missions executed on the autopilot.

                                                                                                                                                                                                                                                        Implementation and Messages

                                                                                                                                                                                                                                                        Messages between Ground Station and Gimbal Manager

                                                                                                                                                                                                                                                        Discovery of Gimbal Manager

                                                                                                                                                                                                                                                        A ground station should monitor for HEARTBEAT messages from all new components and check their capabilities by requesting AUTOPILOT_VERSION for autopilots and COMPONENT_INFORMATION_BASIC for other components (see HEARTBEAT/Connection protocol).

                                                                                                                                                                                                                                                        If the capabilities field of the above message(s) has the flag MAV_PROTOCOL_CAPABILITY_COMPONENT_IMPLEMENTS_GIMBAL_MANAGER set:

                                                                                                                                                                                                                                                        The GIMBAL_MANAGER_INFORMATION contains important information a particular gimbal, such as its capabilities (GIMBAL_MANAGER_CAP_FLAGS), maximum angles and angle rates, as well as the gimbal_device_id which identifies the specific gimbal device controlled by a particular Gimbal Manager.

                                                                                                                                                                                                                                                        A GCS should always request GIMBAL_MANAGER_INFORMATION from autopilot components prior to: PX4 v1.16, ArduPilot-4.5 (when the protocol bit was added).

                                                                                                                                                                                                                                                        Gimbal Manager Status

                                                                                                                                                                                                                                                        A Gimbal Manager should send out GIMBAL_MANAGER_STATUS at a low regular rate (e.g. 5 Hz) to inform the ground station about its status.

                                                                                                                                                                                                                                                        Starting / Configuring Gimbal Control

                                                                                                                                                                                                                                                        It is possible for multiple components to want to control a gimbal at the same time, e.g.: a ground station, a companion computer, or the autopilot running a mission.

                                                                                                                                                                                                                                                        In order to start controlling a gimbal, a component first needs to send the MAV_CMD_DO_GIMBAL_MANAGER_CONFIGURE command. This allows setting which MAVLink component (set by system ID and component ID) is in primary control and which one is in secondary control. The gimbal manager is to ignore any gimbal controls which come from MAVLink components that are not explicity set to "in control". This should prevent conflicts between various inputs as long as all components are fair/co-operative when using the configure command.

                                                                                                                                                                                                                                                        To be co-operative entails the following rules:

                                                                                                                                                                                                                                                        • Don't send the configure manager configure command continuously but only once to initiate and once to stop control again.
                                                                                                                                                                                                                                                        • Check the GIMBAL_MANAGER_STATUS about who is in control first and - if possible - warn user about planned action. For example, if the autopilot is in control of the gimbal as part of a mission, the ground station should ask the user first (i.e. via a pop-up) if they really want to take over manual control.
                                                                                                                                                                                                                                                        • Don't forget to release control when an action/task is finished and set the sysid/compid to 0.

                                                                                                                                                                                                                                                        It is possible to assign control to another component too, not just to itself. For example, a smart shot running on a companion computer can set itself to be in primary control but assign a ground station for secondary control to e.g. nudge during the smart shot.

                                                                                                                                                                                                                                                        Note The implementation of how primary and secondary control are combined or mixed is not defined by the protocol but up to the implementation. This allows flexibility for different use cases.

                                                                                                                                                                                                                                                        A ground station can manually control a gimbal by sending GIMBAL_MANAGER_SET_MANUAL_CONTROL. This allows controlling the gimbal with either angles, or angular rates, using a normalized unit (-1..1). The gimbal device is responsible for translating the input based on angle, speed, and "smoothness" settings.

                                                                                                                                                                                                                                                        This input can additionally be scaled by the gimbal manager depending on its state. For example, if the gimbal manager is on a camera and knows the current zoom level / focal length of the camera, it can scale the angular rate down to support smooth paning and tilting.

                                                                                                                                                                                                                                                        A ground station, companion computer, or other MAVLink component can set the gimbal angle and/or angular rates using the messages GIMBAL_MANAGER_SET_ATTITUDE or GIMBAL_MANAGER_SET_PITCHYAW.

                                                                                                                                                                                                                                                        Messages between Gimbal Manager and Gimbal Device

                                                                                                                                                                                                                                                        Discovery of Gimbal Device

                                                                                                                                                                                                                                                        The MAVlink node where the Gimbal Manager is implemented needs to discover Gimbal Devices by sending a broadcast MAV_CMD_REQUEST_MESSAGE for GIMBAL_DEVICE_INFORMATION. Every gimbal device should respond with GIMBAL_DEVICE_INFORMATION.

                                                                                                                                                                                                                                                        The MAVLink node should then create as many Gimbal Manager instances as Gimbal Devices found.

                                                                                                                                                                                                                                                        Control of a Gimbal Device

                                                                                                                                                                                                                                                        To control the angle and/or angular rate of the Gimbal Device, use the message GIMBAL_DEVICE_SET_ATTITUDE. If the gimbal manager has multiple gimbal control inputs available it should deconflict them as explained below.

                                                                                                                                                                                                                                                        Autopilot State for Gimbal Device

                                                                                                                                                                                                                                                        The autopilot should also send the message AUTOPILOT_STATE_FOR_GIMBAL_DEVICE to the gimbal device. This data is required by the Gimbal Device attitude estimator (horizon compensation), as well as to anticipate the vehicle's movements (e.g. the feed forward angular velocity in z-axis, so the current yaw intention).

                                                                                                                                                                                                                                                        Gimbal Device Broadcast/Status Messages

                                                                                                                                                                                                                                                        The gimbal device should send out its attitude and status in GIMBAL_DEVICE_ATTITUDE_STATUS at a regular rate, e.g. 10 Hz.

                                                                                                                                                                                                                                                        This message is a meant as broadcast, so it's set to the GCS, Gimbal Manager, and all parties on the network (not just Gimbal Manager, like all other messages).

                                                                                                                                                                                                                                                        Custom Gimbal Device Settings

                                                                                                                                                                                                                                                        Custom gimbal settings can be accomplished using the component information microservice which is based on a component information file (this is similar to the camera definition file).

                                                                                                                                                                                                                                                        FAQ

                                                                                                                                                                                                                                                        How to set the System ID of a gimbal device?

                                                                                                                                                                                                                                                        The system ID of all components (e.g. autopilot, companion computer, camera, gimbal) on a drone/system must be the same. This needs to be either done manually by configuration, or alternatively, the components need to listen to the heartbeat of the autopilot and then adjust their system ID accordingly.

                                                                                                                                                                                                                                                        When is Gimbal Device also a Gimbal Manager?

                                                                                                                                                                                                                                                        The default case should be to use the Gimbal Manager in the autopilot. The only exception to this are integrated solutions containing a camera and gimbal for functionality like visual tracking.

                                                                                                                                                                                                                                                        How to test Gimbal Device?

                                                                                                                                                                                                                                                        A Gimbal Device can be tested by connecting it to an autopilot with a Gimbal Manager. To avoid having to do a full setup including autopilot, a direct test using MAVSDK is available.

                                                                                                                                                                                                                                                        Gimbals that use the (old) Gimbal Protocol v1 should still be supported by autopilot software. Basically, the Gimbal Manager needs to translate the commands to the old protocol.

                                                                                                                                                                                                                                                        Gimbals controlled using a protocol like PPM, PWM, SBUS or something proprietary can still be supported. The autopilot will have to act as the Gimbal Manager and provide the driver and translation to the respective protocol.

                                                                                                                                                                                                                                                        The autopilot needs to be configured to either accept MAVLink input (so GIMBAL_MANAGER_SET_MANUAL_CONTROL) or RC control. In both cases, the autopilot can then calculate a gimbal angle or angular rate from the manual control input and send the resulting setpoint to the gimbal device.

                                                                                                                                                                                                                                                        For RC control, the channels will have to be manually mapped/configured to control the gimbal. This is the same approach as is used for managing the input source for flying; it is up to the implementation to select either RC or MAVLink. The recommendation is to make it configurable using (for instance) a parameter.

                                                                                                                                                                                                                                                        A non-MAVLink gimbal needs to be connected to a gimbal manager, which then takes care of sending the gimbal device messages. Since a non-MAVLink gimbal can't be addressed with a MAVLink component ID, the gimbal_device_id needs to be set to one of the magic values (1 to 6). This signals that the gimbal manager also is also acting as the gimbal device.

                                                                                                                                                                                                                                                        Also see how to address non-MAVLink gimbal devices.

                                                                                                                                                                                                                                                        How to interpret GIMBAL_DEVICE_ATTITUDE_STATUS yaw gimbal angle

                                                                                                                                                                                                                                                        The GIMBAL_DEVICE_ATTITUDE_STATUS.flags field must report the frame used for reported yaw values as either:

                                                                                                                                                                                                                                                        • GIMBAL_DEVICE_FLAGS_YAW_IN_VEHICLE_FRAME: Yaw is relative to vehicle.
                                                                                                                                                                                                                                                        • GIMBAL_DEVICE_FLAGS_YAW_IN_EARTH_FRAME: Yaw is relative to north.

                                                                                                                                                                                                                                                        For older devices, if neither of the flags above are set, the yaw frame must be inferred from the GIMBAL_DEVICE_FLAGS_YAW_LOCK. If it is set, the yaw is relative to North, otherwise to the front of the vehicle.

                                                                                                                                                                                                                                                        Manufacturers working on new gimbal devices should set either GIMBAL_DEVICE_FLAGS_YAW_IN_VEHICLE_FRAME or GIMBAL_DEVICE_FLAGS_YAW_IN_EARTH_FRAME. Components recieving the message should also handle GIMBAL_DEVICE_FLAGS_YAW_LOCK for backwards compatibility with older devices.

                                                                                                                                                                                                                                                        Message/Command/Enum Summary

                                                                                                                                                                                                                                                        Gimbal Manager Messages

                                                                                                                                                                                                                                                        This is the set of messages/enums for communicating with the gimbal manager (by ground station, autopilot, etc.).

                                                                                                                                                                                                                                                        MessageDescription
                                                                                                                                                                                                                                                        GIMBAL_MANAGER_INFORMATIONInformation about a high level gimbal manager. This message should be requested by a ground station using MAV_CMD_REQUEST_MESSAGE.
                                                                                                                                                                                                                                                        GIMBAL_MANAGER_STATUSCurrent status about a high level gimbal manager. This message should be broadcast at a low regular rate (e.g. 5Hz).
                                                                                                                                                                                                                                                        GIMBAL_MANAGER_SET_ATTITUDEHigh level message to control a gimbal's attitude. This message is to be sent to the gimbal manager (e.g. from a ground station).
                                                                                                                                                                                                                                                        GIMBAL_MANAGER_SET_MANUAL_CONTROLHigh level message to control a gimbal manually, so without units. The actual angles or angular rates will be produced by the gimbal manager based on settings. This message is to be sent to the gimbal manager (e.g. from a ground station). Angles and rates can be set to NaN according to use case.
                                                                                                                                                                                                                                                        GIMBAL_MANAGER_SET_PITCHYAWHigh level message to control a gimbal's pitch and yaw angles. This message is to be sent to the gimbal manager (e.g. from a ground station). Angles and rates can be set to NaN according to use case.
                                                                                                                                                                                                                                                        CommandDescription
                                                                                                                                                                                                                                                        MAV_CMD_REQUEST_MESSAGERequest the target system(s) emit a single instance of a specified message. This is used to request GIMBAL_MANAGER_INFORMATION.
                                                                                                                                                                                                                                                        MAV_CMD_DO_GIMBAL_MANAGER_CONFIGUREGimbal configuration to set which sysid/compid is in primary and secondary control.
                                                                                                                                                                                                                                                        MAV_CMD_DO_GIMBAL_MANAGER_PITCHYAWHigh level setpoint to be sent to a gimbal manager to set a gimbal attitude. Note: a gimbal is never to react to this command but only the gimbal manager.
                                                                                                                                                                                                                                                        MAV_CMD_DO_SET_ROI_LOCATIONSets the region of interest (ROI) to a location. This can then be used by the vehicle's control system to control the vehicle attitude and the attitude of various sensors such as cameras. This command can be sent to a gimbal manager but not to a gimbal device. A gimbal is not to react to this message.
                                                                                                                                                                                                                                                        MAV_CMD_DO_SET_ROI_WPNEXT_OFFSETSets the region of interest (ROI) to be toward next waypoint, with optional pitch/roll/yaw offset. This can then be used by the vehicle's control system to control the vehicle attitude and the attitude of various sensors such as cameras. This command can be sent to a gimbal manager but not to a gimbal device. A gimbal device is not to react to this message.
                                                                                                                                                                                                                                                        MAV_CMD_DO_SET_ROI_SYSIDMount tracks system with specified system ID. Determination of target vehicle position may be done with GLOBAL_POSITION_INT or any other means. This command can be sent to a gimbal manager but not to a gimbal device. A gimbal device is not to react to this message.
                                                                                                                                                                                                                                                        MAV_CMD_DO_SET_ROI_NONECancels any previous ROI command returning the vehicle/sensors to default flight characteristics. This can then be used by the vehicle's control system to control the vehicle attitude and the attitude of various sensors such as cameras. This command can be sent to a gimbal manager but not to a gimbal device. A gimbal device is not to react to this message. After this command the gimbal manager should go back to manual input if available, and otherwise assume a neutral position.
                                                                                                                                                                                                                                                        MAV_CMD_DO_GIMBAL_MANAGER_TRACK_POINTIf the gimbal manager supports visual tracking (GIMBAL_MANAGER_CAP_FLAGS_HAS_TRACKING_POINT is set), this command allows to initiate the tracking. Such a tracking gimbal manager would usually be an integrated camera/gimbal, or alternatively a companion computer connected to a camera.
                                                                                                                                                                                                                                                        MAV_CMD_DO_GIMBAL_MANAGER_TRACK_RECTANGLEIf the gimbal supports visual tracking (GIMBAL_MANAGER_CAP_FLAGS_HAS_TRACKING_RECTANGLE is set), this command allows to initiate the tracking. Such a tracking gimbal manager would usually be an integrated camera/gimbal, or alternatively a companion computer connected to a camera.
                                                                                                                                                                                                                                                        EnumDescription
                                                                                                                                                                                                                                                        GIMBAL_MANAGER_FLAGSFlags for high level gimbal manager operation.
                                                                                                                                                                                                                                                        The first 16 bytes are identical to the GIMBAL_DEVICE_FLAGS. Used in MAV_CMD_DO_GIMBAL_MANAGER_PITCHYAW, GIMBAL_MANAGER_STATUS , GIMBAL_MANAGER_SET_ATTITUDE.
                                                                                                                                                                                                                                                        GIMBAL_MANAGER_CAP_FLAGSGimbal manager high level capability flags (bitmap).
                                                                                                                                                                                                                                                        The first 16 bits are identical to the GIMBAL_DEVICE_CAP_FLAGS which are identical with GIMBAL_DEVICE_FLAGS. However, the gimbal manager does not need to copy the flags from the gimbal but can also enhance the capabilities and thus add flags. Used in GIMBAL_MANAGER_INFORMATION

                                                                                                                                                                                                                                                        Gimbal Device Messages

                                                                                                                                                                                                                                                        This is the set of messages/enums for communication between gimbal manager and gimbal device.

                                                                                                                                                                                                                                                        MessageDescription
                                                                                                                                                                                                                                                        GIMBAL_DEVICE_INFORMATIONInformation about a low level gimbal. This message should be requested by the gimbal manager or a ground station using MAV_CMD_REQUEST_MESSAGE.
                                                                                                                                                                                                                                                        GIMBAL_DEVICE_SET_ATTITUDELow level message to control a gimbal device's attitude. This message is to be sent from the gimbal manager to the gimbal device component. Angles and rates can be set to NaN according to use case.
                                                                                                                                                                                                                                                        GIMBAL_DEVICE_ATTITUDE_STATUSMessage reporting the status of a gimbal device. This message should be broadcasted by a gimbal device component.
                                                                                                                                                                                                                                                        CommandDescription
                                                                                                                                                                                                                                                        MAV_CMD_REQUEST_MESSAGERequest the target system(s) emit a single instance of a specified message. This is used to request GIMBAL_DEVICE_INFORMATION.
                                                                                                                                                                                                                                                        EnumDescription
                                                                                                                                                                                                                                                        GIMBAL_DEVICE_CAP_FLAGSGimbal device (low level) capability flags (bitmap).
                                                                                                                                                                                                                                                        Used in GIMBAL_DEVICE_INFORMATION.
                                                                                                                                                                                                                                                        GIMBAL_DEVICE_FLAGSFlags for gimbal device (lower level) operation.
                                                                                                                                                                                                                                                        Used in GIMBAL_DEVICE_ATTITUDE_STATUS and GIMBAL_DEVICE_SET_ATTITUDE.
                                                                                                                                                                                                                                                        GIMBAL_DEVICE_ERROR_FLAGSGimbal device (low level) error flags (bitmap, 0 means no error).
                                                                                                                                                                                                                                                        Used in GIMBAL_DEVICE_ATTITUDE_STATUS.

                                                                                                                                                                                                                                                        Sequences

                                                                                                                                                                                                                                                        Depicted below are message sequences for some common scenarious.

                                                                                                                                                                                                                                                        Discovery

                                                                                                                                                                                                                                                        This shows a possible sequence on startup. Note that the gimbal manager could already discover the gimbal device before the ground station asks for the information.

                                                                                                                                                                                                                                                        Normal Manual Control

                                                                                                                                                                                                                                                        During the normal manual control, all messages are streamed at a regular rate. Note that GIMBAL_DEVICE_ATTITUDE_STATUS is broadcast to anyone, so to the gimbal manager and also the ground station.

                                                                                                                                                                                                                                                        ROI Initiated from Ground Station

                                                                                                                                                                                                                                                        ROI can be started using a command and should also be stopped again with a command. The ROI command is translated to a gimbal attitude in the the gimbal manager.

                                                                                                                                                                                                                                                        Attitude Set During Mission

                                                                                                                                                                                                                                                        In this case the gimbal manager is implemented by the autopilot which "sends" the attitude command (for instance for a survey).

                                                                                                                                                                                                                                                        How to Implement the Gimbal Device Interface

                                                                                                                                                                                                                                                        Below is a short summary of all messages that a gimbal device should implement.

                                                                                                                                                                                                                                                        A Gimbal Device can be tested by connecting it to an autopilot with a Gimbal Manager. To avoid having to do a full setup including autopilot, a direct test using MAVSDK is available.

                                                                                                                                                                                                                                                        Messages to Send

                                                                                                                                                                                                                                                        The messages listed should be broadcast on the network/on all connections (sent to everyone).

                                                                                                                                                                                                                                                        HEARTBEAT

                                                                                                                                                                                                                                                        Heartbeats should always be sent (usually at 1 Hz).

                                                                                                                                                                                                                                                        Gimbals that set their sysid from the autopilot will need to wait for the autopilot's heartbeat before emitting their own (note that if the gimbal can receive heartbeats from multiple autopilots then the sysid must be explicitly/statically configured).

                                                                                                                                                                                                                                                        • sysid: the same sysid as the autopilot (this can either be done by configuration, or by listening to the autopilot's heartbeat first and then copying the sysid, default: 1)
                                                                                                                                                                                                                                                        • compid: MAV_COMP_ID_GIMBAL
                                                                                                                                                                                                                                                        • type: MAV_TYPE_GIMBAL
                                                                                                                                                                                                                                                        • autopilot: MAV_AUTOPILOT_INVALID
                                                                                                                                                                                                                                                        • base_mode: 0
                                                                                                                                                                                                                                                        • custom_mode: 0
                                                                                                                                                                                                                                                        • system_status: MAV_STATE_UNINIT

                                                                                                                                                                                                                                                        GIMBAL_DEVICE_ATTITUDE_STATUS

                                                                                                                                                                                                                                                        The gimbal device should send out its attitude status at a regular rate, e.g. 10 Hz. The fields target_system and target_component can be set to 0 (broadcast) by default.

                                                                                                                                                                                                                                                        GIMBAL_DEVICE_INFORMATION

                                                                                                                                                                                                                                                        The static information about the gimbal device needs to be sent out when requested using MAV_CMD_REQUEST_MESSAGE.

                                                                                                                                                                                                                                                        Messages to Listen To/Handle

                                                                                                                                                                                                                                                        GIMBAL_DEVICE_SET_ATTITUDE

                                                                                                                                                                                                                                                        This is the actual attitude setpoint that the gimbal device should follow. Note that the frame of the quaternion setpoint depends on the GIMBAL_DEVICE_FLAGS.

                                                                                                                                                                                                                                                        AUTOPILOT_STATE_FOR_GIMBAL_DEVICE

                                                                                                                                                                                                                                                        The gimbal device should be able to get all the information from the autopilot that it requires in this one message. If something is missing that should be streamed at a high rate, it should be added to this message.

                                                                                                                                                                                                                                                        If this message is not sent by default by the autopilot, or the rate is not ok, the command MAV_CMD_SET_MESSAGE_INTERVAL can be used to request it at a certain rate.

                                                                                                                                                                                                                                                        COMMAND_LONG

                                                                                                                                                                                                                                                        The gimbal device needs to check for commands. See below which commands should get answered.

                                                                                                                                                                                                                                                        Commands to Answer

                                                                                                                                                                                                                                                        MAV_CMD_REQUEST_MESSAGE

                                                                                                                                                                                                                                                        The gimbal device should send out messages when they get requested, e.g. GIMBAL_DEVICE_INFORMATION.

                                                                                                                                                                                                                                                        MAV_CMD_SET_MESSAGE_INTERVAL

                                                                                                                                                                                                                                                        The gimbal device should stream messages at the rate requested.

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                                                                                                                                                                                                                                                          Heartbeat/Connection Protocol

                                                                                                                                                                                                                                                          The heartbeat protocol is used to advertise the existence of a system on the MAVLink network, along with its system and component id, vehicle type, flight stack, component type, and flight mode.

                                                                                                                                                                                                                                                          The heartbeat allows other components to:

                                                                                                                                                                                                                                                          • discover systems that are connected to the network and infer when they have disconnected. A component is considered to be connected to the network if its HEARTBEAT message is regularly received, and disconnected if a number of expected messages are not received.
                                                                                                                                                                                                                                                          • handle other messages from the component appropriately, based on component type and other properties (e.g. layout a GCS interface based on vehicle type).
                                                                                                                                                                                                                                                          • route messages to systems on different interfaces.

                                                                                                                                                                                                                                                          Message/Enum Summary

                                                                                                                                                                                                                                                          MessageDescription
                                                                                                                                                                                                                                                          HEARTBEATBroadcast that a MAVLink component is present and responding, along with its type (MAV_TYPE) and other properties.
                                                                                                                                                                                                                                                          EnumDescription
                                                                                                                                                                                                                                                          MAV_TYPEType of the component. Flight controllers must report the type of the vehicle on which they are mounted (e.g. MAV_TYPE_OCTOROTOR). All other components must report a value appropriate for their type (e.g. a camera must use MAV_TYPE_CAMERA).
                                                                                                                                                                                                                                                          MAV_AUTOPILOTAutopilot type / class. Set to MAV_AUTOPILOT_INVALID for components that are not flight controllers (e.g. ground stations, gimbals, etc.).
                                                                                                                                                                                                                                                          MAV_MODE_FLAGSystem mode bitmap.
                                                                                                                                                                                                                                                          MAV_STATESystem status flag.

                                                                                                                                                                                                                                                          HEARTBEAT Broadcast Frequency

                                                                                                                                                                                                                                                          Components must regularly broadcast their HEARTBEAT and monitor for heartbeats from other components/systems.

                                                                                                                                                                                                                                                          The rate at which the HEARTBEAT message must be broadcast, and how many messages may be "missed" before a system is considered to have timed out/disconnected from the network, depends on the channel (it is not defined by MAVLink). On RF telemetry links, components typically publish their heartbeat at 1 Hz and consider another system to have disconnected if four or five messages are not received.

                                                                                                                                                                                                                                                          A component may choose not to send or broadcast information on a channel (other than the HEARTBEAT) if it does not detect another system, and it will continue to send messages to a system while it is receiving heartbeats. Therefore it is important that systems:

                                                                                                                                                                                                                                                          • broadcast a heartbeat even when not commanding the remote system.
                                                                                                                                                                                                                                                          • do not broadcast a heartbeat when they are in a faulted state (i.e. do not publish a heartbeat from a separate thread that is unaware of the state of the rest of the component).

                                                                                                                                                                                                                                                          Connecting to a GCS or MAVLink API

                                                                                                                                                                                                                                                          The HEARTBEAT may also used by GCS (or Developer API) to determine if it can connect to a vehicle in order to collect telemetry and send missions/commands.

                                                                                                                                                                                                                                                          For example, QGroundControl will only connect to a vehicle system (i.e. not another GCS, gimbal, or onboard controller), and also checks that it has a non-zero system ID before displaying the vehicle connected message. QGC also uses the specific type of vehicle and other heartbeat information to control layout of the GUI.

                                                                                                                                                                                                                                                          The specific code for connecting to QGroundControl can be found in MultiVehicleManager.cc (see void MultiVehicleManager::_vehicleHeartbeatInfo).

                                                                                                                                                                                                                                                          Component Identity

                                                                                                                                                                                                                                                          The type of a component is obtained from its HEARTBEAT.type (MAV_TYPE) and HEARTBEAT.autopilot (MAV_AUTOPILOT) fields:

                                                                                                                                                                                                                                                          • A flight controller component must use a MAV_TYPE corresponding to a particular vehicle (e.g. MAV_TYPE_FIXED_WING, MAV_TYPE_QUADROTOR etc.), and set HEARTBEAT.autopilot to a valid flight stack.
                                                                                                                                                                                                                                                          • All other components must use a MAV_TYPE corresponding to the actual type (e.g.: MAV_TYPE_GIMBAL, MAV_TYPE_BATTERY, etc.), and should set HEARTBEAT.autopilot to MAV_AUTOPILOT_INVALID.

                                                                                                                                                                                                                                                          The recommended way to recognise an autopilot component is to check that HEARTBEAT.autopilot is not MAV_AUTOPILOT_INVALID.

                                                                                                                                                                                                                                                          Every component must have a system-unique component id, which is used for routing and for identifying multiple instances of a particular component type.

                                                                                                                                                                                                                                                          Historically the component id was also used to determine the component type. New code must not make any assumption about the type from the id used (type is determined from HEARTBEAT.type).

                                                                                                                                                                                                                                                          MAVLink recommends that by default components use a type-appropriate component id from MAV_COMPONENT, and provide an interface to change the component id if needed. For example, a camera component might use any of the MAV_COMP_ID_CAMERAn ids, and should not use MAV_COMP_ID_GPS2.

                                                                                                                                                                                                                                                          Using type-specific component ids:

                                                                                                                                                                                                                                                          • makes id clashes less likely "out of the box" (unless two components of the same type are present on the same system).
                                                                                                                                                                                                                                                          • reduces the impact on legacy code that determines component type from the id.

                                                                                                                                                                                                                                                          Component Capabilities

                                                                                                                                                                                                                                                          The basic properties and capabilities of an autopilot can be determined by requesting the AUTOPILOT_VERSION message using MAV_CMD_REQUEST_MESSAGE, and for other components by requesting COMPONENT_INFORMATION_BASIC. This should normally be done on discovery of a new component, and the results cached.

                                                                                                                                                                                                                                                          The information includes hardware and software versioning information, and also the capabilities, a bitmap of the MAVLink services/protocols (MAV_PROTOCOL_CAPABILITY) supported by the component.

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                                                                                                                                                                                                                                                            Heartbeat/Connection Protocol

                                                                                                                                                                                                                                                            The heartbeat protocol is used to advertise the existence of a system on the MAVLink network, along with its system and component id, vehicle type, flight stack, component type, and flight mode.

                                                                                                                                                                                                                                                            The heartbeat allows other components to:

                                                                                                                                                                                                                                                            • discover systems that are connected to the network and infer when they have disconnected. A component is considered to be connected to the network if its HEARTBEAT message is regularly received, and disconnected if a number of expected messages are not received.
                                                                                                                                                                                                                                                            • handle other messages from the component appropriately, based on component type and other properties (e.g. layout a GCS interface based on vehicle type).
                                                                                                                                                                                                                                                            • route messages to systems on different interfaces.

                                                                                                                                                                                                                                                            Message/Enum Summary

                                                                                                                                                                                                                                                            MessageDescription
                                                                                                                                                                                                                                                            HEARTBEATBroadcast that a MAVLink component is present and responding, along with its type (MAV_TYPE) and other properties.
                                                                                                                                                                                                                                                            EnumDescription
                                                                                                                                                                                                                                                            MAV_TYPEType of the component. Flight controllers must report the type of the vehicle on which they are mounted (e.g. MAV_TYPE_OCTOROTOR). All other components must report a value appropriate for their type (e.g. a camera must use MAV_TYPE_CAMERA).
                                                                                                                                                                                                                                                            MAV_AUTOPILOTAutopilot type / class. Set to MAV_AUTOPILOT_INVALID for components that are not flight controllers (e.g. ground stations, gimbals, etc.).
                                                                                                                                                                                                                                                            MAV_MODE_FLAGSystem mode bitmap.
                                                                                                                                                                                                                                                            MAV_STATESystem status flag.

                                                                                                                                                                                                                                                            HEARTBEAT Broadcast Frequency

                                                                                                                                                                                                                                                            Components must regularly broadcast their HEARTBEAT and monitor for heartbeats from other components/systems.

                                                                                                                                                                                                                                                            The rate at which the HEARTBEAT message must be broadcast, and how many messages may be "missed" before a system is considered to have timed out/disconnected from the network, depends on the channel (it is not defined by MAVLink). On RF telemetry links, components typically publish their heartbeat at 1 Hz and consider another system to have disconnected if four or five messages are not received.

                                                                                                                                                                                                                                                            A component may choose not to send or broadcast information on a channel (other than the HEARTBEAT) if it does not detect another system, and it will continue to send messages to a system while it is receiving heartbeats. Therefore it is important that systems:

                                                                                                                                                                                                                                                            • broadcast a heartbeat even when not commanding the remote system.
                                                                                                                                                                                                                                                            • do not broadcast a heartbeat when they are in a faulted state (i.e. do not publish a heartbeat from a separate thread that is unaware of the state of the rest of the component).

                                                                                                                                                                                                                                                            Connecting to a GCS or MAVLink API

                                                                                                                                                                                                                                                            The HEARTBEAT may also used by GCS (or Developer API) to determine if it can connect to a vehicle in order to collect telemetry and send missions/commands.

                                                                                                                                                                                                                                                            For example, QGroundControl will only connect to a vehicle system (i.e. not another GCS, gimbal, or onboard controller), and also checks that it has a non-zero system ID before displaying the vehicle connected message. QGC also uses the specific type of vehicle and other heartbeat information to control layout of the GUI.

                                                                                                                                                                                                                                                            The specific code for connecting to QGroundControl can be found in MultiVehicleManager.cc (see void MultiVehicleManager::_vehicleHeartbeatInfo).

                                                                                                                                                                                                                                                            Component Identity

                                                                                                                                                                                                                                                            The type of a component is obtained from its HEARTBEAT.type (MAV_TYPE) and HEARTBEAT.autopilot (MAV_AUTOPILOT) fields:

                                                                                                                                                                                                                                                            • A flight controller component must use a MAV_TYPE corresponding to a particular vehicle (e.g. MAV_TYPE_FIXED_WING, MAV_TYPE_QUADROTOR etc.), and set HEARTBEAT.autopilot to a valid flight stack.
                                                                                                                                                                                                                                                            • All other components must use a MAV_TYPE corresponding to the actual type (e.g.: MAV_TYPE_GIMBAL, MAV_TYPE_BATTERY, etc.), and should set HEARTBEAT.autopilot to MAV_AUTOPILOT_INVALID.

                                                                                                                                                                                                                                                            The recommended way to recognise an autopilot component is to check that HEARTBEAT.autopilot is not MAV_AUTOPILOT_INVALID.

                                                                                                                                                                                                                                                            Every component must have a system-unique component id, which is used for routing and for identifying multiple instances of a particular component type.

                                                                                                                                                                                                                                                            Historically the component id was also used to determine the component type. New code must not make any assumption about the type from the id used (type is determined from HEARTBEAT.type).

                                                                                                                                                                                                                                                            MAVLink recommends that by default components use a type-appropriate component id from MAV_COMPONENT, and provide an interface to change the component id if needed. For example, a camera component might use any of the MAV_COMP_ID_CAMERAn ids, and should not use MAV_COMP_ID_GPS2.

                                                                                                                                                                                                                                                            Using type-specific component ids:

                                                                                                                                                                                                                                                            • makes id clashes less likely "out of the box" (unless two components of the same type are present on the same system).
                                                                                                                                                                                                                                                            • reduces the impact on legacy code that determines component type from the id.

                                                                                                                                                                                                                                                            Component Capabilities

                                                                                                                                                                                                                                                            The basic properties and capabilities of an autopilot can be determined by requesting the AUTOPILOT_VERSION message using MAV_CMD_REQUEST_MESSAGE, and for other components by requesting COMPONENT_INFORMATION_BASIC. This should normally be done on discovery of a new component, and the results cached.

                                                                                                                                                                                                                                                            The information includes hardware and software versioning information, and also the capabilities, a bitmap of the MAVLink services/protocols (MAV_PROTOCOL_CAPABILITY) supported by the component.

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                                                                                                                                                                                                                                                              \ No newline at end of file diff --git a/en/services/high_latency.html b/en/services/high_latency.html index 5e967ee19..28e95c5a9 100644 --- a/en/services/high_latency.html +++ b/en/services/high_latency.html @@ -1 +1 @@ -High Latency Protocol · MAVLink Developer Guide
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                                                                                                                                                                                                                                                              High Latency Protocol

                                                                                                                                                                                                                                                              High Latency (HL) links, for example made using the Iridium Satellite network, provide global connectivity, albeit with significant message latency (> 1 second) and high cost-per-message. Generally the cost and latency means that high-latency links are only used when there is no lower-latency alternative, and should only send essential information or commands.

                                                                                                                                                                                                                                                              The protocol provides a heartbeat-like message (HIGH_LATENCY2) for transmitting just the most important telemetry at low rate, and a command (MAV_CMD_CONTROL_HIGH_LATENCY) for enabling/disabling the HL link when needed (i.e. when no lower-latency link is available).

                                                                                                                                                                                                                                                              The GCS should carefully manage what data is sent to/requested from the autopilot on the HL link, in order to avoid congestion and minimize the cost of using the channel:

                                                                                                                                                                                                                                                              • Ground stations should not upload or download missions, waypoints or geofences on the HL link (i.e. should not use the mission protocol).
                                                                                                                                                                                                                                                              • Ground stations should not update or synchronise parameters over the HL channel (i.e. using the parameter protocol).
                                                                                                                                                                                                                                                              • HEARTBEAT messages should not be sent over the HL channel (see the section below for more information).

                                                                                                                                                                                                                                                              Typically the initial connection with a GCS is made over a low latency link (often before takeoff), so that the above data can be transferred before switching to the HL link.

                                                                                                                                                                                                                                                              Heartbeat/Routing

                                                                                                                                                                                                                                                              In order to reduce traffic to the bare minimum, some of the fundamental assumptions of MAVLink are explicitly broken:

                                                                                                                                                                                                                                                              • HEARTBEAT messages are not emitted on the channel (either by the autopilot or GCS).

                                                                                                                                                                                                                                                                The heartbeat is used to build MAVLink routing tables between channels. Commands addressed specifically to the high latency component may not be routed from another channel (i.e. you can connect to the component from a GCS directly, but not via a MAVLink router).

                                                                                                                                                                                                                                                              • Only the command protocol service messages and HIGH_LATENCY2 message should be sent over the high latency channel.

                                                                                                                                                                                                                                                              The other rules are essentially the same but there are some implications of the above changes:

                                                                                                                                                                                                                                                              • Messages from the high latency channel should be routed to other nodes on the network as usual. Note that this in reality most systems on a high latency network only send HIGH_LATENCY2.
                                                                                                                                                                                                                                                              • Addressed messages should be sent over the high latency channel (in both directions) in accordance with the normal routing rules. In practice the lack of HEARTBEAT means that addressed messages are unlikely to arrive, and hence be sent.

                                                                                                                                                                                                                                                              The implication is that while all components on a MAVLink network will get HIGH_LATENCY2 updates, only the directly connected GCS (or other component) will be able send command protocol messages to the vehicle.

                                                                                                                                                                                                                                                              Message/Enum Summary

                                                                                                                                                                                                                                                              MessageDescription
                                                                                                                                                                                                                                                              HIGH_LATENCY2A heartbeat-like message that contains all the most important (but not time-sensitive) telemetry for sending over high latency links.
                                                                                                                                                                                                                                                              CommandDescription
                                                                                                                                                                                                                                                              MAV_CMD_CONTROL_HIGH_LATENCYCommand to start/stop transmitting high latency telemetry (HIGH_LATENCY2).
                                                                                                                                                                                                                                                              EnumDescription
                                                                                                                                                                                                                                                              HL_FAILURE_FLAGFlags to report failure cases over the high latency telemetry.

                                                                                                                                                                                                                                                              Sequences

                                                                                                                                                                                                                                                              A GCS should only upload/download missions, geofences, rally points, and parameters when connected over a low latency link. Generally a vehicle is connected to the GCS via a low latency link for initial synchronisation of parameters etc., and will reconnect whenever the low latency vehicle is available. When the link is not available it will switch to the high latency link and primarily just monitor the high latency telemetry.

                                                                                                                                                                                                                                                              A typical flight sequence might therefore look like:

                                                                                                                                                                                                                                                              • Vehicle is started and connects to ground station over low latency link (e.g. USB cable, Telemetry radio).
                                                                                                                                                                                                                                                              • Ground station(s) download, check and sync all mission protocol items and parameter protocol items over the low latency link
                                                                                                                                                                                                                                                              • Vehicle starts mission.
                                                                                                                                                                                                                                                              • Ground station detects when low latency link is lost/available and enables/disables the high latency link appropriately.
                                                                                                                                                                                                                                                                • While low latency link is active the mission and parameter protocols can be used.
                                                                                                                                                                                                                                                                • While high latency link is active the vehicle provide telemetry updates but parameters and missions should not be updated.

                                                                                                                                                                                                                                                              When the low latency link is lost, the GCS sends MAV_CMD_CONTROL_HIGH_LATENCY to the vehicle over the high latency channel to turn the high latency link on on (causing the vehicle to start emitting HIGH_LATENCY2 messages). When the low latency link is regained the GCS sends MAV_CMD_CONTROL_HIGH_LATENCY to stop the vehicle from broadcasting HIGH_LATENCY2 messages (usually this would be sent over the low latency link).

                                                                                                                                                                                                                                                              The diagram below shows a GCS switching from a higher-latency primary link to a lower latency secondary link when one becomes available, and then back to the higher latency link when the primary link drops out.

                                                                                                                                                                                                                                                              Explicit Handover

                                                                                                                                                                                                                                                              A ground station may also support a handover model, where the high latency link is established before the low latency link is dropped (i.e. the high latency link may be enabled by sending MAV_CMD_CONTROL_HIGH_LATENCY over the low latency link prior to loss of coverage).

                                                                                                                                                                                                                                                              This approach allows the GCS to verify that the high latency link is available before losing the low latency connection.

                                                                                                                                                                                                                                                              If using this model the GCS and autopilot should be able to work with a mixed regime of low and high latency links. Specifically, this means that they should be able to handle the case where the same message is sent over different both channels.

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                                                                                                                                                                                                                                                                High Latency Protocol

                                                                                                                                                                                                                                                                High Latency (HL) links, for example made using the Iridium Satellite network, provide global connectivity, albeit with significant message latency (> 1 second) and high cost-per-message. Generally the cost and latency means that high-latency links are only used when there is no lower-latency alternative, and should only send essential information or commands.

                                                                                                                                                                                                                                                                The protocol provides a heartbeat-like message (HIGH_LATENCY2) for transmitting just the most important telemetry at low rate, and a command (MAV_CMD_CONTROL_HIGH_LATENCY) for enabling/disabling the HL link when needed (i.e. when no lower-latency link is available).

                                                                                                                                                                                                                                                                The GCS should carefully manage what data is sent to/requested from the autopilot on the HL link, in order to avoid congestion and minimize the cost of using the channel:

                                                                                                                                                                                                                                                                • Ground stations should not upload or download missions, waypoints or geofences on the HL link (i.e. should not use the mission protocol).
                                                                                                                                                                                                                                                                • Ground stations should not update or synchronise parameters over the HL channel (i.e. using the parameter protocol).
                                                                                                                                                                                                                                                                • HEARTBEAT messages should not be sent over the HL channel (see the section below for more information).

                                                                                                                                                                                                                                                                Typically the initial connection with a GCS is made over a low latency link (often before takeoff), so that the above data can be transferred before switching to the HL link.

                                                                                                                                                                                                                                                                Heartbeat/Routing

                                                                                                                                                                                                                                                                In order to reduce traffic to the bare minimum, some of the fundamental assumptions of MAVLink are explicitly broken:

                                                                                                                                                                                                                                                                • HEARTBEAT messages are not emitted on the channel (either by the autopilot or GCS).

                                                                                                                                                                                                                                                                  The heartbeat is used to build MAVLink routing tables between channels. Commands addressed specifically to the high latency component may not be routed from another channel (i.e. you can connect to the component from a GCS directly, but not via a MAVLink router).

                                                                                                                                                                                                                                                                • Only the command protocol service messages and HIGH_LATENCY2 message should be sent over the high latency channel.

                                                                                                                                                                                                                                                                The other rules are essentially the same but there are some implications of the above changes:

                                                                                                                                                                                                                                                                • Messages from the high latency channel should be routed to other nodes on the network as usual. Note that this in reality most systems on a high latency network only send HIGH_LATENCY2.
                                                                                                                                                                                                                                                                • Addressed messages should be sent over the high latency channel (in both directions) in accordance with the normal routing rules. In practice the lack of HEARTBEAT means that addressed messages are unlikely to arrive, and hence be sent.

                                                                                                                                                                                                                                                                The implication is that while all components on a MAVLink network will get HIGH_LATENCY2 updates, only the directly connected GCS (or other component) will be able send command protocol messages to the vehicle.

                                                                                                                                                                                                                                                                Message/Enum Summary

                                                                                                                                                                                                                                                                MessageDescription
                                                                                                                                                                                                                                                                HIGH_LATENCY2A heartbeat-like message that contains all the most important (but not time-sensitive) telemetry for sending over high latency links.
                                                                                                                                                                                                                                                                CommandDescription
                                                                                                                                                                                                                                                                MAV_CMD_CONTROL_HIGH_LATENCYCommand to start/stop transmitting high latency telemetry (HIGH_LATENCY2).
                                                                                                                                                                                                                                                                EnumDescription
                                                                                                                                                                                                                                                                HL_FAILURE_FLAGFlags to report failure cases over the high latency telemetry.

                                                                                                                                                                                                                                                                Sequences

                                                                                                                                                                                                                                                                A GCS should only upload/download missions, geofences, rally points, and parameters when connected over a low latency link. Generally a vehicle is connected to the GCS via a low latency link for initial synchronisation of parameters etc., and will reconnect whenever the low latency vehicle is available. When the link is not available it will switch to the high latency link and primarily just monitor the high latency telemetry.

                                                                                                                                                                                                                                                                A typical flight sequence might therefore look like:

                                                                                                                                                                                                                                                                • Vehicle is started and connects to ground station over low latency link (e.g. USB cable, Telemetry radio).
                                                                                                                                                                                                                                                                • Ground station(s) download, check and sync all mission protocol items and parameter protocol items over the low latency link
                                                                                                                                                                                                                                                                • Vehicle starts mission.
                                                                                                                                                                                                                                                                • Ground station detects when low latency link is lost/available and enables/disables the high latency link appropriately.
                                                                                                                                                                                                                                                                  • While low latency link is active the mission and parameter protocols can be used.
                                                                                                                                                                                                                                                                  • While high latency link is active the vehicle provide telemetry updates but parameters and missions should not be updated.

                                                                                                                                                                                                                                                                When the low latency link is lost, the GCS sends MAV_CMD_CONTROL_HIGH_LATENCY to the vehicle over the high latency channel to turn the high latency link on on (causing the vehicle to start emitting HIGH_LATENCY2 messages). When the low latency link is regained the GCS sends MAV_CMD_CONTROL_HIGH_LATENCY to stop the vehicle from broadcasting HIGH_LATENCY2 messages (usually this would be sent over the low latency link).

                                                                                                                                                                                                                                                                The diagram below shows a GCS switching from a higher-latency primary link to a lower latency secondary link when one becomes available, and then back to the higher latency link when the primary link drops out.

                                                                                                                                                                                                                                                                Explicit Handover

                                                                                                                                                                                                                                                                A ground station may also support a handover model, where the high latency link is established before the low latency link is dropped (i.e. the high latency link may be enabled by sending MAV_CMD_CONTROL_HIGH_LATENCY over the low latency link prior to loss of coverage).

                                                                                                                                                                                                                                                                This approach allows the GCS to verify that the high latency link is available before losing the low latency connection.

                                                                                                                                                                                                                                                                If using this model the GCS and autopilot should be able to work with a mixed regime of low and high latency links. Specifically, this means that they should be able to handle the case where the same message is sent over different both channels.

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                                                                                                                                                                                                                                                                  \ No newline at end of file diff --git a/en/services/illuminator.html b/en/services/illuminator.html index d147286ba..1cc3780d5 100644 --- a/en/services/illuminator.html +++ b/en/services/illuminator.html @@ -1 +1 @@ -Illuminator Protocol · MAVLink Developer Guide
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                                                                                                                                                                                                                                                                  Illuminator Protocol

                                                                                                                                                                                                                                                                  The illuminator protocol allows MAVLink control over the behaviour of lights, LEDs, and/or emitters mounted or integrated on the drone. The protocol currently allows for the following control: brightness, on/off, and a strobe feature.

                                                                                                                                                                                                                                                                  Along with this, the illuminator protocol also publishes status information for developers or users. The status messaging encompasses the current configuration of the illuminator and the health of the illuminator device.

                                                                                                                                                                                                                                                                  These illuminators have built-in MAVLink support:

                                                                                                                                                                                                                                                                  • Skydio Spotlight for X10

                                                                                                                                                                                                                                                                  Message/Command/Enum Summary

                                                                                                                                                                                                                                                                  MessageDescription
                                                                                                                                                                                                                                                                  COMPONENT_INFORMATION_BASICBasic illuminator information data. Should be requested using MAV_CMD_REQUEST_MESSAGE on startup, or when required.
                                                                                                                                                                                                                                                                  ILLUMINATOR_STATUSCurrent status of the illuminator. Recommended to publish this at a regular rate.
                                                                                                                                                                                                                                                                  CommandDescription
                                                                                                                                                                                                                                                                  MAV_CMD_ILLUMINATOR_ON_OFFTurns illuminators ON/OFF.
                                                                                                                                                                                                                                                                  MAV_CMD_DO_ILLUMINATOR_CONFIGUREConfigures illuminator settings.
                                                                                                                                                                                                                                                                  Enum ValuesDescription
                                                                                                                                                                                                                                                                  MAV_TYPE_ILLUMINATORType of the component (illuminator).
                                                                                                                                                                                                                                                                  MAV_COMP_ID_ILLUMINATORID of the component (illuminator).
                                                                                                                                                                                                                                                                  EnumDescription
                                                                                                                                                                                                                                                                  ILLUMINATOR_MODEIlluminator modes.
                                                                                                                                                                                                                                                                  ILLUMINATOR_ERROR_FLAGSFault/health indications.

                                                                                                                                                                                                                                                                  Implementation and Messages

                                                                                                                                                                                                                                                                  Illuminator Connection

                                                                                                                                                                                                                                                                  Illuminators are expected to follow the Heartbeat/Connection Protocol and send a constant flow of heartbeats (nominally at 1Hz). Illuminators are identified via their type MAV_TYPE_ILLUMINATOR. Individual illuminators are distinguished via their unique component ID, which by default should be MAV_COMP_ID_ILLUMINATOR (though this is not mandated and any ID may be used). Once a heartbeat is received, the drone can then send a MAV_CMD_REQUEST_MESSAGE command to the illuminator to receive information, set settings, or control the illuminator. An example below illustrates how a drone can request the status of the illuminator.

                                                                                                                                                                                                                                                                  COMPONENT_INFORMATION_BASIC

                                                                                                                                                                                                                                                                  While the MAV_TYPE and Component ID help identify the system and component, the COMPONENT_INFORMATION_BASIC command can be requested to retrieve component information data, which can help further identify the component being communicated with. This data includes time_boot_ms, MAV_PROTOCOL_CAPABILITY, vendor_name, model_name, software_version, hardware_version, and serial_number.

                                                                                                                                                                                                                                                                  ParameterDescription
                                                                                                                                                                                                                                                                  time_boot_msTime since system boot up in milliseconds.
                                                                                                                                                                                                                                                                  MAV_PROTOCOL_CAPABILITYBitmask detailing the component capability flags.
                                                                                                                                                                                                                                                                  vendor_nameName of the component vendor (optional).
                                                                                                                                                                                                                                                                  model_nameName of the component's model (optional).
                                                                                                                                                                                                                                                                  software_versionSoftware version on the module, recommended format is SEMVER: 'major.minor.patch' but any format can be used (24-character string) (optional).
                                                                                                                                                                                                                                                                  hardware_versionHardware version on the module, recommended format is SEMVER: 'major.minor.patch' but any format can be used (24-character string) (optional).
                                                                                                                                                                                                                                                                  serial_numberHardware's serial number (optional).

                                                                                                                                                                                                                                                                  Optional parameters can be left empty or set to zero.

                                                                                                                                                                                                                                                                  ON/OFF

                                                                                                                                                                                                                                                                  The MAV_CMD_ILLUMINATOR_ON_OFF command is used to enable/disable the illuminator. It's usage can be seen below:

                                                                                                                                                                                                                                                                  CONFIGURE

                                                                                                                                                                                                                                                                  The MAV_CMD_DO_ILLUMINATOR_CONFIGURE command controls the illuminator's settings. This will adjust how the illuminator behaves when enabled. The operation follows the normal Command Protocol rules for command/acknowledgment. The four parameters for this command are: Mode, Brightness, Strobe Period, Strobe Duty.

                                                                                                                                                                                                                                                                  Illuminators can be set in different modes which can change the behavior of the illuminator (described in a separate section, Modes). The brightness can be set via "Brightness" as a percentage value (0-100%). Illuminators may also have the functionality to strobe the light source. This behavior is configured via "Strobe Period" and "Strobe Duty". These parameters can be set to 0 when not used. "Strobe Period" is in seconds and "Strobe Duty" is a percentage value (indicating the % of time in the "Strobe Period" the illuminator is enabled).

                                                                                                                                                                                                                                                                  MODES

                                                                                                                                                                                                                                                                  If the mode is unknown, the mode parameter value will be set to 0.

                                                                                                                                                                                                                                                                  A mode value of 1 is ILLUMINATOR_MODE_INTERNAL_CONTROL, where the illuminator behavior is controlled by MAV_CMD_DO_ILLUMINATOR_CONFIGURE settings.

                                                                                                                                                                                                                                                                  When the value is set to 2, it indicates that the illuminator mode is ILLUMINATOR_MODE_EXTERNAL_SYNC. This mode is for instances where the illuminator behavior is controlled by external factors: e.g. an external hardware signal.

                                                                                                                                                                                                                                                                  STATUS

                                                                                                                                                                                                                                                                  The ILLUMINATOR_STATUS message can be requested to receive information about the status of the illuminator. This includes information such as uptime, errors, whether the illuminator is enabled via MAV_CMD_ILLUMINATOR_ON_OFF, current settings from the MAV_CMD_DO_ILLUMINATOR_CONFIGURE command, and the temperature of the illuminator.

                                                                                                                                                                                                                                                                  ILLUMINATOR_ERROR_FLAGS

                                                                                                                                                                                                                                                                  The ILLUMINATOR_ERROR_FLAGS can be used to indicate if there is any issue with the illuminator. At this time, there are three flags. If there is no error and the illuminator is behaving as normal, the ILLUMINATOR_ERROR_FLAGS bitmap will be 0. If ILLUMINATOR_ERROR_FLAGS is set to 1 or 2, this indicates an error related to the temperature of the illuminator.

                                                                                                                                                                                                                                                                  1 indicates ILLUMINATOR_ERROR_FLAGS_THERMAL_THROTTLING as in the illuminator is throttling its output due to a thermal issue. 2 indicates ILLUMINATOR_ERROR_FLAGS_OVER_TEMPERATURE_SHUTDOWN which means that the illuminator is shutting off due to passing some temperature threshold.

                                                                                                                                                                                                                                                                  The status message utilization can be seen below:

                                                                                                                                                                                                                                                                  Test Script

                                                                                                                                                                                                                                                                  Description

                                                                                                                                                                                                                                                                  The test suite included in assets/services/illuminators allows for testing both sides of the illuminator interaction.

                                                                                                                                                                                                                                                                  • illuminator.py emulates a standard illuminator module.
                                                                                                                                                                                                                                                                  • test_illuminator.py runs a standard test suite against the emulator, testing all commands listed in this document.

                                                                                                                                                                                                                                                                  Instructions

                                                                                                                                                                                                                                                                  1. Run simple illuminator emulator python3 illuminator.py
                                                                                                                                                                                                                                                                  2. Run test python3 -m unittest -v test_illuminator.py

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                                                                                                                                                                                                                                                                    Illuminator Protocol

                                                                                                                                                                                                                                                                    The illuminator protocol allows MAVLink control over the behaviour of lights, LEDs, and/or emitters mounted or integrated on the drone. The protocol currently allows for the following control: brightness, on/off, and a strobe feature.

                                                                                                                                                                                                                                                                    Along with this, the illuminator protocol also publishes status information for developers or users. The status messaging encompasses the current configuration of the illuminator and the health of the illuminator device.

                                                                                                                                                                                                                                                                    These illuminators have built-in MAVLink support:

                                                                                                                                                                                                                                                                    • Skydio Spotlight for X10

                                                                                                                                                                                                                                                                    Message/Command/Enum Summary

                                                                                                                                                                                                                                                                    MessageDescription
                                                                                                                                                                                                                                                                    COMPONENT_INFORMATION_BASICBasic illuminator information data. Should be requested using MAV_CMD_REQUEST_MESSAGE on startup, or when required.
                                                                                                                                                                                                                                                                    ILLUMINATOR_STATUSCurrent status of the illuminator. Recommended to publish this at a regular rate.
                                                                                                                                                                                                                                                                    CommandDescription
                                                                                                                                                                                                                                                                    MAV_CMD_ILLUMINATOR_ON_OFFTurns illuminators ON/OFF.
                                                                                                                                                                                                                                                                    MAV_CMD_DO_ILLUMINATOR_CONFIGUREConfigures illuminator settings.
                                                                                                                                                                                                                                                                    Enum ValuesDescription
                                                                                                                                                                                                                                                                    MAV_TYPE_ILLUMINATORType of the component (illuminator).
                                                                                                                                                                                                                                                                    MAV_COMP_ID_ILLUMINATORID of the component (illuminator).
                                                                                                                                                                                                                                                                    EnumDescription
                                                                                                                                                                                                                                                                    ILLUMINATOR_MODEIlluminator modes.
                                                                                                                                                                                                                                                                    ILLUMINATOR_ERROR_FLAGSFault/health indications.

                                                                                                                                                                                                                                                                    Implementation and Messages

                                                                                                                                                                                                                                                                    Illuminator Connection

                                                                                                                                                                                                                                                                    Illuminators are expected to follow the Heartbeat/Connection Protocol and send a constant flow of heartbeats (nominally at 1Hz). Illuminators are identified via their type MAV_TYPE_ILLUMINATOR. Individual illuminators are distinguished via their unique component ID, which by default should be MAV_COMP_ID_ILLUMINATOR (though this is not mandated and any ID may be used). Once a heartbeat is received, the drone can then send a MAV_CMD_REQUEST_MESSAGE command to the illuminator to receive information, set settings, or control the illuminator. An example below illustrates how a drone can request the status of the illuminator.

                                                                                                                                                                                                                                                                    COMPONENT_INFORMATION_BASIC

                                                                                                                                                                                                                                                                    While the MAV_TYPE and Component ID help identify the system and component, the COMPONENT_INFORMATION_BASIC command can be requested to retrieve component information data, which can help further identify the component being communicated with. This data includes time_boot_ms, MAV_PROTOCOL_CAPABILITY, vendor_name, model_name, software_version, hardware_version, and serial_number.

                                                                                                                                                                                                                                                                    ParameterDescription
                                                                                                                                                                                                                                                                    time_boot_msTime since system boot up in milliseconds.
                                                                                                                                                                                                                                                                    MAV_PROTOCOL_CAPABILITYBitmask detailing the component capability flags.
                                                                                                                                                                                                                                                                    vendor_nameName of the component vendor (optional).
                                                                                                                                                                                                                                                                    model_nameName of the component's model (optional).
                                                                                                                                                                                                                                                                    software_versionSoftware version on the module, recommended format is SEMVER: 'major.minor.patch' but any format can be used (24-character string) (optional).
                                                                                                                                                                                                                                                                    hardware_versionHardware version on the module, recommended format is SEMVER: 'major.minor.patch' but any format can be used (24-character string) (optional).
                                                                                                                                                                                                                                                                    serial_numberHardware's serial number (optional).

                                                                                                                                                                                                                                                                    Optional parameters can be left empty or set to zero.

                                                                                                                                                                                                                                                                    ON/OFF

                                                                                                                                                                                                                                                                    The MAV_CMD_ILLUMINATOR_ON_OFF command is used to enable/disable the illuminator. It's usage can be seen below:

                                                                                                                                                                                                                                                                    CONFIGURE

                                                                                                                                                                                                                                                                    The MAV_CMD_DO_ILLUMINATOR_CONFIGURE command controls the illuminator's settings. This will adjust how the illuminator behaves when enabled. The operation follows the normal Command Protocol rules for command/acknowledgment. The four parameters for this command are: Mode, Brightness, Strobe Period, Strobe Duty.

                                                                                                                                                                                                                                                                    Illuminators can be set in different modes which can change the behavior of the illuminator (described in a separate section, Modes). The brightness can be set via "Brightness" as a percentage value (0-100%). Illuminators may also have the functionality to strobe the light source. This behavior is configured via "Strobe Period" and "Strobe Duty". These parameters can be set to 0 when not used. "Strobe Period" is in seconds and "Strobe Duty" is a percentage value (indicating the % of time in the "Strobe Period" the illuminator is enabled).

                                                                                                                                                                                                                                                                    MODES

                                                                                                                                                                                                                                                                    If the mode is unknown, the mode parameter value will be set to 0.

                                                                                                                                                                                                                                                                    A mode value of 1 is ILLUMINATOR_MODE_INTERNAL_CONTROL, where the illuminator behavior is controlled by MAV_CMD_DO_ILLUMINATOR_CONFIGURE settings.

                                                                                                                                                                                                                                                                    When the value is set to 2, it indicates that the illuminator mode is ILLUMINATOR_MODE_EXTERNAL_SYNC. This mode is for instances where the illuminator behavior is controlled by external factors: e.g. an external hardware signal.

                                                                                                                                                                                                                                                                    STATUS

                                                                                                                                                                                                                                                                    The ILLUMINATOR_STATUS message can be requested to receive information about the status of the illuminator. This includes information such as uptime, errors, whether the illuminator is enabled via MAV_CMD_ILLUMINATOR_ON_OFF, current settings from the MAV_CMD_DO_ILLUMINATOR_CONFIGURE command, and the temperature of the illuminator.

                                                                                                                                                                                                                                                                    ILLUMINATOR_ERROR_FLAGS

                                                                                                                                                                                                                                                                    The ILLUMINATOR_ERROR_FLAGS can be used to indicate if there is any issue with the illuminator. At this time, there are three flags. If there is no error and the illuminator is behaving as normal, the ILLUMINATOR_ERROR_FLAGS bitmap will be 0. If ILLUMINATOR_ERROR_FLAGS is set to 1 or 2, this indicates an error related to the temperature of the illuminator.

                                                                                                                                                                                                                                                                    1 indicates ILLUMINATOR_ERROR_FLAGS_THERMAL_THROTTLING as in the illuminator is throttling its output due to a thermal issue. 2 indicates ILLUMINATOR_ERROR_FLAGS_OVER_TEMPERATURE_SHUTDOWN which means that the illuminator is shutting off due to passing some temperature threshold.

                                                                                                                                                                                                                                                                    The status message utilization can be seen below:

                                                                                                                                                                                                                                                                    Test Script

                                                                                                                                                                                                                                                                    Description

                                                                                                                                                                                                                                                                    The test suite included in assets/services/illuminators allows for testing both sides of the illuminator interaction.

                                                                                                                                                                                                                                                                    • illuminator.py emulates a standard illuminator module.
                                                                                                                                                                                                                                                                    • test_illuminator.py runs a standard test suite against the emulator, testing all commands listed in this document.

                                                                                                                                                                                                                                                                    Instructions

                                                                                                                                                                                                                                                                    1. Run simple illuminator emulator python3 illuminator.py
                                                                                                                                                                                                                                                                    2. Run test python3 -m unittest -v test_illuminator.py

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                                                                                                                                                                                                                                                                      Image Transmission Protocol

                                                                                                                                                                                                                                                                      The Camera Protocol and MAVLink FTP are recommended for sending images, video and files.

                                                                                                                                                                                                                                                                      This protocol is not intended for general image transmission use (it was originally designed as a simple protocol for transfering small images over a low bandwidth channel from an optical flow sensor to a GCS).

                                                                                                                                                                                                                                                                      The image transmission protocol uses MAVLink as the communication channel to transport any kind of image (raw images, Kinect data, etc.) from one MAVLink node to another. It basically takes a live camera image, splits it into small chunks and sends it over MAVLink.

                                                                                                                                                                                                                                                                      This topic describes how the image streaming functionality works and covers both the communication protocol and implementation details (for a vehicle and QGroundControl).

                                                                                                                                                                                                                                                                      Communication

                                                                                                                                                                                                                                                                      The image streaming component uses two MAVLink messages: a handshake message, DATA_TRANSMISSION_HANDSHAKE, to initiate image streaming and describe the image to be sent, and a data container message, ENCAPSULATED_DATA, to transport the image data.

                                                                                                                                                                                                                                                                      1. The communication is initiated by the QGroundControl with a DATA_TRANSMISSION_HANDSHAKE request to start the stream. The messages should specify:

                                                                                                                                                                                                                                                                        • type: any of the types in the enum MAVLINK_DATA_STREAM_TYPE in mavlink.h,
                                                                                                                                                                                                                                                                        • jpg_quality: Desired image quality (for lossy formats like JPEG).
                                                                                                                                                                                                                                                                        • All other fields must be zero in the initial request.

                                                                                                                                                                                                                                                                      2. When the targeted MAV receives the handshake request, it sends back a DATA_TRANSMISSION_HANDSHAKE. This acts provides acknowledgment of the request and information about the image that is about to be streamed:

                                                                                                                                                                                                                                                                        • type: Type of image to be streamed (same as requested type)
                                                                                                                                                                                                                                                                        • size: Image size in bytes.
                                                                                                                                                                                                                                                                        • width: Image width in pixels.
                                                                                                                                                                                                                                                                        • height: Image height in pixels.
                                                                                                                                                                                                                                                                        • packets: number of MAVLink ENCAPSULATED_DATA packets to be sent
                                                                                                                                                                                                                                                                        • payload: Size of the payload of each data packet (normally 252 bytes)
                                                                                                                                                                                                                                                                        • jpg_quality: Image quality (same as requested)

                                                                                                                                                                                                                                                                      3. The image data is then split into chunks to fit into ENCAPSULATED_DATA message and sent over MAVLink. Every packet contains a sequence number as well as the ID of the image stream it belongs to.

                                                                                                                                                                                                                                                                      4. The image streamer periodically sends new images without further interaction. Every new image comes with a new DATA_TRANSMISSION_HANDSHAKE ACK packet with updated image size, packets and payload fields. After this ACK packet, the new image arrives as a series of ENCAPSULATED_DATA packets.

                                                                                                                                                                                                                                                                        The sequence number starts at 0 for every new image of the stream.

                                                                                                                                                                                                                                                                      5. To stop an image stream a GSC must send a new DATA_TRANSMISSION_HANDSHAKE request packet, with all 0 values. The MAVLink node will acknowledge this by sending back DATA_TRANSMISSION_HANDSHAKE also containing 0 values.

                                                                                                                                                                                                                                                                      Usage / Configuration

                                                                                                                                                                                                                                                                      To use the two modules on your MAV, you have to do the following steps:

                                                                                                                                                                                                                                                                      • Compile the mavconn middleware for your MAV: Guide, Github.
                                                                                                                                                                                                                                                                      • Start at least these components on the MAV:
                                                                                                                                                                                                                                                                        px_mavlink_bridge_udp &
 px_system_control --heartbeat &
 px_camera -o lcm &
-
                                                                                                                                                                                                                                                                      • Compile and start QGroundControl.
                                                                                                                                                                                                                                                                      • Start the image streaming component (you can add the -v flag to see some more output): px_imagestreamer.
                                                                                                                                                                                                                                                                      • Initiate the image stream: Open the HUD widget, right-click into the widget and choose Enable live Image Streaming.

                                                                                                                                                                                                                                                                      You should now be able to see the live video feed with one image per second (default, hardcoded at the moment).

                                                                                                                                                                                                                                                                      Developer

                                                                                                                                                                                                                                                                      Out-of-the-box, the image streaming component only implements JPEG streaming of the camera image. To implement your own image stream, you have to do the following:

                                                                                                                                                                                                                                                                      • Write a MAVLink handler, which handles requests to start image streams of your type of choice.
                                                                                                                                                                                                                                                                      • Write a data handler, which takes your desired data (i.e. a stereo camera image), encodes it into the format of your choice (i.e. rawimage, JPEG, BMP) and splits/sends the data over MAVLink.
                                                                                                                                                                                                                                                                      • Extend the data/message handler in the UAS component of QGroundControl to correctly handle your data (i.e. unpacking of the chosen format).
                                                                                                                                                                                                                                                                      • Write or extend a widget to display your data according to your wishes.

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                                                                                                                                                                                                                                                                      • Compile and start QGroundControl.
                                                                                                                                                                                                                                                                      • Start the image streaming component (you can add the -v flag to see some more output): px_imagestreamer.
                                                                                                                                                                                                                                                                      • Initiate the image stream: Open the HUD widget, right-click into the widget and choose Enable live Image Streaming.

                                                                                                                                                                                                                                                                        • You should now be able to see the live video feed with one image per second (default, hardcoded at the moment).

                                                                                                                                                                                                                                                                        Developer

                                                                                                                                                                                                                                                                        Out-of-the-box, the image streaming component only implements JPEG streaming of the camera image. To implement your own image stream, you have to do the following:

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                                                                                                                                                                                                                                                                          \ No newline at end of file diff --git a/en/services/index.html b/en/services/index.html index beb3383bb..f23eb3552 100644 --- a/en/services/index.html +++ b/en/services/index.html @@ -1 +1 @@ -Microservices · MAVLink Developer Guide
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                                                                                                                                                                                                                                                                          Microservices

                                                                                                                                                                                                                                                                          The MAVLink "microservices" define higher-level protocols that MAVLink systems can adopt in order to better inter-operate. For example, QGroundControl, ArduPilot and PX4 autopilots all share a common Command Protocol for sending point-to-point messages that require an acknowledgment.

                                                                                                                                                                                                                                                                          The microservices are used to exchange many types of data, including: parameters, missions, trajectories, images, other files. If the data can be far larger than can be fit into a single message, services will define how the data is split and re-assembled, and how to ensure that any lost data is re-transmitted. Other services provide command acknowledgment and/or error reporting.

                                                                                                                                                                                                                                                                          Most services use the client-server pattern, such that the GCS (client) initiates a request and the vehicle (server) responds with data.

                                                                                                                                                                                                                                                                          The main microservices are shown in the sidebar (most are listed below):

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                                                                                                                                                                                                                                                                            Microservices

                                                                                                                                                                                                                                                                            The MAVLink "microservices" define higher-level protocols that MAVLink systems can adopt in order to better inter-operate. For example, QGroundControl, ArduPilot and PX4 autopilots all share a common Command Protocol for sending point-to-point messages that require an acknowledgment.

                                                                                                                                                                                                                                                                            The microservices are used to exchange many types of data, including: parameters, missions, trajectories, images, other files. If the data can be far larger than can be fit into a single message, services will define how the data is split and re-assembled, and how to ensure that any lost data is re-transmitted. Other services provide command acknowledgment and/or error reporting.

                                                                                                                                                                                                                                                                            Most services use the client-server pattern, such that the GCS (client) initiates a request and the vehicle (server) responds with data.

                                                                                                                                                                                                                                                                            The main microservices are shown in the sidebar (most are listed below):

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                                                                                                                                                                                                                                                                              Landing Target Protocol

                                                                                                                                                                                                                                                                              The landing target services/message communicates the position of one or more targets from MAVLink positioning system(s) to an autopilot. A multicopter or VTOL system can use the message to land with far greater positional accuracy than provided by conventional GPS (GPS provides position within several meters while a landing-target system might reasonably provide centimetre-level precision landing).

                                                                                                                                                                                                                                                                              A positioning system might typically consist of an onboard companion computer with a vision system that can detect a light beacon or target image. Radio beacons and different types of visual markers and tags are also supported.

                                                                                                                                                                                                                                                                              Protocol Messages

                                                                                                                                                                                                                                                                              The message used by this protocol is LANDING_TARGET. This is broadcast by the positioning system to indicate the position of a particular target at a particular time.

                                                                                                                                                                                                                                                                              The required broadcast rate depends on the landing speed and desired accuracy; start with rates between 10 Hz and 50 Hz and tune performance as needed.

                                                                                                                                                                                                                                                                              The original MAVLink 1 message was designed with the assumption that the target is captured from a downward facing camera, and provides fields that are relative to the captured image. MAVLink 2 extended the message to provide positional information in terms of standard frames (MAV_FRAME), a quaternion and the type of landing targets (LANDING_TARGET_TYPE). This allows more flexibility for the types of target that can be supported, simplifies the code required by the autopilot, and allows the autopilot to control both landing position and orientation on (some) targets.

                                                                                                                                                                                                                                                                              Different systems may support either (or presumably both) sets of fields. These are discussed below.

                                                                                                                                                                                                                                                                              Target Relative to Captured Image

                                                                                                                                                                                                                                                                              The LANDING_TARGET fields that are relative to a captured image are shown below:

                                                                                                                                                                                                                                                                              Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                              angle_xfloatradX-axis angular offset of the target from the center of the image
                                                                                                                                                                                                                                                                              angle_yfloatradY-axis angular offset of the target from the center of the image
                                                                                                                                                                                                                                                                              distancefloatmDistance to the target from the vehicle
                                                                                                                                                                                                                                                                              size_xfloatradSize of target along x-axis
                                                                                                                                                                                                                                                                              size_yfloatradSize of target along y-axis

                                                                                                                                                                                                                                                                              The positional information can be interpreted as described below.

                                                                                                                                                                                                                                                                              Imagine a ray pointing from the camera's principal point to the target. The x angle (angle_x) is the angle spanned by that ray and the x-axis of the image plane. The same holds for the y angle (angle_y). In other words, the x angle is a function of the x pixel coordinate of the target (denoted by u̅ in the image below), the y angle is a function of the y pixel coordinate (denoted v in the image below). Using the angle rather than u̅/v̅ pixel coordinates has the advantage that the effect of the camera lens is already accounted for. Otherwise the receiver of the message would need to know the camera field of view etc.

                                                                                                                                                                                                                                                                              Landing Target Fields

                                                                                                                                                                                                                                                                              The sizes in x and y direction are analogous (size_x/size_y). They describe the angle between the smallest and biggest pixel in x/y direction respectively of the target as seen in the image.

                                                                                                                                                                                                                                                                              ArduPilot supports messages with these fields if position_valid is 0.

                                                                                                                                                                                                                                                                              Target as Position/Quaternion (MAVLink 2 and later)

                                                                                                                                                                                                                                                                              The message fields that are used to provide target information as a position/quaternion are shown below. Field meaning and use is clear from the description.

                                                                                                                                                                                                                                                                              Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                              frameuint8_tMAV_FRAMECoordinate frame used for following fields.
                                                                                                                                                                                                                                                                              xfloatmX Position of the landing target in MAV_FRAME
                                                                                                                                                                                                                                                                              yfloatmY Position of the landing target in MAV_FRAME
                                                                                                                                                                                                                                                                              zfloatmZ Position of the landing target in MAV_FRAME
                                                                                                                                                                                                                                                                              qfloat[4]Quaternion of landing target orientation (w, x, y, z order, zero-rotation is 1, 0, 0, 0)
                                                                                                                                                                                                                                                                              typeuint8_tLANDING_TARGET_TYPEType of landing target
                                                                                                                                                                                                                                                                              position_validuint8_tBoolean indicating whether these position field values are populated with valid position target information (1: valid, 0: invalid). The default is '0', so that if the fields are not populated the default-zero values are not interpreted as a valid target position.

                                                                                                                                                                                                                                                                              • PX4 supports this form of positioning in MAV_FRAME_LOCAL_NED (only). The original (MAVLink 1) fields are ignored.
                                                                                                                                                                                                                                                                              • ArduPilot supports this form of positioning in MAV_FRAME_BODY_FRD (only). position_valid must be 1 and distance must be filled.

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                                                                                                                                                                                                                                                                                Landing Target Protocol

                                                                                                                                                                                                                                                                                The landing target services/message communicates the position of one or more targets from MAVLink positioning system(s) to an autopilot. A multicopter or VTOL system can use the message to land with far greater positional accuracy than provided by conventional GPS (GPS provides position within several meters while a landing-target system might reasonably provide centimetre-level precision landing).

                                                                                                                                                                                                                                                                                A positioning system might typically consist of an onboard companion computer with a vision system that can detect a light beacon or target image. Radio beacons and different types of visual markers and tags are also supported.

                                                                                                                                                                                                                                                                                Protocol Messages

                                                                                                                                                                                                                                                                                The message used by this protocol is LANDING_TARGET. This is broadcast by the positioning system to indicate the position of a particular target at a particular time.

                                                                                                                                                                                                                                                                                The required broadcast rate depends on the landing speed and desired accuracy; start with rates between 10 Hz and 50 Hz and tune performance as needed.

                                                                                                                                                                                                                                                                                The original MAVLink 1 message was designed with the assumption that the target is captured from a downward facing camera, and provides fields that are relative to the captured image. MAVLink 2 extended the message to provide positional information in terms of standard frames (MAV_FRAME), a quaternion and the type of landing targets (LANDING_TARGET_TYPE). This allows more flexibility for the types of target that can be supported, simplifies the code required by the autopilot, and allows the autopilot to control both landing position and orientation on (some) targets.

                                                                                                                                                                                                                                                                                Different systems may support either (or presumably both) sets of fields. These are discussed below.

                                                                                                                                                                                                                                                                                Target Relative to Captured Image

                                                                                                                                                                                                                                                                                The LANDING_TARGET fields that are relative to a captured image are shown below:

                                                                                                                                                                                                                                                                                Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                angle_xfloatradX-axis angular offset of the target from the center of the image
                                                                                                                                                                                                                                                                                angle_yfloatradY-axis angular offset of the target from the center of the image
                                                                                                                                                                                                                                                                                distancefloatmDistance to the target from the vehicle
                                                                                                                                                                                                                                                                                size_xfloatradSize of target along x-axis
                                                                                                                                                                                                                                                                                size_yfloatradSize of target along y-axis

                                                                                                                                                                                                                                                                                The positional information can be interpreted as described below.

                                                                                                                                                                                                                                                                                Imagine a ray pointing from the camera's principal point to the target. The x angle (angle_x) is the angle spanned by that ray and the x-axis of the image plane. The same holds for the y angle (angle_y). In other words, the x angle is a function of the x pixel coordinate of the target (denoted by u̅ in the image below), the y angle is a function of the y pixel coordinate (denoted v in the image below). Using the angle rather than u̅/v̅ pixel coordinates has the advantage that the effect of the camera lens is already accounted for. Otherwise the receiver of the message would need to know the camera field of view etc.

                                                                                                                                                                                                                                                                                Landing Target Fields

                                                                                                                                                                                                                                                                                The sizes in x and y direction are analogous (size_x/size_y). They describe the angle between the smallest and biggest pixel in x/y direction respectively of the target as seen in the image.

                                                                                                                                                                                                                                                                                ArduPilot supports messages with these fields if position_valid is 0.

                                                                                                                                                                                                                                                                                Target as Position/Quaternion (MAVLink 2 and later)

                                                                                                                                                                                                                                                                                The message fields that are used to provide target information as a position/quaternion are shown below. Field meaning and use is clear from the description.

                                                                                                                                                                                                                                                                                Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                frameuint8_tMAV_FRAMECoordinate frame used for following fields.
                                                                                                                                                                                                                                                                                xfloatmX Position of the landing target in MAV_FRAME
                                                                                                                                                                                                                                                                                yfloatmY Position of the landing target in MAV_FRAME
                                                                                                                                                                                                                                                                                zfloatmZ Position of the landing target in MAV_FRAME
                                                                                                                                                                                                                                                                                qfloat[4]Quaternion of landing target orientation (w, x, y, z order, zero-rotation is 1, 0, 0, 0)
                                                                                                                                                                                                                                                                                typeuint8_tLANDING_TARGET_TYPEType of landing target
                                                                                                                                                                                                                                                                                position_validuint8_tBoolean indicating whether these position field values are populated with valid position target information (1: valid, 0: invalid). The default is '0', so that if the fields are not populated the default-zero values are not interpreted as a valid target position.

                                                                                                                                                                                                                                                                                • PX4 supports this form of positioning in MAV_FRAME_LOCAL_NED (only). The original (MAVLink 1) fields are ignored.
                                                                                                                                                                                                                                                                                • ArduPilot supports this form of positioning in MAV_FRAME_BODY_FRD (only). position_valid must be 1 and distance must be filled.

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                                                                                                                                                                                                                                                                                  \ No newline at end of file diff --git a/en/services/manual_control.html b/en/services/manual_control.html index 8392348b2..e10a7edbb 100644 --- a/en/services/manual_control.html +++ b/en/services/manual_control.html @@ -1 +1 @@ -Manual Control (Joystick) Protocol · MAVLink Developer Guide
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                                                                                                                                                                                                                                                                                  Manual Control Protocol (Joystick)

                                                                                                                                                                                                                                                                                  The Manual Control Protocol enables controlling a system using a "standard joystick" (or joystick-like input device that supports the same axes nomenclature).

                                                                                                                                                                                                                                                                                  The protocol is implemented with just the MANUAL_CONTROL message. It defines the target system to be controlled, the movement in four primary axes (x, y, z, r) and two extension axes (s, t), and two 16-bit fields to represent the states of up to 32 buttons (buttons, buttons2). Unused axes can be disabled, and the extension axes must be explicitly enabled using bits 0 and 1 of the enabled_extensions field.

                                                                                                                                                                                                                                                                                  The protocol is by intent relatively simple and abstract, and provides a simple way of controlling the main motion of a vehicle, along with several arbitrary features that can be triggered using buttons.

                                                                                                                                                                                                                                                                                  This allows GCS software to provide a simple level of control for many types of vehicles, and allows new vehicle types with unusual functions to operate with minimal (if any) changes to the MAVLink protocol or existing ground control station (GCS) software.

                                                                                                                                                                                                                                                                                  Mapping Axes

                                                                                                                                                                                                                                                                                  Manual control is performed in the vehicle-frame. All axis values are normalised to the range -1000 to 1000.

                                                                                                                                                                                                                                                                                  Rotation-Focused Control

                                                                                                                                                                                                                                                                                  The typical axis assignments for a thrust- and rotation-controlled vehicle (e.g. planes, multicopters) are listed below.

                                                                                                                                                                                                                                                                                  fieldmotion axis+ve direction-ve direction
                                                                                                                                                                                                                                                                                  xpitchforward/nose-downbackward/nose-up
                                                                                                                                                                                                                                                                                  yrollright-downleft-down
                                                                                                                                                                                                                                                                                  zthrustpositivenegative
                                                                                                                                                                                                                                                                                  ryawcounter-clockwiseclockwise

                                                                                                                                                                                                                                                                                  Directional Control

                                                                                                                                                                                                                                                                                  Vehicles with direct control over vehicle translation directions (multicopters) typically use the following mappings.

                                                                                                                                                                                                                                                                                  fieldmotion axis+ve direction-ve direction
                                                                                                                                                                                                                                                                                  xforwardforwardbackward
                                                                                                                                                                                                                                                                                  ylateralrightleft
                                                                                                                                                                                                                                                                                  zverticalupdown
                                                                                                                                                                                                                                                                                  ryawcounter-clockwiseclockwise
                                                                                                                                                                                                                                                                                  spitchforward/nose-downbackward/nose-up
                                                                                                                                                                                                                                                                                  trollright-downleft-down

                                                                                                                                                                                                                                                                                  Mapping Buttons

                                                                                                                                                                                                                                                                                  Button functions are vehicle/flight-stack dependent:

                                                                                                                                                                                                                                                                                  • ArduPilot treats button values as user-configurable using firmware parameters (e.g. ArduCopter's BTN_FUNCn or ArduSub's BTNn_FUNCTION), through the Parameter or Extended Parameter protocols.
                                                                                                                                                                                                                                                                                  • PX4 defines fixed meanings to some of the buttons values, and these are mapped to user-selected functions by the ground station.

                                                                                                                                                                                                                                                                                  The buttons field is required, and corresponds to the first 16 buttons.

                                                                                                                                                                                                                                                                                  buttons2 is an extension, and corresponds to the optional second set of 16 buttons.

                                                                                                                                                                                                                                                                                  Alternatives

                                                                                                                                                                                                                                                                                  Vehicles may alternatively be controlled by sending information as a set of up to 18 channel values using RC_CHANNELS_OVERRIDE. Channels can be mapped to firmware parameters using PARAM_MAP_RC, and the autopilot can use the current parameter values at each point in time to determine control actions.

                                                                                                                                                                                                                                                                                  It's worth noting that the generality of RC channels control is a double-edged sword. It is incredibly versatile, and can be used to provide support for several arbitrary control axes, but the user-defined in-vehicle nature of the mapped parameters means additional setup is frequently required for compatibility with GCSs, and there are no guarantees that multiple vehicles running the same firmware will have the same channel-parameter mapping. This is a similar issue to the MANUAL_CONTROL buttons, so to minimise firmware complexity and maximise interoperability between a vehicle type and GCSs it's recommended to use targetted MAVLink commands where possible.

                                                                                                                                                                                                                                                                                  Implementations

                                                                                                                                                                                                                                                                                  The protocol has been implemented in various GCSs and vehicle firmwares. These implementations can be used in your own code within the terms of their software licenses.

                                                                                                                                                                                                                                                                                  Ground Control Stations

                                                                                                                                                                                                                                                                                  The protocol has been implemented in QGroundControl and Mission Planner.

                                                                                                                                                                                                                                                                                  QGroundControl implementation:

                                                                                                                                                                                                                                                                                  MissionPlanner implementation:

                                                                                                                                                                                                                                                                                  Vehicle Firmwares

                                                                                                                                                                                                                                                                                  The protocol has been implemented in PX4, and in the Copter, Plane, Rover, and Sub vehicle firmwares in ArduPilot.

                                                                                                                                                                                                                                                                                  PX4 Implementation:

                                                                                                                                                                                                                                                                                  ArduPilot Implementations:

                                                                                                                                                                                                                                                                                  Future Extensions

                                                                                                                                                                                                                                                                                  Future extensions are likely to be handled with additional targetted MAVLink commands rather than mapping functionality in the flight controller (i.e. handling more complex inputs in the GCS to reduce vehicle firmware complexity).

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                                                                                                                                                                                                                                                                                    \ No newline at end of file +Manual Control (Joystick) Protocol · MAVLink Developer Guide
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                                                                                                                                                                                                                                                                                    Manual Control Protocol (Joystick)

                                                                                                                                                                                                                                                                                    The Manual Control Protocol enables controlling a system using a "standard joystick" (or joystick-like input device that supports the same axes nomenclature).

                                                                                                                                                                                                                                                                                    The protocol is implemented with just the MANUAL_CONTROL message. It defines the target system to be controlled, the movement in four primary axes (x, y, z, r) and two extension axes (s, t), and two 16-bit fields to represent the states of up to 32 buttons (buttons, buttons2). Unused axes can be disabled, and the extension axes must be explicitly enabled using bits 0 and 1 of the enabled_extensions field.

                                                                                                                                                                                                                                                                                    The protocol is by intent relatively simple and abstract, and provides a simple way of controlling the main motion of a vehicle, along with several arbitrary features that can be triggered using buttons.

                                                                                                                                                                                                                                                                                    This allows GCS software to provide a simple level of control for many types of vehicles, and allows new vehicle types with unusual functions to operate with minimal (if any) changes to the MAVLink protocol or existing ground control station (GCS) software.

                                                                                                                                                                                                                                                                                    Mapping Axes

                                                                                                                                                                                                                                                                                    Manual control is performed in the vehicle-frame. All axis values are normalised to the range -1000 to 1000.

                                                                                                                                                                                                                                                                                    Rotation-Focused Control

                                                                                                                                                                                                                                                                                    The typical axis assignments for a thrust- and rotation-controlled vehicle (e.g. planes, multicopters) are listed below.

                                                                                                                                                                                                                                                                                    fieldmotion axis+ve direction-ve direction
                                                                                                                                                                                                                                                                                    xpitchforward/nose-downbackward/nose-up
                                                                                                                                                                                                                                                                                    yrollright-downleft-down
                                                                                                                                                                                                                                                                                    zthrustpositivenegative
                                                                                                                                                                                                                                                                                    ryawcounter-clockwiseclockwise

                                                                                                                                                                                                                                                                                    Directional Control

                                                                                                                                                                                                                                                                                    Vehicles with direct control over vehicle translation directions (multicopters) typically use the following mappings.

                                                                                                                                                                                                                                                                                    fieldmotion axis+ve direction-ve direction
                                                                                                                                                                                                                                                                                    xforwardforwardbackward
                                                                                                                                                                                                                                                                                    ylateralrightleft
                                                                                                                                                                                                                                                                                    zverticalupdown
                                                                                                                                                                                                                                                                                    ryawcounter-clockwiseclockwise
                                                                                                                                                                                                                                                                                    spitchforward/nose-downbackward/nose-up
                                                                                                                                                                                                                                                                                    trollright-downleft-down

                                                                                                                                                                                                                                                                                    Mapping Buttons

                                                                                                                                                                                                                                                                                    Button functions are vehicle/flight-stack dependent:

                                                                                                                                                                                                                                                                                    • ArduPilot treats button values as user-configurable using firmware parameters (e.g. ArduCopter's BTN_FUNCn or ArduSub's BTNn_FUNCTION), through the Parameter or Extended Parameter protocols.
                                                                                                                                                                                                                                                                                    • PX4 defines fixed meanings to some of the buttons values, and these are mapped to user-selected functions by the ground station.

                                                                                                                                                                                                                                                                                    The buttons field is required, and corresponds to the first 16 buttons.

                                                                                                                                                                                                                                                                                    buttons2 is an extension, and corresponds to the optional second set of 16 buttons.

                                                                                                                                                                                                                                                                                    Alternatives

                                                                                                                                                                                                                                                                                    Vehicles may alternatively be controlled by sending information as a set of up to 18 channel values using RC_CHANNELS_OVERRIDE. Channels can be mapped to firmware parameters using PARAM_MAP_RC, and the autopilot can use the current parameter values at each point in time to determine control actions.

                                                                                                                                                                                                                                                                                    It's worth noting that the generality of RC channels control is a double-edged sword. It is incredibly versatile, and can be used to provide support for several arbitrary control axes, but the user-defined in-vehicle nature of the mapped parameters means additional setup is frequently required for compatibility with GCSs, and there are no guarantees that multiple vehicles running the same firmware will have the same channel-parameter mapping. This is a similar issue to the MANUAL_CONTROL buttons, so to minimise firmware complexity and maximise interoperability between a vehicle type and GCSs it's recommended to use targetted MAVLink commands where possible.

                                                                                                                                                                                                                                                                                    Implementations

                                                                                                                                                                                                                                                                                    The protocol has been implemented in various GCSs and vehicle firmwares. These implementations can be used in your own code within the terms of their software licenses.

                                                                                                                                                                                                                                                                                    Ground Control Stations

                                                                                                                                                                                                                                                                                    The protocol has been implemented in QGroundControl and Mission Planner.

                                                                                                                                                                                                                                                                                    QGroundControl implementation:

                                                                                                                                                                                                                                                                                    MissionPlanner implementation:

                                                                                                                                                                                                                                                                                    Vehicle Firmwares

                                                                                                                                                                                                                                                                                    The protocol has been implemented in PX4, and in the Copter, Plane, Rover, and Sub vehicle firmwares in ArduPilot.

                                                                                                                                                                                                                                                                                    PX4 Implementation:

                                                                                                                                                                                                                                                                                    ArduPilot Implementations:

                                                                                                                                                                                                                                                                                    Future Extensions

                                                                                                                                                                                                                                                                                    Future extensions are likely to be handled with additional targetted MAVLink commands rather than mapping functionality in the flight controller (i.e. handling more complex inputs in the GCS to reduce vehicle firmware complexity).

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                                                                                                                                                                                                                                                                                      \ No newline at end of file diff --git a/en/services/mavlink_id_assignment.html b/en/services/mavlink_id_assignment.html index fefb8ad32..260a54386 100644 --- a/en/services/mavlink_id_assignment.html +++ b/en/services/mavlink_id_assignment.html @@ -1 +1 @@ -MAVLink Id Assignment (sysid, compid) · MAVLink Developer Guide
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                                                                                                                                                                                                                                                                                      MAVLink Id Assignment

                                                                                                                                                                                                                                                                                      A MAVLink system consists of one or more MAVLink components that all share the same system id, and that must each have a system-unique component id. This topic explains how you can ensure that your components are updated appropriately when the system id of the autopilot is changed, and how to ensure that they each have a unique component id.

                                                                                                                                                                                                                                                                                      Overview

                                                                                                                                                                                                                                                                                      Generally MAVLink flight stacks give the autopilot component a default system id of 1 and a component id of MAV_COMP_ID_AUTOPILOT1 (also 1).

                                                                                                                                                                                                                                                                                      Other MAVLink components typically also have a default system id of 1, and a component id that is the default for the component's type (such as MAV_COMP_ID_CAMERA for a MAVLink camera). This ensures that they will often work with autopilots "out of the box" when setting up a system for the first time.

                                                                                                                                                                                                                                                                                      In a more complex MAVLink system you will have multiple vehicles, so you will need to assign each vehicle a unique system id, and have a mechanism to change the associated components to that same id.

                                                                                                                                                                                                                                                                                      In a single system you may also have multiple components of the same type. In this case you will need to ensure that each has a unique component id.

                                                                                                                                                                                                                                                                                      The following section suggests a process to allow MAVLink components to automatically update themselves with the correct ids.

                                                                                                                                                                                                                                                                                      System Id Assignment

                                                                                                                                                                                                                                                                                      First change the system ID of the autopilot component. This is usually done with a flight-stack specific parameter such as MAV_SYS_ID (PX4) or SYSID_THISMAV (ArduCopter).

                                                                                                                                                                                                                                                                                      MAV_CMD_DO_SET_SYS_CMP_ID is a work-in-progress command for setting and changing system and command ids.

                                                                                                                                                                                                                                                                                      Then reboot the vehicle off-network, so that the only autopilot visible to components should be the one on the vehicle (you can disconnect your telemetry radio, for example).

                                                                                                                                                                                                                                                                                      On boot, components should look for autopilot HEARTBEAT messages.

                                                                                                                                                                                                                                                                                      If HEARTBEAT messages are detected from:

                                                                                                                                                                                                                                                                                      • Only one autopilot within 3 seconds of the first autopilot heartbeat being detected, the component should set its system id to match that of the autopilot.
                                                                                                                                                                                                                                                                                      • Multiple autopilots within the first 3 seconds then the autopilot should keep its current system id. Note that this is true even if autopilot heartbeats from corresponding autopilot are not seen.
                                                                                                                                                                                                                                                                                      • No autopilots then components should keep their current system id.

                                                                                                                                                                                                                                                                                      This ensures that components will latch to an unambiguous system id if available, and otherwise keep their current system id.

                                                                                                                                                                                                                                                                                      Component Id Assignment

                                                                                                                                                                                                                                                                                      Component IDs should be manually assigned by the system integrator.

                                                                                                                                                                                                                                                                                      In practise most components are factory-shipped using the first "allocated" component ID for their type from the MAV_COMPONENT enum, such as MAV_COMP_ID_CAMERA for cameras, and MAV_COMP_ID_GIMBAL for gimbals. If the vehicle has only one component of a particular type, then this is usually sufficient to avoid clashes.

                                                                                                                                                                                                                                                                                      When there are multiple instances of a particular component, each will need a unique id. The easiest way to do this is to sequentially allocate component IDs from the allocated ranges, such as MAV_COMP_ID_CAMERA2. The mechanisms to set and change component ids are component-dependent (and some components may not allow the component id to be changed).

                                                                                                                                                                                                                                                                                      Note that in theory any component can have any id. However associating components with their well-known component ids makes it easier to, for example, associate a gimbal with a camera, or capture an image using a particular camera.

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                                                                                                                                                                                                                                                                                        MAVLink Id Assignment

                                                                                                                                                                                                                                                                                        A MAVLink system consists of one or more MAVLink components that all share the same system id, and that must each have a system-unique component id. This topic explains how you can ensure that your components are updated appropriately when the system id of the autopilot is changed, and how to ensure that they each have a unique component id.

                                                                                                                                                                                                                                                                                        Overview

                                                                                                                                                                                                                                                                                        Generally MAVLink flight stacks give the autopilot component a default system id of 1 and a component id of MAV_COMP_ID_AUTOPILOT1 (also 1).

                                                                                                                                                                                                                                                                                        Other MAVLink components typically also have a default system id of 1, and a component id that is the default for the component's type (such as MAV_COMP_ID_CAMERA for a MAVLink camera). This ensures that they will often work with autopilots "out of the box" when setting up a system for the first time.

                                                                                                                                                                                                                                                                                        In a more complex MAVLink system you will have multiple vehicles, so you will need to assign each vehicle a unique system id, and have a mechanism to change the associated components to that same id.

                                                                                                                                                                                                                                                                                        In a single system you may also have multiple components of the same type. In this case you will need to ensure that each has a unique component id.

                                                                                                                                                                                                                                                                                        The following section suggests a process to allow MAVLink components to automatically update themselves with the correct ids.

                                                                                                                                                                                                                                                                                        System Id Assignment

                                                                                                                                                                                                                                                                                        First change the system ID of the autopilot component. This is usually done with a flight-stack specific parameter such as MAV_SYS_ID (PX4) or SYSID_THISMAV (ArduCopter).

                                                                                                                                                                                                                                                                                        MAV_CMD_DO_SET_SYS_CMP_ID is a work-in-progress command for setting and changing system and command ids.

                                                                                                                                                                                                                                                                                        Then reboot the vehicle off-network, so that the only autopilot visible to components should be the one on the vehicle (you can disconnect your telemetry radio, for example).

                                                                                                                                                                                                                                                                                        On boot, components should look for autopilot HEARTBEAT messages.

                                                                                                                                                                                                                                                                                        If HEARTBEAT messages are detected from:

                                                                                                                                                                                                                                                                                        • Only one autopilot within 3 seconds of the first autopilot heartbeat being detected, the component should set its system id to match that of the autopilot.
                                                                                                                                                                                                                                                                                        • Multiple autopilots within the first 3 seconds then the autopilot should keep its current system id. Note that this is true even if autopilot heartbeats from corresponding autopilot are not seen.
                                                                                                                                                                                                                                                                                        • No autopilots then components should keep their current system id.

                                                                                                                                                                                                                                                                                        This ensures that components will latch to an unambiguous system id if available, and otherwise keep their current system id.

                                                                                                                                                                                                                                                                                        Component Id Assignment

                                                                                                                                                                                                                                                                                        Component IDs should be manually assigned by the system integrator.

                                                                                                                                                                                                                                                                                        In practise most components are factory-shipped using the first "allocated" component ID for their type from the MAV_COMPONENT enum, such as MAV_COMP_ID_CAMERA for cameras, and MAV_COMP_ID_GIMBAL for gimbals. If the vehicle has only one component of a particular type, then this is usually sufficient to avoid clashes.

                                                                                                                                                                                                                                                                                        When there are multiple instances of a particular component, each will need a unique id. The easiest way to do this is to sequentially allocate component IDs from the allocated ranges, such as MAV_COMP_ID_CAMERA2. The mechanisms to set and change component ids are component-dependent (and some components may not allow the component id to be changed).

                                                                                                                                                                                                                                                                                        Note that in theory any component can have any id. However associating components with their well-known component ids makes it easier to, for example, associate a gimbal with a camera, or capture an image using a particular camera.

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                                                                                                                                                                                                                                                                                          \ No newline at end of file diff --git a/en/services/mission.html b/en/services/mission.html index 801d6c868..962576a6e 100644 --- a/en/services/mission.html +++ b/en/services/mission.html @@ -1 +1 @@ -Mission Protocol · MAVLink Developer Guide
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                                                                                                                                                                                                                                                                                          Mission Protocol

                                                                                                                                                                                                                                                                                          The mission sub-protocol allows a GCS or developer API to exchange mission (flight plan), geofence and safe point information with a drone/component.

                                                                                                                                                                                                                                                                                          The protocol covers:

                                                                                                                                                                                                                                                                                          • Operations to upload, download and clear missions, set/get the current mission item number, and get notification when the current mission item has changed.
                                                                                                                                                                                                                                                                                          • Message type(s) and enumerations for exchanging mission items.
                                                                                                                                                                                                                                                                                          • Mission Items ("MAVLink commands") that are common to most systems.

                                                                                                                                                                                                                                                                                          The protocol supports re-request of messages that have not arrived, which allows missions to be reliably transferred over a lossy link.

                                                                                                                                                                                                                                                                                          Mission Types

                                                                                                                                                                                                                                                                                          MAVLink 2 supports three types of "missions": flight plans, geofences and rally/safe points. The protocol uses the same sequence of operations for all types (albeit with different types of Mission Items). The mission types must be stored and handled separately/independently.

                                                                                                                                                                                                                                                                                          Mission protocol messages include the type of associated mission in the mission_type field (a MAVLink 2 message extension). The field takes one of the MAV_MISSION_TYPE enum values: MAV_MISSION_TYPE_MISSION, MAV_MISSION_TYPE_FENCE, MAV_MISSION_TYPE_RALLY.

                                                                                                                                                                                                                                                                                          MAVLink 1 supports only "regular" flight-plan missions (this is implied/not explicitly set).

                                                                                                                                                                                                                                                                                          Mission items for all the mission types are defined in the MAV_CMD enum.

                                                                                                                                                                                                                                                                                          MAV_CMD is used to define commands that can be used in missions ("mission items") and commands that can be sent outside of a mission context (using the Command Protocol). Some MAV_CMD can be used with both mission and command protocols. Not all commands/mission items are supported on all systems (or for all flight modes).

                                                                                                                                                                                                                                                                                          The items for the different types of mission are identified using a simple name prefix convention:

                                                                                                                                                                                                                                                                                          Mission items (MAV_CMD) are transmitted/encoded in MISSION_ITEM_INT messages. This message includes fields to identify the particular mission item (command id) and up to 7 command-specific optional parameters.

                                                                                                                                                                                                                                                                                          Field NameTypeValuesDescription
                                                                                                                                                                                                                                                                                          commanduint16_tMAV_CMDCommand id, as defined in MAV_CMD.
                                                                                                                                                                                                                                                                                          param1floatParam #1.
                                                                                                                                                                                                                                                                                          param2floatParam #2.
                                                                                                                                                                                                                                                                                          param3floatParam #3.
                                                                                                                                                                                                                                                                                          param4floatParam #4.
                                                                                                                                                                                                                                                                                          param5 (x)int32_tX coordinate (local frame) or latitude (global frame) for navigation commands (otherwise Param #5).
                                                                                                                                                                                                                                                                                          param6 (y)int32_tY coordinate (local frame) or longitude (global frame) for navigation commands (otherwise Param #6).
                                                                                                                                                                                                                                                                                          param7 (z)floatZ coordinate (local frame) or altitude (global - relative or absolute, depending on frame) (otherwise Param #7).

                                                                                                                                                                                                                                                                                          The first four parameters (shown above) can be used for any purpose - this depends on the particular command. The last three parameters (x, y, z) are used for positional information in MAV_CMD_NAV_* commands, but can be used for any purpose in other commands.

                                                                                                                                                                                                                                                                                          The remaining message fields are used for addressing, defining the mission type, specifying the reference frame used for x, y, z in MAV_CMD_NAV_* messages, etc.:

                                                                                                                                                                                                                                                                                          Field NameTypeValuesDescription
                                                                                                                                                                                                                                                                                          target_systemuint8_tSystem ID
                                                                                                                                                                                                                                                                                          target_componentuint8_tComponent ID
                                                                                                                                                                                                                                                                                          sequint16_tSequence number for item within mission (indexed from 0).
                                                                                                                                                                                                                                                                                          frameuint8_tMAV_FRAMEThe coordinate system of the waypoint.
                                                                                                                                                                                                                                                                                          ArduPilot and PX4 both only support global frames in MAVLink commands (local frames may be supported if the same command is sent via the command protocol).
                                                                                                                                                                                                                                                                                          mission_typeuint8_tMAV_MISSION_TYPEMission type.
                                                                                                                                                                                                                                                                                          currentuint8_tfalse:0, true:1When downloading, whether the item is the current mission item.
                                                                                                                                                                                                                                                                                          autocontinueuint8_tAutocontinue to next waypoint when the command completes.

                                                                                                                                                                                                                                                                                          Message/Enum Summary

                                                                                                                                                                                                                                                                                          The following messages and enums are used by the service.

                                                                                                                                                                                                                                                                                          MessageDescription
                                                                                                                                                                                                                                                                                          MISSION_REQUEST_LISTInitiate mission download from a system by requesting the list of mission items.
                                                                                                                                                                                                                                                                                          MISSION_COUNTSend the number of items in a mission. This is used to initiate mission upload or as a response to MISSION_REQUEST_LIST when downloading a mission.
                                                                                                                                                                                                                                                                                          MISSION_REQUEST_INTRequest mission item data for a specific sequence number be sent by the recipient using a MISSION_ITEM_INT message. Used for mission upload and download.
                                                                                                                                                                                                                                                                                          MISSION_ITEM_INTMessage encoding a mission item/command (defined in a MAV_CMD). Used for mission upload and download.
                                                                                                                                                                                                                                                                                          MISSION_ACKAcknowledgment message when a system completes a mission operation (e.g. sent by autopilot after it has uploaded all mission items). The message includes a MAV_MISSION_RESULT indicating either success or the type of failure.
                                                                                                                                                                                                                                                                                          MISSION_CURRENTMessage containing the current mission item sequence number, mission status, current mission ids, and other information. This is streamed and also emitted when the current mission item is set/changed.
                                                                                                                                                                                                                                                                                          MISSION_SET_CURRENTSet the current mission item by sequence number (continue to this item on the shortest path).
                                                                                                                                                                                                                                                                                          STATUSTEXTSent to notify systems when a request to set the current mission item fails.
                                                                                                                                                                                                                                                                                          MISSION_CLEAR_ALLMessage sent to clear/delete all mission items stored on a system.
                                                                                                                                                                                                                                                                                          MISSION_ITEM_REACHEDMessage emitted by system whenever it reaches a new waypoint. Used to monitor progress.
                                                                                                                                                                                                                                                                                          CommandDescription
                                                                                                                                                                                                                                                                                          MAV_CMD_DO_SET_MISSION_CURRENTSet current mission item and optionally reset mission counter. Supersedes MISSION_SET_CURRENT.
                                                                                                                                                                                                                                                                                          EnumDescription
                                                                                                                                                                                                                                                                                          MAV_MISSION_TYPEMission type for message (mission, geofence, rallypoints).
                                                                                                                                                                                                                                                                                          MAV_MISSION_RESULTUsed to indicate the success or failure reason for an operation (e.g. to upload or download a mission). This is carried in a MISSION_ACK.
                                                                                                                                                                                                                                                                                          MAV_FRAMECo-ordinate frame for position/velocity/acceleration data in the message.
                                                                                                                                                                                                                                                                                          MAV_CMDMission Items (and MAVLink commands) sent in MISSION_ITEM_INT.

                                                                                                                                                                                                                                                                                          Deprecated Types: MISSION_ITEM

                                                                                                                                                                                                                                                                                          The legacy version of the protocol also supported MISSION_REQUEST for requesting that a mission be sent as a sequence of MISSION_ITEM messages.

                                                                                                                                                                                                                                                                                          Both MISSION_REQUEST and MISSION_ITEM messages are now deprecated, and should no longer be sent. If MISSION_REQUEST is recieved the system should instead respond with MISSION_ITEM_INT items (as though it received MISSION_REQUEST_INT).

                                                                                                                                                                                                                                                                                          Frames & Positional Information

                                                                                                                                                                                                                                                                                          By convention, mission items use param5, param6, param7 for positional information when needed (and otherwise as "free use" parameters). The table below shows that the positional parameters can be local (x, y, z), global (latitude, longitude, altitude), and also the data type used to store the parameters in the MISSION_ITEM_INT message.

                                                                                                                                                                                                                                                                                          paramtypeLocalGlobal
                                                                                                                                                                                                                                                                                          param5int32_txLatitude
                                                                                                                                                                                                                                                                                          param6int32_tyLongitude
                                                                                                                                                                                                                                                                                          param7floatzAltitude (global - relative or absolute)

                                                                                                                                                                                                                                                                                          The co-ordinate frame of positional parameters is defined in the MISSION_ITEM_INT.frame field using a MAV_FRAME value.

                                                                                                                                                                                                                                                                                          The global frames are prefixed with MAV_FRAME_GLOBAL_*. Mission items should use frame variants that have the suffix _INT: e.g. MAV_FRAME_GLOBAL_RELATIVE_ALT_INT, MAV_FRAME_GLOBAL_INT, MAV_FRAME_GLOBAL_TERRAIN_ALT_INT. When using these frames, latitude and longitude values must be encoded by multiplying the degrees by 1E7 (e.g. the latitude 69.69000000 would be sent as 69.69000000x1E7 = 696900000). Using int32 of degrees * 10^7 has higher resolution than could be achieved with single floating point.

                                                                                                                                                                                                                                                                                          A number of local frames are also specified. Local frame position values that are sent in integer field parameters must be encoded as position in meters x 1E4 (e.g. 5m would be encoded and sent as 50000). If sent in messages float parameter fields the value should be sent as-is.

                                                                                                                                                                                                                                                                                          Don't use the non-INT global frames in mission items (e.g. MAV_FRAME_GLOBAL_RELATIVE_ALT). These are intended to be used with messages that have float fields for positional information, e.g.: MISSION_ITEM (deprecated), COMMAND_LONG. If these frames are used, position values should be sent unencoded (i.e. no need to multiply by 1E7).

                                                                                                                                                                                                                                                                                          As above, in theory if a global non-INT frame variant is set for a MISSION_ITEM_INT the position value should be sent as-is (not encoded). This will result in the value being rounded when it is sent in the integer value, which will make the value unusable. In practice, many systems will assume you have encoded the value, but you should test this for your particular flight stack. Better just to use the correct frames!

                                                                                                                                                                                                                                                                                          Don't use MAV_FRAME_MISSION for mission items that contain positional data; this does not correspond to any particular real frame, and so will be ambiguous. MAV_FRAME_MISSION should be used for mission items that use params5 and param6 for other purposes.

                                                                                                                                                                                                                                                                                          Param 5, 6 For Non-Positional Data

                                                                                                                                                                                                                                                                                          Param5, param6, param7 may also be used for non-positional information. In this case the MISSION_ITEM_INT.frame should be set to MAV_FRAME_MISSION (this is equivalent to say "the frame data is irrelevant").

                                                                                                                                                                                                                                                                                          As param5 and param6 are sent in integer fields, generally you should design mission items/MAV_CMDs such that these only include integer data (and are sent as-is/unscaled). If these must be used for real numbers and scaling is required, then this must be noted in the mission item itself.

                                                                                                                                                                                                                                                                                          Operations

                                                                                                                                                                                                                                                                                          This section defines all the protocol operations.

                                                                                                                                                                                                                                                                                          Detecting Mission/Plan Changes

                                                                                                                                                                                                                                                                                          Mission upload and download can be expensive operations, in particular for large missions. A GCS can avoid unnecessary uploads and downloads by first checking whether it has a matching id(s) for the corresponding plan on the vehicle.

                                                                                                                                                                                                                                                                                          The current id for different parts of the plan are streamed in MISSION_CURRENT message, using the appropriately named fields: mission_id, fence_id, rally_points_id. These values are 0 if there is no plan uploaded, or if detecting plan changes is not supported by the flight stack.

                                                                                                                                                                                                                                                                                          The IDs are generated by the flight stack when a new mission, rally point, or geofence, is uploaded to the vehicle (at which point it also starts publishing the value in MISSION_CURRENT). MAVLink puts no particular requirements on how the "opaque_id" values are calculated by the flight stack (this is why they are named "opaque"). The only expectation is that the scheme used makes it unlikely that the GCS will incorrectly determine that it has a matching plan (a flight stack might use file hashes, plan checksums, pseudo-random numbers, or some other technique).

                                                                                                                                                                                                                                                                                          On upload, the generated ID is sent to the GCS in the final part of the upload sequence in the MISSION_ACK.opaque_id field. On download, the stored ID is sent to the GCS in the MISSION_COUNT.opaque_id field.

                                                                                                                                                                                                                                                                                          The GCS should store the value of the ID from the flight stack as the "current id" for whatever part of the plan was uploaded/download. It can then monitor MISSION_CURRENT, and check its cached values against the current plan ids to determine whether it has a matching mission, or needs to download the mission from the vehicle.

                                                                                                                                                                                                                                                                                          Upload a Mission to the Vehicle

                                                                                                                                                                                                                                                                                          The diagram below shows the communication sequence to upload a mission to a drone (assuming all operations succeed).

                                                                                                                                                                                                                                                                                          Mission update must be robust! A new mission should be fully uploaded and accepted before the old mission is replaced/removed.

                                                                                                                                                                                                                                                                                          Mission upload/download can be bandwidth intensive and time consuming Check for plan changes before uploading (or downloading) a mission.

                                                                                                                                                                                                                                                                                          Mission Upload Sequence

                                                                                                                                                                                                                                                                                          In more detail, the sequence of operations is:

                                                                                                                                                                                                                                                                                          1. GCS sends MISSION_COUNT including the number of mission items to be uploaded (count).
                                                                                                                                                                                                                                                                                            • A timeout must be started for the GCS to wait on the response from Drone (MISSION_REQUEST_INT).
                                                                                                                                                                                                                                                                                          2. Drone receives message and responds with MISSION_REQUEST_INT requesting the first mission item (seq==0).
                                                                                                                                                                                                                                                                                            • A timeout must be started for the Drone to wait on the MISSION_ITEM_INT response from GCS.
                                                                                                                                                                                                                                                                                          3. GCS receives MISSION_REQUEST_INT and responds with the requested mission item in a MISSION_ITEM_INT message.
                                                                                                                                                                                                                                                                                          4. Drone and GCS repeat the MISSION_REQUEST_INT/MISSION_ITEM_INT cycle, iterating seq until all items are uploaded (seq==count-1).
                                                                                                                                                                                                                                                                                          5. After receiving the last mission item the drone responds with MISSION_ACK with the type of MAV_MISSION_ACCEPTED indicating mission upload completion/success.
                                                                                                                                                                                                                                                                                            • The drone should set the new mission to be the current mission, discarding the original data.
                                                                                                                                                                                                                                                                                            • The drone considers the upload complete.
                                                                                                                                                                                                                                                                                          6. GCS receives MISSION_ACK containing MAV_MISSION_ACCEPTED to indicate the operation is complete.
                                                                                                                                                                                                                                                                                            • The GCS should store MISSION_ACK.opaque_id (the current id of the uploaded plan) and can use it later to check for plan changes.

                                                                                                                                                                                                                                                                                          Notes:

                                                                                                                                                                                                                                                                                          • A timeout is set for every message that requires a response (e.g. MISSION_REQUEST_INT). If the timeout expires without a response being received then the request must be resent.
                                                                                                                                                                                                                                                                                          • Mission items must be received in order. If an item is received out-of-sequence the expected item should be re-requested by the vehicle (the out-of-sequence item is dropped).
                                                                                                                                                                                                                                                                                          • An error can be signaled in response to any request using a MISSION_ACK message containing an error code. This must cancel the operation and restore the mission to its previous state. For example, the drone might respond to the MISSION_COUNT request with a MAV_MISSION_NO_SPACE if there isn't enough space to upload the mission.
                                                                                                                                                                                                                                                                                          • The sequence above shows the mission items packaged in MISSION_ITEM_INT messages. Protocol implementations must also support MISSION_ITEM and MISSION_REQUEST in the same way.
                                                                                                                                                                                                                                                                                          • Uploading an empty mission (MISSION_COUNT is 0) has the same effect as clearing the mission.

                                                                                                                                                                                                                                                                                          Download a Mission from the Vehicle

                                                                                                                                                                                                                                                                                          Mission upload/download can also be bandwidth intensive and time consuming. Check for plan changes before downloading (or uploading) a mission.

                                                                                                                                                                                                                                                                                          The diagram below shows the communication sequence to download a mission from a drone (assuming all operations succeed).

                                                                                                                                                                                                                                                                                          Sequence: Download mission

                                                                                                                                                                                                                                                                                          The sequence is similar to that for uploading a mission. The main difference is that the client (e.g. GCS) sends MISSION_REQUEST_LIST, which triggers the autopilot to respond with the current count of items (MISSION_COUNT). This starts a cycle where the GCS requests mission items, and the drone supplies them.

                                                                                                                                                                                                                                                                                          Note:

                                                                                                                                                                                                                                                                                          • The MISSION_COUNT.opaque_id is the stored ID of the part of the plan that is being uploaded from the vehicle. This should be stored by the GCS so that it can later check that its plan matches that on the vehicle.
                                                                                                                                                                                                                                                                                          • A timeout is set for every message that requires a response (e.g. MISSION_REQUEST_INT). If the timeout expires without a response being received then the request must be resent.
                                                                                                                                                                                                                                                                                          • Mission items must be received in order. If an item is received out-of-sequence the expected item should be re-requested by the GCS (the out-of-sequence item is dropped).
                                                                                                                                                                                                                                                                                          • An error can be signaled in response to any request using a MISSION_ACK message containing an error code. This must cancel the operation.
                                                                                                                                                                                                                                                                                          • The sequence above shows the mission items packaged in MISSION_ITEM_INT messages. Protocol implementations must also support MISSION_ITEM and MISSION_REQUEST in the same way.

                                                                                                                                                                                                                                                                                          Set Current Mission Item

                                                                                                                                                                                                                                                                                          The diagram below shows the communication sequence to set the current mission item.

                                                                                                                                                                                                                                                                                          Mermaid Diagram: Set mission item

                                                                                                                                                                                                                                                                                          In more detail, the sequence of operations is:

                                                                                                                                                                                                                                                                                          1. GCS/App sends MAV_CMD_DO_SET_MISSION_CURRENT (or MISSION_SET_CURRENT), specifying the new sequence number (seq).
                                                                                                                                                                                                                                                                                          2. Drone receives message and attempts to update the current mission sequence number.
                                                                                                                                                                                                                                                                                            • On success, the Drone must broadcast a MISSION_CURRENT message containing the current sequence number (seq).
                                                                                                                                                                                                                                                                                            • On failure, the Drone must broadcast a STATUSTEXT with a MAV_SEVERITY and a string stating the problem. This may be displayed in the UI of receiving systems.

                                                                                                                                                                                                                                                                                          Notes:

                                                                                                                                                                                                                                                                                          • There is no specific timeout on MISSION_SET_CURRENT message.
                                                                                                                                                                                                                                                                                          • The acknowledgment of the message is via broadcast of mission/system status, which is not associated with the original message. This differs from error handling in other operations. This approach is used because the success/failure is relevant to all mission-handling clients.

                                                                                                                                                                                                                                                                                          Monitor Mission Progress

                                                                                                                                                                                                                                                                                          GCS/developer API can monitor progress by handling the appropriate messages sent by the drone:

                                                                                                                                                                                                                                                                                          Clear Missions

                                                                                                                                                                                                                                                                                          The diagram below shows the communication sequence to clear the mission from a drone (assuming all operations succeed).

                                                                                                                                                                                                                                                                                          Mermaid Diagram: Clear Missions

                                                                                                                                                                                                                                                                                          In more detail, the sequence of operations is:

                                                                                                                                                                                                                                                                                          1. GCS/API sends MISSION_CLEAR_ALL
                                                                                                                                                                                                                                                                                            • A timeout is started for the GCS to wait on MISSION_ACK from Drone.
                                                                                                                                                                                                                                                                                          2. Drone receives the message, and clears the mission from storage.
                                                                                                                                                                                                                                                                                          3. Drone responds with MISSION_ACK with result type of MAV_MISSION_ACCEPTEDMAV_MISSION_RESULT.
                                                                                                                                                                                                                                                                                          4. GCS receives MISSION_ACK and clears its own stored information about the mission. The operation is now complete.

                                                                                                                                                                                                                                                                                          Note:

                                                                                                                                                                                                                                                                                          • A timeout is set for every message that requires a response (e.g. MISSION_CLEAR_ALL). If the timeout expires without a response being received then the request must be resent.
                                                                                                                                                                                                                                                                                          • An error can be signaled in response to any request (in this case, just MISSION_CLEAR_ALL) using a MISSION_ACK message containing an error code. This must cancel the operation. The GCS record of the mission (if any) should be retained.

                                                                                                                                                                                                                                                                                          Canceling Operations

                                                                                                                                                                                                                                                                                          The above mission operations may be canceled by responding to any request (e.g. MISSION_REQUEST_INT) with a MISSION_ACK message containing the MAV_MISSION_OPERATION_CANCELLED error.

                                                                                                                                                                                                                                                                                          Both systems should then return themselves to the idle state (if the system does not receive the cancellation message it will resend the request; the recipient will then be in the idle state and may respond with an appropriate error for that state).

                                                                                                                                                                                                                                                                                          Operation Exceptions

                                                                                                                                                                                                                                                                                          Timeouts and Retries

                                                                                                                                                                                                                                                                                          A timeout should be set for all messages that require a response. If the expected response is not received before the timeout then the message must be resent. If no response is received after a number of retries then the client must cancel the operation and return to an idle state.

                                                                                                                                                                                                                                                                                          The recommended timeout values before resending, and the number of retries are:

                                                                                                                                                                                                                                                                                          • Timeout (default): 1500 ms
                                                                                                                                                                                                                                                                                          • Timeout (mission items): 250 ms.
                                                                                                                                                                                                                                                                                          • Retries (max): 5

                                                                                                                                                                                                                                                                                          Errors/Completion

                                                                                                                                                                                                                                                                                          All operations complete with a MISSION_ACK message containing the result of the operation (MAV_MISSION_RESULT) in the type field.

                                                                                                                                                                                                                                                                                          On successful completion, the message must contain type of MAV_MISSION_ACCEPTED; this is sent by the system that is receiving the command/data (e.g. the drone for mission upload or the GCS for mission download).

                                                                                                                                                                                                                                                                                          An operation may also complete with an error - MISSION_ACK.type set to MAV_MISSION_ERROR or some other error code in MAV_MISSION_RESULT. This can occur in response to any message/anywhere in the sequence.

                                                                                                                                                                                                                                                                                          Errors are considered unrecoverable. In an error is sent, both ends of the system should reset themselves to the idle state and the current state of the mission on the vehicle should be unaltered.

                                                                                                                                                                                                                                                                                          Note:

                                                                                                                                                                                                                                                                                          • timeouts are not considered errors.
                                                                                                                                                                                                                                                                                          • Out-of-sequence messages in mission upload/download are recoverable, and are not treated as errors.

                                                                                                                                                                                                                                                                                          Mission File Formats

                                                                                                                                                                                                                                                                                          The defacto standard file format for exchanging missions/plans is discussed in: File Formats > Mission Plain-Text File Format.

                                                                                                                                                                                                                                                                                          Mission Command Detail

                                                                                                                                                                                                                                                                                          This section is for clarifications and additional information about common mission items. In particular it is intended for cases that are difficult to document in the specification XML, or when images will much better describe expected behaviour.

                                                                                                                                                                                                                                                                                          Loiter Commands (MAV_CMD_NAV_LOITER_*)

                                                                                                                                                                                                                                                                                          Loiter commands are provided to allow a vehicle to hold at a location for a specified time or number of turns, until it reaches the specified altitude, or indefinitely. Multicopter vehicles stop at the specified point (within a vehicle-specific acceptance radius that is not set by the mission item). Forward-moving vehicles (e.g. fixed-wing) circle the point with the specified radius/direction.

                                                                                                                                                                                                                                                                                          The commands are:

                                                                                                                                                                                                                                                                                          The location and fixed-wing loiter radius parameters are common to all commands:

                                                                                                                                                                                                                                                                                          Param (:Label)DescriptionUnits
                                                                                                                                                                                                                                                                                          3: RadiusRadius around waypoint. If positive loiter clockwise, else counter-clockwisem
                                                                                                                                                                                                                                                                                          5: LatitudeLatitude
                                                                                                                                                                                                                                                                                          6: LongitudeLongitude
                                                                                                                                                                                                                                                                                          7: AltitudeAltitudem

                                                                                                                                                                                                                                                                                          The loiter time and turns are set in param 1 for the respective messages. The direction of loiter for MAV_CMD_NAV_LOITER_UNLIM can be set using param4 (Yaw).

                                                                                                                                                                                                                                                                                          The remaining parameters (xtrack and heading) apply only to forward flying aircraft (not multicopters!)

                                                                                                                                                                                                                                                                                          Xtrack and heading define the location at which a forward flying (fixed wing) vehicle will exit the loiter circle, and its path to the next waypoint (these apply only to apply to only MAV_CMD_NAV_LOITER_TIME and MAV_CMD_NAV_LOITER_TURNS).

                                                                                                                                                                                                                                                                                          Param (:Label)DescriptionUnits
                                                                                                                                                                                                                                                                                          2: Heading RequiredLeave loiter circle only once heading towards the next waypoint (0 = False)min:0 max:1 increment:1
                                                                                                                                                                                                                                                                                          4: Xtrack LocationSets xtrack path or exit location: 0 for the vehicle to converge towards the center xtrack when it leaves the loiter (the line between the centers of the current and next waypoint), 1 to converge to the direct line between the location that the vehicle exits the loiter radius and the next waypoint. Otherwise the angle (in degrees) between the tangent of the loiter circle and the center xtrack at which the vehicle must leave the loiter (and converge to the center xtrack). NaN to use the current system default xtrack behaviour.

                                                                                                                                                                                                                                                                                          The recommended values (and resulting paths) are those shown below.

                                                                                                                                                                                                                                                                                          Loiter heading

                                                                                                                                                                                                                                                                                          The vehicle leaves the loiter after it reaches the desired number of turns or time and based on both the heading required and xtrack params.

                                                                                                                                                                                                                                                                                          A heading required of 1 prevents the vehicle from exiting the loiter unless it is heading towards the next waypoint (if 0 it can leave at any point provided the other conditions are met). With this setting the vehicle can leave at any point in the arc shown, provided it meets the other conditions (e.g. xtrack). If necessary (i.e. it is not in the arc when the other conditions are met), the vehicle will loop back around the loiter before it evaluates the xtrack condition.

                                                                                                                                                                                                                                                                                          Loiter heading

                                                                                                                                                                                                                                                                                          The Xtrack parameter independently defines the path and exit location:

                                                                                                                                                                                                                                                                                          • xtrack=0: Exit the loiter circle and converge to the centre xtrack between this and the next waypoint.
                                                                                                                                                                                                                                                                                            • If the heading required parameter is not set it will exit the loiter immediately.
                                                                                                                                                                                                                                                                                            • Otherwise it will leave as soon as it is heading towards the next waypoint (which may also be immediately!)
                                                                                                                                                                                                                                                                                          • xtrack=1: Exit the loiter circle and fly/converge to the straight line between the exit point and the centre of the next waypoint (i.e. don't converge to the centre xtrack).
                                                                                                                                                                                                                                                                                            • If the heading required parameter is set it will exit the loiter as soon as it is heading towards the next waypoint (which may be immediately!).
                                                                                                                                                                                                                                                                                            • If the heading required parameter is not set it will exit the loiter immediately (note that this exit path does not make much sense unless the heading parameter is set).
                                                                                                                                                                                                                                                                                          • xtrack=NaN: Exit the loiter using "system specific default behaviour".
                                                                                                                                                                                                                                                                                            • The vehicle must still respect the heading required param.
                                                                                                                                                                                                                                                                                            • Usually this is synonymous with xtrack=0

                                                                                                                                                                                                                                                                                          • xtrack=any other value: Exit the loiter when the vehicle heading (tangent) makes the specified angle in degrees to the center xtrack. Converge to the center xtrack. The vehicle must still respect the heading required param (some xtrack values may not be possible with this condition true). This allows callers to specify how quickly the vehicle converges to the center xtrack. For example, the image below shows the vehicle exiting the loiter at 30 degrees.

                                                                                                                                                                                                                                                                                            Loiter angle

                                                                                                                                                                                                                                                                                          Implementations

                                                                                                                                                                                                                                                                                          PX4

                                                                                                                                                                                                                                                                                          The protocol has been implemented in C.

                                                                                                                                                                                                                                                                                          Source code:

                                                                                                                                                                                                                                                                                          The implementation status is (at time of writing):

                                                                                                                                                                                                                                                                                          • Flight plan missions:
                                                                                                                                                                                                                                                                                            • upload, download, clearing missions, and monitoring progress are supported as defined in this specification.
                                                                                                                                                                                                                                                                                          • Geofence missions" are supported as defined in this specification.
                                                                                                                                                                                                                                                                                          • Rally point "missions" are not supported on PX4.

                                                                                                                                                                                                                                                                                          Mission operation cancellation works for mission download (sets system to idle). Mission operation cancellation does not work for mission uploading; PX4 resends MISSION_REQUEST_INT until the operation times out.

                                                                                                                                                                                                                                                                                          Source code:

                                                                                                                                                                                                                                                                                          QGroundControl

                                                                                                                                                                                                                                                                                          The protocol has been implemented in C++.

                                                                                                                                                                                                                                                                                          Source code:

                                                                                                                                                                                                                                                                                          ArduPilot

                                                                                                                                                                                                                                                                                          ArduPilot implements the mission protocol in C++.

                                                                                                                                                                                                                                                                                          ArduPilot uses the same messages and message flow described in this specification. There are (anecdotally) some implementation differences that affect compatibility. These are documented below.

                                                                                                                                                                                                                                                                                          Source:

                                                                                                                                                                                                                                                                                          Flight Plan Missions

                                                                                                                                                                                                                                                                                          Mission upload, download, clearing missions, and monitoring progress are supported.

                                                                                                                                                                                                                                                                                          ArduPilot implements also partial mission upload using MISSION_WRITE_PARTIAL_LIST, but not partial mission download (MISSION_REQUEST_PARTIAL_LIST). Partial mission upload/download is not an official/standardised part of the mission service.

                                                                                                                                                                                                                                                                                          ArduPilot's implementation differs from this specification (non-exhaustively):

                                                                                                                                                                                                                                                                                          • The first mission sequence number (seq==0) is populated with the home position of the vehicle instead of the first mission item.
                                                                                                                                                                                                                                                                                          • Mission uploads are not "atomic". An upload that fails (or is canceled) part-way through will not match the pre-update state. Instead it may be a mix of the original and new mission.
                                                                                                                                                                                                                                                                                          • Even if upload is successful, the vehicle mission may not match the version on the uploading system (and if the mission is then downloaded it will differ from the original).
                                                                                                                                                                                                                                                                                            • There is rounding on some fields (and in some cases internal maximum possible values due to available storage space). Failures can occur if you do a straight comparison of the float params before/after upload.
                                                                                                                                                                                                                                                                                          • A MISSION_ACK returning an error value (NACK) does not terminate the upload (i.e. it is not considered an unrecoverable error). As long as ArduPilot has not yet timed-out a system can retry the current mission item upload.
                                                                                                                                                                                                                                                                                          • A mission cannot be cleared while it is being executed (i.e. while in Auto mode). Note that a new mission can be uploaded (even a zero-size mission - which is equivalent to clearing).
                                                                                                                                                                                                                                                                                          • Explicit cancellation of operations is not supported. If one end stops communicating the other end will eventually timeout and reset itself to an idle/ready state.

                                                                                                                                                                                                                                                                                          The following behaviour is not defined by the specification (but is still of interest):

                                                                                                                                                                                                                                                                                          • ArduPilot performs some validation of fields when mission items are submitted. The validation code is common to all vehicles; mission items that are not understood by the vehicle type are accepted on upload but skipped during mission execution.
                                                                                                                                                                                                                                                                                          • ArduPilot preforms some vehicle-specific validation at mission runtime (e.g. of jump targets).
                                                                                                                                                                                                                                                                                          • A new mission can be uploaded while a mission is being executed. In this case the current waypoint will be executed to completion even if the waypoint sequence is different in the new mission (to get the new item you would need to reset the sequence or switch in/out of auto mode).
                                                                                                                                                                                                                                                                                          • ArduPilot missions are not stored in an SD card and therefore have a vehicle/board-specific maximum mission size (as a benefit, on ArduPilot, missions can survive SD card failure in flight).

                                                                                                                                                                                                                                                                                          Geofence & Rally Point Plans

                                                                                                                                                                                                                                                                                          QGroundControl is the reference implementation for mission / rally point plans.

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                                                                                                                                                                                                                                                                                            Mission Protocol

                                                                                                                                                                                                                                                                                            The mission sub-protocol allows a GCS or developer API to exchange mission (flight plan), geofence and safe point information with a drone/component.

                                                                                                                                                                                                                                                                                            The protocol covers:

                                                                                                                                                                                                                                                                                            • Operations to upload, download and clear missions, set/get the current mission item number, and get notification when the current mission item has changed.
                                                                                                                                                                                                                                                                                            • Message type(s) and enumerations for exchanging mission items.
                                                                                                                                                                                                                                                                                            • Mission Items ("MAVLink commands") that are common to most systems.

                                                                                                                                                                                                                                                                                            The protocol supports re-request of messages that have not arrived, which allows missions to be reliably transferred over a lossy link.

                                                                                                                                                                                                                                                                                            Mission Types

                                                                                                                                                                                                                                                                                            MAVLink 2 supports three types of "missions": flight plans, geofences and rally/safe points. The protocol uses the same sequence of operations for all types (albeit with different types of Mission Items). The mission types must be stored and handled separately/independently.

                                                                                                                                                                                                                                                                                            Mission protocol messages include the type of associated mission in the mission_type field (a MAVLink 2 message extension). The field takes one of the MAV_MISSION_TYPE enum values: MAV_MISSION_TYPE_MISSION, MAV_MISSION_TYPE_FENCE, MAV_MISSION_TYPE_RALLY.

                                                                                                                                                                                                                                                                                            MAVLink 1 supports only "regular" flight-plan missions (this is implied/not explicitly set).

                                                                                                                                                                                                                                                                                            Mission items for all the mission types are defined in the MAV_CMD enum.

                                                                                                                                                                                                                                                                                            MAV_CMD is used to define commands that can be used in missions ("mission items") and commands that can be sent outside of a mission context (using the Command Protocol). Some MAV_CMD can be used with both mission and command protocols. Not all commands/mission items are supported on all systems (or for all flight modes).

                                                                                                                                                                                                                                                                                            The items for the different types of mission are identified using a simple name prefix convention:

                                                                                                                                                                                                                                                                                            Mission items (MAV_CMD) are transmitted/encoded in MISSION_ITEM_INT messages. This message includes fields to identify the particular mission item (command id) and up to 7 command-specific optional parameters.

                                                                                                                                                                                                                                                                                            Field NameTypeValuesDescription
                                                                                                                                                                                                                                                                                            commanduint16_tMAV_CMDCommand id, as defined in MAV_CMD.
                                                                                                                                                                                                                                                                                            param1floatParam #1.
                                                                                                                                                                                                                                                                                            param2floatParam #2.
                                                                                                                                                                                                                                                                                            param3floatParam #3.
                                                                                                                                                                                                                                                                                            param4floatParam #4.
                                                                                                                                                                                                                                                                                            param5 (x)int32_tX coordinate (local frame) or latitude (global frame) for navigation commands (otherwise Param #5).
                                                                                                                                                                                                                                                                                            param6 (y)int32_tY coordinate (local frame) or longitude (global frame) for navigation commands (otherwise Param #6).
                                                                                                                                                                                                                                                                                            param7 (z)floatZ coordinate (local frame) or altitude (global - relative or absolute, depending on frame) (otherwise Param #7).

                                                                                                                                                                                                                                                                                            The first four parameters (shown above) can be used for any purpose - this depends on the particular command. The last three parameters (x, y, z) are used for positional information in MAV_CMD_NAV_* commands, but can be used for any purpose in other commands.

                                                                                                                                                                                                                                                                                            The remaining message fields are used for addressing, defining the mission type, specifying the reference frame used for x, y, z in MAV_CMD_NAV_* messages, etc.:

                                                                                                                                                                                                                                                                                            Field NameTypeValuesDescription
                                                                                                                                                                                                                                                                                            target_systemuint8_tSystem ID
                                                                                                                                                                                                                                                                                            target_componentuint8_tComponent ID
                                                                                                                                                                                                                                                                                            sequint16_tSequence number for item within mission (indexed from 0).
                                                                                                                                                                                                                                                                                            frameuint8_tMAV_FRAMEThe coordinate system of the waypoint.
                                                                                                                                                                                                                                                                                            ArduPilot and PX4 both only support global frames in MAVLink commands (local frames may be supported if the same command is sent via the command protocol).
                                                                                                                                                                                                                                                                                            mission_typeuint8_tMAV_MISSION_TYPEMission type.
                                                                                                                                                                                                                                                                                            currentuint8_tfalse:0, true:1When downloading, whether the item is the current mission item.
                                                                                                                                                                                                                                                                                            autocontinueuint8_tAutocontinue to next waypoint when the command completes.

                                                                                                                                                                                                                                                                                            Message/Enum Summary

                                                                                                                                                                                                                                                                                            The following messages and enums are used by the service.

                                                                                                                                                                                                                                                                                            MessageDescription
                                                                                                                                                                                                                                                                                            MISSION_REQUEST_LISTInitiate mission download from a system by requesting the list of mission items.
                                                                                                                                                                                                                                                                                            MISSION_COUNTSend the number of items in a mission. This is used to initiate mission upload or as a response to MISSION_REQUEST_LIST when downloading a mission.
                                                                                                                                                                                                                                                                                            MISSION_REQUEST_INTRequest mission item data for a specific sequence number be sent by the recipient using a MISSION_ITEM_INT message. Used for mission upload and download.
                                                                                                                                                                                                                                                                                            MISSION_ITEM_INTMessage encoding a mission item/command (defined in a MAV_CMD). Used for mission upload and download.
                                                                                                                                                                                                                                                                                            MISSION_ACKAcknowledgment message when a system completes a mission operation (e.g. sent by autopilot after it has uploaded all mission items). The message includes a MAV_MISSION_RESULT indicating either success or the type of failure.
                                                                                                                                                                                                                                                                                            MISSION_CURRENTMessage containing the current mission item sequence number, mission status, current mission ids, and other information. This is streamed and also emitted when the current mission item is set/changed.
                                                                                                                                                                                                                                                                                            MISSION_SET_CURRENTSet the current mission item by sequence number (continue to this item on the shortest path).
                                                                                                                                                                                                                                                                                            STATUSTEXTSent to notify systems when a request to set the current mission item fails.
                                                                                                                                                                                                                                                                                            MISSION_CLEAR_ALLMessage sent to clear/delete all mission items stored on a system.
                                                                                                                                                                                                                                                                                            MISSION_ITEM_REACHEDMessage emitted by system whenever it reaches a new waypoint. Used to monitor progress.
                                                                                                                                                                                                                                                                                            CommandDescription
                                                                                                                                                                                                                                                                                            MAV_CMD_DO_SET_MISSION_CURRENTSet current mission item and optionally reset mission counter. Supersedes MISSION_SET_CURRENT.
                                                                                                                                                                                                                                                                                            EnumDescription
                                                                                                                                                                                                                                                                                            MAV_MISSION_TYPEMission type for message (mission, geofence, rallypoints).
                                                                                                                                                                                                                                                                                            MAV_MISSION_RESULTUsed to indicate the success or failure reason for an operation (e.g. to upload or download a mission). This is carried in a MISSION_ACK.
                                                                                                                                                                                                                                                                                            MAV_FRAMECo-ordinate frame for position/velocity/acceleration data in the message.
                                                                                                                                                                                                                                                                                            MAV_CMDMission Items (and MAVLink commands) sent in MISSION_ITEM_INT.

                                                                                                                                                                                                                                                                                            Deprecated Types: MISSION_ITEM

                                                                                                                                                                                                                                                                                            The legacy version of the protocol also supported MISSION_REQUEST for requesting that a mission be sent as a sequence of MISSION_ITEM messages.

                                                                                                                                                                                                                                                                                            Both MISSION_REQUEST and MISSION_ITEM messages are now deprecated, and should no longer be sent. If MISSION_REQUEST is recieved the system should instead respond with MISSION_ITEM_INT items (as though it received MISSION_REQUEST_INT).

                                                                                                                                                                                                                                                                                            Frames & Positional Information

                                                                                                                                                                                                                                                                                            By convention, mission items use param5, param6, param7 for positional information when needed (and otherwise as "free use" parameters). The table below shows that the positional parameters can be local (x, y, z), global (latitude, longitude, altitude), and also the data type used to store the parameters in the MISSION_ITEM_INT message.

                                                                                                                                                                                                                                                                                            paramtypeLocalGlobal
                                                                                                                                                                                                                                                                                            param5int32_txLatitude
                                                                                                                                                                                                                                                                                            param6int32_tyLongitude
                                                                                                                                                                                                                                                                                            param7floatzAltitude (global - relative or absolute)

                                                                                                                                                                                                                                                                                            The co-ordinate frame of positional parameters is defined in the MISSION_ITEM_INT.frame field using a MAV_FRAME value.

                                                                                                                                                                                                                                                                                            The global frames are prefixed with MAV_FRAME_GLOBAL_*. Mission items should use frame variants that have the suffix _INT: e.g. MAV_FRAME_GLOBAL_RELATIVE_ALT_INT, MAV_FRAME_GLOBAL_INT, MAV_FRAME_GLOBAL_TERRAIN_ALT_INT. When using these frames, latitude and longitude values must be encoded by multiplying the degrees by 1E7 (e.g. the latitude 69.69000000 would be sent as 69.69000000x1E7 = 696900000). Using int32 of degrees * 10^7 has higher resolution than could be achieved with single floating point.

                                                                                                                                                                                                                                                                                            A number of local frames are also specified. Local frame position values that are sent in integer field parameters must be encoded as position in meters x 1E4 (e.g. 5m would be encoded and sent as 50000). If sent in messages float parameter fields the value should be sent as-is.

                                                                                                                                                                                                                                                                                            Don't use the non-INT global frames in mission items (e.g. MAV_FRAME_GLOBAL_RELATIVE_ALT). These are intended to be used with messages that have float fields for positional information, e.g.: MISSION_ITEM (deprecated), COMMAND_LONG. If these frames are used, position values should be sent unencoded (i.e. no need to multiply by 1E7).

                                                                                                                                                                                                                                                                                            As above, in theory if a global non-INT frame variant is set for a MISSION_ITEM_INT the position value should be sent as-is (not encoded). This will result in the value being rounded when it is sent in the integer value, which will make the value unusable. In practice, many systems will assume you have encoded the value, but you should test this for your particular flight stack. Better just to use the correct frames!

                                                                                                                                                                                                                                                                                            Don't use MAV_FRAME_MISSION for mission items that contain positional data; this does not correspond to any particular real frame, and so will be ambiguous. MAV_FRAME_MISSION should be used for mission items that use params5 and param6 for other purposes.

                                                                                                                                                                                                                                                                                            Param 5, 6 For Non-Positional Data

                                                                                                                                                                                                                                                                                            Param5, param6, param7 may also be used for non-positional information. In this case the MISSION_ITEM_INT.frame should be set to MAV_FRAME_MISSION (this is equivalent to say "the frame data is irrelevant").

                                                                                                                                                                                                                                                                                            As param5 and param6 are sent in integer fields, generally you should design mission items/MAV_CMDs such that these only include integer data (and are sent as-is/unscaled). If these must be used for real numbers and scaling is required, then this must be noted in the mission item itself.

                                                                                                                                                                                                                                                                                            Operations

                                                                                                                                                                                                                                                                                            This section defines all the protocol operations.

                                                                                                                                                                                                                                                                                            Detecting Mission/Plan Changes

                                                                                                                                                                                                                                                                                            Mission upload and download can be expensive operations, in particular for large missions. A GCS can avoid unnecessary uploads and downloads by first checking whether it has a matching id(s) for the corresponding plan on the vehicle.

                                                                                                                                                                                                                                                                                            The current id for different parts of the plan are streamed in MISSION_CURRENT message, using the appropriately named fields: mission_id, fence_id, rally_points_id. These values are 0 if there is no plan uploaded, or if detecting plan changes is not supported by the flight stack.

                                                                                                                                                                                                                                                                                            The IDs are generated by the flight stack when a new mission, rally point, or geofence, is uploaded to the vehicle (at which point it also starts publishing the value in MISSION_CURRENT). MAVLink puts no particular requirements on how the "opaque_id" values are calculated by the flight stack (this is why they are named "opaque"). The only expectation is that the scheme used makes it unlikely that the GCS will incorrectly determine that it has a matching plan (a flight stack might use file hashes, plan checksums, pseudo-random numbers, or some other technique).

                                                                                                                                                                                                                                                                                            On upload, the generated ID is sent to the GCS in the final part of the upload sequence in the MISSION_ACK.opaque_id field. On download, the stored ID is sent to the GCS in the MISSION_COUNT.opaque_id field.

                                                                                                                                                                                                                                                                                            The GCS should store the value of the ID from the flight stack as the "current id" for whatever part of the plan was uploaded/download. It can then monitor MISSION_CURRENT, and check its cached values against the current plan ids to determine whether it has a matching mission, or needs to download the mission from the vehicle.

                                                                                                                                                                                                                                                                                            Upload a Mission to the Vehicle

                                                                                                                                                                                                                                                                                            The diagram below shows the communication sequence to upload a mission to a drone (assuming all operations succeed).

                                                                                                                                                                                                                                                                                            Mission update must be robust! A new mission should be fully uploaded and accepted before the old mission is replaced/removed.

                                                                                                                                                                                                                                                                                            Mission upload/download can be bandwidth intensive and time consuming Check for plan changes before uploading (or downloading) a mission.

                                                                                                                                                                                                                                                                                            Mission Upload Sequence

                                                                                                                                                                                                                                                                                            In more detail, the sequence of operations is:

                                                                                                                                                                                                                                                                                            1. GCS sends MISSION_COUNT including the number of mission items to be uploaded (count).
                                                                                                                                                                                                                                                                                              • A timeout must be started for the GCS to wait on the response from Drone (MISSION_REQUEST_INT).
                                                                                                                                                                                                                                                                                            2. Drone receives message and responds with MISSION_REQUEST_INT requesting the first mission item (seq==0).
                                                                                                                                                                                                                                                                                              • A timeout must be started for the Drone to wait on the MISSION_ITEM_INT response from GCS.
                                                                                                                                                                                                                                                                                            3. GCS receives MISSION_REQUEST_INT and responds with the requested mission item in a MISSION_ITEM_INT message.
                                                                                                                                                                                                                                                                                            4. Drone and GCS repeat the MISSION_REQUEST_INT/MISSION_ITEM_INT cycle, iterating seq until all items are uploaded (seq==count-1).
                                                                                                                                                                                                                                                                                            5. After receiving the last mission item the drone responds with MISSION_ACK with the type of MAV_MISSION_ACCEPTED indicating mission upload completion/success.
                                                                                                                                                                                                                                                                                              • The drone should set the new mission to be the current mission, discarding the original data.
                                                                                                                                                                                                                                                                                              • The drone considers the upload complete.
                                                                                                                                                                                                                                                                                            6. GCS receives MISSION_ACK containing MAV_MISSION_ACCEPTED to indicate the operation is complete.
                                                                                                                                                                                                                                                                                              • The GCS should store MISSION_ACK.opaque_id (the current id of the uploaded plan) and can use it later to check for plan changes.

                                                                                                                                                                                                                                                                                            Notes:

                                                                                                                                                                                                                                                                                            • A timeout is set for every message that requires a response (e.g. MISSION_REQUEST_INT). If the timeout expires without a response being received then the request must be resent.
                                                                                                                                                                                                                                                                                            • Mission items must be received in order. If an item is received out-of-sequence the expected item should be re-requested by the vehicle (the out-of-sequence item is dropped).
                                                                                                                                                                                                                                                                                            • An error can be signaled in response to any request using a MISSION_ACK message containing an error code. This must cancel the operation and restore the mission to its previous state. For example, the drone might respond to the MISSION_COUNT request with a MAV_MISSION_NO_SPACE if there isn't enough space to upload the mission.
                                                                                                                                                                                                                                                                                            • The sequence above shows the mission items packaged in MISSION_ITEM_INT messages. Protocol implementations must also support MISSION_ITEM and MISSION_REQUEST in the same way.
                                                                                                                                                                                                                                                                                            • Uploading an empty mission (MISSION_COUNT is 0) has the same effect as clearing the mission.

                                                                                                                                                                                                                                                                                            Download a Mission from the Vehicle

                                                                                                                                                                                                                                                                                            Mission upload/download can also be bandwidth intensive and time consuming. Check for plan changes before downloading (or uploading) a mission.

                                                                                                                                                                                                                                                                                            The diagram below shows the communication sequence to download a mission from a drone (assuming all operations succeed).

                                                                                                                                                                                                                                                                                            Sequence: Download mission

                                                                                                                                                                                                                                                                                            The sequence is similar to that for uploading a mission. The main difference is that the client (e.g. GCS) sends MISSION_REQUEST_LIST, which triggers the autopilot to respond with the current count of items (MISSION_COUNT). This starts a cycle where the GCS requests mission items, and the drone supplies them.

                                                                                                                                                                                                                                                                                            Note:

                                                                                                                                                                                                                                                                                            • The MISSION_COUNT.opaque_id is the stored ID of the part of the plan that is being uploaded from the vehicle. This should be stored by the GCS so that it can later check that its plan matches that on the vehicle.
                                                                                                                                                                                                                                                                                            • A timeout is set for every message that requires a response (e.g. MISSION_REQUEST_INT). If the timeout expires without a response being received then the request must be resent.
                                                                                                                                                                                                                                                                                            • Mission items must be received in order. If an item is received out-of-sequence the expected item should be re-requested by the GCS (the out-of-sequence item is dropped).
                                                                                                                                                                                                                                                                                            • An error can be signaled in response to any request using a MISSION_ACK message containing an error code. This must cancel the operation.
                                                                                                                                                                                                                                                                                            • The sequence above shows the mission items packaged in MISSION_ITEM_INT messages. Protocol implementations must also support MISSION_ITEM and MISSION_REQUEST in the same way.

                                                                                                                                                                                                                                                                                            Set Current Mission Item

                                                                                                                                                                                                                                                                                            The diagram below shows the communication sequence to set the current mission item.

                                                                                                                                                                                                                                                                                            Mermaid Diagram: Set mission item

                                                                                                                                                                                                                                                                                            In more detail, the sequence of operations is:

                                                                                                                                                                                                                                                                                            1. GCS/App sends MAV_CMD_DO_SET_MISSION_CURRENT (or MISSION_SET_CURRENT), specifying the new sequence number (seq).
                                                                                                                                                                                                                                                                                            2. Drone receives message and attempts to update the current mission sequence number.
                                                                                                                                                                                                                                                                                              • On success, the Drone must broadcast a MISSION_CURRENT message containing the current sequence number (seq).
                                                                                                                                                                                                                                                                                              • On failure, the Drone must broadcast a STATUSTEXT with a MAV_SEVERITY and a string stating the problem. This may be displayed in the UI of receiving systems.

                                                                                                                                                                                                                                                                                            Notes:

                                                                                                                                                                                                                                                                                            • There is no specific timeout on MISSION_SET_CURRENT message.
                                                                                                                                                                                                                                                                                            • The acknowledgment of the message is via broadcast of mission/system status, which is not associated with the original message. This differs from error handling in other operations. This approach is used because the success/failure is relevant to all mission-handling clients.

                                                                                                                                                                                                                                                                                            Monitor Mission Progress

                                                                                                                                                                                                                                                                                            GCS/developer API can monitor progress by handling the appropriate messages sent by the drone:

                                                                                                                                                                                                                                                                                            Clear Missions

                                                                                                                                                                                                                                                                                            The diagram below shows the communication sequence to clear the mission from a drone (assuming all operations succeed).

                                                                                                                                                                                                                                                                                            Mermaid Diagram: Clear Missions

                                                                                                                                                                                                                                                                                            In more detail, the sequence of operations is:

                                                                                                                                                                                                                                                                                            1. GCS/API sends MISSION_CLEAR_ALL
                                                                                                                                                                                                                                                                                              • A timeout is started for the GCS to wait on MISSION_ACK from Drone.
                                                                                                                                                                                                                                                                                            2. Drone receives the message, and clears the mission from storage.
                                                                                                                                                                                                                                                                                            3. Drone responds with MISSION_ACK with result type of MAV_MISSION_ACCEPTEDMAV_MISSION_RESULT.
                                                                                                                                                                                                                                                                                            4. GCS receives MISSION_ACK and clears its own stored information about the mission. The operation is now complete.

                                                                                                                                                                                                                                                                                            Note:

                                                                                                                                                                                                                                                                                            • A timeout is set for every message that requires a response (e.g. MISSION_CLEAR_ALL). If the timeout expires without a response being received then the request must be resent.
                                                                                                                                                                                                                                                                                            • An error can be signaled in response to any request (in this case, just MISSION_CLEAR_ALL) using a MISSION_ACK message containing an error code. This must cancel the operation. The GCS record of the mission (if any) should be retained.

                                                                                                                                                                                                                                                                                            Canceling Operations

                                                                                                                                                                                                                                                                                            The above mission operations may be canceled by responding to any request (e.g. MISSION_REQUEST_INT) with a MISSION_ACK message containing the MAV_MISSION_OPERATION_CANCELLED error.

                                                                                                                                                                                                                                                                                            Both systems should then return themselves to the idle state (if the system does not receive the cancellation message it will resend the request; the recipient will then be in the idle state and may respond with an appropriate error for that state).

                                                                                                                                                                                                                                                                                            Operation Exceptions

                                                                                                                                                                                                                                                                                            Timeouts and Retries

                                                                                                                                                                                                                                                                                            A timeout should be set for all messages that require a response. If the expected response is not received before the timeout then the message must be resent. If no response is received after a number of retries then the client must cancel the operation and return to an idle state.

                                                                                                                                                                                                                                                                                            The recommended timeout values before resending, and the number of retries are:

                                                                                                                                                                                                                                                                                            • Timeout (default): 1500 ms
                                                                                                                                                                                                                                                                                            • Timeout (mission items): 250 ms.
                                                                                                                                                                                                                                                                                            • Retries (max): 5

                                                                                                                                                                                                                                                                                            Errors/Completion

                                                                                                                                                                                                                                                                                            All operations complete with a MISSION_ACK message containing the result of the operation (MAV_MISSION_RESULT) in the type field.

                                                                                                                                                                                                                                                                                            On successful completion, the message must contain type of MAV_MISSION_ACCEPTED; this is sent by the system that is receiving the command/data (e.g. the drone for mission upload or the GCS for mission download).

                                                                                                                                                                                                                                                                                            An operation may also complete with an error - MISSION_ACK.type set to MAV_MISSION_ERROR or some other error code in MAV_MISSION_RESULT. This can occur in response to any message/anywhere in the sequence.

                                                                                                                                                                                                                                                                                            Errors are considered unrecoverable. In an error is sent, both ends of the system should reset themselves to the idle state and the current state of the mission on the vehicle should be unaltered.

                                                                                                                                                                                                                                                                                            Note:

                                                                                                                                                                                                                                                                                            • timeouts are not considered errors.
                                                                                                                                                                                                                                                                                            • Out-of-sequence messages in mission upload/download are recoverable, and are not treated as errors.

                                                                                                                                                                                                                                                                                            Mission File Formats

                                                                                                                                                                                                                                                                                            The defacto standard file format for exchanging missions/plans is discussed in: File Formats > Mission Plain-Text File Format.

                                                                                                                                                                                                                                                                                            Mission Command Detail

                                                                                                                                                                                                                                                                                            This section is for clarifications and additional information about common mission items. In particular it is intended for cases that are difficult to document in the specification XML, or when images will much better describe expected behaviour.

                                                                                                                                                                                                                                                                                            Loiter Commands (MAV_CMD_NAV_LOITER_*)

                                                                                                                                                                                                                                                                                            Loiter commands are provided to allow a vehicle to hold at a location for a specified time or number of turns, until it reaches the specified altitude, or indefinitely. Multicopter vehicles stop at the specified point (within a vehicle-specific acceptance radius that is not set by the mission item). Forward-moving vehicles (e.g. fixed-wing) circle the point with the specified radius/direction.

                                                                                                                                                                                                                                                                                            The commands are:

                                                                                                                                                                                                                                                                                            The location and fixed-wing loiter radius parameters are common to all commands:

                                                                                                                                                                                                                                                                                            Param (:Label)DescriptionUnits
                                                                                                                                                                                                                                                                                            3: RadiusRadius around waypoint. If positive loiter clockwise, else counter-clockwisem
                                                                                                                                                                                                                                                                                            5: LatitudeLatitude
                                                                                                                                                                                                                                                                                            6: LongitudeLongitude
                                                                                                                                                                                                                                                                                            7: AltitudeAltitudem

                                                                                                                                                                                                                                                                                            The loiter time and turns are set in param 1 for the respective messages. The direction of loiter for MAV_CMD_NAV_LOITER_UNLIM can be set using param4 (Yaw).

                                                                                                                                                                                                                                                                                            The remaining parameters (xtrack and heading) apply only to forward flying aircraft (not multicopters!)

                                                                                                                                                                                                                                                                                            Xtrack and heading define the location at which a forward flying (fixed wing) vehicle will exit the loiter circle, and its path to the next waypoint (these apply only to apply to only MAV_CMD_NAV_LOITER_TIME and MAV_CMD_NAV_LOITER_TURNS).

                                                                                                                                                                                                                                                                                            Param (:Label)DescriptionUnits
                                                                                                                                                                                                                                                                                            2: Heading RequiredLeave loiter circle only once heading towards the next waypoint (0 = False)min:0 max:1 increment:1
                                                                                                                                                                                                                                                                                            4: Xtrack LocationSets xtrack path or exit location: 0 for the vehicle to converge towards the center xtrack when it leaves the loiter (the line between the centers of the current and next waypoint), 1 to converge to the direct line between the location that the vehicle exits the loiter radius and the next waypoint. Otherwise the angle (in degrees) between the tangent of the loiter circle and the center xtrack at which the vehicle must leave the loiter (and converge to the center xtrack). NaN to use the current system default xtrack behaviour.

                                                                                                                                                                                                                                                                                            The recommended values (and resulting paths) are those shown below.

                                                                                                                                                                                                                                                                                            Loiter heading

                                                                                                                                                                                                                                                                                            The vehicle leaves the loiter after it reaches the desired number of turns or time and based on both the heading required and xtrack params.

                                                                                                                                                                                                                                                                                            A heading required of 1 prevents the vehicle from exiting the loiter unless it is heading towards the next waypoint (if 0 it can leave at any point provided the other conditions are met). With this setting the vehicle can leave at any point in the arc shown, provided it meets the other conditions (e.g. xtrack). If necessary (i.e. it is not in the arc when the other conditions are met), the vehicle will loop back around the loiter before it evaluates the xtrack condition.

                                                                                                                                                                                                                                                                                            Loiter heading

                                                                                                                                                                                                                                                                                            The Xtrack parameter independently defines the path and exit location:

                                                                                                                                                                                                                                                                                            • xtrack=0: Exit the loiter circle and converge to the centre xtrack between this and the next waypoint.
                                                                                                                                                                                                                                                                                              • If the heading required parameter is not set it will exit the loiter immediately.
                                                                                                                                                                                                                                                                                              • Otherwise it will leave as soon as it is heading towards the next waypoint (which may also be immediately!)
                                                                                                                                                                                                                                                                                            • xtrack=1: Exit the loiter circle and fly/converge to the straight line between the exit point and the centre of the next waypoint (i.e. don't converge to the centre xtrack).
                                                                                                                                                                                                                                                                                              • If the heading required parameter is set it will exit the loiter as soon as it is heading towards the next waypoint (which may be immediately!).
                                                                                                                                                                                                                                                                                              • If the heading required parameter is not set it will exit the loiter immediately (note that this exit path does not make much sense unless the heading parameter is set).
                                                                                                                                                                                                                                                                                            • xtrack=NaN: Exit the loiter using "system specific default behaviour".
                                                                                                                                                                                                                                                                                              • The vehicle must still respect the heading required param.
                                                                                                                                                                                                                                                                                              • Usually this is synonymous with xtrack=0

                                                                                                                                                                                                                                                                                            • xtrack=any other value: Exit the loiter when the vehicle heading (tangent) makes the specified angle in degrees to the center xtrack. Converge to the center xtrack. The vehicle must still respect the heading required param (some xtrack values may not be possible with this condition true). This allows callers to specify how quickly the vehicle converges to the center xtrack. For example, the image below shows the vehicle exiting the loiter at 30 degrees.

                                                                                                                                                                                                                                                                                              Loiter angle

                                                                                                                                                                                                                                                                                            Implementations

                                                                                                                                                                                                                                                                                            PX4

                                                                                                                                                                                                                                                                                            The protocol has been implemented in C.

                                                                                                                                                                                                                                                                                            Source code:

                                                                                                                                                                                                                                                                                            The implementation status is (at time of writing):

                                                                                                                                                                                                                                                                                            • Flight plan missions:
                                                                                                                                                                                                                                                                                              • upload, download, clearing missions, and monitoring progress are supported as defined in this specification.
                                                                                                                                                                                                                                                                                            • Geofence missions" are supported as defined in this specification.
                                                                                                                                                                                                                                                                                            • Rally point "missions" are not supported on PX4.

                                                                                                                                                                                                                                                                                            Mission operation cancellation works for mission download (sets system to idle). Mission operation cancellation does not work for mission uploading; PX4 resends MISSION_REQUEST_INT until the operation times out.

                                                                                                                                                                                                                                                                                            Source code:

                                                                                                                                                                                                                                                                                            QGroundControl

                                                                                                                                                                                                                                                                                            The protocol has been implemented in C++.

                                                                                                                                                                                                                                                                                            Source code:

                                                                                                                                                                                                                                                                                            ArduPilot

                                                                                                                                                                                                                                                                                            ArduPilot implements the mission protocol in C++.

                                                                                                                                                                                                                                                                                            ArduPilot uses the same messages and message flow described in this specification. There are (anecdotally) some implementation differences that affect compatibility. These are documented below.

                                                                                                                                                                                                                                                                                            Source:

                                                                                                                                                                                                                                                                                            Flight Plan Missions

                                                                                                                                                                                                                                                                                            Mission upload, download, clearing missions, and monitoring progress are supported.

                                                                                                                                                                                                                                                                                            ArduPilot implements also partial mission upload using MISSION_WRITE_PARTIAL_LIST, but not partial mission download (MISSION_REQUEST_PARTIAL_LIST). Partial mission upload/download is not an official/standardised part of the mission service.

                                                                                                                                                                                                                                                                                            ArduPilot's implementation differs from this specification (non-exhaustively):

                                                                                                                                                                                                                                                                                            • The first mission sequence number (seq==0) is populated with the home position of the vehicle instead of the first mission item.
                                                                                                                                                                                                                                                                                            • Mission uploads are not "atomic". An upload that fails (or is canceled) part-way through will not match the pre-update state. Instead it may be a mix of the original and new mission.
                                                                                                                                                                                                                                                                                            • Even if upload is successful, the vehicle mission may not match the version on the uploading system (and if the mission is then downloaded it will differ from the original).
                                                                                                                                                                                                                                                                                              • There is rounding on some fields (and in some cases internal maximum possible values due to available storage space). Failures can occur if you do a straight comparison of the float params before/after upload.
                                                                                                                                                                                                                                                                                            • A MISSION_ACK returning an error value (NACK) does not terminate the upload (i.e. it is not considered an unrecoverable error). As long as ArduPilot has not yet timed-out a system can retry the current mission item upload.
                                                                                                                                                                                                                                                                                            • A mission cannot be cleared while it is being executed (i.e. while in Auto mode). Note that a new mission can be uploaded (even a zero-size mission - which is equivalent to clearing).
                                                                                                                                                                                                                                                                                            • Explicit cancellation of operations is not supported. If one end stops communicating the other end will eventually timeout and reset itself to an idle/ready state.

                                                                                                                                                                                                                                                                                            The following behaviour is not defined by the specification (but is still of interest):

                                                                                                                                                                                                                                                                                            • ArduPilot performs some validation of fields when mission items are submitted. The validation code is common to all vehicles; mission items that are not understood by the vehicle type are accepted on upload but skipped during mission execution.
                                                                                                                                                                                                                                                                                            • ArduPilot preforms some vehicle-specific validation at mission runtime (e.g. of jump targets).
                                                                                                                                                                                                                                                                                            • A new mission can be uploaded while a mission is being executed. In this case the current waypoint will be executed to completion even if the waypoint sequence is different in the new mission (to get the new item you would need to reset the sequence or switch in/out of auto mode).
                                                                                                                                                                                                                                                                                            • ArduPilot missions are not stored in an SD card and therefore have a vehicle/board-specific maximum mission size (as a benefit, on ArduPilot, missions can survive SD card failure in flight).

                                                                                                                                                                                                                                                                                            Geofence & Rally Point Plans

                                                                                                                                                                                                                                                                                            QGroundControl is the reference implementation for mission / rally point plans.

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                                                                                                                                                                                                                                                                                              Offboard Control Interface

                                                                                                                                                                                                                                                                                              The offboard control interface allows an external controller to send low-level attitude, position, velocity, and/or acceleration setpoints to the vehicle.

                                                                                                                                                                                                                                                                                              This is commonly used to provide external control of a real-time flight stack from a companion/mission computer, for example, in order to implement features such as obstacle avoidance or collision prevention.

                                                                                                                                                                                                                                                                                              Generally setpoints are only obeyed in a specific flight-stack mode. The flight stack requires the setpoints to be recieved for some time before it will allow the mode to be enabled, and will switch out of the mode if setpoints are no longer received.

                                                                                                                                                                                                                                                                                              The particular types of setpoints that are supported, if any, depend on the vehicle type and flight stack.

                                                                                                                                                                                                                                                                                              Message/Enum Summary

                                                                                                                                                                                                                                                                                              MessageDescription
                                                                                                                                                                                                                                                                                              SET_POSITION_TARGET_LOCAL_NEDSets a desired vehicle position, velocity, and/or accelaration setpoint in a local north-east-down coordinate frame.
                                                                                                                                                                                                                                                                                              SET_POSITION_TARGET_GLOBAL_INTSets a desired vehicle position, velocity, and/or acceleration in a global coordinate system (WGS84)
                                                                                                                                                                                                                                                                                              SET_ATTITUDE_TARGETSets a desired vehicle attitude.
                                                                                                                                                                                                                                                                                              POSITION_TARGET_LOCAL_NEDPublishes current local NED target (set by SET_POSITION_TARGET_LOCAL_NED).
                                                                                                                                                                                                                                                                                              POSITION_TARGET_GLOBAL_INTPublishes current global target (set by SET_POSITION_TARGET_GLOBAL_INT).
                                                                                                                                                                                                                                                                                              ATTITUDE_TARGETPublishes current attitude target (set by SET_ATTITUDE_TARGET).
                                                                                                                                                                                                                                                                                              EnumDescription
                                                                                                                                                                                                                                                                                              MAV_PROTOCOL_CAPABILITY_SET_POSITION_TARGET_LOCAL_NEDFlight stack supports SET_POSITION_TARGET_LOCAL_NED.
                                                                                                                                                                                                                                                                                              MAV_PROTOCOL_CAPABILITY_SET_POSITION_TARGET_GLOBAL_INTFlight stack supports SET_POSITION_TARGET_LOCAL_NED.
                                                                                                                                                                                                                                                                                              MAV_PROTOCOL_CAPABILITY_SET_ATTITUDE_TARGETFlight stack supports SET_ATTITUDE_TARGET.

                                                                                                                                                                                                                                                                                              Feature support

                                                                                                                                                                                                                                                                                              Test for setter message support by checking AUTOPILOT_VERSION.capabilities for the associated protocol bit: MAV_PROTOCOL_CAPABILITY_SET_POSITION_TARGET_LOCAL_NED, MAV_PROTOCOL_CAPABILITY_SET_POSITION_TARGET_GLOBAL_INT, MAV_PROTOCOL_CAPABILITY_SET_ATTITUDE_TARGET.

                                                                                                                                                                                                                                                                                              Note that support for the protocol/message does not imply that every vehicle will support every possible combination of parameters. This can only be inferred from the flight stack documentation.

                                                                                                                                                                                                                                                                                              Implementations

                                                                                                                                                                                                                                                                                              PX4 supports this protocol in Offboard mode. The allowed setpoints are documented at that link, and depend on the vehicle type.

                                                                                                                                                                                                                                                                                              ArduPilot supports this protocol in Guided mode. The supported messages for each vehicle type are covered in:

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                                                                                                                                                                                                                                                                                                Offboard Control Interface

                                                                                                                                                                                                                                                                                                The offboard control interface allows an external controller to send low-level attitude, position, velocity, and/or acceleration setpoints to the vehicle.

                                                                                                                                                                                                                                                                                                This is commonly used to provide external control of a real-time flight stack from a companion/mission computer, for example, in order to implement features such as obstacle avoidance or collision prevention.

                                                                                                                                                                                                                                                                                                Generally setpoints are only obeyed in a specific flight-stack mode. The flight stack requires the setpoints to be recieved for some time before it will allow the mode to be enabled, and will switch out of the mode if setpoints are no longer received.

                                                                                                                                                                                                                                                                                                The particular types of setpoints that are supported, if any, depend on the vehicle type and flight stack.

                                                                                                                                                                                                                                                                                                Message/Enum Summary

                                                                                                                                                                                                                                                                                                MessageDescription
                                                                                                                                                                                                                                                                                                SET_POSITION_TARGET_LOCAL_NEDSets a desired vehicle position, velocity, and/or accelaration setpoint in a local north-east-down coordinate frame.
                                                                                                                                                                                                                                                                                                SET_POSITION_TARGET_GLOBAL_INTSets a desired vehicle position, velocity, and/or acceleration in a global coordinate system (WGS84)
                                                                                                                                                                                                                                                                                                SET_ATTITUDE_TARGETSets a desired vehicle attitude.
                                                                                                                                                                                                                                                                                                POSITION_TARGET_LOCAL_NEDPublishes current local NED target (set by SET_POSITION_TARGET_LOCAL_NED).
                                                                                                                                                                                                                                                                                                POSITION_TARGET_GLOBAL_INTPublishes current global target (set by SET_POSITION_TARGET_GLOBAL_INT).
                                                                                                                                                                                                                                                                                                ATTITUDE_TARGETPublishes current attitude target (set by SET_ATTITUDE_TARGET).
                                                                                                                                                                                                                                                                                                EnumDescription
                                                                                                                                                                                                                                                                                                MAV_PROTOCOL_CAPABILITY_SET_POSITION_TARGET_LOCAL_NEDFlight stack supports SET_POSITION_TARGET_LOCAL_NED.
                                                                                                                                                                                                                                                                                                MAV_PROTOCOL_CAPABILITY_SET_POSITION_TARGET_GLOBAL_INTFlight stack supports SET_POSITION_TARGET_LOCAL_NED.
                                                                                                                                                                                                                                                                                                MAV_PROTOCOL_CAPABILITY_SET_ATTITUDE_TARGETFlight stack supports SET_ATTITUDE_TARGET.

                                                                                                                                                                                                                                                                                                Feature support

                                                                                                                                                                                                                                                                                                Test for setter message support by checking AUTOPILOT_VERSION.capabilities for the associated protocol bit: MAV_PROTOCOL_CAPABILITY_SET_POSITION_TARGET_LOCAL_NED, MAV_PROTOCOL_CAPABILITY_SET_POSITION_TARGET_GLOBAL_INT, MAV_PROTOCOL_CAPABILITY_SET_ATTITUDE_TARGET.

                                                                                                                                                                                                                                                                                                Note that support for the protocol/message does not imply that every vehicle will support every possible combination of parameters. This can only be inferred from the flight stack documentation.

                                                                                                                                                                                                                                                                                                Implementations

                                                                                                                                                                                                                                                                                                PX4 supports this protocol in Offboard mode. The allowed setpoints are documented at that link, and depend on the vehicle type.

                                                                                                                                                                                                                                                                                                ArduPilot supports this protocol in Guided mode. The supported messages for each vehicle type are covered in:

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                                                                                                                                                                                                                                                                                                  \ No newline at end of file diff --git a/en/services/opendroneid.html b/en/services/opendroneid.html index 0cb9b236a..605fb790c 100644 --- a/en/services/opendroneid.html +++ b/en/services/opendroneid.html @@ -1 +1 @@ -Open Drone ID Protocol · MAVLink Developer Guide
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                                                                                                                                                                                                                                                                                                  Open Drone ID

                                                                                                                                                                                                                                                                                                  Direct Remote Identification (DRI) or Remote ID (RID) is/will be a mandatory technology for Unmanned Aircraft (UA) in Japan, the United States of America and the European Union. Data such as the UA real-time location/altitude, UA serial number, operator ID/location etc. are broadcast via either Wi-Fi or Bluetooth from the UA. Open Drone ID is an open source implementation of RID.

                                                                                                                                                                                                                                                                                                  The terms Remote ID and drone ID are used interchangeably in the text below.

                                                                                                                                                                                                                                                                                                  Relevant specifications

                                                                                                                                                                                                                                                                                                  The MAVLink messages defined for usage with Open Drone ID are compliant with the following standards:

                                                                                                                                                                                                                                                                                                  • ASTM F3411 Specification for Remote ID and Tracking
                                                                                                                                                                                                                                                                                                  • ASD-STAN prEN 4709-002 Direct Remote Identification

                                                                                                                                                                                                                                                                                                  For additional details, please see here. In general, the front page of the opendroneid core-c repository has lots of pointers to additional information and SW projects related to drone ID.

                                                                                                                                                                                                                                                                                                  Broadcast methods and impact on the message design

                                                                                                                                                                                                                                                                                                  Four different broadcast methods are defined:

                                                                                                                                                                                                                                                                                                  • Bluetooth Legacy Advertising (Bluetooth 4.x)
                                                                                                                                                                                                                                                                                                  • Bluetooth Long Range with Extended Advertising (Bluetooth 5.x)
                                                                                                                                                                                                                                                                                                  • Wi-Fi Neighbor-aware Network (Wi-Fi NaN)
                                                                                                                                                                                                                                                                                                  • Wi-Fi Beacon (vendor specific information element in the SSID beacon frame)

                                                                                                                                                                                                                                                                                                  The broadcast method used with Bluetooth Legacy Advertising signals impose a strict size limitation on the amount of data that can be transmitted in each radio burst. Therefore the relevant data is divided into different categories and each category is transmitted via its own message.

                                                                                                                                                                                                                                                                                                  The standards defines 6 such messages and an additional 7th message type for packing multiple messages together into a message pack (used when transmitting on Wi-Fi NaN, Wi-Fi Beacon or Bluetooth Long Range with Extended Advertising). To support easy data transfers to/from a Remote ID (RID) transmitter/receiver component, MAVLink messages supporting all the fields of the drone ID messages have been made available. See Messages below.

                                                                                                                                                                                                                                                                                                  Use case examples

                                                                                                                                                                                                                                                                                                  There are multiple possible use cases for the MAVLink drone ID messages:

                                                                                                                                                                                                                                                                                                  • A flight controller sends ID, location etc. data to an onboard Bluetooth/Wi-Fi RID transmitter component.
                                                                                                                                                                                                                                                                                                  • An onboard Bluetooth/Wi-Fi receiver picks up drone ID messages from surrounding aircraft, relays this information using MAVLink drone ID messages to the flight controller, which then uses the information e.g. for Detect And Avoid (DAA) calculations.
                                                                                                                                                                                                                                                                                                  • A drone sends MAVLink drone ID messages via its control link to the Ground Control Station (GCS). The GCS is connected via the Internet to a Remote ID server, which stores and publishes the drone's ID, location etc.
                                                                                                                                                                                                                                                                                                  • As above but in the other direction for DAA calculations.
                                                                                                                                                                                                                                                                                                  • A Remote ID Display application (RID) on the GCS listens to all drone ID data received from surrounding UAs and displays their position to the operator.

                                                                                                                                                                                                                                                                                                  Messages

                                                                                                                                                                                                                                                                                                  The ASTM, ASD-STAN and MAVLink messages are listed below.

                                                                                                                                                                                                                                                                                                  ASTMASD-STANMAVLinkPurpose
                                                                                                                                                                                                                                                                                                  Basic IDBasic IDOPEN_DRONE_ID_BASIC_IDProvides an ID for the UA, characterizes the type of ID and identifies the type of UA.
                                                                                                                                                                                                                                                                                                  LocationLocationOPEN_DRONE_ID_LOCATIONProvides location, altitude, direction, and speed of the UA.
                                                                                                                                                                                                                                                                                                  AuthenticationNot specified (reserved)OPEN_DRONE_ID_AUTHENTICATIONProvides authentication data for the UA.
                                                                                                                                                                                                                                                                                                  Self-IDSelf-IDOPEN_DRONE_ID_SELF_IDOptional plain text message that can be used by operators to identify themselves and the purpose of an operation. Can also be used to provide optional additional clarification in an emergency/remote ID system failure situation.
                                                                                                                                                                                                                                                                                                  SystemSystemOPEN_DRONE_ID_SYSTEMIncludes the operator location/altitude, multiple aircraft information (group/swarm, if applicable), full timestamp and possible category/class information.
                                                                                                                                                                                                                                                                                                  Operator IDOperator IDOPEN_DRONE_ID_OPERATOR_IDProvides the operator ID.
                                                                                                                                                                                                                                                                                                  Message PackMessage PackOPEN_DRONE_ID_MESSAGE_PACKA payload mechanism for combining the messages above into a single message pack. Used with Bluetooth Extended Advertising, Wi-Fi NaN and Wi-Fi Beacon.
                                                                                                                                                                                                                                                                                                  __OPEN_DRONE_ID_ARM_STATUSSent by RID transmitter/receiver components to indicate that the RID system is "ready to use". This should be used as an arming condition for the flight stack. Note that this differs from the HEARTBEAT which indicates that the component is "alive" but not necessarily ready to use.
                                                                                                                                                                                                                                                                                                  __OPEN_DRONE_ID_SYSTEM_UPDATEA subset of the OPEN_DRONE_ID_SYSTEM message, containing only the fields that must be updated at a high rate. Typically sent from the GCS to provide data to the RID transmitter component. If both OPEN_DRONE_ID_SYSTEM and OPEN_DRONE_ID_SYSTEM_UPDATE are used, the more efficient OPEN_DRONE_ID_SYSTEM_UPDATE will be used at a high rate and the full OPEN_DRONE_ID_SYSTEM at a low rate, to reduce the traffic on the control link.

                                                                                                                                                                                                                                                                                                  The raw byte layout of the MAVLink messages is not exactly the same as what a RID Bluetooth/Wi-Fi transmitter component will broadcast over the air. Slight compression is applied. Example code for this conversion can be found in the project: Open Drone ID Core C Library.

                                                                                                                                                                                                                                                                                                  The Open Drone ID Core C Library contains code for decoding the MAVLink messages and "compressing" the data into data structures for broadcast over Bluetooth or Wi-Fi (or vice-versa for reception).

                                                                                                                                                                                                                                                                                                  The standards do not impose any requirements for a drone to be capable of receiving drone ID messages, nor any requirements for reacting to their content (requirements from local legislation might be different).

                                                                                                                                                                                                                                                                                                  An example Android receiver implementation for Bluetooth/Wi-Fi drone ID is available here (source codes).

                                                                                                                                                                                                                                                                                                  Code related to (Internet) Network Remote ID can be found in the InterUSS Project and https://github.com/uastech/standards (Unofficial reference for UAS-related APIs).

                                                                                                                                                                                                                                                                                                  Message update rates

                                                                                                                                                                                                                                                                                                  ASTM F3411 and ASD-STAN prEN 4709-002 (and possibly other standards) require that the LOCATION message is broadcast/published from the RID transmitter component at least once per second. The rest of the messages must be broadcast/published once per 3 seconds (the rules in some regions have tightened this requirement to 1 second for also the BASIC ID and the SYSTEM message. Please see here).

                                                                                                                                                                                                                                                                                                  Not all message types or fields within a message type are mandatory to broadcast/publish. The mandatory message set vary from region to region. Please see the summary.

                                                                                                                                                                                                                                                                                                  The standards require that the data contained in the LOCATION and the SYSTEM messages (on the air/internet) is not older than 1 second (the location data, timestamps etc.).

                                                                                                                                                                                                                                                                                                  To be compliant in different regions and receive certification acceptance, the UAS as a complete entity must obey the above timing restrictions. Although popular autopilot SW stacks will be verified to be capable of this, the compliance testing will have been done using a certain set of HW/SW components. Any deviation from this set, will require the integrator of the UAS to consider the combination of the above requirements when deciding the internal update rates for each component, in the MAVLink network, generating data for the RID transmitter component.

                                                                                                                                                                                                                                                                                                  It must be expected that there will be some delays from e.g. the GCS sending a SYSTEM message via the flight controller to the RID transmitter component. The RID transmitter component will gather this data plus data from other messages together and generate the final message data set, which is broadcast over the air. Each of these components will be running on their own update and forward/relay cycle and can thus introduce delays. I.e. running everything at exactly one second cycles, probably will lead to violations of the data "freshness" requirement. But going to the other extreme of forcing all messages to be at 10+ Hz would likely lead to unnecessary airwave noise on the (Command and Control) C2 link/Wi-Fi/Bluetooth spectrum. Components are expected to tune refresh rates to ensure compliance, without saturating internal communication links.

                                                                                                                                                                                                                                                                                                  RID broadcasting using Bluetooth 4 Legacy Advertising introduces additional complexity to this. For Bluetooth 5 or Wi-Fi Beacon/NaN, all messages are packed together and broadcast in a single advertisement by the RID transmitter component. Bluetooth 4 advertisements can only contain 25 bytes and thus can fit only a single message. Since typically at least three messages must be broadcast on the air per second, the BT4 RID transmitter component must advertise at least every 333 ms.

                                                                                                                                                                                                                                                                                                  Routing drone ID MAVLink messages inside the UAS

                                                                                                                                                                                                                                                                                                  There can be multiple MAVLink components in an UAS involved in the handling of drone ID data. An example is shown in the figure below. Certainly not all UAS will contain all of these components and the placement of some of them can be different from one system to another.

                                                                                                                                                                                                                                                                                                  drone ID conceptual overview

                                                                                                                                                                                                                                                                                                  All senders of MAVLink drone ID messages must fill the sysid field with the MAVLink system ID value that the MAVLink sender component belongs to and fill the compid field with the MAVLink component ID value of the sender.

                                                                                                                                                                                                                                                                                                  The MAVLink components or systems that will typically generate drone ID MAVLink messages are listed in the table below:

                                                                                                                                                                                                                                                                                                  Component/SystemDescription
                                                                                                                                                                                                                                                                                                  MAV_COMP_ID_AUTOPILOT1The flight controller/autopilot. Knows the ID of the UA, the current location, altitude, speed etc.
                                                                                                                                                                                                                                                                                                  Ground Control StationGCS with a human user interface for inputting the operator ID, text description of the flight purpose, method for obtaining the operator location etc.
                                                                                                                                                                                                                                                                                                  MAV_COMP_ID_ODID_TXRX_1A Remote ID transmitter/receiver component (Bluetooth/Wi-Fi/Internet).
                                                                                                                                                                                                                                                                                                  MAV_COMP_ID_ODID_TXRX_2A Remote ID transmitter/receiver component (Bluetooth/Wi-Fi/Internet).
                                                                                                                                                                                                                                                                                                  MAV_COMP_ID_ODID_TXRX_3A Remote ID transmitter/receiver component (Bluetooth/Wi-Fi/Internet).

                                                                                                                                                                                                                                                                                                  The autopilot/flight controller is typically the component that knows about the data needed for the BASIC ID and the LOCATION messages. It must stream MAVLink messages with this information to the RID transmitter component.

                                                                                                                                                                                                                                                                                                  The Ground Control Station system is the interface for the operator of the UAS. The operator must enter the data needed for the SELF_ID, the SYSTEM and the OPERATOR_ID, messages before the flight. The GCS must send this data via MAVLink messages to the RID transmitter component (possibly via the autopilot component). If the GCS is capable of regularly obtaining its own location, these updates are sent in the SYSTEM message together with a full timestamp.

                                                                                                                                                                                                                                                                                                  The UAS has one or more RID transmitter components for publishing the drone ID data to the rest of the world, either via Bluetooth or Wi-Fi broadcasts, or via an internet connection to an internet Remote ID server. The RID transmitter components will listen to the MAVLink messages from the flight controller and the GCS but must ignore MAVLink messages where the compid field is set to MAV_COMP_ID_ODID_TXRX_1, MAV_COMP_ID_ODID_TXRX_2 or MAV_COMP_ID_ODID_TXRX_3 (those MAVLink messages would have originated from a RID receiver component and would be the drone ID information from other UAs). The method for the RID transmitter components to identify MAVLink messages from the GCS, is described in the Heartbeat section below.

                                                                                                                                                                                                                                                                                                  The MAVLink components in the UAS involved in the drone ID MAVLink message exchange, must keep track of the HEARTBEAT MAVLink messages from the other MAVLink components. If the HEARTBEAT messages are not received within a required time interval, they must declare a malfunction of the Remote ID system and indicate this in the status field of the LOCATION message. This must also be indicated to the operator of the UAS.

                                                                                                                                                                                                                                                                                                  Similarly, the autopilot must listen to the ARM_STATUS from the RID transmitter component(s) and not allow the UA to be airborne before the RID transmitter component(s) is ready. During flight, if the arm status indicates a failure, similar action must be taken as for a lack of HEARTBEAT messages from the RemoteID. The ARM_STATUS message must also be routed to a GCS, if present, allowing it to provide more detailed information about RemoteID arming failures.

                                                                                                                                                                                                                                                                                                  In addition to the above, there are multiple additional different scenarios that must result in the Location status field being set to Emergency or Remote ID System Failure. The exact strategy on how to avoid having multiple MAVLink components overwriting each-others emergency declarations is not yet fully defined. Some preliminary discussion can be found here.

                                                                                                                                                                                                                                                                                                  Optionally, further restrictions on which RID transmitter/receiver component must process a MAVLink message can be enforced if the sender fills the target_system and target_component fields of the MAVLink message. RID transmitter/receiver components must only listen to MAVLink messages that have these fields set to either zero (broadcast) or the component's own MAVLink system ID and component ID. This can be useful if e.g. there are two UA connected to a single GCS. The GCS can then direct information to specific MAV_COMP_ID_ODID_TXRX_x components on a specific UA. By default, all senders of drone ID MAVLink messages must fill the target_system and target_component fields with zero, to indicate a broadcast to all MAVLink components.

                                                                                                                                                                                                                                                                                                  Open Drone ID data from other UA(s)

                                                                                                                                                                                                                                                                                                  It is possible that the RID transmitter components also work as receivers, for obtaining drone ID data from surrounding UAs. When publishing the received drone ID data as internal MAVLink messages, they must set the compid field to their own MAV_COMP_ID_ODID_TXRX_n ID to make it possible to distinguish this data from the drone ID data of the UA itself. Also the systemid field must be set with the MAVLink system ID value that the RID receiver component belongs to.

                                                                                                                                                                                                                                                                                                  At least two possible consumers of drone ID data from surrounding aircraft are possible:

                                                                                                                                                                                                                                                                                                  • A Detect And Avoid (DAA) system that tracks the current and estimated future positions of other UAs and takes that into account when setting the flight path of the UA itself.
                                                                                                                                                                                                                                                                                                  • A Remote ID Display (RID) application that visually shows the surrounding UA's locations (and possibly past and estimated future flight paths) to the operator of the UA, in order for him/her to utilize this information when controlling the UA.

                                                                                                                                                                                                                                                                                                  See below on how to combine remote ID data from other UAs.

                                                                                                                                                                                                                                                                                                  Heartbeat

                                                                                                                                                                                                                                                                                                  Each component involved in the MAVLink message exchange, is required to regularly send out MAVLink HEARTBEAT messages in order to facilitate discovery and monitoring of the component in the UAS. Please see further details in the HEARTBEAT documentation.

                                                                                                                                                                                                                                                                                                  For RID transmitter/receiver components (with compids MAV_COMP_ID_ODID_TXRX_1, MAV_COMP_ID_ODID_TXRX_2 or MAV_COMP_ID_ODID_TXRX_3), the type field in the HEARTBEAT message must be filled with MAV_TYPE_ODID.

                                                                                                                                                                                                                                                                                                  The MAVLink HEARTBEAT message serves as the way for RID transmitter/receiver components to identify the sysid of the GCS. The GCS will send out MAVLink HEARTBEAT messages with its sysid field set to the GCS's MAVLink system ID and the type set to MAV_TYPE_GCS. The RID transmitter/receiver components must interpret all MAVLink Open Drone ID messages from that system ID, as coming from the GCS. There is no dedicated MAVLink component ID for GCSs, hence the MAVLink system ID must be used instead for identifying the GCS.

                                                                                                                                                                                                                                                                                                  Possible future improvements

                                                                                                                                                                                                                                                                                                  The current set of MAVLink drone ID messages do not provide any means for controlling some of the RID transmitter/receiver component details. The RID transmitter/receiver component must be hard-coded by the manufacturer to a certain configuration. Some discussion and proposal for this type of messages can be found here. It would be useful to control e.g. the following items:

                                                                                                                                                                                                                                                                                                  • Starting/stopping broadcast
                                                                                                                                                                                                                                                                                                  • Configure the broadcast method (BT4, BT5, Beacon, NaN)
                                                                                                                                                                                                                                                                                                  • Wi-Fi channel configuration for Beacon
                                                                                                                                                                                                                                                                                                  • Message update rates on the air

                                                                                                                                                                                                                                                                                                  No regions currently require drone ID publication via the internet (Network Remote ID). However, it is possible that in the future this will change from being optional to mandatory for some use cases/regions as a part of the UTM/USpace efforts. Currently there are no suitable MAVLink messages defined to configure a Network Remote ID transceiver. Messages to specify the server(s) to connect to, credentials etc. would be needed.

                                                                                                                                                                                                                                                                                                  Security of drone ID data is partly under definition. The Japan rule requires a signature of the drone ID data to be broadcasted in the AUTHENTICATION message. The details are in Japanese. No such requirement currently exists for the US and EU. It is possible that some use cases in the future might require more security related activities for drone ID data. Some additional protocol specification work is being drafted by the IETF in the DRIP working group.

                                                                                                                                                                                                                                                                                                  UAS with multiple RID transmitters and/or receiver components

                                                                                                                                                                                                                                                                                                  Since three different technologies for broadcasting/publishing drone ID data have been defined (Bluetooth, Wi-Fi and internet), it is quite possible for a UAS to support more than just a single type.

                                                                                                                                                                                                                                                                                                  For UASs that desire to listen to other UA's information, it would be desirable to include receivers for all three methods, in order to maximize the possibility of detecting all other surrounding UAs.

                                                                                                                                                                                                                                                                                                  Combining data from other UAs when receiving drone ID data

                                                                                                                                                                                                                                                                                                  For Drone ID data that is received from other UAs, the data of the message itself does not always identify exactly which UA the data originated from. E.g. for data received via Bluetooth Legacy Advertising (Bluetooth 4.x), many of the received messages will not contain the unique serial number/ID of the UA that broadcasted the data, due to the severe size limitation imposed by Legacy Advertising where only one 25 byte message can be broadcasted in one advertisement radio burst. The MAC address (possibly randomized) of the Bluetooth HW is the only way to associate these messages to the same UA. For Bluetooth 5.x and Wi-Fi, it is possible that the same can happen in certain specific situations (e.g. sending large amount of authentication data), although for the majority of normal usage this is unlikely, since the use of MESSAGE_PACKs is mandated. For data received via internet, the data packet will always contain the unique serial number/ID of the originating UA but no associated MAC address.

                                                                                                                                                                                                                                                                                                  In order to allow e.g. a DAA component to sort and identify which UA each data message has originated from, the RID receiver components must add, to the MAVLink message, either the MAC address or the ID number associated with the UA that originated the data message, before sending it on the internal UAS MAVLink network. This information must be added in the id_or_mac field of each MAVLink message.

                                                                                                                                                                                                                                                                                                  The serial/ID is copied directly from the uas_id field with NULLs in the unused portion. The MAC address must be entered in ASCII format with NULLs in the unused portion. Any separation characters must be removed. E.g. "30-65-EC-6F-C4-58" or "30:65:EC:6F:C4:58" must be represented as the ASCII string "3065EC6FC458". When not used for the above purpose, the id_or_mac field must be filled with NULLs.

                                                                                                                                                                                                                                                                                                  The MAVLink system/component listening to the MAVLink messages must be aware that it is possible to receive drone ID data from the same UA via multiple receive paths (e.g. Wi-Fi and internet). Filtering and merging of the data (and possible deletion of duplicates) will be needed and it must keep track of both a possible MAC address and the serial/ID of the other UAs. Additional filtering and sorting based on the timestamp in the LOCATION or SYSTEM messages can also be needed in order to generate a consistent flight path for the other UAs.

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                                                                                                                                                                                                                                                                                                    Open Drone ID

                                                                                                                                                                                                                                                                                                    Direct Remote Identification (DRI) or Remote ID (RID) is/will be a mandatory technology for Unmanned Aircraft (UA) in Japan, the United States of America and the European Union. Data such as the UA real-time location/altitude, UA serial number, operator ID/location etc. are broadcast via either Wi-Fi or Bluetooth from the UA. Open Drone ID is an open source implementation of RID.

                                                                                                                                                                                                                                                                                                    The terms Remote ID and drone ID are used interchangeably in the text below.

                                                                                                                                                                                                                                                                                                    Relevant specifications

                                                                                                                                                                                                                                                                                                    The MAVLink messages defined for usage with Open Drone ID are compliant with the following standards:

                                                                                                                                                                                                                                                                                                    • ASTM F3411 Specification for Remote ID and Tracking
                                                                                                                                                                                                                                                                                                    • ASD-STAN prEN 4709-002 Direct Remote Identification

                                                                                                                                                                                                                                                                                                    For additional details, please see here. In general, the front page of the opendroneid core-c repository has lots of pointers to additional information and SW projects related to drone ID.

                                                                                                                                                                                                                                                                                                    Broadcast methods and impact on the message design

                                                                                                                                                                                                                                                                                                    Four different broadcast methods are defined:

                                                                                                                                                                                                                                                                                                    • Bluetooth Legacy Advertising (Bluetooth 4.x)
                                                                                                                                                                                                                                                                                                    • Bluetooth Long Range with Extended Advertising (Bluetooth 5.x)
                                                                                                                                                                                                                                                                                                    • Wi-Fi Neighbor-aware Network (Wi-Fi NaN)
                                                                                                                                                                                                                                                                                                    • Wi-Fi Beacon (vendor specific information element in the SSID beacon frame)

                                                                                                                                                                                                                                                                                                    The broadcast method used with Bluetooth Legacy Advertising signals impose a strict size limitation on the amount of data that can be transmitted in each radio burst. Therefore the relevant data is divided into different categories and each category is transmitted via its own message.

                                                                                                                                                                                                                                                                                                    The standards defines 6 such messages and an additional 7th message type for packing multiple messages together into a message pack (used when transmitting on Wi-Fi NaN, Wi-Fi Beacon or Bluetooth Long Range with Extended Advertising). To support easy data transfers to/from a Remote ID (RID) transmitter/receiver component, MAVLink messages supporting all the fields of the drone ID messages have been made available. See Messages below.

                                                                                                                                                                                                                                                                                                    Use case examples

                                                                                                                                                                                                                                                                                                    There are multiple possible use cases for the MAVLink drone ID messages:

                                                                                                                                                                                                                                                                                                    • A flight controller sends ID, location etc. data to an onboard Bluetooth/Wi-Fi RID transmitter component.
                                                                                                                                                                                                                                                                                                    • An onboard Bluetooth/Wi-Fi receiver picks up drone ID messages from surrounding aircraft, relays this information using MAVLink drone ID messages to the flight controller, which then uses the information e.g. for Detect And Avoid (DAA) calculations.
                                                                                                                                                                                                                                                                                                    • A drone sends MAVLink drone ID messages via its control link to the Ground Control Station (GCS). The GCS is connected via the Internet to a Remote ID server, which stores and publishes the drone's ID, location etc.
                                                                                                                                                                                                                                                                                                    • As above but in the other direction for DAA calculations.
                                                                                                                                                                                                                                                                                                    • A Remote ID Display application (RID) on the GCS listens to all drone ID data received from surrounding UAs and displays their position to the operator.

                                                                                                                                                                                                                                                                                                    Messages

                                                                                                                                                                                                                                                                                                    The ASTM, ASD-STAN and MAVLink messages are listed below.

                                                                                                                                                                                                                                                                                                    ASTMASD-STANMAVLinkPurpose
                                                                                                                                                                                                                                                                                                    Basic IDBasic IDOPEN_DRONE_ID_BASIC_IDProvides an ID for the UA, characterizes the type of ID and identifies the type of UA.
                                                                                                                                                                                                                                                                                                    LocationLocationOPEN_DRONE_ID_LOCATIONProvides location, altitude, direction, and speed of the UA.
                                                                                                                                                                                                                                                                                                    AuthenticationNot specified (reserved)OPEN_DRONE_ID_AUTHENTICATIONProvides authentication data for the UA.
                                                                                                                                                                                                                                                                                                    Self-IDSelf-IDOPEN_DRONE_ID_SELF_IDOptional plain text message that can be used by operators to identify themselves and the purpose of an operation. Can also be used to provide optional additional clarification in an emergency/remote ID system failure situation.
                                                                                                                                                                                                                                                                                                    SystemSystemOPEN_DRONE_ID_SYSTEMIncludes the operator location/altitude, multiple aircraft information (group/swarm, if applicable), full timestamp and possible category/class information.
                                                                                                                                                                                                                                                                                                    Operator IDOperator IDOPEN_DRONE_ID_OPERATOR_IDProvides the operator ID.
                                                                                                                                                                                                                                                                                                    Message PackMessage PackOPEN_DRONE_ID_MESSAGE_PACKA payload mechanism for combining the messages above into a single message pack. Used with Bluetooth Extended Advertising, Wi-Fi NaN and Wi-Fi Beacon.
                                                                                                                                                                                                                                                                                                    __OPEN_DRONE_ID_ARM_STATUSSent by RID transmitter/receiver components to indicate that the RID system is "ready to use". This should be used as an arming condition for the flight stack. Note that this differs from the HEARTBEAT which indicates that the component is "alive" but not necessarily ready to use.
                                                                                                                                                                                                                                                                                                    __OPEN_DRONE_ID_SYSTEM_UPDATEA subset of the OPEN_DRONE_ID_SYSTEM message, containing only the fields that must be updated at a high rate. Typically sent from the GCS to provide data to the RID transmitter component. If both OPEN_DRONE_ID_SYSTEM and OPEN_DRONE_ID_SYSTEM_UPDATE are used, the more efficient OPEN_DRONE_ID_SYSTEM_UPDATE will be used at a high rate and the full OPEN_DRONE_ID_SYSTEM at a low rate, to reduce the traffic on the control link.

                                                                                                                                                                                                                                                                                                    The raw byte layout of the MAVLink messages is not exactly the same as what a RID Bluetooth/Wi-Fi transmitter component will broadcast over the air. Slight compression is applied. Example code for this conversion can be found in the project: Open Drone ID Core C Library.

                                                                                                                                                                                                                                                                                                    The Open Drone ID Core C Library contains code for decoding the MAVLink messages and "compressing" the data into data structures for broadcast over Bluetooth or Wi-Fi (or vice-versa for reception).

                                                                                                                                                                                                                                                                                                    The standards do not impose any requirements for a drone to be capable of receiving drone ID messages, nor any requirements for reacting to their content (requirements from local legislation might be different).

                                                                                                                                                                                                                                                                                                    An example Android receiver implementation for Bluetooth/Wi-Fi drone ID is available here (source codes).

                                                                                                                                                                                                                                                                                                    Code related to (Internet) Network Remote ID can be found in the InterUSS Project and https://github.com/uastech/standards (Unofficial reference for UAS-related APIs).

                                                                                                                                                                                                                                                                                                    Message update rates

                                                                                                                                                                                                                                                                                                    ASTM F3411 and ASD-STAN prEN 4709-002 (and possibly other standards) require that the LOCATION message is broadcast/published from the RID transmitter component at least once per second. The rest of the messages must be broadcast/published once per 3 seconds (the rules in some regions have tightened this requirement to 1 second for also the BASIC ID and the SYSTEM message. Please see here).

                                                                                                                                                                                                                                                                                                    Not all message types or fields within a message type are mandatory to broadcast/publish. The mandatory message set vary from region to region. Please see the summary.

                                                                                                                                                                                                                                                                                                    The standards require that the data contained in the LOCATION and the SYSTEM messages (on the air/internet) is not older than 1 second (the location data, timestamps etc.).

                                                                                                                                                                                                                                                                                                    To be compliant in different regions and receive certification acceptance, the UAS as a complete entity must obey the above timing restrictions. Although popular autopilot SW stacks will be verified to be capable of this, the compliance testing will have been done using a certain set of HW/SW components. Any deviation from this set, will require the integrator of the UAS to consider the combination of the above requirements when deciding the internal update rates for each component, in the MAVLink network, generating data for the RID transmitter component.

                                                                                                                                                                                                                                                                                                    It must be expected that there will be some delays from e.g. the GCS sending a SYSTEM message via the flight controller to the RID transmitter component. The RID transmitter component will gather this data plus data from other messages together and generate the final message data set, which is broadcast over the air. Each of these components will be running on their own update and forward/relay cycle and can thus introduce delays. I.e. running everything at exactly one second cycles, probably will lead to violations of the data "freshness" requirement. But going to the other extreme of forcing all messages to be at 10+ Hz would likely lead to unnecessary airwave noise on the (Command and Control) C2 link/Wi-Fi/Bluetooth spectrum. Components are expected to tune refresh rates to ensure compliance, without saturating internal communication links.

                                                                                                                                                                                                                                                                                                    RID broadcasting using Bluetooth 4 Legacy Advertising introduces additional complexity to this. For Bluetooth 5 or Wi-Fi Beacon/NaN, all messages are packed together and broadcast in a single advertisement by the RID transmitter component. Bluetooth 4 advertisements can only contain 25 bytes and thus can fit only a single message. Since typically at least three messages must be broadcast on the air per second, the BT4 RID transmitter component must advertise at least every 333 ms.

                                                                                                                                                                                                                                                                                                    Routing drone ID MAVLink messages inside the UAS

                                                                                                                                                                                                                                                                                                    There can be multiple MAVLink components in an UAS involved in the handling of drone ID data. An example is shown in the figure below. Certainly not all UAS will contain all of these components and the placement of some of them can be different from one system to another.

                                                                                                                                                                                                                                                                                                    drone ID conceptual overview

                                                                                                                                                                                                                                                                                                    All senders of MAVLink drone ID messages must fill the sysid field with the MAVLink system ID value that the MAVLink sender component belongs to and fill the compid field with the MAVLink component ID value of the sender.

                                                                                                                                                                                                                                                                                                    The MAVLink components or systems that will typically generate drone ID MAVLink messages are listed in the table below:

                                                                                                                                                                                                                                                                                                    Component/SystemDescription
                                                                                                                                                                                                                                                                                                    MAV_COMP_ID_AUTOPILOT1The flight controller/autopilot. Knows the ID of the UA, the current location, altitude, speed etc.
                                                                                                                                                                                                                                                                                                    Ground Control StationGCS with a human user interface for inputting the operator ID, text description of the flight purpose, method for obtaining the operator location etc.
                                                                                                                                                                                                                                                                                                    MAV_COMP_ID_ODID_TXRX_1A Remote ID transmitter/receiver component (Bluetooth/Wi-Fi/Internet).
                                                                                                                                                                                                                                                                                                    MAV_COMP_ID_ODID_TXRX_2A Remote ID transmitter/receiver component (Bluetooth/Wi-Fi/Internet).
                                                                                                                                                                                                                                                                                                    MAV_COMP_ID_ODID_TXRX_3A Remote ID transmitter/receiver component (Bluetooth/Wi-Fi/Internet).

                                                                                                                                                                                                                                                                                                    The autopilot/flight controller is typically the component that knows about the data needed for the BASIC ID and the LOCATION messages. It must stream MAVLink messages with this information to the RID transmitter component.

                                                                                                                                                                                                                                                                                                    The Ground Control Station system is the interface for the operator of the UAS. The operator must enter the data needed for the SELF_ID, the SYSTEM and the OPERATOR_ID, messages before the flight. The GCS must send this data via MAVLink messages to the RID transmitter component (possibly via the autopilot component). If the GCS is capable of regularly obtaining its own location, these updates are sent in the SYSTEM message together with a full timestamp.

                                                                                                                                                                                                                                                                                                    The UAS has one or more RID transmitter components for publishing the drone ID data to the rest of the world, either via Bluetooth or Wi-Fi broadcasts, or via an internet connection to an internet Remote ID server. The RID transmitter components will listen to the MAVLink messages from the flight controller and the GCS but must ignore MAVLink messages where the compid field is set to MAV_COMP_ID_ODID_TXRX_1, MAV_COMP_ID_ODID_TXRX_2 or MAV_COMP_ID_ODID_TXRX_3 (those MAVLink messages would have originated from a RID receiver component and would be the drone ID information from other UAs). The method for the RID transmitter components to identify MAVLink messages from the GCS, is described in the Heartbeat section below.

                                                                                                                                                                                                                                                                                                    The MAVLink components in the UAS involved in the drone ID MAVLink message exchange, must keep track of the HEARTBEAT MAVLink messages from the other MAVLink components. If the HEARTBEAT messages are not received within a required time interval, they must declare a malfunction of the Remote ID system and indicate this in the status field of the LOCATION message. This must also be indicated to the operator of the UAS.

                                                                                                                                                                                                                                                                                                    Similarly, the autopilot must listen to the ARM_STATUS from the RID transmitter component(s) and not allow the UA to be airborne before the RID transmitter component(s) is ready. During flight, if the arm status indicates a failure, similar action must be taken as for a lack of HEARTBEAT messages from the RemoteID. The ARM_STATUS message must also be routed to a GCS, if present, allowing it to provide more detailed information about RemoteID arming failures.

                                                                                                                                                                                                                                                                                                    In addition to the above, there are multiple additional different scenarios that must result in the Location status field being set to Emergency or Remote ID System Failure. The exact strategy on how to avoid having multiple MAVLink components overwriting each-others emergency declarations is not yet fully defined. Some preliminary discussion can be found here.

                                                                                                                                                                                                                                                                                                    Optionally, further restrictions on which RID transmitter/receiver component must process a MAVLink message can be enforced if the sender fills the target_system and target_component fields of the MAVLink message. RID transmitter/receiver components must only listen to MAVLink messages that have these fields set to either zero (broadcast) or the component's own MAVLink system ID and component ID. This can be useful if e.g. there are two UA connected to a single GCS. The GCS can then direct information to specific MAV_COMP_ID_ODID_TXRX_x components on a specific UA. By default, all senders of drone ID MAVLink messages must fill the target_system and target_component fields with zero, to indicate a broadcast to all MAVLink components.

                                                                                                                                                                                                                                                                                                    Open Drone ID data from other UA(s)

                                                                                                                                                                                                                                                                                                    It is possible that the RID transmitter components also work as receivers, for obtaining drone ID data from surrounding UAs. When publishing the received drone ID data as internal MAVLink messages, they must set the compid field to their own MAV_COMP_ID_ODID_TXRX_n ID to make it possible to distinguish this data from the drone ID data of the UA itself. Also the systemid field must be set with the MAVLink system ID value that the RID receiver component belongs to.

                                                                                                                                                                                                                                                                                                    At least two possible consumers of drone ID data from surrounding aircraft are possible:

                                                                                                                                                                                                                                                                                                    • A Detect And Avoid (DAA) system that tracks the current and estimated future positions of other UAs and takes that into account when setting the flight path of the UA itself.
                                                                                                                                                                                                                                                                                                    • A Remote ID Display (RID) application that visually shows the surrounding UA's locations (and possibly past and estimated future flight paths) to the operator of the UA, in order for him/her to utilize this information when controlling the UA.

                                                                                                                                                                                                                                                                                                    See below on how to combine remote ID data from other UAs.

                                                                                                                                                                                                                                                                                                    Heartbeat

                                                                                                                                                                                                                                                                                                    Each component involved in the MAVLink message exchange, is required to regularly send out MAVLink HEARTBEAT messages in order to facilitate discovery and monitoring of the component in the UAS. Please see further details in the HEARTBEAT documentation.

                                                                                                                                                                                                                                                                                                    For RID transmitter/receiver components (with compids MAV_COMP_ID_ODID_TXRX_1, MAV_COMP_ID_ODID_TXRX_2 or MAV_COMP_ID_ODID_TXRX_3), the type field in the HEARTBEAT message must be filled with MAV_TYPE_ODID.

                                                                                                                                                                                                                                                                                                    The MAVLink HEARTBEAT message serves as the way for RID transmitter/receiver components to identify the sysid of the GCS. The GCS will send out MAVLink HEARTBEAT messages with its sysid field set to the GCS's MAVLink system ID and the type set to MAV_TYPE_GCS. The RID transmitter/receiver components must interpret all MAVLink Open Drone ID messages from that system ID, as coming from the GCS. There is no dedicated MAVLink component ID for GCSs, hence the MAVLink system ID must be used instead for identifying the GCS.

                                                                                                                                                                                                                                                                                                    Possible future improvements

                                                                                                                                                                                                                                                                                                    The current set of MAVLink drone ID messages do not provide any means for controlling some of the RID transmitter/receiver component details. The RID transmitter/receiver component must be hard-coded by the manufacturer to a certain configuration. Some discussion and proposal for this type of messages can be found here. It would be useful to control e.g. the following items:

                                                                                                                                                                                                                                                                                                    • Starting/stopping broadcast
                                                                                                                                                                                                                                                                                                    • Configure the broadcast method (BT4, BT5, Beacon, NaN)
                                                                                                                                                                                                                                                                                                    • Wi-Fi channel configuration for Beacon
                                                                                                                                                                                                                                                                                                    • Message update rates on the air

                                                                                                                                                                                                                                                                                                    No regions currently require drone ID publication via the internet (Network Remote ID). However, it is possible that in the future this will change from being optional to mandatory for some use cases/regions as a part of the UTM/USpace efforts. Currently there are no suitable MAVLink messages defined to configure a Network Remote ID transceiver. Messages to specify the server(s) to connect to, credentials etc. would be needed.

                                                                                                                                                                                                                                                                                                    Security of drone ID data is partly under definition. The Japan rule requires a signature of the drone ID data to be broadcasted in the AUTHENTICATION message. The details are in Japanese. No such requirement currently exists for the US and EU. It is possible that some use cases in the future might require more security related activities for drone ID data. Some additional protocol specification work is being drafted by the IETF in the DRIP working group.

                                                                                                                                                                                                                                                                                                    UAS with multiple RID transmitters and/or receiver components

                                                                                                                                                                                                                                                                                                    Since three different technologies for broadcasting/publishing drone ID data have been defined (Bluetooth, Wi-Fi and internet), it is quite possible for a UAS to support more than just a single type.

                                                                                                                                                                                                                                                                                                    For UASs that desire to listen to other UA's information, it would be desirable to include receivers for all three methods, in order to maximize the possibility of detecting all other surrounding UAs.

                                                                                                                                                                                                                                                                                                    Combining data from other UAs when receiving drone ID data

                                                                                                                                                                                                                                                                                                    For Drone ID data that is received from other UAs, the data of the message itself does not always identify exactly which UA the data originated from. E.g. for data received via Bluetooth Legacy Advertising (Bluetooth 4.x), many of the received messages will not contain the unique serial number/ID of the UA that broadcasted the data, due to the severe size limitation imposed by Legacy Advertising where only one 25 byte message can be broadcasted in one advertisement radio burst. The MAC address (possibly randomized) of the Bluetooth HW is the only way to associate these messages to the same UA. For Bluetooth 5.x and Wi-Fi, it is possible that the same can happen in certain specific situations (e.g. sending large amount of authentication data), although for the majority of normal usage this is unlikely, since the use of MESSAGE_PACKs is mandated. For data received via internet, the data packet will always contain the unique serial number/ID of the originating UA but no associated MAC address.

                                                                                                                                                                                                                                                                                                    In order to allow e.g. a DAA component to sort and identify which UA each data message has originated from, the RID receiver components must add, to the MAVLink message, either the MAC address or the ID number associated with the UA that originated the data message, before sending it on the internal UAS MAVLink network. This information must be added in the id_or_mac field of each MAVLink message.

                                                                                                                                                                                                                                                                                                    The serial/ID is copied directly from the uas_id field with NULLs in the unused portion. The MAC address must be entered in ASCII format with NULLs in the unused portion. Any separation characters must be removed. E.g. "30-65-EC-6F-C4-58" or "30:65:EC:6F:C4:58" must be represented as the ASCII string "3065EC6FC458". When not used for the above purpose, the id_or_mac field must be filled with NULLs.

                                                                                                                                                                                                                                                                                                    The MAVLink system/component listening to the MAVLink messages must be aware that it is possible to receive drone ID data from the same UA via multiple receive paths (e.g. Wi-Fi and internet). Filtering and merging of the data (and possible deletion of duplicates) will be needed and it must keep track of both a possible MAC address and the serial/ID of the other UAs. Additional filtering and sorting based on the timestamp in the LOCATION or SYSTEM messages can also be needed in order to generate a consistent flight path for the other UAs.

                                                                                                                                                                                                                                                                                                    results matching ""

                                                                                                                                                                                                                                                                                                      No results matching ""

                                                                                                                                                                                                                                                                                                      \ No newline at end of file diff --git a/en/services/parameter.html b/en/services/parameter.html index 00ac6c74c..3602da163 100644 --- a/en/services/parameter.html +++ b/en/services/parameter.html @@ -5,4 +5,4 @@ // Then send the param by providing the float bytes to the send function mavlink_msg_param_set_send(xxx, xxx, param.param_float, param.type, xxx); -

                                                                                                                                                                                                                                                                                                      Bytewise Encoding: Mavgen Python API

                                                                                                                                                                                                                                                                                                      Pymavlink does not include special support to byte-wise encode the non-float data types (unsurprisingly, because Python effectively "hides" low level data types from users). When working with a system that supports non-float parameters (e.g. PX4) you will need to do the encoding/decoding yourself when sending and receiving messages.

                                                                                                                                                                                                                                                                                                      There is a good example of how to do this in the Pymavlink mavparm.py module (see MAVParmDict.mavset()).

                                                                                                                                                                                                                                                                                                      Parameter Types

                                                                                                                                                                                                                                                                                                      The allowed parameter types are given in MAV_PARAM_TYPE.

                                                                                                                                                                                                                                                                                                      Note that not all types are supported: for example PX4 supports only INT32 and FLOAT. A GCS can infer the supported types from the parameters it is sent.

                                                                                                                                                                                                                                                                                                      Parameter Metadata

                                                                                                                                                                                                                                                                                                      Parameter metadata is additional information about a parameters that allow them to be safely used in a ground station. This might include a description and listing of possible values.

                                                                                                                                                                                                                                                                                                      The Component Information Protocol has been proposed as a mechanism for getting this information directly from a vehicle.

                                                                                                                                                                                                                                                                                                      Parameter Caching

                                                                                                                                                                                                                                                                                                      A GCS or other component may choose to maintain a cache of parameter values for connected components/systems, in order to reduce the time required to display values and reduce MAVLink traffic.

                                                                                                                                                                                                                                                                                                      The cache can be populated initially by first reading the full parameter list at least once, and then updated by monitoring for PARAM_VALUE messages (which are emitted whenever a parameter is written or otherwise changed).

                                                                                                                                                                                                                                                                                                      Cache synchronisation is not guaranteed; a component may miss update messages due to parameter changes by other components.

                                                                                                                                                                                                                                                                                                      Multi-System and Multi-Component Support

                                                                                                                                                                                                                                                                                                      MAVLink supports multiple systems in parallel on the same link, and multiple MAVLink enabled components within a system.

                                                                                                                                                                                                                                                                                                      Requests to get and set parameters can be sent to individual systems or components. To get a complete parameter list from a system, send the request parameter message with target_component set to MAV_COMP_ID_ALL.

                                                                                                                                                                                                                                                                                                      All components must respond to parameter request messages addressed to their ID or the ID MAV_COMP_ID_ALL.

                                                                                                                                                                                                                                                                                                      QGroundControl by default queries all components of the currently connected system (it sends ID MAV_COMP_ID_ALL).

                                                                                                                                                                                                                                                                                                      Limitations

                                                                                                                                                                                                                                                                                                      Parameters Table is Invariant

                                                                                                                                                                                                                                                                                                      The protocol requires that the parameter set does not change during normal operation/after parameters have been read.

                                                                                                                                                                                                                                                                                                      If a component can add parameters during (or after) initial synchronization the protocol cannot guarantee reliable/robust synchronization, because there is no way to notify that the parameter set has changed and a new sync is required.

                                                                                                                                                                                                                                                                                                      If working with a non-compliant component, the risk of problems when working with parameters can be reduced (but not removed) if:

                                                                                                                                                                                                                                                                                                      Parameter Synchronisation Can Fail

                                                                                                                                                                                                                                                                                                      A GCS (or other component) that wants to cache parameters with a component and keep them synchronised, should first get all parameters, and then track any new parameter changes by monitoring for PARAM_VALUE messages (updating their internal list appropriately).

                                                                                                                                                                                                                                                                                                      This works for the originator of a parameter change, which can resend the request if an expected PARAM_VALUE is not recieved. This approach may fail for components that did not originate the change, as they will not know about updates they do not receive (i.e. if messages are dropped).

                                                                                                                                                                                                                                                                                                      A component may mitigate this risk by, for example, sending the PARAM_VALUE multiple times after a parameter is changed.

                                                                                                                                                                                                                                                                                                      Parameter Operations

                                                                                                                                                                                                                                                                                                      This section defines the state machine/message sequences for all parameter operations.

                                                                                                                                                                                                                                                                                                      Read All Parameters

                                                                                                                                                                                                                                                                                                      The read-all operation is started by sending the PARAM_REQUEST_LIST message. The target component must start to broadcast the parameters individually in PARAM_VALUE messages after receiving this message. The drone should allow a pause after sending each parameter to ensure that the operation doesn't consume all of the available link bandwidth (30 - 50 percent of the bandwidth is reasonable).

                                                                                                                                                                                                                                                                                                      Mermaid sequence: Read all parameters

                                                                                                                                                                                                                                                                                                      The sequence of operations is:

                                                                                                                                                                                                                                                                                                      1. GCS (client) sends PARAM_REQUEST_LIST specifying a target system/component.
                                                                                                                                                                                                                                                                                                        • Broadcast addresses may be used. All targeted components should respond with parameters (or ignore the request if they have none).
                                                                                                                                                                                                                                                                                                        • The GCS is expected to accumulate parameters from all responding systems.
                                                                                                                                                                                                                                                                                                        • The timeout/retry behaviour is GSC dependent.
                                                                                                                                                                                                                                                                                                      2. The targeted component(s) should respond, sending all parameters individually in PARAM_VALUE messages.
                                                                                                                                                                                                                                                                                                        • Allow breaks between each message in order to avoid saturating the link.
                                                                                                                                                                                                                                                                                                        • Components with no parameters should ignore the request.
                                                                                                                                                                                                                                                                                                      3. GCS starts timeout after each PARAM_VALUE message in order to detect when parameters are no longer being sent (that the operation has completed).

                                                                                                                                                                                                                                                                                                      Notes:

                                                                                                                                                                                                                                                                                                      Read Single Parameter

                                                                                                                                                                                                                                                                                                      A single parameter can be read by sending the PARAM_REQUEST_READ message, as shown below:

                                                                                                                                                                                                                                                                                                      Mermaid sequence: Read single parameter

                                                                                                                                                                                                                                                                                                      The sequence of operations is:

                                                                                                                                                                                                                                                                                                      1. GCS (client) sends PARAM_REQUEST_READ specifying either the parameter id (name) or parameter index.
                                                                                                                                                                                                                                                                                                      2. GCS starts timeout waiting for acknowledgment (in the form of a PARAM_VALUE message).
                                                                                                                                                                                                                                                                                                      3. Drone responds with PARAM_VALUE containing the parameter value. This is a broadcast message (sent to all systems).

                                                                                                                                                                                                                                                                                                      The drone may restart the sequence if the PARAM_VALUE acknowledgment is not received within the timeout.

                                                                                                                                                                                                                                                                                                      There is no formal way for the drone to signal when an invalid parameter is requested (i.e. for a parameter name or id that does not exist). In this case the drone should emit STATUS_TEXT. The GCS may monitor for the specific notification, but will otherwise fail the request after any timeout/resend cycle completes.

                                                                                                                                                                                                                                                                                                      Write Parameters

                                                                                                                                                                                                                                                                                                      Parameters can be written individually by sending the parameter name and value pair to the GCS, as shown:

                                                                                                                                                                                                                                                                                                      Mermaid Sequence: Write parameters

                                                                                                                                                                                                                                                                                                      The sequence of operations is:

                                                                                                                                                                                                                                                                                                      1. GCS (client) sends PARAM_SET specifying the param name to update and its new value (also target system/component and the param type).
                                                                                                                                                                                                                                                                                                      2. GCS starts timout waiting for acknowledgment (in the form of a PARAM_VALUE message).
                                                                                                                                                                                                                                                                                                      3. Drone writes parameter and responds by broadcasting a PARAM_VALUE containing the updated parameter value to all components/systems.

                                                                                                                                                                                                                                                                                                        The Drone must acknowledge the PARAM_SET by broadcasting a PARAM_VALUE even if the write operation fails. In this case the PARAM_VALUE will be the current/unchanged parameter value.

                                                                                                                                                                                                                                                                                                      4. GCS should update the parameter cache (if used) with the new value.
                                                                                                                                                                                                                                                                                                      5. The GCS may restart the sequence if the expected PARAM_VALUE is not received within the timeout, or if the write operation fails (the value returned in PARAM_VALUE does not match the value set).

                                                                                                                                                                                                                                                                                                      The command MAV_CMD_DO_SET_PARAMETER is not part of the parameter protocol. If implemented it can be used to set the value of a parameter using the enumeration of the parameter within the remote system is known (rather than the id). This has no particular advantage over the parameter protocol methods.

                                                                                                                                                                                                                                                                                                      Implementations

                                                                                                                                                                                                                                                                                                      PX4

                                                                                                                                                                                                                                                                                                      PX4 is compatible with the specification:

                                                                                                                                                                                                                                                                                                      PX4 provides an addition off-spec mechanism that allows a GCS to cache parameters. This significantly reduces ready-to-use time for the GCS if parameters have not been changed since the previous parameter sync. The way that this mechanism works is that when the list of parameters is requested, PX4 first sends a PARAM_VALUE with the param_index of INT16_MAX (in code, referred to as PARAM_HASH) containing a hash of the parameter set.

                                                                                                                                                                                                                                                                                                      This hash is calculated by computing the MAVLink CRC32 over all param names and values (see the param_hash_check() in source here). If the GCS has a matching hash value it can immediately start using its cached parameters (rather than having to wait while all the rest of the parameters upload).

                                                                                                                                                                                                                                                                                                      Source files:

                                                                                                                                                                                                                                                                                                      ArduPilot

                                                                                                                                                                                                                                                                                                      ArduPilot implements a largely compatible version of this protocol.

                                                                                                                                                                                                                                                                                                      Off spec-behaviour:

                                                                                                                                                                                                                                                                                                      Compatible differences:

                                                                                                                                                                                                                                                                                                      Source files:

                                                                                                                                                                                                                                                                                                      QGroundControl

                                                                                                                                                                                                                                                                                                      QGroundControl implements this protocol, and works with both ArduPilot and PX4.

                                                                                                                                                                                                                                                                                                      Source files:

                                                                                                                                                                                                                                                                                                      results matching ""

                                                                                                                                                                                                                                                                                                        No results matching ""

                                                                                                                                                                                                                                                                                                        \ No newline at end of file +

                                                                                                                                                                                                                                                                                                        Bytewise Encoding: Mavgen Python API

                                                                                                                                                                                                                                                                                                        Pymavlink does not include special support to byte-wise encode the non-float data types (unsurprisingly, because Python effectively "hides" low level data types from users). When working with a system that supports non-float parameters (e.g. PX4) you will need to do the encoding/decoding yourself when sending and receiving messages.

                                                                                                                                                                                                                                                                                                        There is a good example of how to do this in the Pymavlink mavparm.py module (see MAVParmDict.mavset()).

                                                                                                                                                                                                                                                                                                        Parameter Types

                                                                                                                                                                                                                                                                                                        The allowed parameter types are given in MAV_PARAM_TYPE.

                                                                                                                                                                                                                                                                                                        Note that not all types are supported: for example PX4 supports only INT32 and FLOAT. A GCS can infer the supported types from the parameters it is sent.

                                                                                                                                                                                                                                                                                                        Parameter Metadata

                                                                                                                                                                                                                                                                                                        Parameter metadata is additional information about a parameters that allow them to be safely used in a ground station. This might include a description and listing of possible values.

                                                                                                                                                                                                                                                                                                        The Component Information Protocol has been proposed as a mechanism for getting this information directly from a vehicle.

                                                                                                                                                                                                                                                                                                        Parameter Caching

                                                                                                                                                                                                                                                                                                        A GCS or other component may choose to maintain a cache of parameter values for connected components/systems, in order to reduce the time required to display values and reduce MAVLink traffic.

                                                                                                                                                                                                                                                                                                        The cache can be populated initially by first reading the full parameter list at least once, and then updated by monitoring for PARAM_VALUE messages (which are emitted whenever a parameter is written or otherwise changed).

                                                                                                                                                                                                                                                                                                        Cache synchronisation is not guaranteed; a component may miss update messages due to parameter changes by other components.

                                                                                                                                                                                                                                                                                                        Multi-System and Multi-Component Support

                                                                                                                                                                                                                                                                                                        MAVLink supports multiple systems in parallel on the same link, and multiple MAVLink enabled components within a system.

                                                                                                                                                                                                                                                                                                        Requests to get and set parameters can be sent to individual systems or components. To get a complete parameter list from a system, send the request parameter message with target_component set to MAV_COMP_ID_ALL.

                                                                                                                                                                                                                                                                                                        All components must respond to parameter request messages addressed to their ID or the ID MAV_COMP_ID_ALL.

                                                                                                                                                                                                                                                                                                        QGroundControl by default queries all components of the currently connected system (it sends ID MAV_COMP_ID_ALL).

                                                                                                                                                                                                                                                                                                        Limitations

                                                                                                                                                                                                                                                                                                        Parameters Table is Invariant

                                                                                                                                                                                                                                                                                                        The protocol requires that the parameter set does not change during normal operation/after parameters have been read.

                                                                                                                                                                                                                                                                                                        If a component can add parameters during (or after) initial synchronization the protocol cannot guarantee reliable/robust synchronization, because there is no way to notify that the parameter set has changed and a new sync is required.

                                                                                                                                                                                                                                                                                                        If working with a non-compliant component, the risk of problems when working with parameters can be reduced (but not removed) if:

                                                                                                                                                                                                                                                                                                        Parameter Synchronisation Can Fail

                                                                                                                                                                                                                                                                                                        A GCS (or other component) that wants to cache parameters with a component and keep them synchronised, should first get all parameters, and then track any new parameter changes by monitoring for PARAM_VALUE messages (updating their internal list appropriately).

                                                                                                                                                                                                                                                                                                        This works for the originator of a parameter change, which can resend the request if an expected PARAM_VALUE is not recieved. This approach may fail for components that did not originate the change, as they will not know about updates they do not receive (i.e. if messages are dropped).

                                                                                                                                                                                                                                                                                                        A component may mitigate this risk by, for example, sending the PARAM_VALUE multiple times after a parameter is changed.

                                                                                                                                                                                                                                                                                                        Parameter Operations

                                                                                                                                                                                                                                                                                                        This section defines the state machine/message sequences for all parameter operations.

                                                                                                                                                                                                                                                                                                        Read All Parameters

                                                                                                                                                                                                                                                                                                        The read-all operation is started by sending the PARAM_REQUEST_LIST message. The target component must start to broadcast the parameters individually in PARAM_VALUE messages after receiving this message. The drone should allow a pause after sending each parameter to ensure that the operation doesn't consume all of the available link bandwidth (30 - 50 percent of the bandwidth is reasonable).

                                                                                                                                                                                                                                                                                                        Mermaid sequence: Read all parameters

                                                                                                                                                                                                                                                                                                        The sequence of operations is:

                                                                                                                                                                                                                                                                                                        1. GCS (client) sends PARAM_REQUEST_LIST specifying a target system/component.
                                                                                                                                                                                                                                                                                                          • Broadcast addresses may be used. All targeted components should respond with parameters (or ignore the request if they have none).
                                                                                                                                                                                                                                                                                                          • The GCS is expected to accumulate parameters from all responding systems.
                                                                                                                                                                                                                                                                                                          • The timeout/retry behaviour is GSC dependent.
                                                                                                                                                                                                                                                                                                        2. The targeted component(s) should respond, sending all parameters individually in PARAM_VALUE messages.
                                                                                                                                                                                                                                                                                                          • Allow breaks between each message in order to avoid saturating the link.
                                                                                                                                                                                                                                                                                                          • Components with no parameters should ignore the request.
                                                                                                                                                                                                                                                                                                        3. GCS starts timeout after each PARAM_VALUE message in order to detect when parameters are no longer being sent (that the operation has completed).

                                                                                                                                                                                                                                                                                                        Notes:

                                                                                                                                                                                                                                                                                                        Read Single Parameter

                                                                                                                                                                                                                                                                                                        A single parameter can be read by sending the PARAM_REQUEST_READ message, as shown below:

                                                                                                                                                                                                                                                                                                        Mermaid sequence: Read single parameter

                                                                                                                                                                                                                                                                                                        The sequence of operations is:

                                                                                                                                                                                                                                                                                                        1. GCS (client) sends PARAM_REQUEST_READ specifying either the parameter id (name) or parameter index.
                                                                                                                                                                                                                                                                                                        2. GCS starts timeout waiting for acknowledgment (in the form of a PARAM_VALUE message).
                                                                                                                                                                                                                                                                                                        3. Drone responds with PARAM_VALUE containing the parameter value. This is a broadcast message (sent to all systems).

                                                                                                                                                                                                                                                                                                        The drone may restart the sequence if the PARAM_VALUE acknowledgment is not received within the timeout.

                                                                                                                                                                                                                                                                                                        There is no formal way for the drone to signal when an invalid parameter is requested (i.e. for a parameter name or id that does not exist). In this case the drone should emit STATUS_TEXT. The GCS may monitor for the specific notification, but will otherwise fail the request after any timeout/resend cycle completes.

                                                                                                                                                                                                                                                                                                        Write Parameters

                                                                                                                                                                                                                                                                                                        Parameters can be written individually by sending the parameter name and value pair to the GCS, as shown:

                                                                                                                                                                                                                                                                                                        Mermaid Sequence: Write parameters

                                                                                                                                                                                                                                                                                                        The sequence of operations is:

                                                                                                                                                                                                                                                                                                        1. GCS (client) sends PARAM_SET specifying the param name to update and its new value (also target system/component and the param type).
                                                                                                                                                                                                                                                                                                        2. GCS starts timout waiting for acknowledgment (in the form of a PARAM_VALUE message).
                                                                                                                                                                                                                                                                                                        3. Drone writes parameter and responds by broadcasting a PARAM_VALUE containing the updated parameter value to all components/systems.

                                                                                                                                                                                                                                                                                                          The Drone must acknowledge the PARAM_SET by broadcasting a PARAM_VALUE even if the write operation fails. In this case the PARAM_VALUE will be the current/unchanged parameter value.

                                                                                                                                                                                                                                                                                                        4. GCS should update the parameter cache (if used) with the new value.
                                                                                                                                                                                                                                                                                                        5. The GCS may restart the sequence if the expected PARAM_VALUE is not received within the timeout, or if the write operation fails (the value returned in PARAM_VALUE does not match the value set).

                                                                                                                                                                                                                                                                                                        The command MAV_CMD_DO_SET_PARAMETER is not part of the parameter protocol. If implemented it can be used to set the value of a parameter using the enumeration of the parameter within the remote system is known (rather than the id). This has no particular advantage over the parameter protocol methods.

                                                                                                                                                                                                                                                                                                        Implementations

                                                                                                                                                                                                                                                                                                        PX4

                                                                                                                                                                                                                                                                                                        PX4 is compatible with the specification:

                                                                                                                                                                                                                                                                                                        PX4 provides an addition off-spec mechanism that allows a GCS to cache parameters. This significantly reduces ready-to-use time for the GCS if parameters have not been changed since the previous parameter sync. The way that this mechanism works is that when the list of parameters is requested, PX4 first sends a PARAM_VALUE with the param_index of INT16_MAX (in code, referred to as PARAM_HASH) containing a hash of the parameter set.

                                                                                                                                                                                                                                                                                                        This hash is calculated by computing the MAVLink CRC32 over all param names and values (see the param_hash_check() in source here). If the GCS has a matching hash value it can immediately start using its cached parameters (rather than having to wait while all the rest of the parameters upload).

                                                                                                                                                                                                                                                                                                        Source files:

                                                                                                                                                                                                                                                                                                        ArduPilot

                                                                                                                                                                                                                                                                                                        ArduPilot implements a largely compatible version of this protocol.

                                                                                                                                                                                                                                                                                                        Off spec-behaviour:

                                                                                                                                                                                                                                                                                                        Compatible differences:

                                                                                                                                                                                                                                                                                                        Source files:

                                                                                                                                                                                                                                                                                                        QGroundControl

                                                                                                                                                                                                                                                                                                        QGroundControl implements this protocol, and works with both ArduPilot and PX4.

                                                                                                                                                                                                                                                                                                        Source files:

                                                                                                                                                                                                                                                                                                        results matching ""

                                                                                                                                                                                                                                                                                                          No results matching ""

                                                                                                                                                                                                                                                                                                          \ No newline at end of file diff --git a/en/services/parameter_ext.html b/en/services/parameter_ext.html index 555872d1b..cfc9a79a9 100644 --- a/en/services/parameter_ext.html +++ b/en/services/parameter_ext.html @@ -47,4 +47,4 @@ break; ... } -

                                                                                                                                                                                                                                                                                                          QGroundControl provides real code examples here:

                                                                                                                                                                                                                                                                                                          Parameter Caching

                                                                                                                                                                                                                                                                                                          A GCS or other component may choose to maintain a cache of parameter values for connected components/systems, in order to reduce the time required to display values and reduce MAVLink traffic.

                                                                                                                                                                                                                                                                                                          The cache can be populated initially by first reading the full parameter list at least once, and then updated by monitoring for PARAM_EXT_ACK messages with PARAM_ACK_ACCEPTED (which are emitted whenever a parameter is successfully written/changed).

                                                                                                                                                                                                                                                                                                          A system may also monitor for PARAM_EXT_VALUE originating from other components/systems requesting parameter values.

                                                                                                                                                                                                                                                                                                          Cache synchronisation is not guaranteed; a component may miss parameter update messages due to changes by other components.

                                                                                                                                                                                                                                                                                                          Limitations

                                                                                                                                                                                                                                                                                                          Parameters Table is Invariant

                                                                                                                                                                                                                                                                                                          The protocol requires that the parameter set does not change during normal operation/after parameters have been read.

                                                                                                                                                                                                                                                                                                          If a component can add parameters during (or after) initial synchronization the protocol cannot guarantee reliable/robust synchronization, because there is no way to notify that the parameter set has changed and a new sync is required.

                                                                                                                                                                                                                                                                                                          When requesting parameters from such a components, the risk of problems can be reduced (but not removed) if:

                                                                                                                                                                                                                                                                                                          Parameter Synchronisation Can Fail

                                                                                                                                                                                                                                                                                                          A GCS (or other system) that wants to cache parameters from a component and keep them synchronised should first get all parameters, and then track changes by monitoring for PARAM_EXT_ACK messages (updating their internal list appropriately).

                                                                                                                                                                                                                                                                                                          This works for the originator of a parameter change, which can resend the request if an expected PARAM_EXT_ACK is not received. This approach may fail for components that did not originate the change, as they will not know about updates they do not receive (i.e. if messages are dropped).

                                                                                                                                                                                                                                                                                                          A component may mitigate this risk by, for example, sending the PARAM_EXT_ACK multiple times after a parameter is changed.

                                                                                                                                                                                                                                                                                                          Parameter Operations

                                                                                                                                                                                                                                                                                                          This section defines the state machine/message sequences for all parameter operations.

                                                                                                                                                                                                                                                                                                          Read All Parameters

                                                                                                                                                                                                                                                                                                          The read-all operation is started by sending the PARAM_EXT_REQUEST_LIST message. The target component must start to broadcast the parameters individually in PARAM_EXT_VALUE messages after receiving this message. The drone should allow a pause after sending each parameter to ensure that the operation doesn't consume all of the available link bandwidth (30 - 50 percent of the bandwidth is reasonable).

                                                                                                                                                                                                                                                                                                          The sequence of operations is:

                                                                                                                                                                                                                                                                                                          1. GCS (client) sends PARAM_EXT_REQUEST_LIST specifying a target system/component.
                                                                                                                                                                                                                                                                                                            • Broadcast addresses may be used. All targeted components should respond with parameters (or ignore the request if they have none).
                                                                                                                                                                                                                                                                                                            • The GCS is expected to accumulate parameters from all responding systems.
                                                                                                                                                                                                                                                                                                            • The timeout/retry behaviour is GSC dependent.
                                                                                                                                                                                                                                                                                                          2. The targeted component(s) should respond, sending all parameters individually in PARAM_EXT_VALUE messages.
                                                                                                                                                                                                                                                                                                            • Allow breaks between each message in order to avoid saturating the link.
                                                                                                                                                                                                                                                                                                            • Components with no parameters should ignore the request.
                                                                                                                                                                                                                                                                                                          3. GCS starts timeout after each PARAM_EXT_VALUE message in order to detect when parameters are no longer being sent (that the operation has completed).

                                                                                                                                                                                                                                                                                                          Notes:

                                                                                                                                                                                                                                                                                                          Read Single Parameter

                                                                                                                                                                                                                                                                                                          A single parameter can be read by sending the PARAM_EXT_REQUEST_READ message, as shown below:

                                                                                                                                                                                                                                                                                                          The sequence of operations is:

                                                                                                                                                                                                                                                                                                          1. GCS (client) sends PARAM_EXT_REQUEST_READ specifying either the parameter id (name) or parameter index.
                                                                                                                                                                                                                                                                                                          2. GCS starts timeout waiting for acknowledgment (in the form of a PARAM_EXT_VALUE message).
                                                                                                                                                                                                                                                                                                          3. Drone responds with PARAM_EXT_VALUE containing the parameter value. This is a broadcast message (sent to all systems).

                                                                                                                                                                                                                                                                                                          The drone may restart the sequence if the PARAM_EXT_VALUE acknowledgment is not received within the timeout.

                                                                                                                                                                                                                                                                                                          Write Parameters

                                                                                                                                                                                                                                                                                                          Parameters are written individually using PARAM_EXT_SET. The recipient will respond with PARAM_EXT_ACK indicating success, failure, or that the write is still in progress (PARAM_ACK_IN_PROGRESS). On receipt of PARAM_ACK_IN_PROGRESS the component setting the parameter will extend its timeout (PARAM_EXT_ACK will be re-sent when the write completes)

                                                                                                                                                                                                                                                                                                          Parameters can be written individually by sending the parameter name and value pair to the GCS, as shown:

                                                                                                                                                                                                                                                                                                          For long-running write operations drone may initially respond with PARAM_ACK_IN_PROGRESS:

                                                                                                                                                                                                                                                                                                          The sequence of operations is:

                                                                                                                                                                                                                                                                                                          1. GCS (client) sends PARAM_EXT_SET specifying the param name to update and its new value (also target system/component and the param type).
                                                                                                                                                                                                                                                                                                          2. GCS starts timout waiting for acknowledgment (in the form of a PARAM_EXT_ACK message).
                                                                                                                                                                                                                                                                                                          3. Drone (starts to) write parameter and responds by broadcasting a PARAM_EXT_ACK.
                                                                                                                                                                                                                                                                                                            • If the write succeeded the PARAM_EXT_ACK will contain a result of PARAM_ACK_ACCEPTED and the updated parameter value.
                                                                                                                                                                                                                                                                                                            • If the parameter was unknown or of an unsupported type PARAM_EXT_ACK will contain a result of PARAM_ACK_VALUE_UNSUPPORTED and the current parameter value will be XXXXX.
                                                                                                                                                                                                                                                                                                            • If the write failed for another reason then PARAM_EXT_ACK will contain a result of PARAM_ACK_FAILED and the current parameter value.
                                                                                                                                                                                                                                                                                                            • If the write operation is long-running the PARAM_EXT_ACK will contain a result of PARAM_ACK_IN_PROGRESS and the XXXX parameter value. In this case the recipient should increase their timeout and way for another PARAM_EXT_ACK. PARAM_EXT_ACK should be resent when the operation completes.
                                                                                                                                                                                                                                                                                                          4. GCS should update the parameter cache (if used) with the new value.
                                                                                                                                                                                                                                                                                                          5. The GCS may restart the sequence if an expected PARAM_EXT_ACK is not received within the timeout, or if the write operation fails.

                                                                                                                                                                                                                                                                                                          Implementations

                                                                                                                                                                                                                                                                                                          QGroundControl: QGCCameraIO.h, QGCCameraIO.cc

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                                                                                                                                                                                                                                                                                                            QGroundControl provides real code examples here:

                                                                                                                                                                                                                                                                                                            Parameter Caching

                                                                                                                                                                                                                                                                                                            A GCS or other component may choose to maintain a cache of parameter values for connected components/systems, in order to reduce the time required to display values and reduce MAVLink traffic.

                                                                                                                                                                                                                                                                                                            The cache can be populated initially by first reading the full parameter list at least once, and then updated by monitoring for PARAM_EXT_ACK messages with PARAM_ACK_ACCEPTED (which are emitted whenever a parameter is successfully written/changed).

                                                                                                                                                                                                                                                                                                            A system may also monitor for PARAM_EXT_VALUE originating from other components/systems requesting parameter values.

                                                                                                                                                                                                                                                                                                            Cache synchronisation is not guaranteed; a component may miss parameter update messages due to changes by other components.

                                                                                                                                                                                                                                                                                                            Limitations

                                                                                                                                                                                                                                                                                                            Parameters Table is Invariant

                                                                                                                                                                                                                                                                                                            The protocol requires that the parameter set does not change during normal operation/after parameters have been read.

                                                                                                                                                                                                                                                                                                            If a component can add parameters during (or after) initial synchronization the protocol cannot guarantee reliable/robust synchronization, because there is no way to notify that the parameter set has changed and a new sync is required.

                                                                                                                                                                                                                                                                                                            When requesting parameters from such a components, the risk of problems can be reduced (but not removed) if:

                                                                                                                                                                                                                                                                                                            Parameter Synchronisation Can Fail

                                                                                                                                                                                                                                                                                                            A GCS (or other system) that wants to cache parameters from a component and keep them synchronised should first get all parameters, and then track changes by monitoring for PARAM_EXT_ACK messages (updating their internal list appropriately).

                                                                                                                                                                                                                                                                                                            This works for the originator of a parameter change, which can resend the request if an expected PARAM_EXT_ACK is not received. This approach may fail for components that did not originate the change, as they will not know about updates they do not receive (i.e. if messages are dropped).

                                                                                                                                                                                                                                                                                                            A component may mitigate this risk by, for example, sending the PARAM_EXT_ACK multiple times after a parameter is changed.

                                                                                                                                                                                                                                                                                                            Parameter Operations

                                                                                                                                                                                                                                                                                                            This section defines the state machine/message sequences for all parameter operations.

                                                                                                                                                                                                                                                                                                            Read All Parameters

                                                                                                                                                                                                                                                                                                            The read-all operation is started by sending the PARAM_EXT_REQUEST_LIST message. The target component must start to broadcast the parameters individually in PARAM_EXT_VALUE messages after receiving this message. The drone should allow a pause after sending each parameter to ensure that the operation doesn't consume all of the available link bandwidth (30 - 50 percent of the bandwidth is reasonable).

                                                                                                                                                                                                                                                                                                            The sequence of operations is:

                                                                                                                                                                                                                                                                                                            1. GCS (client) sends PARAM_EXT_REQUEST_LIST specifying a target system/component.
                                                                                                                                                                                                                                                                                                              • Broadcast addresses may be used. All targeted components should respond with parameters (or ignore the request if they have none).
                                                                                                                                                                                                                                                                                                              • The GCS is expected to accumulate parameters from all responding systems.
                                                                                                                                                                                                                                                                                                              • The timeout/retry behaviour is GSC dependent.
                                                                                                                                                                                                                                                                                                            2. The targeted component(s) should respond, sending all parameters individually in PARAM_EXT_VALUE messages.
                                                                                                                                                                                                                                                                                                              • Allow breaks between each message in order to avoid saturating the link.
                                                                                                                                                                                                                                                                                                              • Components with no parameters should ignore the request.
                                                                                                                                                                                                                                                                                                            3. GCS starts timeout after each PARAM_EXT_VALUE message in order to detect when parameters are no longer being sent (that the operation has completed).

                                                                                                                                                                                                                                                                                                            Notes:

                                                                                                                                                                                                                                                                                                            Read Single Parameter

                                                                                                                                                                                                                                                                                                            A single parameter can be read by sending the PARAM_EXT_REQUEST_READ message, as shown below:

                                                                                                                                                                                                                                                                                                            The sequence of operations is:

                                                                                                                                                                                                                                                                                                            1. GCS (client) sends PARAM_EXT_REQUEST_READ specifying either the parameter id (name) or parameter index.
                                                                                                                                                                                                                                                                                                            2. GCS starts timeout waiting for acknowledgment (in the form of a PARAM_EXT_VALUE message).
                                                                                                                                                                                                                                                                                                            3. Drone responds with PARAM_EXT_VALUE containing the parameter value. This is a broadcast message (sent to all systems).

                                                                                                                                                                                                                                                                                                            The drone may restart the sequence if the PARAM_EXT_VALUE acknowledgment is not received within the timeout.

                                                                                                                                                                                                                                                                                                            Write Parameters

                                                                                                                                                                                                                                                                                                            Parameters are written individually using PARAM_EXT_SET. The recipient will respond with PARAM_EXT_ACK indicating success, failure, or that the write is still in progress (PARAM_ACK_IN_PROGRESS). On receipt of PARAM_ACK_IN_PROGRESS the component setting the parameter will extend its timeout (PARAM_EXT_ACK will be re-sent when the write completes)

                                                                                                                                                                                                                                                                                                            Parameters can be written individually by sending the parameter name and value pair to the GCS, as shown:

                                                                                                                                                                                                                                                                                                            For long-running write operations drone may initially respond with PARAM_ACK_IN_PROGRESS:

                                                                                                                                                                                                                                                                                                            The sequence of operations is:

                                                                                                                                                                                                                                                                                                            1. GCS (client) sends PARAM_EXT_SET specifying the param name to update and its new value (also target system/component and the param type).
                                                                                                                                                                                                                                                                                                            2. GCS starts timout waiting for acknowledgment (in the form of a PARAM_EXT_ACK message).
                                                                                                                                                                                                                                                                                                            3. Drone (starts to) write parameter and responds by broadcasting a PARAM_EXT_ACK.
                                                                                                                                                                                                                                                                                                              • If the write succeeded the PARAM_EXT_ACK will contain a result of PARAM_ACK_ACCEPTED and the updated parameter value.
                                                                                                                                                                                                                                                                                                              • If the parameter was unknown or of an unsupported type PARAM_EXT_ACK will contain a result of PARAM_ACK_VALUE_UNSUPPORTED and the current parameter value will be XXXXX.
                                                                                                                                                                                                                                                                                                              • If the write failed for another reason then PARAM_EXT_ACK will contain a result of PARAM_ACK_FAILED and the current parameter value.
                                                                                                                                                                                                                                                                                                              • If the write operation is long-running the PARAM_EXT_ACK will contain a result of PARAM_ACK_IN_PROGRESS and the XXXX parameter value. In this case the recipient should increase their timeout and way for another PARAM_EXT_ACK. PARAM_EXT_ACK should be resent when the operation completes.
                                                                                                                                                                                                                                                                                                            4. GCS should update the parameter cache (if used) with the new value.
                                                                                                                                                                                                                                                                                                            5. The GCS may restart the sequence if an expected PARAM_EXT_ACK is not received within the timeout, or if the write operation fails.

                                                                                                                                                                                                                                                                                                            Implementations

                                                                                                                                                                                                                                                                                                            QGroundControl: QGCCameraIO.h, QGCCameraIO.cc

                                                                                                                                                                                                                                                                                                            results matching ""

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                                                                                                                                                                                                                                                                                                              \ No newline at end of file diff --git a/en/services/payload.html b/en/services/payload.html index 3baf5a3b3..876d3fd92 100644 --- a/en/services/payload.html +++ b/en/services/payload.html @@ -1 +1 @@ -Payload Protocols · MAVLink Developer Guide
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                                                                                                                                                                                                                                                                                                              Payload Protocols

                                                                                                                                                                                                                                                                                                              MAVLink defines a number of commands for directly controlling particular types of payloads like winches and grippers, and for controlling generic payloads. In addition there are commands for payload placement in missions.

                                                                                                                                                                                                                                                                                                              Camera and Gimbal payloads are covered in their own topics.

                                                                                                                                                                                                                                                                                                              Payload-Specific Commands

                                                                                                                                                                                                                                                                                                              MAVLink defines a number of commands for controlling specific types of payload hardware, including: winches, grippers, spotlights, etc. These commands may be used in both missions and commands, if supported by the target system.

                                                                                                                                                                                                                                                                                                              They should be used (where supported) in preference to generic payload commands, as generally they provide more "tailored" control over the payload, a better GCS user experience, and more informative logs.

                                                                                                                                                                                                                                                                                                              MessageDescription
                                                                                                                                                                                                                                                                                                              MAV_CMD_DO_GRIPPERCommand to engage and release a gripper.
                                                                                                                                                                                                                                                                                                              MAV_CMD_DO_WINCHCommand to operate a specified winch.
                                                                                                                                                                                                                                                                                                              MAV_CMD_ILLUMINATOR_ON_OFFCommand to turn illuminators ON/OFF. An illuminator is a light source that for lighting up dark areas external to the system, such as a headlight or searchlight.

                                                                                                                                                                                                                                                                                                              Generic Payload Commands

                                                                                                                                                                                                                                                                                                              MAVLink has a number of commands for setting actuator outputs. These can be used to control arbitrary/generic payloads.

                                                                                                                                                                                                                                                                                                              Use the commands for known payload types where possible as they are more intuitive for users, and in logs.

                                                                                                                                                                                                                                                                                                              MessageDescription
                                                                                                                                                                                                                                                                                                              MAV_CMD_DO_SET_ACTUATORSets actuators (e.g. servos) to a desired value. The actuator numbers are mapped to specific outputs (e.g. on any MAIN or AUX PWM or UAVCAN) using a flight-stack specific mechanism (for example, parameters).
                                                                                                                                                                                                                                                                                                              MAV_CMD_DO_SET_SERVOSets a servo, identified by a specified instance number, to a specified PWM value.
                                                                                                                                                                                                                                                                                                              MAV_CMD_DO_SET_RELAYSet a specified relay instance on or off.
                                                                                                                                                                                                                                                                                                              MAV_CMD_DO_REPEAT_RELAYCycle a relay on and off for a desired number of cycles with a desired period.

                                                                                                                                                                                                                                                                                                              Implementations:

                                                                                                                                                                                                                                                                                                              • MAV_CMD_DO_SET_ACTUATOR is more recent than MAV_CMD_DO_SET_SERVO, but has not yet been widely adopted.
                                                                                                                                                                                                                                                                                                                • Only implemented only on PX4 (June 2021). For more information see the PX4 User Guide.
                                                                                                                                                                                                                                                                                                              • MAV_CMD_DO_SET_SERVO is impemented on both ArduPilot and PX4 (Missions only). In both cases instance numbers map to corresponding AUX outputs.

                                                                                                                                                                                                                                                                                                              Payload Deployment Commands

                                                                                                                                                                                                                                                                                                              These commands can be used to deploy a payload at a specfic location, controlling the approach and land behaviour.

                                                                                                                                                                                                                                                                                                              MessageDescription
                                                                                                                                                                                                                                                                                                              MAV_CMD_NAV_PAYLOAD_PLACEMove to target location, descend and release payload.

                                                                                                                                                                                                                                                                                                              Implementations:

                                                                                                                                                                                                                                                                                                              results matching ""

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                                                                                                                                                                                                                                                                                                                \ No newline at end of file +Payload Protocols · MAVLink Developer Guide
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                                                                                                                                                                                                                                                                                                                Payload Protocols

                                                                                                                                                                                                                                                                                                                MAVLink defines a number of commands for directly controlling particular types of payloads like winches and grippers, and for controlling generic payloads. In addition there are commands for payload placement in missions.

                                                                                                                                                                                                                                                                                                                Camera and Gimbal payloads are covered in their own topics.

                                                                                                                                                                                                                                                                                                                Payload-Specific Commands

                                                                                                                                                                                                                                                                                                                MAVLink defines a number of commands for controlling specific types of payload hardware, including: winches, grippers, spotlights, etc. These commands may be used in both missions and commands, if supported by the target system.

                                                                                                                                                                                                                                                                                                                They should be used (where supported) in preference to generic payload commands, as generally they provide more "tailored" control over the payload, a better GCS user experience, and more informative logs.

                                                                                                                                                                                                                                                                                                                MessageDescription
                                                                                                                                                                                                                                                                                                                MAV_CMD_DO_GRIPPERCommand to engage and release a gripper.
                                                                                                                                                                                                                                                                                                                MAV_CMD_DO_WINCHCommand to operate a specified winch.
                                                                                                                                                                                                                                                                                                                MAV_CMD_ILLUMINATOR_ON_OFFCommand to turn illuminators ON/OFF. An illuminator is a light source that for lighting up dark areas external to the system, such as a headlight or searchlight.

                                                                                                                                                                                                                                                                                                                Generic Payload Commands

                                                                                                                                                                                                                                                                                                                MAVLink has a number of commands for setting actuator outputs. These can be used to control arbitrary/generic payloads.

                                                                                                                                                                                                                                                                                                                Use the commands for known payload types where possible as they are more intuitive for users, and in logs.

                                                                                                                                                                                                                                                                                                                MessageDescription
                                                                                                                                                                                                                                                                                                                MAV_CMD_DO_SET_ACTUATORSets actuators (e.g. servos) to a desired value. The actuator numbers are mapped to specific outputs (e.g. on any MAIN or AUX PWM or UAVCAN) using a flight-stack specific mechanism (for example, parameters).
                                                                                                                                                                                                                                                                                                                MAV_CMD_DO_SET_SERVOSets a servo, identified by a specified instance number, to a specified PWM value.
                                                                                                                                                                                                                                                                                                                MAV_CMD_DO_SET_RELAYSet a specified relay instance on or off.
                                                                                                                                                                                                                                                                                                                MAV_CMD_DO_REPEAT_RELAYCycle a relay on and off for a desired number of cycles with a desired period.

                                                                                                                                                                                                                                                                                                                Implementations:

                                                                                                                                                                                                                                                                                                                • MAV_CMD_DO_SET_ACTUATOR is more recent than MAV_CMD_DO_SET_SERVO, but has not yet been widely adopted.
                                                                                                                                                                                                                                                                                                                  • Only implemented only on PX4 (June 2021). For more information see the PX4 User Guide.
                                                                                                                                                                                                                                                                                                                • MAV_CMD_DO_SET_SERVO is impemented on both ArduPilot and PX4 (Missions only). In both cases instance numbers map to corresponding AUX outputs.

                                                                                                                                                                                                                                                                                                                Payload Deployment Commands

                                                                                                                                                                                                                                                                                                                These commands can be used to deploy a payload at a specfic location, controlling the approach and land behaviour.

                                                                                                                                                                                                                                                                                                                MessageDescription
                                                                                                                                                                                                                                                                                                                MAV_CMD_NAV_PAYLOAD_PLACEMove to target location, descend and release payload.

                                                                                                                                                                                                                                                                                                                Implementations:

                                                                                                                                                                                                                                                                                                                results matching ""

                                                                                                                                                                                                                                                                                                                  No results matching ""

                                                                                                                                                                                                                                                                                                                  \ No newline at end of file diff --git a/en/services/ping.html b/en/services/ping.html index 552c7d38c..e86f02938 100644 --- a/en/services/ping.html +++ b/en/services/ping.html @@ -1 +1 @@ -Ping Protocol · MAVLink Developer Guide
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                                                                                                                                                                                                                                                                                                                  PING Protocol

                                                                                                                                                                                                                                                                                                                  The PING Protocol enables a system to measure system latencies on any connection: serial port, radio modem, UDP etc.

                                                                                                                                                                                                                                                                                                                  The PING protocol is implemented with just the PING message. The message is sent with a timestamp and a sequence number that are returned by recipients, and can hence be used to determine the round-trip time.

                                                                                                                                                                                                                                                                                                                  Ping Sequence

                                                                                                                                                                                                                                                                                                                  A simplified sequence diagram is given below:

                                                                                                                                                                                                                                                                                                                  Mermaid sequence: Ping

                                                                                                                                                                                                                                                                                                                  The pinging system initially populates a PING message with:

                                                                                                                                                                                                                                                                                                                  • time_usec: Current system timestamp.
                                                                                                                                                                                                                                                                                                                  • seq: Current PING sequence number (n, n+1, ...). This should be iterated for every PING message sent and overflow back to zero.
                                                                                                                                                                                                                                                                                                                  • target_system and target_component: 0 (indicates a PING request).
                                                                                                                                                                                                                                                                                                                  • The message header automatically includes the sender system.

                                                                                                                                                                                                                                                                                                                  The message may be received by multiple systems. All pinged systems should respond with another PING message where:

                                                                                                                                                                                                                                                                                                                  • The original timestamp and sequence number from the receive PING are sent back in the response.
                                                                                                                                                                                                                                                                                                                  • target_system and target_component are set to the ids of the pinging system from the incoming ping message header.

                                                                                                                                                                                                                                                                                                                  The original pinging system:

                                                                                                                                                                                                                                                                                                                  • Receives a PING message with target_system and target_component matching its address.

                                                                                                                                                                                                                                                                                                                    Any non-zero target system/component indicates a response message. The matching ids inform the system that it is the intended recipient.

                                                                                                                                                                                                                                                                                                                  • The system calculates the latency from the current system time and the time in the response PING for the matching sequence number.
                                                                                                                                                                                                                                                                                                                  • A system that is sending a single PING can use a timeout to detect a dropped packet. A system that is streaming (multiple) PING messages should not start detecting dropped packets until after the first responses have been received (to ensure that dropped packets are not just "late").

                                                                                                                                                                                                                                                                                                                  C Implementation

                                                                                                                                                                                                                                                                                                                  The protocol has been implemented in C by PX4 and QGroundControl. This implementation can be used in your own code within the terms of their software licenses.

                                                                                                                                                                                                                                                                                                                  PX4 Implementation:

                                                                                                                                                                                                                                                                                                                  QGroundControl implementation:

                                                                                                                                                                                                                                                                                                                  results matching ""

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                                                                                                                                                                                                                                                                                                                    PING Protocol

                                                                                                                                                                                                                                                                                                                    The PING Protocol enables a system to measure system latencies on any connection: serial port, radio modem, UDP etc.

                                                                                                                                                                                                                                                                                                                    The PING protocol is implemented with just the PING message. The message is sent with a timestamp and a sequence number that are returned by recipients, and can hence be used to determine the round-trip time.

                                                                                                                                                                                                                                                                                                                    Ping Sequence

                                                                                                                                                                                                                                                                                                                    A simplified sequence diagram is given below:

                                                                                                                                                                                                                                                                                                                    Mermaid sequence: Ping

                                                                                                                                                                                                                                                                                                                    The pinging system initially populates a PING message with:

                                                                                                                                                                                                                                                                                                                    • time_usec: Current system timestamp.
                                                                                                                                                                                                                                                                                                                    • seq: Current PING sequence number (n, n+1, ...). This should be iterated for every PING message sent and overflow back to zero.
                                                                                                                                                                                                                                                                                                                    • target_system and target_component: 0 (indicates a PING request).
                                                                                                                                                                                                                                                                                                                    • The message header automatically includes the sender system.

                                                                                                                                                                                                                                                                                                                    The message may be received by multiple systems. All pinged systems should respond with another PING message where:

                                                                                                                                                                                                                                                                                                                    • The original timestamp and sequence number from the receive PING are sent back in the response.
                                                                                                                                                                                                                                                                                                                    • target_system and target_component are set to the ids of the pinging system from the incoming ping message header.

                                                                                                                                                                                                                                                                                                                    The original pinging system:

                                                                                                                                                                                                                                                                                                                    • Receives a PING message with target_system and target_component matching its address.

                                                                                                                                                                                                                                                                                                                      Any non-zero target system/component indicates a response message. The matching ids inform the system that it is the intended recipient.

                                                                                                                                                                                                                                                                                                                    • The system calculates the latency from the current system time and the time in the response PING for the matching sequence number.
                                                                                                                                                                                                                                                                                                                    • A system that is sending a single PING can use a timeout to detect a dropped packet. A system that is streaming (multiple) PING messages should not start detecting dropped packets until after the first responses have been received (to ensure that dropped packets are not just "late").

                                                                                                                                                                                                                                                                                                                    C Implementation

                                                                                                                                                                                                                                                                                                                    The protocol has been implemented in C by PX4 and QGroundControl. This implementation can be used in your own code within the terms of their software licenses.

                                                                                                                                                                                                                                                                                                                    PX4 Implementation:

                                                                                                                                                                                                                                                                                                                    QGroundControl implementation:

                                                                                                                                                                                                                                                                                                                    results matching ""

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                                                                                                                                                                                                                                                                                                                      \ No newline at end of file diff --git a/en/services/standard_modes.html b/en/services/standard_modes.html index 9e3398cb8..f891f4a40 100644 --- a/en/services/standard_modes.html +++ b/en/services/standard_modes.html @@ -1 +1 @@ -Standard Flight Modes (WIP) · MAVLink Developer Guide
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                                                                                                                                                                                                                                                                                                                      Standard Modes Protocol (WIP)

                                                                                                                                                                                                                                                                                                                      This protocol is a work in progress and may change. It has an initial implementation in PX4 and QGroundControl (daily).

                                                                                                                                                                                                                                                                                                                      The MAVLink standard modes protocol allows a GCS to construct a UI allowing selection and display of available flight modes without prior knowledge of the connected flight stack.

                                                                                                                                                                                                                                                                                                                      The protocol provides:

                                                                                                                                                                                                                                                                                                                      • Definitions of standard modes. These are modes that behave similarly enough across flight stacks that users can select and control them in the same way. For example, modes for taking off and landing, executing missions, holding position, and so on.

                                                                                                                                                                                                                                                                                                                      • Enumeration of all flight modes supported by the flight stack, both standard and custom.

                                                                                                                                                                                                                                                                                                                        The provided flight mode information includes:

                                                                                                                                                                                                                                                                                                                        • Flags indicating whether particular custom modes can be selected or just displayed, and if they are displayed, whether they are advanced.
                                                                                                                                                                                                                                                                                                                        • A name/metadata string that can either be used to fetch metadata for the mode (such as a name and description), or directly as the name for custom modes.

                                                                                                                                                                                                                                                                                                                      • Notification of the current mode.

                                                                                                                                                                                                                                                                                                                      • A command to set a standard mode.

                                                                                                                                                                                                                                                                                                                      There are additional optional messages/features to allow:

                                                                                                                                                                                                                                                                                                                      • Modes to be enabled and disabled dynamically.
                                                                                                                                                                                                                                                                                                                      • Overriding of mode metadata (provide a metadata key).

                                                                                                                                                                                                                                                                                                                      Background

                                                                                                                                                                                                                                                                                                                      MAVLink previously only standardized very high level base modes (defined in MAV_MODE), which cover things like whether the vehicle is ready to fly, being tested, manually controlled, under GCS manual control, or executing a mission. More specific flight behaviour/modes are defined in custom modes, which are specific to each flight stack.

                                                                                                                                                                                                                                                                                                                      Mechanisms are provided to set the base and custom modes (MAV_CMD_DO_SET_MODE), and the HEARTBEAT contains the current/active base_mode and custom_mode. However, prior to the addition of this service, there were no mechanisms query the available custom modes, so a GCS would have to know about a flight stack in advance in order to construct its mode display and setting UI.

                                                                                                                                                                                                                                                                                                                      Most autopilots implement a set of custom flight modes that have very similar behaviour or intent, for example: position-hold mode, altitude-hold mode, mission mode, safety return/RTL. However because these are all identified by different custom mode identifiers on different flight stacks, there is no way to be sure what these "mean" without pre-existing knowledge.

                                                                                                                                                                                                                                                                                                                      This service defines standard modes, allowing a GCS to provide baseline support for common flight behaviour and test behaviour without explicit customisation for each autopilot. This is therefore a big step towards MAVLink being capable of being truly autopilot-agnostic for a useful minimal set of functionality.

                                                                                                                                                                                                                                                                                                                      For more information see MAVLink RFC0016 Standard modes.

                                                                                                                                                                                                                                                                                                                      Message/Enum Summary

                                                                                                                                                                                                                                                                                                                      Messages

                                                                                                                                                                                                                                                                                                                      MessageDescription
                                                                                                                                                                                                                                                                                                                      CURRENT_MODEGet information about the current active mode, including both its standard and custom mode identifiers (if defined). Also "the intended mode", to indicate the case where setting a mode failed.
                                                                                                                                                                                                                                                                                                                      AVAILABLE_MODESGet information about all available modes (both standard and custom) allowing generation of a UI and setting of modes. Requested using MAV_CMD_REQUEST_MESSAGE (set param2=0 for all modes).
                                                                                                                                                                                                                                                                                                                      AVAILABLE_MODES_MONITORProvides a sequence number that allows clients to determine if the set of available modes has changed, and hence whether the AVAILABLE_MODES must be re-requested. Sent on first mode change and subsequently streamed at low rate.

                                                                                                                                                                                                                                                                                                                      Enums

                                                                                                                                                                                                                                                                                                                      EnumDescription
                                                                                                                                                                                                                                                                                                                      MAV_STANDARD_MODEIdentifiers for the standard modes (modes that have a well understood meaning across flight stacks and vehicle types). Used in AVAILABLE_MODES and CURRENT_MODE.
                                                                                                                                                                                                                                                                                                                      MAV_MODE_PROPERTYProperties of a mode supplied in AVAILABLE_MODES, which may be used for GCS layout. For example MAV_MODE_PROPERTY_NOT_USER_SELECTABLE indicates that a GCS should not include the mode in UI elements that allow mode selection.

                                                                                                                                                                                                                                                                                                                      Commands

                                                                                                                                                                                                                                                                                                                      CommandDescription
                                                                                                                                                                                                                                                                                                                      MAV_CMD_DO_SET_STANDARD_MODEEnable the specified standard MAVLink mode (MAV_STANDARD_MODE). ACK with MAV_RESULT_FAILED if the mode is not supported by the vehicle.
                                                                                                                                                                                                                                                                                                                      MAV_CMD_REQUEST_MESSAGEUsed to request AVAILABLE_MODES message

                                                                                                                                                                                                                                                                                                                      Operations

                                                                                                                                                                                                                                                                                                                      Getting Available Modes

                                                                                                                                                                                                                                                                                                                      All available modes can be enumerated by using MAV_CMD_REQUEST_MESSAGE to request the AVAILABLE_MODES (435) message. Each AVAILABLE_MODES message includes the total number of modes and the index of the current mode, so a GCS should first query for all modes (MAV_CMD_REQUEST_MESSAGE.param2=0), and then individually query for any AVAILABLE_MODES message that it missed (MAV_CMD_REQUEST_MESSAGE.param2="missing index number").

                                                                                                                                                                                                                                                                                                                      Notes:

                                                                                                                                                                                                                                                                                                                      • AVAILABLE_MODES includes the total number of modes and the index of the current mode. This indexing is provided to allow a GCS to confirm that all modes have been collected, and re-request any that are missing. It is internal and should not be relied upon to have any order between reboots or if the set of available modes changes.
                                                                                                                                                                                                                                                                                                                      • The GCS can request this message using MAV_CMD_REQUEST_MESSAGE, specifying either "send all modes" or "send mode with this index".
                                                                                                                                                                                                                                                                                                                      • The flight stack should only emit a single AVAILABLE_MODES for each mode on each request. If a mode is both custom and standard it should be emitted as a "standard mode" (this allows the GCS to list the "standard modes" and separately show the additional "custom modes").
                                                                                                                                                                                                                                                                                                                      • The modes that are emitted depend on the current vehicle type. For example, "takeoff" would not be emitted for a rover type, but would for a copter.

                                                                                                                                                                                                                                                                                                                      The sequence for requesting all modes is shown below:

                                                                                                                                                                                                                                                                                                                      Mermaid Sequence: Requesting AVAILABLE MODES

                                                                                                                                                                                                                                                                                                                      In addition to the fields for enumerating the available modes, AVAILABLE_MODES has the following fields:

                                                                                                                                                                                                                                                                                                                      • standard_mode: The standard mode represented by this AVAILABLE_MODES (MAV_STANDARD_MODE). 0 for a custom mode that is not also a standard mode (MAV_STANDARD_MODE_NON_STANDARD).
                                                                                                                                                                                                                                                                                                                      • custom_mode: The id of the custom mode represented by this AVAILABLE_MODES (if any).
                                                                                                                                                                                                                                                                                                                      • properties: Flags indicating the UI properties of this mode. These provide hints about where the mode can/should appear in the UI. For example, MAV_MODE_PROPERTY_NOT_USER_SELECTABLE indicates that the mode should not be set by a user, and hence should not appear in selection lists, while MAV_MODE_PROPERTY_ADVANCED indicates a mode that is harder to fly, and might be visually separated from other modes in the UI.
                                                                                                                                                                                                                                                                                                                      • mode_name: Mode metadata key or name, with null termination character.
                                                                                                                                                                                                                                                                                                                        • The field can act as both a key for determining metadata associated with the mode, or as a fallback name to use for the mode if the GCS has no metadata.
                                                                                                                                                                                                                                                                                                                        • It can be used to override metadata on existing modes, for example to enhance standard metadata with additional information about autopilot-specific behaviour, or can provide metadata for any other static or dynamic mode.
                                                                                                                                                                                                                                                                                                                        • The field must be human readable and autopilot-unique.
                                                                                                                                                                                                                                                                                                                        • Generally does not have to be set for standard modes, where the ground station might be expected to already have metadata (but if it is, it will be used as a metadata key).
                                                                                                                                                                                                                                                                                                                        • For more information see Modes Metadata below.

                                                                                                                                                                                                                                                                                                                      Setting Modes

                                                                                                                                                                                                                                                                                                                      Standard modes can be set using the MAV_CMD_DO_SET_STANDARD_MODE command. This will ACK with MAV_RESULT_ACCEPTED if the mode can change, and MAV_RESULT_FAILED if the particular standard mode is not supported.

                                                                                                                                                                                                                                                                                                                      Custom modes must be set with MAV_CMD_DO_SET_MODE.

                                                                                                                                                                                                                                                                                                                      If both standard_mode and custom_mode are set you can determine the mapping between modes and might therefore use MAV_CMD_DO_SET_MODE to set a standard mode. MAV_CMD_DO_SET_STANDARD_MODE is preferred for setting standard modes.

                                                                                                                                                                                                                                                                                                                      Getting Current Active Mode

                                                                                                                                                                                                                                                                                                                      The current active mode is provided in CURRENT_MODE, which has both standard mode and custom mode fields.

                                                                                                                                                                                                                                                                                                                      This is streamed (nominally 0.5 Hz). A GCS can use it to configure the UI and display appropriate metadata for the current mode.

                                                                                                                                                                                                                                                                                                                      The message also has an intended_custom_mode field, which indicates the last (custom) mode that was commanded. This should match the custom_mode but might not if a commanded mode cannot be entered, or if the mode is exited due to a failsafe.

                                                                                                                                                                                                                                                                                                                      Note that the current custom mode is also published in the HEARTBEAT.

                                                                                                                                                                                                                                                                                                                      Dynamic Mode Changes

                                                                                                                                                                                                                                                                                                                      The AVAILABLE_MODES_MONITOR is an optional part of the protocol that allows a MAVLink system to dynamically change the set of modes it supports at runtime (for example, using Lua or other onboard scripting languages, or offboard from a companion computer).

                                                                                                                                                                                                                                                                                                                      The message sequence number field is iterated sequentially whenever the set of available modes change. A GCS can detect this change and re-request the set of AVAILABLE_MODES.

                                                                                                                                                                                                                                                                                                                      The message should be emitted when the set of available modes changes. After the set of modes changes the first time, it should also be streamed at low rate (nominally 0.1 Hz).

                                                                                                                                                                                                                                                                                                                      Mode Metadata

                                                                                                                                                                                                                                                                                                                      Mode metadata is the information that a ground station uses represent a mode in the UI. This includes the mode name, but might also include descriptions, translations and other information (mode metadata schema is yet to be defined).

                                                                                                                                                                                                                                                                                                                      A GCS may already have knowledge of standard or custom modes and can provide this metadata based on the mode, or their might be particular "additional" information that it can provide. The mode_name can be used as a key for finding this metadata, or as a fallback string if the GCS has no metadata for the mode.

                                                                                                                                                                                                                                                                                                                      Ground stations are expected to use the following "fallback" approach for matching modes to their metadata:

                                                                                                                                                                                                                                                                                                                      1. mode_name field as a metadata key. If this field is defined and can be matched to metadata, the metadata should be used for the mode.
                                                                                                                                                                                                                                                                                                                      2. standard_mode: Use metadata associated with this standard mode if no metadata can be matched using mode_name.
                                                                                                                                                                                                                                                                                                                      3. custom_mode: Use metadata associated with the custom mode if no metadata can be matched using mode_name or standard_mode.
                                                                                                                                                                                                                                                                                                                      4. mode_name field as a fallback mode name string. This should be used as the name if no other metadata can be mapped.

                                                                                                                                                                                                                                                                                                                      This allows "full" autopilot-specific metadata to be provided for modes, including dynamic modes such as Lua scripts (where the custom_mode might be dynamically allocated). It also allows overriding of any existing metadata for any mode with vehicle-specific data. In the worse case, if there is no metadata for a custom mode, the mode_name string can still be used to represent the mode in the UI.

                                                                                                                                                                                                                                                                                                                      Note that the mode_name must be human readable and unique for the autopilot.

                                                                                                                                                                                                                                                                                                                      Implementations

                                                                                                                                                                                                                                                                                                                      PX4 v1.15 and later supports this service, including the optional part (AVAILABLE_MODES_MONITOR) (this allows ROS2 modes added using the PX4 ROS 2 Interface Library to be dynamically updated in a GCS). At time of writing it only exposes the standard modes that are common to all vehicles as standard modes, such as takeoff and landing, and missions.

                                                                                                                                                                                                                                                                                                                      QGC also uses this service to build the mode display/setting UI, when supported by the autopilot. This feature is supported in daily builds (at time of writing).

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                                                                                                                                                                                                                                                                                                                        \ No newline at end of file +Standard Flight Modes (WIP) · MAVLink Developer Guide
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                                                                                                                                                                                                                                                                                                                        Standard Modes Protocol (WIP)

                                                                                                                                                                                                                                                                                                                        This protocol is a work in progress and may change. It has an initial implementation in PX4 and QGroundControl (daily).

                                                                                                                                                                                                                                                                                                                        The MAVLink standard modes protocol allows a GCS to construct a UI allowing selection and display of available flight modes without prior knowledge of the connected flight stack.

                                                                                                                                                                                                                                                                                                                        The protocol provides:

                                                                                                                                                                                                                                                                                                                        • Definitions of standard modes. These are modes that behave similarly enough across flight stacks that users can select and control them in the same way. For example, modes for taking off and landing, executing missions, holding position, and so on.

                                                                                                                                                                                                                                                                                                                        • Enumeration of all flight modes supported by the flight stack, both standard and custom.

                                                                                                                                                                                                                                                                                                                          The provided flight mode information includes:

                                                                                                                                                                                                                                                                                                                          • Flags indicating whether particular custom modes can be selected or just displayed, and if they are displayed, whether they are advanced.
                                                                                                                                                                                                                                                                                                                          • A name/metadata string that can either be used to fetch metadata for the mode (such as a name and description), or directly as the name for custom modes.

                                                                                                                                                                                                                                                                                                                        • Notification of the current mode.

                                                                                                                                                                                                                                                                                                                        • A command to set a standard mode.

                                                                                                                                                                                                                                                                                                                        There are additional optional messages/features to allow:

                                                                                                                                                                                                                                                                                                                        • Modes to be enabled and disabled dynamically.
                                                                                                                                                                                                                                                                                                                        • Overriding of mode metadata (provide a metadata key).

                                                                                                                                                                                                                                                                                                                        Background

                                                                                                                                                                                                                                                                                                                        MAVLink previously only standardized very high level base modes (defined in MAV_MODE), which cover things like whether the vehicle is ready to fly, being tested, manually controlled, under GCS manual control, or executing a mission. More specific flight behaviour/modes are defined in custom modes, which are specific to each flight stack.

                                                                                                                                                                                                                                                                                                                        Mechanisms are provided to set the base and custom modes (MAV_CMD_DO_SET_MODE), and the HEARTBEAT contains the current/active base_mode and custom_mode. However, prior to the addition of this service, there were no mechanisms query the available custom modes, so a GCS would have to know about a flight stack in advance in order to construct its mode display and setting UI.

                                                                                                                                                                                                                                                                                                                        Most autopilots implement a set of custom flight modes that have very similar behaviour or intent, for example: position-hold mode, altitude-hold mode, mission mode, safety return/RTL. However because these are all identified by different custom mode identifiers on different flight stacks, there is no way to be sure what these "mean" without pre-existing knowledge.

                                                                                                                                                                                                                                                                                                                        This service defines standard modes, allowing a GCS to provide baseline support for common flight behaviour and test behaviour without explicit customisation for each autopilot. This is therefore a big step towards MAVLink being capable of being truly autopilot-agnostic for a useful minimal set of functionality.

                                                                                                                                                                                                                                                                                                                        For more information see MAVLink RFC0016 Standard modes.

                                                                                                                                                                                                                                                                                                                        Message/Enum Summary

                                                                                                                                                                                                                                                                                                                        Messages

                                                                                                                                                                                                                                                                                                                        MessageDescription
                                                                                                                                                                                                                                                                                                                        CURRENT_MODEGet information about the current active mode, including both its standard and custom mode identifiers (if defined). Also "the intended mode", to indicate the case where setting a mode failed.
                                                                                                                                                                                                                                                                                                                        AVAILABLE_MODESGet information about all available modes (both standard and custom) allowing generation of a UI and setting of modes. Requested using MAV_CMD_REQUEST_MESSAGE (set param2=0 for all modes).
                                                                                                                                                                                                                                                                                                                        AVAILABLE_MODES_MONITORProvides a sequence number that allows clients to determine if the set of available modes has changed, and hence whether the AVAILABLE_MODES must be re-requested. Sent on first mode change and subsequently streamed at low rate.

                                                                                                                                                                                                                                                                                                                        Enums

                                                                                                                                                                                                                                                                                                                        EnumDescription
                                                                                                                                                                                                                                                                                                                        MAV_STANDARD_MODEIdentifiers for the standard modes (modes that have a well understood meaning across flight stacks and vehicle types). Used in AVAILABLE_MODES and CURRENT_MODE.
                                                                                                                                                                                                                                                                                                                        MAV_MODE_PROPERTYProperties of a mode supplied in AVAILABLE_MODES, which may be used for GCS layout. For example MAV_MODE_PROPERTY_NOT_USER_SELECTABLE indicates that a GCS should not include the mode in UI elements that allow mode selection.

                                                                                                                                                                                                                                                                                                                        Commands

                                                                                                                                                                                                                                                                                                                        CommandDescription
                                                                                                                                                                                                                                                                                                                        MAV_CMD_DO_SET_STANDARD_MODEEnable the specified standard MAVLink mode (MAV_STANDARD_MODE). ACK with MAV_RESULT_FAILED if the mode is not supported by the vehicle.
                                                                                                                                                                                                                                                                                                                        MAV_CMD_REQUEST_MESSAGEUsed to request AVAILABLE_MODES message

                                                                                                                                                                                                                                                                                                                        Operations

                                                                                                                                                                                                                                                                                                                        Getting Available Modes

                                                                                                                                                                                                                                                                                                                        All available modes can be enumerated by using MAV_CMD_REQUEST_MESSAGE to request the AVAILABLE_MODES (435) message. Each AVAILABLE_MODES message includes the total number of modes and the index of the current mode, so a GCS should first query for all modes (MAV_CMD_REQUEST_MESSAGE.param2=0), and then individually query for any AVAILABLE_MODES message that it missed (MAV_CMD_REQUEST_MESSAGE.param2="missing index number").

                                                                                                                                                                                                                                                                                                                        Notes:

                                                                                                                                                                                                                                                                                                                        • AVAILABLE_MODES includes the total number of modes and the index of the current mode. This indexing is provided to allow a GCS to confirm that all modes have been collected, and re-request any that are missing. It is internal and should not be relied upon to have any order between reboots or if the set of available modes changes.
                                                                                                                                                                                                                                                                                                                        • The GCS can request this message using MAV_CMD_REQUEST_MESSAGE, specifying either "send all modes" or "send mode with this index".
                                                                                                                                                                                                                                                                                                                        • The flight stack should only emit a single AVAILABLE_MODES for each mode on each request. If a mode is both custom and standard it should be emitted as a "standard mode" (this allows the GCS to list the "standard modes" and separately show the additional "custom modes").
                                                                                                                                                                                                                                                                                                                        • The modes that are emitted depend on the current vehicle type. For example, "takeoff" would not be emitted for a rover type, but would for a copter.

                                                                                                                                                                                                                                                                                                                        The sequence for requesting all modes is shown below:

                                                                                                                                                                                                                                                                                                                        Mermaid Sequence: Requesting AVAILABLE MODES

                                                                                                                                                                                                                                                                                                                        In addition to the fields for enumerating the available modes, AVAILABLE_MODES has the following fields:

                                                                                                                                                                                                                                                                                                                        • standard_mode: The standard mode represented by this AVAILABLE_MODES (MAV_STANDARD_MODE). 0 for a custom mode that is not also a standard mode (MAV_STANDARD_MODE_NON_STANDARD).
                                                                                                                                                                                                                                                                                                                        • custom_mode: The id of the custom mode represented by this AVAILABLE_MODES (if any).
                                                                                                                                                                                                                                                                                                                        • properties: Flags indicating the UI properties of this mode. These provide hints about where the mode can/should appear in the UI. For example, MAV_MODE_PROPERTY_NOT_USER_SELECTABLE indicates that the mode should not be set by a user, and hence should not appear in selection lists, while MAV_MODE_PROPERTY_ADVANCED indicates a mode that is harder to fly, and might be visually separated from other modes in the UI.
                                                                                                                                                                                                                                                                                                                        • mode_name: Mode metadata key or name, with null termination character.
                                                                                                                                                                                                                                                                                                                          • The field can act as both a key for determining metadata associated with the mode, or as a fallback name to use for the mode if the GCS has no metadata.
                                                                                                                                                                                                                                                                                                                          • It can be used to override metadata on existing modes, for example to enhance standard metadata with additional information about autopilot-specific behaviour, or can provide metadata for any other static or dynamic mode.
                                                                                                                                                                                                                                                                                                                          • The field must be human readable and autopilot-unique.
                                                                                                                                                                                                                                                                                                                          • Generally does not have to be set for standard modes, where the ground station might be expected to already have metadata (but if it is, it will be used as a metadata key).
                                                                                                                                                                                                                                                                                                                          • For more information see Modes Metadata below.

                                                                                                                                                                                                                                                                                                                        Setting Modes

                                                                                                                                                                                                                                                                                                                        Standard modes can be set using the MAV_CMD_DO_SET_STANDARD_MODE command. This will ACK with MAV_RESULT_ACCEPTED if the mode can change, and MAV_RESULT_FAILED if the particular standard mode is not supported.

                                                                                                                                                                                                                                                                                                                        Custom modes must be set with MAV_CMD_DO_SET_MODE.

                                                                                                                                                                                                                                                                                                                        If both standard_mode and custom_mode are set you can determine the mapping between modes and might therefore use MAV_CMD_DO_SET_MODE to set a standard mode. MAV_CMD_DO_SET_STANDARD_MODE is preferred for setting standard modes.

                                                                                                                                                                                                                                                                                                                        Getting Current Active Mode

                                                                                                                                                                                                                                                                                                                        The current active mode is provided in CURRENT_MODE, which has both standard mode and custom mode fields.

                                                                                                                                                                                                                                                                                                                        This is streamed (nominally 0.5 Hz). A GCS can use it to configure the UI and display appropriate metadata for the current mode.

                                                                                                                                                                                                                                                                                                                        The message also has an intended_custom_mode field, which indicates the last (custom) mode that was commanded. This should match the custom_mode but might not if a commanded mode cannot be entered, or if the mode is exited due to a failsafe.

                                                                                                                                                                                                                                                                                                                        Note that the current custom mode is also published in the HEARTBEAT.

                                                                                                                                                                                                                                                                                                                        Dynamic Mode Changes

                                                                                                                                                                                                                                                                                                                        The AVAILABLE_MODES_MONITOR is an optional part of the protocol that allows a MAVLink system to dynamically change the set of modes it supports at runtime (for example, using Lua or other onboard scripting languages, or offboard from a companion computer).

                                                                                                                                                                                                                                                                                                                        The message sequence number field is iterated sequentially whenever the set of available modes change. A GCS can detect this change and re-request the set of AVAILABLE_MODES.

                                                                                                                                                                                                                                                                                                                        The message should be emitted when the set of available modes changes. After the set of modes changes the first time, it should also be streamed at low rate (nominally 0.1 Hz).

                                                                                                                                                                                                                                                                                                                        Mode Metadata

                                                                                                                                                                                                                                                                                                                        Mode metadata is the information that a ground station uses represent a mode in the UI. This includes the mode name, but might also include descriptions, translations and other information (mode metadata schema is yet to be defined).

                                                                                                                                                                                                                                                                                                                        A GCS may already have knowledge of standard or custom modes and can provide this metadata based on the mode, or their might be particular "additional" information that it can provide. The mode_name can be used as a key for finding this metadata, or as a fallback string if the GCS has no metadata for the mode.

                                                                                                                                                                                                                                                                                                                        Ground stations are expected to use the following "fallback" approach for matching modes to their metadata:

                                                                                                                                                                                                                                                                                                                        1. mode_name field as a metadata key. If this field is defined and can be matched to metadata, the metadata should be used for the mode.
                                                                                                                                                                                                                                                                                                                        2. standard_mode: Use metadata associated with this standard mode if no metadata can be matched using mode_name.
                                                                                                                                                                                                                                                                                                                        3. custom_mode: Use metadata associated with the custom mode if no metadata can be matched using mode_name or standard_mode.
                                                                                                                                                                                                                                                                                                                        4. mode_name field as a fallback mode name string. This should be used as the name if no other metadata can be mapped.

                                                                                                                                                                                                                                                                                                                        This allows "full" autopilot-specific metadata to be provided for modes, including dynamic modes such as Lua scripts (where the custom_mode might be dynamically allocated). It also allows overriding of any existing metadata for any mode with vehicle-specific data. In the worse case, if there is no metadata for a custom mode, the mode_name string can still be used to represent the mode in the UI.

                                                                                                                                                                                                                                                                                                                        Note that the mode_name must be human readable and unique for the autopilot.

                                                                                                                                                                                                                                                                                                                        Implementations

                                                                                                                                                                                                                                                                                                                        PX4 v1.15 and later supports this service, including the optional part (AVAILABLE_MODES_MONITOR) (this allows ROS2 modes added using the PX4 ROS 2 Interface Library to be dynamically updated in a GCS). At time of writing it only exposes the standard modes that are common to all vehicles as standard modes, such as takeoff and landing, and missions.

                                                                                                                                                                                                                                                                                                                        QGC also uses this service to build the mode display/setting UI, when supported by the autopilot. This feature is supported in daily builds (at time of writing).

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                                                                                                                                                                                                                                                                                                                          \ No newline at end of file diff --git a/en/services/terrain.html b/en/services/terrain.html index 00c921d11..bbce1b600 100644 --- a/en/services/terrain.html +++ b/en/services/terrain.html @@ -1 +1 @@ -Terrain Protocol · MAVLink Developer Guide
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                                                                                                                                                                                                                                                                                                                          Terrain Protocol

                                                                                                                                                                                                                                                                                                                          The Terrain Protocol provides a mechanism for a vehicle to get terrain information (tiles) from a ground station, and for a ground station to check the autopilot terrain cache for a tile at a particular location.

                                                                                                                                                                                                                                                                                                                          Support for this protocol is indicated by AUTOPILOT_VERSION.capabilities by the MAV_PROTOCOL_CAPABILITY_TERRAIN flag.

                                                                                                                                                                                                                                                                                                                          A vehicle that supports this capability must also support terrain following in missions using the data. Note however that a vehicle may also support terrain handling in missions using a distance sensor, even if this protocol is not supported and capability flag is not set.

                                                                                                                                                                                                                                                                                                                          Message/Enum Summary

                                                                                                                                                                                                                                                                                                                          MessageDescription
                                                                                                                                                                                                                                                                                                                          TERRAIN_REQUESTRequest from drone (to GCS) for terrain data. The message specifies a mask indicating what tiles are required, and the GCS responds by sending TERRAIN_DATA for each tile. The drone will also stream TERRAIN_REPORT messages to provide progress updates while it is waiting for data.
                                                                                                                                                                                                                                                                                                                          TERRAIN_DATATerrain data from GCS for a particular tile (sent in response to a TERRAIN_REQUEST). The lat/lon and grid_spacing must be the same as the lat/lon from a TERRAIN_REQUEST.
                                                                                                                                                                                                                                                                                                                          TERRAIN_REPORTThe drone will stream TERRAIN_REPORT to indicate progress of terrain download, and in response to a TERRAIN_CHECK.
                                                                                                                                                                                                                                                                                                                          TERRAIN_CHECKRequest that the vehicle report terrain height at the given location (expected response is a TERRAIN_REPORT). Used by GCS to check if vehicle has all terrain data needed for a mission.

                                                                                                                                                                                                                                                                                                                          Sequences

                                                                                                                                                                                                                                                                                                                          Autopilot Terrain Map Request

                                                                                                                                                                                                                                                                                                                          The sequence for a drone to update its terrain altitude information is entirely driven by the drone, and is shown below.

                                                                                                                                                                                                                                                                                                                          In summary, the sequence is:

                                                                                                                                                                                                                                                                                                                          1. Drone sends TERRAIN_REQUEST to the GCS to request a set of tiles (specified in a mask).
                                                                                                                                                                                                                                                                                                                          2. The GCS responds by sending a TERRAIN_DATA for each tile set in the mask
                                                                                                                                                                                                                                                                                                                          3. The drone also streams TERRAIN_REPORT messages back to the GCS indicating the current state of the download
                                                                                                                                                                                                                                                                                                                            • TERRAIN_REPORT.pending and TERRAIN_REPORT.loaded indicate how many tiles are expected and have arrived, respectively.
                                                                                                                                                                                                                                                                                                                            • TERRAIN_REPORT.lat, .lon, .terrain_height, while duplicated in other messages, are useful for debugging (a GCS can check its own internal terrain data against what the information).
                                                                                                                                                                                                                                                                                                                          4. The drone must maintain its own record of what tiles have arrived/not arrived, and can re-request any that are missing using a further TERRAIN_REQUEST (with mask indicating just the missing tiles)

                                                                                                                                                                                                                                                                                                                          The diagram below shows the way the data is encoded within the TERRAIN_REQUEST and TERRAIN_DATA.

                                                                                                                                                                                                                                                                                                                          Terrain_report.mask data layout

                                                                                                                                                                                                                                                                                                                          TERRAIN_REQUEST.mask is a 64-bit value that represents a row major 8x7 array of (4x4) tiles. The the lat, lon fields indicate the position of the South-West corner of first grid position (tile). The tiles are allocated sequentially in rows (West to East) starting from the lowest significant bit of mask, and then in columns (South to North).

                                                                                                                                                                                                                                                                                                                          Each tile represents a 4x4 grid of altitude information. The spacing between the rows/columns in the tile is indicated by grid_spacing (the same value must be used in both request and data messages).

                                                                                                                                                                                                                                                                                                                          GCS Terrain Tile Check

                                                                                                                                                                                                                                                                                                                          The sequence for a GCS to check the autopilot terrain cache at a particular location is shown below.

                                                                                                                                                                                                                                                                                                                          In summary, the sequence is:

                                                                                                                                                                                                                                                                                                                          1. GCS sends TERRAIN_CHECK to the vehicle to request terrain information at a specific location.
                                                                                                                                                                                                                                                                                                                          2. The drone responds with a TERRAIN_REPORT message containing the tile information it has for that location. If it does not have tile information for the specified location, then the request is ignored.
                                                                                                                                                                                                                                                                                                                          3. GCS can verify that the terrain report matches a terrain check by comparing the latitude/longitude fields for both messages.

                                                                                                                                                                                                                                                                                                                          The protocol does not define how the ground station handles the case if no TERRAIN_REPORT is received (although it might resend the request after a timeout).

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                                                                                                                                                                                                                                                                                                                            Terrain Protocol

                                                                                                                                                                                                                                                                                                                            The Terrain Protocol provides a mechanism for a vehicle to get terrain information (tiles) from a ground station, and for a ground station to check the autopilot terrain cache for a tile at a particular location.

                                                                                                                                                                                                                                                                                                                            Support for this protocol is indicated by AUTOPILOT_VERSION.capabilities by the MAV_PROTOCOL_CAPABILITY_TERRAIN flag.

                                                                                                                                                                                                                                                                                                                            A vehicle that supports this capability must also support terrain following in missions using the data. Note however that a vehicle may also support terrain handling in missions using a distance sensor, even if this protocol is not supported and capability flag is not set.

                                                                                                                                                                                                                                                                                                                            Message/Enum Summary

                                                                                                                                                                                                                                                                                                                            MessageDescription
                                                                                                                                                                                                                                                                                                                            TERRAIN_REQUESTRequest from drone (to GCS) for terrain data. The message specifies a mask indicating what tiles are required, and the GCS responds by sending TERRAIN_DATA for each tile. The drone will also stream TERRAIN_REPORT messages to provide progress updates while it is waiting for data.
                                                                                                                                                                                                                                                                                                                            TERRAIN_DATATerrain data from GCS for a particular tile (sent in response to a TERRAIN_REQUEST). The lat/lon and grid_spacing must be the same as the lat/lon from a TERRAIN_REQUEST.
                                                                                                                                                                                                                                                                                                                            TERRAIN_REPORTThe drone will stream TERRAIN_REPORT to indicate progress of terrain download, and in response to a TERRAIN_CHECK.
                                                                                                                                                                                                                                                                                                                            TERRAIN_CHECKRequest that the vehicle report terrain height at the given location (expected response is a TERRAIN_REPORT). Used by GCS to check if vehicle has all terrain data needed for a mission.

                                                                                                                                                                                                                                                                                                                            Sequences

                                                                                                                                                                                                                                                                                                                            Autopilot Terrain Map Request

                                                                                                                                                                                                                                                                                                                            The sequence for a drone to update its terrain altitude information is entirely driven by the drone, and is shown below.

                                                                                                                                                                                                                                                                                                                            In summary, the sequence is:

                                                                                                                                                                                                                                                                                                                            1. Drone sends TERRAIN_REQUEST to the GCS to request a set of tiles (specified in a mask).
                                                                                                                                                                                                                                                                                                                            2. The GCS responds by sending a TERRAIN_DATA for each tile set in the mask
                                                                                                                                                                                                                                                                                                                            3. The drone also streams TERRAIN_REPORT messages back to the GCS indicating the current state of the download
                                                                                                                                                                                                                                                                                                                              • TERRAIN_REPORT.pending and TERRAIN_REPORT.loaded indicate how many tiles are expected and have arrived, respectively.
                                                                                                                                                                                                                                                                                                                              • TERRAIN_REPORT.lat, .lon, .terrain_height, while duplicated in other messages, are useful for debugging (a GCS can check its own internal terrain data against what the information).
                                                                                                                                                                                                                                                                                                                            4. The drone must maintain its own record of what tiles have arrived/not arrived, and can re-request any that are missing using a further TERRAIN_REQUEST (with mask indicating just the missing tiles)

                                                                                                                                                                                                                                                                                                                            The diagram below shows the way the data is encoded within the TERRAIN_REQUEST and TERRAIN_DATA.

                                                                                                                                                                                                                                                                                                                            Terrain_report.mask data layout

                                                                                                                                                                                                                                                                                                                            TERRAIN_REQUEST.mask is a 64-bit value that represents a row major 8x7 array of (4x4) tiles. The the lat, lon fields indicate the position of the South-West corner of first grid position (tile). The tiles are allocated sequentially in rows (West to East) starting from the lowest significant bit of mask, and then in columns (South to North).

                                                                                                                                                                                                                                                                                                                            Each tile represents a 4x4 grid of altitude information. The spacing between the rows/columns in the tile is indicated by grid_spacing (the same value must be used in both request and data messages).

                                                                                                                                                                                                                                                                                                                            GCS Terrain Tile Check

                                                                                                                                                                                                                                                                                                                            The sequence for a GCS to check the autopilot terrain cache at a particular location is shown below.

                                                                                                                                                                                                                                                                                                                            In summary, the sequence is:

                                                                                                                                                                                                                                                                                                                            1. GCS sends TERRAIN_CHECK to the vehicle to request terrain information at a specific location.
                                                                                                                                                                                                                                                                                                                            2. The drone responds with a TERRAIN_REPORT message containing the tile information it has for that location. If it does not have tile information for the specified location, then the request is ignored.
                                                                                                                                                                                                                                                                                                                            3. GCS can verify that the terrain report matches a terrain check by comparing the latitude/longitude fields for both messages.

                                                                                                                                                                                                                                                                                                                            The protocol does not define how the ground station handles the case if no TERRAIN_REPORT is received (although it might resend the request after a timeout).

                                                                                                                                                                                                                                                                                                                            results matching ""

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                                                                                                                                                                                                                                                                                                                              \ No newline at end of file diff --git a/en/services/timesync.html b/en/services/timesync.html index 64eaa0bee..5ddb751e4 100644 --- a/en/services/timesync.html +++ b/en/services/timesync.html @@ -1 +1 @@ -Time Synchronization · MAVLink Developer Guide
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                                                                                                                                                                                                                                                                                                                              Time Synchronization Protocol v2

                                                                                                                                                                                                                                                                                                                              This protocol is used to synchronize clocks on MAVLink components by estimating their time offset.

                                                                                                                                                                                                                                                                                                                              The protocol uses just one message TIMESYNC, which has two int64_t fields: tc1 and ts1. A component that wants to synchronize clocks sends out a TIMESYNC request with its current timestamp in ts1. A remote system that supports the protocol sends a TIMESYNC response, including both the original timestamp and its own timestamp. The original system can use this information to determine the round-trip time, and estimate the timestamp offset.

                                                                                                                                                                                                                                                                                                                              This sequence is run multiple times and filtered/averaged to reduce the transient effects of the channel and processor usage on the offset calculation.

                                                                                                                                                                                                                                                                                                                              This version replaces Time Synchronization Protocol v1.

                                                                                                                                                                                                                                                                                                                              Message/Enum Summary

                                                                                                                                                                                                                                                                                                                              MessageDescription
                                                                                                                                                                                                                                                                                                                              TIMESYNCTime synchronization message.

                                                                                                                                                                                                                                                                                                                              Sequences

                                                                                                                                                                                                                                                                                                                              Mermaid sequence: Time sync

                                                                                                                                                                                                                                                                                                                              The sequence is:

                                                                                                                                                                                                                                                                                                                              1. A component that needs time synchronization sends a TIMESYNC request that includes its current nanosecond timestamp in ts1 (and tc1 = 0, indicating it is a request). This message may be broadcast, or targeted to a particular component.
                                                                                                                                                                                                                                                                                                                              2. A component that receives a TIMESYNC request (TIMESYNC.tc1 == 0) responds with a TIMESYNC response (tc1 ≠ 0) that includes the original timestamp from the request in ts1 (mirrored), and its own timestamp in tc1.

                                                                                                                                                                                                                                                                                                                              3. When the synchronizing component gets a TIMESYNC response with its own target_system and target_component it knows it is a reply to a timesync request that it sent.

                                                                                                                                                                                                                                                                                                                                From the message the system can:

                                                                                                                                                                                                                                                                                                                                • determine the round trip time (by comparing its current timestamp with the original stamp that was returned in the message in ts1).
                                                                                                                                                                                                                                                                                                                                • estimate the offset between system timestamps, using the round trip time and the timestamp sent back by the remote system.

                                                                                                                                                                                                                                                                                                                                TIMESYNC responses to the broadcast address indicate that the remote system supports Time Synchronization Protocol v1. Synchronization may be unreliable if there are multiple sychronising components on the network (report/log an error and upgrade the remote system). The component should ignore responses to all other addresses.

                                                                                                                                                                                                                                                                                                                              The offset is an estimate because the time spent, both inbound and outbound, will change over time based on things like link congestion and processing time. Therefore the above sequence might be run a significant number of times, and filtering used to remove outlying estimates.

                                                                                                                                                                                                                                                                                                                              A graph showing the "noise" when estimating the offset is given below (from PX4).

                                                                                                                                                                                                                                                                                                                              Timesync offsets

                                                                                                                                                                                                                                                                                                                              Time Synchronization Protocol v1

                                                                                                                                                                                                                                                                                                                              Version 1 of the timesync protocol uses the same message and sequences as version 2.

                                                                                                                                                                                                                                                                                                                              The difference is the TIMESYNC message in version 1 did not have target_system and target_component fields, and so the message was always broadcast. This could result in unreliable timesync if there are multiple synchronizing components on the network, because there is no way for a component to know whether a TIMESYNC response is to its request.

                                                                                                                                                                                                                                                                                                                              ArduPilot encodes the system id in TIMESYNC.ts1 of the request. This allows filtering of the response to a particular system (but not component), reducing the risk of clashes.

                                                                                                                                                                                                                                                                                                                              Version 2 makes adds the target address, so a syncing system can filter on just the responses to its requests.

                                                                                                                                                                                                                                                                                                                              Implementations

                                                                                                                                                                                                                                                                                                                              results matching ""

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                                                                                                                                                                                                                                                                                                                                \ No newline at end of file +Time Synchronization · MAVLink Developer Guide
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                                                                                                                                                                                                                                                                                                                                Time Synchronization Protocol v2

                                                                                                                                                                                                                                                                                                                                This protocol is used to synchronize clocks on MAVLink components by estimating their time offset.

                                                                                                                                                                                                                                                                                                                                The protocol uses just one message TIMESYNC, which has two int64_t fields: tc1 and ts1. A component that wants to synchronize clocks sends out a TIMESYNC request with its current timestamp in ts1. A remote system that supports the protocol sends a TIMESYNC response, including both the original timestamp and its own timestamp. The original system can use this information to determine the round-trip time, and estimate the timestamp offset.

                                                                                                                                                                                                                                                                                                                                This sequence is run multiple times and filtered/averaged to reduce the transient effects of the channel and processor usage on the offset calculation.

                                                                                                                                                                                                                                                                                                                                This version replaces Time Synchronization Protocol v1.

                                                                                                                                                                                                                                                                                                                                Message/Enum Summary

                                                                                                                                                                                                                                                                                                                                MessageDescription
                                                                                                                                                                                                                                                                                                                                TIMESYNCTime synchronization message.

                                                                                                                                                                                                                                                                                                                                Sequences

                                                                                                                                                                                                                                                                                                                                Mermaid sequence: Time sync

                                                                                                                                                                                                                                                                                                                                The sequence is:

                                                                                                                                                                                                                                                                                                                                1. A component that needs time synchronization sends a TIMESYNC request that includes its current nanosecond timestamp in ts1 (and tc1 = 0, indicating it is a request). This message may be broadcast, or targeted to a particular component.
                                                                                                                                                                                                                                                                                                                                2. A component that receives a TIMESYNC request (TIMESYNC.tc1 == 0) responds with a TIMESYNC response (tc1 ≠ 0) that includes the original timestamp from the request in ts1 (mirrored), and its own timestamp in tc1.

                                                                                                                                                                                                                                                                                                                                3. When the synchronizing component gets a TIMESYNC response with its own target_system and target_component it knows it is a reply to a timesync request that it sent.

                                                                                                                                                                                                                                                                                                                                  From the message the system can:

                                                                                                                                                                                                                                                                                                                                  • determine the round trip time (by comparing its current timestamp with the original stamp that was returned in the message in ts1).
                                                                                                                                                                                                                                                                                                                                  • estimate the offset between system timestamps, using the round trip time and the timestamp sent back by the remote system.

                                                                                                                                                                                                                                                                                                                                  TIMESYNC responses to the broadcast address indicate that the remote system supports Time Synchronization Protocol v1. Synchronization may be unreliable if there are multiple sychronising components on the network (report/log an error and upgrade the remote system). The component should ignore responses to all other addresses.

                                                                                                                                                                                                                                                                                                                                The offset is an estimate because the time spent, both inbound and outbound, will change over time based on things like link congestion and processing time. Therefore the above sequence might be run a significant number of times, and filtering used to remove outlying estimates.

                                                                                                                                                                                                                                                                                                                                A graph showing the "noise" when estimating the offset is given below (from PX4).

                                                                                                                                                                                                                                                                                                                                Timesync offsets

                                                                                                                                                                                                                                                                                                                                Time Synchronization Protocol v1

                                                                                                                                                                                                                                                                                                                                Version 1 of the timesync protocol uses the same message and sequences as version 2.

                                                                                                                                                                                                                                                                                                                                The difference is the TIMESYNC message in version 1 did not have target_system and target_component fields, and so the message was always broadcast. This could result in unreliable timesync if there are multiple synchronizing components on the network, because there is no way for a component to know whether a TIMESYNC response is to its request.

                                                                                                                                                                                                                                                                                                                                ArduPilot encodes the system id in TIMESYNC.ts1 of the request. This allows filtering of the response to a particular system (but not component), reducing the risk of clashes.

                                                                                                                                                                                                                                                                                                                                Version 2 makes adds the target address, so a syncing system can filter on just the responses to its requests.

                                                                                                                                                                                                                                                                                                                                Implementations

                                                                                                                                                                                                                                                                                                                                results matching ""

                                                                                                                                                                                                                                                                                                                                  No results matching ""

                                                                                                                                                                                                                                                                                                                                  \ No newline at end of file diff --git a/en/services/traffic_management.html b/en/services/traffic_management.html index 382b6b5ff..3991483a0 100644 --- a/en/services/traffic_management.html +++ b/en/services/traffic_management.html @@ -1 +1 @@ -Traffic Management (UTM/ADS-B) · MAVLink Developer Guide
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                                                                                                                                                                                                                                                                                                                                  Traffic Managment and Avoidance (UTM/ADSB)

                                                                                                                                                                                                                                                                                                                                  Air traffic management and avoidance systems enable vehicles to share their position and planned path or trajectory with other vehicles (and ground stations), allowing them to take appropriate action to avoid collisions.

                                                                                                                                                                                                                                                                                                                                  The approaches used to share information vary; some systems use transponders to detect and publish to local traffic, while others publish to/receive information from Internet services that aggregate the data from many vehicles. Some systems might use both approaches!

                                                                                                                                                                                                                                                                                                                                  The approaches used to handle potential collisions depend on the flight stack, and might include: warning the user, holding, landing, pausing a mission etc.

                                                                                                                                                                                                                                                                                                                                  There are two main traffic management systems supported by MAVLink:

                                                                                                                                                                                                                                                                                                                                  The two systems share sigificant overlap and have very similar messages. Both have a single message that encapsulates the vehicle position and trajectory: UTM_GLOBAL_POSITION and ADSB_VEHICLE. A flight controller will typically recieve these messages from the appropriate transponder or service, and may also publish them to a transponder or service.

                                                                                                                                                                                                                                                                                                                                  The Open Drone ID service provides additional information about vehicle identity. This is still a "work in progress", and there are no known MAVLink implementations,

                                                                                                                                                                                                                                                                                                                                  Message/Enum Summary

                                                                                                                                                                                                                                                                                                                                  Unmanned Aircraft System Traffic Management (UTM)

                                                                                                                                                                                                                                                                                                                                  MessageDescription
                                                                                                                                                                                                                                                                                                                                  UTM_GLOBAL_POSITIONThe global position resulting from GPS and sensor fusion.
                                                                                                                                                                                                                                                                                                                                  EnumDescription
                                                                                                                                                                                                                                                                                                                                  UTM_FLIGHT_STATEFlight state of the vehicle: unknown, landed, flying, emergency etc.
                                                                                                                                                                                                                                                                                                                                  UTM_DATA_AVAIL_FLAGSFlags that indicate which of the fields in UTM_GLOBAL_POSITION contain valid data.

                                                                                                                                                                                                                                                                                                                                  Automatic Dependent Surveillance–Broadcast (ADS-B)

                                                                                                                                                                                                                                                                                                                                  MessageDescription
                                                                                                                                                                                                                                                                                                                                  ADSB_VEHICLEXXXXXX The global position resulting from GPS and sensor fusion.
                                                                                                                                                                                                                                                                                                                                  EnumDescription
                                                                                                                                                                                                                                                                                                                                  ADSB_ALTITUDE_TYPEThe source of altitude data - e.g. GNSS system or barometer.
                                                                                                                                                                                                                                                                                                                                  ADSB_EMITTER_TYPEADSB classification for the type of vehicle emitting the transponder signal (most drones will set ADSB_EMITTER_TYPE_UAV)
                                                                                                                                                                                                                                                                                                                                  ADSB_FLAGSFlags that indicate which of the fields in ADSB_VEHICLE contain valid data.
                                                                                                                                                                                                                                                                                                                                  IdsDescription
                                                                                                                                                                                                                                                                                                                                  MAV_TYPE_ADSBMAV_TYPE for a stand-alone MAVLink ADS-B transponder component (not part of an autopilot)
                                                                                                                                                                                                                                                                                                                                  MAV_COMP_ID_ADSBMAVLink reserved component id for a MAVLink ADS-B transponder component (not part of an autopilot)
                                                                                                                                                                                                                                                                                                                                  MAV_TYPE_ADSBMAV_TYPE for a stand-alone MAVLink Flarm transponder component (not part of an autopilot)
                                                                                                                                                                                                                                                                                                                                  MAV_COMP_ID_FLARMMAVLink reserved component id for a MAVLink Flarm transponder component (not part of an autopilot)

                                                                                                                                                                                                                                                                                                                                  Implementations

                                                                                                                                                                                                                                                                                                                                  PX4:

                                                                                                                                                                                                                                                                                                                                  ArduPilot:

                                                                                                                                                                                                                                                                                                                                  QGroundControl:

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                                                                                                                                                                                                                                                                                                                                    Traffic Managment and Avoidance (UTM/ADSB)

                                                                                                                                                                                                                                                                                                                                    Air traffic management and avoidance systems enable vehicles to share their position and planned path or trajectory with other vehicles (and ground stations), allowing them to take appropriate action to avoid collisions.

                                                                                                                                                                                                                                                                                                                                    The approaches used to share information vary; some systems use transponders to detect and publish to local traffic, while others publish to/receive information from Internet services that aggregate the data from many vehicles. Some systems might use both approaches!

                                                                                                                                                                                                                                                                                                                                    The approaches used to handle potential collisions depend on the flight stack, and might include: warning the user, holding, landing, pausing a mission etc.

                                                                                                                                                                                                                                                                                                                                    There are two main traffic management systems supported by MAVLink:

                                                                                                                                                                                                                                                                                                                                    The two systems share sigificant overlap and have very similar messages. Both have a single message that encapsulates the vehicle position and trajectory: UTM_GLOBAL_POSITION and ADSB_VEHICLE. A flight controller will typically recieve these messages from the appropriate transponder or service, and may also publish them to a transponder or service.

                                                                                                                                                                                                                                                                                                                                    The Open Drone ID service provides additional information about vehicle identity. This is still a "work in progress", and there are no known MAVLink implementations,

                                                                                                                                                                                                                                                                                                                                    Message/Enum Summary

                                                                                                                                                                                                                                                                                                                                    Unmanned Aircraft System Traffic Management (UTM)

                                                                                                                                                                                                                                                                                                                                    MessageDescription
                                                                                                                                                                                                                                                                                                                                    UTM_GLOBAL_POSITIONThe global position resulting from GPS and sensor fusion.
                                                                                                                                                                                                                                                                                                                                    EnumDescription
                                                                                                                                                                                                                                                                                                                                    UTM_FLIGHT_STATEFlight state of the vehicle: unknown, landed, flying, emergency etc.
                                                                                                                                                                                                                                                                                                                                    UTM_DATA_AVAIL_FLAGSFlags that indicate which of the fields in UTM_GLOBAL_POSITION contain valid data.

                                                                                                                                                                                                                                                                                                                                    Automatic Dependent Surveillance–Broadcast (ADS-B)

                                                                                                                                                                                                                                                                                                                                    MessageDescription
                                                                                                                                                                                                                                                                                                                                    ADSB_VEHICLEXXXXXX The global position resulting from GPS and sensor fusion.
                                                                                                                                                                                                                                                                                                                                    EnumDescription
                                                                                                                                                                                                                                                                                                                                    ADSB_ALTITUDE_TYPEThe source of altitude data - e.g. GNSS system or barometer.
                                                                                                                                                                                                                                                                                                                                    ADSB_EMITTER_TYPEADSB classification for the type of vehicle emitting the transponder signal (most drones will set ADSB_EMITTER_TYPE_UAV)
                                                                                                                                                                                                                                                                                                                                    ADSB_FLAGSFlags that indicate which of the fields in ADSB_VEHICLE contain valid data.
                                                                                                                                                                                                                                                                                                                                    IdsDescription
                                                                                                                                                                                                                                                                                                                                    MAV_TYPE_ADSBMAV_TYPE for a stand-alone MAVLink ADS-B transponder component (not part of an autopilot)
                                                                                                                                                                                                                                                                                                                                    MAV_COMP_ID_ADSBMAVLink reserved component id for a MAVLink ADS-B transponder component (not part of an autopilot)
                                                                                                                                                                                                                                                                                                                                    MAV_TYPE_ADSBMAV_TYPE for a stand-alone MAVLink Flarm transponder component (not part of an autopilot)
                                                                                                                                                                                                                                                                                                                                    MAV_COMP_ID_FLARMMAVLink reserved component id for a MAVLink Flarm transponder component (not part of an autopilot)

                                                                                                                                                                                                                                                                                                                                    Implementations

                                                                                                                                                                                                                                                                                                                                    PX4:

                                                                                                                                                                                                                                                                                                                                    ArduPilot:

                                                                                                                                                                                                                                                                                                                                    QGroundControl:

                                                                                                                                                                                                                                                                                                                                    results matching ""

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                                                                                                                                                                                                                                                                                                                                      \ No newline at end of file diff --git a/en/services/trajectory.html b/en/services/trajectory.html index a4c730725..b67aa9ad4 100644 --- a/en/services/trajectory.html +++ b/en/services/trajectory.html @@ -1 +1 @@ -Path Planning (Trajectory) Protocol · MAVLink Developer Guide
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                                                                                                                                                                                                                                                                                                                                      Path Planning Protocol (Trajectory Interface)

                                                                                                                                                                                                                                                                                                                                      The path planning protocol (a.k.a. trajectory interface) is a general-purpose protocol for a system to request dynamic path planning from another system (i.e. for an autopilot to request a path from a companion computer).

                                                                                                                                                                                                                                                                                                                                      The protocol is primarily intended for cases where constraints on the path to a destination are unknown or may change dynamically, but it can also be used for any other path management activities. Examples include: obstacle avoidance when following a preplanned mission, determining paths for self forming/healing swarms, offloading geofence management to a companion computer, etc.

                                                                                                                                                                                                                                                                                                                                      Overview

                                                                                                                                                                                                                                                                                                                                      The (autopilot) system that requires path-planning sends messages containing its current position and desired trajectory. The path planning system (companion computer) analyses the desired route, and sends back a stream of messages with setpoints for a new path.

                                                                                                                                                                                                                                                                                                                                      Mermaid Sequence: Trajectory

                                                                                                                                                                                                                                                                                                                                      When path planning is active, autopilots are expected to navigate using the most recent setpoint from the companion computer (and should have sensible behaviour if setpoints "run out").

                                                                                                                                                                                                                                                                                                                                      The path planning system might send setpoints all the time, or only when a desired trajectory cannot be achieved (this depends on the specific service implementation).

                                                                                                                                                                                                                                                                                                                                      The protocol defines two messages:

                                                                                                                                                                                                                                                                                                                                      Either message may be used to represent both the desired trajectory and the target setpoint, and a system may support either or both messages.

                                                                                                                                                                                                                                                                                                                                      When specifying a desired path (using either message):

                                                                                                                                                                                                                                                                                                                                      • The first point (0th array index) always represents the current position/state of the vehicle.
                                                                                                                                                                                                                                                                                                                                        • For waypoint trajectories the current position usually needs either position or velocity fields, and either yaw or yaw_speed (not all of them)
                                                                                                                                                                                                                                                                                                                                      • It may not be necessary to specify a waypoint or curve point for every array index.
                                                                                                                                                                                                                                                                                                                                        • For waypoint trajectories you might only need to specify points for the current position, current waypoint, and the next waypoint.
                                                                                                                                                                                                                                                                                                                                      • It may not be necessary to set a value for every field in a waypoint.
                                                                                                                                                                                                                                                                                                                                      • Array indexes and field values that are not used should be set as NaN.

                                                                                                                                                                                                                                                                                                                                      When specifying a target setpoint, the values should be set in the first point of the message (0th array element). All other array fields should be set to NaN.

                                                                                                                                                                                                                                                                                                                                      The required message sending update rate depends on the speed of the vehicle and use case.

                                                                                                                                                                                                                                                                                                                                      Implementations

                                                                                                                                                                                                                                                                                                                                      Obstacle Avoidance in PX4 Mission Mode

                                                                                                                                                                                                                                                                                                                                      The protocol has been used to provide obstacle avoidance in PX4's mission mode. PX4 sends the current position, current waypoint, and next waypoint in a TRAJECTORY_REPRESENTATION_WAYPOINTS message (at 5Hz). The path planning software (a ROS node) sends setpoints for the duration of the mission. These navigate the vehicle in a straight line to each waypoint, navigating around obstacles as needed.

                                                                                                                                                                                                                                                                                                                                      For more information see: Obstacle Avoidance (PX4 User Guide).

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                                                                                                                                                                                                                                                                                                                                        \ No newline at end of file +Path Planning (Trajectory) Protocol · MAVLink Developer Guide
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                                                                                                                                                                                                                                                                                                                                        Path Planning Protocol (Trajectory Interface)

                                                                                                                                                                                                                                                                                                                                        The path planning protocol (a.k.a. trajectory interface) is a general-purpose protocol for a system to request dynamic path planning from another system (i.e. for an autopilot to request a path from a companion computer).

                                                                                                                                                                                                                                                                                                                                        The protocol is primarily intended for cases where constraints on the path to a destination are unknown or may change dynamically, but it can also be used for any other path management activities. Examples include: obstacle avoidance when following a preplanned mission, determining paths for self forming/healing swarms, offloading geofence management to a companion computer, etc.

                                                                                                                                                                                                                                                                                                                                        Overview

                                                                                                                                                                                                                                                                                                                                        The (autopilot) system that requires path-planning sends messages containing its current position and desired trajectory. The path planning system (companion computer) analyses the desired route, and sends back a stream of messages with setpoints for a new path.

                                                                                                                                                                                                                                                                                                                                        Mermaid Sequence: Trajectory

                                                                                                                                                                                                                                                                                                                                        When path planning is active, autopilots are expected to navigate using the most recent setpoint from the companion computer (and should have sensible behaviour if setpoints "run out").

                                                                                                                                                                                                                                                                                                                                        The path planning system might send setpoints all the time, or only when a desired trajectory cannot be achieved (this depends on the specific service implementation).

                                                                                                                                                                                                                                                                                                                                        The protocol defines two messages:

                                                                                                                                                                                                                                                                                                                                        Either message may be used to represent both the desired trajectory and the target setpoint, and a system may support either or both messages.

                                                                                                                                                                                                                                                                                                                                        When specifying a desired path (using either message):

                                                                                                                                                                                                                                                                                                                                        • The first point (0th array index) always represents the current position/state of the vehicle.
                                                                                                                                                                                                                                                                                                                                          • For waypoint trajectories the current position usually needs either position or velocity fields, and either yaw or yaw_speed (not all of them)
                                                                                                                                                                                                                                                                                                                                        • It may not be necessary to specify a waypoint or curve point for every array index.
                                                                                                                                                                                                                                                                                                                                          • For waypoint trajectories you might only need to specify points for the current position, current waypoint, and the next waypoint.
                                                                                                                                                                                                                                                                                                                                        • It may not be necessary to set a value for every field in a waypoint.
                                                                                                                                                                                                                                                                                                                                        • Array indexes and field values that are not used should be set as NaN.

                                                                                                                                                                                                                                                                                                                                        When specifying a target setpoint, the values should be set in the first point of the message (0th array element). All other array fields should be set to NaN.

                                                                                                                                                                                                                                                                                                                                        The required message sending update rate depends on the speed of the vehicle and use case.

                                                                                                                                                                                                                                                                                                                                        Implementations

                                                                                                                                                                                                                                                                                                                                        Obstacle Avoidance in PX4 Mission Mode

                                                                                                                                                                                                                                                                                                                                        The protocol has been used to provide obstacle avoidance in PX4's mission mode. PX4 sends the current position, current waypoint, and next waypoint in a TRAJECTORY_REPRESENTATION_WAYPOINTS message (at 5Hz). The path planning software (a ROS node) sends setpoints for the duration of the mission. These navigate the vehicle in a straight line to each waypoint, navigating around obstacles as needed.

                                                                                                                                                                                                                                                                                                                                        For more information see: Obstacle Avoidance (PX4 User Guide).

                                                                                                                                                                                                                                                                                                                                        results matching ""

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                                                                                                                                                                                                                                                                                                                                          \ No newline at end of file diff --git a/en/services/tunnel.html b/en/services/tunnel.html index e2c41871d..397670e7f 100644 --- a/en/services/tunnel.html +++ b/en/services/tunnel.html @@ -1 +1 @@ -Tunnel Protocol · MAVLink Developer Guide
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                                                                                                                                                                                                                                                                                                                                          Tunnel Protocol

                                                                                                                                                                                                                                                                                                                                          The Tunnel Protocol allows MAVLink to be used as a "dumb channel" to pass data in any format across, through or into a MAVLink network.

                                                                                                                                                                                                                                                                                                                                          Tunnels use is highly discouraged, as they lose most of the benefits of MAVLink in terms of efficiently and interoperability. You should almost always create "dedicated" MAVLink messages for communicating in a MAVLink system.

                                                                                                                                                                                                                                                                                                                                          An example where this protocol is useful is connecting a STorM32 gimbal to a computer for configuration/debugging (via a USB connection to the autopilot and using MAVLink to carry the native serial protocol between it and the gimbal). Normally you would connect the gimbal directly via USB, but when mounted on the drone the gimbal USB port may be hard to access. You might re-invent the native protocol in MAVLink, but that would be a lot of effort for little benefit in this case.

                                                                                                                                                                                                                                                                                                                                          The protocol consists of a single TUNNEL message that has fields for the destination, payload length, payload type and data. The format of the data is entirely defined by the sender, and is inferred from the TUNNEL.payload_type (a MAV_TUNNEL_PAYLOAD_TYPE).

                                                                                                                                                                                                                                                                                                                                          Vendors can use any value above 32767 for MAV_TUNNEL_PAYLOAD_TYPE in their own dialect during testing. For wider distribution they should register the payload type.

                                                                                                                                                                                                                                                                                                                                          Message/Enum Summary

                                                                                                                                                                                                                                                                                                                                          MessageDescription
                                                                                                                                                                                                                                                                                                                                          TUNNELMessage for transporting "arbitrary" variable-length data from one component to another (broadcast is not forbidden, but discouraged).
                                                                                                                                                                                                                                                                                                                                          EnumDescription
                                                                                                                                                                                                                                                                                                                                          MAV_TUNNEL_PAYLOAD_TYPEA code that identifies the format of the payload (0 for unknown, which is the default). You can use any value over 32768 for on private networks or register a payload type.

                                                                                                                                                                                                                                                                                                                                          Register a Payload Type

                                                                                                                                                                                                                                                                                                                                          The format of the tunnel message data is indicated by the value of TUNNEL.payload_type. Vendors can register their own formats in MAV_TUNNEL_PAYLOAD_TYPE by creating a PR to update the enum in common.xml.

                                                                                                                                                                                                                                                                                                                                          If you register an enum value in common.xml the MAVLink toolchain will generate an error if other dialect attempts to define the same value (if the dialect includes common.xml).

                                                                                                                                                                                                                                                                                                                                          The rules for adding new MAV_TUNNEL_PAYLOAD_TYPE values are:

                                                                                                                                                                                                                                                                                                                                          1. Values 0-199 are reserved for MAVLink
                                                                                                                                                                                                                                                                                                                                          2. Enum values are "allocated" to vendors and/or specific hardware in blocks of 10:
                                                                                                                                                                                                                                                                                                                                            • New blocks must start on the decade boundary (e.g. 200-209, 210-219, etc.).
                                                                                                                                                                                                                                                                                                                                            • Blocks are allocated sequentially (in the previous point the next block is allocated at 220, not 430).
                                                                                                                                                                                                                                                                                                                                            • Vendors may reserve multiple sequential blocks if needed.
                                                                                                                                                                                                                                                                                                                                          3. Enum values in a block may be explicitly "reserved":
                                                                                                                                                                                                                                                                                                                                            • Values should be named using the format MAV_TUNNEL_PAYLOAD_TYPE_XXXX_RESERVEDYY, where XXXX indicates the vendor or software, and YY is an increasing number starting at 0. For example, the STorM32 gimbal might reserve a block of 10 values from MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED0 to MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED9.
                                                                                                                                                                                                                                                                                                                                            • You do not have to explicitly reserve unused values.
                                                                                                                                                                                                                                                                                                                                          4. Enum values that are in use should be (re)named to reflect the vendor/software and purpose (e.g. MAV_TUNNEL_PAYLOAD_TYPE_STORM32_CONFIG).

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                                                                                                                                                                                                                                                                                                                                            \ No newline at end of file +Tunnel Protocol · MAVLink Developer Guide
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                                                                                                                                                                                                                                                                                                                                            Tunnel Protocol

                                                                                                                                                                                                                                                                                                                                            The Tunnel Protocol allows MAVLink to be used as a "dumb channel" to pass data in any format across, through or into a MAVLink network.

                                                                                                                                                                                                                                                                                                                                            Tunnels use is highly discouraged, as they lose most of the benefits of MAVLink in terms of efficiently and interoperability. You should almost always create "dedicated" MAVLink messages for communicating in a MAVLink system.

                                                                                                                                                                                                                                                                                                                                            An example where this protocol is useful is connecting a STorM32 gimbal to a computer for configuration/debugging (via a USB connection to the autopilot and using MAVLink to carry the native serial protocol between it and the gimbal). Normally you would connect the gimbal directly via USB, but when mounted on the drone the gimbal USB port may be hard to access. You might re-invent the native protocol in MAVLink, but that would be a lot of effort for little benefit in this case.

                                                                                                                                                                                                                                                                                                                                            The protocol consists of a single TUNNEL message that has fields for the destination, payload length, payload type and data. The format of the data is entirely defined by the sender, and is inferred from the TUNNEL.payload_type (a MAV_TUNNEL_PAYLOAD_TYPE).

                                                                                                                                                                                                                                                                                                                                            Vendors can use any value above 32767 for MAV_TUNNEL_PAYLOAD_TYPE in their own dialect during testing. For wider distribution they should register the payload type.

                                                                                                                                                                                                                                                                                                                                            Message/Enum Summary

                                                                                                                                                                                                                                                                                                                                            MessageDescription
                                                                                                                                                                                                                                                                                                                                            TUNNELMessage for transporting "arbitrary" variable-length data from one component to another (broadcast is not forbidden, but discouraged).
                                                                                                                                                                                                                                                                                                                                            EnumDescription
                                                                                                                                                                                                                                                                                                                                            MAV_TUNNEL_PAYLOAD_TYPEA code that identifies the format of the payload (0 for unknown, which is the default). You can use any value over 32768 for on private networks or register a payload type.

                                                                                                                                                                                                                                                                                                                                            Register a Payload Type

                                                                                                                                                                                                                                                                                                                                            The format of the tunnel message data is indicated by the value of TUNNEL.payload_type. Vendors can register their own formats in MAV_TUNNEL_PAYLOAD_TYPE by creating a PR to update the enum in common.xml.

                                                                                                                                                                                                                                                                                                                                            If you register an enum value in common.xml the MAVLink toolchain will generate an error if other dialect attempts to define the same value (if the dialect includes common.xml).

                                                                                                                                                                                                                                                                                                                                            The rules for adding new MAV_TUNNEL_PAYLOAD_TYPE values are:

                                                                                                                                                                                                                                                                                                                                            1. Values 0-199 are reserved for MAVLink
                                                                                                                                                                                                                                                                                                                                            2. Enum values are "allocated" to vendors and/or specific hardware in blocks of 10:
                                                                                                                                                                                                                                                                                                                                              • New blocks must start on the decade boundary (e.g. 200-209, 210-219, etc.).
                                                                                                                                                                                                                                                                                                                                              • Blocks are allocated sequentially (in the previous point the next block is allocated at 220, not 430).
                                                                                                                                                                                                                                                                                                                                              • Vendors may reserve multiple sequential blocks if needed.
                                                                                                                                                                                                                                                                                                                                            3. Enum values in a block may be explicitly "reserved":
                                                                                                                                                                                                                                                                                                                                              • Values should be named using the format MAV_TUNNEL_PAYLOAD_TYPE_XXXX_RESERVEDYY, where XXXX indicates the vendor or software, and YY is an increasing number starting at 0. For example, the STorM32 gimbal might reserve a block of 10 values from MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED0 to MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED9.
                                                                                                                                                                                                                                                                                                                                              • You do not have to explicitly reserve unused values.
                                                                                                                                                                                                                                                                                                                                            4. Enum values that are in use should be (re)named to reflect the vendor/software and purpose (e.g. MAV_TUNNEL_PAYLOAD_TYPE_STORM32_CONFIG).

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                                                                                                                                                                                                                                                                                                                                              자주 묻는 질문

                                                                                                                                                                                                                                                                                                                                              사용자

                                                                                                                                                                                                                                                                                                                                              MAVLINK는 얼마나 효율적인가요?
                                                                                                                                                                                                                                                                                                                                              MAVLINK는 매우 효율적인 프로토콜입니다. MAVLINK 1은 시작 신호(start sign)와 패킷 손실 탐지(packet drop detection)를 포함해 패킷당 8 바이트의 오버헤드를 가집니다. Mavlink 2는 14 바이트(부호를 포함하는 경우, 27 바이트)의 오버헤드를 가지지만, 훨씬 더 확장성 있는 프로토콜입니다.
                                                                                                                                                                                                                                                                                                                                              MAVLINK가 지원하는 기기 댓수는 몇대인가요?
                                                                                                                                                                                                                                                                                                                                              1부터 255까지의 범위(0은 유효한 ID가 아닙니다)의 시스템 ID를 가지는 총 255개의 기기를 지원합니다.
                                                                                                                                                                                                                                                                                                                                              참고: 엄밀히 말하자면, MAVLINK는255개의 동시 시스템을 지원합니다. 이러한 시스템은 여러 기기의 혼합, 지상국(GCS, Ground Control Station), 안테나 트래커와 기타 하드웨어를 포함할 수 있습니다.
                                                                                                                                                                                                                                                                                                                                              MAVLINK는 어떤 장치에서 쓸 수 있나요?
                                                                                                                                                                                                                                                                                                                                              MAVLINK는 ARM7, ATMega, dsPic, STM32등의 마이크로컨트롤러와 Windows, Linux, MacOS, Android와 iOS등의 운영체제에서 작동하는 것으로 보입니다.
                                                                                                                                                                                                                                                                                                                                              MAVLINK를 얼마나 믿을 수 있나요?
                                                                                                                                                                                                                                                                                                                                              상당히 신뢰할 수 있습니다. MAVLink는 다양하고 까다로운 통신 채널(높은 지연율/잡음) 환경에서 다양한 기기와 지상국(및 다른 노드) 간 통신을 위해 2009년부터 사용되었습니다. MAVLINK는 패킷 손실 탐지와 패킷 결성 체크를 위해 잘 알려진 ITU X.25 체크섬 메서드를 사용합니다.
                                                                                                                                                                                                                                                                                                                                              MAVLINK는 얼마나 안전한가요?
                                                                                                                                                                                                                                                                                                                                              MAVLINK는 시스템이 신뢰할 수 있는 출처에서 오는 메시지임을 인증하도록 message signing을 사용합니다. MAVLINK는 메시지 암호화를 제공하지 않습니다.
                                                                                                                                                                                                                                                                                                                                              What version of MAVLink should I use?
                                                                                                                                                                                                                                                                                                                                              You should use the MAVLink 2 protocol where at all possible (it fixes a number of limitations of earlier versions). The MAVLink 2 libraries also support MAVLink 1, so you can use them to communicate with legacy systems if needed.
                                                                                                                                                                                                                                                                                                                                              How often is MAVLink updated/released?
                                                                                                                                                                                                                                                                                                                                              • The underlying over-the-wire format is rarely updated (we're only up to MAVLink 2, which was introduced in 2017).
                                                                                                                                                                                                                                                                                                                                              • New messages/microservices are frequently added. This is a backwards compatible change, and users are expected to regularly update their libraries to support new messages.
                                                                                                                                                                                                                                                                                                                                              • Messages are rarely modified (or removed) such that they would become incompatible. If this is needed the project will update the MAVLink minor version number and notify users through the mailing list (users can also query the version in code).

                                                                                                                                                                                                                                                                                                                                              개발자

                                                                                                                                                                                                                                                                                                                                              MAVLINK를 소스 코드를 공개하지 않는 어플리케이션에서 저작권 문제 없이 사용할 수 있나요?
                                                                                                                                                                                                                                                                                                                                              어떠한 제한 없이 MAVLINK를 사용할 수 있습니다. 생성된 MAVLINK 라이브러리 헤더는 *MIT 라이센스*(자세한 정보는 Introduction > License를 참조하세요.)하에 사용할 수 있도록 만들어졌습니다.
                                                                                                                                                                                                                                                                                                                                              MAVLink는 어떻게 메시지를 감지하고 바이트 스트림으로 디코딩하나요?
                                                                                                                                                                                                                                                                                                                                              MAVLink는 패킷 시작 신호를 기다리다가 패킷의 길이를 읽습니다. 그리고 n 바이트 이후의 체크섬을 검사합니다. 만약 체크섬이 일치한다면, 디코딩된 패킷을 반환하고 다시 시작 신호를 기다립니다. 만약에 바이트가 변경되거나 손실되면, MAVLink는 현재 메시지 처리를 중단하고, 다음 메시지에서 디코딩을 계속합니다.
                                                                                                                                                                                                                                                                                                                                              MAVLink는 하나의 시작 신호만을 사용하는데, 두세개의 시작 신호를 사용하는 것보다 덜 안전하지 않나요?
                                                                                                                                                                                                                                                                                                                                              그렇지 않습니다. MAVLink는 CRC 체크를 통해 수신 메시지의 무결성을 판단합니다. 시작 신호를 추가로 사용하는 것은 시작 신호의 탐지율을 올릴 수 있지만, 메시지 유효성 관점에서는 단일 시작 신호에 비해 불확실성을 크게 줄이지 못합니다. 추가 시작 신호가 커뮤니케이션 링크의 바이트 수를 증가시키기 때문에, MAVLink는 단일 시작 신호를 사용하기로 결정했습니다.
                                                                                                                                                                                                                                                                                                                                              시스템 ID와 컴포넌트 ID는 어떤 용도인가요?
                                                                                                                                                                                                                                                                                                                                              시스템 ID는 특정 MAVLink system(vehicle, GCS, etc.)의 신원을 나타냅니다. MAVLink는 동시에 최대 255개의 시스템에서 함께 사용될 수 있습니다. 컴포넌트 ID는 더 큰 시스템의 요소를 나타냅니다. 예를 들면, 시스템은 autopilot, companion computer, 카메라 등 개별적으로 식별할 수 있는 장치를 포함할 수 있습니다. 따라서 컴포넌트 ID는 MAVLink가 온보드와 오프보드 통신 모두에서 사용되게 합니다.
                                                                                                                                                                                                                                                                                                                                              MAVLink 헤더의 시퀀스 넘버(Sequence number)는 왜 필요한가요?
                                                                                                                                                                                                                                                                                                                                              MAVLink는 무인 항공 시스템의 안전에 중요한 구성 요소의 일부입니다. 많은 패킷을 버리는 나쁜 통신 링크는 비행체의 안전을 위협할 수 있고, 모니터링이 필요합니다. 헤더에 시퀀스를 가지는 것은 MAVLink가 패킷 손실률에 관한 피드백을 지속적으로 제공할 수 있도록 하여 비행체나 관제국이 조치를 취할수 있도록 합니다.
                                                                                                                                                                                                                                                                                                                                              왜 CRC_EXTRA가 패킷 무결성 체크섬에 필요한가요?
                                                                                                                                                                                                                                                                                                                                              CRC_EXTRA의 CRC는 송수신자 각자가 지정 메시지의 유선 형식을 이해하는지 검증하는 용도로 활용합니다 (프로토콜 구조가 단순하여 메시지 구조에 페이로드가 들어있지 않기 때문에 필요함). MAVLink 0.9에서는 CRC를 사용하지 않았습니다(다만 길이 검사는 진행했습니다). 메시지를 설명하는 XML이 메시지 길이 변화 없이 변경되는 소수의 케이스가 있었는데, 이것은 메시지를 읽을 때 심각하게 손상된 필드로 이어졌습니다.
                                                                                                                                                                                                                                                                                                                                              디코딩/인코딩 루틴이나 다른 요소들을 개선하는데 도움을 주고 싶습니다. MAVLink가 바뀔 수도 있나요?
                                                                                                                                                                                                                                                                                                                                              매우 엄밀한 안전 테스트를 거치는 경우에 그럴 수 있습니다. MAVLink는 많은 autopilot 시스템에서 중요한 안전 요소로 사용되기 때문에 다년간의 시험을 거칩니다. MAVLink 지원 채널에 새 기능을 제안해주세요.
                                                                                                                                                                                                                                                                                                                                              How can I further reduce the generated C library size?
                                                                                                                                                                                                                                                                                                                                              On extremely resource-constrained systems you may be able to reduce the size of the generated library by setting MAVLINK_COMM_NUM_BUFFERS=1 and MAVLINK_MAX_PAYLOAD_LEN="size of your largest buffer" (assuming only one comm link and that your payload is less than the maximum supported by MAVLink). You should also make sure that any buffers you use to pass into MAVLink are also as small as possible (e.g. the one passed into mavlink_msg_to_send_buffer()).

                                                                                                                                                                                                                                                                                                                                              Another alternative is to use one of the other generators. For example fastMavlink asserts that it is smaller and more efficient than the libraries generated by mavgen (this has not been valided by the MAVLink project).

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                                                                                                                                                                                                                                                                                                                                                자주 묻는 질문

                                                                                                                                                                                                                                                                                                                                                사용자

                                                                                                                                                                                                                                                                                                                                                MAVLINK는 얼마나 효율적인가요?
                                                                                                                                                                                                                                                                                                                                                MAVLINK는 매우 효율적인 프로토콜입니다. MAVLINK 1은 시작 신호(start sign)와 패킷 손실 탐지(packet drop detection)를 포함해 패킷당 8 바이트의 오버헤드를 가집니다. Mavlink 2는 14 바이트(부호를 포함하는 경우, 27 바이트)의 오버헤드를 가지지만, 훨씬 더 확장성 있는 프로토콜입니다.
                                                                                                                                                                                                                                                                                                                                                MAVLINK가 지원하는 기기 댓수는 몇대인가요?
                                                                                                                                                                                                                                                                                                                                                1부터 255까지의 범위(0은 유효한 ID가 아닙니다)의 시스템 ID를 가지는 총 255개의 기기를 지원합니다.
                                                                                                                                                                                                                                                                                                                                                참고: 엄밀히 말하자면, MAVLINK는255개의 동시 시스템을 지원합니다. 이러한 시스템은 여러 기기의 혼합, 지상국(GCS, Ground Control Station), 안테나 트래커와 기타 하드웨어를 포함할 수 있습니다.
                                                                                                                                                                                                                                                                                                                                                MAVLINK는 어떤 장치에서 쓸 수 있나요?
                                                                                                                                                                                                                                                                                                                                                MAVLINK는 ARM7, ATMega, dsPic, STM32등의 마이크로컨트롤러와 Windows, Linux, MacOS, Android와 iOS등의 운영체제에서 작동하는 것으로 보입니다.
                                                                                                                                                                                                                                                                                                                                                MAVLINK를 얼마나 믿을 수 있나요?
                                                                                                                                                                                                                                                                                                                                                상당히 신뢰할 수 있습니다. MAVLink는 다양하고 까다로운 통신 채널(높은 지연율/잡음) 환경에서 다양한 기기와 지상국(및 다른 노드) 간 통신을 위해 2009년부터 사용되었습니다. MAVLINK는 패킷 손실 탐지와 패킷 결성 체크를 위해 잘 알려진 ITU X.25 체크섬 메서드를 사용합니다.
                                                                                                                                                                                                                                                                                                                                                MAVLINK는 얼마나 안전한가요?
                                                                                                                                                                                                                                                                                                                                                MAVLINK는 시스템이 신뢰할 수 있는 출처에서 오는 메시지임을 인증하도록 message signing을 사용합니다. MAVLINK는 메시지 암호화를 제공하지 않습니다.
                                                                                                                                                                                                                                                                                                                                                What version of MAVLink should I use?
                                                                                                                                                                                                                                                                                                                                                You should use the MAVLink 2 protocol where at all possible (it fixes a number of limitations of earlier versions). The MAVLink 2 libraries also support MAVLink 1, so you can use them to communicate with legacy systems if needed.
                                                                                                                                                                                                                                                                                                                                                How often is MAVLink updated/released?
                                                                                                                                                                                                                                                                                                                                                • The underlying over-the-wire format is rarely updated (we're only up to MAVLink 2, which was introduced in 2017).
                                                                                                                                                                                                                                                                                                                                                • New messages/microservices are frequently added. This is a backwards compatible change, and users are expected to regularly update their libraries to support new messages.
                                                                                                                                                                                                                                                                                                                                                • Messages are rarely modified (or removed) such that they would become incompatible. If this is needed the project will update the MAVLink minor version number and notify users through the mailing list (users can also query the version in code).

                                                                                                                                                                                                                                                                                                                                                개발자

                                                                                                                                                                                                                                                                                                                                                MAVLINK를 소스 코드를 공개하지 않는 어플리케이션에서 저작권 문제 없이 사용할 수 있나요?
                                                                                                                                                                                                                                                                                                                                                어떠한 제한 없이 MAVLINK를 사용할 수 있습니다. 생성된 MAVLINK 라이브러리 헤더는 *MIT 라이센스*(자세한 정보는 Introduction > License를 참조하세요.)하에 사용할 수 있도록 만들어졌습니다.
                                                                                                                                                                                                                                                                                                                                                MAVLink는 어떻게 메시지를 감지하고 바이트 스트림으로 디코딩하나요?
                                                                                                                                                                                                                                                                                                                                                MAVLink는 패킷 시작 신호를 기다리다가 패킷의 길이를 읽습니다. 그리고 n 바이트 이후의 체크섬을 검사합니다. 만약 체크섬이 일치한다면, 디코딩된 패킷을 반환하고 다시 시작 신호를 기다립니다. 만약에 바이트가 변경되거나 손실되면, MAVLink는 현재 메시지 처리를 중단하고, 다음 메시지에서 디코딩을 계속합니다.
                                                                                                                                                                                                                                                                                                                                                MAVLink는 하나의 시작 신호만을 사용하는데, 두세개의 시작 신호를 사용하는 것보다 덜 안전하지 않나요?
                                                                                                                                                                                                                                                                                                                                                그렇지 않습니다. MAVLink는 CRC 체크를 통해 수신 메시지의 무결성을 판단합니다. 시작 신호를 추가로 사용하는 것은 시작 신호의 탐지율을 올릴 수 있지만, 메시지 유효성 관점에서는 단일 시작 신호에 비해 불확실성을 크게 줄이지 못합니다. 추가 시작 신호가 커뮤니케이션 링크의 바이트 수를 증가시키기 때문에, MAVLink는 단일 시작 신호를 사용하기로 결정했습니다.
                                                                                                                                                                                                                                                                                                                                                시스템 ID와 컴포넌트 ID는 어떤 용도인가요?
                                                                                                                                                                                                                                                                                                                                                시스템 ID는 특정 MAVLink system(vehicle, GCS, etc.)의 신원을 나타냅니다. MAVLink는 동시에 최대 255개의 시스템에서 함께 사용될 수 있습니다. 컴포넌트 ID는 더 큰 시스템의 요소를 나타냅니다. 예를 들면, 시스템은 autopilot, companion computer, 카메라 등 개별적으로 식별할 수 있는 장치를 포함할 수 있습니다. 따라서 컴포넌트 ID는 MAVLink가 온보드와 오프보드 통신 모두에서 사용되게 합니다.
                                                                                                                                                                                                                                                                                                                                                MAVLink 헤더의 시퀀스 넘버(Sequence number)는 왜 필요한가요?
                                                                                                                                                                                                                                                                                                                                                MAVLink는 무인 항공 시스템의 안전에 중요한 구성 요소의 일부입니다. 많은 패킷을 버리는 나쁜 통신 링크는 비행체의 안전을 위협할 수 있고, 모니터링이 필요합니다. 헤더에 시퀀스를 가지는 것은 MAVLink가 패킷 손실률에 관한 피드백을 지속적으로 제공할 수 있도록 하여 비행체나 관제국이 조치를 취할수 있도록 합니다.
                                                                                                                                                                                                                                                                                                                                                왜 CRC_EXTRA가 패킷 무결성 체크섬에 필요한가요?
                                                                                                                                                                                                                                                                                                                                                CRC_EXTRA의 CRC는 송수신자 각자가 지정 메시지의 유선 형식을 이해하는지 검증하는 용도로 활용합니다 (프로토콜 구조가 단순하여 메시지 구조에 페이로드가 들어있지 않기 때문에 필요함). MAVLink 0.9에서는 CRC를 사용하지 않았습니다(다만 길이 검사는 진행했습니다). 메시지를 설명하는 XML이 메시지 길이 변화 없이 변경되는 소수의 케이스가 있었는데, 이것은 메시지를 읽을 때 심각하게 손상된 필드로 이어졌습니다.
                                                                                                                                                                                                                                                                                                                                                디코딩/인코딩 루틴이나 다른 요소들을 개선하는데 도움을 주고 싶습니다. MAVLink가 바뀔 수도 있나요?
                                                                                                                                                                                                                                                                                                                                                매우 엄밀한 안전 테스트를 거치는 경우에 그럴 수 있습니다. MAVLink는 많은 autopilot 시스템에서 중요한 안전 요소로 사용되기 때문에 다년간의 시험을 거칩니다. MAVLink 지원 채널에 새 기능을 제안해주세요.
                                                                                                                                                                                                                                                                                                                                                How can I further reduce the generated C library size?
                                                                                                                                                                                                                                                                                                                                                On extremely resource-constrained systems you may be able to reduce the size of the generated library by setting MAVLINK_COMM_NUM_BUFFERS=1 and MAVLINK_MAX_PAYLOAD_LEN="size of your largest buffer" (assuming only one comm link and that your payload is less than the maximum supported by MAVLink). You should also make sure that any buffers you use to pass into MAVLink are also as small as possible (e.g. the one passed into mavlink_msg_to_send_buffer()).

                                                                                                                                                                                                                                                                                                                                                Another alternative is to use one of the other generators. For example fastMavlink asserts that it is smaller and more efficient than the libraries generated by mavgen (this has not been valided by the MAVLink project).

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                                                                                                                                                                                                                                                                                                                                                  MAVLink 구현

                                                                                                                                                                                                                                                                                                                                                  Many autopilots, ground stations, integration APIs, projects and other software packages use MAVLink. A non-exhaustive list of some users/contributors of this project is given below.

                                                                                                                                                                                                                                                                                                                                                  Autopilots

                                                                                                                                                                                                                                                                                                                                                  The following autopilots are known to support MAVLink and are actively being developed (last release less than a year ago).

                                                                                                                                                                                                                                                                                                                                                  Ground Stations

                                                                                                                                                                                                                                                                                                                                                  A number of higher level APIs have been written to simplify interacting with MAVLink autopilots, cameras, ground stations, etc. (MAVLink is a relatively low-level API). These wrappers typically provide implementations of the main microservices and simple/specific interfaces for sending commands and accessing vehicle information.

                                                                                                                                                                                                                                                                                                                                                  The list here contains actively maintained implementations:

                                                                                                                                                                                                                                                                                                                                                  These projects have some activity but are not as well maintained:

                                                                                                                                                                                                                                                                                                                                                  Research Projects

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                                                                                                                                                                                                                                                                                                                                                    MAVLink 구현

                                                                                                                                                                                                                                                                                                                                                    Many autopilots, ground stations, integration APIs, projects and other software packages use MAVLink. A non-exhaustive list of some users/contributors of this project is given below.

                                                                                                                                                                                                                                                                                                                                                    Autopilots

                                                                                                                                                                                                                                                                                                                                                    The following autopilots are known to support MAVLink and are actively being developed (last release less than a year ago).

                                                                                                                                                                                                                                                                                                                                                    Ground Stations

                                                                                                                                                                                                                                                                                                                                                    A number of higher level APIs have been written to simplify interacting with MAVLink autopilots, cameras, ground stations, etc. (MAVLink is a relatively low-level API). These wrappers typically provide implementations of the main microservices and simple/specific interfaces for sending commands and accessing vehicle information.

                                                                                                                                                                                                                                                                                                                                                    The list here contains actively maintained implementations:

                                                                                                                                                                                                                                                                                                                                                    These projects have some activity but are not as well maintained:

                                                                                                                                                                                                                                                                                                                                                    Research Projects

                                                                                                                                                                                                                                                                                                                                                    results matching ""

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                                                                                                                                                                                                                                                                                                                                                      Protocol Overview

                                                                                                                                                                                                                                                                                                                                                      MAVLink is a binary telemetry protocol designed for resource-constrained systems and bandwidth-constrained links. MAVLink is deployed in two major versions: v1.0 and v2.0, which is backwards-compatible (v2.0 implementations can parse and send v1.0 packets). Telemetry data streams are sent in a multicast design while protocol aspects that change the system configuration and require guaranteed delivery like the mission protocol or parameter protocol are point-to-point with retransmission.

                                                                                                                                                                                                                                                                                                                                                      Below is the over-the-wire format for a MAVLink v2 packet. The in-memory representation might differ.

                                                                                                                                                                                                                                                                                                                                                      uint8_t magic;              ///< protocol magic marker
+개요 · MAVLink Developer Guide
                                                                                                                                                                                                                                                                                                                                                      Protocol Overview
                                                                                                                                                                                                                                                                                                                                                      MAVLink is a binary telemetry protocol designed for resource-constrained systems and bandwidth-constrained links. MAVLink is deployed in two major versions: v1.0 and v2.0, which is backwards-compatible (v2.0 implementations can parse and send v1.0 packets). Telemetry data streams are sent in a multicast design while protocol aspects that change the system configuration and require guaranteed delivery like the mission protocol or parameter protocol are point-to-point with retransmission.
                                                                                                                                                                                                                                                                                                                                                      Below is the over-the-wire format for a MAVLink v2 packet. The in-memory representation might differ.
                                                                                                                                                                                                                                                                                                                                                      uint8_t magic;              ///< protocol magic marker
 uint8_t len;                ///< Length of payload
 uint8_t incompat_flags;     ///< flags that must be understood
 uint8_t compat_flags;       ///< flags that can be ignored if not understood
@@ -11,4 +11,4 @@
 uint8_t payload[max 255];   ///< A maximum of 255 payload bytes
 uint16_t checksum;          ///< CRC-16/MCRF4XX
 
                                                                                                                                                                                                                                                                                                                                                      uint8_t signature[13];      ///< Signature which allows ensuring that the link is tamper-proof (optional)
-
                                                                                                                                                                                                                                                                                                                                                      The MAVLink 1 packet format is similar, but omits incompat_flags, compat_flags and signature, and only has a single byte for the message address. For more information see Serialization > Packet Format.
                                                                                                                                                                                                                                                                                                                                                      Serialization
                                                                                                                                                                                                                                                                                                                                                      The over-the-wire format of MAVLink is optimized for resource-constrained systems and hence the field order is not the same as in the XML specification. The over-the-wire generator sorts all fields of the message according to size, with the largest fields (uint64_t) first, then down to smaller fields. The sorting is done using a stable sorting algorithm, which ensures that any fields that do not need to be reordered stay in the same relative order. This prevents alignment issues on the encoding / decoding systems and allows for very efficient packing / unpacking.
                                                                                                                                                                                                                                                                                                                                                      For more information and specific exceptions see Serialization.
                                                                                                                                                                                                                                                                                                                                                      Multicast Streams vs. Guaranteed Delivery
                                                                                                                                                                                                                                                                                                                                                      MAVLink is built for hybrid networks where high-rate data streams from data sources (commonly drones) flow to data sinks (commonly ground stations), but are mixed with transfers requiring guaranteed delivery. The key insight is that for most telemetry streams there is not a known or single recipient: Instead, typically an onboard computer, a ground control station and a cloud system all need the same data stream.
                                                                                                                                                                                                                                                                                                                                                      On the other hand configuring the onboard mission or changing the system configuration with onboard parameters requires point-to-point communication with guaranteed delivery. MAVLink achieves very high efficiency by allowing both modes of operation.
                                                                                                                                                                                                                                                                                                                                                      Topic Mode (publish-subscribe)
                                                                                                                                                                                                                                                                                                                                                      In topic mode the protocol will not emit a target system and component ID for messages to save link bandwidth. Typical examples for this communication mode are all autopilot data streams like position, attitude, etc.
                                                                                                                                                                                                                                                                                                                                                      The main benefit of this multicast mode is that no additional overhead is generated and multiple subscribers can all receive this data.
                                                                                                                                                                                                                                                                                                                                                      Point-to-Point Mode
                                                                                                                                                                                                                                                                                                                                                      In point-to-point mode MAVLink uses a target ID and target component. In most cases where these fields are used the sub-protocol also ensures guaranteed delivery (missions, parameters, commands).
                                                                                                                                                                                                                                                                                                                                                      Integrity Checks / Checksum
                                                                                                                                                                                                                                                                                                                                                      MAVLink implements two integrity checks: The first check is on the integrity of the packet during transmission using the CRC-16/MCRF4XX checksum. This however only ensures that the data has not been altered on the link - it does not ensure consistency with the data definition. The second integrity check is on the data description to ensure that two messages with the same ID are indeed containing the same information. To achieve this the data definition itself is run through CRC-16-CCITT and the resulting value is used to seed the packet CRC. Most reference implementations store this constant in an array named CRC_EXTRA.
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+

                                                                                                                                                                                                                                                                                                                                                        The MAVLink 1 packet format is similar, but omits incompat_flags, compat_flags and signature, and only has a single byte for the message address. For more information see Serialization > Packet Format.

                                                                                                                                                                                                                                                                                                                                                        Serialization

                                                                                                                                                                                                                                                                                                                                                        The over-the-wire format of MAVLink is optimized for resource-constrained systems and hence the field order is not the same as in the XML specification. The over-the-wire generator sorts all fields of the message according to size, with the largest fields (uint64_t) first, then down to smaller fields. The sorting is done using a stable sorting algorithm, which ensures that any fields that do not need to be reordered stay in the same relative order. This prevents alignment issues on the encoding / decoding systems and allows for very efficient packing / unpacking.

                                                                                                                                                                                                                                                                                                                                                        For more information and specific exceptions see Serialization.

                                                                                                                                                                                                                                                                                                                                                        Multicast Streams vs. Guaranteed Delivery

                                                                                                                                                                                                                                                                                                                                                        MAVLink is built for hybrid networks where high-rate data streams from data sources (commonly drones) flow to data sinks (commonly ground stations), but are mixed with transfers requiring guaranteed delivery. The key insight is that for most telemetry streams there is not a known or single recipient: Instead, typically an onboard computer, a ground control station and a cloud system all need the same data stream.

                                                                                                                                                                                                                                                                                                                                                        On the other hand configuring the onboard mission or changing the system configuration with onboard parameters requires point-to-point communication with guaranteed delivery. MAVLink achieves very high efficiency by allowing both modes of operation.

                                                                                                                                                                                                                                                                                                                                                        Topic Mode (publish-subscribe)

                                                                                                                                                                                                                                                                                                                                                        In topic mode the protocol will not emit a target system and component ID for messages to save link bandwidth. Typical examples for this communication mode are all autopilot data streams like position, attitude, etc.

                                                                                                                                                                                                                                                                                                                                                        The main benefit of this multicast mode is that no additional overhead is generated and multiple subscribers can all receive this data.

                                                                                                                                                                                                                                                                                                                                                        Point-to-Point Mode

                                                                                                                                                                                                                                                                                                                                                        In point-to-point mode MAVLink uses a target ID and target component. In most cases where these fields are used the sub-protocol also ensures guaranteed delivery (missions, parameters, commands).

                                                                                                                                                                                                                                                                                                                                                        Integrity Checks / Checksum

                                                                                                                                                                                                                                                                                                                                                        MAVLink implements two integrity checks: The first check is on the integrity of the packet during transmission using the CRC-16/MCRF4XX checksum. This however only ensures that the data has not been altered on the link - it does not ensure consistency with the data definition. The second integrity check is on the data description to ensure that two messages with the same ID are indeed containing the same information. To achieve this the data definition itself is run through CRC-16-CCITT and the resulting value is used to seed the packet CRC. Most reference implementations store this constant in an array named CRC_EXTRA.

                                                                                                                                                                                                                                                                                                                                                        results matching ""

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                                                                                                                                                                                                                                                                                                                                                          Support

                                                                                                                                                                                                                                                                                                                                                          Mailing List/Discussion

                                                                                                                                                                                                                                                                                                                                                          The core development team and community are active on the mailing list.

                                                                                                                                                                                                                                                                                                                                                          Reporting Bugs & Issues

                                                                                                                                                                                                                                                                                                                                                          If you have any problems using MAVLink first post them on the mailing list.

                                                                                                                                                                                                                                                                                                                                                          If directed by the development team, issues may be raised on Github here.

                                                                                                                                                                                                                                                                                                                                                          Dev Call

                                                                                                                                                                                                                                                                                                                                                          MAVLink developers, adopting companies and the surrounding community of users meet regularly to help define the direction of the project, discuss RFCs, Issues and have a Q&A session.

                                                                                                                                                                                                                                                                                                                                                          The call is open to anyone who wants to contribute to the ongoing development of the project (not just the dev team). This is a great opportunity to meet the team.

                                                                                                                                                                                                                                                                                                                                                          Who should attend:

                                                                                                                                                                                                                                                                                                                                                          • Core project maintainers
                                                                                                                                                                                                                                                                                                                                                          • Component maintainers
                                                                                                                                                                                                                                                                                                                                                          • Dronecode members
                                                                                                                                                                                                                                                                                                                                                          • Community members
                                                                                                                                                                                                                                                                                                                                                          • Anyone interested in the development of MAVLink

                                                                                                                                                                                                                                                                                                                                                          Agenda

                                                                                                                                                                                                                                                                                                                                                          Meeting agenda (and historical meeting minutes) are available on the MAVLink wiki here.

                                                                                                                                                                                                                                                                                                                                                          • Add topics that you'd like to discuss and issues you'd like to unblock.
                                                                                                                                                                                                                                                                                                                                                          • Nominate Issues and PRs for the call with the Dev Call label on Github.

                                                                                                                                                                                                                                                                                                                                                          Schedule

                                                                                                                                                                                                                                                                                                                                                          There is a recurring bi-weekly call which covers Asia-Europe overlap (there is also a reserved call slot for a Europe-Americas overlap on PST timezone that can be used when needed).

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                                                                                                                                                                                                                                                                                                                                                            Support

                                                                                                                                                                                                                                                                                                                                                            Mailing List/Discussion

                                                                                                                                                                                                                                                                                                                                                            The core development team and community are active on the mailing list.

                                                                                                                                                                                                                                                                                                                                                            Reporting Bugs & Issues

                                                                                                                                                                                                                                                                                                                                                            If you have any problems using MAVLink first post them on the mailing list.

                                                                                                                                                                                                                                                                                                                                                            If directed by the development team, issues may be raised on Github here.

                                                                                                                                                                                                                                                                                                                                                            Dev Call

                                                                                                                                                                                                                                                                                                                                                            MAVLink developers, adopting companies and the surrounding community of users meet regularly to help define the direction of the project, discuss RFCs, Issues and have a Q&A session.

                                                                                                                                                                                                                                                                                                                                                            The call is open to anyone who wants to contribute to the ongoing development of the project (not just the dev team). This is a great opportunity to meet the team.

                                                                                                                                                                                                                                                                                                                                                            Who should attend:

                                                                                                                                                                                                                                                                                                                                                            • Core project maintainers
                                                                                                                                                                                                                                                                                                                                                            • Component maintainers
                                                                                                                                                                                                                                                                                                                                                            • Dronecode members
                                                                                                                                                                                                                                                                                                                                                            • Community members
                                                                                                                                                                                                                                                                                                                                                            • Anyone interested in the development of MAVLink

                                                                                                                                                                                                                                                                                                                                                            Agenda

                                                                                                                                                                                                                                                                                                                                                            Meeting agenda (and historical meeting minutes) are available on the MAVLink wiki here.

                                                                                                                                                                                                                                                                                                                                                            • Add topics that you'd like to discuss and issues you'd like to unblock.
                                                                                                                                                                                                                                                                                                                                                            • Nominate Issues and PRs for the call with the Dev Call label on Github.

                                                                                                                                                                                                                                                                                                                                                            Schedule

                                                                                                                                                                                                                                                                                                                                                            There is a recurring bi-weekly call which covers Asia-Europe overlap (there is also a reserved call slot for a Europe-Americas overlap on PST timezone that can be used when needed).

                                                                                                                                                                                                                                                                                                                                                            results matching ""

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                                                                                                                                                                                                                                                                                                                                                              \ No newline at end of file diff --git a/ko/contributing/contributing.html b/ko/contributing/contributing.html index 120830974..6ad5a0f07 100644 --- a/ko/contributing/contributing.html +++ b/ko/contributing/contributing.html @@ -1,4 +1,4 @@ -Contributing · MAVLink Developer Guide
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                                                                                                                                                                                                                                                                                                                                                              Contributing to MAVLink

                                                                                                                                                                                                                                                                                                                                                              We follow the Github flow development model.

                                                                                                                                                                                                                                                                                                                                                              Contributions are divided into several categories:

                                                                                                                                                                                                                                                                                                                                                              • Complicated changes that require significant review should be initiated using an RFC pull request in mavlink/rfcs. This is primarily intended for new microservice interface definitions, as these require discussion of both messages and message sequences (state machines) (examples: parameter or mission protocol). Depending on the scope of the change, it may also be required when modifying a microservice.
                                                                                                                                                                                                                                                                                                                                                              • Less complex changes should be submitted as a PRs to the mavlink/mavlink repository. This includes message additions/changes that do not affect a state machine.
                                                                                                                                                                                                                                                                                                                                                              • Changes to mavgen generator code should be submitted as PRs to the ArduPilot/Pymavlink repository.

                                                                                                                                                                                                                                                                                                                                                              The sections below explain how to contribute to each category and how to raise a pull request.

                                                                                                                                                                                                                                                                                                                                                              How to Contribute Simple Changes

                                                                                                                                                                                                                                                                                                                                                              How to Contribute Complex Changes

                                                                                                                                                                                                                                                                                                                                                              • Open a pull request against the RFC repository containing a new RFC number https://github.com/mavlink/rfcs and use the template in the 0000 RFC.
                                                                                                                                                                                                                                                                                                                                                              • Reach out to the community on Slack and the mailing list to raise awareness
                                                                                                                                                                                                                                                                                                                                                              • Address concerns by pushing more commits to the pull request

                                                                                                                                                                                                                                                                                                                                                              How to Contribute to Mavgen

                                                                                                                                                                                                                                                                                                                                                              Changes to the mavgen generator must be added as pull requests through the ArduPilot/pymavlink project.

                                                                                                                                                                                                                                                                                                                                                              Changes to existing generator code (e.g. bug fixes) are automatically tested by continuous integration (github actions). Once you have made against your PR pass, the changes will be reviewed by a project team member.

                                                                                                                                                                                                                                                                                                                                                              More significant changes to the generator, such as the addition of a new programming language, will require:

                                                                                                                                                                                                                                                                                                                                                              • Project team should be able to commit to supporting the generator.
                                                                                                                                                                                                                                                                                                                                                              • common.xml and all official dialect XML files should parse, validate, and be able to encode/decode for all the messages.
                                                                                                                                                                                                                                                                                                                                                              • Failures should be handled gracefully (not result in exceptions/segfaults).
                                                                                                                                                                                                                                                                                                                                                              • Enum values that are not explicitly defined in XML should be automatically and sequentially allocated.
                                                                                                                                                                                                                                                                                                                                                              • Test code to validate the above.

                                                                                                                                                                                                                                                                                                                                                              Ideally:

                                                                                                                                                                                                                                                                                                                                                              • Libraries should support both MAVLink 2 and MAVLink 1
                                                                                                                                                                                                                                                                                                                                                              • Any message with arbitrary field values can be successfully encoded and decoded.
                                                                                                                                                                                                                                                                                                                                                              • Errors/warnings should be reported for invalid payloads - e.g. oversize, duplicate command or message ids, etc.
                                                                                                                                                                                                                                                                                                                                                              • Deep dialect inclusion/nesting should be supported (minimum is 5 levels).

                                                                                                                                                                                                                                                                                                                                                              How to Contribute Stand Alone Generators

                                                                                                                                                                                                                                                                                                                                                              We would prefer that new languages are supported via mavgen rather than "standalone generators", as this provides a consistent inteface for end users, and ensures that source files are parsed and handled consistently.

                                                                                                                                                                                                                                                                                                                                                              That said will consider moving stand-alone generators into the MAVLink project under the same conditions as for new mavgen generator code (see section above). Primarily this means that the team developing the generator must provide sufficient validation that the generator works and commitment to support it.

                                                                                                                                                                                                                                                                                                                                                              How to Open a Pull Request

                                                                                                                                                                                                                                                                                                                                                              1. First fork and clone the project project.

                                                                                                                                                                                                                                                                                                                                                              2. Create a feature branch off master

                                                                                                                                                                                                                                                                                                                                                                 git checkout -b mydescriptivebranchname
+Contributing · MAVLink Developer Guide
                                                                                                                                                                                                                                                                                                                                                                Contributing to MAVLink
                                                                                                                                                                                                                                                                                                                                                                We follow the Github flow development model.
                                                                                                                                                                                                                                                                                                                                                                Contributions are divided into several categories:
                                                                                                                                                                                                                                                                                                                                                                • Complicated changes that require significant review should be initiated using an RFC pull request in mavlink/rfcs. This is primarily intended for new microservice interface definitions, as these require discussion of both messages and message sequences (state machines) (examples: parameter or mission protocol). Depending on the scope of the change, it may also be required when modifying a microservice.
                                                                                                                                                                                                                                                                                                                                                                • Less complex changes should be submitted as a PRs to the mavlink/mavlink repository. This includes message additions/changes that do not affect a state machine.
                                                                                                                                                                                                                                                                                                                                                                • Changes to mavgen generator code should be submitted as PRs to the ArduPilot/Pymavlink repository.
                                                                                                                                                                                                                                                                                                                                                                The sections below explain how to contribute to each category and how to raise a pull request.
                                                                                                                                                                                                                                                                                                                                                                How to Contribute Simple Changes
                                                                                                                                                                                                                                                                                                                                                                How to Contribute Complex Changes
                                                                                                                                                                                                                                                                                                                                                                • Open a pull request against the RFC repository containing a new RFC number https://github.com/mavlink/rfcs and use the template in the 0000 RFC.
                                                                                                                                                                                                                                                                                                                                                                • Reach out to the community on Slack and the mailing list to raise awareness
                                                                                                                                                                                                                                                                                                                                                                • Address concerns by pushing more commits to the pull request
                                                                                                                                                                                                                                                                                                                                                                How to Contribute to Mavgen
                                                                                                                                                                                                                                                                                                                                                                Changes to the mavgen generator must be added as pull requests through the ArduPilot/pymavlink project.
                                                                                                                                                                                                                                                                                                                                                                Changes to existing generator code (e.g. bug fixes) are automatically tested by continuous integration (github actions). Once you have made against your PR pass, the changes will be reviewed by a project team member.
                                                                                                                                                                                                                                                                                                                                                                More significant changes to the generator, such as the addition of a new programming language, will require:
                                                                                                                                                                                                                                                                                                                                                                • Project team should be able to commit to supporting the generator.
                                                                                                                                                                                                                                                                                                                                                                • common.xml and all official dialect XML files should parse, validate, and be able to encode/decode for all the messages.
                                                                                                                                                                                                                                                                                                                                                                • Failures should be handled gracefully (not result in exceptions/segfaults).
                                                                                                                                                                                                                                                                                                                                                                • Enum values that are not explicitly defined in XML should be automatically and sequentially allocated.
                                                                                                                                                                                                                                                                                                                                                                • Test code to validate the above.
                                                                                                                                                                                                                                                                                                                                                                Ideally:
                                                                                                                                                                                                                                                                                                                                                                • Libraries should support both MAVLink 2 and MAVLink 1
                                                                                                                                                                                                                                                                                                                                                                • Any message with arbitrary field values can be successfully encoded and decoded.
                                                                                                                                                                                                                                                                                                                                                                • Errors/warnings should be reported for invalid payloads - e.g. oversize, duplicate command or message ids, etc.
                                                                                                                                                                                                                                                                                                                                                                • Deep dialect inclusion/nesting should be supported (minimum is 5 levels).
                                                                                                                                                                                                                                                                                                                                                                How to Contribute Stand Alone Generators
                                                                                                                                                                                                                                                                                                                                                                We would prefer that new languages are supported via mavgen rather than "standalone generators", as this provides a consistent inteface for end users, and ensures that source files are parsed and handled consistently.
                                                                                                                                                                                                                                                                                                                                                                That said will consider moving stand-alone generators into the MAVLink project under the same conditions as for new mavgen generator code (see section above). Primarily this means that the team developing the generator must provide sufficient validation that the generator works and commitment to support it.
                                                                                                                                                                                                                                                                                                                                                                How to Open a Pull Request
                                                                                                                                                                                                                                                                                                                                                                1. First fork and clone the project project.
                                                                                                                                                                                                                                                                                                                                                                2. Create a feature branch off master
                                                                                                                                                                                                                                                                                                                                                                   git checkout -b mydescriptivebranchname
 
                                                                                                                                                                                                                                                                                                                                                                > **Note** *Always* branch off master for new features.
 
                                                                                                                                                                                                                                                                                                                                                                1. Commit your changes with a descriptive commit message.
                                                                                                                                                                                                                                                                                                                                                                2. Include context information, what was fixed, and an issue number (Github will link these then conveniently)
                                                                                                                                                                                                                                                                                                                                                                3. Example:
                                                                                                                                                                                                                                                                                                                                                                  ``` Change the attitude output spec documentation
                                                                                                                                                                                                                                                                                                                                                                  • Fixes a typo
                                                                                                                                                                                                                                                                                                                                                                  • Clarifies that units are radians
                                                                                                                                                                                                                                                                                                                                                                    Fixes issue #123 ```
                                                                                                                                                                                                                                                                                                                                                                4. Test your changes (we may ask you for test results in your PR).
                                                                                                                                                                                                                                                                                                                                                                5. Push changes to your repo:
                                                                                                                                                                                                                                                                                                                                                                   git push origin mydescriptivebranchname
-
                                                                                                                                                                                                                                                                                                                                                                1. Send a pull request to merge changes in the branch.
                                                                                                                                                                                                                                                                                                                                                                Dev Call
                                                                                                                                                                                                                                                                                                                                                                We have a regular dev call that is open to anyone who is interested in contributing to the project!
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                                                                                                                                                                                                                                                                                                                                                                1. Send a pull request to merge changes in the branch.

                                                                                                                                                                                                                                                                                                                                                                Dev Call

                                                                                                                                                                                                                                                                                                                                                                We have a regular dev call that is open to anyone who is interested in contributing to the project!

                                                                                                                                                                                                                                                                                                                                                                results matching ""

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                                                                                                                                                                                                                                                                                                                                                                  \ No newline at end of file diff --git a/ko/file_formats/index.html b/ko/file_formats/index.html index e6e7f5018..fcf2eb13c 100644 --- a/ko/file_formats/index.html +++ b/ko/file_formats/index.html @@ -1,7 +1,7 @@ -파일 형식 · MAVLink Developer Guide
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                                                                                                                                                                                                                                                                                                                                                                  File Formats

                                                                                                                                                                                                                                                                                                                                                                  MAVLink systems often need to be able to store, exchange, or restore MAVLink information, including: mission plans, geofence definitions, rally points, parameters, logs, etc. Often the information is defined on one system and used on another (e.g. logs from an autopilot are parsed by analysis tools, missions are created using GCS planning tools and run from a companion computer).

                                                                                                                                                                                                                                                                                                                                                                  There is a defacto standard used in many GCS systems and developer APIs for storing mission information: plain-text file format.

                                                                                                                                                                                                                                                                                                                                                                  At time of writing there are no MAVLink standards (defacto or otherwise) for: geofence, rally points, parameters etc. There is a discussion about standardising file formats in Issue #989.

                                                                                                                                                                                                                                                                                                                                                                  Mission Plain-Text File Format

                                                                                                                                                                                                                                                                                                                                                                  QGroundControl and many other GCS support an older plain-text format for missions. This is not officially part of MAVLink and does not allow rally point or geofence information to be provided.

                                                                                                                                                                                                                                                                                                                                                                  The format is shown below. The first line contains the file format and version information, while subsequent the line(s) are mission items.

                                                                                                                                                                                                                                                                                                                                                                  QGC WPL <VERSION>
+파일 형식 · MAVLink Developer Guide
                                                                                                                                                                                                                                                                                                                                                                  File Formats
                                                                                                                                                                                                                                                                                                                                                                  MAVLink systems often need to be able to store, exchange, or restore MAVLink information, including: mission plans, geofence definitions, rally points, parameters, logs, etc. Often the information is defined on one system and used on another (e.g. logs from an autopilot are parsed by analysis tools, missions are created using GCS planning tools and run from a companion computer).
                                                                                                                                                                                                                                                                                                                                                                  There is a defacto standard used in many GCS systems and developer APIs for storing mission information: plain-text file format.
                                                                                                                                                                                                                                                                                                                                                                  At time of writing there are no MAVLink standards (defacto or otherwise) for: geofence, rally points, parameters etc. There is a discussion about standardising file formats in Issue #989.
                                                                                                                                                                                                                                                                                                                                                                  Mission Plain-Text File Format
                                                                                                                                                                                                                                                                                                                                                                  QGroundControl and many other GCS support an older plain-text format for missions. This is not officially part of MAVLink and does not allow rally point or geofence information to be provided.
                                                                                                                                                                                                                                                                                                                                                                  The format is shown below. The first line contains the file format and version information, while subsequent the line(s) are mission items.
                                                                                                                                                                                                                                                                                                                                                                  QGC WPL <VERSION>
 <INDEX> <CURRENT WP> <COORD FRAME> <COMMAND> <PARAM1> <PARAM2> <PARAM3> <PARAM4> <PARAM5/X/LATITUDE> <PARAM6/Y/LONGITUDE> <PARAM7/Z/ALTITUDE> <AUTOCONTINUE>
 
                                                                                                                                                                                                                                                                                                                                                                  The spaces between the numbers/fields above are <tab> (i.e. \t in most programming languages).
                                                                                                                                                                                                                                                                                                                                                                  For example:
                                                                                                                                                                                                                                                                                                                                                                  QGC WPL 110
 0   1   0   16  0.149999999999999994    0   0   0   8.54800000000000004 47.3759999999999977 550 1
 1   0   0   16  0.149999999999999994    0   0   0   8.54800000000000004 47.3759999999999977 550 1
 2   0   0   16  0.149999999999999994    0   0   0   8.54800000000000004 47.3759999999999977 550 1
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                                                                                                                                                                                                                                                                                                                                                                      Generating MAVLink Libraries

                                                                                                                                                                                                                                                                                                                                                                      Language-specific MAVLink libraries can be created from XML Message Definitions using code generator tools.

                                                                                                                                                                                                                                                                                                                                                                      This page shows how to use the following two code generators provided with the MAVLink project:

                                                                                                                                                                                                                                                                                                                                                                      • GUI tool: mavgenerate
                                                                                                                                                                                                                                                                                                                                                                      • Command line tool: mavgen, which is the backend tool used also by mavgenerate

                                                                                                                                                                                                                                                                                                                                                                      These generators can build MAVLink 2 and MAVLink 1 libraries for the following programming languages: C, C++11, Python, Typescript, Java, and WLua. The following programming languages are supported for MAVLink 1 libraries only: C#, JavaScript, ObjC, Swift.

                                                                                                                                                                                                                                                                                                                                                                      Generators for other programming languages are supported and documented in independent projects. For more information see Supported Languages.

                                                                                                                                                                                                                                                                                                                                                                      Pre-requisites

                                                                                                                                                                                                                                                                                                                                                                      1. You must already have Installed the MAVLink toolchain, which includes the mavgenerate and mavgen tools used below as well as the XML Message Definitions.

                                                                                                                                                                                                                                                                                                                                                                      2. mavgen can handle dialects that have relative paths for included XML files (e.g typically common.xml), but other generators may not. If you are generating messages for a custom dialect, copy the dialect XML definition file(s) into the directory message_definitions/v1.0/. We recommend putting custom dialects in the same folder as the ones that come with the mavlink/mavlink repository.

                                                                                                                                                                                                                                                                                                                                                                      Building MAVLink libraries using the Mavgenerate GUI

                                                                                                                                                                                                                                                                                                                                                                      mavgenerate.py is GUI code generator for MAVLink, written in Python.

                                                                                                                                                                                                                                                                                                                                                                      Mavgenerate provides a GUI front end to the mavgen command line code generator, and supports the same options.

                                                                                                                                                                                                                                                                                                                                                                      The GUI can be launched from anywhere using Python's -m argument:

                                                                                                                                                                                                                                                                                                                                                                      python3 -m mavgenerate
+MAVLink 라이브러리 생성하기 · MAVLink Developer Guide
                                                                                                                                                                                                                                                                                                                                                                      Generating MAVLink Libraries
                                                                                                                                                                                                                                                                                                                                                                      Language-specific MAVLink libraries can be created from XML Message Definitions using code generator tools.
                                                                                                                                                                                                                                                                                                                                                                      This page shows how to use the following two code generators provided with the MAVLink project:
                                                                                                                                                                                                                                                                                                                                                                      • GUI tool: mavgenerate
                                                                                                                                                                                                                                                                                                                                                                      • Command line tool: mavgen, which is the backend tool used also by mavgenerate
                                                                                                                                                                                                                                                                                                                                                                      These generators can build MAVLink 2 and MAVLink 1 libraries for the following programming languages: C, C++11, Python, Typescript, Java, and WLua. The following programming languages are supported for MAVLink 1 libraries only: C#, JavaScript, ObjC, Swift.
                                                                                                                                                                                                                                                                                                                                                                      Generators for other programming languages are supported and documented in independent projects. For more information see Supported Languages.
                                                                                                                                                                                                                                                                                                                                                                      Pre-requisites
                                                                                                                                                                                                                                                                                                                                                                      1. You must already have Installed the MAVLink toolchain, which includes the mavgenerate and mavgen tools used below as well as the XML Message Definitions.
                                                                                                                                                                                                                                                                                                                                                                      2. mavgen can handle dialects that have relative paths for included XML files (e.g typically common.xml), but other generators may not. If you are generating messages for a custom dialect, copy the dialect XML definition file(s) into the directory message_definitions/v1.0/. We recommend putting custom dialects in the same folder as the ones that come with the mavlink/mavlink repository.
                                                                                                                                                                                                                                                                                                                                                                      Building MAVLink libraries using the Mavgenerate GUI
                                                                                                                                                                                                                                                                                                                                                                      mavgenerate.py is GUI code generator for MAVLink, written in Python.
                                                                                                                                                                                                                                                                                                                                                                      Mavgenerate provides a GUI front end to the mavgen command line code generator, and supports the same options.
                                                                                                                                                                                                                                                                                                                                                                      The GUI can be launched from anywhere using Python's -m argument:
                                                                                                                                                                                                                                                                                                                                                                      python3 -m mavgenerate
 
                                                                                                                                                                                                                                                                                                                                                                      mavgenerate UI
                                                                                                                                                                                                                                                                                                                                                                      Steps for generating the MAVLink library code:
                                                                                                                                                                                                                                                                                                                                                                      1. Choose the target XML file (typically in mavlink/message_definitions/1.0).
                                                                                                                                                                                                                                                                                                                                                                        If using a custom dialect, first copy it into the above directory (if the dialect is dependent on common.xml it must be located in the same directory).
                                                                                                                                                                                                                                                                                                                                                                      2. Choose an output directory (e.g. mavlink/include).
                                                                                                                                                                                                                                                                                                                                                                      3. Select the target output programming language.
                                                                                                                                                                                                                                                                                                                                                                        mavgenerate UI - language list
                                                                                                                                                                                                                                                                                                                                                                        For JavaScript in particular there are three options:
                                                                                                                                                                                                                                                                                                                                                                      4. JavaScript_Stable is an older version that only supports MAVLink 1.0,
                                                                                                                                                                                                                                                                                                                                                                      5. JavaScript_NextGen is a more recent version that supports MAVLink 1 and 2 along with signing.
                                                                                                                                                                                                                                                                                                                                                                      6. JavaScript is a "proxy" for the recommended version. Currently this is JavaScript_Stable.
                                                                                                                                                                                                                                                                                                                                                                      7. Select the target MAVLink protocol version. Ideally use 2.0 if the generator supports it.
                                                                                                                                                                                                                                                                                                                                                                        Generation will fail if the protocol is not supported by the selected programming language.
                                                                                                                                                                                                                                                                                                                                                                      8. Optionally check Validate and/or Validate Units, which validates XML specifications.
                                                                                                                                                                                                                                                                                                                                                                      9. Click Generate to create the source files for the MAVLink library and the chosen dialect.
                                                                                                                                                                                                                                                                                                                                                                      Building MAVLink libraries using the Mavgen Command Line Tool
                                                                                                                                                                                                                                                                                                                                                                      mavgen.py is a command line tool for generating MAVLink libraries for various programming languages. After the mavlink directory has been added to the PYTHONPATH, it can be run by executing from the command line. However, if you are outside of the mavlink directory, you need to add the mavlink directory to the PYTHONPATH environment variable.
                                                                                                                                                                                                                                                                                                                                                                      Mavgen is the backend used by mavgenerate. The documentation below explains all the options for both tools.
                                                                                                                                                                                                                                                                                                                                                                      Below is an example for how to generate MAVLink 2 libraries for the C programming language using a dialect named your_custom_dialect.xml:
                                                                                                                                                                                                                                                                                                                                                                      python3 -m pymavlink.tools.mavgen --lang=C --wire-protocol=2.0 --output=generated/include/mavlink/v2.0 message_definitions/v1.0/your_custom_dialect.xml
 
                                                                                                                                                                                                                                                                                                                                                                      The syntax for for generating Python modules is the same, except that the --output specifies a filename rather than a directory.
                                                                                                                                                                                                                                                                                                                                                                       The full syntax and options can be output by running mavgen.py -h flag, which is reproduced below:
                                                                                                                                                                                                                                                                                                                                                                      usage: mavgen.py [-h] [-o OUTPUT]
                  [--lang {C,CS,JavaScript,JavaScript_Stable,JavaScript_NextGen,TypeScript,Python,Lua,WLua,ObjC,Swift,Java,C++11}]
@@ -24,4 +24,4 @@
   --error-limit ERROR_LIMIT
                         maximum number of validation errors to display
   --strict-units        Perform validation of units attributes.
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                                                                                                                                                                                                                                                                                                                                                                          Getting Started

                                                                                                                                                                                                                                                                                                                                                                          Download or Generate MAVLink source files for your dialect:

                                                                                                                                                                                                                                                                                                                                                                          The following topics explain how to include the files in your project and use MAVLink:

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                                                                                                                                                                                                                                                                                                                                                                            Getting Started

                                                                                                                                                                                                                                                                                                                                                                            Download or Generate MAVLink source files for your dialect:

                                                                                                                                                                                                                                                                                                                                                                            The following topics explain how to include the files in your project and use MAVLink:

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                                                                                                                                                                                                                                                                                                                                                                              Installing MAVLink Toolchain

                                                                                                                                                                                                                                                                                                                                                                              This topic explains how to install the MAVLink toolchain. The toolchain includes the XML message definitions as well as the the GUI/command line tools that use the definitions to Generate MAVLink Source Files.

                                                                                                                                                                                                                                                                                                                                                                              You do not need to install or generate the source files if you are using the C programming language and a standard dialect. Just get the prebuilt libraries and then jump to Using C Libraries.

                                                                                                                                                                                                                                                                                                                                                                              Prerequisites

                                                                                                                                                                                                                                                                                                                                                                              The requirements for using the MAVLink generator are:

                                                                                                                                                                                                                                                                                                                                                                              • Python 3.3+
                                                                                                                                                                                                                                                                                                                                                                              • pip3 install future
                                                                                                                                                                                                                                                                                                                                                                              • TkInter (required to use the GUI tool).

                                                                                                                                                                                                                                                                                                                                                                              If you are creating new XML definitions you should also install lxml and libxml2 for XML validation and formatting.

                                                                                                                                                                                                                                                                                                                                                                              Installation

                                                                                                                                                                                                                                                                                                                                                                              To install the MAVLink toolchain:

                                                                                                                                                                                                                                                                                                                                                                              1. Install Python 3.6+:

                                                                                                                                                                                                                                                                                                                                                                              2. Windows: Download from Python for Windows

                                                                                                                                                                                                                                                                                                                                                                              3. Ubuntu Linux pip3 install --user future sudo apt install python3-tk

                                                                                                                                                                                                                                                                                                                                                                              4. Clone the official mavlink repo or your fork with your custom dialect:

                                                                                                                                                                                                                                                                                                                                                                                 git clone https://github.com/mavlink/mavlink.git --recursive
+MAVLink 설치하기 · MAVLink Developer Guide
                                                                                                                                                                                                                                                                                                                                                                                Installing MAVLink Toolchain
                                                                                                                                                                                                                                                                                                                                                                                This topic explains how to install the MAVLink toolchain. The toolchain includes the XML message definitions as well as the the GUI/command line tools that use the definitions to Generate MAVLink Source Files.
                                                                                                                                                                                                                                                                                                                                                                                You do not need to install or generate the source files if you are using the C programming language and a standard dialect. Just get the prebuilt libraries and then jump to Using C Libraries.
                                                                                                                                                                                                                                                                                                                                                                                Prerequisites
                                                                                                                                                                                                                                                                                                                                                                                The requirements for using the MAVLink generator are:
                                                                                                                                                                                                                                                                                                                                                                                • Python 3.3+
                                                                                                                                                                                                                                                                                                                                                                                • pip3 install future
                                                                                                                                                                                                                                                                                                                                                                                • TkInter (required to use the GUI tool).
                                                                                                                                                                                                                                                                                                                                                                                If you are creating new XML definitions you should also install lxml and libxml2 for XML validation and formatting.
                                                                                                                                                                                                                                                                                                                                                                                Installation
                                                                                                                                                                                                                                                                                                                                                                                To install the MAVLink toolchain:
                                                                                                                                                                                                                                                                                                                                                                                1. Install Python 3.6+:
                                                                                                                                                                                                                                                                                                                                                                                2. Windows: Download from Python for Windows
                                                                                                                                                                                                                                                                                                                                                                                3. Ubuntu Linux pip3 install --user future sudo apt install python3-tk
                                                                                                                                                                                                                                                                                                                                                                                4. Clone the official mavlink repo or your fork with your custom dialect:
                                                                                                                                                                                                                                                                                                                                                                                   git clone https://github.com/mavlink/mavlink.git --recursive
 
                                                                                                                                                                                                                                                                                                                                                                                1. Install the required packages:
                                                                                                                                                                                                                                                                                                                                                                                   sudo apt install python3-pip
-
                                                                                                                                                                                                                                                                                                                                                                                Now you are ready to Generate MAVLink Libraries.
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                                                                                                                                                                                                                                                                                                                                                                                Now you are ready to Generate MAVLink Libraries.

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                                                                                                                                                                                                                                                                                                                                                                                  Generate Source Files for ROS

                                                                                                                                                                                                                                                                                                                                                                                  To add MAVlink messages/dialects while working with ROS:

                                                                                                                                                                                                                                                                                                                                                                                  1. Follow the MAVROS source install instructions to install the mavlink-gbp-release which is the MAVlink library released for ROS.

                                                                                                                                                                                                                                                                                                                                                                                  2. Uninstall the MAVlink package for ROS if previously installed.

                                                                                                                                                                                                                                                                                                                                                                                     sudo apt-get remove ros-${rosversion -d}-mavlink
-

                                                                                                                                                                                                                                                                                                                                                                                    or source devel/setup.bash of your catkin workspace to override the library directory.

                                                                                                                                                                                                                                                                                                                                                                                  3. In the mavlink-gbp-release, add the new MAVlink message to common.xml or add the new dialect dialect_name.xml in the message definitions. Do not checkout your MAVlink branch because it is not the version synced with ROS.

                                                                                                                                                                                                                                                                                                                                                                                  4. Generate the MAVlink headers catkin build mavlink. You can find the headers in ~/catkin_ws/build/mavlink/include/.

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                                                                                                                                                                                                                                                                                                                                                                                    Generate Source Files for ROS

                                                                                                                                                                                                                                                                                                                                                                                    To add MAVlink messages/dialects while working with ROS:

                                                                                                                                                                                                                                                                                                                                                                                    1. Follow the MAVROS source install instructions to install the mavlink-gbp-release which is the MAVlink library released for ROS.

                                                                                                                                                                                                                                                                                                                                                                                    2. Uninstall the MAVlink package for ROS if previously installed.

                                                                                                                                                                                                                                                                                                                                                                                       sudo apt-get remove ros-${rosversion -d}-mavlink
+

                                                                                                                                                                                                                                                                                                                                                                                      or source devel/setup.bash of your catkin workspace to override the library directory.

                                                                                                                                                                                                                                                                                                                                                                                    3. In the mavlink-gbp-release, add the new MAVlink message to common.xml or add the new dialect dialect_name.xml in the message definitions. Do not checkout your MAVlink branch because it is not the version synced with ROS.

                                                                                                                                                                                                                                                                                                                                                                                    4. Generate the MAVlink headers catkin build mavlink. You can find the headers in ~/catkin_ws/build/mavlink/include/.

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                                                                                                                                                                                                                                                                                                                                                                                      Using MAVLink Libraries

                                                                                                                                                                                                                                                                                                                                                                                      The linked documents explain how to use the MAVLink libraries for different programming languages (and from different code generators).

                                                                                                                                                                                                                                                                                                                                                                                      Not all of the libraries are documented. If you have experience with the other libraries, please help us update those sections!

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                                                                                                                                                                                                                                                                                                                                                                                        Using MAVLink Libraries

                                                                                                                                                                                                                                                                                                                                                                                        The linked documents explain how to use the MAVLink libraries for different programming languages (and from different code generators).

                                                                                                                                                                                                                                                                                                                                                                                        Not all of the libraries are documented. If you have experience with the other libraries, please help us update those sections!

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                                                                                                                                                                                                                                                                                                                                                                                          MAVLink CRC

                                                                                                                                                                                                                                                                                                                                                                                          MAVLink services that need to use a Cyclic Redundancy Check (CRC) should choose the CRC32 algorithm described below.

                                                                                                                                                                                                                                                                                                                                                                                          Using the same CRC implementation for all cases means that only one implementation is required. Do not introduce another unless there without a compelling technical reason.

                                                                                                                                                                                                                                                                                                                                                                                          This CRC is used for higher level services (it is not related to the CRC16 used for the checksum in MAVLink serialization).

                                                                                                                                                                                                                                                                                                                                                                                          CRC32 Algorithm

                                                                                                                                                                                                                                                                                                                                                                                          The CRC32 algorithm used by MAVLink is similar to (but different from) the ISO 3309 standard based on the polygon 0x04C11DB7. It is commonly referred to as "the CRC32 based on Gary Brown's work".

                                                                                                                                                                                                                                                                                                                                                                                          The difference of MAVLink's implementation versus the standard are:

                                                                                                                                                                                                                                                                                                                                                                                          • Start at 0 instead of 0xFFFFFFFF.
                                                                                                                                                                                                                                                                                                                                                                                          • Missing final XOR out operation with 0xFFFFFFFF.

                                                                                                                                                                                                                                                                                                                                                                                          The effects of the initial value and final XOR operation are documented in this brief tutorial on CRC computation of the Linux kernel.

                                                                                                                                                                                                                                                                                                                                                                                          Implementations

                                                                                                                                                                                                                                                                                                                                                                                          This implementation is currently used in:

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                                                                                                                                                                                                                                                                                                                                                                                            \ No newline at end of file +MAVLink CRC · MAVLink Developer Guide
                                                                                                                                                                                                                                                                                                                                                                                            Messages
                                                                                                                                                                                                                                                                                                                                                                                            Messages
                                                                                                                                                                                                                                                                                                                                                                                            FAQ
                                                                                                                                                                                                                                                                                                                                                                                            FAQ
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                                                                                                                                                                                                                                                                                                                                                                                            MAVLink CRC

                                                                                                                                                                                                                                                                                                                                                                                            MAVLink services that need to use a Cyclic Redundancy Check (CRC) should choose the CRC32 algorithm described below.

                                                                                                                                                                                                                                                                                                                                                                                            Using the same CRC implementation for all cases means that only one implementation is required. Do not introduce another unless there without a compelling technical reason.

                                                                                                                                                                                                                                                                                                                                                                                            This CRC is used for higher level services (it is not related to the CRC16 used for the checksum in MAVLink serialization).

                                                                                                                                                                                                                                                                                                                                                                                            CRC32 Algorithm

                                                                                                                                                                                                                                                                                                                                                                                            The CRC32 algorithm used by MAVLink is similar to (but different from) the ISO 3309 standard based on the polygon 0x04C11DB7. It is commonly referred to as "the CRC32 based on Gary Brown's work".

                                                                                                                                                                                                                                                                                                                                                                                            The difference of MAVLink's implementation versus the standard are:

                                                                                                                                                                                                                                                                                                                                                                                            • Start at 0 instead of 0xFFFFFFFF.
                                                                                                                                                                                                                                                                                                                                                                                            • Missing final XOR out operation with 0xFFFFFFFF.

                                                                                                                                                                                                                                                                                                                                                                                            The effects of the initial value and final XOR operation are documented in this brief tutorial on CRC computation of the Linux kernel.

                                                                                                                                                                                                                                                                                                                                                                                            Implementations

                                                                                                                                                                                                                                                                                                                                                                                            This implementation is currently used in:

                                                                                                                                                                                                                                                                                                                                                                                            results matching ""

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                                                                                                                                                                                                                                                                                                                                                                                              \ No newline at end of file diff --git a/ko/guide/define_xml_element.html b/ko/guide/define_xml_element.html index 22060387a..f474e4a78 100644 --- a/ko/guide/define_xml_element.html +++ b/ko/guide/define_xml_element.html @@ -1,4 +1,4 @@ -XML 기수/메세지 정의 · MAVLink Developer Guide
                                                                                                                                                                                                                                                                                                                                                                                              Messages
                                                                                                                                                                                                                                                                                                                                                                                              Messages
                                                                                                                                                                                                                                                                                                                                                                                              FAQ
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                                                                                                                                                                                                                                                                                                                                                                                              Implementations
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                                                                                                                                                                                                                                                                                                                                                                                              Examples
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                                                                                                                                                                                                                                                                                                                                                                                              How to Define MAVLink Messages & Enums

                                                                                                                                                                                                                                                                                                                                                                                              MAVLink enums, messages, commands, and other elements are defined within XML files and then converted to libraries for supported programming languages using a code generator.

                                                                                                                                                                                                                                                                                                                                                                                              This topic provides practical guidance for defining and extending MAVLink XML elements, including conventions and best-practice.

                                                                                                                                                                                                                                                                                                                                                                                              For detailed information about the file format see MAVLink XML Schema (you can also inspect common.xml and other dialect files).

                                                                                                                                                                                                                                                                                                                                                                                              Before submitting a pull request for a change to a dialect xml file, you should first regenerate the dialect library with validation enabled, and then run the ./scripts/format_xml.sh script.

                                                                                                                                                                                                                                                                                                                                                                                              Messages vs Commands

                                                                                                                                                                                                                                                                                                                                                                                              There are two ways to send information between MAVLink systems (including commands, information and acknowledgments):

                                                                                                                                                                                                                                                                                                                                                                                              • Messages are encoded using message elements. The message structure/fields and handling are largely unconstrained (i.e. up to the creator).
                                                                                                                                                                                                                                                                                                                                                                                              • MAVLink Commands are defined as entries in the MAV_CMD enum, and encoded into real messages that are sent using the Mission Protocol or Command Protocol. Their structure is defined (they have 7 float parameters or 5 float and 2 int32_t parameters) and handling/responses depend on the protocol used to send them.

                                                                                                                                                                                                                                                                                                                                                                                              The guidance below provides some suggestions on when one or the other might be more appropriate.

                                                                                                                                                                                                                                                                                                                                                                                              Consider using a proper message if:

                                                                                                                                                                                                                                                                                                                                                                                              • The required information does not fit into a command (i.e. it can't fit into the 7 available numeric fields).
                                                                                                                                                                                                                                                                                                                                                                                              • The message is part of another protocol.
                                                                                                                                                                                                                                                                                                                                                                                              • The message must be broadcast or streamed (i.e. no ACK required)

                                                                                                                                                                                                                                                                                                                                                                                              Consider using a command if:

                                                                                                                                                                                                                                                                                                                                                                                              • The message should be executed as part of a mission.
                                                                                                                                                                                                                                                                                                                                                                                              • There is an existing mission command that you wish to use outside of missions. Depending on the autopilot you may be able to handle the message using the same code for both modes.
                                                                                                                                                                                                                                                                                                                                                                                              • You're working with MAVLink 1 and there is no free id for the new message (MAVLink 1 has a much larger free pool of ids for MAVLink commands than for message ids).
                                                                                                                                                                                                                                                                                                                                                                                              • It is important that your command message is not missed, so an ACK/NACK is required. Using the existing protocol acknowledgments may be faster/easier than defining another message for acknowledgments.

                                                                                                                                                                                                                                                                                                                                                                                              Otherwise either method may freely be used.

                                                                                                                                                                                                                                                                                                                                                                                              The "official" project XML files are stored in the Github repo mavlink/mavlink under /message_definitions/v1.0/.

                                                                                                                                                                                                                                                                                                                                                                                              MAVLink systems typically fork and maintain a copy of this repo (e.g. ArduPilot/mavlink). The downstream repo should pull common.xml changes (see next section) down from the main repo and push dialect-specific changes back to it.

                                                                                                                                                                                                                                                                                                                                                                                              The official repo is forked and/or cloned into your environment when you Install MAVLink.

                                                                                                                                                                                                                                                                                                                                                                                              A project/dialect doesn't have to push changes back to MAVLink. However this makes sense if you want to publish your messages more widely, and potentially get them moved into the common.xml message set.

                                                                                                                                                                                                                                                                                                                                                                                              The enums and messages that are generally useful for many flight stacks and ground stations are stored in a file named common.xml, which is managed by the MAVLink project. The MAVLink elements supported by a particular autopilot system or protocol are referred to as dialects. The dialects are stored in separate XML files, which typically include (import) common.xml and define just the elements needed for system-specific functionality.

                                                                                                                                                                                                                                                                                                                                                                                              When a MAVLink library is generated from a dialect file, code is created for all messages in both the dialect and any included files (e.g. common.xml), and entries for a particular enum are merged. The generator reports errors if there are name or id clashes between imported messages or enum entries.

                                                                                                                                                                                                                                                                                                                                                                                              Where you define an element depends on whether it is common or a dialect, and whether the project is public or private.

                                                                                                                                                                                                                                                                                                                                                                                              Elements that are potentially useful for multiple ground stations and autopilots

                                                                                                                                                                                                                                                                                                                                                                                              Elements specific to a particular MAVLink dialect

                                                                                                                                                                                                                                                                                                                                                                                              • Add these elements to the dialect file in the owning system's fork of the repo.
                                                                                                                                                                                                                                                                                                                                                                                              • Raise a PR with your suggested changes and discuss with the dialect project through that mechanism.
                                                                                                                                                                                                                                                                                                                                                                                              • The dialect project should then (ideally) push the changes back to mavlink/mavlink.

                                                                                                                                                                                                                                                                                                                                                                                              Elements for a private project

                                                                                                                                                                                                                                                                                                                                                                                              • If your enums/messages won't ever sync back to the MAVLink project then define them wherever you like!

                                                                                                                                                                                                                                                                                                                                                                                              Creating a Dialect File

                                                                                                                                                                                                                                                                                                                                                                                              To create a new dialect file:

                                                                                                                                                                                                                                                                                                                                                                                              1. Fork mavlink/mavlink for your system and clone to your system
                                                                                                                                                                                                                                                                                                                                                                                              2. Create a dialect file named after your MAVLink system (e.g. flight stack) in message_definitions/v1.0/

                                                                                                                                                                                                                                                                                                                                                                                              3. Copy the following text into the new file.

                                                                                                                                                                                                                                                                                                                                                                                                common.xml

                                                                                                                                                                                                                                                                                                                                                                                                    <!-- <version>9</version> -->
+XML 기수/메세지 정의 · MAVLink Developer Guide
                                                                                                                                                                                                                                                                                                                                                                                                How to Define MAVLink Messages & Enums
                                                                                                                                                                                                                                                                                                                                                                                                MAVLink enums, messages, commands, and other elements are defined within XML files and then converted to libraries for supported programming languages using a code generator.
                                                                                                                                                                                                                                                                                                                                                                                                This topic provides practical guidance for defining and extending MAVLink XML elements, including conventions and best-practice.
                                                                                                                                                                                                                                                                                                                                                                                                For detailed information about the file format see MAVLink XML Schema (you can also inspect common.xml and other dialect files).
                                                                                                                                                                                                                                                                                                                                                                                                Before submitting a pull request for a change to a dialect xml file, you should first regenerate the dialect library with validation enabled, and then run the ./scripts/format_xml.sh script.
                                                                                                                                                                                                                                                                                                                                                                                                Messages vs Commands
                                                                                                                                                                                                                                                                                                                                                                                                There are two ways to send information between MAVLink systems (including commands, information and acknowledgments):
                                                                                                                                                                                                                                                                                                                                                                                                • Messages are encoded using message elements. The message structure/fields and handling are largely unconstrained (i.e. up to the creator).
                                                                                                                                                                                                                                                                                                                                                                                                • MAVLink Commands are defined as entries in the MAV_CMD enum, and encoded into real messages that are sent using the Mission Protocol or Command Protocol. Their structure is defined (they have 7 float parameters or 5 float and 2 int32_t parameters) and handling/responses depend on the protocol used to send them.
                                                                                                                                                                                                                                                                                                                                                                                                The guidance below provides some suggestions on when one or the other might be more appropriate.
                                                                                                                                                                                                                                                                                                                                                                                                Consider using a proper message if:
                                                                                                                                                                                                                                                                                                                                                                                                • The required information does not fit into a command (i.e. it can't fit into the 7 available numeric fields).
                                                                                                                                                                                                                                                                                                                                                                                                • The message is part of another protocol.
                                                                                                                                                                                                                                                                                                                                                                                                • The message must be broadcast or streamed (i.e. no ACK required)
                                                                                                                                                                                                                                                                                                                                                                                                Consider using a command if:
                                                                                                                                                                                                                                                                                                                                                                                                • The message should be executed as part of a mission.
                                                                                                                                                                                                                                                                                                                                                                                                • There is an existing mission command that you wish to use outside of missions. Depending on the autopilot you may be able to handle the message using the same code for both modes.
                                                                                                                                                                                                                                                                                                                                                                                                • You're working with MAVLink 1 and there is no free id for the new message (MAVLink 1 has a much larger free pool of ids for MAVLink commands than for message ids).
                                                                                                                                                                                                                                                                                                                                                                                                • It is important that your command message is not missed, so an ACK/NACK is required. Using the existing protocol acknowledgments may be faster/easier than defining another message for acknowledgments.
                                                                                                                                                                                                                                                                                                                                                                                                Otherwise either method may freely be used.
                                                                                                                                                                                                                                                                                                                                                                                                The "official" project XML files are stored in the Github repo mavlink/mavlink under /message_definitions/v1.0/.
                                                                                                                                                                                                                                                                                                                                                                                                MAVLink systems typically fork and maintain a copy of this repo (e.g. ArduPilot/mavlink). The downstream repo should pull common.xml changes (see next section) down from the main repo and push dialect-specific changes back to it.
                                                                                                                                                                                                                                                                                                                                                                                                The official repo is forked and/or cloned into your environment when you Install MAVLink.
                                                                                                                                                                                                                                                                                                                                                                                                A project/dialect doesn't have to push changes back to MAVLink. However this makes sense if you want to publish your messages more widely, and potentially get them moved into the common.xml message set.
                                                                                                                                                                                                                                                                                                                                                                                                The enums and messages that are generally useful for many flight stacks and ground stations are stored in a file named common.xml, which is managed by the MAVLink project. The MAVLink elements supported by a particular autopilot system or protocol are referred to as dialects. The dialects are stored in separate XML files, which typically include (import) common.xml and define just the elements needed for system-specific functionality.
                                                                                                                                                                                                                                                                                                                                                                                                When a MAVLink library is generated from a dialect file, code is created for all messages in both the dialect and any included files (e.g. common.xml), and entries for a particular enum are merged. The generator reports errors if there are name or id clashes between imported messages or enum entries.
                                                                                                                                                                                                                                                                                                                                                                                                Where you define an element depends on whether it is common or a dialect, and whether the project is public or private.
                                                                                                                                                                                                                                                                                                                                                                                                Elements that are potentially useful for multiple ground stations and autopilots
                                                                                                                                                                                                                                                                                                                                                                                                Elements specific to a particular MAVLink dialect
                                                                                                                                                                                                                                                                                                                                                                                                • Add these elements to the dialect file in the owning system's fork of the repo.
                                                                                                                                                                                                                                                                                                                                                                                                • Raise a PR with your suggested changes and discuss with the dialect project through that mechanism.
                                                                                                                                                                                                                                                                                                                                                                                                • The dialect project should then (ideally) push the changes back to mavlink/mavlink.
                                                                                                                                                                                                                                                                                                                                                                                                Elements for a private project
                                                                                                                                                                                                                                                                                                                                                                                                • If your enums/messages won't ever sync back to the MAVLink project then define them wherever you like!
                                                                                                                                                                                                                                                                                                                                                                                                Creating a Dialect File
                                                                                                                                                                                                                                                                                                                                                                                                To create a new dialect file:
                                                                                                                                                                                                                                                                                                                                                                                                1. Fork mavlink/mavlink for your system and clone to your system
                                                                                                                                                                                                                                                                                                                                                                                                2. Create a dialect file named after your MAVLink system (e.g. flight stack) in message_definitions/v1.0/
                                                                                                                                                                                                                                                                                                                                                                                                3. Copy the following text into the new file.
                                                                                                                                                                                                                                                                                                                                                                                                  common.xml
                                                                                                                                                                                                                                                                                                                                                                                                      <!-- <version>9</version> -->
     <dialect>8</dialect>
 
     <enums>
@@ -66,4 +66,4 @@
     </enum>
 
                                                                                                                                                                                                                                                                                                                                                                                                  The rules for MAVLink commands are exactly the same as for other enums. There are a few of additional conventions.
                                                                                                                                                                                                                                                                                                                                                                                                  Command (Entry) Values
                                                                                                                                                                                                                                                                                                                                                                                                  All mission command entries must have a value (this is not enforced by the toolchain but, as for other enums, it reduces the chance of values unintentionally changing and breaking other systems).
                                                                                                                                                                                                                                                                                                                                                                                                  Each dialect is allocated a specific range from which entry ids can be selected. This ensures that any dialect can include any commands from any other dialect (or common.xml) without clashes. It also means that messages can move from a dialect to common.xml without any code needing to change.
                                                                                                                                                                                                                                                                                                                                                                                                  Dialects can choose any values within their range for any message. However we recommend that all related commands be kept in the same block of ids, and if there are likely to be more similar commands in future then spaces might be left for new commands.
                                                                                                                                                                                                                                                                                                                                                                                                  The allocated ranges are listed below (a more complete list is provided in the comments in all.xml):
                                                                                                                                                                                                                                                                                                                                                                                                  DialectRange
                                                                                                                                                                                                                                                                                                                                                                                                  Common.xml0 - 39999
                                                                                                                                                                                                                                                                                                                                                                                                  asluav.xml40001 - 41999
                                                                                                                                                                                                                                                                                                                                                                                                  ArduPilotMega.xml42000 - 42999
                                                                                                                                                                                                                                                                                                                                                                                                  slugs.xml10001 - 11999
                                                                                                                                                                                                                                                                                                                                                                                                  If you are creating a new public dialect, create an issue to request your own command id range. For private dialects, you can use whatever range you like.
                                                                                                                                                                                                                                                                                                                                                                                                  There are a number of common and ArduPilot commands that are outside the ranges (e.g. 16, 200, etc.). Generally you would only use these these ranges in order to give a new command an id that is close to related to that of related commands. This can be done provided that the command id value is not used by any other XML file in the mavlink/mavlink repo.
                                                                                                                                                                                                                                                                                                                                                                                                  Entry Names
                                                                                                                                                                                                                                                                                                                                                                                                  As with other enums, enum entry names should be prefixed with the enum name (i.e. MAV_CMD_). In addition, there are some other "standard" prefixes which are used for common types of commands:
                                                                                                                                                                                                                                                                                                                                                                                                  • MAV_CMD_NAV_: NAV commands are used for navigation/movement commands (commands to go to a particular waypoint or move in a particular way).
                                                                                                                                                                                                                                                                                                                                                                                                  • MAV_CMD_DO_: DO commands are used for setting modes, changing altitude or speed etc.
                                                                                                                                                                                                                                                                                                                                                                                                  • MAV_CMD_CONDITION_: CONDITION_ commands are used to define conditions before the mission state machine will move to the next item (e.g. a time after reaching a waypoint before taking a picture).
                                                                                                                                                                                                                                                                                                                                                                                                  • MAV_CMD_REQUEST_: For requesting information from a system.
                                                                                                                                                                                                                                                                                                                                                                                                  The rules for the above prefixes are flexible; some DO commands might reasonably be NAV commands. Ins some cases a request for information might be a MAV_CMD_REQUEST_ and in others it might be a stand alone message.
                                                                                                                                                                                                                                                                                                                                                                                                  Parameters (param)
                                                                                                                                                                                                                                                                                                                                                                                                  Message data is encoded in the param values/attributes.
                                                                                                                                                                                                                                                                                                                                                                                                  Standard Mappings
                                                                                                                                                                                                                                                                                                                                                                                                  Parameters (params) must have an index from 1 to 7.
                                                                                                                                                                                                                                                                                                                                                                                                  Where a command contains position information, this is always stored in: Param 5 (x / latitude), Param 6 (y / longitude), Param 7 (z, altitude). Whether the value is local (x,y,z) or global (latitude, longitude, altitude) depends on the command and the frame used (frame often defined in the parent message).
                                                                                                                                                                                                                                                                                                                                                                                                  Data types
                                                                                                                                                                                                                                                                                                                                                                                                  The param data for index 1-4, 7 are always exchanged in a field with size float, while index 5, 6 may also be sent as an int32 (depending on the message used). The implication is that index 5 and 6 should not be used for data that may need to be sent in a floating point value (like a NaN).
                                                                                                                                                                                                                                                                                                                                                                                                  Reserved/Undefined Parameters
                                                                                                                                                                                                                                                                                                                                                                                                  Many commands do not need seven (or any) param values. These unused parameters can be treated as reserved, allowing them to be reused later if the command needs to be extended.
                                                                                                                                                                                                                                                                                                                                                                                                  A reserved param must always be sent with a (default) value of either 0 or NaN (which will be interpreted by recipient as "no action" or "not supported"). If the param is reused the original default value must still mean "no action", so that an updated system can still interact with a system that has not been updated.
                                                                                                                                                                                                                                                                                                                                                                                                  Unfortunately this means that a reserved param must have its default value decided when the command is declared! The default value cannot later be changed from NaN to 0 (or visa versa) without potential compatibility issues.
                                                                                                                                                                                                                                                                                                                                                                                                  To declare a param as reserved with default value of NaN you should use the following syntax.
                                                                                                                                                                                                                                                                                                                                                                                                  <param index="3" reserved="true" default="NaN" />
 
                                                                                                                                                                                                                                                                                                                                                                                                  Params with index values 5 and 6 should not be given a default of NaN , because if these are sent in a COMMAND_INT or MISSION_INT these parameters are integers (and hence there is no way to represent an NaN).
                                                                                                                                                                                                                                                                                                                                                                                                  To declare a param as reserved with default value of 0 simply omit the param from the definition. This is the default - it is equivalent to:
                                                                                                                                                                                                                                                                                                                                                                                                  <param index="3" reserved="true" default="0" />
-
                                                                                                                                                                                                                                                                                                                                                                                                  If you have just one unused param we recommend you simply don't declare it. If you have more than one, you may wish to explicitly define it with default of NaN so that you can extend your command later with either default.
                                                                                                                                                                                                                                                                                                                                                                                                  GUI Param Attributes
                                                                                                                                                                                                                                                                                                                                                                                                  A number of param attributes are provided as "GUI hints".
                                                                                                                                                                                                                                                                                                                                                                                                  These attributes are used to better display params:
                                                                                                                                                                                                                                                                                                                                                                                                  • label - Label for param in GCS/UI. All words in label should be capitalised (e.g. "Hold Altitude").
                                                                                                                                                                                                                                                                                                                                                                                                  • units - SI units for the value.
                                                                                                                                                                                                                                                                                                                                                                                                  • decimalPlaces - Hint to a UI about how many decimal places to use if the parameter value is displayed.
                                                                                                                                                                                                                                                                                                                                                                                                  These attributes help a GCS customise the editing experience (e.g. controls can choose to only offer allowed values).
                                                                                                                                                                                                                                                                                                                                                                                                  • enum - Enum containing possible values for the parameter (if applicable).
                                                                                                                                                                                                                                                                                                                                                                                                  • increment - Allowed increments for the parameter value.
                                                                                                                                                                                                                                                                                                                                                                                                  • minValue - Minimum value for param.
                                                                                                                                                                                                                                                                                                                                                                                                  • maxValue - Maximum value for the param.
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                                                                                                                                                                                                                                                                                                                                                                                                  If you have just one unused param we recommend you simply don't declare it. If you have more than one, you may wish to explicitly define it with default of NaN so that you can extend your command later with either default.

                                                                                                                                                                                                                                                                                                                                                                                                  GUI Param Attributes

                                                                                                                                                                                                                                                                                                                                                                                                  A number of param attributes are provided as "GUI hints".

                                                                                                                                                                                                                                                                                                                                                                                                  These attributes are used to better display params:

                                                                                                                                                                                                                                                                                                                                                                                                  • label - Label for param in GCS/UI. All words in label should be capitalised (e.g. "Hold Altitude").
                                                                                                                                                                                                                                                                                                                                                                                                  • units - SI units for the value.
                                                                                                                                                                                                                                                                                                                                                                                                  • decimalPlaces - Hint to a UI about how many decimal places to use if the parameter value is displayed.

                                                                                                                                                                                                                                                                                                                                                                                                  These attributes help a GCS customise the editing experience (e.g. controls can choose to only offer allowed values).

                                                                                                                                                                                                                                                                                                                                                                                                  • enum - Enum containing possible values for the parameter (if applicable).
                                                                                                                                                                                                                                                                                                                                                                                                  • increment - Allowed increments for the parameter value.
                                                                                                                                                                                                                                                                                                                                                                                                  • minValue - Minimum value for param.
                                                                                                                                                                                                                                                                                                                                                                                                  • maxValue - Maximum value for the param.

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                                                                                                                                                                                                                                                                                                                                                                                                  Messages
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                                                                                                                                                                                                                                                                                                                                                                                                  General Telemetry

                                                                                                                                                                                                                                                                                                                                                                                                  MAVLink is designed to support sending continuous telemetry streams including position, velocity, attitude and similar key states of a drone.

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                                                                                                                                                                                                                                                                                                                                                                                                    General Telemetry

                                                                                                                                                                                                                                                                                                                                                                                                    MAVLink is designed to support sending continuous telemetry streams including position, velocity, attitude and similar key states of a drone.

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                                                                                                                                                                                                                                                                                                                                                                                                      Guide

                                                                                                                                                                                                                                                                                                                                                                                                      This section contains guide material for understanding and using MAVLink, including the different versions and microservices.

                                                                                                                                                                                                                                                                                                                                                                                                      The topics linked from the sidebar (and listed below):

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                                                                                                                                                                                                                                                                                                                                                                                                        Guide

                                                                                                                                                                                                                                                                                                                                                                                                        This section contains guide material for understanding and using MAVLink, including the different versions and microservices.

                                                                                                                                                                                                                                                                                                                                                                                                        The topics linked from the sidebar (and listed below):

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                                                                                                                                                                                                                                                                                                                                                                                                          \ No newline at end of file diff --git a/ko/guide/mavlink_2.html b/ko/guide/mavlink_2.html index 2e55916d3..1fe896a77 100644 --- a/ko/guide/mavlink_2.html +++ b/ko/guide/mavlink_2.html @@ -1 +1 @@ -MAVLink 2 · MAVLink Developer Guide
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                                                                                                                                                                                                                                                                                                                                                                                                          MAVLink 2

                                                                                                                                                                                                                                                                                                                                                                                                          MAVLink 2 is a backward-compatible update to the MAVLink protocol that has been designed to bring more flexibility and security to MAVLink communication. MAVLink 2 bindings have been developed for C, C++11 and Python (see Supported Languages).

                                                                                                                                                                                                                                                                                                                                                                                                          This topic provides links to the main new features in MAVLink 2 and how it is used.

                                                                                                                                                                                                                                                                                                                                                                                                          Features

                                                                                                                                                                                                                                                                                                                                                                                                          The key new features of MAVLink 2 are:

                                                                                                                                                                                                                                                                                                                                                                                                          • 24 bit message ID - Allows over 16 million unique message definitions in a dialect (MAVLink 1 was limited to 256)
                                                                                                                                                                                                                                                                                                                                                                                                          • Packet signing - Authenticate that messages were sent by trusted systems.
                                                                                                                                                                                                                                                                                                                                                                                                          • Message extensions - Add new fields to existing MAVLink message definitions without breaking binary compatibility for receivers that have not updated.
                                                                                                                                                                                                                                                                                                                                                                                                          • Empty-byte payload truncation - Empty (zero-filled) bytes at the end of the serialized payload must be removed before sending (All bytes were sent in MAVLink 1, regardless of content).
                                                                                                                                                                                                                                                                                                                                                                                                          • Compatibility Flags/Incompatibility Flags - Allow for backwards compatible evolution of the protocol by indicating frames that must be handled in a special/non-standard way (packets with compatibility flags can still be handled in the standard way, while packets with incompatibility flags must be dropped if the flage is not supported).

                                                                                                                                                                                                                                                                                                                                                                                                          The MAVLink 2 design document provides additional background information about the changes.

                                                                                                                                                                                                                                                                                                                                                                                                          Version Handshaking/Negotiation

                                                                                                                                                                                                                                                                                                                                                                                                          MAVLink Versions explains the handshaking used to determine the supported MAVLink version of either end of the channel, and how to negotiate the version to use.

                                                                                                                                                                                                                                                                                                                                                                                                          C Implementation

                                                                                                                                                                                                                                                                                                                                                                                                          The MAVLink 2 C library is backwards compatible with MAVLink 1. Information on how to upgrade the library and work with MAVLink 1 is covered in Using C MAVLink Libraries (mavgen).

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                                                                                                                                                                                                                                                                                                                                                                                                            MAVLink 2

                                                                                                                                                                                                                                                                                                                                                                                                            MAVLink 2 is a backward-compatible update to the MAVLink protocol that has been designed to bring more flexibility and security to MAVLink communication. MAVLink 2 bindings have been developed for C, C++11 and Python (see Supported Languages).

                                                                                                                                                                                                                                                                                                                                                                                                            This topic provides links to the main new features in MAVLink 2 and how it is used.

                                                                                                                                                                                                                                                                                                                                                                                                            Features

                                                                                                                                                                                                                                                                                                                                                                                                            The key new features of MAVLink 2 are:

                                                                                                                                                                                                                                                                                                                                                                                                            • 24 bit message ID - Allows over 16 million unique message definitions in a dialect (MAVLink 1 was limited to 256)
                                                                                                                                                                                                                                                                                                                                                                                                            • Packet signing - Authenticate that messages were sent by trusted systems.
                                                                                                                                                                                                                                                                                                                                                                                                            • Message extensions - Add new fields to existing MAVLink message definitions without breaking binary compatibility for receivers that have not updated.
                                                                                                                                                                                                                                                                                                                                                                                                            • Empty-byte payload truncation - Empty (zero-filled) bytes at the end of the serialized payload must be removed before sending (All bytes were sent in MAVLink 1, regardless of content).
                                                                                                                                                                                                                                                                                                                                                                                                            • Compatibility Flags/Incompatibility Flags - Allow for backwards compatible evolution of the protocol by indicating frames that must be handled in a special/non-standard way (packets with compatibility flags can still be handled in the standard way, while packets with incompatibility flags must be dropped if the flage is not supported).

                                                                                                                                                                                                                                                                                                                                                                                                            The MAVLink 2 design document provides additional background information about the changes.

                                                                                                                                                                                                                                                                                                                                                                                                            Version Handshaking/Negotiation

                                                                                                                                                                                                                                                                                                                                                                                                            MAVLink Versions explains the handshaking used to determine the supported MAVLink version of either end of the channel, and how to negotiate the version to use.

                                                                                                                                                                                                                                                                                                                                                                                                            C Implementation

                                                                                                                                                                                                                                                                                                                                                                                                            The MAVLink 2 C library is backwards compatible with MAVLink 1. Information on how to upgrade the library and work with MAVLink 1 is covered in Using C MAVLink Libraries (mavgen).

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                                                                                                                                                                                                                                                                                                                                                                                                              \ No newline at end of file diff --git a/ko/guide/mavlink_version.html b/ko/guide/mavlink_version.html index 7afd75a9a..e2eac34fc 100644 --- a/ko/guide/mavlink_version.html +++ b/ko/guide/mavlink_version.html @@ -1 +1 @@ -MAVLink 버전 · MAVLink Developer Guide
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                                                                                                                                                                                                                                                                                                                                                                                                              MAVLink Versions

                                                                                                                                                                                                                                                                                                                                                                                                              MAVLink has been deployed in a number of versions:

                                                                                                                                                                                                                                                                                                                                                                                                              • MAVLink 2.0: Current/recommended major version. Adopted by major users early 2017.
                                                                                                                                                                                                                                                                                                                                                                                                              • MAVLink v1.0: Widely adopted around 2013. Still used by a number of legacy peripherals.

                                                                                                                                                                                                                                                                                                                                                                                                              The MAVLink 2.0 C/C++ and Python libraries are backwards compatible with MAVLink 1.0 (support both protocols). Version Handshaking and Negotiating Versions explain how to choose which version is used.

                                                                                                                                                                                                                                                                                                                                                                                                              MAVLink v0.9 is a pre-release version that is no longer supported. The associated message set deleted in August 2018. Legacy code may be present in generator and test code.

                                                                                                                                                                                                                                                                                                                                                                                                              Determining Protocol/Message Version

                                                                                                                                                                                                                                                                                                                                                                                                              A library's MAVLink support can be determined in a number of ways:

                                                                                                                                                                                                                                                                                                                                                                                                              • AUTOPILOT_VERSION.capabilities can be checked against the MAV_PROTOCOL_CAPABILITY_MAVLINK2 flag to verify MAVLink 2 support.

                                                                                                                                                                                                                                                                                                                                                                                                              • PROTOCOL_VERSION.version contains the MAVLink version number multiplied by 100: v1.0 is 100, v2.3 is 203 etc.

                                                                                                                                                                                                                                                                                                                                                                                                              • HEARTBEAT.mavlink_version field contains the minor version number. This is the <version> field defined in the Message Definitions (version in common.xml for dialects that depend on the common message set).

                                                                                                                                                                                                                                                                                                                                                                                                              • The major version can be determined from the packet start marker byte:

                                                                                                                                                                                                                                                                                                                                                                                                                • MAVLink 1: 0xFE

                                                                                                                                                                                                                                                                                                                                                                                                                • MAVLink 2: 0xFD

                                                                                                                                                                                                                                                                                                                                                                                                                  A MAVLink library that does not support a protocol version will not recognise the protocol start marker; so no messages will even be detected (see Serialization).

                                                                                                                                                                                                                                                                                                                                                                                                              While messages do not contain version information, an extra CRC is used to ensure that a library will only process compatible messages (see Serialization > CRC_EXTRA).

                                                                                                                                                                                                                                                                                                                                                                                                              Version Handshaking

                                                                                                                                                                                                                                                                                                                                                                                                              Support for MAVLink 2 is indicated in the AUTOPILOT_VERSION message by the MAV_PROTOCOL_CAPABILITY_MAVLINK2 flag.

                                                                                                                                                                                                                                                                                                                                                                                                              This is sufficient if the communication link between autopilot and GCS is completely transparent. However, most communication links are not completely transparent as they either include routing or in case of fixed-length wireless implementations on packetization. In order to also test the link, the MAVLink 2 handshake protocol sends a MAVLink 2 frame to test the complete communication chain.

                                                                                                                                                                                                                                                                                                                                                                                                              To do so, the GCS sends a COMMAND_LONG or COMMAND_INT message with the command ID MAV_CMD_REQUEST_PROTOCOL_VERSION.

                                                                                                                                                                                                                                                                                                                                                                                                              If the system supports MAVLink 2 and the handshake it will respond with PROTOCOL_VERSION encoded as MAVLink 2 packet. If it does not support MAVLink 2 it should NACK the command. The GCS should fall back to a timeout in case the command interface is not implemented properly.

                                                                                                                                                                                                                                                                                                                                                                                                              The diagram below illustrates the complete sequence.

                                                                                                                                                                                                                                                                                                                                                                                                              Mermaid sequence: Request protocol version

                                                                                                                                                                                                                                                                                                                                                                                                              Semi-Transparent Legacy Radios

                                                                                                                                                                                                                                                                                                                                                                                                              Some popular legacy radios (e.g. the SiK radio series) operate in semi-transparent mode by injecting RADIO_STATUS messages into the MAVLink message stream. Per MAVLink spec these should actually emit a heartbeat with the same system ID and a different component ID than the autopilot to be discoverable. However, an additional heartbeat could be an issue for deployed systems. Therefore these radios can alternatively confirm their MAVLink 2 compliance by emitting RADIO_STATUS in v2 message format after receiving the first MAVLink v2 frame.

                                                                                                                                                                                                                                                                                                                                                                                                              Versions and Signing

                                                                                                                                                                                                                                                                                                                                                                                                              The supported MAVLink library implementations enable different MAVLink versions on a per-channel basis, where a channel refers to a particular link in/out of a MAVLink system or component (e.g. a serial port or UDP port).

                                                                                                                                                                                                                                                                                                                                                                                                              As a result, all connections to other components over a particular channel must share the same MAVLink version. If a system is using signing, then all connections via the same channel must also be signing messages with the same key.

                                                                                                                                                                                                                                                                                                                                                                                                              A system cannot use a single channel to connect to signed MAVLink 2 systems, unsigned MAVLink 2 systems, and/or MAVLink 1 components.

                                                                                                                                                                                                                                                                                                                                                                                                              Currently most MAVLink networks are configured to use unsigned MAVLink 2 messages. MAVLink 1 is primarily used to allow autopilots to connect to legacy MAVLink peripherals, and this is done via a separate channel. Signed networks will need to use a further separate channel to connect to other signed systems.

                                                                                                                                                                                                                                                                                                                                                                                                              The next section explains how a system/channel should negotiate the version to use.

                                                                                                                                                                                                                                                                                                                                                                                                              Negotiating Versions

                                                                                                                                                                                                                                                                                                                                                                                                              Vehicle and GCS implementations will support both MAVLink 1 and MAVLink 2 for quite some time. We would like most users to receive the benefit of MAVLink 2, while still supporting implementations that don't yet support MAVLink 2.

                                                                                                                                                                                                                                                                                                                                                                                                              The following is meant to capture best practice for vehicle firmware and GCS authors:

                                                                                                                                                                                                                                                                                                                                                                                                              • Vehicle implementations should have a way to enable/disable the sending of MAVLink 2 messages. This should preferably be on a per-link (channel) basis to allow for some peripherals to be MAVLink 1 while others are MAVLink 2. It is acceptable for this option to require a reboot of the flight controller to take effect.
                                                                                                                                                                                                                                                                                                                                                                                                              • If signing is enabled then the vehicle should immediately start sending signed MAVLink 2 on startup.
                                                                                                                                                                                                                                                                                                                                                                                                              • If signing is not enabled and MAVLink 2 is enabled then the vehicle may choose to start by sending MAVLink 1 and switch to MAVLink 2 on a link when it first receives a MAVLink 2 message on the link.
                                                                                                                                                                                                                                                                                                                                                                                                              • Vehicles should set the MAV_PROTOCOL_CAPABILITY_MAVLINK2 capability flag in the AUTOPILOT_VERSION message if MAVLink 2 is available on a link. This should be set in the case where the link is currently sending MAVLink 1 packets but MAVLink 2 packets will be accepted and will cause a switch to MAVLink 2.
                                                                                                                                                                                                                                                                                                                                                                                                              • GCS implementations can choose to either automatically switch to MAVLink 2 where available or to have a configuration option for MAVLink 2.
                                                                                                                                                                                                                                                                                                                                                                                                              • If the GCS chooses to use a configuration option then when the option is enabled it should send MAVLink 2 on starting the link.
                                                                                                                                                                                                                                                                                                                                                                                                              • If the GCS chooses to use automatic switching then it should switch to sending MAVLink 2 if either it receives a MAVLink 2 message on the link or by asking for the AUTOPILOT_VERSION message to be sent and seeing the MAV_PROTOCOL_CAPABILITY_MAVLINK2 flag is set.

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                                                                                                                                                                                                                                                                                                                                                                                                                MAVLink Versions

                                                                                                                                                                                                                                                                                                                                                                                                                MAVLink has been deployed in a number of versions:

                                                                                                                                                                                                                                                                                                                                                                                                                • MAVLink 2.0: Current/recommended major version. Adopted by major users early 2017.
                                                                                                                                                                                                                                                                                                                                                                                                                • MAVLink v1.0: Widely adopted around 2013. Still used by a number of legacy peripherals.

                                                                                                                                                                                                                                                                                                                                                                                                                The MAVLink 2.0 C/C++ and Python libraries are backwards compatible with MAVLink 1.0 (support both protocols). Version Handshaking and Negotiating Versions explain how to choose which version is used.

                                                                                                                                                                                                                                                                                                                                                                                                                MAVLink v0.9 is a pre-release version that is no longer supported. The associated message set deleted in August 2018. Legacy code may be present in generator and test code.

                                                                                                                                                                                                                                                                                                                                                                                                                Determining Protocol/Message Version

                                                                                                                                                                                                                                                                                                                                                                                                                A library's MAVLink support can be determined in a number of ways:

                                                                                                                                                                                                                                                                                                                                                                                                                • AUTOPILOT_VERSION.capabilities can be checked against the MAV_PROTOCOL_CAPABILITY_MAVLINK2 flag to verify MAVLink 2 support.

                                                                                                                                                                                                                                                                                                                                                                                                                • PROTOCOL_VERSION.version contains the MAVLink version number multiplied by 100: v1.0 is 100, v2.3 is 203 etc.

                                                                                                                                                                                                                                                                                                                                                                                                                • HEARTBEAT.mavlink_version field contains the minor version number. This is the <version> field defined in the Message Definitions (version in common.xml for dialects that depend on the common message set).

                                                                                                                                                                                                                                                                                                                                                                                                                • The major version can be determined from the packet start marker byte:

                                                                                                                                                                                                                                                                                                                                                                                                                  • MAVLink 1: 0xFE

                                                                                                                                                                                                                                                                                                                                                                                                                  • MAVLink 2: 0xFD

                                                                                                                                                                                                                                                                                                                                                                                                                    A MAVLink library that does not support a protocol version will not recognise the protocol start marker; so no messages will even be detected (see Serialization).

                                                                                                                                                                                                                                                                                                                                                                                                                While messages do not contain version information, an extra CRC is used to ensure that a library will only process compatible messages (see Serialization > CRC_EXTRA).

                                                                                                                                                                                                                                                                                                                                                                                                                Version Handshaking

                                                                                                                                                                                                                                                                                                                                                                                                                Support for MAVLink 2 is indicated in the AUTOPILOT_VERSION message by the MAV_PROTOCOL_CAPABILITY_MAVLINK2 flag.

                                                                                                                                                                                                                                                                                                                                                                                                                This is sufficient if the communication link between autopilot and GCS is completely transparent. However, most communication links are not completely transparent as they either include routing or in case of fixed-length wireless implementations on packetization. In order to also test the link, the MAVLink 2 handshake protocol sends a MAVLink 2 frame to test the complete communication chain.

                                                                                                                                                                                                                                                                                                                                                                                                                To do so, the GCS sends a COMMAND_LONG or COMMAND_INT message with the command ID MAV_CMD_REQUEST_PROTOCOL_VERSION.

                                                                                                                                                                                                                                                                                                                                                                                                                If the system supports MAVLink 2 and the handshake it will respond with PROTOCOL_VERSION encoded as MAVLink 2 packet. If it does not support MAVLink 2 it should NACK the command. The GCS should fall back to a timeout in case the command interface is not implemented properly.

                                                                                                                                                                                                                                                                                                                                                                                                                The diagram below illustrates the complete sequence.

                                                                                                                                                                                                                                                                                                                                                                                                                Mermaid sequence: Request protocol version

                                                                                                                                                                                                                                                                                                                                                                                                                Semi-Transparent Legacy Radios

                                                                                                                                                                                                                                                                                                                                                                                                                Some popular legacy radios (e.g. the SiK radio series) operate in semi-transparent mode by injecting RADIO_STATUS messages into the MAVLink message stream. Per MAVLink spec these should actually emit a heartbeat with the same system ID and a different component ID than the autopilot to be discoverable. However, an additional heartbeat could be an issue for deployed systems. Therefore these radios can alternatively confirm their MAVLink 2 compliance by emitting RADIO_STATUS in v2 message format after receiving the first MAVLink v2 frame.

                                                                                                                                                                                                                                                                                                                                                                                                                Versions and Signing

                                                                                                                                                                                                                                                                                                                                                                                                                The supported MAVLink library implementations enable different MAVLink versions on a per-channel basis, where a channel refers to a particular link in/out of a MAVLink system or component (e.g. a serial port or UDP port).

                                                                                                                                                                                                                                                                                                                                                                                                                As a result, all connections to other components over a particular channel must share the same MAVLink version. If a system is using signing, then all connections via the same channel must also be signing messages with the same key.

                                                                                                                                                                                                                                                                                                                                                                                                                A system cannot use a single channel to connect to signed MAVLink 2 systems, unsigned MAVLink 2 systems, and/or MAVLink 1 components.

                                                                                                                                                                                                                                                                                                                                                                                                                Currently most MAVLink networks are configured to use unsigned MAVLink 2 messages. MAVLink 1 is primarily used to allow autopilots to connect to legacy MAVLink peripherals, and this is done via a separate channel. Signed networks will need to use a further separate channel to connect to other signed systems.

                                                                                                                                                                                                                                                                                                                                                                                                                The next section explains how a system/channel should negotiate the version to use.

                                                                                                                                                                                                                                                                                                                                                                                                                Negotiating Versions

                                                                                                                                                                                                                                                                                                                                                                                                                Vehicle and GCS implementations will support both MAVLink 1 and MAVLink 2 for quite some time. We would like most users to receive the benefit of MAVLink 2, while still supporting implementations that don't yet support MAVLink 2.

                                                                                                                                                                                                                                                                                                                                                                                                                The following is meant to capture best practice for vehicle firmware and GCS authors:

                                                                                                                                                                                                                                                                                                                                                                                                                • Vehicle implementations should have a way to enable/disable the sending of MAVLink 2 messages. This should preferably be on a per-link (channel) basis to allow for some peripherals to be MAVLink 1 while others are MAVLink 2. It is acceptable for this option to require a reboot of the flight controller to take effect.
                                                                                                                                                                                                                                                                                                                                                                                                                • If signing is enabled then the vehicle should immediately start sending signed MAVLink 2 on startup.
                                                                                                                                                                                                                                                                                                                                                                                                                • If signing is not enabled and MAVLink 2 is enabled then the vehicle may choose to start by sending MAVLink 1 and switch to MAVLink 2 on a link when it first receives a MAVLink 2 message on the link.
                                                                                                                                                                                                                                                                                                                                                                                                                • Vehicles should set the MAV_PROTOCOL_CAPABILITY_MAVLINK2 capability flag in the AUTOPILOT_VERSION message if MAVLink 2 is available on a link. This should be set in the case where the link is currently sending MAVLink 1 packets but MAVLink 2 packets will be accepted and will cause a switch to MAVLink 2.
                                                                                                                                                                                                                                                                                                                                                                                                                • GCS implementations can choose to either automatically switch to MAVLink 2 where available or to have a configuration option for MAVLink 2.
                                                                                                                                                                                                                                                                                                                                                                                                                • If the GCS chooses to use a configuration option then when the option is enabled it should send MAVLink 2 on starting the link.
                                                                                                                                                                                                                                                                                                                                                                                                                • If the GCS chooses to use automatic switching then it should switch to sending MAVLink 2 if either it receives a MAVLink 2 message on the link or by asking for the AUTOPILOT_VERSION message to be sent and seeing the MAV_PROTOCOL_CAPABILITY_MAVLINK2 flag is set.

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                                                                                                                                                                                                                                                                                                                                                                                                                  \ No newline at end of file diff --git a/ko/guide/message_signing.html b/ko/guide/message_signing.html index 5aa263171..9acc0e30b 100644 --- a/ko/guide/message_signing.html +++ b/ko/guide/message_signing.html @@ -1,3 +1,3 @@ -메세지 서명 · MAVLink Developer Guide
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                                                                                                                                                                                                                                                                                                                                                                                                                  Message Signing (Authentication)

                                                                                                                                                                                                                                                                                                                                                                                                                  MAVLink 2 adds support for message signing, which allows a MAVLink system to verify that messages originate from a trusted source.

                                                                                                                                                                                                                                                                                                                                                                                                                  This topic provides general overview of message signing, which will be useful both for developers using existing MAVLink libraries and for writers of new MAVLink code generators. It explains how a system can determine if a message is signed and whether the signature is valid, how to allow unsigned messages to be accepted, and how to create and share the secret used to create the signature.

                                                                                                                                                                                                                                                                                                                                                                                                                  More detailed information for developers using existing MAVLink libraries can be found here:

                                                                                                                                                                                                                                                                                                                                                                                                                  Frame Format

                                                                                                                                                                                                                                                                                                                                                                                                                  For a signed packet the 0x01 bit of the incompatibility flag field is set true and an additional 13 bytes of "signature" data appended to the packet. The signed packet format is shown below.

                                                                                                                                                                                                                                                                                                                                                                                                                  MAVLink 2 Signed

                                                                                                                                                                                                                                                                                                                                                                                                                  The incompatibility flags in the packet header are used to indicate that the MAVLink library must reject the packet if it does not understand or cannot handle the flag. In other words, a MAVLink library that does not support signing must drop signed packets. The C library uses MAVLINK_IFLAG_SIGNED to represent the "supports message signing" bit.

                                                                                                                                                                                                                                                                                                                                                                                                                  The 13 bytes of the signature are:

                                                                                                                                                                                                                                                                                                                                                                                                                  DataDescription
                                                                                                                                                                                                                                                                                                                                                                                                                  linkID (8 bits)ID of link on which packet is sent. Normally this is the same as the channel.
                                                                                                                                                                                                                                                                                                                                                                                                                  timestamp (48 bits)Timestamp in 10 microsecond units since 1st January 2015 GMT time. This must monotonically increase for every message on a particular link. Note that means the timestamp may get ahead of the actual time if the packet rate averages more than 100,000 packets per second.
                                                                                                                                                                                                                                                                                                                                                                                                                  signature (48 bits)A 48 bit signature for the packet, based on the complete packet, timestamp, and secret key.

                                                                                                                                                                                                                                                                                                                                                                                                                  See below for more information about the fields.

                                                                                                                                                                                                                                                                                                                                                                                                                  The 8 bit link ID is provided to ensure that the signature system is robust for multi-link MAVLink systems. Each implementation should assign a link ID to each of the MAVLink communication channels it has enabled and should put this ID in the link ID field. The link ID is especially important where there may be a significant latency difference between different links (such as WiFi combined with a telemetry radio).

                                                                                                                                                                                                                                                                                                                                                                                                                  The monotonically increasing timestamp rule is applied separately for each logical stream, where a stream is defined by the tuple:

                                                                                                                                                                                                                                                                                                                                                                                                                  (SystemID,ComponentID,LinkID)
+메세지 서명 · MAVLink Developer Guide
                                                                                                                                                                                                                                                                                                                                                                                                                  Message Signing (Authentication)
                                                                                                                                                                                                                                                                                                                                                                                                                  MAVLink 2 adds support for message signing, which allows a MAVLink system to verify that messages originate from a trusted source.
                                                                                                                                                                                                                                                                                                                                                                                                                  This topic provides general overview of message signing, which will be useful both for developers using existing MAVLink libraries and for writers of new MAVLink code generators. It explains how a system can determine if a message is signed and whether the signature is valid, how to allow unsigned messages to be accepted, and how to create and share the secret used to create the signature.
                                                                                                                                                                                                                                                                                                                                                                                                                  More detailed information for developers using existing MAVLink libraries can be found here:
                                                                                                                                                                                                                                                                                                                                                                                                                  Frame Format
                                                                                                                                                                                                                                                                                                                                                                                                                  For a signed packet the 0x01 bit of the incompatibility flag field is set true and an additional 13 bytes of "signature" data appended to the packet. The signed packet format is shown below.
                                                                                                                                                                                                                                                                                                                                                                                                                  MAVLink 2 Signed
                                                                                                                                                                                                                                                                                                                                                                                                                  The incompatibility flags in the packet header are used to indicate that the MAVLink library must reject the packet if it does not understand or cannot handle the flag. In other words, a MAVLink library that does not support signing must drop signed packets. The C library uses MAVLINK_IFLAG_SIGNED to represent the "supports message signing" bit.
                                                                                                                                                                                                                                                                                                                                                                                                                  The 13 bytes of the signature are:
                                                                                                                                                                                                                                                                                                                                                                                                                  DataDescription
                                                                                                                                                                                                                                                                                                                                                                                                                  linkID (8 bits)ID of link on which packet is sent. Normally this is the same as the channel.
                                                                                                                                                                                                                                                                                                                                                                                                                  timestamp (48 bits)Timestamp in 10 microsecond units since 1st January 2015 GMT time. This must monotonically increase for every message on a particular link. Note that means the timestamp may get ahead of the actual time if the packet rate averages more than 100,000 packets per second.
                                                                                                                                                                                                                                                                                                                                                                                                                  signature (48 bits)A 48 bit signature for the packet, based on the complete packet, timestamp, and secret key.
                                                                                                                                                                                                                                                                                                                                                                                                                  See below for more information about the fields.
                                                                                                                                                                                                                                                                                                                                                                                                                  The 8 bit link ID is provided to ensure that the signature system is robust for multi-link MAVLink systems. Each implementation should assign a link ID to each of the MAVLink communication channels it has enabled and should put this ID in the link ID field. The link ID is especially important where there may be a significant latency difference between different links (such as WiFi combined with a telemetry radio).
                                                                                                                                                                                                                                                                                                                                                                                                                  The monotonically increasing timestamp rule is applied separately for each logical stream, where a stream is defined by the tuple:
                                                                                                                                                                                                                                                                                                                                                                                                                  (SystemID,ComponentID,LinkID)
 
                                                                                                                                                                                                                                                                                                                                                                                                                  For more information see C Message Signing > Handling Link IDs.
                                                                                                                                                                                                                                                                                                                                                                                                                  Signature
                                                                                                                                                                                                                                                                                                                                                                                                                  The 48 bit (6 byte) signature is the first 48 bits of a SHA-256 hash of the complete packet (without the signature, but including the timestamp) appended to the secret key. The secret key is 32 bytes of binary data stored on both ends of a MAVLink channel (i.e. an autopilot and a ground station or MAVLink API).
                                                                                                                                                                                                                                                                                                                                                                                                                  This is shown below, where + represents concatenation and sha256_48() is a sha256 implementation which returns the first 48 bits of the normal sha256 output:
                                                                                                                                                                                                                                                                                                                                                                                                                  signature = sha256_48(secret_key + header + payload + CRC + link-ID + timestamp)
-
                                                                                                                                                                                                                                                                                                                                                                                                                  Timestamp Handling
                                                                                                                                                                                                                                                                                                                                                                                                                  The timestamp is a 48 bit number with units of 10 microseconds since 1st January 2015 GMT. For systems where the time since 1/1/1970 is available (the unix epoch) you can use an offset in seconds of 1420070400.
                                                                                                                                                                                                                                                                                                                                                                                                                  This is a loose definition, as the various update mechanisms detailed below may result in the timestamp being significantly different from actual GMT time.
                                                                                                                                                                                                                                                                                                                                                                                                                  All timestamps generated must be at least 1 more than the previous timestamp sent in the same session for the same link/(SystemID, ComponentID, LinkID) tuple. The timestamp may get ahead of GMT time if there is a burst of packets at a rate of more than 100 thousand packets per second.
                                                                                                                                                                                                                                                                                                                                                                                                                  A MAVLink-enabled device may not know the current GMT time, for example if it does not have a reliable time source, or if it has just booted and not yet obtained the time from GPS or some other system.
                                                                                                                                                                                                                                                                                                                                                                                                                  Systems should implement the following rules to obtain a reliable timestamp:
                                                                                                                                                                                                                                                                                                                                                                                                                  • The current timestamp should be stored regularly in persistent storage (ideally at least once a minute)
                                                                                                                                                                                                                                                                                                                                                                                                                  • The timestamp used on startup should be the maximum of the timestamp implied by the system clock and the stored timestamp
                                                                                                                                                                                                                                                                                                                                                                                                                  • If the system does not have an RTC mechanism then it should update its timestamp when GPS lock is achieved. The maximum of the timestamp from the GPS and the stored timestamp should be used.
                                                                                                                                                                                                                                                                                                                                                                                                                  • The timestamp should be incremented by one on each message sent from a particular link.
                                                                                                                                                                                                                                                                                                                                                                                                                  • When a correctly signed message is decoded the timestamp should be replaced by the timestamp of the incoming message if that timestamp is greater than the current timestamp. > Note The link timestamp must never be updated with the timestamp from an incorrectly signed packet (even if these are being accepted).
                                                                                                                                                                                                                                                                                                                                                                                                                  • The timestamp on incoming signed messages should be checked against the previous timestamp for the incoming (linkID,srcSystem,SrcComponent) tuple and the message rejected if it is smaller.
                                                                                                                                                                                                                                                                                                                                                                                                                  • If there is no previous message with the given (linkID,srcSystem,SrcComponent) then the timestamp should be accepted if it not more than 6 million (one minute) behind the current timestamp.
                                                                                                                                                                                                                                                                                                                                                                                                                  For devices that store the timestamp in persistent storage, implementations can prevent race conditions by storing two timestamp values. On write the smaller of the two values should be updated. On read the larger of the two values should be used.
                                                                                                                                                                                                                                                                                                                                                                                                                  Accepting Signed Packets
                                                                                                                                                                                                                                                                                                                                                                                                                  When a signed packet arrives it should be discarded if the:
                                                                                                                                                                                                                                                                                                                                                                                                                  • Timestamp is older than the previous packet from the same logical stream - where a logical stream is defined as the sequence of MAVLink packets with the same (SystemID, ComponentID, LinkID) tuple.
                                                                                                                                                                                                                                                                                                                                                                                                                  • Computed 48 bit signature does not match the signature included in the packet.
                                                                                                                                                                                                                                                                                                                                                                                                                  • The timestamp is more than 1 minute (6,000,000) behind the local system’s timestamp.
                                                                                                                                                                                                                                                                                                                                                                                                                  Accepting Unsigned Packets
                                                                                                                                                                                                                                                                                                                                                                                                                  MAVLink libraries should provide a mechanism that allows a system to conditionally accept unsigned packets.
                                                                                                                                                                                                                                                                                                                                                                                                                  The rules for accepting these packets will be implementation specific, but could be based on a combination of a parameter setting, transport type, message type, (in)compatibility flags etc.
                                                                                                                                                                                                                                                                                                                                                                                                                  All packets that do not meet the system-specific unsigned packet acceptance rules must be rejected (otherwise there is no benefit gained from signing/authentication).
                                                                                                                                                                                                                                                                                                                                                                                                                  Some suggestions for when to accept unsigned packets:
                                                                                                                                                                                                                                                                                                                                                                                                                  • Accept all unsigned packets based on a system-specific parameter.
                                                                                                                                                                                                                                                                                                                                                                                                                  • Accept all unsigned packets if the connection is over a "secure channel" (e.g. local USB cable or local wired Ethernet cable).
                                                                                                                                                                                                                                                                                                                                                                                                                  • RADIO_STATUS packets are always accepted without signing (to make life easier for telemetry radios).
                                                                                                                                                                                                                                                                                                                                                                                                                  • Accept all unsigned packets when in an "unsigned mode" (perhaps triggered by a hardware button pressed on boot).
                                                                                                                                                                                                                                                                                                                                                                                                                  • Accept all unsigned packets until a signed packet is received (unconditionally), then move to the more restricted signing rules above.
                                                                                                                                                                                                                                                                                                                                                                                                                  Accepting Incorrectly Signed Packets
                                                                                                                                                                                                                                                                                                                                                                                                                  MAVLink libraries should provide a mechanism that allows a system to conditionally accept incorrectly signed packets.
                                                                                                                                                                                                                                                                                                                                                                                                                  This feature might be useful for finding a lost vehicle with a corrupted secret key (the GCS could choose to still display position information, albeit ideally with a different "untrusted" icon).
                                                                                                                                                                                                                                                                                                                                                                                                                  A system that is accepting incorrectly signed packets should provide a highly conspicuous indication that the connection is unsafe/insecure. Malformed signed packets indicate a bad configuration, transport failure, protocol failure, or hostile manipulation.
                                                                                                                                                                                                                                                                                                                                                                                                                  Secret Key Management
                                                                                                                                                                                                                                                                                                                                                                                                                  A secret key is 32 bytes of binary data that are used to create message signatures that can be verified by other holders of the key. The key should be created on one system in the network (often a GCS) and shared to other trusted devices via secure channels. Systems must have a shared key in order to be able to communicate.
                                                                                                                                                                                                                                                                                                                                                                                                                  The mavgen C and Python libraries support only one key per link. This is a choice of the library and not a limit/requirement of the protocol. An implementation might instead store a pool of keys, and/or manage keys on a per-connection basis.
                                                                                                                                                                                                                                                                                                                                                                                                                  The secret key should be stored in persistent storage, and must not be exposed via any publicly accessible communication protocol. In particular, the key must not be exposed in MAVLink parameters, MAVLink log files or dataflash log files that may be used for public log analysis.
                                                                                                                                                                                                                                                                                                                                                                                                                  The method of generating the secret key is implementation dependent. For example, it could be generated by:
                                                                                                                                                                                                                                                                                                                                                                                                                  • A user-entered string that is then run through SHA-256.
                                                                                                                                                                                                                                                                                                                                                                                                                  • A random key generator.
                                                                                                                                                                                                                                                                                                                                                                                                                  The secret key may be shared to other devices using the SETUP_SIGNING message. The message should only ever be sent over a secure link (e.g. USB or wired Ethernet) as a direct message to each connected system_id/component_id. The receiving system must be set up to process the message and store the received secret key to the appropriate permanent storage.
                                                                                                                                                                                                                                                                                                                                                                                                                  The same secure method can be used to both set and reset a system's key (reseting a key does not have to be "more secure" than setting it in the first place).
                                                                                                                                                                                                                                                                                                                                                                                                                  The SETUP_SIGNING message should never be broadcast, and received SETUP_SIGNING messages must never be automatically forwarded to other active MAVLink devices/streams/channels. This is to avoid the case where a key received over a secure link (e.g. USB) is automatically forwarded to another system over an insecure link (e.g. Wifi).
                                                                                                                                                                                                                                                                                                                                                                                                                  Autopilots that don't offer MAVLink over USB might create a module that can set the secret key from a command line interface (e.g. the NSH Shell).
                                                                                                                                                                                                                                                                                                                                                                                                                  We recommend that GCS implementations should generate the secret key and share this with connected systems over a secure link (e.g. USB). The receiving system may be configured to ignore message signatures on the secure channel (i.e. accept all signed, unsigned or incorrectly signed packets), so that it is possible to reset a key that has been lost or corrupted.
                                                                                                                                                                                                                                                                                                                                                                                                                  Logging
                                                                                                                                                                                                                                                                                                                                                                                                                  In order to avoid leaking the secret key used for signing, systems should omit SETUP_SIGNING messages from logs (or replace the secret with 32 0xFF bytes in the logged message).
                                                                                                                                                                                                                                                                                                                                                                                                                  Similarly, signed packets should have the signature incompatibility bit cleared and the signature block removed before being put into telemetry log files. This makes it harder for potential attacker to collect large amounts of signature data with which to attack the system.
                                                                                                                                                                                                                                                                                                                                                                                                                  Further Information
                                                                                                                                                                                                                                                                                                                                                                                                                  The Message Signing Proposal contains additional information, including:
                                                                                                                                                                                                                                                                                                                                                                                                                  • Reasoning behind the design decisions.
                                                                                                                                                                                                                                                                                                                                                                                                                  • Evaluation of security effectiveness, including resistance to replay and offline attacks.
                                                                                                                                                                                                                                                                                                                                                                                                                  • Assumptions.
                                                                                                                                                                                                                                                                                                                                                                                                                  Much of this content is derived from the Message Signing Proposal (Google Doc).
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                                                                                                                                                                                                                                                                                                                                                                                                                    Timestamp Handling

                                                                                                                                                                                                                                                                                                                                                                                                                    The timestamp is a 48 bit number with units of 10 microseconds since 1st January 2015 GMT. For systems where the time since 1/1/1970 is available (the unix epoch) you can use an offset in seconds of 1420070400.

                                                                                                                                                                                                                                                                                                                                                                                                                    This is a loose definition, as the various update mechanisms detailed below may result in the timestamp being significantly different from actual GMT time.

                                                                                                                                                                                                                                                                                                                                                                                                                    All timestamps generated must be at least 1 more than the previous timestamp sent in the same session for the same link/(SystemID, ComponentID, LinkID) tuple. The timestamp may get ahead of GMT time if there is a burst of packets at a rate of more than 100 thousand packets per second.

                                                                                                                                                                                                                                                                                                                                                                                                                    A MAVLink-enabled device may not know the current GMT time, for example if it does not have a reliable time source, or if it has just booted and not yet obtained the time from GPS or some other system.

                                                                                                                                                                                                                                                                                                                                                                                                                    Systems should implement the following rules to obtain a reliable timestamp:

                                                                                                                                                                                                                                                                                                                                                                                                                    • The current timestamp should be stored regularly in persistent storage (ideally at least once a minute)
                                                                                                                                                                                                                                                                                                                                                                                                                    • The timestamp used on startup should be the maximum of the timestamp implied by the system clock and the stored timestamp
                                                                                                                                                                                                                                                                                                                                                                                                                    • If the system does not have an RTC mechanism then it should update its timestamp when GPS lock is achieved. The maximum of the timestamp from the GPS and the stored timestamp should be used.
                                                                                                                                                                                                                                                                                                                                                                                                                    • The timestamp should be incremented by one on each message sent from a particular link.
                                                                                                                                                                                                                                                                                                                                                                                                                    • When a correctly signed message is decoded the timestamp should be replaced by the timestamp of the incoming message if that timestamp is greater than the current timestamp. > Note The link timestamp must never be updated with the timestamp from an incorrectly signed packet (even if these are being accepted).
                                                                                                                                                                                                                                                                                                                                                                                                                    • The timestamp on incoming signed messages should be checked against the previous timestamp for the incoming (linkID,srcSystem,SrcComponent) tuple and the message rejected if it is smaller.
                                                                                                                                                                                                                                                                                                                                                                                                                    • If there is no previous message with the given (linkID,srcSystem,SrcComponent) then the timestamp should be accepted if it not more than 6 million (one minute) behind the current timestamp.

                                                                                                                                                                                                                                                                                                                                                                                                                    For devices that store the timestamp in persistent storage, implementations can prevent race conditions by storing two timestamp values. On write the smaller of the two values should be updated. On read the larger of the two values should be used.

                                                                                                                                                                                                                                                                                                                                                                                                                    Accepting Signed Packets

                                                                                                                                                                                                                                                                                                                                                                                                                    When a signed packet arrives it should be discarded if the:

                                                                                                                                                                                                                                                                                                                                                                                                                    • Timestamp is older than the previous packet from the same logical stream - where a logical stream is defined as the sequence of MAVLink packets with the same (SystemID, ComponentID, LinkID) tuple.
                                                                                                                                                                                                                                                                                                                                                                                                                    • Computed 48 bit signature does not match the signature included in the packet.
                                                                                                                                                                                                                                                                                                                                                                                                                    • The timestamp is more than 1 minute (6,000,000) behind the local system’s timestamp.

                                                                                                                                                                                                                                                                                                                                                                                                                    Accepting Unsigned Packets

                                                                                                                                                                                                                                                                                                                                                                                                                    MAVLink libraries should provide a mechanism that allows a system to conditionally accept unsigned packets.

                                                                                                                                                                                                                                                                                                                                                                                                                    The rules for accepting these packets will be implementation specific, but could be based on a combination of a parameter setting, transport type, message type, (in)compatibility flags etc.

                                                                                                                                                                                                                                                                                                                                                                                                                    All packets that do not meet the system-specific unsigned packet acceptance rules must be rejected (otherwise there is no benefit gained from signing/authentication).

                                                                                                                                                                                                                                                                                                                                                                                                                    Some suggestions for when to accept unsigned packets:

                                                                                                                                                                                                                                                                                                                                                                                                                    • Accept all unsigned packets based on a system-specific parameter.
                                                                                                                                                                                                                                                                                                                                                                                                                    • Accept all unsigned packets if the connection is over a "secure channel" (e.g. local USB cable or local wired Ethernet cable).
                                                                                                                                                                                                                                                                                                                                                                                                                    • RADIO_STATUS packets are always accepted without signing (to make life easier for telemetry radios).
                                                                                                                                                                                                                                                                                                                                                                                                                    • Accept all unsigned packets when in an "unsigned mode" (perhaps triggered by a hardware button pressed on boot).
                                                                                                                                                                                                                                                                                                                                                                                                                    • Accept all unsigned packets until a signed packet is received (unconditionally), then move to the more restricted signing rules above.

                                                                                                                                                                                                                                                                                                                                                                                                                    Accepting Incorrectly Signed Packets

                                                                                                                                                                                                                                                                                                                                                                                                                    MAVLink libraries should provide a mechanism that allows a system to conditionally accept incorrectly signed packets.

                                                                                                                                                                                                                                                                                                                                                                                                                    This feature might be useful for finding a lost vehicle with a corrupted secret key (the GCS could choose to still display position information, albeit ideally with a different "untrusted" icon).

                                                                                                                                                                                                                                                                                                                                                                                                                    A system that is accepting incorrectly signed packets should provide a highly conspicuous indication that the connection is unsafe/insecure. Malformed signed packets indicate a bad configuration, transport failure, protocol failure, or hostile manipulation.

                                                                                                                                                                                                                                                                                                                                                                                                                    Secret Key Management

                                                                                                                                                                                                                                                                                                                                                                                                                    A secret key is 32 bytes of binary data that are used to create message signatures that can be verified by other holders of the key. The key should be created on one system in the network (often a GCS) and shared to other trusted devices via secure channels. Systems must have a shared key in order to be able to communicate.

                                                                                                                                                                                                                                                                                                                                                                                                                    The mavgen C and Python libraries support only one key per link. This is a choice of the library and not a limit/requirement of the protocol. An implementation might instead store a pool of keys, and/or manage keys on a per-connection basis.

                                                                                                                                                                                                                                                                                                                                                                                                                    The secret key should be stored in persistent storage, and must not be exposed via any publicly accessible communication protocol. In particular, the key must not be exposed in MAVLink parameters, MAVLink log files or dataflash log files that may be used for public log analysis.

                                                                                                                                                                                                                                                                                                                                                                                                                    The method of generating the secret key is implementation dependent. For example, it could be generated by:

                                                                                                                                                                                                                                                                                                                                                                                                                    • A user-entered string that is then run through SHA-256.
                                                                                                                                                                                                                                                                                                                                                                                                                    • A random key generator.

                                                                                                                                                                                                                                                                                                                                                                                                                    The secret key may be shared to other devices using the SETUP_SIGNING message. The message should only ever be sent over a secure link (e.g. USB or wired Ethernet) as a direct message to each connected system_id/component_id. The receiving system must be set up to process the message and store the received secret key to the appropriate permanent storage.

                                                                                                                                                                                                                                                                                                                                                                                                                    The same secure method can be used to both set and reset a system's key (reseting a key does not have to be "more secure" than setting it in the first place).

                                                                                                                                                                                                                                                                                                                                                                                                                    The SETUP_SIGNING message should never be broadcast, and received SETUP_SIGNING messages must never be automatically forwarded to other active MAVLink devices/streams/channels. This is to avoid the case where a key received over a secure link (e.g. USB) is automatically forwarded to another system over an insecure link (e.g. Wifi).

                                                                                                                                                                                                                                                                                                                                                                                                                    Autopilots that don't offer MAVLink over USB might create a module that can set the secret key from a command line interface (e.g. the NSH Shell).

                                                                                                                                                                                                                                                                                                                                                                                                                    We recommend that GCS implementations should generate the secret key and share this with connected systems over a secure link (e.g. USB). The receiving system may be configured to ignore message signatures on the secure channel (i.e. accept all signed, unsigned or incorrectly signed packets), so that it is possible to reset a key that has been lost or corrupted.

                                                                                                                                                                                                                                                                                                                                                                                                                    Logging

                                                                                                                                                                                                                                                                                                                                                                                                                    In order to avoid leaking the secret key used for signing, systems should omit SETUP_SIGNING messages from logs (or replace the secret with 32 0xFF bytes in the logged message).

                                                                                                                                                                                                                                                                                                                                                                                                                    Similarly, signed packets should have the signature incompatibility bit cleared and the signature block removed before being put into telemetry log files. This makes it harder for potential attacker to collect large amounts of signature data with which to attack the system.

                                                                                                                                                                                                                                                                                                                                                                                                                    Further Information

                                                                                                                                                                                                                                                                                                                                                                                                                    The Message Signing Proposal contains additional information, including:

                                                                                                                                                                                                                                                                                                                                                                                                                    • Reasoning behind the design decisions.
                                                                                                                                                                                                                                                                                                                                                                                                                    • Evaluation of security effectiveness, including resistance to replay and offline attacks.
                                                                                                                                                                                                                                                                                                                                                                                                                    • Assumptions.

                                                                                                                                                                                                                                                                                                                                                                                                                    Much of this content is derived from the Message Signing Proposal (Google Doc).

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                                                                                                                                                                                                                                                                                                                                                                                                                      \ No newline at end of file diff --git a/ko/guide/packet_loss.html b/ko/guide/packet_loss.html index b555242fa..f441997ec 100644 --- a/ko/guide/packet_loss.html +++ b/ko/guide/packet_loss.html @@ -1 +1 @@ -Packet Loss Calculation · MAVLink Developer Guide
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                                                                                                                                                                                                                                                                                                                                                                                                                      Packet Loss Calculation

                                                                                                                                                                                                                                                                                                                                                                                                                      MAVLink packet loss is calculated from the packet sequence number, an 8 bit field that is incremented each time a message is emitted on a channel. The recipient of the message can track the last recieved/next expected sequence number, and if a packet sequence number is bigger than expected, any intermediate packets between the sequence numbers are assumed to have been lost. The sequence number will wrap around at 255, and the recipient is expected to compensate for this.

                                                                                                                                                                                                                                                                                                                                                                                                                      This approach works if all messages sent on a channel are routed to the system calculating packet loss, and if messages from only one channel are received by the system calculating packet loss. This is true in simple setups, in particular those where a GCS and autopilot communicate over a single telemetry radio.

                                                                                                                                                                                                                                                                                                                                                                                                                      It may not work in more complicated setups:

                                                                                                                                                                                                                                                                                                                                                                                                                      • Companion computer setups may use routers to redirect some packets from the autopilot to specific components, and don't necessarily forward all of them to the ground station that is calculating packet loss. The packets that don't reach the ground station will be detected as packet loss, even though they were received by the router.
                                                                                                                                                                                                                                                                                                                                                                                                                      • Setups with redundant links may merge the channels before passing to a GCS. The sequence numbers from the messages sent on different channels will not match, and any differences are detected as packet loss.

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                                                                                                                                                                                                                                                                                                                                                                                                                        Packet Loss Calculation

                                                                                                                                                                                                                                                                                                                                                                                                                        MAVLink packet loss is calculated from the packet sequence number, an 8 bit field that is incremented each time a message is emitted on a channel. The recipient of the message can track the last recieved/next expected sequence number, and if a packet sequence number is bigger than expected, any intermediate packets between the sequence numbers are assumed to have been lost. The sequence number will wrap around at 255, and the recipient is expected to compensate for this.

                                                                                                                                                                                                                                                                                                                                                                                                                        This approach works if all messages sent on a channel are routed to the system calculating packet loss, and if messages from only one channel are received by the system calculating packet loss. This is true in simple setups, in particular those where a GCS and autopilot communicate over a single telemetry radio.

                                                                                                                                                                                                                                                                                                                                                                                                                        It may not work in more complicated setups:

                                                                                                                                                                                                                                                                                                                                                                                                                        • Companion computer setups may use routers to redirect some packets from the autopilot to specific components, and don't necessarily forward all of them to the ground station that is calculating packet loss. The packets that don't reach the ground station will be detected as packet loss, even though they were received by the router.
                                                                                                                                                                                                                                                                                                                                                                                                                        • Setups with redundant links may merge the channels before passing to a GCS. The sequence numbers from the messages sent on different channels will not match, and any differences are detected as packet loss.

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                                                                                                                                                                                                                                                                                                                                                                                                                          Redundancy and Message/Command De-duplication

                                                                                                                                                                                                                                                                                                                                                                                                                          A MAVLink network may include redundant links. For example, a vehicle might have two telemetry radios for connecting to a ground station, or a telemetry radio for near-communication and a satellite connection for long range communication. In these cases, the same message or command may reach the receiver by several paths. Further, even on a single channel, it is possible that the same command is sent (and received) multiple times, due to loss of the original acknowledgement.

                                                                                                                                                                                                                                                                                                                                                                                                                          MAVLink has no in-built mechanism for deconflicting messages received from multiple channels. The packet sequence number cannot be used, for example, because each channel has its own sequence counter.

                                                                                                                                                                                                                                                                                                                                                                                                                          To mitigate this problem, commands are designed (where possible) to be idempotent, such that it doesn't matter if the same command is received when the vehicle is acting/has already acted on the same command. For example, a command to ARM or TAKEOFF when the vehicle is already armed or flying should immediately be acknowledged with a COMMAND_ACK.result of MAV_RESULT_ACCEPTED.

                                                                                                                                                                                                                                                                                                                                                                                                                          Another approach to mitigate this kind of problem is to only accept data on a primary channel, and fall back to the secondary channel if the first channel fails.

                                                                                                                                                                                                                                                                                                                                                                                                                          When using multiple channels you may still run into problems, in particular when working with very high latency links. The appropriate actions in these cases need to be considered on a case-by-case basis.

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                                                                                                                                                                                                                                                                                                                                                                                                                            Redundancy and Message/Command De-duplication

                                                                                                                                                                                                                                                                                                                                                                                                                            A MAVLink network may include redundant links. For example, a vehicle might have two telemetry radios for connecting to a ground station, or a telemetry radio for near-communication and a satellite connection for long range communication. In these cases, the same message or command may reach the receiver by several paths. Further, even on a single channel, it is possible that the same command is sent (and received) multiple times, due to loss of the original acknowledgement.

                                                                                                                                                                                                                                                                                                                                                                                                                            MAVLink has no in-built mechanism for deconflicting messages received from multiple channels. The packet sequence number cannot be used, for example, because each channel has its own sequence counter.

                                                                                                                                                                                                                                                                                                                                                                                                                            To mitigate this problem, commands are designed (where possible) to be idempotent, such that it doesn't matter if the same command is received when the vehicle is acting/has already acted on the same command. For example, a command to ARM or TAKEOFF when the vehicle is already armed or flying should immediately be acknowledged with a COMMAND_ACK.result of MAV_RESULT_ACCEPTED.

                                                                                                                                                                                                                                                                                                                                                                                                                            Another approach to mitigate this kind of problem is to only accept data on a primary channel, and fall back to the secondary channel if the first channel fails.

                                                                                                                                                                                                                                                                                                                                                                                                                            When using multiple channels you may still run into problems, in particular when working with very high latency links. The appropriate actions in these cases need to be considered on a case-by-case basis.

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                                                                                                                                                                                                                                                                                                                                                                                                                              Routing

                                                                                                                                                                                                                                                                                                                                                                                                                              This topic explains how messages should be routed by MAVLink systems.

                                                                                                                                                                                                                                                                                                                                                                                                                              Overview

                                                                                                                                                                                                                                                                                                                                                                                                                              A MAVLINK network is made up of systems (vehicles, ground stations, antenna trackers, etc.), which may be composed from one or more components (autopilot, camera, servos, etc.).

                                                                                                                                                                                                                                                                                                                                                                                                                              Each system has a network-unique system id, and each component has a system-unique component id that can be used for addressing/routing:

                                                                                                                                                                                                                                                                                                                                                                                                                              • The system id has a value between 1 and 255.
                                                                                                                                                                                                                                                                                                                                                                                                                                • The default autopilot system id is usually 1. Users should allocate unique increasing id values when adding new autopilots to a network.
                                                                                                                                                                                                                                                                                                                                                                                                                                • GCS systems and developer APIs typically use an ID at the top of the numeric range to reduce ID clashes (e.g. 255). Often their system ID is configurable to allow multi-GCS systems.
                                                                                                                                                                                                                                                                                                                                                                                                                              • The component id is allocated by type and number from MAV_COMPONENT.

                                                                                                                                                                                                                                                                                                                                                                                                                              Messages can be intended for all systems, specific systems, all components in a system, or specific components within a system. The protocol defines two 8-bit fields that can (optionally) be specified in the message payload to indicate where the message should be sent/routed. If the ids are omitted or set to zero then the message is considered a broadcast (intended for all systems/components).

                                                                                                                                                                                                                                                                                                                                                                                                                              • target_system: System that should execute the command
                                                                                                                                                                                                                                                                                                                                                                                                                              • target_component: Component that should execute the command (requires target_system).

                                                                                                                                                                                                                                                                                                                                                                                                                              MAVLink components are expected to process messages that have a matching system/component id and broadcast messages. Broadcast messages are forwarded to all channels that haven't seen the message. They are expected to route/resend messages that are intended for other (or all) recipients to other active channels (i.e. MAVLink systems may be connected across different transports, connected by a MAVLink system that routes the messages). Addressed messages are resent on a new channel iff the system has previously seen a message from the target on that channel (messages are not resent if the addressee is not known or is on the original/incoming channel).

                                                                                                                                                                                                                                                                                                                                                                                                                              Forwarded messages must not be changed/repackaged by the forwarding system (the original message is passed to the new link).

                                                                                                                                                                                                                                                                                                                                                                                                                              Systems should, where possible, forward messages according to the routing rules even if they are unable to process them (e.g. signed messages that cannot be authenticated). Messages that are not supported/understood by the library should be forwarded as though they were broadcast messages (in this case the target system/component ids cannot be read).

                                                                                                                                                                                                                                                                                                                                                                                                                              Routing Detail

                                                                                                                                                                                                                                                                                                                                                                                                                              Systems/components should process a message locally if any of these conditions hold:

                                                                                                                                                                                                                                                                                                                                                                                                                              • It is a broadcast message (target_system field omitted or zero).
                                                                                                                                                                                                                                                                                                                                                                                                                              • The target_system matches its system id and target_component is broadcast (target_component omitted or zero).
                                                                                                                                                                                                                                                                                                                                                                                                                              • The target_system matches its system id and has the component's target_component
                                                                                                                                                                                                                                                                                                                                                                                                                              • The target_system matches its system id and the component is unknown (i.e. this component has not seen any messages on any link that have the message's target_system/target_component).

                                                                                                                                                                                                                                                                                                                                                                                                                              Systems should forward messages to another link if any of these conditions hold:

                                                                                                                                                                                                                                                                                                                                                                                                                              • It is a broadcast message (target_system field omitted or zero).
                                                                                                                                                                                                                                                                                                                                                                                                                              • The target_system does not match the system id and the system knows the link of the target system (i.e. it has previously seen a message from target_system on the link).
                                                                                                                                                                                                                                                                                                                                                                                                                              • The target_system matches its system id and has a target_component field, and the system has seen a message from the target_system/target_component combination on the link.

                                                                                                                                                                                                                                                                                                                                                                                                                              Non-broadcast messages must only be sent (or forwarded) to known destinations (i.e. a system must previously have received a message from the target system/component).

                                                                                                                                                                                                                                                                                                                                                                                                                              Systems should also check for SYSTEM_TIME messages with a decrease in time_boot_ms, as this indicates that the system has rebooted. In this case it should clear stored routing information (and might perform other actions that are useful following a reboot - e.g. re-fetching parameters and home position etc.).

                                                                                                                                                                                                                                                                                                                                                                                                                              Library Support

                                                                                                                                                                                                                                                                                                                                                                                                                              C Library (mavgen)

                                                                                                                                                                                                                                                                                                                                                                                                                              The generated code for the MAVLink v1 C Library has no specific support for routing or working with target_system and target_component. To extract this information you will need to use the normal methods provided for reading payload fields, and match on the field names.

                                                                                                                                                                                                                                                                                                                                                                                                                              The MAVLink v2 generator for the C library has been updated to make it easier to get the destination system and component ID from the payload (when these are assigned). The MAVLink helper method const mavlink_msg_entry_t* mavlink_get_msg_entry(uint32_t msgid) can be used to get this structure from the message id. Specifically, the mavlink_msg_entry_t structure contains flags to tell you if the message contains target system/component information (FLAG_HAVE_TARGET_SYSTEM, FLAG_HAVE_TARGET_COMPONENT) and offsets into the payload that you can use to get these ids (target_system_ofs and target_component_ofs, respectively).

                                                                                                                                                                                                                                                                                                                                                                                                                              Unsigned MAVLink 2 packets are routed in the same way as MAVLink 1 packets.

                                                                                                                                                                                                                                                                                                                                                                                                                              Routing Signed Packets

                                                                                                                                                                                                                                                                                                                                                                                                                              Signed packets should be routed in the same way as any other packet.

                                                                                                                                                                                                                                                                                                                                                                                                                              In particular, a routing system should:

                                                                                                                                                                                                                                                                                                                                                                                                                              • not change the message in any way (including replacing the original signature).
                                                                                                                                                                                                                                                                                                                                                                                                                              • forward a message according to normal rules even if it cannot be authenticated (or even understand) and hence cannot be processed locally.

                                                                                                                                                                                                                                                                                                                                                                                                                              Router Implementation

                                                                                                                                                                                                                                                                                                                                                                                                                              The MAVLink Router created by Intel allows to mix-and-match different IP protocols with serial ports and route MAVLink traffic.

                                                                                                                                                                                                                                                                                                                                                                                                                              Further Information

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                                                                                                                                                                                                                                                                                                                                                                                                                                Routing

                                                                                                                                                                                                                                                                                                                                                                                                                                This topic explains how messages should be routed by MAVLink systems.

                                                                                                                                                                                                                                                                                                                                                                                                                                Overview

                                                                                                                                                                                                                                                                                                                                                                                                                                A MAVLINK network is made up of systems (vehicles, ground stations, antenna trackers, etc.), which may be composed from one or more components (autopilot, camera, servos, etc.).

                                                                                                                                                                                                                                                                                                                                                                                                                                Each system has a network-unique system id, and each component has a system-unique component id that can be used for addressing/routing:

                                                                                                                                                                                                                                                                                                                                                                                                                                • The system id has a value between 1 and 255.
                                                                                                                                                                                                                                                                                                                                                                                                                                  • The default autopilot system id is usually 1. Users should allocate unique increasing id values when adding new autopilots to a network.
                                                                                                                                                                                                                                                                                                                                                                                                                                  • GCS systems and developer APIs typically use an ID at the top of the numeric range to reduce ID clashes (e.g. 255). Often their system ID is configurable to allow multi-GCS systems.
                                                                                                                                                                                                                                                                                                                                                                                                                                • The component id is allocated by type and number from MAV_COMPONENT.

                                                                                                                                                                                                                                                                                                                                                                                                                                Messages can be intended for all systems, specific systems, all components in a system, or specific components within a system. The protocol defines two 8-bit fields that can (optionally) be specified in the message payload to indicate where the message should be sent/routed. If the ids are omitted or set to zero then the message is considered a broadcast (intended for all systems/components).

                                                                                                                                                                                                                                                                                                                                                                                                                                • target_system: System that should execute the command
                                                                                                                                                                                                                                                                                                                                                                                                                                • target_component: Component that should execute the command (requires target_system).

                                                                                                                                                                                                                                                                                                                                                                                                                                MAVLink components are expected to process messages that have a matching system/component id and broadcast messages. Broadcast messages are forwarded to all channels that haven't seen the message. They are expected to route/resend messages that are intended for other (or all) recipients to other active channels (i.e. MAVLink systems may be connected across different transports, connected by a MAVLink system that routes the messages). Addressed messages are resent on a new channel iff the system has previously seen a message from the target on that channel (messages are not resent if the addressee is not known or is on the original/incoming channel).

                                                                                                                                                                                                                                                                                                                                                                                                                                Forwarded messages must not be changed/repackaged by the forwarding system (the original message is passed to the new link).

                                                                                                                                                                                                                                                                                                                                                                                                                                Systems should, where possible, forward messages according to the routing rules even if they are unable to process them (e.g. signed messages that cannot be authenticated). Messages that are not supported/understood by the library should be forwarded as though they were broadcast messages (in this case the target system/component ids cannot be read).

                                                                                                                                                                                                                                                                                                                                                                                                                                Routing Detail

                                                                                                                                                                                                                                                                                                                                                                                                                                Systems/components should process a message locally if any of these conditions hold:

                                                                                                                                                                                                                                                                                                                                                                                                                                • It is a broadcast message (target_system field omitted or zero).
                                                                                                                                                                                                                                                                                                                                                                                                                                • The target_system matches its system id and target_component is broadcast (target_component omitted or zero).
                                                                                                                                                                                                                                                                                                                                                                                                                                • The target_system matches its system id and has the component's target_component
                                                                                                                                                                                                                                                                                                                                                                                                                                • The target_system matches its system id and the component is unknown (i.e. this component has not seen any messages on any link that have the message's target_system/target_component).

                                                                                                                                                                                                                                                                                                                                                                                                                                Systems should forward messages to another link if any of these conditions hold:

                                                                                                                                                                                                                                                                                                                                                                                                                                • It is a broadcast message (target_system field omitted or zero).
                                                                                                                                                                                                                                                                                                                                                                                                                                • The target_system does not match the system id and the system knows the link of the target system (i.e. it has previously seen a message from target_system on the link).
                                                                                                                                                                                                                                                                                                                                                                                                                                • The target_system matches its system id and has a target_component field, and the system has seen a message from the target_system/target_component combination on the link.

                                                                                                                                                                                                                                                                                                                                                                                                                                Non-broadcast messages must only be sent (or forwarded) to known destinations (i.e. a system must previously have received a message from the target system/component).

                                                                                                                                                                                                                                                                                                                                                                                                                                Systems should also check for SYSTEM_TIME messages with a decrease in time_boot_ms, as this indicates that the system has rebooted. In this case it should clear stored routing information (and might perform other actions that are useful following a reboot - e.g. re-fetching parameters and home position etc.).

                                                                                                                                                                                                                                                                                                                                                                                                                                Library Support

                                                                                                                                                                                                                                                                                                                                                                                                                                C Library (mavgen)

                                                                                                                                                                                                                                                                                                                                                                                                                                The generated code for the MAVLink v1 C Library has no specific support for routing or working with target_system and target_component. To extract this information you will need to use the normal methods provided for reading payload fields, and match on the field names.

                                                                                                                                                                                                                                                                                                                                                                                                                                The MAVLink v2 generator for the C library has been updated to make it easier to get the destination system and component ID from the payload (when these are assigned). The MAVLink helper method const mavlink_msg_entry_t* mavlink_get_msg_entry(uint32_t msgid) can be used to get this structure from the message id. Specifically, the mavlink_msg_entry_t structure contains flags to tell you if the message contains target system/component information (FLAG_HAVE_TARGET_SYSTEM, FLAG_HAVE_TARGET_COMPONENT) and offsets into the payload that you can use to get these ids (target_system_ofs and target_component_ofs, respectively).

                                                                                                                                                                                                                                                                                                                                                                                                                                Unsigned MAVLink 2 packets are routed in the same way as MAVLink 1 packets.

                                                                                                                                                                                                                                                                                                                                                                                                                                Routing Signed Packets

                                                                                                                                                                                                                                                                                                                                                                                                                                Signed packets should be routed in the same way as any other packet.

                                                                                                                                                                                                                                                                                                                                                                                                                                In particular, a routing system should:

                                                                                                                                                                                                                                                                                                                                                                                                                                • not change the message in any way (including replacing the original signature).
                                                                                                                                                                                                                                                                                                                                                                                                                                • forward a message according to normal rules even if it cannot be authenticated (or even understand) and hence cannot be processed locally.

                                                                                                                                                                                                                                                                                                                                                                                                                                Router Implementation

                                                                                                                                                                                                                                                                                                                                                                                                                                The MAVLink Router created by Intel allows to mix-and-match different IP protocols with serial ports and route MAVLink traffic.

                                                                                                                                                                                                                                                                                                                                                                                                                                Further Information

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                                                                                                                                                                                                                                                                                                                                                                                                                                  Pymavlink Scripts

                                                                                                                                                                                                                                                                                                                                                                                                                                  This MAVLink library also comes with supporting libraries and scripts for using, manipulating, and parsing MAVLink streams within the pymavlink, pymavlink/tools, and pymavlink/examples directories.

                                                                                                                                                                                                                                                                                                                                                                                                                                  The scripts have the following requirements:

                                                                                                                                                                                                                                                                                                                                                                                                                                  • Python 2.7+ and 3.3+
                                                                                                                                                                                                                                                                                                                                                                                                                                  • PYTHONPATH specifies the directory path that contains the mavlink repository.
                                                                                                                                                                                                                                                                                                                                                                                                                                  • Write access to the entire mavlink folder.
                                                                                                                                                                                                                                                                                                                                                                                                                                  • Your dialect's XML file is in message_definitions/*/

                                                                                                                                                                                                                                                                                                                                                                                                                                  The scripts can be executed by running Python with the -m switch, which indicates that the given script exists on the PYTHONPATH. The following code runs mavlogdump.py in /pymavlink/tools/ on the recorded MAVLink stream test_run.mavlink (other scripts in /tools and /scripts can be run in a similar fashion):

                                                                                                                                                                                                                                                                                                                                                                                                                                  python -m pymavlink.tools.mavlogdump test_run.mavlink
-

                                                                                                                                                                                                                                                                                                                                                                                                                                  Using the -m switch is the proper way to run Python scripts that are part of a library as per PEP-328 (and the rejected PEP-3122).

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                                                                                                                                                                                                                                                                                                                                                                                                                                    \ No newline at end of file +스크립트 · MAVLink Developer Guide
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                                                                                                                                                                                                                                                                                                                                                                                                                                    Pymavlink Scripts

                                                                                                                                                                                                                                                                                                                                                                                                                                    This MAVLink library also comes with supporting libraries and scripts for using, manipulating, and parsing MAVLink streams within the pymavlink, pymavlink/tools, and pymavlink/examples directories.

                                                                                                                                                                                                                                                                                                                                                                                                                                    The scripts have the following requirements:

                                                                                                                                                                                                                                                                                                                                                                                                                                    • Python 2.7+ and 3.3+
                                                                                                                                                                                                                                                                                                                                                                                                                                    • PYTHONPATH specifies the directory path that contains the mavlink repository.
                                                                                                                                                                                                                                                                                                                                                                                                                                    • Write access to the entire mavlink folder.
                                                                                                                                                                                                                                                                                                                                                                                                                                    • Your dialect's XML file is in message_definitions/*/

                                                                                                                                                                                                                                                                                                                                                                                                                                    The scripts can be executed by running Python with the -m switch, which indicates that the given script exists on the PYTHONPATH. The following code runs mavlogdump.py in /pymavlink/tools/ on the recorded MAVLink stream test_run.mavlink (other scripts in /tools and /scripts can be run in a similar fashion):

                                                                                                                                                                                                                                                                                                                                                                                                                                    python -m pymavlink.tools.mavlogdump test_run.mavlink
+

                                                                                                                                                                                                                                                                                                                                                                                                                                    Using the -m switch is the proper way to run Python scripts that are part of a library as per PEP-328 (and the rejected PEP-3122).

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                                                                                                                                                                                                                                                                                                                                                                                                                                      \ No newline at end of file diff --git a/ko/guide/serialization.html b/ko/guide/serialization.html index c8f31bbad..d294dbfbe 100644 --- a/ko/guide/serialization.html +++ b/ko/guide/serialization.html @@ -1,4 +1,4 @@ -직렬화 · MAVLink Developer Guide
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                                                                                                                                                                                                                                                                                                                                                                                                                                      Packet Serialization

                                                                                                                                                                                                                                                                                                                                                                                                                                      This topic provides detailed information about about MAVLink packet serialization, including the over-the-wire formats for MAVLink v1 and v2 packets, the ordering of fields in the message payload, and the CRC_EXTRA used for ensuring that the sender and reciever share a compatible message definition.

                                                                                                                                                                                                                                                                                                                                                                                                                                      It is primarily intended for developers who are creating/maintaining a MAVLink generator

                                                                                                                                                                                                                                                                                                                                                                                                                                      MAVLink users do not typically need to understand the serialization format, as encoding/decoding is handled by the MAVLink libraries.

                                                                                                                                                                                                                                                                                                                                                                                                                                      Packet Format

                                                                                                                                                                                                                                                                                                                                                                                                                                      This section shows the serialized message format of MAVLink packets (the format is inspired by the CAN and SAE AS-4 standards).

                                                                                                                                                                                                                                                                                                                                                                                                                                      Note that multi-byte fields are serialized in little-endian format, and MAVLink libraries are configured by default to run on little-endian hardware.

                                                                                                                                                                                                                                                                                                                                                                                                                                      MAVLink 2 Packet Format

                                                                                                                                                                                                                                                                                                                                                                                                                                      Below is the over-the-wire format for a MAVLink 2 packet (the in-memory representation might differ).

                                                                                                                                                                                                                                                                                                                                                                                                                                      MAVLink v2 packet

                                                                                                                                                                                                                                                                                                                                                                                                                                      Byte IndexC versionContentValueExplanation
                                                                                                                                                                                                                                                                                                                                                                                                                                      0uint8_t magicPacket start marker0xFDProtocol-specific start-of-text (STX) marker used to indicate the beginning of a new packet. Any system that does not understand protocol version will skip the packet.
                                                                                                                                                                                                                                                                                                                                                                                                                                      1uint8_t lenPayload length0 - 2551uint8_t lenPayload length0 - 255Indicates length of the following payload section. This may be affected by payload truncation.
                                                                                                                                                                                                                                                                                                                                                                                                                                      2uint8_t incompat_flagsIncompatibility Flags2uint8_t incompat_flagsIncompatibility FlagsFlags that must be understood for MAVLink compatibility (implementation discards packet if it does not understand flag).
                                                                                                                                                                                                                                                                                                                                                                                                                                      3uint8_t compat_flagsCompatibility FlagsFlags that can be ignored if not understood (implementation can still handle packet even if it does not understand flag).
                                                                                                                                                                                                                                                                                                                                                                                                                                      4uint8_t seqPacket sequence number0 - 255Used to detect packet loss. Components increment value for each message sent.
                                                                                                                                                                                                                                                                                                                                                                                                                                      5uint8_t sysidSystem ID (sender)1 - 255ID of system (vehicle) sending the message. Used to differentiate systems on network. Note that the broadcast address 0 may not be used in this field as it is an invalid source address.
                                                                                                                                                                                                                                                                                                                                                                                                                                      6uint8_t compidComponent ID (sender)1 - 255ID of component sending the message. Used to differentiate components in a system (e.g. autopilot and a camera). Use appropriate values in MAV_COMPONENT. Note that the broadcast address MAV_COMP_ID_ALL may not be used in this field as it is an invalid source address.
                                                                                                                                                                                                                                                                                                                                                                                                                                      7 to 9uint32_t msgid:24Message ID (low, middle, high bytes)0 - 16777215ID of message type in payload. Used to decode data back into message object.
                                                                                                                                                                                                                                                                                                                                                                                                                                      For n-byte payload:

                                                                                                                                                                                                                                                                                                                                                                                                                                      n=0: NA, n=1: 10, n>=2: 10 to (9+n) | uint8_t payload[max 255] | Payload | | Message data. | uint8_t payload[max 255] | Payload | | Message data. Depends on message type (i.e. Message ID) and contents. | | (n+10) to (n+11) | uint16_t checksum | Checksum (low byte, high byte) | | CRC-16/MCRF4XX for message (excluding magic byte). Includes CRC_EXTRA byte. | | (n+12) to (n+25) | uint8_t signature[13] | Signature | | (Optional) Signature to ensure the link is tamper-proof. |

                                                                                                                                                                                                                                                                                                                                                                                                                                      • The minimum packet length is 12 bytes for acknowledgment packets without payload.
                                                                                                                                                                                                                                                                                                                                                                                                                                      • The maximum packet length is 280 bytes for a signed message that uses the whole payload.

                                                                                                                                                                                                                                                                                                                                                                                                                                      MAVLink 1 Packet Format

                                                                                                                                                                                                                                                                                                                                                                                                                                      Below is the over-the-wire format for a MAVLink 1 packet (the in-memory representation might differ).

                                                                                                                                                                                                                                                                                                                                                                                                                                      MAVLink v1 packet

                                                                                                                                                                                                                                                                                                                                                                                                                                      Byte IndexC versionContentValueExplanation
                                                                                                                                                                                                                                                                                                                                                                                                                                      0uint8_t magicPacket start marker0xFEProtocol-specific start-of-text (STX) marker used to indicate the beginning of a new packet. Any system that does not understand protocol version will skip the packet.
                                                                                                                                                                                                                                                                                                                                                                                                                                      1uint8_t lenPayload length0 - 2551uint8_t lenPayload length0 - 255Indicates length of the following payload section (fixed for a particular message).
                                                                                                                                                                                                                                                                                                                                                                                                                                      2uint8_t seqPacket sequence number0 - 255Used to detect packet loss. Components increment value for each message sent.
                                                                                                                                                                                                                                                                                                                                                                                                                                      3uint8_t sysidSystem ID1 - 255ID of system (vehicle) sending the message. Used to differentiate systems on network. Note that the broadcast address 0 may not be used in this field as it is an invalid source address.
                                                                                                                                                                                                                                                                                                                                                                                                                                      4uint8_t compidComponent ID1 - 255ID of component sending the message. Used to differentiate components in a system (e.g. autopilot and a camera). Use appropriate values in MAV_COMPONENT. Note that the broadcast address MAV_COMP_ID_ALL may not be used in this field as it is an invalid source address.
                                                                                                                                                                                                                                                                                                                                                                                                                                      5uint8_t msgidMessage ID0 - 255ID of message type in payload. Used to decode data back into message object.
                                                                                                                                                                                                                                                                                                                                                                                                                                      For n-byte payload:

                                                                                                                                                                                                                                                                                                                                                                                                                                      n=0: NA, n=1: 6, n>=2: 6 to (5+n) | uint8_t payload[max 255] | Payload data | | Message data. | uint8_t payload[max 255] | Payload data | | Message data. Content depends on message type (i.e. Message ID). | | (n+6) to (n+7) | uint16_t checksum | Checksum (low byte, high byte) | | CRC-16/MCRF4XX for message (excluding magic byte). Includes CRC_EXTRA byte. |

                                                                                                                                                                                                                                                                                                                                                                                                                                      • The minimum packet length is 8 bytes for acknowledgment packets without payload.
                                                                                                                                                                                                                                                                                                                                                                                                                                      • The maximum packet length is 263 bytes for full payload.

                                                                                                                                                                                                                                                                                                                                                                                                                                      Incompatibility Flags (MAVLink 2)

                                                                                                                                                                                                                                                                                                                                                                                                                                      Incompatibility flags are used to indicate features that a MAVLink library must support in order to be able to handle the packet. This includes any feature that affects the packet format/ordering.

                                                                                                                                                                                                                                                                                                                                                                                                                                      A MAVLink implementation must discard a packet if it does not understand any flag in the incompat_flags field.

                                                                                                                                                                                                                                                                                                                                                                                                                                      Supported incompatibility flags include (at time of writing):

                                                                                                                                                                                                                                                                                                                                                                                                                                      FlagC flagFeature
                                                                                                                                                                                                                                                                                                                                                                                                                                      0x01MAVLINK_IFLAG_SIGNEDThe packet is signed (a signature has been appended to the packet).

                                                                                                                                                                                                                                                                                                                                                                                                                                      Compatibility Flags (MAVLink 2)

                                                                                                                                                                                                                                                                                                                                                                                                                                      Compatibility flags are used to indicate features won't prevent a MAVLink library from handling the packet (even if the feature is not understood). This might include, for example, a flag to indicate that a packet should be treated as "high priority" (such a messages could be handled by any MAVLink implementation because packet format and structure is not affected).

                                                                                                                                                                                                                                                                                                                                                                                                                                      A MAVLink implementation can safely ignore flags it doesn't understand in the compat_flags field.

                                                                                                                                                                                                                                                                                                                                                                                                                                      Payload Format

                                                                                                                                                                                                                                                                                                                                                                                                                                      MAVLink does not include information about the message structure in the payload itself (in order to reduce overhead)! Instead the sender and receiver must share a common understanding of the meaning, order and size of message fields in the over-the-wire format.

                                                                                                                                                                                                                                                                                                                                                                                                                                      Messages are encoded within the MAVLink packet:

                                                                                                                                                                                                                                                                                                                                                                                                                                      • The msgid (message id) field identifies the specific message encoded in the packet.
                                                                                                                                                                                                                                                                                                                                                                                                                                      • The payload field contains the message data.
                                                                                                                                                                                                                                                                                                                                                                                                                                        • MAVLink reorders the message fields in the payload for over-the-wire transmission (from the order in the original XML Message Definitions).
                                                                                                                                                                                                                                                                                                                                                                                                                                        • MAVLink 2 truncates any zero-filled bytes at the end of the payload before the message is sent and sets the packet len field appropriately (MAVLink 1 always sends all bytes).
                                                                                                                                                                                                                                                                                                                                                                                                                                      • The len field contains the length of the payload data.

                                                                                                                                                                                                                                                                                                                                                                                                                                      • A CRC_EXTRA byte is added to the message checksum. A receiver can use this to confirm that it is compatible with the payload message format/definition.

                                                                                                                                                                                                                                                                                                                                                                                                                                        A MAVLink library should notify a bad CRC during decoding if a message specification is incompatible (e.g. the C library mavlink_parse_char() gives a status MAVLINK_FRAMING_BAD_CRC).

                                                                                                                                                                                                                                                                                                                                                                                                                                      Field Reordering

                                                                                                                                                                                                                                                                                                                                                                                                                                      Message payload fields are reordered for transmission as follows:

                                                                                                                                                                                                                                                                                                                                                                                                                                      • Fields are sorted according to their native data size:
                                                                                                                                                                                                                                                                                                                                                                                                                                        • (u)int64_t, double (8 bytes)
                                                                                                                                                                                                                                                                                                                                                                                                                                        • (u)int32_t, float (4)
                                                                                                                                                                                                                                                                                                                                                                                                                                        • (u)int16_t (2)
                                                                                                                                                                                                                                                                                                                                                                                                                                        • (u)int8_t, char (1)
                                                                                                                                                                                                                                                                                                                                                                                                                                      • If two fields have the same length, their order is preserved as it was present before the data field size ordering
                                                                                                                                                                                                                                                                                                                                                                                                                                      • Arrays are handled based on the data type they use, not based on the total array size
                                                                                                                                                                                                                                                                                                                                                                                                                                      • The over-the-air order is the same as for the struct and thus represents the reordered fields
                                                                                                                                                                                                                                                                                                                                                                                                                                      • The CRC_EXTRA field is calculated after the reordering, to ensure that a mistake during field reordering will be caught by a faulty CRC. The provided Python, C and C# reference implementations are tested to have the correct field reordering, this is only a concern for custom implementations.

                                                                                                                                                                                                                                                                                                                                                                                                                                      The only exception to the above reordering is for MAVLink 2 extension fields. Extension fields are sent in XML-declaration order and are not included in the CRC_EXTRA calculation. This allows new extension fields to be appended to the end of a message without breaking binary compatibility.

                                                                                                                                                                                                                                                                                                                                                                                                                                      This ordering is unique and can be easily implemented in a protocol generator by using a stable sorting algorithm. The alternative to using sorting would be either to use inefficient alignment, which is bad for the target architectures for typical MAVLink applications, or to have function calls in the order of the variable size instead of the application context. This would lead to very confusing function signatures of serialization functions.

                                                                                                                                                                                                                                                                                                                                                                                                                                      Empty-Byte Payload Truncation (MAVLink 2)

                                                                                                                                                                                                                                                                                                                                                                                                                                      MAVLink 2 implementations must truncate any empty (zero-filled) bytes at the end of the serialized payload before it is sent. This contrasts with MAVLink 1, where bytes were sent for all fields regardless of content.

                                                                                                                                                                                                                                                                                                                                                                                                                                      An implementation that receives a (non compliant) MAVLink 2 message with zero-filled trailing bytes must still support decoding of the message (if it is otherwise valid), and provide methods to route/forward the messages. The message may be forwarded either completely unaltered (i.e. with the zeros untrimmed and original CRC) or the forwarding implementation may trim the zeros and recalculate the CRC.

                                                                                                                                                                                                                                                                                                                                                                                                                                      The actual fields affected/bytes saved depends on the message and its content (MAVLink field reordering means that all we can say is that any truncated fields will typically be those with the smallest data size, or extension fields).

                                                                                                                                                                                                                                                                                                                                                                                                                                      The first byte of the payload is never truncated, even if the payload consists entirely of zeros.

                                                                                                                                                                                                                                                                                                                                                                                                                                      The protocol only truncates empty bytes at the end of the serialized message payload; any null bytes/empty fields within the body of the payload are not affected.

                                                                                                                                                                                                                                                                                                                                                                                                                                      CRC_EXTRA Calculation

                                                                                                                                                                                                                                                                                                                                                                                                                                      The CRC_EXTRA CRC is used to verify that the sender and receiver have a shared understanding of the over-the-wire format of a particular message.

                                                                                                                                                                                                                                                                                                                                                                                                                                      Changes in message specifications that might make the over-the-wire format incompatible include: new/removed fields, or changes to field name, data type, order, or array length.

                                                                                                                                                                                                                                                                                                                                                                                                                                      When the MAVLink code generator runs, it takes a checksum of the XML structure for each message and creates an array define MAVLINK_MESSAGE_CRCS. This is used to initialise the mavlink_message_crcs[] array in the C/C++ implementation, and is similarly used in the Python (or any other, such as the C# and JavaScript) implementation.

                                                                                                                                                                                                                                                                                                                                                                                                                                      When the sender calculates the checksum for a message it adds the CRC_EXTRA byte onto the end of the data that the checksum is calculated over. The recipient calculates a checksum for the received message and adds its own CRC_EXTRA for the particular message id. If the CRC_EXTRA for the sender and receiver are different the checksums will not match.

                                                                                                                                                                                                                                                                                                                                                                                                                                      This approach ensures that only messages where the sender and recipient are using the same message structure will be decoded (or at least it makes a mistake much more unlikely, as for any checksum application).

                                                                                                                                                                                                                                                                                                                                                                                                                                      If you are doing your own implementation of MAVLink you can get this checksum in one of two ways: you can include the generated headers and use MAVLINK_MESSAGE_CRCS to get the right seed for each message type, or you can re-implement the code that calculates the seed.

                                                                                                                                                                                                                                                                                                                                                                                                                                      As MAVLink internally reorders the message fields according to their size to prevent word / halfword alignment issues (see Data structure alignment (Wikipedia) for further reference), and a wrongly implemented reordering potentially can cause inconsistencies as well, the CRC_EXTRA is calculated based on the over-the-air message layout rather than the XML order.

                                                                                                                                                                                                                                                                                                                                                                                                                                      MAVLink 2 extension fields are not included in the CRC_EXTRA calculation.

                                                                                                                                                                                                                                                                                                                                                                                                                                      This is the Python code that calculates the CRC_EXTRA seed:

                                                                                                                                                                                                                                                                                                                                                                                                                                      def message_checksum(msg):
+직렬화 · MAVLink Developer Guide
                                                                                                                                                                                                                                                                                                                                                                                                                                      Packet Serialization
                                                                                                                                                                                                                                                                                                                                                                                                                                      This topic provides detailed information about about MAVLink packet serialization, including the over-the-wire formats for MAVLink v1 and v2 packets, the ordering of fields in the message payload, and the CRC_EXTRA used for ensuring that the sender and reciever share a compatible message definition.
                                                                                                                                                                                                                                                                                                                                                                                                                                      It is primarily intended for developers who are creating/maintaining a MAVLink generator
                                                                                                                                                                                                                                                                                                                                                                                                                                      MAVLink users do not typically need to understand the serialization format, as encoding/decoding is handled by the MAVLink libraries.
                                                                                                                                                                                                                                                                                                                                                                                                                                      Packet Format
                                                                                                                                                                                                                                                                                                                                                                                                                                      This section shows the serialized message format of MAVLink packets (the format is inspired by the CAN and SAE AS-4 standards).
                                                                                                                                                                                                                                                                                                                                                                                                                                      Note that multi-byte fields are serialized in little-endian format, and MAVLink libraries are configured by default to run on little-endian hardware.
                                                                                                                                                                                                                                                                                                                                                                                                                                      MAVLink 2 Packet Format
                                                                                                                                                                                                                                                                                                                                                                                                                                      Below is the over-the-wire format for a MAVLink 2 packet (the in-memory representation might differ).
                                                                                                                                                                                                                                                                                                                                                                                                                                      MAVLink v2 packet
                                                                                                                                                                                                                                                                                                                                                                                                                                      Byte IndexC versionContentValueExplanation
                                                                                                                                                                                                                                                                                                                                                                                                                                      0uint8_t magicPacket start marker0xFDProtocol-specific start-of-text (STX) marker used to indicate the beginning of a new packet. Any system that does not understand protocol version will skip the packet.
                                                                                                                                                                                                                                                                                                                                                                                                                                      1uint8_t lenPayload length0 - 2551uint8_t lenPayload length0 - 255Indicates length of the following payload section. This may be affected by payload truncation.
                                                                                                                                                                                                                                                                                                                                                                                                                                      2uint8_t incompat_flagsIncompatibility Flags2uint8_t incompat_flagsIncompatibility FlagsFlags that must be understood for MAVLink compatibility (implementation discards packet if it does not understand flag).
                                                                                                                                                                                                                                                                                                                                                                                                                                      3uint8_t compat_flagsCompatibility FlagsFlags that can be ignored if not understood (implementation can still handle packet even if it does not understand flag).
                                                                                                                                                                                                                                                                                                                                                                                                                                      4uint8_t seqPacket sequence number0 - 255Used to detect packet loss. Components increment value for each message sent.
                                                                                                                                                                                                                                                                                                                                                                                                                                      5uint8_t sysidSystem ID (sender)1 - 255ID of system (vehicle) sending the message. Used to differentiate systems on network. Note that the broadcast address 0 may not be used in this field as it is an invalid source address.
                                                                                                                                                                                                                                                                                                                                                                                                                                      6uint8_t compidComponent ID (sender)1 - 255ID of component sending the message. Used to differentiate components in a system (e.g. autopilot and a camera). Use appropriate values in MAV_COMPONENT. Note that the broadcast address MAV_COMP_ID_ALL may not be used in this field as it is an invalid source address.
                                                                                                                                                                                                                                                                                                                                                                                                                                      7 to 9uint32_t msgid:24Message ID (low, middle, high bytes)0 - 16777215ID of message type in payload. Used to decode data back into message object.
                                                                                                                                                                                                                                                                                                                                                                                                                                      For n-byte payload:
                                                                                                                                                                                                                                                                                                                                                                                                                                      n=0: NA, n=1: 10, n>=2: 10 to (9+n) | uint8_t payload[max 255] | Payload | | Message data. | uint8_t payload[max 255] | Payload | | Message data. Depends on message type (i.e. Message ID) and contents. | | (n+10) to (n+11) | uint16_t checksum | Checksum (low byte, high byte) | | CRC-16/MCRF4XX for message (excluding magic byte). Includes CRC_EXTRA byte. | | (n+12) to (n+25) | uint8_t signature[13] | Signature | | (Optional) Signature to ensure the link is tamper-proof. |
                                                                                                                                                                                                                                                                                                                                                                                                                                      • The minimum packet length is 12 bytes for acknowledgment packets without payload.
                                                                                                                                                                                                                                                                                                                                                                                                                                      • The maximum packet length is 280 bytes for a signed message that uses the whole payload.
                                                                                                                                                                                                                                                                                                                                                                                                                                      MAVLink 1 Packet Format
                                                                                                                                                                                                                                                                                                                                                                                                                                      Below is the over-the-wire format for a MAVLink 1 packet (the in-memory representation might differ).
                                                                                                                                                                                                                                                                                                                                                                                                                                      MAVLink v1 packet
                                                                                                                                                                                                                                                                                                                                                                                                                                      Byte IndexC versionContentValueExplanation
                                                                                                                                                                                                                                                                                                                                                                                                                                      0uint8_t magicPacket start marker0xFEProtocol-specific start-of-text (STX) marker used to indicate the beginning of a new packet. Any system that does not understand protocol version will skip the packet.
                                                                                                                                                                                                                                                                                                                                                                                                                                      1uint8_t lenPayload length0 - 2551uint8_t lenPayload length0 - 255Indicates length of the following payload section (fixed for a particular message).
                                                                                                                                                                                                                                                                                                                                                                                                                                      2uint8_t seqPacket sequence number0 - 255Used to detect packet loss. Components increment value for each message sent.
                                                                                                                                                                                                                                                                                                                                                                                                                                      3uint8_t sysidSystem ID1 - 255ID of system (vehicle) sending the message. Used to differentiate systems on network. Note that the broadcast address 0 may not be used in this field as it is an invalid source address.
                                                                                                                                                                                                                                                                                                                                                                                                                                      4uint8_t compidComponent ID1 - 255ID of component sending the message. Used to differentiate components in a system (e.g. autopilot and a camera). Use appropriate values in MAV_COMPONENT. Note that the broadcast address MAV_COMP_ID_ALL may not be used in this field as it is an invalid source address.
                                                                                                                                                                                                                                                                                                                                                                                                                                      5uint8_t msgidMessage ID0 - 255ID of message type in payload. Used to decode data back into message object.
                                                                                                                                                                                                                                                                                                                                                                                                                                      For n-byte payload:
                                                                                                                                                                                                                                                                                                                                                                                                                                      n=0: NA, n=1: 6, n>=2: 6 to (5+n) | uint8_t payload[max 255] | Payload data | | Message data. | uint8_t payload[max 255] | Payload data | | Message data. Content depends on message type (i.e. Message ID). | | (n+6) to (n+7) | uint16_t checksum | Checksum (low byte, high byte) | | CRC-16/MCRF4XX for message (excluding magic byte). Includes CRC_EXTRA byte. |
                                                                                                                                                                                                                                                                                                                                                                                                                                      • The minimum packet length is 8 bytes for acknowledgment packets without payload.
                                                                                                                                                                                                                                                                                                                                                                                                                                      • The maximum packet length is 263 bytes for full payload.
                                                                                                                                                                                                                                                                                                                                                                                                                                      Incompatibility Flags (MAVLink 2)
                                                                                                                                                                                                                                                                                                                                                                                                                                      Incompatibility flags are used to indicate features that a MAVLink library must support in order to be able to handle the packet. This includes any feature that affects the packet format/ordering.
                                                                                                                                                                                                                                                                                                                                                                                                                                      A MAVLink implementation must discard a packet if it does not understand any flag in the incompat_flags field.
                                                                                                                                                                                                                                                                                                                                                                                                                                      Supported incompatibility flags include (at time of writing):
                                                                                                                                                                                                                                                                                                                                                                                                                                      FlagC flagFeature
                                                                                                                                                                                                                                                                                                                                                                                                                                      0x01MAVLINK_IFLAG_SIGNEDThe packet is signed (a signature has been appended to the packet).
                                                                                                                                                                                                                                                                                                                                                                                                                                      Compatibility Flags (MAVLink 2)
                                                                                                                                                                                                                                                                                                                                                                                                                                      Compatibility flags are used to indicate features won't prevent a MAVLink library from handling the packet (even if the feature is not understood). This might include, for example, a flag to indicate that a packet should be treated as "high priority" (such a messages could be handled by any MAVLink implementation because packet format and structure is not affected).
                                                                                                                                                                                                                                                                                                                                                                                                                                      A MAVLink implementation can safely ignore flags it doesn't understand in the compat_flags field.
                                                                                                                                                                                                                                                                                                                                                                                                                                      Payload Format
                                                                                                                                                                                                                                                                                                                                                                                                                                      MAVLink does not include information about the message structure in the payload itself (in order to reduce overhead)! Instead the sender and receiver must share a common understanding of the meaning, order and size of message fields in the over-the-wire format.
                                                                                                                                                                                                                                                                                                                                                                                                                                      Messages are encoded within the MAVLink packet:
                                                                                                                                                                                                                                                                                                                                                                                                                                      • The msgid (message id) field identifies the specific message encoded in the packet.
                                                                                                                                                                                                                                                                                                                                                                                                                                      • The payload field contains the message data.
                                                                                                                                                                                                                                                                                                                                                                                                                                        • MAVLink reorders the message fields in the payload for over-the-wire transmission (from the order in the original XML Message Definitions).
                                                                                                                                                                                                                                                                                                                                                                                                                                        • MAVLink 2 truncates any zero-filled bytes at the end of the payload before the message is sent and sets the packet len field appropriately (MAVLink 1 always sends all bytes).
                                                                                                                                                                                                                                                                                                                                                                                                                                      • The len field contains the length of the payload data.
                                                                                                                                                                                                                                                                                                                                                                                                                                      • A CRC_EXTRA byte is added to the message checksum. A receiver can use this to confirm that it is compatible with the payload message format/definition.
                                                                                                                                                                                                                                                                                                                                                                                                                                        A MAVLink library should notify a bad CRC during decoding if a message specification is incompatible (e.g. the C library mavlink_parse_char() gives a status MAVLINK_FRAMING_BAD_CRC).
                                                                                                                                                                                                                                                                                                                                                                                                                                      Field Reordering
                                                                                                                                                                                                                                                                                                                                                                                                                                      Message payload fields are reordered for transmission as follows:
                                                                                                                                                                                                                                                                                                                                                                                                                                      • Fields are sorted according to their native data size:
                                                                                                                                                                                                                                                                                                                                                                                                                                        • (u)int64_t, double (8 bytes)
                                                                                                                                                                                                                                                                                                                                                                                                                                        • (u)int32_t, float (4)
                                                                                                                                                                                                                                                                                                                                                                                                                                        • (u)int16_t (2)
                                                                                                                                                                                                                                                                                                                                                                                                                                        • (u)int8_t, char (1)
                                                                                                                                                                                                                                                                                                                                                                                                                                      • If two fields have the same length, their order is preserved as it was present before the data field size ordering
                                                                                                                                                                                                                                                                                                                                                                                                                                      • Arrays are handled based on the data type they use, not based on the total array size
                                                                                                                                                                                                                                                                                                                                                                                                                                      • The over-the-air order is the same as for the struct and thus represents the reordered fields
                                                                                                                                                                                                                                                                                                                                                                                                                                      • The CRC_EXTRA field is calculated after the reordering, to ensure that a mistake during field reordering will be caught by a faulty CRC. The provided Python, C and C# reference implementations are tested to have the correct field reordering, this is only a concern for custom implementations.
                                                                                                                                                                                                                                                                                                                                                                                                                                      The only exception to the above reordering is for MAVLink 2 extension fields. Extension fields are sent in XML-declaration order and are not included in the CRC_EXTRA calculation. This allows new extension fields to be appended to the end of a message without breaking binary compatibility.
                                                                                                                                                                                                                                                                                                                                                                                                                                      This ordering is unique and can be easily implemented in a protocol generator by using a stable sorting algorithm. The alternative to using sorting would be either to use inefficient alignment, which is bad for the target architectures for typical MAVLink applications, or to have function calls in the order of the variable size instead of the application context. This would lead to very confusing function signatures of serialization functions.
                                                                                                                                                                                                                                                                                                                                                                                                                                      Empty-Byte Payload Truncation (MAVLink 2)
                                                                                                                                                                                                                                                                                                                                                                                                                                      MAVLink 2 implementations must truncate any empty (zero-filled) bytes at the end of the serialized payload before it is sent. This contrasts with MAVLink 1, where bytes were sent for all fields regardless of content.
                                                                                                                                                                                                                                                                                                                                                                                                                                      An implementation that receives a (non compliant) MAVLink 2 message with zero-filled trailing bytes must still support decoding of the message (if it is otherwise valid), and provide methods to route/forward the messages. The message may be forwarded either completely unaltered (i.e. with the zeros untrimmed and original CRC) or the forwarding implementation may trim the zeros and recalculate the CRC.
                                                                                                                                                                                                                                                                                                                                                                                                                                      The actual fields affected/bytes saved depends on the message and its content (MAVLink field reordering means that all we can say is that any truncated fields will typically be those with the smallest data size, or extension fields).
                                                                                                                                                                                                                                                                                                                                                                                                                                      The first byte of the payload is never truncated, even if the payload consists entirely of zeros.
                                                                                                                                                                                                                                                                                                                                                                                                                                      The protocol only truncates empty bytes at the end of the serialized message payload; any null bytes/empty fields within the body of the payload are not affected.
                                                                                                                                                                                                                                                                                                                                                                                                                                      CRC_EXTRA Calculation
                                                                                                                                                                                                                                                                                                                                                                                                                                      The CRC_EXTRA CRC is used to verify that the sender and receiver have a shared understanding of the over-the-wire format of a particular message.
                                                                                                                                                                                                                                                                                                                                                                                                                                      Changes in message specifications that might make the over-the-wire format incompatible include: new/removed fields, or changes to field name, data type, order, or array length.
                                                                                                                                                                                                                                                                                                                                                                                                                                      When the MAVLink code generator runs, it takes a checksum of the XML structure for each message and creates an array define MAVLINK_MESSAGE_CRCS. This is used to initialise the mavlink_message_crcs[] array in the C/C++ implementation, and is similarly used in the Python (or any other, such as the C# and JavaScript) implementation.
                                                                                                                                                                                                                                                                                                                                                                                                                                      When the sender calculates the checksum for a message it adds the CRC_EXTRA byte onto the end of the data that the checksum is calculated over. The recipient calculates a checksum for the received message and adds its own CRC_EXTRA for the particular message id. If the CRC_EXTRA for the sender and receiver are different the checksums will not match.
                                                                                                                                                                                                                                                                                                                                                                                                                                      This approach ensures that only messages where the sender and recipient are using the same message structure will be decoded (or at least it makes a mistake much more unlikely, as for any checksum application).
                                                                                                                                                                                                                                                                                                                                                                                                                                      If you are doing your own implementation of MAVLink you can get this checksum in one of two ways: you can include the generated headers and use MAVLINK_MESSAGE_CRCS to get the right seed for each message type, or you can re-implement the code that calculates the seed.
                                                                                                                                                                                                                                                                                                                                                                                                                                      As MAVLink internally reorders the message fields according to their size to prevent word / halfword alignment issues (see Data structure alignment (Wikipedia) for further reference), and a wrongly implemented reordering potentially can cause inconsistencies as well, the CRC_EXTRA is calculated based on the over-the-air message layout rather than the XML order.
                                                                                                                                                                                                                                                                                                                                                                                                                                      MAVLink 2 extension fields are not included in the CRC_EXTRA calculation.
                                                                                                                                                                                                                                                                                                                                                                                                                                      This is the Python code that calculates the CRC_EXTRA seed:
                                                                                                                                                                                                                                                                                                                                                                                                                                      def message_checksum(msg):
     '''calculate a 8-bit checksum of the key fields of a message, so we
        can detect incompatible XML changes'''
     from .mavcrc import x25crc
@@ -14,4 +14,4 @@
         if f.array_length:
             crc.accumulate([f.array_length])
     return (crc.crc&0xFF) ^ (crc.crc>>8)
-
                                                                                                                                                                                                                                                                                                                                                                                                                                      This uses the same CRC-16/MCRF4XX checksum that is used at runtime. It calculates a CRC over the message name (such as “RAW_IMU”) followed by the type and name of each field, space separated. The order of the fields is the order they are sent over the wire. For arrays, the array length is also added.
                                                                                                                                                                                                                                                                                                                                                                                                                                      Checksum
                                                                                                                                                                                                                                                                                                                                                                                                                                      The packet format includes a 2-byte CRC-16/MCRF4XX to allow detection of message corruption. See the MAVLink source code for the documented C-implementation.
                                                                                                                                                                                                                                                                                                                                                                                                                                      The CRC covers the whole message, excluding magic byte and the signature (if present). The CRC includes the CRC_EXTRA byte, which is used to ensure that the sending and receiving systems share a common understanding of the message definition.
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+

                                                                                                                                                                                                                                                                                                                                                                                                                                        This uses the same CRC-16/MCRF4XX checksum that is used at runtime. It calculates a CRC over the message name (such as “RAW_IMU”) followed by the type and name of each field, space separated. The order of the fields is the order they are sent over the wire. For arrays, the array length is also added.

                                                                                                                                                                                                                                                                                                                                                                                                                                        Checksum

                                                                                                                                                                                                                                                                                                                                                                                                                                        The packet format includes a 2-byte CRC-16/MCRF4XX to allow detection of message corruption. See the MAVLink source code for the documented C-implementation.

                                                                                                                                                                                                                                                                                                                                                                                                                                        The CRC covers the whole message, excluding magic byte and the signature (if present). The CRC includes the CRC_EXTRA byte, which is used to ensure that the sending and receiving systems share a common understanding of the message definition.

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                                                                                                                                                                                                                                                                                                                                                                                                                                          \ No newline at end of file diff --git a/ko/guide/uavcan_interaction.html b/ko/guide/uavcan_interaction.html index afef51b25..de5a45eb2 100644 --- a/ko/guide/uavcan_interaction.html +++ b/ko/guide/uavcan_interaction.html @@ -1 +1 @@ -UAVCAN 통신 · MAVLink Developer Guide
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                                                                                                                                                                                                                                                                                                                                                                                                                                          UAVCAN Interaction

                                                                                                                                                                                                                                                                                                                                                                                                                                          This chapter describes the MAVLink commands and messages that facilitate data exchange between the operator's equipment and the on-board UAVCAN nodes. The primary motivation is to enable the user to configure, monitor, and control the on-board UAVCAN nodes via the existing MAVLink connection.

                                                                                                                                                                                                                                                                                                                                                                                                                                          Basics

                                                                                                                                                                                                                                                                                                                                                                                                                                          The general description and specification of UAVCAN is available at http://uavcan.org.

                                                                                                                                                                                                                                                                                                                                                                                                                                          The text below will be referring to the following terms:

                                                                                                                                                                                                                                                                                                                                                                                                                                          • Bridge node - the piece of on-board equipment that bridges the on-board UAVCAN bus and the MAVLink connection. This function is often performed by the flight management unit, e.g. Pixhawk.
                                                                                                                                                                                                                                                                                                                                                                                                                                          • Remote equipment - the other end of the MAVLink channel, e.g. the ground control station.

                                                                                                                                                                                                                                                                                                                                                                                                                                          UAVCAN Node Identification

                                                                                                                                                                                                                                                                                                                                                                                                                                          Every UAVCAN node has a bus-unique identifier referred to as "node ID". The node ID is an integer in the interval [1, 127], where the value 1 is typically used by the autopilot or some other kind of central controlling unit, and the values 126 and 127 are typically used by debugging or monitoring equipment.

                                                                                                                                                                                                                                                                                                                                                                                                                                          Each unit that is capable of communicating via MAVLink and UAVCAN must use the same number for its MAVLink Component ID and the UAVCAN Node ID, otherwise serious inconsistencies may arise. Typically, if there is a single non-redundant autopilot, its UAVCAN Node ID and the MAVLink component ID will be set to 1 (one).

                                                                                                                                                                                                                                                                                                                                                                                                                                          Every outgoing/incoming MAVLink message/command pertaining to a given UAVCAN node will have its field Component ID set to the same value as the Node ID of the referred UAVCAN node.

                                                                                                                                                                                                                                                                                                                                                                                                                                          Node Status Reporting

                                                                                                                                                                                                                                                                                                                                                                                                                                          Node Status Messages

                                                                                                                                                                                                                                                                                                                                                                                                                                          In UAVCAN, the abstract node status information is represented by the standard message type uavcan.protocol.NodeStatus. Its MAVLink counterpart is UAVCAN_NODE_STATUS.

                                                                                                                                                                                                                                                                                                                                                                                                                                          The bridge node should emit the MAVLink message UAVCAN_NODE_STATUS every time it receives a UAVCAN node status message. The bridge node is allowed to decimate the stream of node status messages in order to avoid congestion of the MAVLink channel, but the resulting frequency of status message emission should not be lower than 1 Hz per node.

                                                                                                                                                                                                                                                                                                                                                                                                                                          The remote equipment can monitor which UAVCAN nodes are online by means of tracking the amount of time that passed since the last reception of the node status message for each online node. The remote equipment should consider the node to be offline if its last status message has arrived more than 5 seconds ago.

                                                                                                                                                                                                                                                                                                                                                                                                                                          Extended Node Information

                                                                                                                                                                                                                                                                                                                                                                                                                                          UAVCAN nodes are typically able to report some static information that identifies their type, purpose, vendor, revision, and such, via the standard service type uavcan.protocol.GetNodeInfo. In this context, "static" means that the data is not changing while the node is running. This information can be crucial for many important use cases.

                                                                                                                                                                                                                                                                                                                                                                                                                                          The corresponding MAVLink message is UAVCAN_NODE_INFO. Its fields are direct mappings of the corresponding fields in the service type uavcan.protocol.GetNodeInfo.

                                                                                                                                                                                                                                                                                                                                                                                                                                          The bridge node must emit the message UAVCAN_NODE_INFO in the following cases:

                                                                                                                                                                                                                                                                                                                                                                                                                                          • Reception of a service response of type uavcan.protocol.GetNodeInfo. In turn, this service must be invoked when the following conditions are observed on the bus (please read the UAVCAN specification for a more detailed description of the principles of bus monitoring):
                                                                                                                                                                                                                                                                                                                                                                                                                                            • A new node has appeared online.
                                                                                                                                                                                                                                                                                                                                                                                                                                            • A known node has restarted.
                                                                                                                                                                                                                                                                                                                                                                                                                                          • Reception of the MAVLink command MAV_CMD_UAVCAN_GET_NODE_INFO. In this case, the bridge node is required to emit UAVCAN_NODE_INFO once for every known node.
                                                                                                                                                                                                                                                                                                                                                                                                                                          • It is also allowed, but not required, to unconditionally emit messages UAVCAN_NODE_INFO at a very low rate, in order to guarantee that the remote equipment always has a valid model of the on-board UAVCAN bus.

                                                                                                                                                                                                                                                                                                                                                                                                                                          Configuration Parameter Management

                                                                                                                                                                                                                                                                                                                                                                                                                                          UAVCAN defines a set of standard service types that facilitate the management of configuration parameters on UAVCAN nodes. The respective data type definitions can be found in the namespace uavcan.protocol.param.

                                                                                                                                                                                                                                                                                                                                                                                                                                          The UAVCAN-MAVLink bridge does not define any additional messages for configuration parameter management. Instead, the following standard messages are used in the regular way:

                                                                                                                                                                                                                                                                                                                                                                                                                                          • PARAM_REQUEST_LIST - used to request the list of configuration parameters from the specified UAVCAN node. Remember that the UAVCAN node is specified via the field Component ID.
                                                                                                                                                                                                                                                                                                                                                                                                                                          • PARAM_VALUE - used by the bridge node to report the value of a configuration parameter. The node ID is reflected in the field Component ID.
                                                                                                                                                                                                                                                                                                                                                                                                                                          • PARAM_SET - used by the remote equipment to set the value of a configuration parameter. The node ID is reflected in the field Component ID.

                                                                                                                                                                                                                                                                                                                                                                                                                                          Note that the maximum length of a configuration parameter name is defined differently in UAVCAN and MAVLink. In MAVLink, the maximum length is 16 characters, whereas in UAVCAN the limit is 92 characters. Should the bridge node encounter long configuration parameter names that exceed the MAVLink's limit, it should exercise its best effort to reduce the name length presented on the MAVLink side while avoiding ambiguity. Designers of UAVCAN nodes, on their part, should avoid using configuration parameter names more than 16 characters long, until this deficiency of the MAVLink protocol is fixed.

                                                                                                                                                                                                                                                                                                                                                                                                                                          Internet Access Bridge

                                                                                                                                                                                                                                                                                                                                                                                                                                          UAVCAN defines a set of standard messages that facilitate communication between UAVCAN nodes and remote hosts on the Internet or LAN. The tentative specification can be viewed on GitHub. In the future, the set of MAVLink messages should be extended to allow forwarding of data packets between the bridge node and the Internet via the remote equipment (e.g. ground control station). If you're interested in this feature, please report to the UAVCAN mailing list.

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                                                                                                                                                                                                                                                                                                                                                                                                                                            \ No newline at end of file +UAVCAN 통신 · MAVLink Developer Guide
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                                                                                                                                                                                                                                                                                                                                                                                                                                            UAVCAN Interaction

                                                                                                                                                                                                                                                                                                                                                                                                                                            This chapter describes the MAVLink commands and messages that facilitate data exchange between the operator's equipment and the on-board UAVCAN nodes. The primary motivation is to enable the user to configure, monitor, and control the on-board UAVCAN nodes via the existing MAVLink connection.

                                                                                                                                                                                                                                                                                                                                                                                                                                            Basics

                                                                                                                                                                                                                                                                                                                                                                                                                                            The general description and specification of UAVCAN is available at http://uavcan.org.

                                                                                                                                                                                                                                                                                                                                                                                                                                            The text below will be referring to the following terms:

                                                                                                                                                                                                                                                                                                                                                                                                                                            • Bridge node - the piece of on-board equipment that bridges the on-board UAVCAN bus and the MAVLink connection. This function is often performed by the flight management unit, e.g. Pixhawk.
                                                                                                                                                                                                                                                                                                                                                                                                                                            • Remote equipment - the other end of the MAVLink channel, e.g. the ground control station.

                                                                                                                                                                                                                                                                                                                                                                                                                                            UAVCAN Node Identification

                                                                                                                                                                                                                                                                                                                                                                                                                                            Every UAVCAN node has a bus-unique identifier referred to as "node ID". The node ID is an integer in the interval [1, 127], where the value 1 is typically used by the autopilot or some other kind of central controlling unit, and the values 126 and 127 are typically used by debugging or monitoring equipment.

                                                                                                                                                                                                                                                                                                                                                                                                                                            Each unit that is capable of communicating via MAVLink and UAVCAN must use the same number for its MAVLink Component ID and the UAVCAN Node ID, otherwise serious inconsistencies may arise. Typically, if there is a single non-redundant autopilot, its UAVCAN Node ID and the MAVLink component ID will be set to 1 (one).

                                                                                                                                                                                                                                                                                                                                                                                                                                            Every outgoing/incoming MAVLink message/command pertaining to a given UAVCAN node will have its field Component ID set to the same value as the Node ID of the referred UAVCAN node.

                                                                                                                                                                                                                                                                                                                                                                                                                                            Node Status Reporting

                                                                                                                                                                                                                                                                                                                                                                                                                                            Node Status Messages

                                                                                                                                                                                                                                                                                                                                                                                                                                            In UAVCAN, the abstract node status information is represented by the standard message type uavcan.protocol.NodeStatus. Its MAVLink counterpart is UAVCAN_NODE_STATUS.

                                                                                                                                                                                                                                                                                                                                                                                                                                            The bridge node should emit the MAVLink message UAVCAN_NODE_STATUS every time it receives a UAVCAN node status message. The bridge node is allowed to decimate the stream of node status messages in order to avoid congestion of the MAVLink channel, but the resulting frequency of status message emission should not be lower than 1 Hz per node.

                                                                                                                                                                                                                                                                                                                                                                                                                                            The remote equipment can monitor which UAVCAN nodes are online by means of tracking the amount of time that passed since the last reception of the node status message for each online node. The remote equipment should consider the node to be offline if its last status message has arrived more than 5 seconds ago.

                                                                                                                                                                                                                                                                                                                                                                                                                                            Extended Node Information

                                                                                                                                                                                                                                                                                                                                                                                                                                            UAVCAN nodes are typically able to report some static information that identifies their type, purpose, vendor, revision, and such, via the standard service type uavcan.protocol.GetNodeInfo. In this context, "static" means that the data is not changing while the node is running. This information can be crucial for many important use cases.

                                                                                                                                                                                                                                                                                                                                                                                                                                            The corresponding MAVLink message is UAVCAN_NODE_INFO. Its fields are direct mappings of the corresponding fields in the service type uavcan.protocol.GetNodeInfo.

                                                                                                                                                                                                                                                                                                                                                                                                                                            The bridge node must emit the message UAVCAN_NODE_INFO in the following cases:

                                                                                                                                                                                                                                                                                                                                                                                                                                            • Reception of a service response of type uavcan.protocol.GetNodeInfo. In turn, this service must be invoked when the following conditions are observed on the bus (please read the UAVCAN specification for a more detailed description of the principles of bus monitoring):
                                                                                                                                                                                                                                                                                                                                                                                                                                              • A new node has appeared online.
                                                                                                                                                                                                                                                                                                                                                                                                                                              • A known node has restarted.
                                                                                                                                                                                                                                                                                                                                                                                                                                            • Reception of the MAVLink command MAV_CMD_UAVCAN_GET_NODE_INFO. In this case, the bridge node is required to emit UAVCAN_NODE_INFO once for every known node.
                                                                                                                                                                                                                                                                                                                                                                                                                                            • It is also allowed, but not required, to unconditionally emit messages UAVCAN_NODE_INFO at a very low rate, in order to guarantee that the remote equipment always has a valid model of the on-board UAVCAN bus.

                                                                                                                                                                                                                                                                                                                                                                                                                                            Configuration Parameter Management

                                                                                                                                                                                                                                                                                                                                                                                                                                            UAVCAN defines a set of standard service types that facilitate the management of configuration parameters on UAVCAN nodes. The respective data type definitions can be found in the namespace uavcan.protocol.param.

                                                                                                                                                                                                                                                                                                                                                                                                                                            The UAVCAN-MAVLink bridge does not define any additional messages for configuration parameter management. Instead, the following standard messages are used in the regular way:

                                                                                                                                                                                                                                                                                                                                                                                                                                            • PARAM_REQUEST_LIST - used to request the list of configuration parameters from the specified UAVCAN node. Remember that the UAVCAN node is specified via the field Component ID.
                                                                                                                                                                                                                                                                                                                                                                                                                                            • PARAM_VALUE - used by the bridge node to report the value of a configuration parameter. The node ID is reflected in the field Component ID.
                                                                                                                                                                                                                                                                                                                                                                                                                                            • PARAM_SET - used by the remote equipment to set the value of a configuration parameter. The node ID is reflected in the field Component ID.

                                                                                                                                                                                                                                                                                                                                                                                                                                            Note that the maximum length of a configuration parameter name is defined differently in UAVCAN and MAVLink. In MAVLink, the maximum length is 16 characters, whereas in UAVCAN the limit is 92 characters. Should the bridge node encounter long configuration parameter names that exceed the MAVLink's limit, it should exercise its best effort to reduce the name length presented on the MAVLink side while avoiding ambiguity. Designers of UAVCAN nodes, on their part, should avoid using configuration parameter names more than 16 characters long, until this deficiency of the MAVLink protocol is fixed.

                                                                                                                                                                                                                                                                                                                                                                                                                                            Internet Access Bridge

                                                                                                                                                                                                                                                                                                                                                                                                                                            UAVCAN defines a set of standard messages that facilitate communication between UAVCAN nodes and remote hosts on the Internet or LAN. The tentative specification can be viewed on GitHub. In the future, the set of MAVLink messages should be extended to allow forwarding of data packets between the bridge node and the Internet via the remote equipment (e.g. ground control station). If you're interested in this feature, please report to the UAVCAN mailing list.

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                                                                                                                                                                                                                                                                                                                                                                                                                                              \ No newline at end of file diff --git a/ko/guide/wireshark.html b/ko/guide/wireshark.html index ad21b7405..3e43ff982 100644 --- a/ko/guide/wireshark.html +++ b/ko/guide/wireshark.html @@ -1,4 +1,4 @@ -Debugging with Wireshark · MAVLink Developer Guide
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                                                                                                                                                                                                                                                                                                                                                                                                                                              Parsing MAVLink in Wireshark

                                                                                                                                                                                                                                                                                                                                                                                                                                              Wireshark is an extremely popular "general purpose" network protocol analyzer that can be used to inspect and analyse MAVLink traffic.

                                                                                                                                                                                                                                                                                                                                                                                                                                              The benefits of using Wireshark over other alternatives are:

                                                                                                                                                                                                                                                                                                                                                                                                                                              • it can view all traffic on a network interface (GCS tools like MAVLink Inspector often only analyse incoming traffic).
                                                                                                                                                                                                                                                                                                                                                                                                                                              • you can use it to analyse traffic logged on a companion computer (this allows analysis of traffic between the companion computer and flight controller, which might otherwise not be visible to Wireshark).
                                                                                                                                                                                                                                                                                                                                                                                                                                              • it is easy to update for new custom messages and dialects. Rebuilding QGroundControl so you can use it analyse custom messages is much harder!

                                                                                                                                                                                                                                                                                                                                                                                                                                              This topic shows how to generate a Wireshark plugin for a particular dialect file and install it on Wireshark, and how to perform basic filtering. It also provides an overview of how you can use tcpdump for collecting traffic on a linux computer (for later analysis).

                                                                                                                                                                                                                                                                                                                                                                                                                                              You will need to regenerate and reimport the plugin (as shown below) if your dialect changes.

                                                                                                                                                                                                                                                                                                                                                                                                                                              First you will need to generate a Wireshark plugin that includes definitions for the MAVLink messages that you want it to handle. The MAVLink generator (mavgen) can build this plugin for a dialect in the same way as it builds MAVLink libraries for other programming languages.

                                                                                                                                                                                                                                                                                                                                                                                                                                              The steps are:

                                                                                                                                                                                                                                                                                                                                                                                                                                              1. Install MAVLink (if you have not already done so).

                                                                                                                                                                                                                                                                                                                                                                                                                                              2. Build libraries for your target dialect, specifing WLua as the target language. This process is described in the toicGenerate MAVLink Libraries.

                                                                                                                                                                                                                                                                                                                                                                                                                                                For example, to build the MAVLink 2 Wireshark plugin for common.xml you might use the following command:

                                                                                                                                                                                                                                                                                                                                                                                                                                                python3 -m pymavlink.tools.mavgen --lang=WLua --wire-protocol=2.0 --output=mavlink_2_common message_definitions/v1.0/common.xml
+Debugging with Wireshark · MAVLink Developer Guide
                                                                                                                                                                                                                                                                                                                                                                                                                                                Parsing MAVLink in Wireshark
                                                                                                                                                                                                                                                                                                                                                                                                                                                Wireshark is an extremely popular "general purpose" network protocol analyzer that can be used to inspect and analyse MAVLink traffic.
                                                                                                                                                                                                                                                                                                                                                                                                                                                The benefits of using Wireshark over other alternatives are:
                                                                                                                                                                                                                                                                                                                                                                                                                                                • it can view all traffic on a network interface (GCS tools like MAVLink Inspector often only analyse incoming traffic).
                                                                                                                                                                                                                                                                                                                                                                                                                                                • you can use it to analyse traffic logged on a companion computer (this allows analysis of traffic between the companion computer and flight controller, which might otherwise not be visible to Wireshark).
                                                                                                                                                                                                                                                                                                                                                                                                                                                • it is easy to update for new custom messages and dialects. Rebuilding QGroundControl so you can use it analyse custom messages is much harder!
                                                                                                                                                                                                                                                                                                                                                                                                                                                This topic shows how to generate a Wireshark plugin for a particular dialect file and install it on Wireshark, and how to perform basic filtering. It also provides an overview of how you can use tcpdump for collecting traffic on a linux computer (for later analysis).
                                                                                                                                                                                                                                                                                                                                                                                                                                                You will need to regenerate and reimport the plugin (as shown below) if your dialect changes.
                                                                                                                                                                                                                                                                                                                                                                                                                                                First you will need to generate a Wireshark plugin that includes definitions for the MAVLink messages that you want it to handle. The MAVLink generator (mavgen) can build this plugin for a dialect in the same way as it builds MAVLink libraries for other programming languages.
                                                                                                                                                                                                                                                                                                                                                                                                                                                The steps are:
                                                                                                                                                                                                                                                                                                                                                                                                                                                1. Install MAVLink (if you have not already done so).
                                                                                                                                                                                                                                                                                                                                                                                                                                                2. Build libraries for your target dialect, specifing WLua as the target language. This process is described in the toicGenerate MAVLink Libraries.
                                                                                                                                                                                                                                                                                                                                                                                                                                                  For example, to build the MAVLink 2 Wireshark plugin for common.xml you might use the following command:
                                                                                                                                                                                                                                                                                                                                                                                                                                                  python3 -m pymavlink.tools.mavgen --lang=WLua --wire-protocol=2.0 --output=mavlink_2_common message_definitions/v1.0/common.xml
 
                                                                                                                                                                                                                                                                                                                                                                                                                                                  The plugin would be created in the current directory as: mavlink_2_common.lua.
                                                                                                                                                                                                                                                                                                                                                                                                                                                Update Plugin with Correct Ports
                                                                                                                                                                                                                                                                                                                                                                                                                                                The last few lines of the plugin file specify the ports to be monitored: 14550 and 14580.
                                                                                                                                                                                                                                                                                                                                                                                                                                                -- bind protocol dissector to port 14550 and 14580
 
 local udp_dissector_table = DissectorTable.get("udp.port")
@@ -12,4 +12,4 @@
 
                                                                                                                                                                                                                                                                                                                                                                                                                                                tcpdump must be installed on the remote machine.
                                                                                                                                                                                                                                                                                                                                                                                                                                                When you can access the remote machine with SSH you can stream the tcpdump to your local machine instead of logging it to a file. Wireshark can open this stream and show the decoded MAVLink messages using the tools and filters from above.
                                                                                                                                                                                                                                                                                                                                                                                                                                                mkfifo /tmp/mavlink;
 wireshark -k -i /tmp/mavlink &
 ssh root@10.41.1.1 -p 33333 "tcpdump -s 0 -U -n -w - -i lo not port 33333" > /tmp/mavlink;
-
                                                                                                                                                                                                                                                                                                                                                                                                                                                Username, IP and port above have to be adjusted to the configuration on the remote machine.
                                                                                                                                                                                                                                                                                                                                                                                                                                                1. mkfifo /tmp/mavlink Creates a named pipe that is used to stream the data.
                                                                                                                                                                                                                                                                                                                                                                                                                                                2. wireshark -k -i /tmp/mavlink & Start Wireshark, open the named pipe as input and start the capture immediately.
                                                                                                                                                                                                                                                                                                                                                                                                                                                3. Start the data stream on the remote machine and pipe it into the named pipe on your local machine.
                                                                                                                                                                                                                                                                                                                                                                                                                                                  • -s 0 Set snapshot length to default
                                                                                                                                                                                                                                                                                                                                                                                                                                                  • -U Stream packet output packet-buffered, don’t wait for a full buffer
                                                                                                                                                                                                                                                                                                                                                                                                                                                  • -n Don't convert addresses (i.e., host addresses, port numbers, etc.) to names
                                                                                                                                                                                                                                                                                                                                                                                                                                                  • -w - Write raw data to standard output (piped to the local machine)
                                                                                                                                                                                                                                                                                                                                                                                                                                                  • -i lo Define which interface to listen on. This will listen to the loopback interface, you can change this to the Ethernet, USB or modem interface.
                                                                                                                                                                                                                                                                                                                                                                                                                                                  • not port 33333 Don’t capture the data created by the SSH session. You can add more filters to tcpdump to reduce the streamed data.
                                                                                                                                                                                                                                                                                                                                                                                                                                                After the plugin is setup in Wireshark ad you have started to capture a stream you can use the Wireshark IO graphsto monitor message rates for either the whole stream or just specific messages.
                                                                                                                                                                                                                                                                                                                                                                                                                                                To do this you need to go to Statistics > I/O Graphs and you will get a new window. Now you will a plot of the data rate of all packets you are analyzing. You can filter for the usual Wireshark filters and the new MAVLink ones introduced by the LUA script.
                                                                                                                                                                                                                                                                                                                                                                                                                                                We recommend changing the y axis to bits or bytes and to reduce the x axis to 10ms or faster to get meaningful plots.
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                                                                                                                                                                                                                                                                                                                                                                                                                                                  Username, IP and port above have to be adjusted to the configuration on the remote machine.

                                                                                                                                                                                                                                                                                                                                                                                                                                                  1. mkfifo /tmp/mavlink Creates a named pipe that is used to stream the data.
                                                                                                                                                                                                                                                                                                                                                                                                                                                  2. wireshark -k -i /tmp/mavlink & Start Wireshark, open the named pipe as input and start the capture immediately.

                                                                                                                                                                                                                                                                                                                                                                                                                                                  3. Start the data stream on the remote machine and pipe it into the named pipe on your local machine.

                                                                                                                                                                                                                                                                                                                                                                                                                                                    • -s 0 Set snapshot length to default
                                                                                                                                                                                                                                                                                                                                                                                                                                                    • -U Stream packet output packet-buffered, don’t wait for a full buffer
                                                                                                                                                                                                                                                                                                                                                                                                                                                    • -n Don't convert addresses (i.e., host addresses, port numbers, etc.) to names
                                                                                                                                                                                                                                                                                                                                                                                                                                                    • -w - Write raw data to standard output (piped to the local machine)
                                                                                                                                                                                                                                                                                                                                                                                                                                                    • -i lo Define which interface to listen on. This will listen to the loopback interface, you can change this to the Ethernet, USB or modem interface.
                                                                                                                                                                                                                                                                                                                                                                                                                                                    • not port 33333 Don’t capture the data created by the SSH session. You can add more filters to tcpdump to reduce the streamed data.

                                                                                                                                                                                                                                                                                                                                                                                                                                                  After the plugin is setup in Wireshark ad you have started to capture a stream you can use the Wireshark IO graphsto monitor message rates for either the whole stream or just specific messages.

                                                                                                                                                                                                                                                                                                                                                                                                                                                  To do this you need to go to Statistics > I/O Graphs and you will get a new window. Now you will a plot of the data rate of all packets you are analyzing. You can filter for the usual Wireshark filters and the new MAVLink ones introduced by the LUA script.

                                                                                                                                                                                                                                                                                                                                                                                                                                                  We recommend changing the y axis to bits or bytes and to reduce the x axis to 10ms or faster to get meaningful plots.

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                                                                                                                                                                                                                                                                                                                                                                                                                                                  Messages
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                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAVLink XML File Schema / Format

                                                                                                                                                                                                                                                                                                                                                                                                                                                  The format and structure of dialect files is formally defined in the XML Schema document: mavschema.xsd.

                                                                                                                                                                                                                                                                                                                                                                                                                                                  While this is the canonical reference, it is easier to understand the XML file by example (as shown in the following sections).

                                                                                                                                                                                                                                                                                                                                                                                                                                                  File Structure

                                                                                                                                                                                                                                                                                                                                                                                                                                                  The broad structure for MAVLink XML files is given below.

                                                                                                                                                                                                                                                                                                                                                                                                                                                  If you're creating a custom dialect file your file structure should be similar to the one below (but may omit any/all sections).

                                                                                                                                                                                                                                                                                                                                                                                                                                                  <?xml version="1.0"?>
+MAVLink XML 스키마 · MAVLink Developer Guide
                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAVLink XML File Schema / Format
                                                                                                                                                                                                                                                                                                                                                                                                                                                  The format and structure of dialect files is formally defined in the XML Schema document: mavschema.xsd.
                                                                                                                                                                                                                                                                                                                                                                                                                                                  While this is the canonical reference, it is easier to understand the XML file by example (as shown in the following sections).
                                                                                                                                                                                                                                                                                                                                                                                                                                                  File Structure
                                                                                                                                                                                                                                                                                                                                                                                                                                                  The broad structure for MAVLink XML files is given below.
                                                                                                                                                                                                                                                                                                                                                                                                                                                  If you're creating a custom dialect file your file structure should be similar to the one below (but may omit any/all sections).
                                                                                                                                                                                                                                                                                                                                                                                                                                                  <?xml version="1.0"?>
 <mavlink>
 
     <include>common.xml</include>
@@ -68,4 +68,4 @@
 
                                                                                                                                                                                                                                                                                                                                                                                                                                                  The main message tags/fields are:
                                                                                                                                                                                                                                                                                                                                                                                                                                                  • message: Each message is encapsulated by message tags, with the following attributes
                                                                                                                                                                                                                                                                                                                                                                                                                                                    • id: The id attribute is the unique index number of this message (in the example above: 147).
                                                                                                                                                                                                                                                                                                                                                                                                                                                      • For MAVLink 1:
                                                                                                                                                                                                                                                                                                                                                                                                                                                        • Valid numbers range from 0 to 255.
                                                                                                                                                                                                                                                                                                                                                                                                                                                        • The ids 0-149 and 230-255 are reserved for common.xml. Dialects can use 180-229 for custom messages (provided these are not used by other included dialects).
                                                                                                                                                                                                                                                                                                                                                                                                                                                      • For MAVLink 2:
                                                                                                                                                                                                                                                                                                                                                                                                                                                        • Valid numbers range from 0 to 16777215.
                                                                                                                                                                                                                                                                                                                                                                                                                                                        • All numbers below 255 should be considered reserved unless messages are also intended for MAVLink 1. > Note IDs are precious in MAVLink 1!
                                                                                                                                                                                                                                                                                                                                                                                                                                                    • name: The name attribute provides a human readable form for the message (ie "BATTERY_STATUS"). It is used for naming helper functions in generated libraries, but is not sent over the wire.
                                                                                                                                                                                                                                                                                                                                                                                                                                                  • description: Human readable description of message, shown in user interfaces and in code comments. This should contain all information (and hyperlinks) to fully understand the message.
                                                                                                                                                                                                                                                                                                                                                                                                                                                  • field: Encodes one field of the message. The field value is its name/text string used in GUI documentation (but not sent over the wire). Every message must have at least one field.
                                                                                                                                                                                                                                                                                                                                                                                                                                                    • type: Similar to a field in a C struct - the size of the data required to store/represent the data type.
                                                                                                                                                                                                                                                                                                                                                                                                                                                      • Fields can be signed/unsigned integers of size 8, 16, 23, 64 bits ({u)int8_t, (u)int16_t, (u)int32_t, (u)int64_t), single/double precision IEEE754 floating point numbers. They can also be arrays of the other types - e.g. uint16_t[10].
                                                                                                                                                                                                                                                                                                                                                                                                                                                    • name: Name of the field (used in code).
                                                                                                                                                                                                                                                                                                                                                                                                                                                    • enum (optional): Name of an enum defining possible values of the field (e.g. MAV_BATTERY_CHARGE_STATE).
                                                                                                                                                                                                                                                                                                                                                                                                                                                    • units (optional): The units for message fields that take numeric values (not enums). These are defined in the schema (search on name="SI_Unit")
                                                                                                                                                                                                                                                                                                                                                                                                                                                    • multiplier (optional) - Multiply by this value to get the unscaled original value. Allowed values are defined in the schema (search on name="factor"). For example, GPS_STATUS is a value in degrees (0-360) sent in a byte field (0-255). To get the original value, scale by multiplying the value with the multiplier (360/256). This is currently only used for values where scaling is not encoded in the units.
                                                                                                                                                                                                                                                                                                                                                                                                                                                    • display (optional): This should be set as display="bitmask" for bitmask fields (hint to ground station that enum values must be displayed as checkboxes).
                                                                                                                                                                                                                                                                                                                                                                                                                                                    • print_format (optional): TBD.
                                                                                                                                                                                                                                                                                                                                                                                                                                                    • default (optional): TBD.
                                                                                                                                                                                                                                                                                                                                                                                                                                                    • increment - Allowed increments for the increment value.
                                                                                                                                                                                                                                                                                                                                                                                                                                                    • minValue - Minimum value for field.
                                                                                                                                                                                                                                                                                                                                                                                                                                                    • maxValue - Maximum value for the field.
                                                                                                                                                                                                                                                                                                                                                                                                                                                    • instance: If true, this indicates that the message contains the information for a particular sensor or battery (e.g. Battery 1, Battery 2, etc.) and that this field indicates which sensor. Default is false.
                                                                                                                                                                                                                                                                                                                                                                                                                                                      This field allows a recipient automatically associate messages for a particular sensor and plot them in the same series.
                                                                                                                                                                                                                                                                                                                                                                                                                                                    • invalid: Specifies a value that can be set on a field to indicate that the data is invalid: the recipient should ignore the field if it has this value. For example, BATTERY_STATUS.current_battery specifies invalid="-1", so a battery that does not measure supplied current should set BATTERY_STATUS.current_battery to -1.
                                                                                                                                                                                                                                                                                                                                                                                                                                                      Where possible the value that indicates the field is invalid should be selected to outside the expected/valid range of the field (0 is preferred if it is not an acceptable value for the field). For integers we usually select the largest possible value (i.e. UINT16_MAX, INT16_MAX, UINT8_MAX, UINT8_MAX). For floats we usually select invalid="NaN".
                                                                                                                                                                                                                                                                                                                                                                                                                                                      Arrays represent multiple elements, some (or all) of which may need to be marked as invalid. The following notation is used to specify the values that indicate elements of the array are invalid:
                                                                                                                                                                                                                                                                                                                                                                                                                                                      • invalid="[value]": Array elements that contain value are invalid.
                                                                                                                                                                                                                                                                                                                                                                                                                                                      • invalid="[value:]": All array elements are invalid if the first array element is set to value.
                                                                                                                                                                                                                                                                                                                                                                                                                                                      • invalid="[value1,,value3,]": Array elements are invalid if they contain the value specified in the corresponding position of the comma separated list. If the a position in the list is empty, there is no way to indicate the corresponding array element is invalid. The example above indicates that elements 1 and 3 are invalid if they contain value1 and value3, respectively. For element 2 and any elements >4 the invalid property of the field cannot be set.
                                                                                                                                                                                                                                                                                                                                                                                                                                                      • invalid="[value1,]": The first array element is invalid if it contains value1: the invalid property cannot be set for all other elements.
                                                                                                                                                                                                                                                                                                                                                                                                                                                  • deprecated / wip (optional): A tag indicating that the message is deprecated or "work in progress".
                                                                                                                                                                                                                                                                                                                                                                                                                                                  • extensions extensions (optional): This self-closing tag is used to indicate that subsequent fields apply to MAVLink 2 only.
                                                                                                                                                                                                                                                                                                                                                                                                                                                    • The tag should be used for MAVLink 1 messages only (id < 256) that have been extended in MAVLink 2.
                                                                                                                                                                                                                                                                                                                                                                                                                                                  Common Tags
                                                                                                                                                                                                                                                                                                                                                                                                                                                  This section lists a number of tags can be used in a number of other types - e.g. messages and enums.
                                                                                                                                                                                                                                                                                                                                                                                                                                                  deprecated
                                                                                                                                                                                                                                                                                                                                                                                                                                                  The <deprecated> tag can be used in an enum, enum entry (value) or message to indicate that the item has been superseded. The tag attributes indicates the time of deprecation and the replacement item, while the element may (optionally) contain a string with additional information about the deprecation.
                                                                                                                                                                                                                                                                                                                                                                                                                                                  The generator toolchain can be configured to conditionally build messages omitting the deprecated entries.
                                                                                                                                                                                                                                                                                                                                                                                                                                                  An entity should be marked as deprecated only when the main users have had an opportunity to update to the new method.
                                                                                                                                                                                                                                                                                                                                                                                                                                                  As a concrete example, below we see that SET_MODE is deprecated and replaced by MAV_CMD_DO_SET_MODE on 2015-12.
                                                                                                                                                                                                                                                                                                                                                                                                                                                      <message id="11" name="SET_MODE">
       <deprecated since="2015-12" replaced_by="MAV_CMD_DO_SET_MODE">Use COMMAND_LONG with MAV_CMD_DO_SET_MODE instead</deprecated>
 
                                                                                                                                                                                                                                                                                                                                                                                                                                                  The deprecated attributes are:
                                                                                                                                                                                                                                                                                                                                                                                                                                                  • since: Year/month when deprecation started. Format: YYYY-MM.
                                                                                                                                                                                                                                                                                                                                                                                                                                                  • replaced by: String of entity that supersedes this item.
                                                                                                                                                                                                                                                                                                                                                                                                                                                  wip
                                                                                                                                                                                                                                                                                                                                                                                                                                                  The <wip> tag can be used in an enum entry (value) or message to indicate that the item is a "work in progress". The element may (optionally) contain a string with additional information about the new item.
                                                                                                                                                                                                                                                                                                                                                                                                                                                  The generator toolchain can be configured to conditionally build messages omitting the wip entries.
                                                                                                                                                                                                                                                                                                                                                                                                                                                  Most commonly, the tag is used as shown:
                                                                                                                                                                                                                                                                                                                                                                                                                                                  <wip />
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                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAVLink 개발자 안내서

                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAVLink는 매우 가벼운 드론(과 드론 구성 부품간 온보드) 통신용 메시지 프로토콜입니다.

                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAVLink는 임의송신-가입 방식 및 점대점 방식을 혼용한 최신 설계 규칙을 따릅니다. 데이터 스트림은 토픽으로 전송하는 방식이며, 미션 프로토콜 또는 매개변수 프로토콜과 같은 설정 하위 프로토콜은 재전송 기능을 지닌 점대점 방식입니다.

                                                                                                                                                                                                                                                                                                                                                                                                                                                      메시지는 XML 파일로 정의합니다. 각 XML 파일은 각 MAVLink 시스템에서 "고유 메시지"를 참조하는 식으로 지원하는 메시지 집합을 정의합니다. 대부분의 지상 관제 머신과 오토파일럿에서 구현한 참조 메시지 집합은 common.xml에 정의했습니다(대부분의 고유 메시지는 이 정의를 기반으로 구성 합니다).

                                                                                                                                                                                                                                                                                                                                                                                                                                                      Code generators create software libraries for specific programming languages from these XML message definitions, which can then be used by drones, ground control stations, and other MAVLink systems to communicate. The generated libraries are typically MIT-licensed, and can therefore be used without limits in any closed-source application without publishing the source code of the closed-source application.

                                                                                                                                                                                                                                                                                                                                                                                                                                                      C 참조 구현체는 제한된 RAM과 플래시 메모리 용량을 가진 자원 제약 시스템에 극도로 최적화한 헤더만 있는 라이브러리입니다. 현업에서 검증했고 제각기 다른 제조사의 부품들간 상호 운용 인터페이스를 제공하는 많은 제품에 적용했습니다.

                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAVLink는 2009년 초반 Lorenz Meier가 처음으로 출시했으며, 현재는 두드러지는 규모의 기여자가 있습니다.

                                                                                                                                                                                                                                                                                                                                                                                                                                                      주요 기능

                                                                                                                                                                                                                                                                                                                                                                                                                                                      • 매우 효율적입니다. MAVLink 1은 시작 부호와 패킷 손실 탐지 부분을 포함하여 패킷당 8바이트의 크기를 가집니다. MAVLink 2는 14바이트의 크기를 가집니다(만, 더 안전하고 기능 확장에 용이합니다). MAVLink는 추가 프레이밍이 필요가 없기 때문에 통신 대역폭을 상당히 제한하는 여건에서도 프로그램에 매우 안성맞춤입니다.
                                                                                                                                                                                                                                                                                                                                                                                                                                                      • 상당히 견고합니다. MAVLink는 여건이 혹독한 다양한 통신 채널(높은 지연율/잡음) 환경에서 다양한 기체, 지상 관제국(및 타 노드)간의 통신 수행 목적으로 2009년부터 사용했습니다. 패킷 손실, 손상, 인증 수단을 제공합니다.
                                                                                                                                                                                                                                                                                                                                                                                                                                                      • Many different programming languages can be used, running on numerous microcontrollers/operating systems (including ARM7, ATMega, dsPic, STM32 and Windows, Linux, MacOS, Android and iOS).
                                                                                                                                                                                                                                                                                                                                                                                                                                                      • 네트워크에서 최대 255대의 시스템(기체, 지상 관제국)을 동시에 운용할 수 있습니다.
                                                                                                                                                                                                                                                                                                                                                                                                                                                      • 보드 내외간 통신이 가능합니다(GCS와 드론간의 통신, 드론 오토파일럿과 MAVLink 통신 기능을 갖춘 드론 카메라와의 통신).

                                                                                                                                                                                                                                                                                                                                                                                                                                                      Language/Generator List

                                                                                                                                                                                                                                                                                                                                                                                                                                                      The sections below lists MAVLink generators and their associated programming languages.

                                                                                                                                                                                                                                                                                                                                                                                                                                                      The MAVLink organisation provides (and supports) the mavgen, mavgenerate and rust-mavlink tools.

                                                                                                                                                                                                                                                                                                                                                                                                                                                      언어제너레이터MAVLink v1MAVLink 2Signing참고
                                                                                                                                                                                                                                                                                                                                                                                                                                                      Cmavgen✓✓✓MAVLink 프로젝트 참고 구현입니다. 생성 라이브러리는 프로토콜 버전 별로 출시합니다.
                                                                                                                                                                                                                                                                                                                                                                                                                                                      C++11mavgen✓✓✓
                                                                                                                                                                                                                                                                                                                                                                                                                                                      파이썬 (2.7+, 3.3+)mavgen✓✓✓Python bindings. Library also available on PyPi: pymavlink.
                                                                                                                                                                                                                                                                                                                                                                                                                                                      C#mavgen✓✓
                                                                                                                                                                                                                                                                                                                                                                                                                                                      Objective Cmavgen✓
                                                                                                                                                                                                                                                                                                                                                                                                                                                      Javamavgen✓✓Dronefleet offers a more idiomatic generated library
                                                                                                                                                                                                                                                                                                                                                                                                                                                      JavaScript (Stable)mavgen✓✓✗Old mavgen JavaScript binding (has known bugs and no test suite).
                                                                                                                                                                                                                                                                                                                                                                                                                                                      JavaScript (NextGen)mavgen✓✓✓New mavgen JavaScript library. Full test suite, resulting library produces binary compatible output compared to C bindings. Slightly incompatible with previous version, but not hard to migrate.
                                                                                                                                                                                                                                                                                                                                                                                                                                                      TypeScript/JavaScriptmavgen✓✓✗TypeScript classes which can be used with node-mavlink.
                                                                                                                                                                                                                                                                                                                                                                                                                                                      Luamavgen✓✓✗Lua library. Does not support zero trimming of MAVLink 2 messages.
                                                                                                                                                                                                                                                                                                                                                                                                                                                      WLua (Wireshark Lua bindings)mavgen✓✓NAAllow MAVLink-aware packet inspection in Wireshark. Generated lua scripts should be copied to the Wireshark plugin directory (e.g. wireshark/plugins/mavlink.lua).
                                                                                                                                                                                                                                                                                                                                                                                                                                                      Swiftmavgen✓
                                                                                                                                                                                                                                                                                                                                                                                                                                                      Rustrust-mavlink✓✓Rust MAVLink generated code. Has tests and docs.
                                                                                                                                                                                                                                                                                                                                                                                                                                                      Adamavgen✓

                                                                                                                                                                                                                                                                                                                                                                                                                                                      External Generators/Languages

                                                                                                                                                                                                                                                                                                                                                                                                                                                      The following generators are delivered by independent projects (and supported by those projects).

                                                                                                                                                                                                                                                                                                                                                                                                                                                      LanguageGeneratorMAVLink v1MAVLink 2SigningNotes
                                                                                                                                                                                                                                                                                                                                                                                                                                                      CfastMavlink✓✓✗Highly efficient C library with python code generators. Has docs, examples, test, support for routing and mavgen mimicry.
                                                                                                                                                                                                                                                                                                                                                                                                                                                      Clojureclj-mavlink✓✓✓Clojure MAVLink Bindings.
                                                                                                                                                                                                                                                                                                                                                                                                                                                      Dartdart_mavlink✓✓✗MAVLink library for Dart.
                                                                                                                                                                                                                                                                                                                                                                                                                                                      Gogomavlib✓✓✓Go library with support for MAVLink 1, 2 and signing, test suite, and documentation
                                                                                                                                                                                                                                                                                                                                                                                                                                                      Gogo-mavlink1✓✗✗Golang MAVLink v1
                                                                                                                                                                                                                                                                                                                                                                                                                                                      HaskellHaskMavlink✗✓✗
                                                                                                                                                                                                                                                                                                                                                                                                                                                      Javadronefleet/mavlink✓✓✓Idiomatic Java SDK/API for MAVLink. Provides a gradle plugin for the code generator.
                                                                                                                                                                                                                                                                                                                                                                                                                                                      TypeScript/JavaScript/npmnode-mavlink✓✓✓TypeScript code generator for data classes with tools to receive and send messages. Getting started guide and inline JSDoc, along with some examples.
                                                                                                                                                                                                                                                                                                                                                                                                                                                      Kotlinmavlink-kotlin✓✓✓Uses codegen instead of reflection for performance with Coroutines, RxJava2 and RxJava3 support. Provides a code generator Gradle plugin.

                                                                                                                                                                                                                                                                                                                                                                                                                                                      미리 빌드한 MAVLink C 라이브러리

                                                                                                                                                                                                                                                                                                                                                                                                                                                      C MAVLink Source Files (only) are auto-generated for the latest versions of all message specifications/dialects (for both MAVLink 1 and 2):

                                                                                                                                                                                                                                                                                                                                                                                                                                                      Using C Libraries explains how to use these libraries.

                                                                                                                                                                                                                                                                                                                                                                                                                                                      지원

                                                                                                                                                                                                                                                                                                                                                                                                                                                      The Support topic contains information about the mailing list, reporting bugs/issues, and joining the dev call.

                                                                                                                                                                                                                                                                                                                                                                                                                                                      기여

                                                                                                                                                                                                                                                                                                                                                                                                                                                      The Contributing Guide explains the contribution model and the main areas where you can help.

                                                                                                                                                                                                                                                                                                                                                                                                                                                      라이선스

                                                                                                                                                                                                                                                                                                                                                                                                                                                      The message definition XML files and the generated C-language version of MAVLink (a header-only library) are made available under the MIT-licence. MAVLink can therefore be used in any closed-source application without publishing the source code of the closed-source application. See the COPYING file for more information.

                                                                                                                                                                                                                                                                                                                                                                                                                                                      The MAVLink generator toolchain is licensed under the terms of the Lesser General Public License (version 3) of the Free Software Foundation (LGPLv3).

                                                                                                                                                                                                                                                                                                                                                                                                                                                      This documentation is licensed under CC BY 4.0 (Human readable overview | LICENSE).

                                                                                                                                                                                                                                                                                                                                                                                                                                                      운영

                                                                                                                                                                                                                                                                                                                                                                                                                                                      The MAVLink protocol is hosted under the governance of the Dronecode Project.

                                                                                                                                                                                                                                                                                                                                                                                                                                                      Dronecode LogoLinux Foundation Logo

                                                                                                                                                                                                                                                                                                                                                                                                                                                       

                                                                                                                                                                                                                                                                                                                                                                                                                                                      results matching ""

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                                                                                                                                                                                                                                                                                                                                                                                                                                                        \ No newline at end of file +소개 · MAVLink Developer Guide
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                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAVLink 개발자 안내서

                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAVLink는 매우 가벼운 드론(과 드론 구성 부품간 온보드) 통신용 메시지 프로토콜입니다.

                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAVLink는 임의송신-가입 방식 및 점대점 방식을 혼용한 최신 설계 규칙을 따릅니다. 데이터 스트림은 토픽으로 전송하는 방식이며, 미션 프로토콜 또는 매개변수 프로토콜과 같은 설정 하위 프로토콜은 재전송 기능을 지닌 점대점 방식입니다.

                                                                                                                                                                                                                                                                                                                                                                                                                                                        메시지는 XML 파일로 정의합니다. 각 XML 파일은 각 MAVLink 시스템에서 "고유 메시지"를 참조하는 식으로 지원하는 메시지 집합을 정의합니다. 대부분의 지상 관제 머신과 오토파일럿에서 구현한 참조 메시지 집합은 common.xml에 정의했습니다(대부분의 고유 메시지는 이 정의를 기반으로 구성 합니다).

                                                                                                                                                                                                                                                                                                                                                                                                                                                        Code generators create software libraries for specific programming languages from these XML message definitions, which can then be used by drones, ground control stations, and other MAVLink systems to communicate. The generated libraries are typically MIT-licensed, and can therefore be used without limits in any closed-source application without publishing the source code of the closed-source application.

                                                                                                                                                                                                                                                                                                                                                                                                                                                        C 참조 구현체는 제한된 RAM과 플래시 메모리 용량을 가진 자원 제약 시스템에 극도로 최적화한 헤더만 있는 라이브러리입니다. 현업에서 검증했고 제각기 다른 제조사의 부품들간 상호 운용 인터페이스를 제공하는 많은 제품에 적용했습니다.

                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAVLink는 2009년 초반 Lorenz Meier가 처음으로 출시했으며, 현재는 두드러지는 규모의 기여자가 있습니다.

                                                                                                                                                                                                                                                                                                                                                                                                                                                        주요 기능

                                                                                                                                                                                                                                                                                                                                                                                                                                                        • 매우 효율적입니다. MAVLink 1은 시작 부호와 패킷 손실 탐지 부분을 포함하여 패킷당 8바이트의 크기를 가집니다. MAVLink 2는 14바이트의 크기를 가집니다(만, 더 안전하고 기능 확장에 용이합니다). MAVLink는 추가 프레이밍이 필요가 없기 때문에 통신 대역폭을 상당히 제한하는 여건에서도 프로그램에 매우 안성맞춤입니다.
                                                                                                                                                                                                                                                                                                                                                                                                                                                        • 상당히 견고합니다. MAVLink는 여건이 혹독한 다양한 통신 채널(높은 지연율/잡음) 환경에서 다양한 기체, 지상 관제국(및 타 노드)간의 통신 수행 목적으로 2009년부터 사용했습니다. 패킷 손실, 손상, 인증 수단을 제공합니다.
                                                                                                                                                                                                                                                                                                                                                                                                                                                        • Many different programming languages can be used, running on numerous microcontrollers/operating systems (including ARM7, ATMega, dsPic, STM32 and Windows, Linux, MacOS, Android and iOS).
                                                                                                                                                                                                                                                                                                                                                                                                                                                        • 네트워크에서 최대 255대의 시스템(기체, 지상 관제국)을 동시에 운용할 수 있습니다.
                                                                                                                                                                                                                                                                                                                                                                                                                                                        • 보드 내외간 통신이 가능합니다(GCS와 드론간의 통신, 드론 오토파일럿과 MAVLink 통신 기능을 갖춘 드론 카메라와의 통신).

                                                                                                                                                                                                                                                                                                                                                                                                                                                        Language/Generator List

                                                                                                                                                                                                                                                                                                                                                                                                                                                        The sections below lists MAVLink generators and their associated programming languages.

                                                                                                                                                                                                                                                                                                                                                                                                                                                        The MAVLink organisation provides (and supports) the mavgen, mavgenerate and rust-mavlink tools.

                                                                                                                                                                                                                                                                                                                                                                                                                                                        언어제너레이터MAVLink v1MAVLink 2Signing참고
                                                                                                                                                                                                                                                                                                                                                                                                                                                        Cmavgen✓✓✓MAVLink 프로젝트 참고 구현입니다. 생성 라이브러리는 프로토콜 버전 별로 출시합니다.
                                                                                                                                                                                                                                                                                                                                                                                                                                                        C++11mavgen✓✓✓
                                                                                                                                                                                                                                                                                                                                                                                                                                                        파이썬 (2.7+, 3.3+)mavgen✓✓✓Python bindings. Library also available on PyPi: pymavlink.
                                                                                                                                                                                                                                                                                                                                                                                                                                                        C#mavgen✓✓
                                                                                                                                                                                                                                                                                                                                                                                                                                                        Objective Cmavgen✓
                                                                                                                                                                                                                                                                                                                                                                                                                                                        Javamavgen✓✓Dronefleet offers a more idiomatic generated library
                                                                                                                                                                                                                                                                                                                                                                                                                                                        JavaScript (Stable)mavgen✓✓✗Old mavgen JavaScript binding (has known bugs and no test suite).
                                                                                                                                                                                                                                                                                                                                                                                                                                                        JavaScript (NextGen)mavgen✓✓✓New mavgen JavaScript library. Full test suite, resulting library produces binary compatible output compared to C bindings. Slightly incompatible with previous version, but not hard to migrate.
                                                                                                                                                                                                                                                                                                                                                                                                                                                        TypeScript/JavaScriptmavgen✓✓✗TypeScript classes which can be used with node-mavlink.
                                                                                                                                                                                                                                                                                                                                                                                                                                                        Luamavgen✓✓✗Lua library. Does not support zero trimming of MAVLink 2 messages.
                                                                                                                                                                                                                                                                                                                                                                                                                                                        WLua (Wireshark Lua bindings)mavgen✓✓NAAllow MAVLink-aware packet inspection in Wireshark. Generated lua scripts should be copied to the Wireshark plugin directory (e.g. wireshark/plugins/mavlink.lua).
                                                                                                                                                                                                                                                                                                                                                                                                                                                        Swiftmavgen✓
                                                                                                                                                                                                                                                                                                                                                                                                                                                        Rustrust-mavlink✓✓Rust MAVLink generated code. Has tests and docs.
                                                                                                                                                                                                                                                                                                                                                                                                                                                        Adamavgen✓

                                                                                                                                                                                                                                                                                                                                                                                                                                                        External Generators/Languages

                                                                                                                                                                                                                                                                                                                                                                                                                                                        The following generators are delivered by independent projects (and supported by those projects).

                                                                                                                                                                                                                                                                                                                                                                                                                                                        LanguageGeneratorMAVLink v1MAVLink 2SigningNotes
                                                                                                                                                                                                                                                                                                                                                                                                                                                        CfastMavlink✓✓✗Highly efficient C library with python code generators. Has docs, examples, test, support for routing and mavgen mimicry.
                                                                                                                                                                                                                                                                                                                                                                                                                                                        Clojureclj-mavlink✓✓✓Clojure MAVLink Bindings.
                                                                                                                                                                                                                                                                                                                                                                                                                                                        Dartdart_mavlink✓✓✗MAVLink library for Dart.
                                                                                                                                                                                                                                                                                                                                                                                                                                                        Gogomavlib✓✓✓Go library with support for MAVLink 1, 2 and signing, test suite, and documentation
                                                                                                                                                                                                                                                                                                                                                                                                                                                        Gogo-mavlink1✓✗✗Golang MAVLink v1
                                                                                                                                                                                                                                                                                                                                                                                                                                                        HaskellHaskMavlink✗✓✗
                                                                                                                                                                                                                                                                                                                                                                                                                                                        Javadronefleet/mavlink✓✓✓Idiomatic Java SDK/API for MAVLink. Provides a gradle plugin for the code generator.
                                                                                                                                                                                                                                                                                                                                                                                                                                                        TypeScript/JavaScript/npmnode-mavlink✓✓✓TypeScript code generator for data classes with tools to receive and send messages. Getting started guide and inline JSDoc, along with some examples.
                                                                                                                                                                                                                                                                                                                                                                                                                                                        Kotlinmavlink-kotlin✓✓✓Uses codegen instead of reflection for performance with Coroutines, RxJava2 and RxJava3 support. Provides a code generator Gradle plugin.

                                                                                                                                                                                                                                                                                                                                                                                                                                                        미리 빌드한 MAVLink C 라이브러리

                                                                                                                                                                                                                                                                                                                                                                                                                                                        C MAVLink Source Files (only) are auto-generated for the latest versions of all message specifications/dialects (for both MAVLink 1 and 2):

                                                                                                                                                                                                                                                                                                                                                                                                                                                        Using C Libraries explains how to use these libraries.

                                                                                                                                                                                                                                                                                                                                                                                                                                                        지원

                                                                                                                                                                                                                                                                                                                                                                                                                                                        The Support topic contains information about the mailing list, reporting bugs/issues, and joining the dev call.

                                                                                                                                                                                                                                                                                                                                                                                                                                                        기여

                                                                                                                                                                                                                                                                                                                                                                                                                                                        The Contributing Guide explains the contribution model and the main areas where you can help.

                                                                                                                                                                                                                                                                                                                                                                                                                                                        라이선스

                                                                                                                                                                                                                                                                                                                                                                                                                                                        The message definition XML files and the generated C-language version of MAVLink (a header-only library) are made available under the MIT-licence. MAVLink can therefore be used in any closed-source application without publishing the source code of the closed-source application. See the COPYING file for more information.

                                                                                                                                                                                                                                                                                                                                                                                                                                                        The MAVLink generator toolchain is licensed under the terms of the Lesser General Public License (version 3) of the Free Software Foundation (LGPLv3).

                                                                                                                                                                                                                                                                                                                                                                                                                                                        This documentation is licensed under CC BY 4.0 (Human readable overview | LICENSE).

                                                                                                                                                                                                                                                                                                                                                                                                                                                        운영

                                                                                                                                                                                                                                                                                                                                                                                                                                                        The MAVLink protocol is hosted under the governance of the Dronecode Project.

                                                                                                                                                                                                                                                                                                                                                                                                                                                        Dronecode LogoLinux Foundation Logo

                                                                                                                                                                                                                                                                                                                                                                                                                                                         

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                                                                                                                                                                                                                                                                                                                                                                                                                                                          \ No newline at end of file diff --git a/ko/mavgen_c/example_c_uart.html b/ko/mavgen_c/example_c_uart.html index e1e1f347e..35f42e034 100644 --- a/ko/mavgen_c/example_c_uart.html +++ b/ko/mavgen_c/example_c_uart.html @@ -1 +1 @@ -UART 인터페이스 (C) · MAVLink Developer Guide
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                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAVLink C UART Interface Example

                                                                                                                                                                                                                                                                                                                                                                                                                                                          The C-UART Interface Example is a simple C example of a MAVLink to UART interface for Unix-like systems.

                                                                                                                                                                                                                                                                                                                                                                                                                                                          The example source code demonstrates how to set up serial communication between Pixhawk and an offboard computer via USB or a telemetry radio, how to put the vehicle in offboard mode, and how to send and receive MAVLink messages over the interface.

                                                                                                                                                                                                                                                                                                                                                                                                                                                          Source code and instructions for how to run the example can be found in the Github repo: mavlink/c_uart_interface_example

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                                                                                                                                                                                                                                                                                                                                                                                                                                                            \ No newline at end of file +UART 인터페이스 (C) · MAVLink Developer Guide
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                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAVLink C UART Interface Example

                                                                                                                                                                                                                                                                                                                                                                                                                                                            The C-UART Interface Example is a simple C example of a MAVLink to UART interface for Unix-like systems.

                                                                                                                                                                                                                                                                                                                                                                                                                                                            The example source code demonstrates how to set up serial communication between Pixhawk and an offboard computer via USB or a telemetry radio, how to put the vehicle in offboard mode, and how to send and receive MAVLink messages over the interface.

                                                                                                                                                                                                                                                                                                                                                                                                                                                            Source code and instructions for how to run the example can be found in the Github repo: mavlink/c_uart_interface_example

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                                                                                                                                                                                                                                                                                                                                                                                                                                                              \ No newline at end of file diff --git a/ko/mavgen_c/example_c_udp.html b/ko/mavgen_c/example_c_udp.html index d554c1a58..7dc6ba8fa 100644 --- a/ko/mavgen_c/example_c_udp.html +++ b/ko/mavgen_c/example_c_udp.html @@ -1,4 +1,4 @@ -UDP 예시 (C) · MAVLink Developer Guide
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                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAVLink C UDP Example

                                                                                                                                                                                                                                                                                                                                                                                                                                                              The MAVLink UDP Example is a simple C example that sends some data to QGroundControl using MAVLink over UDP. QGroundControl responds with heartbeats and other messages, which are then printed by this program.

                                                                                                                                                                                                                                                                                                                                                                                                                                                              The example should work on any Unix-like system (Linux, MacOS, BSD, etc.). These instructions were tested on a clean Ubuntu LTS 20.04 installation using the default version of gcc (9.3.0).

                                                                                                                                                                                                                                                                                                                                                                                                                                                              Building/Running the Example

                                                                                                                                                                                                                                                                                                                                                                                                                                                              The following instructions show how to build and run the example.

                                                                                                                                                                                                                                                                                                                                                                                                                                                              1. Install MAVLink and generate the MAVLink 2.0 libraries into the mavlink/include directory. For example, to generate the headers for common.xml you could use the command line:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                python3 -m pymavlink.tools.mavgen --lang=C --wire-protocol=2.0 --output=./include/ message_definitions/v1.0/common.xml
+UDP 예시 (C) · MAVLink Developer Guide
                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAVLink C UDP Example
                                                                                                                                                                                                                                                                                                                                                                                                                                                                The MAVLink UDP Example is a simple C example that sends some data to QGroundControl using MAVLink over UDP. QGroundControl responds with heartbeats and other messages, which are then printed by this program.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                The example should work on any Unix-like system (Linux, MacOS, BSD, etc.). These instructions were tested on a clean Ubuntu LTS 20.04 installation using the default version of gcc (9.3.0).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                Building/Running the Example
                                                                                                                                                                                                                                                                                                                                                                                                                                                                The following instructions show how to build and run the example.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                1. Install MAVLink and generate the MAVLink 2.0 libraries into the mavlink/include directory. For example, to generate the headers for common.xml you could use the command line:
                                                                                                                                                                                                                                                                                                                                                                                                                                                                  python3 -m pymavlink.tools.mavgen --lang=C --wire-protocol=2.0 --output=./include/ message_definitions/v1.0/common.xml
 
                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Alternatively you can clone the mavlink/mavlink repository and Download prebuilt headers to the same location.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                The example will not work with MAVLink 1 because it uses a message that includes extension fields which do not exist in MAVLink 1 (SYS_STATUS).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                You can put/generate the library wherever you like, but the build command below assumes they are located in directory named include below the MAVLink root directory.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                1. Open a terminal and navigate to examples/linux
                                                                                                                                                                                                                                                                                                                                                                                                                                                                2. Compile with GCC using the following command:
                                                                                                                                                                                                                                                                                                                                                                                                                                                                  gcc -std=c99 -I ../../include/common -o mavlink_udp mavlink_udp.c
 
                                                                                                                                                                                                                                                                                                                                                                                                                                                                  The MAVLink header directory must be added to the include path. The path here assumes you are building the code from the example directory, and that have installed the headers in mavlink/include.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                3. Run the executable from the terminal:
                                                                                                                                                                                                                                                                                                                                                                                                                                                                  ./mavlink_udp
 
                                                                                                                                                                                                                                                                                                                                                                                                                                                                  By default, the example will listen for data on the localhost IP address, port 14551. You can specify another IP address as a command line argument (use ./mavlink_udp --help to see usage).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                4. Open QGroundControl on the same machine.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                  QGroundControl immediately starts broadcasting its HEARTBEAT on port 14551.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                  QGroundControl returns data, but will not actually "connect" to the example (it will continue to display the message Waiting for Vehicle Connection).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                5. The example should start displaying the received data in the terminal:
                                                                                                                                                                                                                                                                                                                                                                                                                                                                  ~/github/mavlink/examples/linux$ ./mavlink_udp
@@ -11,4 +11,4 @@
 Received packet: SYS: 255, COMP: 0, LEN: 9, MSG ID: 0
 
 ...
-
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Examples

                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • UART Interface: Simple C example of a MAVLink to UART interface for Unix-like systems.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • UDP Example: Simple C example of a MAVLink UDP interface for Unix-like systems (Linux, MacOS, BSD, etc.).

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                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Examples

                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • UART Interface: Simple C example of a MAVLink to UART interface for Unix-like systems.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • UDP Example: Simple C example of a MAVLink UDP interface for Unix-like systems (Linux, MacOS, BSD, etc.).

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                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Using C MAVLink Libraries (mavgen)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                      The MAVLink C library generated by mavgen is a header-only implementation that is highly optimized for resource-constrained systems with limited RAM and flash memory. It is field-proven and deployed in many products where it serves as interoperability interface between components of different manufacturers.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                      This topic explains how to get and use the library.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Getting the C MAVLink Libraries

                                                                                                                                                                                                                                                                                                                                                                                                                                                                      If you are using a standard dialect then download the MAVLink 2 library from Github: c_library_v2.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                      The MAVLink 2 library supports both MAVLink 2 and MAVLink 1, and is rebuilt for all the standard dialects whenever any of the definitions in the mavlink/mavlink repo change. It supersedes the MAVLink 1 library (c_library_v1), and should be used by preference.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                      If you need libraries for a custom dialect then you will need to install mavgen and generate them yourself. These can then be used in the same way as the pre-generated libraries.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                      The libraries can be placed/generated anywhere in your project tree.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Adding Libraries

                                                                                                                                                                                                                                                                                                                                                                                                                                                                      The example below shows them located in: generated/include/mavlink/v2.0/.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                      To use MAVLink in your C project, include the mavlink.h header file for your dialect:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                      #include <your_dialect/mavlink.h>
+C (mavgen) · MAVLink Developer Guide
                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Using C MAVLink Libraries (mavgen)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                      The MAVLink C library generated by mavgen is a header-only implementation that is highly optimized for resource-constrained systems with limited RAM and flash memory. It is field-proven and deployed in many products where it serves as interoperability interface between components of different manufacturers.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                      This topic explains how to get and use the library.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Getting the C MAVLink Libraries
                                                                                                                                                                                                                                                                                                                                                                                                                                                                      If you are using a standard dialect then download the MAVLink 2 library from Github: c_library_v2.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                      The MAVLink 2 library supports both MAVLink 2 and MAVLink 1, and is rebuilt for all the standard dialects whenever any of the definitions in the mavlink/mavlink repo change. It supersedes the MAVLink 1 library (c_library_v1), and should be used by preference.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                      If you need libraries for a custom dialect then you will need to install mavgen and generate them yourself. These can then be used in the same way as the pre-generated libraries.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                      The libraries can be placed/generated anywhere in your project tree.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Adding Libraries
                                                                                                                                                                                                                                                                                                                                                                                                                                                                      The example below shows them located in: generated/include/mavlink/v2.0/.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                      To use MAVLink in your C project, include the mavlink.h header file for your dialect:
                                                                                                                                                                                                                                                                                                                                                                                                                                                                      #include <your_dialect/mavlink.h>
 
                                                                                                                                                                                                                                                                                                                                                                                                                                                                      This will automatically add the header files for all messages in your dialect, and for any dialect files that it includes.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Only include the header file for a single dialect. If you need to support messages from a number of dialects then create a new "parent" dialect XML file that includes them (and use its generated header as shown above).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Do not include the individual message files. If you generate your own headers, you will have to add their output location to your C compiler's search path.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                      When compiling the project, make sure to add the include directory:
                                                                                                                                                                                                                                                                                                                                                                                                                                                                      $ gcc ... -I generated/include -I generated/include/common ...
 
                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Adding Library to Cmake Project
                                                                                                                                                                                                                                                                                                                                                                                                                                                                      To include the headers in cmake, install them locally, e.g. into the directory install:
                                                                                                                                                                                                                                                                                                                                                                                                                                                                      cmake -Bbuild -H. -DCMAKE_INSTALL_PREFIX=install -DMAVLINK_DIALECT=common -DMAVLINK_VERSION=2.0
 cmake --build build --target install
@@ -83,4 +83,4 @@
         chan_state->flags &= ~(MAVLINK_STATUS_FLAG_OUT_MAVLINK1);
     }
 }
-
                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Examples
                                                                                                                                                                                                                                                                                                                                                                                                                                                                      The following examples show the use of the API.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • UART Interface: Simple C example of a MAVLink to UART interface for Unix-like systems.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • UDP Example: Simple C example of a MAVLink UDP interface for Unix-like systems (Linux, MacOS, BSD, etc.).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                      In addition, the C library is used in numerous open source systems:
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Examples

                                                                                                                                                                                                                                                                                                                                                                                                                                                                        The following examples show the use of the API.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • UART Interface: Simple C example of a MAVLink to UART interface for Unix-like systems.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • UDP Example: Simple C example of a MAVLink UDP interface for Unix-like systems (Linux, MacOS, BSD, etc.).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                        In addition, the C library is used in numerous open source systems:

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                                                                                                                                                                                                                                                                                                                                                                                                                                                                          \ No newline at end of file diff --git a/ko/mavgen_c/message_signing_c.html b/ko/mavgen_c/message_signing_c.html index a9e919463..2d0e9803c 100644 --- a/ko/mavgen_c/message_signing_c.html +++ b/ko/mavgen_c/message_signing_c.html @@ -1,4 +1,4 @@ -메세지 서명 · MAVLink Developer Guide
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                          C Message Signing (mavgen)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                          One of the key features of MAVLink 2 is support for Message Signing (authentication).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                          The C libraries generated by mavgen provide almost everything needed to support signing in your MAVLink system. You will need to add some code to:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • Handle the SETUP_SIGNING message.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • Setup and teardown signing on a link.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • Save and load the secret key and timestamp in persistent storage
                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • Implement a callback to define which (if any) unsigned messages will be accepted.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Secret Key Management (SETUP_SIGNING)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                          A secret key is 32 bytes of binary data that are used to create message signatures that can be verified by other holders of the key. The general requirements for creating, storing, logging and sharing keys are covered in: Message Signing > Secret Key Management.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                          The section Enabling Signing on a Channel below shows how to set the secret key used by each channel.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Handling Timestamps

                                                                                                                                                                                                                                                                                                                                                                                                                                                                          The timestamp is a 48 bit number with units of 10 microseconds since 1st January 2015 GMT. The general requirements for managing timestamps are covered in Message Signing > Timestamp Handling.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                          The library automatically handles some of the rules:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • timestamps are incremented by one on every message send from a link.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • timestamps are updated to match that of the last accepted incoming message (if it is greater than the current local timestamp).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • messages are rejected if the timestamp of a message on a channel is before the last message received on that channel.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                          It is the responsibility of each MAVLink system to store and restore the timestamp into persistent storage (this is critical for the security of the signing system). The section Enabling Signing on a Channel below shows how to set the timestamp.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Enabling Signing on a Channel

                                                                                                                                                                                                                                                                                                                                                                                                                                                                          To enable signing on a channel you need to fill in two pointers in the status structure for the channel. The two pointers are:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                          mavlink_signing_t *signing;
+메세지 서명 · MAVLink Developer Guide
                                                                                                                                                                                                                                                                                                                                                                                                                                                                          C Message Signing (mavgen)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                          One of the key features of MAVLink 2 is support for Message Signing (authentication).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                          The C libraries generated by mavgen provide almost everything needed to support signing in your MAVLink system. You will need to add some code to:
                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • Handle the SETUP_SIGNING message.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • Setup and teardown signing on a link.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • Save and load the secret key and timestamp in persistent storage
                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • Implement a callback to define which (if any) unsigned messages will be accepted.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Secret Key Management (SETUP_SIGNING)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                          A secret key is 32 bytes of binary data that are used to create message signatures that can be verified by other holders of the key. The general requirements for creating, storing, logging and sharing keys are covered in: Message Signing > Secret Key Management.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                          The section Enabling Signing on a Channel below shows how to set the secret key used by each channel.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Handling Timestamps
                                                                                                                                                                                                                                                                                                                                                                                                                                                                          The timestamp is a 48 bit number with units of 10 microseconds since 1st January 2015 GMT. The general requirements for managing timestamps are covered in Message Signing > Timestamp Handling.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                          The library automatically handles some of the rules:
                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • timestamps are incremented by one on every message send from a link.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • timestamps are updated to match that of the last accepted incoming message (if it is greater than the current local timestamp).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • messages are rejected if the timestamp of a message on a channel is before the last message received on that channel.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                          It is the responsibility of each MAVLink system to store and restore the timestamp into persistent storage (this is critical for the security of the signing system). The section Enabling Signing on a Channel below shows how to set the timestamp.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Enabling Signing on a Channel
                                                                                                                                                                                                                                                                                                                                                                                                                                                                          To enable signing on a channel you need to fill in two pointers in the status structure for the channel. The two pointers are:
                                                                                                                                                                                                                                                                                                                                                                                                                                                                          mavlink_signing_t *signing;
 mavlink_signing_streams_t *signing_streams;
 
                                                                                                                                                                                                                                                                                                                                                                                                                                                                          The signing pointer controls signing for this stream. It is per-stream, and contains the secret key, the timestamp and a set of flags, plus an optional callback function for accepting unsigned packets. Typical setup would be:
                                                                                                                                                                                                                                                                                                                                                                                                                                                                          mavlink_signing_t signing;
 memset(&signing, 0, sizeof(signing));
@@ -39,4 +39,4 @@
     self.target_component == msg.get_srcComponent()):
     # change to link_id from incoming packet
     self.mav.signing.link_id = msg.get_link_id()
-
                                                                                                                                                                                                                                                                                                                                                                                                                                                                          What that says is that if the current link ID in use by MAVProxy is zero, and it receives a correctly signed packet with a non-zero link ID then it switches link ID to the one from the incoming packet.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                          This has the effect of making the GCS slave its link ID to the link ID of the autopilot.
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                            What that says is that if the current link ID in use by MAVProxy is zero, and it receives a correctly signed packet with a non-zero link ID then it switches link ID to the one from the incoming packet.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                            This has the effect of making the GCS slave its link ID to the link ID of the autopilot.

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                                                                                                                                                                                                                                                                                                                                                                                                                                                                              \ No newline at end of file diff --git a/ko/mavgen_python/examples.html b/ko/mavgen_python/examples.html index d35866528..825c04cc8 100644 --- a/ko/mavgen_python/examples.html +++ b/ko/mavgen_python/examples.html @@ -1 +1 @@ -Examples · MAVLink Developer Guide
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Other examples:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Complex examples:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • MAVProxy is a command line, console based UAV ground station software package for MAVLink based systems built on Pymavlink.

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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                \ No newline at end of file +Examples · MAVLink Developer Guide
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Other examples:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Complex examples:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • MAVProxy is a command line, console based UAV ground station software package for MAVLink based systems built on Pymavlink.

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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  \ No newline at end of file diff --git a/ko/mavgen_python/howto_requestmessages.html b/ko/mavgen_python/howto_requestmessages.html index 28062ee73..999a16f1e 100644 --- a/ko/mavgen_python/howto_requestmessages.html +++ b/ko/mavgen_python/howto_requestmessages.html @@ -1,4 +1,4 @@ -How to Request Messages/Set Message Rates · MAVLink Developer Guide
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Messages
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  How to Request & Stream Messages

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  A remote system will typically stream a default set of messages to a connected GCS, camera or other system. This default set may be hard coded, and is necessarily limited to reduce traffic on the channel.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  A system can request that additional messages are sent as a stream, or change the rate at which existing streamed messages are sent, using the MAV_CMD_SET_MESSAGE_INTERVAL command. A single instance of a message can be requested by sending MAV_CMD_REQUEST_MESSAGE.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  The example below shows how you can request the BATTERY_STATUS message is streamed at the rate of 1Hz, by sending MAV_CMD_SET_MESSAGE_INTERVAL in a COMMAND_LONG. Because this is a command, we then wait for a COMMAND_ACK to be recieved with the matching command id, and then display the result. Note that you could equally well send the command in a COMMAND_INT, if supported by the flight stack.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  """
+How to Request Messages/Set Message Rates · MAVLink Developer Guide
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  How to Request & Stream Messages
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  A remote system will typically stream a default set of messages to a connected GCS, camera or other system. This default set may be hard coded, and is necessarily limited to reduce traffic on the channel.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  A system can request that additional messages are sent as a stream, or change the rate at which existing streamed messages are sent, using the MAV_CMD_SET_MESSAGE_INTERVAL command. A single instance of a message can be requested by sending MAV_CMD_REQUEST_MESSAGE.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  The example below shows how you can request the BATTERY_STATUS message is streamed at the rate of 1Hz, by sending MAV_CMD_SET_MESSAGE_INTERVAL in a COMMAND_LONG. Because this is a command, we then wait for a COMMAND_ACK to be recieved with the matching command id, and then display the result. Note that you could equally well send the command in a COMMAND_INT, if supported by the flight stack.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  """
 Example: Set that a message is streamed at particular rate
 """
 
@@ -37,4 +37,4 @@
     print("Command accepted")
 else:
     print("Command failed")
-
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Using Pymavlink Libraries (mavgen)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Pymavlink is a low level and general purpose MAVLink message processing library, written in Python. It has been used to implement MAVLink communications in many types of MAVLink systems, including a GCS (MAVProxy), Developer APIs (DroneKit) and numerous companion computer MAVLink applications.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      The library can be used with Python 2.7+ (recommended) or Python 3.5+ and supports both MAVLink 1 and MAVLink 2 versions of the protocol.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      This topic explains how to get and use the Pymavlink MAVLink Python libraries (generated using mavgen).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Pymavlink is developed in its own project, which includes the command line MAVLink generator (mavgen), Python bindings to create Pymavlink, and other useful tools and utilities. MAVLink includes the Pymavlink repository as a submodule. While you can work with that project directly, this documentation explains how to work with pymavlink using the MAVLink project.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      If you are writing a MAVLink application to communicate with an autopilot you may prefer to use a higher level library like MAVSDK-Python or DroneKit-Python. These implement a number of MAVLink microservices.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      The following are instructions for how to obtain the MAVLink libraries for the standard and custom dialects. If the standard dialect is to be used, the instructions are much simpler. For custom dialects the library needs to be generated first.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      If you need a standard dialect then you can install these (for both MAVLink 1 and 2) with pymavlink using pip:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      pip install pymavlink
+Python (mavgen) · MAVLink Developer Guide
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Using Pymavlink Libraries (mavgen)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Pymavlink is a low level and general purpose MAVLink message processing library, written in Python. It has been used to implement MAVLink communications in many types of MAVLink systems, including a GCS (MAVProxy), Developer APIs (DroneKit) and numerous companion computer MAVLink applications.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      The library can be used with Python 2.7+ (recommended) or Python 3.5+ and supports both MAVLink 1 and MAVLink 2 versions of the protocol.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      This topic explains how to get and use the Pymavlink MAVLink Python libraries (generated using mavgen).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Pymavlink is developed in its own project, which includes the command line MAVLink generator (mavgen), Python bindings to create Pymavlink, and other useful tools and utilities. MAVLink includes the Pymavlink repository as a submodule. While you can work with that project directly, this documentation explains how to work with pymavlink using the MAVLink project.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      If you are writing a MAVLink application to communicate with an autopilot you may prefer to use a higher level library like MAVSDK-Python or DroneKit-Python. These implement a number of MAVLink microservices.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      The following are instructions for how to obtain the MAVLink libraries for the standard and custom dialects. If the standard dialect is to be used, the instructions are much simpler. For custom dialects the library needs to be generated first.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      If you need a standard dialect then you can install these (for both MAVLink 1 and 2) with pymavlink using pip:
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      pip install pymavlink
 
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      The PyPi repository takes message definitions from the ArduPilot/mavlink fork, which may diverge slightly from MAVLink/mavlink.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      If you need libraries for a custom dialect then you will need to install the code generator mavgen and generate the libraries yourself. You will also need to include them in pymavlink and install them locally on your system.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1. Generate the Python MAVLink libraries for your custom dialect.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2. Copy the generated .py MAVLink dialect library file(s) into the appropriate directory of your clone of the mavlink repository:
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • MAVLink 2: pymavlink/dialects/v20
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • MAVLink 1: pymavlink/dialects/v10
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      3. Open a command prompt and navigate to the pymavlink directory.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      4. If needed, uninstall previous versions:
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        pip uninstall pymavlink
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      5. Install dependencies if you have not previously installed pymavlink using pip:
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        sh
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        python3 -m pip install -r pymavlink/requirements.txt
 
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      6. http://python.dronekit.io/
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Run the python setup program:
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                           bash
     python setup.py install --user
@@ -21,7 +21,7 @@
 
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        The udpin prefix used above creates a socket to listen for a UDP connection on the specified port. This is the normal way to connect an autopilot simulator). The complementary udpout prefix creates a socket that initiates an IP connection:
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        python
     the_connection = mavutil.mavlink_connection('udpout:localhost:14540')
 
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Generally the API selects a sensible baud rate for the connection type. Other mavlink_connection() parameters you may wish to change include: source_system (default 255), source_component (default 0) and dialect (default ArduPilot).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Connection Strings
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        The mavutil.mavlink_connection() connection string has the format:
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        [protocol:]address[:port]
-
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        where:
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • protocol (optional): The IP protocol. If not specified pymavlink will attempt to determine if the address is a serial port (e.g. USB) or a file, and if not will default to a UDP address.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • tcp: Initiate a TCP connection on the specified address and port.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • tcpin: Listen for a TCP connection on the specified address and port.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • udpin: Listen for a UDP connection on the specified address and port.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • udpout: Initiate a TCP connection on the specified address and port.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • udp: By default, same as udpin. Set mavlink_connection parameter input=False to make same as udpout.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • udpcast: Broadcast UDP address and port. This is the same as udp with mavlink_connection() parameters input=False and broadcast=True.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • address: IP address, serial port name, or file name
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • port: IP port (only if address is an IP address)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Some of the strings you can use for different types of connections are listed below.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Connection typeConnection string
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Linux computer connected to the vehicle via USB/dev/ttyUSB0
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Linux computer connected to the vehicle via Serial port (RaspberryPi example)/dev/ttyAMA0 (also set baud=57600)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAVLink API listening for SITL connection via UDPudpin:localhost:14540 (or udp:localhost:14540, 127.0.0.1:14540,etc.)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAVLink API initiating a connection to SITL via UDPudpout:localhost:14540 (or udpout:127.0.0.1:14540)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        GCS connected to the vehicle via UDP127.0.0.1:14550 or udp:localhost:14550
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        SITL connected to the vehicle via TCPtcp:127.0.0.1:5760 (ArduPilot only, PX4 does not support TCP)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        OSX computer connected to the vehicle via USBdev/cu.usbmodem1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Windows computer connected to the vehicle via USB (in this case on COM14)com14
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Windows computer connected to the vehicle using a 3DR Telemetry Radio on COM14com14 (also set baud=57600)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        While MAVLink does not define the UDP ports used for different purposes, there is a defacto standard that MAVLink APIs should listen for SITL connections on UDP port 14540 while a GCS should listen for connections on UDP 14550.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Sending Messages
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAVLink is the main protocol handling class. It is defined in each dialect module, and includes a <message_name>_send() method for all messages in the dialect's message definition.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        The message field values are passed as arguments to the function. Fields that are the same for all messages are defined in the class - e.g. source system, source component. Each message is documented in the dialect source code, even when it was automatically generated.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        For example, the system_time_send() function is used to send the SYSTEM_TIME message as shown below:
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        def system_time_send(self, time_unix_usec, time_boot_ms, force_mavlink1=False):
+
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        where:
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • protocol (optional): The IP protocol. If not specified pymavlink will attempt to determine if the address is a serial port (e.g. USB) or a file, and if not will default to a UDP address.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • tcp: Initiate a TCP connection on the specified address and port.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • tcpin: Listen for a TCP connection on the specified address and port.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • udpin: Listen for a UDP connection on the specified address and port.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • udpout: Initiate a UDP connection on the specified address and port.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • udp: By default, same as udpin. Set mavlink_connection parameter input=False to make same as udpout.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • udpcast: Broadcast UDP address and port. This is the same as udp with mavlink_connection() parameters input=False and broadcast=True.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • address: IP address, serial port name, or file name
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • port: IP port (only if address is an IP address)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Some of the strings you can use for different types of connections are listed below.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Connection typeConnection string
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Linux computer connected to the vehicle via USB/dev/ttyUSB0
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Linux computer connected to the vehicle via Serial port (RaspberryPi example)/dev/ttyAMA0 (also set baud=57600)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAVLink API listening for SITL connection via UDPudpin:localhost:14540 (or udp:localhost:14540, 127.0.0.1:14540,etc.)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAVLink API initiating a connection to SITL via UDPudpout:localhost:14540 (or udpout:127.0.0.1:14540)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        GCS connected to the vehicle via UDP127.0.0.1:14550 or udp:localhost:14550
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        SITL connected to the vehicle via TCPtcp:127.0.0.1:5760 (ArduPilot only, PX4 does not support TCP)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        OSX computer connected to the vehicle via USBdev/cu.usbmodem1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Windows computer connected to the vehicle via USB (in this case on COM14)com14
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Windows computer connected to the vehicle using a 3DR Telemetry Radio on COM14com14 (also set baud=57600)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        While MAVLink does not define the UDP ports used for different purposes, there is a defacto standard that MAVLink APIs should listen for SITL connections on UDP port 14540 while a GCS should listen for connections on UDP 14550.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Sending Messages
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAVLink is the main protocol handling class. It is defined in each dialect module, and includes a <message_name>_send() method for all messages in the dialect's message definition.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        The message field values are passed as arguments to the function. Fields that are the same for all messages are defined in the class - e.g. source system, source component. Each message is documented in the dialect source code, even when it was automatically generated.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        For example, the system_time_send() function is used to send the SYSTEM_TIME message as shown below:
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        def system_time_send(self, time_unix_usec, time_boot_ms, force_mavlink1=False):
     '''
     The system time is the time of the master clock, typically the
     computer clock of the main onboard computer.
@@ -78,4 +78,4 @@
 # Send heartbeat from a MAVLink application.
 the_connection.mav.heartbeat_send(mavutil.mavlink.MAV_TYPE_ONBOARD_CONTROLLER,
                                                 mavutil.mavlink.MAV_AUTOPILOT_INVALID, 0, 0, 0)
-
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        The various types used above come from enum in the dialect file.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        The rate at which the heartbeat should be sent depends on the channel, but is normally 1Hz.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Generally it should be sent from the same thread as all other messages. This is in order to ensure that the heartbeat is only published when the thread is healthy.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Message Signing
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Pymavlink supports Message Signing (authentication) when using MAVLink 2.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        The Pymavlink library already implements almost all of the expected behaviour for signing messages. All you need to do is provide a secret key and initial timestamp, optionally specify whether or not outgoing messages should be signed, a link id, and a callback for determining which unsigned messages (if any) will be accepted.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        For more information see Message Signing.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Examples
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        See Examples (pymavlink)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Support
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Pymavlink questions can be raised in the normal MAVLink support channels.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        The Pymavlink Gitter channel also has an active support community.
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+

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        The various types used above come from enum in the dialect file.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        The rate at which the heartbeat should be sent depends on the channel, but is normally 1Hz.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Generally it should be sent from the same thread as all other messages. This is in order to ensure that the heartbeat is only published when the thread is healthy.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Message Signing

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Pymavlink supports Message Signing (authentication) when using MAVLink 2.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        The Pymavlink library already implements almost all of the expected behaviour for signing messages. All you need to do is provide a secret key and initial timestamp, optionally specify whether or not outgoing messages should be signed, a link id, and a callback for determining which unsigned messages (if any) will be accepted.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        For more information see Message Signing.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Examples

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        See Examples (pymavlink)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Support

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Pymavlink questions can be raised in the normal MAVLink support channels.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        The Pymavlink Gitter channel also has an active support community.

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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          \ No newline at end of file diff --git a/ko/mavgen_python/message_signing.html b/ko/mavgen_python/message_signing.html index d85be9d78..d3809f968 100644 --- a/ko/mavgen_python/message_signing.html +++ b/ko/mavgen_python/message_signing.html @@ -1,4 +1,4 @@ -메세지 서명 · MAVLink Developer Guide
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Messages
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Messages
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          FAQ
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          FAQ
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Implementations
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Examples
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Support
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Help

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Pymavlink supports Message Signing (authentication) when using MAVLink 2.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          The Pymavlink library already implements almost all of the expected behaviour for signing messages. All you need to do is provide a secret key and initial timestamp, optionally specify whether or not outgoing messages should be signed, a link id, and a callback for determining which unsigned messages (if any) will be accepted.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          The way you do this depends on whether you are using mavutil to manage the connection or using a MAVLink object directly.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          While not covered in this topic, you should also write code to:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          If you are using the MAVLink class directly, you can use the MAVLink.signing attribute to access a MAVLinkSigning object and set the required attributes.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          The example/mavtest.py script shows how to do this using an arbitrary secret key:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          # Create a MAVLink instance (in this case on a file object "f")
+메세지 서명 · MAVLink Developer Guide
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Pymavlink supports Message Signing (authentication) when using MAVLink 2.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          The Pymavlink library already implements almost all of the expected behaviour for signing messages. All you need to do is provide a secret key and initial timestamp, optionally specify whether or not outgoing messages should be signed, a link id, and a callback for determining which unsigned messages (if any) will be accepted.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          The way you do this depends on whether you are using mavutil to manage the connection or using a MAVLink object directly.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          While not covered in this topic, you should also write code to:
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          If you are using the MAVLink class directly, you can use the MAVLink.signing attribute to access a MAVLinkSigning object and set the required attributes.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          The example/mavtest.py script shows how to do this using an arbitrary secret key:
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          # Create a MAVLink instance (in this case on a file object "f")
 mav = mavlink.MAVLink(f)
 
 if signing:
@@ -25,4 +25,4 @@
 # Pass the callback  to the connection (here we also pass an arbitrary secret key)
 secret_key = chr(42)*32
 the_connection.setup_signing(secret_key, sign_outgoing=True, allow_unsigned_callback=my_allow_unsigned_callback)
-
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              \ No newline at end of file diff --git a/ko/messages/ASLUAV.html b/ko/messages/ASLUAV.html index 822c68393..bbc721a55 100644 --- a/ko/messages/ASLUAV.html +++ b/ko/messages/ASLUAV.html @@ -1 +1 @@ -ASLUAV.xml · MAVLink Developer Guide
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Messages
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Messages
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              FAQ
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              FAQ
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Implementations
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Implementations
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Examples
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Examples
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Support
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Help

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Dialect: ASLUAV

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              This topic documents the version of the dialect file in the mavlink/mavlink Github repository, which may not be up to date with the file in the source repository (it is up to the dialect owner to push changes when needed). The source repo should be listed in the comments at the top of the XML definition file listed below (but may not be).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              This is a human-readable form of the XML definition file: ASLUAV.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAVLink 2 extension fields that have been added to MAVLink 1 messages are displayed in blue. - Entities from dialects are displayed only as headings (with link to original)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Summary

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              TypeDefinedIncluded
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Messages17224
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Enums2142
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Commands1660

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              The following sections list all entities in the dialect (both included and defined in this file).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Messages

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              HEARTBEAT (0) — [from: minimal]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              SYS_STATUS (1) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              SYSTEM_TIME (2) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              PING (4) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              CHANGE_OPERATOR_CONTROL (5) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              CHANGE_OPERATOR_CONTROL_ACK (6) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              AUTH_KEY (7) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              SET_MODE (11) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              PARAM_REQUEST_READ (20) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              PARAM_REQUEST_LIST (21) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              PARAM_VALUE (22) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              PARAM_SET (23) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              GPS_RAW_INT (24) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              GPS_STATUS (25) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              SCALED_IMU (26) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              RAW_IMU (27) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              RAW_PRESSURE (28) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              SCALED_PRESSURE (29) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              ATTITUDE (30) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              ATTITUDE_QUATERNION (31) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              LOCAL_POSITION_NED (32) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              GLOBAL_POSITION_INT (33) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              RC_CHANNELS_SCALED (34) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              RC_CHANNELS_RAW (35) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              SERVO_OUTPUT_RAW (36) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MISSION_REQUEST_PARTIAL_LIST (37) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MISSION_WRITE_PARTIAL_LIST (38) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MISSION_ITEM (39) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MISSION_REQUEST (40) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MISSION_SET_CURRENT (41) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MISSION_CURRENT (42) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MISSION_REQUEST_LIST (43) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MISSION_COUNT (44) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MISSION_CLEAR_ALL (45) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MISSION_ITEM_REACHED (46) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MISSION_ACK (47) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              SET_GPS_GLOBAL_ORIGIN (48) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              GPS_GLOBAL_ORIGIN (49) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              PARAM_MAP_RC (50) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MISSION_REQUEST_INT (51) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              SAFETY_SET_ALLOWED_AREA (54) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              SAFETY_ALLOWED_AREA (55) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              ATTITUDE_QUATERNION_COV (61) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              GLOBAL_POSITION_INT_COV (63) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              LOCAL_POSITION_NED_COV (64) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              RC_CHANNELS (65) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              REQUEST_DATA_STREAM (66) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              DATA_STREAM (67) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MANUAL_CONTROL (69) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              RC_CHANNELS_OVERRIDE (70) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MISSION_ITEM_INT (73) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              VFR_HUD (74) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              COMMAND_INT (75) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              COMMAND_LONG (76) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              COMMAND_ACK (77) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              COMMAND_CANCEL (80) — [from: common] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MANUAL_SETPOINT (81) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              SET_ATTITUDE_TARGET (82) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              ATTITUDE_TARGET (83) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              SET_POSITION_TARGET_LOCAL_NED (84) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              POSITION_TARGET_LOCAL_NED (85) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              SET_POSITION_TARGET_GLOBAL_INT (86) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              POSITION_TARGET_GLOBAL_INT (87) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              LOCAL_POSITION_NED_SYSTEM_GLOBAL_OFFSET (89) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              HIL_STATE (90) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              HIL_CONTROLS (91) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              HIL_RC_INPUTS_RAW (92) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              HIL_ACTUATOR_CONTROLS (93) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              OPTICAL_FLOW (100) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              GLOBAL_VISION_POSITION_ESTIMATE (101) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              VISION_POSITION_ESTIMATE (102) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              VISION_SPEED_ESTIMATE (103) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              VICON_POSITION_ESTIMATE (104) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              HIGHRES_IMU (105) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              OPTICAL_FLOW_RAD (106) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              HIL_SENSOR (107) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              SIM_STATE (108) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              RADIO_STATUS (109) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              FILE_TRANSFER_PROTOCOL (110) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              TIMESYNC (111) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              CAMERA_TRIGGER (112) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              HIL_GPS (113) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              HIL_OPTICAL_FLOW (114) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              HIL_STATE_QUATERNION (115) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              SCALED_IMU2 (116) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              LOG_REQUEST_LIST (117) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              LOG_ENTRY (118) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              LOG_REQUEST_DATA (119) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              LOG_DATA (120) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              LOG_ERASE (121) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              LOG_REQUEST_END (122) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              GPS_INJECT_DATA (123) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              GPS2_RAW (124) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              POWER_STATUS (125) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              SERIAL_CONTROL (126) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              GPS_RTK (127) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              GPS2_RTK (128) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              SCALED_IMU3 (129) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              DATA_TRANSMISSION_HANDSHAKE (130) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              ENCAPSULATED_DATA (131) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              DISTANCE_SENSOR (132) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              TERRAIN_REQUEST (133) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              TERRAIN_DATA (134) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              TERRAIN_CHECK (135) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              TERRAIN_REPORT (136) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              SCALED_PRESSURE2 (137) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              ATT_POS_MOCAP (138) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              SET_ACTUATOR_CONTROL_TARGET (139) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              ACTUATOR_CONTROL_TARGET (140) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              ALTITUDE (141) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              RESOURCE_REQUEST (142) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              SCALED_PRESSURE3 (143) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              FOLLOW_TARGET (144) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              CONTROL_SYSTEM_STATE (146) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              BATTERY_STATUS (147) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              AUTOPILOT_VERSION (148) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              LANDING_TARGET (149) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              FENCE_STATUS (162) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAG_CAL_REPORT (192) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              COMMAND_INT_STAMPED (223)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Message encoding a command with parameters as scaled integers and additional metadata. Scaling depends on the actual command value.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Field NameTypeValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              utc_timeuint32_tUTC time, seconds elapsed since 01.01.1970
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              vehicle_timestampuint64_tMicroseconds elapsed since vehicle boot
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              target_systemuint8_tSystem ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              target_componentuint8_tComponent ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              frameuint8_tMAV_FRAMEThe coordinate system of the COMMAND, as defined by MAV_FRAME enum
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              commanduint16_tMAV_CMDThe scheduled action for the mission item, as defined by MAV_CMD enum
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              currentuint8_tfalse:0, true:1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              autocontinueuint8_tautocontinue to next wp
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              param1floatPARAM1, see MAV_CMD enum
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              param2floatPARAM2, see MAV_CMD enum
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              param3floatPARAM3, see MAV_CMD enum
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              param4floatPARAM4, see MAV_CMD enum
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              xint32_tPARAM5 / local: x position in meters 1e4, global: latitude in degrees 10^7
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              yint32_tPARAM6 / local: y position in meters 1e4, global: longitude in degrees 10^7
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              zfloatPARAM7 / z position: global: altitude in meters (MSL, WGS84, AGL or relative to home - depending on frame).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              COMMAND_LONG_STAMPED (224)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Send a command with up to seven parameters to the MAV and additional metadata

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Field NameTypeValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              utc_timeuint32_tUTC time, seconds elapsed since 01.01.1970
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              vehicle_timestampuint64_tMicroseconds elapsed since vehicle boot
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              target_systemuint8_tSystem which should execute the command
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              target_componentuint8_tComponent which should execute the command, 0 for all components
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              commanduint16_tMAV_CMDCommand ID, as defined by MAV_CMD enum.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              confirmationuint8_t0: First transmission of this command. 1-255: Confirmation transmissions (e.g. for kill command)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              param1floatParameter 1, as defined by MAV_CMD enum.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              param2floatParameter 2, as defined by MAV_CMD enum.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              param3floatParameter 3, as defined by MAV_CMD enum.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              param4floatParameter 4, as defined by MAV_CMD enum.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              param5floatParameter 5, as defined by MAV_CMD enum.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              param6floatParameter 6, as defined by MAV_CMD enum.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              param7floatParameter 7, as defined by MAV_CMD enum.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              EFI_STATUS (225) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              ESTIMATOR_STATUS (230) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              WIND_COV (231) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              GPS_INPUT (232) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              GPS_RTCM_DATA (233) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              HIGH_LATENCY (234) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              HIGH_LATENCY2 (235) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              VIBRATION (241) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              HOME_POSITION (242) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              SET_HOME_POSITION (243) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MESSAGE_INTERVAL (244) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              EXTENDED_SYS_STATE (245) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              ADSB_VEHICLE (246) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              COLLISION (247) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              V2_EXTENSION (248) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MEMORY_VECT (249) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              DEBUG_VECT (250) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              NAMED_VALUE_FLOAT (251) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              NAMED_VALUE_INT (252) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              STATUSTEXT (253) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              DEBUG (254) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              SETUP_SIGNING (256) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              BUTTON_CHANGE (257) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              PLAY_TUNE (258) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              CAMERA_INFORMATION (259) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              CAMERA_SETTINGS (260) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              STORAGE_INFORMATION (261) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              CAMERA_CAPTURE_STATUS (262) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              CAMERA_IMAGE_CAPTURED (263) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              FLIGHT_INFORMATION (264) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MOUNT_ORIENTATION (265) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              LOGGING_DATA (266) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              LOGGING_DATA_ACKED (267) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              LOGGING_ACK (268) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              VIDEO_STREAM_INFORMATION (269) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              VIDEO_STREAM_STATUS (270) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              CAMERA_FOV_STATUS (271) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              CAMERA_TRACKING_IMAGE_STATUS (275) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              CAMERA_TRACKING_GEO_STATUS (276) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              CAMERA_THERMAL_RANGE (277) — [from: common] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              GIMBAL_MANAGER_INFORMATION (280) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              GIMBAL_MANAGER_STATUS (281) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              GIMBAL_MANAGER_SET_ATTITUDE (282) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              GIMBAL_DEVICE_INFORMATION (283) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              GIMBAL_DEVICE_SET_ATTITUDE (284) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              GIMBAL_DEVICE_ATTITUDE_STATUS (285) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              AUTOPILOT_STATE_FOR_GIMBAL_DEVICE (286) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              GIMBAL_MANAGER_SET_PITCHYAW (287) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              GIMBAL_MANAGER_SET_MANUAL_CONTROL (288) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              ESC_INFO (290) — [from: common] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              ESC_STATUS (291) — [from: common] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              WIFI_CONFIG_AP (299) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              PROTOCOL_VERSION (300) — [from: minimal] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              AIS_VESSEL (301) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              UAVCAN_NODE_STATUS (310) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              UAVCAN_NODE_INFO (311) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              PARAM_EXT_REQUEST_READ (320) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              PARAM_EXT_REQUEST_LIST (321) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              PARAM_EXT_VALUE (322) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              PARAM_EXT_SET (323) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              PARAM_EXT_ACK (324) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              OBSTACLE_DISTANCE (330) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              ODOMETRY (331) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              TRAJECTORY_REPRESENTATION_WAYPOINTS (332) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              TRAJECTORY_REPRESENTATION_BEZIER (333) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              CELLULAR_STATUS (334) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              CELLULAR_CONFIG (336) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              RAW_RPM (339) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              UTM_GLOBAL_POSITION (340) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              DEBUG_FLOAT_ARRAY (350) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              ORBIT_EXECUTION_STATUS (360) — [from: common] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              BATTERY_INFO (370) — [from: common] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              GENERATOR_STATUS (373) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              ACTUATOR_OUTPUT_STATUS (375) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              TIME_ESTIMATE_TO_TARGET (380) — [from: common] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              TUNNEL (385) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              CAN_FRAME (386) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              CANFD_FRAME (387) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              CAN_FILTER_MODIFY (388) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              ONBOARD_COMPUTER_STATUS (390) — [from: common] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              COMPONENT_INFORMATION (395) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              COMPONENT_INFORMATION_BASIC (396) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              COMPONENT_METADATA (397) — [from: common] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              PLAY_TUNE_V2 (400) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              SUPPORTED_TUNES (401) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              EVENT (410) — [from: common] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              CURRENT_EVENT_SEQUENCE (411) — [from: common] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              REQUEST_EVENT (412) — [from: common] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              RESPONSE_EVENT_ERROR (413) — [from: common] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              ILLUMINATOR_STATUS (440) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              SENS_POWER (8002)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Voltage and current sensor data

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              adc121_vspb_voltfloatVPower board voltage sensor reading
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              adc121_cspb_ampfloatAPower board current sensor reading
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              adc121_cs1_ampfloatABoard current sensor 1 reading
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              adc121_cs2_ampfloatABoard current sensor 2 reading

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              SENS_MPPT (8003)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Maximum Power Point Tracker (MPPT) sensor data for solar module power performance tracking

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              mppt_timestampuint64_tusMPPT last timestamp
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              mppt1_voltfloatVMPPT1 voltage
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              mppt1_ampfloatAMPPT1 current
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              mppt1_pwmuint16_tusMPPT1 pwm
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              mppt1_statusuint8_tMPPT1 status
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              mppt2_voltfloatVMPPT2 voltage
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              mppt2_ampfloatAMPPT2 current
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              mppt2_pwmuint16_tusMPPT2 pwm
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              mppt2_statusuint8_tMPPT2 status
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              mppt3_voltfloatVMPPT3 voltage
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              mppt3_ampfloatAMPPT3 current
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              mppt3_pwmuint16_tusMPPT3 pwm
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              mppt3_statusuint8_tMPPT3 status

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              ASLCTRL_DATA (8004)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              ASL-fixed-wing controller data

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              timestampuint64_tusTimestamp
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              aslctrl_modeuint8_tASLCTRL control-mode (manual, stabilized, auto, etc...)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              hfloatSee sourcecode for a description of these values...
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              hReffloat
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              hRef_tfloat
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              PitchAnglefloatdegPitch angle
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              PitchAngleReffloatdegPitch angle reference
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              qfloat
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              qReffloat
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              uElevfloat
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              uThrotfloat
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              uThrot2float
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              nZfloat
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              AirspeedReffloatm/sAirspeed reference
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              SpoilersEngageduint8_t
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              YawAnglefloatdegYaw angle
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              YawAngleReffloatdegYaw angle reference
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              RollAnglefloatdegRoll angle
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              RollAngleReffloatdegRoll angle reference
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              pfloat
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              pReffloat
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              rfloat
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              rReffloat
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              uAilfloat
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              uRudfloat

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              ASLCTRL_DEBUG (8005)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              ASL-fixed-wing controller debug data

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              i32_1uint32_tDebug data
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              i8_1uint8_tDebug data
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              i8_2uint8_tDebug data
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              f_1floatDebug data
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              f_2floatDebug data
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              f_3floatDebug data
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              f_4floatDebug data
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              f_5floatDebug data
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              f_6floatDebug data
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              f_7floatDebug data
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              f_8floatDebug data

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              ASLUAV_STATUS (8006)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Extended state information for ASLUAVs

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              LED_statusuint8_tStatus of the position-indicator LEDs
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              SATCOM_statusuint8_tStatus of the IRIDIUM satellite communication system
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Servo_statusuint8_t[8]Status vector for up to 8 servos
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Motor_rpmfloatMotor RPM

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              EKF_EXT (8007)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Extended EKF state estimates for ASLUAVs

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              timestampuint64_tusTime since system start
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Windspeedfloatm/sMagnitude of wind velocity (in lateral inertial plane)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              WindDirfloatradWind heading angle from North
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              WindZfloatm/sZ (Down) component of inertial wind velocity
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Airspeedfloatm/sMagnitude of air velocity
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              betafloatradSideslip angle
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              alphafloatradAngle of attack

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              ASL_OBCTRL (8008)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Off-board controls/commands for ASLUAVs

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              timestampuint64_tusTime since system start
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              uElevfloatElevator command [~]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              uThrotfloatThrottle command [~]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              uThrot2floatThrottle 2 command [~]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              uAilLfloatLeft aileron command [~]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              uAilRfloatRight aileron command [~]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              uRudfloatRudder command [~]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              obctrl_statusuint8_tOff-board computer status

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              SENS_ATMOS (8009)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Atmospheric sensors (temperature, humidity, ...)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              timestampuint64_tusTime since system boot
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              TempAmbientfloatdegCAmbient temperature
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Humidityfloat%Relative humidity

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              SENS_BATMON (8010)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Battery pack monitoring data for Li-Ion batteries

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              batmon_timestampuint64_tusTime since system start
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              temperaturefloatdegCBattery pack temperature
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              voltageuint16_tmVBattery pack voltage
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              currentint16_tmABattery pack current
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              SoCuint8_tBattery pack state-of-charge
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              batterystatusuint16_tBattery monitor status report bits in Hex
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              serialnumberuint16_tBattery monitor serial number in Hex
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              safetystatusuint32_tBattery monitor safetystatus report bits in Hex
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              operationstatusuint32_tBattery monitor operation status report bits in Hex
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              cellvoltage1uint16_tmVBattery pack cell 1 voltage
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              cellvoltage2uint16_tmVBattery pack cell 2 voltage
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              cellvoltage3uint16_tmVBattery pack cell 3 voltage
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              cellvoltage4uint16_tmVBattery pack cell 4 voltage
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              cellvoltage5uint16_tmVBattery pack cell 5 voltage
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              cellvoltage6uint16_tmVBattery pack cell 6 voltage

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              FW_SOARING_DATA (8011)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Fixed-wing soaring (i.e. thermal seeking) data

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              timestampuint64_tmsTimestamp
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              timestampModeChangeduint64_tmsTimestamp since last mode change
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              xWfloatm/sThermal core updraft strength
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              xRfloatmThermal radius
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              xLatfloatdegThermal center latitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              xLonfloatdegThermal center longitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              VarWfloatVariance W
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              VarRfloatVariance R
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              VarLatfloatVariance Lat
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              VarLonfloatVariance Lon
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              LoiterRadiusfloatmSuggested loiter radius
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              LoiterDirectionfloatSuggested loiter direction
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              DistToSoarPointfloatmDistance to soar point
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              vSinkExpfloatm/sExpected sink rate at current airspeed, roll and throttle
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              z1_LocalUpdraftSpeedfloatm/sMeasurement / updraft speed at current/local airplane position
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              z2_DeltaRollfloatdegMeasurement / roll angle tracking error
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              z1_expfloatExpected measurement 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              z2_expfloatExpected measurement 2
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              ThermalGSNorthfloatm/sThermal drift (from estimator prediction step only)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              ThermalGSEastfloatm/sThermal drift (from estimator prediction step only)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              TSE_dotfloatm/sTotal specific energy change (filtered)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              DebugVar1floatDebug variable 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              DebugVar2floatDebug variable 2
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              ControlModeuint8_tControl Mode [-]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              validuint8_tData valid [-]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              SENSORPOD_STATUS (8012)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Monitoring of sensorpod status

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              timestampuint64_tmsTimestamp in linuxtime (since 1.1.1970)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              visensor_rate_1uint8_tRate of ROS topic 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              visensor_rate_2uint8_tRate of ROS topic 2
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              visensor_rate_3uint8_tRate of ROS topic 3
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              visensor_rate_4uint8_tRate of ROS topic 4
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              recording_nodes_countuint8_tNumber of recording nodes
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              cpu_tempuint8_tdegCTemperature of sensorpod CPU in
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              free_spaceuint16_tFree space available in recordings directory in [Gb] * 1e2

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              SENS_POWER_BOARD (8013)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Monitoring of power board status

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              timestampuint64_tusTimestamp
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              pwr_brd_statusuint8_tPower board status register
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              pwr_brd_led_statusuint8_tPower board leds status
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              pwr_brd_system_voltfloatVPower board system voltage
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              pwr_brd_servo_voltfloatVPower board servo voltage
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              pwr_brd_digital_voltfloatVPower board digital voltage
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              pwr_brd_mot_l_ampfloatAPower board left motor current sensor
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              pwr_brd_mot_r_ampfloatAPower board right motor current sensor
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              pwr_brd_analog_ampfloatAPower board analog current sensor
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              pwr_brd_digital_ampfloatAPower board digital current sensor
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              pwr_brd_ext_ampfloatAPower board extension current sensor
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              pwr_brd_aux_ampfloatAPower board aux current sensor

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Status of GSM modem (connected to onboard computer)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              timestampuint64_tusTimestamp (of OBC)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              gsm_modem_typeuint8_tGSM_MODEM_TYPEGSM modem used
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              gsm_link_typeuint8_tGSM_LINK_TYPEGSM link type
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              rssiuint8_tRSSI as reported by modem (unconverted)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              rsrp_rscpuint8_tRSRP (LTE) or RSCP (WCDMA) as reported by modem (unconverted)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              sinr_eciouint8_tSINR (LTE) or ECIO (WCDMA) as reported by modem (unconverted)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              rsrquint8_tRSRQ (LTE only) as reported by modem (unconverted)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Status of the SatCom link

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              timestampuint64_tusTimestamp
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              last_heartbeatuint64_tusTimestamp of the last successful sbd session
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              failed_sessionsuint16_tNumber of failed sessions
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              successful_sessionsuint16_tNumber of successful sessions
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              signal_qualityuint8_tSignal quality
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              ring_pendinguint8_tRing call pending
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              tx_session_pendinguint8_tTransmission session pending
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              rx_session_pendinguint8_tReceiving session pending

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              SENSOR_AIRFLOW_ANGLES (8016)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Calibrated airflow angle measurements

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              timestampuint64_tusTimestamp
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              angleofattackfloatdegAngle of attack
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              angleofattack_validuint8_tAngle of attack measurement valid
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              sideslipfloatdegSideslip angle
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              sideslip_validuint8_tSideslip angle measurement valid

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              WHEEL_DISTANCE (9000) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              WINCH_STATUS (9005) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              OPEN_DRONE_ID_BASIC_ID (12900) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              OPEN_DRONE_ID_LOCATION (12901) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              OPEN_DRONE_ID_AUTHENTICATION (12902) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              OPEN_DRONE_ID_SELF_ID (12903) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              OPEN_DRONE_ID_SYSTEM (12904) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              OPEN_DRONE_ID_OPERATOR_ID (12905) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              OPEN_DRONE_ID_MESSAGE_PACK (12915) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              OPEN_DRONE_ID_ARM_STATUS (12918) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              OPEN_DRONE_ID_SYSTEM_UPDATE (12919) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              HYGROMETER_SENSOR (12920) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Enumerated Types

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              0GSM_LINK_TYPE_NONEno service
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              1GSM_LINK_TYPE_UNKNOWNlink type unknown
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              2GSM_LINK_TYPE_2G2G (GSM/GRPS/EDGE) link
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              3GSM_LINK_TYPE_3G3G link (WCDMA/HSDPA/HSPA)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              4GSM_LINK_TYPE_4G4G link (LTE)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              GSM_MODEM_TYPE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              0GSM_MODEM_TYPE_UNKNOWNnot specified
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              1GSM_MODEM_TYPE_HUAWEI_E3372HUAWEI LTE USB Stick E3372

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              FIRMWARE_VERSION_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              HL_FAILURE_FLAG — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_GOTO — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_MODE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_SYS_STATUS_SENSOR — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_SYS_STATUS_SENSOR_EXTENDED — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_FRAME — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              FENCE_ACTION — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              FENCE_BREACH — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              FENCE_MITIGATE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              FENCE_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_MOUNT_MODE — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              GIMBAL_DEVICE_CAP_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              GIMBAL_MANAGER_CAP_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              GIMBAL_DEVICE_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              GIMBAL_MANAGER_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              GIMBAL_DEVICE_ERROR_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              GRIPPER_ACTIONS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              WINCH_ACTIONS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              UAVCAN_NODE_HEALTH — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              UAVCAN_NODE_MODE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              ESC_CONNECTION_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              ESC_FAILURE_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              STORAGE_STATUS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              STORAGE_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              STORAGE_USAGE_FLAG — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              ORBIT_YAW_BEHAVIOUR — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              WIFI_CONFIG_AP_RESPONSE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              CELLULAR_CONFIG_RESPONSE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              WIFI_CONFIG_AP_MODE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              COMP_METADATA_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              ACTUATOR_CONFIGURATION — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              ACTUATOR_OUTPUT_FUNCTION — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              AUTOTUNE_AXIS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              PREFLIGHT_STORAGE_PARAMETER_ACTION — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              PREFLIGHT_STORAGE_MISSION_ACTION — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_DATA_STREAM — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_ROI — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_PARAM_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_PARAM_EXT_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_RESULT — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_MISSION_RESULT — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_SEVERITY — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_POWER_STATUS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              SERIAL_CONTROL_DEV — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              SERIAL_CONTROL_FLAG — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_DISTANCE_SENSOR — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_SENSOR_ORIENTATION — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_PROTOCOL_CAPABILITY — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_MISSION_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_ESTIMATOR_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_BATTERY_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_BATTERY_FUNCTION — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_BATTERY_CHARGE_STATE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_BATTERY_MODE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_BATTERY_FAULT — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_GENERATOR_STATUS_FLAG — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_VTOL_STATE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_LANDED_STATE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              ADSB_ALTITUDE_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              ADSB_EMITTER_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              ADSB_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_DO_REPOSITION_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              SPEED_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              ESTIMATOR_STATUS_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MOTOR_TEST_ORDER — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MOTOR_TEST_THROTTLE_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              GPS_INPUT_IGNORE_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_COLLISION_ACTION — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_COLLISION_THREAT_LEVEL — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_COLLISION_SRC — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              GPS_FIX_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              RTK_BASELINE_COORDINATE_SYSTEM — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              LANDING_TARGET_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              VTOL_TRANSITION_HEADING — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              CAMERA_CAP_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              VIDEO_STREAM_STATUS_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              VIDEO_STREAM_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              VIDEO_STREAM_ENCODING — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              CAMERA_TRACKING_STATUS_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              CAMERA_TRACKING_MODE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              CAMERA_TRACKING_TARGET_DATA — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              CAMERA_ZOOM_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              SET_FOCUS_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              CAMERA_SOURCE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              PARAM_ACK — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              CAMERA_MODE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_ARM_AUTH_DENIED_REASON — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              RC_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              POSITION_TARGET_TYPEMASK — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              ATTITUDE_TARGET_TYPEMASK — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              UTM_FLIGHT_STATE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              UTM_DATA_AVAIL_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              CELLULAR_STATUS_FLAG — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              CELLULAR_NETWORK_FAILED_REASON — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              CELLULAR_NETWORK_RADIO_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              PRECISION_LAND_MODE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              PARACHUTE_ACTION — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_TUNNEL_PAYLOAD_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_ODID_ID_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_ODID_UA_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_ODID_STATUS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_ODID_HEIGHT_REF — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_ODID_HOR_ACC — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_ODID_VER_ACC — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_ODID_SPEED_ACC — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_ODID_TIME_ACC — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_ODID_AUTH_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_ODID_DESC_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_ODID_OPERATOR_LOCATION_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_ODID_CLASSIFICATION_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_ODID_CATEGORY_EU — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_ODID_CLASS_EU — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_ODID_OPERATOR_ID_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_ODID_ARM_STATUS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              TUNE_FORMAT — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              AIS_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              AIS_NAV_STATUS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              AIS_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              FAILURE_UNIT — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              FAILURE_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_WINCH_STATUS_FLAG — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAG_CAL_STATUS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_EVENT_ERROR_REASON — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_EVENT_CURRENT_SEQUENCE_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              HIL_SENSOR_UPDATED_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              HIGHRES_IMU_UPDATED_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              CAN_FILTER_OP — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_FTP_ERR — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_FTP_OPCODE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MISSION_STATE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              SAFETY_SWITCH_STATE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              ILLUMINATOR_MODE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              ILLUMINATOR_ERROR_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_AUTOPILOT — [from: minimal]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_TYPE — [from: minimal]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_MODE_FLAG — [from: minimal]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_MODE_FLAG_DECODE_POSITION — [from: minimal]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_STATE — [from: minimal]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_COMPONENT — [from: minimal]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Commands (MAV_CMD)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_NAV_WAYPOINT (16) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_NAV_LOITER_UNLIM (17) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_NAV_LOITER_TURNS (18) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_NAV_LOITER_TIME (19) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_NAV_RETURN_TO_LAUNCH (20) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_NAV_LAND (21) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_NAV_TAKEOFF (22) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_NAV_LAND_LOCAL (23) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_NAV_TAKEOFF_LOCAL (24) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_NAV_FOLLOW (25) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_NAV_CONTINUE_AND_CHANGE_ALT (30) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_NAV_LOITER_TO_ALT (31) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_DO_FOLLOW (32) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_DO_FOLLOW_REPOSITION (33) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_DO_ORBIT (34) — [from: common] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_NAV_ROI (80) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_NAV_PATHPLANNING (81) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_NAV_SPLINE_WAYPOINT (82) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_NAV_VTOL_TAKEOFF (84) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_NAV_VTOL_LAND (85) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_NAV_GUIDED_ENABLE (92) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_NAV_DELAY (93) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_NAV_PAYLOAD_PLACE (94) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_NAV_LAST (95) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_CONDITION_DELAY (112) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_CONDITION_CHANGE_ALT (113) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_CONDITION_DISTANCE (114) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_CONDITION_YAW (115) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_CONDITION_LAST (159) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_DO_SET_MODE (176) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_DO_JUMP (177) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_DO_CHANGE_SPEED (178) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_DO_SET_HOME (179) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_DO_SET_PARAMETER (180) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_DO_SET_RELAY (181) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_DO_REPEAT_RELAY (182) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_DO_SET_SERVO (183) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_DO_REPEAT_SERVO (184) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_DO_FLIGHTTERMINATION (185) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_DO_CHANGE_ALTITUDE (186) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_DO_SET_ACTUATOR (187) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_DO_RETURN_PATH_START (188) — [from: common] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_DO_LAND_START (189) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_DO_RALLY_LAND (190) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_DO_GO_AROUND (191) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_DO_REPOSITION (192) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_DO_PAUSE_CONTINUE (193) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_DO_SET_REVERSE (194) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_DO_SET_ROI_LOCATION (195) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_DO_SET_ROI_WPNEXT_OFFSET (196) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_DO_SET_ROI_NONE (197) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_DO_SET_ROI_SYSID (198) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_DO_CONTROL_VIDEO (200) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_DO_SET_ROI (201) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_DO_DIGICAM_CONFIGURE (202) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_DO_DIGICAM_CONTROL (203) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_DO_MOUNT_CONFIGURE (204) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_DO_MOUNT_CONTROL (205) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_DO_SET_CAM_TRIGG_DIST (206) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_DO_FENCE_ENABLE (207) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_DO_PARACHUTE (208) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_DO_MOTOR_TEST (209) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_DO_INVERTED_FLIGHT (210) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_DO_GRIPPER (211) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_DO_AUTOTUNE_ENABLE (212) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_NAV_SET_YAW_SPEED (213) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_DO_SET_CAM_TRIGG_INTERVAL (214) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_DO_MOUNT_CONTROL_QUAT (220) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_DO_GUIDED_MASTER (221) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_DO_GUIDED_LIMITS (222) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_DO_ENGINE_CONTROL (223) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_DO_SET_MISSION_CURRENT (224) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_DO_LAST (240) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_PREFLIGHT_CALIBRATION (241) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_PREFLIGHT_SET_SENSOR_OFFSETS (242) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_PREFLIGHT_UAVCAN (243) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_PREFLIGHT_STORAGE (245) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN (246) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_OVERRIDE_GOTO (252) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_OBLIQUE_SURVEY (260) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_MISSION_START (300) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_ACTUATOR_TEST (310) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_CONFIGURE_ACTUATOR (311) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_COMPONENT_ARM_DISARM (400) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_RUN_PREARM_CHECKS (401) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_ILLUMINATOR_ON_OFF (405) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_DO_ILLUMINATOR_CONFIGURE (406) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_GET_HOME_POSITION (410) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_INJECT_FAILURE (420) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_START_RX_PAIR (500) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_GET_MESSAGE_INTERVAL (510) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_SET_MESSAGE_INTERVAL (511) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_REQUEST_MESSAGE (512) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_REQUEST_PROTOCOL_VERSION (519) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_REQUEST_AUTOPILOT_CAPABILITIES (520) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_REQUEST_CAMERA_INFORMATION (521) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_REQUEST_CAMERA_SETTINGS (522) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_REQUEST_STORAGE_INFORMATION (525) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_STORAGE_FORMAT (526) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_REQUEST_CAMERA_CAPTURE_STATUS (527) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_REQUEST_FLIGHT_INFORMATION (528) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_RESET_CAMERA_SETTINGS (529) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_SET_CAMERA_MODE (530) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_SET_CAMERA_ZOOM (531) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_SET_CAMERA_FOCUS (532) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_SET_STORAGE_USAGE (533) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_SET_CAMERA_SOURCE (534) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_JUMP_TAG (600) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_DO_JUMP_TAG (601) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_DO_GIMBAL_MANAGER_PITCHYAW (1000) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_DO_GIMBAL_MANAGER_CONFIGURE (1001) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_IMAGE_START_CAPTURE (2000) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_IMAGE_STOP_CAPTURE (2001) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_REQUEST_CAMERA_IMAGE_CAPTURE (2002) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_DO_TRIGGER_CONTROL (2003) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_CAMERA_TRACK_POINT (2004) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_CAMERA_TRACK_RECTANGLE (2005) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_CAMERA_STOP_TRACKING (2010) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_VIDEO_START_CAPTURE (2500) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_VIDEO_STOP_CAPTURE (2501) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_VIDEO_START_STREAMING (2502) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_VIDEO_STOP_STREAMING (2503) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_REQUEST_VIDEO_STREAM_INFORMATION (2504) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_REQUEST_VIDEO_STREAM_STATUS (2505) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_LOGGING_START (2510) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_LOGGING_STOP (2511) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_AIRFRAME_CONFIGURATION (2520) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_CONTROL_HIGH_LATENCY (2600) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_PANORAMA_CREATE (2800) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_DO_VTOL_TRANSITION (3000) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_ARM_AUTHORIZATION_REQUEST (3001) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_SET_GUIDED_SUBMODE_STANDARD (4000) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_SET_GUIDED_SUBMODE_CIRCLE (4001) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_CONDITION_GATE (4501) — [from: common] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_NAV_FENCE_RETURN_POINT (5000) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_NAV_FENCE_POLYGON_VERTEX_INCLUSION (5001) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_NAV_FENCE_POLYGON_VERTEX_EXCLUSION (5002) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_NAV_FENCE_CIRCLE_INCLUSION (5003) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_NAV_FENCE_CIRCLE_EXCLUSION (5004) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_NAV_RALLY_POINT (5100) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_UAVCAN_GET_NODE_INFO (5200) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_DO_SET_SAFETY_SWITCH_STATE (5300) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_DO_ADSB_OUT_IDENT (10001) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_PAYLOAD_PREPARE_DEPLOY (30001) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_PAYLOAD_CONTROL_DEPLOY (30002) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_WAYPOINT_USER_1 (31000) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_WAYPOINT_USER_2 (31001) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_WAYPOINT_USER_3 (31002) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_WAYPOINT_USER_4 (31003) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_WAYPOINT_USER_5 (31004) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_SPATIAL_USER_1 (31005) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_SPATIAL_USER_2 (31006) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_SPATIAL_USER_3 (31007) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_SPATIAL_USER_4 (31008) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_SPATIAL_USER_5 (31009) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_USER_1 (31010) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_USER_2 (31011) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_USER_3 (31012) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_USER_4 (31013) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_USER_5 (31014) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_CAN_FORWARD (32000) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_RESET_MPPT (40001)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Mission command to reset Maximum Power Point Tracker (MPPT)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Param (Label)Description
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              1MPPT number
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              2Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              3Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              4Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              5Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              6Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              7Empty

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_PAYLOAD_CONTROL (40002)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Mission command to perform a power cycle on payload

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Param (Label)Description
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              1Complete power cycle
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              2VISensor power cycle
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              3Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              4Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              5Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              6Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              7Empty

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_FIXED_MAG_CAL_YAW (42006) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_DO_WINCH (42600) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_EXTERNAL_POSITION_ESTIMATE (43003) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              results matching ""

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                No results matching ""

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                \ No newline at end of file +ASLUAV.xml · MAVLink Developer Guide
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Dialect: ASLUAV

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                This topic documents the version of the dialect file in the mavlink/mavlink Github repository, which may not be up to date with the file in the source repository (it is up to the dialect owner to push changes when needed). The source repo should be listed in the comments at the top of the XML definition file listed below (but may not be).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                This is a human-readable form of the XML definition file: ASLUAV.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAVLink 2 extension fields that have been added to MAVLink 1 messages are displayed in blue. - Entities from dialects are displayed only as headings (with link to original)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Summary

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                TypeDefinedIncluded
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Messages17224
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Enums2143
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Commands1660

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                The following sections list all entities in the dialect (both included and defined in this file).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Messages

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                COMMAND_INT_STAMPED (223)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Message encoding a command with parameters as scaled integers and additional metadata. Scaling depends on the actual command value.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Field NameTypeValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                utc_timeuint32_tUTC time, seconds elapsed since 01.01.1970
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                vehicle_timestampuint64_tMicroseconds elapsed since vehicle boot
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                target_systemuint8_tSystem ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                target_componentuint8_tComponent ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                frameuint8_tMAV_FRAMEThe coordinate system of the COMMAND, as defined by MAV_FRAME enum
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                commanduint16_tMAV_CMDThe scheduled action for the mission item, as defined by MAV_CMD enum
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                currentuint8_tfalse:0, true:1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                autocontinueuint8_tautocontinue to next wp
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                param1floatPARAM1, see MAV_CMD enum
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                param2floatPARAM2, see MAV_CMD enum
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                param3floatPARAM3, see MAV_CMD enum
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                param4floatPARAM4, see MAV_CMD enum
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                xint32_tPARAM5 / local: x position in meters 1e4, global: latitude in degrees 10^7
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                yint32_tPARAM6 / local: y position in meters 1e4, global: longitude in degrees 10^7
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                zfloatPARAM7 / z position: global: altitude in meters (MSL, WGS84, AGL or relative to home - depending on frame).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                COMMAND_LONG_STAMPED (224)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Send a command with up to seven parameters to the MAV and additional metadata

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Field NameTypeValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                utc_timeuint32_tUTC time, seconds elapsed since 01.01.1970
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                vehicle_timestampuint64_tMicroseconds elapsed since vehicle boot
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                target_systemuint8_tSystem which should execute the command
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                target_componentuint8_tComponent which should execute the command, 0 for all components
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                commanduint16_tMAV_CMDCommand ID, as defined by MAV_CMD enum.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                confirmationuint8_t0: First transmission of this command. 1-255: Confirmation transmissions (e.g. for kill command)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                param1floatParameter 1, as defined by MAV_CMD enum.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                param2floatParameter 2, as defined by MAV_CMD enum.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                param3floatParameter 3, as defined by MAV_CMD enum.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                param4floatParameter 4, as defined by MAV_CMD enum.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                param5floatParameter 5, as defined by MAV_CMD enum.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                param6floatParameter 6, as defined by MAV_CMD enum.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                param7floatParameter 7, as defined by MAV_CMD enum.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                SENS_POWER (8002)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Voltage and current sensor data

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                adc121_vspb_voltfloatVPower board voltage sensor reading
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                adc121_cspb_ampfloatAPower board current sensor reading
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                adc121_cs1_ampfloatABoard current sensor 1 reading
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                adc121_cs2_ampfloatABoard current sensor 2 reading

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                SENS_MPPT (8003)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Maximum Power Point Tracker (MPPT) sensor data for solar module power performance tracking

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                mppt_timestampuint64_tusMPPT last timestamp
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                mppt1_voltfloatVMPPT1 voltage
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                mppt1_ampfloatAMPPT1 current
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                mppt1_pwmuint16_tusMPPT1 pwm
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                mppt1_statusuint8_tMPPT1 status
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                mppt2_voltfloatVMPPT2 voltage
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                mppt2_ampfloatAMPPT2 current
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                mppt2_pwmuint16_tusMPPT2 pwm
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                mppt2_statusuint8_tMPPT2 status
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                mppt3_voltfloatVMPPT3 voltage
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                mppt3_ampfloatAMPPT3 current
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                mppt3_pwmuint16_tusMPPT3 pwm
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                mppt3_statusuint8_tMPPT3 status

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                ASLCTRL_DATA (8004)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                ASL-fixed-wing controller data

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                timestampuint64_tusTimestamp
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                aslctrl_modeuint8_tASLCTRL control-mode (manual, stabilized, auto, etc...)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                hfloatSee sourcecode for a description of these values...
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                hReffloat
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                hRef_tfloat
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                PitchAnglefloatdegPitch angle
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                PitchAngleReffloatdegPitch angle reference
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                qfloat
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                qReffloat
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                uElevfloat
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                uThrotfloat
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                uThrot2float
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                nZfloat
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                AirspeedReffloatm/sAirspeed reference
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                SpoilersEngageduint8_t
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                YawAnglefloatdegYaw angle
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                YawAngleReffloatdegYaw angle reference
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                RollAnglefloatdegRoll angle
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                RollAngleReffloatdegRoll angle reference
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                pfloat
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                pReffloat
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                rfloat
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                rReffloat
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                uAilfloat
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                uRudfloat

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                ASLCTRL_DEBUG (8005)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                ASL-fixed-wing controller debug data

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                i32_1uint32_tDebug data
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                i8_1uint8_tDebug data
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                i8_2uint8_tDebug data
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                f_1floatDebug data
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                f_2floatDebug data
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                f_3floatDebug data
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                f_4floatDebug data
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                f_5floatDebug data
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                f_6floatDebug data
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                f_7floatDebug data
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                f_8floatDebug data

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                ASLUAV_STATUS (8006)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Extended state information for ASLUAVs

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                LED_statusuint8_tStatus of the position-indicator LEDs
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                SATCOM_statusuint8_tStatus of the IRIDIUM satellite communication system
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Servo_statusuint8_t[8]Status vector for up to 8 servos
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Motor_rpmfloatMotor RPM

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                EKF_EXT (8007)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Extended EKF state estimates for ASLUAVs

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                timestampuint64_tusTime since system start
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Windspeedfloatm/sMagnitude of wind velocity (in lateral inertial plane)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                WindDirfloatradWind heading angle from North
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                WindZfloatm/sZ (Down) component of inertial wind velocity
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Airspeedfloatm/sMagnitude of air velocity
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                betafloatradSideslip angle
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                alphafloatradAngle of attack

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                ASL_OBCTRL (8008)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Off-board controls/commands for ASLUAVs

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                timestampuint64_tusTime since system start
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                uElevfloatElevator command [~]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                uThrotfloatThrottle command [~]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                uThrot2floatThrottle 2 command [~]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                uAilLfloatLeft aileron command [~]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                uAilRfloatRight aileron command [~]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                uRudfloatRudder command [~]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                obctrl_statusuint8_tOff-board computer status

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                SENS_ATMOS (8009)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Atmospheric sensors (temperature, humidity, ...)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                timestampuint64_tusTime since system boot
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                TempAmbientfloatdegCAmbient temperature
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Humidityfloat%Relative humidity

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                SENS_BATMON (8010)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Battery pack monitoring data for Li-Ion batteries

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                batmon_timestampuint64_tusTime since system start
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                temperaturefloatdegCBattery pack temperature
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                voltageuint16_tmVBattery pack voltage
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                currentint16_tmABattery pack current
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                SoCuint8_tBattery pack state-of-charge
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                batterystatusuint16_tBattery monitor status report bits in Hex
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                serialnumberuint16_tBattery monitor serial number in Hex
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                safetystatusuint32_tBattery monitor safetystatus report bits in Hex
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                operationstatusuint32_tBattery monitor operation status report bits in Hex
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                cellvoltage1uint16_tmVBattery pack cell 1 voltage
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                cellvoltage2uint16_tmVBattery pack cell 2 voltage
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                cellvoltage3uint16_tmVBattery pack cell 3 voltage
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                cellvoltage4uint16_tmVBattery pack cell 4 voltage
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                cellvoltage5uint16_tmVBattery pack cell 5 voltage
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                cellvoltage6uint16_tmVBattery pack cell 6 voltage

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                FW_SOARING_DATA (8011)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Fixed-wing soaring (i.e. thermal seeking) data

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                timestampuint64_tmsTimestamp
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                timestampModeChangeduint64_tmsTimestamp since last mode change
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                xWfloatm/sThermal core updraft strength
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                xRfloatmThermal radius
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                xLatfloatdegThermal center latitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                xLonfloatdegThermal center longitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                VarWfloatVariance W
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                VarRfloatVariance R
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                VarLatfloatVariance Lat
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                VarLonfloatVariance Lon
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                LoiterRadiusfloatmSuggested loiter radius
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                LoiterDirectionfloatSuggested loiter direction
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                DistToSoarPointfloatmDistance to soar point
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                vSinkExpfloatm/sExpected sink rate at current airspeed, roll and throttle
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                z1_LocalUpdraftSpeedfloatm/sMeasurement / updraft speed at current/local airplane position
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                z2_DeltaRollfloatdegMeasurement / roll angle tracking error
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                z1_expfloatExpected measurement 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                z2_expfloatExpected measurement 2
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                ThermalGSNorthfloatm/sThermal drift (from estimator prediction step only)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                ThermalGSEastfloatm/sThermal drift (from estimator prediction step only)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                TSE_dotfloatm/sTotal specific energy change (filtered)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                DebugVar1floatDebug variable 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                DebugVar2floatDebug variable 2
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                ControlModeuint8_tControl Mode [-]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                validuint8_tData valid [-]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                SENSORPOD_STATUS (8012)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Monitoring of sensorpod status

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                timestampuint64_tmsTimestamp in linuxtime (since 1.1.1970)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                visensor_rate_1uint8_tRate of ROS topic 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                visensor_rate_2uint8_tRate of ROS topic 2
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                visensor_rate_3uint8_tRate of ROS topic 3
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                visensor_rate_4uint8_tRate of ROS topic 4
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                recording_nodes_countuint8_tNumber of recording nodes
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                cpu_tempuint8_tdegCTemperature of sensorpod CPU in
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                free_spaceuint16_tFree space available in recordings directory in [Gb] * 1e2

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                SENS_POWER_BOARD (8013)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Monitoring of power board status

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                timestampuint64_tusTimestamp
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                pwr_brd_statusuint8_tPower board status register
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                pwr_brd_led_statusuint8_tPower board leds status
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                pwr_brd_system_voltfloatVPower board system voltage
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                pwr_brd_servo_voltfloatVPower board servo voltage
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                pwr_brd_digital_voltfloatVPower board digital voltage
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                pwr_brd_mot_l_ampfloatAPower board left motor current sensor
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                pwr_brd_mot_r_ampfloatAPower board right motor current sensor
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                pwr_brd_analog_ampfloatAPower board analog current sensor
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                pwr_brd_digital_ampfloatAPower board digital current sensor
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                pwr_brd_ext_ampfloatAPower board extension current sensor
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                pwr_brd_aux_ampfloatAPower board aux current sensor

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Status of GSM modem (connected to onboard computer)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                timestampuint64_tusTimestamp (of OBC)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                gsm_modem_typeuint8_tGSM_MODEM_TYPEGSM modem used
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                gsm_link_typeuint8_tGSM_LINK_TYPEGSM link type
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                rssiuint8_tRSSI as reported by modem (unconverted)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                rsrp_rscpuint8_tRSRP (LTE) or RSCP (WCDMA) as reported by modem (unconverted)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                sinr_eciouint8_tSINR (LTE) or ECIO (WCDMA) as reported by modem (unconverted)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                rsrquint8_tRSRQ (LTE only) as reported by modem (unconverted)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Status of the SatCom link

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                timestampuint64_tusTimestamp
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                last_heartbeatuint64_tusTimestamp of the last successful sbd session
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                failed_sessionsuint16_tNumber of failed sessions
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                successful_sessionsuint16_tNumber of successful sessions
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                signal_qualityuint8_tSignal quality
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                ring_pendinguint8_tRing call pending
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                tx_session_pendinguint8_tTransmission session pending
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                rx_session_pendinguint8_tReceiving session pending

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                SENSOR_AIRFLOW_ANGLES (8016)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Calibrated airflow angle measurements

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                timestampuint64_tusTimestamp
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                angleofattackfloatdegAngle of attack
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                angleofattack_validuint8_tAngle of attack measurement valid
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                sideslipfloatdegSideslip angle
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                sideslip_validuint8_tSideslip angle measurement valid

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Enumerated Types

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                0GSM_LINK_TYPE_NONEno service
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                1GSM_LINK_TYPE_UNKNOWNlink type unknown
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                2GSM_LINK_TYPE_2G2G (GSM/GRPS/EDGE) link
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                3GSM_LINK_TYPE_3G3G link (WCDMA/HSDPA/HSPA)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                4GSM_LINK_TYPE_4G4G link (LTE)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                GSM_MODEM_TYPE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                0GSM_MODEM_TYPE_UNKNOWNnot specified
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                1GSM_MODEM_TYPE_HUAWEI_E3372HUAWEI LTE USB Stick E3372

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Commands (MAV_CMD)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_RESET_MPPT (40001)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Mission command to reset Maximum Power Point Tracker (MPPT)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Param (Label)Description
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                1MPPT number
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_PAYLOAD_CONTROL (40002)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Mission command to perform a power cycle on payload

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Param (Label)Description
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                1Complete power cycle
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                2VISensor power cycle
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                results matching ""

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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  \ No newline at end of file diff --git a/ko/messages/AVSSUAS.md b/ko/messages/AVSSUAS.md index 70fb19155..372a0ed38 100644 --- a/ko/messages/AVSSUAS.md +++ b/ko/messages/AVSSUAS.md @@ -33,461 +33,13 @@ span.warning { | Type | Defined | Included | | -------------------------- | ------- | -------- | | [Messages](#messages) | 4 | 224 | -| [Enums](#enumerated-types) | 3 | 142 | +| [Enums](#enumerated-types) | 3 | 143 | | [Commands](#mav_commands) | 171 | 0 | The following sections list all entities in the dialect (both included and defined in this file). ## Messages -### HEARTBEAT (0) — \[from: [minimal](../messages/minimal.md#HEARTBEAT)\] {#HEARTBEAT} - -### SYS_STATUS (1) — \[from: [common](../messages/common.md#SYS_STATUS)\] {#SYS_STATUS} - -### SYSTEM_TIME (2) — \[from: [common](../messages/common.md#SYSTEM_TIME)\] {#SYSTEM_TIME} - -### PING (4) — \[from: [common](../messages/common.md#PING)\] [DEP] {#PING} - -### CHANGE_OPERATOR_CONTROL (5) — \[from: [common](../messages/common.md#CHANGE_OPERATOR_CONTROL)\] {#CHANGE_OPERATOR_CONTROL} - -### CHANGE_OPERATOR_CONTROL_ACK (6) — \[from: [common](../messages/common.md#CHANGE_OPERATOR_CONTROL_ACK)\] {#CHANGE_OPERATOR_CONTROL_ACK} - -### AUTH_KEY (7) — \[from: [common](../messages/common.md#AUTH_KEY)\] {#AUTH_KEY} - -### LINK_NODE_STATUS (8) — \[from: [common](../messages/common.md#LINK_NODE_STATUS)\] [WIP] {#LINK_NODE_STATUS} - -### SET_MODE (11) — \[from: [common](../messages/common.md#SET_MODE)\] [DEP] {#SET_MODE} - -### PARAM_REQUEST_READ (20) — \[from: [common](../messages/common.md#PARAM_REQUEST_READ)\] {#PARAM_REQUEST_READ} - -### PARAM_REQUEST_LIST (21) — \[from: [common](../messages/common.md#PARAM_REQUEST_LIST)\] {#PARAM_REQUEST_LIST} - -### PARAM_VALUE (22) — \[from: [common](../messages/common.md#PARAM_VALUE)\] {#PARAM_VALUE} - -### PARAM_SET (23) — \[from: [common](../messages/common.md#PARAM_SET)\] {#PARAM_SET} - -### GPS_RAW_INT (24) — \[from: [common](../messages/common.md#GPS_RAW_INT)\] {#GPS_RAW_INT} - -### GPS_STATUS (25) — \[from: [common](../messages/common.md#GPS_STATUS)\] {#GPS_STATUS} - -### SCALED_IMU (26) — \[from: [common](../messages/common.md#SCALED_IMU)\] {#SCALED_IMU} - -### RAW_IMU (27) — \[from: [common](../messages/common.md#RAW_IMU)\] {#RAW_IMU} - -### RAW_PRESSURE (28) — \[from: [common](../messages/common.md#RAW_PRESSURE)\] {#RAW_PRESSURE} - -### SCALED_PRESSURE (29) — \[from: [common](../messages/common.md#SCALED_PRESSURE)\] {#SCALED_PRESSURE} - -### ATTITUDE (30) — \[from: [common](../messages/common.md#ATTITUDE)\] {#ATTITUDE} - -### ATTITUDE_QUATERNION (31) — \[from: [common](../messages/common.md#ATTITUDE_QUATERNION)\] {#ATTITUDE_QUATERNION} - -### LOCAL_POSITION_NED (32) — \[from: [common](../messages/common.md#LOCAL_POSITION_NED)\] {#LOCAL_POSITION_NED} - -### GLOBAL_POSITION_INT (33) — \[from: [common](../messages/common.md#GLOBAL_POSITION_INT)\] {#GLOBAL_POSITION_INT} - -### RC_CHANNELS_SCALED (34) — \[from: [common](../messages/common.md#RC_CHANNELS_SCALED)\] {#RC_CHANNELS_SCALED} - -### RC_CHANNELS_RAW (35) — \[from: [common](../messages/common.md#RC_CHANNELS_RAW)\] {#RC_CHANNELS_RAW} - -### SERVO_OUTPUT_RAW (36) — \[from: [common](../messages/common.md#SERVO_OUTPUT_RAW)\] {#SERVO_OUTPUT_RAW} - -### MISSION_REQUEST_PARTIAL_LIST (37) — \[from: [common](../messages/common.md#MISSION_REQUEST_PARTIAL_LIST)\] {#MISSION_REQUEST_PARTIAL_LIST} - -### MISSION_WRITE_PARTIAL_LIST (38) — \[from: [common](../messages/common.md#MISSION_WRITE_PARTIAL_LIST)\] {#MISSION_WRITE_PARTIAL_LIST} - -### MISSION_ITEM (39) — \[from: [common](../messages/common.md#MISSION_ITEM)\] [DEP] {#MISSION_ITEM} - -### MISSION_REQUEST (40) — \[from: [common](../messages/common.md#MISSION_REQUEST)\] [DEP] {#MISSION_REQUEST} - -### MISSION_SET_CURRENT (41) — \[from: [common](../messages/common.md#MISSION_SET_CURRENT)\] [DEP] {#MISSION_SET_CURRENT} - -### MISSION_CURRENT (42) — \[from: [common](../messages/common.md#MISSION_CURRENT)\] {#MISSION_CURRENT} - -### MISSION_REQUEST_LIST (43) — \[from: [common](../messages/common.md#MISSION_REQUEST_LIST)\] {#MISSION_REQUEST_LIST} - -### MISSION_COUNT (44) — \[from: [common](../messages/common.md#MISSION_COUNT)\] {#MISSION_COUNT} - -### MISSION_CLEAR_ALL (45) — \[from: [common](../messages/common.md#MISSION_CLEAR_ALL)\] {#MISSION_CLEAR_ALL} - -### MISSION_ITEM_REACHED (46) — \[from: [common](../messages/common.md#MISSION_ITEM_REACHED)\] {#MISSION_ITEM_REACHED} - -### MISSION_ACK (47) — \[from: [common](../messages/common.md#MISSION_ACK)\] {#MISSION_ACK} - -### SET_GPS_GLOBAL_ORIGIN (48) — \[from: [common](../messages/common.md#SET_GPS_GLOBAL_ORIGIN)\] {#SET_GPS_GLOBAL_ORIGIN} - -### GPS_GLOBAL_ORIGIN (49) — \[from: [common](../messages/common.md#GPS_GLOBAL_ORIGIN)\] {#GPS_GLOBAL_ORIGIN} - -### PARAM_MAP_RC (50) — \[from: [common](../messages/common.md#PARAM_MAP_RC)\] {#PARAM_MAP_RC} - -### MISSION_REQUEST_INT (51) — \[from: [common](../messages/common.md#MISSION_REQUEST_INT)\] {#MISSION_REQUEST_INT} - -### SAFETY_SET_ALLOWED_AREA (54) — \[from: [common](../messages/common.md#SAFETY_SET_ALLOWED_AREA)\] {#SAFETY_SET_ALLOWED_AREA} - -### SAFETY_ALLOWED_AREA (55) — \[from: [common](../messages/common.md#SAFETY_ALLOWED_AREA)\] {#SAFETY_ALLOWED_AREA} - -### ATTITUDE_QUATERNION_COV (61) — \[from: [common](../messages/common.md#ATTITUDE_QUATERNION_COV)\] {#ATTITUDE_QUATERNION_COV} - -### NAV_CONTROLLER_OUTPUT (62) — \[from: [common](../messages/common.md#NAV_CONTROLLER_OUTPUT)\] {#NAV_CONTROLLER_OUTPUT} - -### GLOBAL_POSITION_INT_COV (63) — \[from: [common](../messages/common.md#GLOBAL_POSITION_INT_COV)\] {#GLOBAL_POSITION_INT_COV} - -### LOCAL_POSITION_NED_COV (64) — \[from: [common](../messages/common.md#LOCAL_POSITION_NED_COV)\] {#LOCAL_POSITION_NED_COV} - -### RC_CHANNELS (65) — \[from: [common](../messages/common.md#RC_CHANNELS)\] {#RC_CHANNELS} - -### REQUEST_DATA_STREAM (66) — \[from: [common](../messages/common.md#REQUEST_DATA_STREAM)\] [DEP] {#REQUEST_DATA_STREAM} - -### DATA_STREAM (67) — \[from: [common](../messages/common.md#DATA_STREAM)\] [DEP] {#DATA_STREAM} - -### MANUAL_CONTROL (69) — \[from: [common](../messages/common.md#MANUAL_CONTROL)\] {#MANUAL_CONTROL} - -### RC_CHANNELS_OVERRIDE (70) — \[from: [common](../messages/common.md#RC_CHANNELS_OVERRIDE)\] {#RC_CHANNELS_OVERRIDE} - -### MISSION_ITEM_INT (73) — \[from: [common](../messages/common.md#MISSION_ITEM_INT)\] {#MISSION_ITEM_INT} - -### VFR_HUD (74) — \[from: [common](../messages/common.md#VFR_HUD)\] {#VFR_HUD} - -### COMMAND_INT (75) — \[from: [common](../messages/common.md#COMMAND_INT)\] {#COMMAND_INT} - -### COMMAND_LONG (76) — \[from: [common](../messages/common.md#COMMAND_LONG)\] {#COMMAND_LONG} - -### COMMAND_ACK (77) — \[from: [common](../messages/common.md#COMMAND_ACK)\] {#COMMAND_ACK} - -### COMMAND_CANCEL (80) — \[from: [common](../messages/common.md#COMMAND_CANCEL)\] [WIP] {#COMMAND_CANCEL} - -### MANUAL_SETPOINT (81) — \[from: [common](../messages/common.md#MANUAL_SETPOINT)\] {#MANUAL_SETPOINT} - -### SET_ATTITUDE_TARGET (82) — \[from: [common](../messages/common.md#SET_ATTITUDE_TARGET)\] {#SET_ATTITUDE_TARGET} - -### ATTITUDE_TARGET (83) — \[from: [common](../messages/common.md#ATTITUDE_TARGET)\] {#ATTITUDE_TARGET} - -### SET_POSITION_TARGET_LOCAL_NED (84) — \[from: [common](../messages/common.md#SET_POSITION_TARGET_LOCAL_NED)\] {#SET_POSITION_TARGET_LOCAL_NED} - -### POSITION_TARGET_LOCAL_NED (85) — \[from: [common](../messages/common.md#POSITION_TARGET_LOCAL_NED)\] {#POSITION_TARGET_LOCAL_NED} - -### SET_POSITION_TARGET_GLOBAL_INT (86) — \[from: [common](../messages/common.md#SET_POSITION_TARGET_GLOBAL_INT)\] {#SET_POSITION_TARGET_GLOBAL_INT} - -### POSITION_TARGET_GLOBAL_INT (87) — \[from: [common](../messages/common.md#POSITION_TARGET_GLOBAL_INT)\] {#POSITION_TARGET_GLOBAL_INT} - -### LOCAL_POSITION_NED_SYSTEM_GLOBAL_OFFSET (89) — \[from: [common](../messages/common.md#LOCAL_POSITION_NED_SYSTEM_GLOBAL_OFFSET)\] {#LOCAL_POSITION_NED_SYSTEM_GLOBAL_OFFSET} - -### HIL_STATE (90) — \[from: [common](../messages/common.md#HIL_STATE)\] [DEP] {#HIL_STATE} - -### HIL_CONTROLS (91) — \[from: [common](../messages/common.md#HIL_CONTROLS)\] {#HIL_CONTROLS} - -### HIL_RC_INPUTS_RAW (92) — \[from: [common](../messages/common.md#HIL_RC_INPUTS_RAW)\] {#HIL_RC_INPUTS_RAW} - -### HIL_ACTUATOR_CONTROLS (93) — \[from: [common](../messages/common.md#HIL_ACTUATOR_CONTROLS)\] {#HIL_ACTUATOR_CONTROLS} - -### OPTICAL_FLOW (100) — \[from: [common](../messages/common.md#OPTICAL_FLOW)\] {#OPTICAL_FLOW} - -### GLOBAL_VISION_POSITION_ESTIMATE (101) — \[from: [common](../messages/common.md#GLOBAL_VISION_POSITION_ESTIMATE)\] {#GLOBAL_VISION_POSITION_ESTIMATE} - -### VISION_POSITION_ESTIMATE (102) — \[from: [common](../messages/common.md#VISION_POSITION_ESTIMATE)\] {#VISION_POSITION_ESTIMATE} - -### VISION_SPEED_ESTIMATE (103) — \[from: [common](../messages/common.md#VISION_SPEED_ESTIMATE)\] {#VISION_SPEED_ESTIMATE} - -### VICON_POSITION_ESTIMATE (104) — \[from: [common](../messages/common.md#VICON_POSITION_ESTIMATE)\] {#VICON_POSITION_ESTIMATE} - -### HIGHRES_IMU (105) — \[from: [common](../messages/common.md#HIGHRES_IMU)\] {#HIGHRES_IMU} - -### OPTICAL_FLOW_RAD (106) — \[from: [common](../messages/common.md#OPTICAL_FLOW_RAD)\] {#OPTICAL_FLOW_RAD} - -### HIL_SENSOR (107) — \[from: [common](../messages/common.md#HIL_SENSOR)\] {#HIL_SENSOR} - -### SIM_STATE (108) — \[from: [common](../messages/common.md#SIM_STATE)\] {#SIM_STATE} - -### RADIO_STATUS (109) — \[from: [common](../messages/common.md#RADIO_STATUS)\] {#RADIO_STATUS} - -### FILE_TRANSFER_PROTOCOL (110) — \[from: [common](../messages/common.md#FILE_TRANSFER_PROTOCOL)\] {#FILE_TRANSFER_PROTOCOL} - -### TIMESYNC (111) — \[from: [common](../messages/common.md#TIMESYNC)\] {#TIMESYNC} - -### CAMERA_TRIGGER (112) — \[from: [common](../messages/common.md#CAMERA_TRIGGER)\] {#CAMERA_TRIGGER} - -### HIL_GPS (113) — \[from: [common](../messages/common.md#HIL_GPS)\] {#HIL_GPS} - -### HIL_OPTICAL_FLOW (114) — \[from: [common](../messages/common.md#HIL_OPTICAL_FLOW)\] {#HIL_OPTICAL_FLOW} - -### HIL_STATE_QUATERNION (115) — \[from: [common](../messages/common.md#HIL_STATE_QUATERNION)\] {#HIL_STATE_QUATERNION} - -### SCALED_IMU2 (116) — \[from: [common](../messages/common.md#SCALED_IMU2)\] {#SCALED_IMU2} - -### LOG_REQUEST_LIST (117) — \[from: [common](../messages/common.md#LOG_REQUEST_LIST)\] {#LOG_REQUEST_LIST} - -### LOG_ENTRY (118) — \[from: [common](../messages/common.md#LOG_ENTRY)\] {#LOG_ENTRY} - -### LOG_REQUEST_DATA (119) — \[from: [common](../messages/common.md#LOG_REQUEST_DATA)\] {#LOG_REQUEST_DATA} - -### LOG_DATA (120) — \[from: [common](../messages/common.md#LOG_DATA)\] {#LOG_DATA} - -### LOG_ERASE (121) — \[from: [common](../messages/common.md#LOG_ERASE)\] {#LOG_ERASE} - -### LOG_REQUEST_END (122) — \[from: [common](../messages/common.md#LOG_REQUEST_END)\] {#LOG_REQUEST_END} - -### GPS_INJECT_DATA (123) — \[from: [common](../messages/common.md#GPS_INJECT_DATA)\] [DEP] {#GPS_INJECT_DATA} - -### GPS2_RAW (124) — \[from: [common](../messages/common.md#GPS2_RAW)\] {#GPS2_RAW} - -### POWER_STATUS (125) — \[from: [common](../messages/common.md#POWER_STATUS)\] {#POWER_STATUS} - -### SERIAL_CONTROL (126) — \[from: [common](../messages/common.md#SERIAL_CONTROL)\] {#SERIAL_CONTROL} - -### GPS_RTK (127) — \[from: [common](../messages/common.md#GPS_RTK)\] {#GPS_RTK} - -### GPS2_RTK (128) — \[from: [common](../messages/common.md#GPS2_RTK)\] {#GPS2_RTK} - -### SCALED_IMU3 (129) — \[from: [common](../messages/common.md#SCALED_IMU3)\] {#SCALED_IMU3} - -### DATA_TRANSMISSION_HANDSHAKE (130) — \[from: [common](../messages/common.md#DATA_TRANSMISSION_HANDSHAKE)\] {#DATA_TRANSMISSION_HANDSHAKE} - -### ENCAPSULATED_DATA (131) — \[from: [common](../messages/common.md#ENCAPSULATED_DATA)\] {#ENCAPSULATED_DATA} - -### DISTANCE_SENSOR (132) — \[from: [common](../messages/common.md#DISTANCE_SENSOR)\] {#DISTANCE_SENSOR} - -### TERRAIN_REQUEST (133) — \[from: [common](../messages/common.md#TERRAIN_REQUEST)\] {#TERRAIN_REQUEST} - -### TERRAIN_DATA (134) — \[from: [common](../messages/common.md#TERRAIN_DATA)\] {#TERRAIN_DATA} - -### TERRAIN_CHECK (135) — \[from: [common](../messages/common.md#TERRAIN_CHECK)\] {#TERRAIN_CHECK} - -### TERRAIN_REPORT (136) — \[from: [common](../messages/common.md#TERRAIN_REPORT)\] {#TERRAIN_REPORT} - -### SCALED_PRESSURE2 (137) — \[from: [common](../messages/common.md#SCALED_PRESSURE2)\] {#SCALED_PRESSURE2} - -### ATT_POS_MOCAP (138) — \[from: [common](../messages/common.md#ATT_POS_MOCAP)\] {#ATT_POS_MOCAP} - -### SET_ACTUATOR_CONTROL_TARGET (139) — \[from: [common](../messages/common.md#SET_ACTUATOR_CONTROL_TARGET)\] {#SET_ACTUATOR_CONTROL_TARGET} - -### ACTUATOR_CONTROL_TARGET (140) — \[from: [common](../messages/common.md#ACTUATOR_CONTROL_TARGET)\] {#ACTUATOR_CONTROL_TARGET} - -### ALTITUDE (141) — \[from: [common](../messages/common.md#ALTITUDE)\] {#ALTITUDE} - -### RESOURCE_REQUEST (142) — \[from: [common](../messages/common.md#RESOURCE_REQUEST)\] {#RESOURCE_REQUEST} - -### SCALED_PRESSURE3 (143) — \[from: [common](../messages/common.md#SCALED_PRESSURE3)\] {#SCALED_PRESSURE3} - -### FOLLOW_TARGET (144) — \[from: [common](../messages/common.md#FOLLOW_TARGET)\] {#FOLLOW_TARGET} - -### CONTROL_SYSTEM_STATE (146) — \[from: [common](../messages/common.md#CONTROL_SYSTEM_STATE)\] {#CONTROL_SYSTEM_STATE} - -### BATTERY_STATUS (147) — \[from: [common](../messages/common.md#BATTERY_STATUS)\] {#BATTERY_STATUS} - -### AUTOPILOT_VERSION (148) — \[from: [common](../messages/common.md#AUTOPILOT_VERSION)\] {#AUTOPILOT_VERSION} - -### LANDING_TARGET (149) — \[from: [common](../messages/common.md#LANDING_TARGET)\] {#LANDING_TARGET} - -### FENCE_STATUS (162) — \[from: [common](../messages/common.md#FENCE_STATUS)\] {#FENCE_STATUS} - -### MAG_CAL_REPORT (192) — \[from: [common](../messages/common.md#MAG_CAL_REPORT)\] {#MAG_CAL_REPORT} - -### EFI_STATUS (225) — \[from: [common](../messages/common.md#EFI_STATUS)\] {#EFI_STATUS} - -### ESTIMATOR_STATUS (230) — \[from: [common](../messages/common.md#ESTIMATOR_STATUS)\] {#ESTIMATOR_STATUS} - -### WIND_COV (231) — \[from: [common](../messages/common.md#WIND_COV)\] {#WIND_COV} - -### GPS_INPUT (232) — \[from: [common](../messages/common.md#GPS_INPUT)\] {#GPS_INPUT} - -### GPS_RTCM_DATA (233) — \[from: [common](../messages/common.md#GPS_RTCM_DATA)\] {#GPS_RTCM_DATA} - -### HIGH_LATENCY (234) — \[from: [common](../messages/common.md#HIGH_LATENCY)\] [DEP] {#HIGH_LATENCY} - -### HIGH_LATENCY2 (235) — \[from: [common](../messages/common.md#HIGH_LATENCY2)\] {#HIGH_LATENCY2} - -### VIBRATION (241) — \[from: [common](../messages/common.md#VIBRATION)\] {#VIBRATION} - -### HOME_POSITION (242) — \[from: [common](../messages/common.md#HOME_POSITION)\] {#HOME_POSITION} - -### SET_HOME_POSITION (243) — \[from: [common](../messages/common.md#SET_HOME_POSITION)\] [DEP] {#SET_HOME_POSITION} - -### MESSAGE_INTERVAL (244) — \[from: [common](../messages/common.md#MESSAGE_INTERVAL)\] {#MESSAGE_INTERVAL} - -### EXTENDED_SYS_STATE (245) — \[from: [common](../messages/common.md#EXTENDED_SYS_STATE)\] {#EXTENDED_SYS_STATE} - -### ADSB_VEHICLE (246) — \[from: [common](../messages/common.md#ADSB_VEHICLE)\] {#ADSB_VEHICLE} - -### COLLISION (247) — \[from: [common](../messages/common.md#COLLISION)\] {#COLLISION} - -### V2_EXTENSION (248) — \[from: [common](../messages/common.md#V2_EXTENSION)\] {#V2_EXTENSION} - -### MEMORY_VECT (249) — \[from: [common](../messages/common.md#MEMORY_VECT)\] {#MEMORY_VECT} - -### DEBUG_VECT (250) — \[from: [common](../messages/common.md#DEBUG_VECT)\] {#DEBUG_VECT} - -### NAMED_VALUE_FLOAT (251) — \[from: [common](../messages/common.md#NAMED_VALUE_FLOAT)\] {#NAMED_VALUE_FLOAT} - -### NAMED_VALUE_INT (252) — \[from: [common](../messages/common.md#NAMED_VALUE_INT)\] {#NAMED_VALUE_INT} - -### STATUSTEXT (253) — \[from: [common](../messages/common.md#STATUSTEXT)\] {#STATUSTEXT} - -### DEBUG (254) — \[from: [common](../messages/common.md#DEBUG)\] {#DEBUG} - -### SETUP_SIGNING (256) — \[from: [common](../messages/common.md#SETUP_SIGNING)\] {#SETUP_SIGNING} - -### BUTTON_CHANGE (257) — \[from: [common](../messages/common.md#BUTTON_CHANGE)\] {#BUTTON_CHANGE} - -### PLAY_TUNE (258) — \[from: [common](../messages/common.md#PLAY_TUNE)\] [DEP] {#PLAY_TUNE} - -### CAMERA_INFORMATION (259) — \[from: [common](../messages/common.md#CAMERA_INFORMATION)\] {#CAMERA_INFORMATION} - -### CAMERA_SETTINGS (260) — \[from: [common](../messages/common.md#CAMERA_SETTINGS)\] {#CAMERA_SETTINGS} - -### STORAGE_INFORMATION (261) — \[from: [common](../messages/common.md#STORAGE_INFORMATION)\] {#STORAGE_INFORMATION} - -### CAMERA_CAPTURE_STATUS (262) — \[from: [common](../messages/common.md#CAMERA_CAPTURE_STATUS)\] {#CAMERA_CAPTURE_STATUS} - -### CAMERA_IMAGE_CAPTURED (263) — \[from: [common](../messages/common.md#CAMERA_IMAGE_CAPTURED)\] {#CAMERA_IMAGE_CAPTURED} - -### FLIGHT_INFORMATION (264) — \[from: [common](../messages/common.md#FLIGHT_INFORMATION)\] {#FLIGHT_INFORMATION} - -### MOUNT_ORIENTATION (265) — \[from: [common](../messages/common.md#MOUNT_ORIENTATION)\] [DEP] {#MOUNT_ORIENTATION} - -### LOGGING_DATA (266) — \[from: [common](../messages/common.md#LOGGING_DATA)\] {#LOGGING_DATA} - -### LOGGING_DATA_ACKED (267) — \[from: [common](../messages/common.md#LOGGING_DATA_ACKED)\] {#LOGGING_DATA_ACKED} - -### LOGGING_ACK (268) — \[from: [common](../messages/common.md#LOGGING_ACK)\] {#LOGGING_ACK} - -### VIDEO_STREAM_INFORMATION (269) — \[from: [common](../messages/common.md#VIDEO_STREAM_INFORMATION)\] {#VIDEO_STREAM_INFORMATION} - -### VIDEO_STREAM_STATUS (270) — \[from: [common](../messages/common.md#VIDEO_STREAM_STATUS)\] {#VIDEO_STREAM_STATUS} - -### CAMERA_FOV_STATUS (271) — \[from: [common](../messages/common.md#CAMERA_FOV_STATUS)\] {#CAMERA_FOV_STATUS} - -### CAMERA_TRACKING_IMAGE_STATUS (275) — \[from: [common](../messages/common.md#CAMERA_TRACKING_IMAGE_STATUS)\] {#CAMERA_TRACKING_IMAGE_STATUS} - -### CAMERA_TRACKING_GEO_STATUS (276) — \[from: [common](../messages/common.md#CAMERA_TRACKING_GEO_STATUS)\] {#CAMERA_TRACKING_GEO_STATUS} - -### CAMERA_THERMAL_RANGE (277) — \[from: [common](../messages/common.md#CAMERA_THERMAL_RANGE)\] [WIP] {#CAMERA_THERMAL_RANGE} - -### GIMBAL_MANAGER_INFORMATION (280) — \[from: [common](../messages/common.md#GIMBAL_MANAGER_INFORMATION)\] {#GIMBAL_MANAGER_INFORMATION} - -### GIMBAL_MANAGER_STATUS (281) — \[from: [common](../messages/common.md#GIMBAL_MANAGER_STATUS)\] {#GIMBAL_MANAGER_STATUS} - -### GIMBAL_MANAGER_SET_ATTITUDE (282) — \[from: [common](../messages/common.md#GIMBAL_MANAGER_SET_ATTITUDE)\] {#GIMBAL_MANAGER_SET_ATTITUDE} - -### GIMBAL_DEVICE_INFORMATION (283) — \[from: [common](../messages/common.md#GIMBAL_DEVICE_INFORMATION)\] {#GIMBAL_DEVICE_INFORMATION} - -### GIMBAL_DEVICE_SET_ATTITUDE (284) — \[from: [common](../messages/common.md#GIMBAL_DEVICE_SET_ATTITUDE)\] {#GIMBAL_DEVICE_SET_ATTITUDE} - -### GIMBAL_DEVICE_ATTITUDE_STATUS (285) — \[from: [common](../messages/common.md#GIMBAL_DEVICE_ATTITUDE_STATUS)\] {#GIMBAL_DEVICE_ATTITUDE_STATUS} - -### AUTOPILOT_STATE_FOR_GIMBAL_DEVICE (286) — \[from: [common](../messages/common.md#AUTOPILOT_STATE_FOR_GIMBAL_DEVICE)\] {#AUTOPILOT_STATE_FOR_GIMBAL_DEVICE} - -### GIMBAL_MANAGER_SET_PITCHYAW (287) — \[from: [common](../messages/common.md#GIMBAL_MANAGER_SET_PITCHYAW)\] {#GIMBAL_MANAGER_SET_PITCHYAW} - -### GIMBAL_MANAGER_SET_MANUAL_CONTROL (288) — \[from: [common](../messages/common.md#GIMBAL_MANAGER_SET_MANUAL_CONTROL)\] {#GIMBAL_MANAGER_SET_MANUAL_CONTROL} - -### ESC_INFO (290) — \[from: [common](../messages/common.md#ESC_INFO)\] [WIP] {#ESC_INFO} - -### ESC_STATUS (291) — \[from: [common](../messages/common.md#ESC_STATUS)\] [WIP] {#ESC_STATUS} - -### WIFI_CONFIG_AP (299) — \[from: [common](../messages/common.md#WIFI_CONFIG_AP)\] {#WIFI_CONFIG_AP} - -### PROTOCOL_VERSION (300) — \[from: [minimal](../messages/minimal.md#PROTOCOL_VERSION)\] [WIP] {#PROTOCOL_VERSION} - -### AIS_VESSEL (301) — \[from: [common](../messages/common.md#AIS_VESSEL)\] {#AIS_VESSEL} - -### UAVCAN_NODE_STATUS (310) — \[from: [common](../messages/common.md#UAVCAN_NODE_STATUS)\] {#UAVCAN_NODE_STATUS} - -### UAVCAN_NODE_INFO (311) — \[from: [common](../messages/common.md#UAVCAN_NODE_INFO)\] {#UAVCAN_NODE_INFO} - -### PARAM_EXT_REQUEST_READ (320) — \[from: [common](../messages/common.md#PARAM_EXT_REQUEST_READ)\] {#PARAM_EXT_REQUEST_READ} - -### PARAM_EXT_REQUEST_LIST (321) — \[from: [common](../messages/common.md#PARAM_EXT_REQUEST_LIST)\] {#PARAM_EXT_REQUEST_LIST} - -### PARAM_EXT_VALUE (322) — \[from: [common](../messages/common.md#PARAM_EXT_VALUE)\] {#PARAM_EXT_VALUE} - -### PARAM_EXT_SET (323) — \[from: [common](../messages/common.md#PARAM_EXT_SET)\] {#PARAM_EXT_SET} - -### PARAM_EXT_ACK (324) — \[from: [common](../messages/common.md#PARAM_EXT_ACK)\] {#PARAM_EXT_ACK} - -### OBSTACLE_DISTANCE (330) — \[from: [common](../messages/common.md#OBSTACLE_DISTANCE)\] {#OBSTACLE_DISTANCE} - -### ODOMETRY (331) — \[from: [common](../messages/common.md#ODOMETRY)\] {#ODOMETRY} - -### TRAJECTORY_REPRESENTATION_WAYPOINTS (332) — \[from: [common](../messages/common.md#TRAJECTORY_REPRESENTATION_WAYPOINTS)\] {#TRAJECTORY_REPRESENTATION_WAYPOINTS} - -### TRAJECTORY_REPRESENTATION_BEZIER (333) — \[from: [common](../messages/common.md#TRAJECTORY_REPRESENTATION_BEZIER)\] {#TRAJECTORY_REPRESENTATION_BEZIER} - -### CELLULAR_STATUS (334) — \[from: [common](../messages/common.md#CELLULAR_STATUS)\] {#CELLULAR_STATUS} - -### ISBD_LINK_STATUS (335) — \[from: [common](../messages/common.md#ISBD_LINK_STATUS)\] {#ISBD_LINK_STATUS} - -### CELLULAR_CONFIG (336) — \[from: [common](../messages/common.md#CELLULAR_CONFIG)\] {#CELLULAR_CONFIG} - -### RAW_RPM (339) — \[from: [common](../messages/common.md#RAW_RPM)\] {#RAW_RPM} - -### UTM_GLOBAL_POSITION (340) — \[from: [common](../messages/common.md#UTM_GLOBAL_POSITION)\] {#UTM_GLOBAL_POSITION} - -### DEBUG_FLOAT_ARRAY (350) — \[from: [common](../messages/common.md#DEBUG_FLOAT_ARRAY)\] {#DEBUG_FLOAT_ARRAY} - -### ORBIT_EXECUTION_STATUS (360) — \[from: [common](../messages/common.md#ORBIT_EXECUTION_STATUS)\] [WIP] {#ORBIT_EXECUTION_STATUS} - -### BATTERY_INFO (370) — \[from: [common](../messages/common.md#BATTERY_INFO)\] [WIP] {#BATTERY_INFO} - -### GENERATOR_STATUS (373) — \[from: [common](../messages/common.md#GENERATOR_STATUS)\] {#GENERATOR_STATUS} - -### ACTUATOR_OUTPUT_STATUS (375) — \[from: [common](../messages/common.md#ACTUATOR_OUTPUT_STATUS)\] {#ACTUATOR_OUTPUT_STATUS} - -### TIME_ESTIMATE_TO_TARGET (380) — \[from: [common](../messages/common.md#TIME_ESTIMATE_TO_TARGET)\] [WIP] {#TIME_ESTIMATE_TO_TARGET} - -### TUNNEL (385) — \[from: [common](../messages/common.md#TUNNEL)\] {#TUNNEL} - -### CAN_FRAME (386) — \[from: [common](../messages/common.md#CAN_FRAME)\] {#CAN_FRAME} - -### CANFD_FRAME (387) — \[from: [common](../messages/common.md#CANFD_FRAME)\] {#CANFD_FRAME} - -### CAN_FILTER_MODIFY (388) — \[from: [common](../messages/common.md#CAN_FILTER_MODIFY)\] {#CAN_FILTER_MODIFY} - -### ONBOARD_COMPUTER_STATUS (390) — \[from: [common](../messages/common.md#ONBOARD_COMPUTER_STATUS)\] [WIP] {#ONBOARD_COMPUTER_STATUS} - -### COMPONENT_INFORMATION (395) — \[from: [common](../messages/common.md#COMPONENT_INFORMATION)\] [DEP] {#COMPONENT_INFORMATION} - -### COMPONENT_INFORMATION_BASIC (396) — \[from: [common](../messages/common.md#COMPONENT_INFORMATION_BASIC)\] {#COMPONENT_INFORMATION_BASIC} - -### COMPONENT_METADATA (397) — \[from: [common](../messages/common.md#COMPONENT_METADATA)\] [WIP] {#COMPONENT_METADATA} - -### PLAY_TUNE_V2 (400) — \[from: [common](../messages/common.md#PLAY_TUNE_V2)\] {#PLAY_TUNE_V2} - -### SUPPORTED_TUNES (401) — \[from: [common](../messages/common.md#SUPPORTED_TUNES)\] {#SUPPORTED_TUNES} - -### EVENT (410) — \[from: [common](../messages/common.md#EVENT)\] [WIP] {#EVENT} - -### CURRENT_EVENT_SEQUENCE (411) — \[from: [common](../messages/common.md#CURRENT_EVENT_SEQUENCE)\] [WIP] {#CURRENT_EVENT_SEQUENCE} - -### REQUEST_EVENT (412) — \[from: [common](../messages/common.md#REQUEST_EVENT)\] [WIP] {#REQUEST_EVENT} - -### RESPONSE_EVENT_ERROR (413) — \[from: [common](../messages/common.md#RESPONSE_EVENT_ERROR)\] [WIP] {#RESPONSE_EVENT_ERROR} - -### ILLUMINATOR_STATUS (440) — \[from: [common](../messages/common.md#ILLUMINATOR_STATUS)\] {#ILLUMINATOR_STATUS} - -### WHEEL_DISTANCE (9000) — \[from: [common](../messages/common.md#WHEEL_DISTANCE)\] {#WHEEL_DISTANCE} - -### WINCH_STATUS (9005) — \[from: [common](../messages/common.md#WINCH_STATUS)\] {#WINCH_STATUS} - -### OPEN_DRONE_ID_BASIC_ID (12900) — \[from: [common](../messages/common.md#OPEN_DRONE_ID_BASIC_ID)\] {#OPEN_DRONE_ID_BASIC_ID} - -### OPEN_DRONE_ID_LOCATION (12901) — \[from: [common](../messages/common.md#OPEN_DRONE_ID_LOCATION)\] {#OPEN_DRONE_ID_LOCATION} - -### OPEN_DRONE_ID_AUTHENTICATION (12902) — \[from: [common](../messages/common.md#OPEN_DRONE_ID_AUTHENTICATION)\] {#OPEN_DRONE_ID_AUTHENTICATION} - -### OPEN_DRONE_ID_SELF_ID (12903) — \[from: [common](../messages/common.md#OPEN_DRONE_ID_SELF_ID)\] {#OPEN_DRONE_ID_SELF_ID} - -### OPEN_DRONE_ID_SYSTEM (12904) — \[from: [common](../messages/common.md#OPEN_DRONE_ID_SYSTEM)\] {#OPEN_DRONE_ID_SYSTEM} - -### OPEN_DRONE_ID_OPERATOR_ID (12905) — \[from: [common](../messages/common.md#OPEN_DRONE_ID_OPERATOR_ID)\] {#OPEN_DRONE_ID_OPERATOR_ID} - -### OPEN_DRONE_ID_MESSAGE_PACK (12915) — \[from: [common](../messages/common.md#OPEN_DRONE_ID_MESSAGE_PACK)\] {#OPEN_DRONE_ID_MESSAGE_PACK} - -### OPEN_DRONE_ID_ARM_STATUS (12918) — \[from: [common](../messages/common.md#OPEN_DRONE_ID_ARM_STATUS)\] {#OPEN_DRONE_ID_ARM_STATUS} - -### OPEN_DRONE_ID_SYSTEM_UPDATE (12919) — \[from: [common](../messages/common.md#OPEN_DRONE_ID_SYSTEM_UPDATE)\] {#OPEN_DRONE_ID_SYSTEM_UPDATE} - -### HYGROMETER_SENSOR (12920) — \[from: [common](../messages/common.md#HYGROMETER_SENSOR)\] {#HYGROMETER_SENSOR} - ### AVSS_PRS_SYS_STATUS (60050) {#AVSS_PRS_SYS_STATUS} AVSS PRS system status. @@ -584,620 +136,8 @@ Drone operation mode. | 3 | [MODE_HORSEFLY_NAVI_GO_HOME](#MODE_HORSEFLY_NAVI_GO_HOME) | In go home mode | | 4 | [MODE_HORSEFLY_DROP](#MODE_HORSEFLY_DROP) | In drop mode | -### FIRMWARE_VERSION_TYPE — \[from: [common](../messages/common.md#FIRMWARE_VERSION_TYPE)\] {#FIRMWARE_VERSION_TYPE} - -### HL_FAILURE_FLAG — \[from: [common](../messages/common.md#HL_FAILURE_FLAG)\] {#HL_FAILURE_FLAG} - -### MAV_GOTO — \[from: [common](../messages/common.md#MAV_GOTO)\] {#MAV_GOTO} - -### MAV_MODE — \[from: [common](../messages/common.md#MAV_MODE)\] {#MAV_MODE} - -### MAV_SYS_STATUS_SENSOR — \[from: [common](../messages/common.md#MAV_SYS_STATUS_SENSOR)\] {#MAV_SYS_STATUS_SENSOR} - -### MAV_SYS_STATUS_SENSOR_EXTENDED — \[from: [common](../messages/common.md#MAV_SYS_STATUS_SENSOR_EXTENDED)\] {#MAV_SYS_STATUS_SENSOR_EXTENDED} - -### MAV_FRAME — \[from: [common](../messages/common.md#MAV_FRAME)\] {#MAV_FRAME} - -### MAVLINK_DATA_STREAM_TYPE — \[from: [common](../messages/common.md#MAVLINK_DATA_STREAM_TYPE)\] {#MAVLINK_DATA_STREAM_TYPE} - -### FENCE_ACTION — \[from: [common](../messages/common.md#FENCE_ACTION)\] {#FENCE_ACTION} - -### FENCE_BREACH — \[from: [common](../messages/common.md#FENCE_BREACH)\] {#FENCE_BREACH} - -### FENCE_MITIGATE — \[from: [common](../messages/common.md#FENCE_MITIGATE)\] {#FENCE_MITIGATE} - -### FENCE_TYPE — \[from: [common](../messages/common.md#FENCE_TYPE)\] {#FENCE_TYPE} - -### MAV_MOUNT_MODE — \[from: [common](../messages/common.md#MAV_MOUNT_MODE)\] [DEP] {#MAV_MOUNT_MODE} - -### GIMBAL_DEVICE_CAP_FLAGS — \[from: [common](../messages/common.md#GIMBAL_DEVICE_CAP_FLAGS)\] {#GIMBAL_DEVICE_CAP_FLAGS} - -### GIMBAL_MANAGER_CAP_FLAGS — \[from: [common](../messages/common.md#GIMBAL_MANAGER_CAP_FLAGS)\] {#GIMBAL_MANAGER_CAP_FLAGS} - -### GIMBAL_DEVICE_FLAGS — \[from: [common](../messages/common.md#GIMBAL_DEVICE_FLAGS)\] {#GIMBAL_DEVICE_FLAGS} - -### GIMBAL_MANAGER_FLAGS — \[from: [common](../messages/common.md#GIMBAL_MANAGER_FLAGS)\] {#GIMBAL_MANAGER_FLAGS} - -### GIMBAL_DEVICE_ERROR_FLAGS — \[from: [common](../messages/common.md#GIMBAL_DEVICE_ERROR_FLAGS)\] {#GIMBAL_DEVICE_ERROR_FLAGS} - -### GRIPPER_ACTIONS — \[from: [common](../messages/common.md#GRIPPER_ACTIONS)\] {#GRIPPER_ACTIONS} - -### WINCH_ACTIONS — \[from: [common](../messages/common.md#WINCH_ACTIONS)\] {#WINCH_ACTIONS} - -### UAVCAN_NODE_HEALTH — \[from: [common](../messages/common.md#UAVCAN_NODE_HEALTH)\] {#UAVCAN_NODE_HEALTH} - -### UAVCAN_NODE_MODE — \[from: [common](../messages/common.md#UAVCAN_NODE_MODE)\] {#UAVCAN_NODE_MODE} - -### ESC_CONNECTION_TYPE — \[from: [common](../messages/common.md#ESC_CONNECTION_TYPE)\] {#ESC_CONNECTION_TYPE} - -### ESC_FAILURE_FLAGS — \[from: [common](../messages/common.md#ESC_FAILURE_FLAGS)\] {#ESC_FAILURE_FLAGS} - -### STORAGE_STATUS — \[from: [common](../messages/common.md#STORAGE_STATUS)\] {#STORAGE_STATUS} - -### STORAGE_TYPE — \[from: [common](../messages/common.md#STORAGE_TYPE)\] {#STORAGE_TYPE} - -### STORAGE_USAGE_FLAG — \[from: [common](../messages/common.md#STORAGE_USAGE_FLAG)\] {#STORAGE_USAGE_FLAG} - -### ORBIT_YAW_BEHAVIOUR — \[from: [common](../messages/common.md#ORBIT_YAW_BEHAVIOUR)\] {#ORBIT_YAW_BEHAVIOUR} - -### WIFI_CONFIG_AP_RESPONSE — \[from: [common](../messages/common.md#WIFI_CONFIG_AP_RESPONSE)\] {#WIFI_CONFIG_AP_RESPONSE} - -### CELLULAR_CONFIG_RESPONSE — \[from: [common](../messages/common.md#CELLULAR_CONFIG_RESPONSE)\] {#CELLULAR_CONFIG_RESPONSE} - -### WIFI_CONFIG_AP_MODE — \[from: [common](../messages/common.md#WIFI_CONFIG_AP_MODE)\] {#WIFI_CONFIG_AP_MODE} - -### COMP_METADATA_TYPE — \[from: [common](../messages/common.md#COMP_METADATA_TYPE)\] {#COMP_METADATA_TYPE} - -### ACTUATOR_CONFIGURATION — \[from: [common](../messages/common.md#ACTUATOR_CONFIGURATION)\] {#ACTUATOR_CONFIGURATION} - -### ACTUATOR_OUTPUT_FUNCTION — \[from: [common](../messages/common.md#ACTUATOR_OUTPUT_FUNCTION)\] {#ACTUATOR_OUTPUT_FUNCTION} - -### AUTOTUNE_AXIS — \[from: [common](../messages/common.md#AUTOTUNE_AXIS)\] {#AUTOTUNE_AXIS} - -### PREFLIGHT_STORAGE_PARAMETER_ACTION — \[from: [common](../messages/common.md#PREFLIGHT_STORAGE_PARAMETER_ACTION)\] {#PREFLIGHT_STORAGE_PARAMETER_ACTION} - -### PREFLIGHT_STORAGE_MISSION_ACTION — \[from: [common](../messages/common.md#PREFLIGHT_STORAGE_MISSION_ACTION)\] {#PREFLIGHT_STORAGE_MISSION_ACTION} - -### MAV_DATA_STREAM — \[from: [common](../messages/common.md#MAV_DATA_STREAM)\] [DEP] {#MAV_DATA_STREAM} - -### MAV_ROI — \[from: [common](../messages/common.md#MAV_ROI)\] [DEP] {#MAV_ROI} - -### MAV_PARAM_TYPE — \[from: [common](../messages/common.md#MAV_PARAM_TYPE)\] {#MAV_PARAM_TYPE} - -### MAV_PARAM_EXT_TYPE — \[from: [common](../messages/common.md#MAV_PARAM_EXT_TYPE)\] {#MAV_PARAM_EXT_TYPE} - -### MAV_RESULT — \[from: [common](../messages/common.md#MAV_RESULT)\] {#MAV_RESULT} - -### MAV_MISSION_RESULT — \[from: [common](../messages/common.md#MAV_MISSION_RESULT)\] {#MAV_MISSION_RESULT} - -### MAV_SEVERITY — \[from: [common](../messages/common.md#MAV_SEVERITY)\] {#MAV_SEVERITY} - -### MAV_POWER_STATUS — \[from: [common](../messages/common.md#MAV_POWER_STATUS)\] {#MAV_POWER_STATUS} - -### SERIAL_CONTROL_DEV — \[from: [common](../messages/common.md#SERIAL_CONTROL_DEV)\] {#SERIAL_CONTROL_DEV} - -### SERIAL_CONTROL_FLAG — \[from: [common](../messages/common.md#SERIAL_CONTROL_FLAG)\] {#SERIAL_CONTROL_FLAG} - -### MAV_DISTANCE_SENSOR — \[from: [common](../messages/common.md#MAV_DISTANCE_SENSOR)\] {#MAV_DISTANCE_SENSOR} - -### MAV_SENSOR_ORIENTATION — \[from: [common](../messages/common.md#MAV_SENSOR_ORIENTATION)\] {#MAV_SENSOR_ORIENTATION} - -### MAV_PROTOCOL_CAPABILITY — \[from: [common](../messages/common.md#MAV_PROTOCOL_CAPABILITY)\] {#MAV_PROTOCOL_CAPABILITY} - -### MAV_MISSION_TYPE — \[from: [common](../messages/common.md#MAV_MISSION_TYPE)\] {#MAV_MISSION_TYPE} - -### MAV_ESTIMATOR_TYPE — \[from: [common](../messages/common.md#MAV_ESTIMATOR_TYPE)\] {#MAV_ESTIMATOR_TYPE} - -### MAV_BATTERY_TYPE — \[from: [common](../messages/common.md#MAV_BATTERY_TYPE)\] {#MAV_BATTERY_TYPE} - -### MAV_BATTERY_FUNCTION — \[from: [common](../messages/common.md#MAV_BATTERY_FUNCTION)\] {#MAV_BATTERY_FUNCTION} - -### MAV_BATTERY_CHARGE_STATE — \[from: [common](../messages/common.md#MAV_BATTERY_CHARGE_STATE)\] {#MAV_BATTERY_CHARGE_STATE} - -### MAV_BATTERY_MODE — \[from: [common](../messages/common.md#MAV_BATTERY_MODE)\] {#MAV_BATTERY_MODE} - -### MAV_BATTERY_FAULT — \[from: [common](../messages/common.md#MAV_BATTERY_FAULT)\] {#MAV_BATTERY_FAULT} - -### MAV_GENERATOR_STATUS_FLAG — \[from: [common](../messages/common.md#MAV_GENERATOR_STATUS_FLAG)\] {#MAV_GENERATOR_STATUS_FLAG} - -### MAV_VTOL_STATE — \[from: [common](../messages/common.md#MAV_VTOL_STATE)\] {#MAV_VTOL_STATE} - -### MAV_LANDED_STATE — \[from: [common](../messages/common.md#MAV_LANDED_STATE)\] {#MAV_LANDED_STATE} - -### ADSB_ALTITUDE_TYPE — \[from: [common](../messages/common.md#ADSB_ALTITUDE_TYPE)\] {#ADSB_ALTITUDE_TYPE} - -### ADSB_EMITTER_TYPE — \[from: [common](../messages/common.md#ADSB_EMITTER_TYPE)\] {#ADSB_EMITTER_TYPE} - -### ADSB_FLAGS — \[from: [common](../messages/common.md#ADSB_FLAGS)\] {#ADSB_FLAGS} - -### MAV_DO_REPOSITION_FLAGS — \[from: [common](../messages/common.md#MAV_DO_REPOSITION_FLAGS)\] {#MAV_DO_REPOSITION_FLAGS} - -### SPEED_TYPE — \[from: [common](../messages/common.md#SPEED_TYPE)\] {#SPEED_TYPE} - -### ESTIMATOR_STATUS_FLAGS — \[from: [common](../messages/common.md#ESTIMATOR_STATUS_FLAGS)\] {#ESTIMATOR_STATUS_FLAGS} - -### MOTOR_TEST_ORDER — \[from: [common](../messages/common.md#MOTOR_TEST_ORDER)\] {#MOTOR_TEST_ORDER} - -### MOTOR_TEST_THROTTLE_TYPE — \[from: [common](../messages/common.md#MOTOR_TEST_THROTTLE_TYPE)\] {#MOTOR_TEST_THROTTLE_TYPE} - -### GPS_INPUT_IGNORE_FLAGS — \[from: [common](../messages/common.md#GPS_INPUT_IGNORE_FLAGS)\] {#GPS_INPUT_IGNORE_FLAGS} - -### MAV_COLLISION_ACTION — \[from: [common](../messages/common.md#MAV_COLLISION_ACTION)\] {#MAV_COLLISION_ACTION} - -### MAV_COLLISION_THREAT_LEVEL — \[from: [common](../messages/common.md#MAV_COLLISION_THREAT_LEVEL)\] {#MAV_COLLISION_THREAT_LEVEL} - -### MAV_COLLISION_SRC — \[from: [common](../messages/common.md#MAV_COLLISION_SRC)\] {#MAV_COLLISION_SRC} - -### GPS_FIX_TYPE — \[from: [common](../messages/common.md#GPS_FIX_TYPE)\] {#GPS_FIX_TYPE} - -### RTK_BASELINE_COORDINATE_SYSTEM — \[from: [common](../messages/common.md#RTK_BASELINE_COORDINATE_SYSTEM)\] {#RTK_BASELINE_COORDINATE_SYSTEM} - -### LANDING_TARGET_TYPE — \[from: [common](../messages/common.md#LANDING_TARGET_TYPE)\] {#LANDING_TARGET_TYPE} - -### VTOL_TRANSITION_HEADING — \[from: [common](../messages/common.md#VTOL_TRANSITION_HEADING)\] {#VTOL_TRANSITION_HEADING} - -### CAMERA_CAP_FLAGS — \[from: [common](../messages/common.md#CAMERA_CAP_FLAGS)\] {#CAMERA_CAP_FLAGS} - -### VIDEO_STREAM_STATUS_FLAGS — \[from: [common](../messages/common.md#VIDEO_STREAM_STATUS_FLAGS)\] {#VIDEO_STREAM_STATUS_FLAGS} - -### VIDEO_STREAM_TYPE — \[from: [common](../messages/common.md#VIDEO_STREAM_TYPE)\] {#VIDEO_STREAM_TYPE} - -### VIDEO_STREAM_ENCODING — \[from: [common](../messages/common.md#VIDEO_STREAM_ENCODING)\] {#VIDEO_STREAM_ENCODING} - -### CAMERA_TRACKING_STATUS_FLAGS — \[from: [common](../messages/common.md#CAMERA_TRACKING_STATUS_FLAGS)\] {#CAMERA_TRACKING_STATUS_FLAGS} - -### CAMERA_TRACKING_MODE — \[from: [common](../messages/common.md#CAMERA_TRACKING_MODE)\] {#CAMERA_TRACKING_MODE} - -### CAMERA_TRACKING_TARGET_DATA — \[from: [common](../messages/common.md#CAMERA_TRACKING_TARGET_DATA)\] {#CAMERA_TRACKING_TARGET_DATA} - -### CAMERA_ZOOM_TYPE — \[from: [common](../messages/common.md#CAMERA_ZOOM_TYPE)\] {#CAMERA_ZOOM_TYPE} - -### SET_FOCUS_TYPE — \[from: [common](../messages/common.md#SET_FOCUS_TYPE)\] {#SET_FOCUS_TYPE} - -### CAMERA_SOURCE — \[from: [common](../messages/common.md#CAMERA_SOURCE)\] {#CAMERA_SOURCE} - -### PARAM_ACK — \[from: [common](../messages/common.md#PARAM_ACK)\] {#PARAM_ACK} - -### CAMERA_MODE — \[from: [common](../messages/common.md#CAMERA_MODE)\] {#CAMERA_MODE} - -### MAV_ARM_AUTH_DENIED_REASON — \[from: [common](../messages/common.md#MAV_ARM_AUTH_DENIED_REASON)\] {#MAV_ARM_AUTH_DENIED_REASON} - -### RC_TYPE — \[from: [common](../messages/common.md#RC_TYPE)\] {#RC_TYPE} - -### POSITION_TARGET_TYPEMASK — \[from: [common](../messages/common.md#POSITION_TARGET_TYPEMASK)\] {#POSITION_TARGET_TYPEMASK} - -### ATTITUDE_TARGET_TYPEMASK — \[from: [common](../messages/common.md#ATTITUDE_TARGET_TYPEMASK)\] {#ATTITUDE_TARGET_TYPEMASK} - -### UTM_FLIGHT_STATE — \[from: [common](../messages/common.md#UTM_FLIGHT_STATE)\] {#UTM_FLIGHT_STATE} - -### UTM_DATA_AVAIL_FLAGS — \[from: [common](../messages/common.md#UTM_DATA_AVAIL_FLAGS)\] {#UTM_DATA_AVAIL_FLAGS} - -### CELLULAR_STATUS_FLAG — \[from: [common](../messages/common.md#CELLULAR_STATUS_FLAG)\] {#CELLULAR_STATUS_FLAG} - -### CELLULAR_NETWORK_FAILED_REASON — \[from: [common](../messages/common.md#CELLULAR_NETWORK_FAILED_REASON)\] {#CELLULAR_NETWORK_FAILED_REASON} - -### CELLULAR_NETWORK_RADIO_TYPE — \[from: [common](../messages/common.md#CELLULAR_NETWORK_RADIO_TYPE)\] {#CELLULAR_NETWORK_RADIO_TYPE} - -### PRECISION_LAND_MODE — \[from: [common](../messages/common.md#PRECISION_LAND_MODE)\] {#PRECISION_LAND_MODE} - -### PARACHUTE_ACTION — \[from: [common](../messages/common.md#PARACHUTE_ACTION)\] {#PARACHUTE_ACTION} - -### MAV_TUNNEL_PAYLOAD_TYPE — \[from: [common](../messages/common.md#MAV_TUNNEL_PAYLOAD_TYPE)\] {#MAV_TUNNEL_PAYLOAD_TYPE} - -### MAV_ODID_ID_TYPE — \[from: [common](../messages/common.md#MAV_ODID_ID_TYPE)\] {#MAV_ODID_ID_TYPE} - -### MAV_ODID_UA_TYPE — \[from: [common](../messages/common.md#MAV_ODID_UA_TYPE)\] {#MAV_ODID_UA_TYPE} - -### MAV_ODID_STATUS — \[from: [common](../messages/common.md#MAV_ODID_STATUS)\] {#MAV_ODID_STATUS} - -### MAV_ODID_HEIGHT_REF — \[from: [common](../messages/common.md#MAV_ODID_HEIGHT_REF)\] {#MAV_ODID_HEIGHT_REF} - -### MAV_ODID_HOR_ACC — \[from: [common](../messages/common.md#MAV_ODID_HOR_ACC)\] {#MAV_ODID_HOR_ACC} - -### MAV_ODID_VER_ACC — \[from: [common](../messages/common.md#MAV_ODID_VER_ACC)\] {#MAV_ODID_VER_ACC} - -### MAV_ODID_SPEED_ACC — \[from: [common](../messages/common.md#MAV_ODID_SPEED_ACC)\] {#MAV_ODID_SPEED_ACC} - -### MAV_ODID_TIME_ACC — \[from: [common](../messages/common.md#MAV_ODID_TIME_ACC)\] {#MAV_ODID_TIME_ACC} - -### MAV_ODID_AUTH_TYPE — \[from: [common](../messages/common.md#MAV_ODID_AUTH_TYPE)\] {#MAV_ODID_AUTH_TYPE} - -### MAV_ODID_DESC_TYPE — \[from: [common](../messages/common.md#MAV_ODID_DESC_TYPE)\] {#MAV_ODID_DESC_TYPE} - -### MAV_ODID_OPERATOR_LOCATION_TYPE — \[from: [common](../messages/common.md#MAV_ODID_OPERATOR_LOCATION_TYPE)\] {#MAV_ODID_OPERATOR_LOCATION_TYPE} - -### MAV_ODID_CLASSIFICATION_TYPE — \[from: [common](../messages/common.md#MAV_ODID_CLASSIFICATION_TYPE)\] {#MAV_ODID_CLASSIFICATION_TYPE} - -### MAV_ODID_CATEGORY_EU — \[from: [common](../messages/common.md#MAV_ODID_CATEGORY_EU)\] {#MAV_ODID_CATEGORY_EU} - -### MAV_ODID_CLASS_EU — \[from: [common](../messages/common.md#MAV_ODID_CLASS_EU)\] {#MAV_ODID_CLASS_EU} - -### MAV_ODID_OPERATOR_ID_TYPE — \[from: [common](../messages/common.md#MAV_ODID_OPERATOR_ID_TYPE)\] {#MAV_ODID_OPERATOR_ID_TYPE} - -### MAV_ODID_ARM_STATUS — \[from: [common](../messages/common.md#MAV_ODID_ARM_STATUS)\] {#MAV_ODID_ARM_STATUS} - -### TUNE_FORMAT — \[from: [common](../messages/common.md#TUNE_FORMAT)\] {#TUNE_FORMAT} - -### AIS_TYPE — \[from: [common](../messages/common.md#AIS_TYPE)\] {#AIS_TYPE} - -### AIS_NAV_STATUS — \[from: [common](../messages/common.md#AIS_NAV_STATUS)\] {#AIS_NAV_STATUS} - -### AIS_FLAGS — \[from: [common](../messages/common.md#AIS_FLAGS)\] {#AIS_FLAGS} - -### FAILURE_UNIT — \[from: [common](../messages/common.md#FAILURE_UNIT)\] {#FAILURE_UNIT} - -### FAILURE_TYPE — \[from: [common](../messages/common.md#FAILURE_TYPE)\] {#FAILURE_TYPE} - -### NAV_VTOL_LAND_OPTIONS — \[from: [common](../messages/common.md#NAV_VTOL_LAND_OPTIONS)\] {#NAV_VTOL_LAND_OPTIONS} - -### MAV_WINCH_STATUS_FLAG — \[from: [common](../messages/common.md#MAV_WINCH_STATUS_FLAG)\] {#MAV_WINCH_STATUS_FLAG} - -### MAG_CAL_STATUS — \[from: [common](../messages/common.md#MAG_CAL_STATUS)\] {#MAG_CAL_STATUS} - -### MAV_EVENT_ERROR_REASON — \[from: [common](../messages/common.md#MAV_EVENT_ERROR_REASON)\] {#MAV_EVENT_ERROR_REASON} - -### MAV_EVENT_CURRENT_SEQUENCE_FLAGS — \[from: [common](../messages/common.md#MAV_EVENT_CURRENT_SEQUENCE_FLAGS)\] {#MAV_EVENT_CURRENT_SEQUENCE_FLAGS} - -### HIL_SENSOR_UPDATED_FLAGS — \[from: [common](../messages/common.md#HIL_SENSOR_UPDATED_FLAGS)\] {#HIL_SENSOR_UPDATED_FLAGS} - -### HIGHRES_IMU_UPDATED_FLAGS — \[from: [common](../messages/common.md#HIGHRES_IMU_UPDATED_FLAGS)\] {#HIGHRES_IMU_UPDATED_FLAGS} - -### CAN_FILTER_OP — \[from: [common](../messages/common.md#CAN_FILTER_OP)\] {#CAN_FILTER_OP} - -### MAV_FTP_ERR — \[from: [common](../messages/common.md#MAV_FTP_ERR)\] {#MAV_FTP_ERR} - -### MAV_FTP_OPCODE — \[from: [common](../messages/common.md#MAV_FTP_OPCODE)\] {#MAV_FTP_OPCODE} - -### MISSION_STATE — \[from: [common](../messages/common.md#MISSION_STATE)\] {#MISSION_STATE} - -### SAFETY_SWITCH_STATE — \[from: [common](../messages/common.md#SAFETY_SWITCH_STATE)\] {#SAFETY_SWITCH_STATE} - -### ILLUMINATOR_MODE — \[from: [common](../messages/common.md#ILLUMINATOR_MODE)\] {#ILLUMINATOR_MODE} - -### ILLUMINATOR_ERROR_FLAGS — \[from: [common](../messages/common.md#ILLUMINATOR_ERROR_FLAGS)\] {#ILLUMINATOR_ERROR_FLAGS} - -### MAV_AUTOPILOT — \[from: [minimal](../messages/minimal.md#MAV_AUTOPILOT)\] {#MAV_AUTOPILOT} - -### MAV_TYPE — \[from: [minimal](../messages/minimal.md#MAV_TYPE)\] {#MAV_TYPE} - -### MAV_MODE_FLAG — \[from: [minimal](../messages/minimal.md#MAV_MODE_FLAG)\] {#MAV_MODE_FLAG} - -### MAV_MODE_FLAG_DECODE_POSITION — \[from: [minimal](../messages/minimal.md#MAV_MODE_FLAG_DECODE_POSITION)\] {#MAV_MODE_FLAG_DECODE_POSITION} - -### MAV_STATE — \[from: [minimal](../messages/minimal.md#MAV_STATE)\] {#MAV_STATE} - -### MAV_COMPONENT — \[from: [minimal](../messages/minimal.md#MAV_COMPONENT)\] {#MAV_COMPONENT} - ## Commands (MAV_CMD) {#mav_commands} -### MAV_CMD_NAV_WAYPOINT (16) — \[from: [common](../messages/common.md#MAV_CMD_NAV_WAYPOINT)\] {#MAV_CMD_NAV_WAYPOINT} - -### MAV_CMD_NAV_LOITER_UNLIM (17) — \[from: [common](../messages/common.md#MAV_CMD_NAV_LOITER_UNLIM)\] {#MAV_CMD_NAV_LOITER_UNLIM} - -### MAV_CMD_NAV_LOITER_TURNS (18) — \[from: [common](../messages/common.md#MAV_CMD_NAV_LOITER_TURNS)\] {#MAV_CMD_NAV_LOITER_TURNS} - -### MAV_CMD_NAV_LOITER_TIME (19) — \[from: [common](../messages/common.md#MAV_CMD_NAV_LOITER_TIME)\] {#MAV_CMD_NAV_LOITER_TIME} - -### MAV_CMD_NAV_RETURN_TO_LAUNCH (20) — \[from: [common](../messages/common.md#MAV_CMD_NAV_RETURN_TO_LAUNCH)\] {#MAV_CMD_NAV_RETURN_TO_LAUNCH} - -### MAV_CMD_NAV_LAND (21) — \[from: [common](../messages/common.md#MAV_CMD_NAV_LAND)\] {#MAV_CMD_NAV_LAND} - -### MAV_CMD_NAV_TAKEOFF (22) — \[from: [common](../messages/common.md#MAV_CMD_NAV_TAKEOFF)\] {#MAV_CMD_NAV_TAKEOFF} - -### MAV_CMD_NAV_LAND_LOCAL (23) — \[from: [common](../messages/common.md#MAV_CMD_NAV_LAND_LOCAL)\] {#MAV_CMD_NAV_LAND_LOCAL} - -### MAV_CMD_NAV_TAKEOFF_LOCAL (24) — \[from: [common](../messages/common.md#MAV_CMD_NAV_TAKEOFF_LOCAL)\] {#MAV_CMD_NAV_TAKEOFF_LOCAL} - -### MAV_CMD_NAV_FOLLOW (25) — \[from: [common](../messages/common.md#MAV_CMD_NAV_FOLLOW)\] {#MAV_CMD_NAV_FOLLOW} - -### MAV_CMD_NAV_CONTINUE_AND_CHANGE_ALT (30) — \[from: [common](../messages/common.md#MAV_CMD_NAV_CONTINUE_AND_CHANGE_ALT)\] {#MAV_CMD_NAV_CONTINUE_AND_CHANGE_ALT} - -### MAV_CMD_NAV_LOITER_TO_ALT (31) — \[from: [common](../messages/common.md#MAV_CMD_NAV_LOITER_TO_ALT)\] {#MAV_CMD_NAV_LOITER_TO_ALT} - -### MAV_CMD_DO_FOLLOW (32) — \[from: [common](../messages/common.md#MAV_CMD_DO_FOLLOW)\] {#MAV_CMD_DO_FOLLOW} - -### MAV_CMD_DO_FOLLOW_REPOSITION (33) — \[from: [common](../messages/common.md#MAV_CMD_DO_FOLLOW_REPOSITION)\] {#MAV_CMD_DO_FOLLOW_REPOSITION} - -### MAV_CMD_DO_ORBIT (34) — \[from: [common](../messages/common.md#MAV_CMD_DO_ORBIT)\] [WIP] {#MAV_CMD_DO_ORBIT} - -### MAV_CMD_NAV_ROI (80) — \[from: [common](../messages/common.md#MAV_CMD_NAV_ROI)\] [DEP] {#MAV_CMD_NAV_ROI} - -### MAV_CMD_NAV_PATHPLANNING (81) — \[from: [common](../messages/common.md#MAV_CMD_NAV_PATHPLANNING)\] {#MAV_CMD_NAV_PATHPLANNING} - -### MAV_CMD_NAV_SPLINE_WAYPOINT (82) — \[from: [common](../messages/common.md#MAV_CMD_NAV_SPLINE_WAYPOINT)\] {#MAV_CMD_NAV_SPLINE_WAYPOINT} - -### MAV_CMD_NAV_VTOL_TAKEOFF (84) — \[from: [common](../messages/common.md#MAV_CMD_NAV_VTOL_TAKEOFF)\] {#MAV_CMD_NAV_VTOL_TAKEOFF} - -### MAV_CMD_NAV_VTOL_LAND (85) — \[from: [common](../messages/common.md#MAV_CMD_NAV_VTOL_LAND)\] {#MAV_CMD_NAV_VTOL_LAND} - -### MAV_CMD_NAV_GUIDED_ENABLE (92) — \[from: [common](../messages/common.md#MAV_CMD_NAV_GUIDED_ENABLE)\] {#MAV_CMD_NAV_GUIDED_ENABLE} - -### MAV_CMD_NAV_DELAY (93) — \[from: [common](../messages/common.md#MAV_CMD_NAV_DELAY)\] {#MAV_CMD_NAV_DELAY} - -### MAV_CMD_NAV_PAYLOAD_PLACE (94) — \[from: [common](../messages/common.md#MAV_CMD_NAV_PAYLOAD_PLACE)\] {#MAV_CMD_NAV_PAYLOAD_PLACE} - -### MAV_CMD_NAV_LAST (95) — \[from: [common](../messages/common.md#MAV_CMD_NAV_LAST)\] {#MAV_CMD_NAV_LAST} - -### MAV_CMD_CONDITION_DELAY (112) — \[from: [common](../messages/common.md#MAV_CMD_CONDITION_DELAY)\] {#MAV_CMD_CONDITION_DELAY} - -### MAV_CMD_CONDITION_CHANGE_ALT (113) — \[from: [common](../messages/common.md#MAV_CMD_CONDITION_CHANGE_ALT)\] {#MAV_CMD_CONDITION_CHANGE_ALT} - -### MAV_CMD_CONDITION_DISTANCE (114) — \[from: [common](../messages/common.md#MAV_CMD_CONDITION_DISTANCE)\] {#MAV_CMD_CONDITION_DISTANCE} - -### MAV_CMD_CONDITION_YAW (115) — \[from: [common](../messages/common.md#MAV_CMD_CONDITION_YAW)\] {#MAV_CMD_CONDITION_YAW} - -### MAV_CMD_CONDITION_LAST (159) — \[from: [common](../messages/common.md#MAV_CMD_CONDITION_LAST)\] {#MAV_CMD_CONDITION_LAST} - -### MAV_CMD_DO_SET_MODE (176) — \[from: [common](../messages/common.md#MAV_CMD_DO_SET_MODE)\] {#MAV_CMD_DO_SET_MODE} - -### MAV_CMD_DO_JUMP (177) — \[from: [common](../messages/common.md#MAV_CMD_DO_JUMP)\] {#MAV_CMD_DO_JUMP} - -### MAV_CMD_DO_CHANGE_SPEED (178) — \[from: [common](../messages/common.md#MAV_CMD_DO_CHANGE_SPEED)\] {#MAV_CMD_DO_CHANGE_SPEED} - -### MAV_CMD_DO_SET_HOME (179) — \[from: [common](../messages/common.md#MAV_CMD_DO_SET_HOME)\] {#MAV_CMD_DO_SET_HOME} - -### MAV_CMD_DO_SET_PARAMETER (180) — \[from: [common](../messages/common.md#MAV_CMD_DO_SET_PARAMETER)\] [DEP] {#MAV_CMD_DO_SET_PARAMETER} - -### MAV_CMD_DO_SET_RELAY (181) — \[from: [common](../messages/common.md#MAV_CMD_DO_SET_RELAY)\] {#MAV_CMD_DO_SET_RELAY} - -### MAV_CMD_DO_REPEAT_RELAY (182) — \[from: [common](../messages/common.md#MAV_CMD_DO_REPEAT_RELAY)\] {#MAV_CMD_DO_REPEAT_RELAY} - -### MAV_CMD_DO_SET_SERVO (183) — \[from: [common](../messages/common.md#MAV_CMD_DO_SET_SERVO)\] {#MAV_CMD_DO_SET_SERVO} - -### MAV_CMD_DO_REPEAT_SERVO (184) — \[from: [common](../messages/common.md#MAV_CMD_DO_REPEAT_SERVO)\] {#MAV_CMD_DO_REPEAT_SERVO} - -### MAV_CMD_DO_FLIGHTTERMINATION (185) — \[from: [common](../messages/common.md#MAV_CMD_DO_FLIGHTTERMINATION)\] {#MAV_CMD_DO_FLIGHTTERMINATION} - -### MAV_CMD_DO_CHANGE_ALTITUDE (186) — \[from: [common](../messages/common.md#MAV_CMD_DO_CHANGE_ALTITUDE)\] {#MAV_CMD_DO_CHANGE_ALTITUDE} - -### MAV_CMD_DO_SET_ACTUATOR (187) — \[from: [common](../messages/common.md#MAV_CMD_DO_SET_ACTUATOR)\] {#MAV_CMD_DO_SET_ACTUATOR} - -### MAV_CMD_DO_RETURN_PATH_START (188) — \[from: [common](../messages/common.md#MAV_CMD_DO_RETURN_PATH_START)\] [WIP] {#MAV_CMD_DO_RETURN_PATH_START} - -### MAV_CMD_DO_LAND_START (189) — \[from: [common](../messages/common.md#MAV_CMD_DO_LAND_START)\] {#MAV_CMD_DO_LAND_START} - -### MAV_CMD_DO_RALLY_LAND (190) — \[from: [common](../messages/common.md#MAV_CMD_DO_RALLY_LAND)\] {#MAV_CMD_DO_RALLY_LAND} - -### MAV_CMD_DO_GO_AROUND (191) — \[from: [common](../messages/common.md#MAV_CMD_DO_GO_AROUND)\] {#MAV_CMD_DO_GO_AROUND} - -### MAV_CMD_DO_REPOSITION (192) — \[from: [common](../messages/common.md#MAV_CMD_DO_REPOSITION)\] {#MAV_CMD_DO_REPOSITION} - -### MAV_CMD_DO_PAUSE_CONTINUE (193) — \[from: [common](../messages/common.md#MAV_CMD_DO_PAUSE_CONTINUE)\] {#MAV_CMD_DO_PAUSE_CONTINUE} - -### MAV_CMD_DO_SET_REVERSE (194) — \[from: [common](../messages/common.md#MAV_CMD_DO_SET_REVERSE)\] {#MAV_CMD_DO_SET_REVERSE} - -### MAV_CMD_DO_SET_ROI_LOCATION (195) — \[from: [common](../messages/common.md#MAV_CMD_DO_SET_ROI_LOCATION)\] {#MAV_CMD_DO_SET_ROI_LOCATION} - -### MAV_CMD_DO_SET_ROI_WPNEXT_OFFSET (196) — \[from: [common](../messages/common.md#MAV_CMD_DO_SET_ROI_WPNEXT_OFFSET)\] {#MAV_CMD_DO_SET_ROI_WPNEXT_OFFSET} - -### MAV_CMD_DO_SET_ROI_NONE (197) — \[from: [common](../messages/common.md#MAV_CMD_DO_SET_ROI_NONE)\] {#MAV_CMD_DO_SET_ROI_NONE} - -### MAV_CMD_DO_SET_ROI_SYSID (198) — \[from: [common](../messages/common.md#MAV_CMD_DO_SET_ROI_SYSID)\] {#MAV_CMD_DO_SET_ROI_SYSID} - -### MAV_CMD_DO_CONTROL_VIDEO (200) — \[from: [common](../messages/common.md#MAV_CMD_DO_CONTROL_VIDEO)\] {#MAV_CMD_DO_CONTROL_VIDEO} - -### MAV_CMD_DO_SET_ROI (201) — \[from: [common](../messages/common.md#MAV_CMD_DO_SET_ROI)\] [DEP] {#MAV_CMD_DO_SET_ROI} - -### MAV_CMD_DO_DIGICAM_CONFIGURE (202) — \[from: [common](../messages/common.md#MAV_CMD_DO_DIGICAM_CONFIGURE)\] {#MAV_CMD_DO_DIGICAM_CONFIGURE} - -### MAV_CMD_DO_DIGICAM_CONTROL (203) — \[from: [common](../messages/common.md#MAV_CMD_DO_DIGICAM_CONTROL)\] {#MAV_CMD_DO_DIGICAM_CONTROL} - -### MAV_CMD_DO_MOUNT_CONFIGURE (204) — \[from: [common](../messages/common.md#MAV_CMD_DO_MOUNT_CONFIGURE)\] [DEP] {#MAV_CMD_DO_MOUNT_CONFIGURE} - -### MAV_CMD_DO_MOUNT_CONTROL (205) — \[from: [common](../messages/common.md#MAV_CMD_DO_MOUNT_CONTROL)\] [DEP] {#MAV_CMD_DO_MOUNT_CONTROL} - -### MAV_CMD_DO_SET_CAM_TRIGG_DIST (206) — \[from: [common](../messages/common.md#MAV_CMD_DO_SET_CAM_TRIGG_DIST)\] {#MAV_CMD_DO_SET_CAM_TRIGG_DIST} - -### MAV_CMD_DO_FENCE_ENABLE (207) — \[from: [common](../messages/common.md#MAV_CMD_DO_FENCE_ENABLE)\] {#MAV_CMD_DO_FENCE_ENABLE} - -### MAV_CMD_DO_PARACHUTE (208) — \[from: [common](../messages/common.md#MAV_CMD_DO_PARACHUTE)\] {#MAV_CMD_DO_PARACHUTE} - -### MAV_CMD_DO_MOTOR_TEST (209) — \[from: [common](../messages/common.md#MAV_CMD_DO_MOTOR_TEST)\] {#MAV_CMD_DO_MOTOR_TEST} - -### MAV_CMD_DO_INVERTED_FLIGHT (210) — \[from: [common](../messages/common.md#MAV_CMD_DO_INVERTED_FLIGHT)\] {#MAV_CMD_DO_INVERTED_FLIGHT} - -### MAV_CMD_DO_GRIPPER (211) — \[from: [common](../messages/common.md#MAV_CMD_DO_GRIPPER)\] {#MAV_CMD_DO_GRIPPER} - -### MAV_CMD_DO_AUTOTUNE_ENABLE (212) — \[from: [common](../messages/common.md#MAV_CMD_DO_AUTOTUNE_ENABLE)\] {#MAV_CMD_DO_AUTOTUNE_ENABLE} - -### MAV_CMD_NAV_SET_YAW_SPEED (213) — \[from: [common](../messages/common.md#MAV_CMD_NAV_SET_YAW_SPEED)\] {#MAV_CMD_NAV_SET_YAW_SPEED} - -### MAV_CMD_DO_SET_CAM_TRIGG_INTERVAL (214) — \[from: [common](../messages/common.md#MAV_CMD_DO_SET_CAM_TRIGG_INTERVAL)\] {#MAV_CMD_DO_SET_CAM_TRIGG_INTERVAL} - -### MAV_CMD_DO_MOUNT_CONTROL_QUAT (220) — \[from: [common](../messages/common.md#MAV_CMD_DO_MOUNT_CONTROL_QUAT)\] [DEP] {#MAV_CMD_DO_MOUNT_CONTROL_QUAT} - -### MAV_CMD_DO_GUIDED_MASTER (221) — \[from: [common](../messages/common.md#MAV_CMD_DO_GUIDED_MASTER)\] {#MAV_CMD_DO_GUIDED_MASTER} - -### MAV_CMD_DO_GUIDED_LIMITS (222) — \[from: [common](../messages/common.md#MAV_CMD_DO_GUIDED_LIMITS)\] {#MAV_CMD_DO_GUIDED_LIMITS} - -### MAV_CMD_DO_ENGINE_CONTROL (223) — \[from: [common](../messages/common.md#MAV_CMD_DO_ENGINE_CONTROL)\] {#MAV_CMD_DO_ENGINE_CONTROL} - -### MAV_CMD_DO_SET_MISSION_CURRENT (224) — \[from: [common](../messages/common.md#MAV_CMD_DO_SET_MISSION_CURRENT)\] {#MAV_CMD_DO_SET_MISSION_CURRENT} - -### MAV_CMD_DO_LAST (240) — \[from: [common](../messages/common.md#MAV_CMD_DO_LAST)\] {#MAV_CMD_DO_LAST} - -### MAV_CMD_PREFLIGHT_CALIBRATION (241) — \[from: [common](../messages/common.md#MAV_CMD_PREFLIGHT_CALIBRATION)\] {#MAV_CMD_PREFLIGHT_CALIBRATION} - -### MAV_CMD_PREFLIGHT_SET_SENSOR_OFFSETS (242) — \[from: [common](../messages/common.md#MAV_CMD_PREFLIGHT_SET_SENSOR_OFFSETS)\] {#MAV_CMD_PREFLIGHT_SET_SENSOR_OFFSETS} - -### MAV_CMD_PREFLIGHT_UAVCAN (243) — \[from: [common](../messages/common.md#MAV_CMD_PREFLIGHT_UAVCAN)\] {#MAV_CMD_PREFLIGHT_UAVCAN} - -### MAV_CMD_PREFLIGHT_STORAGE (245) — \[from: [common](../messages/common.md#MAV_CMD_PREFLIGHT_STORAGE)\] {#MAV_CMD_PREFLIGHT_STORAGE} - -### MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN (246) — \[from: [common](../messages/common.md#MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN)\] {#MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN} - -### MAV_CMD_OVERRIDE_GOTO (252) — \[from: [common](../messages/common.md#MAV_CMD_OVERRIDE_GOTO)\] {#MAV_CMD_OVERRIDE_GOTO} - -### MAV_CMD_OBLIQUE_SURVEY (260) — \[from: [common](../messages/common.md#MAV_CMD_OBLIQUE_SURVEY)\] {#MAV_CMD_OBLIQUE_SURVEY} - -### MAV_CMD_MISSION_START (300) — \[from: [common](../messages/common.md#MAV_CMD_MISSION_START)\] {#MAV_CMD_MISSION_START} - -### MAV_CMD_ACTUATOR_TEST (310) — \[from: [common](../messages/common.md#MAV_CMD_ACTUATOR_TEST)\] {#MAV_CMD_ACTUATOR_TEST} - -### MAV_CMD_CONFIGURE_ACTUATOR (311) — \[from: [common](../messages/common.md#MAV_CMD_CONFIGURE_ACTUATOR)\] {#MAV_CMD_CONFIGURE_ACTUATOR} - -### MAV_CMD_COMPONENT_ARM_DISARM (400) — \[from: [common](../messages/common.md#MAV_CMD_COMPONENT_ARM_DISARM)\] {#MAV_CMD_COMPONENT_ARM_DISARM} - -### MAV_CMD_RUN_PREARM_CHECKS (401) — \[from: [common](../messages/common.md#MAV_CMD_RUN_PREARM_CHECKS)\] {#MAV_CMD_RUN_PREARM_CHECKS} - -### MAV_CMD_ILLUMINATOR_ON_OFF (405) — \[from: [common](../messages/common.md#MAV_CMD_ILLUMINATOR_ON_OFF)\] {#MAV_CMD_ILLUMINATOR_ON_OFF} - -### MAV_CMD_DO_ILLUMINATOR_CONFIGURE (406) — \[from: [common](../messages/common.md#MAV_CMD_DO_ILLUMINATOR_CONFIGURE)\] {#MAV_CMD_DO_ILLUMINATOR_CONFIGURE} - -### MAV_CMD_GET_HOME_POSITION (410) — \[from: [common](../messages/common.md#MAV_CMD_GET_HOME_POSITION)\] [DEP] {#MAV_CMD_GET_HOME_POSITION} - -### MAV_CMD_INJECT_FAILURE (420) — \[from: [common](../messages/common.md#MAV_CMD_INJECT_FAILURE)\] {#MAV_CMD_INJECT_FAILURE} - -### MAV_CMD_START_RX_PAIR (500) — \[from: [common](../messages/common.md#MAV_CMD_START_RX_PAIR)\] {#MAV_CMD_START_RX_PAIR} - -### MAV_CMD_GET_MESSAGE_INTERVAL (510) — \[from: [common](../messages/common.md#MAV_CMD_GET_MESSAGE_INTERVAL)\] [DEP] {#MAV_CMD_GET_MESSAGE_INTERVAL} - -### MAV_CMD_SET_MESSAGE_INTERVAL (511) — \[from: [common](../messages/common.md#MAV_CMD_SET_MESSAGE_INTERVAL)\] {#MAV_CMD_SET_MESSAGE_INTERVAL} - -### MAV_CMD_REQUEST_MESSAGE (512) — \[from: [common](../messages/common.md#MAV_CMD_REQUEST_MESSAGE)\] {#MAV_CMD_REQUEST_MESSAGE} - -### MAV_CMD_REQUEST_PROTOCOL_VERSION (519) — \[from: [common](../messages/common.md#MAV_CMD_REQUEST_PROTOCOL_VERSION)\] [DEP] {#MAV_CMD_REQUEST_PROTOCOL_VERSION} - -### MAV_CMD_REQUEST_AUTOPILOT_CAPABILITIES (520) — \[from: [common](../messages/common.md#MAV_CMD_REQUEST_AUTOPILOT_CAPABILITIES)\] [DEP] {#MAV_CMD_REQUEST_AUTOPILOT_CAPABILITIES} - -### MAV_CMD_REQUEST_CAMERA_INFORMATION (521) — \[from: [common](../messages/common.md#MAV_CMD_REQUEST_CAMERA_INFORMATION)\] [DEP] {#MAV_CMD_REQUEST_CAMERA_INFORMATION} - -### MAV_CMD_REQUEST_CAMERA_SETTINGS (522) — \[from: [common](../messages/common.md#MAV_CMD_REQUEST_CAMERA_SETTINGS)\] [DEP] {#MAV_CMD_REQUEST_CAMERA_SETTINGS} - -### MAV_CMD_REQUEST_STORAGE_INFORMATION (525) — \[from: [common](../messages/common.md#MAV_CMD_REQUEST_STORAGE_INFORMATION)\] [DEP] {#MAV_CMD_REQUEST_STORAGE_INFORMATION} - -### MAV_CMD_STORAGE_FORMAT (526) — \[from: [common](../messages/common.md#MAV_CMD_STORAGE_FORMAT)\] {#MAV_CMD_STORAGE_FORMAT} - -### MAV_CMD_REQUEST_CAMERA_CAPTURE_STATUS (527) — \[from: [common](../messages/common.md#MAV_CMD_REQUEST_CAMERA_CAPTURE_STATUS)\] [DEP] {#MAV_CMD_REQUEST_CAMERA_CAPTURE_STATUS} - -### MAV_CMD_REQUEST_FLIGHT_INFORMATION (528) — \[from: [common](../messages/common.md#MAV_CMD_REQUEST_FLIGHT_INFORMATION)\] [DEP] {#MAV_CMD_REQUEST_FLIGHT_INFORMATION} - -### MAV_CMD_RESET_CAMERA_SETTINGS (529) — \[from: [common](../messages/common.md#MAV_CMD_RESET_CAMERA_SETTINGS)\] {#MAV_CMD_RESET_CAMERA_SETTINGS} - -### MAV_CMD_SET_CAMERA_MODE (530) — \[from: [common](../messages/common.md#MAV_CMD_SET_CAMERA_MODE)\] {#MAV_CMD_SET_CAMERA_MODE} - -### MAV_CMD_SET_CAMERA_ZOOM (531) — \[from: [common](../messages/common.md#MAV_CMD_SET_CAMERA_ZOOM)\] {#MAV_CMD_SET_CAMERA_ZOOM} - -### MAV_CMD_SET_CAMERA_FOCUS (532) — \[from: [common](../messages/common.md#MAV_CMD_SET_CAMERA_FOCUS)\] {#MAV_CMD_SET_CAMERA_FOCUS} - -### MAV_CMD_SET_STORAGE_USAGE (533) — \[from: [common](../messages/common.md#MAV_CMD_SET_STORAGE_USAGE)\] {#MAV_CMD_SET_STORAGE_USAGE} - -### MAV_CMD_SET_CAMERA_SOURCE (534) — \[from: [common](../messages/common.md#MAV_CMD_SET_CAMERA_SOURCE)\] {#MAV_CMD_SET_CAMERA_SOURCE} - -### MAV_CMD_JUMP_TAG (600) — \[from: [common](../messages/common.md#MAV_CMD_JUMP_TAG)\] {#MAV_CMD_JUMP_TAG} - -### MAV_CMD_DO_JUMP_TAG (601) — \[from: [common](../messages/common.md#MAV_CMD_DO_JUMP_TAG)\] {#MAV_CMD_DO_JUMP_TAG} - -### MAV_CMD_DO_GIMBAL_MANAGER_PITCHYAW (1000) — \[from: [common](../messages/common.md#MAV_CMD_DO_GIMBAL_MANAGER_PITCHYAW)\] {#MAV_CMD_DO_GIMBAL_MANAGER_PITCHYAW} - -### MAV_CMD_DO_GIMBAL_MANAGER_CONFIGURE (1001) — \[from: [common](../messages/common.md#MAV_CMD_DO_GIMBAL_MANAGER_CONFIGURE)\] {#MAV_CMD_DO_GIMBAL_MANAGER_CONFIGURE} - -### MAV_CMD_IMAGE_START_CAPTURE (2000) — \[from: [common](../messages/common.md#MAV_CMD_IMAGE_START_CAPTURE)\] {#MAV_CMD_IMAGE_START_CAPTURE} - -### MAV_CMD_IMAGE_STOP_CAPTURE (2001) — \[from: [common](../messages/common.md#MAV_CMD_IMAGE_STOP_CAPTURE)\] {#MAV_CMD_IMAGE_STOP_CAPTURE} - -### MAV_CMD_REQUEST_CAMERA_IMAGE_CAPTURE (2002) — \[from: [common](../messages/common.md#MAV_CMD_REQUEST_CAMERA_IMAGE_CAPTURE)\] [DEP] {#MAV_CMD_REQUEST_CAMERA_IMAGE_CAPTURE} - -### MAV_CMD_DO_TRIGGER_CONTROL (2003) — \[from: [common](../messages/common.md#MAV_CMD_DO_TRIGGER_CONTROL)\] {#MAV_CMD_DO_TRIGGER_CONTROL} - -### MAV_CMD_CAMERA_TRACK_POINT (2004) — \[from: [common](../messages/common.md#MAV_CMD_CAMERA_TRACK_POINT)\] {#MAV_CMD_CAMERA_TRACK_POINT} - -### MAV_CMD_CAMERA_TRACK_RECTANGLE (2005) — \[from: [common](../messages/common.md#MAV_CMD_CAMERA_TRACK_RECTANGLE)\] {#MAV_CMD_CAMERA_TRACK_RECTANGLE} - -### MAV_CMD_CAMERA_STOP_TRACKING (2010) — \[from: [common](../messages/common.md#MAV_CMD_CAMERA_STOP_TRACKING)\] {#MAV_CMD_CAMERA_STOP_TRACKING} - -### MAV_CMD_VIDEO_START_CAPTURE (2500) — \[from: [common](../messages/common.md#MAV_CMD_VIDEO_START_CAPTURE)\] {#MAV_CMD_VIDEO_START_CAPTURE} - -### MAV_CMD_VIDEO_STOP_CAPTURE (2501) — \[from: [common](../messages/common.md#MAV_CMD_VIDEO_STOP_CAPTURE)\] {#MAV_CMD_VIDEO_STOP_CAPTURE} - -### MAV_CMD_VIDEO_START_STREAMING (2502) — \[from: [common](../messages/common.md#MAV_CMD_VIDEO_START_STREAMING)\] {#MAV_CMD_VIDEO_START_STREAMING} - -### MAV_CMD_VIDEO_STOP_STREAMING (2503) — \[from: [common](../messages/common.md#MAV_CMD_VIDEO_STOP_STREAMING)\] {#MAV_CMD_VIDEO_STOP_STREAMING} - -### MAV_CMD_REQUEST_VIDEO_STREAM_INFORMATION (2504) — \[from: [common](../messages/common.md#MAV_CMD_REQUEST_VIDEO_STREAM_INFORMATION)\] [DEP] {#MAV_CMD_REQUEST_VIDEO_STREAM_INFORMATION} - -### MAV_CMD_REQUEST_VIDEO_STREAM_STATUS (2505) — \[from: [common](../messages/common.md#MAV_CMD_REQUEST_VIDEO_STREAM_STATUS)\] [DEP] {#MAV_CMD_REQUEST_VIDEO_STREAM_STATUS} - -### MAV_CMD_LOGGING_START (2510) — \[from: [common](../messages/common.md#MAV_CMD_LOGGING_START)\] {#MAV_CMD_LOGGING_START} - -### MAV_CMD_LOGGING_STOP (2511) — \[from: [common](../messages/common.md#MAV_CMD_LOGGING_STOP)\] {#MAV_CMD_LOGGING_STOP} - -### MAV_CMD_AIRFRAME_CONFIGURATION (2520) — \[from: [common](../messages/common.md#MAV_CMD_AIRFRAME_CONFIGURATION)\] {#MAV_CMD_AIRFRAME_CONFIGURATION} - -### MAV_CMD_CONTROL_HIGH_LATENCY (2600) — \[from: [common](../messages/common.md#MAV_CMD_CONTROL_HIGH_LATENCY)\] {#MAV_CMD_CONTROL_HIGH_LATENCY} - -### MAV_CMD_PANORAMA_CREATE (2800) — \[from: [common](../messages/common.md#MAV_CMD_PANORAMA_CREATE)\] {#MAV_CMD_PANORAMA_CREATE} - -### MAV_CMD_DO_VTOL_TRANSITION (3000) — \[from: [common](../messages/common.md#MAV_CMD_DO_VTOL_TRANSITION)\] {#MAV_CMD_DO_VTOL_TRANSITION} - -### MAV_CMD_ARM_AUTHORIZATION_REQUEST (3001) — \[from: [common](../messages/common.md#MAV_CMD_ARM_AUTHORIZATION_REQUEST)\] {#MAV_CMD_ARM_AUTHORIZATION_REQUEST} - -### MAV_CMD_SET_GUIDED_SUBMODE_STANDARD (4000) — \[from: [common](../messages/common.md#MAV_CMD_SET_GUIDED_SUBMODE_STANDARD)\] {#MAV_CMD_SET_GUIDED_SUBMODE_STANDARD} - -### MAV_CMD_SET_GUIDED_SUBMODE_CIRCLE (4001) — \[from: [common](../messages/common.md#MAV_CMD_SET_GUIDED_SUBMODE_CIRCLE)\] {#MAV_CMD_SET_GUIDED_SUBMODE_CIRCLE} - -### MAV_CMD_CONDITION_GATE (4501) — \[from: [common](../messages/common.md#MAV_CMD_CONDITION_GATE)\] [WIP] {#MAV_CMD_CONDITION_GATE} - -### MAV_CMD_NAV_FENCE_RETURN_POINT (5000) — \[from: [common](../messages/common.md#MAV_CMD_NAV_FENCE_RETURN_POINT)\] {#MAV_CMD_NAV_FENCE_RETURN_POINT} - -### MAV_CMD_NAV_FENCE_POLYGON_VERTEX_INCLUSION (5001) — \[from: [common](../messages/common.md#MAV_CMD_NAV_FENCE_POLYGON_VERTEX_INCLUSION)\] {#MAV_CMD_NAV_FENCE_POLYGON_VERTEX_INCLUSION} - -### MAV_CMD_NAV_FENCE_POLYGON_VERTEX_EXCLUSION (5002) — \[from: [common](../messages/common.md#MAV_CMD_NAV_FENCE_POLYGON_VERTEX_EXCLUSION)\] {#MAV_CMD_NAV_FENCE_POLYGON_VERTEX_EXCLUSION} - -### MAV_CMD_NAV_FENCE_CIRCLE_INCLUSION (5003) — \[from: [common](../messages/common.md#MAV_CMD_NAV_FENCE_CIRCLE_INCLUSION)\] {#MAV_CMD_NAV_FENCE_CIRCLE_INCLUSION} - -### MAV_CMD_NAV_FENCE_CIRCLE_EXCLUSION (5004) — \[from: [common](../messages/common.md#MAV_CMD_NAV_FENCE_CIRCLE_EXCLUSION)\] {#MAV_CMD_NAV_FENCE_CIRCLE_EXCLUSION} - -### MAV_CMD_NAV_RALLY_POINT (5100) — \[from: [common](../messages/common.md#MAV_CMD_NAV_RALLY_POINT)\] {#MAV_CMD_NAV_RALLY_POINT} - -### MAV_CMD_UAVCAN_GET_NODE_INFO (5200) — \[from: [common](../messages/common.md#MAV_CMD_UAVCAN_GET_NODE_INFO)\] {#MAV_CMD_UAVCAN_GET_NODE_INFO} - -### MAV_CMD_DO_SET_SAFETY_SWITCH_STATE (5300) — \[from: [common](../messages/common.md#MAV_CMD_DO_SET_SAFETY_SWITCH_STATE)\] {#MAV_CMD_DO_SET_SAFETY_SWITCH_STATE} - -### MAV_CMD_DO_ADSB_OUT_IDENT (10001) — \[from: [common](../messages/common.md#MAV_CMD_DO_ADSB_OUT_IDENT)\] {#MAV_CMD_DO_ADSB_OUT_IDENT} - -### MAV_CMD_PAYLOAD_PREPARE_DEPLOY (30001) — \[from: [common](../messages/common.md#MAV_CMD_PAYLOAD_PREPARE_DEPLOY)\] [DEP] {#MAV_CMD_PAYLOAD_PREPARE_DEPLOY} - -### MAV_CMD_PAYLOAD_CONTROL_DEPLOY (30002) — \[from: [common](../messages/common.md#MAV_CMD_PAYLOAD_CONTROL_DEPLOY)\] [DEP] {#MAV_CMD_PAYLOAD_CONTROL_DEPLOY} - -### MAV_CMD_WAYPOINT_USER_1 (31000) — \[from: [common](../messages/common.md#MAV_CMD_WAYPOINT_USER_1)\] {#MAV_CMD_WAYPOINT_USER_1} - -### MAV_CMD_WAYPOINT_USER_2 (31001) — \[from: [common](../messages/common.md#MAV_CMD_WAYPOINT_USER_2)\] {#MAV_CMD_WAYPOINT_USER_2} - -### MAV_CMD_WAYPOINT_USER_3 (31002) — \[from: [common](../messages/common.md#MAV_CMD_WAYPOINT_USER_3)\] {#MAV_CMD_WAYPOINT_USER_3} - -### MAV_CMD_WAYPOINT_USER_4 (31003) — \[from: [common](../messages/common.md#MAV_CMD_WAYPOINT_USER_4)\] {#MAV_CMD_WAYPOINT_USER_4} - -### MAV_CMD_WAYPOINT_USER_5 (31004) — \[from: [common](../messages/common.md#MAV_CMD_WAYPOINT_USER_5)\] {#MAV_CMD_WAYPOINT_USER_5} - -### MAV_CMD_SPATIAL_USER_1 (31005) — \[from: [common](../messages/common.md#MAV_CMD_SPATIAL_USER_1)\] {#MAV_CMD_SPATIAL_USER_1} - -### MAV_CMD_SPATIAL_USER_2 (31006) — \[from: [common](../messages/common.md#MAV_CMD_SPATIAL_USER_2)\] {#MAV_CMD_SPATIAL_USER_2} - -### MAV_CMD_SPATIAL_USER_3 (31007) — \[from: [common](../messages/common.md#MAV_CMD_SPATIAL_USER_3)\] {#MAV_CMD_SPATIAL_USER_3} - -### MAV_CMD_SPATIAL_USER_4 (31008) — \[from: [common](../messages/common.md#MAV_CMD_SPATIAL_USER_4)\] {#MAV_CMD_SPATIAL_USER_4} - -### MAV_CMD_SPATIAL_USER_5 (31009) — \[from: [common](../messages/common.md#MAV_CMD_SPATIAL_USER_5)\] {#MAV_CMD_SPATIAL_USER_5} - -### MAV_CMD_USER_1 (31010) — \[from: [common](../messages/common.md#MAV_CMD_USER_1)\] {#MAV_CMD_USER_1} - -### MAV_CMD_USER_2 (31011) — \[from: [common](../messages/common.md#MAV_CMD_USER_2)\] {#MAV_CMD_USER_2} - -### MAV_CMD_USER_3 (31012) — \[from: [common](../messages/common.md#MAV_CMD_USER_3)\] {#MAV_CMD_USER_3} - -### MAV_CMD_USER_4 (31013) — \[from: [common](../messages/common.md#MAV_CMD_USER_4)\] {#MAV_CMD_USER_4} - -### MAV_CMD_USER_5 (31014) — \[from: [common](../messages/common.md#MAV_CMD_USER_5)\] {#MAV_CMD_USER_5} - -### MAV_CMD_CAN_FORWARD (32000) — \[from: [common](../messages/common.md#MAV_CMD_CAN_FORWARD)\] {#MAV_CMD_CAN_FORWARD} - -### MAV_CMD_FIXED_MAG_CAL_YAW (42006) — \[from: [common](../messages/common.md#MAV_CMD_FIXED_MAG_CAL_YAW)\] {#MAV_CMD_FIXED_MAG_CAL_YAW} - -### MAV_CMD_DO_WINCH (42600) — \[from: [common](../messages/common.md#MAV_CMD_DO_WINCH)\] {#MAV_CMD_DO_WINCH} - -### MAV_CMD_EXTERNAL_POSITION_ESTIMATE (43003) — \[from: [common](../messages/common.md#MAV_CMD_EXTERNAL_POSITION_ESTIMATE)\] {#MAV_CMD_EXTERNAL_POSITION_ESTIMATE} - ### MAV_CMD_PRS_SET_ARM (60050) {#MAV_CMD_PRS_SET_ARM} AVSS defined command. Set PRS arm statuses. diff --git a/ko/messages/all.html b/ko/messages/all.html index 9f7f30d39..670851f13 100644 --- a/ko/messages/all.html +++ b/ko/messages/all.html @@ -1 +1 @@ -all.xml · MAVLink Developer Guide
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Messages
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Messages
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  FAQ
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Examples
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Dialect: all

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  This dialect is intended to include all other dialects in the mavlink/mavlink repository (including external dialects).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Dialects that are in all.xml are guaranteed to not have clashes in messages, enums, enum ids, and MAV_CMDs. This ensure that:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • Systems based on these dialects can co-exist on the same MAVLink network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • A Ground Station might (optionally) use libraries generated from all.xml to communicate using any of the dialects.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • Warning New dialect files in the official repository must be added to all.xml and restrict themselves to using ids in their own allocated range.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • Dialects should push changes to mavlink/mavlink in order to avoid potential clashes from changes to other dialects.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  A few older dialects are not included because these operate in completely closed networks or because they are only used for tests.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  This topic is a human-readable form of the XML definition file: all.xml.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAVLink 2 extension fields that have been added to MAVLink 1 messages are displayed in blue. - Entities from dialects are displayed only as headings (with link to original)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Summary

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  TypeDefinedIncluded
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Messages0363
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Enums0234
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Commands2170

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  The following sections list all entities in the dialect (both included and defined in this file).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Messages

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  HEARTBEAT (0) — [from: minimal]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  SYS_STATUS (1) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  SYSTEM_TIME (2) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  PING (4) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  CHANGE_OPERATOR_CONTROL (5) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  CHANGE_OPERATOR_CONTROL_ACK (6) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  AUTH_KEY (7) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  SET_MODE (11) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  PARAM_ACK_TRANSACTION (19) — [from: development] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  PARAM_REQUEST_READ (20) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  PARAM_REQUEST_LIST (21) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  PARAM_VALUE (22) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  PARAM_SET (23) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  GPS_RAW_INT (24) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  GPS_STATUS (25) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  SCALED_IMU (26) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  RAW_IMU (27) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  RAW_PRESSURE (28) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  SCALED_PRESSURE (29) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  ATTITUDE (30) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  ATTITUDE_QUATERNION (31) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  LOCAL_POSITION_NED (32) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  GLOBAL_POSITION_INT (33) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  RC_CHANNELS_SCALED (34) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  RC_CHANNELS_RAW (35) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  SERVO_OUTPUT_RAW (36) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MISSION_REQUEST_PARTIAL_LIST (37) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MISSION_WRITE_PARTIAL_LIST (38) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MISSION_ITEM (39) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MISSION_REQUEST (40) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MISSION_SET_CURRENT (41) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MISSION_CURRENT (42) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MISSION_REQUEST_LIST (43) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MISSION_COUNT (44) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MISSION_CLEAR_ALL (45) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MISSION_ITEM_REACHED (46) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MISSION_ACK (47) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  SET_GPS_GLOBAL_ORIGIN (48) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  GPS_GLOBAL_ORIGIN (49) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  PARAM_MAP_RC (50) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MISSION_REQUEST_INT (51) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  SAFETY_SET_ALLOWED_AREA (54) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  SAFETY_ALLOWED_AREA (55) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  ATTITUDE_QUATERNION_COV (61) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  GLOBAL_POSITION_INT_COV (63) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  LOCAL_POSITION_NED_COV (64) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  RC_CHANNELS (65) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  REQUEST_DATA_STREAM (66) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  DATA_STREAM (67) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MANUAL_CONTROL (69) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  RC_CHANNELS_OVERRIDE (70) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MISSION_ITEM_INT (73) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  VFR_HUD (74) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  COMMAND_INT (75) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  COMMAND_LONG (76) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  COMMAND_ACK (77) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  COMMAND_CANCEL (80) — [from: common] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MANUAL_SETPOINT (81) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  SET_ATTITUDE_TARGET (82) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  ATTITUDE_TARGET (83) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  SET_POSITION_TARGET_LOCAL_NED (84) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  POSITION_TARGET_LOCAL_NED (85) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  SET_POSITION_TARGET_GLOBAL_INT (86) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  POSITION_TARGET_GLOBAL_INT (87) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  LOCAL_POSITION_NED_SYSTEM_GLOBAL_OFFSET (89) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  HIL_STATE (90) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  HIL_CONTROLS (91) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  HIL_RC_INPUTS_RAW (92) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  HIL_ACTUATOR_CONTROLS (93) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  OPTICAL_FLOW (100) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  GLOBAL_VISION_POSITION_ESTIMATE (101) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  VISION_POSITION_ESTIMATE (102) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  VISION_SPEED_ESTIMATE (103) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  VICON_POSITION_ESTIMATE (104) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  HIGHRES_IMU (105) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  OPTICAL_FLOW_RAD (106) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  HIL_SENSOR (107) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  SIM_STATE (108) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  RADIO_STATUS (109) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  FILE_TRANSFER_PROTOCOL (110) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  TIMESYNC (111) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  CAMERA_TRIGGER (112) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  HIL_GPS (113) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  HIL_OPTICAL_FLOW (114) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  HIL_STATE_QUATERNION (115) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  SCALED_IMU2 (116) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  LOG_REQUEST_LIST (117) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  LOG_ENTRY (118) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  LOG_REQUEST_DATA (119) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  LOG_DATA (120) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  LOG_ERASE (121) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  LOG_REQUEST_END (122) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  GPS_INJECT_DATA (123) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  GPS2_RAW (124) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  POWER_STATUS (125) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  SERIAL_CONTROL (126) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  GPS_RTK (127) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  GPS2_RTK (128) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  SCALED_IMU3 (129) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  DATA_TRANSMISSION_HANDSHAKE (130) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  ENCAPSULATED_DATA (131) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  DISTANCE_SENSOR (132) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  TERRAIN_REQUEST (133) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  TERRAIN_DATA (134) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  TERRAIN_CHECK (135) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  TERRAIN_REPORT (136) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  SCALED_PRESSURE2 (137) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  ATT_POS_MOCAP (138) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  SET_ACTUATOR_CONTROL_TARGET (139) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  ACTUATOR_CONTROL_TARGET (140) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  ALTITUDE (141) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  RESOURCE_REQUEST (142) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  SCALED_PRESSURE3 (143) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  FOLLOW_TARGET (144) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  CONTROL_SYSTEM_STATE (146) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  BATTERY_STATUS (147) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  AUTOPILOT_VERSION (148) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  LANDING_TARGET (149) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  SENSOR_OFFSETS (150) — [from: ardupilotmega]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  SET_MAG_OFFSETS (151) — [from: ardupilotmega] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MEMINFO (152) — [from: ardupilotmega]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  AP_ADC (153) — [from: ardupilotmega]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  DIGICAM_CONFIGURE (154) — [from: ardupilotmega]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  DIGICAM_CONTROL (155) — [from: ardupilotmega]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MOUNT_CONFIGURE (156) — [from: ardupilotmega]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MOUNT_CONTROL (157) — [from: ardupilotmega]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MOUNT_STATUS (158) — [from: ardupilotmega]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  FENCE_POINT (160) — [from: ardupilotmega]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  FENCE_FETCH_POINT (161) — [from: ardupilotmega]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  FENCE_STATUS (162) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  AHRS (163) — [from: ardupilotmega]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  SIMSTATE (164) — [from: ardupilotmega]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  HWSTATUS (165) — [from: ardupilotmega]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  RADIO (166) — [from: ardupilotmega]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  LIMITS_STATUS (167) — [from: ardupilotmega]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  WIND (168) — [from: ardupilotmega]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  DATA16 (169) — [from: ardupilotmega]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  DATA32 (170) — [from: ardupilotmega]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  DATA64 (171) — [from: ardupilotmega]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  DATA96 (172) — [from: ardupilotmega]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  RANGEFINDER (173) — [from: ardupilotmega]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  AIRSPEED_AUTOCAL (174) — [from: ardupilotmega]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  RALLY_POINT (175) — [from: ardupilotmega]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  RALLY_FETCH_POINT (176) — [from: ardupilotmega]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  COMPASSMOT_STATUS (177) — [from: ardupilotmega]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  AHRS2 (178) — [from: ardupilotmega]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  CAMERA_STATUS (179) — [from: ardupilotmega]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  CAMERA_FEEDBACK (180) — [from: ardupilotmega]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  BATTERY2 (181) — [from: ardupilotmega] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  AHRS3 (182) — [from: ardupilotmega]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  AUTOPILOT_VERSION_REQUEST (183) — [from: ardupilotmega]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  REMOTE_LOG_DATA_BLOCK (184) — [from: ardupilotmega]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  REMOTE_LOG_BLOCK_STATUS (185) — [from: ardupilotmega]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  LED_CONTROL (186) — [from: ardupilotmega]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAG_CAL_PROGRESS (191) — [from: ardupilotmega]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAG_CAL_REPORT (192) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  EKF_STATUS_REPORT (193) — [from: ardupilotmega]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  PID_TUNING (194) — [from: ardupilotmega]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  DEEPSTALL (195) — [from: ardupilotmega]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  GIMBAL_REPORT (200) — [from: ardupilotmega]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  GIMBAL_CONTROL (201) — [from: ardupilotmega]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  GIMBAL_TORQUE_CMD_REPORT (214) — [from: ardupilotmega]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  GOPRO_HEARTBEAT (215) — [from: ardupilotmega]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  GOPRO_GET_REQUEST (216) — [from: ardupilotmega]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  GOPRO_GET_RESPONSE (217) — [from: ardupilotmega]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  GOPRO_SET_REQUEST (218) — [from: ardupilotmega]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  GOPRO_SET_RESPONSE (219) — [from: ardupilotmega]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  RADIO_CALIBRATION (221) — [from: ualberta]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  UALBERTA_SYS_STATUS (222) — [from: ualberta]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  COMMAND_INT_STAMPED (223) — [from: ASLUAV]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  COMMAND_LONG_STAMPED (224) — [from: ASLUAV]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  EFI_STATUS (225) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  RPM (226) — [from: ardupilotmega]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  ESTIMATOR_STATUS (230) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  WIND_COV (231) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  GPS_INPUT (232) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  GPS_RTCM_DATA (233) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  HIGH_LATENCY (234) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  HIGH_LATENCY2 (235) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  VIBRATION (241) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  HOME_POSITION (242) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  SET_HOME_POSITION (243) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MESSAGE_INTERVAL (244) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  EXTENDED_SYS_STATE (245) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  ADSB_VEHICLE (246) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  COLLISION (247) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  V2_EXTENSION (248) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MEMORY_VECT (249) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  DEBUG_VECT (250) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  NAMED_VALUE_FLOAT (251) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  NAMED_VALUE_INT (252) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  STATUSTEXT (253) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  DEBUG (254) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  SETUP_SIGNING (256) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  BUTTON_CHANGE (257) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  PLAY_TUNE (258) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  CAMERA_INFORMATION (259) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  CAMERA_SETTINGS (260) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  STORAGE_INFORMATION (261) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  CAMERA_CAPTURE_STATUS (262) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  CAMERA_IMAGE_CAPTURED (263) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  FLIGHT_INFORMATION (264) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MOUNT_ORIENTATION (265) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  LOGGING_DATA (266) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  LOGGING_DATA_ACKED (267) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  LOGGING_ACK (268) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  VIDEO_STREAM_INFORMATION (269) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  VIDEO_STREAM_STATUS (270) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  CAMERA_FOV_STATUS (271) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  CAMERA_TRACKING_IMAGE_STATUS (275) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  CAMERA_TRACKING_GEO_STATUS (276) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  CAMERA_THERMAL_RANGE (277) — [from: common] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  GIMBAL_MANAGER_INFORMATION (280) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  GIMBAL_MANAGER_STATUS (281) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  GIMBAL_MANAGER_SET_ATTITUDE (282) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  GIMBAL_DEVICE_INFORMATION (283) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  GIMBAL_DEVICE_SET_ATTITUDE (284) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  GIMBAL_DEVICE_ATTITUDE_STATUS (285) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  AUTOPILOT_STATE_FOR_GIMBAL_DEVICE (286) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  GIMBAL_MANAGER_SET_PITCHYAW (287) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  GIMBAL_MANAGER_SET_MANUAL_CONTROL (288) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  ESC_INFO (290) — [from: common] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  ESC_STATUS (291) — [from: common] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  AIRSPEED (295) — [from: development] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  WIFI_NETWORK_INFO (298) — [from: development] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  WIFI_CONFIG_AP (299) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  PROTOCOL_VERSION (300) — [from: minimal] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  AIS_VESSEL (301) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  UAVCAN_NODE_STATUS (310) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  UAVCAN_NODE_INFO (311) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  PARAM_EXT_REQUEST_READ (320) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  PARAM_EXT_REQUEST_LIST (321) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  PARAM_EXT_VALUE (322) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  PARAM_EXT_SET (323) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  PARAM_EXT_ACK (324) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  OBSTACLE_DISTANCE (330) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  ODOMETRY (331) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  TRAJECTORY_REPRESENTATION_WAYPOINTS (332) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  TRAJECTORY_REPRESENTATION_BEZIER (333) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  CELLULAR_STATUS (334) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  CELLULAR_CONFIG (336) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  RAW_RPM (339) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  UTM_GLOBAL_POSITION (340) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  DEBUG_FLOAT_ARRAY (350) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  SET_VELOCITY_LIMITS (354) — [from: development] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  VELOCITY_LIMITS (355) — [from: development] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  ORBIT_EXECUTION_STATUS (360) — [from: common] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  FIGURE_EIGHT_EXECUTION_STATUS (361) — [from: development] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  BATTERY_STATUS_V2 (369) — [from: development] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  BATTERY_INFO (370) — [from: common] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  FUEL_STATUS (371) — [from: development] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  GENERATOR_STATUS (373) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  ACTUATOR_OUTPUT_STATUS (375) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  TIME_ESTIMATE_TO_TARGET (380) — [from: common] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  TUNNEL (385) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  CAN_FRAME (386) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  CANFD_FRAME (387) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  CAN_FILTER_MODIFY (388) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  ONBOARD_COMPUTER_STATUS (390) — [from: common] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  COMPONENT_INFORMATION (395) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  COMPONENT_INFORMATION_BASIC (396) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  COMPONENT_METADATA (397) — [from: common] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  PLAY_TUNE_V2 (400) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  SUPPORTED_TUNES (401) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  EVENT (410) — [from: common] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  CURRENT_EVENT_SEQUENCE (411) — [from: common] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  REQUEST_EVENT (412) — [from: common] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  RESPONSE_EVENT_ERROR (413) — [from: common] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  GROUP_START (414) — [from: development] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  GROUP_END (415) — [from: development] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  RADIO_RC_CHANNELS (420) — [from: development] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  AVAILABLE_MODES (435) — [from: development] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  CURRENT_MODE (436) — [from: development] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  AVAILABLE_MODES_MONITOR (437) — [from: development] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  ILLUMINATOR_STATUS (440) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  GNSS_INTEGRITY (441) — [from: development] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  TARGET_ABSOLUTE (510) — [from: development] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  TARGET_RELATIVE (511) — [from: development] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  SENS_POWER (8002) — [from: ASLUAV]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  SENS_MPPT (8003) — [from: ASLUAV]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  ASLCTRL_DATA (8004) — [from: ASLUAV]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  ASLCTRL_DEBUG (8005) — [from: ASLUAV]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  ASLUAV_STATUS (8006) — [from: ASLUAV]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  EKF_EXT (8007) — [from: ASLUAV]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  ASL_OBCTRL (8008) — [from: ASLUAV]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  SENS_ATMOS (8009) — [from: ASLUAV]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  SENS_BATMON (8010) — [from: ASLUAV]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  FW_SOARING_DATA (8011) — [from: ASLUAV]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  SENSORPOD_STATUS (8012) — [from: ASLUAV]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  SENS_POWER_BOARD (8013) — [from: ASLUAV]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  SENSOR_AIRFLOW_ANGLES (8016) — [from: ASLUAV]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  WHEEL_DISTANCE (9000) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  WINCH_STATUS (9005) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  UAVIONIX_ADSB_OUT_CFG (10001) — [from: uAvionix]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  UAVIONIX_ADSB_OUT_DYNAMIC (10002) — [from: uAvionix]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  UAVIONIX_ADSB_TRANSCEIVER_HEALTH_REPORT (10003) — [from: uAvionix]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  DEVICE_OP_READ (11000) — [from: ardupilotmega]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  DEVICE_OP_READ_REPLY (11001) — [from: ardupilotmega]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  DEVICE_OP_WRITE (11002) — [from: ardupilotmega]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  DEVICE_OP_WRITE_REPLY (11003) — [from: ardupilotmega]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  ADAP_TUNING (11010) — [from: ardupilotmega]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  VISION_POSITION_DELTA (11011) — [from: ardupilotmega]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  AOA_SSA (11020) — [from: ardupilotmega]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  ESC_TELEMETRY_1_TO_4 (11030) — [from: ardupilotmega]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  ESC_TELEMETRY_5_TO_8 (11031) — [from: ardupilotmega]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  ESC_TELEMETRY_9_TO_12 (11032) — [from: ardupilotmega]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  OSD_PARAM_CONFIG (11033) — [from: ardupilotmega]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  OSD_PARAM_CONFIG_REPLY (11034) — [from: ardupilotmega]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  OSD_PARAM_SHOW_CONFIG (11035) — [from: ardupilotmega]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  OSD_PARAM_SHOW_CONFIG_REPLY (11036) — [from: ardupilotmega]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  OBSTACLE_DISTANCE_3D (11037) — [from: ardupilotmega] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  WATER_DEPTH (11038) — [from: ardupilotmega]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MCU_STATUS (11039) — [from: ardupilotmega]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  OPEN_DRONE_ID_BASIC_ID (12900) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  OPEN_DRONE_ID_LOCATION (12901) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  OPEN_DRONE_ID_AUTHENTICATION (12902) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  OPEN_DRONE_ID_SELF_ID (12903) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  OPEN_DRONE_ID_SYSTEM (12904) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  OPEN_DRONE_ID_OPERATOR_ID (12905) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  OPEN_DRONE_ID_MESSAGE_PACK (12915) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  OPEN_DRONE_ID_ARM_STATUS (12918) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  OPEN_DRONE_ID_SYSTEM_UPDATE (12919) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  HYGROMETER_SENSOR (12920) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  TEST_TYPES (17000) — [from: test]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  ARRAY_TEST_0 (17150) — [from: python_array_test]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  ARRAY_TEST_1 (17151) — [from: python_array_test]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  ARRAY_TEST_3 (17153) — [from: python_array_test]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  ARRAY_TEST_4 (17154) — [from: python_array_test]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  ARRAY_TEST_5 (17155) — [from: python_array_test]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  ARRAY_TEST_6 (17156) — [from: python_array_test]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  ARRAY_TEST_7 (17157) — [from: python_array_test]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  ARRAY_TEST_8 (17158) — [from: python_array_test]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  ICAROUS_HEARTBEAT (42000) — [from: icarous]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  ICAROUS_KINEMATIC_BANDS (42001) — [from: icarous]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  CUBEPILOT_RAW_RC (50001) — [from: cubepilot]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  CUBEPILOT_FIRMWARE_UPDATE_START (50004) — [from: cubepilot]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  CUBEPILOT_FIRMWARE_UPDATE_RESP (50005) — [from: cubepilot]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  STORM32_GIMBAL_MANAGER_INFORMATION (60010) — [from: storm32]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  STORM32_GIMBAL_MANAGER_STATUS (60011) — [from: storm32]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  STORM32_GIMBAL_MANAGER_CONTROL (60012) — [from: storm32]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  STORM32_GIMBAL_MANAGER_CONTROL_PITCHYAW (60013) — [from: storm32]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  STORM32_GIMBAL_MANAGER_CORRECT_ROLL (60014) — [from: storm32]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  QSHOT_STATUS (60020) — [from: storm32] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  FRSKY_PASSTHROUGH_ARRAY (60040) — [from: storm32]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  PARAM_VALUE_ARRAY (60041) — [from: storm32]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  AVSS_PRS_SYS_STATUS (60050) — [from: AVSSUAS]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  AVSS_DRONE_POSITION (60051) — [from: AVSSUAS]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  AVSS_DRONE_IMU (60052) — [from: AVSSUAS]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  AVSS_DRONE_OPERATION_MODE (60053) — [from: AVSSUAS]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Enumerated Types

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  ACCELCAL_VEHICLE_POS — [from: ardupilotmega]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  HEADING_TYPE — [from: ardupilotmega]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  SCRIPTING_CMD — [from: ardupilotmega]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  LIMITS_STATE — [from: ardupilotmega]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  LIMIT_MODULE — [from: ardupilotmega]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  RALLY_FLAGS — [from: ardupilotmega]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  CAMERA_STATUS_TYPES — [from: ardupilotmega]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  CAMERA_FEEDBACK_FLAGS — [from: ardupilotmega]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_MODE_GIMBAL — [from: ardupilotmega]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  GIMBAL_AXIS — [from: ardupilotmega]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  GIMBAL_AXIS_CALIBRATION_STATUS — [from: ardupilotmega]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  GIMBAL_AXIS_CALIBRATION_REQUIRED — [from: ardupilotmega]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  GOPRO_HEARTBEAT_STATUS — [from: ardupilotmega]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  GOPRO_HEARTBEAT_FLAGS — [from: ardupilotmega]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  GOPRO_REQUEST_STATUS — [from: ardupilotmega]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  GOPRO_COMMAND — [from: ardupilotmega]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  GOPRO_CAPTURE_MODE — [from: ardupilotmega]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  GOPRO_RESOLUTION — [from: ardupilotmega]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  GOPRO_FRAME_RATE — [from: ardupilotmega]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  GOPRO_FIELD_OF_VIEW — [from: ardupilotmega]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  GOPRO_VIDEO_SETTINGS_FLAGS — [from: ardupilotmega]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  GOPRO_PHOTO_RESOLUTION — [from: ardupilotmega]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  GOPRO_PROTUNE_WHITE_BALANCE — [from: ardupilotmega]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  GOPRO_PROTUNE_COLOUR — [from: ardupilotmega]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  GOPRO_PROTUNE_GAIN — [from: ardupilotmega]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  GOPRO_PROTUNE_SHARPNESS — [from: ardupilotmega]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  GOPRO_PROTUNE_EXPOSURE — [from: ardupilotmega]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  GOPRO_CHARGING — [from: ardupilotmega]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  GOPRO_MODEL — [from: ardupilotmega]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  GOPRO_BURST_RATE — [from: ardupilotmega]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_DO_AUX_FUNCTION_SWITCH_LEVEL — [from: ardupilotmega]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  LED_CONTROL_PATTERN — [from: ardupilotmega]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  EKF_STATUS_FLAGS — [from: ardupilotmega]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  PID_TUNING_AXIS — [from: ardupilotmega]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_REMOTE_LOG_DATA_BLOCK_COMMANDS — [from: ardupilotmega]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_REMOTE_LOG_DATA_BLOCK_STATUSES — [from: ardupilotmega]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  DEVICE_OP_BUSTYPE — [from: ardupilotmega]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  DEEPSTALL_STAGE — [from: ardupilotmega]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  PLANE_MODE — [from: ardupilotmega]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  COPTER_MODE — [from: ardupilotmega]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  SUB_MODE — [from: ardupilotmega]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  ROVER_MODE — [from: ardupilotmega]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  TRACKER_MODE — [from: ardupilotmega]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  OSD_PARAM_CONFIG_TYPE — [from: ardupilotmega]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  OSD_PARAM_CONFIG_ERROR — [from: ardupilotmega]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  FIRMWARE_VERSION_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  HL_FAILURE_FLAG — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_GOTO — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_MODE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_SYS_STATUS_SENSOR — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_SYS_STATUS_SENSOR_EXTENDED — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_FRAME — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  FENCE_ACTION — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  FENCE_BREACH — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  FENCE_MITIGATE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  FENCE_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_MOUNT_MODE — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  GIMBAL_DEVICE_CAP_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  GIMBAL_MANAGER_CAP_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  GIMBAL_DEVICE_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  GIMBAL_MANAGER_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  GIMBAL_DEVICE_ERROR_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  GRIPPER_ACTIONS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  WINCH_ACTIONS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  UAVCAN_NODE_HEALTH — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  UAVCAN_NODE_MODE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  ESC_CONNECTION_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  ESC_FAILURE_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  STORAGE_STATUS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  STORAGE_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  STORAGE_USAGE_FLAG — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  ORBIT_YAW_BEHAVIOUR — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  WIFI_CONFIG_AP_RESPONSE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  CELLULAR_CONFIG_RESPONSE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  WIFI_CONFIG_AP_MODE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  COMP_METADATA_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  ACTUATOR_CONFIGURATION — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  ACTUATOR_OUTPUT_FUNCTION — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  AUTOTUNE_AXIS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  PREFLIGHT_STORAGE_PARAMETER_ACTION — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  PREFLIGHT_STORAGE_MISSION_ACTION — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_DATA_STREAM — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_ROI — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_PARAM_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_PARAM_EXT_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_RESULT — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_MISSION_RESULT — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_SEVERITY — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_POWER_STATUS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  SERIAL_CONTROL_DEV — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  SERIAL_CONTROL_FLAG — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_DISTANCE_SENSOR — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_SENSOR_ORIENTATION — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_PROTOCOL_CAPABILITY — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_MISSION_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_ESTIMATOR_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_BATTERY_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_BATTERY_FUNCTION — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_BATTERY_CHARGE_STATE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_BATTERY_MODE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_BATTERY_FAULT — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_GENERATOR_STATUS_FLAG — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_VTOL_STATE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_LANDED_STATE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  ADSB_ALTITUDE_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  ADSB_EMITTER_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  ADSB_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_DO_REPOSITION_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  SPEED_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  ESTIMATOR_STATUS_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MOTOR_TEST_ORDER — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MOTOR_TEST_THROTTLE_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  GPS_INPUT_IGNORE_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_COLLISION_ACTION — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_COLLISION_THREAT_LEVEL — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_COLLISION_SRC — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  GPS_FIX_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  RTK_BASELINE_COORDINATE_SYSTEM — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  LANDING_TARGET_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  VTOL_TRANSITION_HEADING — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  CAMERA_CAP_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  VIDEO_STREAM_STATUS_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  VIDEO_STREAM_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  VIDEO_STREAM_ENCODING — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  CAMERA_TRACKING_STATUS_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  CAMERA_TRACKING_MODE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  CAMERA_TRACKING_TARGET_DATA — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  CAMERA_ZOOM_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  SET_FOCUS_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  CAMERA_SOURCE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  PARAM_ACK — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  CAMERA_MODE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_ARM_AUTH_DENIED_REASON — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  RC_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  POSITION_TARGET_TYPEMASK — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  ATTITUDE_TARGET_TYPEMASK — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  UTM_FLIGHT_STATE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  UTM_DATA_AVAIL_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  CELLULAR_STATUS_FLAG — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  CELLULAR_NETWORK_FAILED_REASON — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  CELLULAR_NETWORK_RADIO_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  PRECISION_LAND_MODE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  PARACHUTE_ACTION — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_TUNNEL_PAYLOAD_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_ODID_ID_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_ODID_UA_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_ODID_STATUS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_ODID_HEIGHT_REF — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_ODID_HOR_ACC — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_ODID_VER_ACC — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_ODID_SPEED_ACC — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_ODID_TIME_ACC — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_ODID_AUTH_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_ODID_DESC_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_ODID_OPERATOR_LOCATION_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_ODID_CLASSIFICATION_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_ODID_CATEGORY_EU — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_ODID_CLASS_EU — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_ODID_OPERATOR_ID_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_ODID_ARM_STATUS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  TUNE_FORMAT — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  AIS_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  AIS_NAV_STATUS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  AIS_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  FAILURE_UNIT — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  FAILURE_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_WINCH_STATUS_FLAG — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAG_CAL_STATUS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_EVENT_ERROR_REASON — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_EVENT_CURRENT_SEQUENCE_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  HIL_SENSOR_UPDATED_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  HIGHRES_IMU_UPDATED_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  CAN_FILTER_OP — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_FTP_ERR — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_FTP_OPCODE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MISSION_STATE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  SAFETY_SWITCH_STATE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  ILLUMINATOR_MODE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  ILLUMINATOR_ERROR_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_AUTOPILOT — [from: minimal]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_TYPE — [from: minimal]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_MODE_FLAG — [from: minimal]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_MODE_FLAG_DECODE_POSITION — [from: minimal]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_STATE — [from: minimal]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_COMPONENT — [from: minimal]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  UAVIONIX_ADSB_OUT_DYNAMIC_STATE — [from: uAvionix]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  UAVIONIX_ADSB_OUT_RF_SELECT — [from: uAvionix]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  UAVIONIX_ADSB_OUT_DYNAMIC_GPS_FIX — [from: uAvionix]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  UAVIONIX_ADSB_RF_HEALTH — [from: uAvionix]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  UAVIONIX_ADSB_OUT_CFG_AIRCRAFT_SIZE — [from: uAvionix]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  UAVIONIX_ADSB_OUT_CFG_GPS_OFFSET_LAT — [from: uAvionix]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  UAVIONIX_ADSB_OUT_CFG_GPS_OFFSET_LON — [from: uAvionix]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  UAVIONIX_ADSB_EMERGENCY_STATUS — [from: uAvionix]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  ICAROUS_TRACK_BAND_TYPES — [from: icarous]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  ICAROUS_FMS_STATE — [from: icarous]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  GSM_MODEM_TYPE — [from: ASLUAV]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  WIFI_NETWORK_SECURITY — [from: development] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  AIRSPEED_SENSOR_FLAGS — [from: development] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  PARAM_TRANSACTION_TRANSPORT — [from: development] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  PARAM_TRANSACTION_ACTION — [from: development] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_STANDARD_MODE — [from: development] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_MODE_PROPERTY — [from: development] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_BATTERY_STATUS_FLAGS — [from: development] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  TARGET_ABSOLUTE_SENSOR_CAPABILITY_FLAGS — [from: development] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  TARGET_OBS_FRAME — [from: development] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  RADIO_RC_CHANNELS_FLAGS — [from: development] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_FUEL_TYPE — [from: development] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  GPS_SYSTEM_ERROR_FLAGS — [from: development] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  GPS_AUTHENTICATION_STATE — [from: development] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  GPS_JAMMING_STATE — [from: development] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  GPS_SPOOFING_STATE — [from: development] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  GPS_RAIM_STATE — [from: development] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  UALBERTA_AUTOPILOT_MODE — [from: ualberta]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  UALBERTA_NAV_MODE — [from: ualberta]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  UALBERTA_PILOT_MODE — [from: ualberta]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_STORM32_TUNNEL_PAYLOAD_TYPE — [from: storm32]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_STORM32_GIMBAL_PREARM_FLAGS — [from: storm32]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_STORM32_CAMERA_PREARM_FLAGS — [from: storm32]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_STORM32_GIMBAL_MANAGER_CAP_FLAGS — [from: storm32]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_STORM32_GIMBAL_MANAGER_FLAGS — [from: storm32]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_STORM32_GIMBAL_MANAGER_CLIENT — [from: storm32]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_STORM32_GIMBAL_MANAGER_PROFILE — [from: storm32]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_QSHOT_MODE — [from: storm32]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_AVSS_COMMAND_FAILURE_REASON — [from: AVSSUAS]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  AVSS_M300_OPERATION_MODE — [from: AVSSUAS]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  AVSS_HORSEFLY_OPERATION_MODE — [from: AVSSUAS]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Commands (MAV_CMD)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_NAV_WAYPOINT (16) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_NAV_LOITER_UNLIM (17) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_NAV_LOITER_TURNS (18) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_NAV_LOITER_TIME (19) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_NAV_RETURN_TO_LAUNCH (20) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_NAV_LAND (21) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_NAV_TAKEOFF (22) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_NAV_LAND_LOCAL (23) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_NAV_TAKEOFF_LOCAL (24) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_NAV_FOLLOW (25) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_NAV_CONTINUE_AND_CHANGE_ALT (30) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_NAV_LOITER_TO_ALT (31) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_DO_FOLLOW (32) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_DO_FOLLOW_REPOSITION (33) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_DO_ORBIT (34) — [from: common] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_DO_FIGURE_EIGHT (35) — [from: development] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_NAV_ROI (80) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_NAV_PATHPLANNING (81) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_NAV_SPLINE_WAYPOINT (82) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_NAV_ALTITUDE_WAIT (83) — [from: ardupilotmega]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_NAV_VTOL_TAKEOFF (84) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_NAV_VTOL_LAND (85) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_NAV_GUIDED_ENABLE (92) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_NAV_DELAY (93) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_NAV_PAYLOAD_PLACE (94) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_NAV_LAST (95) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_CONDITION_DELAY (112) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_CONDITION_CHANGE_ALT (113) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_CONDITION_DISTANCE (114) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_CONDITION_YAW (115) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_CONDITION_LAST (159) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_DO_SET_MODE (176) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_DO_JUMP (177) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_DO_CHANGE_SPEED (178) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_DO_SET_HOME (179) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_DO_SET_PARAMETER (180) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_DO_SET_RELAY (181) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_DO_REPEAT_RELAY (182) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_DO_SET_SERVO (183) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_DO_REPEAT_SERVO (184) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_DO_FLIGHTTERMINATION (185) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_DO_CHANGE_ALTITUDE (186) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_DO_SET_ACTUATOR (187) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_DO_RETURN_PATH_START (188) — [from: common] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_DO_LAND_START (189) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_DO_RALLY_LAND (190) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_DO_GO_AROUND (191) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_DO_REPOSITION (192) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_DO_PAUSE_CONTINUE (193) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_DO_SET_REVERSE (194) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_DO_SET_ROI_LOCATION (195) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_DO_SET_ROI_WPNEXT_OFFSET (196) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_DO_SET_ROI_NONE (197) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_DO_SET_ROI_SYSID (198) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_DO_CONTROL_VIDEO (200) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_DO_SET_ROI (201) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_DO_DIGICAM_CONFIGURE (202) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_DO_DIGICAM_CONTROL (203) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_DO_MOUNT_CONFIGURE (204) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_DO_MOUNT_CONTROL (205) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_DO_SET_CAM_TRIGG_DIST (206) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_DO_FENCE_ENABLE (207) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_DO_PARACHUTE (208) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_DO_MOTOR_TEST (209) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_DO_INVERTED_FLIGHT (210) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_DO_GRIPPER (211) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_DO_AUTOTUNE_ENABLE (212) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_NAV_SET_YAW_SPEED (213) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_DO_SET_CAM_TRIGG_INTERVAL (214) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_DO_SET_RESUME_REPEAT_DIST (215) — [from: ardupilotmega]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_DO_SPRAYER (216) — [from: ardupilotmega]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_DO_SEND_SCRIPT_MESSAGE (217) — [from: ardupilotmega]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_DO_AUX_FUNCTION (218) — [from: ardupilotmega]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_DO_MOUNT_CONTROL_QUAT (220) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_DO_GUIDED_MASTER (221) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_DO_GUIDED_LIMITS (222) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_DO_ENGINE_CONTROL (223) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_DO_SET_MISSION_CURRENT (224) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_DO_LAST (240) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_PREFLIGHT_CALIBRATION (241) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_PREFLIGHT_SET_SENSOR_OFFSETS (242) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_PREFLIGHT_UAVCAN (243) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_PREFLIGHT_STORAGE (245) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN (246) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_DO_UPGRADE (247) — [from: development] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_OVERRIDE_GOTO (252) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_OBLIQUE_SURVEY (260) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_DO_SET_STANDARD_MODE (262) — [from: development] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_MISSION_START (300) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_GROUP_START (301) — [from: development] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_GROUP_END (302) — [from: development] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_ACTUATOR_TEST (310) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_CONFIGURE_ACTUATOR (311) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_COMPONENT_ARM_DISARM (400) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_RUN_PREARM_CHECKS (401) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_ILLUMINATOR_ON_OFF (405) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_DO_ILLUMINATOR_CONFIGURE (406) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_GET_HOME_POSITION (410) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_INJECT_FAILURE (420) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_START_RX_PAIR (500) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_GET_MESSAGE_INTERVAL (510) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_SET_MESSAGE_INTERVAL (511) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_REQUEST_MESSAGE (512) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_REQUEST_PROTOCOL_VERSION (519) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_REQUEST_AUTOPILOT_CAPABILITIES (520) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_REQUEST_CAMERA_INFORMATION (521) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_REQUEST_CAMERA_SETTINGS (522) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_REQUEST_STORAGE_INFORMATION (525) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_STORAGE_FORMAT (526) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_REQUEST_CAMERA_CAPTURE_STATUS (527) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_REQUEST_FLIGHT_INFORMATION (528) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_RESET_CAMERA_SETTINGS (529) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_SET_CAMERA_MODE (530) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_SET_CAMERA_ZOOM (531) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_SET_CAMERA_FOCUS (532) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_SET_STORAGE_USAGE (533) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_SET_CAMERA_SOURCE (534) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_SET_AT_S_PARAM (550) — [from: development] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_JUMP_TAG (600) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_DO_JUMP_TAG (601) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_DO_SET_SYS_CMP_ID (610) — [from: development] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_PARAM_TRANSACTION (900) — [from: development] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_DO_GIMBAL_MANAGER_PITCHYAW (1000) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_DO_GIMBAL_MANAGER_CONFIGURE (1001) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_IMAGE_START_CAPTURE (2000) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_IMAGE_STOP_CAPTURE (2001) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_REQUEST_CAMERA_IMAGE_CAPTURE (2002) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_DO_TRIGGER_CONTROL (2003) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_CAMERA_TRACK_POINT (2004) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_CAMERA_TRACK_RECTANGLE (2005) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_CAMERA_STOP_TRACKING (2010) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_VIDEO_START_CAPTURE (2500) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_VIDEO_STOP_CAPTURE (2501) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_VIDEO_START_STREAMING (2502) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_VIDEO_STOP_STREAMING (2503) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_REQUEST_VIDEO_STREAM_INFORMATION (2504) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_REQUEST_VIDEO_STREAM_STATUS (2505) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_LOGGING_START (2510) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_LOGGING_STOP (2511) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_AIRFRAME_CONFIGURATION (2520) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_CONTROL_HIGH_LATENCY (2600) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_PANORAMA_CREATE (2800) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_DO_VTOL_TRANSITION (3000) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_ARM_AUTHORIZATION_REQUEST (3001) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_SET_GUIDED_SUBMODE_STANDARD (4000) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_SET_GUIDED_SUBMODE_CIRCLE (4001) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_CONDITION_GATE (4501) — [from: common] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_NAV_FENCE_RETURN_POINT (5000) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_NAV_FENCE_POLYGON_VERTEX_INCLUSION (5001) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_NAV_FENCE_POLYGON_VERTEX_EXCLUSION (5002) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_NAV_FENCE_CIRCLE_INCLUSION (5003) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_NAV_FENCE_CIRCLE_EXCLUSION (5004) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_NAV_RALLY_POINT (5100) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_UAVCAN_GET_NODE_INFO (5200) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_DO_SET_SAFETY_SWITCH_STATE (5300) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_DO_ADSB_OUT_IDENT (10001) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_ODID_SET_EMERGENCY (12900) — [from: development] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_PAYLOAD_PREPARE_DEPLOY (30001) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_PAYLOAD_CONTROL_DEPLOY (30002) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_WAYPOINT_USER_1 (31000) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_WAYPOINT_USER_2 (31001) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_WAYPOINT_USER_3 (31002) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_WAYPOINT_USER_4 (31003) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_WAYPOINT_USER_5 (31004) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_SPATIAL_USER_1 (31005) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_SPATIAL_USER_2 (31006) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_SPATIAL_USER_3 (31007) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_SPATIAL_USER_4 (31008) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_SPATIAL_USER_5 (31009) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_USER_1 (31010) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_USER_2 (31011) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_USER_3 (31012) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_USER_4 (31013) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_USER_5 (31014) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_CAN_FORWARD (32000) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_RESET_MPPT (40001) — [from: ASLUAV]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_PAYLOAD_CONTROL (40002) — [from: ASLUAV]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_POWER_OFF_INITIATED (42000) — [from: ardupilotmega]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_SOLO_BTN_FLY_CLICK (42001) — [from: ardupilotmega]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_SOLO_BTN_FLY_HOLD (42002) — [from: ardupilotmega]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_SOLO_BTN_PAUSE_CLICK (42003) — [from: ardupilotmega]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_FIXED_MAG_CAL (42004) — [from: ardupilotmega]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_FIXED_MAG_CAL_FIELD (42005) — [from: ardupilotmega]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_FIXED_MAG_CAL_YAW (42006) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_SET_EKF_SOURCE_SET (42007) — [from: ardupilotmega]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_DO_START_MAG_CAL (42424) — [from: ardupilotmega]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_DO_ACCEPT_MAG_CAL (42425) — [from: ardupilotmega]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_DO_CANCEL_MAG_CAL (42426) — [from: ardupilotmega]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_SET_FACTORY_TEST_MODE (42427) — [from: ardupilotmega]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_DO_SEND_BANNER (42428) — [from: ardupilotmega]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_ACCELCAL_VEHICLE_POS (42429) — [from: ardupilotmega]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_GIMBAL_RESET (42501) — [from: ardupilotmega]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_GIMBAL_AXIS_CALIBRATION_STATUS (42502) — [from: ardupilotmega]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_GIMBAL_REQUEST_AXIS_CALIBRATION (42503) — [from: ardupilotmega]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_GIMBAL_FULL_RESET (42505) — [from: ardupilotmega]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_DO_WINCH (42600) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_FLASH_BOOTLOADER (42650) — [from: ardupilotmega]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_BATTERY_RESET (42651) — [from: ardupilotmega]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_DEBUG_TRAP (42700) — [from: ardupilotmega]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_SCRIPTING (42701) — [from: ardupilotmega]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_NAV_SCRIPT_TIME (42702) — [from: ardupilotmega]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_NAV_ATTITUDE_TIME (42703) — [from: ardupilotmega]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_GUIDED_CHANGE_SPEED (43000) — [from: ardupilotmega]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_GUIDED_CHANGE_ALTITUDE (43001) — [from: ardupilotmega]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_GUIDED_CHANGE_HEADING (43002) — [from: ardupilotmega]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_EXTERNAL_POSITION_ESTIMATE (43003) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_EXTERNAL_WIND_ESTIMATE (43004) — [from: development] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_STORM32_DO_GIMBAL_MANAGER_CONTROL_PITCHYAW (60002) — [from: storm32]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_STORM32_DO_GIMBAL_MANAGER_SETUP (60010) — [from: storm32] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_QSHOT_DO_CONFIGURE (60020) — [from: storm32] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_PRS_SET_ARM (60050) — [from: AVSSUAS]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_PRS_GET_ARM (60051) — [from: AVSSUAS]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_PRS_GET_BATTERY (60052) — [from: AVSSUAS]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_PRS_GET_ERR (60053) — [from: AVSSUAS]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_PRS_SET_ARM_ALTI (60070) — [from: AVSSUAS]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_PRS_GET_ARM_ALTI (60071) — [from: AVSSUAS]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_PRS_SHUTDOWN (60072) — [from: AVSSUAS]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  results matching ""

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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    \ No newline at end of file +all.xml · MAVLink Developer Guide
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Dialect: all

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    This dialect is intended to include all other dialects in the mavlink/mavlink repository (including external dialects).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Dialects that are in all.xml are guaranteed to not have clashes in messages, enums, enum ids, and MAV_CMDs. This ensure that:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • Systems based on these dialects can co-exist on the same MAVLink network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • A Ground Station might (optionally) use libraries generated from all.xml to communicate using any of the dialects.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • Warning New dialect files in the official repository must be added to all.xml and restrict themselves to using ids in their own allocated range.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • Dialects should push changes to mavlink/mavlink in order to avoid potential clashes from changes to other dialects.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    A few older dialects are not included because these operate in completely closed networks or because they are only used for tests.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    This topic is a human-readable form of the XML definition file: all.xml.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAVLink 2 extension fields that have been added to MAVLink 1 messages are displayed in blue. - Entities from dialects are displayed only as headings (with link to original)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Summary

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    TypeDefinedIncluded
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Messages0364
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Enums0236
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Commands2180

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    The following sections list all entities in the dialect (both included and defined in this file).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Messages

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Enumerated Types

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Commands (MAV_CMD)

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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      \ No newline at end of file diff --git a/ko/messages/ardupilotmega.html b/ko/messages/ardupilotmega.html index 42110d4b7..366d6acae 100644 --- a/ko/messages/ardupilotmega.html +++ b/ko/messages/ardupilotmega.html @@ -1 +1 @@ -ardupilotmega.xml · MAVLink Developer Guide
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Dialect: ArduPilotMega

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      The ArduPilot MAVLink fork of ardupilotmega.xml may contain messages that have not yet been merged into this documentation. The documentation below may not be accurate if the dialect owner has not pushed changes.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      These messages define the ArduPilot specific message set, which is custom to http://ardupilot.org.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      This topic is a human-readable form of the XML definition file: ardupilotmega.xml.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAVLink 2 extension fields that have been added to MAVLink 1 messages are displayed in blue. - Entities from dialects are displayed only as headings (with link to original)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Protocol dialect: 2

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Summary

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      TypeDefinedIncluded
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Messages65240
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Enums45157
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Commands1950

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      The following sections list all entities in the dialect (both included and defined in this file).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Messages

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      HEARTBEAT (0) — [from: minimal]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      SYS_STATUS (1) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      SYSTEM_TIME (2) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      PING (4) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      CHANGE_OPERATOR_CONTROL (5) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      CHANGE_OPERATOR_CONTROL_ACK (6) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      AUTH_KEY (7) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      SET_MODE (11) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      PARAM_REQUEST_READ (20) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      PARAM_REQUEST_LIST (21) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      PARAM_VALUE (22) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      PARAM_SET (23) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      GPS_RAW_INT (24) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      GPS_STATUS (25) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      SCALED_IMU (26) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      RAW_IMU (27) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      RAW_PRESSURE (28) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      SCALED_PRESSURE (29) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ATTITUDE (30) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ATTITUDE_QUATERNION (31) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      LOCAL_POSITION_NED (32) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      GLOBAL_POSITION_INT (33) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      RC_CHANNELS_SCALED (34) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      RC_CHANNELS_RAW (35) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      SERVO_OUTPUT_RAW (36) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MISSION_REQUEST_PARTIAL_LIST (37) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MISSION_WRITE_PARTIAL_LIST (38) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MISSION_ITEM (39) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MISSION_REQUEST (40) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MISSION_SET_CURRENT (41) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MISSION_CURRENT (42) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MISSION_REQUEST_LIST (43) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MISSION_COUNT (44) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MISSION_CLEAR_ALL (45) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MISSION_ITEM_REACHED (46) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MISSION_ACK (47) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      SET_GPS_GLOBAL_ORIGIN (48) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      GPS_GLOBAL_ORIGIN (49) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      PARAM_MAP_RC (50) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MISSION_REQUEST_INT (51) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      SAFETY_SET_ALLOWED_AREA (54) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      SAFETY_ALLOWED_AREA (55) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ATTITUDE_QUATERNION_COV (61) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      GLOBAL_POSITION_INT_COV (63) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      LOCAL_POSITION_NED_COV (64) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      RC_CHANNELS (65) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      REQUEST_DATA_STREAM (66) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      DATA_STREAM (67) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MANUAL_CONTROL (69) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      RC_CHANNELS_OVERRIDE (70) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MISSION_ITEM_INT (73) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      VFR_HUD (74) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      COMMAND_INT (75) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      COMMAND_LONG (76) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      COMMAND_ACK (77) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      COMMAND_CANCEL (80) — [from: common] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MANUAL_SETPOINT (81) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      SET_ATTITUDE_TARGET (82) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ATTITUDE_TARGET (83) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      SET_POSITION_TARGET_LOCAL_NED (84) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      POSITION_TARGET_LOCAL_NED (85) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      SET_POSITION_TARGET_GLOBAL_INT (86) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      POSITION_TARGET_GLOBAL_INT (87) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      LOCAL_POSITION_NED_SYSTEM_GLOBAL_OFFSET (89) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      HIL_STATE (90) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      HIL_CONTROLS (91) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      HIL_RC_INPUTS_RAW (92) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      HIL_ACTUATOR_CONTROLS (93) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      OPTICAL_FLOW (100) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      GLOBAL_VISION_POSITION_ESTIMATE (101) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      VISION_POSITION_ESTIMATE (102) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      VISION_SPEED_ESTIMATE (103) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      VICON_POSITION_ESTIMATE (104) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      HIGHRES_IMU (105) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      OPTICAL_FLOW_RAD (106) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      HIL_SENSOR (107) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      SIM_STATE (108) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      RADIO_STATUS (109) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      FILE_TRANSFER_PROTOCOL (110) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      TIMESYNC (111) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      CAMERA_TRIGGER (112) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      HIL_GPS (113) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      HIL_OPTICAL_FLOW (114) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      HIL_STATE_QUATERNION (115) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      SCALED_IMU2 (116) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      LOG_REQUEST_LIST (117) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      LOG_ENTRY (118) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      LOG_REQUEST_DATA (119) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      LOG_DATA (120) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      LOG_ERASE (121) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      LOG_REQUEST_END (122) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      GPS_INJECT_DATA (123) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      GPS2_RAW (124) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      POWER_STATUS (125) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      SERIAL_CONTROL (126) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      GPS_RTK (127) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      GPS2_RTK (128) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      SCALED_IMU3 (129) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      DATA_TRANSMISSION_HANDSHAKE (130) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ENCAPSULATED_DATA (131) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      DISTANCE_SENSOR (132) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      TERRAIN_REQUEST (133) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      TERRAIN_DATA (134) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      TERRAIN_CHECK (135) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      TERRAIN_REPORT (136) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      SCALED_PRESSURE2 (137) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ATT_POS_MOCAP (138) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      SET_ACTUATOR_CONTROL_TARGET (139) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ACTUATOR_CONTROL_TARGET (140) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ALTITUDE (141) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      RESOURCE_REQUEST (142) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      SCALED_PRESSURE3 (143) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      FOLLOW_TARGET (144) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      CONTROL_SYSTEM_STATE (146) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      BATTERY_STATUS (147) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      AUTOPILOT_VERSION (148) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      LANDING_TARGET (149) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      SENSOR_OFFSETS (150)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Offsets and calibrations values for hardware sensors. This makes it easier to debug the calibration process.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      mag_ofs_xint16_tMagnetometer X offset.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      mag_ofs_yint16_tMagnetometer Y offset.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      mag_ofs_zint16_tMagnetometer Z offset.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      mag_declinationfloatradMagnetic declination.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      raw_pressint32_tRaw pressure from barometer.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      raw_tempint32_tRaw temperature from barometer.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      gyro_cal_xfloatGyro X calibration.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      gyro_cal_yfloatGyro Y calibration.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      gyro_cal_zfloatGyro Z calibration.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      accel_cal_xfloatAccel X calibration.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      accel_cal_yfloatAccel Y calibration.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      accel_cal_zfloatAccel Z calibration.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      SET_MAG_OFFSETS (151) — [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      DEPRECATED: Replaced By MAV_CMD_PREFLIGHT_SET_SENSOR_OFFSETS (2014-07)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Set the magnetometer offsets

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      target_systemuint8_tSystem ID.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      target_componentuint8_tComponent ID.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      mag_ofs_xint16_tMagnetometer X offset.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      mag_ofs_yint16_tMagnetometer Y offset.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      mag_ofs_zint16_tMagnetometer Z offset.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MEMINFO (152)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      State of autopilot RAM.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      brkvaluint16_tHeap top.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      freememuint16_tbytesFree memory.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      freemem32 ++uint32_tbytesFree memory (32 bit).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      AP_ADC (153)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Raw ADC output.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      adc1uint16_tADC output 1.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      adc2uint16_tADC output 2.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      adc3uint16_tADC output 3.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      adc4uint16_tADC output 4.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      adc5uint16_tADC output 5.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      adc6uint16_tADC output 6.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      DIGICAM_CONFIGURE (154)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Configure on-board Camera Control System.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      target_systemuint8_tSystem ID.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      target_componentuint8_tComponent ID.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      modeuint8_tMode enumeration from 1 to N //P, TV, AV, M, etc. (0 means ignore).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      shutter_speeduint16_tDivisor number //e.g. 1000 means 1/1000 (0 means ignore).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      apertureuint8_tF stop number x 10 //e.g. 28 means 2.8 (0 means ignore).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      isouint8_tISO enumeration from 1 to N //e.g. 80, 100, 200, Etc (0 means ignore).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      exposure_typeuint8_tExposure type enumeration from 1 to N (0 means ignore).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      command_iduint8_tCommand Identity (incremental loop: 0 to 255). //A command sent multiple times will be executed or pooled just once.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      engine_cut_offuint8_tdsMain engine cut-off time before camera trigger (0 means no cut-off).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      extra_paramuint8_tExtra parameters enumeration (0 means ignore).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      extra_valuefloatCorrespondent value to given extra_param.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      DIGICAM_CONTROL (155)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Control on-board Camera Control System to take shots.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      target_systemuint8_tSystem ID.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      target_componentuint8_tComponent ID.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      sessionuint8_t0: stop, 1: start or keep it up //Session control e.g. show/hide lens.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      zoom_posuint8_t1 to N //Zoom's absolute position (0 means ignore).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      zoom_stepint8_t-100 to 100 //Zooming step value to offset zoom from the current position.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      focus_lockuint8_t0: unlock focus or keep unlocked, 1: lock focus or keep locked, 3: re-lock focus.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      shotuint8_t0: ignore, 1: shot or start filming.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      command_iduint8_tCommand Identity (incremental loop: 0 to 255)//A command sent multiple times will be executed or pooled just once.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      extra_paramuint8_tExtra parameters enumeration (0 means ignore).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      extra_valuefloatCorrespondent value to given extra_param.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MOUNT_CONFIGURE (156)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Message to configure a camera mount, directional antenna, etc.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Field NameTypeValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      target_systemuint8_tSystem ID.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      target_componentuint8_tComponent ID.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      mount_modeuint8_tMAV_MOUNT_MODEMount operating mode.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      stab_rolluint8_t(1 = yes, 0 = no).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      stab_pitchuint8_t(1 = yes, 0 = no).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      stab_yawuint8_t(1 = yes, 0 = no).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MOUNT_CONTROL (157)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Message to control a camera mount, directional antenna, etc.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      target_systemuint8_tSystem ID.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      target_componentuint8_tComponent ID.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      input_aint32_tPitch (centi-degrees) or lat (degE7), depending on mount mode.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      input_bint32_tRoll (centi-degrees) or lon (degE7) depending on mount mode.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      input_cint32_tYaw (centi-degrees) or alt (cm) depending on mount mode.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      save_positionuint8_tIf "1" it will save current trimmed position on EEPROM (just valid for NEUTRAL and LANDING).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MOUNT_STATUS (158)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Message with some status from autopilot to GCS about camera or antenna mount.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      target_systemuint8_tSystem ID.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      target_componentuint8_tComponent ID.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      pointing_aint32_tcdegPitch.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      pointing_bint32_tcdegRoll.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      pointing_cint32_tcdegYaw.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      mount_mode ++uint8_tMAV_MOUNT_MODEMount operating mode.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      FENCE_POINT (160)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      A fence point. Used to set a point when from GCS -> MAV. Also used to return a point from MAV -> GCS.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      target_systemuint8_tSystem ID.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      target_componentuint8_tComponent ID.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      idxuint8_tPoint index (first point is 1, 0 is for return point).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      countuint8_tTotal number of points (for sanity checking).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      latfloatdegLatitude of point.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      lngfloatdegLongitude of point.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      FENCE_FETCH_POINT (161)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Request a current fence point from MAV.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      target_systemuint8_tSystem ID.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      target_componentuint8_tComponent ID.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      idxuint8_tPoint index (first point is 1, 0 is for return point).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      FENCE_STATUS (162) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      AHRS (163)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Status of DCM attitude estimator.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      omegaIxfloatrad/sX gyro drift estimate.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      omegaIyfloatrad/sY gyro drift estimate.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      omegaIzfloatrad/sZ gyro drift estimate.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      accel_weightfloatAverage accel_weight.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      renorm_valfloatAverage renormalisation value.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      error_rpfloatAverage error_roll_pitch value.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      error_yawfloatAverage error_yaw value.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      SIMSTATE (164)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Status of simulation environment, if used.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      rollfloatradRoll angle.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      pitchfloatradPitch angle.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      yawfloatradYaw angle.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      xaccfloatm/s/sX acceleration.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      yaccfloatm/s/sY acceleration.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      zaccfloatm/s/sZ acceleration.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      xgyrofloatrad/sAngular speed around X axis.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ygyrofloatrad/sAngular speed around Y axis.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      zgyrofloatrad/sAngular speed around Z axis.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      latint32_tdegE7Latitude.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      lngint32_tdegE7Longitude.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      HWSTATUS (165)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Status of key hardware.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Vccuint16_tmVBoard voltage.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      I2Cerruint8_tI2C error count.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      RADIO (166)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Status generated by radio.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      rssiuint8_tLocal signal strength.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      remrssiuint8_tRemote signal strength.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      txbufuint8_t%How full the tx buffer is.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      noiseuint8_tBackground noise level.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      remnoiseuint8_tRemote background noise level.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      rxerrorsuint16_tReceive errors.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      fixeduint16_tCount of error corrected packets.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      LIMITS_STATUS (167)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Status of AP_Limits. Sent in extended status stream when AP_Limits is enabled.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      limits_stateuint8_tLIMITS_STATEState of AP_Limits.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      last_triggeruint32_tmsTime (since boot) of last breach.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      last_actionuint32_tmsTime (since boot) of last recovery action.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      last_recoveryuint32_tmsTime (since boot) of last successful recovery.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      last_clearuint32_tmsTime (since boot) of last all-clear.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      breach_countuint16_tNumber of fence breaches.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      mods_enableduint8_tLIMIT_MODULEAP_Limit_Module bitfield of enabled modules.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      mods_requireduint8_tLIMIT_MODULEAP_Limit_Module bitfield of required modules.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      mods_triggereduint8_tLIMIT_MODULEAP_Limit_Module bitfield of triggered modules.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      WIND (168)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Wind estimation.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      directionfloatdegWind direction (that wind is coming from).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      speedfloatm/sWind speed in ground plane.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      speed_zfloatm/sVertical wind speed.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      DATA16 (169)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Data packet, size 16.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      typeuint8_tData type.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      lenuint8_tbytesData length.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      datauint8_t[16]Raw data.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      DATA32 (170)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Data packet, size 32.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      typeuint8_tData type.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      lenuint8_tbytesData length.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      datauint8_t[32]Raw data.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      DATA64 (171)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Data packet, size 64.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      typeuint8_tData type.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      lenuint8_tbytesData length.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      datauint8_t[64]Raw data.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      DATA96 (172)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Data packet, size 96.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      typeuint8_tData type.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      lenuint8_tbytesData length.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      datauint8_t[96]Raw data.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      RANGEFINDER (173)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Rangefinder reporting.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      distancefloatmDistance.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      voltagefloatVRaw voltage if available, zero otherwise.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      AIRSPEED_AUTOCAL (174)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Airspeed auto-calibration.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      vxfloatm/sGPS velocity north.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      vyfloatm/sGPS velocity east.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      vzfloatm/sGPS velocity down.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      diff_pressurefloatPaDifferential pressure.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      EAS2TASfloatEstimated to true airspeed ratio.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ratiofloatAirspeed ratio.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      state_xfloatEKF state x.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      state_yfloatEKF state y.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      state_zfloatEKF state z.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      PaxfloatEKF Pax.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      PbyfloatEKF Pby.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      PczfloatEKF Pcz.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      RALLY_POINT (175)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      A rally point. Used to set a point when from GCS -> MAV. Also used to return a point from MAV -> GCS.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      target_systemuint8_tSystem ID.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      target_componentuint8_tComponent ID.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      idxuint8_tPoint index (first point is 0).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      countuint8_tTotal number of points (for sanity checking).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      latint32_tdegE7Latitude of point.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      lngint32_tdegE7Longitude of point.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      altint16_tmTransit / loiter altitude relative to home.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      break_altint16_tmBreak altitude relative to home.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      land_diruint16_tcdegHeading to aim for when landing.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      flagsuint8_tRALLY_FLAGSConfiguration flags.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      RALLY_FETCH_POINT (176)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Request a current rally point from MAV. MAV should respond with a RALLY_POINT message. MAV should not respond if the request is invalid.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      target_systemuint8_tSystem ID.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      target_componentuint8_tComponent ID.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      idxuint8_tPoint index (first point is 0).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      COMPASSMOT_STATUS (177)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Status of compassmot calibration.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      throttleuint16_td%Throttle.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      currentfloatACurrent.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      interferenceuint16_t%Interference.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      CompensationXfloatMotor Compensation X.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      CompensationYfloatMotor Compensation Y.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      CompensationZfloatMotor Compensation Z.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      AHRS2 (178)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Status of secondary AHRS filter if available.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      rollfloatradRoll angle.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      pitchfloatradPitch angle.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      yawfloatradYaw angle.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      altitudefloatmAltitude (MSL).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      latint32_tdegE7Latitude.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      lngint32_tdegE7Longitude.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      CAMERA_STATUS (179)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Camera Event.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      time_usecuint64_tusImage timestamp (since UNIX epoch, according to camera clock).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      target_systemuint8_tSystem ID.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      cam_idxuint8_tCamera ID.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      img_idxuint16_tImage index.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      event_iduint8_tCAMERA_STATUS_TYPESEvent type.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      p1floatParameter 1 (meaning depends on event_id, see CAMERA_STATUS_TYPES enum).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      p2floatParameter 2 (meaning depends on event_id, see CAMERA_STATUS_TYPES enum).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      p3floatParameter 3 (meaning depends on event_id, see CAMERA_STATUS_TYPES enum).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      p4floatParameter 4 (meaning depends on event_id, see CAMERA_STATUS_TYPES enum).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      CAMERA_FEEDBACK (180)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Camera Capture Feedback.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      time_usecuint64_tusImage timestamp (since UNIX epoch), as passed in by CAMERA_STATUS message (or autopilot if no CCB).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      target_systemuint8_tSystem ID.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      cam_idxuint8_tCamera ID.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      img_idxuint16_tImage index.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      latint32_tdegE7Latitude.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      lngint32_tdegE7Longitude.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      alt_mslfloatmAltitude (MSL).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      alt_relfloatmAltitude (Relative to HOME location).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      rollfloatdegCamera Roll angle (earth frame, +-180).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      pitchfloatdegCamera Pitch angle (earth frame, +-180).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      yawfloatdegCamera Yaw (earth frame, 0-360, true).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      foc_lenfloatmmFocal Length.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      flagsuint8_tCAMERA_FEEDBACK_FLAGSFeedback flags.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      completed_captures ++uint16_tCompleted image captures.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      BATTERY2 (181) — [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      DEPRECATED: Replaced By BATTERY_STATUS (2017-04)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2nd Battery status

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      voltageuint16_tmVVoltage.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      current_batteryint16_tcABattery current, -1: autopilot does not measure the current.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      AHRS3 (182)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Status of third AHRS filter if available. This is for ANU research group (Ali and Sean).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      rollfloatradRoll angle.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      pitchfloatradPitch angle.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      yawfloatradYaw angle.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      altitudefloatmAltitude (MSL).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      latint32_tdegE7Latitude.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      lngint32_tdegE7Longitude.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      v1floatTest variable1.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      v2floatTest variable2.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      v3floatTest variable3.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      v4floatTest variable4.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      AUTOPILOT_VERSION_REQUEST (183)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Request the autopilot version from the system/component.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      target_systemuint8_tSystem ID.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      target_componentuint8_tComponent ID.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      REMOTE_LOG_DATA_BLOCK (184)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Send a block of log data to remote location.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Field NameTypeValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      target_systemuint8_tSystem ID.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      target_componentuint8_tComponent ID.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      seqnouint32_tMAV_REMOTE_LOG_DATA_BLOCK_COMMANDSLog data block sequence number.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      datauint8_t[200]Log data block.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      REMOTE_LOG_BLOCK_STATUS (185)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Send Status of each log block that autopilot board might have sent.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Field NameTypeValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      target_systemuint8_tSystem ID.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      target_componentuint8_tComponent ID.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      seqnouint32_tLog data block sequence number.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      statusuint8_tMAV_REMOTE_LOG_DATA_BLOCK_STATUSESLog data block status.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      LED_CONTROL (186)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Control vehicle LEDs.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      target_systemuint8_tSystem ID.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      target_componentuint8_tComponent ID.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      instanceuint8_tInstance (LED instance to control or 255 for all LEDs).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      patternuint8_tPattern (see LED_PATTERN_ENUM).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      custom_lenuint8_tCustom Byte Length.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      custom_bytesuint8_t[24]Custom Bytes.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAG_CAL_PROGRESS (191)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Reports progress of compass calibration.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      compass_iduint8_tCompass being calibrated.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Messages with same value are from the same source (instance). | | cal_mask | uint8_t | | | Bitmask of compasses being calibrated. | | cal_status | uint8_t | | MAG_CAL_STATUS | Calibration Status. | | attempt | uint8_t | | | Attempt number. | | completion_pct | uint8_t | % | | Completion percentage. | | completion_mask | uint8_t[10] | | | Bitmask of sphere sections (see http://en.wikipedia.org/wiki/Geodesic_grid). | | direction_x | float | | | Body frame direction vector for display. | | direction_y | float | | | Body frame direction vector for display. | | direction_z | float | | | Body frame direction vector for display. |

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAG_CAL_REPORT (192) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      EKF_STATUS_REPORT (193)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      EKF Status message including flags and variances.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Field NameTypeValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      flagsuint16_tEKF_STATUS_FLAGSFlags.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      velocity_variancefloatVelocity variance.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      pos_horiz_variancefloatHorizontal Position variance.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      pos_vert_variancefloatVertical Position variance.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      compass_variancefloatCompass variance.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      terrain_alt_variancefloatTerrain Altitude variance.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      airspeed_variance ++floatAirspeed variance.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      PID_TUNING (194)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      PID tuning information.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Field NameTypeValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      axisuint8_tPID_TUNING_AXISAxis.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Messages with same value are from the same source (instance). | | desired | float | | Desired rate. | | achieved | float | | Achieved rate. | | FF | float | | FF component. | | P | float | | P component. | | I | float | | I component. | | D | float | | D component. | | SRate ++ | float | | Slew rate. | | PDmod ++ | float | | P/D oscillation modifier. |

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      DEEPSTALL (195)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Deepstall path planning.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      landing_latint32_tdegE7Landing latitude.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      landing_lonint32_tdegE7Landing longitude.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      path_latint32_tdegE7Final heading start point, latitude.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      path_lonint32_tdegE7Final heading start point, longitude.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      arc_entry_latint32_tdegE7Arc entry point, latitude.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      arc_entry_lonint32_tdegE7Arc entry point, longitude.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      altitudefloatmAltitude.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      expected_travel_distancefloatmDistance the aircraft expects to travel during the deepstall.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      cross_track_errorfloatmDeepstall cross track error (only valid when in DEEPSTALL_STAGE_LAND).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      stageuint8_tDEEPSTALL_STAGEDeepstall stage.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      GIMBAL_REPORT (200)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      3 axis gimbal measurements.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      target_systemuint8_tSystem ID.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      target_componentuint8_tComponent ID.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      delta_timefloatsTime since last update.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      delta_angle_xfloatradDelta angle X.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      delta_angle_yfloatradDelta angle Y.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      delta_angle_zfloatradDelta angle X.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      delta_velocity_xfloatm/sDelta velocity X.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      delta_velocity_yfloatm/sDelta velocity Y.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      delta_velocity_zfloatm/sDelta velocity Z.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      joint_rollfloatradJoint ROLL.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      joint_elfloatradJoint EL.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      joint_azfloatradJoint AZ.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      GIMBAL_CONTROL (201)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Control message for rate gimbal.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      target_systemuint8_tSystem ID.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      target_componentuint8_tComponent ID.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      demanded_rate_xfloatrad/sDemanded angular rate X.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      demanded_rate_yfloatrad/sDemanded angular rate Y.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      demanded_rate_zfloatrad/sDemanded angular rate Z.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      GIMBAL_TORQUE_CMD_REPORT (214)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      100 Hz gimbal torque command telemetry.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      target_systemuint8_tSystem ID.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      target_componentuint8_tComponent ID.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      rl_torque_cmdint16_tRoll Torque Command.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      el_torque_cmdint16_tElevation Torque Command.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      az_torque_cmdint16_tAzimuth Torque Command.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      GOPRO_HEARTBEAT (215)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Heartbeat from a HeroBus attached GoPro.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Field NameTypeValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      statusuint8_tGOPRO_HEARTBEAT_STATUSStatus.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      capture_modeuint8_tGOPRO_CAPTURE_MODECurrent capture mode.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      flagsuint8_tGOPRO_HEARTBEAT_FLAGSAdditional status bits.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      GOPRO_GET_REQUEST (216)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Request a GOPRO_COMMAND response from the GoPro.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Field NameTypeValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      target_systemuint8_tSystem ID.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      target_componentuint8_tComponent ID.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      cmd_iduint8_tGOPRO_COMMANDCommand ID.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      GOPRO_GET_RESPONSE (217)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Response from a GOPRO_COMMAND get request.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Field NameTypeValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      cmd_iduint8_tGOPRO_COMMANDCommand ID.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      statusuint8_tGOPRO_REQUEST_STATUSStatus.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      valueuint8_t[4]Value.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      GOPRO_SET_REQUEST (218)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Request to set a GOPRO_COMMAND with a desired.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Field NameTypeValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      target_systemuint8_tSystem ID.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      target_componentuint8_tComponent ID.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      cmd_iduint8_tGOPRO_COMMANDCommand ID.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      valueuint8_t[4]Value.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      GOPRO_SET_RESPONSE (219)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Response from a GOPRO_COMMAND set request.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Field NameTypeValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      cmd_iduint8_tGOPRO_COMMANDCommand ID.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      statusuint8_tGOPRO_REQUEST_STATUSStatus.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      EFI_STATUS (225) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      RPM (226)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      RPM sensor output.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      rpm1floatRPM Sensor1.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      rpm2floatRPM Sensor2.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ESTIMATOR_STATUS (230) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      WIND_COV (231) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      GPS_INPUT (232) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      GPS_RTCM_DATA (233) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      HIGH_LATENCY (234) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      HIGH_LATENCY2 (235) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      VIBRATION (241) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      HOME_POSITION (242) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      SET_HOME_POSITION (243) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MESSAGE_INTERVAL (244) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      EXTENDED_SYS_STATE (245) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ADSB_VEHICLE (246) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      COLLISION (247) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      V2_EXTENSION (248) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MEMORY_VECT (249) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      DEBUG_VECT (250) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      NAMED_VALUE_FLOAT (251) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      NAMED_VALUE_INT (252) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      STATUSTEXT (253) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      DEBUG (254) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      SETUP_SIGNING (256) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      BUTTON_CHANGE (257) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      PLAY_TUNE (258) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      CAMERA_INFORMATION (259) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      CAMERA_SETTINGS (260) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      STORAGE_INFORMATION (261) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      CAMERA_CAPTURE_STATUS (262) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      CAMERA_IMAGE_CAPTURED (263) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      FLIGHT_INFORMATION (264) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MOUNT_ORIENTATION (265) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      LOGGING_DATA (266) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      LOGGING_DATA_ACKED (267) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      LOGGING_ACK (268) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      VIDEO_STREAM_INFORMATION (269) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      VIDEO_STREAM_STATUS (270) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      CAMERA_FOV_STATUS (271) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      CAMERA_TRACKING_IMAGE_STATUS (275) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      CAMERA_TRACKING_GEO_STATUS (276) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      CAMERA_THERMAL_RANGE (277) — [from: common] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      GIMBAL_MANAGER_INFORMATION (280) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      GIMBAL_MANAGER_STATUS (281) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      GIMBAL_MANAGER_SET_ATTITUDE (282) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      GIMBAL_DEVICE_INFORMATION (283) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      GIMBAL_DEVICE_SET_ATTITUDE (284) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      GIMBAL_DEVICE_ATTITUDE_STATUS (285) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      AUTOPILOT_STATE_FOR_GIMBAL_DEVICE (286) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      GIMBAL_MANAGER_SET_PITCHYAW (287) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      GIMBAL_MANAGER_SET_MANUAL_CONTROL (288) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ESC_INFO (290) — [from: common] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ESC_STATUS (291) — [from: common] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      WIFI_CONFIG_AP (299) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      PROTOCOL_VERSION (300) — [from: minimal] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      AIS_VESSEL (301) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      UAVCAN_NODE_STATUS (310) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      UAVCAN_NODE_INFO (311) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      PARAM_EXT_REQUEST_READ (320) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      PARAM_EXT_REQUEST_LIST (321) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      PARAM_EXT_VALUE (322) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      PARAM_EXT_SET (323) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      PARAM_EXT_ACK (324) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      OBSTACLE_DISTANCE (330) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ODOMETRY (331) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      TRAJECTORY_REPRESENTATION_WAYPOINTS (332) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      TRAJECTORY_REPRESENTATION_BEZIER (333) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      CELLULAR_STATUS (334) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      CELLULAR_CONFIG (336) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      RAW_RPM (339) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      UTM_GLOBAL_POSITION (340) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      DEBUG_FLOAT_ARRAY (350) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ORBIT_EXECUTION_STATUS (360) — [from: common] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      BATTERY_INFO (370) — [from: common] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      GENERATOR_STATUS (373) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ACTUATOR_OUTPUT_STATUS (375) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      TIME_ESTIMATE_TO_TARGET (380) — [from: common] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      TUNNEL (385) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      CAN_FRAME (386) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      CANFD_FRAME (387) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      CAN_FILTER_MODIFY (388) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ONBOARD_COMPUTER_STATUS (390) — [from: common] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      COMPONENT_INFORMATION (395) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      COMPONENT_INFORMATION_BASIC (396) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      COMPONENT_METADATA (397) — [from: common] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      PLAY_TUNE_V2 (400) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      SUPPORTED_TUNES (401) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      EVENT (410) — [from: common] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      CURRENT_EVENT_SEQUENCE (411) — [from: common] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      REQUEST_EVENT (412) — [from: common] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      RESPONSE_EVENT_ERROR (413) — [from: common] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ILLUMINATOR_STATUS (440) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      WHEEL_DISTANCE (9000) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      WINCH_STATUS (9005) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      UAVIONIX_ADSB_OUT_CFG (10001) — [from: uAvionix]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      UAVIONIX_ADSB_OUT_DYNAMIC (10002) — [from: uAvionix]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      UAVIONIX_ADSB_TRANSCEIVER_HEALTH_REPORT (10003) — [from: uAvionix]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      DEVICE_OP_READ (11000)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Read registers for a device.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Field NameTypeValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      target_systemuint8_tSystem ID.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      target_componentuint8_tComponent ID.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      request_iduint32_tRequest ID - copied to reply.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      bustypeuint8_tDEVICE_OP_BUSTYPEThe bus type.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      busuint8_tBus number.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      addressuint8_tBus address.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      busnamechar[40]Name of device on bus (for SPI).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      regstartuint8_tFirst register to read.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      countuint8_tCount of registers to read.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      bank ++uint8_tBank number.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      DEVICE_OP_READ_REPLY (11001)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Read registers reply.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      request_iduint32_tRequest ID - copied from request.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      resultuint8_t0 for success, anything else is failure code.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      regstartuint8_tStarting register.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      countuint8_tCount of bytes read.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      datauint8_t[128]Reply data.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      bank ++uint8_tBank number.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      DEVICE_OP_WRITE (11002)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Write registers for a device.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Field NameTypeValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      target_systemuint8_tSystem ID.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      target_componentuint8_tComponent ID.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      request_iduint32_tRequest ID - copied to reply.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      bustypeuint8_tDEVICE_OP_BUSTYPEThe bus type.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      busuint8_tBus number.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      addressuint8_tBus address.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      busnamechar[40]Name of device on bus (for SPI).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      regstartuint8_tFirst register to write.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      countuint8_tCount of registers to write.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      datauint8_t[128]Write data.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      bank ++uint8_tBank number.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      DEVICE_OP_WRITE_REPLY (11003)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Write registers reply.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      request_iduint32_tRequest ID - copied from request.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      resultuint8_t0 for success, anything else is failure code.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ADAP_TUNING (11010)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Adaptive Controller tuning information.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      axisuint8_tPID_TUNING_AXISAxis.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Messages with same value are from the same source (instance). | | desired | float | deg/s | | Desired rate. | | achieved | float | deg/s | | Achieved rate. | | error | float | | | Error between model and vehicle. | | theta | float | | | Theta estimated state predictor. | | omega | float | | | Omega estimated state predictor. | | sigma | float | | | Sigma estimated state predictor. | | theta_dot | float | | | Theta derivative. | | omega_dot | float | | | Omega derivative. | | sigma_dot | float | | | Sigma derivative. | | f | float | | | Projection operator value. | | f_dot | float | | | Projection operator derivative. | | u | float | | | u adaptive controlled output command. |

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      VISION_POSITION_DELTA (11011)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Camera vision based attitude and position deltas.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      time_usecuint64_tusTimestamp (synced to UNIX time or since system boot).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      time_delta_usecuint64_tusTime since the last reported camera frame.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      angle_deltafloat[3]radDefines a rotation vector [roll, pitch, yaw] to the current MAV_FRAME_BODY_FRD from the previous MAV_FRAME_BODY_FRD.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      position_deltafloat[3]mChange in position to the current MAV_FRAME_BODY_FRD from the previous FRAME_BODY_FRD rotated to the current MAV_FRAME_BODY_FRD.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      confidencefloat%Normalised confidence value from 0 to 100.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      AOA_SSA (11020)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Angle of Attack and Side Slip Angle.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      time_usecuint64_tusTimestamp (since boot or Unix epoch).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      AOAfloatdegAngle of Attack.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      SSAfloatdegSide Slip Angle.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ESC_TELEMETRY_1_TO_4 (11030)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ESC Telemetry Data for ESCs 1 to 4, matching data sent by BLHeli ESCs.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      temperatureuint8_t[4]degCTemperature.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      voltageuint16_t[4]cVVoltage.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      currentuint16_t[4]cACurrent.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      totalcurrentuint16_t[4]mAhTotal current.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      rpmuint16_t[4]rpmRPM (eRPM).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      countuint16_t[4]count of telemetry packets received (wraps at 65535).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ESC_TELEMETRY_5_TO_8 (11031)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ESC Telemetry Data for ESCs 5 to 8, matching data sent by BLHeli ESCs.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      temperatureuint8_t[4]degCTemperature.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      voltageuint16_t[4]cVVoltage.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      currentuint16_t[4]cACurrent.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      totalcurrentuint16_t[4]mAhTotal current.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      rpmuint16_t[4]rpmRPM (eRPM).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      countuint16_t[4]count of telemetry packets received (wraps at 65535).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ESC_TELEMETRY_9_TO_12 (11032)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ESC Telemetry Data for ESCs 9 to 12, matching data sent by BLHeli ESCs.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      temperatureuint8_t[4]degCTemperature.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      voltageuint16_t[4]cVVoltage.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      currentuint16_t[4]cACurrent.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      totalcurrentuint16_t[4]mAhTotal current.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      rpmuint16_t[4]rpmRPM (eRPM).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      countuint16_t[4]count of telemetry packets received (wraps at 65535).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      OSD_PARAM_CONFIG (11033)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Configure an OSD parameter slot.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Field NameTypeValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      target_systemuint8_tSystem ID.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      target_componentuint8_tComponent ID.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      request_iduint32_tRequest ID - copied to reply.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      osd_screenuint8_tOSD parameter screen index.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      osd_indexuint8_tOSD parameter display index.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      param_idchar[16]Onboard parameter id, terminated by NULL if the length is less than 16 human-readable chars and WITHOUT null termination (NULL) byte if the length is exactly 16 chars - applications have to provide 16+1 bytes storage if the ID is stored as string
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      config_typeuint8_tOSD_PARAM_CONFIG_TYPEConfig type.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      min_valuefloatOSD parameter minimum value.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      max_valuefloatOSD parameter maximum value.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      incrementfloatOSD parameter increment.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      OSD_PARAM_CONFIG_REPLY (11034)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Configure OSD parameter reply.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Field NameTypeValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      request_iduint32_tRequest ID - copied from request.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      resultuint8_tOSD_PARAM_CONFIG_ERRORConfig error type.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      OSD_PARAM_SHOW_CONFIG (11035)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Read a configured an OSD parameter slot.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      target_systemuint8_tSystem ID.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      target_componentuint8_tComponent ID.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      request_iduint32_tRequest ID - copied to reply.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      osd_screenuint8_tOSD parameter screen index.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      osd_indexuint8_tOSD parameter display index.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      OSD_PARAM_SHOW_CONFIG_REPLY (11036)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Read configured OSD parameter reply.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Field NameTypeValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      request_iduint32_tRequest ID - copied from request.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      resultuint8_tOSD_PARAM_CONFIG_ERRORConfig error type.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      param_idchar[16]Onboard parameter id, terminated by NULL if the length is less than 16 human-readable chars and WITHOUT null termination (NULL) byte if the length is exactly 16 chars - applications have to provide 16+1 bytes storage if the ID is stored as string
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      config_typeuint8_tOSD_PARAM_CONFIG_TYPEConfig type.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      min_valuefloatOSD parameter minimum value.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      max_valuefloatOSD parameter maximum value.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      incrementfloatOSD parameter increment.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      OBSTACLE_DISTANCE_3D (11037) — [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Obstacle located as a 3D vector.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      time_boot_msuint32_tmsTimestamp (time since system boot).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      sensor_typeuint8_tMAV_DISTANCE_SENSORClass id of the distance sensor type.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      frameuint8_tMAV_FRAMECoordinate frame of reference.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      obstacle_iduint16_tUnique ID given to each obstacle so that its movement can be tracked. Use UINT16_MAX if object ID is unknown or cannot be determined.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Messages with same value are from the same source (instance). | | x | float | m | | X position of the obstacle. | | y | float | m | | Y position of the obstacle. | | z | float | m | | Z position of the obstacle. | | min_distance | float | m | | Minimum distance the sensor can measure. | | max_distance | float | m | | Maximum distance the sensor can measure. |

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      WATER_DEPTH (11038)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Water depth

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      time_boot_msuint32_tmsTimestamp (time since system boot)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      iduint8_tOnboard ID of the sensor

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Messages with same value are from the same source (instance). | | healthy | uint8_t | | Sensor data healthy (0=unhealthy, 1=healthy) | | lat | int32_t | degE7 | Latitude | | lng | int32_t | degE7 | Longitude | | alt | float | m | Altitude (MSL) of vehicle | | roll | float | rad | Roll angle | | pitch | float | rad | Pitch angle | | yaw | float | rad | Yaw angle | | distance | float | m | Distance (uncorrected) | | temperature | float | degC | Water temperature |

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MCU_STATUS (11039)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      The MCU status, giving MCU temperature and voltage. The min and max voltages are to allow for detecting power supply instability.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      iduint8_tMCU instance

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Messages with same value are from the same source (instance). | | MCU_temperature | int16_t | cdegC | MCU Internal temperature | | MCU_voltage | uint16_t | mV | MCU voltage | | MCU_voltage_min | uint16_t | mV | MCU voltage minimum | | MCU_voltage_max | uint16_t | mV | MCU voltage maximum |

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      OPEN_DRONE_ID_BASIC_ID (12900) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      OPEN_DRONE_ID_LOCATION (12901) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      OPEN_DRONE_ID_AUTHENTICATION (12902) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      OPEN_DRONE_ID_SELF_ID (12903) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      OPEN_DRONE_ID_SYSTEM (12904) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      OPEN_DRONE_ID_OPERATOR_ID (12905) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      OPEN_DRONE_ID_MESSAGE_PACK (12915) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      OPEN_DRONE_ID_ARM_STATUS (12918) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      OPEN_DRONE_ID_SYSTEM_UPDATE (12919) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      HYGROMETER_SENSOR (12920) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ICAROUS_HEARTBEAT (42000) — [from: icarous]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ICAROUS_KINEMATIC_BANDS (42001) — [from: icarous]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      CUBEPILOT_RAW_RC (50001) — [from: cubepilot]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      CUBEPILOT_FIRMWARE_UPDATE_START (50004) — [from: cubepilot]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      CUBEPILOT_FIRMWARE_UPDATE_RESP (50005) — [from: cubepilot]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Enumerated Types

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ACCELCAL_VEHICLE_POS

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1ACCELCAL_VEHICLE_POS_LEVEL
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2ACCELCAL_VEHICLE_POS_LEFT
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      3ACCELCAL_VEHICLE_POS_RIGHT
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      4ACCELCAL_VEHICLE_POS_NOSEDOWN
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      5ACCELCAL_VEHICLE_POS_NOSEUP
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      6ACCELCAL_VEHICLE_POS_BACK
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      16777215ACCELCAL_VEHICLE_POS_SUCCESS
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      16777216ACCELCAL_VEHICLE_POS_FAILED

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      HEADING_TYPE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      0HEADING_TYPE_COURSE_OVER_GROUND
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1HEADING_TYPE_HEADING

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      SCRIPTING_CMD

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      0SCRIPTING_CMD_REPL_STARTStart a REPL session.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1SCRIPTING_CMD_REPL_STOPEnd a REPL session.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2SCRIPTING_CMD_STOPStop execution of scripts.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      3SCRIPTING_CMD_STOP_AND_RESTARTStop execution of scripts and restart.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      LIMITS_STATE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      0LIMITS_INITPre-initialization.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1LIMITS_DISABLEDDisabled.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2LIMITS_ENABLEDChecking limits.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      3LIMITS_TRIGGEREDA limit has been breached.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      4LIMITS_RECOVERINGTaking action e.g. Return/RTL.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      5LIMITS_RECOVEREDWe're no longer in breach of a limit.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      LIMIT_MODULE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      (Bitmask)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1LIMIT_GPSLOCKPre-initialization.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2LIMIT_GEOFENCEDisabled.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      4LIMIT_ALTITUDEChecking limits.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      RALLY_FLAGS

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      (Bitmask) Flags in RALLY_POINT message.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1FAVORABLE_WINDFlag set when requiring favorable winds for landing.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2LAND_IMMEDIATELYFlag set when plane is to immediately descend to break altitude and land without GCS intervention. Flag not set when plane is to loiter at Rally point until commanded to land.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      CAMERA_STATUS_TYPES

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      0CAMERA_STATUS_TYPE_HEARTBEATCamera heartbeat, announce camera component ID at 1Hz.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1CAMERA_STATUS_TYPE_TRIGGERCamera image triggered.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2CAMERA_STATUS_TYPE_DISCONNECTCamera connection lost.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      3CAMERA_STATUS_TYPE_ERRORCamera unknown error.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      4CAMERA_STATUS_TYPE_LOWBATTCamera battery low. Parameter p1 shows reported voltage.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      5CAMERA_STATUS_TYPE_LOWSTORECamera storage low. Parameter p1 shows reported shots remaining.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      6CAMERA_STATUS_TYPE_LOWSTOREVCamera storage low. Parameter p1 shows reported video minutes remaining.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      CAMERA_FEEDBACK_FLAGS

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      0CAMERA_FEEDBACK_PHOTOShooting photos, not video.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1CAMERA_FEEDBACK_VIDEOShooting video, not stills.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2CAMERA_FEEDBACK_BADEXPOSUREUnable to achieve requested exposure (e.g. shutter speed too low).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      3CAMERA_FEEDBACK_CLOSEDLOOPClosed loop feedback from camera, we know for sure it has successfully taken a picture.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      4CAMERA_FEEDBACK_OPENLOOPOpen loop camera, an image trigger has been requested but we can't know for sure it has successfully taken a picture.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_MODE_GIMBAL

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      0MAV_MODE_GIMBAL_UNINITIALIZEDGimbal is powered on but has not started initializing yet.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1MAV_MODE_GIMBAL_CALIBRATING_PITCHGimbal is currently running calibration on the pitch axis.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2MAV_MODE_GIMBAL_CALIBRATING_ROLLGimbal is currently running calibration on the roll axis.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      3MAV_MODE_GIMBAL_CALIBRATING_YAWGimbal is currently running calibration on the yaw axis.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      4MAV_MODE_GIMBAL_INITIALIZEDGimbal has finished calibrating and initializing, but is relaxed pending reception of first rate command from copter.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      5MAV_MODE_GIMBAL_ACTIVEGimbal is actively stabilizing.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      6MAV_MODE_GIMBAL_RATE_CMD_TIMEOUTGimbal is relaxed because it missed more than 10 expected rate command messages in a row. Gimbal will move back to active mode when it receives a new rate command.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      GIMBAL_AXIS

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      0GIMBAL_AXIS_YAWGimbal yaw axis.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1GIMBAL_AXIS_PITCHGimbal pitch axis.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2GIMBAL_AXIS_ROLLGimbal roll axis.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      GIMBAL_AXIS_CALIBRATION_STATUS

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      0GIMBAL_AXIS_CALIBRATION_STATUS_IN_PROGRESSAxis calibration is in progress.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1GIMBAL_AXIS_CALIBRATION_STATUS_SUCCEEDEDAxis calibration succeeded.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2GIMBAL_AXIS_CALIBRATION_STATUS_FAILEDAxis calibration failed.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      GIMBAL_AXIS_CALIBRATION_REQUIRED

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      0GIMBAL_AXIS_CALIBRATION_REQUIRED_UNKNOWNWhether or not this axis requires calibration is unknown at this time.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1GIMBAL_AXIS_CALIBRATION_REQUIRED_TRUEThis axis requires calibration.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2GIMBAL_AXIS_CALIBRATION_REQUIRED_FALSEThis axis does not require calibration.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      GOPRO_HEARTBEAT_STATUS

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      0GOPRO_HEARTBEAT_STATUS_DISCONNECTEDNo GoPro connected.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1GOPRO_HEARTBEAT_STATUS_INCOMPATIBLEThe detected GoPro is not HeroBus compatible.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2GOPRO_HEARTBEAT_STATUS_CONNECTEDA HeroBus compatible GoPro is connected.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      3GOPRO_HEARTBEAT_STATUS_ERRORAn unrecoverable error was encountered with the connected GoPro, it may require a power cycle.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      GOPRO_HEARTBEAT_FLAGS

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      (Bitmask)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1GOPRO_FLAG_RECORDINGGoPro is currently recording.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      GOPRO_REQUEST_STATUS

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      0GOPRO_REQUEST_SUCCESSThe write message with ID indicated succeeded.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1GOPRO_REQUEST_FAILEDThe write message with ID indicated failed.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      GOPRO_COMMAND

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      0GOPRO_COMMAND_POWER(Get/Set).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1GOPRO_COMMAND_CAPTURE_MODE(Get/Set).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2GOPRO_COMMAND_SHUTTER(_/Set).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      3GOPRO_COMMAND_BATTERY(Get/_).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      4GOPRO_COMMAND_MODEL(Get/_).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      5GOPRO_COMMAND_VIDEO_SETTINGS(Get/Set).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      6GOPRO_COMMAND_LOW_LIGHT(Get/Set).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      7GOPRO_COMMAND_PHOTO_RESOLUTION(Get/Set).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      8GOPRO_COMMAND_PHOTO_BURST_RATE(Get/Set).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      9GOPRO_COMMAND_PROTUNE(Get/Set).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      10GOPRO_COMMAND_PROTUNE_WHITE_BALANCE(Get/Set) Hero 3+ Only.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      11GOPRO_COMMAND_PROTUNE_COLOUR(Get/Set) Hero 3+ Only.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      12GOPRO_COMMAND_PROTUNE_GAIN(Get/Set) Hero 3+ Only.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      13GOPRO_COMMAND_PROTUNE_SHARPNESS(Get/Set) Hero 3+ Only.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      14GOPRO_COMMAND_PROTUNE_EXPOSURE(Get/Set) Hero 3+ Only.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      15GOPRO_COMMAND_TIME(Get/Set).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      16GOPRO_COMMAND_CHARGING(Get/Set).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      GOPRO_CAPTURE_MODE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      0GOPRO_CAPTURE_MODE_VIDEOVideo mode.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1GOPRO_CAPTURE_MODE_PHOTOPhoto mode.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2GOPRO_CAPTURE_MODE_BURSTBurst mode, Hero 3+ only.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      3GOPRO_CAPTURE_MODE_TIME_LAPSETime lapse mode, Hero 3+ only.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      4GOPRO_CAPTURE_MODE_MULTI_SHOTMulti shot mode, Hero 4 only.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      5GOPRO_CAPTURE_MODE_PLAYBACKPlayback mode, Hero 4 only, silver only except when LCD or HDMI is connected to black.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      6GOPRO_CAPTURE_MODE_SETUPPlayback mode, Hero 4 only.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      255GOPRO_CAPTURE_MODE_UNKNOWNMode not yet known.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      GOPRO_RESOLUTION

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      0GOPRO_RESOLUTION_480p848 x 480 (480p).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1GOPRO_RESOLUTION_720p1280 x 720 (720p).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2GOPRO_RESOLUTION_960p1280 x 960 (960p).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      3GOPRO_RESOLUTION_1080p1920 x 1080 (1080p).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      4GOPRO_RESOLUTION_1440p1920 x 1440 (1440p).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      5GOPRO_RESOLUTION_2_7k_17_92704 x 1440 (2.7k-17:9).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      6GOPRO_RESOLUTION_2_7k_16_92704 x 1524 (2.7k-16:9).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      7GOPRO_RESOLUTION_2_7k_4_32704 x 2028 (2.7k-4:3).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      8GOPRO_RESOLUTION_4k_16_93840 x 2160 (4k-16:9).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      9GOPRO_RESOLUTION_4k_17_94096 x 2160 (4k-17:9).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      10GOPRO_RESOLUTION_720p_SUPERVIEW1280 x 720 (720p-SuperView).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      11GOPRO_RESOLUTION_1080p_SUPERVIEW1920 x 1080 (1080p-SuperView).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      12GOPRO_RESOLUTION_2_7k_SUPERVIEW2704 x 1520 (2.7k-SuperView).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      13GOPRO_RESOLUTION_4k_SUPERVIEW3840 x 2160 (4k-SuperView).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      GOPRO_FRAME_RATE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      0GOPRO_FRAME_RATE_1212 FPS.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1GOPRO_FRAME_RATE_1515 FPS.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2GOPRO_FRAME_RATE_2424 FPS.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      3GOPRO_FRAME_RATE_2525 FPS.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      4GOPRO_FRAME_RATE_3030 FPS.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      5GOPRO_FRAME_RATE_4848 FPS.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      6GOPRO_FRAME_RATE_5050 FPS.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      7GOPRO_FRAME_RATE_6060 FPS.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      8GOPRO_FRAME_RATE_8080 FPS.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      9GOPRO_FRAME_RATE_9090 FPS.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      10GOPRO_FRAME_RATE_100100 FPS.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      11GOPRO_FRAME_RATE_120120 FPS.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      12GOPRO_FRAME_RATE_240240 FPS.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      13GOPRO_FRAME_RATE_12_512.5 FPS.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      GOPRO_FIELD_OF_VIEW

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      0GOPRO_FIELD_OF_VIEW_WIDE0x00: Wide.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1GOPRO_FIELD_OF_VIEW_MEDIUM0x01: Medium.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2GOPRO_FIELD_OF_VIEW_NARROW0x02: Narrow.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      GOPRO_VIDEO_SETTINGS_FLAGS

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      (Bitmask)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1GOPRO_VIDEO_SETTINGS_TV_MODE0=NTSC, 1=PAL.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      GOPRO_PHOTO_RESOLUTION

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      0GOPRO_PHOTO_RESOLUTION_5MP_MEDIUM5MP Medium.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1GOPRO_PHOTO_RESOLUTION_7MP_MEDIUM7MP Medium.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2GOPRO_PHOTO_RESOLUTION_7MP_WIDE7MP Wide.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      3GOPRO_PHOTO_RESOLUTION_10MP_WIDE10MP Wide.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      4GOPRO_PHOTO_RESOLUTION_12MP_WIDE12MP Wide.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      GOPRO_PROTUNE_WHITE_BALANCE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      0GOPRO_PROTUNE_WHITE_BALANCE_AUTOAuto.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1GOPRO_PROTUNE_WHITE_BALANCE_3000K3000K.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2GOPRO_PROTUNE_WHITE_BALANCE_5500K5500K.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      3GOPRO_PROTUNE_WHITE_BALANCE_6500K6500K.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      4GOPRO_PROTUNE_WHITE_BALANCE_RAWCamera Raw.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      GOPRO_PROTUNE_COLOUR

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      0GOPRO_PROTUNE_COLOUR_STANDARDAuto.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1GOPRO_PROTUNE_COLOUR_NEUTRALNeutral.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      GOPRO_PROTUNE_GAIN

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      0GOPRO_PROTUNE_GAIN_400ISO 400.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1GOPRO_PROTUNE_GAIN_800ISO 800 (Only Hero 4).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2GOPRO_PROTUNE_GAIN_1600ISO 1600.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      3GOPRO_PROTUNE_GAIN_3200ISO 3200 (Only Hero 4).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      4GOPRO_PROTUNE_GAIN_6400ISO 6400.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      GOPRO_PROTUNE_SHARPNESS

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      0GOPRO_PROTUNE_SHARPNESS_LOWLow Sharpness.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1GOPRO_PROTUNE_SHARPNESS_MEDIUMMedium Sharpness.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2GOPRO_PROTUNE_SHARPNESS_HIGHHigh Sharpness.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      GOPRO_PROTUNE_EXPOSURE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      0GOPRO_PROTUNE_EXPOSURE_NEG_5_0-5.0 EV (Hero 3+ Only).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1GOPRO_PROTUNE_EXPOSURE_NEG_4_5-4.5 EV (Hero 3+ Only).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2GOPRO_PROTUNE_EXPOSURE_NEG_4_0-4.0 EV (Hero 3+ Only).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      3GOPRO_PROTUNE_EXPOSURE_NEG_3_5-3.5 EV (Hero 3+ Only).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      4GOPRO_PROTUNE_EXPOSURE_NEG_3_0-3.0 EV (Hero 3+ Only).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      5GOPRO_PROTUNE_EXPOSURE_NEG_2_5-2.5 EV (Hero 3+ Only).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      6GOPRO_PROTUNE_EXPOSURE_NEG_2_0-2.0 EV.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      7GOPRO_PROTUNE_EXPOSURE_NEG_1_5-1.5 EV.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      8GOPRO_PROTUNE_EXPOSURE_NEG_1_0-1.0 EV.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      9GOPRO_PROTUNE_EXPOSURE_NEG_0_5-0.5 EV.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      10GOPRO_PROTUNE_EXPOSURE_ZERO0.0 EV.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      11GOPRO_PROTUNE_EXPOSURE_POS_0_5+0.5 EV.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      12GOPRO_PROTUNE_EXPOSURE_POS_1_0+1.0 EV.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      13GOPRO_PROTUNE_EXPOSURE_POS_1_5+1.5 EV.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      14GOPRO_PROTUNE_EXPOSURE_POS_2_0+2.0 EV.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      15GOPRO_PROTUNE_EXPOSURE_POS_2_5+2.5 EV (Hero 3+ Only).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      16GOPRO_PROTUNE_EXPOSURE_POS_3_0+3.0 EV (Hero 3+ Only).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      17GOPRO_PROTUNE_EXPOSURE_POS_3_5+3.5 EV (Hero 3+ Only).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      18GOPRO_PROTUNE_EXPOSURE_POS_4_0+4.0 EV (Hero 3+ Only).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      19GOPRO_PROTUNE_EXPOSURE_POS_4_5+4.5 EV (Hero 3+ Only).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      20GOPRO_PROTUNE_EXPOSURE_POS_5_0+5.0 EV (Hero 3+ Only).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      GOPRO_CHARGING

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      0GOPRO_CHARGING_DISABLEDCharging disabled.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1GOPRO_CHARGING_ENABLEDCharging enabled.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      GOPRO_MODEL

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      0GOPRO_MODEL_UNKNOWNUnknown gopro model.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1GOPRO_MODEL_HERO_3_PLUS_SILVERHero 3+ Silver (HeroBus not supported by GoPro).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2GOPRO_MODEL_HERO_3_PLUS_BLACKHero 3+ Black.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      3GOPRO_MODEL_HERO_4_SILVERHero 4 Silver.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      4GOPRO_MODEL_HERO_4_BLACKHero 4 Black.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      GOPRO_BURST_RATE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      0GOPRO_BURST_RATE_3_IN_1_SECOND3 Shots / 1 Second.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1GOPRO_BURST_RATE_5_IN_1_SECOND5 Shots / 1 Second.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2GOPRO_BURST_RATE_10_IN_1_SECOND10 Shots / 1 Second.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      3GOPRO_BURST_RATE_10_IN_2_SECOND10 Shots / 2 Second.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      4GOPRO_BURST_RATE_10_IN_3_SECOND10 Shots / 3 Second (Hero 4 Only).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      5GOPRO_BURST_RATE_30_IN_1_SECOND30 Shots / 1 Second.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      6GOPRO_BURST_RATE_30_IN_2_SECOND30 Shots / 2 Second.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      7GOPRO_BURST_RATE_30_IN_3_SECOND30 Shots / 3 Second.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      8GOPRO_BURST_RATE_30_IN_6_SECOND30 Shots / 6 Second.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_DO_AUX_FUNCTION_SWITCH_LEVEL

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      0MAV_CMD_DO_AUX_FUNCTION_SWITCH_LEVEL_LOWSwitch Low.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1MAV_CMD_DO_AUX_FUNCTION_SWITCH_LEVEL_MIDDLESwitch Middle.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2MAV_CMD_DO_AUX_FUNCTION_SWITCH_LEVEL_HIGHSwitch High.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      LED_CONTROL_PATTERN

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      0LED_CONTROL_PATTERN_OFFLED patterns off (return control to regular vehicle control).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1LED_CONTROL_PATTERN_FIRMWAREUPDATELEDs show pattern during firmware update.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      255LED_CONTROL_PATTERN_CUSTOMCustom Pattern using custom bytes fields.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      EKF_STATUS_FLAGS

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      (Bitmask) Flags in EKF_STATUS message.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1EKF_ATTITUDESet if EKF's attitude estimate is good.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2EKF_VELOCITY_HORIZSet if EKF's horizontal velocity estimate is good.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      4EKF_VELOCITY_VERTSet if EKF's vertical velocity estimate is good.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      8EKF_POS_HORIZ_RELSet if EKF's horizontal position (relative) estimate is good.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      16EKF_POS_HORIZ_ABSSet if EKF's horizontal position (absolute) estimate is good.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      32EKF_POS_VERT_ABSSet if EKF's vertical position (absolute) estimate is good.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      64EKF_POS_VERT_AGLSet if EKF's vertical position (above ground) estimate is good.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      128EKF_CONST_POS_MODEEKF is in constant position mode and does not know it's absolute or relative position.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      256EKF_PRED_POS_HORIZ_RELSet if EKF's predicted horizontal position (relative) estimate is good.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      512EKF_PRED_POS_HORIZ_ABSSet if EKF's predicted horizontal position (absolute) estimate is good.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1024EKF_UNINITIALIZEDSet if EKF has never been healthy.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      PID_TUNING_AXIS

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1PID_TUNING_ROLL
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2PID_TUNING_PITCH
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      3PID_TUNING_YAW
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      4PID_TUNING_ACCZ
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      5PID_TUNING_STEER
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      6PID_TUNING_LANDING

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_REMOTE_LOG_DATA_BLOCK_COMMANDS

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Special ACK block numbers control activation of dataflash log streaming.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2147483645MAV_REMOTE_LOG_DATA_BLOCK_STOPUAV to stop sending DataFlash blocks.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2147483646MAV_REMOTE_LOG_DATA_BLOCK_STARTUAV to start sending DataFlash blocks.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_REMOTE_LOG_DATA_BLOCK_STATUSES

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Possible remote log data block statuses.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      0MAV_REMOTE_LOG_DATA_BLOCK_NACKThis block has NOT been received.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1MAV_REMOTE_LOG_DATA_BLOCK_ACKThis block has been received.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      DEVICE_OP_BUSTYPE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Bus types for device operations.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      0DEVICE_OP_BUSTYPE_I2CI2C Device operation.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1DEVICE_OP_BUSTYPE_SPISPI Device operation.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      DEEPSTALL_STAGE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Deepstall flight stage.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      0DEEPSTALL_STAGE_FLY_TO_LANDINGFlying to the landing point.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1DEEPSTALL_STAGE_ESTIMATE_WINDBuilding an estimate of the wind.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2DEEPSTALL_STAGE_WAIT_FOR_BREAKOUTWaiting to breakout of the loiter to fly the approach.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      3DEEPSTALL_STAGE_FLY_TO_ARCFlying to the first arc point to turn around to the landing point.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      4DEEPSTALL_STAGE_ARCTurning around back to the deepstall landing point.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      5DEEPSTALL_STAGE_APPROACHApproaching the landing point.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      6DEEPSTALL_STAGE_LANDStalling and steering towards the land point.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      PLANE_MODE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      A mapping of plane flight modes for custom_mode field of heartbeat.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      0PLANE_MODE_MANUAL
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1PLANE_MODE_CIRCLE
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2PLANE_MODE_STABILIZE
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      3PLANE_MODE_TRAINING
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      4PLANE_MODE_ACRO
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      5PLANE_MODE_FLY_BY_WIRE_A
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      6PLANE_MODE_FLY_BY_WIRE_B
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      7PLANE_MODE_CRUISE
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      8PLANE_MODE_AUTOTUNE
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      10PLANE_MODE_AUTO
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      11PLANE_MODE_RTL
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      12PLANE_MODE_LOITER
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      13PLANE_MODE_TAKEOFF
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      14PLANE_MODE_AVOID_ADSB
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      15PLANE_MODE_GUIDED
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      16PLANE_MODE_INITIALIZING
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      17PLANE_MODE_QSTABILIZE
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      18PLANE_MODE_QHOVER
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      19PLANE_MODE_QLOITER
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      20PLANE_MODE_QLAND
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      21PLANE_MODE_QRTL
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      22PLANE_MODE_QAUTOTUNE
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      23PLANE_MODE_QACRO
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      24PLANE_MODE_THERMAL

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      COPTER_MODE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      A mapping of copter flight modes for custom_mode field of heartbeat.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      0COPTER_MODE_STABILIZE
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1COPTER_MODE_ACRO
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2COPTER_MODE_ALT_HOLD
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      3COPTER_MODE_AUTO
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      4COPTER_MODE_GUIDED
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      5COPTER_MODE_LOITER
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      6COPTER_MODE_RTL
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      7COPTER_MODE_CIRCLE
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      9COPTER_MODE_LAND
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      11COPTER_MODE_DRIFT
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      13COPTER_MODE_SPORT
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      14COPTER_MODE_FLIP
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      15COPTER_MODE_AUTOTUNE
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      16COPTER_MODE_POSHOLD
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      17COPTER_MODE_BRAKE
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      18COPTER_MODE_THROW
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      19COPTER_MODE_AVOID_ADSB
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      20COPTER_MODE_GUIDED_NOGPS
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      21COPTER_MODE_SMART_RTL
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      22COPTER_MODE_FLOWHOLD
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      23COPTER_MODE_FOLLOW
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      24COPTER_MODE_ZIGZAG
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      25COPTER_MODE_SYSTEMID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      26COPTER_MODE_AUTOROTATE
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      27COPTER_MODE_AUTO_RTL

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      SUB_MODE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      A mapping of sub flight modes for custom_mode field of heartbeat.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      0SUB_MODE_STABILIZE
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1SUB_MODE_ACRO
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2SUB_MODE_ALT_HOLD
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      3SUB_MODE_AUTO
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      4SUB_MODE_GUIDED
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      7SUB_MODE_CIRCLE
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      9SUB_MODE_SURFACE
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      16SUB_MODE_POSHOLD
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      19SUB_MODE_MANUAL

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ROVER_MODE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      A mapping of rover flight modes for custom_mode field of heartbeat.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      0ROVER_MODE_MANUAL
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1ROVER_MODE_ACRO
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      3ROVER_MODE_STEERING
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      4ROVER_MODE_HOLD
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      5ROVER_MODE_LOITER
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      6ROVER_MODE_FOLLOW
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      7ROVER_MODE_SIMPLE
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      10ROVER_MODE_AUTO
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      11ROVER_MODE_RTL
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      12ROVER_MODE_SMART_RTL
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      15ROVER_MODE_GUIDED
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      16ROVER_MODE_INITIALIZING

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      TRACKER_MODE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      A mapping of antenna tracker flight modes for custom_mode field of heartbeat.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      0TRACKER_MODE_MANUAL
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1TRACKER_MODE_STOP
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2TRACKER_MODE_SCAN
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      3TRACKER_MODE_SERVO_TEST
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      10TRACKER_MODE_AUTO
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      16TRACKER_MODE_INITIALIZING

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      OSD_PARAM_CONFIG_TYPE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      The type of parameter for the OSD parameter editor.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      0OSD_PARAM_NONE
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1OSD_PARAM_SERIAL_PROTOCOL
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2OSD_PARAM_SERVO_FUNCTION
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      3OSD_PARAM_AUX_FUNCTION
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      4OSD_PARAM_FLIGHT_MODE
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      5OSD_PARAM_FAILSAFE_ACTION
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      6OSD_PARAM_FAILSAFE_ACTION_1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      7OSD_PARAM_FAILSAFE_ACTION_2
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      8OSD_PARAM_NUM_TYPES

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      OSD_PARAM_CONFIG_ERROR

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      The error type for the OSD parameter editor.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      0OSD_PARAM_SUCCESS
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1OSD_PARAM_INVALID_SCREEN
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2OSD_PARAM_INVALID_PARAMETER_INDEX
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      3OSD_PARAM_INVALID_PARAMETER

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      FIRMWARE_VERSION_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      HL_FAILURE_FLAG — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_GOTO — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_MODE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_SYS_STATUS_SENSOR — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_SYS_STATUS_SENSOR_EXTENDED — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_FRAME — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      FENCE_ACTION — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      FENCE_BREACH — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      FENCE_MITIGATE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      FENCE_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_MOUNT_MODE — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      GIMBAL_DEVICE_CAP_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      GIMBAL_MANAGER_CAP_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      GIMBAL_DEVICE_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      GIMBAL_MANAGER_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      GIMBAL_DEVICE_ERROR_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      GRIPPER_ACTIONS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      WINCH_ACTIONS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      UAVCAN_NODE_HEALTH — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      UAVCAN_NODE_MODE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ESC_CONNECTION_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ESC_FAILURE_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      STORAGE_STATUS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      STORAGE_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      STORAGE_USAGE_FLAG — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ORBIT_YAW_BEHAVIOUR — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      WIFI_CONFIG_AP_RESPONSE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      CELLULAR_CONFIG_RESPONSE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      WIFI_CONFIG_AP_MODE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      COMP_METADATA_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ACTUATOR_CONFIGURATION — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ACTUATOR_OUTPUT_FUNCTION — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      AUTOTUNE_AXIS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      PREFLIGHT_STORAGE_PARAMETER_ACTION — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      PREFLIGHT_STORAGE_MISSION_ACTION — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_DATA_STREAM — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_ROI — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_PARAM_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_PARAM_EXT_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_RESULT — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_MISSION_RESULT — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_SEVERITY — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_POWER_STATUS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      SERIAL_CONTROL_DEV — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      SERIAL_CONTROL_FLAG — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_DISTANCE_SENSOR — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_SENSOR_ORIENTATION — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_PROTOCOL_CAPABILITY — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_MISSION_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_ESTIMATOR_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_BATTERY_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_BATTERY_FUNCTION — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_BATTERY_CHARGE_STATE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_BATTERY_MODE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_BATTERY_FAULT — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_GENERATOR_STATUS_FLAG — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_VTOL_STATE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_LANDED_STATE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ADSB_ALTITUDE_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ADSB_EMITTER_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ADSB_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_DO_REPOSITION_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      SPEED_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ESTIMATOR_STATUS_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MOTOR_TEST_ORDER — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MOTOR_TEST_THROTTLE_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      GPS_INPUT_IGNORE_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_COLLISION_ACTION — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_COLLISION_THREAT_LEVEL — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_COLLISION_SRC — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      GPS_FIX_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      RTK_BASELINE_COORDINATE_SYSTEM — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      LANDING_TARGET_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      VTOL_TRANSITION_HEADING — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      CAMERA_CAP_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      VIDEO_STREAM_STATUS_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      VIDEO_STREAM_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      VIDEO_STREAM_ENCODING — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      CAMERA_TRACKING_STATUS_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      CAMERA_TRACKING_MODE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      CAMERA_TRACKING_TARGET_DATA — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      CAMERA_ZOOM_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      SET_FOCUS_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      CAMERA_SOURCE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      PARAM_ACK — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      CAMERA_MODE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_ARM_AUTH_DENIED_REASON — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      RC_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      POSITION_TARGET_TYPEMASK — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ATTITUDE_TARGET_TYPEMASK — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      UTM_FLIGHT_STATE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      UTM_DATA_AVAIL_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      CELLULAR_STATUS_FLAG — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      CELLULAR_NETWORK_FAILED_REASON — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      CELLULAR_NETWORK_RADIO_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      PRECISION_LAND_MODE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      PARACHUTE_ACTION — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_TUNNEL_PAYLOAD_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_ODID_ID_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_ODID_UA_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_ODID_STATUS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_ODID_HEIGHT_REF — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_ODID_HOR_ACC — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_ODID_VER_ACC — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_ODID_SPEED_ACC — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_ODID_TIME_ACC — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_ODID_AUTH_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_ODID_DESC_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_ODID_OPERATOR_LOCATION_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_ODID_CLASSIFICATION_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_ODID_CATEGORY_EU — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_ODID_CLASS_EU — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_ODID_OPERATOR_ID_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_ODID_ARM_STATUS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      TUNE_FORMAT — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      AIS_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      AIS_NAV_STATUS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      AIS_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      FAILURE_UNIT — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      FAILURE_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_WINCH_STATUS_FLAG — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAG_CAL_STATUS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_EVENT_ERROR_REASON — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_EVENT_CURRENT_SEQUENCE_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      HIL_SENSOR_UPDATED_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      HIGHRES_IMU_UPDATED_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      CAN_FILTER_OP — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_FTP_ERR — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_FTP_OPCODE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MISSION_STATE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      SAFETY_SWITCH_STATE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ILLUMINATOR_MODE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ILLUMINATOR_ERROR_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_AUTOPILOT — [from: minimal]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_TYPE — [from: minimal]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_MODE_FLAG — [from: minimal]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_MODE_FLAG_DECODE_POSITION — [from: minimal]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_STATE — [from: minimal]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_COMPONENT — [from: minimal]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      UAVIONIX_ADSB_OUT_DYNAMIC_STATE — [from: uAvionix]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      UAVIONIX_ADSB_OUT_RF_SELECT — [from: uAvionix]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      UAVIONIX_ADSB_OUT_DYNAMIC_GPS_FIX — [from: uAvionix]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      UAVIONIX_ADSB_RF_HEALTH — [from: uAvionix]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      UAVIONIX_ADSB_OUT_CFG_AIRCRAFT_SIZE — [from: uAvionix]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      UAVIONIX_ADSB_OUT_CFG_GPS_OFFSET_LAT — [from: uAvionix]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      UAVIONIX_ADSB_OUT_CFG_GPS_OFFSET_LON — [from: uAvionix]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      UAVIONIX_ADSB_EMERGENCY_STATUS — [from: uAvionix]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ICAROUS_TRACK_BAND_TYPES — [from: icarous]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ICAROUS_FMS_STATE — [from: icarous]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Commands (MAV_CMD)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_NAV_WAYPOINT (16) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_NAV_LOITER_UNLIM (17) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_NAV_LOITER_TURNS (18) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_NAV_LOITER_TIME (19) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_NAV_RETURN_TO_LAUNCH (20) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_NAV_LAND (21) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_NAV_TAKEOFF (22) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_NAV_LAND_LOCAL (23) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_NAV_TAKEOFF_LOCAL (24) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_NAV_FOLLOW (25) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_NAV_CONTINUE_AND_CHANGE_ALT (30) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_NAV_LOITER_TO_ALT (31) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_DO_FOLLOW (32) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_DO_FOLLOW_REPOSITION (33) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_DO_ORBIT (34) — [from: common] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_NAV_ROI (80) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_NAV_PATHPLANNING (81) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_NAV_SPLINE_WAYPOINT (82) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_NAV_ALTITUDE_WAIT (83)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Mission command to wait for an altitude or downwards vertical speed. This is meant for high altitude balloon launches, allowing the aircraft to be idle until either an altitude is reached or a negative vertical speed is reached (indicating early balloon burst). The wiggle time is how often to wiggle the control surfaces to prevent them seizing up.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Param (Label)DescriptionUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1 (Altitude)Altitude.m
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2 (Descent Speed)Descent speed.m/s
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      3 (Wiggle Time)How long to wiggle the control surfaces to prevent them seizing up.s
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      4Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      5Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      6Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      7Empty.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_NAV_VTOL_TAKEOFF (84) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_NAV_VTOL_LAND (85) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_NAV_GUIDED_ENABLE (92) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_NAV_DELAY (93) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_NAV_PAYLOAD_PLACE (94) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_NAV_LAST (95) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_CONDITION_DELAY (112) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_CONDITION_CHANGE_ALT (113) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_CONDITION_DISTANCE (114) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_CONDITION_YAW (115) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_CONDITION_LAST (159) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_DO_SET_MODE (176) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_DO_JUMP (177) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_DO_CHANGE_SPEED (178) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_DO_SET_HOME (179) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_DO_SET_PARAMETER (180) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_DO_SET_RELAY (181) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_DO_REPEAT_RELAY (182) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_DO_SET_SERVO (183) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_DO_REPEAT_SERVO (184) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_DO_FLIGHTTERMINATION (185) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_DO_CHANGE_ALTITUDE (186) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_DO_SET_ACTUATOR (187) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_DO_RETURN_PATH_START (188) — [from: common] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_DO_LAND_START (189) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_DO_RALLY_LAND (190) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_DO_GO_AROUND (191) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_DO_REPOSITION (192) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_DO_PAUSE_CONTINUE (193) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_DO_SET_REVERSE (194) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_DO_SET_ROI_LOCATION (195) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_DO_SET_ROI_WPNEXT_OFFSET (196) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_DO_SET_ROI_NONE (197) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_DO_SET_ROI_SYSID (198) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_DO_CONTROL_VIDEO (200) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_DO_SET_ROI (201) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_DO_DIGICAM_CONFIGURE (202) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_DO_DIGICAM_CONTROL (203) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_DO_MOUNT_CONFIGURE (204) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_DO_MOUNT_CONTROL (205) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_DO_SET_CAM_TRIGG_DIST (206) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_DO_FENCE_ENABLE (207) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_DO_PARACHUTE (208) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_DO_MOTOR_TEST (209) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_DO_INVERTED_FLIGHT (210) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_DO_GRIPPER (211) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_DO_AUTOTUNE_ENABLE (212) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_NAV_SET_YAW_SPEED (213) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_DO_SET_CAM_TRIGG_INTERVAL (214) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_DO_SET_RESUME_REPEAT_DIST (215)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Set the distance to be repeated on mission resume

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Param (Label)DescriptionUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1 (Distance)Distance.m
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      3Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      4Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      5Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      6Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      7Empty.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_DO_SPRAYER (216)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Control attached liquid sprayer

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1 (Sprayer Enable)0: disable sprayer. 1: enable sprayer.min: 0 max: 1 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      3Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      4Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      5Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      6Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      7Empty.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_DO_SEND_SCRIPT_MESSAGE (217)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Pass instructions onto scripting, a script should be checking for a new command

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1 (ID)uint16 ID value to be passed to scriptingmin: 0 max: 65535 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2 (param 1)float value to be passed to scripting
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      3 (param 2)float value to be passed to scripting
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      4 (param 3)float value to be passed to scripting
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      5Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      6Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      7Empty.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_DO_AUX_FUNCTION (218)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Execute auxiliary function

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1 (AuxiliaryFunction)Auxiliary Function.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2 (SwitchPosition)Switch Level.MAV_CMD_DO_AUX_FUNCTION_SWITCH_LEVEL
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      3Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      4Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      5Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      6Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      7Empty.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_DO_MOUNT_CONTROL_QUAT (220) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_DO_GUIDED_MASTER (221) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_DO_GUIDED_LIMITS (222) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_DO_ENGINE_CONTROL (223) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_DO_SET_MISSION_CURRENT (224) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_DO_LAST (240) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_PREFLIGHT_CALIBRATION (241) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_PREFLIGHT_SET_SENSOR_OFFSETS (242) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_PREFLIGHT_UAVCAN (243) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_PREFLIGHT_STORAGE (245) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN (246) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_OVERRIDE_GOTO (252) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_OBLIQUE_SURVEY (260) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_MISSION_START (300) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_ACTUATOR_TEST (310) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_CONFIGURE_ACTUATOR (311) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_COMPONENT_ARM_DISARM (400) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_RUN_PREARM_CHECKS (401) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_ILLUMINATOR_ON_OFF (405) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_DO_ILLUMINATOR_CONFIGURE (406) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_GET_HOME_POSITION (410) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_INJECT_FAILURE (420) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_START_RX_PAIR (500) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_GET_MESSAGE_INTERVAL (510) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_SET_MESSAGE_INTERVAL (511) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_REQUEST_MESSAGE (512) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_REQUEST_PROTOCOL_VERSION (519) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_REQUEST_AUTOPILOT_CAPABILITIES (520) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_REQUEST_CAMERA_INFORMATION (521) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_REQUEST_CAMERA_SETTINGS (522) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_REQUEST_STORAGE_INFORMATION (525) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_STORAGE_FORMAT (526) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_REQUEST_CAMERA_CAPTURE_STATUS (527) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_REQUEST_FLIGHT_INFORMATION (528) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_RESET_CAMERA_SETTINGS (529) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_SET_CAMERA_MODE (530) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_SET_CAMERA_ZOOM (531) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_SET_CAMERA_FOCUS (532) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_SET_STORAGE_USAGE (533) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_SET_CAMERA_SOURCE (534) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_JUMP_TAG (600) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_DO_JUMP_TAG (601) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_DO_GIMBAL_MANAGER_PITCHYAW (1000) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_DO_GIMBAL_MANAGER_CONFIGURE (1001) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_IMAGE_START_CAPTURE (2000) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_IMAGE_STOP_CAPTURE (2001) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_REQUEST_CAMERA_IMAGE_CAPTURE (2002) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_DO_TRIGGER_CONTROL (2003) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_CAMERA_TRACK_POINT (2004) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_CAMERA_TRACK_RECTANGLE (2005) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_CAMERA_STOP_TRACKING (2010) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_VIDEO_START_CAPTURE (2500) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_VIDEO_STOP_CAPTURE (2501) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_VIDEO_START_STREAMING (2502) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_VIDEO_STOP_STREAMING (2503) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_REQUEST_VIDEO_STREAM_INFORMATION (2504) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_REQUEST_VIDEO_STREAM_STATUS (2505) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_LOGGING_START (2510) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_LOGGING_STOP (2511) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_AIRFRAME_CONFIGURATION (2520) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_CONTROL_HIGH_LATENCY (2600) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_PANORAMA_CREATE (2800) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_DO_VTOL_TRANSITION (3000) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_ARM_AUTHORIZATION_REQUEST (3001) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_SET_GUIDED_SUBMODE_STANDARD (4000) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_SET_GUIDED_SUBMODE_CIRCLE (4001) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_CONDITION_GATE (4501) — [from: common] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_NAV_FENCE_RETURN_POINT (5000) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_NAV_FENCE_POLYGON_VERTEX_INCLUSION (5001) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_NAV_FENCE_POLYGON_VERTEX_EXCLUSION (5002) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_NAV_FENCE_CIRCLE_INCLUSION (5003) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_NAV_FENCE_CIRCLE_EXCLUSION (5004) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_NAV_RALLY_POINT (5100) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_UAVCAN_GET_NODE_INFO (5200) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_DO_SET_SAFETY_SWITCH_STATE (5300) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_DO_ADSB_OUT_IDENT (10001) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_PAYLOAD_PREPARE_DEPLOY (30001) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_PAYLOAD_CONTROL_DEPLOY (30002) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_WAYPOINT_USER_1 (31000) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_WAYPOINT_USER_2 (31001) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_WAYPOINT_USER_3 (31002) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_WAYPOINT_USER_4 (31003) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_WAYPOINT_USER_5 (31004) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_SPATIAL_USER_1 (31005) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_SPATIAL_USER_2 (31006) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_SPATIAL_USER_3 (31007) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_SPATIAL_USER_4 (31008) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_SPATIAL_USER_5 (31009) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_USER_1 (31010) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_USER_2 (31011) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_USER_3 (31012) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_USER_4 (31013) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_USER_5 (31014) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_CAN_FORWARD (32000) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_POWER_OFF_INITIATED (42000)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      A system wide power-off event has been initiated.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Param (Label)Description
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      3Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      4Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      5Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      6Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      7Empty.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_SOLO_BTN_FLY_CLICK (42001)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      FLY button has been clicked.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Param (Label)Description
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      3Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      4Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      5Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      6Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      7Empty.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_SOLO_BTN_FLY_HOLD (42002)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      FLY button has been held for 1.5 seconds.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Param (Label)DescriptionUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1 (Takeoff Altitude)Takeoff altitude.m
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      3Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      4Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      5Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      6Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      7Empty.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_SOLO_BTN_PAUSE_CLICK (42003)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      PAUSE button has been clicked.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1 (Shot Mode)1 if Solo is in a shot mode, 0 otherwise.min: 0 max: 1 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      3Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      4Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      5Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      6Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      7Empty.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_FIXED_MAG_CAL (42004)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Magnetometer calibration based on fixed position

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      in earth field given by inclination, declination and intensity.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Param (Label)DescriptionUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1 (Declination)Magnetic declination.deg
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2 (Inclination)Magnetic inclination.deg
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      3 (Intensity)Magnetic intensity.mgauss
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      4 (Yaw)Yaw.deg
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      5Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      6Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      7Empty.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_FIXED_MAG_CAL_FIELD (42005)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Magnetometer calibration based on fixed expected field values.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Param (Label)DescriptionUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1 (Field X)Field strength X.mgauss
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2 (Field Y)Field strength Y.mgauss
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      3 (Field Z)Field strength Z.mgauss
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      4Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      5Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      6Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      7Empty.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_FIXED_MAG_CAL_YAW (42006) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_SET_EKF_SOURCE_SET (42007)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Set EKF sensor source set.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1 (SourceSetId)Source Set Id.min: 1 max: 3 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      3Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      4Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      5Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      6Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      7Empty.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_DO_START_MAG_CAL (42424)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Initiate a magnetometer calibration.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Param (Label)DescriptionValuesUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1 (Magnetometers Bitmask)Bitmask of magnetometers to calibrate. Use 0 to calibrate all sensors that can be started (sensors may not start if disabled, unhealthy, etc.). The command will NACK if calibration does not start for a sensor explicitly specified by the bitmask.min: 0 max: 255 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2 (Retry on Failure)Automatically retry on failure (0=no retry, 1=retry).min: 0 max: 1 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      3 (Autosave)Save without user input (0=require input, 1=autosave).min: 0 max: 1 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      4 (Delay)Delay.s
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      5 (Autoreboot)Autoreboot (0=user reboot, 1=autoreboot).min: 0 max: 1 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      6Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      7Empty.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_DO_ACCEPT_MAG_CAL (42425)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Accept a magnetometer calibration.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1 (Magnetometers Bitmask)Bitmask of magnetometers that calibration is accepted (0 means all).min: 0 max: 255 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      3Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      4Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      5Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      6Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      7Empty.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_DO_CANCEL_MAG_CAL (42426)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Cancel a running magnetometer calibration.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1 (Magnetometers Bitmask)Bitmask of magnetometers to cancel a running calibration (0 means all).min: 0 max: 255 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      3Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      4Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      5Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      6Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      7Empty.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_SET_FACTORY_TEST_MODE (42427)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Command autopilot to get into factory test/diagnostic mode.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1 (Test Mode)0: activate test mode, 1: exit test mode.min: 0 max: 1 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      3Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      4Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      5Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      6Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      7Empty.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_DO_SEND_BANNER (42428)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Reply with the version banner.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Param (Label)Description
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      3Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      4Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      5Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      6Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      7Empty.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_ACCELCAL_VEHICLE_POS (42429)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Used when doing accelerometer calibration. When sent to the GCS tells it what position to put the vehicle in. When sent to the vehicle says what position the vehicle is in.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1 (Position)Position.ACCELCAL_VEHICLE_POS
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      3Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      4Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      5Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      6Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      7Empty.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_GIMBAL_RESET (42501)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Causes the gimbal to reset and boot as if it was just powered on.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Param (Label)Description
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      3Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      4Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      5Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      6Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      7Empty.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_GIMBAL_AXIS_CALIBRATION_STATUS (42502)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Reports progress and success or failure of gimbal axis calibration procedure.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Param (Label)DescriptionValuesUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1 (Axis)Gimbal axis we're reporting calibration progress for.GIMBAL_AXIS
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2 (Progress)Current calibration progress for this axis.min: 0 max: 100%
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      3 (Status)Status of the calibration.GIMBAL_AXIS_CALIBRATION_STATUS
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      4Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      5Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      6Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      7Empty.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_GIMBAL_REQUEST_AXIS_CALIBRATION (42503)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Starts commutation calibration on the gimbal.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Param (Label)Description
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      3Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      4Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      5Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      6Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      7Empty.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_GIMBAL_FULL_RESET (42505)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Erases gimbal application and parameters.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Param (Label)Description
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1Magic number.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2Magic number.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      3Magic number.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      4Magic number.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      5Magic number.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      6Magic number.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      7Magic number.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_DO_WINCH (42600) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_FLASH_BOOTLOADER (42650)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Update the bootloader

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      3Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      4Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      5 (Magic Number)Magic number - set to 290876 to actually flashinc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      6Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      7Empty

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_BATTERY_RESET (42651)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Reset battery capacity for batteries that accumulate consumed battery via integration.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1 (battery mask)Bitmask of batteries to reset. Least significant bit is for the first battery.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2 (percentage)Battery percentage remaining to set.min: 0 max: 100 inc: 1

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_DEBUG_TRAP (42700)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Issue a trap signal to the autopilot process, presumably to enter the debugger.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Param (Label)Description
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1Magic number - set to 32451 to actually trap.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      3Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      4Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      5Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      6Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      7Empty.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_SCRIPTING (42701)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Control onboard scripting.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1Scripting command to executeSCRIPTING_CMD

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_NAV_SCRIPT_TIME (42702)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Scripting command as NAV command with wait for completion.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Param (Label)DescriptionUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1 (command)integer command number (0 to 255)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2 (timeout)timeout for operation in seconds. Zero means no timeout (0 to 255)s
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      3 (arg1)argument1.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      4 (arg2)argument2.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      5Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      6Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      7Empty

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_NAV_ATTITUDE_TIME (42703)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Maintain an attitude for a specified time.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Param (Label)DescriptionUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1 (time)Time to maintain specified attitude and climb rates
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2 (roll)Roll angle in degrees (positive is lean right, negative is lean left)deg
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      3 (pitch)Pitch angle in degrees (positive is lean back, negative is lean forward)deg
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      4 (yaw)Yaw angledeg
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      5 (climb_rate)Climb ratem/s
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      6Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      7Empty

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_GUIDED_CHANGE_SPEED (43000)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Change flight speed at a given rate. This slews the vehicle at a controllable rate between it's previous speed and the new one. (affects GUIDED only. Outside GUIDED, aircraft ignores these commands. Designed for onboard companion-computer command-and-control, not normally operator/GCS control.)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Param (Label)DescriptionValuesUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1 (speed type)Airspeed or groundspeed.SPEED_TYPE
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2 (speed target)Target Speedm/s
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      3 (speed rate-of-change)Acceleration rate, 0 to take effect instantlym/s/s
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      4Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      5Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      6Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      7Empty

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_GUIDED_CHANGE_ALTITUDE (43001)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Change target altitude at a given rate. This slews the vehicle at a controllable rate between it's previous altitude and the new one. (affects GUIDED only. Outside GUIDED, aircraft ignores these commands. Designed for onboard companion-computer command-and-control, not normally operator/GCS control.)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Param (Label)DescriptionValuesUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      3 (alt rate-of-change)Rate of change, toward new altitude. 0 for maximum rate change. Positive numbers only, as negative numbers will not converge on the new target alt.min: 0m/s/s
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      4Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      5Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      6Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      7 (target alt)Target Altitudem

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_GUIDED_CHANGE_HEADING (43002)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Change to target heading at a given rate, overriding previous heading/s. This slews the vehicle at a controllable rate between it's previous heading and the new one. (affects GUIDED only. Exiting GUIDED returns aircraft to normal behaviour defined elsewhere. Designed for onboard companion-computer command-and-control, not normally operator/GCS control.)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Param (Label)DescriptionValuesUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1 (heading type)course-over-ground or raw vehicle heading.HEADING_TYPE
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2 (heading target)Target heading.min: 0 max: 359.99deg
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      3 (heading rate-of-change)Maximum centripetal accelearation, ie rate of change, toward new heading.m/s/s
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      4Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      5Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      6Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      7Empty

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_EXTERNAL_POSITION_ESTIMATE (43003) — [from: common]

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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        \ No newline at end of file +ardupilotmega.xml · MAVLink Developer Guide
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Dialect: ArduPilotMega

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        The ArduPilot MAVLink fork of ardupilotmega.xml may contain messages that have not yet been merged into this documentation. The documentation below may not be accurate if the dialect owner has not pushed changes.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        These messages define the ArduPilot specific message set, which is custom to http://ardupilot.org.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        This topic is a human-readable form of the XML definition file: ardupilotmega.xml.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAVLink 2 extension fields that have been added to MAVLink 1 messages are displayed in blue. - Entities from dialects are displayed only as headings (with link to original)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Protocol dialect: 2

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Summary

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        TypeDefinedIncluded
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Messages65240
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Enums45158
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Commands1950

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        The following sections list all entities in the dialect (both included and defined in this file).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Messages

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        SENSOR_OFFSETS (150)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Offsets and calibrations values for hardware sensors. This makes it easier to debug the calibration process.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        mag_ofs_xint16_tMagnetometer X offset.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        mag_ofs_yint16_tMagnetometer Y offset.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        mag_ofs_zint16_tMagnetometer Z offset.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        mag_declinationfloatradMagnetic declination.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        raw_pressint32_tRaw pressure from barometer.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        raw_tempint32_tRaw temperature from barometer.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        gyro_cal_xfloatGyro X calibration.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        gyro_cal_yfloatGyro Y calibration.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        gyro_cal_zfloatGyro Z calibration.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        accel_cal_xfloatAccel X calibration.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        accel_cal_yfloatAccel Y calibration.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        accel_cal_zfloatAccel Z calibration.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        SET_MAG_OFFSETS (151) — [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        DEPRECATED: Replaced By MAV_CMD_PREFLIGHT_SET_SENSOR_OFFSETS (2014-07)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Set the magnetometer offsets

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        target_systemuint8_tSystem ID.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        target_componentuint8_tComponent ID.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        mag_ofs_xint16_tMagnetometer X offset.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        mag_ofs_yint16_tMagnetometer Y offset.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        mag_ofs_zint16_tMagnetometer Z offset.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MEMINFO (152)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        State of autopilot RAM.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        brkvaluint16_tHeap top.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        freememuint16_tbytesFree memory.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        freemem32 ++uint32_tbytesFree memory (32 bit).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        AP_ADC (153)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Raw ADC output.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        adc1uint16_tADC output 1.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        adc2uint16_tADC output 2.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        adc3uint16_tADC output 3.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        adc4uint16_tADC output 4.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        adc5uint16_tADC output 5.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        adc6uint16_tADC output 6.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        DIGICAM_CONFIGURE (154)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Configure on-board Camera Control System.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        target_systemuint8_tSystem ID.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        target_componentuint8_tComponent ID.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        modeuint8_tMode enumeration from 1 to N //P, TV, AV, M, etc. (0 means ignore).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        shutter_speeduint16_tDivisor number //e.g. 1000 means 1/1000 (0 means ignore).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        apertureuint8_tF stop number x 10 //e.g. 28 means 2.8 (0 means ignore).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        isouint8_tISO enumeration from 1 to N //e.g. 80, 100, 200, Etc (0 means ignore).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        exposure_typeuint8_tExposure type enumeration from 1 to N (0 means ignore).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        command_iduint8_tCommand Identity (incremental loop: 0 to 255). //A command sent multiple times will be executed or pooled just once.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        engine_cut_offuint8_tdsMain engine cut-off time before camera trigger (0 means no cut-off).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        extra_paramuint8_tExtra parameters enumeration (0 means ignore).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        extra_valuefloatCorrespondent value to given extra_param.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        DIGICAM_CONTROL (155)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Control on-board Camera Control System to take shots.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        target_systemuint8_tSystem ID.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        target_componentuint8_tComponent ID.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        sessionuint8_t0: stop, 1: start or keep it up //Session control e.g. show/hide lens.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        zoom_posuint8_t1 to N //Zoom's absolute position (0 means ignore).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        zoom_stepint8_t-100 to 100 //Zooming step value to offset zoom from the current position.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        focus_lockuint8_t0: unlock focus or keep unlocked, 1: lock focus or keep locked, 3: re-lock focus.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        shotuint8_t0: ignore, 1: shot or start filming.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        command_iduint8_tCommand Identity (incremental loop: 0 to 255)//A command sent multiple times will be executed or pooled just once.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        extra_paramuint8_tExtra parameters enumeration (0 means ignore).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        extra_valuefloatCorrespondent value to given extra_param.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MOUNT_CONFIGURE (156)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Message to configure a camera mount, directional antenna, etc.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Field NameTypeValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        target_systemuint8_tSystem ID.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        target_componentuint8_tComponent ID.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        mount_modeuint8_tMAV_MOUNT_MODEMount operating mode.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        stab_rolluint8_t(1 = yes, 0 = no).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        stab_pitchuint8_t(1 = yes, 0 = no).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        stab_yawuint8_t(1 = yes, 0 = no).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MOUNT_CONTROL (157)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Message to control a camera mount, directional antenna, etc.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        target_systemuint8_tSystem ID.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        target_componentuint8_tComponent ID.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        input_aint32_tPitch (centi-degrees) or lat (degE7), depending on mount mode.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        input_bint32_tRoll (centi-degrees) or lon (degE7) depending on mount mode.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        input_cint32_tYaw (centi-degrees) or alt (cm) depending on mount mode.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        save_positionuint8_tIf "1" it will save current trimmed position on EEPROM (just valid for NEUTRAL and LANDING).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MOUNT_STATUS (158)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Message with some status from autopilot to GCS about camera or antenna mount.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        target_systemuint8_tSystem ID.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        target_componentuint8_tComponent ID.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        pointing_aint32_tcdegPitch.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        pointing_bint32_tcdegRoll.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        pointing_cint32_tcdegYaw.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        mount_mode ++uint8_tMAV_MOUNT_MODEMount operating mode.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        FENCE_POINT (160)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        A fence point. Used to set a point when from GCS -> MAV. Also used to return a point from MAV -> GCS.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        target_systemuint8_tSystem ID.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        target_componentuint8_tComponent ID.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        idxuint8_tPoint index (first point is 1, 0 is for return point).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        countuint8_tTotal number of points (for sanity checking).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        latfloatdegLatitude of point.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        lngfloatdegLongitude of point.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        FENCE_FETCH_POINT (161)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Request a current fence point from MAV.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        target_systemuint8_tSystem ID.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        target_componentuint8_tComponent ID.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        idxuint8_tPoint index (first point is 1, 0 is for return point).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        AHRS (163)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Status of DCM attitude estimator.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        omegaIxfloatrad/sX gyro drift estimate.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        omegaIyfloatrad/sY gyro drift estimate.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        omegaIzfloatrad/sZ gyro drift estimate.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        accel_weightfloatAverage accel_weight.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        renorm_valfloatAverage renormalisation value.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        error_rpfloatAverage error_roll_pitch value.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        error_yawfloatAverage error_yaw value.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        SIMSTATE (164)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Status of simulation environment, if used.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        rollfloatradRoll angle.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        pitchfloatradPitch angle.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        yawfloatradYaw angle.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        xaccfloatm/s/sX acceleration.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        yaccfloatm/s/sY acceleration.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        zaccfloatm/s/sZ acceleration.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        xgyrofloatrad/sAngular speed around X axis.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        ygyrofloatrad/sAngular speed around Y axis.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        zgyrofloatrad/sAngular speed around Z axis.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        latint32_tdegE7Latitude.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        lngint32_tdegE7Longitude.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        HWSTATUS (165)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Status of key hardware.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Vccuint16_tmVBoard voltage.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        I2Cerruint8_tI2C error count.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        RADIO (166)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Status generated by radio.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        rssiuint8_tLocal signal strength.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        remrssiuint8_tRemote signal strength.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        txbufuint8_t%How full the tx buffer is.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        noiseuint8_tBackground noise level.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        remnoiseuint8_tRemote background noise level.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        rxerrorsuint16_tReceive errors.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        fixeduint16_tCount of error corrected packets.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        LIMITS_STATUS (167)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Status of AP_Limits. Sent in extended status stream when AP_Limits is enabled.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        limits_stateuint8_tLIMITS_STATEState of AP_Limits.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        last_triggeruint32_tmsTime (since boot) of last breach.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        last_actionuint32_tmsTime (since boot) of last recovery action.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        last_recoveryuint32_tmsTime (since boot) of last successful recovery.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        last_clearuint32_tmsTime (since boot) of last all-clear.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        breach_countuint16_tNumber of fence breaches.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        mods_enableduint8_tLIMIT_MODULEAP_Limit_Module bitfield of enabled modules.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        mods_requireduint8_tLIMIT_MODULEAP_Limit_Module bitfield of required modules.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        mods_triggereduint8_tLIMIT_MODULEAP_Limit_Module bitfield of triggered modules.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        WIND (168)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Wind estimation.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        directionfloatdegWind direction (that wind is coming from).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        speedfloatm/sWind speed in ground plane.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        speed_zfloatm/sVertical wind speed.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        DATA16 (169)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Data packet, size 16.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        typeuint8_tData type.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        lenuint8_tbytesData length.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        datauint8_t[16]Raw data.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        DATA32 (170)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Data packet, size 32.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        typeuint8_tData type.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        lenuint8_tbytesData length.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        datauint8_t[32]Raw data.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        DATA64 (171)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Data packet, size 64.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        typeuint8_tData type.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        lenuint8_tbytesData length.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        datauint8_t[64]Raw data.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        DATA96 (172)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Data packet, size 96.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        typeuint8_tData type.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        lenuint8_tbytesData length.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        datauint8_t[96]Raw data.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        RANGEFINDER (173)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Rangefinder reporting.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        distancefloatmDistance.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        voltagefloatVRaw voltage if available, zero otherwise.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        AIRSPEED_AUTOCAL (174)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Airspeed auto-calibration.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        vxfloatm/sGPS velocity north.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        vyfloatm/sGPS velocity east.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        vzfloatm/sGPS velocity down.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        diff_pressurefloatPaDifferential pressure.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        EAS2TASfloatEstimated to true airspeed ratio.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        ratiofloatAirspeed ratio.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        state_xfloatEKF state x.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        state_yfloatEKF state y.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        state_zfloatEKF state z.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        PaxfloatEKF Pax.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        PbyfloatEKF Pby.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        PczfloatEKF Pcz.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        RALLY_POINT (175)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        A rally point. Used to set a point when from GCS -> MAV. Also used to return a point from MAV -> GCS.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        target_systemuint8_tSystem ID.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        target_componentuint8_tComponent ID.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        idxuint8_tPoint index (first point is 0).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        countuint8_tTotal number of points (for sanity checking).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        latint32_tdegE7Latitude of point.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        lngint32_tdegE7Longitude of point.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        altint16_tmTransit / loiter altitude relative to home.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        break_altint16_tmBreak altitude relative to home.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        land_diruint16_tcdegHeading to aim for when landing.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        flagsuint8_tRALLY_FLAGSConfiguration flags.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        RALLY_FETCH_POINT (176)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Request a current rally point from MAV. MAV should respond with a RALLY_POINT message. MAV should not respond if the request is invalid.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        target_systemuint8_tSystem ID.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        target_componentuint8_tComponent ID.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        idxuint8_tPoint index (first point is 0).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        COMPASSMOT_STATUS (177)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Status of compassmot calibration.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        throttleuint16_td%Throttle.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        currentfloatACurrent.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        interferenceuint16_t%Interference.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        CompensationXfloatMotor Compensation X.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        CompensationYfloatMotor Compensation Y.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        CompensationZfloatMotor Compensation Z.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        AHRS2 (178)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Status of secondary AHRS filter if available.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        rollfloatradRoll angle.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        pitchfloatradPitch angle.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        yawfloatradYaw angle.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        altitudefloatmAltitude (MSL).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        latint32_tdegE7Latitude.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        lngint32_tdegE7Longitude.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        CAMERA_STATUS (179)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Camera Event.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        time_usecuint64_tusImage timestamp (since UNIX epoch, according to camera clock).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        target_systemuint8_tSystem ID.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        cam_idxuint8_tCamera ID.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        img_idxuint16_tImage index.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        event_iduint8_tCAMERA_STATUS_TYPESEvent type.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        p1floatParameter 1 (meaning depends on event_id, see CAMERA_STATUS_TYPES enum).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        p2floatParameter 2 (meaning depends on event_id, see CAMERA_STATUS_TYPES enum).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        p3floatParameter 3 (meaning depends on event_id, see CAMERA_STATUS_TYPES enum).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        p4floatParameter 4 (meaning depends on event_id, see CAMERA_STATUS_TYPES enum).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        CAMERA_FEEDBACK (180)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Camera Capture Feedback.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        time_usecuint64_tusImage timestamp (since UNIX epoch), as passed in by CAMERA_STATUS message (or autopilot if no CCB).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        target_systemuint8_tSystem ID.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        cam_idxuint8_tCamera ID.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        img_idxuint16_tImage index.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        latint32_tdegE7Latitude.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        lngint32_tdegE7Longitude.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        alt_mslfloatmAltitude (MSL).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        alt_relfloatmAltitude (Relative to HOME location).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        rollfloatdegCamera Roll angle (earth frame, +-180).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        pitchfloatdegCamera Pitch angle (earth frame, +-180).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        yawfloatdegCamera Yaw (earth frame, 0-360, true).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        foc_lenfloatmmFocal Length.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        flagsuint8_tCAMERA_FEEDBACK_FLAGSFeedback flags.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        completed_captures ++uint16_tCompleted image captures.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        BATTERY2 (181) — [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        DEPRECATED: Replaced By BATTERY_STATUS (2017-04)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        2nd Battery status

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        voltageuint16_tmVVoltage.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        current_batteryint16_tcABattery current, -1: autopilot does not measure the current.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        AHRS3 (182)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Status of third AHRS filter if available. This is for ANU research group (Ali and Sean).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        rollfloatradRoll angle.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        pitchfloatradPitch angle.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        yawfloatradYaw angle.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        altitudefloatmAltitude (MSL).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        latint32_tdegE7Latitude.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        lngint32_tdegE7Longitude.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        v1floatTest variable1.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        v2floatTest variable2.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        v3floatTest variable3.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        v4floatTest variable4.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        AUTOPILOT_VERSION_REQUEST (183)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Request the autopilot version from the system/component.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        target_systemuint8_tSystem ID.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        target_componentuint8_tComponent ID.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        REMOTE_LOG_DATA_BLOCK (184)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Send a block of log data to remote location.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Field NameTypeValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        target_systemuint8_tSystem ID.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        target_componentuint8_tComponent ID.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        seqnouint32_tMAV_REMOTE_LOG_DATA_BLOCK_COMMANDSLog data block sequence number.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        datauint8_t[200]Log data block.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        REMOTE_LOG_BLOCK_STATUS (185)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Send Status of each log block that autopilot board might have sent.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Field NameTypeValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        target_systemuint8_tSystem ID.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        target_componentuint8_tComponent ID.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        seqnouint32_tLog data block sequence number.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        statusuint8_tMAV_REMOTE_LOG_DATA_BLOCK_STATUSESLog data block status.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        LED_CONTROL (186)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Control vehicle LEDs.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        target_systemuint8_tSystem ID.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        target_componentuint8_tComponent ID.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        instanceuint8_tInstance (LED instance to control or 255 for all LEDs).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        patternuint8_tPattern (see LED_PATTERN_ENUM).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        custom_lenuint8_tCustom Byte Length.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        custom_bytesuint8_t[24]Custom Bytes.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAG_CAL_PROGRESS (191)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Reports progress of compass calibration.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        compass_iduint8_tCompass being calibrated.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Messages with same value are from the same source (instance). | | cal_mask | uint8_t | | | Bitmask of compasses being calibrated. | | cal_status | uint8_t | | MAG_CAL_STATUS | Calibration Status. | | attempt | uint8_t | | | Attempt number. | | completion_pct | uint8_t | % | | Completion percentage. | | completion_mask | uint8_t[10] | | | Bitmask of sphere sections (see http://en.wikipedia.org/wiki/Geodesic_grid). | | direction_x | float | | | Body frame direction vector for display. | | direction_y | float | | | Body frame direction vector for display. | | direction_z | float | | | Body frame direction vector for display. |

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        EKF_STATUS_REPORT (193)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        EKF Status message including flags and variances.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Field NameTypeValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        flagsuint16_tEKF_STATUS_FLAGSFlags.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        velocity_variancefloatVelocity variance.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        pos_horiz_variancefloatHorizontal Position variance.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        pos_vert_variancefloatVertical Position variance.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        compass_variancefloatCompass variance.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        terrain_alt_variancefloatTerrain Altitude variance.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        airspeed_variance ++floatAirspeed variance.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        PID_TUNING (194)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        PID tuning information.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Field NameTypeValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        axisuint8_tPID_TUNING_AXISAxis.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Messages with same value are from the same source (instance). | | desired | float | | Desired rate. | | achieved | float | | Achieved rate. | | FF | float | | FF component. | | P | float | | P component. | | I | float | | I component. | | D | float | | D component. | | SRate ++ | float | | Slew rate. | | PDmod ++ | float | | P/D oscillation modifier. |

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        DEEPSTALL (195)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Deepstall path planning.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        landing_latint32_tdegE7Landing latitude.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        landing_lonint32_tdegE7Landing longitude.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        path_latint32_tdegE7Final heading start point, latitude.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        path_lonint32_tdegE7Final heading start point, longitude.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        arc_entry_latint32_tdegE7Arc entry point, latitude.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        arc_entry_lonint32_tdegE7Arc entry point, longitude.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        altitudefloatmAltitude.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        expected_travel_distancefloatmDistance the aircraft expects to travel during the deepstall.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        cross_track_errorfloatmDeepstall cross track error (only valid when in DEEPSTALL_STAGE_LAND).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        stageuint8_tDEEPSTALL_STAGEDeepstall stage.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        GIMBAL_REPORT (200)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        3 axis gimbal measurements.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        target_systemuint8_tSystem ID.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        target_componentuint8_tComponent ID.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        delta_timefloatsTime since last update.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        delta_angle_xfloatradDelta angle X.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        delta_angle_yfloatradDelta angle Y.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        delta_angle_zfloatradDelta angle X.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        delta_velocity_xfloatm/sDelta velocity X.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        delta_velocity_yfloatm/sDelta velocity Y.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        delta_velocity_zfloatm/sDelta velocity Z.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        joint_rollfloatradJoint ROLL.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        joint_elfloatradJoint EL.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        joint_azfloatradJoint AZ.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        GIMBAL_CONTROL (201)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Control message for rate gimbal.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        target_systemuint8_tSystem ID.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        target_componentuint8_tComponent ID.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        demanded_rate_xfloatrad/sDemanded angular rate X.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        demanded_rate_yfloatrad/sDemanded angular rate Y.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        demanded_rate_zfloatrad/sDemanded angular rate Z.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        GIMBAL_TORQUE_CMD_REPORT (214)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        100 Hz gimbal torque command telemetry.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        target_systemuint8_tSystem ID.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        target_componentuint8_tComponent ID.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        rl_torque_cmdint16_tRoll Torque Command.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        el_torque_cmdint16_tElevation Torque Command.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        az_torque_cmdint16_tAzimuth Torque Command.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        GOPRO_HEARTBEAT (215)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Heartbeat from a HeroBus attached GoPro.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Field NameTypeValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        statusuint8_tGOPRO_HEARTBEAT_STATUSStatus.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        capture_modeuint8_tGOPRO_CAPTURE_MODECurrent capture mode.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        flagsuint8_tGOPRO_HEARTBEAT_FLAGSAdditional status bits.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        GOPRO_GET_REQUEST (216)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Request a GOPRO_COMMAND response from the GoPro.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Field NameTypeValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        target_systemuint8_tSystem ID.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        target_componentuint8_tComponent ID.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        cmd_iduint8_tGOPRO_COMMANDCommand ID.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        GOPRO_GET_RESPONSE (217)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Response from a GOPRO_COMMAND get request.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Field NameTypeValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        cmd_iduint8_tGOPRO_COMMANDCommand ID.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        statusuint8_tGOPRO_REQUEST_STATUSStatus.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        valueuint8_t[4]Value.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        GOPRO_SET_REQUEST (218)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Request to set a GOPRO_COMMAND with a desired.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Field NameTypeValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        target_systemuint8_tSystem ID.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        target_componentuint8_tComponent ID.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        cmd_iduint8_tGOPRO_COMMANDCommand ID.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        valueuint8_t[4]Value.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        GOPRO_SET_RESPONSE (219)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Response from a GOPRO_COMMAND set request.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Field NameTypeValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        cmd_iduint8_tGOPRO_COMMANDCommand ID.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        statusuint8_tGOPRO_REQUEST_STATUSStatus.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        RPM (226)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        RPM sensor output.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        rpm1floatRPM Sensor1.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        rpm2floatRPM Sensor2.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        DEVICE_OP_READ (11000)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Read registers for a device.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Field NameTypeValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        target_systemuint8_tSystem ID.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        target_componentuint8_tComponent ID.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        request_iduint32_tRequest ID - copied to reply.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        bustypeuint8_tDEVICE_OP_BUSTYPEThe bus type.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        busuint8_tBus number.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        addressuint8_tBus address.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        busnamechar[40]Name of device on bus (for SPI).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        regstartuint8_tFirst register to read.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        countuint8_tCount of registers to read.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        bank ++uint8_tBank number.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        DEVICE_OP_READ_REPLY (11001)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Read registers reply.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        request_iduint32_tRequest ID - copied from request.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        resultuint8_t0 for success, anything else is failure code.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        regstartuint8_tStarting register.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        countuint8_tCount of bytes read.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        datauint8_t[128]Reply data.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        bank ++uint8_tBank number.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        DEVICE_OP_WRITE (11002)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Write registers for a device.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Field NameTypeValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        target_systemuint8_tSystem ID.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        target_componentuint8_tComponent ID.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        request_iduint32_tRequest ID - copied to reply.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        bustypeuint8_tDEVICE_OP_BUSTYPEThe bus type.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        busuint8_tBus number.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        addressuint8_tBus address.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        busnamechar[40]Name of device on bus (for SPI).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        regstartuint8_tFirst register to write.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        countuint8_tCount of registers to write.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        datauint8_t[128]Write data.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        bank ++uint8_tBank number.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        DEVICE_OP_WRITE_REPLY (11003)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Write registers reply.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        request_iduint32_tRequest ID - copied from request.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        resultuint8_t0 for success, anything else is failure code.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        ADAP_TUNING (11010)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Adaptive Controller tuning information.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        axisuint8_tPID_TUNING_AXISAxis.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Messages with same value are from the same source (instance). | | desired | float | deg/s | | Desired rate. | | achieved | float | deg/s | | Achieved rate. | | error | float | | | Error between model and vehicle. | | theta | float | | | Theta estimated state predictor. | | omega | float | | | Omega estimated state predictor. | | sigma | float | | | Sigma estimated state predictor. | | theta_dot | float | | | Theta derivative. | | omega_dot | float | | | Omega derivative. | | sigma_dot | float | | | Sigma derivative. | | f | float | | | Projection operator value. | | f_dot | float | | | Projection operator derivative. | | u | float | | | u adaptive controlled output command. |

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        VISION_POSITION_DELTA (11011)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Camera vision based attitude and position deltas.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        time_usecuint64_tusTimestamp (synced to UNIX time or since system boot).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        time_delta_usecuint64_tusTime since the last reported camera frame.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        angle_deltafloat[3]radDefines a rotation vector [roll, pitch, yaw] to the current MAV_FRAME_BODY_FRD from the previous MAV_FRAME_BODY_FRD.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        position_deltafloat[3]mChange in position to the current MAV_FRAME_BODY_FRD from the previous FRAME_BODY_FRD rotated to the current MAV_FRAME_BODY_FRD.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        confidencefloat%Normalised confidence value from 0 to 100.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        AOA_SSA (11020)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Angle of Attack and Side Slip Angle.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        time_usecuint64_tusTimestamp (since boot or Unix epoch).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        AOAfloatdegAngle of Attack.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        SSAfloatdegSide Slip Angle.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        ESC_TELEMETRY_1_TO_4 (11030)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        ESC Telemetry Data for ESCs 1 to 4, matching data sent by BLHeli ESCs.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        temperatureuint8_t[4]degCTemperature.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        voltageuint16_t[4]cVVoltage.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        currentuint16_t[4]cACurrent.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        totalcurrentuint16_t[4]mAhTotal current.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        rpmuint16_t[4]rpmRPM (eRPM).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        countuint16_t[4]count of telemetry packets received (wraps at 65535).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        ESC_TELEMETRY_5_TO_8 (11031)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        ESC Telemetry Data for ESCs 5 to 8, matching data sent by BLHeli ESCs.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        temperatureuint8_t[4]degCTemperature.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        voltageuint16_t[4]cVVoltage.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        currentuint16_t[4]cACurrent.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        totalcurrentuint16_t[4]mAhTotal current.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        rpmuint16_t[4]rpmRPM (eRPM).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        countuint16_t[4]count of telemetry packets received (wraps at 65535).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        ESC_TELEMETRY_9_TO_12 (11032)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        ESC Telemetry Data for ESCs 9 to 12, matching data sent by BLHeli ESCs.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        temperatureuint8_t[4]degCTemperature.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        voltageuint16_t[4]cVVoltage.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        currentuint16_t[4]cACurrent.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        totalcurrentuint16_t[4]mAhTotal current.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        rpmuint16_t[4]rpmRPM (eRPM).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        countuint16_t[4]count of telemetry packets received (wraps at 65535).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        OSD_PARAM_CONFIG (11033)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Configure an OSD parameter slot.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Field NameTypeValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        target_systemuint8_tSystem ID.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        target_componentuint8_tComponent ID.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        request_iduint32_tRequest ID - copied to reply.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        osd_screenuint8_tOSD parameter screen index.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        osd_indexuint8_tOSD parameter display index.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        param_idchar[16]Onboard parameter id, terminated by NULL if the length is less than 16 human-readable chars and WITHOUT null termination (NULL) byte if the length is exactly 16 chars - applications have to provide 16+1 bytes storage if the ID is stored as string
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        config_typeuint8_tOSD_PARAM_CONFIG_TYPEConfig type.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        min_valuefloatOSD parameter minimum value.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        max_valuefloatOSD parameter maximum value.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        incrementfloatOSD parameter increment.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        OSD_PARAM_CONFIG_REPLY (11034)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Configure OSD parameter reply.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Field NameTypeValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        request_iduint32_tRequest ID - copied from request.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        resultuint8_tOSD_PARAM_CONFIG_ERRORConfig error type.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        OSD_PARAM_SHOW_CONFIG (11035)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Read a configured an OSD parameter slot.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        target_systemuint8_tSystem ID.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        target_componentuint8_tComponent ID.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        request_iduint32_tRequest ID - copied to reply.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        osd_screenuint8_tOSD parameter screen index.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        osd_indexuint8_tOSD parameter display index.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        OSD_PARAM_SHOW_CONFIG_REPLY (11036)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Read configured OSD parameter reply.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Field NameTypeValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        request_iduint32_tRequest ID - copied from request.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        resultuint8_tOSD_PARAM_CONFIG_ERRORConfig error type.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        param_idchar[16]Onboard parameter id, terminated by NULL if the length is less than 16 human-readable chars and WITHOUT null termination (NULL) byte if the length is exactly 16 chars - applications have to provide 16+1 bytes storage if the ID is stored as string
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        config_typeuint8_tOSD_PARAM_CONFIG_TYPEConfig type.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        min_valuefloatOSD parameter minimum value.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        max_valuefloatOSD parameter maximum value.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        incrementfloatOSD parameter increment.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        OBSTACLE_DISTANCE_3D (11037) — [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Obstacle located as a 3D vector.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        time_boot_msuint32_tmsTimestamp (time since system boot).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        sensor_typeuint8_tMAV_DISTANCE_SENSORClass id of the distance sensor type.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        frameuint8_tMAV_FRAMECoordinate frame of reference.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        obstacle_iduint16_tUnique ID given to each obstacle so that its movement can be tracked. Use UINT16_MAX if object ID is unknown or cannot be determined.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Messages with same value are from the same source (instance). | | x | float | m | | X position of the obstacle. | | y | float | m | | Y position of the obstacle. | | z | float | m | | Z position of the obstacle. | | min_distance | float | m | | Minimum distance the sensor can measure. | | max_distance | float | m | | Maximum distance the sensor can measure. |

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        WATER_DEPTH (11038)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Water depth

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        time_boot_msuint32_tmsTimestamp (time since system boot)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        iduint8_tOnboard ID of the sensor

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Messages with same value are from the same source (instance). | | healthy | uint8_t | | Sensor data healthy (0=unhealthy, 1=healthy) | | lat | int32_t | degE7 | Latitude | | lng | int32_t | degE7 | Longitude | | alt | float | m | Altitude (MSL) of vehicle | | roll | float | rad | Roll angle | | pitch | float | rad | Pitch angle | | yaw | float | rad | Yaw angle | | distance | float | m | Distance (uncorrected) | | temperature | float | degC | Water temperature |

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MCU_STATUS (11039)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        The MCU status, giving MCU temperature and voltage. The min and max voltages are to allow for detecting power supply instability.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        iduint8_tMCU instance

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Messages with same value are from the same source (instance). | | MCU_temperature | int16_t | cdegC | MCU Internal temperature | | MCU_voltage | uint16_t | mV | MCU voltage | | MCU_voltage_min | uint16_t | mV | MCU voltage minimum | | MCU_voltage_max | uint16_t | mV | MCU voltage maximum |

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Enumerated Types

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        ACCELCAL_VEHICLE_POS

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        1ACCELCAL_VEHICLE_POS_LEVEL
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        2ACCELCAL_VEHICLE_POS_LEFT
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        3ACCELCAL_VEHICLE_POS_RIGHT
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        4ACCELCAL_VEHICLE_POS_NOSEDOWN
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        5ACCELCAL_VEHICLE_POS_NOSEUP
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        6ACCELCAL_VEHICLE_POS_BACK
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        16777215ACCELCAL_VEHICLE_POS_SUCCESS
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        16777216ACCELCAL_VEHICLE_POS_FAILED

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        HEADING_TYPE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        0HEADING_TYPE_COURSE_OVER_GROUND
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        1HEADING_TYPE_HEADING

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        SCRIPTING_CMD

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        0SCRIPTING_CMD_REPL_STARTStart a REPL session.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        1SCRIPTING_CMD_REPL_STOPEnd a REPL session.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        2SCRIPTING_CMD_STOPStop execution of scripts.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        3SCRIPTING_CMD_STOP_AND_RESTARTStop execution of scripts and restart.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        LIMITS_STATE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        0LIMITS_INITPre-initialization.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        1LIMITS_DISABLEDDisabled.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        2LIMITS_ENABLEDChecking limits.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        3LIMITS_TRIGGEREDA limit has been breached.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        4LIMITS_RECOVERINGTaking action e.g. Return/RTL.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        5LIMITS_RECOVEREDWe're no longer in breach of a limit.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        LIMIT_MODULE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        (Bitmask)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        1LIMIT_GPSLOCKPre-initialization.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        2LIMIT_GEOFENCEDisabled.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        4LIMIT_ALTITUDEChecking limits.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        RALLY_FLAGS

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        (Bitmask) Flags in RALLY_POINT message.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        1FAVORABLE_WINDFlag set when requiring favorable winds for landing.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        2LAND_IMMEDIATELYFlag set when plane is to immediately descend to break altitude and land without GCS intervention. Flag not set when plane is to loiter at Rally point until commanded to land.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        CAMERA_STATUS_TYPES

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        0CAMERA_STATUS_TYPE_HEARTBEATCamera heartbeat, announce camera component ID at 1Hz.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        1CAMERA_STATUS_TYPE_TRIGGERCamera image triggered.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        2CAMERA_STATUS_TYPE_DISCONNECTCamera connection lost.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        3CAMERA_STATUS_TYPE_ERRORCamera unknown error.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        4CAMERA_STATUS_TYPE_LOWBATTCamera battery low. Parameter p1 shows reported voltage.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        5CAMERA_STATUS_TYPE_LOWSTORECamera storage low. Parameter p1 shows reported shots remaining.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        6CAMERA_STATUS_TYPE_LOWSTOREVCamera storage low. Parameter p1 shows reported video minutes remaining.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        CAMERA_FEEDBACK_FLAGS

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        0CAMERA_FEEDBACK_PHOTOShooting photos, not video.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        1CAMERA_FEEDBACK_VIDEOShooting video, not stills.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        2CAMERA_FEEDBACK_BADEXPOSUREUnable to achieve requested exposure (e.g. shutter speed too low).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        3CAMERA_FEEDBACK_CLOSEDLOOPClosed loop feedback from camera, we know for sure it has successfully taken a picture.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        4CAMERA_FEEDBACK_OPENLOOPOpen loop camera, an image trigger has been requested but we can't know for sure it has successfully taken a picture.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_MODE_GIMBAL

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        0MAV_MODE_GIMBAL_UNINITIALIZEDGimbal is powered on but has not started initializing yet.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        1MAV_MODE_GIMBAL_CALIBRATING_PITCHGimbal is currently running calibration on the pitch axis.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        2MAV_MODE_GIMBAL_CALIBRATING_ROLLGimbal is currently running calibration on the roll axis.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        3MAV_MODE_GIMBAL_CALIBRATING_YAWGimbal is currently running calibration on the yaw axis.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        4MAV_MODE_GIMBAL_INITIALIZEDGimbal has finished calibrating and initializing, but is relaxed pending reception of first rate command from copter.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        5MAV_MODE_GIMBAL_ACTIVEGimbal is actively stabilizing.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        6MAV_MODE_GIMBAL_RATE_CMD_TIMEOUTGimbal is relaxed because it missed more than 10 expected rate command messages in a row. Gimbal will move back to active mode when it receives a new rate command.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        GIMBAL_AXIS

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        0GIMBAL_AXIS_YAWGimbal yaw axis.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        1GIMBAL_AXIS_PITCHGimbal pitch axis.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        2GIMBAL_AXIS_ROLLGimbal roll axis.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        GIMBAL_AXIS_CALIBRATION_STATUS

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        0GIMBAL_AXIS_CALIBRATION_STATUS_IN_PROGRESSAxis calibration is in progress.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        1GIMBAL_AXIS_CALIBRATION_STATUS_SUCCEEDEDAxis calibration succeeded.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        2GIMBAL_AXIS_CALIBRATION_STATUS_FAILEDAxis calibration failed.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        GIMBAL_AXIS_CALIBRATION_REQUIRED

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        0GIMBAL_AXIS_CALIBRATION_REQUIRED_UNKNOWNWhether or not this axis requires calibration is unknown at this time.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        1GIMBAL_AXIS_CALIBRATION_REQUIRED_TRUEThis axis requires calibration.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        2GIMBAL_AXIS_CALIBRATION_REQUIRED_FALSEThis axis does not require calibration.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        GOPRO_HEARTBEAT_STATUS

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        0GOPRO_HEARTBEAT_STATUS_DISCONNECTEDNo GoPro connected.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        1GOPRO_HEARTBEAT_STATUS_INCOMPATIBLEThe detected GoPro is not HeroBus compatible.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        2GOPRO_HEARTBEAT_STATUS_CONNECTEDA HeroBus compatible GoPro is connected.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        3GOPRO_HEARTBEAT_STATUS_ERRORAn unrecoverable error was encountered with the connected GoPro, it may require a power cycle.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        GOPRO_HEARTBEAT_FLAGS

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        (Bitmask)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        1GOPRO_FLAG_RECORDINGGoPro is currently recording.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        GOPRO_REQUEST_STATUS

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        0GOPRO_REQUEST_SUCCESSThe write message with ID indicated succeeded.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        1GOPRO_REQUEST_FAILEDThe write message with ID indicated failed.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        GOPRO_COMMAND

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        0GOPRO_COMMAND_POWER(Get/Set).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        1GOPRO_COMMAND_CAPTURE_MODE(Get/Set).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        2GOPRO_COMMAND_SHUTTER(_/Set).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        3GOPRO_COMMAND_BATTERY(Get/_).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        4GOPRO_COMMAND_MODEL(Get/_).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        5GOPRO_COMMAND_VIDEO_SETTINGS(Get/Set).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        6GOPRO_COMMAND_LOW_LIGHT(Get/Set).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        7GOPRO_COMMAND_PHOTO_RESOLUTION(Get/Set).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        8GOPRO_COMMAND_PHOTO_BURST_RATE(Get/Set).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        9GOPRO_COMMAND_PROTUNE(Get/Set).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        10GOPRO_COMMAND_PROTUNE_WHITE_BALANCE(Get/Set) Hero 3+ Only.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        11GOPRO_COMMAND_PROTUNE_COLOUR(Get/Set) Hero 3+ Only.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        12GOPRO_COMMAND_PROTUNE_GAIN(Get/Set) Hero 3+ Only.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        13GOPRO_COMMAND_PROTUNE_SHARPNESS(Get/Set) Hero 3+ Only.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        14GOPRO_COMMAND_PROTUNE_EXPOSURE(Get/Set) Hero 3+ Only.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        15GOPRO_COMMAND_TIME(Get/Set).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        16GOPRO_COMMAND_CHARGING(Get/Set).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        GOPRO_CAPTURE_MODE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        0GOPRO_CAPTURE_MODE_VIDEOVideo mode.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        1GOPRO_CAPTURE_MODE_PHOTOPhoto mode.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        2GOPRO_CAPTURE_MODE_BURSTBurst mode, Hero 3+ only.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        3GOPRO_CAPTURE_MODE_TIME_LAPSETime lapse mode, Hero 3+ only.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        4GOPRO_CAPTURE_MODE_MULTI_SHOTMulti shot mode, Hero 4 only.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        5GOPRO_CAPTURE_MODE_PLAYBACKPlayback mode, Hero 4 only, silver only except when LCD or HDMI is connected to black.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        6GOPRO_CAPTURE_MODE_SETUPPlayback mode, Hero 4 only.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        255GOPRO_CAPTURE_MODE_UNKNOWNMode not yet known.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        GOPRO_RESOLUTION

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        0GOPRO_RESOLUTION_480p848 x 480 (480p).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        1GOPRO_RESOLUTION_720p1280 x 720 (720p).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        2GOPRO_RESOLUTION_960p1280 x 960 (960p).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        3GOPRO_RESOLUTION_1080p1920 x 1080 (1080p).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        4GOPRO_RESOLUTION_1440p1920 x 1440 (1440p).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        5GOPRO_RESOLUTION_2_7k_17_92704 x 1440 (2.7k-17:9).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        6GOPRO_RESOLUTION_2_7k_16_92704 x 1524 (2.7k-16:9).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        7GOPRO_RESOLUTION_2_7k_4_32704 x 2028 (2.7k-4:3).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        8GOPRO_RESOLUTION_4k_16_93840 x 2160 (4k-16:9).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        9GOPRO_RESOLUTION_4k_17_94096 x 2160 (4k-17:9).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        10GOPRO_RESOLUTION_720p_SUPERVIEW1280 x 720 (720p-SuperView).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        11GOPRO_RESOLUTION_1080p_SUPERVIEW1920 x 1080 (1080p-SuperView).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        12GOPRO_RESOLUTION_2_7k_SUPERVIEW2704 x 1520 (2.7k-SuperView).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        13GOPRO_RESOLUTION_4k_SUPERVIEW3840 x 2160 (4k-SuperView).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        GOPRO_FRAME_RATE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        0GOPRO_FRAME_RATE_1212 FPS.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        1GOPRO_FRAME_RATE_1515 FPS.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        2GOPRO_FRAME_RATE_2424 FPS.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        3GOPRO_FRAME_RATE_2525 FPS.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        4GOPRO_FRAME_RATE_3030 FPS.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        5GOPRO_FRAME_RATE_4848 FPS.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        6GOPRO_FRAME_RATE_5050 FPS.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        7GOPRO_FRAME_RATE_6060 FPS.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        8GOPRO_FRAME_RATE_8080 FPS.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        9GOPRO_FRAME_RATE_9090 FPS.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        10GOPRO_FRAME_RATE_100100 FPS.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        11GOPRO_FRAME_RATE_120120 FPS.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        12GOPRO_FRAME_RATE_240240 FPS.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        13GOPRO_FRAME_RATE_12_512.5 FPS.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        GOPRO_FIELD_OF_VIEW

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        0GOPRO_FIELD_OF_VIEW_WIDE0x00: Wide.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        1GOPRO_FIELD_OF_VIEW_MEDIUM0x01: Medium.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        2GOPRO_FIELD_OF_VIEW_NARROW0x02: Narrow.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        GOPRO_VIDEO_SETTINGS_FLAGS

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        (Bitmask)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        1GOPRO_VIDEO_SETTINGS_TV_MODE0=NTSC, 1=PAL.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        GOPRO_PHOTO_RESOLUTION

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        0GOPRO_PHOTO_RESOLUTION_5MP_MEDIUM5MP Medium.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        1GOPRO_PHOTO_RESOLUTION_7MP_MEDIUM7MP Medium.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        2GOPRO_PHOTO_RESOLUTION_7MP_WIDE7MP Wide.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        3GOPRO_PHOTO_RESOLUTION_10MP_WIDE10MP Wide.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        4GOPRO_PHOTO_RESOLUTION_12MP_WIDE12MP Wide.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        GOPRO_PROTUNE_WHITE_BALANCE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        0GOPRO_PROTUNE_WHITE_BALANCE_AUTOAuto.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        1GOPRO_PROTUNE_WHITE_BALANCE_3000K3000K.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        2GOPRO_PROTUNE_WHITE_BALANCE_5500K5500K.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        3GOPRO_PROTUNE_WHITE_BALANCE_6500K6500K.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        4GOPRO_PROTUNE_WHITE_BALANCE_RAWCamera Raw.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        GOPRO_PROTUNE_COLOUR

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        0GOPRO_PROTUNE_COLOUR_STANDARDAuto.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        1GOPRO_PROTUNE_COLOUR_NEUTRALNeutral.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        GOPRO_PROTUNE_GAIN

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        0GOPRO_PROTUNE_GAIN_400ISO 400.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        1GOPRO_PROTUNE_GAIN_800ISO 800 (Only Hero 4).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        2GOPRO_PROTUNE_GAIN_1600ISO 1600.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        3GOPRO_PROTUNE_GAIN_3200ISO 3200 (Only Hero 4).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        4GOPRO_PROTUNE_GAIN_6400ISO 6400.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        GOPRO_PROTUNE_SHARPNESS

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        0GOPRO_PROTUNE_SHARPNESS_LOWLow Sharpness.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        1GOPRO_PROTUNE_SHARPNESS_MEDIUMMedium Sharpness.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        2GOPRO_PROTUNE_SHARPNESS_HIGHHigh Sharpness.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        GOPRO_PROTUNE_EXPOSURE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        0GOPRO_PROTUNE_EXPOSURE_NEG_5_0-5.0 EV (Hero 3+ Only).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        1GOPRO_PROTUNE_EXPOSURE_NEG_4_5-4.5 EV (Hero 3+ Only).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        2GOPRO_PROTUNE_EXPOSURE_NEG_4_0-4.0 EV (Hero 3+ Only).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        3GOPRO_PROTUNE_EXPOSURE_NEG_3_5-3.5 EV (Hero 3+ Only).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        4GOPRO_PROTUNE_EXPOSURE_NEG_3_0-3.0 EV (Hero 3+ Only).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        5GOPRO_PROTUNE_EXPOSURE_NEG_2_5-2.5 EV (Hero 3+ Only).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        6GOPRO_PROTUNE_EXPOSURE_NEG_2_0-2.0 EV.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        7GOPRO_PROTUNE_EXPOSURE_NEG_1_5-1.5 EV.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        8GOPRO_PROTUNE_EXPOSURE_NEG_1_0-1.0 EV.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        9GOPRO_PROTUNE_EXPOSURE_NEG_0_5-0.5 EV.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        10GOPRO_PROTUNE_EXPOSURE_ZERO0.0 EV.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        11GOPRO_PROTUNE_EXPOSURE_POS_0_5+0.5 EV.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        12GOPRO_PROTUNE_EXPOSURE_POS_1_0+1.0 EV.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        13GOPRO_PROTUNE_EXPOSURE_POS_1_5+1.5 EV.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        14GOPRO_PROTUNE_EXPOSURE_POS_2_0+2.0 EV.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        15GOPRO_PROTUNE_EXPOSURE_POS_2_5+2.5 EV (Hero 3+ Only).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        16GOPRO_PROTUNE_EXPOSURE_POS_3_0+3.0 EV (Hero 3+ Only).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        17GOPRO_PROTUNE_EXPOSURE_POS_3_5+3.5 EV (Hero 3+ Only).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        18GOPRO_PROTUNE_EXPOSURE_POS_4_0+4.0 EV (Hero 3+ Only).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        19GOPRO_PROTUNE_EXPOSURE_POS_4_5+4.5 EV (Hero 3+ Only).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        20GOPRO_PROTUNE_EXPOSURE_POS_5_0+5.0 EV (Hero 3+ Only).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        GOPRO_CHARGING

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        0GOPRO_CHARGING_DISABLEDCharging disabled.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        1GOPRO_CHARGING_ENABLEDCharging enabled.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        GOPRO_MODEL

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        0GOPRO_MODEL_UNKNOWNUnknown gopro model.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        1GOPRO_MODEL_HERO_3_PLUS_SILVERHero 3+ Silver (HeroBus not supported by GoPro).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        2GOPRO_MODEL_HERO_3_PLUS_BLACKHero 3+ Black.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        3GOPRO_MODEL_HERO_4_SILVERHero 4 Silver.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        4GOPRO_MODEL_HERO_4_BLACKHero 4 Black.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        GOPRO_BURST_RATE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        0GOPRO_BURST_RATE_3_IN_1_SECOND3 Shots / 1 Second.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        1GOPRO_BURST_RATE_5_IN_1_SECOND5 Shots / 1 Second.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        2GOPRO_BURST_RATE_10_IN_1_SECOND10 Shots / 1 Second.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        3GOPRO_BURST_RATE_10_IN_2_SECOND10 Shots / 2 Second.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        4GOPRO_BURST_RATE_10_IN_3_SECOND10 Shots / 3 Second (Hero 4 Only).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        5GOPRO_BURST_RATE_30_IN_1_SECOND30 Shots / 1 Second.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        6GOPRO_BURST_RATE_30_IN_2_SECOND30 Shots / 2 Second.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        7GOPRO_BURST_RATE_30_IN_3_SECOND30 Shots / 3 Second.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        8GOPRO_BURST_RATE_30_IN_6_SECOND30 Shots / 6 Second.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_DO_AUX_FUNCTION_SWITCH_LEVEL

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        0MAV_CMD_DO_AUX_FUNCTION_SWITCH_LEVEL_LOWSwitch Low.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        1MAV_CMD_DO_AUX_FUNCTION_SWITCH_LEVEL_MIDDLESwitch Middle.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        2MAV_CMD_DO_AUX_FUNCTION_SWITCH_LEVEL_HIGHSwitch High.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        LED_CONTROL_PATTERN

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        0LED_CONTROL_PATTERN_OFFLED patterns off (return control to regular vehicle control).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        1LED_CONTROL_PATTERN_FIRMWAREUPDATELEDs show pattern during firmware update.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        255LED_CONTROL_PATTERN_CUSTOMCustom Pattern using custom bytes fields.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        EKF_STATUS_FLAGS

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        (Bitmask) Flags in EKF_STATUS message.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        1EKF_ATTITUDESet if EKF's attitude estimate is good.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        2EKF_VELOCITY_HORIZSet if EKF's horizontal velocity estimate is good.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        4EKF_VELOCITY_VERTSet if EKF's vertical velocity estimate is good.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        8EKF_POS_HORIZ_RELSet if EKF's horizontal position (relative) estimate is good.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        16EKF_POS_HORIZ_ABSSet if EKF's horizontal position (absolute) estimate is good.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        32EKF_POS_VERT_ABSSet if EKF's vertical position (absolute) estimate is good.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        64EKF_POS_VERT_AGLSet if EKF's vertical position (above ground) estimate is good.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        128EKF_CONST_POS_MODEEKF is in constant position mode and does not know it's absolute or relative position.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        256EKF_PRED_POS_HORIZ_RELSet if EKF's predicted horizontal position (relative) estimate is good.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        512EKF_PRED_POS_HORIZ_ABSSet if EKF's predicted horizontal position (absolute) estimate is good.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        1024EKF_UNINITIALIZEDSet if EKF has never been healthy.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        PID_TUNING_AXIS

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        1PID_TUNING_ROLL
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        2PID_TUNING_PITCH
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        3PID_TUNING_YAW
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        4PID_TUNING_ACCZ
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        5PID_TUNING_STEER
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        6PID_TUNING_LANDING

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_REMOTE_LOG_DATA_BLOCK_COMMANDS

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Special ACK block numbers control activation of dataflash log streaming.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        2147483645MAV_REMOTE_LOG_DATA_BLOCK_STOPUAV to stop sending DataFlash blocks.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        2147483646MAV_REMOTE_LOG_DATA_BLOCK_STARTUAV to start sending DataFlash blocks.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_REMOTE_LOG_DATA_BLOCK_STATUSES

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Possible remote log data block statuses.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        0MAV_REMOTE_LOG_DATA_BLOCK_NACKThis block has NOT been received.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        1MAV_REMOTE_LOG_DATA_BLOCK_ACKThis block has been received.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        DEVICE_OP_BUSTYPE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Bus types for device operations.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        0DEVICE_OP_BUSTYPE_I2CI2C Device operation.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        1DEVICE_OP_BUSTYPE_SPISPI Device operation.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        DEEPSTALL_STAGE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Deepstall flight stage.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        0DEEPSTALL_STAGE_FLY_TO_LANDINGFlying to the landing point.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        1DEEPSTALL_STAGE_ESTIMATE_WINDBuilding an estimate of the wind.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        2DEEPSTALL_STAGE_WAIT_FOR_BREAKOUTWaiting to breakout of the loiter to fly the approach.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        3DEEPSTALL_STAGE_FLY_TO_ARCFlying to the first arc point to turn around to the landing point.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        4DEEPSTALL_STAGE_ARCTurning around back to the deepstall landing point.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        5DEEPSTALL_STAGE_APPROACHApproaching the landing point.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        6DEEPSTALL_STAGE_LANDStalling and steering towards the land point.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        PLANE_MODE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        A mapping of plane flight modes for custom_mode field of heartbeat.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        0PLANE_MODE_MANUAL
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        1PLANE_MODE_CIRCLE
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        2PLANE_MODE_STABILIZE
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        3PLANE_MODE_TRAINING
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        4PLANE_MODE_ACRO
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        5PLANE_MODE_FLY_BY_WIRE_A
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        6PLANE_MODE_FLY_BY_WIRE_B
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        7PLANE_MODE_CRUISE
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        8PLANE_MODE_AUTOTUNE
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        10PLANE_MODE_AUTO
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        11PLANE_MODE_RTL
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        12PLANE_MODE_LOITER
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        13PLANE_MODE_TAKEOFF
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        14PLANE_MODE_AVOID_ADSB
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        15PLANE_MODE_GUIDED
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        16PLANE_MODE_INITIALIZING
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        17PLANE_MODE_QSTABILIZE
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        18PLANE_MODE_QHOVER
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        19PLANE_MODE_QLOITER
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        20PLANE_MODE_QLAND
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        21PLANE_MODE_QRTL
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        22PLANE_MODE_QAUTOTUNE
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        23PLANE_MODE_QACRO
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        24PLANE_MODE_THERMAL

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        COPTER_MODE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        A mapping of copter flight modes for custom_mode field of heartbeat.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        0COPTER_MODE_STABILIZE
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        1COPTER_MODE_ACRO
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        2COPTER_MODE_ALT_HOLD
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        3COPTER_MODE_AUTO
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        4COPTER_MODE_GUIDED
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        5COPTER_MODE_LOITER
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        6COPTER_MODE_RTL
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        7COPTER_MODE_CIRCLE
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        9COPTER_MODE_LAND
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        11COPTER_MODE_DRIFT
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        13COPTER_MODE_SPORT
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        14COPTER_MODE_FLIP
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        15COPTER_MODE_AUTOTUNE
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        16COPTER_MODE_POSHOLD
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        17COPTER_MODE_BRAKE
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        18COPTER_MODE_THROW
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        19COPTER_MODE_AVOID_ADSB
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        20COPTER_MODE_GUIDED_NOGPS
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        21COPTER_MODE_SMART_RTL
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        22COPTER_MODE_FLOWHOLD
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        23COPTER_MODE_FOLLOW
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        24COPTER_MODE_ZIGZAG
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        25COPTER_MODE_SYSTEMID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        26COPTER_MODE_AUTOROTATE
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        27COPTER_MODE_AUTO_RTL

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        SUB_MODE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        A mapping of sub flight modes for custom_mode field of heartbeat.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        0SUB_MODE_STABILIZE
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        1SUB_MODE_ACRO
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        2SUB_MODE_ALT_HOLD
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        3SUB_MODE_AUTO
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        4SUB_MODE_GUIDED
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        7SUB_MODE_CIRCLE
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        9SUB_MODE_SURFACE
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        16SUB_MODE_POSHOLD
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        19SUB_MODE_MANUAL

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        ROVER_MODE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        A mapping of rover flight modes for custom_mode field of heartbeat.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        0ROVER_MODE_MANUAL
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        1ROVER_MODE_ACRO
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        3ROVER_MODE_STEERING
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        4ROVER_MODE_HOLD
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        5ROVER_MODE_LOITER
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        6ROVER_MODE_FOLLOW
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        7ROVER_MODE_SIMPLE
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        10ROVER_MODE_AUTO
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        11ROVER_MODE_RTL
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        12ROVER_MODE_SMART_RTL
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        15ROVER_MODE_GUIDED
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        16ROVER_MODE_INITIALIZING

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        TRACKER_MODE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        A mapping of antenna tracker flight modes for custom_mode field of heartbeat.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        0TRACKER_MODE_MANUAL
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        1TRACKER_MODE_STOP
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        2TRACKER_MODE_SCAN
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        3TRACKER_MODE_SERVO_TEST
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        10TRACKER_MODE_AUTO
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        16TRACKER_MODE_INITIALIZING

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        OSD_PARAM_CONFIG_TYPE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        The type of parameter for the OSD parameter editor.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        0OSD_PARAM_NONE
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        1OSD_PARAM_SERIAL_PROTOCOL
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        2OSD_PARAM_SERVO_FUNCTION
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        3OSD_PARAM_AUX_FUNCTION
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        4OSD_PARAM_FLIGHT_MODE
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        5OSD_PARAM_FAILSAFE_ACTION
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        6OSD_PARAM_FAILSAFE_ACTION_1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        7OSD_PARAM_FAILSAFE_ACTION_2
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        8OSD_PARAM_NUM_TYPES

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        OSD_PARAM_CONFIG_ERROR

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        The error type for the OSD parameter editor.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        0OSD_PARAM_SUCCESS
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        1OSD_PARAM_INVALID_SCREEN
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        2OSD_PARAM_INVALID_PARAMETER_INDEX
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        3OSD_PARAM_INVALID_PARAMETER

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Commands (MAV_CMD)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_NAV_ALTITUDE_WAIT (83)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Mission command to wait for an altitude or downwards vertical speed. This is meant for high altitude balloon launches, allowing the aircraft to be idle until either an altitude is reached or a negative vertical speed is reached (indicating early balloon burst). The wiggle time is how often to wiggle the control surfaces to prevent them seizing up.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Param (Label)DescriptionUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        1 (Altitude)Altitude.m
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        2 (Descent Speed)Descent speed.m/s
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        3 (Wiggle Time)How long to wiggle the control surfaces to prevent them seizing up.s
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        4Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        5Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        6Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        7Empty.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_DO_SET_RESUME_REPEAT_DIST (215)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Set the distance to be repeated on mission resume

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Param (Label)DescriptionUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        1 (Distance)Distance.m
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        2Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        3Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        4Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        5Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        6Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        7Empty.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_DO_SPRAYER (216)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Control attached liquid sprayer

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        1 (Sprayer Enable)0: disable sprayer. 1: enable sprayer.min: 0 max: 1 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        2Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        3Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        4Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        5Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        6Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        7Empty.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_DO_SEND_SCRIPT_MESSAGE (217)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Pass instructions onto scripting, a script should be checking for a new command

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        1 (ID)uint16 ID value to be passed to scriptingmin: 0 max: 65535 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        2 (param 1)float value to be passed to scripting
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        3 (param 2)float value to be passed to scripting
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        4 (param 3)float value to be passed to scripting
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        5Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        6Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        7Empty.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_DO_AUX_FUNCTION (218)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Execute auxiliary function

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        1 (AuxiliaryFunction)Auxiliary Function.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        2 (SwitchPosition)Switch Level.MAV_CMD_DO_AUX_FUNCTION_SWITCH_LEVEL
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        3Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        4Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        5Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        6Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        7Empty.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_POWER_OFF_INITIATED (42000)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        A system wide power-off event has been initiated.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Param (Label)Description
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        1Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        2Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        3Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        4Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        5Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        6Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        7Empty.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_SOLO_BTN_FLY_CLICK (42001)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        FLY button has been clicked.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Param (Label)Description
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        1Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        2Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        3Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        4Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        5Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        6Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        7Empty.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_SOLO_BTN_FLY_HOLD (42002)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        FLY button has been held for 1.5 seconds.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Param (Label)DescriptionUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        1 (Takeoff Altitude)Takeoff altitude.m
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        2Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        3Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        4Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        5Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        6Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        7Empty.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_SOLO_BTN_PAUSE_CLICK (42003)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        PAUSE button has been clicked.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        1 (Shot Mode)1 if Solo is in a shot mode, 0 otherwise.min: 0 max: 1 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        2Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        3Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        4Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        5Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        6Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        7Empty.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_FIXED_MAG_CAL (42004)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Magnetometer calibration based on fixed position

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        in earth field given by inclination, declination and intensity.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Param (Label)DescriptionUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        1 (Declination)Magnetic declination.deg
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        2 (Inclination)Magnetic inclination.deg
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        3 (Intensity)Magnetic intensity.mgauss
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        4 (Yaw)Yaw.deg
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        5Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        6Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        7Empty.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_FIXED_MAG_CAL_FIELD (42005)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Magnetometer calibration based on fixed expected field values.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Param (Label)DescriptionUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        1 (Field X)Field strength X.mgauss
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        2 (Field Y)Field strength Y.mgauss
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        3 (Field Z)Field strength Z.mgauss
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        4Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        5Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        6Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        7Empty.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_SET_EKF_SOURCE_SET (42007)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Set EKF sensor source set.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        1 (SourceSetId)Source Set Id.min: 1 max: 3 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        2Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        3Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        4Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        5Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        6Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        7Empty.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_DO_START_MAG_CAL (42424)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Initiate a magnetometer calibration.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Param (Label)DescriptionValuesUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        1 (Magnetometers Bitmask)Bitmask of magnetometers to calibrate. Use 0 to calibrate all sensors that can be started (sensors may not start if disabled, unhealthy, etc.). The command will NACK if calibration does not start for a sensor explicitly specified by the bitmask.min: 0 max: 255 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        2 (Retry on Failure)Automatically retry on failure (0=no retry, 1=retry).min: 0 max: 1 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        3 (Autosave)Save without user input (0=require input, 1=autosave).min: 0 max: 1 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        4 (Delay)Delay.s
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        5 (Autoreboot)Autoreboot (0=user reboot, 1=autoreboot).min: 0 max: 1 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        6Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        7Empty.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_DO_ACCEPT_MAG_CAL (42425)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Accept a magnetometer calibration.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        1 (Magnetometers Bitmask)Bitmask of magnetometers that calibration is accepted (0 means all).min: 0 max: 255 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        2Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        3Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        4Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        5Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        6Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        7Empty.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_DO_CANCEL_MAG_CAL (42426)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Cancel a running magnetometer calibration.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        1 (Magnetometers Bitmask)Bitmask of magnetometers to cancel a running calibration (0 means all).min: 0 max: 255 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        2Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        3Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        4Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        5Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        6Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        7Empty.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_SET_FACTORY_TEST_MODE (42427)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Command autopilot to get into factory test/diagnostic mode.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        1 (Test Mode)0: activate test mode, 1: exit test mode.min: 0 max: 1 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        2Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        3Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        4Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        5Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        6Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        7Empty.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_DO_SEND_BANNER (42428)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Reply with the version banner.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Param (Label)Description
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        1Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        2Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        3Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        4Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        5Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        6Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        7Empty.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_ACCELCAL_VEHICLE_POS (42429)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Used when doing accelerometer calibration. When sent to the GCS tells it what position to put the vehicle in. When sent to the vehicle says what position the vehicle is in.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        1 (Position)Position.ACCELCAL_VEHICLE_POS
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        2Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        3Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        4Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        5Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        6Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        7Empty.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_GIMBAL_RESET (42501)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Causes the gimbal to reset and boot as if it was just powered on.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Param (Label)Description
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        1Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        2Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        3Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        4Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        5Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        6Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        7Empty.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_GIMBAL_AXIS_CALIBRATION_STATUS (42502)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Reports progress and success or failure of gimbal axis calibration procedure.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Param (Label)DescriptionValuesUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        1 (Axis)Gimbal axis we're reporting calibration progress for.GIMBAL_AXIS
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        2 (Progress)Current calibration progress for this axis.min: 0 max: 100%
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        3 (Status)Status of the calibration.GIMBAL_AXIS_CALIBRATION_STATUS
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        4Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        5Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        6Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        7Empty.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_GIMBAL_REQUEST_AXIS_CALIBRATION (42503)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Starts commutation calibration on the gimbal.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Param (Label)Description
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        1Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        2Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        3Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        4Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        5Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        6Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        7Empty.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_GIMBAL_FULL_RESET (42505)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Erases gimbal application and parameters.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Param (Label)Description
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        1Magic number.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        2Magic number.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        3Magic number.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        4Magic number.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        5Magic number.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        6Magic number.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        7Magic number.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_FLASH_BOOTLOADER (42650)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Update the bootloader

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        1Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        2Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        3Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        4Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        5 (Magic Number)Magic number - set to 290876 to actually flashinc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        6Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        7Empty

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_BATTERY_RESET (42651)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Reset battery capacity for batteries that accumulate consumed battery via integration.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        1 (battery mask)Bitmask of batteries to reset. Least significant bit is for the first battery.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        2 (percentage)Battery percentage remaining to set.min: 0 max: 100 inc: 1

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_DEBUG_TRAP (42700)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Issue a trap signal to the autopilot process, presumably to enter the debugger.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Param (Label)Description
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        1Magic number - set to 32451 to actually trap.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        2Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        3Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        4Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        5Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        6Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        7Empty.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_SCRIPTING (42701)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Control onboard scripting.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        1Scripting command to executeSCRIPTING_CMD

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_NAV_SCRIPT_TIME (42702)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Scripting command as NAV command with wait for completion.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Param (Label)DescriptionUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        1 (command)integer command number (0 to 255)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        2 (timeout)timeout for operation in seconds. Zero means no timeout (0 to 255)s
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        3 (arg1)argument1.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        4 (arg2)argument2.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        5Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        6Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        7Empty

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_NAV_ATTITUDE_TIME (42703)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Maintain an attitude for a specified time.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Param (Label)DescriptionUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        1 (time)Time to maintain specified attitude and climb rates
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        2 (roll)Roll angle in degrees (positive is lean right, negative is lean left)deg
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        3 (pitch)Pitch angle in degrees (positive is lean back, negative is lean forward)deg
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        4 (yaw)Yaw angledeg
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        5 (climb_rate)Climb ratem/s
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        6Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        7Empty

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_GUIDED_CHANGE_SPEED (43000)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Change flight speed at a given rate. This slews the vehicle at a controllable rate between it's previous speed and the new one. (affects GUIDED only. Outside GUIDED, aircraft ignores these commands. Designed for onboard companion-computer command-and-control, not normally operator/GCS control.)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Param (Label)DescriptionValuesUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        1 (speed type)Airspeed or groundspeed.SPEED_TYPE
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        2 (speed target)Target Speedm/s
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        3 (speed rate-of-change)Acceleration rate, 0 to take effect instantlym/s/s
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        4Empty
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_GUIDED_CHANGE_ALTITUDE (43001)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Change target altitude at a given rate. This slews the vehicle at a controllable rate between it's previous altitude and the new one. (affects GUIDED only. Outside GUIDED, aircraft ignores these commands. Designed for onboard companion-computer command-and-control, not normally operator/GCS control.)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Param (Label)DescriptionValuesUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        1Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        2Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        3 (alt rate-of-change)Rate of change, toward new altitude. 0 for maximum rate change. Positive numbers only, as negative numbers will not converge on the new target alt.min: 0m/s/s
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        4Empty
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        7 (target alt)Target Altitudem

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_GUIDED_CHANGE_HEADING (43002)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Change to target heading at a given rate, overriding previous heading/s. This slews the vehicle at a controllable rate between it's previous heading and the new one. (affects GUIDED only. Exiting GUIDED returns aircraft to normal behaviour defined elsewhere. Designed for onboard companion-computer command-and-control, not normally operator/GCS control.)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Param (Label)DescriptionValuesUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        1 (heading type)course-over-ground or raw vehicle heading.HEADING_TYPE
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        2 (heading target)Target heading.min: 0 max: 359.99deg
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        3 (heading rate-of-change)Maximum centripetal accelearation, ie rate of change, toward new heading.m/s/s
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        results matching ""

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          No results matching ""

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          \ No newline at end of file diff --git a/ko/messages/common.html b/ko/messages/common.html index 644421d17..c411848a5 100644 --- a/ko/messages/common.html +++ b/ko/messages/common.html @@ -1,3 +1,3 @@ -메세지 (공통) · MAVLink Developer Guide
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAVLINK Common Message Set

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          The MAVLink common message set contains standard definitions that are managed by the MAVLink project. The definitions cover functionality that is considered useful to most ground control stations and autopilots. MAVLink-compatible systems are expected to use these definitions where possible (if an appropriate message exists) rather than rolling out variants in their own dialects.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          The original definitions are defined in common.xml.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAVLink 2 extension fields that have been added to MAVLink 1 messages are displayed in blue. - Entities from dialects are displayed only as headings (with link to original)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Protocol dialect: 0

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Protocol version: 3

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Summary

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          TypeDefinedIncluded
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Messages2222
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Enums1366
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Commands1640

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          The following sections list all entities in the dialect (both included and defined in this file).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Messages

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          HEARTBEAT (0) — [from: minimal]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          The heartbeat message shows that a system or component is present and responding. The type and autopilot fields (along with the message component id), allow the receiving system to treat further messages from this system appropriately (e.g. by laying out the user interface based on the autopilot). This microservice is documented at https://mavlink.io/en/services/heartbeat.html

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          typeuint8_tMAV_TYPEVehicle or component type. For a flight controller component the vehicle type (quadrotor, helicopter, etc.). For other components the component type (e.g. camera, gimbal, etc.). This should be used in preference to component id for identifying the component type.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          autopilotuint8_tMAV_AUTOPILOTAutopilot type / class. Use MAV_AUTOPILOT_INVALID for components that are not flight controllers.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          base_modeuint8_tMAV_MODE_FLAGSystem mode bitmap.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          custom_modeuint32_tA bitfield for use for autopilot-specific flags
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          system_statusuint8_tMAV_STATESystem status flag.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          mavlink_versionuint8_t_mavlink_versionMAVLink version, not writable by user, gets added by protocol because of magic data type: uint8_t_mavlink_version

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          SYS_STATUS (1)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          The general system state. If the system is following the MAVLink standard, the system state is mainly defined by three orthogonal states/modes: The system mode, which is either LOCKED (motors shut down and locked), MANUAL (system under RC control), GUIDED (system with autonomous position control, position setpoint controlled manually) or AUTO (system guided by path/waypoint planner). The NAV_MODE defined the current flight state: LIFTOFF (often an open-loop maneuver), LANDING, WAYPOINTS or VECTOR. This represents the internal navigation state machine. The system status shows whether the system is currently active or not and if an emergency occurred. During the CRITICAL and EMERGENCY states the MAV is still considered to be active, but should start emergency procedures autonomously. After a failure occurred it should first move from active to critical to allow manual intervention and then move to emergency after a certain timeout.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          onboard_control_sensors_presentuint32_tMAV_SYS_STATUS_SENSORBitmap showing which onboard controllers and sensors are present. Value of 0: not present. Value of 1: present.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          onboard_control_sensors_enableduint32_tMAV_SYS_STATUS_SENSORBitmap showing which onboard controllers and sensors are enabled: Value of 0: not enabled. Value of 1: enabled.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          onboard_control_sensors_healthuint32_tMAV_SYS_STATUS_SENSORBitmap showing which onboard controllers and sensors have an error (or are operational). Value of 0: error. Value of 1: healthy.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          loaduint16_td%Maximum usage in percent of the mainloop time. Values: [0-1000] - should always be below 1000
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          voltage_batteryuint16_tmVinvalid:UINT16_MAXBattery voltage, UINT16_MAX: Voltage not sent by autopilot
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          current_batteryint16_tcAinvalid:-1Battery current, -1: Current not sent by autopilot
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          battery_remainingint8_t%invalid:-1Battery energy remaining, -1: Battery remaining energy not sent by autopilot
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          drop_rate_commuint16_tc%Communication drop rate, (UART, I2C, SPI, CAN), dropped packets on all links (packets that were corrupted on reception on the MAV)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          errors_commuint16_tCommunication errors (UART, I2C, SPI, CAN), dropped packets on all links (packets that were corrupted on reception on the MAV)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          errors_count1uint16_tAutopilot-specific errors
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          errors_count2uint16_tAutopilot-specific errors
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          errors_count3uint16_tAutopilot-specific errors
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          errors_count4uint16_tAutopilot-specific errors
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          onboard_control_sensors_present_extended ++uint32_tMAV_SYS_STATUS_SENSOR_EXTENDEDBitmap showing which onboard controllers and sensors are present. Value of 0: not present. Value of 1: present.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          onboard_control_sensors_enabled_extended ++uint32_tMAV_SYS_STATUS_SENSOR_EXTENDEDBitmap showing which onboard controllers and sensors are enabled: Value of 0: not enabled. Value of 1: enabled.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          onboard_control_sensors_health_extended ++uint32_tMAV_SYS_STATUS_SENSOR_EXTENDEDBitmap showing which onboard controllers and sensors have an error (or are operational). Value of 0: error. Value of 1: healthy.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          SYSTEM_TIME (2)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          The system time is the time of the master clock, typically the computer clock of the main onboard computer.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          time_unix_usecuint64_tusTimestamp (UNIX epoch time).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          time_boot_msuint32_tmsTimestamp (time since system boot).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          PING (4) — [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          DEPRECATED: Replaced By SYSTEM_TIME (2011-08) — to be removed / merged with SYSTEM_TIME)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          A ping message either requesting or responding to a ping. This allows to measure the system latencies, including serial port, radio modem and UDP connections. The ping microservice is documented at https://mavlink.io/en/services/ping.html

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          sequint32_tPING sequence
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          target_systemuint8_t0: request ping from all receiving systems. If greater than 0: message is a ping response and number is the system id of the requesting system
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          target_componentuint8_t0: request ping from all receiving components. If greater than 0: message is a ping response and number is the component id of the requesting component.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          CHANGE_OPERATOR_CONTROL (5)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Request to control this MAV

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          target_systemuint8_tSystem the GCS requests control for
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          control_requestuint8_t0: request control of this MAV, 1: Release control of this MAV
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          versionuint8_trad0: key as plaintext, 1-255: future, different hashing/encryption variants. The GCS should in general use the safest mode possible initially and then gradually move down the encryption level if it gets a NACK message indicating an encryption mismatch.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          passkeychar[25]Password / Key, depending on version plaintext or encrypted. 25 or less characters, NULL terminated. The characters may involve A-Z, a-z, 0-9, and "!?,.-"

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          CHANGE_OPERATOR_CONTROL_ACK (6)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Accept / deny control of this MAV

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          gcs_system_iduint8_tID of the GCS this message
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          control_requestuint8_t0: request control of this MAV, 1: Release control of this MAV
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ackuint8_t0: ACK, 1: NACK: Wrong passkey, 2: NACK: Unsupported passkey encryption method, 3: NACK: Already under control

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          AUTH_KEY (7)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Emit an encrypted signature / key identifying this system. PLEASE NOTE: This protocol has been kept simple, so transmitting the key requires an encrypted channel for true safety.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          keychar[32]key

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Status generated in each node in the communication chain and injected into MAVLink stream.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          timestampuint64_tmsTimestamp (time since system boot).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          tx_bufuint8_t%Remaining free transmit buffer space
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          rx_bufuint8_t%Remaining free receive buffer space
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          tx_rateuint32_tbytes/sTransmit rate
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          rx_rateuint32_tbytes/sReceive rate
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          rx_parse_erruint16_tbytesNumber of bytes that could not be parsed correctly.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          tx_overflowsuint16_tbytesTransmit buffer overflows. This number wraps around as it reaches UINT16_MAX
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          rx_overflowsuint16_tbytesReceive buffer overflows. This number wraps around as it reaches UINT16_MAX
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          messages_sentuint32_tMessages sent
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          messages_receiveduint32_tMessages received (estimated from counting seq)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          messages_lostuint32_tMessages lost (estimated from counting seq)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          SET_MODE (11) — [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          DEPRECATED: Replaced By MAV_CMD_DO_SET_MODE (2015-12) — Use COMMAND_LONG with MAV_CMD_DO_SET_MODE instead)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Set the system mode, as defined by enum MAV_MODE. There is no target component id as the mode is by definition for the overall aircraft, not only for one component.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          target_systemuint8_tThe system setting the mode
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          base_modeuint8_tMAV_MODEThe new base mode.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          custom_modeuint32_tThe new autopilot-specific mode. This field can be ignored by an autopilot.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          PARAM_REQUEST_READ (20)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Request to read the onboard parameter with the param_id string id. Onboard parameters are stored as key[const char*] -> value[float]. This allows to send a parameter to any other component (such as the GCS) without the need of previous knowledge of possible parameter names. Thus the same GCS can store different parameters for different autopilots. See also https://mavlink.io/en/services/parameter.html for a full documentation of QGroundControl and IMU code.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          target_systemuint8_tSystem ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          target_componentuint8_tComponent ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          param_idchar[16]Onboard parameter id, terminated by NULL if the length is less than 16 human-readable chars and WITHOUT null termination (NULL) byte if the length is exactly 16 chars - applications have to provide 16+1 bytes storage if the ID is stored as string
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          param_indexint16_tParameter index. Send -1 to use the param ID field as identifier (else the param id will be ignored)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          PARAM_REQUEST_LIST (21)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Request all parameters of this component. After this request, all parameters are emitted. The parameter microservice is documented at https://mavlink.io/en/services/parameter.html

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          target_systemuint8_tSystem ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          target_componentuint8_tComponent ID

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          PARAM_VALUE (22)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Emit the value of a onboard parameter. The inclusion of param_count and param_index in the message allows the recipient to keep track of received parameters and allows him to re-request missing parameters after a loss or timeout. The parameter microservice is documented at https://mavlink.io/en/services/parameter.html

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          param_idchar[16]Onboard parameter id, terminated by NULL if the length is less than 16 human-readable chars and WITHOUT null termination (NULL) byte if the length is exactly 16 chars - applications have to provide 16+1 bytes storage if the ID is stored as string
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          param_valuefloatOnboard parameter value
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          param_typeuint8_tMAV_PARAM_TYPEOnboard parameter type.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          param_countuint16_tTotal number of onboard parameters
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          param_indexuint16_tIndex of this onboard parameter

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          PARAM_SET (23)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Set a parameter value (write new value to permanent storage).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          The receiving component should acknowledge the new parameter value by broadcasting a PARAM_VALUE message (broadcasting ensures that multiple GCS all have an up-to-date list of all parameters). If the sending GCS did not receive a PARAM_VALUE within its timeout time, it should re-send the PARAM_SET message. The parameter microservice is documented at https://mavlink.io/en/services/parameter.html. PARAM_SET may also be called within the context of a transaction (started with MAV_CMD_PARAM_TRANSACTION). Within a transaction the receiving component should respond with PARAM_ACK_TRANSACTION to the setter component (instead of broadcasting PARAM_VALUE), and PARAM_SET should be re-sent if this is ACK not received.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          target_systemuint8_tSystem ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          target_componentuint8_tComponent ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          param_idchar[16]Onboard parameter id, terminated by NULL if the length is less than 16 human-readable chars and WITHOUT null termination (NULL) byte if the length is exactly 16 chars - applications have to provide 16+1 bytes storage if the ID is stored as string
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          param_valuefloatOnboard parameter value
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          param_typeuint8_tMAV_PARAM_TYPEOnboard parameter type.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          GPS_RAW_INT (24)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          The global position, as returned by the Global Positioning System (GPS). This is

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          NOT the global position estimate of the system, but rather a RAW sensor value. See message GLOBAL_POSITION_INT for the global position estimate.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeUnitsMultiplierValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          fix_typeuint8_tGPS_FIX_TYPEGPS fix type.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          latint32_tdegE7Latitude (WGS84, EGM96 ellipsoid)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          lonint32_tdegE7Longitude (WGS84, EGM96 ellipsoid)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          altint32_tmmAltitude (MSL). Positive for up. Note that virtually all GPS modules provide the MSL altitude in addition to the WGS84 altitude.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ephuint16_t1E-2invalid:UINT16_MAXGPS HDOP horizontal dilution of position (unitless * 100). If unknown, set to: UINT16_MAX
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          epvuint16_t1E-2invalid:UINT16_MAXGPS VDOP vertical dilution of position (unitless * 100). If unknown, set to: UINT16_MAX
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          veluint16_tcm/sinvalid:UINT16_MAXGPS ground speed. If unknown, set to: UINT16_MAX
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          coguint16_tcdeginvalid:UINT16_MAXCourse over ground (NOT heading, but direction of movement) in degrees * 100, 0.0..359.99 degrees. If unknown, set to: UINT16_MAX
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          satellites_visibleuint8_tinvalid:UINT8_MAXNumber of satellites visible. If unknown, set to UINT8_MAX
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          alt_ellipsoid ++int32_tmmAltitude (above WGS84, EGM96 ellipsoid). Positive for up.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          h_acc ++uint32_tmmPosition uncertainty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          v_acc ++uint32_tmmAltitude uncertainty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          vel_acc ++uint32_tmmSpeed uncertainty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          hdg_acc ++uint32_tdegE5Heading / track uncertainty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          yaw ++uint16_tcdeginvalid:0Yaw in earth frame from north. Use 0 if this GPS does not provide yaw. Use UINT16_MAX if this GPS is configured to provide yaw and is currently unable to provide it. Use 36000 for north.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          GPS_STATUS (25)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          The positioning status, as reported by GPS. This message is intended to display status information about each satellite visible to the receiver. See message GLOBAL_POSITION_INT for the global position estimate. This message can contain information for up to 20 satellites.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeUnitsMultiplierDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          satellites_visibleuint8_tNumber of satellites visible
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          satellite_prnuint8_t[20]Global satellite ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          satellite_useduint8_t[20]0: Satellite not used, 1: used for localization
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          satellite_elevationuint8_t[20]degElevation (0: right on top of receiver, 90: on the horizon) of satellite
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          satellite_azimuthuint8_t[20]deg360/255Direction of satellite, 0: 0 deg, 255: 360 deg.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          satellite_snruint8_t[20]dBSignal to noise ratio of satellite

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          SCALED_IMU (26)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          The RAW IMU readings for the usual 9DOF sensor setup. This message should contain the scaled values to the described units

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          time_boot_msuint32_tmsTimestamp (time since system boot).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          xaccint16_tmGX acceleration
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          yaccint16_tmGY acceleration
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          zaccint16_tmGZ acceleration
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          xgyroint16_tmrad/sAngular speed around X axis
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ygyroint16_tmrad/sAngular speed around Y axis
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          zgyroint16_tmrad/sAngular speed around Z axis
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          xmagint16_tmgaussX Magnetic field
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ymagint16_tmgaussY Magnetic field
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          zmagint16_tmgaussZ Magnetic field
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          temperature ++int16_tcdegCTemperature, 0: IMU does not provide temperature values. If the IMU is at 0C it must send 1 (0.01C).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          RAW_IMU (27)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          The RAW IMU readings for a 9DOF sensor, which is identified by the id (default IMU1). This message should always contain the true raw values without any scaling to allow data capture and system debugging.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          xaccint16_tX acceleration (raw)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          yaccint16_tY acceleration (raw)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          zaccint16_tZ acceleration (raw)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          xgyroint16_tAngular speed around X axis (raw)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ygyroint16_tAngular speed around Y axis (raw)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          zgyroint16_tAngular speed around Z axis (raw)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          xmagint16_tX Magnetic field (raw)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ymagint16_tY Magnetic field (raw)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          zmagint16_tZ Magnetic field (raw)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          id ++uint8_tId. Ids are numbered from 0 and map to IMUs numbered from 1 (e.g. IMU1 will have a message with id=0)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Messages with same value are from the same source (instance). | | temperature ++ | int16_t | cdegC | Temperature, 0: IMU does not provide temperature values. If the IMU is at 0C it must send 1 (0.01C). |

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          RAW_PRESSURE (28)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          The RAW pressure readings for the typical setup of one absolute pressure and one differential pressure sensor. The sensor values should be the raw, UNSCALED ADC values.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          press_absint16_tAbsolute pressure (raw)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          press_diff1int16_tDifferential pressure 1 (raw, 0 if nonexistent)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          press_diff2int16_tDifferential pressure 2 (raw, 0 if nonexistent)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          temperatureint16_tRaw Temperature measurement (raw)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          SCALED_PRESSURE (29)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          The pressure readings for the typical setup of one absolute and differential pressure sensor. The units are as specified in each field.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          time_boot_msuint32_tmsTimestamp (time since system boot).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          press_absfloathPaAbsolute pressure
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          press_difffloathPaDifferential pressure 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          temperatureint16_tcdegCAbsolute pressure temperature
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          temperature_press_diff ++int16_tcdegCDifferential pressure temperature (0, if not available). Report values of 0 (or 1) as 1 cdegC.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ATTITUDE (30)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          The attitude in the aeronautical frame (right-handed, Z-down, Y-right, X-front, ZYX, intrinsic).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          time_boot_msuint32_tmsTimestamp (time since system boot).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          rollfloatradRoll angle (-pi..+pi)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          pitchfloatradPitch angle (-pi..+pi)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          yawfloatradYaw angle (-pi..+pi)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          rollspeedfloatrad/sRoll angular speed
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          pitchspeedfloatrad/sPitch angular speed
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          yawspeedfloatrad/sYaw angular speed

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ATTITUDE_QUATERNION (31)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          The attitude in the aeronautical frame (right-handed, Z-down, X-front, Y-right), expressed as quaternion. Quaternion order is w, x, y, z and a zero rotation would be expressed as (1 0 0 0).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          time_boot_msuint32_tmsTimestamp (time since system boot).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          q1floatQuaternion component 1, w (1 in null-rotation)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          q2floatQuaternion component 2, x (0 in null-rotation)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          q3floatQuaternion component 3, y (0 in null-rotation)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          q4floatQuaternion component 4, z (0 in null-rotation)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          rollspeedfloatrad/sRoll angular speed
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          pitchspeedfloatrad/sPitch angular speed
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          yawspeedfloatrad/sYaw angular speed
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          repr_offset_q ++float[4]Rotation offset by which the attitude quaternion and angular speed vector should be rotated for user display (quaternion with [w, x, y, z] order, zero-rotation is [1, 0, 0, 0], send [0, 0, 0, 0] if field not supported). This field is intended for systems in which the reference attitude may change during flight. For example, tailsitters VTOLs rotate their reference attitude by 90 degrees between hover mode and fixed wing mode, thus repr_offset_q is equal to [1, 0, 0, 0] in hover mode and equal to [0.7071, 0, 0.7071, 0] in fixed wing mode.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          LOCAL_POSITION_NED (32)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          The filtered local position (e.g. fused computer vision and accelerometers). Coordinate frame is right-handed, Z-axis down (aeronautical frame, NED / north-east-down convention)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          time_boot_msuint32_tmsTimestamp (time since system boot).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          xfloatmX Position
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          yfloatmY Position
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          zfloatmZ Position
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          vxfloatm/sX Speed
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          vyfloatm/sY Speed
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          vzfloatm/sZ Speed

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          GLOBAL_POSITION_INT (33)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          The filtered global position (e.g. fused GPS and accelerometers). The position is in GPS-frame (right-handed, Z-up). It

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          is designed as scaled integer message since the resolution of float is not sufficient.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          time_boot_msuint32_tmsTimestamp (time since system boot).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          latint32_tdegE7Latitude, expressed
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          lonint32_tdegE7Longitude, expressed
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          altint32_tmmAltitude (MSL). Note that virtually all GPS modules provide both WGS84 and MSL.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          relative_altint32_tmmAltitude above home
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          vxint16_tcm/sGround X Speed (Latitude, positive north)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          vyint16_tcm/sGround Y Speed (Longitude, positive east)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          vzint16_tcm/sGround Z Speed (Altitude, positive down)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          hdguint16_tcdegVehicle heading (yaw angle), 0.0..359.99 degrees. If unknown, set to: UINT16_MAX

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          RC_CHANNELS_SCALED (34)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          The scaled values of the RC channels received: (-100%) -10000, (0%) 0, (100%) 10000. Channels that are inactive should be set to INT16_MAX.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          time_boot_msuint32_tmsTimestamp (time since system boot).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          portuint8_tServo output port (set of 8 outputs = 1 port). Flight stacks running on Pixhawk should use: 0 = MAIN, 1 = AUX.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          chan1_scaledint16_tRC channel 1 value scaled.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          chan2_scaledint16_tRC channel 2 value scaled.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          chan3_scaledint16_tRC channel 3 value scaled.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          chan4_scaledint16_tRC channel 4 value scaled.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          chan5_scaledint16_tRC channel 5 value scaled.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          chan6_scaledint16_tRC channel 6 value scaled.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          chan7_scaledint16_tRC channel 7 value scaled.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          chan8_scaledint16_tRC channel 8 value scaled.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          rssiuint8_tReceive signal strength indicator in device-dependent units/scale. Values: [0-254], UINT8_MAX: invalid/unknown.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          RC_CHANNELS_RAW (35)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          The RAW values of the RC channels received. The standard PPM modulation is as follows: 1000 microseconds: 0%, 2000 microseconds: 100%. A value of UINT16_MAX implies the channel is unused. Individual receivers/transmitters might violate this specification.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          time_boot_msuint32_tmsTimestamp (time since system boot).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          portuint8_tServo output port (set of 8 outputs = 1 port). Flight stacks running on Pixhawk should use: 0 = MAIN, 1 = AUX.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          chan1_rawuint16_tusRC channel 1 value.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          chan2_rawuint16_tusRC channel 2 value.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          chan3_rawuint16_tusRC channel 3 value.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          chan4_rawuint16_tusRC channel 4 value.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          chan5_rawuint16_tusRC channel 5 value.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          chan6_rawuint16_tusRC channel 6 value.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          chan7_rawuint16_tusRC channel 7 value.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          chan8_rawuint16_tusRC channel 8 value.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          rssiuint8_tReceive signal strength indicator in device-dependent units/scale. Values: [0-254], UINT8_MAX: invalid/unknown.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          SERVO_OUTPUT_RAW (36)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Superseded by ACTUATOR_OUTPUT_STATUS. The RAW values of the servo outputs (for RC input from the remote, use the RC_CHANNELS messages). The standard PPM modulation is as follows: 1000 microseconds: 0%, 2000 microseconds: 100%.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          time_usecuint32_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          portuint8_tServo output port (set of 8 outputs = 1 port). Flight stacks running on Pixhawk should use: 0 = MAIN, 1 = AUX.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          servo1_rawuint16_tusServo output 1 value
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          servo2_rawuint16_tusServo output 2 value
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          servo3_rawuint16_tusServo output 3 value
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          servo4_rawuint16_tusServo output 4 value
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          servo5_rawuint16_tusServo output 5 value
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          servo6_rawuint16_tusServo output 6 value
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          servo7_rawuint16_tusServo output 7 value
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          servo8_rawuint16_tusServo output 8 value
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          servo9_raw ++uint16_tusServo output 9 value
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          servo10_raw ++uint16_tusServo output 10 value
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          servo11_raw ++uint16_tusServo output 11 value
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          servo12_raw ++uint16_tusServo output 12 value
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          servo13_raw ++uint16_tusServo output 13 value
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          servo14_raw ++uint16_tusServo output 14 value
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          servo15_raw ++uint16_tusServo output 15 value
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          servo16_raw ++uint16_tusServo output 16 value

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MISSION_REQUEST_PARTIAL_LIST (37)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Request a partial list of mission items from the system/component. https://mavlink.io/en/services/mission.html. If start and end index are the same, just send one waypoint.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          target_systemuint8_tSystem ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          target_componentuint8_tComponent ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          start_indexint16_tStart index
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          end_indexint16_tEnd index, -1 by default (-1: send list to end). Else a valid index of the list
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          mission_type ++uint8_tMAV_MISSION_TYPEMission type.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MISSION_WRITE_PARTIAL_LIST (38)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          This message is sent to the MAV to write a partial list. If start index == end index, only one item will be transmitted / updated. If the start index is NOT 0 and above the current list size, this request should be REJECTED!

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          target_systemuint8_tSystem ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          target_componentuint8_tComponent ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          start_indexint16_tStart index. Must be smaller / equal to the largest index of the current onboard list.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          end_indexint16_tEnd index, equal or greater than start index.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          mission_type ++uint8_tMAV_MISSION_TYPEMission type.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MISSION_ITEM (39) — [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          DEPRECATED: Replaced By MISSION_ITEM_INT (2020-06)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Message encoding a mission item. This message is emitted to announce

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          the presence of a mission item and to set a mission item on the system. The mission item can be either in x, y, z meters (type: LOCAL) or x:lat, y:lon, z:altitude. Local frame is Z-down, right handed (NED), global frame is Z-up, right handed (ENU). NaN may be used to indicate an optional/default value (e.g. to use the system's current latitude or yaw rather than a specific value). See also https://mavlink.io/en/services/mission.html.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          target_systemuint8_tSystem ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          target_componentuint8_tComponent ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          sequint16_tSequence
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          frameuint8_tMAV_FRAMEThe coordinate system of the waypoint.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          commanduint16_tMAV_CMDThe scheduled action for the waypoint.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          currentuint8_tfalse:0, true:1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          autocontinueuint8_tAutocontinue to next waypoint. 0: false, 1: true. Set false to pause mission after the item completes.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          param1floatPARAM1, see MAV_CMD enum
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          param2floatPARAM2, see MAV_CMD enum
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          param3floatPARAM3, see MAV_CMD enum
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          param4floatPARAM4, see MAV_CMD enum
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          xfloatPARAM5 / local: X coordinate, global: latitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          yfloatPARAM6 / local: Y coordinate, global: longitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          zfloatPARAM7 / local: Z coordinate, global: altitude (relative or absolute, depending on frame).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          mission_type ++uint8_tMAV_MISSION_TYPEMission type.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MISSION_REQUEST (40) — [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          DEPRECATED: Replaced By MISSION_REQUEST_INT (2020-06) — A system that gets this request should respond with MISSION_ITEM_INT (as though MISSION_REQUEST_INT was received).)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Request the information of the mission item with the sequence number seq. The response of the system to this message should be a MISSION_ITEM message. https://mavlink.io/en/services/mission.html

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          target_systemuint8_tSystem ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          target_componentuint8_tComponent ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          sequint16_tSequence
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          mission_type ++uint8_tMAV_MISSION_TYPEMission type.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MISSION_SET_CURRENT (41) — [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          DEPRECATED: Replaced By MAV_CMD_DO_SET_MISSION_CURRENT (2022-08)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Set the mission item with sequence number seq as the current item and emit MISSION_CURRENT (whether or not the mission number changed). If a mission is currently being executed, the system will continue to this new mission item on the shortest path, skipping any intermediate mission items. Note that mission jump repeat counters are not reset (see MAV_CMD_DO_JUMP param2).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          This message may trigger a mission state-machine change on some systems: for example from MISSION_STATE_NOT_STARTED or MISSION_STATE_PAUSED to MISSION_STATE_ACTIVE. If the system is in mission mode, on those systems this command might therefore start, restart or resume the mission. If the system is not in mission mode this message must not trigger a switch to mission mode.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          target_systemuint8_tSystem ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          target_componentuint8_tComponent ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          sequint16_tSequence

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MISSION_CURRENT (42)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Message that announces the sequence number of the current target mission item (that the system will fly towards/execute when the mission is running). This message should be streamed all the time (nominally at 1Hz). This message should be emitted following a call to MAV_CMD_DO_SET_MISSION_CURRENT or SET_MISSION_CURRENT.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          sequint16_tSequence
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          total ++uint16_tinvalid:UINT16_MAXTotal number of mission items on vehicle (on last item, sequence == total). If the autopilot stores its home location as part of the mission this will be excluded from the total. 0: Not supported, UINT16_MAX if no mission is present on the vehicle.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          mission_state ++uint8_tinvalid:0 MISSION_STATEMission state machine state. MISSION_STATE_UNKNOWN if state reporting not supported.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          mission_mode ++uint8_tinvalid:0Vehicle is in a mode that can execute mission items or suspended. 0: Unknown, 1: In mission mode, 2: Suspended (not in mission mode).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          mission_id ++uint32_tinvalid:0Id of current on-vehicle mission plan, or 0 if IDs are not supported or there is no mission loaded. GCS can use this to track changes to the mission plan type. The same value is returned on mission upload (in the MISSION_ACK).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          fence_id ++uint32_tinvalid:0Id of current on-vehicle fence plan, or 0 if IDs are not supported or there is no fence loaded. GCS can use this to track changes to the fence plan type. The same value is returned on fence upload (in the MISSION_ACK).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          rally_points_id ++uint32_tinvalid:0Id of current on-vehicle rally point plan, or 0 if IDs are not supported or there are no rally points loaded. GCS can use this to track changes to the rally point plan type. The same value is returned on rally point upload (in the MISSION_ACK).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MISSION_REQUEST_LIST (43)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Request the overall list of mission items from the system/component.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          target_systemuint8_tSystem ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          target_componentuint8_tComponent ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          mission_type ++uint8_tMAV_MISSION_TYPEMission type.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MISSION_COUNT (44)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          This message is emitted as response to MISSION_REQUEST_LIST by the MAV and to initiate a write transaction. The GCS can then request the individual mission item based on the knowledge of the total number of waypoints.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          target_systemuint8_tSystem ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          target_componentuint8_tComponent ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          countuint16_tNumber of mission items in the sequence
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          mission_type ++uint8_tMAV_MISSION_TYPEMission type.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          opaque_id ++uint32_tinvalid:0Id of current on-vehicle mission, fence, or rally point plan (on download from vehicle).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          This field is used when downloading a plan from a vehicle to a GCS.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          0 on upload to the vehicle from GCS.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          0 if plan ids are not supported.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          The current on-vehicle plan ids are streamed in [MISSION_CURRENT](#MISSION_CURRENT), allowing a GCS to determine if any part of the plan has changed and needs to be re-uploaded.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          The ids are recalculated by the vehicle when any part of the on-vehicle plan changes (when a new plan is uploaded, the vehicle returns the new id to the GCS in MISSION_ACK). |

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MISSION_CLEAR_ALL (45)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Delete all mission items at once.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          target_systemuint8_tSystem ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          target_componentuint8_tComponent ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          mission_type ++uint8_tMAV_MISSION_TYPEMission type.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MISSION_ITEM_REACHED (46)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          A certain mission item has been reached. The system will either hold this position (or circle on the orbit) or (if the autocontinue on the WP was set) continue to the next waypoint.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          sequint16_tSequence

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MISSION_ACK (47)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Acknowledgment message during waypoint handling. The type field states if this message is a positive ack (type=0) or if an error happened (type=non-zero).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          target_systemuint8_tSystem ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          target_componentuint8_tComponent ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          typeuint8_tMAV_MISSION_RESULTMission result.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          mission_type ++uint8_tMAV_MISSION_TYPEMission type.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          opaque_id ++uint32_tinvalid:0Id of new on-vehicle mission, fence, or rally point plan (on upload to vehicle).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          The id is calculated and returned by a vehicle when a new plan is uploaded by a GCS.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          The only requirement on the id is that it must change when there is any change to the on-vehicle plan type (there is no requirement that the id be globally unique).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          0 on download from the vehicle to the GCS (on download the ID is set in MISSION_COUNT).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          0 if plan ids are not supported.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          The current on-vehicle plan ids are streamed in [MISSION_CURRENT](#MISSION_CURRENT), allowing a GCS to determine if any part of the plan has changed and needs to be re-uploaded. |

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          SET_GPS_GLOBAL_ORIGIN (48)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Sets the GPS coordinates of the vehicle local origin (0,0,0) position. Vehicle should emit GPS_GLOBAL_ORIGIN irrespective of whether the origin is changed. This enables transform between the local coordinate frame and the global (GPS) coordinate frame, which may be necessary when (for example) indoor and outdoor settings are connected and the MAV should move from in- to outdoor.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          target_systemuint8_tSystem ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          latitudeint32_tdegE7Latitude (WGS84)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          longitudeint32_tdegE7Longitude (WGS84)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          altitudeint32_tmmAltitude (MSL). Positive for up.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          time_usec ++uint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          GPS_GLOBAL_ORIGIN (49)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Publishes the GPS coordinates of the vehicle local origin (0,0,0) position. Emitted whenever a new GPS-Local position mapping is requested or set - e.g. following SET_GPS_GLOBAL_ORIGIN message.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          latitudeint32_tdegE7Latitude (WGS84)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          longitudeint32_tdegE7Longitude (WGS84)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          altitudeint32_tmmAltitude (MSL). Positive for up.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          time_usec ++uint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          PARAM_MAP_RC (50)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Bind a RC channel to a parameter. The parameter should change according to the RC channel value.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          target_systemuint8_tSystem ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          target_componentuint8_tComponent ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          param_idchar[16]Onboard parameter id, terminated by NULL if the length is less than 16 human-readable chars and WITHOUT null termination (NULL) byte if the length is exactly 16 chars - applications have to provide 16+1 bytes storage if the ID is stored as string
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          param_indexint16_tParameter index. Send -1 to use the param ID field as identifier (else the param id will be ignored), send -2 to disable any existing map for this rc_channel_index.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          parameter_rc_channel_indexuint8_tIndex of parameter RC channel. Not equal to the RC channel id. Typically corresponds to a potentiometer-knob on the RC.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          param_value0floatInitial parameter value
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          scalefloatScale, maps the RC range [-1, 1] to a parameter value
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          param_value_minfloatMinimum param value. The protocol does not define if this overwrites an onboard minimum value. (Depends on implementation)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          param_value_maxfloatMaximum param value. The protocol does not define if this overwrites an onboard maximum value. (Depends on implementation)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MISSION_REQUEST_INT (51)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Request the information of the mission item with the sequence number seq. The response of the system to this message should be a MISSION_ITEM_INT message. https://mavlink.io/en/services/mission.html

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          target_systemuint8_tSystem ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          target_componentuint8_tComponent ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          sequint16_tSequence
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          mission_type ++uint8_tMAV_MISSION_TYPEMission type.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          SAFETY_SET_ALLOWED_AREA (54)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Set a safety zone (volume), which is defined by two corners of a cube. This message can be used to tell the MAV which setpoints/waypoints to accept and which to reject. Safety areas are often enforced by national or competition regulations.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          target_systemuint8_tSystem ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          target_componentuint8_tComponent ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          frameuint8_tMAV_FRAMECoordinate frame. Can be either global, GPS, right-handed with Z axis up or local, right handed, Z axis down.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          p1xfloatmx position 1 / Latitude 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          p1yfloatmy position 1 / Longitude 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          p1zfloatmz position 1 / Altitude 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          p2xfloatmx position 2 / Latitude 2
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          p2yfloatmy position 2 / Longitude 2
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          p2zfloatmz position 2 / Altitude 2

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          SAFETY_ALLOWED_AREA (55)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Read out the safety zone the MAV currently assumes.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          frameuint8_tMAV_FRAMECoordinate frame. Can be either global, GPS, right-handed with Z axis up or local, right handed, Z axis down.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          p1xfloatmx position 1 / Latitude 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          p1yfloatmy position 1 / Longitude 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          p1zfloatmz position 1 / Altitude 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          p2xfloatmx position 2 / Latitude 2
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          p2yfloatmy position 2 / Longitude 2
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          p2zfloatmz position 2 / Altitude 2

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ATTITUDE_QUATERNION_COV (61)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          The attitude in the aeronautical frame (right-handed, Z-down, X-front, Y-right), expressed as quaternion. Quaternion order is w, x, y, z and a zero rotation would be expressed as (1 0 0 0).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          qfloat[4]Quaternion components, w, x, y, z (1 0 0 0 is the null-rotation)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          rollspeedfloatrad/sRoll angular speed
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          pitchspeedfloatrad/sPitch angular speed
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          yawspeedfloatrad/sYaw angular speed
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          covariancefloat[9]Row-major representation of a 3x3 attitude covariance matrix (states: roll, pitch, yaw; first three entries are the first ROW, next three entries are the second row, etc.). If unknown, assign NaN value to first element in the array.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          The state of the navigation and position controller.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          nav_rollfloatdegCurrent desired roll
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          nav_pitchfloatdegCurrent desired pitch
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          nav_bearingint16_tdegCurrent desired heading
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          target_bearingint16_tdegBearing to current waypoint/target
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          wp_distuint16_tmDistance to active waypoint
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          alt_errorfloatmCurrent altitude error
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          aspd_errorfloatm/sCurrent airspeed error
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          xtrack_errorfloatmCurrent crosstrack error on x-y plane

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          GLOBAL_POSITION_INT_COV (63)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          The filtered global position (e.g. fused GPS and accelerometers). The position is in GPS-frame (right-handed, Z-up). It is designed as scaled integer message since the resolution of float is not sufficient. NOTE: This message is intended for onboard networks / companion computers and higher-bandwidth links and optimized for accuracy and completeness. Please use the GLOBAL_POSITION_INT message for a minimal subset.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          estimator_typeuint8_tMAV_ESTIMATOR_TYPEClass id of the estimator this estimate originated from.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          latint32_tdegE7Latitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          lonint32_tdegE7Longitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          altint32_tmmAltitude in meters above MSL
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          relative_altint32_tmmAltitude above ground
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          vxfloatm/sGround X Speed (Latitude)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          vyfloatm/sGround Y Speed (Longitude)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          vzfloatm/sGround Z Speed (Altitude)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          covariancefloat[36]invalid:[NaN:]Row-major representation of a 6x6 position and velocity 6x6 cross-covariance matrix (states: lat, lon, alt, vx, vy, vz; first six entries are the first ROW, next six entries are the second row, etc.). If unknown, assign NaN value to first element in the array.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          LOCAL_POSITION_NED_COV (64)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          The filtered local position (e.g. fused computer vision and accelerometers). Coordinate frame is right-handed, Z-axis down (aeronautical frame, NED / north-east-down convention)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          estimator_typeuint8_tMAV_ESTIMATOR_TYPEClass id of the estimator this estimate originated from.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          xfloatmX Position
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          yfloatmY Position
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          zfloatmZ Position
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          vxfloatm/sX Speed
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          vyfloatm/sY Speed
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          vzfloatm/sZ Speed
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          axfloatm/s/sX Acceleration
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ayfloatm/s/sY Acceleration
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          azfloatm/s/sZ Acceleration
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          covariancefloat[45]invalid:[NaN:]Row-major representation of position, velocity and acceleration 9x9 cross-covariance matrix upper right triangle (states: x, y, z, vx, vy, vz, ax, ay, az; first nine entries are the first ROW, next eight entries are the second row, etc.). If unknown, assign NaN value to first element in the array.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          RC_CHANNELS (65)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          The PPM values of the RC channels received. The standard PPM modulation is as follows: 1000 microseconds: 0%, 2000 microseconds: 100%. A value of UINT16_MAX implies the channel is unused. Individual receivers/transmitters might violate this specification.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          time_boot_msuint32_tmsTimestamp (time since system boot).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          chancountuint8_tTotal number of RC channels being received. This can be larger than 18, indicating that more channels are available but not given in this message. This value should be 0 when no RC channels are available.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          chan1_rawuint16_tusRC channel 1 value.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          chan2_rawuint16_tusRC channel 2 value.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          chan3_rawuint16_tusRC channel 3 value.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          chan4_rawuint16_tusRC channel 4 value.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          chan5_rawuint16_tusRC channel 5 value.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          chan6_rawuint16_tusRC channel 6 value.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          chan7_rawuint16_tusRC channel 7 value.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          chan8_rawuint16_tusRC channel 8 value.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          chan9_rawuint16_tusRC channel 9 value.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          chan10_rawuint16_tusRC channel 10 value.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          chan11_rawuint16_tusRC channel 11 value.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          chan12_rawuint16_tusRC channel 12 value.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          chan13_rawuint16_tusRC channel 13 value.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          chan14_rawuint16_tusRC channel 14 value.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          chan15_rawuint16_tusRC channel 15 value.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          chan16_rawuint16_tusRC channel 16 value.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          chan17_rawuint16_tusRC channel 17 value.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          chan18_rawuint16_tusRC channel 18 value.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          rssiuint8_tReceive signal strength indicator in device-dependent units/scale. Values: [0-254], UINT8_MAX: invalid/unknown.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          REQUEST_DATA_STREAM (66) — [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          DEPRECATED: Replaced By MAV_CMD_SET_MESSAGE_INTERVAL (2015-08)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Request a data stream.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          target_systemuint8_tThe target requested to send the message stream.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          target_componentuint8_tThe target requested to send the message stream.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          req_stream_iduint8_tThe ID of the requested data stream
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          req_message_rateuint16_tHzThe requested message rate
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          start_stopuint8_t1 to start sending, 0 to stop sending.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          DATA_STREAM (67) — [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          DEPRECATED: Replaced By MESSAGE_INTERVAL (2015-08)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Data stream status information.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          stream_iduint8_tThe ID of the requested data stream
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          message_rateuint16_tHzThe message rate
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          on_offuint8_t1 stream is enabled, 0 stream is stopped.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MANUAL_CONTROL (69)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          This message provides an API for manually controlling the vehicle using standard joystick axes nomenclature, along with a joystick-like input device. Unused axes can be disabled and buttons states are transmitted as individual on/off bits of a bitmask

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          targetuint8_tThe system to be controlled.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          xint16_tX-axis, normalized to the range [-1000,1000]. A value of INT16_MAX indicates that this axis is invalid. Generally corresponds to forward(1000)-backward(-1000) movement on a joystick and the pitch of a vehicle.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          yint16_tY-axis, normalized to the range [-1000,1000]. A value of INT16_MAX indicates that this axis is invalid. Generally corresponds to left(-1000)-right(1000) movement on a joystick and the roll of a vehicle.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          zint16_tZ-axis, normalized to the range [-1000,1000]. A value of INT16_MAX indicates that this axis is invalid. Generally corresponds to a separate slider movement with maximum being 1000 and minimum being -1000 on a joystick and the thrust of a vehicle. Positive values are positive thrust, negative values are negative thrust.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          rint16_tR-axis, normalized to the range [-1000,1000]. A value of INT16_MAX indicates that this axis is invalid. Generally corresponds to a twisting of the joystick, with counter-clockwise being 1000 and clockwise being -1000, and the yaw of a vehicle.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          buttonsuint16_tA bitfield corresponding to the joystick buttons' 0-15 current state, 1 for pressed, 0 for released. The lowest bit corresponds to Button 1.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          buttons2 ++uint16_tA bitfield corresponding to the joystick buttons' 16-31 current state, 1 for pressed, 0 for released. The lowest bit corresponds to Button 16.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          enabled_extensions ++uint8_tSet bits to 1 to indicate which of the following extension fields contain valid data: bit 0: pitch, bit 1: roll, bit 2: aux1, bit 3: aux2, bit 4: aux3, bit 5: aux4, bit 6: aux5, bit 7: aux6
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          s ++int16_tPitch-only-axis, normalized to the range [-1000,1000]. Generally corresponds to pitch on vehicles with additional degrees of freedom. Valid if bit 0 of enabled_extensions field is set. Set to 0 if invalid.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          t ++int16_tRoll-only-axis, normalized to the range [-1000,1000]. Generally corresponds to roll on vehicles with additional degrees of freedom. Valid if bit 1 of enabled_extensions field is set. Set to 0 if invalid.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          aux1 ++int16_tAux continuous input field 1. Normalized in the range [-1000,1000]. Purpose defined by recipient. Valid data if bit 2 of enabled_extensions field is set. 0 if bit 2 is unset.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          aux2 ++int16_tAux continuous input field 2. Normalized in the range [-1000,1000]. Purpose defined by recipient. Valid data if bit 3 of enabled_extensions field is set. 0 if bit 3 is unset.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          aux3 ++int16_tAux continuous input field 3. Normalized in the range [-1000,1000]. Purpose defined by recipient. Valid data if bit 4 of enabled_extensions field is set. 0 if bit 4 is unset.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          aux4 ++int16_tAux continuous input field 4. Normalized in the range [-1000,1000]. Purpose defined by recipient. Valid data if bit 5 of enabled_extensions field is set. 0 if bit 5 is unset.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          aux5 ++int16_tAux continuous input field 5. Normalized in the range [-1000,1000]. Purpose defined by recipient. Valid data if bit 6 of enabled_extensions field is set. 0 if bit 6 is unset.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          aux6 ++int16_tAux continuous input field 6. Normalized in the range [-1000,1000]. Purpose defined by recipient. Valid data if bit 7 of enabled_extensions field is set. 0 if bit 7 is unset.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          RC_CHANNELS_OVERRIDE (70)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          The RAW values of the RC channels sent to the MAV to override info received from the RC radio. The standard PPM modulation is as follows: 1000 microseconds: 0%, 2000 microseconds: 100%. Individual receivers/transmitters might violate this specification. Note carefully the semantic differences between the first 8 channels and the subsequent channels

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          target_systemuint8_tSystem ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          target_componentuint8_tComponent ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          chan1_rawuint16_tusRC channel 1 value. A value of UINT16_MAX means to ignore this field. A value of 0 means to release this channel back to the RC radio.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          chan2_rawuint16_tusRC channel 2 value. A value of UINT16_MAX means to ignore this field. A value of 0 means to release this channel back to the RC radio.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          chan3_rawuint16_tusRC channel 3 value. A value of UINT16_MAX means to ignore this field. A value of 0 means to release this channel back to the RC radio.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          chan4_rawuint16_tusRC channel 4 value. A value of UINT16_MAX means to ignore this field. A value of 0 means to release this channel back to the RC radio.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          chan5_rawuint16_tusRC channel 5 value. A value of UINT16_MAX means to ignore this field. A value of 0 means to release this channel back to the RC radio.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          chan6_rawuint16_tusRC channel 6 value. A value of UINT16_MAX means to ignore this field. A value of 0 means to release this channel back to the RC radio.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          chan7_rawuint16_tusRC channel 7 value. A value of UINT16_MAX means to ignore this field. A value of 0 means to release this channel back to the RC radio.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          chan8_rawuint16_tusRC channel 8 value. A value of UINT16_MAX means to ignore this field. A value of 0 means to release this channel back to the RC radio.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          chan9_raw ++uint16_tusRC channel 9 value. A value of 0 or UINT16_MAX means to ignore this field. A value of UINT16_MAX-1 means to release this channel back to the RC radio.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          chan10_raw ++uint16_tusRC channel 10 value. A value of 0 or UINT16_MAX means to ignore this field. A value of UINT16_MAX-1 means to release this channel back to the RC radio.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          chan11_raw ++uint16_tusRC channel 11 value. A value of 0 or UINT16_MAX means to ignore this field. A value of UINT16_MAX-1 means to release this channel back to the RC radio.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          chan12_raw ++uint16_tusRC channel 12 value. A value of 0 or UINT16_MAX means to ignore this field. A value of UINT16_MAX-1 means to release this channel back to the RC radio.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          chan13_raw ++uint16_tusRC channel 13 value. A value of 0 or UINT16_MAX means to ignore this field. A value of UINT16_MAX-1 means to release this channel back to the RC radio.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          chan14_raw ++uint16_tusRC channel 14 value. A value of 0 or UINT16_MAX means to ignore this field. A value of UINT16_MAX-1 means to release this channel back to the RC radio.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          chan15_raw ++uint16_tusRC channel 15 value. A value of 0 or UINT16_MAX means to ignore this field. A value of UINT16_MAX-1 means to release this channel back to the RC radio.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          chan16_raw ++uint16_tusRC channel 16 value. A value of 0 or UINT16_MAX means to ignore this field. A value of UINT16_MAX-1 means to release this channel back to the RC radio.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          chan17_raw ++uint16_tusRC channel 17 value. A value of 0 or UINT16_MAX means to ignore this field. A value of UINT16_MAX-1 means to release this channel back to the RC radio.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          chan18_raw ++uint16_tusRC channel 18 value. A value of 0 or UINT16_MAX means to ignore this field. A value of UINT16_MAX-1 means to release this channel back to the RC radio.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MISSION_ITEM_INT (73)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Message encoding a mission item. This message is emitted to announce

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          the presence of a mission item and to set a mission item on the system. The mission item can be either in x, y, z meters (type: LOCAL) or x:lat, y:lon, z:altitude. Local frame is Z-down, right handed (NED), global frame is Z-up, right handed (ENU). NaN or INT32_MAX may be used in float/integer params (respectively) to indicate optional/default values (e.g. to use the component's current latitude, yaw rather than a specific value). See also https://mavlink.io/en/services/mission.html.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          target_systemuint8_tSystem ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          target_componentuint8_tComponent ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          sequint16_tWaypoint ID (sequence number). Starts at zero. Increases monotonically for each waypoint, no gaps in the sequence (0,1,2,3,4).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          frameuint8_tMAV_FRAMEThe coordinate system of the waypoint.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          commanduint16_tMAV_CMDThe scheduled action for the waypoint.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          currentuint8_tfalse:0, true:1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          autocontinueuint8_tAutocontinue to next waypoint. 0: false, 1: true. Set false to pause mission after the item completes.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          param1floatPARAM1, see MAV_CMD enum
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          param2floatPARAM2, see MAV_CMD enum
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          param3floatPARAM3, see MAV_CMD enum
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          param4floatPARAM4, see MAV_CMD enum
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          xint32_tPARAM5 / local: x position in meters 1e4, global: latitude in degrees 10^7
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          yint32_tPARAM6 / y position: local: x position in meters 1e4, global: longitude in degrees 10^7
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          zfloatPARAM7 / z position: global: altitude in meters (relative or absolute, depending on frame.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          mission_type ++uint8_tMAV_MISSION_TYPEMission type.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          VFR_HUD (74)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Metrics typically displayed on a HUD for fixed wing aircraft.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          airspeedfloatm/sVehicle speed in form appropriate for vehicle type. For standard aircraft this is typically calibrated airspeed (CAS) or indicated airspeed (IAS) - either of which can be used by a pilot to estimate stall speed.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          groundspeedfloatm/sCurrent ground speed.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          headingint16_tdegCurrent heading in compass units (0-360, 0=north).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          throttleuint16_t%Current throttle setting (0 to 100).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          altfloatmCurrent altitude (MSL).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          climbfloatm/sCurrent climb rate.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          COMMAND_INT (75)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Send a command with up to seven parameters to the MAV, where params 5 and 6 are integers and the other values are floats. This is preferred over COMMAND_LONG as it allows the MAV_FRAME to be specified for interpreting positional information, such as altitude. COMMAND_INT is also preferred when sending latitude and longitude data in params 5 and 6, as it allows for greater precision. Param 5 and 6 encode positional data as scaled integers, where the scaling depends on the actual command value. NaN or INT32_MAX may be used in float/integer params (respectively) to indicate optional/default values (e.g. to use the component's current latitude, yaw rather than a specific value). The command microservice is documented at https://mavlink.io/en/services/command.html

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          target_systemuint8_tSystem ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          target_componentuint8_tComponent ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          frameuint8_tMAV_FRAMEThe coordinate system of the COMMAND.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          commanduint16_tMAV_CMDThe scheduled action for the mission item.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          currentuint8_tNot used.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          autocontinueuint8_tNot used (set 0).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          param1floatinvalid:NaNPARAM1, see MAV_CMD enum
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          param2floatinvalid:NaNPARAM2, see MAV_CMD enum
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          param3floatinvalid:NaNPARAM3, see MAV_CMD enum
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          param4floatinvalid:NaNPARAM4, see MAV_CMD enum
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          xint32_tinvalid:INT32_MAXPARAM5 / local: x position in meters 1e4, global: latitude in degrees 10^7
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          yint32_tinvalid:INT32_MAXPARAM6 / local: y position in meters 1e4, global: longitude in degrees 10^7
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          zfloatinvalid:NaNPARAM7 / z position: global: altitude in meters (relative or absolute, depending on frame).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          COMMAND_LONG (76)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Send a command with up to seven parameters to the MAV. COMMAND_INT is generally preferred when sending MAV_CMD commands that include positional information; it offers higher precision and allows the MAV_FRAME to be specified (which may otherwise be ambiguous, particularly for altitude). The command microservice is documented at https://mavlink.io/en/services/command.html

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          target_systemuint8_tSystem which should execute the command
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          target_componentuint8_tComponent which should execute the command, 0 for all components
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          commanduint16_tMAV_CMDCommand ID (of command to send).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          confirmationuint8_t0: First transmission of this command. 1-255: Confirmation transmissions (e.g. for kill command)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          param1floatinvalid:NaNParameter 1 (for the specific command).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          param2floatinvalid:NaNParameter 2 (for the specific command).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          param3floatinvalid:NaNParameter 3 (for the specific command).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          param4floatinvalid:NaNParameter 4 (for the specific command).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          param5floatinvalid:NaNParameter 5 (for the specific command).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          param6floatinvalid:NaNParameter 6 (for the specific command).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          param7floatinvalid:NaNParameter 7 (for the specific command).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          COMMAND_ACK (77)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Report status of a command. Includes feedback whether the command was executed. The command microservice is documented at https://mavlink.io/en/services/command.html

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          commanduint16_tMAV_CMDCommand ID (of acknowledged command).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          resultuint8_tMAV_RESULTResult of command.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          progress ++uint8_t%invalid:UINT8_MAXThe progress percentage when result is MAV_RESULT_IN_PROGRESS. Values: [0-100], or UINT8_MAX if the progress is unknown.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          result_param2 ++int32_tAdditional result information. Can be set with a command-specific enum containing command-specific error reasons for why the command might be denied. If used, the associated enum must be documented in the corresponding MAV_CMD (this enum should have a 0 value to indicate "unused" or "unknown").
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          target_system ++uint8_tSystem ID of the target recipient. This is the ID of the system that sent the command for which this COMMAND_ACK is an acknowledgement.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          target_component ++uint8_tComponent ID of the target recipient. This is the ID of the system that sent the command for which this COMMAND_ACK is an acknowledgement.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          COMMAND_CANCEL (80) — [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Cancel a long running command. The target system should respond with a COMMAND_ACK to the original command with result=MAV_RESULT_CANCELLED if the long running process was cancelled. If it has already completed, the cancel action can be ignored. The cancel action can be retried until some sort of acknowledgement to the original command has been received. The command microservice is documented at https://mavlink.io/en/services/command.html

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          target_systemuint8_tSystem executing long running command. Should not be broadcast (0).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          target_componentuint8_tComponent executing long running command.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          commanduint16_tMAV_CMDCommand ID (of command to cancel).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MANUAL_SETPOINT (81)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Setpoint in roll, pitch, yaw and thrust from the operator

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          time_boot_msuint32_tmsTimestamp (time since system boot).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          rollfloatrad/sDesired roll rate
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          pitchfloatrad/sDesired pitch rate
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          yawfloatrad/sDesired yaw rate
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          thrustfloatCollective thrust, normalized to 0 .. 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          mode_switchuint8_tFlight mode switch position, 0.. 255
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          manual_override_switchuint8_tOverride mode switch position, 0.. 255

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          SET_ATTITUDE_TARGET (82)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Sets a desired vehicle attitude. Used by an external controller to command the vehicle (manual controller or other system).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          time_boot_msuint32_tmsTimestamp (time since system boot).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          target_systemuint8_tSystem ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          target_componentuint8_tComponent ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          type_maskuint8_tATTITUDE_TARGET_TYPEMASKBitmap to indicate which dimensions should be ignored by the vehicle.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          qfloat[4]Attitude quaternion (w, x, y, z order, zero-rotation is 1, 0, 0, 0) from MAV_FRAME_LOCAL_NED to MAV_FRAME_BODY_FRD
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          body_roll_ratefloatrad/sBody roll rate
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          body_pitch_ratefloatrad/sBody pitch rate
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          body_yaw_ratefloatrad/sBody yaw rate
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          thrustfloatCollective thrust, normalized to 0 .. 1 (-1 .. 1 for vehicles capable of reverse trust)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          thrust_body ++float[3]3D thrust setpoint in the body NED frame, normalized to -1 .. 1

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ATTITUDE_TARGET (83)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Reports the current commanded attitude of the vehicle as specified by the autopilot. This should match the commands sent in a SET_ATTITUDE_TARGET message if the vehicle is being controlled this way.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          time_boot_msuint32_tmsTimestamp (time since system boot).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          type_maskuint8_tATTITUDE_TARGET_TYPEMASKBitmap to indicate which dimensions should be ignored by the vehicle.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          qfloat[4]Attitude quaternion (w, x, y, z order, zero-rotation is 1, 0, 0, 0)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          body_roll_ratefloatrad/sBody roll rate
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          body_pitch_ratefloatrad/sBody pitch rate
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          body_yaw_ratefloatrad/sBody yaw rate
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          thrustfloatCollective thrust, normalized to 0 .. 1 (-1 .. 1 for vehicles capable of reverse trust)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          SET_POSITION_TARGET_LOCAL_NED (84)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Sets a desired vehicle position in a local north-east-down coordinate frame. Used by an external controller to command the vehicle (manual controller or other system).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          time_boot_msuint32_tmsTimestamp (time since system boot).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          target_systemuint8_tSystem ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          target_componentuint8_tComponent ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          coordinate_frameuint8_tMAV_FRAMEValid options are: MAV_FRAME_LOCAL_NED = 1, MAV_FRAME_LOCAL_OFFSET_NED = 7, MAV_FRAME_BODY_NED = 8, MAV_FRAME_BODY_OFFSET_NED = 9
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          type_maskuint16_tPOSITION_TARGET_TYPEMASKBitmap to indicate which dimensions should be ignored by the vehicle.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          xfloatmX Position in NED frame
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          yfloatmY Position in NED frame
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          zfloatmZ Position in NED frame (note, altitude is negative in NED)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          vxfloatm/sX velocity in NED frame
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          vyfloatm/sY velocity in NED frame
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          vzfloatm/sZ velocity in NED frame
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          afxfloatm/s/sX acceleration or force (if bit 10 of type_mask is set) in NED frame in meter / s^2 or N
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          afyfloatm/s/sY acceleration or force (if bit 10 of type_mask is set) in NED frame in meter / s^2 or N
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          afzfloatm/s/sZ acceleration or force (if bit 10 of type_mask is set) in NED frame in meter / s^2 or N
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          yawfloatradyaw setpoint
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          yaw_ratefloatrad/syaw rate setpoint

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          POSITION_TARGET_LOCAL_NED (85)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Reports the current commanded vehicle position, velocity, and acceleration as specified by the autopilot. This should match the commands sent in SET_POSITION_TARGET_LOCAL_NED if the vehicle is being controlled this way.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          time_boot_msuint32_tmsTimestamp (time since system boot).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          coordinate_frameuint8_tMAV_FRAMEValid options are: MAV_FRAME_LOCAL_NED = 1, MAV_FRAME_LOCAL_OFFSET_NED = 7, MAV_FRAME_BODY_NED = 8, MAV_FRAME_BODY_OFFSET_NED = 9
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          type_maskuint16_tPOSITION_TARGET_TYPEMASKBitmap to indicate which dimensions should be ignored by the vehicle.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          xfloatmX Position in NED frame
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          yfloatmY Position in NED frame
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          zfloatmZ Position in NED frame (note, altitude is negative in NED)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          vxfloatm/sX velocity in NED frame
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          vyfloatm/sY velocity in NED frame
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          vzfloatm/sZ velocity in NED frame
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          afxfloatm/s/sX acceleration or force (if bit 10 of type_mask is set) in NED frame in meter / s^2 or N
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          afyfloatm/s/sY acceleration or force (if bit 10 of type_mask is set) in NED frame in meter / s^2 or N
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          afzfloatm/s/sZ acceleration or force (if bit 10 of type_mask is set) in NED frame in meter / s^2 or N
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          yawfloatradyaw setpoint
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          yaw_ratefloatrad/syaw rate setpoint

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          SET_POSITION_TARGET_GLOBAL_INT (86)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Sets a desired vehicle position, velocity, and/or acceleration in a global coordinate system (WGS84). Used by an external controller to command the vehicle (manual controller or other system).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          time_boot_msuint32_tmsTimestamp (time since system boot). The rationale for the timestamp in the setpoint is to allow the system to compensate for the transport delay of the setpoint. This allows the system to compensate processing latency.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          target_systemuint8_tSystem ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          target_componentuint8_tComponent ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          coordinate_frameuint8_tMAV_FRAMEValid options are: MAV_FRAME_GLOBAL = 0, MAV_FRAME_GLOBAL_RELATIVE_ALT = 3, MAV_FRAME_GLOBAL_TERRAIN_ALT = 10 (MAV_FRAME_GLOBAL_INT, MAV_FRAME_GLOBAL_RELATIVE_ALT_INT, MAV_FRAME_GLOBAL_TERRAIN_ALT_INT are allowed synonyms, but have been deprecated)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          type_maskuint16_tPOSITION_TARGET_TYPEMASKBitmap to indicate which dimensions should be ignored by the vehicle.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          lat_intint32_tdegE7Latitude in WGS84 frame
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          lon_intint32_tdegE7Longitude in WGS84 frame
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          altfloatmAltitude (MSL, Relative to home, or AGL - depending on frame)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          vxfloatm/sX velocity in NED frame
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          vyfloatm/sY velocity in NED frame
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          vzfloatm/sZ velocity in NED frame
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          afxfloatm/s/sX acceleration or force (if bit 10 of type_mask is set) in NED frame in meter / s^2 or N
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          afyfloatm/s/sY acceleration or force (if bit 10 of type_mask is set) in NED frame in meter / s^2 or N
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          afzfloatm/s/sZ acceleration or force (if bit 10 of type_mask is set) in NED frame in meter / s^2 or N
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          yawfloatradyaw setpoint
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          yaw_ratefloatrad/syaw rate setpoint

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          POSITION_TARGET_GLOBAL_INT (87)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Reports the current commanded vehicle position, velocity, and acceleration as specified by the autopilot. This should match the commands sent in SET_POSITION_TARGET_GLOBAL_INT if the vehicle is being controlled this way.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          time_boot_msuint32_tmsTimestamp (time since system boot). The rationale for the timestamp in the setpoint is to allow the system to compensate for the transport delay of the setpoint. This allows the system to compensate processing latency.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          coordinate_frameuint8_tMAV_FRAMEValid options are: MAV_FRAME_GLOBAL = 0, MAV_FRAME_GLOBAL_RELATIVE_ALT = 3, MAV_FRAME_GLOBAL_TERRAIN_ALT = 10 (MAV_FRAME_GLOBAL_INT, MAV_FRAME_GLOBAL_RELATIVE_ALT_INT, MAV_FRAME_GLOBAL_TERRAIN_ALT_INT are allowed synonyms, but have been deprecated)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          type_maskuint16_tPOSITION_TARGET_TYPEMASKBitmap to indicate which dimensions should be ignored by the vehicle.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          lat_intint32_tdegE7Latitude in WGS84 frame
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          lon_intint32_tdegE7Longitude in WGS84 frame
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          altfloatmAltitude (MSL, AGL or relative to home altitude, depending on frame)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          vxfloatm/sX velocity in NED frame
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          vyfloatm/sY velocity in NED frame
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          vzfloatm/sZ velocity in NED frame
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          afxfloatm/s/sX acceleration or force (if bit 10 of type_mask is set) in NED frame in meter / s^2 or N
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          afyfloatm/s/sY acceleration or force (if bit 10 of type_mask is set) in NED frame in meter / s^2 or N
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          afzfloatm/s/sZ acceleration or force (if bit 10 of type_mask is set) in NED frame in meter / s^2 or N
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          yawfloatradyaw setpoint
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          yaw_ratefloatrad/syaw rate setpoint

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          LOCAL_POSITION_NED_SYSTEM_GLOBAL_OFFSET (89)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          The offset in X, Y, Z and yaw between the LOCAL_POSITION_NED messages of MAV X and the global coordinate frame in NED coordinates. Coordinate frame is right-handed, Z-axis down (aeronautical frame, NED / north-east-down convention)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          time_boot_msuint32_tmsTimestamp (time since system boot).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          xfloatmX Position
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          yfloatmY Position
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          zfloatmZ Position
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          rollfloatradRoll
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          pitchfloatradPitch
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          yawfloatradYaw

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          HIL_STATE (90) — [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          DEPRECATED: Replaced By HIL_STATE_QUATERNION (2013-07) — Suffers from missing airspeed fields and singularities due to Euler angles)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Sent from simulation to autopilot. This packet is useful for high throughput applications such as hardware in the loop simulations.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          rollfloatradRoll angle
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          pitchfloatradPitch angle
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          yawfloatradYaw angle
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          rollspeedfloatrad/sBody frame roll / phi angular speed
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          pitchspeedfloatrad/sBody frame pitch / theta angular speed
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          yawspeedfloatrad/sBody frame yaw / psi angular speed
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          latint32_tdegE7Latitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          lonint32_tdegE7Longitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          altint32_tmmAltitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          vxint16_tcm/sGround X Speed (Latitude)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          vyint16_tcm/sGround Y Speed (Longitude)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          vzint16_tcm/sGround Z Speed (Altitude)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          xaccint16_tmGX acceleration
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          yaccint16_tmGY acceleration
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          zaccint16_tmGZ acceleration

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          HIL_CONTROLS (91)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Sent from autopilot to simulation. Hardware in the loop control outputs

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          roll_aileronsfloatControl output -1 .. 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          pitch_elevatorfloatControl output -1 .. 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          yaw_rudderfloatControl output -1 .. 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          throttlefloatThrottle 0 .. 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          aux1floatAux 1, -1 .. 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          aux2floatAux 2, -1 .. 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          aux3floatAux 3, -1 .. 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          aux4floatAux 4, -1 .. 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          modeuint8_tMAV_MODESystem mode.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          nav_modeuint8_tNavigation mode (MAV_NAV_MODE)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          HIL_RC_INPUTS_RAW (92)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Sent from simulation to autopilot. The RAW values of the RC channels received. The standard PPM modulation is as follows: 1000 microseconds: 0%, 2000 microseconds: 100%. Individual receivers/transmitters might violate this specification.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          chan1_rawuint16_tusRC channel 1 value
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          chan2_rawuint16_tusRC channel 2 value
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          chan3_rawuint16_tusRC channel 3 value
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          chan4_rawuint16_tusRC channel 4 value
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          chan5_rawuint16_tusRC channel 5 value
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          chan6_rawuint16_tusRC channel 6 value
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          chan7_rawuint16_tusRC channel 7 value
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          chan8_rawuint16_tusRC channel 8 value
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          chan9_rawuint16_tusRC channel 9 value
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          chan10_rawuint16_tusRC channel 10 value
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          chan11_rawuint16_tusRC channel 11 value
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          chan12_rawuint16_tusRC channel 12 value
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          rssiuint8_tReceive signal strength indicator in device-dependent units/scale. Values: [0-254], UINT8_MAX: invalid/unknown.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          HIL_ACTUATOR_CONTROLS (93)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Sent from autopilot to simulation. Hardware in the loop control outputs (replacement for HIL_CONTROLS)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          controlsfloat[16]Control outputs -1 .. 1. Channel assignment depends on the simulated hardware.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          modeuint8_tMAV_MODE_FLAGSystem mode. Includes arming state.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          flagsuint64_tFlags as bitfield, 1: indicate simulation using lockstep.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          OPTICAL_FLOW (100)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Optical flow from a flow sensor (e.g. optical mouse sensor)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          sensor_iduint8_tSensor ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          flow_xint16_tdpixFlow in x-sensor direction
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          flow_yint16_tdpixFlow in y-sensor direction
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          flow_comp_m_xfloatm/sFlow in x-sensor direction, angular-speed compensated
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          flow_comp_m_yfloatm/sFlow in y-sensor direction, angular-speed compensated
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          qualityuint8_tOptical flow quality / confidence. 0: bad, 255: maximum quality
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ground_distancefloatmGround distance. Positive value: distance known. Negative value: Unknown distance
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          flow_rate_x ++floatrad/sFlow rate about X axis
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          flow_rate_y ++floatrad/sFlow rate about Y axis

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          GLOBAL_VISION_POSITION_ESTIMATE (101)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Global position/attitude estimate from a vision source.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          usecuint64_tusTimestamp (UNIX time or since system boot)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          xfloatmGlobal X position
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          yfloatmGlobal Y position
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          zfloatmGlobal Z position
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          rollfloatradRoll angle
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          pitchfloatradPitch angle
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          yawfloatradYaw angle
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          covariance ++float[21]Row-major representation of pose 6x6 cross-covariance matrix upper right triangle (states: x_global, y_global, z_global, roll, pitch, yaw; first six entries are the first ROW, next five entries are the second ROW, etc.). If unknown, assign NaN value to first element in the array.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          reset_counter ++uint8_tEstimate reset counter. This should be incremented when the estimate resets in any of the dimensions (position, velocity, attitude, angular speed). This is designed to be used when e.g an external SLAM system detects a loop-closure and the estimate jumps.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          VISION_POSITION_ESTIMATE (102)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Local position/attitude estimate from a vision source.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          usecuint64_tusTimestamp (UNIX time or time since system boot)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          xfloatmLocal X position
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          yfloatmLocal Y position
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          zfloatmLocal Z position
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          rollfloatradRoll angle
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          pitchfloatradPitch angle
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          yawfloatradYaw angle
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          covariance ++float[21]Row-major representation of pose 6x6 cross-covariance matrix upper right triangle (states: x, y, z, roll, pitch, yaw; first six entries are the first ROW, next five entries are the second ROW, etc.). If unknown, assign NaN value to first element in the array.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          reset_counter ++uint8_tEstimate reset counter. This should be incremented when the estimate resets in any of the dimensions (position, velocity, attitude, angular speed). This is designed to be used when e.g an external SLAM system detects a loop-closure and the estimate jumps.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          VISION_SPEED_ESTIMATE (103)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Speed estimate from a vision source.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          usecuint64_tusTimestamp (UNIX time or time since system boot)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          xfloatm/sGlobal X speed
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          yfloatm/sGlobal Y speed
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          zfloatm/sGlobal Z speed
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          covariance ++float[9]Row-major representation of 3x3 linear velocity covariance matrix (states: vx, vy, vz; 1st three entries - 1st row, etc.). If unknown, assign NaN value to first element in the array.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          reset_counter ++uint8_tEstimate reset counter. This should be incremented when the estimate resets in any of the dimensions (position, velocity, attitude, angular speed). This is designed to be used when e.g an external SLAM system detects a loop-closure and the estimate jumps.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          VICON_POSITION_ESTIMATE (104)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Global position estimate from a Vicon motion system source.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          usecuint64_tusTimestamp (UNIX time or time since system boot)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          xfloatmGlobal X position
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          yfloatmGlobal Y position
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          zfloatmGlobal Z position
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          rollfloatradRoll angle
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          pitchfloatradPitch angle
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          yawfloatradYaw angle
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          covariance ++float[21]Row-major representation of 6x6 pose cross-covariance matrix upper right triangle (states: x, y, z, roll, pitch, yaw; first six entries are the first ROW, next five entries are the second ROW, etc.). If unknown, assign NaN value to first element in the array.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          HIGHRES_IMU (105)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          The IMU readings in SI units in NED body frame

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          xaccfloatm/s/sX acceleration
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          yaccfloatm/s/sY acceleration
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          zaccfloatm/s/sZ acceleration
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          xgyrofloatrad/sAngular speed around X axis
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ygyrofloatrad/sAngular speed around Y axis
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          zgyrofloatrad/sAngular speed around Z axis
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          xmagfloatgaussX Magnetic field
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ymagfloatgaussY Magnetic field
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          zmagfloatgaussZ Magnetic field
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          abs_pressurefloathPaAbsolute pressure
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          diff_pressurefloathPaDifferential pressure
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          pressure_altfloatAltitude calculated from pressure
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          temperaturefloatdegCTemperature
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          fields_updateduint16_tHIGHRES_IMU_UPDATED_FLAGSBitmap for fields that have updated since last message
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          id ++uint8_tId. Ids are numbered from 0 and map to IMUs numbered from 1 (e.g. IMU1 will have a message with id=0)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Messages with same value are from the same source (instance). |

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          OPTICAL_FLOW_RAD (106)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Optical flow from an angular rate flow sensor (e.g. PX4FLOW or mouse sensor)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          sensor_iduint8_tSensor ID

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Messages with same value are from the same source (instance). | | integration_time_us | uint32_t | us | Integration time. Divide integrated_x and integrated_y by the integration time to obtain average flow. The integration time also indicates the. | | integrated_x | float | rad | Flow around X axis (Sensor RH rotation about the X axis induces a positive flow. Sensor linear motion along the positive Y axis induces a negative flow.) | | integrated_y | float | rad | Flow around Y axis (Sensor RH rotation about the Y axis induces a positive flow. Sensor linear motion along the positive X axis induces a positive flow.) | | integrated_xgyro | float | rad | RH rotation around X axis | | integrated_ygyro | float | rad | RH rotation around Y axis | | integrated_zgyro | float | rad | RH rotation around Z axis | | temperature | int16_t | cdegC | Temperature | | quality | uint8_t | | Optical flow quality / confidence. 0: no valid flow, 255: maximum quality | | time_delta_distance_us | uint32_t | us | Time since the distance was sampled. | | distance | float | m | Distance to the center of the flow field. Positive value (including zero): distance known. Negative value: Unknown distance. |

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          HIL_SENSOR (107)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          The IMU readings in SI units in NED body frame

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          xaccfloatm/s/sX acceleration
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          yaccfloatm/s/sY acceleration
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          zaccfloatm/s/sZ acceleration
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          xgyrofloatrad/sAngular speed around X axis in body frame
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ygyrofloatrad/sAngular speed around Y axis in body frame
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          zgyrofloatrad/sAngular speed around Z axis in body frame
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          xmagfloatgaussX Magnetic field
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ymagfloatgaussY Magnetic field
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          zmagfloatgaussZ Magnetic field
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          abs_pressurefloathPaAbsolute pressure
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          diff_pressurefloathPaDifferential pressure (airspeed)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          pressure_altfloatAltitude calculated from pressure
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          temperaturefloatdegCTemperature
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          fields_updateduint32_tHIL_SENSOR_UPDATED_FLAGSBitmap for fields that have updated since last message
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          id ++uint8_tSensor ID (zero indexed). Used for multiple sensor inputs

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          SIM_STATE (108)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Status of simulation environment, if used

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          q1floatTrue attitude quaternion component 1, w (1 in null-rotation)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          q2floatTrue attitude quaternion component 2, x (0 in null-rotation)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          q3floatTrue attitude quaternion component 3, y (0 in null-rotation)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          q4floatTrue attitude quaternion component 4, z (0 in null-rotation)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          rollfloatradAttitude roll expressed as Euler angles, not recommended except for human-readable outputs
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          pitchfloatradAttitude pitch expressed as Euler angles, not recommended except for human-readable outputs
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          yawfloatradAttitude yaw expressed as Euler angles, not recommended except for human-readable outputs
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          xaccfloatm/s/sX acceleration
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          yaccfloatm/s/sY acceleration
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          zaccfloatm/s/sZ acceleration
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          xgyrofloatrad/sAngular speed around X axis
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ygyrofloatrad/sAngular speed around Y axis
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          zgyrofloatrad/sAngular speed around Z axis
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          latfloatdegLatitude (lower precision). Both this and the lat_int field should be set.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          lonfloatdegLongitude (lower precision). Both this and the lon_int field should be set.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          altfloatmAltitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          std_dev_horzfloatHorizontal position standard deviation
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          std_dev_vertfloatVertical position standard deviation
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          vnfloatm/sTrue velocity in north direction in earth-fixed NED frame
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          vefloatm/sTrue velocity in east direction in earth-fixed NED frame
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          vdfloatm/sTrue velocity in down direction in earth-fixed NED frame
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          lat_int ++int32_tdegE7Latitude (higher precision). If 0, recipients should use the lat field value (otherwise this field is preferred).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          lon_int ++int32_tdegE7Longitude (higher precision). If 0, recipients should use the lon field value (otherwise this field is preferred).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          RADIO_STATUS (109)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Status generated by radio and injected into MAVLink stream.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          rssiuint8_tLocal (message sender) received signal strength indication in device-dependent units/scale. Values: [0-254], UINT8_MAX: invalid/unknown.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          remrssiuint8_tRemote (message receiver) signal strength indication in device-dependent units/scale. Values: [0-254], UINT8_MAX: invalid/unknown.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          txbufuint8_t%Remaining free transmitter buffer space.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          noiseuint8_tLocal background noise level. These are device dependent RSSI values (scale as approx 2x dB on SiK radios). Values: [0-254], UINT8_MAX: invalid/unknown.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          remnoiseuint8_tRemote background noise level. These are device dependent RSSI values (scale as approx 2x dB on SiK radios). Values: [0-254], UINT8_MAX: invalid/unknown.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          rxerrorsuint16_tCount of radio packet receive errors (since boot).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          fixeduint16_tCount of error corrected radio packets (since boot).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          FILE_TRANSFER_PROTOCOL (110)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          File transfer protocol message: https://mavlink.io/en/services/ftp.html.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          target_networkuint8_tNetwork ID (0 for broadcast)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          target_systemuint8_tSystem ID (0 for broadcast)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          target_componentuint8_tComponent ID (0 for broadcast)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          payloaduint8_t[251]Variable length payload. The length is defined by the remaining message length when subtracting the header and other fields. The content/format of this block is defined in https://mavlink.io/en/services/ftp.html.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          TIMESYNC (111)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Time synchronization message. The message is used for both timesync requests and responses. The request is sent with ts1=syncing component timestamp and tc1=0, and may be broadcast or targeted to a specific system/component. The response is sent with ts1=syncing component timestamp (mirror back unchanged), and tc1=responding component timestamp, with the target_system and target_component set to ids of the original request. Systems can determine if they are receiving a request or response based on the value of tc. If the response has target_system==target_component==0 the remote system has not been updated to use the component IDs and cannot reliably timesync; the requestor may report an error. Timestamps are UNIX Epoch time or time since system boot in nanoseconds (the timestamp format can be inferred by checking for the magnitude of the number; generally it doesn't matter as only the offset is used). The message sequence is repeated numerous times with results being filtered/averaged to estimate the offset.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          tc1int64_tnsTime sync timestamp 1. Syncing: 0. Responding: Timestamp of responding component.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ts1int64_tnsTime sync timestamp 2. Timestamp of syncing component (mirrored in response).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          target_system ++uint8_tTarget system id. Request: 0 (broadcast) or id of specific system. Response must contain system id of the requesting component.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          target_component ++uint8_tTarget component id. Request: 0 (broadcast) or id of specific component. Response must contain component id of the requesting component.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          CAMERA_TRIGGER (112)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Camera-IMU triggering and synchronisation message.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          time_usecuint64_tusTimestamp for image frame (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          sequint32_tImage frame sequence

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          HIL_GPS (113)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          The global position, as returned by the Global Positioning System (GPS). This is

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          NOT the global position estimate of the system, but rather a RAW sensor value. See message GLOBAL_POSITION_INT for the global position estimate.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeUnitsMultiplierDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          fix_typeuint8_t0-1: no fix, 2: 2D fix, 3: 3D fix. Some applications will not use the value of this field unless it is at least two, so always correctly fill in the fix.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          latint32_tdegE7Latitude (WGS84)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          lonint32_tdegE7Longitude (WGS84)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          altint32_tmmAltitude (MSL). Positive for up.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ephuint16_t1E-2GPS HDOP horizontal dilution of position (unitless * 100). If unknown, set to: UINT16_MAX
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          epvuint16_t1E-2GPS VDOP vertical dilution of position (unitless * 100). If unknown, set to: UINT16_MAX
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          veluint16_tcm/sGPS ground speed. If unknown, set to: UINT16_MAX
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          vnint16_tcm/sGPS velocity in north direction in earth-fixed NED frame
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          veint16_tcm/sGPS velocity in east direction in earth-fixed NED frame
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          vdint16_tcm/sGPS velocity in down direction in earth-fixed NED frame
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          coguint16_tcdegCourse over ground (NOT heading, but direction of movement), 0.0..359.99 degrees. If unknown, set to: UINT16_MAX
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          satellites_visibleuint8_tNumber of satellites visible. If unknown, set to UINT8_MAX
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          id ++uint8_tGPS ID (zero indexed). Used for multiple GPS inputs
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          yaw ++uint16_tcdegYaw of vehicle relative to Earth's North, zero means not available, use 36000 for north

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          HIL_OPTICAL_FLOW (114)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Simulated optical flow from a flow sensor (e.g. PX4FLOW or optical mouse sensor)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          sensor_iduint8_tSensor ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          integration_time_usuint32_tusIntegration time. Divide integrated_x and integrated_y by the integration time to obtain average flow. The integration time also indicates the.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          integrated_xfloatradFlow in radians around X axis (Sensor RH rotation about the X axis induces a positive flow. Sensor linear motion along the positive Y axis induces a negative flow.)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          integrated_yfloatradFlow in radians around Y axis (Sensor RH rotation about the Y axis induces a positive flow. Sensor linear motion along the positive X axis induces a positive flow.)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          integrated_xgyrofloatradRH rotation around X axis
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          integrated_ygyrofloatradRH rotation around Y axis
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          integrated_zgyrofloatradRH rotation around Z axis
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          temperatureint16_tcdegCTemperature
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          qualityuint8_tOptical flow quality / confidence. 0: no valid flow, 255: maximum quality
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          time_delta_distance_usuint32_tusTime since the distance was sampled.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          distancefloatmDistance to the center of the flow field. Positive value (including zero): distance known. Negative value: Unknown distance.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          HIL_STATE_QUATERNION (115)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Sent from simulation to autopilot, avoids in contrast to HIL_STATE singularities. This packet is useful for high throughput applications such as hardware in the loop simulations.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          attitude_quaternionfloat[4]Vehicle attitude expressed as normalized quaternion in w, x, y, z order (with 1 0 0 0 being the null-rotation)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          rollspeedfloatrad/sBody frame roll / phi angular speed
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          pitchspeedfloatrad/sBody frame pitch / theta angular speed
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          yawspeedfloatrad/sBody frame yaw / psi angular speed
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          latint32_tdegE7Latitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          lonint32_tdegE7Longitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          altint32_tmmAltitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          vxint16_tcm/sGround X Speed (Latitude)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          vyint16_tcm/sGround Y Speed (Longitude)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          vzint16_tcm/sGround Z Speed (Altitude)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ind_airspeeduint16_tcm/sIndicated airspeed
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          true_airspeeduint16_tcm/sTrue airspeed
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          xaccint16_tmGX acceleration
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          yaccint16_tmGY acceleration
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          zaccint16_tmGZ acceleration

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          SCALED_IMU2 (116)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          The RAW IMU readings for secondary 9DOF sensor setup. This message should contain the scaled values to the described units

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          time_boot_msuint32_tmsTimestamp (time since system boot).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          xaccint16_tmGX acceleration
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          yaccint16_tmGY acceleration
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          zaccint16_tmGZ acceleration
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          xgyroint16_tmrad/sAngular speed around X axis
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ygyroint16_tmrad/sAngular speed around Y axis
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          zgyroint16_tmrad/sAngular speed around Z axis
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          xmagint16_tmgaussX Magnetic field
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ymagint16_tmgaussY Magnetic field
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          zmagint16_tmgaussZ Magnetic field
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          temperature ++int16_tcdegCTemperature, 0: IMU does not provide temperature values. If the IMU is at 0C it must send 1 (0.01C).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          LOG_REQUEST_LIST (117)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Request a list of available logs. On some systems calling this may stop on-board logging until LOG_REQUEST_END is called. If there are no log files available this request shall be answered with one LOG_ENTRY message with id = 0 and num_logs = 0.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          target_systemuint8_tSystem ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          target_componentuint8_tComponent ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          startuint16_tFirst log id (0 for first available)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          enduint16_tLast log id (0xffff for last available)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          LOG_ENTRY (118)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Reply to LOG_REQUEST_LIST

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          iduint16_tLog id
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          num_logsuint16_tTotal number of logs
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          last_log_numuint16_tHigh log number
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          time_utcuint32_tsUTC timestamp of log since 1970, or 0 if not available
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          sizeuint32_tbytesSize of the log (may be approximate)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          LOG_REQUEST_DATA (119)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Request a chunk of a log

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          target_systemuint8_tSystem ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          target_componentuint8_tComponent ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          iduint16_tLog id (from LOG_ENTRY reply)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ofsuint32_tOffset into the log
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          countuint32_tbytesNumber of bytes

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          LOG_DATA (120)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Reply to LOG_REQUEST_DATA

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          iduint16_tLog id (from LOG_ENTRY reply)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ofsuint32_tOffset into the log
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          countuint8_tbytesNumber of bytes (zero for end of log)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          datauint8_t[90]log data

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          LOG_ERASE (121)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Erase all logs

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          target_systemuint8_tSystem ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          target_componentuint8_tComponent ID

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          LOG_REQUEST_END (122)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Stop log transfer and resume normal logging

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          target_systemuint8_tSystem ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          target_componentuint8_tComponent ID

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          GPS_INJECT_DATA (123) — [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          DEPRECATED: Replaced By GPS_RTCM_DATA (2022-05)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Data for injecting into the onboard GPS (used for DGPS)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          target_systemuint8_tSystem ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          target_componentuint8_tComponent ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          lenuint8_tbytesData length
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          datauint8_t[110]Raw data (110 is enough for 12 satellites of RTCMv2)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          GPS2_RAW (124)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Second GPS data.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          fix_typeuint8_tGPS_FIX_TYPEGPS fix type.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          latint32_tdegE7Latitude (WGS84)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          lonint32_tdegE7Longitude (WGS84)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          altint32_tmmAltitude (MSL). Positive for up.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ephuint16_tinvalid:UINT16_MAXGPS HDOP horizontal dilution of position (unitless * 100). If unknown, set to: UINT16_MAX
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          epvuint16_tinvalid:UINT16_MAXGPS VDOP vertical dilution of position (unitless * 100). If unknown, set to: UINT16_MAX
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          veluint16_tcm/sinvalid:UINT16_MAXGPS ground speed. If unknown, set to: UINT16_MAX
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          coguint16_tcdeginvalid:UINT16_MAXCourse over ground (NOT heading, but direction of movement): 0.0..359.99 degrees. If unknown, set to: UINT16_MAX
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          satellites_visibleuint8_tinvalid:UINT8_MAXNumber of satellites visible. If unknown, set to UINT8_MAX
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          dgps_numchuint8_tNumber of DGPS satellites
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          dgps_ageuint32_tmsAge of DGPS info
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          yaw ++uint16_tcdeginvalid:0Yaw in earth frame from north. Use 0 if this GPS does not provide yaw. Use UINT16_MAX if this GPS is configured to provide yaw and is currently unable to provide it. Use 36000 for north.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          alt_ellipsoid ++int32_tmmAltitude (above WGS84, EGM96 ellipsoid). Positive for up.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          h_acc ++uint32_tmmPosition uncertainty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          v_acc ++uint32_tmmAltitude uncertainty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          vel_acc ++uint32_tmmSpeed uncertainty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          hdg_acc ++uint32_tdegE5Heading / track uncertainty

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          POWER_STATUS (125)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Power supply status

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Vccuint16_tmV5V rail voltage.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Vservouint16_tmVServo rail voltage.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          flagsuint16_tMAV_POWER_STATUSBitmap of power supply status flags.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          SERIAL_CONTROL (126)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Control a serial port. This can be used for raw access to an onboard serial peripheral such as a GPS or telemetry radio. It is designed to make it possible to update the devices firmware via MAVLink messages or change the devices settings. A message with zero bytes can be used to change just the baudrate.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          deviceuint8_tSERIAL_CONTROL_DEVSerial control device type.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          flagsuint8_tSERIAL_CONTROL_FLAGBitmap of serial control flags.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          timeoutuint16_tmsTimeout for reply data
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          baudrateuint32_tbits/sBaudrate of transfer. Zero means no change.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          countuint8_tbyteshow many bytes in this transfer
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          datauint8_t[70]serial data
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          target_system ++uint8_tSystem ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          target_component ++uint8_tComponent ID

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          GPS_RTK (127)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          RTK GPS data. Gives information on the relative baseline calculation the GPS is reporting

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          time_last_baseline_msuint32_tmsTime since boot of last baseline message received.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          rtk_receiver_iduint8_tIdentification of connected RTK receiver.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          wnuint16_tGPS Week Number of last baseline
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          towuint32_tmsGPS Time of Week of last baseline
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          rtk_healthuint8_tGPS-specific health report for RTK data.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          rtk_rateuint8_tHzRate of baseline messages being received by GPS
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          nsatsuint8_tCurrent number of sats used for RTK calculation.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          baseline_coords_typeuint8_tRTK_BASELINE_COORDINATE_SYSTEMCoordinate system of baseline
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          baseline_a_mmint32_tmmCurrent baseline in ECEF x or NED north component.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          baseline_b_mmint32_tmmCurrent baseline in ECEF y or NED east component.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          baseline_c_mmint32_tmmCurrent baseline in ECEF z or NED down component.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          accuracyuint32_tCurrent estimate of baseline accuracy.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          iar_num_hypothesesint32_tCurrent number of integer ambiguity hypotheses.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          GPS2_RTK (128)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          RTK GPS data. Gives information on the relative baseline calculation the GPS is reporting

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          time_last_baseline_msuint32_tmsTime since boot of last baseline message received.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          rtk_receiver_iduint8_tIdentification of connected RTK receiver.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          wnuint16_tGPS Week Number of last baseline
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          towuint32_tmsGPS Time of Week of last baseline
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          rtk_healthuint8_tGPS-specific health report for RTK data.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          rtk_rateuint8_tHzRate of baseline messages being received by GPS
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          nsatsuint8_tCurrent number of sats used for RTK calculation.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          baseline_coords_typeuint8_tRTK_BASELINE_COORDINATE_SYSTEMCoordinate system of baseline
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          baseline_a_mmint32_tmmCurrent baseline in ECEF x or NED north component.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          baseline_b_mmint32_tmmCurrent baseline in ECEF y or NED east component.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          baseline_c_mmint32_tmmCurrent baseline in ECEF z or NED down component.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          accuracyuint32_tCurrent estimate of baseline accuracy.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          iar_num_hypothesesint32_tCurrent number of integer ambiguity hypotheses.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          SCALED_IMU3 (129)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          The RAW IMU readings for 3rd 9DOF sensor setup. This message should contain the scaled values to the described units

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          time_boot_msuint32_tmsTimestamp (time since system boot).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          xaccint16_tmGX acceleration
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          yaccint16_tmGY acceleration
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          zaccint16_tmGZ acceleration
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          xgyroint16_tmrad/sAngular speed around X axis
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ygyroint16_tmrad/sAngular speed around Y axis
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          zgyroint16_tmrad/sAngular speed around Z axis
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          xmagint16_tmgaussX Magnetic field
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ymagint16_tmgaussY Magnetic field
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          zmagint16_tmgaussZ Magnetic field
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          temperature ++int16_tcdegCTemperature, 0: IMU does not provide temperature values. If the IMU is at 0C it must send 1 (0.01C).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          DATA_TRANSMISSION_HANDSHAKE (130)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Handshake message to initiate, control and stop image streaming when using the Image Transmission Protocol: https://mavlink.io/en/services/image_transmission.html.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          typeuint8_tMAVLINK_DATA_STREAM_TYPEType of requested/acknowledged data.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          sizeuint32_tbytestotal data size (set on ACK only).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          widthuint16_tWidth of a matrix or image.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          heightuint16_tHeight of a matrix or image.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          packetsuint16_tNumber of packets being sent (set on ACK only).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          payloaduint8_tbytesPayload size per packet (normally 253 byte, see DATA field size in message ENCAPSULATED_DATA) (set on ACK only).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          jpg_qualityuint8_t%JPEG quality. Values: [1-100].

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ENCAPSULATED_DATA (131)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Data packet for images sent using the Image Transmission Protocol: https://mavlink.io/en/services/image_transmission.html.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          seqnruint16_tsequence number (starting with 0 on every transmission)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          datauint8_t[253]image data bytes

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          DISTANCE_SENSOR (132)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Distance sensor information for an onboard rangefinder.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          time_boot_msuint32_tmsTimestamp (time since system boot).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          min_distanceuint16_tcmMinimum distance the sensor can measure
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          max_distanceuint16_tcmMaximum distance the sensor can measure
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          current_distanceuint16_tcmCurrent distance reading
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          typeuint8_tMAV_DISTANCE_SENSORType of distance sensor.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          iduint8_tOnboard ID of the sensor

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Messages with same value are from the same source (instance). | | orientation | uint8_t | | MAV_SENSOR_ORIENTATION | Direction the sensor faces. downward-facing: ROTATION_PITCH_270, upward-facing: ROTATION_PITCH_90, backward-facing: ROTATION_PITCH_180, forward-facing: ROTATION_NONE, left-facing: ROTATION_YAW_90, right-facing: ROTATION_YAW_270 | | covariance | uint8_t | cm^2 | invalid:UINT8_MAX | Measurement variance. Max standard deviation is 6cm. UINT8_MAX if unknown. | | horizontal_fov ++ | float | rad | invalid:0 | Horizontal Field of View (angle) where the distance measurement is valid and the field of view is known. Otherwise this is set to 0. | | vertical_fov ++ | float | rad | invalid:0 | Vertical Field of View (angle) where the distance measurement is valid and the field of view is known. Otherwise this is set to 0. | | quaternion ++ | float[4] | | invalid:[0] | Quaternion of the sensor orientation in vehicle body frame (w, x, y, z order, zero-rotation is 1, 0, 0, 0). Zero-rotation is along the vehicle body x-axis. This field is required if the orientation is set to MAV_SENSOR_ROTATION_CUSTOM. Set it to 0 if invalid." | | signal_quality ++ | uint8_t | % | invalid:0 | Signal quality of the sensor. Specific to each sensor type, representing the relation of the signal strength with the target reflectivity, distance, size or aspect, but normalised as a percentage. 0 = unknown/unset signal quality, 1 = invalid signal, 100 = perfect signal. |

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          TERRAIN_REQUEST (133)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Request for terrain data and terrain status. See terrain protocol docs: https://mavlink.io/en/services/terrain.html

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          latint32_tdegE7Latitude of SW corner of first grid
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          lonint32_tdegE7Longitude of SW corner of first grid
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          grid_spacinguint16_tmGrid spacing
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          maskuint64_tBitmask of requested 4x4 grids (row major 8x7 array of grids, 56 bits)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          TERRAIN_DATA (134)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Terrain data sent from GCS. The lat/lon and grid_spacing must be the same as a lat/lon from a TERRAIN_REQUEST. See terrain protocol docs: https://mavlink.io/en/services/terrain.html

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          latint32_tdegE7Latitude of SW corner of first grid
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          lonint32_tdegE7Longitude of SW corner of first grid
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          grid_spacinguint16_tmGrid spacing
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          gridbituint8_tbit within the terrain request mask
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          dataint16_t[16]mTerrain data MSL

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          TERRAIN_CHECK (135)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Request that the vehicle report terrain height at the given location (expected response is a TERRAIN_REPORT). Used by GCS to check if vehicle has all terrain data needed for a mission.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          latint32_tdegE7Latitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          lonint32_tdegE7Longitude

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          TERRAIN_REPORT (136)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Streamed from drone to report progress of terrain map download (initiated by TERRAIN_REQUEST), or sent as a response to a TERRAIN_CHECK request. See terrain protocol docs: https://mavlink.io/en/services/terrain.html

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          latint32_tdegE7Latitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          lonint32_tdegE7Longitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          spacinguint16_tgrid spacing (zero if terrain at this location unavailable)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          terrain_heightfloatmTerrain height MSL
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          current_heightfloatmCurrent vehicle height above lat/lon terrain height
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          pendinguint16_tNumber of 4x4 terrain blocks waiting to be received or read from disk
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          loadeduint16_tNumber of 4x4 terrain blocks in memory

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          SCALED_PRESSURE2 (137)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Barometer readings for 2nd barometer

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          time_boot_msuint32_tmsTimestamp (time since system boot).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          press_absfloathPaAbsolute pressure
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          press_difffloathPaDifferential pressure
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          temperatureint16_tcdegCAbsolute pressure temperature
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          temperature_press_diff ++int16_tcdegCDifferential pressure temperature (0, if not available). Report values of 0 (or 1) as 1 cdegC.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ATT_POS_MOCAP (138)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Motion capture attitude and position

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          qfloat[4]Attitude quaternion (w, x, y, z order, zero-rotation is 1, 0, 0, 0)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          xfloatmX position (NED)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          yfloatmY position (NED)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          zfloatmZ position (NED)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          covariance ++float[21]Row-major representation of a pose 6x6 cross-covariance matrix upper right triangle (states: x, y, z, roll, pitch, yaw; first six entries are the first ROW, next five entries are the second ROW, etc.). If unknown, assign NaN value to first element in the array.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          SET_ACTUATOR_CONTROL_TARGET (139)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Set the vehicle attitude and body angular rates.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          group_mlxuint8_tActuator group. The "_mlx" indicates this is a multi-instance message and a MAVLink parser should use this field to difference between instances.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          target_systemuint8_tSystem ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          target_componentuint8_tComponent ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          controlsfloat[8]Actuator controls. Normed to -1..+1 where 0 is neutral position. Throttle for single rotation direction motors is 0..1, negative range for reverse direction. Standard mapping for attitude controls (group 0): (index 0-7): roll, pitch, yaw, throttle, flaps, spoilers, airbrakes, landing gear. Load a pass-through mixer to repurpose them as generic outputs.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ACTUATOR_CONTROL_TARGET (140)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Set the vehicle attitude and body angular rates.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          group_mlxuint8_tActuator group. The "_mlx" indicates this is a multi-instance message and a MAVLink parser should use this field to difference between instances.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          controlsfloat[8]Actuator controls. Normed to -1..+1 where 0 is neutral position. Throttle for single rotation direction motors is 0..1, negative range for reverse direction. Standard mapping for attitude controls (group 0): (index 0-7): roll, pitch, yaw, throttle, flaps, spoilers, airbrakes, landing gear. Load a pass-through mixer to repurpose them as generic outputs.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ALTITUDE (141)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          The current system altitude.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          altitude_monotonicfloatmThis altitude measure is initialized on system boot and monotonic (it is never reset, but represents the local altitude change). The only guarantee on this field is that it will never be reset and is consistent within a flight. The recommended value for this field is the uncorrected barometric altitude at boot time. This altitude will also drift and vary between flights.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          altitude_amslfloatmThis altitude measure is strictly above mean sea level and might be non-monotonic (it might reset on events like GPS lock or when a new QNH value is set). It should be the altitude to which global altitude waypoints are compared to. Note that it is not the GPS altitude, however, most GPS modules already output MSL by default and not the WGS84 altitude.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          altitude_localfloatmThis is the local altitude in the local coordinate frame. It is not the altitude above home, but in reference to the coordinate origin (0, 0, 0). It is up-positive.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          altitude_relativefloatmThis is the altitude above the home position. It resets on each change of the current home position.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          altitude_terrainfloatmThis is the altitude above terrain. It might be fed by a terrain database or an altimeter. Values smaller than -1000 should be interpreted as unknown.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          bottom_clearancefloatmThis is not the altitude, but the clear space below the system according to the fused clearance estimate. It generally should max out at the maximum range of e.g. the laser altimeter. It is generally a moving target. A negative value indicates no measurement available.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          RESOURCE_REQUEST (142)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          The autopilot is requesting a resource (file, binary, other type of data)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          request_iduint8_tRequest ID. This ID should be re-used when sending back URI contents
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          uri_typeuint8_tThe type of requested URI. 0 = a file via URL. 1 = a UAVCAN binary
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          uriuint8_t[120]The requested unique resource identifier (URI). It is not necessarily a straight domain name (depends on the URI type enum)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          transfer_typeuint8_tThe way the autopilot wants to receive the URI. 0 = MAVLink FTP. 1 = binary stream.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          storageuint8_t[120]The storage path the autopilot wants the URI to be stored in. Will only be valid if the transfer_type has a storage associated (e.g. MAVLink FTP).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          SCALED_PRESSURE3 (143)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Barometer readings for 3rd barometer

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          time_boot_msuint32_tmsTimestamp (time since system boot).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          press_absfloathPaAbsolute pressure
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          press_difffloathPaDifferential pressure
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          temperatureint16_tcdegCAbsolute pressure temperature
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          temperature_press_diff ++int16_tcdegCDifferential pressure temperature (0, if not available). Report values of 0 (or 1) as 1 cdegC.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          FOLLOW_TARGET (144)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Current motion information from a designated system

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          timestampuint64_tmsTimestamp (time since system boot).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          est_capabilitiesuint8_tbit positions for tracker reporting capabilities (POS = 0, VEL = 1, ACCEL = 2, ATT + RATES = 3)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          latint32_tdegE7Latitude (WGS84)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          lonint32_tdegE7Longitude (WGS84)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          altfloatmAltitude (MSL)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          velfloat[3]m/starget velocity (0,0,0) for unknown
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          accfloat[3]m/s/slinear target acceleration (0,0,0) for unknown
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          attitude_qfloat[4](0 0 0 0 for unknown)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ratesfloat[3](0 0 0 for unknown)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          position_covfloat[3]eph epv
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          custom_stateuint64_tbutton states or switches of a tracker device

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          CONTROL_SYSTEM_STATE (146)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          The smoothed, monotonic system state used to feed the control loops of the system.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          x_accfloatm/s/sX acceleration in body frame
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          y_accfloatm/s/sY acceleration in body frame
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          z_accfloatm/s/sZ acceleration in body frame
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          x_velfloatm/sX velocity in body frame
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          y_velfloatm/sY velocity in body frame
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          z_velfloatm/sZ velocity in body frame
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          x_posfloatmX position in local frame
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          y_posfloatmY position in local frame
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          z_posfloatmZ position in local frame
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          airspeedfloatm/sAirspeed, set to -1 if unknown
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          vel_variancefloat[3]Variance of body velocity estimate
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          pos_variancefloat[3]Variance in local position
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          qfloat[4]The attitude, represented as Quaternion
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          roll_ratefloatrad/sAngular rate in roll axis
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          pitch_ratefloatrad/sAngular rate in pitch axis
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          yaw_ratefloatrad/sAngular rate in yaw axis

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          BATTERY_STATUS (147)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Battery information. Updates GCS with flight controller battery status. Smart batteries also use this message, but may additionally send BATTERY_INFO.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          iduint8_tBattery ID

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Messages with same value are from the same source (instance). | | battery_function | uint8_t | | MAV_BATTERY_FUNCTION | Function of the battery | | type | uint8_t | | MAV_BATTERY_TYPE | Type (chemistry) of the battery | | temperature | int16_t | cdegC | invalid:INT16_MAX | Temperature of the battery. INT16_MAX for unknown temperature. | | voltages | uint16_t[10] | mV | invalid:[UINT16_MAX] | Battery voltage of cells 1 to 10 (see voltages_ext for cells 11-14). Cells in this field above the valid cell count for this battery should have the UINT16_MAX value. If individual cell voltages are unknown or not measured for this battery, then the overall battery voltage should be filled in cell 0, with all others set to UINT16_MAX. If the voltage of the battery is greater than (UINT16_MAX - 1), then cell 0 should be set to (UINT16_MAX - 1), and cell 1 to the remaining voltage. This can be extended to multiple cells if the total voltage is greater than 2 * (UINT16_MAX - 1). | | current_battery | int16_t | cA | invalid:-1 | Battery current, -1: autopilot does not measure the current | | current_consumed | int32_t | mAh | invalid:-1 | Consumed charge, -1: autopilot does not provide consumption estimate | | energy_consumed | int32_t | hJ | invalid:-1 | Consumed energy, -1: autopilot does not provide energy consumption estimate | | battery_remaining | int8_t | % | invalid:-1 | Remaining battery energy. Values: [0-100], -1: autopilot does not estimate the remaining battery. | | time_remaining ++ | int32_t | s | invalid:0 | Remaining battery time, 0: autopilot does not provide remaining battery time estimate | | charge_state ++ | uint8_t | | MAV_BATTERY_CHARGE_STATE | State for extent of discharge, provided by autopilot for warning or external reactions | | voltages_ext ++ | uint16_t[4] | mV | invalid:[0] | Battery voltages for cells 11 to 14. Cells above the valid cell count for this battery should have a value of 0, where zero indicates not supported (note, this is different than for the voltages field and allows empty byte truncation). If the measured value is 0 then 1 should be sent instead. | | mode ++ | uint8_t | | MAV_BATTERY_MODE | Battery mode. Default (0) is that battery mode reporting is not supported or battery is in normal-use mode. | | fault_bitmask ++ | uint32_t | | MAV_BATTERY_FAULT | Fault/health indications. These should be set when charge_state is MAV_BATTERY_CHARGE_STATE_FAILED or MAV_BATTERY_CHARGE_STATE_UNHEALTHY (if not, fault reporting is not supported). |

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          AUTOPILOT_VERSION (148)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Version and capability of autopilot software. This should be emitted in response to a request with MAV_CMD_REQUEST_MESSAGE.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          capabilitiesuint64_tMAV_PROTOCOL_CAPABILITYBitmap of capabilities
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          flight_sw_versionuint32_tFirmware version number
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          middleware_sw_versionuint32_tMiddleware version number
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          os_sw_versionuint32_tOperating system version number
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          board_versionuint32_tHW / board version (last 8 bits should be silicon ID, if any). The first 16 bits of this field specify https://github.com/PX4/PX4-Bootloader/blob/master/board_types.txt
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          flight_custom_versionuint8_t[8]Custom version field, commonly the first 8 bytes of the git hash. This is not an unique identifier, but should allow to identify the commit using the main version number even for very large code bases.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          middleware_custom_versionuint8_t[8]Custom version field, commonly the first 8 bytes of the git hash. This is not an unique identifier, but should allow to identify the commit using the main version number even for very large code bases.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          os_custom_versionuint8_t[8]Custom version field, commonly the first 8 bytes of the git hash. This is not an unique identifier, but should allow to identify the commit using the main version number even for very large code bases.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          vendor_iduint16_tID of the board vendor
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          product_iduint16_tID of the product
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          uiduint64_tUID if provided by hardware (see uid2)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          uid2 ++uint8_t[18]UID if provided by hardware (supersedes the uid field. If this is non-zero, use this field, otherwise use uid)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          LANDING_TARGET (149)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          The location of a landing target. See: https://mavlink.io/en/services/landing_target.html

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          target_numuint8_tThe ID of the target if multiple targets are present
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          frameuint8_tMAV_FRAMECoordinate frame used for following fields.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          angle_xfloatradX-axis angular offset of the target from the center of the image
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          angle_yfloatradY-axis angular offset of the target from the center of the image
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          distancefloatmDistance to the target from the vehicle

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          The current MAVLink version is 2.3. The minor version numbers (after the dot) range from 1-255.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAVLink Type Enumerations

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_AUTOPILOT

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          [Enum] Micro air vehicle / autopilot classes. This identifies the individual model.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ValueField NameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          0MAV_AUTOPILOT_GENERICGeneric autopilot, full support for everything
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1MAV_AUTOPILOT_RESERVEDReserved for future use.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2MAV_AUTOPILOT_SLUGSSLUGS autopilot, http://slugsuav.soe.ucsc.edu
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          3MAV_AUTOPILOT_ARDUPILOTMEGAArduPilot - Plane/Copter/Rover/Sub/Tracker, https://ardupilot.org
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          4MAV_AUTOPILOT_OPENPILOTOpenPilot, http://openpilot.org
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          5MAV_AUTOPILOT_GENERIC_WAYPOINTS_ONLYGeneric autopilot only supporting simple waypoints
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          6MAV_AUTOPILOT_GENERIC_WAYPOINTS_AND_SIMPLE_NAVIGATION_ONLYGeneric autopilot supporting waypoints and other simple navigation commands
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          7MAV_AUTOPILOT_GENERIC_MISSION_FULLGeneric autopilot supporting the full mission command set
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          8MAV_AUTOPILOT_INVALIDNo valid autopilot, e.g. a GCS or other MAVLink component
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          9MAV_AUTOPILOT_PPZPPZ UAV - http://nongnu.org/paparazzi
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          10MAV_AUTOPILOT_UDBUAV Dev Board
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          11MAV_AUTOPILOT_FPFlexiPilot
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          12MAV_AUTOPILOT_PX4PX4 Autopilot - http://px4.io/
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          13MAV_AUTOPILOT_SMACCMPILOTSMACCMPilot - http://smaccmpilot.org
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          14MAV_AUTOPILOT_AUTOQUADAutoQuad -- http://autoquad.org
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          15MAV_AUTOPILOT_ARMAZILAArmazila -- http://armazila.com
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          16MAV_AUTOPILOT_AEROBAerob -- http://aerob.ru
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          17MAV_AUTOPILOT_ASLUAVASLUAV autopilot -- http://www.asl.ethz.ch
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          18MAV_AUTOPILOT_SMARTAPSmartAP Autopilot - http://sky-drones.com
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          19MAV_AUTOPILOT_AIRRAILSAirRails - http://uaventure.com
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          20MAV_AUTOPILOT_REFLEXFusion Reflex - https://fusion.engineering

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_TYPE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          [Enum] MAVLINK component type reported in HEARTBEAT message. Flight controllers must report the type of the vehicle on which they are mounted (e.g. MAV_TYPE_OCTOROTOR). All other components must report a value appropriate for their type (e.g. a camera must use MAV_TYPE_CAMERA).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ValueField NameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          0MAV_TYPE_GENERICGeneric micro air vehicle
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1MAV_TYPE_FIXED_WINGFixed wing aircraft.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2MAV_TYPE_QUADROTORQuadrotor
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          3MAV_TYPE_COAXIALCoaxial helicopter
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          4MAV_TYPE_HELICOPTERNormal helicopter with tail rotor.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          5MAV_TYPE_ANTENNA_TRACKERGround installation
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          6MAV_TYPE_GCSOperator control unit / ground control station
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          7MAV_TYPE_AIRSHIPAirship, controlled
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          8MAV_TYPE_FREE_BALLOONFree balloon, uncontrolled
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          9MAV_TYPE_ROCKETRocket
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          10MAV_TYPE_GROUND_ROVERGround rover
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          11MAV_TYPE_SURFACE_BOATSurface vessel, boat, ship
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          12MAV_TYPE_SUBMARINESubmarine
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          13MAV_TYPE_HEXAROTORHexarotor
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          14MAV_TYPE_OCTOROTOROctorotor
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          15MAV_TYPE_TRICOPTERTricopter
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          16MAV_TYPE_FLAPPING_WINGFlapping wing
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          17MAV_TYPE_KITEKite
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          18MAV_TYPE_ONBOARD_CONTROLLEROnboard companion controller
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          19MAV_TYPE_VTOL_TAILSITTER_DUOROTORTwo-rotor Tailsitter VTOL that additionally uses control surfaces in vertical operation. Note, value previously named MAV_TYPE_VTOL_DUOROTOR.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          20MAV_TYPE_VTOL_TAILSITTER_QUADROTORQuad-rotor Tailsitter VTOL using a V-shaped quad config in vertical operation. Note: value previously named MAV_TYPE_VTOL_QUADROTOR.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          21MAV_TYPE_VTOL_TILTROTORTiltrotor VTOL. Fuselage and wings stay (nominally) horizontal in all flight phases. It able to tilt (some) rotors to provide thrust in cruise flight.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          22MAV_TYPE_VTOL_FIXEDROTORVTOL with separate fixed rotors for hover and cruise flight. Fuselage and wings stay (nominally) horizontal in all flight phases.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          23MAV_TYPE_VTOL_TAILSITTERTailsitter VTOL. Fuselage and wings orientation changes depending on flight phase: vertical for hover, horizontal for cruise. Use more specific VTOL MAV_TYPE_VTOL_DUOROTOR or MAV_TYPE_VTOL_QUADROTOR if appropriate.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          24MAV_TYPE_VTOL_RESERVED4VTOL reserved 4
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          25MAV_TYPE_VTOL_RESERVED5VTOL reserved 5
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          26MAV_TYPE_GIMBALGimbal
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          27MAV_TYPE_ADSBADSB system
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          28MAV_TYPE_PARAFOILSteerable, nonrigid airfoil
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          29MAV_TYPE_DODECAROTORDodecarotor
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          30MAV_TYPE_CAMERACamera
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          31MAV_TYPE_CHARGING_STATIONCharging station
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          32MAV_TYPE_FLARMFLARM collision avoidance system
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          33MAV_TYPE_SERVOServo
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          34MAV_TYPE_ODIDOpen Drone ID. See https://mavlink.io/en/services/opendroneid.html.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          35MAV_TYPE_DECAROTORDecarotor
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          36MAV_TYPE_BATTERYBattery
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          37MAV_TYPE_PARACHUTEParachute
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          38MAV_TYPE_LOGLog
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          39MAV_TYPE_OSDOSD
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          40MAV_TYPE_IMUIMU
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          41MAV_TYPE_GPSGPS
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          42MAV_TYPE_WINCHWinch

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_MODE_FLAG

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          [Enum] These flags encode the MAV mode.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ValueField NameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          128MAV_MODE_FLAG_SAFETY_ARMED0b10000000 MAV safety set to armed. Motors are enabled / running / can start. Ready to fly. Additional note: this flag is to be ignore when sent in the command MAV_CMD_DO_SET_MODE and MAV_CMD_COMPONENT_ARM_DISARM shall be used instead. The flag can still be used to report the armed state.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          64MAV_MODE_FLAG_MANUAL_INPUT_ENABLED0b01000000 remote control input is enabled.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          32MAV_MODE_FLAG_HIL_ENABLED0b00100000 hardware in the loop simulation. All motors / actuators are blocked, but internal software is full operational.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          16MAV_MODE_FLAG_STABILIZE_ENABLED0b00010000 system stabilizes electronically its attitude (and optionally position). It needs however further control inputs to move around.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          8MAV_MODE_FLAG_GUIDED_ENABLED0b00001000 guided mode enabled, system flies waypoints / mission items.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          4MAV_MODE_FLAG_AUTO_ENABLED0b00000100 autonomous mode enabled, system finds its own goal positions. Guided flag can be set or not, depends on the actual implementation.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2MAV_MODE_FLAG_TEST_ENABLED0b00000010 system has a test mode enabled. This flag is intended for temporary system tests and should not be used for stable implementations.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1MAV_MODE_FLAG_CUSTOM_MODE_ENABLED0b00000001 Reserved for future use.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_MODE_FLAG_DECODE_POSITION

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          [Enum] These values encode the bit positions of the decode position. These values can be used to read the value of a flag bit by combining the base_mode variable with AND with the flag position value. The result will be either 0 or 1, depending on if the flag is set or not.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ValueField NameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          128MAV_MODE_FLAG_DECODE_POSITION_SAFETYFirst bit: 10000000
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          64MAV_MODE_FLAG_DECODE_POSITION_MANUALSecond bit: 01000000
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          32MAV_MODE_FLAG_DECODE_POSITION_HILThird bit: 00100000
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          16MAV_MODE_FLAG_DECODE_POSITION_STABILIZEFourth bit: 00010000
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          8MAV_MODE_FLAG_DECODE_POSITION_GUIDEDFifth bit: 00001000
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          4MAV_MODE_FLAG_DECODE_POSITION_AUTOSixth bit: 00000100
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2MAV_MODE_FLAG_DECODE_POSITION_TESTSeventh bit: 00000010
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1MAV_MODE_FLAG_DECODE_POSITION_CUSTOM_MODEEighth bit: 00000001

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_STATE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          [Enum]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ValueField NameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          0MAV_STATE_UNINITUninitialized system, state is unknown.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1MAV_STATE_BOOTSystem is booting up.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2MAV_STATE_CALIBRATINGSystem is calibrating and not flight-ready.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          3MAV_STATE_STANDBYSystem is grounded and on standby. It can be launched any time.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          4MAV_STATE_ACTIVESystem is active and might be already airborne. Motors are engaged.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          5MAV_STATE_CRITICALSystem is in a non-normal flight mode. It can however still navigate.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          6MAV_STATE_EMERGENCYSystem is in a non-normal flight mode. It lost control over parts or over the whole airframe. It is in mayday and going down.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          7MAV_STATE_POWEROFFSystem just initialized its power-down sequence, will shut down now.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          8MAV_STATE_FLIGHT_TERMINATIONSystem is terminating itself.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_COMPONENT

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          [Enum] Component ids (values) for the different types and instances of onboard hardware/software that might make up a MAVLink system (autopilot, cameras, servos, GPS systems, avoidance systems etc.). Components must use the appropriate ID in their source address when sending messages. Components can also use IDs to determine if they are the intended recipient of an incoming message. The MAV_COMP_ID_ALL value is used to indicate messages that must be processed by all components. When creating new entries, components that can have multiple instances (e.g. cameras, servos etc.) should be allocated sequential values. An appropriate number of values should be left free after these components to allow the number of instances to be expanded.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          </tr></tr> </tbody> </table>

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAVLink Commands (MAV_CMD)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAVLink commands (MAV_CMD) and messages are different! These commands define the values of up to 7 parameters that are packaged INSIDE specific messages used in the Mission Protocol and Command Protocol. Use commands for actions in missions or if you need acknowledgment and/or retry logic from a request. Otherwise use messages.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAVLink Messages

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          HEARTBEAT (

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          #0
+메세지 (공통) · MAVLink Developer Guide
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAVLINK Common Message Set
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          The MAVLink common message set contains standard definitions that are managed by the MAVLink project. The definitions cover functionality that is considered useful to most ground control stations and autopilots. MAVLink-compatible systems are expected to use these definitions where possible (if an appropriate message exists) rather than rolling out variants in their own dialects.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          The original definitions are defined in common.xml.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAVLink 2 extension fields that have been added to MAVLink 1 messages are displayed in blue. - Entities from dialects are displayed only as headings (with link to original)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Protocol dialect: 0
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Protocol version: 3
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Summary
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ValueField NameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          0MAV_COMP_ID_ALLTarget id (target_component) used to broadcast messages to all components of the receiving system. Components should attempt to process messages with this component ID and forward to components on any other interfaces. Note: This is not a valid *source* component id for a message.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1MAV_COMP_ID_AUTOPILOT1System flight controller component ("autopilot"). Only one autopilot is expected in a particular system.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          25MAV_COMP_ID_USER1Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          26MAV_COMP_ID_USER2Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          27MAV_COMP_ID_USER3Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          28MAV_COMP_ID_USER4Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          29MAV_COMP_ID_USER5Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          30MAV_COMP_ID_USER6Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          31MAV_COMP_ID_USER7Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          32MAV_COMP_ID_USER8Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          33MAV_COMP_ID_USER9Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          34MAV_COMP_ID_USER10Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          35MAV_COMP_ID_USER11Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          36MAV_COMP_ID_USER12Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          37MAV_COMP_ID_USER13Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          38MAV_COMP_ID_USER14Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          39MAV_COMP_ID_USER15Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          40MAV_COMP_ID_USER16Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          41MAV_COMP_ID_USER17Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          42MAV_COMP_ID_USER18Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          43MAV_COMP_ID_USER19Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          44MAV_COMP_ID_USER20Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          45MAV_COMP_ID_USER21Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          46MAV_COMP_ID_USER22Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          47MAV_COMP_ID_USER23Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          48MAV_COMP_ID_USER24Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          49MAV_COMP_ID_USER25Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          50MAV_COMP_ID_USER26Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          51MAV_COMP_ID_USER27Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          52MAV_COMP_ID_USER28Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          53MAV_COMP_ID_USER29Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          54MAV_COMP_ID_USER30Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          55MAV_COMP_ID_USER31Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          56MAV_COMP_ID_USER32Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          57MAV_COMP_ID_USER33Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          58MAV_COMP_ID_USER34Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          59MAV_COMP_ID_USER35Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          60MAV_COMP_ID_USER36Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          61MAV_COMP_ID_USER37Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          62MAV_COMP_ID_USER38Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          63MAV_COMP_ID_USER39Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          64MAV_COMP_ID_USER40Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          65MAV_COMP_ID_USER41Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          66MAV_COMP_ID_USER42Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          67MAV_COMP_ID_USER43Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          68MAV_COMP_ID_TELEMETRY_RADIOTelemetry radio (e.g. SiK radio, or other component that emits RADIO_STATUS messages).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          69MAV_COMP_ID_USER45Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          70MAV_COMP_ID_USER46Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          71MAV_COMP_ID_USER47Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          72MAV_COMP_ID_USER48Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          73MAV_COMP_ID_USER49Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          74MAV_COMP_ID_USER50Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          75MAV_COMP_ID_USER51Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          76MAV_COMP_ID_USER52Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          77MAV_COMP_ID_USER53Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          78MAV_COMP_ID_USER54Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          79MAV_COMP_ID_USER55Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          80MAV_COMP_ID_USER56Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          81MAV_COMP_ID_USER57Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          82MAV_COMP_ID_USER58Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          83MAV_COMP_ID_USER59Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          84MAV_COMP_ID_USER60Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          85MAV_COMP_ID_USER61Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          86MAV_COMP_ID_USER62Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          87MAV_COMP_ID_USER63Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          88MAV_COMP_ID_USER64Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          89MAV_COMP_ID_USER65Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          90MAV_COMP_ID_USER66Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          91MAV_COMP_ID_USER67Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          92MAV_COMP_ID_USER68Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          93MAV_COMP_ID_USER69Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          94MAV_COMP_ID_USER70Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          95MAV_COMP_ID_USER71Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          96MAV_COMP_ID_USER72Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          97MAV_COMP_ID_USER73Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          98MAV_COMP_ID_USER74Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          99MAV_COMP_ID_USER75Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          100MAV_COMP_ID_CAMERACamera #1.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          101MAV_COMP_ID_CAMERA2Camera #2.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          102MAV_COMP_ID_CAMERA3Camera #3.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          103MAV_COMP_ID_CAMERA4Camera #4.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          104MAV_COMP_ID_CAMERA5Camera #5.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          105MAV_COMP_ID_CAMERA6Camera #6.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          140MAV_COMP_ID_SERVO1Servo #1.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          141MAV_COMP_ID_SERVO2Servo #2.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          142MAV_COMP_ID_SERVO3Servo #3.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          143MAV_COMP_ID_SERVO4Servo #4.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          144MAV_COMP_ID_SERVO5Servo #5.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          145MAV_COMP_ID_SERVO6Servo #6.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          146MAV_COMP_ID_SERVO7Servo #7.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          147MAV_COMP_ID_SERVO8Servo #8.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          148MAV_COMP_ID_SERVO9Servo #9.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          149MAV_COMP_ID_SERVO10Servo #10.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          150MAV_COMP_ID_SERVO11Servo #11.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          151MAV_COMP_ID_SERVO12Servo #12.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          152MAV_COMP_ID_SERVO13Servo #13.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          153MAV_COMP_ID_SERVO14Servo #14.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          154MAV_COMP_ID_GIMBALGimbal #1.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          155MAV_COMP_ID_LOGLogging component.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          156MAV_COMP_ID_ADSBAutomatic Dependent Surveillance-Broadcast (ADS-B) component.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          157MAV_COMP_ID_OSDOn Screen Display (OSD) devices for video links.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          158MAV_COMP_ID_PERIPHERALGeneric autopilot peripheral component ID. Meant for devices that do not implement the parameter microservice.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          159MAV_COMP_ID_QX1_GIMBAL

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          DEPRECATED: Replaced by MAV_COMP_ID_GIMBAL (2018-11).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          All gimbals should use MAV_COMP_ID_GIMBAL.</p> </td>

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          		Gimbal ID for QX1.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          160MAV_COMP_ID_FLARMFLARM collision alert component.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          161MAV_COMP_ID_PARACHUTEParachute component.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          171MAV_COMP_ID_GIMBAL2Gimbal #2.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          172MAV_COMP_ID_GIMBAL3Gimbal #3.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          173MAV_COMP_ID_GIMBAL4Gimbal #4
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          174MAV_COMP_ID_GIMBAL5Gimbal #5.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          175MAV_COMP_ID_GIMBAL6Gimbal #6.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          180MAV_COMP_ID_BATTERYBattery #1.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          181MAV_COMP_ID_BATTERY2Battery #2.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          189MAV_COMP_ID_MAVCANCAN over MAVLink client.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          190MAV_COMP_ID_MISSIONPLANNERComponent that can generate/supply a mission flight plan (e.g. GCS or developer API).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          191MAV_COMP_ID_ONBOARD_COMPUTERComponent that lives on the onboard computer (companion computer) and has some generic functionalities, such as settings system parameters and monitoring the status of some processes that don't directly speak mavlink and so on.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          192MAV_COMP_ID_ONBOARD_COMPUTER2Component that lives on the onboard computer (companion computer) and has some generic functionalities, such as settings system parameters and monitoring the status of some processes that don't directly speak mavlink and so on.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          193MAV_COMP_ID_ONBOARD_COMPUTER3Component that lives on the onboard computer (companion computer) and has some generic functionalities, such as settings system parameters and monitoring the status of some processes that don't directly speak mavlink and so on.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          194MAV_COMP_ID_ONBOARD_COMPUTER4Component that lives on the onboard computer (companion computer) and has some generic functionalities, such as settings system parameters and monitoring the status of some processes that don't directly speak mavlink and so on.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          195MAV_COMP_ID_PATHPLANNERComponent that finds an optimal path between points based on a certain constraint (e.g. minimum snap, shortest path, cost, etc.).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          196MAV_COMP_ID_OBSTACLE_AVOIDANCEComponent that plans a collision free path between two points.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          197MAV_COMP_ID_VISUAL_INERTIAL_ODOMETRYComponent that provides position estimates using VIO techniques.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          198MAV_COMP_ID_PAIRING_MANAGERComponent that manages pairing of vehicle and GCS.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          200MAV_COMP_ID_IMUInertial Measurement Unit (IMU) #1.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          201MAV_COMP_ID_IMU_2Inertial Measurement Unit (IMU) #2.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          202MAV_COMP_ID_IMU_3Inertial Measurement Unit (IMU) #3.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          220MAV_COMP_ID_GPSGPS #1.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          221MAV_COMP_ID_GPS2GPS #2.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          236MAV_COMP_ID_ODID_TXRX_1Open Drone ID transmitter/receiver (Bluetooth/WiFi/Internet).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          237MAV_COMP_ID_ODID_TXRX_2Open Drone ID transmitter/receiver (Bluetooth/WiFi/Internet).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          238MAV_COMP_ID_ODID_TXRX_3Open Drone ID transmitter/receiver (Bluetooth/WiFi/Internet).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          240MAV_COMP_ID_UDP_BRIDGEComponent to bridge MAVLink to UDP (i.e. from a UART).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          241MAV_COMP_ID_UART_BRIDGEComponent to bridge to UART (i.e. from UDP).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          242MAV_COMP_ID_TUNNEL_NODEComponent handling TUNNEL messages (e.g. vendor specific GUI of a component).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          250MAV_COMP_ID_SYSTEM_CONTROL

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          DEPRECATED: Replaced by MAV_COMP_ID_ALL (2018-11).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          System control does not require a separate component ID. Instead, system commands should be sent with target_component=MAV_COMP_ID_ALL allowing the target component to use any appropriate component id.</p> </td>

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          		Deprecated, don't use. Component for handling system messages (e.g. to ARM, takeoff, etc.).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          TypeDefinedIncluded
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Messages2222
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Enums1376
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Commands1640

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          The following sections list all entities in the dialect (both included and defined in this file).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Messages

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          HEARTBEAT (0) — [from: minimal]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          The heartbeat message shows that a system or component is present and responding. The type and autopilot fields (along with the message component id), allow the receiving system to treat further messages from this system appropriately (e.g. by laying out the user interface based on the autopilot). This microservice is documented at https://mavlink.io/en/services/heartbeat.html

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          typeuint8_tMAV_TYPEVehicle or component type. For a flight controller component the vehicle type (quadrotor, helicopter, etc.). For other components the component type (e.g. camera, gimbal, etc.). This should be used in preference to component id for identifying the component type.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          autopilotuint8_tMAV_AUTOPILOTAutopilot type / class. Use MAV_AUTOPILOT_INVALID for components that are not flight controllers.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          base_modeuint8_tMAV_MODE_FLAGSystem mode bitmap.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          custom_modeuint32_tA bitfield for use for autopilot-specific flags
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          system_statusuint8_tMAV_STATESystem status flag.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          mavlink_versionuint8_t_mavlink_versionMAVLink version, not writable by user, gets added by protocol because of magic data type: uint8_t_mavlink_version

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          SYS_STATUS (1)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          The general system state. If the system is following the MAVLink standard, the system state is mainly defined by three orthogonal states/modes: The system mode, which is either LOCKED (motors shut down and locked), MANUAL (system under RC control), GUIDED (system with autonomous position control, position setpoint controlled manually) or AUTO (system guided by path/waypoint planner). The NAV_MODE defined the current flight state: LIFTOFF (often an open-loop maneuver), LANDING, WAYPOINTS or VECTOR. This represents the internal navigation state machine. The system status shows whether the system is currently active or not and if an emergency occurred. During the CRITICAL and EMERGENCY states the MAV is still considered to be active, but should start emergency procedures autonomously. After a failure occurred it should first move from active to critical to allow manual intervention and then move to emergency after a certain timeout.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          onboard_control_sensors_presentuint32_tMAV_SYS_STATUS_SENSORBitmap showing which onboard controllers and sensors are present. Value of 0: not present. Value of 1: present.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          onboard_control_sensors_enableduint32_tMAV_SYS_STATUS_SENSORBitmap showing which onboard controllers and sensors are enabled: Value of 0: not enabled. Value of 1: enabled.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          onboard_control_sensors_healthuint32_tMAV_SYS_STATUS_SENSORBitmap showing which onboard controllers and sensors have an error (or are operational). Value of 0: error. Value of 1: healthy.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          loaduint16_td%Maximum usage in percent of the mainloop time. Values: [0-1000] - should always be below 1000
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          voltage_batteryuint16_tmVinvalid:UINT16_MAXBattery voltage, UINT16_MAX: Voltage not sent by autopilot
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          current_batteryint16_tcAinvalid:-1Battery current, -1: Current not sent by autopilot
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          battery_remainingint8_t%invalid:-1Battery energy remaining, -1: Battery remaining energy not sent by autopilot
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          drop_rate_commuint16_tc%Communication drop rate, (UART, I2C, SPI, CAN), dropped packets on all links (packets that were corrupted on reception on the MAV)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          errors_commuint16_tCommunication errors (UART, I2C, SPI, CAN), dropped packets on all links (packets that were corrupted on reception on the MAV)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          errors_count1uint16_tAutopilot-specific errors
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          errors_count2uint16_tAutopilot-specific errors
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          errors_count3uint16_tAutopilot-specific errors
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          errors_count4uint16_tAutopilot-specific errors
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          onboard_control_sensors_present_extended ++uint32_tMAV_SYS_STATUS_SENSOR_EXTENDEDBitmap showing which onboard controllers and sensors are present. Value of 0: not present. Value of 1: present.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          onboard_control_sensors_enabled_extended ++uint32_tMAV_SYS_STATUS_SENSOR_EXTENDEDBitmap showing which onboard controllers and sensors are enabled: Value of 0: not enabled. Value of 1: enabled.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          onboard_control_sensors_health_extended ++uint32_tMAV_SYS_STATUS_SENSOR_EXTENDEDBitmap showing which onboard controllers and sensors have an error (or are operational). Value of 0: error. Value of 1: healthy.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          SYSTEM_TIME (2)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          The system time is the time of the master clock, typically the computer clock of the main onboard computer.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          time_unix_usecuint64_tusTimestamp (UNIX epoch time).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          time_boot_msuint32_tmsTimestamp (time since system boot).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          PING (4) — [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          DEPRECATED: Replaced By SYSTEM_TIME (2011-08) — to be removed / merged with SYSTEM_TIME)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          A ping message either requesting or responding to a ping. This allows to measure the system latencies, including serial port, radio modem and UDP connections. The ping microservice is documented at https://mavlink.io/en/services/ping.html

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          sequint32_tPING sequence
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          target_systemuint8_t0: request ping from all receiving systems. If greater than 0: message is a ping response and number is the system id of the requesting system
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          target_componentuint8_t0: request ping from all receiving components. If greater than 0: message is a ping response and number is the component id of the requesting component.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          CHANGE_OPERATOR_CONTROL (5)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Request to control this MAV

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          target_systemuint8_tSystem the GCS requests control for
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          control_requestuint8_t0: request control of this MAV, 1: Release control of this MAV
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          versionuint8_trad0: key as plaintext, 1-255: future, different hashing/encryption variants. The GCS should in general use the safest mode possible initially and then gradually move down the encryption level if it gets a NACK message indicating an encryption mismatch.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          passkeychar[25]Password / Key, depending on version plaintext or encrypted. 25 or less characters, NULL terminated. The characters may involve A-Z, a-z, 0-9, and "!?,.-"

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          CHANGE_OPERATOR_CONTROL_ACK (6)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Accept / deny control of this MAV

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          gcs_system_iduint8_tID of the GCS this message
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          control_requestuint8_t0: request control of this MAV, 1: Release control of this MAV
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ackuint8_t0: ACK, 1: NACK: Wrong passkey, 2: NACK: Unsupported passkey encryption method, 3: NACK: Already under control

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          AUTH_KEY (7)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Emit an encrypted signature / key identifying this system. PLEASE NOTE: This protocol has been kept simple, so transmitting the key requires an encrypted channel for true safety.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          keychar[32]key

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Status generated in each node in the communication chain and injected into MAVLink stream.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          timestampuint64_tmsTimestamp (time since system boot).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          tx_bufuint8_t%Remaining free transmit buffer space
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          rx_bufuint8_t%Remaining free receive buffer space
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          tx_rateuint32_tbytes/sTransmit rate
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          rx_rateuint32_tbytes/sReceive rate
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          rx_parse_erruint16_tbytesNumber of bytes that could not be parsed correctly.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          tx_overflowsuint16_tbytesTransmit buffer overflows. This number wraps around as it reaches UINT16_MAX
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          rx_overflowsuint16_tbytesReceive buffer overflows. This number wraps around as it reaches UINT16_MAX
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          messages_sentuint32_tMessages sent
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          messages_receiveduint32_tMessages received (estimated from counting seq)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          messages_lostuint32_tMessages lost (estimated from counting seq)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          SET_MODE (11) — [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          DEPRECATED: Replaced By MAV_CMD_DO_SET_MODE (2015-12) — Use COMMAND_LONG with MAV_CMD_DO_SET_MODE instead)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Set the system mode, as defined by enum MAV_MODE. There is no target component id as the mode is by definition for the overall aircraft, not only for one component.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          target_systemuint8_tThe system setting the mode
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          base_modeuint8_tMAV_MODEThe new base mode.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          custom_modeuint32_tThe new autopilot-specific mode. This field can be ignored by an autopilot.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          PARAM_REQUEST_READ (20)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Request to read the onboard parameter with the param_id string id. Onboard parameters are stored as key[const char*] -> value[float]. This allows to send a parameter to any other component (such as the GCS) without the need of previous knowledge of possible parameter names. Thus the same GCS can store different parameters for different autopilots. See also https://mavlink.io/en/services/parameter.html for a full documentation of QGroundControl and IMU code.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          target_systemuint8_tSystem ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          target_componentuint8_tComponent ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          param_idchar[16]Onboard parameter id, terminated by NULL if the length is less than 16 human-readable chars and WITHOUT null termination (NULL) byte if the length is exactly 16 chars - applications have to provide 16+1 bytes storage if the ID is stored as string
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          param_indexint16_tParameter index. Send -1 to use the param ID field as identifier (else the param id will be ignored)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          PARAM_REQUEST_LIST (21)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Request all parameters of this component. After this request, all parameters are emitted. The parameter microservice is documented at https://mavlink.io/en/services/parameter.html

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          target_systemuint8_tSystem ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          target_componentuint8_tComponent ID

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          PARAM_VALUE (22)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Emit the value of a onboard parameter. The inclusion of param_count and param_index in the message allows the recipient to keep track of received parameters and allows him to re-request missing parameters after a loss or timeout. The parameter microservice is documented at https://mavlink.io/en/services/parameter.html

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          param_idchar[16]Onboard parameter id, terminated by NULL if the length is less than 16 human-readable chars and WITHOUT null termination (NULL) byte if the length is exactly 16 chars - applications have to provide 16+1 bytes storage if the ID is stored as string
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          param_valuefloatOnboard parameter value
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          param_typeuint8_tMAV_PARAM_TYPEOnboard parameter type.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          param_countuint16_tTotal number of onboard parameters
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          param_indexuint16_tIndex of this onboard parameter

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          PARAM_SET (23)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Set a parameter value (write new value to permanent storage).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          The receiving component should acknowledge the new parameter value by broadcasting a PARAM_VALUE message (broadcasting ensures that multiple GCS all have an up-to-date list of all parameters). If the sending GCS did not receive a PARAM_VALUE within its timeout time, it should re-send the PARAM_SET message. The parameter microservice is documented at https://mavlink.io/en/services/parameter.html. PARAM_SET may also be called within the context of a transaction (started with MAV_CMD_PARAM_TRANSACTION). Within a transaction the receiving component should respond with PARAM_ACK_TRANSACTION to the setter component (instead of broadcasting PARAM_VALUE), and PARAM_SET should be re-sent if this is ACK not received.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          target_systemuint8_tSystem ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          target_componentuint8_tComponent ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          param_idchar[16]Onboard parameter id, terminated by NULL if the length is less than 16 human-readable chars and WITHOUT null termination (NULL) byte if the length is exactly 16 chars - applications have to provide 16+1 bytes storage if the ID is stored as string
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          param_valuefloatOnboard parameter value
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          param_typeuint8_tMAV_PARAM_TYPEOnboard parameter type.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          GPS_RAW_INT (24)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          The global position, as returned by the Global Positioning System (GPS). This is

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          NOT the global position estimate of the system, but rather a RAW sensor value. See message GLOBAL_POSITION_INT for the global position estimate.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeUnitsMultiplierValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          fix_typeuint8_tGPS_FIX_TYPEGPS fix type.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          latint32_tdegE7Latitude (WGS84, EGM96 ellipsoid)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          lonint32_tdegE7Longitude (WGS84, EGM96 ellipsoid)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          altint32_tmmAltitude (MSL). Positive for up. Note that virtually all GPS modules provide the MSL altitude in addition to the WGS84 altitude.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ephuint16_t1E-2invalid:UINT16_MAXGPS HDOP horizontal dilution of position (unitless * 100). If unknown, set to: UINT16_MAX
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          epvuint16_t1E-2invalid:UINT16_MAXGPS VDOP vertical dilution of position (unitless * 100). If unknown, set to: UINT16_MAX
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          veluint16_tcm/sinvalid:UINT16_MAXGPS ground speed. If unknown, set to: UINT16_MAX
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          coguint16_tcdeginvalid:UINT16_MAXCourse over ground (NOT heading, but direction of movement) in degrees * 100, 0.0..359.99 degrees. If unknown, set to: UINT16_MAX
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          satellites_visibleuint8_tinvalid:UINT8_MAXNumber of satellites visible. If unknown, set to UINT8_MAX
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          alt_ellipsoid ++int32_tmmAltitude (above WGS84, EGM96 ellipsoid). Positive for up.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          h_acc ++uint32_tmmPosition uncertainty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          v_acc ++uint32_tmmAltitude uncertainty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          vel_acc ++uint32_tmmSpeed uncertainty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          hdg_acc ++uint32_tdegE5Heading / track uncertainty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          yaw ++uint16_tcdeginvalid:0Yaw in earth frame from north. Use 0 if this GPS does not provide yaw. Use UINT16_MAX if this GPS is configured to provide yaw and is currently unable to provide it. Use 36000 for north.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          GPS_STATUS (25)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          The positioning status, as reported by GPS. This message is intended to display status information about each satellite visible to the receiver. See message GLOBAL_POSITION_INT for the global position estimate. This message can contain information for up to 20 satellites.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeUnitsMultiplierDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          satellites_visibleuint8_tNumber of satellites visible
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          satellite_prnuint8_t[20]Global satellite ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          satellite_useduint8_t[20]0: Satellite not used, 1: used for localization
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          satellite_elevationuint8_t[20]degElevation (0: right on top of receiver, 90: on the horizon) of satellite
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          satellite_azimuthuint8_t[20]deg360/255Direction of satellite, 0: 0 deg, 255: 360 deg.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          satellite_snruint8_t[20]dBSignal to noise ratio of satellite

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          SCALED_IMU (26)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          The RAW IMU readings for the usual 9DOF sensor setup. This message should contain the scaled values to the described units

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          time_boot_msuint32_tmsTimestamp (time since system boot).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          xaccint16_tmGX acceleration
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          yaccint16_tmGY acceleration
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          zaccint16_tmGZ acceleration
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          xgyroint16_tmrad/sAngular speed around X axis
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ygyroint16_tmrad/sAngular speed around Y axis
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          zgyroint16_tmrad/sAngular speed around Z axis
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          xmagint16_tmgaussX Magnetic field
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ymagint16_tmgaussY Magnetic field
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          zmagint16_tmgaussZ Magnetic field
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          temperature ++int16_tcdegCTemperature, 0: IMU does not provide temperature values. If the IMU is at 0C it must send 1 (0.01C).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          RAW_IMU (27)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          The RAW IMU readings for a 9DOF sensor, which is identified by the id (default IMU1). This message should always contain the true raw values without any scaling to allow data capture and system debugging.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          xaccint16_tX acceleration (raw)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          yaccint16_tY acceleration (raw)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          zaccint16_tZ acceleration (raw)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          xgyroint16_tAngular speed around X axis (raw)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ygyroint16_tAngular speed around Y axis (raw)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          zgyroint16_tAngular speed around Z axis (raw)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          xmagint16_tX Magnetic field (raw)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ymagint16_tY Magnetic field (raw)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          zmagint16_tZ Magnetic field (raw)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          id ++uint8_tId. Ids are numbered from 0 and map to IMUs numbered from 1 (e.g. IMU1 will have a message with id=0)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Messages with same value are from the same source (instance). | | temperature ++ | int16_t | cdegC | Temperature, 0: IMU does not provide temperature values. If the IMU is at 0C it must send 1 (0.01C). |

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          RAW_PRESSURE (28)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          The RAW pressure readings for the typical setup of one absolute pressure and one differential pressure sensor. The sensor values should be the raw, UNSCALED ADC values.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          press_absint16_tAbsolute pressure (raw)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          press_diff1int16_tDifferential pressure 1 (raw, 0 if nonexistent)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          press_diff2int16_tDifferential pressure 2 (raw, 0 if nonexistent)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          temperatureint16_tRaw Temperature measurement (raw)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          SCALED_PRESSURE (29)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          The pressure readings for the typical setup of one absolute and differential pressure sensor. The units are as specified in each field.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          time_boot_msuint32_tmsTimestamp (time since system boot).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          press_absfloathPaAbsolute pressure
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          press_difffloathPaDifferential pressure 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          temperatureint16_tcdegCAbsolute pressure temperature
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          temperature_press_diff ++int16_tcdegCDifferential pressure temperature (0, if not available). Report values of 0 (or 1) as 1 cdegC.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ATTITUDE (30)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          The attitude in the aeronautical frame (right-handed, Z-down, Y-right, X-front, ZYX, intrinsic).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          time_boot_msuint32_tmsTimestamp (time since system boot).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          rollfloatradRoll angle (-pi..+pi)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          pitchfloatradPitch angle (-pi..+pi)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          yawfloatradYaw angle (-pi..+pi)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          rollspeedfloatrad/sRoll angular speed
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          pitchspeedfloatrad/sPitch angular speed
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          yawspeedfloatrad/sYaw angular speed

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ATTITUDE_QUATERNION (31)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          The attitude in the aeronautical frame (right-handed, Z-down, X-front, Y-right), expressed as quaternion. Quaternion order is w, x, y, z and a zero rotation would be expressed as (1 0 0 0).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          time_boot_msuint32_tmsTimestamp (time since system boot).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          q1floatQuaternion component 1, w (1 in null-rotation)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          q2floatQuaternion component 2, x (0 in null-rotation)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          q3floatQuaternion component 3, y (0 in null-rotation)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          q4floatQuaternion component 4, z (0 in null-rotation)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          rollspeedfloatrad/sRoll angular speed
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          pitchspeedfloatrad/sPitch angular speed
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          yawspeedfloatrad/sYaw angular speed
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          repr_offset_q ++float[4]Rotation offset by which the attitude quaternion and angular speed vector should be rotated for user display (quaternion with [w, x, y, z] order, zero-rotation is [1, 0, 0, 0], send [0, 0, 0, 0] if field not supported). This field is intended for systems in which the reference attitude may change during flight. For example, tailsitters VTOLs rotate their reference attitude by 90 degrees between hover mode and fixed wing mode, thus repr_offset_q is equal to [1, 0, 0, 0] in hover mode and equal to [0.7071, 0, 0.7071, 0] in fixed wing mode.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          LOCAL_POSITION_NED (32)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          The filtered local position (e.g. fused computer vision and accelerometers). Coordinate frame is right-handed, Z-axis down (aeronautical frame, NED / north-east-down convention)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          time_boot_msuint32_tmsTimestamp (time since system boot).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          xfloatmX Position
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          yfloatmY Position
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          zfloatmZ Position
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          vxfloatm/sX Speed
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          vyfloatm/sY Speed
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          vzfloatm/sZ Speed

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          GLOBAL_POSITION_INT (33)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          The filtered global position (e.g. fused GPS and accelerometers). The position is in GPS-frame (right-handed, Z-up). It

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          is designed as scaled integer message since the resolution of float is not sufficient.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          time_boot_msuint32_tmsTimestamp (time since system boot).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          latint32_tdegE7Latitude, expressed
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          lonint32_tdegE7Longitude, expressed
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          altint32_tmmAltitude (MSL). Note that virtually all GPS modules provide both WGS84 and MSL.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          relative_altint32_tmmAltitude above home
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          vxint16_tcm/sGround X Speed (Latitude, positive north)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          vyint16_tcm/sGround Y Speed (Longitude, positive east)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          vzint16_tcm/sGround Z Speed (Altitude, positive down)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          hdguint16_tcdegVehicle heading (yaw angle), 0.0..359.99 degrees. If unknown, set to: UINT16_MAX

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          RC_CHANNELS_SCALED (34)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          The scaled values of the RC channels received: (-100%) -10000, (0%) 0, (100%) 10000. Channels that are inactive should be set to INT16_MAX.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          time_boot_msuint32_tmsTimestamp (time since system boot).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          portuint8_tServo output port (set of 8 outputs = 1 port). Flight stacks running on Pixhawk should use: 0 = MAIN, 1 = AUX.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          chan1_scaledint16_tRC channel 1 value scaled.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          chan2_scaledint16_tRC channel 2 value scaled.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          chan3_scaledint16_tRC channel 3 value scaled.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          chan4_scaledint16_tRC channel 4 value scaled.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          chan5_scaledint16_tRC channel 5 value scaled.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          chan6_scaledint16_tRC channel 6 value scaled.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          chan7_scaledint16_tRC channel 7 value scaled.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          chan8_scaledint16_tRC channel 8 value scaled.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          rssiuint8_tReceive signal strength indicator in device-dependent units/scale. Values: [0-254], UINT8_MAX: invalid/unknown.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          RC_CHANNELS_RAW (35)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          The RAW values of the RC channels received. The standard PPM modulation is as follows: 1000 microseconds: 0%, 2000 microseconds: 100%. A value of UINT16_MAX implies the channel is unused. Individual receivers/transmitters might violate this specification.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          time_boot_msuint32_tmsTimestamp (time since system boot).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          portuint8_tServo output port (set of 8 outputs = 1 port). Flight stacks running on Pixhawk should use: 0 = MAIN, 1 = AUX.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          chan1_rawuint16_tusRC channel 1 value.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          chan2_rawuint16_tusRC channel 2 value.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          chan3_rawuint16_tusRC channel 3 value.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          chan4_rawuint16_tusRC channel 4 value.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          chan5_rawuint16_tusRC channel 5 value.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          chan6_rawuint16_tusRC channel 6 value.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          chan7_rawuint16_tusRC channel 7 value.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          chan8_rawuint16_tusRC channel 8 value.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          rssiuint8_tReceive signal strength indicator in device-dependent units/scale. Values: [0-254], UINT8_MAX: invalid/unknown.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          SERVO_OUTPUT_RAW (36)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Superseded by ACTUATOR_OUTPUT_STATUS. The RAW values of the servo outputs (for RC input from the remote, use the RC_CHANNELS messages). The standard PPM modulation is as follows: 1000 microseconds: 0%, 2000 microseconds: 100%.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          time_usecuint32_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          portuint8_tServo output port (set of 8 outputs = 1 port). Flight stacks running on Pixhawk should use: 0 = MAIN, 1 = AUX.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          servo1_rawuint16_tusServo output 1 value
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          servo2_rawuint16_tusServo output 2 value
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          servo3_rawuint16_tusServo output 3 value
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          servo4_rawuint16_tusServo output 4 value
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          servo5_rawuint16_tusServo output 5 value
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          servo6_rawuint16_tusServo output 6 value
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          servo7_rawuint16_tusServo output 7 value
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          servo8_rawuint16_tusServo output 8 value
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          servo9_raw ++uint16_tusServo output 9 value
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          servo10_raw ++uint16_tusServo output 10 value
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          servo11_raw ++uint16_tusServo output 11 value
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          servo12_raw ++uint16_tusServo output 12 value
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          servo13_raw ++uint16_tusServo output 13 value
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          servo14_raw ++uint16_tusServo output 14 value
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          servo15_raw ++uint16_tusServo output 15 value
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          servo16_raw ++uint16_tusServo output 16 value

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MISSION_REQUEST_PARTIAL_LIST (37)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Request a partial list of mission items from the system/component. https://mavlink.io/en/services/mission.html. If start and end index are the same, just send one waypoint.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          target_systemuint8_tSystem ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          target_componentuint8_tComponent ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          start_indexint16_tStart index
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          end_indexint16_tEnd index, -1 by default (-1: send list to end). Else a valid index of the list
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          mission_type ++uint8_tMAV_MISSION_TYPEMission type.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MISSION_WRITE_PARTIAL_LIST (38)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          This message is sent to the MAV to write a partial list. If start index == end index, only one item will be transmitted / updated. If the start index is NOT 0 and above the current list size, this request should be REJECTED!

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          target_systemuint8_tSystem ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          target_componentuint8_tComponent ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          start_indexint16_tStart index. Must be smaller / equal to the largest index of the current onboard list.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          end_indexint16_tEnd index, equal or greater than start index.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          mission_type ++uint8_tMAV_MISSION_TYPEMission type.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MISSION_ITEM (39) — [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          DEPRECATED: Replaced By MISSION_ITEM_INT (2020-06)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Message encoding a mission item. This message is emitted to announce

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          the presence of a mission item and to set a mission item on the system. The mission item can be either in x, y, z meters (type: LOCAL) or x:lat, y:lon, z:altitude. Local frame is Z-down, right handed (NED), global frame is Z-up, right handed (ENU). NaN may be used to indicate an optional/default value (e.g. to use the system's current latitude or yaw rather than a specific value). See also https://mavlink.io/en/services/mission.html.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          target_systemuint8_tSystem ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          target_componentuint8_tComponent ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          sequint16_tSequence
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          frameuint8_tMAV_FRAMEThe coordinate system of the waypoint.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          commanduint16_tMAV_CMDThe scheduled action for the waypoint.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          currentuint8_tfalse:0, true:1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          autocontinueuint8_tAutocontinue to next waypoint. 0: false, 1: true. Set false to pause mission after the item completes.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          param1floatPARAM1, see MAV_CMD enum
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          param2floatPARAM2, see MAV_CMD enum
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          param3floatPARAM3, see MAV_CMD enum
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          param4floatPARAM4, see MAV_CMD enum
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          xfloatPARAM5 / local: X coordinate, global: latitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          yfloatPARAM6 / local: Y coordinate, global: longitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          zfloatPARAM7 / local: Z coordinate, global: altitude (relative or absolute, depending on frame).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          mission_type ++uint8_tMAV_MISSION_TYPEMission type.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MISSION_REQUEST (40) — [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          DEPRECATED: Replaced By MISSION_REQUEST_INT (2020-06) — A system that gets this request should respond with MISSION_ITEM_INT (as though MISSION_REQUEST_INT was received).)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Request the information of the mission item with the sequence number seq. The response of the system to this message should be a MISSION_ITEM message. https://mavlink.io/en/services/mission.html

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          target_systemuint8_tSystem ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          target_componentuint8_tComponent ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          sequint16_tSequence
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          mission_type ++uint8_tMAV_MISSION_TYPEMission type.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MISSION_SET_CURRENT (41) — [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          DEPRECATED: Replaced By MAV_CMD_DO_SET_MISSION_CURRENT (2022-08)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Set the mission item with sequence number seq as the current item and emit MISSION_CURRENT (whether or not the mission number changed). If a mission is currently being executed, the system will continue to this new mission item on the shortest path, skipping any intermediate mission items. Note that mission jump repeat counters are not reset (see MAV_CMD_DO_JUMP param2).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          This message may trigger a mission state-machine change on some systems: for example from MISSION_STATE_NOT_STARTED or MISSION_STATE_PAUSED to MISSION_STATE_ACTIVE. If the system is in mission mode, on those systems this command might therefore start, restart or resume the mission. If the system is not in mission mode this message must not trigger a switch to mission mode.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          target_systemuint8_tSystem ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          target_componentuint8_tComponent ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          sequint16_tSequence

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MISSION_CURRENT (42)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Message that announces the sequence number of the current target mission item (that the system will fly towards/execute when the mission is running). This message should be streamed all the time (nominally at 1Hz). This message should be emitted following a call to MAV_CMD_DO_SET_MISSION_CURRENT or SET_MISSION_CURRENT.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          sequint16_tSequence
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          total ++uint16_tinvalid:UINT16_MAXTotal number of mission items on vehicle (on last item, sequence == total). If the autopilot stores its home location as part of the mission this will be excluded from the total. 0: Not supported, UINT16_MAX if no mission is present on the vehicle.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          mission_state ++uint8_tinvalid:0 MISSION_STATEMission state machine state. MISSION_STATE_UNKNOWN if state reporting not supported.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          mission_mode ++uint8_tinvalid:0Vehicle is in a mode that can execute mission items or suspended. 0: Unknown, 1: In mission mode, 2: Suspended (not in mission mode).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          mission_id ++uint32_tinvalid:0Id of current on-vehicle mission plan, or 0 if IDs are not supported or there is no mission loaded. GCS can use this to track changes to the mission plan type. The same value is returned on mission upload (in the MISSION_ACK).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          fence_id ++uint32_tinvalid:0Id of current on-vehicle fence plan, or 0 if IDs are not supported or there is no fence loaded. GCS can use this to track changes to the fence plan type. The same value is returned on fence upload (in the MISSION_ACK).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          rally_points_id ++uint32_tinvalid:0Id of current on-vehicle rally point plan, or 0 if IDs are not supported or there are no rally points loaded. GCS can use this to track changes to the rally point plan type. The same value is returned on rally point upload (in the MISSION_ACK).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MISSION_REQUEST_LIST (43)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Request the overall list of mission items from the system/component.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          target_systemuint8_tSystem ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          target_componentuint8_tComponent ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          mission_type ++uint8_tMAV_MISSION_TYPEMission type.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MISSION_COUNT (44)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          This message is emitted as response to MISSION_REQUEST_LIST by the MAV and to initiate a write transaction. The GCS can then request the individual mission item based on the knowledge of the total number of waypoints.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          target_systemuint8_tSystem ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          target_componentuint8_tComponent ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          countuint16_tNumber of mission items in the sequence
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          mission_type ++uint8_tMAV_MISSION_TYPEMission type.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          opaque_id ++uint32_tinvalid:0Id of current on-vehicle mission, fence, or rally point plan (on download from vehicle).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          This field is used when downloading a plan from a vehicle to a GCS.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          0 on upload to the vehicle from GCS.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          0 if plan ids are not supported.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          The current on-vehicle plan ids are streamed in [MISSION_CURRENT](#MISSION_CURRENT), allowing a GCS to determine if any part of the plan has changed and needs to be re-uploaded.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          The ids are recalculated by the vehicle when any part of the on-vehicle plan changes (when a new plan is uploaded, the vehicle returns the new id to the GCS in MISSION_ACK). |

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MISSION_CLEAR_ALL (45)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Delete all mission items at once.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          target_systemuint8_tSystem ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          target_componentuint8_tComponent ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          mission_type ++uint8_tMAV_MISSION_TYPEMission type.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MISSION_ITEM_REACHED (46)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          A certain mission item has been reached. The system will either hold this position (or circle on the orbit) or (if the autocontinue on the WP was set) continue to the next waypoint.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          sequint16_tSequence

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MISSION_ACK (47)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Acknowledgment message during waypoint handling. The type field states if this message is a positive ack (type=0) or if an error happened (type=non-zero).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          target_systemuint8_tSystem ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          target_componentuint8_tComponent ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          typeuint8_tMAV_MISSION_RESULTMission result.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          mission_type ++uint8_tMAV_MISSION_TYPEMission type.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          opaque_id ++uint32_tinvalid:0Id of new on-vehicle mission, fence, or rally point plan (on upload to vehicle).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          The id is calculated and returned by a vehicle when a new plan is uploaded by a GCS.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          The only requirement on the id is that it must change when there is any change to the on-vehicle plan type (there is no requirement that the id be globally unique).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          0 on download from the vehicle to the GCS (on download the ID is set in MISSION_COUNT).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          0 if plan ids are not supported.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          The current on-vehicle plan ids are streamed in [MISSION_CURRENT](#MISSION_CURRENT), allowing a GCS to determine if any part of the plan has changed and needs to be re-uploaded. |

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          SET_GPS_GLOBAL_ORIGIN (48)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Sets the GPS coordinates of the vehicle local origin (0,0,0) position. Vehicle should emit GPS_GLOBAL_ORIGIN irrespective of whether the origin is changed. This enables transform between the local coordinate frame and the global (GPS) coordinate frame, which may be necessary when (for example) indoor and outdoor settings are connected and the MAV should move from in- to outdoor.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          target_systemuint8_tSystem ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          latitudeint32_tdegE7Latitude (WGS84)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          longitudeint32_tdegE7Longitude (WGS84)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          altitudeint32_tmmAltitude (MSL). Positive for up.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          time_usec ++uint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          GPS_GLOBAL_ORIGIN (49)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Publishes the GPS coordinates of the vehicle local origin (0,0,0) position. Emitted whenever a new GPS-Local position mapping is requested or set - e.g. following SET_GPS_GLOBAL_ORIGIN message.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          latitudeint32_tdegE7Latitude (WGS84)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          longitudeint32_tdegE7Longitude (WGS84)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          altitudeint32_tmmAltitude (MSL). Positive for up.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          time_usec ++uint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          PARAM_MAP_RC (50)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Bind a RC channel to a parameter. The parameter should change according to the RC channel value.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          target_systemuint8_tSystem ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          target_componentuint8_tComponent ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          param_idchar[16]Onboard parameter id, terminated by NULL if the length is less than 16 human-readable chars and WITHOUT null termination (NULL) byte if the length is exactly 16 chars - applications have to provide 16+1 bytes storage if the ID is stored as string
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          param_indexint16_tParameter index. Send -1 to use the param ID field as identifier (else the param id will be ignored), send -2 to disable any existing map for this rc_channel_index.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          parameter_rc_channel_indexuint8_tIndex of parameter RC channel. Not equal to the RC channel id. Typically corresponds to a potentiometer-knob on the RC.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          param_value0floatInitial parameter value
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          scalefloatScale, maps the RC range [-1, 1] to a parameter value
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          param_value_minfloatMinimum param value. The protocol does not define if this overwrites an onboard minimum value. (Depends on implementation)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          param_value_maxfloatMaximum param value. The protocol does not define if this overwrites an onboard maximum value. (Depends on implementation)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MISSION_REQUEST_INT (51)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Request the information of the mission item with the sequence number seq. The response of the system to this message should be a MISSION_ITEM_INT message. https://mavlink.io/en/services/mission.html

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          target_systemuint8_tSystem ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          target_componentuint8_tComponent ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          sequint16_tSequence
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          mission_type ++uint8_tMAV_MISSION_TYPEMission type.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          SAFETY_SET_ALLOWED_AREA (54)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Set a safety zone (volume), which is defined by two corners of a cube. This message can be used to tell the MAV which setpoints/waypoints to accept and which to reject. Safety areas are often enforced by national or competition regulations.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          target_systemuint8_tSystem ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          target_componentuint8_tComponent ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          frameuint8_tMAV_FRAMECoordinate frame. Can be either global, GPS, right-handed with Z axis up or local, right handed, Z axis down.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          p1xfloatmx position 1 / Latitude 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          p1yfloatmy position 1 / Longitude 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          p1zfloatmz position 1 / Altitude 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          p2xfloatmx position 2 / Latitude 2
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          p2yfloatmy position 2 / Longitude 2
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          p2zfloatmz position 2 / Altitude 2

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          SAFETY_ALLOWED_AREA (55)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Read out the safety zone the MAV currently assumes.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          frameuint8_tMAV_FRAMECoordinate frame. Can be either global, GPS, right-handed with Z axis up or local, right handed, Z axis down.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          p1xfloatmx position 1 / Latitude 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          p1yfloatmy position 1 / Longitude 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          p1zfloatmz position 1 / Altitude 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          p2xfloatmx position 2 / Latitude 2
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          p2yfloatmy position 2 / Longitude 2
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          p2zfloatmz position 2 / Altitude 2

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ATTITUDE_QUATERNION_COV (61)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          The attitude in the aeronautical frame (right-handed, Z-down, X-front, Y-right), expressed as quaternion. Quaternion order is w, x, y, z and a zero rotation would be expressed as (1 0 0 0).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          qfloat[4]Quaternion components, w, x, y, z (1 0 0 0 is the null-rotation)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          rollspeedfloatrad/sRoll angular speed
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          pitchspeedfloatrad/sPitch angular speed
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          yawspeedfloatrad/sYaw angular speed
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          covariancefloat[9]Row-major representation of a 3x3 attitude covariance matrix (states: roll, pitch, yaw; first three entries are the first ROW, next three entries are the second row, etc.). If unknown, assign NaN value to first element in the array.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          The state of the navigation and position controller.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          nav_rollfloatdegCurrent desired roll
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          nav_pitchfloatdegCurrent desired pitch
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          nav_bearingint16_tdegCurrent desired heading
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          target_bearingint16_tdegBearing to current waypoint/target
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          wp_distuint16_tmDistance to active waypoint
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          alt_errorfloatmCurrent altitude error
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          aspd_errorfloatm/sCurrent airspeed error
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          xtrack_errorfloatmCurrent crosstrack error on x-y plane

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          GLOBAL_POSITION_INT_COV (63)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          The filtered global position (e.g. fused GPS and accelerometers). The position is in GPS-frame (right-handed, Z-up). It is designed as scaled integer message since the resolution of float is not sufficient. NOTE: This message is intended for onboard networks / companion computers and higher-bandwidth links and optimized for accuracy and completeness. Please use the GLOBAL_POSITION_INT message for a minimal subset.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          estimator_typeuint8_tMAV_ESTIMATOR_TYPEClass id of the estimator this estimate originated from.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          latint32_tdegE7Latitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          lonint32_tdegE7Longitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          altint32_tmmAltitude in meters above MSL
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          relative_altint32_tmmAltitude above ground
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          vxfloatm/sGround X Speed (Latitude)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          vyfloatm/sGround Y Speed (Longitude)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          vzfloatm/sGround Z Speed (Altitude)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          covariancefloat[36]invalid:[NaN:]Row-major representation of a 6x6 position and velocity 6x6 cross-covariance matrix (states: lat, lon, alt, vx, vy, vz; first six entries are the first ROW, next six entries are the second row, etc.). If unknown, assign NaN value to first element in the array.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          LOCAL_POSITION_NED_COV (64)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          The filtered local position (e.g. fused computer vision and accelerometers). Coordinate frame is right-handed, Z-axis down (aeronautical frame, NED / north-east-down convention)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          estimator_typeuint8_tMAV_ESTIMATOR_TYPEClass id of the estimator this estimate originated from.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          xfloatmX Position
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          yfloatmY Position
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          zfloatmZ Position
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          vxfloatm/sX Speed
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          vyfloatm/sY Speed
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          vzfloatm/sZ Speed
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          axfloatm/s/sX Acceleration
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ayfloatm/s/sY Acceleration
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          azfloatm/s/sZ Acceleration
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          covariancefloat[45]invalid:[NaN:]Row-major representation of position, velocity and acceleration 9x9 cross-covariance matrix upper right triangle (states: x, y, z, vx, vy, vz, ax, ay, az; first nine entries are the first ROW, next eight entries are the second row, etc.). If unknown, assign NaN value to first element in the array.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          RC_CHANNELS (65)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          The PPM values of the RC channels received. The standard PPM modulation is as follows: 1000 microseconds: 0%, 2000 microseconds: 100%. A value of UINT16_MAX implies the channel is unused. Individual receivers/transmitters might violate this specification.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          time_boot_msuint32_tmsTimestamp (time since system boot).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          chancountuint8_tTotal number of RC channels being received. This can be larger than 18, indicating that more channels are available but not given in this message. This value should be 0 when no RC channels are available.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          chan1_rawuint16_tusRC channel 1 value.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          chan2_rawuint16_tusRC channel 2 value.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          chan3_rawuint16_tusRC channel 3 value.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          chan4_rawuint16_tusRC channel 4 value.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          chan5_rawuint16_tusRC channel 5 value.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          chan6_rawuint16_tusRC channel 6 value.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          chan7_rawuint16_tusRC channel 7 value.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          chan8_rawuint16_tusRC channel 8 value.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          chan9_rawuint16_tusRC channel 9 value.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          chan10_rawuint16_tusRC channel 10 value.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          chan11_rawuint16_tusRC channel 11 value.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          chan12_rawuint16_tusRC channel 12 value.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          chan13_rawuint16_tusRC channel 13 value.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          chan14_rawuint16_tusRC channel 14 value.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          chan15_rawuint16_tusRC channel 15 value.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          chan16_rawuint16_tusRC channel 16 value.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          chan17_rawuint16_tusRC channel 17 value.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          chan18_rawuint16_tusRC channel 18 value.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          rssiuint8_tReceive signal strength indicator in device-dependent units/scale. Values: [0-254], UINT8_MAX: invalid/unknown.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          REQUEST_DATA_STREAM (66) — [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          DEPRECATED: Replaced By MAV_CMD_SET_MESSAGE_INTERVAL (2015-08)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Request a data stream.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          target_systemuint8_tThe target requested to send the message stream.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          target_componentuint8_tThe target requested to send the message stream.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          req_stream_iduint8_tThe ID of the requested data stream
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          req_message_rateuint16_tHzThe requested message rate
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          start_stopuint8_t1 to start sending, 0 to stop sending.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          DATA_STREAM (67) — [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          DEPRECATED: Replaced By MESSAGE_INTERVAL (2015-08)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Data stream status information.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          stream_iduint8_tThe ID of the requested data stream
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          message_rateuint16_tHzThe message rate
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          on_offuint8_t1 stream is enabled, 0 stream is stopped.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MANUAL_CONTROL (69)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          This message provides an API for manually controlling the vehicle using standard joystick axes nomenclature, along with a joystick-like input device. Unused axes can be disabled and buttons states are transmitted as individual on/off bits of a bitmask

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          targetuint8_tThe system to be controlled.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          xint16_tX-axis, normalized to the range [-1000,1000]. A value of INT16_MAX indicates that this axis is invalid. Generally corresponds to forward(1000)-backward(-1000) movement on a joystick and the pitch of a vehicle.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          yint16_tY-axis, normalized to the range [-1000,1000]. A value of INT16_MAX indicates that this axis is invalid. Generally corresponds to left(-1000)-right(1000) movement on a joystick and the roll of a vehicle.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          zint16_tZ-axis, normalized to the range [-1000,1000]. A value of INT16_MAX indicates that this axis is invalid. Generally corresponds to a separate slider movement with maximum being 1000 and minimum being -1000 on a joystick and the thrust of a vehicle. Positive values are positive thrust, negative values are negative thrust.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          rint16_tR-axis, normalized to the range [-1000,1000]. A value of INT16_MAX indicates that this axis is invalid. Generally corresponds to a twisting of the joystick, with counter-clockwise being 1000 and clockwise being -1000, and the yaw of a vehicle.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          buttonsuint16_tA bitfield corresponding to the joystick buttons' 0-15 current state, 1 for pressed, 0 for released. The lowest bit corresponds to Button 1.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          buttons2 ++uint16_tA bitfield corresponding to the joystick buttons' 16-31 current state, 1 for pressed, 0 for released. The lowest bit corresponds to Button 16.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          enabled_extensions ++uint8_tSet bits to 1 to indicate which of the following extension fields contain valid data: bit 0: pitch, bit 1: roll, bit 2: aux1, bit 3: aux2, bit 4: aux3, bit 5: aux4, bit 6: aux5, bit 7: aux6
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          s ++int16_tPitch-only-axis, normalized to the range [-1000,1000]. Generally corresponds to pitch on vehicles with additional degrees of freedom. Valid if bit 0 of enabled_extensions field is set. Set to 0 if invalid.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          t ++int16_tRoll-only-axis, normalized to the range [-1000,1000]. Generally corresponds to roll on vehicles with additional degrees of freedom. Valid if bit 1 of enabled_extensions field is set. Set to 0 if invalid.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          aux1 ++int16_tAux continuous input field 1. Normalized in the range [-1000,1000]. Purpose defined by recipient. Valid data if bit 2 of enabled_extensions field is set. 0 if bit 2 is unset.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          aux2 ++int16_tAux continuous input field 2. Normalized in the range [-1000,1000]. Purpose defined by recipient. Valid data if bit 3 of enabled_extensions field is set. 0 if bit 3 is unset.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          aux3 ++int16_tAux continuous input field 3. Normalized in the range [-1000,1000]. Purpose defined by recipient. Valid data if bit 4 of enabled_extensions field is set. 0 if bit 4 is unset.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          aux4 ++int16_tAux continuous input field 4. Normalized in the range [-1000,1000]. Purpose defined by recipient. Valid data if bit 5 of enabled_extensions field is set. 0 if bit 5 is unset.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          aux5 ++int16_tAux continuous input field 5. Normalized in the range [-1000,1000]. Purpose defined by recipient. Valid data if bit 6 of enabled_extensions field is set. 0 if bit 6 is unset.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          aux6 ++int16_tAux continuous input field 6. Normalized in the range [-1000,1000]. Purpose defined by recipient. Valid data if bit 7 of enabled_extensions field is set. 0 if bit 7 is unset.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          RC_CHANNELS_OVERRIDE (70)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          The RAW values of the RC channels sent to the MAV to override info received from the RC radio. The standard PPM modulation is as follows: 1000 microseconds: 0%, 2000 microseconds: 100%. Individual receivers/transmitters might violate this specification. Note carefully the semantic differences between the first 8 channels and the subsequent channels

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          target_systemuint8_tSystem ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          target_componentuint8_tComponent ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          chan1_rawuint16_tusRC channel 1 value. A value of UINT16_MAX means to ignore this field. A value of 0 means to release this channel back to the RC radio.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          chan2_rawuint16_tusRC channel 2 value. A value of UINT16_MAX means to ignore this field. A value of 0 means to release this channel back to the RC radio.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          chan3_rawuint16_tusRC channel 3 value. A value of UINT16_MAX means to ignore this field. A value of 0 means to release this channel back to the RC radio.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          chan4_rawuint16_tusRC channel 4 value. A value of UINT16_MAX means to ignore this field. A value of 0 means to release this channel back to the RC radio.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          chan5_rawuint16_tusRC channel 5 value. A value of UINT16_MAX means to ignore this field. A value of 0 means to release this channel back to the RC radio.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          chan6_rawuint16_tusRC channel 6 value. A value of UINT16_MAX means to ignore this field. A value of 0 means to release this channel back to the RC radio.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          chan7_rawuint16_tusRC channel 7 value. A value of UINT16_MAX means to ignore this field. A value of 0 means to release this channel back to the RC radio.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          chan8_rawuint16_tusRC channel 8 value. A value of UINT16_MAX means to ignore this field. A value of 0 means to release this channel back to the RC radio.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          chan9_raw ++uint16_tusRC channel 9 value. A value of 0 or UINT16_MAX means to ignore this field. A value of UINT16_MAX-1 means to release this channel back to the RC radio.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          chan10_raw ++uint16_tusRC channel 10 value. A value of 0 or UINT16_MAX means to ignore this field. A value of UINT16_MAX-1 means to release this channel back to the RC radio.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          chan11_raw ++uint16_tusRC channel 11 value. A value of 0 or UINT16_MAX means to ignore this field. A value of UINT16_MAX-1 means to release this channel back to the RC radio.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          chan12_raw ++uint16_tusRC channel 12 value. A value of 0 or UINT16_MAX means to ignore this field. A value of UINT16_MAX-1 means to release this channel back to the RC radio.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          chan13_raw ++uint16_tusRC channel 13 value. A value of 0 or UINT16_MAX means to ignore this field. A value of UINT16_MAX-1 means to release this channel back to the RC radio.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          chan14_raw ++uint16_tusRC channel 14 value. A value of 0 or UINT16_MAX means to ignore this field. A value of UINT16_MAX-1 means to release this channel back to the RC radio.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          chan15_raw ++uint16_tusRC channel 15 value. A value of 0 or UINT16_MAX means to ignore this field. A value of UINT16_MAX-1 means to release this channel back to the RC radio.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          chan16_raw ++uint16_tusRC channel 16 value. A value of 0 or UINT16_MAX means to ignore this field. A value of UINT16_MAX-1 means to release this channel back to the RC radio.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          chan17_raw ++uint16_tusRC channel 17 value. A value of 0 or UINT16_MAX means to ignore this field. A value of UINT16_MAX-1 means to release this channel back to the RC radio.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          chan18_raw ++uint16_tusRC channel 18 value. A value of 0 or UINT16_MAX means to ignore this field. A value of UINT16_MAX-1 means to release this channel back to the RC radio.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MISSION_ITEM_INT (73)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Message encoding a mission item. This message is emitted to announce

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          the presence of a mission item and to set a mission item on the system. The mission item can be either in x, y, z meters (type: LOCAL) or x:lat, y:lon, z:altitude. Local frame is Z-down, right handed (NED), global frame is Z-up, right handed (ENU). NaN or INT32_MAX may be used in float/integer params (respectively) to indicate optional/default values (e.g. to use the component's current latitude, yaw rather than a specific value). See also https://mavlink.io/en/services/mission.html.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          target_systemuint8_tSystem ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          target_componentuint8_tComponent ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          sequint16_tWaypoint ID (sequence number). Starts at zero. Increases monotonically for each waypoint, no gaps in the sequence (0,1,2,3,4).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          frameuint8_tMAV_FRAMEThe coordinate system of the waypoint.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          commanduint16_tMAV_CMDThe scheduled action for the waypoint.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          currentuint8_tfalse:0, true:1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          autocontinueuint8_tAutocontinue to next waypoint. 0: false, 1: true. Set false to pause mission after the item completes.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          param1floatPARAM1, see MAV_CMD enum
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          param2floatPARAM2, see MAV_CMD enum
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          param3floatPARAM3, see MAV_CMD enum
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          param4floatPARAM4, see MAV_CMD enum
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          xint32_tPARAM5 / local: x position in meters 1e4, global: latitude in degrees 10^7
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          yint32_tPARAM6 / y position: local: x position in meters 1e4, global: longitude in degrees 10^7
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          zfloatPARAM7 / z position: global: altitude in meters (relative or absolute, depending on frame.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          mission_type ++uint8_tMAV_MISSION_TYPEMission type.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          VFR_HUD (74)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Metrics typically displayed on a HUD for fixed wing aircraft.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          airspeedfloatm/sVehicle speed in form appropriate for vehicle type. For standard aircraft this is typically calibrated airspeed (CAS) or indicated airspeed (IAS) - either of which can be used by a pilot to estimate stall speed.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          groundspeedfloatm/sCurrent ground speed.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          headingint16_tdegCurrent heading in compass units (0-360, 0=north).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          throttleuint16_t%Current throttle setting (0 to 100).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          altfloatmCurrent altitude (MSL).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          climbfloatm/sCurrent climb rate.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          COMMAND_INT (75)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Send a command with up to seven parameters to the MAV, where params 5 and 6 are integers and the other values are floats. This is preferred over COMMAND_LONG as it allows the MAV_FRAME to be specified for interpreting positional information, such as altitude. COMMAND_INT is also preferred when sending latitude and longitude data in params 5 and 6, as it allows for greater precision. Param 5 and 6 encode positional data as scaled integers, where the scaling depends on the actual command value. NaN or INT32_MAX may be used in float/integer params (respectively) to indicate optional/default values (e.g. to use the component's current latitude, yaw rather than a specific value). The command microservice is documented at https://mavlink.io/en/services/command.html

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          target_systemuint8_tSystem ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          target_componentuint8_tComponent ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          frameuint8_tMAV_FRAMEThe coordinate system of the COMMAND.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          commanduint16_tMAV_CMDThe scheduled action for the mission item.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          currentuint8_tNot used.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          autocontinueuint8_tNot used (set 0).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          param1floatinvalid:NaNPARAM1, see MAV_CMD enum
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          param2floatinvalid:NaNPARAM2, see MAV_CMD enum
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          param3floatinvalid:NaNPARAM3, see MAV_CMD enum
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          param4floatinvalid:NaNPARAM4, see MAV_CMD enum
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          xint32_tinvalid:INT32_MAXPARAM5 / local: x position in meters 1e4, global: latitude in degrees 10^7
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          yint32_tinvalid:INT32_MAXPARAM6 / local: y position in meters 1e4, global: longitude in degrees 10^7
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          zfloatinvalid:NaNPARAM7 / z position: global: altitude in meters (relative or absolute, depending on frame).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          COMMAND_LONG (76)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Send a command with up to seven parameters to the MAV. COMMAND_INT is generally preferred when sending MAV_CMD commands that include positional information; it offers higher precision and allows the MAV_FRAME to be specified (which may otherwise be ambiguous, particularly for altitude). The command microservice is documented at https://mavlink.io/en/services/command.html

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          target_systemuint8_tSystem which should execute the command
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          target_componentuint8_tComponent which should execute the command, 0 for all components
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          commanduint16_tMAV_CMDCommand ID (of command to send).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          confirmationuint8_t0: First transmission of this command. 1-255: Confirmation transmissions (e.g. for kill command)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          param1floatinvalid:NaNParameter 1 (for the specific command).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          param2floatinvalid:NaNParameter 2 (for the specific command).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          param3floatinvalid:NaNParameter 3 (for the specific command).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          param4floatinvalid:NaNParameter 4 (for the specific command).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          param5floatinvalid:NaNParameter 5 (for the specific command).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          param6floatinvalid:NaNParameter 6 (for the specific command).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          param7floatinvalid:NaNParameter 7 (for the specific command).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          COMMAND_ACK (77)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Report status of a command. Includes feedback whether the command was executed. The command microservice is documented at https://mavlink.io/en/services/command.html

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          commanduint16_tMAV_CMDCommand ID (of acknowledged command).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          resultuint8_tMAV_RESULTResult of command.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          progress ++uint8_t%invalid:UINT8_MAXThe progress percentage when result is MAV_RESULT_IN_PROGRESS. Values: [0-100], or UINT8_MAX if the progress is unknown.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          result_param2 ++int32_tAdditional result information. Can be set with a command-specific enum containing command-specific error reasons for why the command might be denied. If used, the associated enum must be documented in the corresponding MAV_CMD (this enum should have a 0 value to indicate "unused" or "unknown").
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          target_system ++uint8_tSystem ID of the target recipient. This is the ID of the system that sent the command for which this COMMAND_ACK is an acknowledgement.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          target_component ++uint8_tComponent ID of the target recipient. This is the ID of the system that sent the command for which this COMMAND_ACK is an acknowledgement.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          COMMAND_CANCEL (80) — [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Cancel a long running command. The target system should respond with a COMMAND_ACK to the original command with result=MAV_RESULT_CANCELLED if the long running process was cancelled. If it has already completed, the cancel action can be ignored. The cancel action can be retried until some sort of acknowledgement to the original command has been received. The command microservice is documented at https://mavlink.io/en/services/command.html

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          target_systemuint8_tSystem executing long running command. Should not be broadcast (0).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          target_componentuint8_tComponent executing long running command.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          commanduint16_tMAV_CMDCommand ID (of command to cancel).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MANUAL_SETPOINT (81)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Setpoint in roll, pitch, yaw and thrust from the operator

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          time_boot_msuint32_tmsTimestamp (time since system boot).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          rollfloatrad/sDesired roll rate
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          pitchfloatrad/sDesired pitch rate
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          yawfloatrad/sDesired yaw rate
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          thrustfloatCollective thrust, normalized to 0 .. 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          mode_switchuint8_tFlight mode switch position, 0.. 255
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          manual_override_switchuint8_tOverride mode switch position, 0.. 255

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          SET_ATTITUDE_TARGET (82)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Sets a desired vehicle attitude. Used by an external controller to command the vehicle (manual controller or other system).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          time_boot_msuint32_tmsTimestamp (time since system boot).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          target_systemuint8_tSystem ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          target_componentuint8_tComponent ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          type_maskuint8_tATTITUDE_TARGET_TYPEMASKBitmap to indicate which dimensions should be ignored by the vehicle.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          qfloat[4]Attitude quaternion (w, x, y, z order, zero-rotation is 1, 0, 0, 0) from MAV_FRAME_LOCAL_NED to MAV_FRAME_BODY_FRD
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          body_roll_ratefloatrad/sBody roll rate
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          body_pitch_ratefloatrad/sBody pitch rate
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          body_yaw_ratefloatrad/sBody yaw rate
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          thrustfloatCollective thrust, normalized to 0 .. 1 (-1 .. 1 for vehicles capable of reverse trust)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          thrust_body ++float[3]3D thrust setpoint in the body NED frame, normalized to -1 .. 1

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ATTITUDE_TARGET (83)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Reports the current commanded attitude of the vehicle as specified by the autopilot. This should match the commands sent in a SET_ATTITUDE_TARGET message if the vehicle is being controlled this way.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          time_boot_msuint32_tmsTimestamp (time since system boot).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          type_maskuint8_tATTITUDE_TARGET_TYPEMASKBitmap to indicate which dimensions should be ignored by the vehicle.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          qfloat[4]Attitude quaternion (w, x, y, z order, zero-rotation is 1, 0, 0, 0)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          body_roll_ratefloatrad/sBody roll rate
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          body_pitch_ratefloatrad/sBody pitch rate
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          body_yaw_ratefloatrad/sBody yaw rate
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          thrustfloatCollective thrust, normalized to 0 .. 1 (-1 .. 1 for vehicles capable of reverse trust)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          SET_POSITION_TARGET_LOCAL_NED (84)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Sets a desired vehicle position in a local north-east-down coordinate frame. Used by an external controller to command the vehicle (manual controller or other system).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          time_boot_msuint32_tmsTimestamp (time since system boot).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          target_systemuint8_tSystem ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          target_componentuint8_tComponent ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          coordinate_frameuint8_tMAV_FRAMEValid options are: MAV_FRAME_LOCAL_NED = 1, MAV_FRAME_LOCAL_OFFSET_NED = 7, MAV_FRAME_BODY_NED = 8, MAV_FRAME_BODY_OFFSET_NED = 9
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          type_maskuint16_tPOSITION_TARGET_TYPEMASKBitmap to indicate which dimensions should be ignored by the vehicle.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          xfloatmX Position in NED frame
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          yfloatmY Position in NED frame
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          zfloatmZ Position in NED frame (note, altitude is negative in NED)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          vxfloatm/sX velocity in NED frame
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          vyfloatm/sY velocity in NED frame
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          vzfloatm/sZ velocity in NED frame
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          afxfloatm/s/sX acceleration or force (if bit 10 of type_mask is set) in NED frame in meter / s^2 or N
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          afyfloatm/s/sY acceleration or force (if bit 10 of type_mask is set) in NED frame in meter / s^2 or N
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          afzfloatm/s/sZ acceleration or force (if bit 10 of type_mask is set) in NED frame in meter / s^2 or N
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          yawfloatradyaw setpoint
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          yaw_ratefloatrad/syaw rate setpoint

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          POSITION_TARGET_LOCAL_NED (85)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Reports the current commanded vehicle position, velocity, and acceleration as specified by the autopilot. This should match the commands sent in SET_POSITION_TARGET_LOCAL_NED if the vehicle is being controlled this way.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          time_boot_msuint32_tmsTimestamp (time since system boot).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          coordinate_frameuint8_tMAV_FRAMEValid options are: MAV_FRAME_LOCAL_NED = 1, MAV_FRAME_LOCAL_OFFSET_NED = 7, MAV_FRAME_BODY_NED = 8, MAV_FRAME_BODY_OFFSET_NED = 9
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          type_maskuint16_tPOSITION_TARGET_TYPEMASKBitmap to indicate which dimensions should be ignored by the vehicle.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          xfloatmX Position in NED frame
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          yfloatmY Position in NED frame
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          zfloatmZ Position in NED frame (note, altitude is negative in NED)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          vxfloatm/sX velocity in NED frame
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          vyfloatm/sY velocity in NED frame
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          vzfloatm/sZ velocity in NED frame
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          afxfloatm/s/sX acceleration or force (if bit 10 of type_mask is set) in NED frame in meter / s^2 or N
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          afyfloatm/s/sY acceleration or force (if bit 10 of type_mask is set) in NED frame in meter / s^2 or N
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          afzfloatm/s/sZ acceleration or force (if bit 10 of type_mask is set) in NED frame in meter / s^2 or N
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          yawfloatradyaw setpoint
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          yaw_ratefloatrad/syaw rate setpoint

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          SET_POSITION_TARGET_GLOBAL_INT (86)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Sets a desired vehicle position, velocity, and/or acceleration in a global coordinate system (WGS84). Used by an external controller to command the vehicle (manual controller or other system).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          time_boot_msuint32_tmsTimestamp (time since system boot). The rationale for the timestamp in the setpoint is to allow the system to compensate for the transport delay of the setpoint. This allows the system to compensate processing latency.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          target_systemuint8_tSystem ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          target_componentuint8_tComponent ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          coordinate_frameuint8_tMAV_FRAMEValid options are: MAV_FRAME_GLOBAL = 0, MAV_FRAME_GLOBAL_RELATIVE_ALT = 3, MAV_FRAME_GLOBAL_TERRAIN_ALT = 10 (MAV_FRAME_GLOBAL_INT, MAV_FRAME_GLOBAL_RELATIVE_ALT_INT, MAV_FRAME_GLOBAL_TERRAIN_ALT_INT are allowed synonyms, but have been deprecated)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          type_maskuint16_tPOSITION_TARGET_TYPEMASKBitmap to indicate which dimensions should be ignored by the vehicle.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          lat_intint32_tdegE7Latitude in WGS84 frame
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          lon_intint32_tdegE7Longitude in WGS84 frame
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          altfloatmAltitude (MSL, Relative to home, or AGL - depending on frame)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          vxfloatm/sX velocity in NED frame
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          vyfloatm/sY velocity in NED frame
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          vzfloatm/sZ velocity in NED frame
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          afxfloatm/s/sX acceleration or force (if bit 10 of type_mask is set) in NED frame in meter / s^2 or N
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          afyfloatm/s/sY acceleration or force (if bit 10 of type_mask is set) in NED frame in meter / s^2 or N
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          afzfloatm/s/sZ acceleration or force (if bit 10 of type_mask is set) in NED frame in meter / s^2 or N
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          yawfloatradyaw setpoint
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          yaw_ratefloatrad/syaw rate setpoint

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          POSITION_TARGET_GLOBAL_INT (87)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Reports the current commanded vehicle position, velocity, and acceleration as specified by the autopilot. This should match the commands sent in SET_POSITION_TARGET_GLOBAL_INT if the vehicle is being controlled this way.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          time_boot_msuint32_tmsTimestamp (time since system boot). The rationale for the timestamp in the setpoint is to allow the system to compensate for the transport delay of the setpoint. This allows the system to compensate processing latency.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          coordinate_frameuint8_tMAV_FRAMEValid options are: MAV_FRAME_GLOBAL = 0, MAV_FRAME_GLOBAL_RELATIVE_ALT = 3, MAV_FRAME_GLOBAL_TERRAIN_ALT = 10 (MAV_FRAME_GLOBAL_INT, MAV_FRAME_GLOBAL_RELATIVE_ALT_INT, MAV_FRAME_GLOBAL_TERRAIN_ALT_INT are allowed synonyms, but have been deprecated)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          type_maskuint16_tPOSITION_TARGET_TYPEMASKBitmap to indicate which dimensions should be ignored by the vehicle.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          lat_intint32_tdegE7Latitude in WGS84 frame
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          lon_intint32_tdegE7Longitude in WGS84 frame
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          altfloatmAltitude (MSL, AGL or relative to home altitude, depending on frame)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          vxfloatm/sX velocity in NED frame
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          vyfloatm/sY velocity in NED frame
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          vzfloatm/sZ velocity in NED frame
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          afxfloatm/s/sX acceleration or force (if bit 10 of type_mask is set) in NED frame in meter / s^2 or N
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          afyfloatm/s/sY acceleration or force (if bit 10 of type_mask is set) in NED frame in meter / s^2 or N
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          afzfloatm/s/sZ acceleration or force (if bit 10 of type_mask is set) in NED frame in meter / s^2 or N
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          yawfloatradyaw setpoint
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          yaw_ratefloatrad/syaw rate setpoint

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          LOCAL_POSITION_NED_SYSTEM_GLOBAL_OFFSET (89)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          The offset in X, Y, Z and yaw between the LOCAL_POSITION_NED messages of MAV X and the global coordinate frame in NED coordinates. Coordinate frame is right-handed, Z-axis down (aeronautical frame, NED / north-east-down convention)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          time_boot_msuint32_tmsTimestamp (time since system boot).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          xfloatmX Position
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          yfloatmY Position
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          zfloatmZ Position
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          rollfloatradRoll
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          pitchfloatradPitch
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          yawfloatradYaw

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          HIL_STATE (90) — [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          DEPRECATED: Replaced By HIL_STATE_QUATERNION (2013-07) — Suffers from missing airspeed fields and singularities due to Euler angles)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Sent from simulation to autopilot. This packet is useful for high throughput applications such as hardware in the loop simulations.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          rollfloatradRoll angle
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          pitchfloatradPitch angle
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          yawfloatradYaw angle
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          rollspeedfloatrad/sBody frame roll / phi angular speed
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          pitchspeedfloatrad/sBody frame pitch / theta angular speed
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          yawspeedfloatrad/sBody frame yaw / psi angular speed
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          latint32_tdegE7Latitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          lonint32_tdegE7Longitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          altint32_tmmAltitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          vxint16_tcm/sGround X Speed (Latitude)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          vyint16_tcm/sGround Y Speed (Longitude)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          vzint16_tcm/sGround Z Speed (Altitude)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          xaccint16_tmGX acceleration
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          yaccint16_tmGY acceleration
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          zaccint16_tmGZ acceleration

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          HIL_CONTROLS (91)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Sent from autopilot to simulation. Hardware in the loop control outputs

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          roll_aileronsfloatControl output -1 .. 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          pitch_elevatorfloatControl output -1 .. 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          yaw_rudderfloatControl output -1 .. 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          throttlefloatThrottle 0 .. 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          aux1floatAux 1, -1 .. 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          aux2floatAux 2, -1 .. 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          aux3floatAux 3, -1 .. 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          aux4floatAux 4, -1 .. 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          modeuint8_tMAV_MODESystem mode.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          nav_modeuint8_tNavigation mode (MAV_NAV_MODE)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          HIL_RC_INPUTS_RAW (92)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Sent from simulation to autopilot. The RAW values of the RC channels received. The standard PPM modulation is as follows: 1000 microseconds: 0%, 2000 microseconds: 100%. Individual receivers/transmitters might violate this specification.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          chan1_rawuint16_tusRC channel 1 value
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          chan2_rawuint16_tusRC channel 2 value
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          chan3_rawuint16_tusRC channel 3 value
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          chan4_rawuint16_tusRC channel 4 value
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          chan5_rawuint16_tusRC channel 5 value
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          chan6_rawuint16_tusRC channel 6 value
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          chan7_rawuint16_tusRC channel 7 value
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          chan8_rawuint16_tusRC channel 8 value
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          chan9_rawuint16_tusRC channel 9 value
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          chan10_rawuint16_tusRC channel 10 value
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          chan11_rawuint16_tusRC channel 11 value
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          chan12_rawuint16_tusRC channel 12 value
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          rssiuint8_tReceive signal strength indicator in device-dependent units/scale. Values: [0-254], UINT8_MAX: invalid/unknown.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          HIL_ACTUATOR_CONTROLS (93)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Sent from autopilot to simulation. Hardware in the loop control outputs (replacement for HIL_CONTROLS)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          controlsfloat[16]Control outputs -1 .. 1. Channel assignment depends on the simulated hardware.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          modeuint8_tMAV_MODE_FLAGSystem mode. Includes arming state.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          flagsuint64_tFlags as bitfield, 1: indicate simulation using lockstep.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          OPTICAL_FLOW (100)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Optical flow from a flow sensor (e.g. optical mouse sensor)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          sensor_iduint8_tSensor ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          flow_xint16_tdpixFlow in x-sensor direction
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          flow_yint16_tdpixFlow in y-sensor direction
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          flow_comp_m_xfloatm/sFlow in x-sensor direction, angular-speed compensated
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          flow_comp_m_yfloatm/sFlow in y-sensor direction, angular-speed compensated
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          qualityuint8_tOptical flow quality / confidence. 0: bad, 255: maximum quality
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ground_distancefloatmGround distance. Positive value: distance known. Negative value: Unknown distance
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          flow_rate_x ++floatrad/sFlow rate about X axis
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          flow_rate_y ++floatrad/sFlow rate about Y axis

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          GLOBAL_VISION_POSITION_ESTIMATE (101)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Global position/attitude estimate from a vision source.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          usecuint64_tusTimestamp (UNIX time or since system boot)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          xfloatmGlobal X position
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          yfloatmGlobal Y position
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          zfloatmGlobal Z position
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          rollfloatradRoll angle
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          pitchfloatradPitch angle
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          yawfloatradYaw angle
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          covariance ++float[21]Row-major representation of pose 6x6 cross-covariance matrix upper right triangle (states: x_global, y_global, z_global, roll, pitch, yaw; first six entries are the first ROW, next five entries are the second ROW, etc.). If unknown, assign NaN value to first element in the array.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          reset_counter ++uint8_tEstimate reset counter. This should be incremented when the estimate resets in any of the dimensions (position, velocity, attitude, angular speed). This is designed to be used when e.g an external SLAM system detects a loop-closure and the estimate jumps.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          VISION_POSITION_ESTIMATE (102)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Local position/attitude estimate from a vision source.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          usecuint64_tusTimestamp (UNIX time or time since system boot)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          xfloatmLocal X position
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          yfloatmLocal Y position
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          zfloatmLocal Z position
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          rollfloatradRoll angle
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          pitchfloatradPitch angle
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          yawfloatradYaw angle
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          covariance ++float[21]Row-major representation of pose 6x6 cross-covariance matrix upper right triangle (states: x, y, z, roll, pitch, yaw; first six entries are the first ROW, next five entries are the second ROW, etc.). If unknown, assign NaN value to first element in the array.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          reset_counter ++uint8_tEstimate reset counter. This should be incremented when the estimate resets in any of the dimensions (position, velocity, attitude, angular speed). This is designed to be used when e.g an external SLAM system detects a loop-closure and the estimate jumps.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          VISION_SPEED_ESTIMATE (103)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Speed estimate from a vision source.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          usecuint64_tusTimestamp (UNIX time or time since system boot)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          xfloatm/sGlobal X speed
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          yfloatm/sGlobal Y speed
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          zfloatm/sGlobal Z speed
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          covariance ++float[9]Row-major representation of 3x3 linear velocity covariance matrix (states: vx, vy, vz; 1st three entries - 1st row, etc.). If unknown, assign NaN value to first element in the array.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          reset_counter ++uint8_tEstimate reset counter. This should be incremented when the estimate resets in any of the dimensions (position, velocity, attitude, angular speed). This is designed to be used when e.g an external SLAM system detects a loop-closure and the estimate jumps.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          VICON_POSITION_ESTIMATE (104)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Global position estimate from a Vicon motion system source.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          usecuint64_tusTimestamp (UNIX time or time since system boot)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          xfloatmGlobal X position
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          yfloatmGlobal Y position
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          zfloatmGlobal Z position
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          rollfloatradRoll angle
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          pitchfloatradPitch angle
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          yawfloatradYaw angle
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          covariance ++float[21]Row-major representation of 6x6 pose cross-covariance matrix upper right triangle (states: x, y, z, roll, pitch, yaw; first six entries are the first ROW, next five entries are the second ROW, etc.). If unknown, assign NaN value to first element in the array.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          HIGHRES_IMU (105)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          The IMU readings in SI units in NED body frame

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          xaccfloatm/s/sX acceleration
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          yaccfloatm/s/sY acceleration
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          zaccfloatm/s/sZ acceleration
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          xgyrofloatrad/sAngular speed around X axis
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ygyrofloatrad/sAngular speed around Y axis
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          zgyrofloatrad/sAngular speed around Z axis
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          xmagfloatgaussX Magnetic field
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ymagfloatgaussY Magnetic field
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          zmagfloatgaussZ Magnetic field
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          abs_pressurefloathPaAbsolute pressure
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          diff_pressurefloathPaDifferential pressure
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          pressure_altfloatAltitude calculated from pressure
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          temperaturefloatdegCTemperature
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          fields_updateduint16_tHIGHRES_IMU_UPDATED_FLAGSBitmap for fields that have updated since last message
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          id ++uint8_tId. Ids are numbered from 0 and map to IMUs numbered from 1 (e.g. IMU1 will have a message with id=0)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Messages with same value are from the same source (instance). |

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          OPTICAL_FLOW_RAD (106)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Optical flow from an angular rate flow sensor (e.g. PX4FLOW or mouse sensor)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          sensor_iduint8_tSensor ID

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Messages with same value are from the same source (instance). | | integration_time_us | uint32_t | us | Integration time. Divide integrated_x and integrated_y by the integration time to obtain average flow. The integration time also indicates the. | | integrated_x | float | rad | Flow around X axis (Sensor RH rotation about the X axis induces a positive flow. Sensor linear motion along the positive Y axis induces a negative flow.) | | integrated_y | float | rad | Flow around Y axis (Sensor RH rotation about the Y axis induces a positive flow. Sensor linear motion along the positive X axis induces a positive flow.) | | integrated_xgyro | float | rad | RH rotation around X axis | | integrated_ygyro | float | rad | RH rotation around Y axis | | integrated_zgyro | float | rad | RH rotation around Z axis | | temperature | int16_t | cdegC | Temperature | | quality | uint8_t | | Optical flow quality / confidence. 0: no valid flow, 255: maximum quality | | time_delta_distance_us | uint32_t | us | Time since the distance was sampled. | | distance | float | m | Distance to the center of the flow field. Positive value (including zero): distance known. Negative value: Unknown distance. |

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          HIL_SENSOR (107)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          The IMU readings in SI units in NED body frame

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          xaccfloatm/s/sX acceleration
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          yaccfloatm/s/sY acceleration
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          zaccfloatm/s/sZ acceleration
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          xgyrofloatrad/sAngular speed around X axis in body frame
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ygyrofloatrad/sAngular speed around Y axis in body frame
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          zgyrofloatrad/sAngular speed around Z axis in body frame
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          xmagfloatgaussX Magnetic field
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ymagfloatgaussY Magnetic field
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          zmagfloatgaussZ Magnetic field
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          abs_pressurefloathPaAbsolute pressure
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          diff_pressurefloathPaDifferential pressure (airspeed)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          pressure_altfloatAltitude calculated from pressure
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          temperaturefloatdegCTemperature
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          fields_updateduint32_tHIL_SENSOR_UPDATED_FLAGSBitmap for fields that have updated since last message
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          id ++uint8_tSensor ID (zero indexed). Used for multiple sensor inputs

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          SIM_STATE (108)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Status of simulation environment, if used

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          q1floatTrue attitude quaternion component 1, w (1 in null-rotation)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          q2floatTrue attitude quaternion component 2, x (0 in null-rotation)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          q3floatTrue attitude quaternion component 3, y (0 in null-rotation)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          q4floatTrue attitude quaternion component 4, z (0 in null-rotation)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          rollfloatradAttitude roll expressed as Euler angles, not recommended except for human-readable outputs
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          pitchfloatradAttitude pitch expressed as Euler angles, not recommended except for human-readable outputs
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          yawfloatradAttitude yaw expressed as Euler angles, not recommended except for human-readable outputs
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          xaccfloatm/s/sX acceleration
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          yaccfloatm/s/sY acceleration
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          zaccfloatm/s/sZ acceleration
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          xgyrofloatrad/sAngular speed around X axis
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ygyrofloatrad/sAngular speed around Y axis
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          zgyrofloatrad/sAngular speed around Z axis
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          latfloatdegLatitude (lower precision). Both this and the lat_int field should be set.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          lonfloatdegLongitude (lower precision). Both this and the lon_int field should be set.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          altfloatmAltitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          std_dev_horzfloatHorizontal position standard deviation
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          std_dev_vertfloatVertical position standard deviation
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          vnfloatm/sTrue velocity in north direction in earth-fixed NED frame
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          vefloatm/sTrue velocity in east direction in earth-fixed NED frame
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          vdfloatm/sTrue velocity in down direction in earth-fixed NED frame
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          lat_int ++int32_tdegE7Latitude (higher precision). If 0, recipients should use the lat field value (otherwise this field is preferred).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          lon_int ++int32_tdegE7Longitude (higher precision). If 0, recipients should use the lon field value (otherwise this field is preferred).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          RADIO_STATUS (109)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Status generated by radio and injected into MAVLink stream.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          rssiuint8_tLocal (message sender) received signal strength indication in device-dependent units/scale. Values: [0-254], UINT8_MAX: invalid/unknown.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          remrssiuint8_tRemote (message receiver) signal strength indication in device-dependent units/scale. Values: [0-254], UINT8_MAX: invalid/unknown.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          txbufuint8_t%Remaining free transmitter buffer space.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          noiseuint8_tLocal background noise level. These are device dependent RSSI values (scale as approx 2x dB on SiK radios). Values: [0-254], UINT8_MAX: invalid/unknown.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          remnoiseuint8_tRemote background noise level. These are device dependent RSSI values (scale as approx 2x dB on SiK radios). Values: [0-254], UINT8_MAX: invalid/unknown.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          rxerrorsuint16_tCount of radio packet receive errors (since boot).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          fixeduint16_tCount of error corrected radio packets (since boot).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          FILE_TRANSFER_PROTOCOL (110)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          File transfer protocol message: https://mavlink.io/en/services/ftp.html.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          target_networkuint8_tNetwork ID (0 for broadcast)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          target_systemuint8_tSystem ID (0 for broadcast)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          target_componentuint8_tComponent ID (0 for broadcast)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          payloaduint8_t[251]Variable length payload. The length is defined by the remaining message length when subtracting the header and other fields. The content/format of this block is defined in https://mavlink.io/en/services/ftp.html.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          TIMESYNC (111)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Time synchronization message. The message is used for both timesync requests and responses. The request is sent with ts1=syncing component timestamp and tc1=0, and may be broadcast or targeted to a specific system/component. The response is sent with ts1=syncing component timestamp (mirror back unchanged), and tc1=responding component timestamp, with the target_system and target_component set to ids of the original request. Systems can determine if they are receiving a request or response based on the value of tc. If the response has target_system==target_component==0 the remote system has not been updated to use the component IDs and cannot reliably timesync; the requestor may report an error. Timestamps are UNIX Epoch time or time since system boot in nanoseconds (the timestamp format can be inferred by checking for the magnitude of the number; generally it doesn't matter as only the offset is used). The message sequence is repeated numerous times with results being filtered/averaged to estimate the offset.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          tc1int64_tnsTime sync timestamp 1. Syncing: 0. Responding: Timestamp of responding component.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ts1int64_tnsTime sync timestamp 2. Timestamp of syncing component (mirrored in response).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          target_system ++uint8_tTarget system id. Request: 0 (broadcast) or id of specific system. Response must contain system id of the requesting component.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          target_component ++uint8_tTarget component id. Request: 0 (broadcast) or id of specific component. Response must contain component id of the requesting component.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          CAMERA_TRIGGER (112)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Camera-IMU triggering and synchronisation message.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          time_usecuint64_tusTimestamp for image frame (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          sequint32_tImage frame sequence

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          HIL_GPS (113)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          The global position, as returned by the Global Positioning System (GPS). This is

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          NOT the global position estimate of the system, but rather a RAW sensor value. See message GLOBAL_POSITION_INT for the global position estimate.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeUnitsMultiplierDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          fix_typeuint8_t0-1: no fix, 2: 2D fix, 3: 3D fix. Some applications will not use the value of this field unless it is at least two, so always correctly fill in the fix.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          latint32_tdegE7Latitude (WGS84)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          lonint32_tdegE7Longitude (WGS84)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          altint32_tmmAltitude (MSL). Positive for up.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ephuint16_t1E-2GPS HDOP horizontal dilution of position (unitless * 100). If unknown, set to: UINT16_MAX
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          epvuint16_t1E-2GPS VDOP vertical dilution of position (unitless * 100). If unknown, set to: UINT16_MAX
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          veluint16_tcm/sGPS ground speed. If unknown, set to: UINT16_MAX
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          vnint16_tcm/sGPS velocity in north direction in earth-fixed NED frame
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          veint16_tcm/sGPS velocity in east direction in earth-fixed NED frame
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          vdint16_tcm/sGPS velocity in down direction in earth-fixed NED frame
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          coguint16_tcdegCourse over ground (NOT heading, but direction of movement), 0.0..359.99 degrees. If unknown, set to: UINT16_MAX
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          satellites_visibleuint8_tNumber of satellites visible. If unknown, set to UINT8_MAX
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          id ++uint8_tGPS ID (zero indexed). Used for multiple GPS inputs
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          yaw ++uint16_tcdegYaw of vehicle relative to Earth's North, zero means not available, use 36000 for north

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          HIL_OPTICAL_FLOW (114)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Simulated optical flow from a flow sensor (e.g. PX4FLOW or optical mouse sensor)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          sensor_iduint8_tSensor ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          integration_time_usuint32_tusIntegration time. Divide integrated_x and integrated_y by the integration time to obtain average flow. The integration time also indicates the.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          integrated_xfloatradFlow in radians around X axis (Sensor RH rotation about the X axis induces a positive flow. Sensor linear motion along the positive Y axis induces a negative flow.)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          integrated_yfloatradFlow in radians around Y axis (Sensor RH rotation about the Y axis induces a positive flow. Sensor linear motion along the positive X axis induces a positive flow.)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          integrated_xgyrofloatradRH rotation around X axis
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          integrated_ygyrofloatradRH rotation around Y axis
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          integrated_zgyrofloatradRH rotation around Z axis
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          temperatureint16_tcdegCTemperature
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          qualityuint8_tOptical flow quality / confidence. 0: no valid flow, 255: maximum quality
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          time_delta_distance_usuint32_tusTime since the distance was sampled.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          distancefloatmDistance to the center of the flow field. Positive value (including zero): distance known. Negative value: Unknown distance.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          HIL_STATE_QUATERNION (115)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Sent from simulation to autopilot, avoids in contrast to HIL_STATE singularities. This packet is useful for high throughput applications such as hardware in the loop simulations.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          attitude_quaternionfloat[4]Vehicle attitude expressed as normalized quaternion in w, x, y, z order (with 1 0 0 0 being the null-rotation)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          rollspeedfloatrad/sBody frame roll / phi angular speed
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          pitchspeedfloatrad/sBody frame pitch / theta angular speed
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          yawspeedfloatrad/sBody frame yaw / psi angular speed
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          latint32_tdegE7Latitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          lonint32_tdegE7Longitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          altint32_tmmAltitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          vxint16_tcm/sGround X Speed (Latitude)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          vyint16_tcm/sGround Y Speed (Longitude)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          vzint16_tcm/sGround Z Speed (Altitude)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ind_airspeeduint16_tcm/sIndicated airspeed
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          true_airspeeduint16_tcm/sTrue airspeed
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          xaccint16_tmGX acceleration
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          yaccint16_tmGY acceleration
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          zaccint16_tmGZ acceleration

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          SCALED_IMU2 (116)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          The RAW IMU readings for secondary 9DOF sensor setup. This message should contain the scaled values to the described units

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          time_boot_msuint32_tmsTimestamp (time since system boot).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          xaccint16_tmGX acceleration
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          yaccint16_tmGY acceleration
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          zaccint16_tmGZ acceleration
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          xgyroint16_tmrad/sAngular speed around X axis
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ygyroint16_tmrad/sAngular speed around Y axis
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          zgyroint16_tmrad/sAngular speed around Z axis
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          xmagint16_tmgaussX Magnetic field
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ymagint16_tmgaussY Magnetic field
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          zmagint16_tmgaussZ Magnetic field
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          temperature ++int16_tcdegCTemperature, 0: IMU does not provide temperature values. If the IMU is at 0C it must send 1 (0.01C).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          LOG_REQUEST_LIST (117)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Request a list of available logs. On some systems calling this may stop on-board logging until LOG_REQUEST_END is called. If there are no log files available this request shall be answered with one LOG_ENTRY message with id = 0 and num_logs = 0.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          target_systemuint8_tSystem ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          target_componentuint8_tComponent ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          startuint16_tFirst log id (0 for first available)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          enduint16_tLast log id (0xffff for last available)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          LOG_ENTRY (118)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Reply to LOG_REQUEST_LIST

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          iduint16_tLog id
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          num_logsuint16_tTotal number of logs
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          last_log_numuint16_tHigh log number
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          time_utcuint32_tsUTC timestamp of log since 1970, or 0 if not available
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          sizeuint32_tbytesSize of the log (may be approximate)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          LOG_REQUEST_DATA (119)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Request a chunk of a log

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          target_systemuint8_tSystem ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          target_componentuint8_tComponent ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          iduint16_tLog id (from LOG_ENTRY reply)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ofsuint32_tOffset into the log
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          countuint32_tbytesNumber of bytes

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          LOG_DATA (120)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Reply to LOG_REQUEST_DATA

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          iduint16_tLog id (from LOG_ENTRY reply)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ofsuint32_tOffset into the log
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          countuint8_tbytesNumber of bytes (zero for end of log)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          datauint8_t[90]log data

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          LOG_ERASE (121)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Erase all logs

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          target_systemuint8_tSystem ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          target_componentuint8_tComponent ID

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          LOG_REQUEST_END (122)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Stop log transfer and resume normal logging

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          target_systemuint8_tSystem ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          target_componentuint8_tComponent ID

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          GPS_INJECT_DATA (123) — [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          DEPRECATED: Replaced By GPS_RTCM_DATA (2022-05)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Data for injecting into the onboard GPS (used for DGPS)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          target_systemuint8_tSystem ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          target_componentuint8_tComponent ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          lenuint8_tbytesData length
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          datauint8_t[110]Raw data (110 is enough for 12 satellites of RTCMv2)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          GPS2_RAW (124)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Second GPS data.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          fix_typeuint8_tGPS_FIX_TYPEGPS fix type.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          latint32_tdegE7Latitude (WGS84)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          lonint32_tdegE7Longitude (WGS84)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          altint32_tmmAltitude (MSL). Positive for up.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ephuint16_tinvalid:UINT16_MAXGPS HDOP horizontal dilution of position (unitless * 100). If unknown, set to: UINT16_MAX
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          epvuint16_tinvalid:UINT16_MAXGPS VDOP vertical dilution of position (unitless * 100). If unknown, set to: UINT16_MAX
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          veluint16_tcm/sinvalid:UINT16_MAXGPS ground speed. If unknown, set to: UINT16_MAX
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          coguint16_tcdeginvalid:UINT16_MAXCourse over ground (NOT heading, but direction of movement): 0.0..359.99 degrees. If unknown, set to: UINT16_MAX
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          satellites_visibleuint8_tinvalid:UINT8_MAXNumber of satellites visible. If unknown, set to UINT8_MAX
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          dgps_numchuint8_tNumber of DGPS satellites
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          dgps_ageuint32_tmsAge of DGPS info
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          yaw ++uint16_tcdeginvalid:0Yaw in earth frame from north. Use 0 if this GPS does not provide yaw. Use UINT16_MAX if this GPS is configured to provide yaw and is currently unable to provide it. Use 36000 for north.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          alt_ellipsoid ++int32_tmmAltitude (above WGS84, EGM96 ellipsoid). Positive for up.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          h_acc ++uint32_tmmPosition uncertainty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          v_acc ++uint32_tmmAltitude uncertainty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          vel_acc ++uint32_tmmSpeed uncertainty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          hdg_acc ++uint32_tdegE5Heading / track uncertainty

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          POWER_STATUS (125)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Power supply status

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Vccuint16_tmV5V rail voltage.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Vservouint16_tmVServo rail voltage.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          flagsuint16_tMAV_POWER_STATUSBitmap of power supply status flags.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          SERIAL_CONTROL (126)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Control a serial port. This can be used for raw access to an onboard serial peripheral such as a GPS or telemetry radio. It is designed to make it possible to update the devices firmware via MAVLink messages or change the devices settings. A message with zero bytes can be used to change just the baudrate.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          deviceuint8_tSERIAL_CONTROL_DEVSerial control device type.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          flagsuint8_tSERIAL_CONTROL_FLAGBitmap of serial control flags.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          timeoutuint16_tmsTimeout for reply data
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          baudrateuint32_tbits/sBaudrate of transfer. Zero means no change.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          countuint8_tbyteshow many bytes in this transfer
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          datauint8_t[70]serial data
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          target_system ++uint8_tSystem ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          target_component ++uint8_tComponent ID

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          GPS_RTK (127)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          RTK GPS data. Gives information on the relative baseline calculation the GPS is reporting

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          time_last_baseline_msuint32_tmsTime since boot of last baseline message received.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          rtk_receiver_iduint8_tIdentification of connected RTK receiver.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          wnuint16_tGPS Week Number of last baseline
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          towuint32_tmsGPS Time of Week of last baseline
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          rtk_healthuint8_tGPS-specific health report for RTK data.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          rtk_rateuint8_tHzRate of baseline messages being received by GPS
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          nsatsuint8_tCurrent number of sats used for RTK calculation.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          baseline_coords_typeuint8_tRTK_BASELINE_COORDINATE_SYSTEMCoordinate system of baseline
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          baseline_a_mmint32_tmmCurrent baseline in ECEF x or NED north component.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          baseline_b_mmint32_tmmCurrent baseline in ECEF y or NED east component.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          baseline_c_mmint32_tmmCurrent baseline in ECEF z or NED down component.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          accuracyuint32_tCurrent estimate of baseline accuracy.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          iar_num_hypothesesint32_tCurrent number of integer ambiguity hypotheses.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          GPS2_RTK (128)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          RTK GPS data. Gives information on the relative baseline calculation the GPS is reporting

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          time_last_baseline_msuint32_tmsTime since boot of last baseline message received.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          rtk_receiver_iduint8_tIdentification of connected RTK receiver.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          wnuint16_tGPS Week Number of last baseline
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          towuint32_tmsGPS Time of Week of last baseline
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          rtk_healthuint8_tGPS-specific health report for RTK data.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          rtk_rateuint8_tHzRate of baseline messages being received by GPS
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          nsatsuint8_tCurrent number of sats used for RTK calculation.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          baseline_coords_typeuint8_tRTK_BASELINE_COORDINATE_SYSTEMCoordinate system of baseline
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          baseline_a_mmint32_tmmCurrent baseline in ECEF x or NED north component.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          baseline_b_mmint32_tmmCurrent baseline in ECEF y or NED east component.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          baseline_c_mmint32_tmmCurrent baseline in ECEF z or NED down component.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          accuracyuint32_tCurrent estimate of baseline accuracy.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          iar_num_hypothesesint32_tCurrent number of integer ambiguity hypotheses.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          SCALED_IMU3 (129)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          The RAW IMU readings for 3rd 9DOF sensor setup. This message should contain the scaled values to the described units

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          time_boot_msuint32_tmsTimestamp (time since system boot).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          xaccint16_tmGX acceleration
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          yaccint16_tmGY acceleration
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          zaccint16_tmGZ acceleration
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          xgyroint16_tmrad/sAngular speed around X axis
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ygyroint16_tmrad/sAngular speed around Y axis
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          zgyroint16_tmrad/sAngular speed around Z axis
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          xmagint16_tmgaussX Magnetic field
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ymagint16_tmgaussY Magnetic field
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          zmagint16_tmgaussZ Magnetic field
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          temperature ++int16_tcdegCTemperature, 0: IMU does not provide temperature values. If the IMU is at 0C it must send 1 (0.01C).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          DATA_TRANSMISSION_HANDSHAKE (130)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Handshake message to initiate, control and stop image streaming when using the Image Transmission Protocol: https://mavlink.io/en/services/image_transmission.html.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          typeuint8_tMAVLINK_DATA_STREAM_TYPEType of requested/acknowledged data.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          sizeuint32_tbytestotal data size (set on ACK only).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          widthuint16_tWidth of a matrix or image.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          heightuint16_tHeight of a matrix or image.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          packetsuint16_tNumber of packets being sent (set on ACK only).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          payloaduint8_tbytesPayload size per packet (normally 253 byte, see DATA field size in message ENCAPSULATED_DATA) (set on ACK only).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          jpg_qualityuint8_t%JPEG quality. Values: [1-100].

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ENCAPSULATED_DATA (131)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Data packet for images sent using the Image Transmission Protocol: https://mavlink.io/en/services/image_transmission.html.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          seqnruint16_tsequence number (starting with 0 on every transmission)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          datauint8_t[253]image data bytes

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          DISTANCE_SENSOR (132)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Distance sensor information for an onboard rangefinder.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          time_boot_msuint32_tmsTimestamp (time since system boot).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          min_distanceuint16_tcmMinimum distance the sensor can measure
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          max_distanceuint16_tcmMaximum distance the sensor can measure
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          current_distanceuint16_tcmCurrent distance reading
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          typeuint8_tMAV_DISTANCE_SENSORType of distance sensor.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          iduint8_tOnboard ID of the sensor

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Messages with same value are from the same source (instance). | | orientation | uint8_t | | MAV_SENSOR_ORIENTATION | Direction the sensor faces. downward-facing: ROTATION_PITCH_270, upward-facing: ROTATION_PITCH_90, backward-facing: ROTATION_PITCH_180, forward-facing: ROTATION_NONE, left-facing: ROTATION_YAW_90, right-facing: ROTATION_YAW_270 | | covariance | uint8_t | cm^2 | invalid:UINT8_MAX | Measurement variance. Max standard deviation is 6cm. UINT8_MAX if unknown. | | horizontal_fov ++ | float | rad | invalid:0 | Horizontal Field of View (angle) where the distance measurement is valid and the field of view is known. Otherwise this is set to 0. | | vertical_fov ++ | float | rad | invalid:0 | Vertical Field of View (angle) where the distance measurement is valid and the field of view is known. Otherwise this is set to 0. | | quaternion ++ | float[4] | | invalid:[0] | Quaternion of the sensor orientation in vehicle body frame (w, x, y, z order, zero-rotation is 1, 0, 0, 0). Zero-rotation is along the vehicle body x-axis. This field is required if the orientation is set to MAV_SENSOR_ROTATION_CUSTOM. Set it to 0 if invalid." | | signal_quality ++ | uint8_t | % | invalid:0 | Signal quality of the sensor. Specific to each sensor type, representing the relation of the signal strength with the target reflectivity, distance, size or aspect, but normalised as a percentage. 0 = unknown/unset signal quality, 1 = invalid signal, 100 = perfect signal. |

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          TERRAIN_REQUEST (133)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Request for terrain data and terrain status. See terrain protocol docs: https://mavlink.io/en/services/terrain.html

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          latint32_tdegE7Latitude of SW corner of first grid
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          lonint32_tdegE7Longitude of SW corner of first grid
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          grid_spacinguint16_tmGrid spacing
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          maskuint64_tBitmask of requested 4x4 grids (row major 8x7 array of grids, 56 bits)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          TERRAIN_DATA (134)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Terrain data sent from GCS. The lat/lon and grid_spacing must be the same as a lat/lon from a TERRAIN_REQUEST. See terrain protocol docs: https://mavlink.io/en/services/terrain.html

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          latint32_tdegE7Latitude of SW corner of first grid
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          lonint32_tdegE7Longitude of SW corner of first grid
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          grid_spacinguint16_tmGrid spacing
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          gridbituint8_tbit within the terrain request mask
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          dataint16_t[16]mTerrain data MSL

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          TERRAIN_CHECK (135)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Request that the vehicle report terrain height at the given location (expected response is a TERRAIN_REPORT). Used by GCS to check if vehicle has all terrain data needed for a mission.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          latint32_tdegE7Latitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          lonint32_tdegE7Longitude

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          TERRAIN_REPORT (136)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Streamed from drone to report progress of terrain map download (initiated by TERRAIN_REQUEST), or sent as a response to a TERRAIN_CHECK request. See terrain protocol docs: https://mavlink.io/en/services/terrain.html

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          latint32_tdegE7Latitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          lonint32_tdegE7Longitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          spacinguint16_tgrid spacing (zero if terrain at this location unavailable)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          terrain_heightfloatmTerrain height MSL
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          current_heightfloatmCurrent vehicle height above lat/lon terrain height
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          pendinguint16_tNumber of 4x4 terrain blocks waiting to be received or read from disk
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          loadeduint16_tNumber of 4x4 terrain blocks in memory

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          SCALED_PRESSURE2 (137)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Barometer readings for 2nd barometer

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          time_boot_msuint32_tmsTimestamp (time since system boot).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          press_absfloathPaAbsolute pressure
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          press_difffloathPaDifferential pressure
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          temperatureint16_tcdegCAbsolute pressure temperature
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          temperature_press_diff ++int16_tcdegCDifferential pressure temperature (0, if not available). Report values of 0 (or 1) as 1 cdegC.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ATT_POS_MOCAP (138)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Motion capture attitude and position

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          qfloat[4]Attitude quaternion (w, x, y, z order, zero-rotation is 1, 0, 0, 0)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          xfloatmX position (NED)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          yfloatmY position (NED)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          zfloatmZ position (NED)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          covariance ++float[21]Row-major representation of a pose 6x6 cross-covariance matrix upper right triangle (states: x, y, z, roll, pitch, yaw; first six entries are the first ROW, next five entries are the second ROW, etc.). If unknown, assign NaN value to first element in the array.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          SET_ACTUATOR_CONTROL_TARGET (139)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Set the vehicle attitude and body angular rates.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          group_mlxuint8_tActuator group. The "_mlx" indicates this is a multi-instance message and a MAVLink parser should use this field to difference between instances.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          target_systemuint8_tSystem ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          target_componentuint8_tComponent ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          controlsfloat[8]Actuator controls. Normed to -1..+1 where 0 is neutral position. Throttle for single rotation direction motors is 0..1, negative range for reverse direction. Standard mapping for attitude controls (group 0): (index 0-7): roll, pitch, yaw, throttle, flaps, spoilers, airbrakes, landing gear. Load a pass-through mixer to repurpose them as generic outputs.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ACTUATOR_CONTROL_TARGET (140)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Set the vehicle attitude and body angular rates.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          group_mlxuint8_tActuator group. The "_mlx" indicates this is a multi-instance message and a MAVLink parser should use this field to difference between instances.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          controlsfloat[8]Actuator controls. Normed to -1..+1 where 0 is neutral position. Throttle for single rotation direction motors is 0..1, negative range for reverse direction. Standard mapping for attitude controls (group 0): (index 0-7): roll, pitch, yaw, throttle, flaps, spoilers, airbrakes, landing gear. Load a pass-through mixer to repurpose them as generic outputs.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ALTITUDE (141)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          The current system altitude.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          altitude_monotonicfloatmThis altitude measure is initialized on system boot and monotonic (it is never reset, but represents the local altitude change). The only guarantee on this field is that it will never be reset and is consistent within a flight. The recommended value for this field is the uncorrected barometric altitude at boot time. This altitude will also drift and vary between flights.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          altitude_amslfloatmThis altitude measure is strictly above mean sea level and might be non-monotonic (it might reset on events like GPS lock or when a new QNH value is set). It should be the altitude to which global altitude waypoints are compared to. Note that it is not the GPS altitude, however, most GPS modules already output MSL by default and not the WGS84 altitude.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          altitude_localfloatmThis is the local altitude in the local coordinate frame. It is not the altitude above home, but in reference to the coordinate origin (0, 0, 0). It is up-positive.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          altitude_relativefloatmThis is the altitude above the home position. It resets on each change of the current home position.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          altitude_terrainfloatmThis is the altitude above terrain. It might be fed by a terrain database or an altimeter. Values smaller than -1000 should be interpreted as unknown.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          bottom_clearancefloatmThis is not the altitude, but the clear space below the system according to the fused clearance estimate. It generally should max out at the maximum range of e.g. the laser altimeter. It is generally a moving target. A negative value indicates no measurement available.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          RESOURCE_REQUEST (142)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          The autopilot is requesting a resource (file, binary, other type of data)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          request_iduint8_tRequest ID. This ID should be re-used when sending back URI contents
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          uri_typeuint8_tThe type of requested URI. 0 = a file via URL. 1 = a UAVCAN binary
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          uriuint8_t[120]The requested unique resource identifier (URI). It is not necessarily a straight domain name (depends on the URI type enum)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          transfer_typeuint8_tThe way the autopilot wants to receive the URI. 0 = MAVLink FTP. 1 = binary stream.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          storageuint8_t[120]The storage path the autopilot wants the URI to be stored in. Will only be valid if the transfer_type has a storage associated (e.g. MAVLink FTP).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          SCALED_PRESSURE3 (143)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Barometer readings for 3rd barometer

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          time_boot_msuint32_tmsTimestamp (time since system boot).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          press_absfloathPaAbsolute pressure
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          press_difffloathPaDifferential pressure
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          temperatureint16_tcdegCAbsolute pressure temperature
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          temperature_press_diff ++int16_tcdegCDifferential pressure temperature (0, if not available). Report values of 0 (or 1) as 1 cdegC.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          FOLLOW_TARGET (144)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Current motion information from a designated system

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          timestampuint64_tmsTimestamp (time since system boot).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          est_capabilitiesuint8_tbit positions for tracker reporting capabilities (POS = 0, VEL = 1, ACCEL = 2, ATT + RATES = 3)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          latint32_tdegE7Latitude (WGS84)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          lonint32_tdegE7Longitude (WGS84)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          altfloatmAltitude (MSL)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          velfloat[3]m/starget velocity (0,0,0) for unknown
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          accfloat[3]m/s/slinear target acceleration (0,0,0) for unknown
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          attitude_qfloat[4](0 0 0 0 for unknown)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ratesfloat[3](0 0 0 for unknown)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          position_covfloat[3]eph epv
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          custom_stateuint64_tbutton states or switches of a tracker device

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          CONTROL_SYSTEM_STATE (146)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          The smoothed, monotonic system state used to feed the control loops of the system.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          x_accfloatm/s/sX acceleration in body frame
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          y_accfloatm/s/sY acceleration in body frame
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          z_accfloatm/s/sZ acceleration in body frame
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          x_velfloatm/sX velocity in body frame
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          y_velfloatm/sY velocity in body frame
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          z_velfloatm/sZ velocity in body frame
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          x_posfloatmX position in local frame
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          y_posfloatmY position in local frame
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          z_posfloatmZ position in local frame
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          airspeedfloatm/sAirspeed, set to -1 if unknown
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          vel_variancefloat[3]Variance of body velocity estimate
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          pos_variancefloat[3]Variance in local position
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          qfloat[4]The attitude, represented as Quaternion
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          roll_ratefloatrad/sAngular rate in roll axis
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          pitch_ratefloatrad/sAngular rate in pitch axis
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          yaw_ratefloatrad/sAngular rate in yaw axis

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          BATTERY_STATUS (147)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Battery information. Updates GCS with flight controller battery status. Smart batteries also use this message, but may additionally send BATTERY_INFO.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          iduint8_tBattery ID

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Messages with same value are from the same source (instance). | | battery_function | uint8_t | | MAV_BATTERY_FUNCTION | Function of the battery | | type | uint8_t | | MAV_BATTERY_TYPE | Type (chemistry) of the battery | | temperature | int16_t | cdegC | invalid:INT16_MAX | Temperature of the battery. INT16_MAX for unknown temperature. | | voltages | uint16_t[10] | mV | invalid:[UINT16_MAX] | Battery voltage of cells 1 to 10 (see voltages_ext for cells 11-14). Cells in this field above the valid cell count for this battery should have the UINT16_MAX value. If individual cell voltages are unknown or not measured for this battery, then the overall battery voltage should be filled in cell 0, with all others set to UINT16_MAX. If the voltage of the battery is greater than (UINT16_MAX - 1), then cell 0 should be set to (UINT16_MAX - 1), and cell 1 to the remaining voltage. This can be extended to multiple cells if the total voltage is greater than 2 * (UINT16_MAX - 1). | | current_battery | int16_t | cA | invalid:-1 | Battery current, -1: autopilot does not measure the current | | current_consumed | int32_t | mAh | invalid:-1 | Consumed charge, -1: autopilot does not provide consumption estimate | | energy_consumed | int32_t | hJ | invalid:-1 | Consumed energy, -1: autopilot does not provide energy consumption estimate | | battery_remaining | int8_t | % | invalid:-1 | Remaining battery energy. Values: [0-100], -1: autopilot does not estimate the remaining battery. | | time_remaining ++ | int32_t | s | invalid:0 | Remaining battery time, 0: autopilot does not provide remaining battery time estimate | | charge_state ++ | uint8_t | | MAV_BATTERY_CHARGE_STATE | State for extent of discharge, provided by autopilot for warning or external reactions | | voltages_ext ++ | uint16_t[4] | mV | invalid:[0] | Battery voltages for cells 11 to 14. Cells above the valid cell count for this battery should have a value of 0, where zero indicates not supported (note, this is different than for the voltages field and allows empty byte truncation). If the measured value is 0 then 1 should be sent instead. | | mode ++ | uint8_t | | MAV_BATTERY_MODE | Battery mode. Default (0) is that battery mode reporting is not supported or battery is in normal-use mode. | | fault_bitmask ++ | uint32_t | | MAV_BATTERY_FAULT | Fault/health indications. These should be set when charge_state is MAV_BATTERY_CHARGE_STATE_FAILED or MAV_BATTERY_CHARGE_STATE_UNHEALTHY (if not, fault reporting is not supported). |

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          AUTOPILOT_VERSION (148)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Version and capability of autopilot software. This should be emitted in response to a request with MAV_CMD_REQUEST_MESSAGE.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          capabilitiesuint64_tMAV_PROTOCOL_CAPABILITYBitmap of capabilities
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          flight_sw_versionuint32_tFirmware version number
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          middleware_sw_versionuint32_tMiddleware version number
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          os_sw_versionuint32_tOperating system version number
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          board_versionuint32_tHW / board version (last 8 bits should be silicon ID, if any). The first 16 bits of this field specify https://github.com/PX4/PX4-Bootloader/blob/master/board_types.txt
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          flight_custom_versionuint8_t[8]Custom version field, commonly the first 8 bytes of the git hash. This is not an unique identifier, but should allow to identify the commit using the main version number even for very large code bases.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          middleware_custom_versionuint8_t[8]Custom version field, commonly the first 8 bytes of the git hash. This is not an unique identifier, but should allow to identify the commit using the main version number even for very large code bases.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          os_custom_versionuint8_t[8]Custom version field, commonly the first 8 bytes of the git hash. This is not an unique identifier, but should allow to identify the commit using the main version number even for very large code bases.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          vendor_iduint16_tID of the board vendor
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          product_iduint16_tID of the product
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          uiduint64_tUID if provided by hardware (see uid2)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          uid2 ++uint8_t[18]UID if provided by hardware (supersedes the uid field. If this is non-zero, use this field, otherwise use uid)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          LANDING_TARGET (149)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          The location of a landing target. See: https://mavlink.io/en/services/landing_target.html

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          target_numuint8_tThe ID of the target if multiple targets are present
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          frameuint8_tMAV_FRAMECoordinate frame used for following fields.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          angle_xfloatradX-axis angular offset of the target from the center of the image
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          angle_yfloatradY-axis angular offset of the target from the center of the image
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          distancefloatmDistance to the target from the vehicle

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          The current MAVLink version is 2.3. The minor version numbers (after the dot) range from 1-255.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAVLink Type Enumerations

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_AUTOPILOT

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          [Enum] Micro air vehicle / autopilot classes. This identifies the individual model.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ValueField NameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          0MAV_AUTOPILOT_GENERICGeneric autopilot, full support for everything
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1MAV_AUTOPILOT_RESERVEDReserved for future use.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2MAV_AUTOPILOT_SLUGSSLUGS autopilot, http://slugsuav.soe.ucsc.edu
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          3MAV_AUTOPILOT_ARDUPILOTMEGAArduPilot - Plane/Copter/Rover/Sub/Tracker, https://ardupilot.org
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          4MAV_AUTOPILOT_OPENPILOTOpenPilot, http://openpilot.org
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          5MAV_AUTOPILOT_GENERIC_WAYPOINTS_ONLYGeneric autopilot only supporting simple waypoints
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          6MAV_AUTOPILOT_GENERIC_WAYPOINTS_AND_SIMPLE_NAVIGATION_ONLYGeneric autopilot supporting waypoints and other simple navigation commands
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          7MAV_AUTOPILOT_GENERIC_MISSION_FULLGeneric autopilot supporting the full mission command set
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          8MAV_AUTOPILOT_INVALIDNo valid autopilot, e.g. a GCS or other MAVLink component
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          9MAV_AUTOPILOT_PPZPPZ UAV - http://nongnu.org/paparazzi
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          10MAV_AUTOPILOT_UDBUAV Dev Board
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          11MAV_AUTOPILOT_FPFlexiPilot
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          12MAV_AUTOPILOT_PX4PX4 Autopilot - http://px4.io/
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          13MAV_AUTOPILOT_SMACCMPILOTSMACCMPilot - http://smaccmpilot.org
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          14MAV_AUTOPILOT_AUTOQUADAutoQuad -- http://autoquad.org
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          15MAV_AUTOPILOT_ARMAZILAArmazila -- http://armazila.com
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          16MAV_AUTOPILOT_AEROBAerob -- http://aerob.ru
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          17MAV_AUTOPILOT_ASLUAVASLUAV autopilot -- http://www.asl.ethz.ch
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          18MAV_AUTOPILOT_SMARTAPSmartAP Autopilot - http://sky-drones.com
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          19MAV_AUTOPILOT_AIRRAILSAirRails - http://uaventure.com
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          20MAV_AUTOPILOT_REFLEXFusion Reflex - https://fusion.engineering

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_TYPE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          [Enum] MAVLINK component type reported in HEARTBEAT message. Flight controllers must report the type of the vehicle on which they are mounted (e.g. MAV_TYPE_OCTOROTOR). All other components must report a value appropriate for their type (e.g. a camera must use MAV_TYPE_CAMERA).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ValueField NameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          0MAV_TYPE_GENERICGeneric micro air vehicle
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1MAV_TYPE_FIXED_WINGFixed wing aircraft.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2MAV_TYPE_QUADROTORQuadrotor
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          3MAV_TYPE_COAXIALCoaxial helicopter
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          4MAV_TYPE_HELICOPTERNormal helicopter with tail rotor.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          5MAV_TYPE_ANTENNA_TRACKERGround installation
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          6MAV_TYPE_GCSOperator control unit / ground control station
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          7MAV_TYPE_AIRSHIPAirship, controlled
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          8MAV_TYPE_FREE_BALLOONFree balloon, uncontrolled
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          9MAV_TYPE_ROCKETRocket
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          10MAV_TYPE_GROUND_ROVERGround rover
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          11MAV_TYPE_SURFACE_BOATSurface vessel, boat, ship
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          12MAV_TYPE_SUBMARINESubmarine
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          13MAV_TYPE_HEXAROTORHexarotor
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          14MAV_TYPE_OCTOROTOROctorotor
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          15MAV_TYPE_TRICOPTERTricopter
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          16MAV_TYPE_FLAPPING_WINGFlapping wing
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          17MAV_TYPE_KITEKite
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          18MAV_TYPE_ONBOARD_CONTROLLEROnboard companion controller
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          19MAV_TYPE_VTOL_TAILSITTER_DUOROTORTwo-rotor Tailsitter VTOL that additionally uses control surfaces in vertical operation. Note, value previously named MAV_TYPE_VTOL_DUOROTOR.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          20MAV_TYPE_VTOL_TAILSITTER_QUADROTORQuad-rotor Tailsitter VTOL using a V-shaped quad config in vertical operation. Note: value previously named MAV_TYPE_VTOL_QUADROTOR.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          21MAV_TYPE_VTOL_TILTROTORTiltrotor VTOL. Fuselage and wings stay (nominally) horizontal in all flight phases. It able to tilt (some) rotors to provide thrust in cruise flight.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          22MAV_TYPE_VTOL_FIXEDROTORVTOL with separate fixed rotors for hover and cruise flight. Fuselage and wings stay (nominally) horizontal in all flight phases.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          23MAV_TYPE_VTOL_TAILSITTERTailsitter VTOL. Fuselage and wings orientation changes depending on flight phase: vertical for hover, horizontal for cruise. Use more specific VTOL MAV_TYPE_VTOL_DUOROTOR or MAV_TYPE_VTOL_QUADROTOR if appropriate.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          24MAV_TYPE_VTOL_RESERVED4VTOL reserved 4
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          25MAV_TYPE_VTOL_RESERVED5VTOL reserved 5
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          26MAV_TYPE_GIMBALGimbal
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          27MAV_TYPE_ADSBADSB system
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          28MAV_TYPE_PARAFOILSteerable, nonrigid airfoil
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          29MAV_TYPE_DODECAROTORDodecarotor
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          30MAV_TYPE_CAMERACamera
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          31MAV_TYPE_CHARGING_STATIONCharging station
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          32MAV_TYPE_FLARMFLARM collision avoidance system
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          33MAV_TYPE_SERVOServo
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          34MAV_TYPE_ODIDOpen Drone ID. See https://mavlink.io/en/services/opendroneid.html.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          35MAV_TYPE_DECAROTORDecarotor
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          36MAV_TYPE_BATTERYBattery
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          37MAV_TYPE_PARACHUTEParachute
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          38MAV_TYPE_LOGLog
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          39MAV_TYPE_OSDOSD
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          40MAV_TYPE_IMUIMU
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          41MAV_TYPE_GPSGPS
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          42MAV_TYPE_WINCHWinch

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_MODE_FLAG

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          [Enum] These flags encode the MAV mode.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ValueField NameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          128MAV_MODE_FLAG_SAFETY_ARMED0b10000000 MAV safety set to armed. Motors are enabled / running / can start. Ready to fly. Additional note: this flag is to be ignore when sent in the command MAV_CMD_DO_SET_MODE and MAV_CMD_COMPONENT_ARM_DISARM shall be used instead. The flag can still be used to report the armed state.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          64MAV_MODE_FLAG_MANUAL_INPUT_ENABLED0b01000000 remote control input is enabled.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          32MAV_MODE_FLAG_HIL_ENABLED0b00100000 hardware in the loop simulation. All motors / actuators are blocked, but internal software is full operational.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          16MAV_MODE_FLAG_STABILIZE_ENABLED0b00010000 system stabilizes electronically its attitude (and optionally position). It needs however further control inputs to move around.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          8MAV_MODE_FLAG_GUIDED_ENABLED0b00001000 guided mode enabled, system flies waypoints / mission items.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          4MAV_MODE_FLAG_AUTO_ENABLED0b00000100 autonomous mode enabled, system finds its own goal positions. Guided flag can be set or not, depends on the actual implementation.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2MAV_MODE_FLAG_TEST_ENABLED0b00000010 system has a test mode enabled. This flag is intended for temporary system tests and should not be used for stable implementations.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1MAV_MODE_FLAG_CUSTOM_MODE_ENABLED0b00000001 Reserved for future use.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_MODE_FLAG_DECODE_POSITION

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          [Enum] These values encode the bit positions of the decode position. These values can be used to read the value of a flag bit by combining the base_mode variable with AND with the flag position value. The result will be either 0 or 1, depending on if the flag is set or not.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ValueField NameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          128MAV_MODE_FLAG_DECODE_POSITION_SAFETYFirst bit: 10000000
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          64MAV_MODE_FLAG_DECODE_POSITION_MANUALSecond bit: 01000000
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          32MAV_MODE_FLAG_DECODE_POSITION_HILThird bit: 00100000
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          16MAV_MODE_FLAG_DECODE_POSITION_STABILIZEFourth bit: 00010000
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          8MAV_MODE_FLAG_DECODE_POSITION_GUIDEDFifth bit: 00001000
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          4MAV_MODE_FLAG_DECODE_POSITION_AUTOSixth bit: 00000100
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2MAV_MODE_FLAG_DECODE_POSITION_TESTSeventh bit: 00000010
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1MAV_MODE_FLAG_DECODE_POSITION_CUSTOM_MODEEighth bit: 00000001

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_STATE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          [Enum]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ValueField NameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          0MAV_STATE_UNINITUninitialized system, state is unknown.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1MAV_STATE_BOOTSystem is booting up.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2MAV_STATE_CALIBRATINGSystem is calibrating and not flight-ready.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          3MAV_STATE_STANDBYSystem is grounded and on standby. It can be launched any time.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          4MAV_STATE_ACTIVESystem is active and might be already airborne. Motors are engaged.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          5MAV_STATE_CRITICALSystem is in a non-normal flight mode. It can however still navigate.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          6MAV_STATE_EMERGENCYSystem is in a non-normal flight mode. It lost control over parts or over the whole airframe. It is in mayday and going down.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          7MAV_STATE_POWEROFFSystem just initialized its power-down sequence, will shut down now.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          8MAV_STATE_FLIGHT_TERMINATIONSystem is terminating itself.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_COMPONENT

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          [Enum] Component ids (values) for the different types and instances of onboard hardware/software that might make up a MAVLink system (autopilot, cameras, servos, GPS systems, avoidance systems etc.). Components must use the appropriate ID in their source address when sending messages. Components can also use IDs to determine if they are the intended recipient of an incoming message. The MAV_COMP_ID_ALL value is used to indicate messages that must be processed by all components. When creating new entries, components that can have multiple instances (e.g. cameras, servos etc.) should be allocated sequential values. An appropriate number of values should be left free after these components to allow the number of instances to be expanded.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          </tr></tr> </tbody> </table>

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAVLink Commands (MAV_CMD)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAVLink commands (MAV_CMD) and messages are different! These commands define the values of up to 7 parameters that are packaged INSIDE specific messages used in the Mission Protocol and Command Protocol. Use commands for actions in missions or if you need acknowledgment and/or retry logic from a request. Otherwise use messages.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAVLink Messages

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          HEARTBEAT (

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          #0

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          </a> ) </h3>

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          [Message] The heartbeat message shows that a system or component is present and responding. The type and autopilot fields (along with the message component id), allow the receiving system to treat further messages from this system appropriately (e.g. by laying out the user interface based on the autopilot). This microservice is documented at https://mavlink.io/en/services/heartbeat.html

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ValueField NameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          0MAV_COMP_ID_ALLTarget id (target_component) used to broadcast messages to all components of the receiving system. Components should attempt to process messages with this component ID and forward to components on any other interfaces. Note: This is not a valid *source* component id for a message.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1MAV_COMP_ID_AUTOPILOT1System flight controller component ("autopilot"). Only one autopilot is expected in a particular system.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          25MAV_COMP_ID_USER1Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          26MAV_COMP_ID_USER2Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          27MAV_COMP_ID_USER3Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          28MAV_COMP_ID_USER4Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          29MAV_COMP_ID_USER5Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          30MAV_COMP_ID_USER6Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          31MAV_COMP_ID_USER7Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          32MAV_COMP_ID_USER8Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          33MAV_COMP_ID_USER9Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          34MAV_COMP_ID_USER10Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          35MAV_COMP_ID_USER11Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          36MAV_COMP_ID_USER12Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          37MAV_COMP_ID_USER13Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          38MAV_COMP_ID_USER14Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          39MAV_COMP_ID_USER15Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          40MAV_COMP_ID_USER16Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          41MAV_COMP_ID_USER17Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          42MAV_COMP_ID_USER18Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          43MAV_COMP_ID_USER19Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          44MAV_COMP_ID_USER20Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          45MAV_COMP_ID_USER21Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          46MAV_COMP_ID_USER22Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          47MAV_COMP_ID_USER23Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          48MAV_COMP_ID_USER24Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          49MAV_COMP_ID_USER25Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          50MAV_COMP_ID_USER26Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          51MAV_COMP_ID_USER27Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          52MAV_COMP_ID_USER28Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          53MAV_COMP_ID_USER29Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          54MAV_COMP_ID_USER30Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          55MAV_COMP_ID_USER31Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          56MAV_COMP_ID_USER32Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          57MAV_COMP_ID_USER33Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          58MAV_COMP_ID_USER34Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          59MAV_COMP_ID_USER35Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          60MAV_COMP_ID_USER36Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          61MAV_COMP_ID_USER37Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          62MAV_COMP_ID_USER38Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          63MAV_COMP_ID_USER39Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          64MAV_COMP_ID_USER40Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          65MAV_COMP_ID_USER41Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          66MAV_COMP_ID_USER42Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          67MAV_COMP_ID_USER43Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          68MAV_COMP_ID_TELEMETRY_RADIOTelemetry radio (e.g. SiK radio, or other component that emits RADIO_STATUS messages).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          69MAV_COMP_ID_USER45Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          70MAV_COMP_ID_USER46Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          71MAV_COMP_ID_USER47Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          72MAV_COMP_ID_USER48Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          73MAV_COMP_ID_USER49Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          74MAV_COMP_ID_USER50Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          75MAV_COMP_ID_USER51Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          76MAV_COMP_ID_USER52Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          77MAV_COMP_ID_USER53Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          78MAV_COMP_ID_USER54Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          79MAV_COMP_ID_USER55Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          80MAV_COMP_ID_USER56Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          81MAV_COMP_ID_USER57Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          82MAV_COMP_ID_USER58Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          83MAV_COMP_ID_USER59Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          84MAV_COMP_ID_USER60Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          85MAV_COMP_ID_USER61Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          86MAV_COMP_ID_USER62Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          87MAV_COMP_ID_USER63Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          88MAV_COMP_ID_USER64Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          89MAV_COMP_ID_USER65Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          90MAV_COMP_ID_USER66Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          91MAV_COMP_ID_USER67Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          92MAV_COMP_ID_USER68Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          93MAV_COMP_ID_USER69Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          94MAV_COMP_ID_USER70Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          95MAV_COMP_ID_USER71Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          96MAV_COMP_ID_USER72Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          97MAV_COMP_ID_USER73Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          98MAV_COMP_ID_USER74Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          99MAV_COMP_ID_USER75Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          100MAV_COMP_ID_CAMERACamera #1.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          101MAV_COMP_ID_CAMERA2Camera #2.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          102MAV_COMP_ID_CAMERA3Camera #3.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          103MAV_COMP_ID_CAMERA4Camera #4.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          104MAV_COMP_ID_CAMERA5Camera #5.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          105MAV_COMP_ID_CAMERA6Camera #6.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          140MAV_COMP_ID_SERVO1Servo #1.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          141MAV_COMP_ID_SERVO2Servo #2.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          142MAV_COMP_ID_SERVO3Servo #3.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          143MAV_COMP_ID_SERVO4Servo #4.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          144MAV_COMP_ID_SERVO5Servo #5.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          145MAV_COMP_ID_SERVO6Servo #6.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          146MAV_COMP_ID_SERVO7Servo #7.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          147MAV_COMP_ID_SERVO8Servo #8.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          148MAV_COMP_ID_SERVO9Servo #9.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          149MAV_COMP_ID_SERVO10Servo #10.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          150MAV_COMP_ID_SERVO11Servo #11.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          151MAV_COMP_ID_SERVO12Servo #12.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          152MAV_COMP_ID_SERVO13Servo #13.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          153MAV_COMP_ID_SERVO14Servo #14.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          154MAV_COMP_ID_GIMBALGimbal #1.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          155MAV_COMP_ID_LOGLogging component.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          156MAV_COMP_ID_ADSBAutomatic Dependent Surveillance-Broadcast (ADS-B) component.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          157MAV_COMP_ID_OSDOn Screen Display (OSD) devices for video links.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          158MAV_COMP_ID_PERIPHERALGeneric autopilot peripheral component ID. Meant for devices that do not implement the parameter microservice.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          159MAV_COMP_ID_QX1_GIMBAL

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          DEPRECATED: Replaced by MAV_COMP_ID_GIMBAL (2018-11).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          All gimbals should use MAV_COMP_ID_GIMBAL.</p> </td>

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          		Gimbal ID for QX1.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          160MAV_COMP_ID_FLARMFLARM collision alert component.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          161MAV_COMP_ID_PARACHUTEParachute component.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          171MAV_COMP_ID_GIMBAL2Gimbal #2.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          172MAV_COMP_ID_GIMBAL3Gimbal #3.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          173MAV_COMP_ID_GIMBAL4Gimbal #4
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          174MAV_COMP_ID_GIMBAL5Gimbal #5.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          175MAV_COMP_ID_GIMBAL6Gimbal #6.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          180MAV_COMP_ID_BATTERYBattery #1.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          181MAV_COMP_ID_BATTERY2Battery #2.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          189MAV_COMP_ID_MAVCANCAN over MAVLink client.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          190MAV_COMP_ID_MISSIONPLANNERComponent that can generate/supply a mission flight plan (e.g. GCS or developer API).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          191MAV_COMP_ID_ONBOARD_COMPUTERComponent that lives on the onboard computer (companion computer) and has some generic functionalities, such as settings system parameters and monitoring the status of some processes that don't directly speak mavlink and so on.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          192MAV_COMP_ID_ONBOARD_COMPUTER2Component that lives on the onboard computer (companion computer) and has some generic functionalities, such as settings system parameters and monitoring the status of some processes that don't directly speak mavlink and so on.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          193MAV_COMP_ID_ONBOARD_COMPUTER3Component that lives on the onboard computer (companion computer) and has some generic functionalities, such as settings system parameters and monitoring the status of some processes that don't directly speak mavlink and so on.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          194MAV_COMP_ID_ONBOARD_COMPUTER4Component that lives on the onboard computer (companion computer) and has some generic functionalities, such as settings system parameters and monitoring the status of some processes that don't directly speak mavlink and so on.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          195MAV_COMP_ID_PATHPLANNERComponent that finds an optimal path between points based on a certain constraint (e.g. minimum snap, shortest path, cost, etc.).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          196MAV_COMP_ID_OBSTACLE_AVOIDANCEComponent that plans a collision free path between two points.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          197MAV_COMP_ID_VISUAL_INERTIAL_ODOMETRYComponent that provides position estimates using VIO techniques.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          198MAV_COMP_ID_PAIRING_MANAGERComponent that manages pairing of vehicle and GCS.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          200MAV_COMP_ID_IMUInertial Measurement Unit (IMU) #1.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          201MAV_COMP_ID_IMU_2Inertial Measurement Unit (IMU) #2.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          202MAV_COMP_ID_IMU_3Inertial Measurement Unit (IMU) #3.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          220MAV_COMP_ID_GPSGPS #1.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          221MAV_COMP_ID_GPS2GPS #2.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          236MAV_COMP_ID_ODID_TXRX_1Open Drone ID transmitter/receiver (Bluetooth/WiFi/Internet).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          237MAV_COMP_ID_ODID_TXRX_2Open Drone ID transmitter/receiver (Bluetooth/WiFi/Internet).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          238MAV_COMP_ID_ODID_TXRX_3Open Drone ID transmitter/receiver (Bluetooth/WiFi/Internet).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          240MAV_COMP_ID_UDP_BRIDGEComponent to bridge MAVLink to UDP (i.e. from a UART).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          241MAV_COMP_ID_UART_BRIDGEComponent to bridge to UART (i.e. from UDP).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          242MAV_COMP_ID_TUNNEL_NODEComponent handling TUNNEL messages (e.g. vendor specific GUI of a component).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          250MAV_COMP_ID_SYSTEM_CONTROL

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          DEPRECATED: Replaced by MAV_COMP_ID_ALL (2018-11).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          System control does not require a separate component ID. Instead, system commands should be sent with target_component=MAV_COMP_ID_ALL allowing the target component to use any appropriate component id.</p> </td>

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          		Deprecated, don't use. Component for handling system messages (e.g. to ARM, takeoff, etc.).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          typeuint8_tMAV_TYPEVehicle or component type. For a flight controller component the vehicle type (quadrotor, helicopter, etc.). For other components the component type (e.g. camera, gimbal, etc.). This should be used in preference to component id for identifying the component type.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          autopilotuint8_tMAV_AUTOPILOTAutopilot type / class. Use MAV_AUTOPILOT_INVALID for components that are not flight controllers.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          base_modeuint8_tMAV_MODE_FLAGSystem mode bitmap.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          custom_modeuint32_tA bitfield for use for autopilot-specific flags
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          system_statusuint8_tMAV_STATESystem status flag.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          mavlink_versionuint8_t_mavlink_versionMAVLink version, not writable by user, gets added by protocol because of magic data type: uint8_t_mavlink_version

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          PROTOCOL_VERSION (

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          #300
-

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          </a> ) </h3>

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          [Message] (MAVLink 2) Version and capability of protocol version. This message can be requested with MAV_CMD_REQUEST_MESSAGE and is used as part of the handshaking to establish which MAVLink version should be used on the network. Every node should respond to a request for PROTOCOL_VERSION to enable the handshaking. Library implementers should consider adding this into the default decoding state machine to allow the protocol core to respond directly.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          versionuint16_tCurrently active MAVLink version number * 100: v1.0 is 100, v2.0 is 200, etc.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          min_versionuint16_tMinimum MAVLink version supported
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          max_versionuint16_tMaximum MAVLink version supported (set to the same value as version by default)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          spec_version_hashuint8_t[8]The first 8 bytes (not characters printed in hex!) of the git hash.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          library_version_hashuint8_t[8]The first 8 bytes (not characters printed in hex!) of the git hash.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          </body> </html> | float | rad | | Size of target along x-axis | | size_y | float | rad | | Size of target along y-axis | | x ++ | float | m | | X Position of the landing target in MAV_FRAME | | y ++ | float | m | | Y Position of the landing target in MAV_FRAME | | z ++ | float | m | | Z Position of the landing target in MAV_FRAME | | q ++ | float[4] | | | Quaternion of landing target orientation (w, x, y, z order, zero-rotation is 1, 0, 0, 0) | | type ++ | uint8_t | | LANDING_TARGET_TYPE | Type of landing target | | position_valid ++ | uint8_t | | invalid:0 | Boolean indicating whether the position fields (x, y, z, q, type) contain valid target position information (valid: 1, invalid: 0). Default is 0 (invalid). |

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          FENCE_STATUS (162)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Status of geo-fencing. Sent in extended status stream when fencing enabled.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          breach_statusuint8_tBreach status (0 if currently inside fence, 1 if outside).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          breach_countuint16_tNumber of fence breaches.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          breach_typeuint8_tFENCE_BREACHLast breach type.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          breach_timeuint32_tmsTime (since boot) of last breach.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          breach_mitigation ++uint8_tFENCE_MITIGATEActive action to prevent fence breach

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAG_CAL_REPORT (192)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Reports results of completed compass calibration. Sent until MAG_CAL_ACK received.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          compass_iduint8_tCompass being calibrated.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Messages with same value are from the same source (instance). | | cal_mask | uint8_t | | | Bitmask of compasses being calibrated. | | cal_status | uint8_t | | MAG_CAL_STATUS | Calibration Status. | | autosaved | uint8_t | | | 0=requires a MAV_CMD_DO_ACCEPT_MAG_CAL, 1=saved to parameters. | | fitness | float | mgauss | | RMS milligauss residuals. | | ofs_x | float | | | X offset. | | ofs_y | float | | | Y offset. | | ofs_z | float | | | Z offset. | | diag_x | float | | | X diagonal (matrix 11). | | diag_y | float | | | Y diagonal (matrix 22). | | diag_z | float | | | Z diagonal (matrix 33). | | offdiag_x | float | | | X off-diagonal (matrix 12 and 21). | | offdiag_y | float | | | Y off-diagonal (matrix 13 and 31). | | offdiag_z | float | | | Z off-diagonal (matrix 32 and 23). | | orientation_confidence ++ | float | | | Confidence in orientation (higher is better). | | old_orientation ++ | uint8_t | | MAV_SENSOR_ORIENTATION | orientation before calibration. | | new_orientation ++ | uint8_t | | MAV_SENSOR_ORIENTATION | orientation after calibration. | | scale_factor ++ | float | | | field radius correction factor |

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          EFI_STATUS (225)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          EFI status output

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          healthuint8_tEFI health status
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ecu_indexfloatECU index
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          rpmfloatRPM
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          fuel_consumedfloatcm^3Fuel consumed
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          fuel_flowfloatcm^3/minFuel flow rate
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          engine_loadfloat%Engine load
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          throttle_positionfloat%Throttle position
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          spark_dwell_timefloatmsSpark dwell time
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          barometric_pressurefloatkPaBarometric pressure
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          intake_manifold_pressurefloatkPaIntake manifold pressure(
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          intake_manifold_temperaturefloatdegCIntake manifold temperature
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          cylinder_head_temperaturefloatdegCCylinder head temperature
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ignition_timingfloatdegIgnition timing (Crank angle degrees)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          injection_timefloatmsInjection time
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          exhaust_gas_temperaturefloatdegCExhaust gas temperature
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          throttle_outfloat%Output throttle
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          pt_compensationfloatPressure/temperature compensation
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ignition_voltage ++floatVSupply voltage to EFI sparking system. Zero in this value means "unknown", so if the supply voltage really is zero volts use 0.0001 instead.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          fuel_pressure ++floatkPaFuel pressure. Zero in this value means "unknown", so if the fuel pressure really is zero kPa use 0.0001 instead.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ESTIMATOR_STATUS (230)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Estimator status message including flags, innovation test ratios and estimated accuracies. The flags message is an integer bitmask containing information on which EKF outputs are valid. See the ESTIMATOR_STATUS_FLAGS enum definition for further information. The innovation test ratios show the magnitude of the sensor innovation divided by the innovation check threshold. Under normal operation the innovation test ratios should be below 0.5 with occasional values up to 1.0. Values greater than 1.0 should be rare under normal operation and indicate that a measurement has been rejected by the filter. The user should be notified if an innovation test ratio greater than 1.0 is recorded. Notifications for values in the range between 0.5 and 1.0 should be optional and controllable by the user.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          flagsuint16_tESTIMATOR_STATUS_FLAGSBitmap indicating which EKF outputs are valid.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          vel_ratiofloatVelocity innovation test ratio
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          pos_horiz_ratiofloatHorizontal position innovation test ratio
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          pos_vert_ratiofloatVertical position innovation test ratio
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          mag_ratiofloatMagnetometer innovation test ratio
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          hagl_ratiofloatHeight above terrain innovation test ratio
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          tas_ratiofloatTrue airspeed innovation test ratio
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          pos_horiz_accuracyfloatmHorizontal position 1-STD accuracy relative to the EKF local origin
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          pos_vert_accuracyfloatmVertical position 1-STD accuracy relative to the EKF local origin

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          WIND_COV (231)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Wind estimate from vehicle. Note that despite the name, this message does not actually contain any covariances but instead variability and accuracy fields in terms of standard deviation (1-STD).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          wind_xfloatm/sWind in North (NED) direction (NAN if unknown)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          wind_yfloatm/sWind in East (NED) direction (NAN if unknown)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          wind_zfloatm/sWind in down (NED) direction (NAN if unknown)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          var_horizfloatm/sVariability of wind in XY, 1-STD estimated from a 1 Hz lowpassed wind estimate (NAN if unknown)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          var_vertfloatm/sVariability of wind in Z, 1-STD estimated from a 1 Hz lowpassed wind estimate (NAN if unknown)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          wind_altfloatmAltitude (MSL) that this measurement was taken at (NAN if unknown)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          horiz_accuracyfloatm/sHorizontal speed 1-STD accuracy (0 if unknown)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          vert_accuracyfloatm/sVertical speed 1-STD accuracy (0 if unknown)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          GPS_INPUT (232)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          GPS sensor input message. This is a raw sensor value sent by the GPS. This is NOT the global position estimate of the system.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          gps_iduint8_tID of the GPS for multiple GPS inputs

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Messages with same value are from the same source (instance). | | ignore_flags | uint16_t | | GPS_INPUT_IGNORE_FLAGS | Bitmap indicating which GPS input flags fields to ignore. All other fields must be provided. | | time_week_ms | uint32_t | ms | | GPS time (from start of GPS week) | | time_week | uint16_t | | | GPS week number | | fix_type | uint8_t | | | 0-1: no fix, 2: 2D fix, 3: 3D fix. 4: 3D with DGPS. 5: 3D with RTK | | lat | int32_t | degE7 | | Latitude (WGS84) | | lon | int32_t | degE7 | | Longitude (WGS84) | | alt | float | m | | Altitude (MSL). Positive for up. | | hdop | float | | invalid:UINT16_MAX | GPS HDOP horizontal dilution of position (unitless). If unknown, set to: UINT16_MAX | | vdop | float | | invalid:UINT16_MAX | GPS VDOP vertical dilution of position (unitless). If unknown, set to: UINT16_MAX | | vn | float | m/s | | GPS velocity in north direction in earth-fixed NED frame | | ve | float | m/s | | GPS velocity in east direction in earth-fixed NED frame | | vd | float | m/s | | GPS velocity in down direction in earth-fixed NED frame | | speed_accuracy | float | m/s | | GPS speed accuracy | | horiz_accuracy | float | m | | GPS horizontal accuracy | | vert_accuracy | float | m | | GPS vertical accuracy | | satellites_visible | uint8_t | | | Number of satellites visible. | | yaw ++ | uint16_t | cdeg | | Yaw of vehicle relative to Earth's North, zero means not available, use 36000 for north |

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          GPS_RTCM_DATA (233)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          RTCM message for injecting into the onboard GPS (used for DGPS)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          flagsuint8_tLSB: 1 means message is fragmented, next 2 bits are the fragment ID, the remaining 5 bits are used for the sequence ID. Messages are only to be flushed to the GPS when the entire message has been reconstructed on the autopilot. The fragment ID specifies which order the fragments should be assembled into a buffer, while the sequence ID is used to detect a mismatch between different buffers. The buffer is considered fully reconstructed when either all 4 fragments are present, or all the fragments before the first fragment with a non full payload is received. This management is used to ensure that normal GPS operation doesn't corrupt RTCM data, and to recover from a unreliable transport delivery order.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          lenuint8_tbytesdata length
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          datauint8_t[180]RTCM message (may be fragmented)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          HIGH_LATENCY (234) — [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          DEPRECATED: Replaced By HIGH_LATENCY2 (2020-10)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Message appropriate for high latency connections like Iridium

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          base_modeuint8_tMAV_MODE_FLAGBitmap of enabled system modes.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          custom_modeuint32_tA bitfield for use for autopilot-specific flags.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          landed_stateuint8_tMAV_LANDED_STATEThe landed state. Is set to MAV_LANDED_STATE_UNDEFINED if landed state is unknown.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          rollint16_tcdegroll
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          pitchint16_tcdegpitch
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          headinguint16_tcdegheading
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          throttleint8_t%throttle (percentage)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          heading_spint16_tcdegheading setpoint
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          latitudeint32_tdegE7Latitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          longitudeint32_tdegE7Longitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          altitude_amslint16_tmAltitude above mean sea level
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          altitude_spint16_tmAltitude setpoint relative to the home position
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          airspeeduint8_tm/sairspeed
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          airspeed_spuint8_tm/sairspeed setpoint
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          groundspeeduint8_tm/sgroundspeed
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          climb_rateint8_tm/sclimb rate
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          gps_nsatuint8_tinvalid:UINT8_MAXNumber of satellites visible. If unknown, set to UINT8_MAX
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          gps_fix_typeuint8_tGPS_FIX_TYPEGPS Fix type.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          battery_remaininguint8_t%Remaining battery (percentage)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          temperatureint8_tdegCAutopilot temperature (degrees C)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          temperature_airint8_tdegCAir temperature (degrees C) from airspeed sensor
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          failsafeuint8_tfailsafe (each bit represents a failsafe where 0=ok, 1=failsafe active (bit0:RC, bit1:batt, bit2:GPS, bit3:GCS, bit4:fence)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          wp_numuint8_tcurrent waypoint number
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          wp_distanceuint16_tmdistance to target

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          HIGH_LATENCY2 (235)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Message appropriate for high latency connections like Iridium (version 2)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          timestampuint32_tmsTimestamp (milliseconds since boot or Unix epoch)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          typeuint8_tMAV_TYPEType of the MAV (quadrotor, helicopter, etc.)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          autopilotuint8_tMAV_AUTOPILOTAutopilot type / class. Use MAV_AUTOPILOT_INVALID for components that are not flight controllers.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          custom_modeuint16_tA bitfield for use for autopilot-specific flags (2 byte version).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          latitudeint32_tdegE7Latitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          longitudeint32_tdegE7Longitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          altitudeint16_tmAltitude above mean sea level
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          target_altitudeint16_tmAltitude setpoint
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          headinguint8_tdeg/2Heading
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          target_headinguint8_tdeg/2Heading setpoint
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          target_distanceuint16_tdamDistance to target waypoint or position
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          throttleuint8_t%Throttle
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          airspeeduint8_tm/s*5Airspeed
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          airspeed_spuint8_tm/s*5Airspeed setpoint
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          groundspeeduint8_tm/s*5Groundspeed
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          windspeeduint8_tm/s*5Windspeed
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          wind_headinguint8_tdeg/2Wind heading
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ephuint8_tdmMaximum error horizontal position since last message
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          epvuint8_tdmMaximum error vertical position since last message
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          temperature_airint8_tdegCAir temperature from airspeed sensor
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          climb_rateint8_tdm/sMaximum climb rate magnitude since last message
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          batteryint8_t%invalid:-1Battery level (-1 if field not provided).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          wp_numuint16_tCurrent waypoint number
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          failure_flagsuint16_tHL_FAILURE_FLAGBitmap of failure flags.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          custom0int8_tField for custom payload.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          custom1int8_tField for custom payload.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          custom2int8_tField for custom payload.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          VIBRATION (241)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Vibration levels and accelerometer clipping

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          vibration_xfloatVibration levels on X-axis
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          vibration_yfloatVibration levels on Y-axis
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          vibration_zfloatVibration levels on Z-axis
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          clipping_0uint32_tfirst accelerometer clipping count
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          clipping_1uint32_tsecond accelerometer clipping count
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          clipping_2uint32_tthird accelerometer clipping count

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          HOME_POSITION (242)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Contains the home position. The home position is the default position that the system will return to and land on. The position must be set automatically by the system during the takeoff, and may also be explicitly set using MAV_CMD_DO_SET_HOME. The global and local positions encode the position in the respective coordinate frames, while the q parameter encodes the orientation of the surface. Under normal conditions it describes the heading and terrain slope, which can be used by the aircraft to adjust the approach. The approach 3D vector describes the point to which the system should fly in normal flight mode and then perform a landing sequence along the vector. Note: this message can be requested by sending the MAV_CMD_REQUEST_MESSAGE with param1=242 (or the deprecated MAV_CMD_GET_HOME_POSITION command).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          latitudeint32_tdegE7Latitude (WGS84)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          longitudeint32_tdegE7Longitude (WGS84)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          altitudeint32_tmmAltitude (MSL). Positive for up.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          xfloatmLocal X position of this position in the local coordinate frame (NED)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          yfloatmLocal Y position of this position in the local coordinate frame (NED)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          zfloatmLocal Z position of this position in the local coordinate frame (NED: positive "down")
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          qfloat[4]Quaternion indicating world-to-surface-normal and heading transformation of the takeoff position.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Used to indicate the heading and slope of the ground.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          All fields should be set to NaN if an accurate quaternion for both heading and surface slope cannot be supplied. | | approach_x | float | m | Local X position of the end of the approach vector. Multicopters should set this position based on their takeoff path. Grass-landing fixed wing aircraft should set it the same way as multicopters. Runway-landing fixed wing aircraft should set it to the opposite direction of the takeoff, assuming the takeoff happened from the threshold / touchdown zone. | | approach_y | float | m | Local Y position of the end of the approach vector. Multicopters should set this position based on their takeoff path. Grass-landing fixed wing aircraft should set it the same way as multicopters. Runway-landing fixed wing aircraft should set it to the opposite direction of the takeoff, assuming the takeoff happened from the threshold / touchdown zone. | | approach_z | float | m | Local Z position of the end of the approach vector. Multicopters should set this position based on their takeoff path. Grass-landing fixed wing aircraft should set it the same way as multicopters. Runway-landing fixed wing aircraft should set it to the opposite direction of the takeoff, assuming the takeoff happened from the threshold / touchdown zone. | | time_usec ++ | uint64_t | us | Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number. |

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          SET_HOME_POSITION (243) — [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          DEPRECATED: Replaced By MAV_CMD_DO_SET_HOME (2022-02) — The command protocol version (MAV_CMD_DO_SET_HOME) allows a GCS to detect when setting the home position has failed.)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Sets the home position. The home position is the default position that the system will return to and land on. The position is set automatically by the system during the takeoff (and may also be set using this message). The global and local positions encode the position in the respective coordinate frames, while the q parameter encodes the orientation of the surface. Under normal conditions it describes the heading and terrain slope, which can be used by the aircraft to adjust the approach. The approach 3D vector describes the point to which the system should fly in normal flight mode and then perform a landing sequence along the vector. Note: the current home position may be emitted in a HOME_POSITION message on request (using MAV_CMD_REQUEST_MESSAGE with param1=242).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          target_systemuint8_tSystem ID.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          latitudeint32_tdegE7Latitude (WGS84)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          longitudeint32_tdegE7Longitude (WGS84)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          altitudeint32_tmmAltitude (MSL). Positive for up.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          xfloatmLocal X position of this position in the local coordinate frame (NED)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          yfloatmLocal Y position of this position in the local coordinate frame (NED)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          zfloatmLocal Z position of this position in the local coordinate frame (NED: positive "down")
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          qfloat[4]World to surface normal and heading transformation of the takeoff position. Used to indicate the heading and slope of the ground
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          approach_xfloatmLocal X position of the end of the approach vector. Multicopters should set this position based on their takeoff path. Grass-landing fixed wing aircraft should set it the same way as multicopters. Runway-landing fixed wing aircraft should set it to the opposite direction of the takeoff, assuming the takeoff happened from the threshold / touchdown zone.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          approach_yfloatmLocal Y position of the end of the approach vector. Multicopters should set this position based on their takeoff path. Grass-landing fixed wing aircraft should set it the same way as multicopters. Runway-landing fixed wing aircraft should set it to the opposite direction of the takeoff, assuming the takeoff happened from the threshold / touchdown zone.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          approach_zfloatmLocal Z position of the end of the approach vector. Multicopters should set this position based on their takeoff path. Grass-landing fixed wing aircraft should set it the same way as multicopters. Runway-landing fixed wing aircraft should set it to the opposite direction of the takeoff, assuming the takeoff happened from the threshold / touchdown zone.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          time_usec ++uint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MESSAGE_INTERVAL (244)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          The interval between messages for a particular MAVLink message ID. This message is sent in response to the MAV_CMD_REQUEST_MESSAGE command with param1=244 (this message) and param2=message_id (the id of the message for which the interval is required). It may also be sent in response to MAV_CMD_GET_MESSAGE_INTERVAL. This interface replaces DATA_STREAM.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          message_iduint16_tThe ID of the requested MAVLink message. v1.0 is limited to 254 messages.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          interval_usint32_tusThe interval between two messages. A value of -1 indicates this stream is disabled, 0 indicates it is not available, > 0 indicates the interval at which it is sent.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          EXTENDED_SYS_STATE (245)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Provides state for additional features

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          vtol_stateuint8_tMAV_VTOL_STATEThe VTOL state if applicable. Is set to MAV_VTOL_STATE_UNDEFINED if UAV is not in VTOL configuration.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          landed_stateuint8_tMAV_LANDED_STATEThe landed state. Is set to MAV_LANDED_STATE_UNDEFINED if landed state is unknown.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ADSB_VEHICLE (246)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          The location and information of an ADSB vehicle

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ICAO_addressuint32_tICAO address
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          latint32_tdegE7Latitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          lonint32_tdegE7Longitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          altitude_typeuint8_tADSB_ALTITUDE_TYPEADSB altitude type.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          altitudeint32_tmmAltitude(ASL)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          headinguint16_tcdegCourse over ground
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          hor_velocityuint16_tcm/sThe horizontal velocity
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ver_velocityint16_tcm/sThe vertical velocity. Positive is up
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          callsignchar[9]The callsign, 8+null
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          emitter_typeuint8_tADSB_EMITTER_TYPEADSB emitter type.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          tslcuint8_tsTime since last communication in seconds
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          flagsuint16_tADSB_FLAGSBitmap to indicate various statuses including valid data fields
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          squawkuint16_tSquawk code. Note that the code is in decimal: e.g. 7700 (general emergency) is encoded as binary 0b0001_1110_0001_0100, not(!) as 0b0000_111_111_000_000

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          COLLISION (247)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Information about a potential collision

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          srcuint8_tMAV_COLLISION_SRCCollision data source
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          iduint32_tUnique identifier, domain based on src field
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          actionuint8_tMAV_COLLISION_ACTIONAction that is being taken to avoid this collision
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          threat_leveluint8_tMAV_COLLISION_THREAT_LEVELHow concerned the aircraft is about this collision
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          time_to_minimum_deltafloatsEstimated time until collision occurs
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          altitude_minimum_deltafloatmClosest vertical distance between vehicle and object
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          horizontal_minimum_deltafloatmClosest horizontal distance between vehicle and object

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          V2_EXTENSION (248)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Message implementing parts of the V2 payload specs in V1 frames for transitional support.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          target_networkuint8_tNetwork ID (0 for broadcast)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          target_systemuint8_tSystem ID (0 for broadcast)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          target_componentuint8_tComponent ID (0 for broadcast)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          message_typeuint16_tA code that identifies the software component that understands this message (analogous to USB device classes or mime type strings). If this code is less than 32768, it is considered a 'registered' protocol extension and the corresponding entry should be added to https://github.com/mavlink/mavlink/definition_files/extension_message_ids.xml. Software creators can register blocks of message IDs as needed (useful for GCS specific metadata, etc...). Message_types greater than 32767 are considered local experiments and should not be checked in to any widely distributed codebase.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          payloaduint8_t[249]Variable length payload. The length must be encoded in the payload as part of the message_type protocol, e.g. by including the length as payload data, or by terminating the payload data with a non-zero marker. This is required in order to reconstruct zero-terminated payloads that are (or otherwise would be) trimmed by MAVLink 2 empty-byte truncation. The entire content of the payload block is opaque unless you understand the encoding message_type. The particular encoding used can be extension specific and might not always be documented as part of the MAVLink specification.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MEMORY_VECT (249)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Send raw controller memory. The use of this message is discouraged for normal packets, but a quite efficient way for testing new messages and getting experimental debug output.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          addressuint16_tStarting address of the debug variables
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          veruint8_tVersion code of the type variable. 0=unknown, type ignored and assumed int16_t. 1=as below
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          typeuint8_tType code of the memory variables. for ver = 1: 0=16 x int16_t, 1=16 x uint16_t, 2=16 x Q15, 3=16 x 1Q14
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          valueint8_t[32]Memory contents at specified address

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          DEBUG_VECT (250)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          To debug something using a named 3D vector.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          namechar[10]Name

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Messages with same value are from the same source (instance). | | time_usec | uint64_t | us | Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number. | | x | float | | x | | y | float | | y | | z | float | | z |

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          NAMED_VALUE_FLOAT (251)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Send a key-value pair as float. The use of this message is discouraged for normal packets, but a quite efficient way for testing new messages and getting experimental debug output.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          time_boot_msuint32_tmsTimestamp (time since system boot).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          namechar[10]Name of the debug variable

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Messages with same value are from the same source (instance). | | value | float | | Floating point value |

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          NAMED_VALUE_INT (252)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Send a key-value pair as integer. The use of this message is discouraged for normal packets, but a quite efficient way for testing new messages and getting experimental debug output.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          time_boot_msuint32_tmsTimestamp (time since system boot).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          namechar[10]Name of the debug variable

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Messages with same value are from the same source (instance). | | value | int32_t | | Signed integer value |

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          STATUSTEXT (253)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Status text message. These messages are printed in yellow in the COMM console of QGroundControl. WARNING: They consume quite some bandwidth, so use only for important status and error messages. If implemented wisely, these messages are buffered on the MCU and sent only at a limited rate (e.g. 10 Hz).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          severityuint8_tMAV_SEVERITYSeverity of status. Relies on the definitions within RFC-5424.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          textchar[50]Status text message, without null termination character
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          id ++uint16_tUnique (opaque) identifier for this statustext message. May be used to reassemble a logical long-statustext message from a sequence of chunks. A value of zero indicates this is the only chunk in the sequence and the message can be emitted immediately.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          chunk_seq ++uint8_tThis chunk's sequence number; indexing is from zero. Any null character in the text field is taken to mean this was the last chunk.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          DEBUG (254)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Send a debug value. The index is used to discriminate between values. These values show up in the plot of QGroundControl as DEBUG N.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          time_boot_msuint32_tmsTimestamp (time since system boot).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          induint8_tindex of debug variable
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          valuefloatDEBUG value

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          SETUP_SIGNING (256)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Setup a MAVLink2 signing key. If called with secret_key of all zero and zero initial_timestamp will disable signing

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          target_systemuint8_tsystem id of the target
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          target_componentuint8_tcomponent ID of the target
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          secret_keyuint8_t[32]signing key
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          initial_timestampuint64_tinitial timestamp

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          BUTTON_CHANGE (257)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Report button state change.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          time_boot_msuint32_tmsTimestamp (time since system boot).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          last_change_msuint32_tmsTime of last change of button state.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          stateuint8_tBitmap for state of buttons.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          PLAY_TUNE (258) — [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          DEPRECATED: Replaced By PLAY_TUNE_V2 (2019-10) — New version explicitly defines format. More interoperable.)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Control vehicle tone generation (buzzer).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          target_systemuint8_tSystem ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          target_componentuint8_tComponent ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          tunechar[30]tune in board specific format
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          tune2 ++char[200]tune extension (appended to tune)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          CAMERA_INFORMATION (259)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Information about a camera. Can be requested with a MAV_CMD_REQUEST_MESSAGE command.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          time_boot_msuint32_tmsTimestamp (time since system boot).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          vendor_nameuint8_t[32]Name of the camera vendor
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          model_nameuint8_t[32]Name of the camera model
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          firmware_versionuint32_tinvalid:0Version of the camera firmware, encoded as: (Dev & 0xff) << 24(Patch & 0xff) << 16(Minor & 0xff) << 8(Major & 0xff). Use 0 if not known.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          focal_lengthfloatmminvalid:NaNFocal length. Use NaN if not known.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          sensor_size_hfloatmminvalid:NaNImage sensor size horizontal. Use NaN if not known.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          sensor_size_vfloatmminvalid:NaNImage sensor size vertical. Use NaN if not known.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          resolution_huint16_tpixinvalid:0Horizontal image resolution. Use 0 if not known.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          resolution_vuint16_tpixinvalid:0Vertical image resolution. Use 0 if not known.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          lens_iduint8_tinvalid:0Reserved for a lens ID. Use 0 if not known.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          flagsuint32_tCAMERA_CAP_FLAGSBitmap of camera capability flags.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          cam_definition_versionuint16_tCamera definition version (iteration). Use 0 if not known.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          cam_definition_urichar[140]Camera definition URI (if any, otherwise only basic functions will be available). HTTP- (http://) and MAVLink FTP- (mavlinkftp://) formatted URIs are allowed (and both must be supported by any GCS that implements the Camera Protocol). The definition file may be xz compressed, which will be indicated by the file extension .xml.xz (a GCS that implements the protocol must support decompressing the file). The string needs to be zero terminated. Use a zero-length string if not known.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          gimbal_device_id ++uint8_tinvalid:0Gimbal id of a gimbal associated with this camera. This is the component id of the gimbal device, or 1-6 for non mavlink gimbals. Use 0 if no gimbal is associated with the camera.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          camera_device_id ++uint8_tdefault:0 min:0 max:6Camera id of a non-MAVLink camera attached to an autopilot (1-6). 0 if the component is a MAVLink camera (with its own component id).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          CAMERA_SETTINGS (260)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Settings of a camera. Can be requested with a MAV_CMD_REQUEST_MESSAGE command.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          time_boot_msuint32_tmsTimestamp (time since system boot).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          mode_iduint8_tCAMERA_MODECamera mode
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          zoomLevel ++floatinvalid:NaNCurrent zoom level as a percentage of the full range (0.0 to 100.0, NaN if not known)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          focusLevel ++floatinvalid:NaNCurrent focus level as a percentage of the full range (0.0 to 100.0, NaN if not known)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          camera_device_id ++uint8_tdefault:0 min:0 max:6Camera id of a non-MAVLink camera attached to an autopilot (1-6). 0 if the component is a MAVLink camera (with its own component id).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          STORAGE_INFORMATION (261)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Information about a storage medium. This message is sent in response to a request with MAV_CMD_REQUEST_MESSAGE and whenever the status of the storage changes (STORAGE_STATUS). Use MAV_CMD_REQUEST_MESSAGE.param2 to indicate the index/id of requested storage: 0 for all, 1 for first, 2 for second, etc.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          time_boot_msuint32_tmsTimestamp (time since system boot).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          storage_iduint8_tStorage ID (1 for first, 2 for second, etc.)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Messages with same value are from the same source (instance). | | storage_count | uint8_t | | | Number of storage devices | | status | uint8_t | | STORAGE_STATUS | Status of storage | | total_capacity | float | MiB | | Total capacity. If storage is not ready (STORAGE_STATUS_READY) value will be ignored. | | used_capacity | float | MiB | | Used capacity. If storage is not ready (STORAGE_STATUS_READY) value will be ignored. | | available_capacity | float | MiB | | Available storage capacity. If storage is not ready (STORAGE_STATUS_READY) value will be ignored. | | read_speed | float | MiB/s | | Read speed. | | write_speed | float | MiB/s | | Write speed. | | type ++ | uint8_t | | STORAGE_TYPE | Type of storage | | name ++ | char[32] | | | Textual storage name to be used in UI (microSD 1, Internal Memory, etc.) This is a NULL terminated string. If it is exactly 32 characters long, add a terminating NULL. If this string is empty, the generic type is shown to the user. | | storage_usage ++ | uint8_t | | STORAGE_USAGE_FLAG | Flags indicating whether this instance is preferred storage for photos, videos, etc.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Note: Implementations should initially set the flags on the system-default storage id used for saving media (if possible/supported).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          This setting can then be overridden using MAV_CMD_SET_STORAGE_USAGE.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          If the media usage flags are not set, a GCS may assume storage ID 1 is the default storage for all media types. |

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          CAMERA_CAPTURE_STATUS (262)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Information about the status of a capture. Can be requested with a MAV_CMD_REQUEST_MESSAGE command.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          time_boot_msuint32_tmsTimestamp (time since system boot).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          image_statusuint8_tCurrent status of image capturing (0: idle, 1: capture in progress, 2: interval set but idle, 3: interval set and capture in progress)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          video_statusuint8_tCurrent status of video capturing (0: idle, 1: capture in progress)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          image_intervalfloatsImage capture interval
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          recording_time_msuint32_tmsElapsed time since recording started (0: Not supported/available). A GCS should compute recording time and use non-zero values of this field to correct any discrepancy.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          available_capacityfloatMiBAvailable storage capacity.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          image_count ++int32_tTotal number of images captured ('forever', or until reset using MAV_CMD_STORAGE_FORMAT).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          camera_device_id ++uint8_tCamera id of a non-MAVLink camera attached to an autopilot (1-6). 0 if the component is a MAVLink camera (with its own component id).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          CAMERA_IMAGE_CAPTURED (263)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Information about a captured image. This is emitted every time a message is captured.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_REQUEST_MESSAGE can be used to (re)request this message for a specific sequence number or range of sequence numbers: MAV_CMD_REQUEST_MESSAGE.param2 indicates the sequence number the first image to send, or set to -1 to send the message for all sequence numbers. MAV_CMD_REQUEST_MESSAGE.param3 is used to specify a range of messages to send: set to 0 (default) to send just the the message for the sequence number in param 2, set to -1 to send the message for the sequence number in param 2 and all the following sequence numbers, set to the sequence number of the final message in the range.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          time_boot_msuint32_tmsTimestamp (time since system boot).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          time_utcuint64_tusTimestamp (time since UNIX epoch) in UTC. 0 for unknown.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          camera_iduint8_tDeprecated/unused. Component IDs are used to differentiate multiple cameras.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          latint32_tdegE7Latitude where image was taken
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          lonint32_tdegE7Longitude where capture was taken
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          altint32_tmmAltitude (MSL) where image was taken
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          relative_altint32_tmmAltitude above ground
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          qfloat[4]Quaternion of camera orientation (w, x, y, z order, zero-rotation is 1, 0, 0, 0)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          image_indexint32_tZero based index of this image (i.e. a new image will have index CAMERA_CAPTURE_STATUS.image count -1)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          capture_resultint8_tBoolean indicating success (1) or failure (0) while capturing this image.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          file_urlchar[205]URL of image taken. Either local storage or http://foo.jpg if camera provides an HTTP interface.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          FLIGHT_INFORMATION (264)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Flight information.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          This includes time since boot for arm, takeoff, and land, and a flight number. Takeoff and landing values reset to zero on arm. This can be requested using MAV_CMD_REQUEST_MESSAGE. Note, some fields are misnamed - timestamps are from boot (not UTC) and the flight_uuid is a sequence number.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          time_boot_msuint32_tmsTimestamp (time since system boot).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          arming_time_utcuint64_tusTimestamp at arming (since system boot). Set to 0 on boot. Set value on arming. Note, field is misnamed UTC.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          takeoff_time_utcuint64_tusTimestamp at takeoff (since system boot). Set to 0 at boot and on arming. Note, field is misnamed UTC.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          flight_uuiduint64_tFlight number. Note, field is misnamed UUID.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          landing_time ++uint32_tmsTimestamp at landing (in ms since system boot). Set to 0 at boot and on arming.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MOUNT_ORIENTATION (265) — [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          DEPRECATED: Replaced By MAV_CMD_DO_GIMBAL_MANAGER_PITCHYAW (2020-01) — This message is being superseded by MAV_CMD_DO_GIMBAL_MANAGER_PITCHYAW. The message can still be used to communicate with legacy gimbals implementing it.)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Orientation of a mount

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          time_boot_msuint32_tmsTimestamp (time since system boot).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          rollfloatdegRoll in global frame (set to NaN for invalid).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          pitchfloatdegPitch in global frame (set to NaN for invalid).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          yawfloatdegYaw relative to vehicle (set to NaN for invalid).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          yaw_absolute ++floatdegYaw in absolute frame relative to Earth's North, north is 0 (set to NaN for invalid).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          LOGGING_DATA (266)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          A message containing logged data (see also MAV_CMD_LOGGING_START)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          target_systemuint8_tsystem ID of the target
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          target_componentuint8_tcomponent ID of the target
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          sequenceuint16_tsequence number (can wrap)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          lengthuint8_tbytesdata length
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          first_message_offsetuint8_tbytesoffset into data where first message starts. This can be used for recovery, when a previous message got lost (set to UINT8_MAX if no start exists).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          datauint8_t[249]logged data

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          LOGGING_DATA_ACKED (267)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          A message containing logged data which requires a LOGGING_ACK to be sent back

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          target_systemuint8_tsystem ID of the target
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          target_componentuint8_tcomponent ID of the target
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          sequenceuint16_tsequence number (can wrap)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          lengthuint8_tbytesdata length
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          first_message_offsetuint8_tbytesoffset into data where first message starts. This can be used for recovery, when a previous message got lost (set to UINT8_MAX if no start exists).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          datauint8_t[249]logged data

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          LOGGING_ACK (268)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          An ack for a LOGGING_DATA_ACKED message

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          target_systemuint8_tsystem ID of the target
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          target_componentuint8_tcomponent ID of the target
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          sequenceuint16_tsequence number (must match the one in LOGGING_DATA_ACKED)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          VIDEO_STREAM_INFORMATION (269)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Information about video stream. It may be requested using MAV_CMD_REQUEST_MESSAGE, where param2 indicates the video stream id: 0 for all streams, 1 for first, 2 for second, etc.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          stream_iduint8_tVideo Stream ID (1 for first, 2 for second, etc.)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Messages with same value are from the same source (instance). | | count | uint8_t | | | Number of streams available. | | type | uint8_t | | VIDEO_STREAM_TYPE | Type of stream. | | flags | uint16_t | | VIDEO_STREAM_STATUS_FLAGS | Bitmap of stream status flags. | | framerate | float | Hz | | Frame rate. | | resolution_h | uint16_t | pix | | Horizontal resolution. | | resolution_v | uint16_t | pix | | Vertical resolution. | | bitrate | uint32_t | bits/s | | Bit rate. | | rotation | uint16_t | deg | | Video image rotation clockwise. | | hfov | uint16_t | deg | | Horizontal Field of view. | | name | char[32] | | | Stream name. | | uri | char[160] | | | Video stream URI (TCP or RTSP URI ground station should connect to) or port number (UDP port ground station should listen to). | | encoding ++ | uint8_t | | VIDEO_STREAM_ENCODING | Encoding of stream. | | camera_device_id ++ | uint8_t | | default:0 min:0 max:6 | Camera id of a non-MAVLink camera attached to an autopilot (1-6). 0 if the component is a MAVLink camera (with its own component id). |

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          VIDEO_STREAM_STATUS (270)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Information about the status of a video stream. It may be requested using MAV_CMD_REQUEST_MESSAGE.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          stream_iduint8_tVideo Stream ID (1 for first, 2 for second, etc.)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Messages with same value are from the same source (instance). | | flags | uint16_t | | VIDEO_STREAM_STATUS_FLAGS | Bitmap of stream status flags | | framerate | float | Hz | | Frame rate | | resolution_h | uint16_t | pix | | Horizontal resolution | | resolution_v | uint16_t | pix | | Vertical resolution | | bitrate | uint32_t | bits/s | | Bit rate | | rotation | uint16_t | deg | | Video image rotation clockwise | | hfov | uint16_t | deg | | Horizontal Field of view | | camera_device_id ++ | uint8_t | | default:0 min:0 max:6 | Camera id of a non-MAVLink camera attached to an autopilot (1-6). 0 if the component is a MAVLink camera (with its own component id). |

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          CAMERA_FOV_STATUS (271)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Information about the field of view of a camera. Can be requested with a MAV_CMD_REQUEST_MESSAGE command.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          time_boot_msuint32_tmsTimestamp (time since system boot).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          lat_cameraint32_tdegE7Latitude of camera (INT32_MAX if unknown).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          lon_cameraint32_tdegE7Longitude of camera (INT32_MAX if unknown).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          alt_cameraint32_tmmAltitude (MSL) of camera (INT32_MAX if unknown).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          lat_imageint32_tdegE7Latitude of center of image (INT32_MAX if unknown, INT32_MIN if at infinity, not intersecting with horizon).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          lon_imageint32_tdegE7Longitude of center of image (INT32_MAX if unknown, INT32_MIN if at infinity, not intersecting with horizon).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          alt_imageint32_tmmAltitude (MSL) of center of image (INT32_MAX if unknown, INT32_MIN if at infinity, not intersecting with horizon).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          qfloat[4]Quaternion of camera orientation (w, x, y, z order, zero-rotation is 1, 0, 0, 0)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          hfovfloatdegHorizontal field of view (NaN if unknown).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          vfovfloatdegVertical field of view (NaN if unknown).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          camera_device_id ++uint8_tCamera id of a non-MAVLink camera attached to an autopilot (1-6). 0 if the component is a MAVLink camera (with its own component id).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          CAMERA_TRACKING_IMAGE_STATUS (275)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Camera tracking status, sent while in active tracking. Use MAV_CMD_SET_MESSAGE_INTERVAL to define message interval.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          tracking_statusuint8_tCAMERA_TRACKING_STATUS_FLAGSCurrent tracking status
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          tracking_modeuint8_tCAMERA_TRACKING_MODECurrent tracking mode
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          target_datauint8_tCAMERA_TRACKING_TARGET_DATADefines location of target data
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          point_xfloatinvalid:NaNCurrent tracked point x value if CAMERA_TRACKING_MODE_POINT (normalized 0..1, 0 is left, 1 is right), NAN if unknown
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          point_yfloatinvalid:NaNCurrent tracked point y value if CAMERA_TRACKING_MODE_POINT (normalized 0..1, 0 is top, 1 is bottom), NAN if unknown
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          radiusfloatinvalid:NaNCurrent tracked radius if CAMERA_TRACKING_MODE_POINT (normalized 0..1, 0 is image left, 1 is image right), NAN if unknown
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          rec_top_xfloatinvalid:NaNCurrent tracked rectangle top x value if CAMERA_TRACKING_MODE_RECTANGLE (normalized 0..1, 0 is left, 1 is right), NAN if unknown
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          rec_top_yfloatinvalid:NaNCurrent tracked rectangle top y value if CAMERA_TRACKING_MODE_RECTANGLE (normalized 0..1, 0 is top, 1 is bottom), NAN if unknown
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          rec_bottom_xfloatinvalid:NaNCurrent tracked rectangle bottom x value if CAMERA_TRACKING_MODE_RECTANGLE (normalized 0..1, 0 is left, 1 is right), NAN if unknown
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          rec_bottom_yfloatinvalid:NaNCurrent tracked rectangle bottom y value if CAMERA_TRACKING_MODE_RECTANGLE (normalized 0..1, 0 is top, 1 is bottom), NAN if unknown
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          camera_device_id ++uint8_tdefault:0 min:0 max:6Camera id of a non-MAVLink camera attached to an autopilot (1-6). 0 if the component is a MAVLink camera (with its own component id).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          CAMERA_TRACKING_GEO_STATUS (276)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Camera tracking status, sent while in active tracking. Use MAV_CMD_SET_MESSAGE_INTERVAL to define message interval.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          tracking_statusuint8_tCAMERA_TRACKING_STATUS_FLAGSCurrent tracking status
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          latint32_tdegE7Latitude of tracked object
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          lonint32_tdegE7Longitude of tracked object
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          altfloatmAltitude of tracked object(AMSL, WGS84)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          h_accfloatminvalid:NaNHorizontal accuracy. NAN if unknown
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          v_accfloatminvalid:NaNVertical accuracy. NAN if unknown
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          vel_nfloatm/sinvalid:NaNNorth velocity of tracked object. NAN if unknown
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          vel_efloatm/sinvalid:NaNEast velocity of tracked object. NAN if unknown
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          vel_dfloatm/sinvalid:NaNDown velocity of tracked object. NAN if unknown
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          vel_accfloatm/sinvalid:NaNVelocity accuracy. NAN if unknown
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          distfloatminvalid:NaNDistance between camera and tracked object. NAN if unknown
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          hdgfloatradinvalid:NaNHeading in radians, in NED. NAN if unknown
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          hdg_accfloatradinvalid:NaNAccuracy of heading, in NED. NAN if unknown
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          camera_device_id ++uint8_tdefault:0 min:0 max:6Camera id of a non-MAVLink camera attached to an autopilot (1-6). 0 if the component is a MAVLink camera (with its own component id).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          CAMERA_THERMAL_RANGE (277) — [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Camera absolute thermal range. This can be streamed when the associated VIDEO_STREAM_STATUS flag field bit VIDEO_STREAM_STATUS_FLAGS_THERMAL_RANGE_ENABLED is set, but a GCS may choose to only request it for the current active stream. Use MAV_CMD_SET_MESSAGE_INTERVAL to define message interval (param3 indicates the stream id of the current camera, or 0 for all streams, param4 indicates the target camera_device_id for autopilot-attached cameras or 0 for MAVLink cameras).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          time_boot_msuint32_tmsTimestamp (time since system boot).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          stream_iduint8_tVideo Stream ID (1 for first, 2 for second, etc.)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Messages with same value are from the same source (instance). | | camera_device_id | uint8_t | | Camera id of a non-MAVLink camera attached to an autopilot (1-6). 0 if the component is a MAVLink camera (with its own component id). | | max | float | degC | Temperature max. | | max_point_x | float | | Temperature max point x value (normalized 0..1, 0 is left, 1 is right), NAN if unknown. | | max_point_y | float | | Temperature max point y value (normalized 0..1, 0 is top, 1 is bottom), NAN if unknown. | | min | float | degC | Temperature min. | | min_point_x | float | | Temperature min point x value (normalized 0..1, 0 is left, 1 is right), NAN if unknown. | | min_point_y | float | | Temperature min point y value (normalized 0..1, 0 is top, 1 is bottom), NAN if unknown. |

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          GIMBAL_MANAGER_INFORMATION (280)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Information about a high level gimbal manager. This message should be requested by a ground station using MAV_CMD_REQUEST_MESSAGE.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          time_boot_msuint32_tmsTimestamp (time since system boot).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          cap_flagsuint32_tGIMBAL_MANAGER_CAP_FLAGSBitmap of gimbal capability flags.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          gimbal_device_iduint8_tGimbal device ID that this gimbal manager is responsible for. Component ID of gimbal device (or 1-6 for non-MAVLink gimbal).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Messages with same value are from the same source (instance). | | roll_min | float | rad | | Minimum hardware roll angle (positive: rolling to the right, negative: rolling to the left) | | roll_max | float | rad | | Maximum hardware roll angle (positive: rolling to the right, negative: rolling to the left) | | pitch_min | float | rad | | Minimum pitch angle (positive: up, negative: down) | | pitch_max | float | rad | | Maximum pitch angle (positive: up, negative: down) | | yaw_min | float | rad | | Minimum yaw angle (positive: to the right, negative: to the left) | | yaw_max | float | rad | | Maximum yaw angle (positive: to the right, negative: to the left) |

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          GIMBAL_MANAGER_STATUS (281)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Current status about a high level gimbal manager. This message should be broadcast at a low regular rate (e.g. 5Hz).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          time_boot_msuint32_tmsTimestamp (time since system boot).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          flagsuint32_tGIMBAL_MANAGER_FLAGSHigh level gimbal manager flags currently applied.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          gimbal_device_iduint8_tGimbal device ID that this gimbal manager is responsible for. Component ID of gimbal device (or 1-6 for non-MAVLink gimbal).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Messages with same value are from the same source (instance). | | primary_control_sysid | uint8_t | | | System ID of MAVLink component with primary control, 0 for none. | | primary_control_compid | uint8_t | | | Component ID of MAVLink component with primary control, 0 for none. | | secondary_control_sysid | uint8_t | | | System ID of MAVLink component with secondary control, 0 for none. | | secondary_control_compid | uint8_t | | | Component ID of MAVLink component with secondary control, 0 for none. |

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          GIMBAL_MANAGER_SET_ATTITUDE (282)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          High level message to control a gimbal's attitude. This message is to be sent to the gimbal manager (e.g. from a ground station). Angles and rates can be set to NaN according to use case.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          target_systemuint8_tSystem ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          target_componentuint8_tComponent ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          flagsuint32_tGIMBAL_MANAGER_FLAGSHigh level gimbal manager flags to use.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          gimbal_device_iduint8_tComponent ID of gimbal device to address (or 1-6 for non-MAVLink gimbal), 0 for all gimbal device components. Send command multiple times for more than one gimbal (but not all gimbals).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Messages with same value are from the same source (instance). | | q | float[4] | | | Quaternion components, w, x, y, z (1 0 0 0 is the null-rotation, the frame is depends on whether the flag GIMBAL_MANAGER_FLAGS_YAW_LOCK is set) | | angular_velocity_x | float | rad/s | invalid:NaN | X component of angular velocity, positive is rolling to the right, NaN to be ignored. | | angular_velocity_y | float | rad/s | invalid:NaN | Y component of angular velocity, positive is pitching up, NaN to be ignored. | | angular_velocity_z | float | rad/s | invalid:NaN | Z component of angular velocity, positive is yawing to the right, NaN to be ignored. |

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          GIMBAL_DEVICE_INFORMATION (283)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Information about a low level gimbal. This message should be requested by the gimbal manager or a ground station using MAV_CMD_REQUEST_MESSAGE. The maximum angles and rates are the limits by hardware. However, the limits by software used are likely different/smaller and dependent on mode/settings/etc..

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          time_boot_msuint32_tmsTimestamp (time since system boot).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          vendor_namechar[32]Name of the gimbal vendor.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          model_namechar[32]Name of the gimbal model.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          custom_namechar[32]Custom name of the gimbal given to it by the user.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          firmware_versionuint32_tVersion of the gimbal firmware, encoded as: (Dev & 0xff) << 24(Patch & 0xff) << 16(Minor & 0xff) << 8(Major & 0xff).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          hardware_versionuint32_tVersion of the gimbal hardware, encoded as: (Dev & 0xff) << 24(Patch & 0xff) << 16(Minor & 0xff) << 8(Major & 0xff).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          uiduint64_tinvalid:0UID of gimbal hardware (0 if unknown).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          cap_flagsuint16_tGIMBAL_DEVICE_CAP_FLAGSBitmap of gimbal capability flags.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          custom_cap_flagsuint16_tBitmap for use for gimbal-specific capability flags.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          roll_minfloatradinvalid:NaNMinimum hardware roll angle (positive: rolling to the right, negative: rolling to the left). NAN if unknown.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          roll_maxfloatradinvalid:NaNMaximum hardware roll angle (positive: rolling to the right, negative: rolling to the left). NAN if unknown.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          pitch_minfloatradinvalid:NaNMinimum hardware pitch angle (positive: up, negative: down). NAN if unknown.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          pitch_maxfloatradinvalid:NaNMaximum hardware pitch angle (positive: up, negative: down). NAN if unknown.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          yaw_minfloatradinvalid:NaNMinimum hardware yaw angle (positive: to the right, negative: to the left). NAN if unknown.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          yaw_maxfloatradinvalid:NaNMaximum hardware yaw angle (positive: to the right, negative: to the left). NAN if unknown.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          gimbal_device_id ++uint8_tinvalid:0This field is to be used if the gimbal manager and the gimbal device are the same component and hence have the same component ID. This field is then set to a number between 1-6. If the component ID is separate, this field is not required and must be set to 0.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          GIMBAL_DEVICE_SET_ATTITUDE (284)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Low level message to control a gimbal device's attitude.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          This message is to be sent from the gimbal manager to the gimbal device component. The quaternion and angular velocities can be set to NaN according to use case. For the angles encoded in the quaternion and the angular velocities holds: If the flag GIMBAL_DEVICE_FLAGS_YAW_IN_VEHICLE_FRAME is set, then they are relative to the vehicle heading (vehicle frame). If the flag GIMBAL_DEVICE_FLAGS_YAW_IN_EARTH_FRAME is set, then they are relative to absolute North (earth frame). If neither of these flags are set, then (for backwards compatibility) it holds: If the flag GIMBAL_DEVICE_FLAGS_YAW_LOCK is set, then they are relative to absolute North (earth frame), else they are relative to the vehicle heading (vehicle frame). Setting both GIMBAL_DEVICE_FLAGS_YAW_IN_VEHICLE_FRAME and GIMBAL_DEVICE_FLAGS_YAW_IN_EARTH_FRAME is not allowed. These rules are to ensure backwards compatibility. New implementations should always set either GIMBAL_DEVICE_FLAGS_YAW_IN_VEHICLE_FRAME or GIMBAL_DEVICE_FLAGS_YAW_IN_EARTH_FRAME.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          target_systemuint8_tSystem ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          target_componentuint8_tComponent ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          flagsuint16_tGIMBAL_DEVICE_FLAGSLow level gimbal flags.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          qfloat[4]invalid:[NaN]Quaternion components, w, x, y, z (1 0 0 0 is the null-rotation). The frame is described in the message description. Set fields to NaN to be ignored.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          angular_velocity_xfloatrad/sinvalid:NaNX component of angular velocity (positive: rolling to the right). The frame is described in the message description. NaN to be ignored.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          angular_velocity_yfloatrad/sinvalid:NaNY component of angular velocity (positive: pitching up). The frame is described in the message description. NaN to be ignored.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          angular_velocity_zfloatrad/sinvalid:NaNZ component of angular velocity (positive: yawing to the right). The frame is described in the message description. NaN to be ignored.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          GIMBAL_DEVICE_ATTITUDE_STATUS (285)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Message reporting the status of a gimbal device.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          This message should be broadcast by a gimbal device component at a low regular rate (e.g. 5 Hz). For the angles encoded in the quaternion and the angular velocities holds: If the flag GIMBAL_DEVICE_FLAGS_YAW_IN_VEHICLE_FRAME is set, then they are relative to the vehicle heading (vehicle frame). If the flag GIMBAL_DEVICE_FLAGS_YAW_IN_EARTH_FRAME is set, then they are relative to absolute North (earth frame). If neither of these flags are set, then (for backwards compatibility) it holds: If the flag GIMBAL_DEVICE_FLAGS_YAW_LOCK is set, then they are relative to absolute North (earth frame), else they are relative to the vehicle heading (vehicle frame). Other conditions of the flags are not allowed. The quaternion and angular velocities in the other frame can be calculated from delta_yaw and delta_yaw_velocity as q_earth = q_delta_yaw * q_vehicle and w_earth = w_delta_yaw_velocity + w_vehicle (if not NaN). If neither the GIMBAL_DEVICE_FLAGS_YAW_IN_VEHICLE_FRAME nor the GIMBAL_DEVICE_FLAGS_YAW_IN_EARTH_FRAME flag is set, then (for backwards compatibility) the data in the delta_yaw and delta_yaw_velocity fields are to be ignored. New implementations should always set either GIMBAL_DEVICE_FLAGS_YAW_IN_VEHICLE_FRAME or GIMBAL_DEVICE_FLAGS_YAW_IN_EARTH_FRAME, and always should set delta_yaw and delta_yaw_velocity either to the proper value or NaN.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          target_systemuint8_tSystem ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          target_componentuint8_tComponent ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          time_boot_msuint32_tmsTimestamp (time since system boot).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          flagsuint16_tGIMBAL_DEVICE_FLAGSCurrent gimbal flags set.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          qfloat[4]Quaternion components, w, x, y, z (1 0 0 0 is the null-rotation). The frame is described in the message description.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          angular_velocity_xfloatrad/sinvalid:NaNX component of angular velocity (positive: rolling to the right). The frame is described in the message description. NaN if unknown.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          angular_velocity_yfloatrad/sinvalid:NaNY component of angular velocity (positive: pitching up). The frame is described in the message description. NaN if unknown.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          angular_velocity_zfloatrad/sinvalid:NaNZ component of angular velocity (positive: yawing to the right). The frame is described in the message description. NaN if unknown.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          failure_flagsuint32_tGIMBAL_DEVICE_ERROR_FLAGSFailure flags (0 for no failure)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          delta_yaw ++floatradinvalid:NANYaw angle relating the quaternions in earth and body frames (see message description). NaN if unknown.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          delta_yaw_velocity ++floatrad/sinvalid:NANYaw angular velocity relating the angular velocities in earth and body frames (see message description). NaN if unknown.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          gimbal_device_id ++uint8_tinvalid:0This field is to be used if the gimbal manager and the gimbal device are the same component and hence have the same component ID. This field is then set a number between 1-6. If the component ID is separate, this field is not required and must be set to 0.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          AUTOPILOT_STATE_FOR_GIMBAL_DEVICE (286)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Low level message containing autopilot state relevant for a gimbal device. This message is to be sent from the autopilot to the gimbal device component. The data of this message are for the gimbal device's estimator corrections, in particular horizon compensation, as well as indicates autopilot control intentions, e.g. feed forward angular control in the z-axis.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          target_systemuint8_tSystem ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          target_componentuint8_tComponent ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          time_boot_usuint64_tusTimestamp (time since system boot).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          qfloat[4]Quaternion components of autopilot attitude: w, x, y, z (1 0 0 0 is the null-rotation, Hamilton convention).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          q_estimated_delay_usuint32_tusinvalid:0Estimated delay of the attitude data. 0 if unknown.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          vxfloatm/sinvalid:NaNX Speed in NED (North, East, Down). NAN if unknown.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          vyfloatm/sinvalid:NaNY Speed in NED (North, East, Down). NAN if unknown.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          vzfloatm/sinvalid:NaNZ Speed in NED (North, East, Down). NAN if unknown.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          v_estimated_delay_usuint32_tusinvalid:0Estimated delay of the speed data. 0 if unknown.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          feed_forward_angular_velocity_zfloatrad/sinvalid:NaNFeed forward Z component of angular velocity (positive: yawing to the right). NaN to be ignored. This is to indicate if the autopilot is actively yawing.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          estimator_statusuint16_tESTIMATOR_STATUS_FLAGSBitmap indicating which estimator outputs are valid.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          landed_stateuint8_tinvalid:MAV_LANDED_STATE_UNDEFINED MAV_LANDED_STATEThe landed state. Is set to MAV_LANDED_STATE_UNDEFINED if landed state is unknown.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          angular_velocity_z ++floatrad/sinvalid:NaNZ component of angular velocity in NED (North, East, Down). NaN if unknown.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          GIMBAL_MANAGER_SET_PITCHYAW (287)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Set gimbal manager pitch and yaw angles (high rate message). This message is to be sent to the gimbal manager (e.g. from a ground station) and will be ignored by gimbal devices. Angles and rates can be set to NaN according to use case. Use MAV_CMD_DO_GIMBAL_MANAGER_PITCHYAW for low-rate adjustments that require confirmation.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          target_systemuint8_tSystem ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          target_componentuint8_tComponent ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          flagsuint32_tGIMBAL_MANAGER_FLAGSHigh level gimbal manager flags to use.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          gimbal_device_iduint8_tComponent ID of gimbal device to address (or 1-6 for non-MAVLink gimbal), 0 for all gimbal device components. Send command multiple times for more than one gimbal (but not all gimbals).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Messages with same value are from the same source (instance). | | pitch | float | rad | invalid:NaN | Pitch angle (positive: up, negative: down, NaN to be ignored). | | yaw | float | rad | invalid:NaN | Yaw angle (positive: to the right, negative: to the left, NaN to be ignored). | | pitch_rate | float | rad/s | invalid:NaN | Pitch angular rate (positive: up, negative: down, NaN to be ignored). | | yaw_rate | float | rad/s | invalid:NaN | Yaw angular rate (positive: to the right, negative: to the left, NaN to be ignored). |

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          GIMBAL_MANAGER_SET_MANUAL_CONTROL (288)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          High level message to control a gimbal manually. The angles or angular rates are unitless; the actual rates will depend on internal gimbal manager settings/configuration (e.g. set by parameters). This message is to be sent to the gimbal manager (e.g. from a ground station). Angles and rates can be set to NaN according to use case.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          target_systemuint8_tSystem ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          target_componentuint8_tComponent ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          flagsuint32_tGIMBAL_MANAGER_FLAGSHigh level gimbal manager flags.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          gimbal_device_iduint8_tComponent ID of gimbal device to address (or 1-6 for non-MAVLink gimbal), 0 for all gimbal device components. Send command multiple times for more than one gimbal (but not all gimbals).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Messages with same value are from the same source (instance). | | pitch | float | invalid:NaN | Pitch angle unitless (-1..1, positive: up, negative: down, NaN to be ignored). | | yaw | float | invalid:NaN | Yaw angle unitless (-1..1, positive: to the right, negative: to the left, NaN to be ignored). | | pitch_rate | float | invalid:NaN | Pitch angular rate unitless (-1..1, positive: up, negative: down, NaN to be ignored). | | yaw_rate | float | invalid:NaN | Yaw angular rate unitless (-1..1, positive: to the right, negative: to the left, NaN to be ignored). |

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ESC_INFO (290) — [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ESC information for lower rate streaming. Recommended streaming rate 1Hz. See ESC_STATUS for higher-rate ESC data.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          indexuint8_tIndex of the first ESC in this message. minValue = 0, maxValue = 60, increment = 4.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Messages with same value are from the same source (instance). | | time_usec | uint64_t | us | | Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude the number. | | counter | uint16_t | | | Counter of data packets received. | | count | uint8_t | | | Total number of ESCs in all messages of this type. Message fields with an index higher than this should be ignored because they contain invalid data. | | connection_type | uint8_t | | ESC_CONNECTION_TYPE | Connection type protocol for all ESC. | | info | uint8_t | | | Information regarding online/offline status of each ESC. | | failure_flags | uint16_t[4] | | ESC_FAILURE_FLAGS | Bitmap of ESC failure flags. | | error_count | uint32_t[4] | | | Number of reported errors by each ESC since boot. | | temperature | int16_t[4] | cdegC | invalid:[INT16_MAX] | Temperature of each ESC. INT16_MAX: if data not supplied by ESC. |

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ESC_STATUS (291) — [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ESC information for higher rate streaming. Recommended streaming rate is ~10 Hz. Information that changes more slowly is sent in ESC_INFO. It should typically only be streamed on high-bandwidth links (i.e. to a companion computer).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          indexuint8_tIndex of the first ESC in this message. minValue = 0, maxValue = 60, increment = 4.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Messages with same value are from the same source (instance). | | time_usec | uint64_t | us | Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude the number. | | rpm | int32_t[4] | rpm | Reported motor RPM from each ESC (negative for reverse rotation). | | voltage | float[4] | V | Voltage measured from each ESC. | | current | float[4] | A | Current measured from each ESC. |

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          WIFI_CONFIG_AP (299)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Configure WiFi AP SSID, password, and mode. This message is re-emitted as an acknowledgement by the AP. The message may also be explicitly requested using MAV_CMD_REQUEST_MESSAGE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ssidchar[32]Name of Wi-Fi network (SSID). Blank to leave it unchanged when setting. Current SSID when sent back as a response.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          passwordchar[64]Password. Blank for an open AP. MD5 hash when message is sent back as a response.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          mode ++int8_tWIFI_CONFIG_AP_MODEWiFi Mode.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          response ++int8_tWIFI_CONFIG_AP_RESPONSEMessage acceptance response (sent back to GS).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          PROTOCOL_VERSION (300) — [from: minimal] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Version and capability of protocol version. This message can be requested with MAV_CMD_REQUEST_MESSAGE and is used as part of the handshaking to establish which MAVLink version should be used on the network. Every node should respond to a request for PROTOCOL_VERSION to enable the handshaking. Library implementers should consider adding this into the default decoding state machine to allow the protocol core to respond directly.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          versionuint16_tCurrently active MAVLink version number * 100: v1.0 is 100, v2.0 is 200, etc.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          min_versionuint16_tMinimum MAVLink version supported
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          max_versionuint16_tMaximum MAVLink version supported (set to the same value as version by default)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          spec_version_hashuint8_t[8]The first 8 bytes (not characters printed in hex!) of the git hash.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          library_version_hashuint8_t[8]The first 8 bytes (not characters printed in hex!) of the git hash.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          AIS_VESSEL (301)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          The location and information of an AIS vessel

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MMSIuint32_tMobile Marine Service Identifier, 9 decimal digits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          latint32_tdegE7Latitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          lonint32_tdegE7Longitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          COGuint16_tcdegCourse over ground
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          headinguint16_tcdegTrue heading
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          velocityuint16_tcm/sSpeed over ground
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          turn_rateint8_tcdeg/sTurn rate
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          navigational_statusuint8_tAIS_NAV_STATUSNavigational status
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          typeuint8_tAIS_TYPEType of vessels
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          dimension_bowuint16_tmDistance from lat/lon location to bow
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          dimension_sternuint16_tmDistance from lat/lon location to stern
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          dimension_portuint8_tmDistance from lat/lon location to port side
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          dimension_starboarduint8_tmDistance from lat/lon location to starboard side
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          callsignchar[7]The vessel callsign
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          namechar[20]The vessel name
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          tslcuint16_tsTime since last communication in seconds
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          flagsuint16_tAIS_FLAGSBitmask to indicate various statuses including valid data fields

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          UAVCAN_NODE_STATUS (310)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          General status information of an UAVCAN node. Please refer to the definition of the UAVCAN message "uavcan.protocol.NodeStatus" for the background information. The UAVCAN specification is available at http://uavcan.org.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          uptime_secuint32_tsTime since the start-up of the node.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          healthuint8_tUAVCAN_NODE_HEALTHGeneralized node health status.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          modeuint8_tUAVCAN_NODE_MODEGeneralized operating mode.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          sub_modeuint8_tNot used currently.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          vendor_specific_status_codeuint16_tVendor-specific status information.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          UAVCAN_NODE_INFO (311)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          General information describing a particular UAVCAN node. Please refer to the definition of the UAVCAN service "uavcan.protocol.GetNodeInfo" for the background information. This message should be emitted by the system whenever a new node appears online, or an existing node reboots. Additionally, it can be emitted upon request from the other end of the MAVLink channel (see MAV_CMD_UAVCAN_GET_NODE_INFO). It is also not prohibited to emit this message unconditionally at a low frequency. The UAVCAN specification is available at http://uavcan.org.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          uptime_secuint32_tsTime since the start-up of the node.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          namechar[80]Node name string. For example, "sapog.px4.io".
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          hw_version_majoruint8_tHardware major version number.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          hw_version_minoruint8_tHardware minor version number.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          hw_unique_iduint8_t[16]Hardware unique 128-bit ID.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          sw_version_majoruint8_tSoftware major version number.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          sw_version_minoruint8_tSoftware minor version number.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          sw_vcs_commituint32_tVersion control system (VCS) revision identifier (e.g. git short commit hash). 0 if unknown.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          PARAM_EXT_REQUEST_READ (320)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Request to read the value of a parameter with either the param_id string id or param_index. PARAM_EXT_VALUE should be emitted in response.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          target_systemuint8_tSystem ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          target_componentuint8_tComponent ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          param_idchar[16]Parameter id, terminated by NULL if the length is less than 16 human-readable chars and WITHOUT null termination (NULL) byte if the length is exactly 16 chars - applications have to provide 16+1 bytes storage if the ID is stored as string
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          param_indexint16_tParameter index. Set to -1 to use the Parameter ID field as identifier (else param_id will be ignored)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          PARAM_EXT_REQUEST_LIST (321)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Request all parameters of this component. All parameters should be emitted in response as PARAM_EXT_VALUE.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          target_systemuint8_tSystem ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          target_componentuint8_tComponent ID

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          PARAM_EXT_VALUE (322)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Emit the value of a parameter. The inclusion of param_count and param_index in the message allows the recipient to keep track of received parameters and allows them to re-request missing parameters after a loss or timeout.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          param_idchar[16]Parameter id, terminated by NULL if the length is less than 16 human-readable chars and WITHOUT null termination (NULL) byte if the length is exactly 16 chars - applications have to provide 16+1 bytes storage if the ID is stored as string
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          param_valuechar[128]Parameter value
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          param_typeuint8_tMAV_PARAM_EXT_TYPEParameter type.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          param_countuint16_tTotal number of parameters
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          param_indexuint16_tIndex of this parameter

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          PARAM_EXT_SET (323)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Set a parameter value. In order to deal with message loss (and retransmission of PARAM_EXT_SET), when setting a parameter value and the new value is the same as the current value, you will immediately get a PARAM_ACK_ACCEPTED response. If the current state is PARAM_ACK_IN_PROGRESS, you will accordingly receive a PARAM_ACK_IN_PROGRESS in response.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          target_systemuint8_tSystem ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          target_componentuint8_tComponent ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          param_idchar[16]Parameter id, terminated by NULL if the length is less than 16 human-readable chars and WITHOUT null termination (NULL) byte if the length is exactly 16 chars - applications have to provide 16+1 bytes storage if the ID is stored as string
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          param_valuechar[128]Parameter value
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          param_typeuint8_tMAV_PARAM_EXT_TYPEParameter type.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          PARAM_EXT_ACK (324)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Response from a PARAM_EXT_SET message.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          param_idchar[16]Parameter id, terminated by NULL if the length is less than 16 human-readable chars and WITHOUT null termination (NULL) byte if the length is exactly 16 chars - applications have to provide 16+1 bytes storage if the ID is stored as string
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          param_valuechar[128]Parameter value (new value if PARAM_ACK_ACCEPTED, current value otherwise)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          param_typeuint8_tMAV_PARAM_EXT_TYPEParameter type.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          param_resultuint8_tPARAM_ACKResult code.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          OBSTACLE_DISTANCE (330)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Obstacle distances in front of the sensor, starting from the left in increment degrees to the right

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          sensor_typeuint8_tMAV_DISTANCE_SENSORClass id of the distance sensor type.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          distancesuint16_t[72]cminvalid:[UINT16_MAX]Distance of obstacles around the vehicle with index 0 corresponding to north + angle_offset, unless otherwise specified in the frame. A value of 0 is valid and means that the obstacle is practically touching the sensor. A value of max_distance +1 means no obstacle is present. A value of UINT16_MAX for unknown/not used. In a array element, one unit corresponds to 1cm.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          incrementuint8_tdegAngular width in degrees of each array element. Increment direction is clockwise. This field is ignored if increment_f is non-zero.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          min_distanceuint16_tcmMinimum distance the sensor can measure.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          max_distanceuint16_tcmMaximum distance the sensor can measure.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          increment_f ++floatdegAngular width in degrees of each array element as a float. If non-zero then this value is used instead of the uint8_t increment field. Positive is clockwise direction, negative is counter-clockwise.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          angle_offset ++floatdegRelative angle offset of the 0-index element in the distances array. Value of 0 corresponds to forward. Positive is clockwise direction, negative is counter-clockwise.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          frame ++uint8_tMAV_FRAMECoordinate frame of reference for the yaw rotation and offset of the sensor data. Defaults to MAV_FRAME_GLOBAL, which is north aligned. For body-mounted sensors use MAV_FRAME_BODY_FRD, which is vehicle front aligned.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ODOMETRY (331)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Odometry message to communicate odometry information with an external interface. Fits ROS REP 147 standard for aerial vehicles (http://www.ros.org/reps/rep-0147.html).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          frame_iduint8_tMAV_FRAMECoordinate frame of reference for the pose data.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          child_frame_iduint8_tMAV_FRAMECoordinate frame of reference for the velocity in free space (twist) data.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          xfloatmX Position
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          yfloatmY Position
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          zfloatmZ Position
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          qfloat[4]Quaternion components, w, x, y, z (1 0 0 0 is the null-rotation)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          vxfloatm/sX linear speed
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          vyfloatm/sY linear speed
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          vzfloatm/sZ linear speed
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          rollspeedfloatrad/sRoll angular speed
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          pitchspeedfloatrad/sPitch angular speed
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          yawspeedfloatrad/sYaw angular speed
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          pose_covariancefloat[21]invalid:[NaN:]Row-major representation of a 6x6 pose cross-covariance matrix upper right triangle (states: x, y, z, roll, pitch, yaw; first six entries are the first ROW, next five entries are the second ROW, etc.). If unknown, assign NaN value to first element in the array.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          velocity_covariancefloat[21]invalid:[NaN:]Row-major representation of a 6x6 velocity cross-covariance matrix upper right triangle (states: vx, vy, vz, rollspeed, pitchspeed, yawspeed; first six entries are the first ROW, next five entries are the second ROW, etc.). If unknown, assign NaN value to first element in the array.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          reset_counter ++uint8_tEstimate reset counter. This should be incremented when the estimate resets in any of the dimensions (position, velocity, attitude, angular speed). This is designed to be used when e.g an external SLAM system detects a loop-closure and the estimate jumps.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          estimator_type ++uint8_tMAV_ESTIMATOR_TYPEType of estimator that is providing the odometry.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          quality ++int8_t%invalid:0Optional odometry quality metric as a percentage. -1 = odometry has failed, 0 = unknown/unset quality, 1 = worst quality, 100 = best quality

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          TRAJECTORY_REPRESENTATION_WAYPOINTS (332)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Describe a trajectory using an array of up-to 5 waypoints in the local frame (MAV_FRAME_LOCAL_NED).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          valid_pointsuint8_tNumber of valid points (up-to 5 waypoints are possible)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          pos_xfloat[5]minvalid:[NaN]X-coordinate of waypoint, set to NaN if not being used
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          pos_yfloat[5]minvalid:[NaN]Y-coordinate of waypoint, set to NaN if not being used
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          pos_zfloat[5]minvalid:[NaN]Z-coordinate of waypoint, set to NaN if not being used
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          vel_xfloat[5]m/sinvalid:[NaN]X-velocity of waypoint, set to NaN if not being used
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          vel_yfloat[5]m/sinvalid:[NaN]Y-velocity of waypoint, set to NaN if not being used
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          vel_zfloat[5]m/sinvalid:[NaN]Z-velocity of waypoint, set to NaN if not being used
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          acc_xfloat[5]m/s/sinvalid:[NaN]X-acceleration of waypoint, set to NaN if not being used
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          acc_yfloat[5]m/s/sinvalid:[NaN]Y-acceleration of waypoint, set to NaN if not being used
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          acc_zfloat[5]m/s/sinvalid:[NaN]Z-acceleration of waypoint, set to NaN if not being used
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          pos_yawfloat[5]radinvalid:[NaN]Yaw angle, set to NaN if not being used
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          vel_yawfloat[5]rad/sinvalid:[NaN]Yaw rate, set to NaN if not being used
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          commanduint16_t[5]invalid:[UINT16_MAX] MAV_CMDMAV_CMD command id of waypoint, set to UINT16_MAX if not being used.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          TRAJECTORY_REPRESENTATION_BEZIER (333)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Describe a trajectory using an array of up-to 5 bezier control points in the local frame (MAV_FRAME_LOCAL_NED).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          valid_pointsuint8_tNumber of valid control points (up-to 5 points are possible)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          pos_xfloat[5]mX-coordinate of bezier control points. Set to NaN if not being used
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          pos_yfloat[5]mY-coordinate of bezier control points. Set to NaN if not being used
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          pos_zfloat[5]mZ-coordinate of bezier control points. Set to NaN if not being used
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          deltafloat[5]sBezier time horizon. Set to NaN if velocity/acceleration should not be incorporated
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          pos_yawfloat[5]radYaw. Set to NaN for unchanged

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          CELLULAR_STATUS (334)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Report current used cellular network status

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          statusuint8_tCELLULAR_STATUS_FLAGCellular modem status
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          failure_reasonuint8_tCELLULAR_NETWORK_FAILED_REASONFailure reason when status in in CELLULAR_STATUS_FLAG_FAILED
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          typeuint8_tCELLULAR_NETWORK_RADIO_TYPECellular network radio type: gsm, cdma, lte...
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          qualityuint8_tinvalid:UINT8_MAXSignal quality in percent. If unknown, set to UINT8_MAX
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          mccuint16_tinvalid:UINT16_MAXMobile country code. If unknown, set to UINT16_MAX
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          mncuint16_tinvalid:UINT16_MAXMobile network code. If unknown, set to UINT16_MAX
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          lacuint16_tinvalid:0Location area code. If unknown, set to 0

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Status of the Iridium SBD link.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          timestampuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          last_heartbeatuint64_tusTimestamp of the last successful sbd session. The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          failed_sessionsuint16_tNumber of failed SBD sessions.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          successful_sessionsuint16_tNumber of successful SBD sessions.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          signal_qualityuint8_tSignal quality equal to the number of bars displayed on the ISU signal strength indicator. Range is 0 to 5, where 0 indicates no signal and 5 indicates maximum signal strength.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ring_pendinguint8_t1: Ring call pending, 0: No call pending.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          tx_session_pendinguint8_t1: Transmission session pending, 0: No transmission session pending.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          rx_session_pendinguint8_t1: Receiving session pending, 0: No receiving session pending.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          CELLULAR_CONFIG (336)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Configure cellular modems.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          This message is re-emitted as an acknowledgement by the modem. The message may also be explicitly requested using MAV_CMD_REQUEST_MESSAGE.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          enable_lteuint8_tEnable/disable LTE. 0: setting unchanged, 1: disabled, 2: enabled. Current setting when sent back as a response.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          enable_pinuint8_tEnable/disable PIN on the SIM card. 0: setting unchanged, 1: disabled, 2: enabled. Current setting when sent back as a response.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          pinchar[16]PIN sent to the SIM card. Blank when PIN is disabled. Empty when message is sent back as a response.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          new_pinchar[16]New PIN when changing the PIN. Blank to leave it unchanged. Empty when message is sent back as a response.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          apnchar[32]Name of the cellular APN. Blank to leave it unchanged. Current APN when sent back as a response.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          pukchar[16]Required PUK code in case the user failed to authenticate 3 times with the PIN. Empty when message is sent back as a response.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          roaminguint8_tEnable/disable roaming. 0: setting unchanged, 1: disabled, 2: enabled. Current setting when sent back as a response.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          responseuint8_tCELLULAR_CONFIG_RESPONSEMessage acceptance response (sent back to GS).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          RAW_RPM (339)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          RPM sensor data message.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          indexuint8_tIndex of this RPM sensor (0-indexed)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          frequencyfloatrpmIndicated rate

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          UTM_GLOBAL_POSITION (340)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          The global position resulting from GPS and sensor fusion.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          timeuint64_tusTime of applicability of position (microseconds since UNIX epoch).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          uas_iduint8_t[18]Unique UAS ID.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          latint32_tdegE7Latitude (WGS84)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          lonint32_tdegE7Longitude (WGS84)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          altint32_tmmAltitude (WGS84)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          relative_altint32_tmmAltitude above ground
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          vxint16_tcm/sGround X speed (latitude, positive north)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          vyint16_tcm/sGround Y speed (longitude, positive east)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          vzint16_tcm/sGround Z speed (altitude, positive down)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          h_accuint16_tmmHorizontal position uncertainty (standard deviation)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          v_accuint16_tmmAltitude uncertainty (standard deviation)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          vel_accuint16_tcm/sSpeed uncertainty (standard deviation)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          next_latint32_tdegE7Next waypoint, latitude (WGS84)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          next_lonint32_tdegE7Next waypoint, longitude (WGS84)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          next_altint32_tmmNext waypoint, altitude (WGS84)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          update_rateuint16_tcsinvalid:0Time until next update. Set to 0 if unknown or in data driven mode.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          flight_stateuint8_tUTM_FLIGHT_STATEFlight state
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          flagsuint8_tUTM_DATA_AVAIL_FLAGSBitwise OR combination of the data available flags.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          DEBUG_FLOAT_ARRAY (350)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Large debug/prototyping array. The message uses the maximum available payload for data. The array_id and name fields are used to discriminate between messages in code and in user interfaces (respectively). Do not use in production code.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          namechar[10]Name, for human-friendly display in a Ground Control Station
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          array_iduint16_tUnique ID used to discriminate between arrays

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Messages with same value are from the same source (instance). | | data ++ | float[58] | | data |

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ORBIT_EXECUTION_STATUS (360) — [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Vehicle status report that is sent out while orbit execution is in progress (see MAV_CMD_DO_ORBIT).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          radiusfloatmRadius of the orbit circle. Positive values orbit clockwise, negative values orbit counter-clockwise.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          frameuint8_tMAV_FRAMEThe coordinate system of the fields: x, y, z.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          xint32_tX coordinate of center point. Coordinate system depends on frame field: local = x position in meters 1e4, global = latitude in degrees 1e7.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          yint32_tY coordinate of center point. Coordinate system depends on frame field: local = x position in meters 1e4, global = latitude in degrees 1e7.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          zfloatmAltitude of center point. Coordinate system depends on frame field.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          BATTERY_INFO (370) — [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Battery information that is static, or requires infrequent update. This message should requested using MAV_CMD_REQUEST_MESSAGE and/or streamed at very low rate. BATTERY_STATUS_V2 is used for higher-rate battery status information.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          iduint8_tBattery ID

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Messages with same value are from the same source (instance). | | battery_function | uint8_t | | MAV_BATTERY_FUNCTION | Function of the battery. | | type | uint8_t | | MAV_BATTERY_TYPE | Type (chemistry) of the battery. | | state_of_health | uint8_t | % | invalid:UINT8_MAX | State of Health (SOH) estimate. Typically 100% at the time of manufacture and will decrease over time and use. -1: field not provided. | | cells_in_series | uint8_t | | invalid:0 | Number of battery cells in series. 0: field not provided. | | cycle_count | uint16_t | | invalid:UINT16_MAX | Lifetime count of the number of charge/discharge cycles (https://en.wikipedia.org/wiki/Charge_cycle). UINT16_MAX: field not provided. | | weight | uint16_t | g | invalid:0 | Battery weight. 0: field not provided. | | discharge_minimum_voltage | float | V | invalid:0 | Minimum per-cell voltage when discharging. 0: field not provided. | | charging_minimum_voltage | float | V | invalid:0 | Minimum per-cell voltage when charging. 0: field not provided. | | resting_minimum_voltage | float | V | invalid:0 | Minimum per-cell voltage when resting. 0: field not provided. | | charging_maximum_voltage | float | V | invalid:0 | Maximum per-cell voltage when charged. 0: field not provided. | | charging_maximum_current | float | A | invalid:0 | Maximum pack continuous charge current. 0: field not provided. | | nominal_voltage | float | V | invalid:0 | Battery nominal voltage. Used for conversion between Wh and Ah. 0: field not provided. | | discharge_maximum_current | float | A | invalid:0 | Maximum pack discharge current. 0: field not provided. | | discharge_maximum_burst_current | float | A | invalid:0 | Maximum pack discharge burst current. 0: field not provided. | | design_capacity | float | Ah | invalid:0 | Fully charged design capacity. 0: field not provided. | | full_charge_capacity | float | Ah | invalid:NaN | Predicted battery capacity when fully charged (accounting for battery degradation). NAN: field not provided. | | manufacture_date | char[9] | | invalid:[0] | Manufacture date (DDMMYYYY) in ASCII characters, 0 terminated. All 0: field not provided. | | serial_number | char[32] | | invalid:[0] | Serial number in ASCII characters, 0 terminated. All 0: field not provided. | | name | char[50] | | invalid:[0] | Battery device name. Formatted as manufacturer name then product name, separated with an underscore (in ASCII characters), 0 terminated. All 0: field not provided. |

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          GENERATOR_STATUS (373)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Telemetry of power generation system. Alternator or mechanical generator.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          statusuint64_tMAV_GENERATOR_STATUS_FLAGStatus flags.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          generator_speeduint16_trpminvalid:UINT16_MAXSpeed of electrical generator or alternator. UINT16_MAX: field not provided.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          battery_currentfloatAinvalid:NaNCurrent into/out of battery. Positive for out. Negative for in. NaN: field not provided.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          load_currentfloatAinvalid:NaNCurrent going to the UAV. If battery current not available this is the DC current from the generator. Positive for out. Negative for in. NaN: field not provided
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          power_generatedfloatWinvalid:NaNThe power being generated. NaN: field not provided
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          bus_voltagefloatVVoltage of the bus seen at the generator, or battery bus if battery bus is controlled by generator and at a different voltage to main bus.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          rectifier_temperatureint16_tdegCinvalid:INT16_MAXThe temperature of the rectifier or power converter. INT16_MAX: field not provided.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          bat_current_setpointfloatAinvalid:NaNThe target battery current. Positive for out. Negative for in. NaN: field not provided
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          generator_temperatureint16_tdegCinvalid:INT16_MAXThe temperature of the mechanical motor, fuel cell core or generator. INT16_MAX: field not provided.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          runtimeuint32_tsinvalid:UINT32_MAXSeconds this generator has run since it was rebooted. UINT32_MAX: field not provided.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          time_until_maintenanceint32_tsinvalid:INT32_MAXSeconds until this generator requires maintenance. A negative value indicates maintenance is past-due. INT32_MAX: field not provided.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ACTUATOR_OUTPUT_STATUS (375)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          The raw values of the actuator outputs (e.g. on Pixhawk, from MAIN, AUX ports). This message supersedes SERVO_OUTPUT_RAW.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          time_usecuint64_tusTimestamp (since system boot).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          activeuint32_tActive outputs
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          actuatorfloat[32]Servo / motor output array values. Zero values indicate unused channels.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          TIME_ESTIMATE_TO_TARGET (380) — [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Time/duration estimates for various events and actions given the current vehicle state and position.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          safe_returnint32_tsEstimated time to complete the vehicle's configured "safe return" action from its current position (e.g. RTL, Smart RTL, etc.). -1 indicates that the vehicle is landed, or that no time estimate available.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          landint32_tsEstimated time for vehicle to complete the LAND action from its current position. -1 indicates that the vehicle is landed, or that no time estimate available.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          mission_next_itemint32_tsEstimated time for reaching/completing the currently active mission item. -1 means no time estimate available.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          mission_endint32_tsEstimated time for completing the current mission. -1 means no mission active and/or no estimate available.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          commanded_actionint32_tsEstimated time for completing the current commanded action (i.e. Go To, Takeoff, Land, etc.). -1 means no action active and/or no estimate available.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          TUNNEL (385)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Message for transporting "arbitrary" variable-length data from one component to another (broadcast is not forbidden, but discouraged). The encoding of the data is usually extension specific, i.e. determined by the source, and is usually not documented as part of the MAVLink specification.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          target_systemuint8_tSystem ID (can be 0 for broadcast, but this is discouraged)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          target_componentuint8_tComponent ID (can be 0 for broadcast, but this is discouraged)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          payload_typeuint16_tMAV_TUNNEL_PAYLOAD_TYPEA code that identifies the content of the payload (0 for unknown, which is the default). If this code is less than 32768, it is a 'registered' payload type and the corresponding code should be added to the MAV_TUNNEL_PAYLOAD_TYPE enum. Software creators can register blocks of types as needed. Codes greater than 32767 are considered local experiments and should not be checked in to any widely distributed codebase.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          payload_lengthuint8_tLength of the data transported in payload
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          payloaduint8_t[128]Variable length payload. The payload length is defined by payload_length. The entire content of this block is opaque unless you understand the encoding specified by payload_type.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          CAN_FRAME (386)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          A forwarded CAN frame as requested by MAV_CMD_CAN_FORWARD.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          target_systemuint8_tSystem ID.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          target_componentuint8_tComponent ID.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          busuint8_tBus number
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          lenuint8_tFrame length
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          iduint32_tFrame ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          datauint8_t[8]Frame data

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          CANFD_FRAME (387)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          A forwarded CANFD frame as requested by MAV_CMD_CAN_FORWARD. These are separated from CAN_FRAME as they need different handling (eg. TAO handling)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          target_systemuint8_tSystem ID.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          target_componentuint8_tComponent ID.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          busuint8_tbus number
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          lenuint8_tFrame length
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          iduint32_tFrame ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          datauint8_t[64]Frame data

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          CAN_FILTER_MODIFY (388)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Modify the filter of what CAN messages to forward over the mavlink. This can be used to make CAN forwarding work well on low bandwidth links. The filtering is applied on bits 8 to 24 of the CAN id (2nd and 3rd bytes) which corresponds to the DroneCAN message ID for DroneCAN. Filters with more than 16 IDs can be constructed by sending multiple CAN_FILTER_MODIFY messages.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          target_systemuint8_tSystem ID.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          target_componentuint8_tComponent ID.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          busuint8_tbus number
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          operationuint8_tCAN_FILTER_OPwhat operation to perform on the filter list. See CAN_FILTER_OP enum.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          num_idsuint8_tnumber of IDs in filter list
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          idsuint16_t[16]filter IDs, length num_ids

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ONBOARD_COMPUTER_STATUS (390) — [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Hardware status sent by an onboard computer.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          uptimeuint32_tmsTime since system boot.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          typeuint8_tType of the onboard computer: 0: Mission computer primary, 1: Mission computer backup 1, 2: Mission computer backup 2, 3: Compute node, 4-5: Compute spares, 6-9: Payload computers.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          cpu_coresuint8_t[8]CPU usage on the component in percent (100 - idle). A value of UINT8_MAX implies the field is unused.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          cpu_combineduint8_t[10]Combined CPU usage as the last 10 slices of 100 MS (a histogram). This allows to identify spikes in load that max out the system, but only for a short amount of time. A value of UINT8_MAX implies the field is unused.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          gpu_coresuint8_t[4]GPU usage on the component in percent (100 - idle). A value of UINT8_MAX implies the field is unused.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          gpu_combineduint8_t[10]Combined GPU usage as the last 10 slices of 100 MS (a histogram). This allows to identify spikes in load that max out the system, but only for a short amount of time. A value of UINT8_MAX implies the field is unused.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          temperature_boardint8_tdegCTemperature of the board. A value of INT8_MAX implies the field is unused.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          temperature_coreint8_t[8]degCTemperature of the CPU core. A value of INT8_MAX implies the field is unused.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          fan_speedint16_t[4]rpmFan speeds. A value of INT16_MAX implies the field is unused.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ram_usageuint32_tMiBAmount of used RAM on the component system. A value of UINT32_MAX implies the field is unused.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ram_totaluint32_tMiBTotal amount of RAM on the component system. A value of UINT32_MAX implies the field is unused.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          storage_typeuint32_t[4]Storage type: 0: HDD, 1: SSD, 2: EMMC, 3: SD card (non-removable), 4: SD card (removable). A value of UINT32_MAX implies the field is unused.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          storage_usageuint32_t[4]MiBAmount of used storage space on the component system. A value of UINT32_MAX implies the field is unused.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          storage_totaluint32_t[4]MiBTotal amount of storage space on the component system. A value of UINT32_MAX implies the field is unused.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          link_typeuint32_t[6]Link type: 0-9: UART, 10-19: Wired network, 20-29: Wifi, 30-39: Point-to-point proprietary, 40-49: Mesh proprietary
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          link_tx_rateuint32_t[6]KiB/sNetwork traffic from the component system. A value of UINT32_MAX implies the field is unused.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          link_rx_rateuint32_t[6]KiB/sNetwork traffic to the component system. A value of UINT32_MAX implies the field is unused.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          link_tx_maxuint32_t[6]KiB/sNetwork capacity from the component system. A value of UINT32_MAX implies the field is unused.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          link_rx_maxuint32_t[6]KiB/sNetwork capacity to the component system. A value of UINT32_MAX implies the field is unused.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          COMPONENT_INFORMATION (395) — [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          DEPRECATED: Replaced By COMPONENT_METADATA (2022-04)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Component information message, which may be requested using MAV_CMD_REQUEST_MESSAGE.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          time_boot_msuint32_tmsTimestamp (time since system boot).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          general_metadata_file_crcuint32_tCRC32 of the general metadata file (general_metadata_uri).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          general_metadata_urichar[100]MAVLink FTP URI for the general metadata file (COMP_METADATA_TYPE_GENERAL), which may be compressed with xz. The file contains general component metadata, and may contain URI links for additional metadata (see COMP_METADATA_TYPE). The information is static from boot, and may be generated at compile time. The string needs to be zero terminated.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          peripherals_metadata_file_crcuint32_tCRC32 of peripherals metadata file (peripherals_metadata_uri).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          peripherals_metadata_urichar[100](Optional) MAVLink FTP URI for the peripherals metadata file (COMP_METADATA_TYPE_PERIPHERALS), which may be compressed with xz. This contains data about "attached components" such as UAVCAN nodes. The peripherals are in a separate file because the information must be generated dynamically at runtime. The string needs to be zero terminated.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          COMPONENT_INFORMATION_BASIC (396)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Basic component information data. Should be requested using MAV_CMD_REQUEST_MESSAGE on startup, or when required.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          time_boot_msuint32_tmsTimestamp (time since system boot).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          capabilitiesuint64_tMAV_PROTOCOL_CAPABILITYComponent capability flags
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          time_manufacture_suint32_tsinvalid:0Date of manufacture as a UNIX Epoch time (since 1.1.1970) in seconds.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          vendor_namechar[32]Name of the component vendor. Needs to be zero terminated. The field is optional and can be empty/all zeros.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          model_namechar[32]Name of the component model. Needs to be zero terminated. The field is optional and can be empty/all zeros.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          software_versionchar[24]Software version. The recommended format is SEMVER: 'major.minor.patch' (any format may be used). The field must be zero terminated if it has a value. The field is optional and can be empty/all zeros.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          hardware_versionchar[24]Hardware version. The recommended format is SEMVER: 'major.minor.patch' (any format may be used). The field must be zero terminated if it has a value. The field is optional and can be empty/all zeros.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          serial_numberchar[32]Hardware serial number. The field must be zero terminated if it has a value. The field is optional and can be empty/all zeros.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          COMPONENT_METADATA (397) — [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Component metadata message, which may be requested using MAV_CMD_REQUEST_MESSAGE.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          This contains the MAVLink FTP URI and CRC for the component's general metadata file. The file must be hosted on the component, and may be xz compressed. The file CRC can be used for file caching.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          The general metadata file can be read to get the locations of other metadata files (COMP_METADATA_TYPE) and translations, which may be hosted either on the vehicle or the internet. For more information see: https://mavlink.io/en/services/component_information.html.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Note: Camera components should use CAMERA_INFORMATION instead, and autopilots may use both this message and AUTOPILOT_VERSION.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          time_boot_msuint32_tmsTimestamp (time since system boot).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          file_crcuint32_tCRC32 of the general metadata file.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          urichar[100]MAVLink FTP URI for the general metadata file (COMP_METADATA_TYPE_GENERAL), which may be compressed with xz. The file contains general component metadata, and may contain URI links for additional metadata (see COMP_METADATA_TYPE). The information is static from boot, and may be generated at compile time. The string needs to be zero terminated.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          PLAY_TUNE_V2 (400)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Play vehicle tone/tune (buzzer). Supersedes message PLAY_TUNE.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          target_systemuint8_tSystem ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          target_componentuint8_tComponent ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          formatuint32_tTUNE_FORMATTune format
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          tunechar[248]Tune definition as a NULL-terminated string.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          SUPPORTED_TUNES (401)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Tune formats supported by vehicle. This should be emitted as response to MAV_CMD_REQUEST_MESSAGE.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          target_systemuint8_tSystem ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          target_componentuint8_tComponent ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          formatuint32_tTUNE_FORMATBitfield of supported tune formats.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          EVENT (410) — [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Event message. Each new event from a particular component gets a new sequence number. The same message might be sent multiple times if (re-)requested. Most events are broadcast, some can be specific to a target component (as receivers keep track of the sequence for missed events, all events need to be broadcast. Thus we use destination_component instead of target_component).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          destination_componentuint8_tComponent ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          destination_systemuint8_tSystem ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          iduint32_tEvent ID (as defined in the component metadata)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          event_time_boot_msuint32_tmsTimestamp (time since system boot when the event happened).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          sequenceuint16_tSequence number.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          log_levelsuint8_tLog levels: 4 bits MSB: internal (for logging purposes), 4 bits LSB: external. Levels: Emergency = 0, Alert = 1, Critical = 2, Error = 3, Warning = 4, Notice = 5, Info = 6, Debug = 7, Protocol = 8, Disabled = 9
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          argumentsuint8_t[40]Arguments (depend on event ID).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          CURRENT_EVENT_SEQUENCE (411) — [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Regular broadcast for the current latest event sequence number for a component. This is used to check for dropped events.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          sequenceuint16_tSequence number.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          flagsuint8_tMAV_EVENT_CURRENT_SEQUENCE_FLAGSFlag bitset.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          REQUEST_EVENT (412) — [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Request one or more events to be (re-)sent. If first_sequence==last_sequence, only a single event is requested. Note that first_sequence can be larger than last_sequence (because the sequence number can wrap). Each sequence will trigger an EVENT or EVENT_ERROR response.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          target_systemuint8_tSystem ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          target_componentuint8_tComponent ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          first_sequenceuint16_tFirst sequence number of the requested event.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          last_sequenceuint16_tLast sequence number of the requested event.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          RESPONSE_EVENT_ERROR (413) — [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Response to a REQUEST_EVENT in case of an error (e.g. the event is not available anymore).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          target_systemuint8_tSystem ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          target_componentuint8_tComponent ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          sequenceuint16_tSequence number.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          sequence_oldest_availableuint16_tOldest Sequence number that is still available after the sequence set in REQUEST_EVENT.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          reasonuint8_tMAV_EVENT_ERROR_REASONError reason.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ILLUMINATOR_STATUS (440)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Illuminator status

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          uptime_msuint32_tmsTime since the start-up of the illuminator in ms
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          enableuint8_t0: Illuminators OFF, 1: Illuminators ON
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          mode_bitmaskuint8_tILLUMINATOR_MODESupported illuminator modes
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          error_statusuint32_tILLUMINATOR_ERROR_FLAGSErrors
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          modeuint8_tILLUMINATOR_MODEIlluminator mode
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          brightnessfloat%Illuminator brightness
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          strobe_periodfloatsIlluminator strobing period in seconds
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          strobe_duty_cyclefloat%Illuminator strobing duty cycle
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          temp_cfloatTemperature in Celsius
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          min_strobe_periodfloatsMinimum strobing period in seconds
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          max_strobe_periodfloatsMaximum strobing period in seconds

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          WHEEL_DISTANCE (9000)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Cumulative distance traveled for each reported wheel.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          time_usecuint64_tusTimestamp (synced to UNIX time or since system boot).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          countuint8_tNumber of wheels reported.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          distancedouble[16]mDistance reported by individual wheel encoders. Forward rotations increase values, reverse rotations decrease them. Not all wheels will necessarily have wheel encoders; the mapping of encoders to wheel positions must be agreed/understood by the endpoints.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          WINCH_STATUS (9005)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Winch status.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          time_usecuint64_tusTimestamp (synced to UNIX time or since system boot).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          line_lengthfloatminvalid:NaNLength of line released. NaN if unknown
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          speedfloatm/sinvalid:NaNSpeed line is being released or retracted. Positive values if being released, negative values if being retracted, NaN if unknown
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          tensionfloatkginvalid:NaNTension on the line. NaN if unknown
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          voltagefloatVinvalid:NaNVoltage of the battery supplying the winch. NaN if unknown
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          currentfloatAinvalid:NaNCurrent draw from the winch. NaN if unknown
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          temperatureint16_tdegCinvalid:INT16_MAXTemperature of the motor. INT16_MAX if unknown
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          statusuint32_tMAV_WINCH_STATUS_FLAGStatus flags

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          OPEN_DRONE_ID_BASIC_ID (12900)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Data for filling the OpenDroneID Basic ID message. This and the below messages are primarily meant for feeding data to/from an OpenDroneID implementation. E.g. https://github.com/opendroneid/opendroneid-core-c. These messages are compatible with the ASTM F3411 Remote ID standard and the ASD-STAN prEN 4709-002 Direct Remote ID standard. Additional information and usage of these messages is documented at https://mavlink.io/en/services/opendroneid.html.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          target_systemuint8_tSystem ID (0 for broadcast).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          target_componentuint8_tComponent ID (0 for broadcast).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          id_or_macuint8_t[20]Only used for drone ID data received from other UAs. See detailed description at https://mavlink.io/en/services/opendroneid.html.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          id_typeuint8_tMAV_ODID_ID_TYPEIndicates the format for the uas_id field of this message.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ua_typeuint8_tMAV_ODID_UA_TYPEIndicates the type of UA (Unmanned Aircraft).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          uas_iduint8_t[20]UAS (Unmanned Aircraft System) ID following the format specified by id_type. Shall be filled with nulls in the unused portion of the field.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          OPEN_DRONE_ID_LOCATION (12901)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Data for filling the OpenDroneID Location message. The float data types are 32-bit IEEE 754. The Location message provides the location, altitude, direction and speed of the aircraft.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          target_systemuint8_tSystem ID (0 for broadcast).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          target_componentuint8_tComponent ID (0 for broadcast).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          id_or_macuint8_t[20]Only used for drone ID data received from other UAs. See detailed description at https://mavlink.io/en/services/opendroneid.html.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          statusuint8_tMAV_ODID_STATUSIndicates whether the unmanned aircraft is on the ground or in the air.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          directionuint16_tcdeginvalid:36100Direction over ground (not heading, but direction of movement) measured clockwise from true North: 0 - 35999 centi-degrees. If unknown: 36100 centi-degrees.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          speed_horizontaluint16_tcm/sGround speed. Positive only. If unknown: 25500 cm/s. If speed is larger than 25425 cm/s, use 25425 cm/s.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          speed_verticalint16_tcm/sThe vertical speed. Up is positive. If unknown: 6300 cm/s. If speed is larger than 6200 cm/s, use 6200 cm/s. If lower than -6200 cm/s, use -6200 cm/s.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          latitudeint32_tdegE7invalid:0Current latitude of the unmanned aircraft. If unknown: 0 (both Lat/Lon).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          longitudeint32_tdegE7invalid:0Current longitude of the unmanned aircraft. If unknown: 0 (both Lat/Lon).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          altitude_barometricfloatminvalid:-1000The altitude calculated from the barometric pressue. Reference is against 29.92inHg or 1013.2mb. If unknown: -1000 m.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          altitude_geodeticfloatminvalid:-1000The geodetic altitude as defined by WGS84. If unknown: -1000 m.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          height_referenceuint8_tMAV_ODID_HEIGHT_REFIndicates the reference point for the height field.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          heightfloatminvalid:-1000The current height of the unmanned aircraft above the take-off location or the ground as indicated by height_reference. If unknown: -1000 m.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          horizontal_accuracyuint8_tMAV_ODID_HOR_ACCThe accuracy of the horizontal position.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          vertical_accuracyuint8_tMAV_ODID_VER_ACCThe accuracy of the vertical position.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          barometer_accuracyuint8_tMAV_ODID_VER_ACCThe accuracy of the barometric altitude.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          speed_accuracyuint8_tMAV_ODID_SPEED_ACCThe accuracy of the horizontal and vertical speed.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          timestampfloatsinvalid:0xFFFFSeconds after the full hour with reference to UTC time. Typically the GPS outputs a time-of-week value in milliseconds. First convert that to UTC and then convert for this field using ((float) (time_week_ms % (60601000))) / 1000. If unknown: 0xFFFF.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          timestamp_accuracyuint8_tMAV_ODID_TIME_ACCThe accuracy of the timestamps.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          OPEN_DRONE_ID_AUTHENTICATION (12902)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Data for filling the OpenDroneID Authentication message. The Authentication Message defines a field that can provide a means of authenticity for the identity of the UAS (Unmanned Aircraft System). The Authentication message can have two different formats. For data page 0, the fields PageCount, Length and TimeStamp are present and AuthData is only 17 bytes. For data page 1 through 15, PageCount, Length and TimeStamp are not present and the size of AuthData is 23 bytes.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          target_systemuint8_tSystem ID (0 for broadcast).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          target_componentuint8_tComponent ID (0 for broadcast).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          id_or_macuint8_t[20]Only used for drone ID data received from other UAs. See detailed description at https://mavlink.io/en/services/opendroneid.html.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          authentication_typeuint8_tMAV_ODID_AUTH_TYPEIndicates the type of authentication.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          data_pageuint8_tAllowed range is 0 - 15.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          last_page_indexuint8_tThis field is only present for page 0. Allowed range is 0 - 15. See the description of struct ODID_Auth_data at https://github.com/opendroneid/opendroneid-core-c/blob/master/libopendroneid/opendroneid.h.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          lengthuint8_tbytesThis field is only present for page 0. Total bytes of authentication_data from all data pages. See the description of struct ODID_Auth_data at https://github.com/opendroneid/opendroneid-core-c/blob/master/libopendroneid/opendroneid.h.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          timestampuint32_tsThis field is only present for page 0. 32 bit Unix Timestamp in seconds since 00:00:00 01/01/2019.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          authentication_datauint8_t[23]Opaque authentication data. For page 0, the size is only 17 bytes. For other pages, the size is 23 bytes. Shall be filled with nulls in the unused portion of the field.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          OPEN_DRONE_ID_SELF_ID (12903)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Data for filling the OpenDroneID Self ID message. The Self ID Message is an opportunity for the operator to (optionally) declare their identity and purpose of the flight. This message can provide additional information that could reduce the threat profile of a UA (Unmanned Aircraft) flying in a particular area or manner. This message can also be used to provide optional additional clarification in an emergency/remote ID system failure situation.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          target_systemuint8_tSystem ID (0 for broadcast).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          target_componentuint8_tComponent ID (0 for broadcast).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          id_or_macuint8_t[20]Only used for drone ID data received from other UAs. See detailed description at https://mavlink.io/en/services/opendroneid.html.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          description_typeuint8_tMAV_ODID_DESC_TYPEIndicates the type of the description field.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          descriptionchar[23]Text description or numeric value expressed as ASCII characters. Shall be filled with nulls in the unused portion of the field.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          OPEN_DRONE_ID_SYSTEM (12904)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Data for filling the OpenDroneID System message. The System Message contains general system information including the operator location/altitude and possible aircraft group and/or category/class information.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          target_systemuint8_tSystem ID (0 for broadcast).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          target_componentuint8_tComponent ID (0 for broadcast).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          id_or_macuint8_t[20]Only used for drone ID data received from other UAs. See detailed description at https://mavlink.io/en/services/opendroneid.html.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          operator_location_typeuint8_tMAV_ODID_OPERATOR_LOCATION_TYPESpecifies the operator location type.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          classification_typeuint8_tMAV_ODID_CLASSIFICATION_TYPESpecifies the classification type of the UA.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          operator_latitudeint32_tdegE7invalid:0Latitude of the operator. If unknown: 0 (both Lat/Lon).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          operator_longitudeint32_tdegE7invalid:0Longitude of the operator. If unknown: 0 (both Lat/Lon).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          area_countuint16_tNumber of aircraft in the area, group or formation (default 1). Used only for swarms/multiple UA.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          area_radiusuint16_tmRadius of the cylindrical area of the group or formation (default 0). Used only for swarms/multiple UA.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          area_ceilingfloatminvalid:-1000Area Operations Ceiling relative to WGS84. If unknown: -1000 m. Used only for swarms/multiple UA.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          area_floorfloatminvalid:-1000Area Operations Floor relative to WGS84. If unknown: -1000 m. Used only for swarms/multiple UA.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          category_euuint8_tMAV_ODID_CATEGORY_EUWhen classification_type is MAV_ODID_CLASSIFICATION_TYPE_EU, specifies the category of the UA.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          class_euuint8_tMAV_ODID_CLASS_EUWhen classification_type is MAV_ODID_CLASSIFICATION_TYPE_EU, specifies the class of the UA.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          operator_altitude_geofloatminvalid:-1000Geodetic altitude of the operator relative to WGS84. If unknown: -1000 m.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          timestampuint32_ts32 bit Unix Timestamp in seconds since 00:00:00 01/01/2019.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          OPEN_DRONE_ID_OPERATOR_ID (12905)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Data for filling the OpenDroneID Operator ID message, which contains the CAA (Civil Aviation Authority) issued operator ID.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          target_systemuint8_tSystem ID (0 for broadcast).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          target_componentuint8_tComponent ID (0 for broadcast).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          id_or_macuint8_t[20]Only used for drone ID data received from other UAs. See detailed description at https://mavlink.io/en/services/opendroneid.html.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          operator_id_typeuint8_tMAV_ODID_OPERATOR_ID_TYPEIndicates the type of the operator_id field.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          operator_idchar[20]Text description or numeric value expressed as ASCII characters. Shall be filled with nulls in the unused portion of the field.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          OPEN_DRONE_ID_MESSAGE_PACK (12915)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          An OpenDroneID message pack is a container for multiple encoded OpenDroneID messages (i.e. not in the format given for the above message descriptions but after encoding into the compressed OpenDroneID byte format). Used e.g. when transmitting on Bluetooth 5.0 Long Range/Extended Advertising or on WiFi Neighbor Aware Networking or on WiFi Beacon.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          target_systemuint8_tSystem ID (0 for broadcast).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          target_componentuint8_tComponent ID (0 for broadcast).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          id_or_macuint8_t[20]Only used for drone ID data received from other UAs. See detailed description at https://mavlink.io/en/services/opendroneid.html.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          single_message_sizeuint8_tbytesThis field must currently always be equal to 25 (bytes), since all encoded OpenDroneID messages are specified to have this length.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          msg_pack_sizeuint8_tNumber of encoded messages in the pack (not the number of bytes). Allowed range is 1 - 9.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          messagesuint8_t[225]Concatenation of encoded OpenDroneID messages. Shall be filled with nulls in the unused portion of the field.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          OPEN_DRONE_ID_ARM_STATUS (12918)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Transmitter (remote ID system) is enabled and ready to start sending location and other required information. This is streamed by transmitter. A flight controller uses it as a condition to arm.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          statusuint8_tMAV_ODID_ARM_STATUSStatus level indicating if arming is allowed.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          errorchar[50]Text error message, should be empty if status is good to arm. Fill with nulls in unused portion.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          OPEN_DRONE_ID_SYSTEM_UPDATE (12919)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Update the data in the OPEN_DRONE_ID_SYSTEM message with new location information. This can be sent to update the location information for the operator when no other information in the SYSTEM message has changed. This message allows for efficient operation on radio links which have limited uplink bandwidth while meeting requirements for update frequency of the operator location.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          target_systemuint8_tSystem ID (0 for broadcast).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          target_componentuint8_tComponent ID (0 for broadcast).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          operator_latitudeint32_tdegE7Latitude of the operator. If unknown: 0 (both Lat/Lon).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          operator_longitudeint32_tdegE7Longitude of the operator. If unknown: 0 (both Lat/Lon).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          operator_altitude_geofloatmGeodetic altitude of the operator relative to WGS84. If unknown: -1000 m.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          timestampuint32_ts32 bit Unix Timestamp in seconds since 00:00:00 01/01/2019.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          HYGROMETER_SENSOR (12920)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Temperature and humidity from hygrometer.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          iduint8_tHygrometer ID

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Messages with same value are from the same source (instance). | | temperature | int16_t | cdegC | Temperature | | humidity | uint16_t | c% | Humidity |

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Enumerated Types

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          FIRMWARE_VERSION_TYPE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          These values define the type of firmware release. These values indicate the first version or release of this type. For example the first alpha release would be 64, the second would be 65.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          0FIRMWARE_VERSION_TYPE_DEVdevelopment release
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          64FIRMWARE_VERSION_TYPE_ALPHAalpha release
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          128FIRMWARE_VERSION_TYPE_BETAbeta release
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          192FIRMWARE_VERSION_TYPE_RCrelease candidate
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          255FIRMWARE_VERSION_TYPE_OFFICIALofficial stable release

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          HL_FAILURE_FLAG

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          (Bitmask) Flags to report failure cases over the high latency telemetry.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1HL_FAILURE_FLAG_GPSGPS failure.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2HL_FAILURE_FLAG_DIFFERENTIAL_PRESSUREDifferential pressure sensor failure.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          4HL_FAILURE_FLAG_ABSOLUTE_PRESSUREAbsolute pressure sensor failure.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          8HL_FAILURE_FLAG_3D_ACCELAccelerometer sensor failure.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          16HL_FAILURE_FLAG_3D_GYROGyroscope sensor failure.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          32HL_FAILURE_FLAG_3D_MAGMagnetometer sensor failure.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          64HL_FAILURE_FLAG_TERRAINTerrain subsystem failure.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          128HL_FAILURE_FLAG_BATTERYBattery failure/critical low battery.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          256HL_FAILURE_FLAG_RC_RECEIVERRC receiver failure/no RC connection.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          512HL_FAILURE_FLAG_OFFBOARD_LINKOffboard link failure.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1024HL_FAILURE_FLAG_ENGINEEngine failure.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2048HL_FAILURE_FLAG_GEOFENCEGeofence violation.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          4096HL_FAILURE_FLAG_ESTIMATOREstimator failure, for example measurement rejection or large variances.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          8192HL_FAILURE_FLAG_MISSIONMission failure.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_GOTO

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Actions that may be specified in MAV_CMD_OVERRIDE_GOTO to override mission execution.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          0MAV_GOTO_DO_HOLDHold at the current position.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1MAV_GOTO_DO_CONTINUEContinue with the next item in mission execution.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2MAV_GOTO_HOLD_AT_CURRENT_POSITIONHold at the current position of the system
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          3MAV_GOTO_HOLD_AT_SPECIFIED_POSITIONHold at the position specified in the parameters of the DO_HOLD action

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_MODE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          These defines are predefined OR-combined mode flags. There is no need to use values from this enum, but it

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          simplifies the use of the mode flags. Note that manual input is enabled in all modes as a safety override.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          0MAV_MODE_PREFLIGHTSystem is not ready to fly, booting, calibrating, etc. No flag is set.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          64MAV_MODE_MANUAL_DISARMEDSystem is allowed to be active, under manual (RC) control, no stabilization
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          66MAV_MODE_TEST_DISARMEDUNDEFINED mode. This solely depends on the autopilot - use with caution, intended for developers only.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          80MAV_MODE_STABILIZE_DISARMEDSystem is allowed to be active, under assisted RC control.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          88MAV_MODE_GUIDED_DISARMEDSystem is allowed to be active, under autonomous control, manual setpoint
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          92MAV_MODE_AUTO_DISARMEDSystem is allowed to be active, under autonomous control and navigation (the trajectory is decided onboard and not pre-programmed by waypoints)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          192MAV_MODE_MANUAL_ARMEDSystem is allowed to be active, under manual (RC) control, no stabilization
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          194MAV_MODE_TEST_ARMEDUNDEFINED mode. This solely depends on the autopilot - use with caution, intended for developers only.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          208MAV_MODE_STABILIZE_ARMEDSystem is allowed to be active, under assisted RC control.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          216MAV_MODE_GUIDED_ARMEDSystem is allowed to be active, under autonomous control, manual setpoint
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          220MAV_MODE_AUTO_ARMEDSystem is allowed to be active, under autonomous control and navigation (the trajectory is decided onboard and not pre-programmed by waypoints)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_SYS_STATUS_SENSOR

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          (Bitmask) These encode the sensors whose status is sent as part of the SYS_STATUS message.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1MAV_SYS_STATUS_SENSOR_3D_GYRO0x01 3D gyro
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2MAV_SYS_STATUS_SENSOR_3D_ACCEL0x02 3D accelerometer
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          4MAV_SYS_STATUS_SENSOR_3D_MAG0x04 3D magnetometer
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          8MAV_SYS_STATUS_SENSOR_ABSOLUTE_PRESSURE0x08 absolute pressure
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          16MAV_SYS_STATUS_SENSOR_DIFFERENTIAL_PRESSURE0x10 differential pressure
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          32MAV_SYS_STATUS_SENSOR_GPS0x20 GPS
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          64MAV_SYS_STATUS_SENSOR_OPTICAL_FLOW0x40 optical flow
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          128MAV_SYS_STATUS_SENSOR_VISION_POSITION0x80 computer vision position
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          256MAV_SYS_STATUS_SENSOR_LASER_POSITION0x100 laser based position
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          512MAV_SYS_STATUS_SENSOR_EXTERNAL_GROUND_TRUTH0x200 external ground truth (Vicon or Leica)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1024MAV_SYS_STATUS_SENSOR_ANGULAR_RATE_CONTROL0x400 3D angular rate control
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2048MAV_SYS_STATUS_SENSOR_ATTITUDE_STABILIZATION0x800 attitude stabilization
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          4096MAV_SYS_STATUS_SENSOR_YAW_POSITION0x1000 yaw position
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          8192MAV_SYS_STATUS_SENSOR_Z_ALTITUDE_CONTROL0x2000 z/altitude control
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          16384MAV_SYS_STATUS_SENSOR_XY_POSITION_CONTROL0x4000 x/y position control
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          32768MAV_SYS_STATUS_SENSOR_MOTOR_OUTPUTS0x8000 motor outputs / control
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          65536MAV_SYS_STATUS_SENSOR_RC_RECEIVER0x10000 RC receiver
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          131072MAV_SYS_STATUS_SENSOR_3D_GYRO20x20000 2nd 3D gyro
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          262144MAV_SYS_STATUS_SENSOR_3D_ACCEL20x40000 2nd 3D accelerometer
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          524288MAV_SYS_STATUS_SENSOR_3D_MAG20x80000 2nd 3D magnetometer
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1048576MAV_SYS_STATUS_GEOFENCE0x100000 geofence
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2097152MAV_SYS_STATUS_AHRS0x200000 AHRS subsystem health
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          4194304MAV_SYS_STATUS_TERRAIN0x400000 Terrain subsystem health
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          8388608MAV_SYS_STATUS_REVERSE_MOTOR0x800000 Motors are reversed
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          16777216MAV_SYS_STATUS_LOGGING0x1000000 Logging
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          33554432MAV_SYS_STATUS_SENSOR_BATTERY0x2000000 Battery
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          67108864MAV_SYS_STATUS_SENSOR_PROXIMITY0x4000000 Proximity
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          134217728MAV_SYS_STATUS_SENSOR_SATCOM0x8000000 Satellite Communication
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          268435456MAV_SYS_STATUS_PREARM_CHECK0x10000000 pre-arm check status. Always healthy when armed
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          536870912MAV_SYS_STATUS_OBSTACLE_AVOIDANCE0x20000000 Avoidance/collision prevention
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1073741824MAV_SYS_STATUS_SENSOR_PROPULSION0x40000000 propulsion (actuator, esc, motor or propellor)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2147483648MAV_SYS_STATUS_EXTENSION_USED0x80000000 Extended bit-field are used for further sensor status bits (needs to be set in onboard_control_sensors_present only)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_SYS_STATUS_SENSOR_EXTENDED

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          (Bitmask) These encode the sensors whose status is sent as part of the SYS_STATUS message in the extended fields.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1MAV_SYS_STATUS_RECOVERY_SYSTEM0x01 Recovery system (parachute, balloon, retracts etc)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_FRAME

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Coordinate frames used by MAVLink. Not all frames are supported by all commands, messages, or vehicles.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Global frames use the following naming conventions:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • "GLOBAL": Global coordinate frame with WGS84 latitude/longitude and altitude positive over mean sea level (MSL) by default. The following modifiers may be used with "GLOBAL":
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • "RELATIVE_ALT": Altitude is relative to the vehicle home position rather than MSL.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • "TERRAIN_ALT": Altitude is relative to ground level rather than MSL.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • "INT": Latitude/longitude (in degrees) are scaled by multiplying by 1E7.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Local frames use the following naming conventions:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • "LOCAL": Origin of local frame is fixed relative to earth. Unless otherwise specified this origin is the origin of the vehicle position-estimator ("EKF").
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • "BODY": Origin of local frame travels with the vehicle. NOTE, "BODY" does NOT indicate alignment of frame axis with vehicle attitude.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • "OFFSET": Deprecated synonym for "BODY" (origin travels with the vehicle). Not to be used for new frames.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Some deprecated frames do not follow these conventions (e.g. MAV_FRAME_BODY_NED and MAV_FRAME_BODY_OFFSET_NED).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          0MAV_FRAME_GLOBALGlobal (WGS84) coordinate frame + altitude relative to mean sea level (MSL).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1MAV_FRAME_LOCAL_NEDNED local tangent frame (x: North, y: East, z: Down) with origin fixed relative to earth.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2MAV_FRAME_MISSIONNOT a coordinate frame, indicates a mission command.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          3MAV_FRAME_GLOBAL_RELATIVE_ALTGlobal (WGS84) coordinate frame + altitude relative to the home position.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          4MAV_FRAME_LOCAL_ENUENU local tangent frame (x: East, y: North, z: Up) with origin fixed relative to earth.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          5MAV_FRAME_GLOBAL_INTGlobal (WGS84) coordinate frame (scaled) + altitude relative to mean sea level (MSL).DEPRECATED: Replaced By MAV_FRAME_GLOBAL (2024-03) — Use MAV_FRAME_GLOBAL in COMMAND_INT (and elsewhere) as a synonymous replacement.)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          6MAV_FRAME_GLOBAL_RELATIVE_ALT_INTGlobal (WGS84) coordinate frame (scaled) + altitude relative to the home position.DEPRECATED: Replaced By MAV_FRAME_GLOBAL_RELATIVE_ALT (2024-03) — Use MAV_FRAME_GLOBAL_RELATIVE_ALT in COMMAND_INT (and elsewhere) as a synonymous replacement.)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          7MAV_FRAME_LOCAL_OFFSET_NEDNED local tangent frame (x: North, y: East, z: Down) with origin that travels with the vehicle.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          8MAV_FRAME_BODY_NEDSame as MAV_FRAME_LOCAL_NED when used to represent position values. Same as MAV_FRAME_BODY_FRD when used with velocity/acceleration values.DEPRECATED: Replaced By MAV_FRAME_BODY_FRD (2019-08)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          9MAV_FRAME_BODY_OFFSET_NEDThis is the same as MAV_FRAME_BODY_FRD.DEPRECATED: Replaced By MAV_FRAME_BODY_FRD (2019-08)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          10MAV_FRAME_GLOBAL_TERRAIN_ALTGlobal (WGS84) coordinate frame with AGL altitude (altitude at ground level).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          11MAV_FRAME_GLOBAL_TERRAIN_ALT_INTGlobal (WGS84) coordinate frame (scaled) with AGL altitude (altitude at ground level).DEPRECATED: Replaced By MAV_FRAME_GLOBAL_TERRAIN_ALT (2024-03) — Use MAV_FRAME_GLOBAL_TERRAIN_ALT in COMMAND_INT (and elsewhere) as a synonymous replacement.)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          12MAV_FRAME_BODY_FRDFRD local frame aligned to the vehicle's attitude (x: Forward, y: Right, z: Down) with an origin that travels with vehicle.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          13MAV_FRAME_RESERVED_13MAV_FRAME_BODY_FLU - Body fixed frame of reference, Z-up (x: Forward, y: Left, z: Up).DEPRECATED:(2019-04)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          14MAV_FRAME_RESERVED_14MAV_FRAME_MOCAP_NED - Odometry local coordinate frame of data given by a motion capture system, Z-down (x: North, y: East, z: Down).DEPRECATED: Replaced By MAV_FRAME_LOCAL_FRD (2019-04)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          15MAV_FRAME_RESERVED_15MAV_FRAME_MOCAP_ENU - Odometry local coordinate frame of data given by a motion capture system, Z-up (x: East, y: North, z: Up).DEPRECATED: Replaced By MAV_FRAME_LOCAL_FLU (2019-04)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          16MAV_FRAME_RESERVED_16MAV_FRAME_VISION_NED - Odometry local coordinate frame of data given by a vision estimation system, Z-down (x: North, y: East, z: Down).DEPRECATED: Replaced By MAV_FRAME_LOCAL_FRD (2019-04)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          17MAV_FRAME_RESERVED_17MAV_FRAME_VISION_ENU - Odometry local coordinate frame of data given by a vision estimation system, Z-up (x: East, y: North, z: Up).DEPRECATED: Replaced By MAV_FRAME_LOCAL_FLU (2019-04)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          18MAV_FRAME_RESERVED_18MAV_FRAME_ESTIM_NED - Odometry local coordinate frame of data given by an estimator running onboard the vehicle, Z-down (x: North, y: East, z: Down).DEPRECATED: Replaced By MAV_FRAME_LOCAL_FRD (2019-04)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          19MAV_FRAME_RESERVED_19MAV_FRAME_ESTIM_ENU - Odometry local coordinate frame of data given by an estimator running onboard the vehicle, Z-up (x: East, y: North, z: Up).DEPRECATED: Replaced By MAV_FRAME_LOCAL_FLU (2019-04)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          20MAV_FRAME_LOCAL_FRDFRD local tangent frame (x: Forward, y: Right, z: Down) with origin fixed relative to earth. The forward axis is aligned to the front of the vehicle in the horizontal plane.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          21MAV_FRAME_LOCAL_FLUFLU local tangent frame (x: Forward, y: Left, z: Up) with origin fixed relative to earth. The forward axis is aligned to the front of the vehicle in the horizontal plane.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          0MAVLINK_DATA_STREAM_IMG_JPEG
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1MAVLINK_DATA_STREAM_IMG_BMP
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2MAVLINK_DATA_STREAM_IMG_RAW8U
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          3MAVLINK_DATA_STREAM_IMG_RAW32U
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          4MAVLINK_DATA_STREAM_IMG_PGM
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          5MAVLINK_DATA_STREAM_IMG_PNG

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          FENCE_ACTION

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Actions following geofence breach.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          0FENCE_ACTION_NONEDisable fenced mode. If used in a plan this would mean the next fence is disabled.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1FENCE_ACTION_GUIDEDFly to geofence MAV_CMD_NAV_FENCE_RETURN_POINT in GUIDED mode. Note: This action is only supported by ArduPlane, and may not be supported in all versions.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2FENCE_ACTION_REPORTReport fence breach, but don't take action
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          3FENCE_ACTION_GUIDED_THR_PASSFly to geofence MAV_CMD_NAV_FENCE_RETURN_POINT with manual throttle control in GUIDED mode. Note: This action is only supported by ArduPlane, and may not be supported in all versions.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          4FENCE_ACTION_RTLReturn/RTL mode.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          5FENCE_ACTION_HOLDHold at current location.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          6FENCE_ACTION_TERMINATETermination failsafe. Motors are shut down (some flight stacks may trigger other failsafe actions).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          7FENCE_ACTION_LANDLand at current location.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          FENCE_BREACH

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          0FENCE_BREACH_NONENo last fence breach
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1FENCE_BREACH_MINALTBreached minimum altitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2FENCE_BREACH_MAXALTBreached maximum altitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          3FENCE_BREACH_BOUNDARYBreached fence boundary

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          FENCE_MITIGATE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Actions being taken to mitigate/prevent fence breach

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          0FENCE_MITIGATE_UNKNOWNUnknown
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1FENCE_MITIGATE_NONENo actions being taken
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2FENCE_MITIGATE_VEL_LIMITVelocity limiting active to prevent breach

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          FENCE_TYPE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          (Bitmask)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          0FENCE_TYPE_ALLAll fence types
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1FENCE_TYPE_ALT_MAXMaximum altitude fence
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2FENCE_TYPE_CIRCLECircle fence
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          4FENCE_TYPE_POLYGONPolygon fence
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          8FENCE_TYPE_ALT_MINMinimum altitude fence

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_MOUNT_MODE — [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          DEPRECATED: Replaced By GIMBAL_MANAGER_FLAGS (2020-01)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Enumeration of possible mount operation modes. This message is used by obsolete/deprecated gimbal messages.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          0MAV_MOUNT_MODE_RETRACTLoad and keep safe position (Roll,Pitch,Yaw) from permanent memory and stop stabilization
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1MAV_MOUNT_MODE_NEUTRALLoad and keep neutral position (Roll,Pitch,Yaw) from permanent memory.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2MAV_MOUNT_MODE_MAVLINK_TARGETINGLoad neutral position and start MAVLink Roll,Pitch,Yaw control with stabilization
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          3MAV_MOUNT_MODE_RC_TARGETINGLoad neutral position and start RC Roll,Pitch,Yaw control with stabilization
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          4MAV_MOUNT_MODE_GPS_POINTLoad neutral position and start to point to Lat,Lon,Alt
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          5MAV_MOUNT_MODE_SYSID_TARGETGimbal tracks system with specified system ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          6MAV_MOUNT_MODE_HOME_LOCATIONGimbal tracks home position

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          GIMBAL_DEVICE_CAP_FLAGS

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          (Bitmask) Gimbal device (low level) capability flags (bitmap).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1GIMBAL_DEVICE_CAP_FLAGS_HAS_RETRACTGimbal device supports a retracted position.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2GIMBAL_DEVICE_CAP_FLAGS_HAS_NEUTRALGimbal device supports a horizontal, forward looking position, stabilized.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          4GIMBAL_DEVICE_CAP_FLAGS_HAS_ROLL_AXISGimbal device supports rotating around roll axis.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          8GIMBAL_DEVICE_CAP_FLAGS_HAS_ROLL_FOLLOWGimbal device supports to follow a roll angle relative to the vehicle.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          16GIMBAL_DEVICE_CAP_FLAGS_HAS_ROLL_LOCKGimbal device supports locking to a roll angle (generally that's the default with roll stabilized).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          32GIMBAL_DEVICE_CAP_FLAGS_HAS_PITCH_AXISGimbal device supports rotating around pitch axis.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          64GIMBAL_DEVICE_CAP_FLAGS_HAS_PITCH_FOLLOWGimbal device supports to follow a pitch angle relative to the vehicle.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          128GIMBAL_DEVICE_CAP_FLAGS_HAS_PITCH_LOCKGimbal device supports locking to a pitch angle (generally that's the default with pitch stabilized).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          256GIMBAL_DEVICE_CAP_FLAGS_HAS_YAW_AXISGimbal device supports rotating around yaw axis.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          512GIMBAL_DEVICE_CAP_FLAGS_HAS_YAW_FOLLOWGimbal device supports to follow a yaw angle relative to the vehicle (generally that's the default).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1024GIMBAL_DEVICE_CAP_FLAGS_HAS_YAW_LOCKGimbal device supports locking to an absolute heading, i.e., yaw angle relative to North (earth frame, often this is an option available).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2048GIMBAL_DEVICE_CAP_FLAGS_SUPPORTS_INFINITE_YAWGimbal device supports yawing/panning infinitely (e.g. using slip disk).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          4096GIMBAL_DEVICE_CAP_FLAGS_SUPPORTS_YAW_IN_EARTH_FRAMEGimbal device supports yaw angles and angular velocities relative to North (earth frame). This usually requires support by an autopilot via AUTOPILOT_STATE_FOR_GIMBAL_DEVICE. Support can go on and off during runtime, which is reported by the flag GIMBAL_DEVICE_FLAGS_CAN_ACCEPT_YAW_IN_EARTH_FRAME.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          8192GIMBAL_DEVICE_CAP_FLAGS_HAS_RC_INPUTSGimbal device supports radio control inputs as an alternative input for controlling the gimbal orientation.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          GIMBAL_MANAGER_CAP_FLAGS

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          (Bitmask) Gimbal manager high level capability flags (bitmap). The first 16 bits are identical to the GIMBAL_DEVICE_CAP_FLAGS. However, the gimbal manager does not need to copy the flags from the gimbal but can also enhance the capabilities and thus add flags.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1GIMBAL_MANAGER_CAP_FLAGS_HAS_RETRACTBased on GIMBAL_DEVICE_CAP_FLAGS_HAS_RETRACT.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2GIMBAL_MANAGER_CAP_FLAGS_HAS_NEUTRALBased on GIMBAL_DEVICE_CAP_FLAGS_HAS_NEUTRAL.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          4GIMBAL_MANAGER_CAP_FLAGS_HAS_ROLL_AXISBased on GIMBAL_DEVICE_CAP_FLAGS_HAS_ROLL_AXIS.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          8GIMBAL_MANAGER_CAP_FLAGS_HAS_ROLL_FOLLOWBased on GIMBAL_DEVICE_CAP_FLAGS_HAS_ROLL_FOLLOW.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          16GIMBAL_MANAGER_CAP_FLAGS_HAS_ROLL_LOCKBased on GIMBAL_DEVICE_CAP_FLAGS_HAS_ROLL_LOCK.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          32GIMBAL_MANAGER_CAP_FLAGS_HAS_PITCH_AXISBased on GIMBAL_DEVICE_CAP_FLAGS_HAS_PITCH_AXIS.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          64GIMBAL_MANAGER_CAP_FLAGS_HAS_PITCH_FOLLOWBased on GIMBAL_DEVICE_CAP_FLAGS_HAS_PITCH_FOLLOW.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          128GIMBAL_MANAGER_CAP_FLAGS_HAS_PITCH_LOCKBased on GIMBAL_DEVICE_CAP_FLAGS_HAS_PITCH_LOCK.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          256GIMBAL_MANAGER_CAP_FLAGS_HAS_YAW_AXISBased on GIMBAL_DEVICE_CAP_FLAGS_HAS_YAW_AXIS.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          512GIMBAL_MANAGER_CAP_FLAGS_HAS_YAW_FOLLOWBased on GIMBAL_DEVICE_CAP_FLAGS_HAS_YAW_FOLLOW.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1024GIMBAL_MANAGER_CAP_FLAGS_HAS_YAW_LOCKBased on GIMBAL_DEVICE_CAP_FLAGS_HAS_YAW_LOCK.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2048GIMBAL_MANAGER_CAP_FLAGS_SUPPORTS_INFINITE_YAWBased on GIMBAL_DEVICE_CAP_FLAGS_SUPPORTS_INFINITE_YAW.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          4096GIMBAL_MANAGER_CAP_FLAGS_SUPPORTS_YAW_IN_EARTH_FRAMEBased on GIMBAL_DEVICE_CAP_FLAGS_SUPPORTS_YAW_IN_EARTH_FRAME.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          8192GIMBAL_MANAGER_CAP_FLAGS_HAS_RC_INPUTSBased on GIMBAL_DEVICE_CAP_FLAGS_HAS_RC_INPUTS.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          65536GIMBAL_MANAGER_CAP_FLAGS_CAN_POINT_LOCATION_LOCALGimbal manager supports to point to a local position.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          131072GIMBAL_MANAGER_CAP_FLAGS_CAN_POINT_LOCATION_GLOBALGimbal manager supports to point to a global latitude, longitude, altitude position.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          GIMBAL_DEVICE_FLAGS

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          (Bitmask) Flags for gimbal device (lower level) operation.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1GIMBAL_DEVICE_FLAGS_RETRACTSet to retracted safe position (no stabilization), takes precedence over all other flags.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2GIMBAL_DEVICE_FLAGS_NEUTRALSet to neutral/default position, taking precedence over all other flags except RETRACT. Neutral is commonly forward-facing and horizontal (roll=pitch=yaw=0) but may be any orientation.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          4GIMBAL_DEVICE_FLAGS_ROLL_LOCKLock roll angle to absolute angle relative to horizon (not relative to vehicle). This is generally the default with a stabilizing gimbal.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          8GIMBAL_DEVICE_FLAGS_PITCH_LOCKLock pitch angle to absolute angle relative to horizon (not relative to vehicle). This is generally the default with a stabilizing gimbal.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          16GIMBAL_DEVICE_FLAGS_YAW_LOCKLock yaw angle to absolute angle relative to North (not relative to vehicle). If this flag is set, the yaw angle and z component of angular velocity are relative to North (earth frame, x-axis pointing North), else they are relative to the vehicle heading (vehicle frame, earth frame rotated so that the x-axis is pointing forward).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          32GIMBAL_DEVICE_FLAGS_YAW_IN_VEHICLE_FRAMEYaw angle and z component of angular velocity are relative to the vehicle heading (vehicle frame, earth frame rotated such that the x-axis is pointing forward).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          64GIMBAL_DEVICE_FLAGS_YAW_IN_EARTH_FRAMEYaw angle and z component of angular velocity are relative to North (earth frame, x-axis is pointing North).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          128GIMBAL_DEVICE_FLAGS_ACCEPTS_YAW_IN_EARTH_FRAMEGimbal device can accept yaw angle inputs relative to North (earth frame). This flag is only for reporting (attempts to set this flag are ignored).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          256GIMBAL_DEVICE_FLAGS_RC_EXCLUSIVEThe gimbal orientation is set exclusively by the RC signals feed to the gimbal's radio control inputs. MAVLink messages for setting the gimbal orientation (GIMBAL_DEVICE_SET_ATTITUDE) are ignored.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          512GIMBAL_DEVICE_FLAGS_RC_MIXEDThe gimbal orientation is determined by combining/mixing the RC signals feed to the gimbal's radio control inputs and the MAVLink messages for setting the gimbal orientation (GIMBAL_DEVICE_SET_ATTITUDE). How these two controls are combined or mixed is not defined by the protocol but is up to the implementation.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          GIMBAL_MANAGER_FLAGS

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          (Bitmask) Flags for high level gimbal manager operation The first 16 bits are identical to the GIMBAL_DEVICE_FLAGS.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1GIMBAL_MANAGER_FLAGS_RETRACTBased on GIMBAL_DEVICE_FLAGS_RETRACT.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2GIMBAL_MANAGER_FLAGS_NEUTRALBased on GIMBAL_DEVICE_FLAGS_NEUTRAL.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          4GIMBAL_MANAGER_FLAGS_ROLL_LOCKBased on GIMBAL_DEVICE_FLAGS_ROLL_LOCK.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          8GIMBAL_MANAGER_FLAGS_PITCH_LOCKBased on GIMBAL_DEVICE_FLAGS_PITCH_LOCK.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          16GIMBAL_MANAGER_FLAGS_YAW_LOCKBased on GIMBAL_DEVICE_FLAGS_YAW_LOCK.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          32GIMBAL_MANAGER_FLAGS_YAW_IN_VEHICLE_FRAMEBased on GIMBAL_DEVICE_FLAGS_YAW_IN_VEHICLE_FRAME.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          64GIMBAL_MANAGER_FLAGS_YAW_IN_EARTH_FRAMEBased on GIMBAL_DEVICE_FLAGS_YAW_IN_EARTH_FRAME.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          128GIMBAL_MANAGER_FLAGS_ACCEPTS_YAW_IN_EARTH_FRAMEBased on GIMBAL_DEVICE_FLAGS_ACCEPTS_YAW_IN_EARTH_FRAME.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          256GIMBAL_MANAGER_FLAGS_RC_EXCLUSIVEBased on GIMBAL_DEVICE_FLAGS_RC_EXCLUSIVE.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          512GIMBAL_MANAGER_FLAGS_RC_MIXEDBased on GIMBAL_DEVICE_FLAGS_RC_MIXED.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          GIMBAL_DEVICE_ERROR_FLAGS

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          (Bitmask) Gimbal device (low level) error flags (bitmap, 0 means no error)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1GIMBAL_DEVICE_ERROR_FLAGS_AT_ROLL_LIMITGimbal device is limited by hardware roll limit.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2GIMBAL_DEVICE_ERROR_FLAGS_AT_PITCH_LIMITGimbal device is limited by hardware pitch limit.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          4GIMBAL_DEVICE_ERROR_FLAGS_AT_YAW_LIMITGimbal device is limited by hardware yaw limit.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          8GIMBAL_DEVICE_ERROR_FLAGS_ENCODER_ERRORThere is an error with the gimbal encoders.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          16GIMBAL_DEVICE_ERROR_FLAGS_POWER_ERRORThere is an error with the gimbal power source.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          32GIMBAL_DEVICE_ERROR_FLAGS_MOTOR_ERRORThere is an error with the gimbal motors.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          64GIMBAL_DEVICE_ERROR_FLAGS_SOFTWARE_ERRORThere is an error with the gimbal's software.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          128GIMBAL_DEVICE_ERROR_FLAGS_COMMS_ERRORThere is an error with the gimbal's communication.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          256GIMBAL_DEVICE_ERROR_FLAGS_CALIBRATION_RUNNINGGimbal device is currently calibrating.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          512GIMBAL_DEVICE_ERROR_FLAGS_NO_MANAGERGimbal device is not assigned to a gimbal manager.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          GRIPPER_ACTIONS

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Gripper actions.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          0GRIPPER_ACTION_RELEASEGripper release cargo.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1GRIPPER_ACTION_GRABGripper grab onto cargo.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          WINCH_ACTIONS

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Winch actions.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          0WINCH_RELAXEDAllow motor to freewheel.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1WINCH_RELATIVE_LENGTH_CONTROLWind or unwind specified length of line, optionally using specified rate.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2WINCH_RATE_CONTROLWind or unwind line at specified rate.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          3WINCH_LOCKPerform the locking sequence to relieve motor while in the fully retracted position. Only action and instance command parameters are used, others are ignored.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          4WINCH_DELIVERSequence of drop, slow down, touch down, reel up, lock. Only action and instance command parameters are used, others are ignored.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          5WINCH_HOLDEngage motor and hold current position. Only action and instance command parameters are used, others are ignored.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          6WINCH_RETRACTReturn the reel to the fully retracted position. Only action and instance command parameters are used, others are ignored.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          7WINCH_LOAD_LINELoad the reel with line. The winch will calculate the total loaded length and stop when the tension exceeds a threshold. Only action and instance command parameters are used, others are ignored.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          8WINCH_ABANDON_LINESpool out the entire length of the line. Only action and instance command parameters are used, others are ignored.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          9WINCH_LOAD_PAYLOADSpools out just enough to present the hook to the user to load the payload. Only action and instance command parameters are used, others are ignored

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          UAVCAN_NODE_HEALTH

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Generalized UAVCAN node health

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          0UAVCAN_NODE_HEALTH_OKThe node is functioning properly.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1UAVCAN_NODE_HEALTH_WARNINGA critical parameter went out of range or the node has encountered a minor failure.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2UAVCAN_NODE_HEALTH_ERRORThe node has encountered a major failure.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          3UAVCAN_NODE_HEALTH_CRITICALThe node has suffered a fatal malfunction.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          UAVCAN_NODE_MODE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Generalized UAVCAN node mode

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          0UAVCAN_NODE_MODE_OPERATIONALThe node is performing its primary functions.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1UAVCAN_NODE_MODE_INITIALIZATIONThe node is initializing; this mode is entered immediately after startup.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2UAVCAN_NODE_MODE_MAINTENANCEThe node is under maintenance.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          3UAVCAN_NODE_MODE_SOFTWARE_UPDATEThe node is in the process of updating its software.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          7UAVCAN_NODE_MODE_OFFLINEThe node is no longer available online.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ESC_CONNECTION_TYPE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Indicates the ESC connection type.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          0ESC_CONNECTION_TYPE_PPMTraditional PPM ESC.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1ESC_CONNECTION_TYPE_SERIALSerial Bus connected ESC.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2ESC_CONNECTION_TYPE_ONESHOTOne Shot PPM ESC.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          3ESC_CONNECTION_TYPE_I2CI2C ESC.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          4ESC_CONNECTION_TYPE_CANCAN-Bus ESC.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          5ESC_CONNECTION_TYPE_DSHOTDShot ESC.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ESC_FAILURE_FLAGS

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          (Bitmask) Flags to report ESC failures.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          0ESC_FAILURE_NONENo ESC failure.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1ESC_FAILURE_OVER_CURRENTOver current failure.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2ESC_FAILURE_OVER_VOLTAGEOver voltage failure.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          4ESC_FAILURE_OVER_TEMPERATUREOver temperature failure.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          8ESC_FAILURE_OVER_RPMOver RPM failure.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          16ESC_FAILURE_INCONSISTENT_CMDInconsistent command failure i.e. out of bounds.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          32ESC_FAILURE_MOTOR_STUCKMotor stuck failure.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          64ESC_FAILURE_GENERICGeneric ESC failure.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          STORAGE_STATUS

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Flags to indicate the status of camera storage.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          0STORAGE_STATUS_EMPTYStorage is missing (no microSD card loaded for example.)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1STORAGE_STATUS_UNFORMATTEDStorage present but unformatted.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2STORAGE_STATUS_READYStorage present and ready.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          3STORAGE_STATUS_NOT_SUPPORTEDCamera does not supply storage status information. Capacity information in STORAGE_INFORMATION fields will be ignored.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          STORAGE_TYPE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Flags to indicate the type of storage.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          0STORAGE_TYPE_UNKNOWNStorage type is not known.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1STORAGE_TYPE_USB_STICKStorage type is USB device.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2STORAGE_TYPE_SDStorage type is SD card.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          3STORAGE_TYPE_MICROSDStorage type is microSD card.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          4STORAGE_TYPE_CFStorage type is CFast.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          5STORAGE_TYPE_CFEStorage type is CFexpress.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          6STORAGE_TYPE_XQDStorage type is XQD.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          7STORAGE_TYPE_HDStorage type is HD mass storage type.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          254STORAGE_TYPE_OTHERStorage type is other, not listed type.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          STORAGE_USAGE_FLAG

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Flags to indicate usage for a particular storage (see STORAGE_INFORMATION.storage_usage and MAV_CMD_SET_STORAGE_USAGE).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1STORAGE_USAGE_FLAG_SETAlways set to 1 (indicates STORAGE_INFORMATION.storage_usage is supported).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2STORAGE_USAGE_FLAG_PHOTOStorage for saving photos.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          4STORAGE_USAGE_FLAG_VIDEOStorage for saving videos.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          8STORAGE_USAGE_FLAG_LOGSStorage for saving logs.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ORBIT_YAW_BEHAVIOUR

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Yaw behaviour during orbit flight.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          0ORBIT_YAW_BEHAVIOUR_HOLD_FRONT_TO_CIRCLE_CENTERVehicle front points to the center (default).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1ORBIT_YAW_BEHAVIOUR_HOLD_INITIAL_HEADINGVehicle front holds heading when message received.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2ORBIT_YAW_BEHAVIOUR_UNCONTROLLEDYaw uncontrolled.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          3ORBIT_YAW_BEHAVIOUR_HOLD_FRONT_TANGENT_TO_CIRCLEVehicle front follows flight path (tangential to circle).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          4ORBIT_YAW_BEHAVIOUR_RC_CONTROLLEDYaw controlled by RC input.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          5ORBIT_YAW_BEHAVIOUR_UNCHANGEDVehicle uses current yaw behaviour (unchanged). The vehicle-default yaw behaviour is used if this value is specified when orbit is first commanded.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          WIFI_CONFIG_AP_RESPONSE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Possible responses from a WIFI_CONFIG_AP message.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          0WIFI_CONFIG_AP_RESPONSE_UNDEFINEDUndefined response. Likely an indicative of a system that doesn't support this request.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1WIFI_CONFIG_AP_RESPONSE_ACCEPTEDChanges accepted.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2WIFI_CONFIG_AP_RESPONSE_REJECTEDChanges rejected.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          3WIFI_CONFIG_AP_RESPONSE_MODE_ERRORInvalid Mode.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          4WIFI_CONFIG_AP_RESPONSE_SSID_ERRORInvalid SSID.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          5WIFI_CONFIG_AP_RESPONSE_PASSWORD_ERRORInvalid Password.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          CELLULAR_CONFIG_RESPONSE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Possible responses from a CELLULAR_CONFIG message.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          0CELLULAR_CONFIG_RESPONSE_ACCEPTEDChanges accepted.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1CELLULAR_CONFIG_RESPONSE_APN_ERRORInvalid APN.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2CELLULAR_CONFIG_RESPONSE_PIN_ERRORInvalid PIN.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          3CELLULAR_CONFIG_RESPONSE_REJECTEDChanges rejected.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          4CELLULAR_CONFIG_BLOCKED_PUK_REQUIREDPUK is required to unblock SIM card.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          WIFI_CONFIG_AP_MODE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          WiFi Mode.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          0WIFI_CONFIG_AP_MODE_UNDEFINEDWiFi mode is undefined.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1WIFI_CONFIG_AP_MODE_APWiFi configured as an access point.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2WIFI_CONFIG_AP_MODE_STATIONWiFi configured as a station connected to an existing local WiFi network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          3WIFI_CONFIG_AP_MODE_DISABLEDWiFi disabled.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          COMP_METADATA_TYPE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Supported component metadata types. These are used in the "general" metadata file returned by COMPONENT_METADATA to provide information about supported metadata types. The types are not used directly in MAVLink messages.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          0COMP_METADATA_TYPE_GENERALGeneral information about the component. General metadata includes information about other metadata types supported by the component. Files of this type must be supported, and must be downloadable from vehicle using a MAVLink FTP URI.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1COMP_METADATA_TYPE_PARAMETERParameter meta data.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2COMP_METADATA_TYPE_COMMANDSMeta data that specifies which commands and command parameters the vehicle supports. (WIP)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          3COMP_METADATA_TYPE_PERIPHERALSMeta data that specifies external non-MAVLink peripherals.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          4COMP_METADATA_TYPE_EVENTSMeta data for the events interface.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          5COMP_METADATA_TYPE_ACTUATORSMeta data for actuator configuration (motors, servos and vehicle geometry) and testing.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ACTUATOR_CONFIGURATION

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Actuator configuration, used to change a setting on an actuator. Component information metadata can be used to know which outputs support which commands.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          0ACTUATOR_CONFIGURATION_NONEDo nothing.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1ACTUATOR_CONFIGURATION_BEEPCommand the actuator to beep now.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2ACTUATOR_CONFIGURATION_3D_MODE_ONPermanently set the actuator (ESC) to 3D mode (reversible thrust).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          3ACTUATOR_CONFIGURATION_3D_MODE_OFFPermanently set the actuator (ESC) to non 3D mode (non-reversible thrust).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          4ACTUATOR_CONFIGURATION_SPIN_DIRECTION1Permanently set the actuator (ESC) to spin direction 1 (which can be clockwise or counter-clockwise).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          5ACTUATOR_CONFIGURATION_SPIN_DIRECTION2Permanently set the actuator (ESC) to spin direction 2 (opposite of direction 1).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ACTUATOR_OUTPUT_FUNCTION

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Actuator output function. Values greater or equal to 1000 are autopilot-specific.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          0ACTUATOR_OUTPUT_FUNCTION_NONENo function (disabled).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1ACTUATOR_OUTPUT_FUNCTION_MOTOR1Motor 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2ACTUATOR_OUTPUT_FUNCTION_MOTOR2Motor 2
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          3ACTUATOR_OUTPUT_FUNCTION_MOTOR3Motor 3
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          4ACTUATOR_OUTPUT_FUNCTION_MOTOR4Motor 4
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          5ACTUATOR_OUTPUT_FUNCTION_MOTOR5Motor 5
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          6ACTUATOR_OUTPUT_FUNCTION_MOTOR6Motor 6
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          7ACTUATOR_OUTPUT_FUNCTION_MOTOR7Motor 7
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          8ACTUATOR_OUTPUT_FUNCTION_MOTOR8Motor 8
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          9ACTUATOR_OUTPUT_FUNCTION_MOTOR9Motor 9
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          10ACTUATOR_OUTPUT_FUNCTION_MOTOR10Motor 10
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          11ACTUATOR_OUTPUT_FUNCTION_MOTOR11Motor 11
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          12ACTUATOR_OUTPUT_FUNCTION_MOTOR12Motor 12
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          13ACTUATOR_OUTPUT_FUNCTION_MOTOR13Motor 13
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          14ACTUATOR_OUTPUT_FUNCTION_MOTOR14Motor 14
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          15ACTUATOR_OUTPUT_FUNCTION_MOTOR15Motor 15
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          16ACTUATOR_OUTPUT_FUNCTION_MOTOR16Motor 16
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          33ACTUATOR_OUTPUT_FUNCTION_SERVO1Servo 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          34ACTUATOR_OUTPUT_FUNCTION_SERVO2Servo 2
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          35ACTUATOR_OUTPUT_FUNCTION_SERVO3Servo 3
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          36ACTUATOR_OUTPUT_FUNCTION_SERVO4Servo 4
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          37ACTUATOR_OUTPUT_FUNCTION_SERVO5Servo 5
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          38ACTUATOR_OUTPUT_FUNCTION_SERVO6Servo 6
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          39ACTUATOR_OUTPUT_FUNCTION_SERVO7Servo 7
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          40ACTUATOR_OUTPUT_FUNCTION_SERVO8Servo 8
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          41ACTUATOR_OUTPUT_FUNCTION_SERVO9Servo 9
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          42ACTUATOR_OUTPUT_FUNCTION_SERVO10Servo 10
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          43ACTUATOR_OUTPUT_FUNCTION_SERVO11Servo 11
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          44ACTUATOR_OUTPUT_FUNCTION_SERVO12Servo 12
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          45ACTUATOR_OUTPUT_FUNCTION_SERVO13Servo 13
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          46ACTUATOR_OUTPUT_FUNCTION_SERVO14Servo 14
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          47ACTUATOR_OUTPUT_FUNCTION_SERVO15Servo 15
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          48ACTUATOR_OUTPUT_FUNCTION_SERVO16Servo 16

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          AUTOTUNE_AXIS

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          (Bitmask) Enable axes that will be tuned via autotuning. Used in MAV_CMD_DO_AUTOTUNE_ENABLE.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          0AUTOTUNE_AXIS_DEFAULTFlight stack tunes axis according to its default settings.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1AUTOTUNE_AXIS_ROLLAutotune roll axis.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2AUTOTUNE_AXIS_PITCHAutotune pitch axis.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          4AUTOTUNE_AXIS_YAWAutotune yaw axis.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          PREFLIGHT_STORAGE_PARAMETER_ACTION

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Actions for reading/writing parameters between persistent and volatile storage when using MAV_CMD_PREFLIGHT_STORAGE. (Commonly parameters are loaded from persistent storage (flash/EEPROM) into volatile storage (RAM) on startup and written back when they are changed.)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          0PARAM_READ_PERSISTENTRead all parameters from persistent storage. Replaces values in volatile storage.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1PARAM_WRITE_PERSISTENTWrite all parameter values to persistent storage (flash/EEPROM)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2PARAM_RESET_CONFIG_DEFAULTReset all user configurable parameters to their default value (including airframe selection, sensor calibration data, safety settings, and so on). Does not reset values that contain operation counters and vehicle computed statistics.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          3PARAM_RESET_SENSOR_DEFAULTReset only sensor calibration parameters to factory defaults (or firmware default if not available)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          4PARAM_RESET_ALL_DEFAULTReset all parameters, including operation counters, to default values

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          PREFLIGHT_STORAGE_MISSION_ACTION

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Actions for reading and writing plan information (mission, rally points, geofence) between persistent and volatile storage when using MAV_CMD_PREFLIGHT_STORAGE. (Commonly missions are loaded from persistent storage (flash/EEPROM) into volatile storage (RAM) on startup and written back when they are changed.)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          0MISSION_READ_PERSISTENTRead current mission data from persistent storage
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1MISSION_WRITE_PERSISTENTWrite current mission data to persistent storage
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2MISSION_RESET_DEFAULTErase all mission data stored on the vehicle (both persistent and volatile storage)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_DATA_STREAM — [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          DEPRECATED: Replaced By MESSAGE_INTERVAL (2015-06)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          A data stream is not a fixed set of messages, but rather a

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          recommendation to the autopilot software. Individual autopilots may or may not obey the recommended messages.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          0MAV_DATA_STREAM_ALLEnable all data streams
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1MAV_DATA_STREAM_RAW_SENSORSEnable IMU_RAW, GPS_RAW, GPS_STATUS packets.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2MAV_DATA_STREAM_EXTENDED_STATUSEnable GPS_STATUS, CONTROL_STATUS, AUX_STATUS
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          3MAV_DATA_STREAM_RC_CHANNELSEnable RC_CHANNELS_SCALED, RC_CHANNELS_RAW, SERVO_OUTPUT_RAW
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          4MAV_DATA_STREAM_RAW_CONTROLLEREnable ATTITUDE_CONTROLLER_OUTPUT, POSITION_CONTROLLER_OUTPUT, NAV_CONTROLLER_OUTPUT.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          6MAV_DATA_STREAM_POSITIONEnable LOCAL_POSITION, GLOBAL_POSITION_INT messages.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          10MAV_DATA_STREAM_EXTRA1Dependent on the autopilot
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          11MAV_DATA_STREAM_EXTRA2Dependent on the autopilot
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          12MAV_DATA_STREAM_EXTRA3Dependent on the autopilot

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_ROI — [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          DEPRECATED: Replaced By MAVCMD_DO_SET_ROI* (2018-01)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          The ROI (region of interest) for the vehicle. This can be

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          be used by the vehicle for camera/vehicle attitude alignment (see MAV_CMD_NAV_ROI).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          0MAV_ROI_NONENo region of interest.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1MAV_ROI_WPNEXTPoint toward next waypoint, with optional pitch/roll/yaw offset.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2MAV_ROI_WPINDEXPoint toward given waypoint.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          3MAV_ROI_LOCATIONPoint toward fixed location.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          4MAV_ROI_TARGETPoint toward of given id.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_PARAM_TYPE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Specifies the datatype of a MAVLink parameter.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1MAV_PARAM_TYPE_UINT88-bit unsigned integer
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2MAV_PARAM_TYPE_INT88-bit signed integer
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          3MAV_PARAM_TYPE_UINT1616-bit unsigned integer
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          4MAV_PARAM_TYPE_INT1616-bit signed integer
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          5MAV_PARAM_TYPE_UINT3232-bit unsigned integer
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          6MAV_PARAM_TYPE_INT3232-bit signed integer
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          7MAV_PARAM_TYPE_UINT6464-bit unsigned integer
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          8MAV_PARAM_TYPE_INT6464-bit signed integer
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          9MAV_PARAM_TYPE_REAL3232-bit floating-point
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          10MAV_PARAM_TYPE_REAL6464-bit floating-point

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_PARAM_EXT_TYPE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Specifies the datatype of a MAVLink extended parameter.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1MAV_PARAM_EXT_TYPE_UINT88-bit unsigned integer
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2MAV_PARAM_EXT_TYPE_INT88-bit signed integer
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          3MAV_PARAM_EXT_TYPE_UINT1616-bit unsigned integer
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          4MAV_PARAM_EXT_TYPE_INT1616-bit signed integer
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          5MAV_PARAM_EXT_TYPE_UINT3232-bit unsigned integer
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          6MAV_PARAM_EXT_TYPE_INT3232-bit signed integer
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          7MAV_PARAM_EXT_TYPE_UINT6464-bit unsigned integer
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          8MAV_PARAM_EXT_TYPE_INT6464-bit signed integer
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          9MAV_PARAM_EXT_TYPE_REAL3232-bit floating-point
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          10MAV_PARAM_EXT_TYPE_REAL6464-bit floating-point
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          11MAV_PARAM_EXT_TYPE_CUSTOMCustom Type

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_RESULT

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Result from a MAVLink command (MAV_CMD)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          0MAV_RESULT_ACCEPTEDCommand is valid (is supported and has valid parameters), and was executed.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1MAV_RESULT_TEMPORARILY_REJECTEDCommand is valid, but cannot be executed at this time. This is used to indicate a problem that should be fixed just by waiting (e.g. a state machine is busy, can't arm because have not got GPS lock, etc.). Retrying later should work.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2MAV_RESULT_DENIEDCommand is invalid (is supported but has invalid parameters). Retrying same command and parameters will not work.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          3MAV_RESULT_UNSUPPORTEDCommand is not supported (unknown).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          4MAV_RESULT_FAILEDCommand is valid, but execution has failed. This is used to indicate any non-temporary or unexpected problem, i.e. any problem that must be fixed before the command can succeed/be retried. For example, attempting to write a file when out of memory, attempting to arm when sensors are not calibrated, etc.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          5MAV_RESULT_IN_PROGRESSCommand is valid and is being executed. This will be followed by further progress updates, i.e. the component may send further COMMAND_ACK messages with result MAV_RESULT_IN_PROGRESS (at a rate decided by the implementation), and must terminate by sending a COMMAND_ACK message with final result of the operation. The COMMAND_ACK.progress field can be used to indicate the progress of the operation.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          6MAV_RESULT_CANCELLEDCommand has been cancelled (as a result of receiving a COMMAND_CANCEL message).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          7MAV_RESULT_COMMAND_LONG_ONLYCommand is only accepted when sent as a COMMAND_LONG.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          8MAV_RESULT_COMMAND_INT_ONLYCommand is only accepted when sent as a COMMAND_INT.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          9MAV_RESULT_COMMAND_UNSUPPORTED_MAV_FRAMECommand is invalid because a frame is required and the specified frame is not supported.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_MISSION_RESULT

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Result of mission operation (in a MISSION_ACK message).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          0MAV_MISSION_ACCEPTEDmission accepted OK
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1MAV_MISSION_ERRORGeneric error / not accepting mission commands at all right now.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2MAV_MISSION_UNSUPPORTED_FRAMECoordinate frame is not supported.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          3MAV_MISSION_UNSUPPORTEDCommand is not supported.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          4MAV_MISSION_NO_SPACEMission items exceed storage space.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          5MAV_MISSION_INVALIDOne of the parameters has an invalid value.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          6MAV_MISSION_INVALID_PARAM1param1 has an invalid value.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          7MAV_MISSION_INVALID_PARAM2param2 has an invalid value.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          8MAV_MISSION_INVALID_PARAM3param3 has an invalid value.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          9MAV_MISSION_INVALID_PARAM4param4 has an invalid value.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          10MAV_MISSION_INVALID_PARAM5_Xx / param5 has an invalid value.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          11MAV_MISSION_INVALID_PARAM6_Yy / param6 has an invalid value.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          12MAV_MISSION_INVALID_PARAM7z / param7 has an invalid value.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          13MAV_MISSION_INVALID_SEQUENCEMission item received out of sequence
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          14MAV_MISSION_DENIEDNot accepting any mission commands from this communication partner.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          15MAV_MISSION_OPERATION_CANCELLEDCurrent mission operation cancelled (e.g. mission upload, mission download).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_SEVERITY

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Indicates the severity level, generally used for status messages to indicate their relative urgency. Based on RFC-5424 using expanded definitions at: http://www.kiwisyslog.com/kb/info:-syslog-message-levels/.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          0MAV_SEVERITY_EMERGENCYSystem is unusable. This is a "panic" condition.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1MAV_SEVERITY_ALERTAction should be taken immediately. Indicates error in non-critical systems.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2MAV_SEVERITY_CRITICALAction must be taken immediately. Indicates failure in a primary system.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          3MAV_SEVERITY_ERRORIndicates an error in secondary/redundant systems.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          4MAV_SEVERITY_WARNINGIndicates about a possible future error if this is not resolved within a given timeframe. Example would be a low battery warning.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          5MAV_SEVERITY_NOTICEAn unusual event has occurred, though not an error condition. This should be investigated for the root cause.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          6MAV_SEVERITY_INFONormal operational messages. Useful for logging. No action is required for these messages.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          7MAV_SEVERITY_DEBUGUseful non-operational messages that can assist in debugging. These should not occur during normal operation.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_POWER_STATUS

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          (Bitmask) Power supply status flags (bitmask)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1MAV_POWER_STATUS_BRICK_VALIDmain brick power supply valid
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2MAV_POWER_STATUS_SERVO_VALIDmain servo power supply valid for FMU
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          4MAV_POWER_STATUS_USB_CONNECTEDUSB power is connected
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          8MAV_POWER_STATUS_PERIPH_OVERCURRENTperipheral supply is in over-current state
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          16MAV_POWER_STATUS_PERIPH_HIPOWER_OVERCURRENThi-power peripheral supply is in over-current state
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          32MAV_POWER_STATUS_CHANGEDPower status has changed since boot

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          SERIAL_CONTROL_DEV

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          SERIAL_CONTROL device types

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          0SERIAL_CONTROL_DEV_TELEM1First telemetry port
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1SERIAL_CONTROL_DEV_TELEM2Second telemetry port
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2SERIAL_CONTROL_DEV_GPS1First GPS port
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          3SERIAL_CONTROL_DEV_GPS2Second GPS port
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          10SERIAL_CONTROL_DEV_SHELLsystem shell
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          100SERIAL_CONTROL_SERIAL0SERIAL0
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          101SERIAL_CONTROL_SERIAL1SERIAL1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          102SERIAL_CONTROL_SERIAL2SERIAL2
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          103SERIAL_CONTROL_SERIAL3SERIAL3
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          104SERIAL_CONTROL_SERIAL4SERIAL4
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          105SERIAL_CONTROL_SERIAL5SERIAL5
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          106SERIAL_CONTROL_SERIAL6SERIAL6
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          107SERIAL_CONTROL_SERIAL7SERIAL7
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          108SERIAL_CONTROL_SERIAL8SERIAL8
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          109SERIAL_CONTROL_SERIAL9SERIAL9

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          SERIAL_CONTROL_FLAG

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          (Bitmask) SERIAL_CONTROL flags (bitmask)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1SERIAL_CONTROL_FLAG_REPLYSet if this is a reply
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2SERIAL_CONTROL_FLAG_RESPONDSet if the sender wants the receiver to send a response as another SERIAL_CONTROL message
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          4SERIAL_CONTROL_FLAG_EXCLUSIVESet if access to the serial port should be removed from whatever driver is currently using it, giving exclusive access to the SERIAL_CONTROL protocol. The port can be handed back by sending a request without this flag set
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          8SERIAL_CONTROL_FLAG_BLOCKINGBlock on writes to the serial port
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          16SERIAL_CONTROL_FLAG_MULTISend multiple replies until port is drained

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_DISTANCE_SENSOR

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Enumeration of distance sensor types

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          0MAV_DISTANCE_SENSOR_LASERLaser rangefinder, e.g. LightWare SF02/F or PulsedLight units
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1MAV_DISTANCE_SENSOR_ULTRASOUNDUltrasound rangefinder, e.g. MaxBotix units
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2MAV_DISTANCE_SENSOR_INFRAREDInfrared rangefinder, e.g. Sharp units
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          3MAV_DISTANCE_SENSOR_RADARRadar type, e.g. uLanding units
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          4MAV_DISTANCE_SENSOR_UNKNOWNBroken or unknown type, e.g. analog units

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_SENSOR_ORIENTATION

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Enumeration of sensor orientation, according to its rotations

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          0MAV_SENSOR_ROTATION_NONERoll: 0, Pitch: 0, Yaw: 0
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1MAV_SENSOR_ROTATION_YAW_45Roll: 0, Pitch: 0, Yaw: 45
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2MAV_SENSOR_ROTATION_YAW_90Roll: 0, Pitch: 0, Yaw: 90
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          3MAV_SENSOR_ROTATION_YAW_135Roll: 0, Pitch: 0, Yaw: 135
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          4MAV_SENSOR_ROTATION_YAW_180Roll: 0, Pitch: 0, Yaw: 180
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          5MAV_SENSOR_ROTATION_YAW_225Roll: 0, Pitch: 0, Yaw: 225
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          6MAV_SENSOR_ROTATION_YAW_270Roll: 0, Pitch: 0, Yaw: 270
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          7MAV_SENSOR_ROTATION_YAW_315Roll: 0, Pitch: 0, Yaw: 315
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          8MAV_SENSOR_ROTATION_ROLL_180Roll: 180, Pitch: 0, Yaw: 0
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          9MAV_SENSOR_ROTATION_ROLL_180_YAW_45Roll: 180, Pitch: 0, Yaw: 45
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          10MAV_SENSOR_ROTATION_ROLL_180_YAW_90Roll: 180, Pitch: 0, Yaw: 90
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          11MAV_SENSOR_ROTATION_ROLL_180_YAW_135Roll: 180, Pitch: 0, Yaw: 135
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          12MAV_SENSOR_ROTATION_PITCH_180Roll: 0, Pitch: 180, Yaw: 0
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          13MAV_SENSOR_ROTATION_ROLL_180_YAW_225Roll: 180, Pitch: 0, Yaw: 225
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          14MAV_SENSOR_ROTATION_ROLL_180_YAW_270Roll: 180, Pitch: 0, Yaw: 270
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          15MAV_SENSOR_ROTATION_ROLL_180_YAW_315Roll: 180, Pitch: 0, Yaw: 315
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          16MAV_SENSOR_ROTATION_ROLL_90Roll: 90, Pitch: 0, Yaw: 0
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          17MAV_SENSOR_ROTATION_ROLL_90_YAW_45Roll: 90, Pitch: 0, Yaw: 45
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          18MAV_SENSOR_ROTATION_ROLL_90_YAW_90Roll: 90, Pitch: 0, Yaw: 90
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          19MAV_SENSOR_ROTATION_ROLL_90_YAW_135Roll: 90, Pitch: 0, Yaw: 135
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          20MAV_SENSOR_ROTATION_ROLL_270Roll: 270, Pitch: 0, Yaw: 0
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          21MAV_SENSOR_ROTATION_ROLL_270_YAW_45Roll: 270, Pitch: 0, Yaw: 45
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          22MAV_SENSOR_ROTATION_ROLL_270_YAW_90Roll: 270, Pitch: 0, Yaw: 90
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          23MAV_SENSOR_ROTATION_ROLL_270_YAW_135Roll: 270, Pitch: 0, Yaw: 135
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          24MAV_SENSOR_ROTATION_PITCH_90Roll: 0, Pitch: 90, Yaw: 0
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          25MAV_SENSOR_ROTATION_PITCH_270Roll: 0, Pitch: 270, Yaw: 0
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          26MAV_SENSOR_ROTATION_PITCH_180_YAW_90Roll: 0, Pitch: 180, Yaw: 90
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          27MAV_SENSOR_ROTATION_PITCH_180_YAW_270Roll: 0, Pitch: 180, Yaw: 270
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          28MAV_SENSOR_ROTATION_ROLL_90_PITCH_90Roll: 90, Pitch: 90, Yaw: 0
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          29MAV_SENSOR_ROTATION_ROLL_180_PITCH_90Roll: 180, Pitch: 90, Yaw: 0
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          30MAV_SENSOR_ROTATION_ROLL_270_PITCH_90Roll: 270, Pitch: 90, Yaw: 0
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          31MAV_SENSOR_ROTATION_ROLL_90_PITCH_180Roll: 90, Pitch: 180, Yaw: 0
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          32MAV_SENSOR_ROTATION_ROLL_270_PITCH_180Roll: 270, Pitch: 180, Yaw: 0
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          33MAV_SENSOR_ROTATION_ROLL_90_PITCH_270Roll: 90, Pitch: 270, Yaw: 0
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          34MAV_SENSOR_ROTATION_ROLL_180_PITCH_270Roll: 180, Pitch: 270, Yaw: 0
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          35MAV_SENSOR_ROTATION_ROLL_270_PITCH_270Roll: 270, Pitch: 270, Yaw: 0
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          36MAV_SENSOR_ROTATION_ROLL_90_PITCH_180_YAW_90Roll: 90, Pitch: 180, Yaw: 90
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          37MAV_SENSOR_ROTATION_ROLL_90_YAW_270Roll: 90, Pitch: 0, Yaw: 270
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          38MAV_SENSOR_ROTATION_ROLL_90_PITCH_68_YAW_293Roll: 90, Pitch: 68, Yaw: 293
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          39MAV_SENSOR_ROTATION_PITCH_315Pitch: 315
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          40MAV_SENSOR_ROTATION_ROLL_90_PITCH_315Roll: 90, Pitch: 315
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          100MAV_SENSOR_ROTATION_CUSTOMCustom orientation

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_PROTOCOL_CAPABILITY

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          (Bitmask) Bitmask of (optional) autopilot capabilities (64 bit). If a bit is set, the autopilot supports this capability.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1MAV_PROTOCOL_CAPABILITY_MISSION_FLOATAutopilot supports the MISSION_ITEM float message type.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Note that MISSION_ITEM is deprecated, and autopilots should use MISSION_INT instead. | | </a>2 | MAV_PROTOCOL_CAPABILITY_PARAM_FLOAT | Autopilot supports the new param float message type.DEPRECATED: Replaced By MAV_PROTOCOL_CAPABILITY_PARAM_ENCODE_C_CAST (2022-03)</span> | | </a>4 | MAV_PROTOCOL_CAPABILITY_MISSION_INT | Autopilot supports MISSION_ITEM_INT scaled integer message type.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Note that this flag must always be set if missions are supported, because missions must always use MISSION_ITEM_INT (rather than MISSION_ITEM, which is deprecated). | | 8 | MAV_PROTOCOL_CAPABILITY_COMMAND_INT | Autopilot supports COMMAND_INT scaled integer message type. | | </a>16 | MAV_PROTOCOL_CAPABILITY_PARAM_ENCODE_BYTEWISE | Parameter protocol uses byte-wise encoding of parameter values into param_value (float) fields: https://mavlink.io/en/services/parameter.html#parameter-encoding.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Note that either this flag or MAV_PROTOCOL_CAPABILITY_PARAM_ENCODE_C_CAST should be set if the parameter protocol is supported. | | 32 | MAV_PROTOCOL_CAPABILITY_FTP | Autopilot supports the File Transfer Protocol v1: https://mavlink.io/en/services/ftp.html. | | </a>64 | MAV_PROTOCOL_CAPABILITY_SET_ATTITUDE_TARGET | Autopilot supports commanding attitude offboard. | | 128 | MAV_PROTOCOL_CAPABILITY_SET_POSITION_TARGET_LOCAL_NED | Autopilot supports commanding position and velocity targets in local NED frame. | | </a>256 | MAV_PROTOCOL_CAPABILITY_SET_POSITION_TARGET_GLOBAL_INT | Autopilot supports commanding position and velocity targets in global scaled integers. | | 512 | MAV_PROTOCOL_CAPABILITY_TERRAIN | Autopilot supports terrain protocol / data handling. | | </a>1024 | MAV_PROTOCOL_CAPABILITY_RESERVED3 | Reserved for future use. | | 2048 | MAV_PROTOCOL_CAPABILITY_FLIGHT_TERMINATION | Autopilot supports the MAV_CMD_DO_FLIGHTTERMINATION command (flight termination). | | </a>4096 | MAV_PROTOCOL_CAPABILITY_COMPASS_CALIBRATION | Autopilot supports onboard compass calibration. | | 8192 | MAV_PROTOCOL_CAPABILITY_MAVLINK2 | Autopilot supports MAVLink version 2. | | </a>16384 | MAV_PROTOCOL_CAPABILITY_MISSION_FENCE | Autopilot supports mission fence protocol. | | 32768 | MAV_PROTOCOL_CAPABILITY_MISSION_RALLY | Autopilot supports mission rally point protocol. | | </a>65536 | MAV_PROTOCOL_CAPABILITY_RESERVED2 | Reserved for future use. | | 131072 | MAV_PROTOCOL_CAPABILITY_PARAM_ENCODE_C_CAST | Parameter protocol uses C-cast of parameter values to set the param_value (float) fields: https://mavlink.io/en/services/parameter.html#parameter-encoding.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Note that either this flag or MAV_PROTOCOL_CAPABILITY_PARAM_ENCODE_BYTEWISE should be set if the parameter protocol is supported. | | 262144 | MAV_PROTOCOL_CAPABILITY_COMPONENT_IMPLEMENTS_GIMBAL_MANAGER | This component implements/is a gimbal manager. This means the GIMBAL_MANAGER_INFORMATION, and other messages can be requested. |

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_MISSION_TYPE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Type of mission items being requested/sent in mission protocol.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          0MAV_MISSION_TYPE_MISSIONItems are mission commands for main mission.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1MAV_MISSION_TYPE_FENCESpecifies GeoFence area(s). Items are MAVCMD_NAV_FENCE GeoFence items.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2MAV_MISSION_TYPE_RALLYSpecifies the rally points for the vehicle. Rally points are alternative RTL points. Items are MAV_CMD_NAV_RALLY_POINT rally point items.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          255MAV_MISSION_TYPE_ALLOnly used in MISSION_CLEAR_ALL to clear all mission types.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_ESTIMATOR_TYPE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Enumeration of estimator types

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          0MAV_ESTIMATOR_TYPE_UNKNOWNUnknown type of the estimator.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1MAV_ESTIMATOR_TYPE_NAIVEThis is a naive estimator without any real covariance feedback.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2MAV_ESTIMATOR_TYPE_VISIONComputer vision based estimate. Might be up to scale.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          3MAV_ESTIMATOR_TYPE_VIOVisual-inertial estimate.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          4MAV_ESTIMATOR_TYPE_GPSPlain GPS estimate.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          5MAV_ESTIMATOR_TYPE_GPS_INSEstimator integrating GPS and inertial sensing.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          6MAV_ESTIMATOR_TYPE_MOCAPEstimate from external motion capturing system.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          7MAV_ESTIMATOR_TYPE_LIDAREstimator based on lidar sensor input.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          8MAV_ESTIMATOR_TYPE_AUTOPILOTEstimator on autopilot.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_BATTERY_TYPE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Enumeration of battery types

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          0MAV_BATTERY_TYPE_UNKNOWNNot specified.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1MAV_BATTERY_TYPE_LIPOLithium polymer battery
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2MAV_BATTERY_TYPE_LIFELithium-iron-phosphate battery
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          3MAV_BATTERY_TYPE_LIONLithium-ION battery
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          4MAV_BATTERY_TYPE_NIMHNickel metal hydride battery

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_BATTERY_FUNCTION

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Enumeration of battery functions

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          0MAV_BATTERY_FUNCTION_UNKNOWNBattery function is unknown
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1MAV_BATTERY_FUNCTION_ALLBattery supports all flight systems
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2MAV_BATTERY_FUNCTION_PROPULSIONBattery for the propulsion system
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          3MAV_BATTERY_FUNCTION_AVIONICSAvionics battery
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          4MAV_BATTERY_FUNCTION_PAYLOADPayload battery

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_BATTERY_CHARGE_STATE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Enumeration for battery charge states.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          0MAV_BATTERY_CHARGE_STATE_UNDEFINEDLow battery state is not provided
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1MAV_BATTERY_CHARGE_STATE_OKBattery is not in low state. Normal operation.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2MAV_BATTERY_CHARGE_STATE_LOWBattery state is low, warn and monitor close.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          3MAV_BATTERY_CHARGE_STATE_CRITICALBattery state is critical, return or abort immediately.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          4MAV_BATTERY_CHARGE_STATE_EMERGENCYBattery state is too low for ordinary abort sequence. Perform fastest possible emergency stop to prevent damage.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          5MAV_BATTERY_CHARGE_STATE_FAILEDBattery failed, damage unavoidable. Possible causes (faults) are listed in MAV_BATTERY_FAULT.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          6MAV_BATTERY_CHARGE_STATE_UNHEALTHYBattery is diagnosed to be defective or an error occurred, usage is discouraged / prohibited. Possible causes (faults) are listed in MAV_BATTERY_FAULT.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          7MAV_BATTERY_CHARGE_STATE_CHARGINGBattery is charging.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_BATTERY_MODE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Battery mode. Note, the normal operation mode (i.e. when flying) should be reported as MAV_BATTERY_MODE_UNKNOWN to allow message trimming in normal flight.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          0MAV_BATTERY_MODE_UNKNOWNBattery mode not supported/unknown battery mode/normal operation.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1MAV_BATTERY_MODE_AUTO_DISCHARGINGBattery is auto discharging (towards storage level).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2MAV_BATTERY_MODE_HOT_SWAPBattery in hot-swap mode (current limited to prevent spikes that might damage sensitive electrical circuits).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_BATTERY_FAULT

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          (Bitmask) Smart battery supply status/fault flags (bitmask) for health indication. The battery must also report either MAV_BATTERY_CHARGE_STATE_FAILED or MAV_BATTERY_CHARGE_STATE_UNHEALTHY if any of these are set.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1MAV_BATTERY_FAULT_DEEP_DISCHARGEBattery has deep discharged.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2MAV_BATTERY_FAULT_SPIKESVoltage spikes.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          4MAV_BATTERY_FAULT_CELL_FAILOne or more cells have failed. Battery should also report MAV_BATTERY_CHARGE_STATE_FAILE (and should not be used).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          8MAV_BATTERY_FAULT_OVER_CURRENTOver-current fault.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          16MAV_BATTERY_FAULT_OVER_TEMPERATUREOver-temperature fault.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          32MAV_BATTERY_FAULT_UNDER_TEMPERATUREUnder-temperature fault.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          64MAV_BATTERY_FAULT_INCOMPATIBLE_VOLTAGEVehicle voltage is not compatible with this battery (batteries on same power rail should have similar voltage).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          128MAV_BATTERY_FAULT_INCOMPATIBLE_FIRMWAREBattery firmware is not compatible with current autopilot firmware.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          256BATTERY_FAULT_INCOMPATIBLE_CELLS_CONFIGURATIONBattery is not compatible due to cell configuration (e.g. 5s1p when vehicle requires 6s).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_GENERATOR_STATUS_FLAG

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          (Bitmask) Flags to report status/failure cases for a power generator (used in GENERATOR_STATUS). Note that FAULTS are conditions that cause the generator to fail. Warnings are conditions that require attention before the next use (they indicate the system is not operating properly).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1MAV_GENERATOR_STATUS_FLAG_OFFGenerator is off.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2MAV_GENERATOR_STATUS_FLAG_READYGenerator is ready to start generating power.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          4MAV_GENERATOR_STATUS_FLAG_GENERATINGGenerator is generating power.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          8MAV_GENERATOR_STATUS_FLAG_CHARGINGGenerator is charging the batteries (generating enough power to charge and provide the load).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          16MAV_GENERATOR_STATUS_FLAG_REDUCED_POWERGenerator is operating at a reduced maximum power.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          32MAV_GENERATOR_STATUS_FLAG_MAXPOWERGenerator is providing the maximum output.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          64MAV_GENERATOR_STATUS_FLAG_OVERTEMP_WARNINGGenerator is near the maximum operating temperature, cooling is insufficient.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          128MAV_GENERATOR_STATUS_FLAG_OVERTEMP_FAULTGenerator hit the maximum operating temperature and shutdown.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          256MAV_GENERATOR_STATUS_FLAG_ELECTRONICS_OVERTEMP_WARNINGPower electronics are near the maximum operating temperature, cooling is insufficient.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          512MAV_GENERATOR_STATUS_FLAG_ELECTRONICS_OVERTEMP_FAULTPower electronics hit the maximum operating temperature and shutdown.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1024MAV_GENERATOR_STATUS_FLAG_ELECTRONICS_FAULTPower electronics experienced a fault and shutdown.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2048MAV_GENERATOR_STATUS_FLAG_POWERSOURCE_FAULTThe power source supplying the generator failed e.g. mechanical generator stopped, tether is no longer providing power, solar cell is in shade, hydrogen reaction no longer happening.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          4096MAV_GENERATOR_STATUS_FLAG_COMMUNICATION_WARNINGGenerator controller having communication problems.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          8192MAV_GENERATOR_STATUS_FLAG_COOLING_WARNINGPower electronic or generator cooling system error.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          16384MAV_GENERATOR_STATUS_FLAG_POWER_RAIL_FAULTGenerator controller power rail experienced a fault.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          32768MAV_GENERATOR_STATUS_FLAG_OVERCURRENT_FAULTGenerator controller exceeded the overcurrent threshold and shutdown to prevent damage.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          65536MAV_GENERATOR_STATUS_FLAG_BATTERY_OVERCHARGE_CURRENT_FAULTGenerator controller detected a high current going into the batteries and shutdown to prevent battery damage.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          131072MAV_GENERATOR_STATUS_FLAG_OVERVOLTAGE_FAULTGenerator controller exceeded it's overvoltage threshold and shutdown to prevent it exceeding the voltage rating.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          262144MAV_GENERATOR_STATUS_FLAG_BATTERY_UNDERVOLT_FAULTBatteries are under voltage (generator will not start).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          524288MAV_GENERATOR_STATUS_FLAG_START_INHIBITEDGenerator start is inhibited by e.g. a safety switch.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1048576MAV_GENERATOR_STATUS_FLAG_MAINTENANCE_REQUIREDGenerator requires maintenance.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2097152MAV_GENERATOR_STATUS_FLAG_WARMING_UPGenerator is not ready to generate yet.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          4194304MAV_GENERATOR_STATUS_FLAG_IDLEGenerator is idle.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_VTOL_STATE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Enumeration of VTOL states

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          0MAV_VTOL_STATE_UNDEFINEDMAV is not configured as VTOL
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1MAV_VTOL_STATE_TRANSITION_TO_FWVTOL is in transition from multicopter to fixed-wing
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2MAV_VTOL_STATE_TRANSITION_TO_MCVTOL is in transition from fixed-wing to multicopter
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          3MAV_VTOL_STATE_MCVTOL is in multicopter state
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          4MAV_VTOL_STATE_FWVTOL is in fixed-wing state

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_LANDED_STATE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Enumeration of landed detector states

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          0MAV_LANDED_STATE_UNDEFINEDMAV landed state is unknown
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1MAV_LANDED_STATE_ON_GROUNDMAV is landed (on ground)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2MAV_LANDED_STATE_IN_AIRMAV is in air
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          3MAV_LANDED_STATE_TAKEOFFMAV currently taking off
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          4MAV_LANDED_STATE_LANDINGMAV currently landing

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ADSB_ALTITUDE_TYPE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Enumeration of the ADSB altimeter types

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          0ADSB_ALTITUDE_TYPE_PRESSURE_QNHAltitude reported from a Baro source using QNH reference
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1ADSB_ALTITUDE_TYPE_GEOMETRICAltitude reported from a GNSS source

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ADSB_EMITTER_TYPE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ADSB classification for the type of vehicle emitting the transponder signal

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          0ADSB_EMITTER_TYPE_NO_INFO
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1ADSB_EMITTER_TYPE_LIGHT
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2ADSB_EMITTER_TYPE_SMALL
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          3ADSB_EMITTER_TYPE_LARGE
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          4ADSB_EMITTER_TYPE_HIGH_VORTEX_LARGE
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          5ADSB_EMITTER_TYPE_HEAVY
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          6ADSB_EMITTER_TYPE_HIGHLY_MANUV
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          7ADSB_EMITTER_TYPE_ROTOCRAFT
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          8ADSB_EMITTER_TYPE_UNASSIGNED
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          9ADSB_EMITTER_TYPE_GLIDER
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          10ADSB_EMITTER_TYPE_LIGHTER_AIR
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          11ADSB_EMITTER_TYPE_PARACHUTE
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          12ADSB_EMITTER_TYPE_ULTRA_LIGHT
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          13ADSB_EMITTER_TYPE_UNASSIGNED2
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          14ADSB_EMITTER_TYPE_UAV
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          15ADSB_EMITTER_TYPE_SPACE
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          16ADSB_EMITTER_TYPE_UNASSGINED3
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          17ADSB_EMITTER_TYPE_EMERGENCY_SURFACE
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          18ADSB_EMITTER_TYPE_SERVICE_SURFACE
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          19ADSB_EMITTER_TYPE_POINT_OBSTACLE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ADSB_FLAGS

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          (Bitmask) These flags indicate status such as data validity of each data source. Set = data valid

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1ADSB_FLAGS_VALID_COORDS
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2ADSB_FLAGS_VALID_ALTITUDE
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          4ADSB_FLAGS_VALID_HEADING
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          8ADSB_FLAGS_VALID_VELOCITY
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          16ADSB_FLAGS_VALID_CALLSIGN
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          32ADSB_FLAGS_VALID_SQUAWK
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          64ADSB_FLAGS_SIMULATED
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          128ADSB_FLAGS_VERTICAL_VELOCITY_VALID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          256ADSB_FLAGS_BARO_VALID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          32768ADSB_FLAGS_SOURCE_UAT

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_DO_REPOSITION_FLAGS

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          (Bitmask) Bitmap of options for the MAV_CMD_DO_REPOSITION

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1MAV_DO_REPOSITION_FLAGS_CHANGE_MODEThe aircraft should immediately transition into guided. This should not be set for follow me applications

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          SPEED_TYPE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Speed setpoint types used in MAV_CMD_DO_CHANGE_SPEED

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          0SPEED_TYPE_AIRSPEEDAirspeed
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1SPEED_TYPE_GROUNDSPEEDGroundspeed
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2SPEED_TYPE_CLIMB_SPEEDClimb speed
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          3SPEED_TYPE_DESCENT_SPEEDDescent speed

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ESTIMATOR_STATUS_FLAGS

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          (Bitmask) Flags in ESTIMATOR_STATUS message

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1ESTIMATOR_ATTITUDETrue if the attitude estimate is good
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2ESTIMATOR_VELOCITY_HORIZTrue if the horizontal velocity estimate is good
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          4ESTIMATOR_VELOCITY_VERTTrue if the vertical velocity estimate is good
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          8ESTIMATOR_POS_HORIZ_RELTrue if the horizontal position (relative) estimate is good
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          16ESTIMATOR_POS_HORIZ_ABSTrue if the horizontal position (absolute) estimate is good
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          32ESTIMATOR_POS_VERT_ABSTrue if the vertical position (absolute) estimate is good
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          64ESTIMATOR_POS_VERT_AGLTrue if the vertical position (above ground) estimate is good
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          128ESTIMATOR_CONST_POS_MODETrue if the EKF is in a constant position mode and is not using external measurements (eg GPS or optical flow)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          256ESTIMATOR_PRED_POS_HORIZ_RELTrue if the EKF has sufficient data to enter a mode that will provide a (relative) position estimate
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          512ESTIMATOR_PRED_POS_HORIZ_ABSTrue if the EKF has sufficient data to enter a mode that will provide a (absolute) position estimate
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1024ESTIMATOR_GPS_GLITCHTrue if the EKF has detected a GPS glitch
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2048ESTIMATOR_ACCEL_ERRORTrue if the EKF has detected bad accelerometer data

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MOTOR_TEST_ORDER

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Sequence that motors are tested when using MAV_CMD_DO_MOTOR_TEST.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          0MOTOR_TEST_ORDER_DEFAULTDefault autopilot motor test method.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1MOTOR_TEST_ORDER_SEQUENCEMotor numbers are specified as their index in a predefined vehicle-specific sequence.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2MOTOR_TEST_ORDER_BOARDMotor numbers are specified as the output as labeled on the board.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MOTOR_TEST_THROTTLE_TYPE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Defines how throttle value is represented in MAV_CMD_DO_MOTOR_TEST.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          0MOTOR_TEST_THROTTLE_PERCENTThrottle as a percentage (0 ~ 100)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1MOTOR_TEST_THROTTLE_PWMThrottle as an absolute PWM value (normally in range of 1000~2000).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2MOTOR_TEST_THROTTLE_PILOTThrottle pass-through from pilot's transmitter.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          3MOTOR_TEST_COMPASS_CALPer-motor compass calibration test.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          GPS_INPUT_IGNORE_FLAGS

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          (Bitmask)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1GPS_INPUT_IGNORE_FLAG_ALTignore altitude field
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2GPS_INPUT_IGNORE_FLAG_HDOPignore hdop field
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          4GPS_INPUT_IGNORE_FLAG_VDOPignore vdop field
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          8GPS_INPUT_IGNORE_FLAG_VEL_HORIZignore horizontal velocity field (vn and ve)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          16GPS_INPUT_IGNORE_FLAG_VEL_VERTignore vertical velocity field (vd)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          32GPS_INPUT_IGNORE_FLAG_SPEED_ACCURACYignore speed accuracy field
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          64GPS_INPUT_IGNORE_FLAG_HORIZONTAL_ACCURACYignore horizontal accuracy field
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          128GPS_INPUT_IGNORE_FLAG_VERTICAL_ACCURACYignore vertical accuracy field

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_COLLISION_ACTION

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Possible actions an aircraft can take to avoid a collision.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          0MAV_COLLISION_ACTION_NONEIgnore any potential collisions
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1MAV_COLLISION_ACTION_REPORTReport potential collision
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2MAV_COLLISION_ACTION_ASCEND_OR_DESCENDAscend or Descend to avoid threat
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          3MAV_COLLISION_ACTION_MOVE_HORIZONTALLYMove horizontally to avoid threat
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          4MAV_COLLISION_ACTION_MOVE_PERPENDICULARAircraft to move perpendicular to the collision's velocity vector
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          5MAV_COLLISION_ACTION_RTLAircraft to fly directly back to its launch point
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          6MAV_COLLISION_ACTION_HOVERAircraft to stop in place

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_COLLISION_THREAT_LEVEL

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Aircraft-rated danger from this threat.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          0MAV_COLLISION_THREAT_LEVEL_NONENot a threat
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1MAV_COLLISION_THREAT_LEVEL_LOWCraft is mildly concerned about this threat
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2MAV_COLLISION_THREAT_LEVEL_HIGHCraft is panicking, and may take actions to avoid threat

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_COLLISION_SRC

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Source of information about this collision.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          0MAV_COLLISION_SRC_ADSBID field references ADSB_VEHICLE packets
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1MAV_COLLISION_SRC_MAVLINK_GPS_GLOBAL_INTID field references MAVLink SRC ID

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          GPS_FIX_TYPE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Type of GPS fix

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          0GPS_FIX_TYPE_NO_GPSNo GPS connected
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1GPS_FIX_TYPE_NO_FIXNo position information, GPS is connected
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2GPS_FIX_TYPE_2D_FIX2D position
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          3GPS_FIX_TYPE_3D_FIX3D position
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          4GPS_FIX_TYPE_DGPSDGPS/SBAS aided 3D position
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          5GPS_FIX_TYPE_RTK_FLOATRTK float, 3D position
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          6GPS_FIX_TYPE_RTK_FIXEDRTK Fixed, 3D position
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          7GPS_FIX_TYPE_STATICStatic fixed, typically used for base stations
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          8GPS_FIX_TYPE_PPPPPP, 3D position.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          RTK_BASELINE_COORDINATE_SYSTEM

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          RTK GPS baseline coordinate system, used for RTK corrections

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          0RTK_BASELINE_COORDINATE_SYSTEM_ECEFEarth-centered, Earth-fixed
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1RTK_BASELINE_COORDINATE_SYSTEM_NEDRTK basestation centered, north, east, down

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          LANDING_TARGET_TYPE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Type of landing target

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          0LANDING_TARGET_TYPE_LIGHT_BEACONLanding target signaled by light beacon (ex: IR-LOCK)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1LANDING_TARGET_TYPE_RADIO_BEACONLanding target signaled by radio beacon (ex: ILS, NDB)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2LANDING_TARGET_TYPE_VISION_FIDUCIALLanding target represented by a fiducial marker (ex: ARTag)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          3LANDING_TARGET_TYPE_VISION_OTHERLanding target represented by a pre-defined visual shape/feature (ex: X-marker, H-marker, square)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          VTOL_TRANSITION_HEADING

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Direction of VTOL transition

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          0VTOL_TRANSITION_HEADING_VEHICLE_DEFAULTRespect the heading configuration of the vehicle.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1VTOL_TRANSITION_HEADING_NEXT_WAYPOINTUse the heading pointing towards the next waypoint.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2VTOL_TRANSITION_HEADING_TAKEOFFUse the heading on takeoff (while sitting on the ground).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          3VTOL_TRANSITION_HEADING_SPECIFIEDUse the specified heading in parameter 4.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          4VTOL_TRANSITION_HEADING_ANYUse the current heading when reaching takeoff altitude (potentially facing the wind when weather-vaning is active).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          CAMERA_CAP_FLAGS

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          (Bitmask) Camera capability flags (Bitmap)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1CAMERA_CAP_FLAGS_CAPTURE_VIDEOCamera is able to record video
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2CAMERA_CAP_FLAGS_CAPTURE_IMAGECamera is able to capture images
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          4CAMERA_CAP_FLAGS_HAS_MODESCamera has separate Video and Image/Photo modes (MAV_CMD_SET_CAMERA_MODE)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          8CAMERA_CAP_FLAGS_CAN_CAPTURE_IMAGE_IN_VIDEO_MODECamera can capture images while in video mode
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          16CAMERA_CAP_FLAGS_CAN_CAPTURE_VIDEO_IN_IMAGE_MODECamera can capture videos while in Photo/Image mode
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          32CAMERA_CAP_FLAGS_HAS_IMAGE_SURVEY_MODECamera has image survey mode (MAV_CMD_SET_CAMERA_MODE)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          64CAMERA_CAP_FLAGS_HAS_BASIC_ZOOMCamera has basic zoom control (MAV_CMD_SET_CAMERA_ZOOM)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          128CAMERA_CAP_FLAGS_HAS_BASIC_FOCUSCamera has basic focus control (MAV_CMD_SET_CAMERA_FOCUS)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          256CAMERA_CAP_FLAGS_HAS_VIDEO_STREAMCamera has video streaming capabilities (request VIDEO_STREAM_INFORMATION with MAV_CMD_REQUEST_MESSAGE for video streaming info)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          512CAMERA_CAP_FLAGS_HAS_TRACKING_POINTCamera supports tracking of a point on the camera view.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1024CAMERA_CAP_FLAGS_HAS_TRACKING_RECTANGLECamera supports tracking of a selection rectangle on the camera view.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2048CAMERA_CAP_FLAGS_HAS_TRACKING_GEO_STATUSCamera supports tracking geo status (CAMERA_TRACKING_GEO_STATUS).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          4096CAMERA_CAP_FLAGS_HAS_THERMAL_RANGECamera supports absolute thermal range (request CAMERA_THERMAL_RANGE with MAV_CMD_REQUEST_MESSAGE) (WIP).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          VIDEO_STREAM_STATUS_FLAGS

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          (Bitmask) Stream status flags (Bitmap)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1VIDEO_STREAM_STATUS_FLAGS_RUNNINGStream is active (running)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2VIDEO_STREAM_STATUS_FLAGS_THERMALStream is thermal imaging
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          4VIDEO_STREAM_STATUS_FLAGS_THERMAL_RANGE_ENABLEDStream can report absolute thermal range (see CAMERA_THERMAL_RANGE). (WIP).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          VIDEO_STREAM_TYPE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Video stream types

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          0VIDEO_STREAM_TYPE_RTSPStream is RTSP
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1VIDEO_STREAM_TYPE_RTPUDPStream is RTP UDP (URI gives the port number)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2VIDEO_STREAM_TYPE_TCP_MPEGStream is MPEG on TCP
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          3VIDEO_STREAM_TYPE_MPEG_TSStream is MPEG TS (URI gives the port number)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          VIDEO_STREAM_ENCODING

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Video stream encodings

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          0VIDEO_STREAM_ENCODING_UNKNOWNStream encoding is unknown
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1VIDEO_STREAM_ENCODING_H264Stream encoding is H.264
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2VIDEO_STREAM_ENCODING_H265Stream encoding is H.265

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          CAMERA_TRACKING_STATUS_FLAGS

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Camera tracking status flags

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          0CAMERA_TRACKING_STATUS_FLAGS_IDLECamera is not tracking
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1CAMERA_TRACKING_STATUS_FLAGS_ACTIVECamera is tracking
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2CAMERA_TRACKING_STATUS_FLAGS_ERRORCamera tracking in error state

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          CAMERA_TRACKING_MODE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Camera tracking modes

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          0CAMERA_TRACKING_MODE_NONENot tracking
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1CAMERA_TRACKING_MODE_POINTTarget is a point
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2CAMERA_TRACKING_MODE_RECTANGLETarget is a rectangle

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          CAMERA_TRACKING_TARGET_DATA

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          (Bitmask) Camera tracking target data (shows where tracked target is within image)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          0CAMERA_TRACKING_TARGET_DATA_NONENo target data
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1CAMERA_TRACKING_TARGET_DATA_EMBEDDEDTarget data embedded in image data (proprietary)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2CAMERA_TRACKING_TARGET_DATA_RENDEREDTarget data rendered in image
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          4CAMERA_TRACKING_TARGET_DATA_IN_STATUSTarget data within status message (Point or Rectangle)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          CAMERA_ZOOM_TYPE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Zoom types for MAV_CMD_SET_CAMERA_ZOOM

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          0ZOOM_TYPE_STEPZoom one step increment (-1 for wide, 1 for tele)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1ZOOM_TYPE_CONTINUOUSContinuous zoom up/down until stopped (-1 for wide, 1 for tele, 0 to stop zooming)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2ZOOM_TYPE_RANGEZoom value as proportion of full camera range (a percentage value between 0.0 and 100.0)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          3ZOOM_TYPE_FOCAL_LENGTHZoom value/variable focal length in millimetres. Note that there is no message to get the valid zoom range of the camera, so this can type can only be used for cameras where the zoom range is known (implying that this cannot reliably be used in a GCS for an arbitrary camera)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          4ZOOM_TYPE_HORIZONTAL_FOVZoom value as horizontal field of view in degrees.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          SET_FOCUS_TYPE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Focus types for MAV_CMD_SET_CAMERA_FOCUS

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          0FOCUS_TYPE_STEPFocus one step increment (-1 for focusing in, 1 for focusing out towards infinity).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1FOCUS_TYPE_CONTINUOUSContinuous focus up/down until stopped (-1 for focusing in, 1 for focusing out towards infinity, 0 to stop focusing)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2FOCUS_TYPE_RANGEFocus value as proportion of full camera focus range (a value between 0.0 and 100.0)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          3FOCUS_TYPE_METERSFocus value in metres. Note that there is no message to get the valid focus range of the camera, so this can type can only be used for cameras where the range is known (implying that this cannot reliably be used in a GCS for an arbitrary camera).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          4FOCUS_TYPE_AUTOFocus automatically.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          5FOCUS_TYPE_AUTO_SINGLESingle auto focus. Mainly used for still pictures. Usually abbreviated as AF-S.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          6FOCUS_TYPE_AUTO_CONTINUOUSContinuous auto focus. Mainly used for dynamic scenes. Abbreviated as AF-C.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          CAMERA_SOURCE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Camera sources for MAV_CMD_SET_CAMERA_SOURCE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          0CAMERA_SOURCE_DEFAULTDefault camera source.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1CAMERA_SOURCE_RGBRGB camera source.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2CAMERA_SOURCE_IRIR camera source.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          3CAMERA_SOURCE_NDVINDVI camera source.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          PARAM_ACK

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Result from PARAM_EXT_SET message (or a PARAM_SET within a transaction).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          0PARAM_ACK_ACCEPTEDParameter value ACCEPTED and SET
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1PARAM_ACK_VALUE_UNSUPPORTEDParameter value UNKNOWN/UNSUPPORTED
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2PARAM_ACK_FAILEDParameter failed to set
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          3PARAM_ACK_IN_PROGRESSParameter value received but not yet set/accepted. A subsequent PARAM_ACK_TRANSACTION or PARAM_EXT_ACK with the final result will follow once operation is completed. This is returned immediately for parameters that take longer to set, indicating that the the parameter was received and does not need to be resent.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          CAMERA_MODE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Camera Modes.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          0CAMERA_MODE_IMAGECamera is in image/photo capture mode.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1CAMERA_MODE_VIDEOCamera is in video capture mode.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2CAMERA_MODE_IMAGE_SURVEYCamera is in image survey capture mode. It allows for camera controller to do specific settings for surveys.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_ARM_AUTH_DENIED_REASON

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          0MAV_ARM_AUTH_DENIED_REASON_GENERICNot a specific reason
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1MAV_ARM_AUTH_DENIED_REASON_NONEAuthorizer will send the error as string to GCS
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2MAV_ARM_AUTH_DENIED_REASON_INVALID_WAYPOINTAt least one waypoint have a invalid value
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          3MAV_ARM_AUTH_DENIED_REASON_TIMEOUTTimeout in the authorizer process(in case it depends on network)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          4MAV_ARM_AUTH_DENIED_REASON_AIRSPACE_IN_USEAirspace of the mission in use by another vehicle, second result parameter can have the waypoint id that caused it to be denied.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          5MAV_ARM_AUTH_DENIED_REASON_BAD_WEATHERWeather is not good to fly

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          RC_TYPE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          RC type

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          0RC_TYPE_SPEKTRUM_DSM2Spektrum DSM2
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1RC_TYPE_SPEKTRUM_DSMXSpektrum DSMX

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          POSITION_TARGET_TYPEMASK

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          (Bitmask) Bitmap to indicate which dimensions should be ignored by the vehicle: a value of 0b0000000000000000 or 0b0000001000000000 indicates that none of the setpoint dimensions should be ignored. If bit 9 is set the floats afx afy afz should be interpreted as force instead of acceleration.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1POSITION_TARGET_TYPEMASK_X_IGNOREIgnore position x
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2POSITION_TARGET_TYPEMASK_Y_IGNOREIgnore position y
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          4POSITION_TARGET_TYPEMASK_Z_IGNOREIgnore position z
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          8POSITION_TARGET_TYPEMASK_VX_IGNOREIgnore velocity x
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          16POSITION_TARGET_TYPEMASK_VY_IGNOREIgnore velocity y
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          32POSITION_TARGET_TYPEMASK_VZ_IGNOREIgnore velocity z
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          64POSITION_TARGET_TYPEMASK_AX_IGNOREIgnore acceleration x
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          128POSITION_TARGET_TYPEMASK_AY_IGNOREIgnore acceleration y
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          256POSITION_TARGET_TYPEMASK_AZ_IGNOREIgnore acceleration z
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          512POSITION_TARGET_TYPEMASK_FORCE_SETUse force instead of acceleration
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1024POSITION_TARGET_TYPEMASK_YAW_IGNOREIgnore yaw
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2048POSITION_TARGET_TYPEMASK_YAW_RATE_IGNOREIgnore yaw rate

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ATTITUDE_TARGET_TYPEMASK

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          (Bitmask) Bitmap to indicate which dimensions should be ignored by the vehicle: a value of 0b00000000 indicates that none of the setpoint dimensions should be ignored.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1ATTITUDE_TARGET_TYPEMASK_BODY_ROLL_RATE_IGNOREIgnore body roll rate
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2ATTITUDE_TARGET_TYPEMASK_BODY_PITCH_RATE_IGNOREIgnore body pitch rate
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          4ATTITUDE_TARGET_TYPEMASK_BODY_YAW_RATE_IGNOREIgnore body yaw rate
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          32ATTITUDE_TARGET_TYPEMASK_THRUST_BODY_SETUse 3D body thrust setpoint instead of throttle
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          64ATTITUDE_TARGET_TYPEMASK_THROTTLE_IGNOREIgnore throttle
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          128ATTITUDE_TARGET_TYPEMASK_ATTITUDE_IGNOREIgnore attitude

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          UTM_FLIGHT_STATE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Airborne status of UAS.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1UTM_FLIGHT_STATE_UNKNOWNThe flight state can't be determined.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2UTM_FLIGHT_STATE_GROUNDUAS on ground.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          3UTM_FLIGHT_STATE_AIRBORNEUAS airborne.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          16UTM_FLIGHT_STATE_EMERGENCYUAS is in an emergency flight state.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          32UTM_FLIGHT_STATE_NOCTRLUAS has no active controls.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          UTM_DATA_AVAIL_FLAGS

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          (Bitmask) Flags for the global position report.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1UTM_DATA_AVAIL_FLAGS_TIME_VALIDThe field time contains valid data.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2UTM_DATA_AVAIL_FLAGS_UAS_ID_AVAILABLEThe field uas_id contains valid data.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          4UTM_DATA_AVAIL_FLAGS_POSITION_AVAILABLEThe fields lat, lon and h_acc contain valid data.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          8UTM_DATA_AVAIL_FLAGS_ALTITUDE_AVAILABLEThe fields alt and v_acc contain valid data.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          16UTM_DATA_AVAIL_FLAGS_RELATIVE_ALTITUDE_AVAILABLEThe field relative_alt contains valid data.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          32UTM_DATA_AVAIL_FLAGS_HORIZONTAL_VELO_AVAILABLEThe fields vx and vy contain valid data.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          64UTM_DATA_AVAIL_FLAGS_VERTICAL_VELO_AVAILABLEThe field vz contains valid data.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          128UTM_DATA_AVAIL_FLAGS_NEXT_WAYPOINT_AVAILABLEThe fields next_lat, next_lon and next_alt contain valid data.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          CELLULAR_STATUS_FLAG

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          These flags encode the cellular network status

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          0CELLULAR_STATUS_FLAG_UNKNOWNState unknown or not reportable.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1CELLULAR_STATUS_FLAG_FAILEDModem is unusable
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2CELLULAR_STATUS_FLAG_INITIALIZINGModem is being initialized
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          3CELLULAR_STATUS_FLAG_LOCKEDModem is locked
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          4CELLULAR_STATUS_FLAG_DISABLEDModem is not enabled and is powered down
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          5CELLULAR_STATUS_FLAG_DISABLINGModem is currently transitioning to the CELLULAR_STATUS_FLAG_DISABLED state
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          6CELLULAR_STATUS_FLAG_ENABLINGModem is currently transitioning to the CELLULAR_STATUS_FLAG_ENABLED state
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          7CELLULAR_STATUS_FLAG_ENABLEDModem is enabled and powered on but not registered with a network provider and not available for data connections
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          8CELLULAR_STATUS_FLAG_SEARCHINGModem is searching for a network provider to register
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          9CELLULAR_STATUS_FLAG_REGISTEREDModem is registered with a network provider, and data connections and messaging may be available for use
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          10CELLULAR_STATUS_FLAG_DISCONNECTINGModem is disconnecting and deactivating the last active packet data bearer. This state will not be entered if more than one packet data bearer is active and one of the active bearers is deactivated
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          11CELLULAR_STATUS_FLAG_CONNECTINGModem is activating and connecting the first packet data bearer. Subsequent bearer activations when another bearer is already active do not cause this state to be entered
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          12CELLULAR_STATUS_FLAG_CONNECTEDOne or more packet data bearers is active and connected

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          CELLULAR_NETWORK_FAILED_REASON

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          These flags are used to diagnose the failure state of CELLULAR_STATUS

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          0CELLULAR_NETWORK_FAILED_REASON_NONENo error
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1CELLULAR_NETWORK_FAILED_REASON_UNKNOWNError state is unknown
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2CELLULAR_NETWORK_FAILED_REASON_SIM_MISSINGSIM is required for the modem but missing
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          3CELLULAR_NETWORK_FAILED_REASON_SIM_ERRORSIM is available, but not usable for connection

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          CELLULAR_NETWORK_RADIO_TYPE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Cellular network radio type

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          0CELLULAR_NETWORK_RADIO_TYPE_NONE
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1CELLULAR_NETWORK_RADIO_TYPE_GSM
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2CELLULAR_NETWORK_RADIO_TYPE_CDMA
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          3CELLULAR_NETWORK_RADIO_TYPE_WCDMA
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          4CELLULAR_NETWORK_RADIO_TYPE_LTE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          PRECISION_LAND_MODE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Precision land modes (used in MAV_CMD_NAV_LAND).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          0PRECISION_LAND_MODE_DISABLEDNormal (non-precision) landing.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1PRECISION_LAND_MODE_OPPORTUNISTICUse precision landing if beacon detected when land command accepted, otherwise land normally.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2PRECISION_LAND_MODE_REQUIREDUse precision landing, searching for beacon if not found when land command accepted (land normally if beacon cannot be found).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          PARACHUTE_ACTION

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Parachute actions. Trigger release and enable/disable auto-release.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          0PARACHUTE_DISABLEDisable auto-release of parachute (i.e. release triggered by crash detectors).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1PARACHUTE_ENABLEEnable auto-release of parachute.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2PARACHUTE_RELEASERelease parachute and kill motors.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_TUNNEL_PAYLOAD_TYPE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          0MAV_TUNNEL_PAYLOAD_TYPE_UNKNOWNEncoding of payload unknown.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          200MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED0Registered for STorM32 gimbal controller.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          201MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED1Registered for STorM32 gimbal controller.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          202MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED2Registered for STorM32 gimbal controller.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          203MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED3Registered for STorM32 gimbal controller.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          204MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED4Registered for STorM32 gimbal controller.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          205MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED5Registered for STorM32 gimbal controller.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          206MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED6Registered for STorM32 gimbal controller.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          207MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED7Registered for STorM32 gimbal controller.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          208MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED8Registered for STorM32 gimbal controller.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          209MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED9Registered for STorM32 gimbal controller.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_ODID_ID_TYPE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          0MAV_ODID_ID_TYPE_NONENo type defined.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1MAV_ODID_ID_TYPE_SERIAL_NUMBERManufacturer Serial Number (ANSI/CTA-2063 format).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2MAV_ODID_ID_TYPE_CAA_REGISTRATION_IDCAA (Civil Aviation Authority) registered ID. Format: [ICAO Country Code].[CAA Assigned ID].
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          3MAV_ODID_ID_TYPE_UTM_ASSIGNED_UUIDUTM (Unmanned Traffic Management) assigned UUID (RFC4122).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          4MAV_ODID_ID_TYPE_SPECIFIC_SESSION_IDA 20 byte ID for a specific flight/session. The exact ID type is indicated by the first byte of uas_id and these type values are managed by ICAO.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_ODID_UA_TYPE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          0MAV_ODID_UA_TYPE_NONENo UA (Unmanned Aircraft) type defined.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1MAV_ODID_UA_TYPE_AEROPLANEAeroplane/Airplane. Fixed wing.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2MAV_ODID_UA_TYPE_HELICOPTER_OR_MULTIROTORHelicopter or multirotor.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          3MAV_ODID_UA_TYPE_GYROPLANEGyroplane.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          4MAV_ODID_UA_TYPE_HYBRID_LIFTVTOL (Vertical Take-Off and Landing). Fixed wing aircraft that can take off vertically.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          5MAV_ODID_UA_TYPE_ORNITHOPTEROrnithopter.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          6MAV_ODID_UA_TYPE_GLIDERGlider.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          7MAV_ODID_UA_TYPE_KITEKite.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          8MAV_ODID_UA_TYPE_FREE_BALLOONFree Balloon.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          9MAV_ODID_UA_TYPE_CAPTIVE_BALLOONCaptive Balloon.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          10MAV_ODID_UA_TYPE_AIRSHIPAirship. E.g. a blimp.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          11MAV_ODID_UA_TYPE_FREE_FALL_PARACHUTEFree Fall/Parachute (unpowered).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          12MAV_ODID_UA_TYPE_ROCKETRocket.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          13MAV_ODID_UA_TYPE_TETHERED_POWERED_AIRCRAFTTethered powered aircraft.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          14MAV_ODID_UA_TYPE_GROUND_OBSTACLEGround Obstacle.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          15MAV_ODID_UA_TYPE_OTHEROther type of aircraft not listed earlier.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_ODID_STATUS

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          0MAV_ODID_STATUS_UNDECLAREDThe status of the (UA) Unmanned Aircraft is undefined.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1MAV_ODID_STATUS_GROUNDThe UA is on the ground.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2MAV_ODID_STATUS_AIRBORNEThe UA is in the air.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          3MAV_ODID_STATUS_EMERGENCYThe UA is having an emergency.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          4MAV_ODID_STATUS_REMOTE_ID_SYSTEM_FAILUREThe remote ID system is failing or unreliable in some way.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_ODID_HEIGHT_REF

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          0MAV_ODID_HEIGHT_REF_OVER_TAKEOFFThe height field is relative to the take-off location.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1MAV_ODID_HEIGHT_REF_OVER_GROUNDThe height field is relative to ground.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_ODID_HOR_ACC

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          0MAV_ODID_HOR_ACC_UNKNOWNThe horizontal accuracy is unknown.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1MAV_ODID_HOR_ACC_10NMThe horizontal accuracy is smaller than 10 Nautical Miles. 18.52 km.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2MAV_ODID_HOR_ACC_4NMThe horizontal accuracy is smaller than 4 Nautical Miles. 7.408 km.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          3MAV_ODID_HOR_ACC_2NMThe horizontal accuracy is smaller than 2 Nautical Miles. 3.704 km.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          4MAV_ODID_HOR_ACC_1NMThe horizontal accuracy is smaller than 1 Nautical Miles. 1.852 km.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          5MAV_ODID_HOR_ACC_0_5NMThe horizontal accuracy is smaller than 0.5 Nautical Miles. 926 m.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          6MAV_ODID_HOR_ACC_0_3NMThe horizontal accuracy is smaller than 0.3 Nautical Miles. 555.6 m.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          7MAV_ODID_HOR_ACC_0_1NMThe horizontal accuracy is smaller than 0.1 Nautical Miles. 185.2 m.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          8MAV_ODID_HOR_ACC_0_05NMThe horizontal accuracy is smaller than 0.05 Nautical Miles. 92.6 m.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          9MAV_ODID_HOR_ACC_30_METERThe horizontal accuracy is smaller than 30 meter.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          10MAV_ODID_HOR_ACC_10_METERThe horizontal accuracy is smaller than 10 meter.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          11MAV_ODID_HOR_ACC_3_METERThe horizontal accuracy is smaller than 3 meter.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          12MAV_ODID_HOR_ACC_1_METERThe horizontal accuracy is smaller than 1 meter.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_ODID_VER_ACC

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          0MAV_ODID_VER_ACC_UNKNOWNThe vertical accuracy is unknown.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1MAV_ODID_VER_ACC_150_METERThe vertical accuracy is smaller than 150 meter.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2MAV_ODID_VER_ACC_45_METERThe vertical accuracy is smaller than 45 meter.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          3MAV_ODID_VER_ACC_25_METERThe vertical accuracy is smaller than 25 meter.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          4MAV_ODID_VER_ACC_10_METERThe vertical accuracy is smaller than 10 meter.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          5MAV_ODID_VER_ACC_3_METERThe vertical accuracy is smaller than 3 meter.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          6MAV_ODID_VER_ACC_1_METERThe vertical accuracy is smaller than 1 meter.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_ODID_SPEED_ACC

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          0MAV_ODID_SPEED_ACC_UNKNOWNThe speed accuracy is unknown.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1MAV_ODID_SPEED_ACC_10_METERS_PER_SECONDThe speed accuracy is smaller than 10 meters per second.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2MAV_ODID_SPEED_ACC_3_METERS_PER_SECONDThe speed accuracy is smaller than 3 meters per second.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          3MAV_ODID_SPEED_ACC_1_METERS_PER_SECONDThe speed accuracy is smaller than 1 meters per second.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          4MAV_ODID_SPEED_ACC_0_3_METERS_PER_SECONDThe speed accuracy is smaller than 0.3 meters per second.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_ODID_TIME_ACC

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          0MAV_ODID_TIME_ACC_UNKNOWNThe timestamp accuracy is unknown.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1MAV_ODID_TIME_ACC_0_1_SECONDThe timestamp accuracy is smaller than or equal to 0.1 second.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2MAV_ODID_TIME_ACC_0_2_SECONDThe timestamp accuracy is smaller than or equal to 0.2 second.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          3MAV_ODID_TIME_ACC_0_3_SECONDThe timestamp accuracy is smaller than or equal to 0.3 second.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          4MAV_ODID_TIME_ACC_0_4_SECONDThe timestamp accuracy is smaller than or equal to 0.4 second.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          5MAV_ODID_TIME_ACC_0_5_SECONDThe timestamp accuracy is smaller than or equal to 0.5 second.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          6MAV_ODID_TIME_ACC_0_6_SECONDThe timestamp accuracy is smaller than or equal to 0.6 second.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          7MAV_ODID_TIME_ACC_0_7_SECONDThe timestamp accuracy is smaller than or equal to 0.7 second.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          8MAV_ODID_TIME_ACC_0_8_SECONDThe timestamp accuracy is smaller than or equal to 0.8 second.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          9MAV_ODID_TIME_ACC_0_9_SECONDThe timestamp accuracy is smaller than or equal to 0.9 second.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          10MAV_ODID_TIME_ACC_1_0_SECONDThe timestamp accuracy is smaller than or equal to 1.0 second.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          11MAV_ODID_TIME_ACC_1_1_SECONDThe timestamp accuracy is smaller than or equal to 1.1 second.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          12MAV_ODID_TIME_ACC_1_2_SECONDThe timestamp accuracy is smaller than or equal to 1.2 second.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          13MAV_ODID_TIME_ACC_1_3_SECONDThe timestamp accuracy is smaller than or equal to 1.3 second.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          14MAV_ODID_TIME_ACC_1_4_SECONDThe timestamp accuracy is smaller than or equal to 1.4 second.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          15MAV_ODID_TIME_ACC_1_5_SECONDThe timestamp accuracy is smaller than or equal to 1.5 second.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_ODID_AUTH_TYPE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          0MAV_ODID_AUTH_TYPE_NONENo authentication type is specified.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1MAV_ODID_AUTH_TYPE_UAS_ID_SIGNATURESignature for the UAS (Unmanned Aircraft System) ID.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2MAV_ODID_AUTH_TYPE_OPERATOR_ID_SIGNATURESignature for the Operator ID.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          3MAV_ODID_AUTH_TYPE_MESSAGE_SET_SIGNATURESignature for the entire message set.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          4MAV_ODID_AUTH_TYPE_NETWORK_REMOTE_IDAuthentication is provided by Network Remote ID.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          5MAV_ODID_AUTH_TYPE_SPECIFIC_AUTHENTICATIONThe exact authentication type is indicated by the first byte of authentication_data and these type values are managed by ICAO.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_ODID_DESC_TYPE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          0MAV_ODID_DESC_TYPE_TEXTOptional free-form text description of the purpose of the flight.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1MAV_ODID_DESC_TYPE_EMERGENCYOptional additional clarification when status == MAV_ODID_STATUS_EMERGENCY.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2MAV_ODID_DESC_TYPE_EXTENDED_STATUSOptional additional clarification when status != MAV_ODID_STATUS_EMERGENCY.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_ODID_OPERATOR_LOCATION_TYPE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          0MAV_ODID_OPERATOR_LOCATION_TYPE_TAKEOFFThe location/altitude of the operator is the same as the take-off location.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1MAV_ODID_OPERATOR_LOCATION_TYPE_LIVE_GNSSThe location/altitude of the operator is dynamic. E.g. based on live GNSS data.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2MAV_ODID_OPERATOR_LOCATION_TYPE_FIXEDThe location/altitude of the operator are fixed values.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_ODID_CLASSIFICATION_TYPE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          0MAV_ODID_CLASSIFICATION_TYPE_UNDECLAREDThe classification type for the UA is undeclared.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1MAV_ODID_CLASSIFICATION_TYPE_EUThe classification type for the UA follows EU (European Union) specifications.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_ODID_CATEGORY_EU

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          0MAV_ODID_CATEGORY_EU_UNDECLAREDThe category for the UA, according to the EU specification, is undeclared.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1MAV_ODID_CATEGORY_EU_OPENThe category for the UA, according to the EU specification, is the Open category.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2MAV_ODID_CATEGORY_EU_SPECIFICThe category for the UA, according to the EU specification, is the Specific category.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          3MAV_ODID_CATEGORY_EU_CERTIFIEDThe category for the UA, according to the EU specification, is the Certified category.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_ODID_CLASS_EU

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          0MAV_ODID_CLASS_EU_UNDECLAREDThe class for the UA, according to the EU specification, is undeclared.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1MAV_ODID_CLASS_EU_CLASS_0The class for the UA, according to the EU specification, is Class 0.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2MAV_ODID_CLASS_EU_CLASS_1The class for the UA, according to the EU specification, is Class 1.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          3MAV_ODID_CLASS_EU_CLASS_2The class for the UA, according to the EU specification, is Class 2.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          4MAV_ODID_CLASS_EU_CLASS_3The class for the UA, according to the EU specification, is Class 3.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          5MAV_ODID_CLASS_EU_CLASS_4The class for the UA, according to the EU specification, is Class 4.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          6MAV_ODID_CLASS_EU_CLASS_5The class for the UA, according to the EU specification, is Class 5.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          7MAV_ODID_CLASS_EU_CLASS_6The class for the UA, according to the EU specification, is Class 6.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_ODID_OPERATOR_ID_TYPE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          0MAV_ODID_OPERATOR_ID_TYPE_CAACAA (Civil Aviation Authority) registered operator ID.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_ODID_ARM_STATUS

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          0MAV_ODID_ARM_STATUS_GOOD_TO_ARMPassing arming checks.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1MAV_ODID_ARM_STATUS_PRE_ARM_FAIL_GENERICGeneric arming failure, see error string for details.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          TUNE_FORMAT

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Tune formats (used for vehicle buzzer/tone generation).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1TUNE_FORMAT_QBASIC1_1Format is QBasic 1.1 Play: https://www.qbasic.net/en/reference/qb11/Statement/PLAY-006.htm.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2TUNE_FORMAT_MML_MODERNFormat is Modern Music Markup Language (MML): https://en.wikipedia.org/wiki/Music_Macro_Language#Modern_MML.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          AIS_TYPE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Type of AIS vessel, enum duplicated from AIS standard, https://gpsd.gitlab.io/gpsd/AIVDM.html

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          0AIS_TYPE_UNKNOWNNot available (default).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1AIS_TYPE_RESERVED_1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2AIS_TYPE_RESERVED_2
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          3AIS_TYPE_RESERVED_3
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          4AIS_TYPE_RESERVED_4
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          5AIS_TYPE_RESERVED_5
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          6AIS_TYPE_RESERVED_6
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          7AIS_TYPE_RESERVED_7
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          8AIS_TYPE_RESERVED_8
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          9AIS_TYPE_RESERVED_9
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          10AIS_TYPE_RESERVED_10
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          11AIS_TYPE_RESERVED_11
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          12AIS_TYPE_RESERVED_12
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          13AIS_TYPE_RESERVED_13
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          14AIS_TYPE_RESERVED_14
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          15AIS_TYPE_RESERVED_15
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          16AIS_TYPE_RESERVED_16
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          17AIS_TYPE_RESERVED_17
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          18AIS_TYPE_RESERVED_18
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          19AIS_TYPE_RESERVED_19
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          20AIS_TYPE_WIGWing In Ground effect.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          21AIS_TYPE_WIG_HAZARDOUS_A
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          22AIS_TYPE_WIG_HAZARDOUS_B
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          23AIS_TYPE_WIG_HAZARDOUS_C
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          24AIS_TYPE_WIG_HAZARDOUS_D
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          25AIS_TYPE_WIG_RESERVED_1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          26AIS_TYPE_WIG_RESERVED_2
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          27AIS_TYPE_WIG_RESERVED_3
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          28AIS_TYPE_WIG_RESERVED_4
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          29AIS_TYPE_WIG_RESERVED_5
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          30AIS_TYPE_FISHING
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          31AIS_TYPE_TOWING
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          32AIS_TYPE_TOWING_LARGETowing: length exceeds 200m or breadth exceeds 25m.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          33AIS_TYPE_DREDGINGDredging or other underwater ops.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          34AIS_TYPE_DIVING
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          35AIS_TYPE_MILITARY
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          36AIS_TYPE_SAILING
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          37AIS_TYPE_PLEASURE
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          38AIS_TYPE_RESERVED_20
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          39AIS_TYPE_RESERVED_21
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          40AIS_TYPE_HSCHigh Speed Craft.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          41AIS_TYPE_HSC_HAZARDOUS_A
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          42AIS_TYPE_HSC_HAZARDOUS_B
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          43AIS_TYPE_HSC_HAZARDOUS_C
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          44AIS_TYPE_HSC_HAZARDOUS_D
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          45AIS_TYPE_HSC_RESERVED_1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          46AIS_TYPE_HSC_RESERVED_2
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          47AIS_TYPE_HSC_RESERVED_3
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          48AIS_TYPE_HSC_RESERVED_4
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          49AIS_TYPE_HSC_UNKNOWN
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          50AIS_TYPE_PILOT
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          51AIS_TYPE_SARSearch And Rescue vessel.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          52AIS_TYPE_TUG
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          53AIS_TYPE_PORT_TENDER
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          54AIS_TYPE_ANTI_POLLUTIONAnti-pollution equipment.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          55AIS_TYPE_LAW_ENFORCEMENT
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          56AIS_TYPE_SPARE_LOCAL_1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          57AIS_TYPE_SPARE_LOCAL_2
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          58AIS_TYPE_MEDICAL_TRANSPORT
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          59AIS_TYPE_NONECOMBATANTNoncombatant ship according to RR Resolution No. 18.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          60AIS_TYPE_PASSENGER
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          61AIS_TYPE_PASSENGER_HAZARDOUS_A
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          62AIS_TYPE_PASSENGER_HAZARDOUS_B
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          63AIS_TYPE_PASSENGER_HAZARDOUS_C
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          64AIS_TYPE_PASSENGER_HAZARDOUS_D
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          65AIS_TYPE_PASSENGER_RESERVED_1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          66AIS_TYPE_PASSENGER_RESERVED_2
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          67AIS_TYPE_PASSENGER_RESERVED_3
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          68AIS_TYPE_PASSENGER_RESERVED_4
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          69AIS_TYPE_PASSENGER_UNKNOWN
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          70AIS_TYPE_CARGO
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          71AIS_TYPE_CARGO_HAZARDOUS_A
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          72AIS_TYPE_CARGO_HAZARDOUS_B
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          73AIS_TYPE_CARGO_HAZARDOUS_C
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          74AIS_TYPE_CARGO_HAZARDOUS_D
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          75AIS_TYPE_CARGO_RESERVED_1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          76AIS_TYPE_CARGO_RESERVED_2
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          77AIS_TYPE_CARGO_RESERVED_3
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          78AIS_TYPE_CARGO_RESERVED_4
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          79AIS_TYPE_CARGO_UNKNOWN
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          80AIS_TYPE_TANKER
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          81AIS_TYPE_TANKER_HAZARDOUS_A
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          82AIS_TYPE_TANKER_HAZARDOUS_B
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          83AIS_TYPE_TANKER_HAZARDOUS_C
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          84AIS_TYPE_TANKER_HAZARDOUS_D
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          85AIS_TYPE_TANKER_RESERVED_1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          86AIS_TYPE_TANKER_RESERVED_2
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          87AIS_TYPE_TANKER_RESERVED_3
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          88AIS_TYPE_TANKER_RESERVED_4
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          89AIS_TYPE_TANKER_UNKNOWN
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          90AIS_TYPE_OTHER
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          91AIS_TYPE_OTHER_HAZARDOUS_A
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          92AIS_TYPE_OTHER_HAZARDOUS_B
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          93AIS_TYPE_OTHER_HAZARDOUS_C
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          94AIS_TYPE_OTHER_HAZARDOUS_D
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          95AIS_TYPE_OTHER_RESERVED_1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          96AIS_TYPE_OTHER_RESERVED_2
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          97AIS_TYPE_OTHER_RESERVED_3
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          98AIS_TYPE_OTHER_RESERVED_4
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          99AIS_TYPE_OTHER_UNKNOWN

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          AIS_NAV_STATUS

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Navigational status of AIS vessel, enum duplicated from AIS standard, https://gpsd.gitlab.io/gpsd/AIVDM.html

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          0UNDER_WAYUnder way using engine.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1AIS_NAV_ANCHORED
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2AIS_NAV_UN_COMMANDED
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          3AIS_NAV_RESTRICTED_MANOEUVERABILITY
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          4AIS_NAV_DRAUGHT_CONSTRAINED
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          5AIS_NAV_MOORED
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          6AIS_NAV_AGROUND
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          7AIS_NAV_FISHING
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          8AIS_NAV_SAILING
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          9AIS_NAV_RESERVED_HSC
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          10AIS_NAV_RESERVED_WIG
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          11AIS_NAV_RESERVED_1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          12AIS_NAV_RESERVED_2
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          13AIS_NAV_RESERVED_3
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          14AIS_NAV_AIS_SARTSearch And Rescue Transponder.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          15AIS_NAV_UNKNOWNNot available (default).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          AIS_FLAGS

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          (Bitmask) These flags are used in the AIS_VESSEL.fields bitmask to indicate validity of data in the other message fields. When set, the data is valid.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1AIS_FLAGS_POSITION_ACCURACY1 = Position accuracy less than 10m, 0 = position accuracy greater than 10m.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2AIS_FLAGS_VALID_COG
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          4AIS_FLAGS_VALID_VELOCITY
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          8AIS_FLAGS_HIGH_VELOCITY1 = Velocity over 52.5765m/s (102.2 knots)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          16AIS_FLAGS_VALID_TURN_RATE
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          32AIS_FLAGS_TURN_RATE_SIGN_ONLYOnly the sign of the returned turn rate value is valid, either greater than 5deg/30s or less than -5deg/30s
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          64AIS_FLAGS_VALID_DIMENSIONS
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          128AIS_FLAGS_LARGE_BOW_DIMENSIONDistance to bow is larger than 511m
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          256AIS_FLAGS_LARGE_STERN_DIMENSIONDistance to stern is larger than 511m
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          512AIS_FLAGS_LARGE_PORT_DIMENSIONDistance to port side is larger than 63m
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1024AIS_FLAGS_LARGE_STARBOARD_DIMENSIONDistance to starboard side is larger than 63m
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2048AIS_FLAGS_VALID_CALLSIGN
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          4096AIS_FLAGS_VALID_NAME

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          FAILURE_UNIT

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          List of possible units where failures can be injected.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          0FAILURE_UNIT_SENSOR_GYRO
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1FAILURE_UNIT_SENSOR_ACCEL
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2FAILURE_UNIT_SENSOR_MAG
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          3FAILURE_UNIT_SENSOR_BARO
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          4FAILURE_UNIT_SENSOR_GPS
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          5FAILURE_UNIT_SENSOR_OPTICAL_FLOW
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          6FAILURE_UNIT_SENSOR_VIO
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          7FAILURE_UNIT_SENSOR_DISTANCE_SENSOR
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          8FAILURE_UNIT_SENSOR_AIRSPEED
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          100FAILURE_UNIT_SYSTEM_BATTERY
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          101FAILURE_UNIT_SYSTEM_MOTOR
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          102FAILURE_UNIT_SYSTEM_SERVO
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          103FAILURE_UNIT_SYSTEM_AVOIDANCE
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          104FAILURE_UNIT_SYSTEM_RC_SIGNAL
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          105FAILURE_UNIT_SYSTEM_MAVLINK_SIGNAL

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          FAILURE_TYPE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          List of possible failure type to inject.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          0FAILURE_TYPE_OKNo failure injected, used to reset a previous failure.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1FAILURE_TYPE_OFFSets unit off, so completely non-responsive.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2FAILURE_TYPE_STUCKUnit is stuck e.g. keeps reporting the same value.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          3FAILURE_TYPE_GARBAGEUnit is reporting complete garbage.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          4FAILURE_TYPE_WRONGUnit is consistently wrong.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          5FAILURE_TYPE_SLOWUnit is slow, so e.g. reporting at slower than expected rate.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          6FAILURE_TYPE_DELAYEDData of unit is delayed in time.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          7FAILURE_TYPE_INTERMITTENTUnit is sometimes working, sometimes not.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          0NAV_VTOL_LAND_OPTIONS_DEFAULTDefault autopilot landing behaviour.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1NAV_VTOL_LAND_OPTIONS_FW_DESCENTDescend in fixed wing mode, transitioning to multicopter mode for vertical landing when close to the ground.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          The fixed wing descent pattern is at the discretion of the vehicle (e.g. transition altitude, loiter direction, radius, and speed, etc.). | | 2 | NAV_VTOL_LAND_OPTIONS_HOVER_DESCENT | Land in multicopter mode on reaching the landing coordinates (the whole landing is by "hover descent"). |

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_WINCH_STATUS_FLAG

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          (Bitmask) Winch status flags used in WINCH_STATUS

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1MAV_WINCH_STATUS_HEALTHYWinch is healthy
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2MAV_WINCH_STATUS_FULLY_RETRACTEDWinch line is fully retracted
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          4MAV_WINCH_STATUS_MOVINGWinch motor is moving
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          8MAV_WINCH_STATUS_CLUTCH_ENGAGEDWinch clutch is engaged allowing motor to move freely.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          16MAV_WINCH_STATUS_LOCKEDWinch is locked by locking mechanism.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          32MAV_WINCH_STATUS_DROPPINGWinch is gravity dropping payload.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          64MAV_WINCH_STATUS_ARRESTINGWinch is arresting payload descent.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          128MAV_WINCH_STATUS_GROUND_SENSEWinch is using torque measurements to sense the ground.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          256MAV_WINCH_STATUS_RETRACTINGWinch is returning to the fully retracted position.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          512MAV_WINCH_STATUS_REDELIVERWinch is redelivering the payload. This is a failover state if the line tension goes above a threshold during RETRACTING.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1024MAV_WINCH_STATUS_ABANDON_LINEWinch is abandoning the line and possibly payload. Winch unspools the entire calculated line length. This is a failover state from REDELIVER if the number of attempts exceeds a threshold.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2048MAV_WINCH_STATUS_LOCKINGWinch is engaging the locking mechanism.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          4096MAV_WINCH_STATUS_LOAD_LINEWinch is spooling on line.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          8192MAV_WINCH_STATUS_LOAD_PAYLOADWinch is loading a payload.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAG_CAL_STATUS

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          0MAG_CAL_NOT_STARTED
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1MAG_CAL_WAITING_TO_START
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2MAG_CAL_RUNNING_STEP_ONE
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          3MAG_CAL_RUNNING_STEP_TWO
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          4MAG_CAL_SUCCESS
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          5MAG_CAL_FAILED
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          6MAG_CAL_BAD_ORIENTATION
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          7MAG_CAL_BAD_RADIUS

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_EVENT_ERROR_REASON

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Reason for an event error response.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          0MAV_EVENT_ERROR_REASON_UNAVAILABLEThe requested event is not available (anymore).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_EVENT_CURRENT_SEQUENCE_FLAGS

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Flags for CURRENT_EVENT_SEQUENCE.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1MAV_EVENT_CURRENT_SEQUENCE_FLAGS_RESETA sequence reset has happened (e.g. vehicle reboot).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          HIL_SENSOR_UPDATED_FLAGS

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          (Bitmask) Flags in the HIL_SENSOR message indicate which fields have updated since the last message

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          0HIL_SENSOR_UPDATED_NONENone of the fields in HIL_SENSOR have been updated
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1HIL_SENSOR_UPDATED_XACCThe value in the xacc field has been updated
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2HIL_SENSOR_UPDATED_YACCThe value in the yacc field has been updated
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          4HIL_SENSOR_UPDATED_ZACCThe value in the zacc field has been updated
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          8HIL_SENSOR_UPDATED_XGYROThe value in the xgyro field has been updated
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          16HIL_SENSOR_UPDATED_YGYROThe value in the ygyro field has been updated
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          32HIL_SENSOR_UPDATED_ZGYROThe value in the zgyro field has been updated
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          64HIL_SENSOR_UPDATED_XMAGThe value in the xmag field has been updated
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          128HIL_SENSOR_UPDATED_YMAGThe value in the ymag field has been updated
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          256HIL_SENSOR_UPDATED_ZMAGThe value in the zmag field has been updated
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          512HIL_SENSOR_UPDATED_ABS_PRESSUREThe value in the abs_pressure field has been updated
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1024HIL_SENSOR_UPDATED_DIFF_PRESSUREThe value in the diff_pressure field has been updated
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2048HIL_SENSOR_UPDATED_PRESSURE_ALTThe value in the pressure_alt field has been updated
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          4096HIL_SENSOR_UPDATED_TEMPERATUREThe value in the temperature field has been updated
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2147483648HIL_SENSOR_UPDATED_RESETFull reset of attitude/position/velocities/etc was performed in sim (Bit 31).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          HIGHRES_IMU_UPDATED_FLAGS

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          (Bitmask) Flags in the HIGHRES_IMU message indicate which fields have updated since the last message

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          0HIGHRES_IMU_UPDATED_NONENone of the fields in HIGHRES_IMU have been updated
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1HIGHRES_IMU_UPDATED_XACCThe value in the xacc field has been updated
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2HIGHRES_IMU_UPDATED_YACCThe value in the yacc field has been updated
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          4HIGHRES_IMU_UPDATED_ZACCThe value in the zacc field has been updated since
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          8HIGHRES_IMU_UPDATED_XGYROThe value in the xgyro field has been updated
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          16HIGHRES_IMU_UPDATED_YGYROThe value in the ygyro field has been updated
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          32HIGHRES_IMU_UPDATED_ZGYROThe value in the zgyro field has been updated
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          64HIGHRES_IMU_UPDATED_XMAGThe value in the xmag field has been updated
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          128HIGHRES_IMU_UPDATED_YMAGThe value in the ymag field has been updated
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          256HIGHRES_IMU_UPDATED_ZMAGThe value in the zmag field has been updated
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          512HIGHRES_IMU_UPDATED_ABS_PRESSUREThe value in the abs_pressure field has been updated
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1024HIGHRES_IMU_UPDATED_DIFF_PRESSUREThe value in the diff_pressure field has been updated
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2048HIGHRES_IMU_UPDATED_PRESSURE_ALTThe value in the pressure_alt field has been updated
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          4096HIGHRES_IMU_UPDATED_TEMPERATUREThe value in the temperature field has been updated
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          65535HIGHRES_IMU_UPDATED_ALLAll fields in HIGHRES_IMU have been updated.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          CAN_FILTER_OP

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          0CAN_FILTER_REPLACE
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1CAN_FILTER_ADD
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2CAN_FILTER_REMOVE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_FTP_ERR

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV FTP error codes (https://mavlink.io/en/services/ftp.html)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          0MAV_FTP_ERR_NONENone: No error
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1MAV_FTP_ERR_FAILFail: Unknown failure
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2MAV_FTP_ERR_FAILERRNOFailErrno: Command failed, Err number sent back in PayloadHeader.data[1].

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          This is a file-system error number understood by the server operating system. | | </a>3 | MAV_FTP_ERR_INVALIDDATASIZE | InvalidDataSize: Payload size is invalid | | 4 | MAV_FTP_ERR_INVALIDSESSION | InvalidSession: Session is not currently open | | </a>5 | MAV_FTP_ERR_NOSESSIONSAVAILABLE | NoSessionsAvailable: All available sessions are already in use | | 6 | MAV_FTP_ERR_EOF | EOF: Offset past end of file for ListDirectory and ReadFile commands | | </a>7 | MAV_FTP_ERR_UNKNOWNCOMMAND | UnknownCommand: Unknown command / opcode | | 8 | MAV_FTP_ERR_FILEEXISTS | FileExists: File/directory already exists | | </a>9 | MAV_FTP_ERR_FILEPROTECTED | FileProtected: File/directory is write protected | | 10 | MAV_FTP_ERR_FILENOTFOUND | FileNotFound: File/directory not found |

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_FTP_OPCODE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV FTP opcodes: https://mavlink.io/en/services/ftp.html

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          0MAV_FTP_OPCODE_NONENone. Ignored, always ACKed
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1MAV_FTP_OPCODE_TERMINATESESSIONTerminateSession: Terminates open Read session
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2MAV_FTP_OPCODE_RESETSESSIONResetSessions: Terminates all open read sessions
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          3MAV_FTP_OPCODE_LISTDIRECTORYListDirectory. List files and directories in path from offset
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          4MAV_FTP_OPCODE_OPENFILEROOpenFileRO: Opens file at path for reading, returns session
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          5MAV_FTP_OPCODE_READFILEReadFile: Reads size bytes from offset in session
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          6MAV_FTP_OPCODE_CREATEFILECreateFile: Creates file at path for writing, returns session
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          7MAV_FTP_OPCODE_WRITEFILEWriteFile: Writes size bytes to offset in session
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          8MAV_FTP_OPCODE_REMOVEFILERemoveFile: Remove file at path
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          9MAV_FTP_OPCODE_CREATEDIRECTORYCreateDirectory: Creates directory at path
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          10MAV_FTP_OPCODE_REMOVEDIRECTORYRemoveDirectory: Removes directory at path. The directory must be empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          11MAV_FTP_OPCODE_OPENFILEWOOpenFileWO: Opens file at path for writing, returns session
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          12MAV_FTP_OPCODE_TRUNCATEFILETruncateFile: Truncate file at path to offset length
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          13MAV_FTP_OPCODE_RENAMERename: Rename path1 to path2
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          14MAV_FTP_OPCODE_CALCFILECRCCalcFileCRC32: Calculate CRC32 for file at path
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          15MAV_FTP_OPCODE_BURSTREADFILEBurstReadFile: Burst download session file
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          128MAV_FTP_OPCODE_ACKACK: ACK response
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          129MAV_FTP_OPCODE_NAKNAK: NAK response

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MISSION_STATE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          States of the mission state machine. Note that these states are independent of whether the mission is in a mode that can execute mission items or not (is suspended). They may not all be relevant on all vehicles.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          0MISSION_STATE_UNKNOWNThe mission status reporting is not supported.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1MISSION_STATE_NO_MISSIONNo mission on the vehicle.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2MISSION_STATE_NOT_STARTEDMission has not started. This is the case after a mission has uploaded but not yet started executing.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          3MISSION_STATE_ACTIVEMission is active, and will execute mission items when in auto mode.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          4MISSION_STATE_PAUSEDMission is paused when in auto mode.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          5MISSION_STATE_COMPLETEMission has executed all mission items.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          SAFETY_SWITCH_STATE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Possible safety switch states.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          0SAFETY_SWITCH_STATE_SAFESafety switch is engaged and vehicle should be safe to approach.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1SAFETY_SWITCH_STATE_DANGEROUSSafety switch is NOT engaged and motors, propellers and other actuators should be considered active.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ILLUMINATOR_MODE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Modes of illuminator

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          0ILLUMINATOR_MODE_UNKNOWNIlluminator mode is not specified/unknown
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1ILLUMINATOR_MODE_INTERNAL_CONTROLIlluminator behavior is controlled by MAV_CMD_DO_ILLUMINATOR_CONFIGURE settings
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2ILLUMINATOR_MODE_EXTERNAL_SYNCIlluminator behavior is controlled by external factors: e.g. an external hardware signal

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ILLUMINATOR_ERROR_FLAGS

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          (Bitmask) Illuminator module error flags (bitmap, 0 means no error)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1ILLUMINATOR_ERROR_FLAGS_THERMAL_THROTTLINGIlluminator thermal throttling error.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2ILLUMINATOR_ERROR_FLAGS_OVER_TEMPERATURE_SHUTDOWNIlluminator over temperature shutdown error.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          4ILLUMINATOR_ERROR_FLAGS_THERMISTOR_FAILUREIlluminator thermistor failure.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_AUTOPILOT — [from: minimal]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Micro air vehicle / autopilot classes. This identifies the individual model.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          0MAV_AUTOPILOT_GENERICGeneric autopilot, full support for everything
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1MAV_AUTOPILOT_RESERVEDReserved for future use.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2MAV_AUTOPILOT_SLUGSSLUGS autopilot, http://slugsuav.soe.ucsc.edu
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          3MAV_AUTOPILOT_ARDUPILOTMEGAArduPilot - Plane/Copter/Rover/Sub/Tracker, https://ardupilot.org
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          4MAV_AUTOPILOT_OPENPILOTOpenPilot, http://openpilot.org
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          5MAV_AUTOPILOT_GENERIC_WAYPOINTS_ONLYGeneric autopilot only supporting simple waypoints
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          6MAV_AUTOPILOT_GENERIC_WAYPOINTS_AND_SIMPLE_NAVIGATION_ONLYGeneric autopilot supporting waypoints and other simple navigation commands
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          7MAV_AUTOPILOT_GENERIC_MISSION_FULLGeneric autopilot supporting the full mission command set
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          8MAV_AUTOPILOT_INVALIDNo valid autopilot, e.g. a GCS or other MAVLink component
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          9MAV_AUTOPILOT_PPZPPZ UAV - http://nongnu.org/paparazzi
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          10MAV_AUTOPILOT_UDBUAV Dev Board
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          11MAV_AUTOPILOT_FPFlexiPilot
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          12MAV_AUTOPILOT_PX4PX4 Autopilot - http://px4.io/
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          13MAV_AUTOPILOT_SMACCMPILOTSMACCMPilot - http://smaccmpilot.org
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          14MAV_AUTOPILOT_AUTOQUADAutoQuad -- http://autoquad.org
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          15MAV_AUTOPILOT_ARMAZILAArmazila -- http://armazila.com
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          16MAV_AUTOPILOT_AEROBAerob -- http://aerob.ru
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          17MAV_AUTOPILOT_ASLUAVASLUAV autopilot -- http://www.asl.ethz.ch
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          18MAV_AUTOPILOT_SMARTAPSmartAP Autopilot - http://sky-drones.com
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          19MAV_AUTOPILOT_AIRRAILSAirRails - http://uaventure.com
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          20MAV_AUTOPILOT_REFLEXFusion Reflex - https://fusion.engineering

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_TYPE — [from: minimal]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAVLINK component type reported in HEARTBEAT message. Flight controllers must report the type of the vehicle on which they are mounted (e.g. MAV_TYPE_OCTOROTOR). All other components must report a value appropriate for their type (e.g. a camera must use MAV_TYPE_CAMERA).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          0MAV_TYPE_GENERICGeneric micro air vehicle
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1MAV_TYPE_FIXED_WINGFixed wing aircraft.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2MAV_TYPE_QUADROTORQuadrotor
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          3MAV_TYPE_COAXIALCoaxial helicopter
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          4MAV_TYPE_HELICOPTERNormal helicopter with tail rotor.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          5MAV_TYPE_ANTENNA_TRACKERGround installation
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          6MAV_TYPE_GCSOperator control unit / ground control station
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          7MAV_TYPE_AIRSHIPAirship, controlled
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          8MAV_TYPE_FREE_BALLOONFree balloon, uncontrolled
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          9MAV_TYPE_ROCKETRocket
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          10MAV_TYPE_GROUND_ROVERGround rover
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          11MAV_TYPE_SURFACE_BOATSurface vessel, boat, ship
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          12MAV_TYPE_SUBMARINESubmarine
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          13MAV_TYPE_HEXAROTORHexarotor
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          14MAV_TYPE_OCTOROTOROctorotor
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          15MAV_TYPE_TRICOPTERTricopter
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          16MAV_TYPE_FLAPPING_WINGFlapping wing
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          17MAV_TYPE_KITEKite
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          18MAV_TYPE_ONBOARD_CONTROLLEROnboard companion controller
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          19MAV_TYPE_VTOL_TAILSITTER_DUOROTORTwo-rotor Tailsitter VTOL that additionally uses control surfaces in vertical operation. Note, value previously named MAV_TYPE_VTOL_DUOROTOR.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          20MAV_TYPE_VTOL_TAILSITTER_QUADROTORQuad-rotor Tailsitter VTOL using a V-shaped quad config in vertical operation. Note: value previously named MAV_TYPE_VTOL_QUADROTOR.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          21MAV_TYPE_VTOL_TILTROTORTiltrotor VTOL. Fuselage and wings stay (nominally) horizontal in all flight phases. It able to tilt (some) rotors to provide thrust in cruise flight.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          22MAV_TYPE_VTOL_FIXEDROTORVTOL with separate fixed rotors for hover and cruise flight. Fuselage and wings stay (nominally) horizontal in all flight phases.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          23MAV_TYPE_VTOL_TAILSITTERTailsitter VTOL. Fuselage and wings orientation changes depending on flight phase: vertical for hover, horizontal for cruise. Use more specific VTOL MAV_TYPE_VTOL_TAILSITTER_DUOROTOR or MAV_TYPE_VTOL_TAILSITTER_QUADROTOR if appropriate.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          24MAV_TYPE_VTOL_TILTWINGTiltwing VTOL. Fuselage stays horizontal in all flight phases. The whole wing, along with any attached engine, can tilt between vertical and horizontal mode.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          25MAV_TYPE_VTOL_RESERVED5VTOL reserved 5
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          26MAV_TYPE_GIMBALGimbal
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          27MAV_TYPE_ADSBADSB system
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          28MAV_TYPE_PARAFOILSteerable, nonrigid airfoil
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          29MAV_TYPE_DODECAROTORDodecarotor
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          30MAV_TYPE_CAMERACamera
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          31MAV_TYPE_CHARGING_STATIONCharging station
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          32MAV_TYPE_FLARMFLARM collision avoidance system
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          33MAV_TYPE_SERVOServo
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          34MAV_TYPE_ODIDOpen Drone ID. See https://mavlink.io/en/services/opendroneid.html.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          35MAV_TYPE_DECAROTORDecarotor
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          36MAV_TYPE_BATTERYBattery
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          37MAV_TYPE_PARACHUTEParachute
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          38MAV_TYPE_LOGLog
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          39MAV_TYPE_OSDOSD
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          40MAV_TYPE_IMUIMU
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          41MAV_TYPE_GPSGPS
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          42MAV_TYPE_WINCHWinch
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          43MAV_TYPE_GENERIC_MULTIROTORGeneric multirotor that does not fit into a specific type or whose type is unknown
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          44MAV_TYPE_ILLUMINATORIlluminator. An illuminator is a light source that is used for lighting up dark areas external to the sytstem: e.g. a torch or searchlight (as opposed to a light source for illuminating the system itself, e.g. an indicator light).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_MODE_FLAG — [from: minimal]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          (Bitmask) These flags encode the MAV mode.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1MAV_MODE_FLAG_CUSTOM_MODE_ENABLED0b00000001 Reserved for future use.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2MAV_MODE_FLAG_TEST_ENABLED0b00000010 system has a test mode enabled. This flag is intended for temporary system tests and should not be used for stable implementations.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          4MAV_MODE_FLAG_AUTO_ENABLED0b00000100 autonomous mode enabled, system finds its own goal positions. Guided flag can be set or not, depends on the actual implementation.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          8MAV_MODE_FLAG_GUIDED_ENABLED0b00001000 guided mode enabled, system flies waypoints / mission items.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          16MAV_MODE_FLAG_STABILIZE_ENABLED0b00010000 system stabilizes electronically its attitude (and optionally position). It needs however further control inputs to move around.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          32MAV_MODE_FLAG_HIL_ENABLED0b00100000 hardware in the loop simulation. All motors / actuators are blocked, but internal software is full operational.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          64MAV_MODE_FLAG_MANUAL_INPUT_ENABLED0b01000000 remote control input is enabled.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          128MAV_MODE_FLAG_SAFETY_ARMED0b10000000 MAV safety set to armed. Motors are enabled / running / can start. Ready to fly. Additional note: this flag is to be ignore when sent in the command MAV_CMD_DO_SET_MODE and MAV_CMD_COMPONENT_ARM_DISARM shall be used instead. The flag can still be used to report the armed state.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_MODE_FLAG_DECODE_POSITION — [from: minimal]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          (Bitmask) These values encode the bit positions of the decode position. These values can be used to read the value of a flag bit by combining the base_mode variable with AND with the flag position value. The result will be either 0 or 1, depending on if the flag is set or not.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1MAV_MODE_FLAG_DECODE_POSITION_CUSTOM_MODEEighth bit: 00000001
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2MAV_MODE_FLAG_DECODE_POSITION_TESTSeventh bit: 00000010
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          4MAV_MODE_FLAG_DECODE_POSITION_AUTOSixth bit: 00000100
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          8MAV_MODE_FLAG_DECODE_POSITION_GUIDEDFifth bit: 00001000
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          16MAV_MODE_FLAG_DECODE_POSITION_STABILIZEFourth bit: 00010000
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          32MAV_MODE_FLAG_DECODE_POSITION_HILThird bit: 00100000
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          64MAV_MODE_FLAG_DECODE_POSITION_MANUALSecond bit: 01000000
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          128MAV_MODE_FLAG_DECODE_POSITION_SAFETYFirst bit: 10000000

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_STATE — [from: minimal]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          0MAV_STATE_UNINITUninitialized system, state is unknown.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1MAV_STATE_BOOTSystem is booting up.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2MAV_STATE_CALIBRATINGSystem is calibrating and not flight-ready.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          3MAV_STATE_STANDBYSystem is grounded and on standby. It can be launched any time.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          4MAV_STATE_ACTIVESystem is active and might be already airborne. Motors are engaged.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          5MAV_STATE_CRITICALSystem is in a non-normal flight mode (failsafe). It can however still navigate.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          6MAV_STATE_EMERGENCYSystem is in a non-normal flight mode (failsafe). It lost control over parts or over the whole airframe. It is in mayday and going down.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          7MAV_STATE_POWEROFFSystem just initialized its power-down sequence, will shut down now.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          8MAV_STATE_FLIGHT_TERMINATIONSystem is terminating itself (failsafe or commanded).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_COMPONENT — [from: minimal]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Component ids (values) for the different types and instances of onboard hardware/software that might make up a MAVLink system (autopilot, cameras, servos, GPS systems, avoidance systems etc.).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Components must use the appropriate ID in their source address when sending messages. Components can also use IDs to determine if they are the intended recipient of an incoming message. The MAV_COMP_ID_ALL value is used to indicate messages that must be processed by all components. When creating new entries, components that can have multiple instances (e.g. cameras, servos etc.) should be allocated sequential values. An appropriate number of values should be left free after these components to allow the number of instances to be expanded.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          0MAV_COMP_ID_ALLTarget id (target_component) used to broadcast messages to all components of the receiving system. Components should attempt to process messages with this component ID and forward to components on any other interfaces. Note: This is not a valid source component id for a message.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1MAV_COMP_ID_AUTOPILOT1System flight controller component ("autopilot"). Only one autopilot is expected in a particular system.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          25MAV_COMP_ID_USER1Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          26MAV_COMP_ID_USER2Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          27MAV_COMP_ID_USER3Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          28MAV_COMP_ID_USER4Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          29MAV_COMP_ID_USER5Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          30MAV_COMP_ID_USER6Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          31MAV_COMP_ID_USER7Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          32MAV_COMP_ID_USER8Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          33MAV_COMP_ID_USER9Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          34MAV_COMP_ID_USER10Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          35MAV_COMP_ID_USER11Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          36MAV_COMP_ID_USER12Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          37MAV_COMP_ID_USER13Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          38MAV_COMP_ID_USER14Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          39MAV_COMP_ID_USER15Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          40MAV_COMP_ID_USER16Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          41MAV_COMP_ID_USER17Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          42MAV_COMP_ID_USER18Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          43MAV_COMP_ID_USER19Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          44MAV_COMP_ID_USER20Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          45MAV_COMP_ID_USER21Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          46MAV_COMP_ID_USER22Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          47MAV_COMP_ID_USER23Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          48MAV_COMP_ID_USER24Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          49MAV_COMP_ID_USER25Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          50MAV_COMP_ID_USER26Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          51MAV_COMP_ID_USER27Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          52MAV_COMP_ID_USER28Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          53MAV_COMP_ID_USER29Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          54MAV_COMP_ID_USER30Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          55MAV_COMP_ID_USER31Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          56MAV_COMP_ID_USER32Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          57MAV_COMP_ID_USER33Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          58MAV_COMP_ID_USER34Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          59MAV_COMP_ID_USER35Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          60MAV_COMP_ID_USER36Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          61MAV_COMP_ID_USER37Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          62MAV_COMP_ID_USER38Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          63MAV_COMP_ID_USER39Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          64MAV_COMP_ID_USER40Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          65MAV_COMP_ID_USER41Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          66MAV_COMP_ID_USER42Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          67MAV_COMP_ID_USER43Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          68MAV_COMP_ID_TELEMETRY_RADIOTelemetry radio (e.g. SiK radio, or other component that emits RADIO_STATUS messages).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          69MAV_COMP_ID_USER45Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          70MAV_COMP_ID_USER46Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          71MAV_COMP_ID_USER47Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          72MAV_COMP_ID_USER48Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          73MAV_COMP_ID_USER49Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          74MAV_COMP_ID_USER50Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          75MAV_COMP_ID_USER51Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          76MAV_COMP_ID_USER52Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          77MAV_COMP_ID_USER53Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          78MAV_COMP_ID_USER54Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          79MAV_COMP_ID_USER55Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          80MAV_COMP_ID_USER56Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          81MAV_COMP_ID_USER57Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          82MAV_COMP_ID_USER58Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          83MAV_COMP_ID_USER59Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          84MAV_COMP_ID_USER60Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          85MAV_COMP_ID_USER61Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          86MAV_COMP_ID_USER62Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          87MAV_COMP_ID_USER63Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          88MAV_COMP_ID_USER64Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          89MAV_COMP_ID_USER65Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          90MAV_COMP_ID_USER66Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          91MAV_COMP_ID_USER67Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          92MAV_COMP_ID_USER68Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          93MAV_COMP_ID_USER69Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          94MAV_COMP_ID_USER70Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          95MAV_COMP_ID_USER71Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          96MAV_COMP_ID_USER72Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          97MAV_COMP_ID_USER73Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          98MAV_COMP_ID_USER74Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          99MAV_COMP_ID_USER75Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          100MAV_COMP_ID_CAMERACamera #1.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          101MAV_COMP_ID_CAMERA2Camera #2.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          102MAV_COMP_ID_CAMERA3Camera #3.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          103MAV_COMP_ID_CAMERA4Camera #4.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          104MAV_COMP_ID_CAMERA5Camera #5.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          105MAV_COMP_ID_CAMERA6Camera #6.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          140MAV_COMP_ID_SERVO1Servo #1.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          141MAV_COMP_ID_SERVO2Servo #2.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          142MAV_COMP_ID_SERVO3Servo #3.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          143MAV_COMP_ID_SERVO4Servo #4.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          144MAV_COMP_ID_SERVO5Servo #5.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          145MAV_COMP_ID_SERVO6Servo #6.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          146MAV_COMP_ID_SERVO7Servo #7.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          147MAV_COMP_ID_SERVO8Servo #8.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          148MAV_COMP_ID_SERVO9Servo #9.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          149MAV_COMP_ID_SERVO10Servo #10.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          150MAV_COMP_ID_SERVO11Servo #11.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          151MAV_COMP_ID_SERVO12Servo #12.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          152MAV_COMP_ID_SERVO13Servo #13.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          153MAV_COMP_ID_SERVO14Servo #14.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          154MAV_COMP_ID_GIMBALGimbal #1.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          155MAV_COMP_ID_LOGLogging component.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          156MAV_COMP_ID_ADSBAutomatic Dependent Surveillance-Broadcast (ADS-B) component.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          157MAV_COMP_ID_OSDOn Screen Display (OSD) devices for video links.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          158MAV_COMP_ID_PERIPHERALGeneric autopilot peripheral component ID. Meant for devices that do not implement the parameter microservice.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          159MAV_COMP_ID_QX1_GIMBALGimbal ID for QX1.DEPRECATED: Replaced By MAV_COMP_ID_GIMBAL (2018-11) — All gimbals should use MAV_COMP_ID_GIMBAL.)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          160MAV_COMP_ID_FLARMFLARM collision alert component.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          161MAV_COMP_ID_PARACHUTEParachute component.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          169MAV_COMP_ID_WINCHWinch component.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          171MAV_COMP_ID_GIMBAL2Gimbal #2.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          172MAV_COMP_ID_GIMBAL3Gimbal #3.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          173MAV_COMP_ID_GIMBAL4Gimbal #4
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          174MAV_COMP_ID_GIMBAL5Gimbal #5.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          175MAV_COMP_ID_GIMBAL6Gimbal #6.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          180MAV_COMP_ID_BATTERYBattery #1.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          181MAV_COMP_ID_BATTERY2Battery #2.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          189MAV_COMP_ID_MAVCANCAN over MAVLink client.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          190MAV_COMP_ID_MISSIONPLANNERComponent that can generate/supply a mission flight plan (e.g. GCS or developer API).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          191MAV_COMP_ID_ONBOARD_COMPUTERComponent that lives on the onboard computer (companion computer) and has some generic functionalities, such as settings system parameters and monitoring the status of some processes that don't directly speak mavlink and so on.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          192MAV_COMP_ID_ONBOARD_COMPUTER2Component that lives on the onboard computer (companion computer) and has some generic functionalities, such as settings system parameters and monitoring the status of some processes that don't directly speak mavlink and so on.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          193MAV_COMP_ID_ONBOARD_COMPUTER3Component that lives on the onboard computer (companion computer) and has some generic functionalities, such as settings system parameters and monitoring the status of some processes that don't directly speak mavlink and so on.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          194MAV_COMP_ID_ONBOARD_COMPUTER4Component that lives on the onboard computer (companion computer) and has some generic functionalities, such as settings system parameters and monitoring the status of some processes that don't directly speak mavlink and so on.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          195MAV_COMP_ID_PATHPLANNERComponent that finds an optimal path between points based on a certain constraint (e.g. minimum snap, shortest path, cost, etc.).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          196MAV_COMP_ID_OBSTACLE_AVOIDANCEComponent that plans a collision free path between two points.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          197MAV_COMP_ID_VISUAL_INERTIAL_ODOMETRYComponent that provides position estimates using VIO techniques.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          198MAV_COMP_ID_PAIRING_MANAGERComponent that manages pairing of vehicle and GCS.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          200MAV_COMP_ID_IMUInertial Measurement Unit (IMU) #1.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          201MAV_COMP_ID_IMU_2Inertial Measurement Unit (IMU) #2.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          202MAV_COMP_ID_IMU_3Inertial Measurement Unit (IMU) #3.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          220MAV_COMP_ID_GPSGPS #1.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          221MAV_COMP_ID_GPS2GPS #2.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          236MAV_COMP_ID_ODID_TXRX_1Open Drone ID transmitter/receiver (Bluetooth/WiFi/Internet).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          237MAV_COMP_ID_ODID_TXRX_2Open Drone ID transmitter/receiver (Bluetooth/WiFi/Internet).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          238MAV_COMP_ID_ODID_TXRX_3Open Drone ID transmitter/receiver (Bluetooth/WiFi/Internet).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          240MAV_COMP_ID_UDP_BRIDGEComponent to bridge MAVLink to UDP (i.e. from a UART).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          241MAV_COMP_ID_UART_BRIDGEComponent to bridge to UART (i.e. from UDP).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          242MAV_COMP_ID_TUNNEL_NODEComponent handling TUNNEL messages (e.g. vendor specific GUI of a component).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          243MAV_COMP_ID_ILLUMINATORIlluminator
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          250MAV_COMP_ID_SYSTEM_CONTROLDeprecated, don't use. Component for handling system messages (e.g. to ARM, takeoff, etc.).DEPRECATED: Replaced By MAV_COMP_ID_ALL (2018-11) — System control does not require a separate component ID. Instead, system commands should be sent with target_component=MAV_COMP_ID_ALL allowing the target component to use any appropriate component id.)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Commands (MAV_CMD)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_NAV_WAYPOINT (16)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Navigate to waypoint. This is intended for use in missions (for guided commands outside of missions use MAV_CMD_DO_REPOSITION).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Param (Label)DescriptionValuesUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1 (Hold)Hold time. (ignored by fixed wing, time to stay at waypoint for rotary wing)min: 0s
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2 (Accept Radius)Acceptance radius (if the sphere with this radius is hit, the waypoint counts as reached)min: 0m
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          3 (Pass Radius)0 to pass through the WP, if > 0 radius to pass by WP. Positive value for clockwise orbit, negative value for counter-clockwise orbit. Allows trajectory control.m
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          4 (Yaw)Desired yaw angle at waypoint (rotary wing). NaN to use the current system yaw heading mode (e.g. yaw towards next waypoint, yaw to home, etc.).deg
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          5 (Latitude)Latitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          6 (Longitude)Longitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          7 (Altitude)Altitudem

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_NAV_LOITER_UNLIM (17)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Loiter around this waypoint an unlimited amount of time

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Param (Label)DescriptionUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          3 (Radius)Loiter radius around waypoint for forward-only moving vehicles (not multicopters). If positive loiter clockwise, else counter-clockwisem
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          4 (Yaw)Desired yaw angle. NaN to use the current system yaw heading mode (e.g. yaw towards next waypoint, yaw to home, etc.).deg
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          5 (Latitude)Latitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          6 (Longitude)Longitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          7 (Altitude)Altitudem

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_NAV_LOITER_TURNS (18)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Loiter around this waypoint for X turns

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Param (Label)DescriptionValuesUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1 (Turns)Number of turns.min: 0
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2 (Heading Required)Leave loiter circle only once heading towards the next waypoint (0 = False)min: 0 max: 1 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          3 (Radius)Loiter radius around waypoint for forward-only moving vehicles (not multicopters). If positive loiter clockwise, else counter-clockwisem
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          4 (Xtrack Location)Loiter circle exit location and/or path to next waypoint ("xtrack") for forward-only moving vehicles (not multicopters). 0 for the vehicle to converge towards the center xtrack when it leaves the loiter (the line between the centers of the current and next waypoint), 1 to converge to the direct line between the location that the vehicle exits the loiter radius and the next waypoint. Otherwise the angle (in degrees) between the tangent of the loiter circle and the center xtrack at which the vehicle must leave the loiter (and converge to the center xtrack). NaN to use the current system default xtrack behaviour.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          5 (Latitude)Latitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          6 (Longitude)Longitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          7 (Altitude)Altitudem

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_NAV_LOITER_TIME (19)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Loiter at the specified latitude, longitude and altitude for a certain amount of time. Multicopter vehicles stop at the point (within a vehicle-specific acceptance radius). Forward-only moving vehicles (e.g. fixed-wing) circle the point with the specified radius/direction. If the Heading Required parameter (2) is non-zero forward moving aircraft will only leave the loiter circle once heading towards the next waypoint.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Param (Label)DescriptionValuesUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1 (Time)Loiter time (only starts once Lat, Lon and Alt is reached).min: 0s
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2 (Heading Required)Leave loiter circle only once heading towards the next waypoint (0 = False)min: 0 max: 1 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          3 (Radius)Loiter radius around waypoint for forward-only moving vehicles (not multicopters). If positive loiter clockwise, else counter-clockwise.m
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          4 (Xtrack Location)Loiter circle exit location and/or path to next waypoint ("xtrack") for forward-only moving vehicles (not multicopters). 0 for the vehicle to converge towards the center xtrack when it leaves the loiter (the line between the centers of the current and next waypoint), 1 to converge to the direct line between the location that the vehicle exits the loiter radius and the next waypoint. Otherwise the angle (in degrees) between the tangent of the loiter circle and the center xtrack at which the vehicle must leave the loiter (and converge to the center xtrack). NaN to use the current system default xtrack behaviour.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          5 (Latitude)Latitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          6 (Longitude)Longitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          7 (Altitude)Altitudem

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_NAV_RETURN_TO_LAUNCH (20)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Return to launch location

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Param (Label)Description
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          3Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          4Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          5Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          6Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          7Empty

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_NAV_LAND (21)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Land at location.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Param (Label)DescriptionValuesUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1 (Abort Alt)Minimum target altitude if landing is aborted (0 = undefined/use system default).m
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2 (Land Mode)Precision land mode.PRECISION_LAND_MODE
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          3Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          4 (Yaw Angle)Desired yaw angle. NaN to use the current system yaw heading mode (e.g. yaw towards next waypoint, yaw to home, etc.).deg
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          5 (Latitude)Latitude.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          6 (Longitude)Longitude.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          7 (Altitude)Landing altitude (ground level in current frame).m

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_NAV_TAKEOFF (22)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Takeoff from ground / hand. Vehicles that support multiple takeoff modes (e.g. VTOL quadplane) should take off using the currently configured mode.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Param (Label)DescriptionUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1 (Pitch)Minimum pitch (if airspeed sensor present), desired pitch without sensordeg
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          3Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          4 (Yaw)Yaw angle (if magnetometer present), ignored without magnetometer. NaN to use the current system yaw heading mode (e.g. yaw towards next waypoint, yaw to home, etc.).deg
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          5 (Latitude)Latitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          6 (Longitude)Longitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          7 (Altitude)Altitudem

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_NAV_LAND_LOCAL (23)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Land at local position (local frame only)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Param (Label)DescriptionValuesUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1 (Target)Landing target number (if available)min: 0 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2 (Offset)Maximum accepted offset from desired landing position - computed magnitude from spherical coordinates: d = sqrt(x^2 + y^2 + z^2), which gives the maximum accepted distance between the desired landing position and the position where the vehicle is about to landmin: 0m
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          3 (Descend Rate)Landing descend ratem/s
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          4 (Yaw)Desired yaw anglerad
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          5 (Y Position)Y-axis positionm
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          6 (X Position)X-axis positionm
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          7 (Z Position)Z-axis / ground level positionm

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_NAV_TAKEOFF_LOCAL (24)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Takeoff from local position (local frame only)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Param (Label)DescriptionUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1 (Pitch)Minimum pitch (if airspeed sensor present), desired pitch without sensorrad
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          3 (Ascend Rate)Takeoff ascend ratem/s
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          4 (Yaw)Yaw angle (if magnetometer or another yaw estimation source present), ignored without one of theserad
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          5 (Y Position)Y-axis positionm
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          6 (X Position)X-axis positionm
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          7 (Z Position)Z-axis positionm

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_NAV_FOLLOW (25)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Vehicle following, i.e. this waypoint represents the position of a moving vehicle

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Param (Label)DescriptionValuesUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1 (Following)Following logic to use (e.g. loitering or sinusoidal following) - depends on specific autopilot implementationinc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2 (Ground Speed)Ground speed of vehicle to be followedm/s
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          3 (Radius)Radius around waypoint. If positive loiter clockwise, else counter-clockwisem
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          4 (Yaw)Desired yaw angle.deg
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          5 (Latitude)Latitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          6 (Longitude)Longitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          7 (Altitude)Altitudem

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_NAV_CONTINUE_AND_CHANGE_ALT (30)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Continue on the current course and climb/descend to specified altitude. When the altitude is reached continue to the next command (i.e., don't proceed to the next command until the desired altitude is reached.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Param (Label)DescriptionValuesUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1 (Action)Climb or Descend (0 = Neutral, command completes when within 5m of this command's altitude, 1 = Climbing, command completes when at or above this command's altitude, 2 = Descending, command completes when at or below this command's altitude.min: 0 max: 2 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          3Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          4Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          5Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          6Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          7 (Altitude)Desired altitudem

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_NAV_LOITER_TO_ALT (31)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Begin loiter at the specified Latitude and Longitude. If Lat=Lon=0, then loiter at the current position. Don't consider the navigation command complete (don't leave loiter) until the altitude has been reached. Additionally, if the Heading Required parameter is non-zero the aircraft will not leave the loiter until heading toward the next waypoint.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Param (Label)DescriptionValuesUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1 (Heading Required)Leave loiter circle only once heading towards the next waypoint (0 = False)min: 0 max: 1 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2 (Radius)Loiter radius around waypoint for forward-only moving vehicles (not multicopters). If positive loiter clockwise, negative counter-clockwise, 0 means no change to standard loiter.m
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          3Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          4 (Xtrack Location)Loiter circle exit location and/or path to next waypoint ("xtrack") for forward-only moving vehicles (not multicopters). 0 for the vehicle to converge towards the center xtrack when it leaves the loiter (the line between the centers of the current and next waypoint), 1 to converge to the direct line between the location that the vehicle exits the loiter radius and the next waypoint. Otherwise the angle (in degrees) between the tangent of the loiter circle and the center xtrack at which the vehicle must leave the loiter (and converge to the center xtrack). NaN to use the current system default xtrack behaviour.min: 0 max: 1 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          5 (Latitude)Latitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          6 (Longitude)Longitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          7 (Altitude)Altitudem

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_DO_FOLLOW (32)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Begin following a target

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Param (Label)DescriptionValuesUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1 (System ID)System ID (of the FOLLOW_TARGET beacon). Send 0 to disable follow-me and return to the default position hold mode.min: 0 max: 255 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2Reserved
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          3Reserved
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          4 (Altitude Mode)Altitude mode: 0: Keep current altitude, 1: keep altitude difference to target, 2: go to a fixed altitude above home.min: 0 max: 2 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          5 (Altitude)Altitude above home. (used if mode=2)m
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          6Reserved
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          7 (Time to Land)Time to land in which the MAV should go to the default position hold mode after a message RX timeout.min: 0s

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_DO_FOLLOW_REPOSITION (33)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Reposition the MAV after a follow target command has been sent

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Param (Label)DescriptionUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1 (Camera Q1)Camera q1 (where 0 is on the ray from the camera to the tracking device)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2 (Camera Q2)Camera q2
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          3 (Camera Q3)Camera q3
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          4 (Camera Q4)Camera q4
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          5 (Altitude Offset)altitude offset from targetm
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          6 (X Offset)X offset from targetm
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          7 (Y Offset)Y offset from targetm

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_DO_ORBIT (34) — [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Start orbiting on the circumference of a circle defined by the parameters. Setting values to NaN/INT32_MAX (as appropriate) results in using defaults.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Param (Label)DescriptionValuesUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1 (Radius)Radius of the circle. Positive: orbit clockwise. Negative: orbit counter-clockwise. NaN: Use vehicle default radius, or current radius if already orbiting.m
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2 (Velocity)Tangential Velocity. NaN: Use vehicle default velocity, or current velocity if already orbiting.m/s
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          3 (Yaw Behavior)Yaw behavior of the vehicle.ORBIT_YAW_BEHAVIOUR
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          4 (Orbits)Orbit around the centre point for this many radians (i.e. for a three-quarter orbit set 270*Pi/180). 0: Orbit forever. NaN: Use vehicle default, or current value if already orbiting.min: 0rad
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          5 (Latitude/X)Center point latitude (if no MAV_FRAME specified) / X coordinate according to MAV_FRAME. INT32_MAX (or NaN if sent in COMMAND_LONG): Use current vehicle position, or current center if already orbiting.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          6 (Longitude/Y)Center point longitude (if no MAV_FRAME specified) / Y coordinate according to MAV_FRAME. INT32_MAX (or NaN if sent in COMMAND_LONG): Use current vehicle position, or current center if already orbiting.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          7 (Altitude/Z)Center point altitude (MSL) (if no MAV_FRAME specified) / Z coordinate according to MAV_FRAME. NaN: Use current vehicle altitude.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_NAV_ROI (80) — [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          DEPRECATED: Replaced By MAVCMD_DO_SET_ROI* (2018-01)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Sets the region of interest (ROI) for a sensor set or the vehicle itself. This can then be used by the vehicle's control system to control the vehicle attitude and the attitude of various sensors such as cameras.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1 (ROI Mode)Region of interest mode.MAV_ROI
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2 (WP Index)Waypoint index/ target ID. (see MAV_ROI enum)min: 0 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          3 (ROI Index)ROI index (allows a vehicle to manage multiple ROI's)min: 0 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          4Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          5 (X)x the location of the fixed ROI (see MAV_FRAME)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          6 (Y)y
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          7 (Z)z

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_NAV_PATHPLANNING (81)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Control autonomous path planning on the MAV.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Param (Label)DescriptionValuesUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1 (Local Ctrl)0: Disable local obstacle avoidance / local path planning (without resetting map), 1: Enable local path planning, 2: Enable and reset local path planningmin: 0 max: 2 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2 (Global Ctrl)0: Disable full path planning (without resetting map), 1: Enable, 2: Enable and reset map/occupancy grid, 3: Enable and reset planned route, but not occupancy gridmin: 0 max: 3 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          3Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          4 (Yaw)Yaw angle at goaldeg
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          5 (Latitude/X)Latitude/X of goal
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          6 (Longitude/Y)Longitude/Y of goal
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          7 (Altitude/Z)Altitude/Z of goal

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_NAV_SPLINE_WAYPOINT (82)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Navigate to waypoint using a spline path.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Param (Label)DescriptionValuesUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1 (Hold)Hold time. (ignored by fixed wing, time to stay at waypoint for rotary wing)min: 0s
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          3Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          4Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          5 (Latitude/X)Latitude/X of goal
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          6 (Longitude/Y)Longitude/Y of goal
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          7 (Altitude/Z)Altitude/Z of goal

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_NAV_VTOL_TAKEOFF (84)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Takeoff from ground using VTOL mode, and transition to forward flight with specified heading. The command should be ignored by vehicles that dont support both VTOL and fixed-wing flight (multicopters, boats,etc.).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Param (Label)DescriptionValuesUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2 (Transition Heading)Front transition heading.VTOL_TRANSITION_HEADING
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          3Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          4 (Yaw Angle)Yaw angle. NaN to use the current system yaw heading mode (e.g. yaw towards next waypoint, yaw to home, etc.).deg
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          5 (Latitude)Latitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          6 (Longitude)Longitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          7 (Altitude)Altitudem

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_NAV_VTOL_LAND (85)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Land using VTOL mode

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Param (Label)DescriptionValuesUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1 (Land Options)Landing behaviour.NAV_VTOL_LAND_OPTIONS
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          3 (Approach Altitude)Approach altitude (with the same reference as the Altitude field). NaN if unspecified.m
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          4 (Yaw)Yaw angle. NaN to use the current system yaw heading mode (e.g. yaw towards next waypoint, yaw to home, etc.).deg
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          5 (Latitude)Latitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          6 (Longitude)Longitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          7 (Ground Altitude)Altitude (ground level) relative to the current coordinate frame. NaN to use system default landing altitude (ignore value).m

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_NAV_GUIDED_ENABLE (92)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          hand control over to an external controller

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1 (Enable)On / Off (> 0.5f on)min: 0 max: 1 inc: 1
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_NAV_DELAY (93)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Delay the next navigation command a number of seconds or until a specified time

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Param (Label)DescriptionValuesUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1 (Delay)Delay (-1 to enable time-of-day fields)min: -1 inc: 1s
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2 (Hour)hour (24h format, UTC, -1 to ignore)min: -1 max: 23 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          3 (Minute)minute (24h format, UTC, -1 to ignore)min: -1 max: 59 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          4 (Second)second (24h format, UTC, -1 to ignore)min: -1 max: 59 inc: 1
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_NAV_PAYLOAD_PLACE (94)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Descend and place payload. Vehicle moves to specified location, descends until it detects a hanging payload has reached the ground, and then releases the payload. If ground is not detected before the reaching the maximum descent value (param1), the command will complete without releasing the payload.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Param (Label)DescriptionValuesUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1 (Max Descent)Maximum distance to descend.min: 0m
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          5 (Latitude)Latitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          6 (Longitude)Longitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          7 (Altitude)Altitudem

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_NAV_LAST (95)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          NOP - This command is only used to mark the upper limit of the NAV/ACTION commands in the enumeration

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Param (Label)Description
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          3Empty
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          7Empty

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_CONDITION_DELAY (112)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Delay mission state machine.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Param (Label)DescriptionValuesUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1 (Delay)Delaymin: 0s
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2Empty
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_CONDITION_CHANGE_ALT (113)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Ascend/descend to target altitude at specified rate. Delay mission state machine until desired altitude reached.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Param (Label)DescriptionUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1 (Rate)Descent / Ascend rate.m/s
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          7 (Altitude)Target Altitudem

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_CONDITION_DISTANCE (114)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Delay mission state machine until within desired distance of next NAV point.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Param (Label)DescriptionValuesUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1 (Distance)Distance.min: 0m
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_CONDITION_YAW (115)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Reach a certain target angle.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Param (Label)DescriptionValuesUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1 (Angle)target angle [0-360]. Absolute angles: 0 is north. Relative angle: 0 is initial yaw. Direction set by param3.min: 0 max: 360deg
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2 (Angular Speed)angular speedmin: 0deg/s
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          3 (Direction)direction: -1: counter clockwise, 0: shortest direction, 1: clockwisemin: -1 max: 1 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          4 (Relative)0: absolute angle, 1: relative offsetmin: 0 max: 1 inc: 1
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_CONDITION_LAST (159)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          NOP - This command is only used to mark the upper limit of the CONDITION commands in the enumeration

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Param (Label)Description
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2Empty
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_DO_SET_MODE (176)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Set system mode.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1 (Mode)ModeMAV_MODE
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2 (Custom Mode)Custom mode - this is system specific, please refer to the individual autopilot specifications for details.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          3 (Custom Submode)Custom sub mode - this is system specific, please refer to the individual autopilot specifications for details.
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_DO_JUMP (177)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Jump to the desired command in the mission list. Repeat this action only the specified number of times

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1 (Number)Sequence numbermin: 0 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2 (Repeat)Repeat countmin: 0 inc: 1
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_DO_CHANGE_SPEED (178)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Change speed and/or throttle set points. The value persists until it is overridden or there is a mode change

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Param (Label)DescriptionValuesUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1 (Speed Type)Speed type of value set in param2 (such as airspeed, ground speed, and so on)SPEED_TYPE
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2 (Speed)Speed (-1 indicates no change, -2 indicates return to default vehicle speed)min: -2m/s
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          3 (Throttle)Throttle (-1 indicates no change, -2 indicates return to default vehicle throttle value)min: -2%
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          4
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          5
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          6
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          7

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_DO_SET_HOME (179)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Sets the home position to either to the current position or a specified position. The home position is the default position that the system will return to and land on. The position is set automatically by the system during the takeoff (and may also be set using this command). Note: the current home position may be emitted in a HOME_POSITION message on request (using MAV_CMD_REQUEST_MESSAGE with param1=242).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Param (Label)DescriptionValuesUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1 (Use Current)Use current (1=use current location, 0=use specified location)min: 0 max: 1 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2 (Roll)Roll angle (of surface). Range: -180..180 degrees. NAN or 0 means value not set. 0.01 indicates zero roll.min: -180 max: 180deg
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          3 (Pitch)Pitch angle (of surface). Range: -90..90 degrees. NAN or 0 means value not set. 0.01 means zero pitch.min: -90 max: 90deg
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          4 (Yaw)Yaw angle. NaN to use default heading. Range: -180..180 degrees.min: -180 max: 180deg
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          5 (Latitude)Latitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          6 (Longitude)Longitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          7 (Altitude)Altitudem

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_DO_SET_PARAMETER (180) — [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          DEPRECATED: Replaced By PARAM_SET (2024-04)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Set a system parameter. Caution! Use of this command requires knowledge of the numeric enumeration value of the parameter.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1 (Number)Parameter numbermin: 0 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2 (Value)Parameter value
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_DO_SET_RELAY (181)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Set a relay to a condition.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1 (Instance)Relay instance number.min: 0 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2 (Setting)Setting. (1=on, 0=off, others possible depending on system hardware)min: 0 inc: 1
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_DO_REPEAT_RELAY (182)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Cycle a relay on and off for a desired number of cycles with a desired period.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Param (Label)DescriptionValuesUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1 (Instance)Relay instance number.min: 0 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2 (Count)Cycle count.min: 1 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          3 (Time)Cycle time.min: 0s
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          4Empty
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_DO_SET_SERVO (183)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Set a servo to a desired PWM value.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Param (Label)DescriptionValuesUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1 (Instance)Servo instance number.min: 0 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2 (PWM)Pulse Width Modulation.min: 0 inc: 1us
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_DO_REPEAT_SERVO (184)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Cycle a between its nominal setting and a desired PWM for a desired number of cycles with a desired period.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Param (Label)DescriptionValuesUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1 (Instance)Servo instance number.min: 0 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2 (PWM)Pulse Width Modulation.min: 0 inc: 1us
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          3 (Count)Cycle count.min: 1 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          4 (Time)Cycle time.min: 0s
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_DO_FLIGHTTERMINATION (185)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Terminate flight immediately.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Flight termination immediately and irreversibly terminates the current flight, returning the vehicle to ground. The vehicle will ignore RC or other input until it has been power-cycled. Termination may trigger safety measures, including: disabling motors and deployment of parachute on multicopters, and setting flight surfaces to initiate a landing pattern on fixed-wing). On multicopters without a parachute it may trigger a crash landing. Support for this command can be tested using the protocol bit: MAV_PROTOCOL_CAPABILITY_FLIGHT_TERMINATION. Support for this command can also be tested by sending the command with param1=0 (< 0.5); the ACK should be either MAV_RESULT_FAILED or MAV_RESULT_UNSUPPORTED.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1 (Terminate)Flight termination activated if > 0.5. Otherwise not activated and ACK with MAV_RESULT_FAILED.min: 0 max: 1 inc: 1
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_DO_CHANGE_ALTITUDE (186)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Change altitude set point.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Param (Label)DescriptionValuesUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1 (Altitude)Altitude.m
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2 (Frame)Frame of new altitude.MAV_FRAME
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_DO_SET_ACTUATOR (187)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Sets actuators (e.g. servos) to a desired value. The actuator numbers are mapped to specific outputs (e.g. on any MAIN or AUX PWM or UAVCAN) using a flight-stack specific mechanism (i.e. a parameter).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1 (Actuator 1)Actuator 1 value, scaled from [-1 to 1]. NaN to ignore.min: -1 max: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2 (Actuator 2)Actuator 2 value, scaled from [-1 to 1]. NaN to ignore.min: -1 max: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          3 (Actuator 3)Actuator 3 value, scaled from [-1 to 1]. NaN to ignore.min: -1 max: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          4 (Actuator 4)Actuator 4 value, scaled from [-1 to 1]. NaN to ignore.min: -1 max: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          5 (Actuator 5)Actuator 5 value, scaled from [-1 to 1]. NaN to ignore.min: -1 max: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          6 (Actuator 6)Actuator 6 value, scaled from [-1 to 1]. NaN to ignore.min: -1 max: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          7 (Index)Index of actuator set (i.e if set to 1, Actuator 1 becomes Actuator 7)min: 0 inc: 1

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_DO_RETURN_PATH_START (188) — [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Mission item to specify the start of a failsafe/landing return-path segment (the end of the segment is the next MAV_CMD_DO_LAND_START item).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          A vehicle that is using missions for landing (e.g. in a return mode) will join the mission on the closest path of the return-path segment (instead of MAV_CMD_DO_LAND_START or the nearest waypoint). The main use case is to minimize the failsafe flight path in corridor missions, where the inbound/outbound paths are constrained (by geofences) to the same particular path. The MAV_CMD_NAV_RETURN_PATH_START would be placed at the start of the return path. If a failsafe occurs on the outbound path the vehicle will move to the nearest point on the return path (which is parallel for this kind of mission), effectively turning round and following the shortest path to landing. If a failsafe occurs on the inbound path the vehicle is already on the return segment and will continue to landing. The Latitude/Longitude/Altitude are optional, and may be set to 0 if not needed. If specified, the item defines the waypoint at which the return segment starts. If sent using as a command, the vehicle will perform a mission landing (using the land segment if defined) or reject the command if mission landings are not supported, or no mission landing is defined. When used as a command any position information in the command is ignored.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Param (Label)DescriptionUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          3Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          4Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          5 (Latitude)Latitudee. 0: not used.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          6 (Longitude)Longitudee. 0: not used.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          7 (Altitude)Altitudee. 0: not used.m

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_DO_LAND_START (189)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Mission command to perform a landing. This is used as a marker in a mission to tell the autopilot where a sequence of mission items that represents a landing starts.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          It may also be sent via a COMMAND_LONG to trigger a landing, in which case the nearest (geographically) landing sequence in the mission will be used. The Latitude/Longitude/Altitude is optional, and may be set to 0 if not needed. If specified then it will be used to help find the closest landing sequence.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Param (Label)DescriptionUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          3Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          4Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          5 (Latitude)Latitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          6 (Longitude)Longitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          7 (Altitude)Altitudem

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_DO_RALLY_LAND (190)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Mission command to perform a landing from a rally point.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Param (Label)DescriptionUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1 (Altitude)Break altitudem
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2 (Speed)Landing speedm/s
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_DO_GO_AROUND (191)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Mission command to safely abort an autonomous landing.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Param (Label)DescriptionUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1 (Altitude)Altitudem
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2Empty
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_DO_REPOSITION (192)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Reposition the vehicle to a specific WGS84 global position. This command is intended for guided commands (for missions use MAV_CMD_NAV_WAYPOINT instead).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Param (Label)DescriptionValuesUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1 (Speed)Ground speed, less than 0 (-1) for defaultmin: -1m/s
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2 (Bitmask)Bitmask of option flags.MAV_DO_REPOSITION_FLAGS
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          3 (Radius)Loiter radius for planes. Positive values only, direction is controlled by Yaw value. A value of zero or NaN is ignored.m
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          4 (Yaw)Yaw heading. NaN to use the current system yaw heading mode (e.g. yaw towards next waypoint, yaw to home, etc.). For planes indicates loiter direction (0: clockwise, 1: counter clockwise)deg
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          5 (Latitude)Latitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          6 (Longitude)Longitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          7 (Altitude)Altitudem

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_DO_PAUSE_CONTINUE (193)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          If in a GPS controlled position mode, hold the current position or continue.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1 (Continue)0: Pause current mission or reposition command, hold current position. 1: Continue mission. A VTOL capable vehicle should enter hover mode (multicopter and VTOL planes). A plane should loiter with the default loiter radius.min: 0 max: 1 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2Reserved
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          3Reserved
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          4Reserved
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          5Reserved
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          6Reserved
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          7Reserved

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_DO_SET_REVERSE (194)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Set moving direction to forward or reverse.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1 (Reverse)Direction (0=Forward, 1=Reverse)min: 0 max: 1 inc: 1
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_DO_SET_ROI_LOCATION (195)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Sets the region of interest (ROI) to a location. This can then be used by the vehicle's control system to control the vehicle attitude and the attitude of various sensors such as cameras. This command can be sent to a gimbal manager but not to a gimbal device. A gimbal is not to react to this message.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Param (Label)DescriptionUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1 (Gimbal device ID)Component ID of gimbal device to address (or 1-6 for non-MAVLink gimbal), 0 for all gimbal device components. Send command multiple times for more than one gimbal (but not all gimbals).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2Empty
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          5 (Latitude)Latitude of ROI locationdegE7
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          6 (Longitude)Longitude of ROI locationdegE7
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          7 (Altitude)Altitude of ROI locationm

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_DO_SET_ROI_WPNEXT_OFFSET (196)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Sets the region of interest (ROI) to be toward next waypoint, with optional pitch/roll/yaw offset. This can then be used by the vehicle's control system to control the vehicle attitude and the attitude of various sensors such as cameras. This command can be sent to a gimbal manager but not to a gimbal device. A gimbal device is not to react to this message.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Param (Label)DescriptionUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1 (Gimbal device ID)Component ID of gimbal device to address (or 1-6 for non-MAVLink gimbal), 0 for all gimbal device components. Send command multiple times for more than one gimbal (but not all gimbals).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2Empty
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          5 (Pitch Offset)Pitch offset from next waypoint, positive pitching updeg
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          6 (Roll Offset)Roll offset from next waypoint, positive rolling to the rightdeg
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          7 (Yaw Offset)Yaw offset from next waypoint, positive yawing to the rightdeg

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_DO_SET_ROI_NONE (197)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Cancels any previous ROI command returning the vehicle/sensors to default flight characteristics. This can then be used by the vehicle's control system to control the vehicle attitude and the attitude of various sensors such as cameras. This command can be sent to a gimbal manager but not to a gimbal device. A gimbal device is not to react to this message. After this command the gimbal manager should go back to manual input if available, and otherwise assume a neutral position.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Param (Label)Description
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1 (Gimbal device ID)Component ID of gimbal device to address (or 1-6 for non-MAVLink gimbal), 0 for all gimbal device components. Send command multiple times for more than one gimbal (but not all gimbals).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2Empty
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_DO_SET_ROI_SYSID (198)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Mount tracks system with specified system ID. Determination of target vehicle position may be done with GLOBAL_POSITION_INT or any other means. This command can be sent to a gimbal manager but not to a gimbal device. A gimbal device is not to react to this message.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1 (System ID)System IDmin: 1 max: 255 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2 (Gimbal device ID)Component ID of gimbal device to address (or 1-6 for non-MAVLink gimbal), 0 for all gimbal device components. Send command multiple times for more than one gimbal (but not all gimbals).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_DO_CONTROL_VIDEO (200)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Control onboard camera system.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Param (Label)DescriptionValuesUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1 (ID)Camera ID (-1 for all)min: -1 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2 (Transmission)Transmission: 0: disabled, 1: enabled compressed, 2: enabled rawmin: 0 max: 2 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          3 (Interval)Transmission mode: 0: video stream, >0: single images every n secondsmin: 0s
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          4 (Recording)Recording: 0: disabled, 1: enabled compressed, 2: enabled rawmin: 0 max: 2 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          5Empty
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_DO_SET_ROI (201) — [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          DEPRECATED: Replaced By MAVCMD_DO_SET_ROI* (2018-01)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Sets the region of interest (ROI) for a sensor set or the vehicle itself. This can then be used by the vehicle's control system to control the vehicle attitude and the attitude of various sensors such as cameras.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1 (ROI Mode)Region of interest mode.MAV_ROI
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2 (WP Index)Waypoint index/ target ID (depends on param 1).min: 0 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          3 (ROI Index)Region of interest index. (allows a vehicle to manage multiple ROI's)min: 0 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          4Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          5MAV_ROI_WPNEXT: pitch offset from next waypoint, MAV_ROI_LOCATION: latitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          6MAV_ROI_WPNEXT: roll offset from next waypoint, MAV_ROI_LOCATION: longitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          7MAV_ROI_WPNEXT: yaw offset from next waypoint, MAV_ROI_LOCATION: altitude

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_DO_DIGICAM_CONFIGURE (202)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Configure digital camera. This is a fallback message for systems that have not yet implemented PARAM_EXT_XXX messages and camera definition files (see https://mavlink.io/en/services/camera_def.html ).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Param (Label)DescriptionValuesUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1 (Mode)Modes: P, TV, AV, M, Etc.min: 0 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2 (Shutter Speed)Shutter speed: Divisor number for one second.min: 0 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          3 (Aperture)Aperture: F stop number.min: 0
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          4 (ISO)ISO number e.g. 80, 100, 200, Etc.min: 0 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          5 (Exposure)Exposure type enumerator.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          6 (Command Identity)Command Identity.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          7 (Engine Cut-off)Main engine cut-off time before camera trigger. (0 means no cut-off)min: 0 inc: 1ds

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_DO_DIGICAM_CONTROL (203)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Control digital camera. This is a fallback message for systems that have not yet implemented PARAM_EXT_XXX messages and camera definition files (see https://mavlink.io/en/services/camera_def.html ).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Param (Label)Description
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1 (Session Control)Session control e.g. show/hide lens
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2 (Zoom Absolute)Zoom's absolute position
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          3 (Zoom Relative)Zooming step value to offset zoom from the current position
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          4 (Focus)Focus Locking, Unlocking or Re-locking
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          5 (Shoot Command)Shooting Command
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          6 (Command Identity)Command Identity
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          7 (Shot ID)Test shot identifier. If set to 1, image will only be captured, but not counted towards internal frame count.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_DO_MOUNT_CONFIGURE (204) — [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          DEPRECATED: Replaced By MAV_CMD_DO_GIMBAL_MANAGER_CONFIGURE (2020-01) — This message has been superseded by MAV_CMD_DO_GIMBAL_MANAGER_CONFIGURE. The message can still be used to communicate with legacy gimbals implementing it.)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Mission command to configure a camera or antenna mount

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1 (Mode)Mount operation modeMAV_MOUNT_MODE
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2 (Stabilize Roll)stabilize roll? (1 = yes, 0 = no)min: 0 max: 1 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          3 (Stabilize Pitch)stabilize pitch? (1 = yes, 0 = no)min: 0 max: 1 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          4 (Stabilize Yaw)stabilize yaw? (1 = yes, 0 = no)min: 0 max: 1 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          5 (Roll Input Mode)roll input (0 = angle body frame, 1 = angular rate, 2 = angle absolute frame)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          6 (Pitch Input Mode)pitch input (0 = angle body frame, 1 = angular rate, 2 = angle absolute frame)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          7 (Yaw Input Mode)yaw input (0 = angle body frame, 1 = angular rate, 2 = angle absolute frame)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_DO_MOUNT_CONTROL (205) — [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          DEPRECATED: Replaced By MAV_CMD_DO_GIMBAL_MANAGER_PITCHYAW (2020-01) — This message is ambiguous and inconsistent. It has been superseded by MAV_CMD_DO_GIMBAL_MANAGER_PITCHYAW and MAVCMD_DO_SET_ROI* variants. The message can still be used to communicate with legacy gimbals implementing it.)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Mission command to control a camera or antenna mount

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Param (Label)DescriptionValuesUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1 (Pitch)pitch depending on mount mode (degrees or degrees/second depending on pitch input).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2 (Roll)roll depending on mount mode (degrees or degrees/second depending on roll input).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          3 (Yaw)yaw depending on mount mode (degrees or degrees/second depending on yaw input).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          4 (Altitude)altitude depending on mount mode.m
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          5 (Latitude)latitude, set if appropriate mount mode.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          6 (Longitude)longitude, set if appropriate mount mode.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          7 (Mode)Mount mode.MAV_MOUNT_MODE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_DO_SET_CAM_TRIGG_DIST (206)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Mission command to set camera trigger distance for this flight. The camera is triggered each time this distance is exceeded. This command can also be used to set the shutter integration time for the camera.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Param (Label)DescriptionValuesUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1 (Distance)Camera trigger distance. 0 to stop triggering.min: 0m
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2 (Shutter)Camera shutter integration time. -1 or 0 to ignoremin: -1 inc: 1ms
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          3 (Trigger)Trigger camera once immediately. (0 = no trigger, 1 = trigger)min: 0 max: 1 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          4 (Target Camera ID)Target camera ID. 7 to 255: MAVLink camera component id. 1 to 6 for cameras attached to the autopilot, which don't have a distinct component id. 0: all cameras. This is used to target specific autopilot-connected cameras. It is also used to target specific cameras when the MAV_CMD is used in a mission.min: 0 max: 255 inc: 1
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_DO_FENCE_ENABLE (207)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Enable the geofence. This can be used in a mission or via the command protocol. The persistence/lifetime of the setting is undefined. Depending on flight stack implementation it may persist until superseded, or it may revert to a system default at the end of a mission. Flight stacks typically reset the setting to system defaults on reboot.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1 (Enable)enable? (0=disable, 1=enable, 2=disable_floor_only)min: 0 max: 2 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2 (Types)Fence types to enable or disable as a bitmask. A value of 0 indicates that all fences should be enabled or disabled. This parameter is ignored if param 1 has the value 2FENCE_TYPE
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_DO_PARACHUTE (208)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Mission item/command to release a parachute or enable/disable auto release.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1 (Action)ActionPARACHUTE_ACTION
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_DO_MOTOR_TEST (209)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Command to perform motor test.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Param (Label)DescriptionValuesUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1 (Instance)Motor instance number (from 1 to max number of motors on the vehicle).min: 1 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2 (Throttle Type)Throttle type (whether the Throttle Value in param3 is a percentage, PWM value, etc.)MOTOR_TEST_THROTTLE_TYPE
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          3 (Throttle)Throttle value.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          4 (Timeout)Timeout between tests that are run in sequence.min: 0s
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          5 (Motor Count)Motor count. Number of motors to test in sequence: 0/1=one motor, 2= two motors, etc. The Timeout (param4) is used between tests.min: 0 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          6 (Test Order)Motor test order.MOTOR_TEST_ORDER
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_DO_INVERTED_FLIGHT (210)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Change to/from inverted flight.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1 (Inverted)Inverted flight. (0=normal, 1=inverted)min: 0 max: 1 inc: 1
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_DO_GRIPPER (211)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Mission command to operate a gripper.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1 (Instance)Gripper instance number.min: 1 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2 (Action)Gripper action to perform.GRIPPER_ACTIONS
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_DO_AUTOTUNE_ENABLE (212)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Enable/disable autotune.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1 (Enable)Enable (1: enable, 0:disable).min: 0 max: 1 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2 (Axis)Specify which axis are autotuned. 0 indicates autopilot default settings.AUTOTUNE_AXIS
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_NAV_SET_YAW_SPEED (213)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Sets a desired vehicle turn angle and speed change.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Param (Label)DescriptionValuesUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1 (Yaw)Yaw angle to adjust steering by.deg
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2 (Speed)Speed.m/s
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          3 (Angle)Final angle. (0=absolute, 1=relative)min: 0 max: 1 inc: 1
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_DO_SET_CAM_TRIGG_INTERVAL (214)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Mission command to set camera trigger interval for this flight. If triggering is enabled, the camera is triggered each time this interval expires. This command can also be used to set the shutter integration time for the camera.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Param (Label)DescriptionValuesUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1 (Trigger Cycle)Camera trigger cycle time. -1 or 0 to ignore.min: -1 inc: 1ms
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2 (Shutter Integration)Camera shutter integration time. Should be less than trigger cycle time. -1 or 0 to ignore.min: -1 inc: 1ms
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          3 (Target Camera ID)Target camera ID. 7 to 255: MAVLink camera component id. 1 to 6 for cameras attached to the autopilot, which don't have a distinct component id. 0: all cameras. This is used to target specific autopilot-connected cameras. It is also used to target specific cameras when the MAV_CMD is used in a mission.min: 0 max: 255 inc: 1
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_DO_MOUNT_CONTROL_QUAT (220) — [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          DEPRECATED: Replaced By MAV_CMD_DO_GIMBAL_MANAGER_PITCHYAW (2020-01)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Mission command to control a camera or antenna mount, using a quaternion as reference.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Param (Label)Description
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1 (Q1)quaternion param q1, w (1 in null-rotation)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2 (Q2)quaternion param q2, x (0 in null-rotation)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          3 (Q3)quaternion param q3, y (0 in null-rotation)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          4 (Q4)quaternion param q4, z (0 in null-rotation)
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_DO_GUIDED_MASTER (221)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          set id of master controller

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1 (System ID)System IDmin: 0 max: 255 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2 (Component ID)Component IDmin: 0 max: 255 inc: 1
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_DO_GUIDED_LIMITS (222)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Set limits for external control

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Param (Label)DescriptionValuesUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1 (Timeout)Timeout - maximum time that external controller will be allowed to control vehicle. 0 means no timeout.min: 0s
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2 (Min Altitude)Altitude (MSL) min - if vehicle moves below this alt, the command will be aborted and the mission will continue. 0 means no lower altitude limit.m
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          3 (Max Altitude)Altitude (MSL) max - if vehicle moves above this alt, the command will be aborted and the mission will continue. 0 means no upper altitude limit.m
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          4 (Horiz. Move Limit)Horizontal move limit - if vehicle moves more than this distance from its location at the moment the command was executed, the command will be aborted and the mission will continue. 0 means no horizontal move limit.min: 0m
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_DO_ENGINE_CONTROL (223)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Control vehicle engine. This is interpreted by the vehicles engine controller to change the target engine state. It is intended for vehicles with internal combustion engines

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Param (Label)DescriptionValuesUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1 (Start Engine)0: Stop engine, 1:Start Enginemin: 0 max: 1 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2 (Cold Start)0: Warm start, 1:Cold start. Controls use of choke where applicablemin: 0 max: 1 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          3 (Height Delay)Height delay. This is for commanding engine start only after the vehicle has gained the specified height. Used in VTOL vehicles during takeoff to start engine after the aircraft is off the ground. Zero for no delay.min: 0m
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_DO_SET_MISSION_CURRENT (224)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Set the mission item with sequence number seq as the current item and emit MISSION_CURRENT (whether or not the mission number changed). If a mission is currently being executed, the system will continue to this new mission item on the shortest path, skipping any intermediate mission items. Note that mission jump repeat counters are not reset unless param2 is set (see MAV_CMD_DO_JUMP param2).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          This command may trigger a mission state-machine change on some systems: for example from MISSION_STATE_NOT_STARTED or MISSION_STATE_PAUSED to MISSION_STATE_ACTIVE. If the system is in mission mode, on those systems this command might therefore start, restart or resume the mission. If the system is not in mission mode this command must not trigger a switch to mission mode.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          The mission may be "reset" using param2. Resetting sets jump counters to initial values (to reset counters without changing the current mission item set the param1 to -1). Resetting also explicitly changes a mission state of MISSION_STATE_COMPLETE to MISSION_STATE_PAUSED or MISSION_STATE_ACTIVE, potentially allowing it to resume when it is (next) in a mission mode.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          The command will ACK with MAV_RESULT_FAILED if the sequence number is out of range (including if there is no mission item).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1 (Number)Mission sequence value to set. -1 for the current mission item (use to reset mission without changing current mission item).min: -1 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2 (Reset Mission)Resets mission. 1: true, 0: false. Resets jump counters to initial values and changes mission state "completed" to be "active" or "paused".min: 0 max: 1 inc: 1
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_DO_LAST (240)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          NOP - This command is only used to mark the upper limit of the DO commands in the enumeration

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Param (Label)Description
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_PREFLIGHT_CALIBRATION (241)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Trigger calibration. This command will be only accepted if in pre-flight mode. Except for Temperature Calibration, only one sensor should be set in a single message and all others should be zero.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1 (Gyro Temperature)1: gyro calibration, 3: gyro temperature calibrationmin: 0 max: 3 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2 (Magnetometer)1: magnetometer calibrationmin: 0 max: 1 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          3 (Ground Pressure)1: ground pressure calibrationmin: 0 max: 1 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          4 (Remote Control)1: radio RC calibration, 2: RC trim calibrationmin: 0 max: 1 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          5 (Accelerometer)1: accelerometer calibration, 2: board level calibration, 3: accelerometer temperature calibration, 4: simple accelerometer calibrationmin: 0 max: 4 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          6 (Compmot or Airspeed)1: APM: compass/motor interference calibration (PX4: airspeed calibration, deprecated), 2: airspeed calibrationmin: 0 max: 2 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          7 (ESC or Baro)1: ESC calibration, 3: barometer temperature calibrationmin: 0 max: 3 inc: 1

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_PREFLIGHT_SET_SENSOR_OFFSETS (242)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Set sensor offsets. This command will be only accepted if in pre-flight mode.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1 (Sensor Type)Sensor to adjust the offsets for: 0: gyros, 1: accelerometer, 2: magnetometer, 3: barometer, 4: optical flow, 5: second magnetometer, 6: third magnetometermin: 0 max: 6 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2 (X Offset)X axis offset (or generic dimension 1), in the sensor's raw units
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          3 (Y Offset)Y axis offset (or generic dimension 2), in the sensor's raw units
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          4 (Z Offset)Z axis offset (or generic dimension 3), in the sensor's raw units
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          5 (4th Dimension)Generic dimension 4, in the sensor's raw units
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          6 (5th Dimension)Generic dimension 5, in the sensor's raw units
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          7 (6th Dimension)Generic dimension 6, in the sensor's raw units

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_PREFLIGHT_UAVCAN (243)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Trigger UAVCAN configuration (actuator ID assignment and direction mapping). Note that this maps to the legacy UAVCAN v0 function UAVCAN_ENUMERATE, which is intended to be executed just once during initial vehicle configuration (it is not a normal pre-flight command and has been poorly named).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Param (Label)Description
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1 (Actuator ID)1: Trigger actuator ID assignment and direction mapping. 0: Cancel command.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2Reserved
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          3Reserved
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          4Reserved
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          5Reserved
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          6Reserved
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          7Reserved

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_PREFLIGHT_STORAGE (245)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Request storage of different parameter values and logs. This command will be only accepted if in pre-flight mode.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Param (Label)DescriptionValuesUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1 (Parameter Storage)Action to perform on the persistent parameter storagePREFLIGHT_STORAGE_PARAMETER_ACTION
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2 (Mission Storage)Action to perform on the persistent mission storagePREFLIGHT_STORAGE_MISSION_ACTION
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          3 (Logging Rate)Onboard logging: 0: Ignore, 1: Start default rate logging, -1: Stop logging, > 1: logging rate (e.g. set to 1000 for 1000 Hz logging)min: -1 inc: 1Hz
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          4Reserved
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          5Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          6Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          7Empty

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN (246)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Request the reboot or shutdown of system components.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1 (Autopilot)0: Do nothing for autopilot, 1: Reboot autopilot, 2: Shutdown autopilot, 3: Reboot autopilot and keep it in the bootloader until upgraded.min: 0 max: 3 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2 (Companion)0: Do nothing for onboard computer, 1: Reboot onboard computer, 2: Shutdown onboard computer, 3: Reboot onboard computer and keep it in the bootloader until upgraded.min: 0 max: 3 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          3 (Component action)0: Do nothing for component, 1: Reboot component, 2: Shutdown component, 3: Reboot component and keep it in the bootloader until upgradedmin: 0 max: 3 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          4 (Component ID)MAVLink Component ID targeted in param3 (0 for all components).min: 0 max: 255 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          5Reserved (set to 0)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          6Reserved (set to 0)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          7WIP: ID (e.g. camera ID -1 for all IDs)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_OVERRIDE_GOTO (252)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Override current mission with command to pause mission, pause mission and move to position, continue/resume mission. When param 1 indicates that the mission is paused (MAV_GOTO_DO_HOLD), param 2 defines whether it holds in place or moves to another position.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Param (Label)DescriptionValuesUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1 (Continue)MAV_GOTO_DO_HOLD: pause mission and either hold or move to specified position (depending on param2), MAV_GOTO_DO_CONTINUE: resume mission.MAV_GOTO
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2 (Position)MAV_GOTO_HOLD_AT_CURRENT_POSITION: hold at current position, MAV_GOTO_HOLD_AT_SPECIFIED_POSITION: hold at specified position.MAV_GOTO
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          3 (Frame)Coordinate frame of hold point.MAV_FRAME
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          4 (Yaw)Desired yaw angle.deg
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          5 (Latitude/X)Latitude/X position.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          6 (Longitude/Y)Longitude/Y position.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          7 (Altitude/Z)Altitude/Z position.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_OBLIQUE_SURVEY (260)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Mission command to set a Camera Auto Mount Pivoting Oblique Survey (Replaces CAM_TRIGG_DIST for this purpose). The camera is triggered each time this distance is exceeded, then the mount moves to the next position. Params 4~6 set-up the angle limits and number of positions for oblique survey, where mount-enabled vehicles automatically roll the camera between shots to emulate an oblique camera setup (providing an increased HFOV). This command can also be used to set the shutter integration time for the camera.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Param (Label)DescriptionValuesUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1 (Distance)Camera trigger distance. 0 to stop triggering.min: 0m
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2 (Shutter)Camera shutter integration time. 0 to ignoremin: 0 inc: 1ms
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          3 (Min Interval)The minimum interval in which the camera is capable of taking subsequent pictures repeatedly. 0 to ignore.min: 0 max: 10000 inc: 1ms
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          4 (Positions)Total number of roll positions at which the camera will capture photos (images captures spread evenly across the limits defined by param5).min: 2 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          5 (Roll Angle)Angle limits that the camera can be rolled to left and right of center.min: 0deg
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          6 (Pitch Angle)Fixed pitch angle that the camera will hold in oblique mode if the mount is actuated in the pitch axis.min: -180 max: 180deg
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          7Empty

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_MISSION_START (300)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          start running a mission

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1 (First Item)first_item: the first mission item to runmin: 0 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2 (Last Item)last_item: the last mission item to run (after this item is run, the mission ends)min: 0 inc: 1

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_ACTUATOR_TEST (310)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Actuator testing command. This is similar to MAV_CMD_DO_MOTOR_TEST but operates on the level of output functions, i.e. it is possible to test Motor1 independent from which output it is configured on. Autopilots typically refuse this command while armed.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Param (Label)DescriptionValuesUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1 (Value)Output value: 1 means maximum positive output, 0 to center servos or minimum motor thrust (expected to spin), -1 for maximum negative (if not supported by the motors, i.e. motor is not reversible, smaller than 0 maps to NaN). And NaN maps to disarmed (stop the motors).min: -1 max: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2 (Timeout)Timeout after which the test command expires and the output is restored to the previous value. A timeout has to be set for safety reasons. A timeout of 0 means to restore the previous value immediately.min: 0 max: 3s
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          3
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          4
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          5 (Output Function)Actuator Output functionACTUATOR_OUTPUT_FUNCTION
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          6
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          7

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_CONFIGURE_ACTUATOR (311)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Actuator configuration command.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1 (Configuration)Actuator configuration actionACTUATOR_CONFIGURATION
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          3
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          4
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          5 (Output Function)Actuator Output functionACTUATOR_OUTPUT_FUNCTION
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          6
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          7

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_COMPONENT_ARM_DISARM (400)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Arms / Disarms a component

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1 (Arm)0: disarm, 1: armmin: 0 max: 1 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2 (Force)0: arm-disarm unless prevented by safety checks (i.e. when landed), 21196: force arming/disarming (e.g. allow arming to override preflight checks and disarming in flight)min: 0 max: 21196 inc: 21196

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_RUN_PREARM_CHECKS (401)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Instructs a target system to run pre-arm checks.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          This allows preflight checks to be run on demand, which may be useful on systems that normally run them at low rate, or which do not trigger checks when the armable state might have changed. This command should return MAV_RESULT_ACCEPTED if it will run the checks. The results of the checks are usually then reported in SYS_STATUS messages (this is system-specific). The command should return MAV_RESULT_TEMPORARILY_REJECTED if the system is already armed.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Param (Label)Description

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_ILLUMINATOR_ON_OFF (405)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Turns illuminators ON/OFF. An illuminator is a light source that is used for lighting up dark areas external to the system: e.g. a torch or searchlight (as opposed to a light source for illuminating the system itself, e.g. an indicator light).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1 (Enable)0: Illuminators OFF, 1: Illuminators ONmin: 0 max: 1 inc: 1

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_DO_ILLUMINATOR_CONFIGURE (406)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Configures illuminator settings. An illuminator is a light source that is used for lighting up dark areas external to the system: e.g. a torch or searchlight (as opposed to a light source for illuminating the system itself, e.g. an indicator light).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Param (Label)DescriptionValuesUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1 (Mode)ModeILLUMINATOR_MODE
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2 (Brightness)0%: Off, 100%: Max Brightnessmin: 0 max: 100%
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          3 (Strobe Period)Strobe period in seconds where 0 means strobing is not usedmin: 0s
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          4 (Strobe Duty)Strobe duty cycle where 100% means it is on constantly and 0 means strobing is not usedmin: 0 max: 100%

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_GET_HOME_POSITION (410) — [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          DEPRECATED: Replaced By MAV_CMD_REQUEST_MESSAGE (2022-04)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Request the home position from the vehicle.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          The vehicle will ACK the command and then emit the HOME_POSITION message.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Param (Label)Description
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1Reserved
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2Reserved
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          3Reserved
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          4Reserved
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          5Reserved
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          6Reserved
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          7Reserved

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_INJECT_FAILURE (420)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Inject artificial failure for testing purposes. Note that autopilots should implement an additional protection before accepting this command such as a specific param setting.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1 (Failure unit)The unit which is affected by the failure.FAILURE_UNIT
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2 (Failure type)The type how the failure manifests itself.FAILURE_TYPE
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          3 (Instance)Instance affected by failure (0 to signal all).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_START_RX_PAIR (500)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Starts receiver pairing.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1 (Spektrum)0:Spektrum.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2 (RC Type)RC type.RC_TYPE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_GET_MESSAGE_INTERVAL (510) — [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          DEPRECATED: Replaced By MAV_CMD_REQUEST_MESSAGE (2022-04)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Request the interval between messages for a particular MAVLink message ID. The receiver should ACK the command and then emit its response in a MESSAGE_INTERVAL message.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1 (Message ID)The MAVLink message IDmin: 0 max: 16777215 inc: 1

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_SET_MESSAGE_INTERVAL (511)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Set the interval between messages for a particular MAVLink message ID. This interface replaces REQUEST_DATA_STREAM.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Param (Label)DescriptionValuesUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1 (Message ID)The MAVLink message IDmin: 0 max: 16777215 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2 (Interval)The interval between two messages. -1: disable. 0: request default rate (which may be zero).min: -1 inc: 1us
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          3 (Req Param 3)Use for index ID, if required. Otherwise, the use of this parameter (if any) must be defined in the requested message. By default assumed not used (0).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          4 (Req Param 4)The use of this parameter (if any), must be defined in the requested message. By default assumed not used (0).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          5 (Req Param 5)The use of this parameter (if any), must be defined in the requested message. By default assumed not used (0).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          6 (Req Param 6)The use of this parameter (if any), must be defined in the requested message. By default assumed not used (0).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          7 (Response Target)Target address of message stream (if message has target address fields). 0: Flight-stack default (recommended), 1: address of requestor, 2: broadcast.min: 0 max: 2 inc: 1

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_REQUEST_MESSAGE (512)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Request the target system(s) emit a single instance of a specified message (i.e. a "one-shot" version of MAV_CMD_SET_MESSAGE_INTERVAL).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1 (Message ID)The MAVLink message ID of the requested message.min: 0 max: 16777215 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2 (Req Param 1)Use for index ID, if required. Otherwise, the use of this parameter (if any) must be defined in the requested message. By default assumed not used (0).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          3 (Req Param 2)The use of this parameter (if any), must be defined in the requested message. By default assumed not used (0).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          4 (Req Param 3)The use of this parameter (if any), must be defined in the requested message. By default assumed not used (0).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          5 (Req Param 4)The use of this parameter (if any), must be defined in the requested message. By default assumed not used (0).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          6 (Req Param 5)The use of this parameter (if any), must be defined in the requested message. By default assumed not used (0).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          7 (Response Target)Target address for requested message (if message has target address fields). 0: Flight-stack default, 1: address of requestor, 2: broadcast.min: 0 max: 2 inc: 1

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_REQUEST_PROTOCOL_VERSION (519) — [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          DEPRECATED: Replaced By MAV_CMD_REQUEST_MESSAGE (2019-08)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Request MAVLink protocol version compatibility. All receivers should ACK the command and then emit their capabilities in an PROTOCOL_VERSION message

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1 (Protocol)1: Request supported protocol versions by all nodes on the networkmin: 0 max: 1 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2Reserved (all remaining params)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_REQUEST_AUTOPILOT_CAPABILITIES (520) — [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          DEPRECATED: Replaced By MAV_CMD_REQUEST_MESSAGE (2019-08)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Request autopilot capabilities. The receiver should ACK the command and then emit its capabilities in an AUTOPILOT_VERSION message

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1 (Version)1: Request autopilot versionmin: 0 max: 1 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2Reserved (all remaining params)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_REQUEST_CAMERA_INFORMATION (521) — [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          DEPRECATED: Replaced By MAV_CMD_REQUEST_MESSAGE (2019-08)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Request camera information (CAMERA_INFORMATION).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1 (Capabilities)0: No action 1: Request camera capabilitiesmin: 0 max: 1 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2Reserved (all remaining params)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_REQUEST_CAMERA_SETTINGS (522) — [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          DEPRECATED: Replaced By MAV_CMD_REQUEST_MESSAGE (2019-08)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Request camera settings (CAMERA_SETTINGS).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1 (Settings)0: No Action 1: Request camera settingsmin: 0 max: 1 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2Reserved (all remaining params)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_REQUEST_STORAGE_INFORMATION (525) — [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          DEPRECATED: Replaced By MAV_CMD_REQUEST_MESSAGE (2019-08)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Request storage information (STORAGE_INFORMATION). Use the command's target_component to target a specific component's storage.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1 (Storage ID)Storage ID (0 for all, 1 for first, 2 for second, etc.)min: 0 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2 (Information)0: No Action 1: Request storage informationmin: 0 max: 1 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          3Reserved (all remaining params)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_STORAGE_FORMAT (526)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Format a storage medium. Once format is complete, a STORAGE_INFORMATION message is sent. Use the command's target_component to target a specific component's storage.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1 (Storage ID)Storage ID (1 for first, 2 for second, etc.)min: 0 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2 (Format)Format storage (and reset image log). 0: No action 1: Format storagemin: 0 max: 1 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          3 (Reset Image Log)Reset Image Log (without formatting storage medium). This will reset CAMERA_CAPTURE_STATUS.image_count and CAMERA_IMAGE_CAPTURED.image_index. 0: No action 1: Reset Image Logmin: 0 max: 1 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          4Reserved (all remaining params)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_REQUEST_CAMERA_CAPTURE_STATUS (527) — [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          DEPRECATED: Replaced By MAV_CMD_REQUEST_MESSAGE (2019-08)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Request camera capture status (CAMERA_CAPTURE_STATUS)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1 (Capture Status)0: No Action 1: Request camera capture statusmin: 0 max: 1 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2Reserved (all remaining params)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_REQUEST_FLIGHT_INFORMATION (528) — [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          DEPRECATED: Replaced By MAV_CMD_REQUEST_MESSAGE (2019-08)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Request flight information (FLIGHT_INFORMATION)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1 (Flight Information)1: Request flight informationmin: 0 max: 1 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2Reserved (all remaining params)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_RESET_CAMERA_SETTINGS (529)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Reset all camera settings to Factory Default

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1 (Reset)0: No Action 1: Reset all settingsmin: 0 max: 1 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2 (Target Camera ID)Target camera ID. 7 to 255: MAVLink camera component id. 1 to 6 for cameras attached to the autopilot, which don't have a distinct component id. 0: all cameras. This is used to target specific autopilot-connected cameras. It is also used to target specific cameras when the MAV_CMD is used in a mission.min: 0 max: 255 inc: 1

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_SET_CAMERA_MODE (530)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Set camera running mode. Use NaN for reserved values. GCS will send a MAV_CMD_REQUEST_VIDEO_STREAM_STATUS command after a mode change if the camera supports video streaming.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1 (id)Target camera ID. 7 to 255: MAVLink camera component id. 1 to 6 for cameras attached to the autopilot, which don't have a distinct component id. 0: all cameras. This is used to target specific autopilot-connected cameras. It is also used to target specific cameras when the MAV_CMD is used in a mission.min: 0 max: 255 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2 (Camera Mode)Camera modeCAMERA_MODE
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_SET_CAMERA_ZOOM (531)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Set camera zoom. Camera must respond with a CAMERA_SETTINGS message (on success).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1 (Zoom Type)Zoom typeCAMERA_ZOOM_TYPE
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2 (Zoom Value)Zoom value. The range of valid values depend on the zoom type.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          3 (Target Camera ID)Target camera ID. 7 to 255: MAVLink camera component id. 1 to 6 for cameras attached to the autopilot, which don't have a distinct component id. 0: all cameras. This is used to target specific autopilot-connected cameras. It is also used to target specific cameras when the MAV_CMD is used in a mission.min: 0 max: 255 inc: 1
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_SET_CAMERA_FOCUS (532)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Set camera focus. Camera must respond with a CAMERA_SETTINGS message (on success).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1 (Focus Type)Focus typeSET_FOCUS_TYPE
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2 (Focus Value)Focus value
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          3 (Target Camera ID)Target camera ID. 7 to 255: MAVLink camera component id. 1 to 6 for cameras attached to the autopilot, which don't have a distinct component id. 0: all cameras. This is used to target specific autopilot-connected cameras. It is also used to target specific cameras when the MAV_CMD is used in a mission.min: 0 max: 255 inc: 1
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_SET_STORAGE_USAGE (533)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Set that a particular storage is the preferred location for saving photos, videos, and/or other media (e.g. to set that an SD card is used for storing videos).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          There can only be one preferred save location for each particular media type: setting a media usage flag will clear/reset that same flag if set on any other storage. If no flag is set the system should use its default storage. A target system can choose to always use default storage, in which case it should ACK the command with MAV_RESULT_UNSUPPORTED. A target system can choose to not allow a particular storage to be set as preferred storage, in which case it should ACK the command with MAV_RESULT_DENIED.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1 (Storage ID)Storage ID (1 for first, 2 for second, etc.)min: 0 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2 (Usage)Usage flagsSTORAGE_USAGE_FLAG

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_SET_CAMERA_SOURCE (534)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Set camera source. Changes the camera's active sources on cameras with multiple image sensors.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1 (device id)Component Id of camera to address or 1-6 for non-MAVLink cameras, 0 for all cameras.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2 (primary source)Primary SourceCAMERA_SOURCE
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          3 (secondary source)Secondary Source. If non-zero the second source will be displayed as picture-in-picture.CAMERA_SOURCE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_JUMP_TAG (600)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Tagged jump target. Can be jumped to with MAV_CMD_DO_JUMP_TAG.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1 (Tag)Tag.min: 0 inc: 1

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_DO_JUMP_TAG (601)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Jump to the matching tag in the mission list. Repeat this action for the specified number of times. A mission should contain a single matching tag for each jump. If this is not the case then a jump to a missing tag should complete the mission, and a jump where there are multiple matching tags should always select the one with the lowest mission sequence number.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1 (Tag)Target tag to jump to.min: 0 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2 (Repeat)Repeat count.min: 0 inc: 1

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_DO_GIMBAL_MANAGER_PITCHYAW (1000)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Set gimbal manager pitch/yaw setpoints (low rate command). It is possible to set combinations of the values below. E.g. an angle as well as a desired angular rate can be used to get to this angle at a certain angular rate, or an angular rate only will result in continuous turning. NaN is to be used to signal unset. Note: only the gimbal manager will react to this command - it will be ignored by a gimbal device. Use GIMBAL_MANAGER_SET_PITCHYAW if you need to stream pitch/yaw setpoints at higher rate.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Param (Label)DescriptionValuesUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1 (Pitch angle)Pitch angle (positive to pitch up, relative to vehicle for FOLLOW mode, relative to world horizon for LOCK mode).min: -180 max: 180deg
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2 (Yaw angle)Yaw angle (positive to yaw to the right, relative to vehicle for FOLLOW mode, absolute to North for LOCK mode).min: -180 max: 180deg
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          3 (Pitch rate)Pitch rate (positive to pitch up).deg/s
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          4 (Yaw rate)Yaw rate (positive to yaw to the right).deg/s
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          5 (Gimbal manager flags)Gimbal manager flags to use.GIMBAL_MANAGER_FLAGS
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          7 (Gimbal device ID)Component ID of gimbal device to address (or 1-6 for non-MAVLink gimbal), 0 for all gimbal device components. Send command multiple times for more than one gimbal (but not all gimbals).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_DO_GIMBAL_MANAGER_CONFIGURE (1001)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Gimbal configuration to set which sysid/compid is in primary and secondary control.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Param (Label)Description
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1 (sysid primary control)Sysid for primary control (0: no one in control, -1: leave unchanged, -2: set itself in control (for missions where the own sysid is still unknown), -3: remove control if currently in control).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2 (compid primary control)Compid for primary control (0: no one in control, -1: leave unchanged, -2: set itself in control (for missions where the own sysid is still unknown), -3: remove control if currently in control).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          3 (sysid secondary control)Sysid for secondary control (0: no one in control, -1: leave unchanged, -2: set itself in control (for missions where the own sysid is still unknown), -3: remove control if currently in control).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          4 (compid secondary control)Compid for secondary control (0: no one in control, -1: leave unchanged, -2: set itself in control (for missions where the own sysid is still unknown), -3: remove control if currently in control).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          7 (Gimbal device ID)Component ID of gimbal device to address (or 1-6 for non-MAVLink gimbal), 0 for all gimbal device components. Send command multiple times for more than one gimbal (but not all gimbals).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_IMAGE_START_CAPTURE (2000)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Start image capture sequence. CAMERA_IMAGE_CAPTURED must be emitted after each capture.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Param1 (id) may be used to specify the target camera: 0: all cameras, 1 to 6: autopilot-connected cameras, 7-255: MAVLink camera component ID. It is needed in order to target specific cameras connected to the autopilot, or specific sensors in a multi-sensor camera (neither of which have a distinct MAVLink component ID). It is also needed to specify the target camera in missions.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          When used in a mission, an autopilot should execute the MAV_CMD for a specified local camera (param1 = 1-6), or resend it as a command if it is intended for a MAVLink camera (param1 = 7 - 255), setting the command's target_component as the param1 value (and setting param1 in the command to zero). If the param1 is 0 the autopilot should do both.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          When sent in a command the target MAVLink address is set using target_component. If addressed specifically to an autopilot: param1 should be used in the same way as it is for missions (though command should NACK with MAV_RESULT_DENIED if a specified local camera does not exist). If addressed to a MAVLink camera, param 1 can be used to address all cameras (0), or to separately address 1 to 7 individual sensors. Other values should be NACKed with MAV_RESULT_DENIED. If the command is broadcast (target_component is 0) then param 1 should be set to 0 (any other value should be NACKED with MAV_RESULT_DENIED). An autopilot would trigger any local cameras and forward the command to all channels.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Param (Label)DescriptionValuesUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1 (Target Camera ID)Target camera ID. 7 to 255: MAVLink camera component id. 1 to 6 for cameras attached to the autopilot, which don't have a distinct component id. 0: all cameras. This is used to target specific autopilot-connected cameras. It is also used to target specific cameras when the MAV_CMD is used in a mission.min: 0 max: 255 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2 (Interval)Desired elapsed time between two consecutive pictures (in seconds). Minimum values depend on hardware (typically greater than 2 seconds).min: 0s
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          3 (Total Images)Total number of images to capture. 0 to capture forever/until MAV_CMD_IMAGE_STOP_CAPTURE.min: 0 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          4 (Sequence Number)Capture sequence number starting from 1. This is only valid for single-capture (param3 == 1), otherwise set to 0. Increment the capture ID for each capture command to prevent double captures when a command is re-transmitted.min: 1 inc: 1
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_IMAGE_STOP_CAPTURE (2001)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Stop image capture sequence.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Param1 (id) may be used to specify the target camera: 0: all cameras, 1 to 6: autopilot-connected cameras, 7-255: MAVLink camera component ID. It is needed in order to target specific cameras connected to the autopilot, or specific sensors in a multi-sensor camera (neither of which have a distinct MAVLink component ID). It is also needed to specify the target camera in missions.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          When used in a mission, an autopilot should execute the MAV_CMD for a specified local camera (param1 = 1-6), or resend it as a command if it is intended for a MAVLink camera (param1 = 7 - 255), setting the command's target_component as the param1 value (and setting param1 in the command to zero). If the param1 is 0 the autopilot should do both.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          When sent in a command the target MAVLink address is set using target_component. If addressed specifically to an autopilot: param1 should be used in the same way as it is for missions (though command should NACK with MAV_RESULT_DENIED if a specified local camera does not exist). If addressed to a MAVLink camera, param1 can be used to address all cameras (0), or to separately address 1 to 7 individual sensors. Other values should be NACKed with MAV_RESULT_DENIED. If the command is broadcast (target_component is 0) then param 1 should be set to 0 (any other value should be NACKED with MAV_RESULT_DENIED). An autopilot would trigger any local cameras and forward the command to all channels.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1 (Target Camera ID)Target camera ID. 7 to 255: MAVLink camera component id. 1 to 6 for cameras attached to the autopilot, which don't have a distinct component id. 0: all cameras. This is used to target specific autopilot-connected cameras. It is also used to target specific cameras when the MAV_CMD is used in a mission.min: 0 max: 255 inc: 1
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_REQUEST_CAMERA_IMAGE_CAPTURE (2002) — [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          DEPRECATED: Replaced By MAV_CMD_REQUEST_MESSAGE (2019-08)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Re-request a CAMERA_IMAGE_CAPTURED message.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1 (Number)Sequence number for missing CAMERA_IMAGE_CAPTURED messagemin: 0 inc: 1
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_DO_TRIGGER_CONTROL (2003)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Enable or disable on-board camera triggering system.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1 (Enable)Trigger enable/disable (0 for disable, 1 for start), -1 to ignoremin: -1 max: 1 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2 (Reset)1 to reset the trigger sequence, -1 or 0 to ignoremin: -1 max: 1 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          3 (Pause)1 to pause triggering, but without switching the camera off or retracting it. -1 to ignoremin: -1 max: 1 inc: 2
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          4 (Target Camera ID)Target camera ID. 7 to 255: MAVLink camera component id. 1 to 6 for cameras attached to the autopilot, which don't have a distinct component id. 0: all cameras. This is used to target specific autopilot-connected cameras. It is also used to target specific cameras when the MAV_CMD is used in a mission.min: 0 max: 255 inc: 1

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_CAMERA_TRACK_POINT (2004)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          If the camera supports point visual tracking (CAMERA_CAP_FLAGS_HAS_TRACKING_POINT is set), this command allows to initiate the tracking.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1 (Point x)Point to track x value (normalized 0..1, 0 is left, 1 is right).min: 0 max: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2 (Point y)Point to track y value (normalized 0..1, 0 is top, 1 is bottom).min: 0 max: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          3 (Radius)Point radius (normalized 0..1, 0 is one pixel, 1 is full image width).min: 0 max: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          4 (Target Camera ID)Target camera ID. 7 to 255: MAVLink camera component id. 1 to 6 for cameras attached to the autopilot, which don't have a distinct component id. 0: all cameras. This is used to target specific autopilot-connected cameras. It is also used to target specific cameras when the MAV_CMD is used in a mission.min: 0 max: 255 inc: 1

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_CAMERA_TRACK_RECTANGLE (2005)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          If the camera supports rectangle visual tracking (CAMERA_CAP_FLAGS_HAS_TRACKING_RECTANGLE is set), this command allows to initiate the tracking.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1 (Top left corner x)Top left corner of rectangle x value (normalized 0..1, 0 is left, 1 is right).min: 0 max: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2 (Top left corner y)Top left corner of rectangle y value (normalized 0..1, 0 is top, 1 is bottom).min: 0 max: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          3 (Bottom right corner x)Bottom right corner of rectangle x value (normalized 0..1, 0 is left, 1 is right).min: 0 max: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          4 (Bottom right corner y)Bottom right corner of rectangle y value (normalized 0..1, 0 is top, 1 is bottom).min: 0 max: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          5 (Target Camera ID)Target camera ID. 7 to 255: MAVLink camera component id. 1 to 6 for cameras attached to the autopilot, which don't have a distinct component id. 0: all cameras. This is used to target specific autopilot-connected cameras. It is also used to target specific cameras when the MAV_CMD is used in a mission.min: 0 max: 255 inc: 1

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_CAMERA_STOP_TRACKING (2010)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Stops ongoing tracking.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1 (Target Camera ID)Target camera ID. 7 to 255: MAVLink camera component id. 1 to 6 for cameras attached to the autopilot, which don't have a distinct component id. 0: all cameras. This is used to target specific autopilot-connected cameras. It is also used to target specific cameras when the MAV_CMD is used in a mission.min: 0 max: 255 inc: 1

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_VIDEO_START_CAPTURE (2500)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Starts video capture (recording).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Param (Label)DescriptionValuesUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1 (Stream ID)Video Stream ID (0 for all streams)min: 0 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2 (Status Frequency)Frequency CAMERA_CAPTURE_STATUS messages should be sent while recording (0 for no messages, otherwise frequency)min: 0Hz
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          3 (Target Camera ID)Target camera ID. 7 to 255: MAVLink camera component id. 1 to 6 for cameras attached to the autopilot, which don't have a distinct component id. 0: all cameras. This is used to target specific autopilot-connected cameras. It is also used to target specific cameras when the MAV_CMD is used in a mission.min: 0 max: 255 inc: 1
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_VIDEO_STOP_CAPTURE (2501)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Stop the current video capture (recording).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1 (Stream ID)Video Stream ID (0 for all streams)min: 0 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2 (Target Camera ID)Target camera ID. 7 to 255: MAVLink camera component id. 1 to 6 for cameras attached to the autopilot, which don't have a distinct component id. 0: all cameras. This is used to target specific autopilot-connected cameras. It is also used to target specific cameras when the MAV_CMD is used in a mission.min: 0 max: 255 inc: 1
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_VIDEO_START_STREAMING (2502)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Start video streaming

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1 (Stream ID)Video Stream ID (0 for all streams, 1 for first, 2 for second, etc.)min: 0 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2 (Target Camera ID)Target camera ID. 7 to 255: MAVLink camera component id. 1 to 6 for cameras attached to the autopilot, which don't have a distinct component id. 0: all cameras. This is used to target specific autopilot-connected cameras. It is also used to target specific cameras when the MAV_CMD is used in a mission.min: 0 max: 255 inc: 1

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_VIDEO_STOP_STREAMING (2503)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Stop the given video stream

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1 (Stream ID)Video Stream ID (0 for all streams, 1 for first, 2 for second, etc.)min: 0 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2 (Target Camera ID)Target camera ID. 7 to 255: MAVLink camera component id. 1 to 6 for cameras attached to the autopilot, which don't have a distinct component id. 0: all cameras. This is used to target specific autopilot-connected cameras. It is also used to target specific cameras when the MAV_CMD is used in a mission.min: 0 max: 255 inc: 1

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_REQUEST_VIDEO_STREAM_INFORMATION (2504) — [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          DEPRECATED: Replaced By MAV_CMD_REQUEST_MESSAGE (2019-08)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Request video stream information (VIDEO_STREAM_INFORMATION)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1 (Stream ID)Video Stream ID (0 for all streams, 1 for first, 2 for second, etc.)min: 0 inc: 1

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_REQUEST_VIDEO_STREAM_STATUS (2505) — [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          DEPRECATED: Replaced By MAV_CMD_REQUEST_MESSAGE (2019-08)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Request video stream status (VIDEO_STREAM_STATUS)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1 (Stream ID)Video Stream ID (0 for all streams, 1 for first, 2 for second, etc.)min: 0 inc: 1

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_LOGGING_START (2510)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Request to start streaming logging data over MAVLink (see also LOGGING_DATA message)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1 (Format)Format: 0: ULogmin: 0 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2Reserved (set to 0)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          3Reserved (set to 0)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          4Reserved (set to 0)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          5Reserved (set to 0)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          6Reserved (set to 0)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          7Reserved (set to 0)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_LOGGING_STOP (2511)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Request to stop streaming log data over MAVLink

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Param (Label)Description
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1Reserved (set to 0)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2Reserved (set to 0)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          3Reserved (set to 0)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          4Reserved (set to 0)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          5Reserved (set to 0)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          6Reserved (set to 0)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          7Reserved (set to 0)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_AIRFRAME_CONFIGURATION (2520)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1 (Landing Gear ID)Landing gear ID (default: 0, -1 for all)min: -1 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2 (Landing Gear Position)Landing gear position (Down: 0, Up: 1, NaN for no change)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          3
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          4
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          5
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          6
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          7

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_CONTROL_HIGH_LATENCY (2600)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Request to start/stop transmitting over the high latency telemetry

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1 (Enable)Control transmission over high latency telemetry (0: stop, 1: start)min: 0 max: 1 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          3Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          4Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          5Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          6Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          7Empty

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_PANORAMA_CREATE (2800)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Create a panorama at the current position

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Param (Label)DescriptionUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1 (Horizontal Angle)Viewing angle horizontal of the panorama (+- 0.5 the total angle)deg
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2 (Vertical Angle)Viewing angle vertical of panorama.deg
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          3 (Horizontal Speed)Speed of the horizontal rotation.deg/s
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          4 (Vertical Speed)Speed of the vertical rotation.deg/s

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_DO_VTOL_TRANSITION (3000)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Request VTOL transition

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1 (State)The target VTOL state. For normal transitions, only MAV_VTOL_STATE_MC and MAV_VTOL_STATE_FW can be used.MAV_VTOL_STATE
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2 (Immediate)Force immediate transition to the specified MAV_VTOL_STATE. 1: Force immediate, 0: normal transition. Can be used, for example, to trigger an emergency "Quadchute". Caution: Can be dangerous/damage vehicle, depending on autopilot implementation of this command.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_ARM_AUTHORIZATION_REQUEST (3001)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Request authorization to arm the vehicle to a external entity, the arm authorizer is responsible to request all data that is needs from the vehicle before authorize or deny the request.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          If approved the COMMAND_ACK message progress field should be set with period of time that this authorization is valid in seconds. If the authorization is denied COMMAND_ACK.result_param2 should be set with one of the reasons in ARM_AUTH_DENIED_REASON.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1 (System ID)Vehicle system id, this way ground station can request arm authorization on behalf of any vehiclemin: 0 max: 255 inc: 1

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_SET_GUIDED_SUBMODE_STANDARD (4000)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          This command sets the submode to standard guided when vehicle is in guided mode. The vehicle holds position and altitude and the user can input the desired velocities along all three axes.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Param (Label)Description

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_SET_GUIDED_SUBMODE_CIRCLE (4001)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          This command sets submode circle when vehicle is in guided mode. Vehicle flies along a circle facing the center of the circle. The user can input the velocity along the circle and change the radius. If no input is given the vehicle will hold position.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Param (Label)DescriptionUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1 (Radius)Radius of desired circle in CIRCLE_MODEm
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2User defined
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          3User defined
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          4User defined
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          5 (Latitude)Target latitude of center of circle in CIRCLE_MODEdegE7
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          6 (Longitude)Target longitude of center of circle in CIRCLE_MODEdegE7

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_CONDITION_GATE (4501) — [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Delay mission state machine until gate has been reached.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Param (Label)DescriptionValuesUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1 (Geometry)Geometry: 0: orthogonal to path between previous and next waypoint.min: 0 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2 (UseAltitude)Altitude: 0: ignore altitudemin: 0 max: 1 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          3Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          4Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          5 (Latitude)Latitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          6 (Longitude)Longitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          7 (Altitude)Altitudem

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_NAV_FENCE_RETURN_POINT (5000)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Fence return point (there can only be one such point in a geofence definition). If rally points are supported they should be used instead.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Param (Label)DescriptionUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1Reserved
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2Reserved
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          3Reserved
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          4Reserved
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          5 (Latitude)Latitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          6 (Longitude)Longitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          7 (Altitude)Altitudem

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_NAV_FENCE_POLYGON_VERTEX_INCLUSION (5001)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Fence vertex for an inclusion polygon (the polygon must not be self-intersecting). The vehicle must stay within this area. Minimum of 3 vertices required.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1 (Vertex Count)Polygon vertex countmin: 3 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2 (Inclusion Group)Vehicle must be inside ALL inclusion zones in a single group, vehicle must be inside at least one group, must be the same for all points in each polygonmin: 0 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          3Reserved
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          4Reserved
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          5 (Latitude)Latitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          6 (Longitude)Longitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          7Reserved

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_NAV_FENCE_POLYGON_VERTEX_EXCLUSION (5002)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Fence vertex for an exclusion polygon (the polygon must not be self-intersecting). The vehicle must stay outside this area. Minimum of 3 vertices required.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1 (Vertex Count)Polygon vertex countmin: 3 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2Reserved
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          3Reserved
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          4Reserved
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          5 (Latitude)Latitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          6 (Longitude)Longitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          7Reserved

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_NAV_FENCE_CIRCLE_INCLUSION (5003)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Circular fence area. The vehicle must stay inside this area.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Param (Label)DescriptionValuesUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1 (Radius)Radius.m
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2 (Inclusion Group)Vehicle must be inside ALL inclusion zones in a single group, vehicle must be inside at least one groupmin: 0 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          3Reserved
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          4Reserved
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          5 (Latitude)Latitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          6 (Longitude)Longitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          7Reserved

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_NAV_FENCE_CIRCLE_EXCLUSION (5004)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Circular fence area. The vehicle must stay outside this area.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Param (Label)DescriptionUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1 (Radius)Radius.m
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2Reserved
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          3Reserved
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          4Reserved
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          5 (Latitude)Latitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          6 (Longitude)Longitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          7Reserved

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_NAV_RALLY_POINT (5100)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Rally point. You can have multiple rally points defined.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Param (Label)DescriptionUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1Reserved
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2Reserved
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          3Reserved
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          4Reserved
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          5 (Latitude)Latitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          6 (Longitude)Longitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          7 (Altitude)Altitudem

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_UAVCAN_GET_NODE_INFO (5200)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Commands the vehicle to respond with a sequence of messages UAVCAN_NODE_INFO, one message per every UAVCAN node that is online. Note that some of the response messages can be lost, which the receiver can detect easily by checking whether every received UAVCAN_NODE_STATUS has a matching message UAVCAN_NODE_INFO received earlier; if not, this command should be sent again in order to request re-transmission of the node information messages.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Param (Label)Description
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1Reserved (set to 0)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2Reserved (set to 0)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          3Reserved (set to 0)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          4Reserved (set to 0)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          5Reserved (set to 0)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          6Reserved (set to 0)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          7Reserved (set to 0)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_DO_SET_SAFETY_SWITCH_STATE (5300)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Change state of safety switch.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1 (Desired State)New safety switch state.SAFETY_SWITCH_STATE
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          3Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          4Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          5Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          6Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          7Empty.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_DO_ADSB_OUT_IDENT (10001)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Trigger the start of an ADSB-out IDENT. This should only be used when requested to do so by an Air Traffic Controller in controlled airspace. This starts the IDENT which is then typically held for 18 seconds by the hardware per the Mode A, C, and S transponder spec.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Param (Label)Description
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1Reserved (set to 0)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2Reserved (set to 0)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          3Reserved (set to 0)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          4Reserved (set to 0)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          5Reserved (set to 0)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          6Reserved (set to 0)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          7Reserved (set to 0)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_PAYLOAD_PREPARE_DEPLOY (30001) — [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          DEPRECATED:(2021-06)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Deploy payload on a Lat / Lon / Alt position. This includes the navigation to reach the required release position and velocity.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Param (Label)DescriptionValuesUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1 (Operation Mode)Operation mode. 0: prepare single payload deploy (overwriting previous requests), but do not execute it. 1: execute payload deploy immediately (rejecting further deploy commands during execution, but allowing abort). 2: add payload deploy to existing deployment list.min: 0 max: 2 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2 (Approach Vector)Desired approach vector in compass heading. A negative value indicates the system can define the approach vector at will.min: -1 max: 360deg
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          3 (Ground Speed)Desired ground speed at release time. This can be overridden by the airframe in case it needs to meet minimum airspeed. A negative value indicates the system can define the ground speed at will.min: -1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          4 (Altitude Clearance)Minimum altitude clearance to the release position. A negative value indicates the system can define the clearance at will.min: -1m
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          5 (Latitude)Latitude.degE7
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          6 (Longitude)Longitude.degE7
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          7 (Altitude)Altitude (MSL)m

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_PAYLOAD_CONTROL_DEPLOY (30002) — [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          DEPRECATED:(2021-06)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Control the payload deployment.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1 (Operation Mode)Operation mode. 0: Abort deployment, continue normal mission. 1: switch to payload deployment mode. 100: delete first payload deployment request. 101: delete all payload deployment requests.min: 0 max: 101 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2Reserved
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          3Reserved
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          4Reserved
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          5Reserved
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          6Reserved
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          7Reserved

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_WAYPOINT_USER_1 (31000)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          User defined waypoint item. Ground Station will show the Vehicle as flying through this item.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Param (Label)DescriptionUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1User defined
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2User defined
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          3User defined
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          4User defined
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          5 (Latitude)Latitude unscaled
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          6 (Longitude)Longitude unscaled
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          7 (Altitude)Altitude (MSL)m

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_WAYPOINT_USER_2 (31001)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          User defined waypoint item. Ground Station will show the Vehicle as flying through this item.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Param (Label)DescriptionUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1User defined
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2User defined
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          3User defined
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          4User defined
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          5 (Latitude)Latitude unscaled
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          6 (Longitude)Longitude unscaled
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          7 (Altitude)Altitude (MSL)m

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_WAYPOINT_USER_3 (31002)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          User defined waypoint item. Ground Station will show the Vehicle as flying through this item.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Param (Label)DescriptionUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1User defined
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2User defined
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          3User defined
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          4User defined
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          5 (Latitude)Latitude unscaled
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          6 (Longitude)Longitude unscaled
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          7 (Altitude)Altitude (MSL)m

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_WAYPOINT_USER_4 (31003)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          User defined waypoint item. Ground Station will show the Vehicle as flying through this item.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Param (Label)DescriptionUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1User defined
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2User defined
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          3User defined
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          4User defined
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          5 (Latitude)Latitude unscaled
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          6 (Longitude)Longitude unscaled
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          7 (Altitude)Altitude (MSL)m

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_WAYPOINT_USER_5 (31004)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          User defined waypoint item. Ground Station will show the Vehicle as flying through this item.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Param (Label)DescriptionUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1User defined
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2User defined
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          3User defined
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          4User defined
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          5 (Latitude)Latitude unscaled
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          6 (Longitude)Longitude unscaled
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          7 (Altitude)Altitude (MSL)m

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_SPATIAL_USER_1 (31005)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          User defined spatial item. Ground Station will not show the Vehicle as flying through this item. Example: ROI item.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Param (Label)DescriptionUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1User defined
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2User defined
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          3User defined
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          4User defined
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          5 (Latitude)Latitude unscaled
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          6 (Longitude)Longitude unscaled
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          7 (Altitude)Altitude (MSL)m

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_SPATIAL_USER_2 (31006)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          User defined spatial item. Ground Station will not show the Vehicle as flying through this item. Example: ROI item.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Param (Label)DescriptionUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1User defined
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2User defined
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          3User defined
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          4User defined
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          5 (Latitude)Latitude unscaled
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          6 (Longitude)Longitude unscaled
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          7 (Altitude)Altitude (MSL)m

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_SPATIAL_USER_3 (31007)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          User defined spatial item. Ground Station will not show the Vehicle as flying through this item. Example: ROI item.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Param (Label)DescriptionUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1User defined
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2User defined
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          3User defined
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          4User defined
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          5 (Latitude)Latitude unscaled
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          6 (Longitude)Longitude unscaled
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          7 (Altitude)Altitude (MSL)m

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_SPATIAL_USER_4 (31008)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          User defined spatial item. Ground Station will not show the Vehicle as flying through this item. Example: ROI item.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Param (Label)DescriptionUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1User defined
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2User defined
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          3User defined
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          4User defined
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          5 (Latitude)Latitude unscaled
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          6 (Longitude)Longitude unscaled
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          7 (Altitude)Altitude (MSL)m

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_SPATIAL_USER_5 (31009)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          User defined spatial item. Ground Station will not show the Vehicle as flying through this item. Example: ROI item.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Param (Label)DescriptionUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1User defined
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2User defined
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          3User defined
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          4User defined
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          5 (Latitude)Latitude unscaled
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          6 (Longitude)Longitude unscaled
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          7 (Altitude)Altitude (MSL)m

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_USER_1 (31010)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          User defined command. Ground Station will not show the Vehicle as flying through this item. Example: MAV_CMD_DO_SET_PARAMETER item.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Param (Label)Description
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1User defined
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2User defined
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          3User defined
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          4User defined
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          5User defined
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          6User defined
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          7User defined

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_USER_2 (31011)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          User defined command. Ground Station will not show the Vehicle as flying through this item. Example: MAV_CMD_DO_SET_PARAMETER item.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Param (Label)Description
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1User defined
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2User defined
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          3User defined
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          4User defined
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          5User defined
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          6User defined
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          7User defined

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_USER_3 (31012)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          User defined command. Ground Station will not show the Vehicle as flying through this item. Example: MAV_CMD_DO_SET_PARAMETER item.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Param (Label)Description
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1User defined
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2User defined
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          3User defined
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          4User defined
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          5User defined
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          6User defined
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          7User defined

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_USER_4 (31013)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          User defined command. Ground Station will not show the Vehicle as flying through this item. Example: MAV_CMD_DO_SET_PARAMETER item.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Param (Label)Description
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1User defined
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2User defined
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          3User defined
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          4User defined
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          5User defined
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          6User defined
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          7User defined

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_USER_5 (31014)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          User defined command. Ground Station will not show the Vehicle as flying through this item. Example: MAV_CMD_DO_SET_PARAMETER item.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Param (Label)Description
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1User defined
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2User defined
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          3User defined
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          4User defined
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          5User defined
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          6User defined
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          7User defined

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_CAN_FORWARD (32000)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Request forwarding of CAN packets from the given CAN bus to this component. CAN Frames are sent using CAN_FRAME and CANFD_FRAME messages

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Param (Label)Description
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1 (bus)Bus number (0 to disable forwarding, 1 for first bus, 2 for 2nd bus, 3 for 3rd bus).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          3Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          4Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          5Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          6Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          7Empty.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_FIXED_MAG_CAL_YAW (42006)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Magnetometer calibration based on provided known yaw. This allows for fast calibration using WMM field tables in the vehicle, given only the known yaw of the vehicle. If Latitude and longitude are both zero then use the current vehicle location.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Param (Label)DescriptionUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1 (Yaw)Yaw of vehicle in earth frame.deg
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2 (CompassMask)CompassMask, 0 for all.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          3 (Latitude)Latitude.deg
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          4 (Longitude)Longitude.deg
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          5Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          6Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          7Empty.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_DO_WINCH (42600)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Command to operate winch.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Param (Label)DescriptionValuesUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1 (Instance)Winch instance number.min: 1 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2 (Action)Action to perform.WINCH_ACTIONS
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          3 (Length)Length of line to release (negative to wind).m
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          4 (Rate)Release rate (negative to wind).m/s
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          5Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          6Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          7Empty.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_EXTERNAL_POSITION_ESTIMATE (43003)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Provide an external position estimate for use when dead-reckoning. This is meant to be used for occasional position resets that may be provided by a external system such as a remote pilot using landmarks over a video link.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Param (Label)DescriptionUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1 (transmission_time)Timestamp that this message was sent as a time in the transmitters time domain. The sender should wrap this time back to zero based on required timing accuracy for the application and the limitations of a 32 bit float. For example, wrapping at 10 hours would give approximately 1ms accuracy. Recipient must handle time wrap in any timing jitter correction applied to this field. Wrap rollover time should not be at not more than 250 seconds, which would give approximately 10 microsecond accuracy.s
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2 (processing_time)The time spent in processing the sensor data that is the basis for this position. The recipient can use this to improve time alignment of the data. Set to zero if not known.s
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          3 (accuracy)estimated one standard deviation accuracy of the measurement. Set to NaN if not known.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          4Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          5 (Latitude)Latitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          6 (Longitude)Longitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          7 (Altitude)Altitude, not used. Should be sent as NaN. May be supported in a future version of this message.m

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          results matching ""

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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            \ No newline at end of file +

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            </a> ) </h3>

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            [Message] (MAVLink 2) Version and capability of protocol version. This message can be requested with MAV_CMD_REQUEST_MESSAGE and is used as part of the handshaking to establish which MAVLink version should be used on the network. Every node should respond to a request for PROTOCOL_VERSION to enable the handshaking. Library implementers should consider adding this into the default decoding state machine to allow the protocol core to respond directly.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            versionuint16_tCurrently active MAVLink version number * 100: v1.0 is 100, v2.0 is 200, etc.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            min_versionuint16_tMinimum MAVLink version supported
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            max_versionuint16_tMaximum MAVLink version supported (set to the same value as version by default)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            spec_version_hashuint8_t[8]The first 8 bytes (not characters printed in hex!) of the git hash.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            library_version_hashuint8_t[8]The first 8 bytes (not characters printed in hex!) of the git hash.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            </body> </html> | float | rad | | Size of target along x-axis | | size_y | float | rad | | Size of target along y-axis | | x ++ | float | m | | X Position of the landing target in MAV_FRAME | | y ++ | float | m | | Y Position of the landing target in MAV_FRAME | | z ++ | float | m | | Z Position of the landing target in MAV_FRAME | | q ++ | float[4] | | | Quaternion of landing target orientation (w, x, y, z order, zero-rotation is 1, 0, 0, 0) | | type ++ | uint8_t | | LANDING_TARGET_TYPE | Type of landing target | | position_valid ++ | uint8_t | | invalid:0 | Boolean indicating whether the position fields (x, y, z, q, type) contain valid target position information (valid: 1, invalid: 0). Default is 0 (invalid). |

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            FENCE_STATUS (162)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Status of geo-fencing. Sent in extended status stream when fencing enabled.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            breach_statusuint8_tBreach status (0 if currently inside fence, 1 if outside).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            breach_countuint16_tNumber of fence breaches.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            breach_typeuint8_tFENCE_BREACHLast breach type.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            breach_timeuint32_tmsTime (since boot) of last breach.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            breach_mitigation ++uint8_tFENCE_MITIGATEActive action to prevent fence breach

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAG_CAL_REPORT (192)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Reports results of completed compass calibration. Sent until MAG_CAL_ACK received.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            compass_iduint8_tCompass being calibrated.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Messages with same value are from the same source (instance). | | cal_mask | uint8_t | | | Bitmask of compasses being calibrated. | | cal_status | uint8_t | | MAG_CAL_STATUS | Calibration Status. | | autosaved | uint8_t | | | 0=requires a MAV_CMD_DO_ACCEPT_MAG_CAL, 1=saved to parameters. | | fitness | float | mgauss | | RMS milligauss residuals. | | ofs_x | float | | | X offset. | | ofs_y | float | | | Y offset. | | ofs_z | float | | | Z offset. | | diag_x | float | | | X diagonal (matrix 11). | | diag_y | float | | | Y diagonal (matrix 22). | | diag_z | float | | | Z diagonal (matrix 33). | | offdiag_x | float | | | X off-diagonal (matrix 12 and 21). | | offdiag_y | float | | | Y off-diagonal (matrix 13 and 31). | | offdiag_z | float | | | Z off-diagonal (matrix 32 and 23). | | orientation_confidence ++ | float | | | Confidence in orientation (higher is better). | | old_orientation ++ | uint8_t | | MAV_SENSOR_ORIENTATION | orientation before calibration. | | new_orientation ++ | uint8_t | | MAV_SENSOR_ORIENTATION | orientation after calibration. | | scale_factor ++ | float | | | field radius correction factor |

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            EFI_STATUS (225)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            EFI status output

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            healthuint8_tEFI health status
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ecu_indexfloatECU index
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            rpmfloatRPM
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            fuel_consumedfloatcm^3Fuel consumed
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            fuel_flowfloatcm^3/minFuel flow rate
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            engine_loadfloat%Engine load
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            throttle_positionfloat%Throttle position
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            spark_dwell_timefloatmsSpark dwell time
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            barometric_pressurefloatkPaBarometric pressure
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            intake_manifold_pressurefloatkPaIntake manifold pressure(
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            intake_manifold_temperaturefloatdegCIntake manifold temperature
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            cylinder_head_temperaturefloatdegCCylinder head temperature
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ignition_timingfloatdegIgnition timing (Crank angle degrees)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            injection_timefloatmsInjection time
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            exhaust_gas_temperaturefloatdegCExhaust gas temperature
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            throttle_outfloat%Output throttle
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            pt_compensationfloatPressure/temperature compensation
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ignition_voltage ++floatVSupply voltage to EFI sparking system. Zero in this value means "unknown", so if the supply voltage really is zero volts use 0.0001 instead.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            fuel_pressure ++floatkPaFuel pressure. Zero in this value means "unknown", so if the fuel pressure really is zero kPa use 0.0001 instead.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ESTIMATOR_STATUS (230)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Estimator status message including flags, innovation test ratios and estimated accuracies. The flags message is an integer bitmask containing information on which EKF outputs are valid. See the ESTIMATOR_STATUS_FLAGS enum definition for further information. The innovation test ratios show the magnitude of the sensor innovation divided by the innovation check threshold. Under normal operation the innovation test ratios should be below 0.5 with occasional values up to 1.0. Values greater than 1.0 should be rare under normal operation and indicate that a measurement has been rejected by the filter. The user should be notified if an innovation test ratio greater than 1.0 is recorded. Notifications for values in the range between 0.5 and 1.0 should be optional and controllable by the user.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            flagsuint16_tESTIMATOR_STATUS_FLAGSBitmap indicating which EKF outputs are valid.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            vel_ratiofloatVelocity innovation test ratio
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            pos_horiz_ratiofloatHorizontal position innovation test ratio
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            pos_vert_ratiofloatVertical position innovation test ratio
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            mag_ratiofloatMagnetometer innovation test ratio
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            hagl_ratiofloatHeight above terrain innovation test ratio
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            tas_ratiofloatTrue airspeed innovation test ratio
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            pos_horiz_accuracyfloatmHorizontal position 1-STD accuracy relative to the EKF local origin
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            pos_vert_accuracyfloatmVertical position 1-STD accuracy relative to the EKF local origin

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            WIND_COV (231)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Wind estimate from vehicle. Note that despite the name, this message does not actually contain any covariances but instead variability and accuracy fields in terms of standard deviation (1-STD).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            wind_xfloatm/sWind in North (NED) direction (NAN if unknown)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            wind_yfloatm/sWind in East (NED) direction (NAN if unknown)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            wind_zfloatm/sWind in down (NED) direction (NAN if unknown)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            var_horizfloatm/sVariability of wind in XY, 1-STD estimated from a 1 Hz lowpassed wind estimate (NAN if unknown)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            var_vertfloatm/sVariability of wind in Z, 1-STD estimated from a 1 Hz lowpassed wind estimate (NAN if unknown)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            wind_altfloatmAltitude (MSL) that this measurement was taken at (NAN if unknown)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            horiz_accuracyfloatm/sHorizontal speed 1-STD accuracy (0 if unknown)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            vert_accuracyfloatm/sVertical speed 1-STD accuracy (0 if unknown)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            GPS_INPUT (232)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            GPS sensor input message. This is a raw sensor value sent by the GPS. This is NOT the global position estimate of the system.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            gps_iduint8_tID of the GPS for multiple GPS inputs

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Messages with same value are from the same source (instance). | | ignore_flags | uint16_t | | GPS_INPUT_IGNORE_FLAGS | Bitmap indicating which GPS input flags fields to ignore. All other fields must be provided. | | time_week_ms | uint32_t | ms | | GPS time (from start of GPS week) | | time_week | uint16_t | | | GPS week number | | fix_type | uint8_t | | | 0-1: no fix, 2: 2D fix, 3: 3D fix. 4: 3D with DGPS. 5: 3D with RTK | | lat | int32_t | degE7 | | Latitude (WGS84) | | lon | int32_t | degE7 | | Longitude (WGS84) | | alt | float | m | | Altitude (MSL). Positive for up. | | hdop | float | | invalid:UINT16_MAX | GPS HDOP horizontal dilution of position (unitless). If unknown, set to: UINT16_MAX | | vdop | float | | invalid:UINT16_MAX | GPS VDOP vertical dilution of position (unitless). If unknown, set to: UINT16_MAX | | vn | float | m/s | | GPS velocity in north direction in earth-fixed NED frame | | ve | float | m/s | | GPS velocity in east direction in earth-fixed NED frame | | vd | float | m/s | | GPS velocity in down direction in earth-fixed NED frame | | speed_accuracy | float | m/s | | GPS speed accuracy | | horiz_accuracy | float | m | | GPS horizontal accuracy | | vert_accuracy | float | m | | GPS vertical accuracy | | satellites_visible | uint8_t | | | Number of satellites visible. | | yaw ++ | uint16_t | cdeg | | Yaw of vehicle relative to Earth's North, zero means not available, use 36000 for north |

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            GPS_RTCM_DATA (233)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            RTCM message for injecting into the onboard GPS (used for DGPS)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            flagsuint8_tLSB: 1 means message is fragmented, next 2 bits are the fragment ID, the remaining 5 bits are used for the sequence ID. Messages are only to be flushed to the GPS when the entire message has been reconstructed on the autopilot. The fragment ID specifies which order the fragments should be assembled into a buffer, while the sequence ID is used to detect a mismatch between different buffers. The buffer is considered fully reconstructed when either all 4 fragments are present, or all the fragments before the first fragment with a non full payload is received. This management is used to ensure that normal GPS operation doesn't corrupt RTCM data, and to recover from a unreliable transport delivery order.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            lenuint8_tbytesdata length
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            datauint8_t[180]RTCM message (may be fragmented)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            HIGH_LATENCY (234) — [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            DEPRECATED: Replaced By HIGH_LATENCY2 (2020-10)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Message appropriate for high latency connections like Iridium

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            base_modeuint8_tMAV_MODE_FLAGBitmap of enabled system modes.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            custom_modeuint32_tA bitfield for use for autopilot-specific flags.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            landed_stateuint8_tMAV_LANDED_STATEThe landed state. Is set to MAV_LANDED_STATE_UNDEFINED if landed state is unknown.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            rollint16_tcdegroll
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            pitchint16_tcdegpitch
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            headinguint16_tcdegheading
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            throttleint8_t%throttle (percentage)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            heading_spint16_tcdegheading setpoint
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            latitudeint32_tdegE7Latitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            longitudeint32_tdegE7Longitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            altitude_amslint16_tmAltitude above mean sea level
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            altitude_spint16_tmAltitude setpoint relative to the home position
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            airspeeduint8_tm/sairspeed
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            airspeed_spuint8_tm/sairspeed setpoint
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            groundspeeduint8_tm/sgroundspeed
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            climb_rateint8_tm/sclimb rate
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            gps_nsatuint8_tinvalid:UINT8_MAXNumber of satellites visible. If unknown, set to UINT8_MAX
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            gps_fix_typeuint8_tGPS_FIX_TYPEGPS Fix type.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            battery_remaininguint8_t%Remaining battery (percentage)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            temperatureint8_tdegCAutopilot temperature (degrees C)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            temperature_airint8_tdegCAir temperature (degrees C) from airspeed sensor
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            failsafeuint8_tfailsafe (each bit represents a failsafe where 0=ok, 1=failsafe active (bit0:RC, bit1:batt, bit2:GPS, bit3:GCS, bit4:fence)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            wp_numuint8_tcurrent waypoint number
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            wp_distanceuint16_tmdistance to target

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            HIGH_LATENCY2 (235)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Message appropriate for high latency connections like Iridium (version 2)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            timestampuint32_tmsTimestamp (milliseconds since boot or Unix epoch)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            typeuint8_tMAV_TYPEType of the MAV (quadrotor, helicopter, etc.)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            autopilotuint8_tMAV_AUTOPILOTAutopilot type / class. Use MAV_AUTOPILOT_INVALID for components that are not flight controllers.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            custom_modeuint16_tA bitfield for use for autopilot-specific flags (2 byte version).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            latitudeint32_tdegE7Latitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            longitudeint32_tdegE7Longitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            altitudeint16_tmAltitude above mean sea level
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            target_altitudeint16_tmAltitude setpoint
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            headinguint8_tdeg/2Heading
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            target_headinguint8_tdeg/2Heading setpoint
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            target_distanceuint16_tdamDistance to target waypoint or position
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            throttleuint8_t%Throttle
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            airspeeduint8_tm/s*5Airspeed
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            airspeed_spuint8_tm/s*5Airspeed setpoint
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            groundspeeduint8_tm/s*5Groundspeed
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            windspeeduint8_tm/s*5Windspeed
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            wind_headinguint8_tdeg/2Wind heading
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ephuint8_tdmMaximum error horizontal position since last message
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            epvuint8_tdmMaximum error vertical position since last message
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            temperature_airint8_tdegCAir temperature from airspeed sensor
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            climb_rateint8_tdm/sMaximum climb rate magnitude since last message
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            batteryint8_t%invalid:-1Battery level (-1 if field not provided).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            wp_numuint16_tCurrent waypoint number
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            failure_flagsuint16_tHL_FAILURE_FLAGBitmap of failure flags.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            custom0int8_tField for custom payload.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            custom1int8_tField for custom payload.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            custom2int8_tField for custom payload.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            VIBRATION (241)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Vibration levels and accelerometer clipping

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            vibration_xfloatVibration levels on X-axis
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            vibration_yfloatVibration levels on Y-axis
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            vibration_zfloatVibration levels on Z-axis
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            clipping_0uint32_tfirst accelerometer clipping count
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            clipping_1uint32_tsecond accelerometer clipping count
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            clipping_2uint32_tthird accelerometer clipping count

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            HOME_POSITION (242)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Contains the home position. The home position is the default position that the system will return to and land on. The position must be set automatically by the system during the takeoff, and may also be explicitly set using MAV_CMD_DO_SET_HOME. The global and local positions encode the position in the respective coordinate frames, while the q parameter encodes the orientation of the surface. Under normal conditions it describes the heading and terrain slope, which can be used by the aircraft to adjust the approach. The approach 3D vector describes the point to which the system should fly in normal flight mode and then perform a landing sequence along the vector. Note: this message can be requested by sending the MAV_CMD_REQUEST_MESSAGE with param1=242 (or the deprecated MAV_CMD_GET_HOME_POSITION command).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            latitudeint32_tdegE7Latitude (WGS84)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            longitudeint32_tdegE7Longitude (WGS84)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            altitudeint32_tmmAltitude (MSL). Positive for up.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            xfloatmLocal X position of this position in the local coordinate frame (NED)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            yfloatmLocal Y position of this position in the local coordinate frame (NED)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            zfloatmLocal Z position of this position in the local coordinate frame (NED: positive "down")
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            qfloat[4]Quaternion indicating world-to-surface-normal and heading transformation of the takeoff position.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Used to indicate the heading and slope of the ground.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            All fields should be set to NaN if an accurate quaternion for both heading and surface slope cannot be supplied. | | approach_x | float | m | Local X position of the end of the approach vector. Multicopters should set this position based on their takeoff path. Grass-landing fixed wing aircraft should set it the same way as multicopters. Runway-landing fixed wing aircraft should set it to the opposite direction of the takeoff, assuming the takeoff happened from the threshold / touchdown zone. | | approach_y | float | m | Local Y position of the end of the approach vector. Multicopters should set this position based on their takeoff path. Grass-landing fixed wing aircraft should set it the same way as multicopters. Runway-landing fixed wing aircraft should set it to the opposite direction of the takeoff, assuming the takeoff happened from the threshold / touchdown zone. | | approach_z | float | m | Local Z position of the end of the approach vector. Multicopters should set this position based on their takeoff path. Grass-landing fixed wing aircraft should set it the same way as multicopters. Runway-landing fixed wing aircraft should set it to the opposite direction of the takeoff, assuming the takeoff happened from the threshold / touchdown zone. | | time_usec ++ | uint64_t | us | Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number. |

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            SET_HOME_POSITION (243) — [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            DEPRECATED: Replaced By MAV_CMD_DO_SET_HOME (2022-02) — The command protocol version (MAV_CMD_DO_SET_HOME) allows a GCS to detect when setting the home position has failed.)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Sets the home position. The home position is the default position that the system will return to and land on. The position is set automatically by the system during the takeoff (and may also be set using this message). The global and local positions encode the position in the respective coordinate frames, while the q parameter encodes the orientation of the surface. Under normal conditions it describes the heading and terrain slope, which can be used by the aircraft to adjust the approach. The approach 3D vector describes the point to which the system should fly in normal flight mode and then perform a landing sequence along the vector. Note: the current home position may be emitted in a HOME_POSITION message on request (using MAV_CMD_REQUEST_MESSAGE with param1=242).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            target_systemuint8_tSystem ID.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            latitudeint32_tdegE7Latitude (WGS84)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            longitudeint32_tdegE7Longitude (WGS84)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            altitudeint32_tmmAltitude (MSL). Positive for up.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            xfloatmLocal X position of this position in the local coordinate frame (NED)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            yfloatmLocal Y position of this position in the local coordinate frame (NED)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            zfloatmLocal Z position of this position in the local coordinate frame (NED: positive "down")
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            qfloat[4]World to surface normal and heading transformation of the takeoff position. Used to indicate the heading and slope of the ground
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            approach_xfloatmLocal X position of the end of the approach vector. Multicopters should set this position based on their takeoff path. Grass-landing fixed wing aircraft should set it the same way as multicopters. Runway-landing fixed wing aircraft should set it to the opposite direction of the takeoff, assuming the takeoff happened from the threshold / touchdown zone.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            approach_yfloatmLocal Y position of the end of the approach vector. Multicopters should set this position based on their takeoff path. Grass-landing fixed wing aircraft should set it the same way as multicopters. Runway-landing fixed wing aircraft should set it to the opposite direction of the takeoff, assuming the takeoff happened from the threshold / touchdown zone.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            approach_zfloatmLocal Z position of the end of the approach vector. Multicopters should set this position based on their takeoff path. Grass-landing fixed wing aircraft should set it the same way as multicopters. Runway-landing fixed wing aircraft should set it to the opposite direction of the takeoff, assuming the takeoff happened from the threshold / touchdown zone.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            time_usec ++uint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MESSAGE_INTERVAL (244)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            The interval between messages for a particular MAVLink message ID. This message is sent in response to the MAV_CMD_REQUEST_MESSAGE command with param1=244 (this message) and param2=message_id (the id of the message for which the interval is required). It may also be sent in response to MAV_CMD_GET_MESSAGE_INTERVAL. This interface replaces DATA_STREAM.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            message_iduint16_tThe ID of the requested MAVLink message. v1.0 is limited to 254 messages.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            interval_usint32_tusThe interval between two messages. A value of -1 indicates this stream is disabled, 0 indicates it is not available, > 0 indicates the interval at which it is sent.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            EXTENDED_SYS_STATE (245)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Provides state for additional features

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Field NameTypeValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            vtol_stateuint8_tMAV_VTOL_STATEThe VTOL state if applicable. Is set to MAV_VTOL_STATE_UNDEFINED if UAV is not in VTOL configuration.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            landed_stateuint8_tMAV_LANDED_STATEThe landed state. Is set to MAV_LANDED_STATE_UNDEFINED if landed state is unknown.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ADSB_VEHICLE (246)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            The location and information of an ADSB vehicle

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ICAO_addressuint32_tICAO address
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            latint32_tdegE7Latitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            lonint32_tdegE7Longitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            altitude_typeuint8_tADSB_ALTITUDE_TYPEADSB altitude type.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            altitudeint32_tmmAltitude(ASL)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            headinguint16_tcdegCourse over ground
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            hor_velocityuint16_tcm/sThe horizontal velocity
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ver_velocityint16_tcm/sThe vertical velocity. Positive is up
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            callsignchar[9]The callsign, 8+null
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            emitter_typeuint8_tADSB_EMITTER_TYPEADSB emitter type.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            tslcuint8_tsTime since last communication in seconds
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            flagsuint16_tADSB_FLAGSBitmap to indicate various statuses including valid data fields
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            squawkuint16_tSquawk code. Note that the code is in decimal: e.g. 7700 (general emergency) is encoded as binary 0b0001_1110_0001_0100, not(!) as 0b0000_111_111_000_000

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            COLLISION (247)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Information about a potential collision

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            srcuint8_tMAV_COLLISION_SRCCollision data source
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            iduint32_tUnique identifier, domain based on src field
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            actionuint8_tMAV_COLLISION_ACTIONAction that is being taken to avoid this collision
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            threat_leveluint8_tMAV_COLLISION_THREAT_LEVELHow concerned the aircraft is about this collision
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            time_to_minimum_deltafloatsEstimated time until collision occurs
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            altitude_minimum_deltafloatmClosest vertical distance between vehicle and object
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            horizontal_minimum_deltafloatmClosest horizontal distance between vehicle and object

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            V2_EXTENSION (248)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Message implementing parts of the V2 payload specs in V1 frames for transitional support.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            target_networkuint8_tNetwork ID (0 for broadcast)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            target_systemuint8_tSystem ID (0 for broadcast)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            target_componentuint8_tComponent ID (0 for broadcast)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            message_typeuint16_tA code that identifies the software component that understands this message (analogous to USB device classes or mime type strings). If this code is less than 32768, it is considered a 'registered' protocol extension and the corresponding entry should be added to https://github.com/mavlink/mavlink/definition_files/extension_message_ids.xml. Software creators can register blocks of message IDs as needed (useful for GCS specific metadata, etc...). Message_types greater than 32767 are considered local experiments and should not be checked in to any widely distributed codebase.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            payloaduint8_t[249]Variable length payload. The length must be encoded in the payload as part of the message_type protocol, e.g. by including the length as payload data, or by terminating the payload data with a non-zero marker. This is required in order to reconstruct zero-terminated payloads that are (or otherwise would be) trimmed by MAVLink 2 empty-byte truncation. The entire content of the payload block is opaque unless you understand the encoding message_type. The particular encoding used can be extension specific and might not always be documented as part of the MAVLink specification.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MEMORY_VECT (249)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Send raw controller memory. The use of this message is discouraged for normal packets, but a quite efficient way for testing new messages and getting experimental debug output.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            addressuint16_tStarting address of the debug variables
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            veruint8_tVersion code of the type variable. 0=unknown, type ignored and assumed int16_t. 1=as below
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            typeuint8_tType code of the memory variables. for ver = 1: 0=16 x int16_t, 1=16 x uint16_t, 2=16 x Q15, 3=16 x 1Q14
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            valueint8_t[32]Memory contents at specified address

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            DEBUG_VECT (250)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            To debug something using a named 3D vector.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            namechar[10]Name

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Messages with same value are from the same source (instance). | | time_usec | uint64_t | us | Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number. | | x | float | | x | | y | float | | y | | z | float | | z |

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            NAMED_VALUE_FLOAT (251)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Send a key-value pair as float. The use of this message is discouraged for normal packets, but a quite efficient way for testing new messages and getting experimental debug output.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            time_boot_msuint32_tmsTimestamp (time since system boot).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            namechar[10]Name of the debug variable

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Messages with same value are from the same source (instance). | | value | float | | Floating point value |

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            NAMED_VALUE_INT (252)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Send a key-value pair as integer. The use of this message is discouraged for normal packets, but a quite efficient way for testing new messages and getting experimental debug output.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            time_boot_msuint32_tmsTimestamp (time since system boot).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            namechar[10]Name of the debug variable

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Messages with same value are from the same source (instance). | | value | int32_t | | Signed integer value |

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            STATUSTEXT (253)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Status text message. These messages are printed in yellow in the COMM console of QGroundControl. WARNING: They consume quite some bandwidth, so use only for important status and error messages. If implemented wisely, these messages are buffered on the MCU and sent only at a limited rate (e.g. 10 Hz).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Field NameTypeValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            severityuint8_tMAV_SEVERITYSeverity of status. Relies on the definitions within RFC-5424.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            textchar[50]Status text message, without null termination character
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            id ++uint16_tUnique (opaque) identifier for this statustext message. May be used to reassemble a logical long-statustext message from a sequence of chunks. A value of zero indicates this is the only chunk in the sequence and the message can be emitted immediately.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            chunk_seq ++uint8_tThis chunk's sequence number; indexing is from zero. Any null character in the text field is taken to mean this was the last chunk.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            DEBUG (254)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Send a debug value. The index is used to discriminate between values. These values show up in the plot of QGroundControl as DEBUG N.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            time_boot_msuint32_tmsTimestamp (time since system boot).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            induint8_tindex of debug variable
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            valuefloatDEBUG value

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            SETUP_SIGNING (256)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Setup a MAVLink2 signing key. If called with secret_key of all zero and zero initial_timestamp will disable signing

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            target_systemuint8_tsystem id of the target
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            target_componentuint8_tcomponent ID of the target
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            secret_keyuint8_t[32]signing key
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            initial_timestampuint64_tinitial timestamp

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            BUTTON_CHANGE (257)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Report button state change.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            time_boot_msuint32_tmsTimestamp (time since system boot).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            last_change_msuint32_tmsTime of last change of button state.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            stateuint8_tBitmap for state of buttons.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            PLAY_TUNE (258) — [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            DEPRECATED: Replaced By PLAY_TUNE_V2 (2019-10) — New version explicitly defines format. More interoperable.)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Control vehicle tone generation (buzzer).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            target_systemuint8_tSystem ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            target_componentuint8_tComponent ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            tunechar[30]tune in board specific format
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            tune2 ++char[200]tune extension (appended to tune)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            CAMERA_INFORMATION (259)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Information about a camera. Can be requested with a MAV_CMD_REQUEST_MESSAGE command.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            time_boot_msuint32_tmsTimestamp (time since system boot).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            vendor_nameuint8_t[32]Name of the camera vendor
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            model_nameuint8_t[32]Name of the camera model
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            firmware_versionuint32_tinvalid:0Version of the camera firmware, encoded as: (Dev & 0xff) << 24(Patch & 0xff) << 16(Minor & 0xff) << 8(Major & 0xff). Use 0 if not known.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            focal_lengthfloatmminvalid:NaNFocal length. Use NaN if not known.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            sensor_size_hfloatmminvalid:NaNImage sensor size horizontal. Use NaN if not known.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            sensor_size_vfloatmminvalid:NaNImage sensor size vertical. Use NaN if not known.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            resolution_huint16_tpixinvalid:0Horizontal image resolution. Use 0 if not known.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            resolution_vuint16_tpixinvalid:0Vertical image resolution. Use 0 if not known.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            lens_iduint8_tinvalid:0Reserved for a lens ID. Use 0 if not known.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            flagsuint32_tCAMERA_CAP_FLAGSBitmap of camera capability flags.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            cam_definition_versionuint16_tCamera definition version (iteration). Use 0 if not known.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            cam_definition_urichar[140]Camera definition URI (if any, otherwise only basic functions will be available). HTTP- (http://) and MAVLink FTP- (mavlinkftp://) formatted URIs are allowed (and both must be supported by any GCS that implements the Camera Protocol). The definition file may be xz compressed, which will be indicated by the file extension .xml.xz (a GCS that implements the protocol must support decompressing the file). The string needs to be zero terminated. Use a zero-length string if not known.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            gimbal_device_id ++uint8_tinvalid:0Gimbal id of a gimbal associated with this camera. This is the component id of the gimbal device, or 1-6 for non mavlink gimbals. Use 0 if no gimbal is associated with the camera.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            camera_device_id ++uint8_tdefault:0 min:0 max:6Camera id of a non-MAVLink camera attached to an autopilot (1-6). 0 if the component is a MAVLink camera (with its own component id).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            CAMERA_SETTINGS (260)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Settings of a camera. Can be requested with a MAV_CMD_REQUEST_MESSAGE command.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            time_boot_msuint32_tmsTimestamp (time since system boot).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            mode_iduint8_tCAMERA_MODECamera mode
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            zoomLevel ++floatinvalid:NaNCurrent zoom level as a percentage of the full range (0.0 to 100.0, NaN if not known)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            focusLevel ++floatinvalid:NaNCurrent focus level as a percentage of the full range (0.0 to 100.0, NaN if not known)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            camera_device_id ++uint8_tdefault:0 min:0 max:6Camera id of a non-MAVLink camera attached to an autopilot (1-6). 0 if the component is a MAVLink camera (with its own component id).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            STORAGE_INFORMATION (261)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Information about a storage medium. This message is sent in response to a request with MAV_CMD_REQUEST_MESSAGE and whenever the status of the storage changes (STORAGE_STATUS). Use MAV_CMD_REQUEST_MESSAGE.param2 to indicate the index/id of requested storage: 0 for all, 1 for first, 2 for second, etc.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            time_boot_msuint32_tmsTimestamp (time since system boot).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            storage_iduint8_tStorage ID (1 for first, 2 for second, etc.)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Messages with same value are from the same source (instance). | | storage_count | uint8_t | | | Number of storage devices | | status | uint8_t | | STORAGE_STATUS | Status of storage | | total_capacity | float | MiB | | Total capacity. If storage is not ready (STORAGE_STATUS_READY) value will be ignored. | | used_capacity | float | MiB | | Used capacity. If storage is not ready (STORAGE_STATUS_READY) value will be ignored. | | available_capacity | float | MiB | | Available storage capacity. If storage is not ready (STORAGE_STATUS_READY) value will be ignored. | | read_speed | float | MiB/s | | Read speed. | | write_speed | float | MiB/s | | Write speed. | | type ++ | uint8_t | | STORAGE_TYPE | Type of storage | | name ++ | char[32] | | | Textual storage name to be used in UI (microSD 1, Internal Memory, etc.) This is a NULL terminated string. If it is exactly 32 characters long, add a terminating NULL. If this string is empty, the generic type is shown to the user. | | storage_usage ++ | uint8_t | | STORAGE_USAGE_FLAG | Flags indicating whether this instance is preferred storage for photos, videos, etc.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Note: Implementations should initially set the flags on the system-default storage id used for saving media (if possible/supported).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            This setting can then be overridden using MAV_CMD_SET_STORAGE_USAGE.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            If the media usage flags are not set, a GCS may assume storage ID 1 is the default storage for all media types. |

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            CAMERA_CAPTURE_STATUS (262)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Information about the status of a capture. Can be requested with a MAV_CMD_REQUEST_MESSAGE command.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            time_boot_msuint32_tmsTimestamp (time since system boot).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            image_statusuint8_tCurrent status of image capturing (0: idle, 1: capture in progress, 2: interval set but idle, 3: interval set and capture in progress)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            video_statusuint8_tCurrent status of video capturing (0: idle, 1: capture in progress)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            image_intervalfloatsImage capture interval
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            recording_time_msuint32_tmsElapsed time since recording started (0: Not supported/available). A GCS should compute recording time and use non-zero values of this field to correct any discrepancy.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            available_capacityfloatMiBAvailable storage capacity.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            image_count ++int32_tTotal number of images captured ('forever', or until reset using MAV_CMD_STORAGE_FORMAT).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            camera_device_id ++uint8_tCamera id of a non-MAVLink camera attached to an autopilot (1-6). 0 if the component is a MAVLink camera (with its own component id).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            CAMERA_IMAGE_CAPTURED (263)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Information about a captured image. This is emitted every time a message is captured.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_REQUEST_MESSAGE can be used to (re)request this message for a specific sequence number or range of sequence numbers: MAV_CMD_REQUEST_MESSAGE.param2 indicates the sequence number the first image to send, or set to -1 to send the message for all sequence numbers. MAV_CMD_REQUEST_MESSAGE.param3 is used to specify a range of messages to send: set to 0 (default) to send just the the message for the sequence number in param 2, set to -1 to send the message for the sequence number in param 2 and all the following sequence numbers, set to the sequence number of the final message in the range.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            time_boot_msuint32_tmsTimestamp (time since system boot).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            time_utcuint64_tusTimestamp (time since UNIX epoch) in UTC. 0 for unknown.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            camera_iduint8_tDeprecated/unused. Component IDs are used to differentiate multiple cameras.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            latint32_tdegE7Latitude where image was taken
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            lonint32_tdegE7Longitude where capture was taken
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            altint32_tmmAltitude (MSL) where image was taken
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            relative_altint32_tmmAltitude above ground
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            qfloat[4]Quaternion of camera orientation (w, x, y, z order, zero-rotation is 1, 0, 0, 0)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            image_indexint32_tZero based index of this image (i.e. a new image will have index CAMERA_CAPTURE_STATUS.image count -1)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            capture_resultint8_tBoolean indicating success (1) or failure (0) while capturing this image.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            file_urlchar[205]URL of image taken. Either local storage or http://foo.jpg if camera provides an HTTP interface.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            FLIGHT_INFORMATION (264)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Flight information.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            This includes time since boot for arm, takeoff, and land, and a flight number. Takeoff and landing values reset to zero on arm. This can be requested using MAV_CMD_REQUEST_MESSAGE. Note, some fields are misnamed - timestamps are from boot (not UTC) and the flight_uuid is a sequence number.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            time_boot_msuint32_tmsTimestamp (time since system boot).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            arming_time_utcuint64_tusTimestamp at arming (since system boot). Set to 0 on boot. Set value on arming. Note, field is misnamed UTC.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            takeoff_time_utcuint64_tusTimestamp at takeoff (since system boot). Set to 0 at boot and on arming. Note, field is misnamed UTC.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            flight_uuiduint64_tFlight number. Note, field is misnamed UUID.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            landing_time ++uint32_tmsTimestamp at landing (in ms since system boot). Set to 0 at boot and on arming.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MOUNT_ORIENTATION (265) — [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            DEPRECATED: Replaced By MAV_CMD_DO_GIMBAL_MANAGER_PITCHYAW (2020-01) — This message is being superseded by MAV_CMD_DO_GIMBAL_MANAGER_PITCHYAW. The message can still be used to communicate with legacy gimbals implementing it.)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Orientation of a mount

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            time_boot_msuint32_tmsTimestamp (time since system boot).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            rollfloatdegRoll in global frame (set to NaN for invalid).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            pitchfloatdegPitch in global frame (set to NaN for invalid).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            yawfloatdegYaw relative to vehicle (set to NaN for invalid).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            yaw_absolute ++floatdegYaw in absolute frame relative to Earth's North, north is 0 (set to NaN for invalid).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            LOGGING_DATA (266)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            A message containing logged data (see also MAV_CMD_LOGGING_START)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            target_systemuint8_tsystem ID of the target
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            target_componentuint8_tcomponent ID of the target
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            sequenceuint16_tsequence number (can wrap)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            lengthuint8_tbytesdata length
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            first_message_offsetuint8_tbytesoffset into data where first message starts. This can be used for recovery, when a previous message got lost (set to UINT8_MAX if no start exists).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            datauint8_t[249]logged data

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            LOGGING_DATA_ACKED (267)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            A message containing logged data which requires a LOGGING_ACK to be sent back

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            target_systemuint8_tsystem ID of the target
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            target_componentuint8_tcomponent ID of the target
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            sequenceuint16_tsequence number (can wrap)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            lengthuint8_tbytesdata length
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            first_message_offsetuint8_tbytesoffset into data where first message starts. This can be used for recovery, when a previous message got lost (set to UINT8_MAX if no start exists).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            datauint8_t[249]logged data

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            LOGGING_ACK (268)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            An ack for a LOGGING_DATA_ACKED message

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            target_systemuint8_tsystem ID of the target
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            target_componentuint8_tcomponent ID of the target
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            sequenceuint16_tsequence number (must match the one in LOGGING_DATA_ACKED)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            VIDEO_STREAM_INFORMATION (269)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Information about video stream. It may be requested using MAV_CMD_REQUEST_MESSAGE, where param2 indicates the video stream id: 0 for all streams, 1 for first, 2 for second, etc.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            stream_iduint8_tVideo Stream ID (1 for first, 2 for second, etc.)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Messages with same value are from the same source (instance). | | count | uint8_t | | | Number of streams available. | | type | uint8_t | | VIDEO_STREAM_TYPE | Type of stream. | | flags | uint16_t | | VIDEO_STREAM_STATUS_FLAGS | Bitmap of stream status flags. | | framerate | float | Hz | | Frame rate. | | resolution_h | uint16_t | pix | | Horizontal resolution. | | resolution_v | uint16_t | pix | | Vertical resolution. | | bitrate | uint32_t | bits/s | | Bit rate. | | rotation | uint16_t | deg | | Video image rotation clockwise. | | hfov | uint16_t | deg | | Horizontal Field of view. | | name | char[32] | | | Stream name. | | uri | char[160] | | | Video stream URI (TCP or RTSP URI ground station should connect to) or port number (UDP port ground station should listen to). | | encoding ++ | uint8_t | | VIDEO_STREAM_ENCODING | Encoding of stream. | | camera_device_id ++ | uint8_t | | default:0 min:0 max:6 | Camera id of a non-MAVLink camera attached to an autopilot (1-6). 0 if the component is a MAVLink camera (with its own component id). |

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            VIDEO_STREAM_STATUS (270)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Information about the status of a video stream. It may be requested using MAV_CMD_REQUEST_MESSAGE.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            stream_iduint8_tVideo Stream ID (1 for first, 2 for second, etc.)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Messages with same value are from the same source (instance). | | flags | uint16_t | | VIDEO_STREAM_STATUS_FLAGS | Bitmap of stream status flags | | framerate | float | Hz | | Frame rate | | resolution_h | uint16_t | pix | | Horizontal resolution | | resolution_v | uint16_t | pix | | Vertical resolution | | bitrate | uint32_t | bits/s | | Bit rate | | rotation | uint16_t | deg | | Video image rotation clockwise | | hfov | uint16_t | deg | | Horizontal Field of view | | camera_device_id ++ | uint8_t | | default:0 min:0 max:6 | Camera id of a non-MAVLink camera attached to an autopilot (1-6). 0 if the component is a MAVLink camera (with its own component id). |

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            CAMERA_FOV_STATUS (271)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Information about the field of view of a camera. Can be requested with a MAV_CMD_REQUEST_MESSAGE command.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            time_boot_msuint32_tmsTimestamp (time since system boot).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            lat_cameraint32_tdegE7Latitude of camera (INT32_MAX if unknown).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            lon_cameraint32_tdegE7Longitude of camera (INT32_MAX if unknown).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            alt_cameraint32_tmmAltitude (MSL) of camera (INT32_MAX if unknown).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            lat_imageint32_tdegE7Latitude of center of image (INT32_MAX if unknown, INT32_MIN if at infinity, not intersecting with horizon).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            lon_imageint32_tdegE7Longitude of center of image (INT32_MAX if unknown, INT32_MIN if at infinity, not intersecting with horizon).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            alt_imageint32_tmmAltitude (MSL) of center of image (INT32_MAX if unknown, INT32_MIN if at infinity, not intersecting with horizon).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            qfloat[4]Quaternion of camera orientation (w, x, y, z order, zero-rotation is 1, 0, 0, 0)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            hfovfloatdegHorizontal field of view (NaN if unknown).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            vfovfloatdegVertical field of view (NaN if unknown).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            camera_device_id ++uint8_tCamera id of a non-MAVLink camera attached to an autopilot (1-6). 0 if the component is a MAVLink camera (with its own component id).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            CAMERA_TRACKING_IMAGE_STATUS (275)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Camera tracking status, sent while in active tracking. Use MAV_CMD_SET_MESSAGE_INTERVAL to define message interval.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Field NameTypeValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            tracking_statusuint8_tCAMERA_TRACKING_STATUS_FLAGSCurrent tracking status
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            tracking_modeuint8_tCAMERA_TRACKING_MODECurrent tracking mode
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            target_datauint8_tCAMERA_TRACKING_TARGET_DATADefines location of target data
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            point_xfloatinvalid:NaNCurrent tracked point x value if CAMERA_TRACKING_MODE_POINT (normalized 0..1, 0 is left, 1 is right), NAN if unknown
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            point_yfloatinvalid:NaNCurrent tracked point y value if CAMERA_TRACKING_MODE_POINT (normalized 0..1, 0 is top, 1 is bottom), NAN if unknown
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            radiusfloatinvalid:NaNCurrent tracked radius if CAMERA_TRACKING_MODE_POINT (normalized 0..1, 0 is image left, 1 is image right), NAN if unknown
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            rec_top_xfloatinvalid:NaNCurrent tracked rectangle top x value if CAMERA_TRACKING_MODE_RECTANGLE (normalized 0..1, 0 is left, 1 is right), NAN if unknown
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            rec_top_yfloatinvalid:NaNCurrent tracked rectangle top y value if CAMERA_TRACKING_MODE_RECTANGLE (normalized 0..1, 0 is top, 1 is bottom), NAN if unknown
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            rec_bottom_xfloatinvalid:NaNCurrent tracked rectangle bottom x value if CAMERA_TRACKING_MODE_RECTANGLE (normalized 0..1, 0 is left, 1 is right), NAN if unknown
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            rec_bottom_yfloatinvalid:NaNCurrent tracked rectangle bottom y value if CAMERA_TRACKING_MODE_RECTANGLE (normalized 0..1, 0 is top, 1 is bottom), NAN if unknown
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            camera_device_id ++uint8_tdefault:0 min:0 max:6Camera id of a non-MAVLink camera attached to an autopilot (1-6). 0 if the component is a MAVLink camera (with its own component id).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            CAMERA_TRACKING_GEO_STATUS (276)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Camera tracking status, sent while in active tracking. Use MAV_CMD_SET_MESSAGE_INTERVAL to define message interval.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            tracking_statusuint8_tCAMERA_TRACKING_STATUS_FLAGSCurrent tracking status
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            latint32_tdegE7Latitude of tracked object
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            lonint32_tdegE7Longitude of tracked object
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            altfloatmAltitude of tracked object(AMSL, WGS84)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            h_accfloatminvalid:NaNHorizontal accuracy. NAN if unknown
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            v_accfloatminvalid:NaNVertical accuracy. NAN if unknown
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            vel_nfloatm/sinvalid:NaNNorth velocity of tracked object. NAN if unknown
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            vel_efloatm/sinvalid:NaNEast velocity of tracked object. NAN if unknown
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            vel_dfloatm/sinvalid:NaNDown velocity of tracked object. NAN if unknown
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            vel_accfloatm/sinvalid:NaNVelocity accuracy. NAN if unknown
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            distfloatminvalid:NaNDistance between camera and tracked object. NAN if unknown
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            hdgfloatradinvalid:NaNHeading in radians, in NED. NAN if unknown
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            hdg_accfloatradinvalid:NaNAccuracy of heading, in NED. NAN if unknown
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            camera_device_id ++uint8_tdefault:0 min:0 max:6Camera id of a non-MAVLink camera attached to an autopilot (1-6). 0 if the component is a MAVLink camera (with its own component id).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            CAMERA_THERMAL_RANGE (277) — [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Camera absolute thermal range. This can be streamed when the associated VIDEO_STREAM_STATUS flag field bit VIDEO_STREAM_STATUS_FLAGS_THERMAL_RANGE_ENABLED is set, but a GCS may choose to only request it for the current active stream. Use MAV_CMD_SET_MESSAGE_INTERVAL to define message interval (param3 indicates the stream id of the current camera, or 0 for all streams, param4 indicates the target camera_device_id for autopilot-attached cameras or 0 for MAVLink cameras).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            time_boot_msuint32_tmsTimestamp (time since system boot).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            stream_iduint8_tVideo Stream ID (1 for first, 2 for second, etc.)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Messages with same value are from the same source (instance). | | camera_device_id | uint8_t | | Camera id of a non-MAVLink camera attached to an autopilot (1-6). 0 if the component is a MAVLink camera (with its own component id). | | max | float | degC | Temperature max. | | max_point_x | float | | Temperature max point x value (normalized 0..1, 0 is left, 1 is right), NAN if unknown. | | max_point_y | float | | Temperature max point y value (normalized 0..1, 0 is top, 1 is bottom), NAN if unknown. | | min | float | degC | Temperature min. | | min_point_x | float | | Temperature min point x value (normalized 0..1, 0 is left, 1 is right), NAN if unknown. | | min_point_y | float | | Temperature min point y value (normalized 0..1, 0 is top, 1 is bottom), NAN if unknown. |

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            GIMBAL_MANAGER_INFORMATION (280)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Information about a high level gimbal manager. This message should be requested by a ground station using MAV_CMD_REQUEST_MESSAGE.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            time_boot_msuint32_tmsTimestamp (time since system boot).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            cap_flagsuint32_tGIMBAL_MANAGER_CAP_FLAGSBitmap of gimbal capability flags.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            gimbal_device_iduint8_tGimbal device ID that this gimbal manager is responsible for. Component ID of gimbal device (or 1-6 for non-MAVLink gimbal).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Messages with same value are from the same source (instance). | | roll_min | float | rad | | Minimum hardware roll angle (positive: rolling to the right, negative: rolling to the left) | | roll_max | float | rad | | Maximum hardware roll angle (positive: rolling to the right, negative: rolling to the left) | | pitch_min | float | rad | | Minimum pitch angle (positive: up, negative: down) | | pitch_max | float | rad | | Maximum pitch angle (positive: up, negative: down) | | yaw_min | float | rad | | Minimum yaw angle (positive: to the right, negative: to the left) | | yaw_max | float | rad | | Maximum yaw angle (positive: to the right, negative: to the left) |

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            GIMBAL_MANAGER_STATUS (281)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Current status about a high level gimbal manager. This message should be broadcast at a low regular rate (e.g. 5Hz).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            time_boot_msuint32_tmsTimestamp (time since system boot).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            flagsuint32_tGIMBAL_MANAGER_FLAGSHigh level gimbal manager flags currently applied.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            gimbal_device_iduint8_tGimbal device ID that this gimbal manager is responsible for. Component ID of gimbal device (or 1-6 for non-MAVLink gimbal).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Messages with same value are from the same source (instance). | | primary_control_sysid | uint8_t | | | System ID of MAVLink component with primary control, 0 for none. | | primary_control_compid | uint8_t | | | Component ID of MAVLink component with primary control, 0 for none. | | secondary_control_sysid | uint8_t | | | System ID of MAVLink component with secondary control, 0 for none. | | secondary_control_compid | uint8_t | | | Component ID of MAVLink component with secondary control, 0 for none. |

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            GIMBAL_MANAGER_SET_ATTITUDE (282)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            High level message to control a gimbal's attitude. This message is to be sent to the gimbal manager (e.g. from a ground station). Angles and rates can be set to NaN according to use case.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            target_systemuint8_tSystem ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            target_componentuint8_tComponent ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            flagsuint32_tGIMBAL_MANAGER_FLAGSHigh level gimbal manager flags to use.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            gimbal_device_iduint8_tComponent ID of gimbal device to address (or 1-6 for non-MAVLink gimbal), 0 for all gimbal device components. Send command multiple times for more than one gimbal (but not all gimbals).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Messages with same value are from the same source (instance). | | q | float[4] | | | Quaternion components, w, x, y, z (1 0 0 0 is the null-rotation, the frame is depends on whether the flag GIMBAL_MANAGER_FLAGS_YAW_LOCK is set) | | angular_velocity_x | float | rad/s | invalid:NaN | X component of angular velocity, positive is rolling to the right, NaN to be ignored. | | angular_velocity_y | float | rad/s | invalid:NaN | Y component of angular velocity, positive is pitching up, NaN to be ignored. | | angular_velocity_z | float | rad/s | invalid:NaN | Z component of angular velocity, positive is yawing to the right, NaN to be ignored. |

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            GIMBAL_DEVICE_INFORMATION (283)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Information about a low level gimbal. This message should be requested by the gimbal manager or a ground station using MAV_CMD_REQUEST_MESSAGE. The maximum angles and rates are the limits by hardware. However, the limits by software used are likely different/smaller and dependent on mode/settings/etc..

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            time_boot_msuint32_tmsTimestamp (time since system boot).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            vendor_namechar[32]Name of the gimbal vendor.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            model_namechar[32]Name of the gimbal model.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            custom_namechar[32]Custom name of the gimbal given to it by the user.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            firmware_versionuint32_tVersion of the gimbal firmware, encoded as: (Dev & 0xff) << 24(Patch & 0xff) << 16(Minor & 0xff) << 8(Major & 0xff).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            hardware_versionuint32_tVersion of the gimbal hardware, encoded as: (Dev & 0xff) << 24(Patch & 0xff) << 16(Minor & 0xff) << 8(Major & 0xff).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            uiduint64_tinvalid:0UID of gimbal hardware (0 if unknown).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            cap_flagsuint16_tGIMBAL_DEVICE_CAP_FLAGSBitmap of gimbal capability flags.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            custom_cap_flagsuint16_tBitmap for use for gimbal-specific capability flags.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            roll_minfloatradinvalid:NaNMinimum hardware roll angle (positive: rolling to the right, negative: rolling to the left). NAN if unknown.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            roll_maxfloatradinvalid:NaNMaximum hardware roll angle (positive: rolling to the right, negative: rolling to the left). NAN if unknown.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            pitch_minfloatradinvalid:NaNMinimum hardware pitch angle (positive: up, negative: down). NAN if unknown.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            pitch_maxfloatradinvalid:NaNMaximum hardware pitch angle (positive: up, negative: down). NAN if unknown.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            yaw_minfloatradinvalid:NaNMinimum hardware yaw angle (positive: to the right, negative: to the left). NAN if unknown.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            yaw_maxfloatradinvalid:NaNMaximum hardware yaw angle (positive: to the right, negative: to the left). NAN if unknown.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            gimbal_device_id ++uint8_tinvalid:0This field is to be used if the gimbal manager and the gimbal device are the same component and hence have the same component ID. This field is then set to a number between 1-6. If the component ID is separate, this field is not required and must be set to 0.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            GIMBAL_DEVICE_SET_ATTITUDE (284)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Low level message to control a gimbal device's attitude.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            This message is to be sent from the gimbal manager to the gimbal device component. The quaternion and angular velocities can be set to NaN according to use case. For the angles encoded in the quaternion and the angular velocities holds: If the flag GIMBAL_DEVICE_FLAGS_YAW_IN_VEHICLE_FRAME is set, then they are relative to the vehicle heading (vehicle frame). If the flag GIMBAL_DEVICE_FLAGS_YAW_IN_EARTH_FRAME is set, then they are relative to absolute North (earth frame). If neither of these flags are set, then (for backwards compatibility) it holds: If the flag GIMBAL_DEVICE_FLAGS_YAW_LOCK is set, then they are relative to absolute North (earth frame), else they are relative to the vehicle heading (vehicle frame). Setting both GIMBAL_DEVICE_FLAGS_YAW_IN_VEHICLE_FRAME and GIMBAL_DEVICE_FLAGS_YAW_IN_EARTH_FRAME is not allowed. These rules are to ensure backwards compatibility. New implementations should always set either GIMBAL_DEVICE_FLAGS_YAW_IN_VEHICLE_FRAME or GIMBAL_DEVICE_FLAGS_YAW_IN_EARTH_FRAME.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            target_systemuint8_tSystem ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            target_componentuint8_tComponent ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            flagsuint16_tGIMBAL_DEVICE_FLAGSLow level gimbal flags.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            qfloat[4]invalid:[NaN]Quaternion components, w, x, y, z (1 0 0 0 is the null-rotation). The frame is described in the message description. Set fields to NaN to be ignored.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            angular_velocity_xfloatrad/sinvalid:NaNX component of angular velocity (positive: rolling to the right). The frame is described in the message description. NaN to be ignored.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            angular_velocity_yfloatrad/sinvalid:NaNY component of angular velocity (positive: pitching up). The frame is described in the message description. NaN to be ignored.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            angular_velocity_zfloatrad/sinvalid:NaNZ component of angular velocity (positive: yawing to the right). The frame is described in the message description. NaN to be ignored.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            GIMBAL_DEVICE_ATTITUDE_STATUS (285)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Message reporting the status of a gimbal device.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            This message should be broadcast by a gimbal device component at a low regular rate (e.g. 5 Hz). For the angles encoded in the quaternion and the angular velocities holds: If the flag GIMBAL_DEVICE_FLAGS_YAW_IN_VEHICLE_FRAME is set, then they are relative to the vehicle heading (vehicle frame). If the flag GIMBAL_DEVICE_FLAGS_YAW_IN_EARTH_FRAME is set, then they are relative to absolute North (earth frame). If neither of these flags are set, then (for backwards compatibility) it holds: If the flag GIMBAL_DEVICE_FLAGS_YAW_LOCK is set, then they are relative to absolute North (earth frame), else they are relative to the vehicle heading (vehicle frame). Other conditions of the flags are not allowed. The quaternion and angular velocities in the other frame can be calculated from delta_yaw and delta_yaw_velocity as q_earth = q_delta_yaw * q_vehicle and w_earth = w_delta_yaw_velocity + w_vehicle (if not NaN). If neither the GIMBAL_DEVICE_FLAGS_YAW_IN_VEHICLE_FRAME nor the GIMBAL_DEVICE_FLAGS_YAW_IN_EARTH_FRAME flag is set, then (for backwards compatibility) the data in the delta_yaw and delta_yaw_velocity fields are to be ignored. New implementations should always set either GIMBAL_DEVICE_FLAGS_YAW_IN_VEHICLE_FRAME or GIMBAL_DEVICE_FLAGS_YAW_IN_EARTH_FRAME, and always should set delta_yaw and delta_yaw_velocity either to the proper value or NaN.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            target_systemuint8_tSystem ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            target_componentuint8_tComponent ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            time_boot_msuint32_tmsTimestamp (time since system boot).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            flagsuint16_tGIMBAL_DEVICE_FLAGSCurrent gimbal flags set.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            qfloat[4]Quaternion components, w, x, y, z (1 0 0 0 is the null-rotation). The frame is described in the message description.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            angular_velocity_xfloatrad/sinvalid:NaNX component of angular velocity (positive: rolling to the right). The frame is described in the message description. NaN if unknown.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            angular_velocity_yfloatrad/sinvalid:NaNY component of angular velocity (positive: pitching up). The frame is described in the message description. NaN if unknown.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            angular_velocity_zfloatrad/sinvalid:NaNZ component of angular velocity (positive: yawing to the right). The frame is described in the message description. NaN if unknown.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            failure_flagsuint32_tGIMBAL_DEVICE_ERROR_FLAGSFailure flags (0 for no failure)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            delta_yaw ++floatradinvalid:NANYaw angle relating the quaternions in earth and body frames (see message description). NaN if unknown.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            delta_yaw_velocity ++floatrad/sinvalid:NANYaw angular velocity relating the angular velocities in earth and body frames (see message description). NaN if unknown.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            gimbal_device_id ++uint8_tinvalid:0This field is to be used if the gimbal manager and the gimbal device are the same component and hence have the same component ID. This field is then set a number between 1-6. If the component ID is separate, this field is not required and must be set to 0.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            AUTOPILOT_STATE_FOR_GIMBAL_DEVICE (286)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Low level message containing autopilot state relevant for a gimbal device. This message is to be sent from the autopilot to the gimbal device component. The data of this message are for the gimbal device's estimator corrections, in particular horizon compensation, as well as indicates autopilot control intentions, e.g. feed forward angular control in the z-axis.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            target_systemuint8_tSystem ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            target_componentuint8_tComponent ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            time_boot_usuint64_tusTimestamp (time since system boot).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            qfloat[4]Quaternion components of autopilot attitude: w, x, y, z (1 0 0 0 is the null-rotation, Hamilton convention).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            q_estimated_delay_usuint32_tusinvalid:0Estimated delay of the attitude data. 0 if unknown.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            vxfloatm/sinvalid:NaNX Speed in NED (North, East, Down). NAN if unknown.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            vyfloatm/sinvalid:NaNY Speed in NED (North, East, Down). NAN if unknown.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            vzfloatm/sinvalid:NaNZ Speed in NED (North, East, Down). NAN if unknown.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            v_estimated_delay_usuint32_tusinvalid:0Estimated delay of the speed data. 0 if unknown.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            feed_forward_angular_velocity_zfloatrad/sinvalid:NaNFeed forward Z component of angular velocity (positive: yawing to the right). NaN to be ignored. This is to indicate if the autopilot is actively yawing.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            estimator_statusuint16_tESTIMATOR_STATUS_FLAGSBitmap indicating which estimator outputs are valid.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            landed_stateuint8_tinvalid:MAV_LANDED_STATE_UNDEFINED MAV_LANDED_STATEThe landed state. Is set to MAV_LANDED_STATE_UNDEFINED if landed state is unknown.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            angular_velocity_z ++floatrad/sinvalid:NaNZ component of angular velocity in NED (North, East, Down). NaN if unknown.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            GIMBAL_MANAGER_SET_PITCHYAW (287)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Set gimbal manager pitch and yaw angles (high rate message). This message is to be sent to the gimbal manager (e.g. from a ground station) and will be ignored by gimbal devices. Angles and rates can be set to NaN according to use case. Use MAV_CMD_DO_GIMBAL_MANAGER_PITCHYAW for low-rate adjustments that require confirmation.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            target_systemuint8_tSystem ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            target_componentuint8_tComponent ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            flagsuint32_tGIMBAL_MANAGER_FLAGSHigh level gimbal manager flags to use.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            gimbal_device_iduint8_tComponent ID of gimbal device to address (or 1-6 for non-MAVLink gimbal), 0 for all gimbal device components. Send command multiple times for more than one gimbal (but not all gimbals).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Messages with same value are from the same source (instance). | | pitch | float | rad | invalid:NaN | Pitch angle (positive: up, negative: down, NaN to be ignored). | | yaw | float | rad | invalid:NaN | Yaw angle (positive: to the right, negative: to the left, NaN to be ignored). | | pitch_rate | float | rad/s | invalid:NaN | Pitch angular rate (positive: up, negative: down, NaN to be ignored). | | yaw_rate | float | rad/s | invalid:NaN | Yaw angular rate (positive: to the right, negative: to the left, NaN to be ignored). |

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            GIMBAL_MANAGER_SET_MANUAL_CONTROL (288)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            High level message to control a gimbal manually. The angles or angular rates are unitless; the actual rates will depend on internal gimbal manager settings/configuration (e.g. set by parameters). This message is to be sent to the gimbal manager (e.g. from a ground station). Angles and rates can be set to NaN according to use case.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Field NameTypeValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            target_systemuint8_tSystem ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            target_componentuint8_tComponent ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            flagsuint32_tGIMBAL_MANAGER_FLAGSHigh level gimbal manager flags.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            gimbal_device_iduint8_tComponent ID of gimbal device to address (or 1-6 for non-MAVLink gimbal), 0 for all gimbal device components. Send command multiple times for more than one gimbal (but not all gimbals).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Messages with same value are from the same source (instance). | | pitch | float | invalid:NaN | Pitch angle unitless (-1..1, positive: up, negative: down, NaN to be ignored). | | yaw | float | invalid:NaN | Yaw angle unitless (-1..1, positive: to the right, negative: to the left, NaN to be ignored). | | pitch_rate | float | invalid:NaN | Pitch angular rate unitless (-1..1, positive: up, negative: down, NaN to be ignored). | | yaw_rate | float | invalid:NaN | Yaw angular rate unitless (-1..1, positive: to the right, negative: to the left, NaN to be ignored). |

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ESC_INFO (290) — [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ESC information for lower rate streaming. Recommended streaming rate 1Hz. See ESC_STATUS for higher-rate ESC data.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            indexuint8_tIndex of the first ESC in this message. minValue = 0, maxValue = 60, increment = 4.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Messages with same value are from the same source (instance). | | time_usec | uint64_t | us | | Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude the number. | | counter | uint16_t | | | Counter of data packets received. | | count | uint8_t | | | Total number of ESCs in all messages of this type. Message fields with an index higher than this should be ignored because they contain invalid data. | | connection_type | uint8_t | | ESC_CONNECTION_TYPE | Connection type protocol for all ESC. | | info | uint8_t | | | Information regarding online/offline status of each ESC. | | failure_flags | uint16_t[4] | | ESC_FAILURE_FLAGS | Bitmap of ESC failure flags. | | error_count | uint32_t[4] | | | Number of reported errors by each ESC since boot. | | temperature | int16_t[4] | cdegC | invalid:[INT16_MAX] | Temperature of each ESC. INT16_MAX: if data not supplied by ESC. |

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ESC_STATUS (291) — [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ESC information for higher rate streaming. Recommended streaming rate is ~10 Hz. Information that changes more slowly is sent in ESC_INFO. It should typically only be streamed on high-bandwidth links (i.e. to a companion computer).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            indexuint8_tIndex of the first ESC in this message. minValue = 0, maxValue = 60, increment = 4.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Messages with same value are from the same source (instance). | | time_usec | uint64_t | us | Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude the number. | | rpm | int32_t[4] | rpm | Reported motor RPM from each ESC (negative for reverse rotation). | | voltage | float[4] | V | Voltage measured from each ESC. | | current | float[4] | A | Current measured from each ESC. |

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            WIFI_CONFIG_AP (299)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Configure WiFi AP SSID, password, and mode. This message is re-emitted as an acknowledgement by the AP. The message may also be explicitly requested using MAV_CMD_REQUEST_MESSAGE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Field NameTypeValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ssidchar[32]Name of Wi-Fi network (SSID). Blank to leave it unchanged when setting. Current SSID when sent back as a response.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            passwordchar[64]Password. Blank for an open AP. MD5 hash when message is sent back as a response.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            mode ++int8_tWIFI_CONFIG_AP_MODEWiFi Mode.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            response ++int8_tWIFI_CONFIG_AP_RESPONSEMessage acceptance response (sent back to GS).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            PROTOCOL_VERSION (300) — [from: minimal] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Version and capability of protocol version. This message can be requested with MAV_CMD_REQUEST_MESSAGE and is used as part of the handshaking to establish which MAVLink version should be used on the network. Every node should respond to a request for PROTOCOL_VERSION to enable the handshaking. Library implementers should consider adding this into the default decoding state machine to allow the protocol core to respond directly.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            versionuint16_tCurrently active MAVLink version number * 100: v1.0 is 100, v2.0 is 200, etc.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            min_versionuint16_tMinimum MAVLink version supported
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            max_versionuint16_tMaximum MAVLink version supported (set to the same value as version by default)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            spec_version_hashuint8_t[8]The first 8 bytes (not characters printed in hex!) of the git hash.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            library_version_hashuint8_t[8]The first 8 bytes (not characters printed in hex!) of the git hash.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            AIS_VESSEL (301)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            The location and information of an AIS vessel

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MMSIuint32_tMobile Marine Service Identifier, 9 decimal digits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            latint32_tdegE7Latitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            lonint32_tdegE7Longitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            COGuint16_tcdegCourse over ground
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            headinguint16_tcdegTrue heading
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            velocityuint16_tcm/sSpeed over ground
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            turn_rateint8_tcdeg/sTurn rate
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            navigational_statusuint8_tAIS_NAV_STATUSNavigational status
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            typeuint8_tAIS_TYPEType of vessels
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            dimension_bowuint16_tmDistance from lat/lon location to bow
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            dimension_sternuint16_tmDistance from lat/lon location to stern
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            dimension_portuint8_tmDistance from lat/lon location to port side
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            dimension_starboarduint8_tmDistance from lat/lon location to starboard side
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            callsignchar[7]The vessel callsign
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            namechar[20]The vessel name
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            tslcuint16_tsTime since last communication in seconds
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            flagsuint16_tAIS_FLAGSBitmask to indicate various statuses including valid data fields

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            UAVCAN_NODE_STATUS (310)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            General status information of an UAVCAN node. Please refer to the definition of the UAVCAN message "uavcan.protocol.NodeStatus" for the background information. The UAVCAN specification is available at http://uavcan.org.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            uptime_secuint32_tsTime since the start-up of the node.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            healthuint8_tUAVCAN_NODE_HEALTHGeneralized node health status.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            modeuint8_tUAVCAN_NODE_MODEGeneralized operating mode.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            sub_modeuint8_tNot used currently.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            vendor_specific_status_codeuint16_tVendor-specific status information.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            UAVCAN_NODE_INFO (311)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            General information describing a particular UAVCAN node. Please refer to the definition of the UAVCAN service "uavcan.protocol.GetNodeInfo" for the background information. This message should be emitted by the system whenever a new node appears online, or an existing node reboots. Additionally, it can be emitted upon request from the other end of the MAVLink channel (see MAV_CMD_UAVCAN_GET_NODE_INFO). It is also not prohibited to emit this message unconditionally at a low frequency. The UAVCAN specification is available at http://uavcan.org.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            uptime_secuint32_tsTime since the start-up of the node.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            namechar[80]Node name string. For example, "sapog.px4.io".
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            hw_version_majoruint8_tHardware major version number.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            hw_version_minoruint8_tHardware minor version number.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            hw_unique_iduint8_t[16]Hardware unique 128-bit ID.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            sw_version_majoruint8_tSoftware major version number.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            sw_version_minoruint8_tSoftware minor version number.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            sw_vcs_commituint32_tVersion control system (VCS) revision identifier (e.g. git short commit hash). 0 if unknown.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            PARAM_EXT_REQUEST_READ (320)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Request to read the value of a parameter with either the param_id string id or param_index. PARAM_EXT_VALUE should be emitted in response.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            target_systemuint8_tSystem ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            target_componentuint8_tComponent ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            param_idchar[16]Parameter id, terminated by NULL if the length is less than 16 human-readable chars and WITHOUT null termination (NULL) byte if the length is exactly 16 chars - applications have to provide 16+1 bytes storage if the ID is stored as string
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            param_indexint16_tParameter index. Set to -1 to use the Parameter ID field as identifier (else param_id will be ignored)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            PARAM_EXT_REQUEST_LIST (321)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Request all parameters of this component. All parameters should be emitted in response as PARAM_EXT_VALUE.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            target_systemuint8_tSystem ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            target_componentuint8_tComponent ID

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            PARAM_EXT_VALUE (322)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Emit the value of a parameter. The inclusion of param_count and param_index in the message allows the recipient to keep track of received parameters and allows them to re-request missing parameters after a loss or timeout.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Field NameTypeValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            param_idchar[16]Parameter id, terminated by NULL if the length is less than 16 human-readable chars and WITHOUT null termination (NULL) byte if the length is exactly 16 chars - applications have to provide 16+1 bytes storage if the ID is stored as string
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            param_valuechar[128]Parameter value
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            param_typeuint8_tMAV_PARAM_EXT_TYPEParameter type.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            param_countuint16_tTotal number of parameters
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            param_indexuint16_tIndex of this parameter

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            PARAM_EXT_SET (323)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Set a parameter value. In order to deal with message loss (and retransmission of PARAM_EXT_SET), when setting a parameter value and the new value is the same as the current value, you will immediately get a PARAM_ACK_ACCEPTED response. If the current state is PARAM_ACK_IN_PROGRESS, you will accordingly receive a PARAM_ACK_IN_PROGRESS in response.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Field NameTypeValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            target_systemuint8_tSystem ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            target_componentuint8_tComponent ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            param_idchar[16]Parameter id, terminated by NULL if the length is less than 16 human-readable chars and WITHOUT null termination (NULL) byte if the length is exactly 16 chars - applications have to provide 16+1 bytes storage if the ID is stored as string
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            param_valuechar[128]Parameter value
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            param_typeuint8_tMAV_PARAM_EXT_TYPEParameter type.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            PARAM_EXT_ACK (324)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Response from a PARAM_EXT_SET message.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Field NameTypeValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            param_idchar[16]Parameter id, terminated by NULL if the length is less than 16 human-readable chars and WITHOUT null termination (NULL) byte if the length is exactly 16 chars - applications have to provide 16+1 bytes storage if the ID is stored as string
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            param_valuechar[128]Parameter value (new value if PARAM_ACK_ACCEPTED, current value otherwise)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            param_typeuint8_tMAV_PARAM_EXT_TYPEParameter type.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            param_resultuint8_tPARAM_ACKResult code.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            OBSTACLE_DISTANCE (330)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Obstacle distances in front of the sensor, starting from the left in increment degrees to the right

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            sensor_typeuint8_tMAV_DISTANCE_SENSORClass id of the distance sensor type.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            distancesuint16_t[72]cminvalid:[UINT16_MAX]Distance of obstacles around the vehicle with index 0 corresponding to north + angle_offset, unless otherwise specified in the frame. A value of 0 is valid and means that the obstacle is practically touching the sensor. A value of max_distance +1 means no obstacle is present. A value of UINT16_MAX for unknown/not used. In a array element, one unit corresponds to 1cm.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            incrementuint8_tdegAngular width in degrees of each array element. Increment direction is clockwise. This field is ignored if increment_f is non-zero.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            min_distanceuint16_tcmMinimum distance the sensor can measure.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            max_distanceuint16_tcmMaximum distance the sensor can measure.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            increment_f ++floatdegAngular width in degrees of each array element as a float. If non-zero then this value is used instead of the uint8_t increment field. Positive is clockwise direction, negative is counter-clockwise.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            angle_offset ++floatdegRelative angle offset of the 0-index element in the distances array. Value of 0 corresponds to forward. Positive is clockwise direction, negative is counter-clockwise.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            frame ++uint8_tMAV_FRAMECoordinate frame of reference for the yaw rotation and offset of the sensor data. Defaults to MAV_FRAME_GLOBAL, which is north aligned. For body-mounted sensors use MAV_FRAME_BODY_FRD, which is vehicle front aligned.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ODOMETRY (331)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Odometry message to communicate odometry information with an external interface. Fits ROS REP 147 standard for aerial vehicles (http://www.ros.org/reps/rep-0147.html).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            frame_iduint8_tMAV_FRAMECoordinate frame of reference for the pose data.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            child_frame_iduint8_tMAV_FRAMECoordinate frame of reference for the velocity in free space (twist) data.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            xfloatmX Position
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            yfloatmY Position
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            zfloatmZ Position
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            qfloat[4]Quaternion components, w, x, y, z (1 0 0 0 is the null-rotation)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            vxfloatm/sX linear speed
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            vyfloatm/sY linear speed
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            vzfloatm/sZ linear speed
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            rollspeedfloatrad/sRoll angular speed
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            pitchspeedfloatrad/sPitch angular speed
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            yawspeedfloatrad/sYaw angular speed
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            pose_covariancefloat[21]invalid:[NaN:]Row-major representation of a 6x6 pose cross-covariance matrix upper right triangle (states: x, y, z, roll, pitch, yaw; first six entries are the first ROW, next five entries are the second ROW, etc.). If unknown, assign NaN value to first element in the array.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            velocity_covariancefloat[21]invalid:[NaN:]Row-major representation of a 6x6 velocity cross-covariance matrix upper right triangle (states: vx, vy, vz, rollspeed, pitchspeed, yawspeed; first six entries are the first ROW, next five entries are the second ROW, etc.). If unknown, assign NaN value to first element in the array.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            reset_counter ++uint8_tEstimate reset counter. This should be incremented when the estimate resets in any of the dimensions (position, velocity, attitude, angular speed). This is designed to be used when e.g an external SLAM system detects a loop-closure and the estimate jumps.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            estimator_type ++uint8_tMAV_ESTIMATOR_TYPEType of estimator that is providing the odometry.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            quality ++int8_t%invalid:0Optional odometry quality metric as a percentage. -1 = odometry has failed, 0 = unknown/unset quality, 1 = worst quality, 100 = best quality

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            TRAJECTORY_REPRESENTATION_WAYPOINTS (332)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Describe a trajectory using an array of up-to 5 waypoints in the local frame (MAV_FRAME_LOCAL_NED).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            valid_pointsuint8_tNumber of valid points (up-to 5 waypoints are possible)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            pos_xfloat[5]minvalid:[NaN]X-coordinate of waypoint, set to NaN if not being used
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            pos_yfloat[5]minvalid:[NaN]Y-coordinate of waypoint, set to NaN if not being used
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            pos_zfloat[5]minvalid:[NaN]Z-coordinate of waypoint, set to NaN if not being used
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            vel_xfloat[5]m/sinvalid:[NaN]X-velocity of waypoint, set to NaN if not being used
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            vel_yfloat[5]m/sinvalid:[NaN]Y-velocity of waypoint, set to NaN if not being used
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            vel_zfloat[5]m/sinvalid:[NaN]Z-velocity of waypoint, set to NaN if not being used
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            acc_xfloat[5]m/s/sinvalid:[NaN]X-acceleration of waypoint, set to NaN if not being used
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            acc_yfloat[5]m/s/sinvalid:[NaN]Y-acceleration of waypoint, set to NaN if not being used
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            acc_zfloat[5]m/s/sinvalid:[NaN]Z-acceleration of waypoint, set to NaN if not being used
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            pos_yawfloat[5]radinvalid:[NaN]Yaw angle, set to NaN if not being used
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            vel_yawfloat[5]rad/sinvalid:[NaN]Yaw rate, set to NaN if not being used
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            commanduint16_t[5]invalid:[UINT16_MAX] MAV_CMDMAV_CMD command id of waypoint, set to UINT16_MAX if not being used.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            TRAJECTORY_REPRESENTATION_BEZIER (333)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Describe a trajectory using an array of up-to 5 bezier control points in the local frame (MAV_FRAME_LOCAL_NED).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            valid_pointsuint8_tNumber of valid control points (up-to 5 points are possible)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            pos_xfloat[5]mX-coordinate of bezier control points. Set to NaN if not being used
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            pos_yfloat[5]mY-coordinate of bezier control points. Set to NaN if not being used
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            pos_zfloat[5]mZ-coordinate of bezier control points. Set to NaN if not being used
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            deltafloat[5]sBezier time horizon. Set to NaN if velocity/acceleration should not be incorporated
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            pos_yawfloat[5]radYaw. Set to NaN for unchanged

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            CELLULAR_STATUS (334)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Report current used cellular network status

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Field NameTypeValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            statusuint8_tCELLULAR_STATUS_FLAGCellular modem status
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            failure_reasonuint8_tCELLULAR_NETWORK_FAILED_REASONFailure reason when status in in CELLULAR_STATUS_FLAG_FAILED
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            typeuint8_tCELLULAR_NETWORK_RADIO_TYPECellular network radio type: gsm, cdma, lte...
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            qualityuint8_tinvalid:UINT8_MAXSignal quality in percent. If unknown, set to UINT8_MAX
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            mccuint16_tinvalid:UINT16_MAXMobile country code. If unknown, set to UINT16_MAX
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            mncuint16_tinvalid:UINT16_MAXMobile network code. If unknown, set to UINT16_MAX
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            lacuint16_tinvalid:0Location area code. If unknown, set to 0

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Status of the Iridium SBD link.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            timestampuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            last_heartbeatuint64_tusTimestamp of the last successful sbd session. The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            failed_sessionsuint16_tNumber of failed SBD sessions.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            successful_sessionsuint16_tNumber of successful SBD sessions.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            signal_qualityuint8_tSignal quality equal to the number of bars displayed on the ISU signal strength indicator. Range is 0 to 5, where 0 indicates no signal and 5 indicates maximum signal strength.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ring_pendinguint8_t1: Ring call pending, 0: No call pending.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            tx_session_pendinguint8_t1: Transmission session pending, 0: No transmission session pending.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            rx_session_pendinguint8_t1: Receiving session pending, 0: No receiving session pending.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            CELLULAR_CONFIG (336)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Configure cellular modems.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            This message is re-emitted as an acknowledgement by the modem. The message may also be explicitly requested using MAV_CMD_REQUEST_MESSAGE.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Field NameTypeValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            enable_lteuint8_tEnable/disable LTE. 0: setting unchanged, 1: disabled, 2: enabled. Current setting when sent back as a response.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            enable_pinuint8_tEnable/disable PIN on the SIM card. 0: setting unchanged, 1: disabled, 2: enabled. Current setting when sent back as a response.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            pinchar[16]PIN sent to the SIM card. Blank when PIN is disabled. Empty when message is sent back as a response.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            new_pinchar[16]New PIN when changing the PIN. Blank to leave it unchanged. Empty when message is sent back as a response.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            apnchar[32]Name of the cellular APN. Blank to leave it unchanged. Current APN when sent back as a response.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            pukchar[16]Required PUK code in case the user failed to authenticate 3 times with the PIN. Empty when message is sent back as a response.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            roaminguint8_tEnable/disable roaming. 0: setting unchanged, 1: disabled, 2: enabled. Current setting when sent back as a response.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            responseuint8_tCELLULAR_CONFIG_RESPONSEMessage acceptance response (sent back to GS).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            RAW_RPM (339)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            RPM sensor data message.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            indexuint8_tIndex of this RPM sensor (0-indexed)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            frequencyfloatrpmIndicated rate

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            UTM_GLOBAL_POSITION (340)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            The global position resulting from GPS and sensor fusion.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            timeuint64_tusTime of applicability of position (microseconds since UNIX epoch).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            uas_iduint8_t[18]Unique UAS ID.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            latint32_tdegE7Latitude (WGS84)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            lonint32_tdegE7Longitude (WGS84)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            altint32_tmmAltitude (WGS84)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            relative_altint32_tmmAltitude above ground
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            vxint16_tcm/sGround X speed (latitude, positive north)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            vyint16_tcm/sGround Y speed (longitude, positive east)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            vzint16_tcm/sGround Z speed (altitude, positive down)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            h_accuint16_tmmHorizontal position uncertainty (standard deviation)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            v_accuint16_tmmAltitude uncertainty (standard deviation)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            vel_accuint16_tcm/sSpeed uncertainty (standard deviation)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            next_latint32_tdegE7Next waypoint, latitude (WGS84)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            next_lonint32_tdegE7Next waypoint, longitude (WGS84)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            next_altint32_tmmNext waypoint, altitude (WGS84)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            update_rateuint16_tcsinvalid:0Time until next update. Set to 0 if unknown or in data driven mode.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            flight_stateuint8_tUTM_FLIGHT_STATEFlight state
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            flagsuint8_tUTM_DATA_AVAIL_FLAGSBitwise OR combination of the data available flags.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            DEBUG_FLOAT_ARRAY (350)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Large debug/prototyping array. The message uses the maximum available payload for data. The array_id and name fields are used to discriminate between messages in code and in user interfaces (respectively). Do not use in production code.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            namechar[10]Name, for human-friendly display in a Ground Control Station
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            array_iduint16_tUnique ID used to discriminate between arrays

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Messages with same value are from the same source (instance). | | data ++ | float[58] | | data |

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ORBIT_EXECUTION_STATUS (360) — [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Vehicle status report that is sent out while orbit execution is in progress (see MAV_CMD_DO_ORBIT).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            radiusfloatmRadius of the orbit circle. Positive values orbit clockwise, negative values orbit counter-clockwise.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            frameuint8_tMAV_FRAMEThe coordinate system of the fields: x, y, z.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            xint32_tX coordinate of center point. Coordinate system depends on frame field: local = x position in meters 1e4, global = latitude in degrees 1e7.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            yint32_tY coordinate of center point. Coordinate system depends on frame field: local = x position in meters 1e4, global = latitude in degrees 1e7.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            zfloatmAltitude of center point. Coordinate system depends on frame field.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            BATTERY_INFO (370) — [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Battery information that is static, or requires infrequent update. This message should requested using MAV_CMD_REQUEST_MESSAGE and/or streamed at very low rate. BATTERY_STATUS_V2 is used for higher-rate battery status information.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            iduint8_tBattery ID

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Messages with same value are from the same source (instance). | | battery_function | uint8_t | | MAV_BATTERY_FUNCTION | Function of the battery. | | type | uint8_t | | MAV_BATTERY_TYPE | Type (chemistry) of the battery. | | state_of_health | uint8_t | % | invalid:UINT8_MAX | State of Health (SOH) estimate. Typically 100% at the time of manufacture and will decrease over time and use. -1: field not provided. | | cells_in_series | uint8_t | | invalid:0 | Number of battery cells in series. 0: field not provided. | | cycle_count | uint16_t | | invalid:UINT16_MAX | Lifetime count of the number of charge/discharge cycles (https://en.wikipedia.org/wiki/Charge_cycle). UINT16_MAX: field not provided. | | weight | uint16_t | g | invalid:0 | Battery weight. 0: field not provided. | | discharge_minimum_voltage | float | V | invalid:0 | Minimum per-cell voltage when discharging. 0: field not provided. | | charging_minimum_voltage | float | V | invalid:0 | Minimum per-cell voltage when charging. 0: field not provided. | | resting_minimum_voltage | float | V | invalid:0 | Minimum per-cell voltage when resting. 0: field not provided. | | charging_maximum_voltage | float | V | invalid:0 | Maximum per-cell voltage when charged. 0: field not provided. | | charging_maximum_current | float | A | invalid:0 | Maximum pack continuous charge current. 0: field not provided. | | nominal_voltage | float | V | invalid:0 | Battery nominal voltage. Used for conversion between Wh and Ah. 0: field not provided. | | discharge_maximum_current | float | A | invalid:0 | Maximum pack discharge current. 0: field not provided. | | discharge_maximum_burst_current | float | A | invalid:0 | Maximum pack discharge burst current. 0: field not provided. | | design_capacity | float | Ah | invalid:0 | Fully charged design capacity. 0: field not provided. | | full_charge_capacity | float | Ah | invalid:NaN | Predicted battery capacity when fully charged (accounting for battery degradation). NAN: field not provided. | | manufacture_date | char[9] | | invalid:[0] | Manufacture date (DDMMYYYY) in ASCII characters, 0 terminated. All 0: field not provided. | | serial_number | char[32] | | invalid:[0] | Serial number in ASCII characters, 0 terminated. All 0: field not provided. | | name | char[50] | | invalid:[0] | Battery device name. Formatted as manufacturer name then product name, separated with an underscore (in ASCII characters), 0 terminated. All 0: field not provided. |

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            GENERATOR_STATUS (373)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Telemetry of power generation system. Alternator or mechanical generator.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            statusuint64_tMAV_GENERATOR_STATUS_FLAGStatus flags.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            generator_speeduint16_trpminvalid:UINT16_MAXSpeed of electrical generator or alternator. UINT16_MAX: field not provided.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            battery_currentfloatAinvalid:NaNCurrent into/out of battery. Positive for out. Negative for in. NaN: field not provided.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            load_currentfloatAinvalid:NaNCurrent going to the UAV. If battery current not available this is the DC current from the generator. Positive for out. Negative for in. NaN: field not provided
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            power_generatedfloatWinvalid:NaNThe power being generated. NaN: field not provided
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            bus_voltagefloatVVoltage of the bus seen at the generator, or battery bus if battery bus is controlled by generator and at a different voltage to main bus.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            rectifier_temperatureint16_tdegCinvalid:INT16_MAXThe temperature of the rectifier or power converter. INT16_MAX: field not provided.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            bat_current_setpointfloatAinvalid:NaNThe target battery current. Positive for out. Negative for in. NaN: field not provided
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            generator_temperatureint16_tdegCinvalid:INT16_MAXThe temperature of the mechanical motor, fuel cell core or generator. INT16_MAX: field not provided.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            runtimeuint32_tsinvalid:UINT32_MAXSeconds this generator has run since it was rebooted. UINT32_MAX: field not provided.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            time_until_maintenanceint32_tsinvalid:INT32_MAXSeconds until this generator requires maintenance. A negative value indicates maintenance is past-due. INT32_MAX: field not provided.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ACTUATOR_OUTPUT_STATUS (375)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            The raw values of the actuator outputs (e.g. on Pixhawk, from MAIN, AUX ports). This message supersedes SERVO_OUTPUT_RAW.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            time_usecuint64_tusTimestamp (since system boot).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            activeuint32_tActive outputs
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            actuatorfloat[32]Servo / motor output array values. Zero values indicate unused channels.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            TIME_ESTIMATE_TO_TARGET (380) — [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Time/duration estimates for various events and actions given the current vehicle state and position.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            safe_returnint32_tsEstimated time to complete the vehicle's configured "safe return" action from its current position (e.g. RTL, Smart RTL, etc.). -1 indicates that the vehicle is landed, or that no time estimate available.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            landint32_tsEstimated time for vehicle to complete the LAND action from its current position. -1 indicates that the vehicle is landed, or that no time estimate available.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            mission_next_itemint32_tsEstimated time for reaching/completing the currently active mission item. -1 means no time estimate available.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            mission_endint32_tsEstimated time for completing the current mission. -1 means no mission active and/or no estimate available.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            commanded_actionint32_tsEstimated time for completing the current commanded action (i.e. Go To, Takeoff, Land, etc.). -1 means no action active and/or no estimate available.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            TUNNEL (385)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Message for transporting "arbitrary" variable-length data from one component to another (broadcast is not forbidden, but discouraged). The encoding of the data is usually extension specific, i.e. determined by the source, and is usually not documented as part of the MAVLink specification.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Field NameTypeValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            target_systemuint8_tSystem ID (can be 0 for broadcast, but this is discouraged)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            target_componentuint8_tComponent ID (can be 0 for broadcast, but this is discouraged)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            payload_typeuint16_tMAV_TUNNEL_PAYLOAD_TYPEA code that identifies the content of the payload (0 for unknown, which is the default). If this code is less than 32768, it is a 'registered' payload type and the corresponding code should be added to the MAV_TUNNEL_PAYLOAD_TYPE enum. Software creators can register blocks of types as needed. Codes greater than 32767 are considered local experiments and should not be checked in to any widely distributed codebase.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            payload_lengthuint8_tLength of the data transported in payload
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            payloaduint8_t[128]Variable length payload. The payload length is defined by payload_length. The entire content of this block is opaque unless you understand the encoding specified by payload_type.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            CAN_FRAME (386)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            A forwarded CAN frame as requested by MAV_CMD_CAN_FORWARD.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            target_systemuint8_tSystem ID.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            target_componentuint8_tComponent ID.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            busuint8_tBus number
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            lenuint8_tFrame length
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            iduint32_tFrame ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            datauint8_t[8]Frame data

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            CANFD_FRAME (387)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            A forwarded CANFD frame as requested by MAV_CMD_CAN_FORWARD. These are separated from CAN_FRAME as they need different handling (eg. TAO handling)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            target_systemuint8_tSystem ID.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            target_componentuint8_tComponent ID.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            busuint8_tbus number
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            lenuint8_tFrame length
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            iduint32_tFrame ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            datauint8_t[64]Frame data

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            CAN_FILTER_MODIFY (388)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Modify the filter of what CAN messages to forward over the mavlink. This can be used to make CAN forwarding work well on low bandwidth links. The filtering is applied on bits 8 to 24 of the CAN id (2nd and 3rd bytes) which corresponds to the DroneCAN message ID for DroneCAN. Filters with more than 16 IDs can be constructed by sending multiple CAN_FILTER_MODIFY messages.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Field NameTypeValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            target_systemuint8_tSystem ID.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            target_componentuint8_tComponent ID.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            busuint8_tbus number
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            operationuint8_tCAN_FILTER_OPwhat operation to perform on the filter list. See CAN_FILTER_OP enum.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            num_idsuint8_tnumber of IDs in filter list
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            idsuint16_t[16]filter IDs, length num_ids

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ONBOARD_COMPUTER_STATUS (390) — [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Hardware status sent by an onboard computer.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            uptimeuint32_tmsTime since system boot.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            typeuint8_tType of the onboard computer: 0: Mission computer primary, 1: Mission computer backup 1, 2: Mission computer backup 2, 3: Compute node, 4-5: Compute spares, 6-9: Payload computers.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            cpu_coresuint8_t[8]CPU usage on the component in percent (100 - idle). A value of UINT8_MAX implies the field is unused.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            cpu_combineduint8_t[10]Combined CPU usage as the last 10 slices of 100 MS (a histogram). This allows to identify spikes in load that max out the system, but only for a short amount of time. A value of UINT8_MAX implies the field is unused.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            gpu_coresuint8_t[4]GPU usage on the component in percent (100 - idle). A value of UINT8_MAX implies the field is unused.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            gpu_combineduint8_t[10]Combined GPU usage as the last 10 slices of 100 MS (a histogram). This allows to identify spikes in load that max out the system, but only for a short amount of time. A value of UINT8_MAX implies the field is unused.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            temperature_boardint8_tdegCTemperature of the board. A value of INT8_MAX implies the field is unused.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            temperature_coreint8_t[8]degCTemperature of the CPU core. A value of INT8_MAX implies the field is unused.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            fan_speedint16_t[4]rpmFan speeds. A value of INT16_MAX implies the field is unused.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ram_usageuint32_tMiBAmount of used RAM on the component system. A value of UINT32_MAX implies the field is unused.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ram_totaluint32_tMiBTotal amount of RAM on the component system. A value of UINT32_MAX implies the field is unused.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            storage_typeuint32_t[4]Storage type: 0: HDD, 1: SSD, 2: EMMC, 3: SD card (non-removable), 4: SD card (removable). A value of UINT32_MAX implies the field is unused.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            storage_usageuint32_t[4]MiBAmount of used storage space on the component system. A value of UINT32_MAX implies the field is unused.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            storage_totaluint32_t[4]MiBTotal amount of storage space on the component system. A value of UINT32_MAX implies the field is unused.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            link_typeuint32_t[6]Link type: 0-9: UART, 10-19: Wired network, 20-29: Wifi, 30-39: Point-to-point proprietary, 40-49: Mesh proprietary
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            link_tx_rateuint32_t[6]KiB/sNetwork traffic from the component system. A value of UINT32_MAX implies the field is unused.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            link_rx_rateuint32_t[6]KiB/sNetwork traffic to the component system. A value of UINT32_MAX implies the field is unused.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            link_tx_maxuint32_t[6]KiB/sNetwork capacity from the component system. A value of UINT32_MAX implies the field is unused.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            link_rx_maxuint32_t[6]KiB/sNetwork capacity to the component system. A value of UINT32_MAX implies the field is unused.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            COMPONENT_INFORMATION (395) — [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            DEPRECATED: Replaced By COMPONENT_METADATA (2022-04)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Component information message, which may be requested using MAV_CMD_REQUEST_MESSAGE.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            time_boot_msuint32_tmsTimestamp (time since system boot).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            general_metadata_file_crcuint32_tCRC32 of the general metadata file (general_metadata_uri).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            general_metadata_urichar[100]MAVLink FTP URI for the general metadata file (COMP_METADATA_TYPE_GENERAL), which may be compressed with xz. The file contains general component metadata, and may contain URI links for additional metadata (see COMP_METADATA_TYPE). The information is static from boot, and may be generated at compile time. The string needs to be zero terminated.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            peripherals_metadata_file_crcuint32_tCRC32 of peripherals metadata file (peripherals_metadata_uri).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            peripherals_metadata_urichar[100](Optional) MAVLink FTP URI for the peripherals metadata file (COMP_METADATA_TYPE_PERIPHERALS), which may be compressed with xz. This contains data about "attached components" such as UAVCAN nodes. The peripherals are in a separate file because the information must be generated dynamically at runtime. The string needs to be zero terminated.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            COMPONENT_INFORMATION_BASIC (396)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Basic component information data. Should be requested using MAV_CMD_REQUEST_MESSAGE on startup, or when required.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            time_boot_msuint32_tmsTimestamp (time since system boot).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            capabilitiesuint64_tMAV_PROTOCOL_CAPABILITYComponent capability flags
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            time_manufacture_suint32_tsinvalid:0Date of manufacture as a UNIX Epoch time (since 1.1.1970) in seconds.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            vendor_namechar[32]Name of the component vendor. Needs to be zero terminated. The field is optional and can be empty/all zeros.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            model_namechar[32]Name of the component model. Needs to be zero terminated. The field is optional and can be empty/all zeros.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            software_versionchar[24]Software version. The recommended format is SEMVER: 'major.minor.patch' (any format may be used). The field must be zero terminated if it has a value. The field is optional and can be empty/all zeros.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            hardware_versionchar[24]Hardware version. The recommended format is SEMVER: 'major.minor.patch' (any format may be used). The field must be zero terminated if it has a value. The field is optional and can be empty/all zeros.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            serial_numberchar[32]Hardware serial number. The field must be zero terminated if it has a value. The field is optional and can be empty/all zeros.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            COMPONENT_METADATA (397) — [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Component metadata message, which may be requested using MAV_CMD_REQUEST_MESSAGE.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            This contains the MAVLink FTP URI and CRC for the component's general metadata file. The file must be hosted on the component, and may be xz compressed. The file CRC can be used for file caching.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            The general metadata file can be read to get the locations of other metadata files (COMP_METADATA_TYPE) and translations, which may be hosted either on the vehicle or the internet. For more information see: https://mavlink.io/en/services/component_information.html.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Note: Camera components should use CAMERA_INFORMATION instead, and autopilots may use both this message and AUTOPILOT_VERSION.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            time_boot_msuint32_tmsTimestamp (time since system boot).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            file_crcuint32_tCRC32 of the general metadata file.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            urichar[100]MAVLink FTP URI for the general metadata file (COMP_METADATA_TYPE_GENERAL), which may be compressed with xz. The file contains general component metadata, and may contain URI links for additional metadata (see COMP_METADATA_TYPE). The information is static from boot, and may be generated at compile time. The string needs to be zero terminated.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            PLAY_TUNE_V2 (400)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Play vehicle tone/tune (buzzer). Supersedes message PLAY_TUNE.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Field NameTypeValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            target_systemuint8_tSystem ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            target_componentuint8_tComponent ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            formatuint32_tTUNE_FORMATTune format
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            tunechar[248]Tune definition as a NULL-terminated string.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            SUPPORTED_TUNES (401)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Tune formats supported by vehicle. This should be emitted as response to MAV_CMD_REQUEST_MESSAGE.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Field NameTypeValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            target_systemuint8_tSystem ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            target_componentuint8_tComponent ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            formatuint32_tTUNE_FORMATBitfield of supported tune formats.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            EVENT (410) — [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Event message. Each new event from a particular component gets a new sequence number. The same message might be sent multiple times if (re-)requested. Most events are broadcast, some can be specific to a target component (as receivers keep track of the sequence for missed events, all events need to be broadcast. Thus we use destination_component instead of target_component).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            destination_componentuint8_tComponent ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            destination_systemuint8_tSystem ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            iduint32_tEvent ID (as defined in the component metadata)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            event_time_boot_msuint32_tmsTimestamp (time since system boot when the event happened).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            sequenceuint16_tSequence number.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            log_levelsuint8_tLog levels: 4 bits MSB: internal (for logging purposes), 4 bits LSB: external. Levels: Emergency = 0, Alert = 1, Critical = 2, Error = 3, Warning = 4, Notice = 5, Info = 6, Debug = 7, Protocol = 8, Disabled = 9
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            argumentsuint8_t[40]Arguments (depend on event ID).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            CURRENT_EVENT_SEQUENCE (411) — [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Regular broadcast for the current latest event sequence number for a component. This is used to check for dropped events.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Field NameTypeValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            sequenceuint16_tSequence number.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            flagsuint8_tMAV_EVENT_CURRENT_SEQUENCE_FLAGSFlag bitset.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            REQUEST_EVENT (412) — [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Request one or more events to be (re-)sent. If first_sequence==last_sequence, only a single event is requested. Note that first_sequence can be larger than last_sequence (because the sequence number can wrap). Each sequence will trigger an EVENT or EVENT_ERROR response.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            target_systemuint8_tSystem ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            target_componentuint8_tComponent ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            first_sequenceuint16_tFirst sequence number of the requested event.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            last_sequenceuint16_tLast sequence number of the requested event.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            RESPONSE_EVENT_ERROR (413) — [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Response to a REQUEST_EVENT in case of an error (e.g. the event is not available anymore).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Field NameTypeValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            target_systemuint8_tSystem ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            target_componentuint8_tComponent ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            sequenceuint16_tSequence number.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            sequence_oldest_availableuint16_tOldest Sequence number that is still available after the sequence set in REQUEST_EVENT.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            reasonuint8_tMAV_EVENT_ERROR_REASONError reason.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ILLUMINATOR_STATUS (440)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Illuminator status

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            uptime_msuint32_tmsTime since the start-up of the illuminator in ms
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            enableuint8_t0: Illuminators OFF, 1: Illuminators ON
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            mode_bitmaskuint8_tILLUMINATOR_MODESupported illuminator modes
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            error_statusuint32_tILLUMINATOR_ERROR_FLAGSErrors
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            modeuint8_tILLUMINATOR_MODEIlluminator mode
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            brightnessfloat%Illuminator brightness
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            strobe_periodfloatsIlluminator strobing period in seconds
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            strobe_duty_cyclefloat%Illuminator strobing duty cycle
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            temp_cfloatTemperature in Celsius
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            min_strobe_periodfloatsMinimum strobing period in seconds
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            max_strobe_periodfloatsMaximum strobing period in seconds

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            WHEEL_DISTANCE (9000)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Cumulative distance traveled for each reported wheel.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            time_usecuint64_tusTimestamp (synced to UNIX time or since system boot).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            countuint8_tNumber of wheels reported.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            distancedouble[16]mDistance reported by individual wheel encoders. Forward rotations increase values, reverse rotations decrease them. Not all wheels will necessarily have wheel encoders; the mapping of encoders to wheel positions must be agreed/understood by the endpoints.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            WINCH_STATUS (9005)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Winch status.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            time_usecuint64_tusTimestamp (synced to UNIX time or since system boot).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            line_lengthfloatminvalid:NaNLength of line released. NaN if unknown
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            speedfloatm/sinvalid:NaNSpeed line is being released or retracted. Positive values if being released, negative values if being retracted, NaN if unknown
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            tensionfloatkginvalid:NaNTension on the line. NaN if unknown
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            voltagefloatVinvalid:NaNVoltage of the battery supplying the winch. NaN if unknown
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            currentfloatAinvalid:NaNCurrent draw from the winch. NaN if unknown
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            temperatureint16_tdegCinvalid:INT16_MAXTemperature of the motor. INT16_MAX if unknown
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            statusuint32_tMAV_WINCH_STATUS_FLAGStatus flags

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            OPEN_DRONE_ID_BASIC_ID (12900)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Data for filling the OpenDroneID Basic ID message. This and the below messages are primarily meant for feeding data to/from an OpenDroneID implementation. E.g. https://github.com/opendroneid/opendroneid-core-c. These messages are compatible with the ASTM F3411 Remote ID standard and the ASD-STAN prEN 4709-002 Direct Remote ID standard. Additional information and usage of these messages is documented at https://mavlink.io/en/services/opendroneid.html.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Field NameTypeValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            target_systemuint8_tSystem ID (0 for broadcast).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            target_componentuint8_tComponent ID (0 for broadcast).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            id_or_macuint8_t[20]Only used for drone ID data received from other UAs. See detailed description at https://mavlink.io/en/services/opendroneid.html.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            id_typeuint8_tMAV_ODID_ID_TYPEIndicates the format for the uas_id field of this message.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ua_typeuint8_tMAV_ODID_UA_TYPEIndicates the type of UA (Unmanned Aircraft).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            uas_iduint8_t[20]UAS (Unmanned Aircraft System) ID following the format specified by id_type. Shall be filled with nulls in the unused portion of the field.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            OPEN_DRONE_ID_LOCATION (12901)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Data for filling the OpenDroneID Location message. The float data types are 32-bit IEEE 754. The Location message provides the location, altitude, direction and speed of the aircraft.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            target_systemuint8_tSystem ID (0 for broadcast).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            target_componentuint8_tComponent ID (0 for broadcast).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            id_or_macuint8_t[20]Only used for drone ID data received from other UAs. See detailed description at https://mavlink.io/en/services/opendroneid.html.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            statusuint8_tMAV_ODID_STATUSIndicates whether the unmanned aircraft is on the ground or in the air.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            directionuint16_tcdeginvalid:36100Direction over ground (not heading, but direction of movement) measured clockwise from true North: 0 - 35999 centi-degrees. If unknown: 36100 centi-degrees.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            speed_horizontaluint16_tcm/sGround speed. Positive only. If unknown: 25500 cm/s. If speed is larger than 25425 cm/s, use 25425 cm/s.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            speed_verticalint16_tcm/sThe vertical speed. Up is positive. If unknown: 6300 cm/s. If speed is larger than 6200 cm/s, use 6200 cm/s. If lower than -6200 cm/s, use -6200 cm/s.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            latitudeint32_tdegE7invalid:0Current latitude of the unmanned aircraft. If unknown: 0 (both Lat/Lon).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            longitudeint32_tdegE7invalid:0Current longitude of the unmanned aircraft. If unknown: 0 (both Lat/Lon).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            altitude_barometricfloatminvalid:-1000The altitude calculated from the barometric pressue. Reference is against 29.92inHg or 1013.2mb. If unknown: -1000 m.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            altitude_geodeticfloatminvalid:-1000The geodetic altitude as defined by WGS84. If unknown: -1000 m.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            height_referenceuint8_tMAV_ODID_HEIGHT_REFIndicates the reference point for the height field.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            heightfloatminvalid:-1000The current height of the unmanned aircraft above the take-off location or the ground as indicated by height_reference. If unknown: -1000 m.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            horizontal_accuracyuint8_tMAV_ODID_HOR_ACCThe accuracy of the horizontal position.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            vertical_accuracyuint8_tMAV_ODID_VER_ACCThe accuracy of the vertical position.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            barometer_accuracyuint8_tMAV_ODID_VER_ACCThe accuracy of the barometric altitude.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            speed_accuracyuint8_tMAV_ODID_SPEED_ACCThe accuracy of the horizontal and vertical speed.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            timestampfloatsinvalid:0xFFFFSeconds after the full hour with reference to UTC time. Typically the GPS outputs a time-of-week value in milliseconds. First convert that to UTC and then convert for this field using ((float) (time_week_ms % (60601000))) / 1000. If unknown: 0xFFFF.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            timestamp_accuracyuint8_tMAV_ODID_TIME_ACCThe accuracy of the timestamps.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            OPEN_DRONE_ID_AUTHENTICATION (12902)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Data for filling the OpenDroneID Authentication message. The Authentication Message defines a field that can provide a means of authenticity for the identity of the UAS (Unmanned Aircraft System). The Authentication message can have two different formats. For data page 0, the fields PageCount, Length and TimeStamp are present and AuthData is only 17 bytes. For data page 1 through 15, PageCount, Length and TimeStamp are not present and the size of AuthData is 23 bytes.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            target_systemuint8_tSystem ID (0 for broadcast).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            target_componentuint8_tComponent ID (0 for broadcast).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            id_or_macuint8_t[20]Only used for drone ID data received from other UAs. See detailed description at https://mavlink.io/en/services/opendroneid.html.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            authentication_typeuint8_tMAV_ODID_AUTH_TYPEIndicates the type of authentication.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            data_pageuint8_tAllowed range is 0 - 15.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            last_page_indexuint8_tThis field is only present for page 0. Allowed range is 0 - 15. See the description of struct ODID_Auth_data at https://github.com/opendroneid/opendroneid-core-c/blob/master/libopendroneid/opendroneid.h.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            lengthuint8_tbytesThis field is only present for page 0. Total bytes of authentication_data from all data pages. See the description of struct ODID_Auth_data at https://github.com/opendroneid/opendroneid-core-c/blob/master/libopendroneid/opendroneid.h.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            timestampuint32_tsThis field is only present for page 0. 32 bit Unix Timestamp in seconds since 00:00:00 01/01/2019.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            authentication_datauint8_t[23]Opaque authentication data. For page 0, the size is only 17 bytes. For other pages, the size is 23 bytes. Shall be filled with nulls in the unused portion of the field.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            OPEN_DRONE_ID_SELF_ID (12903)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Data for filling the OpenDroneID Self ID message. The Self ID Message is an opportunity for the operator to (optionally) declare their identity and purpose of the flight. This message can provide additional information that could reduce the threat profile of a UA (Unmanned Aircraft) flying in a particular area or manner. This message can also be used to provide optional additional clarification in an emergency/remote ID system failure situation.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Field NameTypeValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            target_systemuint8_tSystem ID (0 for broadcast).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            target_componentuint8_tComponent ID (0 for broadcast).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            id_or_macuint8_t[20]Only used for drone ID data received from other UAs. See detailed description at https://mavlink.io/en/services/opendroneid.html.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            description_typeuint8_tMAV_ODID_DESC_TYPEIndicates the type of the description field.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            descriptionchar[23]Text description or numeric value expressed as ASCII characters. Shall be filled with nulls in the unused portion of the field.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            OPEN_DRONE_ID_SYSTEM (12904)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Data for filling the OpenDroneID System message. The System Message contains general system information including the operator location/altitude and possible aircraft group and/or category/class information.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            target_systemuint8_tSystem ID (0 for broadcast).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            target_componentuint8_tComponent ID (0 for broadcast).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            id_or_macuint8_t[20]Only used for drone ID data received from other UAs. See detailed description at https://mavlink.io/en/services/opendroneid.html.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            operator_location_typeuint8_tMAV_ODID_OPERATOR_LOCATION_TYPESpecifies the operator location type.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            classification_typeuint8_tMAV_ODID_CLASSIFICATION_TYPESpecifies the classification type of the UA.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            operator_latitudeint32_tdegE7invalid:0Latitude of the operator. If unknown: 0 (both Lat/Lon).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            operator_longitudeint32_tdegE7invalid:0Longitude of the operator. If unknown: 0 (both Lat/Lon).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            area_countuint16_tNumber of aircraft in the area, group or formation (default 1). Used only for swarms/multiple UA.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            area_radiusuint16_tmRadius of the cylindrical area of the group or formation (default 0). Used only for swarms/multiple UA.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            area_ceilingfloatminvalid:-1000Area Operations Ceiling relative to WGS84. If unknown: -1000 m. Used only for swarms/multiple UA.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            area_floorfloatminvalid:-1000Area Operations Floor relative to WGS84. If unknown: -1000 m. Used only for swarms/multiple UA.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            category_euuint8_tMAV_ODID_CATEGORY_EUWhen classification_type is MAV_ODID_CLASSIFICATION_TYPE_EU, specifies the category of the UA.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            class_euuint8_tMAV_ODID_CLASS_EUWhen classification_type is MAV_ODID_CLASSIFICATION_TYPE_EU, specifies the class of the UA.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            operator_altitude_geofloatminvalid:-1000Geodetic altitude of the operator relative to WGS84. If unknown: -1000 m.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            timestampuint32_ts32 bit Unix Timestamp in seconds since 00:00:00 01/01/2019.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            OPEN_DRONE_ID_OPERATOR_ID (12905)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Data for filling the OpenDroneID Operator ID message, which contains the CAA (Civil Aviation Authority) issued operator ID.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Field NameTypeValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            target_systemuint8_tSystem ID (0 for broadcast).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            target_componentuint8_tComponent ID (0 for broadcast).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            id_or_macuint8_t[20]Only used for drone ID data received from other UAs. See detailed description at https://mavlink.io/en/services/opendroneid.html.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            operator_id_typeuint8_tMAV_ODID_OPERATOR_ID_TYPEIndicates the type of the operator_id field.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            operator_idchar[20]Text description or numeric value expressed as ASCII characters. Shall be filled with nulls in the unused portion of the field.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            OPEN_DRONE_ID_MESSAGE_PACK (12915)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            An OpenDroneID message pack is a container for multiple encoded OpenDroneID messages (i.e. not in the format given for the above message descriptions but after encoding into the compressed OpenDroneID byte format). Used e.g. when transmitting on Bluetooth 5.0 Long Range/Extended Advertising or on WiFi Neighbor Aware Networking or on WiFi Beacon.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            target_systemuint8_tSystem ID (0 for broadcast).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            target_componentuint8_tComponent ID (0 for broadcast).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            id_or_macuint8_t[20]Only used for drone ID data received from other UAs. See detailed description at https://mavlink.io/en/services/opendroneid.html.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            single_message_sizeuint8_tbytesThis field must currently always be equal to 25 (bytes), since all encoded OpenDroneID messages are specified to have this length.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            msg_pack_sizeuint8_tNumber of encoded messages in the pack (not the number of bytes). Allowed range is 1 - 9.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            messagesuint8_t[225]Concatenation of encoded OpenDroneID messages. Shall be filled with nulls in the unused portion of the field.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            OPEN_DRONE_ID_ARM_STATUS (12918)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Transmitter (remote ID system) is enabled and ready to start sending location and other required information. This is streamed by transmitter. A flight controller uses it as a condition to arm.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Field NameTypeValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            statusuint8_tMAV_ODID_ARM_STATUSStatus level indicating if arming is allowed.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            errorchar[50]Text error message, should be empty if status is good to arm. Fill with nulls in unused portion.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            OPEN_DRONE_ID_SYSTEM_UPDATE (12919)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Update the data in the OPEN_DRONE_ID_SYSTEM message with new location information. This can be sent to update the location information for the operator when no other information in the SYSTEM message has changed. This message allows for efficient operation on radio links which have limited uplink bandwidth while meeting requirements for update frequency of the operator location.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            target_systemuint8_tSystem ID (0 for broadcast).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            target_componentuint8_tComponent ID (0 for broadcast).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            operator_latitudeint32_tdegE7Latitude of the operator. If unknown: 0 (both Lat/Lon).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            operator_longitudeint32_tdegE7Longitude of the operator. If unknown: 0 (both Lat/Lon).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            operator_altitude_geofloatmGeodetic altitude of the operator relative to WGS84. If unknown: -1000 m.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            timestampuint32_ts32 bit Unix Timestamp in seconds since 00:00:00 01/01/2019.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            HYGROMETER_SENSOR (12920)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Temperature and humidity from hygrometer.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            iduint8_tHygrometer ID

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Messages with same value are from the same source (instance). | | temperature | int16_t | cdegC | Temperature | | humidity | uint16_t | c% | Humidity |

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Enumerated Types

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            FIRMWARE_VERSION_TYPE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            These values define the type of firmware release. These values indicate the first version or release of this type. For example the first alpha release would be 64, the second would be 65.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            0FIRMWARE_VERSION_TYPE_DEVdevelopment release
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            64FIRMWARE_VERSION_TYPE_ALPHAalpha release
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            128FIRMWARE_VERSION_TYPE_BETAbeta release
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            192FIRMWARE_VERSION_TYPE_RCrelease candidate
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            255FIRMWARE_VERSION_TYPE_OFFICIALofficial stable release

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            HL_FAILURE_FLAG

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            (Bitmask) Flags to report failure cases over the high latency telemetry.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1HL_FAILURE_FLAG_GPSGPS failure.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            2HL_FAILURE_FLAG_DIFFERENTIAL_PRESSUREDifferential pressure sensor failure.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            4HL_FAILURE_FLAG_ABSOLUTE_PRESSUREAbsolute pressure sensor failure.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            8HL_FAILURE_FLAG_3D_ACCELAccelerometer sensor failure.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            16HL_FAILURE_FLAG_3D_GYROGyroscope sensor failure.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            32HL_FAILURE_FLAG_3D_MAGMagnetometer sensor failure.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            64HL_FAILURE_FLAG_TERRAINTerrain subsystem failure.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            128HL_FAILURE_FLAG_BATTERYBattery failure/critical low battery.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            256HL_FAILURE_FLAG_RC_RECEIVERRC receiver failure/no RC connection.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            512HL_FAILURE_FLAG_OFFBOARD_LINKOffboard link failure.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1024HL_FAILURE_FLAG_ENGINEEngine failure.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            2048HL_FAILURE_FLAG_GEOFENCEGeofence violation.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            4096HL_FAILURE_FLAG_ESTIMATOREstimator failure, for example measurement rejection or large variances.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            8192HL_FAILURE_FLAG_MISSIONMission failure.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_GOTO

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Actions that may be specified in MAV_CMD_OVERRIDE_GOTO to override mission execution.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            0MAV_GOTO_DO_HOLDHold at the current position.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1MAV_GOTO_DO_CONTINUEContinue with the next item in mission execution.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            2MAV_GOTO_HOLD_AT_CURRENT_POSITIONHold at the current position of the system
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            3MAV_GOTO_HOLD_AT_SPECIFIED_POSITIONHold at the position specified in the parameters of the DO_HOLD action

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_MODE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            These defines are predefined OR-combined mode flags. There is no need to use values from this enum, but it

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            simplifies the use of the mode flags. Note that manual input is enabled in all modes as a safety override.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            0MAV_MODE_PREFLIGHTSystem is not ready to fly, booting, calibrating, etc. No flag is set.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            64MAV_MODE_MANUAL_DISARMEDSystem is allowed to be active, under manual (RC) control, no stabilization
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            66MAV_MODE_TEST_DISARMEDUNDEFINED mode. This solely depends on the autopilot - use with caution, intended for developers only.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            80MAV_MODE_STABILIZE_DISARMEDSystem is allowed to be active, under assisted RC control.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            88MAV_MODE_GUIDED_DISARMEDSystem is allowed to be active, under autonomous control, manual setpoint
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            92MAV_MODE_AUTO_DISARMEDSystem is allowed to be active, under autonomous control and navigation (the trajectory is decided onboard and not pre-programmed by waypoints)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            192MAV_MODE_MANUAL_ARMEDSystem is allowed to be active, under manual (RC) control, no stabilization
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            194MAV_MODE_TEST_ARMEDUNDEFINED mode. This solely depends on the autopilot - use with caution, intended for developers only.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            208MAV_MODE_STABILIZE_ARMEDSystem is allowed to be active, under assisted RC control.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            216MAV_MODE_GUIDED_ARMEDSystem is allowed to be active, under autonomous control, manual setpoint
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            220MAV_MODE_AUTO_ARMEDSystem is allowed to be active, under autonomous control and navigation (the trajectory is decided onboard and not pre-programmed by waypoints)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_SYS_STATUS_SENSOR

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            (Bitmask) These encode the sensors whose status is sent as part of the SYS_STATUS message.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1MAV_SYS_STATUS_SENSOR_3D_GYRO0x01 3D gyro
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            2MAV_SYS_STATUS_SENSOR_3D_ACCEL0x02 3D accelerometer
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            4MAV_SYS_STATUS_SENSOR_3D_MAG0x04 3D magnetometer
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            8MAV_SYS_STATUS_SENSOR_ABSOLUTE_PRESSURE0x08 absolute pressure
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            16MAV_SYS_STATUS_SENSOR_DIFFERENTIAL_PRESSURE0x10 differential pressure
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            32MAV_SYS_STATUS_SENSOR_GPS0x20 GPS
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            64MAV_SYS_STATUS_SENSOR_OPTICAL_FLOW0x40 optical flow
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            128MAV_SYS_STATUS_SENSOR_VISION_POSITION0x80 computer vision position
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            256MAV_SYS_STATUS_SENSOR_LASER_POSITION0x100 laser based position
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            512MAV_SYS_STATUS_SENSOR_EXTERNAL_GROUND_TRUTH0x200 external ground truth (Vicon or Leica)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1024MAV_SYS_STATUS_SENSOR_ANGULAR_RATE_CONTROL0x400 3D angular rate control
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            2048MAV_SYS_STATUS_SENSOR_ATTITUDE_STABILIZATION0x800 attitude stabilization
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            4096MAV_SYS_STATUS_SENSOR_YAW_POSITION0x1000 yaw position
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            8192MAV_SYS_STATUS_SENSOR_Z_ALTITUDE_CONTROL0x2000 z/altitude control
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            16384MAV_SYS_STATUS_SENSOR_XY_POSITION_CONTROL0x4000 x/y position control
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            32768MAV_SYS_STATUS_SENSOR_MOTOR_OUTPUTS0x8000 motor outputs / control
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            65536MAV_SYS_STATUS_SENSOR_RC_RECEIVER0x10000 RC receiver
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            131072MAV_SYS_STATUS_SENSOR_3D_GYRO20x20000 2nd 3D gyro
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            262144MAV_SYS_STATUS_SENSOR_3D_ACCEL20x40000 2nd 3D accelerometer
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            524288MAV_SYS_STATUS_SENSOR_3D_MAG20x80000 2nd 3D magnetometer
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1048576MAV_SYS_STATUS_GEOFENCE0x100000 geofence
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            2097152MAV_SYS_STATUS_AHRS0x200000 AHRS subsystem health
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            4194304MAV_SYS_STATUS_TERRAIN0x400000 Terrain subsystem health
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            8388608MAV_SYS_STATUS_REVERSE_MOTOR0x800000 Motors are reversed
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            16777216MAV_SYS_STATUS_LOGGING0x1000000 Logging
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            33554432MAV_SYS_STATUS_SENSOR_BATTERY0x2000000 Battery
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            67108864MAV_SYS_STATUS_SENSOR_PROXIMITY0x4000000 Proximity
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            134217728MAV_SYS_STATUS_SENSOR_SATCOM0x8000000 Satellite Communication
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            268435456MAV_SYS_STATUS_PREARM_CHECK0x10000000 pre-arm check status. Always healthy when armed
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            536870912MAV_SYS_STATUS_OBSTACLE_AVOIDANCE0x20000000 Avoidance/collision prevention
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1073741824MAV_SYS_STATUS_SENSOR_PROPULSION0x40000000 propulsion (actuator, esc, motor or propellor)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            2147483648MAV_SYS_STATUS_EXTENSION_USED0x80000000 Extended bit-field are used for further sensor status bits (needs to be set in onboard_control_sensors_present only)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_SYS_STATUS_SENSOR_EXTENDED

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            (Bitmask) These encode the sensors whose status is sent as part of the SYS_STATUS message in the extended fields.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1MAV_SYS_STATUS_RECOVERY_SYSTEM0x01 Recovery system (parachute, balloon, retracts etc)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_FRAME

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Coordinate frames used by MAVLink. Not all frames are supported by all commands, messages, or vehicles.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Global frames use the following naming conventions:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Local frames use the following naming conventions:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Some deprecated frames do not follow these conventions (e.g. MAV_FRAME_BODY_NED and MAV_FRAME_BODY_OFFSET_NED).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            0MAV_FRAME_GLOBALGlobal (WGS84) coordinate frame + altitude relative to mean sea level (MSL).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1MAV_FRAME_LOCAL_NEDNED local tangent frame (x: North, y: East, z: Down) with origin fixed relative to earth.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            2MAV_FRAME_MISSIONNOT a coordinate frame, indicates a mission command.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            3MAV_FRAME_GLOBAL_RELATIVE_ALTGlobal (WGS84) coordinate frame + altitude relative to the home position.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            4MAV_FRAME_LOCAL_ENUENU local tangent frame (x: East, y: North, z: Up) with origin fixed relative to earth.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            5MAV_FRAME_GLOBAL_INTGlobal (WGS84) coordinate frame (scaled) + altitude relative to mean sea level (MSL).DEPRECATED: Replaced By MAV_FRAME_GLOBAL (2024-03) — Use MAV_FRAME_GLOBAL in COMMAND_INT (and elsewhere) as a synonymous replacement.)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            6MAV_FRAME_GLOBAL_RELATIVE_ALT_INTGlobal (WGS84) coordinate frame (scaled) + altitude relative to the home position.DEPRECATED: Replaced By MAV_FRAME_GLOBAL_RELATIVE_ALT (2024-03) — Use MAV_FRAME_GLOBAL_RELATIVE_ALT in COMMAND_INT (and elsewhere) as a synonymous replacement.)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            7MAV_FRAME_LOCAL_OFFSET_NEDNED local tangent frame (x: North, y: East, z: Down) with origin that travels with the vehicle.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            8MAV_FRAME_BODY_NEDSame as MAV_FRAME_LOCAL_NED when used to represent position values. Same as MAV_FRAME_BODY_FRD when used with velocity/acceleration values.DEPRECATED: Replaced By MAV_FRAME_BODY_FRD (2019-08)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            9MAV_FRAME_BODY_OFFSET_NEDThis is the same as MAV_FRAME_BODY_FRD.DEPRECATED: Replaced By MAV_FRAME_BODY_FRD (2019-08)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            10MAV_FRAME_GLOBAL_TERRAIN_ALTGlobal (WGS84) coordinate frame with AGL altitude (altitude at ground level).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            11MAV_FRAME_GLOBAL_TERRAIN_ALT_INTGlobal (WGS84) coordinate frame (scaled) with AGL altitude (altitude at ground level).DEPRECATED: Replaced By MAV_FRAME_GLOBAL_TERRAIN_ALT (2024-03) — Use MAV_FRAME_GLOBAL_TERRAIN_ALT in COMMAND_INT (and elsewhere) as a synonymous replacement.)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            12MAV_FRAME_BODY_FRDFRD local frame aligned to the vehicle's attitude (x: Forward, y: Right, z: Down) with an origin that travels with vehicle.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            13MAV_FRAME_RESERVED_13MAV_FRAME_BODY_FLU - Body fixed frame of reference, Z-up (x: Forward, y: Left, z: Up).DEPRECATED:(2019-04)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            14MAV_FRAME_RESERVED_14MAV_FRAME_MOCAP_NED - Odometry local coordinate frame of data given by a motion capture system, Z-down (x: North, y: East, z: Down).DEPRECATED: Replaced By MAV_FRAME_LOCAL_FRD (2019-04)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            15MAV_FRAME_RESERVED_15MAV_FRAME_MOCAP_ENU - Odometry local coordinate frame of data given by a motion capture system, Z-up (x: East, y: North, z: Up).DEPRECATED: Replaced By MAV_FRAME_LOCAL_FLU (2019-04)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            16MAV_FRAME_RESERVED_16MAV_FRAME_VISION_NED - Odometry local coordinate frame of data given by a vision estimation system, Z-down (x: North, y: East, z: Down).DEPRECATED: Replaced By MAV_FRAME_LOCAL_FRD (2019-04)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            17MAV_FRAME_RESERVED_17MAV_FRAME_VISION_ENU - Odometry local coordinate frame of data given by a vision estimation system, Z-up (x: East, y: North, z: Up).DEPRECATED: Replaced By MAV_FRAME_LOCAL_FLU (2019-04)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            18MAV_FRAME_RESERVED_18MAV_FRAME_ESTIM_NED - Odometry local coordinate frame of data given by an estimator running onboard the vehicle, Z-down (x: North, y: East, z: Down).DEPRECATED: Replaced By MAV_FRAME_LOCAL_FRD (2019-04)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            19MAV_FRAME_RESERVED_19MAV_FRAME_ESTIM_ENU - Odometry local coordinate frame of data given by an estimator running onboard the vehicle, Z-up (x: East, y: North, z: Up).DEPRECATED: Replaced By MAV_FRAME_LOCAL_FLU (2019-04)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            20MAV_FRAME_LOCAL_FRDFRD local tangent frame (x: Forward, y: Right, z: Down) with origin fixed relative to earth. The forward axis is aligned to the front of the vehicle in the horizontal plane.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            21MAV_FRAME_LOCAL_FLUFLU local tangent frame (x: Forward, y: Left, z: Up) with origin fixed relative to earth. The forward axis is aligned to the front of the vehicle in the horizontal plane.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            0MAVLINK_DATA_STREAM_IMG_JPEG
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1MAVLINK_DATA_STREAM_IMG_BMP
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            2MAVLINK_DATA_STREAM_IMG_RAW8U
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            3MAVLINK_DATA_STREAM_IMG_RAW32U
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            4MAVLINK_DATA_STREAM_IMG_PGM
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            5MAVLINK_DATA_STREAM_IMG_PNG

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            FENCE_ACTION

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Actions following geofence breach.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            0FENCE_ACTION_NONEDisable fenced mode. If used in a plan this would mean the next fence is disabled.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1FENCE_ACTION_GUIDEDFly to geofence MAV_CMD_NAV_FENCE_RETURN_POINT in GUIDED mode. Note: This action is only supported by ArduPlane, and may not be supported in all versions.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            2FENCE_ACTION_REPORTReport fence breach, but don't take action
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            3FENCE_ACTION_GUIDED_THR_PASSFly to geofence MAV_CMD_NAV_FENCE_RETURN_POINT with manual throttle control in GUIDED mode. Note: This action is only supported by ArduPlane, and may not be supported in all versions.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            4FENCE_ACTION_RTLReturn/RTL mode.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            5FENCE_ACTION_HOLDHold at current location.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            6FENCE_ACTION_TERMINATETermination failsafe. Motors are shut down (some flight stacks may trigger other failsafe actions).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            7FENCE_ACTION_LANDLand at current location.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            FENCE_BREACH

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            0FENCE_BREACH_NONENo last fence breach
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1FENCE_BREACH_MINALTBreached minimum altitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            2FENCE_BREACH_MAXALTBreached maximum altitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            3FENCE_BREACH_BOUNDARYBreached fence boundary

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            FENCE_MITIGATE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Actions being taken to mitigate/prevent fence breach

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            0FENCE_MITIGATE_UNKNOWNUnknown
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1FENCE_MITIGATE_NONENo actions being taken
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            2FENCE_MITIGATE_VEL_LIMITVelocity limiting active to prevent breach

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            FENCE_TYPE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            (Bitmask)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            0FENCE_TYPE_ALLAll fence types
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1FENCE_TYPE_ALT_MAXMaximum altitude fence
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            2FENCE_TYPE_CIRCLECircle fence
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            4FENCE_TYPE_POLYGONPolygon fence
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            8FENCE_TYPE_ALT_MINMinimum altitude fence

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_MOUNT_MODE — [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            DEPRECATED: Replaced By GIMBAL_MANAGER_FLAGS (2020-01)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Enumeration of possible mount operation modes. This message is used by obsolete/deprecated gimbal messages.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            0MAV_MOUNT_MODE_RETRACTLoad and keep safe position (Roll,Pitch,Yaw) from permanent memory and stop stabilization
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1MAV_MOUNT_MODE_NEUTRALLoad and keep neutral position (Roll,Pitch,Yaw) from permanent memory.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            2MAV_MOUNT_MODE_MAVLINK_TARGETINGLoad neutral position and start MAVLink Roll,Pitch,Yaw control with stabilization
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            3MAV_MOUNT_MODE_RC_TARGETINGLoad neutral position and start RC Roll,Pitch,Yaw control with stabilization
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            4MAV_MOUNT_MODE_GPS_POINTLoad neutral position and start to point to Lat,Lon,Alt
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            5MAV_MOUNT_MODE_SYSID_TARGETGimbal tracks system with specified system ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            6MAV_MOUNT_MODE_HOME_LOCATIONGimbal tracks home position

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            GIMBAL_DEVICE_CAP_FLAGS

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            (Bitmask) Gimbal device (low level) capability flags (bitmap).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1GIMBAL_DEVICE_CAP_FLAGS_HAS_RETRACTGimbal device supports a retracted position.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            2GIMBAL_DEVICE_CAP_FLAGS_HAS_NEUTRALGimbal device supports a horizontal, forward looking position, stabilized.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            4GIMBAL_DEVICE_CAP_FLAGS_HAS_ROLL_AXISGimbal device supports rotating around roll axis.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            8GIMBAL_DEVICE_CAP_FLAGS_HAS_ROLL_FOLLOWGimbal device supports to follow a roll angle relative to the vehicle.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            16GIMBAL_DEVICE_CAP_FLAGS_HAS_ROLL_LOCKGimbal device supports locking to a roll angle (generally that's the default with roll stabilized).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            32GIMBAL_DEVICE_CAP_FLAGS_HAS_PITCH_AXISGimbal device supports rotating around pitch axis.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            64GIMBAL_DEVICE_CAP_FLAGS_HAS_PITCH_FOLLOWGimbal device supports to follow a pitch angle relative to the vehicle.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            128GIMBAL_DEVICE_CAP_FLAGS_HAS_PITCH_LOCKGimbal device supports locking to a pitch angle (generally that's the default with pitch stabilized).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            256GIMBAL_DEVICE_CAP_FLAGS_HAS_YAW_AXISGimbal device supports rotating around yaw axis.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            512GIMBAL_DEVICE_CAP_FLAGS_HAS_YAW_FOLLOWGimbal device supports to follow a yaw angle relative to the vehicle (generally that's the default).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1024GIMBAL_DEVICE_CAP_FLAGS_HAS_YAW_LOCKGimbal device supports locking to an absolute heading, i.e., yaw angle relative to North (earth frame, often this is an option available).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            2048GIMBAL_DEVICE_CAP_FLAGS_SUPPORTS_INFINITE_YAWGimbal device supports yawing/panning infinitely (e.g. using slip disk).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            4096GIMBAL_DEVICE_CAP_FLAGS_SUPPORTS_YAW_IN_EARTH_FRAMEGimbal device supports yaw angles and angular velocities relative to North (earth frame). This usually requires support by an autopilot via AUTOPILOT_STATE_FOR_GIMBAL_DEVICE. Support can go on and off during runtime, which is reported by the flag GIMBAL_DEVICE_FLAGS_CAN_ACCEPT_YAW_IN_EARTH_FRAME.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            8192GIMBAL_DEVICE_CAP_FLAGS_HAS_RC_INPUTSGimbal device supports radio control inputs as an alternative input for controlling the gimbal orientation.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            GIMBAL_MANAGER_CAP_FLAGS

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            (Bitmask) Gimbal manager high level capability flags (bitmap). The first 16 bits are identical to the GIMBAL_DEVICE_CAP_FLAGS. However, the gimbal manager does not need to copy the flags from the gimbal but can also enhance the capabilities and thus add flags.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1GIMBAL_MANAGER_CAP_FLAGS_HAS_RETRACTBased on GIMBAL_DEVICE_CAP_FLAGS_HAS_RETRACT.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            2GIMBAL_MANAGER_CAP_FLAGS_HAS_NEUTRALBased on GIMBAL_DEVICE_CAP_FLAGS_HAS_NEUTRAL.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            4GIMBAL_MANAGER_CAP_FLAGS_HAS_ROLL_AXISBased on GIMBAL_DEVICE_CAP_FLAGS_HAS_ROLL_AXIS.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            8GIMBAL_MANAGER_CAP_FLAGS_HAS_ROLL_FOLLOWBased on GIMBAL_DEVICE_CAP_FLAGS_HAS_ROLL_FOLLOW.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            16GIMBAL_MANAGER_CAP_FLAGS_HAS_ROLL_LOCKBased on GIMBAL_DEVICE_CAP_FLAGS_HAS_ROLL_LOCK.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            32GIMBAL_MANAGER_CAP_FLAGS_HAS_PITCH_AXISBased on GIMBAL_DEVICE_CAP_FLAGS_HAS_PITCH_AXIS.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            64GIMBAL_MANAGER_CAP_FLAGS_HAS_PITCH_FOLLOWBased on GIMBAL_DEVICE_CAP_FLAGS_HAS_PITCH_FOLLOW.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            128GIMBAL_MANAGER_CAP_FLAGS_HAS_PITCH_LOCKBased on GIMBAL_DEVICE_CAP_FLAGS_HAS_PITCH_LOCK.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            256GIMBAL_MANAGER_CAP_FLAGS_HAS_YAW_AXISBased on GIMBAL_DEVICE_CAP_FLAGS_HAS_YAW_AXIS.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            512GIMBAL_MANAGER_CAP_FLAGS_HAS_YAW_FOLLOWBased on GIMBAL_DEVICE_CAP_FLAGS_HAS_YAW_FOLLOW.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1024GIMBAL_MANAGER_CAP_FLAGS_HAS_YAW_LOCKBased on GIMBAL_DEVICE_CAP_FLAGS_HAS_YAW_LOCK.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            2048GIMBAL_MANAGER_CAP_FLAGS_SUPPORTS_INFINITE_YAWBased on GIMBAL_DEVICE_CAP_FLAGS_SUPPORTS_INFINITE_YAW.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            4096GIMBAL_MANAGER_CAP_FLAGS_SUPPORTS_YAW_IN_EARTH_FRAMEBased on GIMBAL_DEVICE_CAP_FLAGS_SUPPORTS_YAW_IN_EARTH_FRAME.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            8192GIMBAL_MANAGER_CAP_FLAGS_HAS_RC_INPUTSBased on GIMBAL_DEVICE_CAP_FLAGS_HAS_RC_INPUTS.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            65536GIMBAL_MANAGER_CAP_FLAGS_CAN_POINT_LOCATION_LOCALGimbal manager supports to point to a local position.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            131072GIMBAL_MANAGER_CAP_FLAGS_CAN_POINT_LOCATION_GLOBALGimbal manager supports to point to a global latitude, longitude, altitude position.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            GIMBAL_DEVICE_FLAGS

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            (Bitmask) Flags for gimbal device (lower level) operation.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1GIMBAL_DEVICE_FLAGS_RETRACTSet to retracted safe position (no stabilization), takes precedence over all other flags.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            2GIMBAL_DEVICE_FLAGS_NEUTRALSet to neutral/default position, taking precedence over all other flags except RETRACT. Neutral is commonly forward-facing and horizontal (roll=pitch=yaw=0) but may be any orientation.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            4GIMBAL_DEVICE_FLAGS_ROLL_LOCKLock roll angle to absolute angle relative to horizon (not relative to vehicle). This is generally the default with a stabilizing gimbal.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            8GIMBAL_DEVICE_FLAGS_PITCH_LOCKLock pitch angle to absolute angle relative to horizon (not relative to vehicle). This is generally the default with a stabilizing gimbal.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            16GIMBAL_DEVICE_FLAGS_YAW_LOCKLock yaw angle to absolute angle relative to North (not relative to vehicle). If this flag is set, the yaw angle and z component of angular velocity are relative to North (earth frame, x-axis pointing North), else they are relative to the vehicle heading (vehicle frame, earth frame rotated so that the x-axis is pointing forward).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            32GIMBAL_DEVICE_FLAGS_YAW_IN_VEHICLE_FRAMEYaw angle and z component of angular velocity are relative to the vehicle heading (vehicle frame, earth frame rotated such that the x-axis is pointing forward).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            64GIMBAL_DEVICE_FLAGS_YAW_IN_EARTH_FRAMEYaw angle and z component of angular velocity are relative to North (earth frame, x-axis is pointing North).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            128GIMBAL_DEVICE_FLAGS_ACCEPTS_YAW_IN_EARTH_FRAMEGimbal device can accept yaw angle inputs relative to North (earth frame). This flag is only for reporting (attempts to set this flag are ignored).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            256GIMBAL_DEVICE_FLAGS_RC_EXCLUSIVEThe gimbal orientation is set exclusively by the RC signals feed to the gimbal's radio control inputs. MAVLink messages for setting the gimbal orientation (GIMBAL_DEVICE_SET_ATTITUDE) are ignored.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            512GIMBAL_DEVICE_FLAGS_RC_MIXEDThe gimbal orientation is determined by combining/mixing the RC signals feed to the gimbal's radio control inputs and the MAVLink messages for setting the gimbal orientation (GIMBAL_DEVICE_SET_ATTITUDE). How these two controls are combined or mixed is not defined by the protocol but is up to the implementation.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            GIMBAL_MANAGER_FLAGS

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            (Bitmask) Flags for high level gimbal manager operation The first 16 bits are identical to the GIMBAL_DEVICE_FLAGS.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1GIMBAL_MANAGER_FLAGS_RETRACTBased on GIMBAL_DEVICE_FLAGS_RETRACT.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            2GIMBAL_MANAGER_FLAGS_NEUTRALBased on GIMBAL_DEVICE_FLAGS_NEUTRAL.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            4GIMBAL_MANAGER_FLAGS_ROLL_LOCKBased on GIMBAL_DEVICE_FLAGS_ROLL_LOCK.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            8GIMBAL_MANAGER_FLAGS_PITCH_LOCKBased on GIMBAL_DEVICE_FLAGS_PITCH_LOCK.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            16GIMBAL_MANAGER_FLAGS_YAW_LOCKBased on GIMBAL_DEVICE_FLAGS_YAW_LOCK.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            32GIMBAL_MANAGER_FLAGS_YAW_IN_VEHICLE_FRAMEBased on GIMBAL_DEVICE_FLAGS_YAW_IN_VEHICLE_FRAME.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            64GIMBAL_MANAGER_FLAGS_YAW_IN_EARTH_FRAMEBased on GIMBAL_DEVICE_FLAGS_YAW_IN_EARTH_FRAME.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            128GIMBAL_MANAGER_FLAGS_ACCEPTS_YAW_IN_EARTH_FRAMEBased on GIMBAL_DEVICE_FLAGS_ACCEPTS_YAW_IN_EARTH_FRAME.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            256GIMBAL_MANAGER_FLAGS_RC_EXCLUSIVEBased on GIMBAL_DEVICE_FLAGS_RC_EXCLUSIVE.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            512GIMBAL_MANAGER_FLAGS_RC_MIXEDBased on GIMBAL_DEVICE_FLAGS_RC_MIXED.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            GIMBAL_DEVICE_ERROR_FLAGS

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            (Bitmask) Gimbal device (low level) error flags (bitmap, 0 means no error)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1GIMBAL_DEVICE_ERROR_FLAGS_AT_ROLL_LIMITGimbal device is limited by hardware roll limit.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            2GIMBAL_DEVICE_ERROR_FLAGS_AT_PITCH_LIMITGimbal device is limited by hardware pitch limit.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            4GIMBAL_DEVICE_ERROR_FLAGS_AT_YAW_LIMITGimbal device is limited by hardware yaw limit.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            8GIMBAL_DEVICE_ERROR_FLAGS_ENCODER_ERRORThere is an error with the gimbal encoders.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            16GIMBAL_DEVICE_ERROR_FLAGS_POWER_ERRORThere is an error with the gimbal power source.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            32GIMBAL_DEVICE_ERROR_FLAGS_MOTOR_ERRORThere is an error with the gimbal motors.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            64GIMBAL_DEVICE_ERROR_FLAGS_SOFTWARE_ERRORThere is an error with the gimbal's software.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            128GIMBAL_DEVICE_ERROR_FLAGS_COMMS_ERRORThere is an error with the gimbal's communication.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            256GIMBAL_DEVICE_ERROR_FLAGS_CALIBRATION_RUNNINGGimbal device is currently calibrating.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            512GIMBAL_DEVICE_ERROR_FLAGS_NO_MANAGERGimbal device is not assigned to a gimbal manager.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            GRIPPER_ACTIONS

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Gripper actions.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            0GRIPPER_ACTION_RELEASEGripper release cargo.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1GRIPPER_ACTION_GRABGripper grab onto cargo.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            WINCH_ACTIONS

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Winch actions.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            0WINCH_RELAXEDAllow motor to freewheel.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1WINCH_RELATIVE_LENGTH_CONTROLWind or unwind specified length of line, optionally using specified rate.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            2WINCH_RATE_CONTROLWind or unwind line at specified rate.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            3WINCH_LOCKPerform the locking sequence to relieve motor while in the fully retracted position. Only action and instance command parameters are used, others are ignored.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            4WINCH_DELIVERSequence of drop, slow down, touch down, reel up, lock. Only action and instance command parameters are used, others are ignored.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            5WINCH_HOLDEngage motor and hold current position. Only action and instance command parameters are used, others are ignored.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            6WINCH_RETRACTReturn the reel to the fully retracted position. Only action and instance command parameters are used, others are ignored.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            7WINCH_LOAD_LINELoad the reel with line. The winch will calculate the total loaded length and stop when the tension exceeds a threshold. Only action and instance command parameters are used, others are ignored.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            8WINCH_ABANDON_LINESpool out the entire length of the line. Only action and instance command parameters are used, others are ignored.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            9WINCH_LOAD_PAYLOADSpools out just enough to present the hook to the user to load the payload. Only action and instance command parameters are used, others are ignored

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            UAVCAN_NODE_HEALTH

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Generalized UAVCAN node health

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            0UAVCAN_NODE_HEALTH_OKThe node is functioning properly.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1UAVCAN_NODE_HEALTH_WARNINGA critical parameter went out of range or the node has encountered a minor failure.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            2UAVCAN_NODE_HEALTH_ERRORThe node has encountered a major failure.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            3UAVCAN_NODE_HEALTH_CRITICALThe node has suffered a fatal malfunction.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            UAVCAN_NODE_MODE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Generalized UAVCAN node mode

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            0UAVCAN_NODE_MODE_OPERATIONALThe node is performing its primary functions.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1UAVCAN_NODE_MODE_INITIALIZATIONThe node is initializing; this mode is entered immediately after startup.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            2UAVCAN_NODE_MODE_MAINTENANCEThe node is under maintenance.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            3UAVCAN_NODE_MODE_SOFTWARE_UPDATEThe node is in the process of updating its software.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            7UAVCAN_NODE_MODE_OFFLINEThe node is no longer available online.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ESC_CONNECTION_TYPE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Indicates the ESC connection type.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            0ESC_CONNECTION_TYPE_PPMTraditional PPM ESC.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1ESC_CONNECTION_TYPE_SERIALSerial Bus connected ESC.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            2ESC_CONNECTION_TYPE_ONESHOTOne Shot PPM ESC.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            3ESC_CONNECTION_TYPE_I2CI2C ESC.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            4ESC_CONNECTION_TYPE_CANCAN-Bus ESC.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            5ESC_CONNECTION_TYPE_DSHOTDShot ESC.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ESC_FAILURE_FLAGS

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            (Bitmask) Flags to report ESC failures.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            0ESC_FAILURE_NONENo ESC failure.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1ESC_FAILURE_OVER_CURRENTOver current failure.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            2ESC_FAILURE_OVER_VOLTAGEOver voltage failure.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            4ESC_FAILURE_OVER_TEMPERATUREOver temperature failure.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            8ESC_FAILURE_OVER_RPMOver RPM failure.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            16ESC_FAILURE_INCONSISTENT_CMDInconsistent command failure i.e. out of bounds.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            32ESC_FAILURE_MOTOR_STUCKMotor stuck failure.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            64ESC_FAILURE_GENERICGeneric ESC failure.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            STORAGE_STATUS

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Flags to indicate the status of camera storage.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            0STORAGE_STATUS_EMPTYStorage is missing (no microSD card loaded for example.)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1STORAGE_STATUS_UNFORMATTEDStorage present but unformatted.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            2STORAGE_STATUS_READYStorage present and ready.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            3STORAGE_STATUS_NOT_SUPPORTEDCamera does not supply storage status information. Capacity information in STORAGE_INFORMATION fields will be ignored.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            STORAGE_TYPE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Flags to indicate the type of storage.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            0STORAGE_TYPE_UNKNOWNStorage type is not known.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1STORAGE_TYPE_USB_STICKStorage type is USB device.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            2STORAGE_TYPE_SDStorage type is SD card.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            3STORAGE_TYPE_MICROSDStorage type is microSD card.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            4STORAGE_TYPE_CFStorage type is CFast.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            5STORAGE_TYPE_CFEStorage type is CFexpress.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            6STORAGE_TYPE_XQDStorage type is XQD.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            7STORAGE_TYPE_HDStorage type is HD mass storage type.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            254STORAGE_TYPE_OTHERStorage type is other, not listed type.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            STORAGE_USAGE_FLAG

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Flags to indicate usage for a particular storage (see STORAGE_INFORMATION.storage_usage and MAV_CMD_SET_STORAGE_USAGE).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1STORAGE_USAGE_FLAG_SETAlways set to 1 (indicates STORAGE_INFORMATION.storage_usage is supported).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            2STORAGE_USAGE_FLAG_PHOTOStorage for saving photos.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            4STORAGE_USAGE_FLAG_VIDEOStorage for saving videos.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            8STORAGE_USAGE_FLAG_LOGSStorage for saving logs.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ORBIT_YAW_BEHAVIOUR

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Yaw behaviour during orbit flight.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            0ORBIT_YAW_BEHAVIOUR_HOLD_FRONT_TO_CIRCLE_CENTERVehicle front points to the center (default).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1ORBIT_YAW_BEHAVIOUR_HOLD_INITIAL_HEADINGVehicle front holds heading when message received.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            2ORBIT_YAW_BEHAVIOUR_UNCONTROLLEDYaw uncontrolled.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            3ORBIT_YAW_BEHAVIOUR_HOLD_FRONT_TANGENT_TO_CIRCLEVehicle front follows flight path (tangential to circle).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            4ORBIT_YAW_BEHAVIOUR_RC_CONTROLLEDYaw controlled by RC input.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            5ORBIT_YAW_BEHAVIOUR_UNCHANGEDVehicle uses current yaw behaviour (unchanged). The vehicle-default yaw behaviour is used if this value is specified when orbit is first commanded.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            WIFI_CONFIG_AP_RESPONSE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Possible responses from a WIFI_CONFIG_AP message.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            0WIFI_CONFIG_AP_RESPONSE_UNDEFINEDUndefined response. Likely an indicative of a system that doesn't support this request.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1WIFI_CONFIG_AP_RESPONSE_ACCEPTEDChanges accepted.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            2WIFI_CONFIG_AP_RESPONSE_REJECTEDChanges rejected.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            3WIFI_CONFIG_AP_RESPONSE_MODE_ERRORInvalid Mode.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            4WIFI_CONFIG_AP_RESPONSE_SSID_ERRORInvalid SSID.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            5WIFI_CONFIG_AP_RESPONSE_PASSWORD_ERRORInvalid Password.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            CELLULAR_CONFIG_RESPONSE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Possible responses from a CELLULAR_CONFIG message.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            0CELLULAR_CONFIG_RESPONSE_ACCEPTEDChanges accepted.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1CELLULAR_CONFIG_RESPONSE_APN_ERRORInvalid APN.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            2CELLULAR_CONFIG_RESPONSE_PIN_ERRORInvalid PIN.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            3CELLULAR_CONFIG_RESPONSE_REJECTEDChanges rejected.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            4CELLULAR_CONFIG_BLOCKED_PUK_REQUIREDPUK is required to unblock SIM card.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            WIFI_CONFIG_AP_MODE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            WiFi Mode.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            0WIFI_CONFIG_AP_MODE_UNDEFINEDWiFi mode is undefined.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1WIFI_CONFIG_AP_MODE_APWiFi configured as an access point.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            2WIFI_CONFIG_AP_MODE_STATIONWiFi configured as a station connected to an existing local WiFi network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            3WIFI_CONFIG_AP_MODE_DISABLEDWiFi disabled.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            COMP_METADATA_TYPE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Supported component metadata types. These are used in the "general" metadata file returned by COMPONENT_METADATA to provide information about supported metadata types. The types are not used directly in MAVLink messages.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            0COMP_METADATA_TYPE_GENERALGeneral information about the component. General metadata includes information about other metadata types supported by the component. Files of this type must be supported, and must be downloadable from vehicle using a MAVLink FTP URI.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1COMP_METADATA_TYPE_PARAMETERParameter meta data.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            2COMP_METADATA_TYPE_COMMANDSMeta data that specifies which commands and command parameters the vehicle supports. (WIP)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            3COMP_METADATA_TYPE_PERIPHERALSMeta data that specifies external non-MAVLink peripherals.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            4COMP_METADATA_TYPE_EVENTSMeta data for the events interface.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            5COMP_METADATA_TYPE_ACTUATORSMeta data for actuator configuration (motors, servos and vehicle geometry) and testing.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ACTUATOR_CONFIGURATION

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Actuator configuration, used to change a setting on an actuator. Component information metadata can be used to know which outputs support which commands.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            0ACTUATOR_CONFIGURATION_NONEDo nothing.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1ACTUATOR_CONFIGURATION_BEEPCommand the actuator to beep now.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            2ACTUATOR_CONFIGURATION_3D_MODE_ONPermanently set the actuator (ESC) to 3D mode (reversible thrust).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            3ACTUATOR_CONFIGURATION_3D_MODE_OFFPermanently set the actuator (ESC) to non 3D mode (non-reversible thrust).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            4ACTUATOR_CONFIGURATION_SPIN_DIRECTION1Permanently set the actuator (ESC) to spin direction 1 (which can be clockwise or counter-clockwise).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            5ACTUATOR_CONFIGURATION_SPIN_DIRECTION2Permanently set the actuator (ESC) to spin direction 2 (opposite of direction 1).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ACTUATOR_OUTPUT_FUNCTION

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Actuator output function. Values greater or equal to 1000 are autopilot-specific.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            0ACTUATOR_OUTPUT_FUNCTION_NONENo function (disabled).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1ACTUATOR_OUTPUT_FUNCTION_MOTOR1Motor 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            2ACTUATOR_OUTPUT_FUNCTION_MOTOR2Motor 2
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            3ACTUATOR_OUTPUT_FUNCTION_MOTOR3Motor 3
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            4ACTUATOR_OUTPUT_FUNCTION_MOTOR4Motor 4
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            5ACTUATOR_OUTPUT_FUNCTION_MOTOR5Motor 5
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            6ACTUATOR_OUTPUT_FUNCTION_MOTOR6Motor 6
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            7ACTUATOR_OUTPUT_FUNCTION_MOTOR7Motor 7
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            8ACTUATOR_OUTPUT_FUNCTION_MOTOR8Motor 8
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            9ACTUATOR_OUTPUT_FUNCTION_MOTOR9Motor 9
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            10ACTUATOR_OUTPUT_FUNCTION_MOTOR10Motor 10
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            11ACTUATOR_OUTPUT_FUNCTION_MOTOR11Motor 11
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            12ACTUATOR_OUTPUT_FUNCTION_MOTOR12Motor 12
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            13ACTUATOR_OUTPUT_FUNCTION_MOTOR13Motor 13
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            14ACTUATOR_OUTPUT_FUNCTION_MOTOR14Motor 14
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            15ACTUATOR_OUTPUT_FUNCTION_MOTOR15Motor 15
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            16ACTUATOR_OUTPUT_FUNCTION_MOTOR16Motor 16
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            33ACTUATOR_OUTPUT_FUNCTION_SERVO1Servo 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            34ACTUATOR_OUTPUT_FUNCTION_SERVO2Servo 2
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            35ACTUATOR_OUTPUT_FUNCTION_SERVO3Servo 3
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            36ACTUATOR_OUTPUT_FUNCTION_SERVO4Servo 4
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            37ACTUATOR_OUTPUT_FUNCTION_SERVO5Servo 5
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            38ACTUATOR_OUTPUT_FUNCTION_SERVO6Servo 6
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            39ACTUATOR_OUTPUT_FUNCTION_SERVO7Servo 7
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            40ACTUATOR_OUTPUT_FUNCTION_SERVO8Servo 8
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            41ACTUATOR_OUTPUT_FUNCTION_SERVO9Servo 9
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            42ACTUATOR_OUTPUT_FUNCTION_SERVO10Servo 10
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            43ACTUATOR_OUTPUT_FUNCTION_SERVO11Servo 11
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            44ACTUATOR_OUTPUT_FUNCTION_SERVO12Servo 12
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            45ACTUATOR_OUTPUT_FUNCTION_SERVO13Servo 13
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            46ACTUATOR_OUTPUT_FUNCTION_SERVO14Servo 14
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            47ACTUATOR_OUTPUT_FUNCTION_SERVO15Servo 15
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            48ACTUATOR_OUTPUT_FUNCTION_SERVO16Servo 16

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            AUTOTUNE_AXIS

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            (Bitmask) Enable axes that will be tuned via autotuning. Used in MAV_CMD_DO_AUTOTUNE_ENABLE.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            0AUTOTUNE_AXIS_DEFAULTFlight stack tunes axis according to its default settings.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1AUTOTUNE_AXIS_ROLLAutotune roll axis.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            2AUTOTUNE_AXIS_PITCHAutotune pitch axis.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            4AUTOTUNE_AXIS_YAWAutotune yaw axis.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            PREFLIGHT_STORAGE_PARAMETER_ACTION

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Actions for reading/writing parameters between persistent and volatile storage when using MAV_CMD_PREFLIGHT_STORAGE. (Commonly parameters are loaded from persistent storage (flash/EEPROM) into volatile storage (RAM) on startup and written back when they are changed.)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            0PARAM_READ_PERSISTENTRead all parameters from persistent storage. Replaces values in volatile storage.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1PARAM_WRITE_PERSISTENTWrite all parameter values to persistent storage (flash/EEPROM)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            2PARAM_RESET_CONFIG_DEFAULTReset all user configurable parameters to their default value (including airframe selection, sensor calibration data, safety settings, and so on). Does not reset values that contain operation counters and vehicle computed statistics.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            3PARAM_RESET_SENSOR_DEFAULTReset only sensor calibration parameters to factory defaults (or firmware default if not available)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            4PARAM_RESET_ALL_DEFAULTReset all parameters, including operation counters, to default values

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            PREFLIGHT_STORAGE_MISSION_ACTION

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Actions for reading and writing plan information (mission, rally points, geofence) between persistent and volatile storage when using MAV_CMD_PREFLIGHT_STORAGE. (Commonly missions are loaded from persistent storage (flash/EEPROM) into volatile storage (RAM) on startup and written back when they are changed.)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            0MISSION_READ_PERSISTENTRead current mission data from persistent storage
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1MISSION_WRITE_PERSISTENTWrite current mission data to persistent storage
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            2MISSION_RESET_DEFAULTErase all mission data stored on the vehicle (both persistent and volatile storage)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_DATA_STREAM — [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            DEPRECATED: Replaced By MESSAGE_INTERVAL (2015-06)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            A data stream is not a fixed set of messages, but rather a

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            recommendation to the autopilot software. Individual autopilots may or may not obey the recommended messages.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            0MAV_DATA_STREAM_ALLEnable all data streams
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1MAV_DATA_STREAM_RAW_SENSORSEnable IMU_RAW, GPS_RAW, GPS_STATUS packets.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            2MAV_DATA_STREAM_EXTENDED_STATUSEnable GPS_STATUS, CONTROL_STATUS, AUX_STATUS
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            3MAV_DATA_STREAM_RC_CHANNELSEnable RC_CHANNELS_SCALED, RC_CHANNELS_RAW, SERVO_OUTPUT_RAW
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            4MAV_DATA_STREAM_RAW_CONTROLLEREnable ATTITUDE_CONTROLLER_OUTPUT, POSITION_CONTROLLER_OUTPUT, NAV_CONTROLLER_OUTPUT.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            6MAV_DATA_STREAM_POSITIONEnable LOCAL_POSITION, GLOBAL_POSITION_INT messages.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            10MAV_DATA_STREAM_EXTRA1Dependent on the autopilot
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            11MAV_DATA_STREAM_EXTRA2Dependent on the autopilot
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            12MAV_DATA_STREAM_EXTRA3Dependent on the autopilot

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_ROI — [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            DEPRECATED: Replaced By MAVCMD_DO_SET_ROI* (2018-01)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            The ROI (region of interest) for the vehicle. This can be

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            be used by the vehicle for camera/vehicle attitude alignment (see MAV_CMD_NAV_ROI).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            0MAV_ROI_NONENo region of interest.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1MAV_ROI_WPNEXTPoint toward next waypoint, with optional pitch/roll/yaw offset.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            2MAV_ROI_WPINDEXPoint toward given waypoint.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            3MAV_ROI_LOCATIONPoint toward fixed location.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            4MAV_ROI_TARGETPoint toward of given id.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_PARAM_TYPE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Specifies the datatype of a MAVLink parameter.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1MAV_PARAM_TYPE_UINT88-bit unsigned integer
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            2MAV_PARAM_TYPE_INT88-bit signed integer
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            3MAV_PARAM_TYPE_UINT1616-bit unsigned integer
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            4MAV_PARAM_TYPE_INT1616-bit signed integer
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            5MAV_PARAM_TYPE_UINT3232-bit unsigned integer
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            6MAV_PARAM_TYPE_INT3232-bit signed integer
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            7MAV_PARAM_TYPE_UINT6464-bit unsigned integer
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            8MAV_PARAM_TYPE_INT6464-bit signed integer
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            9MAV_PARAM_TYPE_REAL3232-bit floating-point
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            10MAV_PARAM_TYPE_REAL6464-bit floating-point

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_PARAM_EXT_TYPE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Specifies the datatype of a MAVLink extended parameter.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1MAV_PARAM_EXT_TYPE_UINT88-bit unsigned integer
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            2MAV_PARAM_EXT_TYPE_INT88-bit signed integer
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            3MAV_PARAM_EXT_TYPE_UINT1616-bit unsigned integer
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            4MAV_PARAM_EXT_TYPE_INT1616-bit signed integer
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            5MAV_PARAM_EXT_TYPE_UINT3232-bit unsigned integer
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            6MAV_PARAM_EXT_TYPE_INT3232-bit signed integer
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            7MAV_PARAM_EXT_TYPE_UINT6464-bit unsigned integer
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            8MAV_PARAM_EXT_TYPE_INT6464-bit signed integer
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            9MAV_PARAM_EXT_TYPE_REAL3232-bit floating-point
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            10MAV_PARAM_EXT_TYPE_REAL6464-bit floating-point
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            11MAV_PARAM_EXT_TYPE_CUSTOMCustom Type

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_RESULT

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Result from a MAVLink command (MAV_CMD)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            0MAV_RESULT_ACCEPTEDCommand is valid (is supported and has valid parameters), and was executed.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1MAV_RESULT_TEMPORARILY_REJECTEDCommand is valid, but cannot be executed at this time. This is used to indicate a problem that should be fixed just by waiting (e.g. a state machine is busy, can't arm because have not got GPS lock, etc.). Retrying later should work.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            2MAV_RESULT_DENIEDCommand is invalid (is supported but has invalid parameters). Retrying same command and parameters will not work.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            3MAV_RESULT_UNSUPPORTEDCommand is not supported (unknown).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            4MAV_RESULT_FAILEDCommand is valid, but execution has failed. This is used to indicate any non-temporary or unexpected problem, i.e. any problem that must be fixed before the command can succeed/be retried. For example, attempting to write a file when out of memory, attempting to arm when sensors are not calibrated, etc.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            5MAV_RESULT_IN_PROGRESSCommand is valid and is being executed. This will be followed by further progress updates, i.e. the component may send further COMMAND_ACK messages with result MAV_RESULT_IN_PROGRESS (at a rate decided by the implementation), and must terminate by sending a COMMAND_ACK message with final result of the operation. The COMMAND_ACK.progress field can be used to indicate the progress of the operation.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            6MAV_RESULT_CANCELLEDCommand has been cancelled (as a result of receiving a COMMAND_CANCEL message).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            7MAV_RESULT_COMMAND_LONG_ONLYCommand is only accepted when sent as a COMMAND_LONG.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            8MAV_RESULT_COMMAND_INT_ONLYCommand is only accepted when sent as a COMMAND_INT.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            9MAV_RESULT_COMMAND_UNSUPPORTED_MAV_FRAMECommand is invalid because a frame is required and the specified frame is not supported.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            10MAV_RESULT_PERMISSION_DENIEDSender is not authorized to control this MAV component. Control may be requested using MAV_CMD_REQUEST_OPERATOR_CONTROL.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_MISSION_RESULT

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Result of mission operation (in a MISSION_ACK message).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            0MAV_MISSION_ACCEPTEDmission accepted OK
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1MAV_MISSION_ERRORGeneric error / not accepting mission commands at all right now.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            2MAV_MISSION_UNSUPPORTED_FRAMECoordinate frame is not supported.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            3MAV_MISSION_UNSUPPORTEDCommand is not supported.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            4MAV_MISSION_NO_SPACEMission items exceed storage space.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            5MAV_MISSION_INVALIDOne of the parameters has an invalid value.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            6MAV_MISSION_INVALID_PARAM1param1 has an invalid value.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            7MAV_MISSION_INVALID_PARAM2param2 has an invalid value.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            8MAV_MISSION_INVALID_PARAM3param3 has an invalid value.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            9MAV_MISSION_INVALID_PARAM4param4 has an invalid value.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            10MAV_MISSION_INVALID_PARAM5_Xx / param5 has an invalid value.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            11MAV_MISSION_INVALID_PARAM6_Yy / param6 has an invalid value.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            12MAV_MISSION_INVALID_PARAM7z / param7 has an invalid value.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            13MAV_MISSION_INVALID_SEQUENCEMission item received out of sequence
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            14MAV_MISSION_DENIEDNot accepting any mission commands from this communication partner.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            15MAV_MISSION_OPERATION_CANCELLEDCurrent mission operation cancelled (e.g. mission upload, mission download).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_SEVERITY

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Indicates the severity level, generally used for status messages to indicate their relative urgency. Based on RFC-5424 using expanded definitions at: http://www.kiwisyslog.com/kb/info:-syslog-message-levels/.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            0MAV_SEVERITY_EMERGENCYSystem is unusable. This is a "panic" condition.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1MAV_SEVERITY_ALERTAction should be taken immediately. Indicates error in non-critical systems.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            2MAV_SEVERITY_CRITICALAction must be taken immediately. Indicates failure in a primary system.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            3MAV_SEVERITY_ERRORIndicates an error in secondary/redundant systems.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            4MAV_SEVERITY_WARNINGIndicates about a possible future error if this is not resolved within a given timeframe. Example would be a low battery warning.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            5MAV_SEVERITY_NOTICEAn unusual event has occurred, though not an error condition. This should be investigated for the root cause.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            6MAV_SEVERITY_INFONormal operational messages. Useful for logging. No action is required for these messages.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            7MAV_SEVERITY_DEBUGUseful non-operational messages that can assist in debugging. These should not occur during normal operation.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_POWER_STATUS

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            (Bitmask) Power supply status flags (bitmask)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1MAV_POWER_STATUS_BRICK_VALIDmain brick power supply valid
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            2MAV_POWER_STATUS_SERVO_VALIDmain servo power supply valid for FMU
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            4MAV_POWER_STATUS_USB_CONNECTEDUSB power is connected
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            8MAV_POWER_STATUS_PERIPH_OVERCURRENTperipheral supply is in over-current state
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            16MAV_POWER_STATUS_PERIPH_HIPOWER_OVERCURRENThi-power peripheral supply is in over-current state
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            32MAV_POWER_STATUS_CHANGEDPower status has changed since boot

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            SERIAL_CONTROL_DEV

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            SERIAL_CONTROL device types

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            0SERIAL_CONTROL_DEV_TELEM1First telemetry port
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1SERIAL_CONTROL_DEV_TELEM2Second telemetry port
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            2SERIAL_CONTROL_DEV_GPS1First GPS port
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            3SERIAL_CONTROL_DEV_GPS2Second GPS port
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            10SERIAL_CONTROL_DEV_SHELLsystem shell
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            100SERIAL_CONTROL_SERIAL0SERIAL0
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            101SERIAL_CONTROL_SERIAL1SERIAL1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            102SERIAL_CONTROL_SERIAL2SERIAL2
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            103SERIAL_CONTROL_SERIAL3SERIAL3
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            104SERIAL_CONTROL_SERIAL4SERIAL4
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            105SERIAL_CONTROL_SERIAL5SERIAL5
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            106SERIAL_CONTROL_SERIAL6SERIAL6
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            107SERIAL_CONTROL_SERIAL7SERIAL7
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            108SERIAL_CONTROL_SERIAL8SERIAL8
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            109SERIAL_CONTROL_SERIAL9SERIAL9

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            SERIAL_CONTROL_FLAG

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            (Bitmask) SERIAL_CONTROL flags (bitmask)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1SERIAL_CONTROL_FLAG_REPLYSet if this is a reply
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            2SERIAL_CONTROL_FLAG_RESPONDSet if the sender wants the receiver to send a response as another SERIAL_CONTROL message
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            4SERIAL_CONTROL_FLAG_EXCLUSIVESet if access to the serial port should be removed from whatever driver is currently using it, giving exclusive access to the SERIAL_CONTROL protocol. The port can be handed back by sending a request without this flag set
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            8SERIAL_CONTROL_FLAG_BLOCKINGBlock on writes to the serial port
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            16SERIAL_CONTROL_FLAG_MULTISend multiple replies until port is drained

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_DISTANCE_SENSOR

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Enumeration of distance sensor types

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            0MAV_DISTANCE_SENSOR_LASERLaser rangefinder, e.g. LightWare SF02/F or PulsedLight units
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1MAV_DISTANCE_SENSOR_ULTRASOUNDUltrasound rangefinder, e.g. MaxBotix units
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            2MAV_DISTANCE_SENSOR_INFRAREDInfrared rangefinder, e.g. Sharp units
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            3MAV_DISTANCE_SENSOR_RADARRadar type, e.g. uLanding units
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            4MAV_DISTANCE_SENSOR_UNKNOWNBroken or unknown type, e.g. analog units

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_SENSOR_ORIENTATION

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Enumeration of sensor orientation, according to its rotations

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            0MAV_SENSOR_ROTATION_NONERoll: 0, Pitch: 0, Yaw: 0
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1MAV_SENSOR_ROTATION_YAW_45Roll: 0, Pitch: 0, Yaw: 45
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            2MAV_SENSOR_ROTATION_YAW_90Roll: 0, Pitch: 0, Yaw: 90
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            3MAV_SENSOR_ROTATION_YAW_135Roll: 0, Pitch: 0, Yaw: 135
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            4MAV_SENSOR_ROTATION_YAW_180Roll: 0, Pitch: 0, Yaw: 180
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            5MAV_SENSOR_ROTATION_YAW_225Roll: 0, Pitch: 0, Yaw: 225
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            6MAV_SENSOR_ROTATION_YAW_270Roll: 0, Pitch: 0, Yaw: 270
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            7MAV_SENSOR_ROTATION_YAW_315Roll: 0, Pitch: 0, Yaw: 315
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            8MAV_SENSOR_ROTATION_ROLL_180Roll: 180, Pitch: 0, Yaw: 0
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            9MAV_SENSOR_ROTATION_ROLL_180_YAW_45Roll: 180, Pitch: 0, Yaw: 45
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            10MAV_SENSOR_ROTATION_ROLL_180_YAW_90Roll: 180, Pitch: 0, Yaw: 90
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            11MAV_SENSOR_ROTATION_ROLL_180_YAW_135Roll: 180, Pitch: 0, Yaw: 135
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            12MAV_SENSOR_ROTATION_PITCH_180Roll: 0, Pitch: 180, Yaw: 0
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            13MAV_SENSOR_ROTATION_ROLL_180_YAW_225Roll: 180, Pitch: 0, Yaw: 225
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            14MAV_SENSOR_ROTATION_ROLL_180_YAW_270Roll: 180, Pitch: 0, Yaw: 270
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            15MAV_SENSOR_ROTATION_ROLL_180_YAW_315Roll: 180, Pitch: 0, Yaw: 315
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            16MAV_SENSOR_ROTATION_ROLL_90Roll: 90, Pitch: 0, Yaw: 0
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            17MAV_SENSOR_ROTATION_ROLL_90_YAW_45Roll: 90, Pitch: 0, Yaw: 45
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            18MAV_SENSOR_ROTATION_ROLL_90_YAW_90Roll: 90, Pitch: 0, Yaw: 90
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            19MAV_SENSOR_ROTATION_ROLL_90_YAW_135Roll: 90, Pitch: 0, Yaw: 135
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            20MAV_SENSOR_ROTATION_ROLL_270Roll: 270, Pitch: 0, Yaw: 0
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            21MAV_SENSOR_ROTATION_ROLL_270_YAW_45Roll: 270, Pitch: 0, Yaw: 45
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            22MAV_SENSOR_ROTATION_ROLL_270_YAW_90Roll: 270, Pitch: 0, Yaw: 90
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            23MAV_SENSOR_ROTATION_ROLL_270_YAW_135Roll: 270, Pitch: 0, Yaw: 135
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            24MAV_SENSOR_ROTATION_PITCH_90Roll: 0, Pitch: 90, Yaw: 0
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            25MAV_SENSOR_ROTATION_PITCH_270Roll: 0, Pitch: 270, Yaw: 0
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            26MAV_SENSOR_ROTATION_PITCH_180_YAW_90Roll: 0, Pitch: 180, Yaw: 90
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            27MAV_SENSOR_ROTATION_PITCH_180_YAW_270Roll: 0, Pitch: 180, Yaw: 270
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            28MAV_SENSOR_ROTATION_ROLL_90_PITCH_90Roll: 90, Pitch: 90, Yaw: 0
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            29MAV_SENSOR_ROTATION_ROLL_180_PITCH_90Roll: 180, Pitch: 90, Yaw: 0
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            30MAV_SENSOR_ROTATION_ROLL_270_PITCH_90Roll: 270, Pitch: 90, Yaw: 0
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            31MAV_SENSOR_ROTATION_ROLL_90_PITCH_180Roll: 90, Pitch: 180, Yaw: 0
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            32MAV_SENSOR_ROTATION_ROLL_270_PITCH_180Roll: 270, Pitch: 180, Yaw: 0
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            33MAV_SENSOR_ROTATION_ROLL_90_PITCH_270Roll: 90, Pitch: 270, Yaw: 0
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            34MAV_SENSOR_ROTATION_ROLL_180_PITCH_270Roll: 180, Pitch: 270, Yaw: 0
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            35MAV_SENSOR_ROTATION_ROLL_270_PITCH_270Roll: 270, Pitch: 270, Yaw: 0
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            36MAV_SENSOR_ROTATION_ROLL_90_PITCH_180_YAW_90Roll: 90, Pitch: 180, Yaw: 90
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            37MAV_SENSOR_ROTATION_ROLL_90_YAW_270Roll: 90, Pitch: 0, Yaw: 270
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            38MAV_SENSOR_ROTATION_ROLL_90_PITCH_68_YAW_293Roll: 90, Pitch: 68, Yaw: 293
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            39MAV_SENSOR_ROTATION_PITCH_315Pitch: 315
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            40MAV_SENSOR_ROTATION_ROLL_90_PITCH_315Roll: 90, Pitch: 315
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            100MAV_SENSOR_ROTATION_CUSTOMCustom orientation

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_PROTOCOL_CAPABILITY

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            (Bitmask) Bitmask of (optional) autopilot capabilities (64 bit). If a bit is set, the autopilot supports this capability.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1MAV_PROTOCOL_CAPABILITY_MISSION_FLOATAutopilot supports the MISSION_ITEM float message type.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Note that MISSION_ITEM is deprecated, and autopilots should use MISSION_INT instead. | | </a>2 | MAV_PROTOCOL_CAPABILITY_PARAM_FLOAT | Autopilot supports the new param float message type.DEPRECATED: Replaced By MAV_PROTOCOL_CAPABILITY_PARAM_ENCODE_C_CAST (2022-03)</span> | | </a>4 | MAV_PROTOCOL_CAPABILITY_MISSION_INT | Autopilot supports MISSION_ITEM_INT scaled integer message type.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Note that this flag must always be set if missions are supported, because missions must always use MISSION_ITEM_INT (rather than MISSION_ITEM, which is deprecated). | | 8 | MAV_PROTOCOL_CAPABILITY_COMMAND_INT | Autopilot supports COMMAND_INT scaled integer message type. | | </a>16 | MAV_PROTOCOL_CAPABILITY_PARAM_ENCODE_BYTEWISE | Parameter protocol uses byte-wise encoding of parameter values into param_value (float) fields: https://mavlink.io/en/services/parameter.html#parameter-encoding.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Note that either this flag or MAV_PROTOCOL_CAPABILITY_PARAM_ENCODE_C_CAST should be set if the parameter protocol is supported. | | 32 | MAV_PROTOCOL_CAPABILITY_FTP | Autopilot supports the File Transfer Protocol v1: https://mavlink.io/en/services/ftp.html. | | </a>64 | MAV_PROTOCOL_CAPABILITY_SET_ATTITUDE_TARGET | Autopilot supports commanding attitude offboard. | | 128 | MAV_PROTOCOL_CAPABILITY_SET_POSITION_TARGET_LOCAL_NED | Autopilot supports commanding position and velocity targets in local NED frame. | | </a>256 | MAV_PROTOCOL_CAPABILITY_SET_POSITION_TARGET_GLOBAL_INT | Autopilot supports commanding position and velocity targets in global scaled integers. | | 512 | MAV_PROTOCOL_CAPABILITY_TERRAIN | Autopilot supports terrain protocol / data handling. | | </a>1024 | MAV_PROTOCOL_CAPABILITY_RESERVED3 | Reserved for future use. | | 2048 | MAV_PROTOCOL_CAPABILITY_FLIGHT_TERMINATION | Autopilot supports the MAV_CMD_DO_FLIGHTTERMINATION command (flight termination). | | </a>4096 | MAV_PROTOCOL_CAPABILITY_COMPASS_CALIBRATION | Autopilot supports onboard compass calibration. | | 8192 | MAV_PROTOCOL_CAPABILITY_MAVLINK2 | Autopilot supports MAVLink version 2. | | </a>16384 | MAV_PROTOCOL_CAPABILITY_MISSION_FENCE | Autopilot supports mission fence protocol. | | 32768 | MAV_PROTOCOL_CAPABILITY_MISSION_RALLY | Autopilot supports mission rally point protocol. | | </a>65536 | MAV_PROTOCOL_CAPABILITY_RESERVED2 | Reserved for future use. | | 131072 | MAV_PROTOCOL_CAPABILITY_PARAM_ENCODE_C_CAST | Parameter protocol uses C-cast of parameter values to set the param_value (float) fields: https://mavlink.io/en/services/parameter.html#parameter-encoding.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Note that either this flag or MAV_PROTOCOL_CAPABILITY_PARAM_ENCODE_BYTEWISE should be set if the parameter protocol is supported. | | </a>262144 | MAV_PROTOCOL_CAPABILITY_COMPONENT_IMPLEMENTS_GIMBAL_MANAGER | This component implements/is a gimbal manager. This means the GIMBAL_MANAGER_INFORMATION, and other messages can be requested. | | 524288 | MAV_PROTOCOL_CAPABILITY_COMPONENT_ACCEPTS_GCS_CONTROL | Component supports locking control to a particular GCS independent of its system (via MAV_CMD_REQUEST_OPERATOR_CONTROL). |

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_MISSION_TYPE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Type of mission items being requested/sent in mission protocol.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            0MAV_MISSION_TYPE_MISSIONItems are mission commands for main mission.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1MAV_MISSION_TYPE_FENCESpecifies GeoFence area(s). Items are MAVCMD_NAV_FENCE GeoFence items.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            2MAV_MISSION_TYPE_RALLYSpecifies the rally points for the vehicle. Rally points are alternative RTL points. Items are MAV_CMD_NAV_RALLY_POINT rally point items.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            255MAV_MISSION_TYPE_ALLOnly used in MISSION_CLEAR_ALL to clear all mission types.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_ESTIMATOR_TYPE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Enumeration of estimator types

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            0MAV_ESTIMATOR_TYPE_UNKNOWNUnknown type of the estimator.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1MAV_ESTIMATOR_TYPE_NAIVEThis is a naive estimator without any real covariance feedback.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            2MAV_ESTIMATOR_TYPE_VISIONComputer vision based estimate. Might be up to scale.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            3MAV_ESTIMATOR_TYPE_VIOVisual-inertial estimate.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            4MAV_ESTIMATOR_TYPE_GPSPlain GPS estimate.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            5MAV_ESTIMATOR_TYPE_GPS_INSEstimator integrating GPS and inertial sensing.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            6MAV_ESTIMATOR_TYPE_MOCAPEstimate from external motion capturing system.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            7MAV_ESTIMATOR_TYPE_LIDAREstimator based on lidar sensor input.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            8MAV_ESTIMATOR_TYPE_AUTOPILOTEstimator on autopilot.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_BATTERY_TYPE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Enumeration of battery types

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            0MAV_BATTERY_TYPE_UNKNOWNNot specified.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1MAV_BATTERY_TYPE_LIPOLithium polymer battery
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            2MAV_BATTERY_TYPE_LIFELithium-iron-phosphate battery
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            3MAV_BATTERY_TYPE_LIONLithium-ION battery
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            4MAV_BATTERY_TYPE_NIMHNickel metal hydride battery

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_BATTERY_FUNCTION

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Enumeration of battery functions

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            0MAV_BATTERY_FUNCTION_UNKNOWNBattery function is unknown
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1MAV_BATTERY_FUNCTION_ALLBattery supports all flight systems
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            2MAV_BATTERY_FUNCTION_PROPULSIONBattery for the propulsion system
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            3MAV_BATTERY_FUNCTION_AVIONICSAvionics battery
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            4MAV_BATTERY_FUNCTION_PAYLOADPayload battery

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_BATTERY_CHARGE_STATE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Enumeration for battery charge states.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            0MAV_BATTERY_CHARGE_STATE_UNDEFINEDLow battery state is not provided
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1MAV_BATTERY_CHARGE_STATE_OKBattery is not in low state. Normal operation.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            2MAV_BATTERY_CHARGE_STATE_LOWBattery state is low, warn and monitor close.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            3MAV_BATTERY_CHARGE_STATE_CRITICALBattery state is critical, return or abort immediately.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            4MAV_BATTERY_CHARGE_STATE_EMERGENCYBattery state is too low for ordinary abort sequence. Perform fastest possible emergency stop to prevent damage.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            5MAV_BATTERY_CHARGE_STATE_FAILEDBattery failed, damage unavoidable. Possible causes (faults) are listed in MAV_BATTERY_FAULT.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            6MAV_BATTERY_CHARGE_STATE_UNHEALTHYBattery is diagnosed to be defective or an error occurred, usage is discouraged / prohibited. Possible causes (faults) are listed in MAV_BATTERY_FAULT.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            7MAV_BATTERY_CHARGE_STATE_CHARGINGBattery is charging.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_BATTERY_MODE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Battery mode. Note, the normal operation mode (i.e. when flying) should be reported as MAV_BATTERY_MODE_UNKNOWN to allow message trimming in normal flight.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            0MAV_BATTERY_MODE_UNKNOWNBattery mode not supported/unknown battery mode/normal operation.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1MAV_BATTERY_MODE_AUTO_DISCHARGINGBattery is auto discharging (towards storage level).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            2MAV_BATTERY_MODE_HOT_SWAPBattery in hot-swap mode (current limited to prevent spikes that might damage sensitive electrical circuits).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_BATTERY_FAULT

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            (Bitmask) Smart battery supply status/fault flags (bitmask) for health indication. The battery must also report either MAV_BATTERY_CHARGE_STATE_FAILED or MAV_BATTERY_CHARGE_STATE_UNHEALTHY if any of these are set.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1MAV_BATTERY_FAULT_DEEP_DISCHARGEBattery has deep discharged.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            2MAV_BATTERY_FAULT_SPIKESVoltage spikes.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            4MAV_BATTERY_FAULT_CELL_FAILOne or more cells have failed. Battery should also report MAV_BATTERY_CHARGE_STATE_FAILE (and should not be used).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            8MAV_BATTERY_FAULT_OVER_CURRENTOver-current fault.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            16MAV_BATTERY_FAULT_OVER_TEMPERATUREOver-temperature fault.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            32MAV_BATTERY_FAULT_UNDER_TEMPERATUREUnder-temperature fault.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            64MAV_BATTERY_FAULT_INCOMPATIBLE_VOLTAGEVehicle voltage is not compatible with this battery (batteries on same power rail should have similar voltage).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            128MAV_BATTERY_FAULT_INCOMPATIBLE_FIRMWAREBattery firmware is not compatible with current autopilot firmware.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            256BATTERY_FAULT_INCOMPATIBLE_CELLS_CONFIGURATIONBattery is not compatible due to cell configuration (e.g. 5s1p when vehicle requires 6s).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_GENERATOR_STATUS_FLAG

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            (Bitmask) Flags to report status/failure cases for a power generator (used in GENERATOR_STATUS). Note that FAULTS are conditions that cause the generator to fail. Warnings are conditions that require attention before the next use (they indicate the system is not operating properly).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1MAV_GENERATOR_STATUS_FLAG_OFFGenerator is off.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            2MAV_GENERATOR_STATUS_FLAG_READYGenerator is ready to start generating power.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            4MAV_GENERATOR_STATUS_FLAG_GENERATINGGenerator is generating power.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            8MAV_GENERATOR_STATUS_FLAG_CHARGINGGenerator is charging the batteries (generating enough power to charge and provide the load).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            16MAV_GENERATOR_STATUS_FLAG_REDUCED_POWERGenerator is operating at a reduced maximum power.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            32MAV_GENERATOR_STATUS_FLAG_MAXPOWERGenerator is providing the maximum output.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            64MAV_GENERATOR_STATUS_FLAG_OVERTEMP_WARNINGGenerator is near the maximum operating temperature, cooling is insufficient.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            128MAV_GENERATOR_STATUS_FLAG_OVERTEMP_FAULTGenerator hit the maximum operating temperature and shutdown.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            256MAV_GENERATOR_STATUS_FLAG_ELECTRONICS_OVERTEMP_WARNINGPower electronics are near the maximum operating temperature, cooling is insufficient.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            512MAV_GENERATOR_STATUS_FLAG_ELECTRONICS_OVERTEMP_FAULTPower electronics hit the maximum operating temperature and shutdown.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1024MAV_GENERATOR_STATUS_FLAG_ELECTRONICS_FAULTPower electronics experienced a fault and shutdown.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            2048MAV_GENERATOR_STATUS_FLAG_POWERSOURCE_FAULTThe power source supplying the generator failed e.g. mechanical generator stopped, tether is no longer providing power, solar cell is in shade, hydrogen reaction no longer happening.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            4096MAV_GENERATOR_STATUS_FLAG_COMMUNICATION_WARNINGGenerator controller having communication problems.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            8192MAV_GENERATOR_STATUS_FLAG_COOLING_WARNINGPower electronic or generator cooling system error.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            16384MAV_GENERATOR_STATUS_FLAG_POWER_RAIL_FAULTGenerator controller power rail experienced a fault.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            32768MAV_GENERATOR_STATUS_FLAG_OVERCURRENT_FAULTGenerator controller exceeded the overcurrent threshold and shutdown to prevent damage.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            65536MAV_GENERATOR_STATUS_FLAG_BATTERY_OVERCHARGE_CURRENT_FAULTGenerator controller detected a high current going into the batteries and shutdown to prevent battery damage.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            131072MAV_GENERATOR_STATUS_FLAG_OVERVOLTAGE_FAULTGenerator controller exceeded it's overvoltage threshold and shutdown to prevent it exceeding the voltage rating.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            262144MAV_GENERATOR_STATUS_FLAG_BATTERY_UNDERVOLT_FAULTBatteries are under voltage (generator will not start).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            524288MAV_GENERATOR_STATUS_FLAG_START_INHIBITEDGenerator start is inhibited by e.g. a safety switch.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1048576MAV_GENERATOR_STATUS_FLAG_MAINTENANCE_REQUIREDGenerator requires maintenance.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            2097152MAV_GENERATOR_STATUS_FLAG_WARMING_UPGenerator is not ready to generate yet.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            4194304MAV_GENERATOR_STATUS_FLAG_IDLEGenerator is idle.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_VTOL_STATE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Enumeration of VTOL states

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            0MAV_VTOL_STATE_UNDEFINEDMAV is not configured as VTOL
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1MAV_VTOL_STATE_TRANSITION_TO_FWVTOL is in transition from multicopter to fixed-wing
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            2MAV_VTOL_STATE_TRANSITION_TO_MCVTOL is in transition from fixed-wing to multicopter
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            3MAV_VTOL_STATE_MCVTOL is in multicopter state
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            4MAV_VTOL_STATE_FWVTOL is in fixed-wing state

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_LANDED_STATE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Enumeration of landed detector states

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            0MAV_LANDED_STATE_UNDEFINEDMAV landed state is unknown
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1MAV_LANDED_STATE_ON_GROUNDMAV is landed (on ground)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            2MAV_LANDED_STATE_IN_AIRMAV is in air
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            3MAV_LANDED_STATE_TAKEOFFMAV currently taking off
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            4MAV_LANDED_STATE_LANDINGMAV currently landing

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ADSB_ALTITUDE_TYPE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Enumeration of the ADSB altimeter types

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            0ADSB_ALTITUDE_TYPE_PRESSURE_QNHAltitude reported from a Baro source using QNH reference
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1ADSB_ALTITUDE_TYPE_GEOMETRICAltitude reported from a GNSS source

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ADSB_EMITTER_TYPE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ADSB classification for the type of vehicle emitting the transponder signal

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            0ADSB_EMITTER_TYPE_NO_INFO
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1ADSB_EMITTER_TYPE_LIGHT
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            2ADSB_EMITTER_TYPE_SMALL
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            3ADSB_EMITTER_TYPE_LARGE
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            4ADSB_EMITTER_TYPE_HIGH_VORTEX_LARGE
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            5ADSB_EMITTER_TYPE_HEAVY
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            6ADSB_EMITTER_TYPE_HIGHLY_MANUV
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            7ADSB_EMITTER_TYPE_ROTOCRAFT
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            8ADSB_EMITTER_TYPE_UNASSIGNED
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            9ADSB_EMITTER_TYPE_GLIDER
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            10ADSB_EMITTER_TYPE_LIGHTER_AIR
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            11ADSB_EMITTER_TYPE_PARACHUTE
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            12ADSB_EMITTER_TYPE_ULTRA_LIGHT
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            13ADSB_EMITTER_TYPE_UNASSIGNED2
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            14ADSB_EMITTER_TYPE_UAV
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            15ADSB_EMITTER_TYPE_SPACE
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            16ADSB_EMITTER_TYPE_UNASSGINED3
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            17ADSB_EMITTER_TYPE_EMERGENCY_SURFACE
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            18ADSB_EMITTER_TYPE_SERVICE_SURFACE
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            19ADSB_EMITTER_TYPE_POINT_OBSTACLE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ADSB_FLAGS

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            (Bitmask) These flags indicate status such as data validity of each data source. Set = data valid

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1ADSB_FLAGS_VALID_COORDS
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            2ADSB_FLAGS_VALID_ALTITUDE
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            4ADSB_FLAGS_VALID_HEADING
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            8ADSB_FLAGS_VALID_VELOCITY
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            16ADSB_FLAGS_VALID_CALLSIGN
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            32ADSB_FLAGS_VALID_SQUAWK
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            64ADSB_FLAGS_SIMULATED
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            128ADSB_FLAGS_VERTICAL_VELOCITY_VALID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            256ADSB_FLAGS_BARO_VALID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            32768ADSB_FLAGS_SOURCE_UAT

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_DO_REPOSITION_FLAGS

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            (Bitmask) Bitmap of options for the MAV_CMD_DO_REPOSITION

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1MAV_DO_REPOSITION_FLAGS_CHANGE_MODEThe aircraft should immediately transition into guided. This should not be set for follow me applications

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            SPEED_TYPE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Speed setpoint types used in MAV_CMD_DO_CHANGE_SPEED

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            0SPEED_TYPE_AIRSPEEDAirspeed
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1SPEED_TYPE_GROUNDSPEEDGroundspeed
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            2SPEED_TYPE_CLIMB_SPEEDClimb speed
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            3SPEED_TYPE_DESCENT_SPEEDDescent speed

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ESTIMATOR_STATUS_FLAGS

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            (Bitmask) Flags in ESTIMATOR_STATUS message

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1ESTIMATOR_ATTITUDETrue if the attitude estimate is good
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            2ESTIMATOR_VELOCITY_HORIZTrue if the horizontal velocity estimate is good
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            4ESTIMATOR_VELOCITY_VERTTrue if the vertical velocity estimate is good
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            8ESTIMATOR_POS_HORIZ_RELTrue if the horizontal position (relative) estimate is good
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            16ESTIMATOR_POS_HORIZ_ABSTrue if the horizontal position (absolute) estimate is good
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            32ESTIMATOR_POS_VERT_ABSTrue if the vertical position (absolute) estimate is good
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            64ESTIMATOR_POS_VERT_AGLTrue if the vertical position (above ground) estimate is good
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            128ESTIMATOR_CONST_POS_MODETrue if the EKF is in a constant position mode and is not using external measurements (eg GPS or optical flow)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            256ESTIMATOR_PRED_POS_HORIZ_RELTrue if the EKF has sufficient data to enter a mode that will provide a (relative) position estimate
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            512ESTIMATOR_PRED_POS_HORIZ_ABSTrue if the EKF has sufficient data to enter a mode that will provide a (absolute) position estimate
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1024ESTIMATOR_GPS_GLITCHTrue if the EKF has detected a GPS glitch
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            2048ESTIMATOR_ACCEL_ERRORTrue if the EKF has detected bad accelerometer data

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MOTOR_TEST_ORDER

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Sequence that motors are tested when using MAV_CMD_DO_MOTOR_TEST.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            0MOTOR_TEST_ORDER_DEFAULTDefault autopilot motor test method.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1MOTOR_TEST_ORDER_SEQUENCEMotor numbers are specified as their index in a predefined vehicle-specific sequence.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            2MOTOR_TEST_ORDER_BOARDMotor numbers are specified as the output as labeled on the board.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MOTOR_TEST_THROTTLE_TYPE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Defines how throttle value is represented in MAV_CMD_DO_MOTOR_TEST.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            0MOTOR_TEST_THROTTLE_PERCENTThrottle as a percentage (0 ~ 100)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1MOTOR_TEST_THROTTLE_PWMThrottle as an absolute PWM value (normally in range of 1000~2000).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            2MOTOR_TEST_THROTTLE_PILOTThrottle pass-through from pilot's transmitter.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            3MOTOR_TEST_COMPASS_CALPer-motor compass calibration test.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            GPS_INPUT_IGNORE_FLAGS

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            (Bitmask)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1GPS_INPUT_IGNORE_FLAG_ALTignore altitude field
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            2GPS_INPUT_IGNORE_FLAG_HDOPignore hdop field
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            4GPS_INPUT_IGNORE_FLAG_VDOPignore vdop field
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            8GPS_INPUT_IGNORE_FLAG_VEL_HORIZignore horizontal velocity field (vn and ve)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            16GPS_INPUT_IGNORE_FLAG_VEL_VERTignore vertical velocity field (vd)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            32GPS_INPUT_IGNORE_FLAG_SPEED_ACCURACYignore speed accuracy field
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            64GPS_INPUT_IGNORE_FLAG_HORIZONTAL_ACCURACYignore horizontal accuracy field
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            128GPS_INPUT_IGNORE_FLAG_VERTICAL_ACCURACYignore vertical accuracy field

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_COLLISION_ACTION

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Possible actions an aircraft can take to avoid a collision.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            0MAV_COLLISION_ACTION_NONEIgnore any potential collisions
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1MAV_COLLISION_ACTION_REPORTReport potential collision
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            2MAV_COLLISION_ACTION_ASCEND_OR_DESCENDAscend or Descend to avoid threat
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            3MAV_COLLISION_ACTION_MOVE_HORIZONTALLYMove horizontally to avoid threat
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            4MAV_COLLISION_ACTION_MOVE_PERPENDICULARAircraft to move perpendicular to the collision's velocity vector
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            5MAV_COLLISION_ACTION_RTLAircraft to fly directly back to its launch point
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            6MAV_COLLISION_ACTION_HOVERAircraft to stop in place

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_COLLISION_THREAT_LEVEL

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Aircraft-rated danger from this threat.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            0MAV_COLLISION_THREAT_LEVEL_NONENot a threat
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1MAV_COLLISION_THREAT_LEVEL_LOWCraft is mildly concerned about this threat
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            2MAV_COLLISION_THREAT_LEVEL_HIGHCraft is panicking, and may take actions to avoid threat

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_COLLISION_SRC

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Source of information about this collision.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            0MAV_COLLISION_SRC_ADSBID field references ADSB_VEHICLE packets
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1MAV_COLLISION_SRC_MAVLINK_GPS_GLOBAL_INTID field references MAVLink SRC ID

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            GPS_FIX_TYPE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Type of GPS fix

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            0GPS_FIX_TYPE_NO_GPSNo GPS connected
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1GPS_FIX_TYPE_NO_FIXNo position information, GPS is connected
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            2GPS_FIX_TYPE_2D_FIX2D position
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            3GPS_FIX_TYPE_3D_FIX3D position
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            4GPS_FIX_TYPE_DGPSDGPS/SBAS aided 3D position
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            5GPS_FIX_TYPE_RTK_FLOATRTK float, 3D position
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            6GPS_FIX_TYPE_RTK_FIXEDRTK Fixed, 3D position
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            7GPS_FIX_TYPE_STATICStatic fixed, typically used for base stations
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            8GPS_FIX_TYPE_PPPPPP, 3D position.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            RTK_BASELINE_COORDINATE_SYSTEM

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            RTK GPS baseline coordinate system, used for RTK corrections

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            0RTK_BASELINE_COORDINATE_SYSTEM_ECEFEarth-centered, Earth-fixed
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1RTK_BASELINE_COORDINATE_SYSTEM_NEDRTK basestation centered, north, east, down

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            LANDING_TARGET_TYPE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Type of landing target

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            0LANDING_TARGET_TYPE_LIGHT_BEACONLanding target signaled by light beacon (ex: IR-LOCK)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1LANDING_TARGET_TYPE_RADIO_BEACONLanding target signaled by radio beacon (ex: ILS, NDB)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            2LANDING_TARGET_TYPE_VISION_FIDUCIALLanding target represented by a fiducial marker (ex: ARTag)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            3LANDING_TARGET_TYPE_VISION_OTHERLanding target represented by a pre-defined visual shape/feature (ex: X-marker, H-marker, square)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            VTOL_TRANSITION_HEADING

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Direction of VTOL transition

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            0VTOL_TRANSITION_HEADING_VEHICLE_DEFAULTRespect the heading configuration of the vehicle.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1VTOL_TRANSITION_HEADING_NEXT_WAYPOINTUse the heading pointing towards the next waypoint.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            2VTOL_TRANSITION_HEADING_TAKEOFFUse the heading on takeoff (while sitting on the ground).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            3VTOL_TRANSITION_HEADING_SPECIFIEDUse the specified heading in parameter 4.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            4VTOL_TRANSITION_HEADING_ANYUse the current heading when reaching takeoff altitude (potentially facing the wind when weather-vaning is active).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            CAMERA_CAP_FLAGS

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            (Bitmask) Camera capability flags (Bitmap)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1CAMERA_CAP_FLAGS_CAPTURE_VIDEOCamera is able to record video
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            2CAMERA_CAP_FLAGS_CAPTURE_IMAGECamera is able to capture images
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            4CAMERA_CAP_FLAGS_HAS_MODESCamera has separate Video and Image/Photo modes (MAV_CMD_SET_CAMERA_MODE)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            8CAMERA_CAP_FLAGS_CAN_CAPTURE_IMAGE_IN_VIDEO_MODECamera can capture images while in video mode
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            16CAMERA_CAP_FLAGS_CAN_CAPTURE_VIDEO_IN_IMAGE_MODECamera can capture videos while in Photo/Image mode
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            32CAMERA_CAP_FLAGS_HAS_IMAGE_SURVEY_MODECamera has image survey mode (MAV_CMD_SET_CAMERA_MODE)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            64CAMERA_CAP_FLAGS_HAS_BASIC_ZOOMCamera has basic zoom control (MAV_CMD_SET_CAMERA_ZOOM)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            128CAMERA_CAP_FLAGS_HAS_BASIC_FOCUSCamera has basic focus control (MAV_CMD_SET_CAMERA_FOCUS)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            256CAMERA_CAP_FLAGS_HAS_VIDEO_STREAMCamera has video streaming capabilities (request VIDEO_STREAM_INFORMATION with MAV_CMD_REQUEST_MESSAGE for video streaming info)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            512CAMERA_CAP_FLAGS_HAS_TRACKING_POINTCamera supports tracking of a point on the camera view.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1024CAMERA_CAP_FLAGS_HAS_TRACKING_RECTANGLECamera supports tracking of a selection rectangle on the camera view.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            2048CAMERA_CAP_FLAGS_HAS_TRACKING_GEO_STATUSCamera supports tracking geo status (CAMERA_TRACKING_GEO_STATUS).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            4096CAMERA_CAP_FLAGS_HAS_THERMAL_RANGECamera supports absolute thermal range (request CAMERA_THERMAL_RANGE with MAV_CMD_REQUEST_MESSAGE) (WIP).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            VIDEO_STREAM_STATUS_FLAGS

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            (Bitmask) Stream status flags (Bitmap)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1VIDEO_STREAM_STATUS_FLAGS_RUNNINGStream is active (running)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            2VIDEO_STREAM_STATUS_FLAGS_THERMALStream is thermal imaging
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            4VIDEO_STREAM_STATUS_FLAGS_THERMAL_RANGE_ENABLEDStream can report absolute thermal range (see CAMERA_THERMAL_RANGE). (WIP).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            VIDEO_STREAM_TYPE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Video stream types

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            0VIDEO_STREAM_TYPE_RTSPStream is RTSP
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1VIDEO_STREAM_TYPE_RTPUDPStream is RTP UDP (URI gives the port number)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            2VIDEO_STREAM_TYPE_TCP_MPEGStream is MPEG on TCP
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            3VIDEO_STREAM_TYPE_MPEG_TSStream is MPEG TS (URI gives the port number)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            VIDEO_STREAM_ENCODING

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Video stream encodings

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            0VIDEO_STREAM_ENCODING_UNKNOWNStream encoding is unknown
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1VIDEO_STREAM_ENCODING_H264Stream encoding is H.264
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            2VIDEO_STREAM_ENCODING_H265Stream encoding is H.265

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            CAMERA_TRACKING_STATUS_FLAGS

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Camera tracking status flags

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            0CAMERA_TRACKING_STATUS_FLAGS_IDLECamera is not tracking
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1CAMERA_TRACKING_STATUS_FLAGS_ACTIVECamera is tracking
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            2CAMERA_TRACKING_STATUS_FLAGS_ERRORCamera tracking in error state

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            CAMERA_TRACKING_MODE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Camera tracking modes

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            0CAMERA_TRACKING_MODE_NONENot tracking
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1CAMERA_TRACKING_MODE_POINTTarget is a point
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            2CAMERA_TRACKING_MODE_RECTANGLETarget is a rectangle

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            CAMERA_TRACKING_TARGET_DATA

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            (Bitmask) Camera tracking target data (shows where tracked target is within image)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            0CAMERA_TRACKING_TARGET_DATA_NONENo target data
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1CAMERA_TRACKING_TARGET_DATA_EMBEDDEDTarget data embedded in image data (proprietary)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            2CAMERA_TRACKING_TARGET_DATA_RENDEREDTarget data rendered in image
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            4CAMERA_TRACKING_TARGET_DATA_IN_STATUSTarget data within status message (Point or Rectangle)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            CAMERA_ZOOM_TYPE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Zoom types for MAV_CMD_SET_CAMERA_ZOOM

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            0ZOOM_TYPE_STEPZoom one step increment (-1 for wide, 1 for tele)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1ZOOM_TYPE_CONTINUOUSContinuous zoom up/down until stopped (-1 for wide, 1 for tele, 0 to stop zooming)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            2ZOOM_TYPE_RANGEZoom value as proportion of full camera range (a percentage value between 0.0 and 100.0)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            3ZOOM_TYPE_FOCAL_LENGTHZoom value/variable focal length in millimetres. Note that there is no message to get the valid zoom range of the camera, so this can type can only be used for cameras where the zoom range is known (implying that this cannot reliably be used in a GCS for an arbitrary camera)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            4ZOOM_TYPE_HORIZONTAL_FOVZoom value as horizontal field of view in degrees.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            SET_FOCUS_TYPE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Focus types for MAV_CMD_SET_CAMERA_FOCUS

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            0FOCUS_TYPE_STEPFocus one step increment (-1 for focusing in, 1 for focusing out towards infinity).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1FOCUS_TYPE_CONTINUOUSContinuous focus up/down until stopped (-1 for focusing in, 1 for focusing out towards infinity, 0 to stop focusing)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            2FOCUS_TYPE_RANGEFocus value as proportion of full camera focus range (a value between 0.0 and 100.0)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            3FOCUS_TYPE_METERSFocus value in metres. Note that there is no message to get the valid focus range of the camera, so this can type can only be used for cameras where the range is known (implying that this cannot reliably be used in a GCS for an arbitrary camera).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            4FOCUS_TYPE_AUTOFocus automatically.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            5FOCUS_TYPE_AUTO_SINGLESingle auto focus. Mainly used for still pictures. Usually abbreviated as AF-S.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            6FOCUS_TYPE_AUTO_CONTINUOUSContinuous auto focus. Mainly used for dynamic scenes. Abbreviated as AF-C.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            CAMERA_SOURCE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Camera sources for MAV_CMD_SET_CAMERA_SOURCE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            0CAMERA_SOURCE_DEFAULTDefault camera source.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1CAMERA_SOURCE_RGBRGB camera source.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            2CAMERA_SOURCE_IRIR camera source.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            3CAMERA_SOURCE_NDVINDVI camera source.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            PARAM_ACK

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Result from PARAM_EXT_SET message (or a PARAM_SET within a transaction).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            0PARAM_ACK_ACCEPTEDParameter value ACCEPTED and SET
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1PARAM_ACK_VALUE_UNSUPPORTEDParameter value UNKNOWN/UNSUPPORTED
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            2PARAM_ACK_FAILEDParameter failed to set
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            3PARAM_ACK_IN_PROGRESSParameter value received but not yet set/accepted. A subsequent PARAM_ACK_TRANSACTION or PARAM_EXT_ACK with the final result will follow once operation is completed. This is returned immediately for parameters that take longer to set, indicating that the the parameter was received and does not need to be resent.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            CAMERA_MODE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Camera Modes.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            0CAMERA_MODE_IMAGECamera is in image/photo capture mode.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1CAMERA_MODE_VIDEOCamera is in video capture mode.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            2CAMERA_MODE_IMAGE_SURVEYCamera is in image survey capture mode. It allows for camera controller to do specific settings for surveys.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_ARM_AUTH_DENIED_REASON

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            0MAV_ARM_AUTH_DENIED_REASON_GENERICNot a specific reason
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1MAV_ARM_AUTH_DENIED_REASON_NONEAuthorizer will send the error as string to GCS
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            2MAV_ARM_AUTH_DENIED_REASON_INVALID_WAYPOINTAt least one waypoint have a invalid value
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            3MAV_ARM_AUTH_DENIED_REASON_TIMEOUTTimeout in the authorizer process(in case it depends on network)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            4MAV_ARM_AUTH_DENIED_REASON_AIRSPACE_IN_USEAirspace of the mission in use by another vehicle, second result parameter can have the waypoint id that caused it to be denied.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            5MAV_ARM_AUTH_DENIED_REASON_BAD_WEATHERWeather is not good to fly

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            RC_TYPE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            RC type. Used in MAV_CMD_START_RX_PAIR.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            0RC_TYPE_SPEKTRUMSpektrum
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1RC_TYPE_CRSFCRSF

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            RC_SUB_TYPE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            RC sub-type of types defined in RC_TYPE. Used in MAV_CMD_START_RX_PAIR. Ignored if value does not correspond to the set RC_TYPE.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            0RC_SUB_TYPE_SPEKTRUM_DSM2Spektrum DSM2
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1RC_SUB_TYPE_SPEKTRUM_DSMXSpektrum DSMX
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            2RC_SUB_TYPE_SPEKTRUM_DSMX8Spektrum DSMX8

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            POSITION_TARGET_TYPEMASK

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            (Bitmask) Bitmap to indicate which dimensions should be ignored by the vehicle: a value of 0b0000000000000000 or 0b0000001000000000 indicates that none of the setpoint dimensions should be ignored. If bit 9 is set the floats afx afy afz should be interpreted as force instead of acceleration.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1POSITION_TARGET_TYPEMASK_X_IGNOREIgnore position x
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            2POSITION_TARGET_TYPEMASK_Y_IGNOREIgnore position y
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            4POSITION_TARGET_TYPEMASK_Z_IGNOREIgnore position z
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            8POSITION_TARGET_TYPEMASK_VX_IGNOREIgnore velocity x
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            16POSITION_TARGET_TYPEMASK_VY_IGNOREIgnore velocity y
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            32POSITION_TARGET_TYPEMASK_VZ_IGNOREIgnore velocity z
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            64POSITION_TARGET_TYPEMASK_AX_IGNOREIgnore acceleration x
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            128POSITION_TARGET_TYPEMASK_AY_IGNOREIgnore acceleration y
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            256POSITION_TARGET_TYPEMASK_AZ_IGNOREIgnore acceleration z
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            512POSITION_TARGET_TYPEMASK_FORCE_SETUse force instead of acceleration
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1024POSITION_TARGET_TYPEMASK_YAW_IGNOREIgnore yaw
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            2048POSITION_TARGET_TYPEMASK_YAW_RATE_IGNOREIgnore yaw rate

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ATTITUDE_TARGET_TYPEMASK

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            (Bitmask) Bitmap to indicate which dimensions should be ignored by the vehicle: a value of 0b00000000 indicates that none of the setpoint dimensions should be ignored.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1ATTITUDE_TARGET_TYPEMASK_BODY_ROLL_RATE_IGNOREIgnore body roll rate
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            2ATTITUDE_TARGET_TYPEMASK_BODY_PITCH_RATE_IGNOREIgnore body pitch rate
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            4ATTITUDE_TARGET_TYPEMASK_BODY_YAW_RATE_IGNOREIgnore body yaw rate
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            32ATTITUDE_TARGET_TYPEMASK_THRUST_BODY_SETUse 3D body thrust setpoint instead of throttle
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            64ATTITUDE_TARGET_TYPEMASK_THROTTLE_IGNOREIgnore throttle
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            128ATTITUDE_TARGET_TYPEMASK_ATTITUDE_IGNOREIgnore attitude

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            UTM_FLIGHT_STATE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Airborne status of UAS.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1UTM_FLIGHT_STATE_UNKNOWNThe flight state can't be determined.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            2UTM_FLIGHT_STATE_GROUNDUAS on ground.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            3UTM_FLIGHT_STATE_AIRBORNEUAS airborne.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            16UTM_FLIGHT_STATE_EMERGENCYUAS is in an emergency flight state.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            32UTM_FLIGHT_STATE_NOCTRLUAS has no active controls.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            UTM_DATA_AVAIL_FLAGS

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            (Bitmask) Flags for the global position report.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1UTM_DATA_AVAIL_FLAGS_TIME_VALIDThe field time contains valid data.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            2UTM_DATA_AVAIL_FLAGS_UAS_ID_AVAILABLEThe field uas_id contains valid data.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            4UTM_DATA_AVAIL_FLAGS_POSITION_AVAILABLEThe fields lat, lon and h_acc contain valid data.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            8UTM_DATA_AVAIL_FLAGS_ALTITUDE_AVAILABLEThe fields alt and v_acc contain valid data.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            16UTM_DATA_AVAIL_FLAGS_RELATIVE_ALTITUDE_AVAILABLEThe field relative_alt contains valid data.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            32UTM_DATA_AVAIL_FLAGS_HORIZONTAL_VELO_AVAILABLEThe fields vx and vy contain valid data.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            64UTM_DATA_AVAIL_FLAGS_VERTICAL_VELO_AVAILABLEThe field vz contains valid data.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            128UTM_DATA_AVAIL_FLAGS_NEXT_WAYPOINT_AVAILABLEThe fields next_lat, next_lon and next_alt contain valid data.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            CELLULAR_STATUS_FLAG

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            These flags encode the cellular network status

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            0CELLULAR_STATUS_FLAG_UNKNOWNState unknown or not reportable.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1CELLULAR_STATUS_FLAG_FAILEDModem is unusable
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            2CELLULAR_STATUS_FLAG_INITIALIZINGModem is being initialized
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            3CELLULAR_STATUS_FLAG_LOCKEDModem is locked
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            4CELLULAR_STATUS_FLAG_DISABLEDModem is not enabled and is powered down
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            5CELLULAR_STATUS_FLAG_DISABLINGModem is currently transitioning to the CELLULAR_STATUS_FLAG_DISABLED state
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            6CELLULAR_STATUS_FLAG_ENABLINGModem is currently transitioning to the CELLULAR_STATUS_FLAG_ENABLED state
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            7CELLULAR_STATUS_FLAG_ENABLEDModem is enabled and powered on but not registered with a network provider and not available for data connections
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            8CELLULAR_STATUS_FLAG_SEARCHINGModem is searching for a network provider to register
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            9CELLULAR_STATUS_FLAG_REGISTEREDModem is registered with a network provider, and data connections and messaging may be available for use
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            10CELLULAR_STATUS_FLAG_DISCONNECTINGModem is disconnecting and deactivating the last active packet data bearer. This state will not be entered if more than one packet data bearer is active and one of the active bearers is deactivated
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            11CELLULAR_STATUS_FLAG_CONNECTINGModem is activating and connecting the first packet data bearer. Subsequent bearer activations when another bearer is already active do not cause this state to be entered
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            12CELLULAR_STATUS_FLAG_CONNECTEDOne or more packet data bearers is active and connected

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            CELLULAR_NETWORK_FAILED_REASON

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            These flags are used to diagnose the failure state of CELLULAR_STATUS

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            0CELLULAR_NETWORK_FAILED_REASON_NONENo error
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1CELLULAR_NETWORK_FAILED_REASON_UNKNOWNError state is unknown
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            2CELLULAR_NETWORK_FAILED_REASON_SIM_MISSINGSIM is required for the modem but missing
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            3CELLULAR_NETWORK_FAILED_REASON_SIM_ERRORSIM is available, but not usable for connection

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            CELLULAR_NETWORK_RADIO_TYPE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Cellular network radio type

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            0CELLULAR_NETWORK_RADIO_TYPE_NONE
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1CELLULAR_NETWORK_RADIO_TYPE_GSM
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            2CELLULAR_NETWORK_RADIO_TYPE_CDMA
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            3CELLULAR_NETWORK_RADIO_TYPE_WCDMA
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            4CELLULAR_NETWORK_RADIO_TYPE_LTE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            PRECISION_LAND_MODE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Precision land modes (used in MAV_CMD_NAV_LAND).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            0PRECISION_LAND_MODE_DISABLEDNormal (non-precision) landing.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1PRECISION_LAND_MODE_OPPORTUNISTICUse precision landing if beacon detected when land command accepted, otherwise land normally.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            2PRECISION_LAND_MODE_REQUIREDUse precision landing, searching for beacon if not found when land command accepted (land normally if beacon cannot be found).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            PARACHUTE_ACTION

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Parachute actions. Trigger release and enable/disable auto-release.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            0PARACHUTE_DISABLEDisable auto-release of parachute (i.e. release triggered by crash detectors).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1PARACHUTE_ENABLEEnable auto-release of parachute.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            2PARACHUTE_RELEASERelease parachute and kill motors.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_TUNNEL_PAYLOAD_TYPE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            0MAV_TUNNEL_PAYLOAD_TYPE_UNKNOWNEncoding of payload unknown.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            200MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED0Registered for STorM32 gimbal controller.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            201MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED1Registered for STorM32 gimbal controller.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            202MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED2Registered for STorM32 gimbal controller.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            203MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED3Registered for STorM32 gimbal controller.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            204MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED4Registered for STorM32 gimbal controller.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            205MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED5Registered for STorM32 gimbal controller.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            206MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED6Registered for STorM32 gimbal controller.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            207MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED7Registered for STorM32 gimbal controller.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            208MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED8Registered for STorM32 gimbal controller.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            209MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED9Registered for STorM32 gimbal controller.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_ODID_ID_TYPE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            0MAV_ODID_ID_TYPE_NONENo type defined.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1MAV_ODID_ID_TYPE_SERIAL_NUMBERManufacturer Serial Number (ANSI/CTA-2063 format).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            2MAV_ODID_ID_TYPE_CAA_REGISTRATION_IDCAA (Civil Aviation Authority) registered ID. Format: [ICAO Country Code].[CAA Assigned ID].
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            3MAV_ODID_ID_TYPE_UTM_ASSIGNED_UUIDUTM (Unmanned Traffic Management) assigned UUID (RFC4122).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            4MAV_ODID_ID_TYPE_SPECIFIC_SESSION_IDA 20 byte ID for a specific flight/session. The exact ID type is indicated by the first byte of uas_id and these type values are managed by ICAO.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_ODID_UA_TYPE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            0MAV_ODID_UA_TYPE_NONENo UA (Unmanned Aircraft) type defined.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1MAV_ODID_UA_TYPE_AEROPLANEAeroplane/Airplane. Fixed wing.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            2MAV_ODID_UA_TYPE_HELICOPTER_OR_MULTIROTORHelicopter or multirotor.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            3MAV_ODID_UA_TYPE_GYROPLANEGyroplane.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            4MAV_ODID_UA_TYPE_HYBRID_LIFTVTOL (Vertical Take-Off and Landing). Fixed wing aircraft that can take off vertically.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            5MAV_ODID_UA_TYPE_ORNITHOPTEROrnithopter.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            6MAV_ODID_UA_TYPE_GLIDERGlider.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            7MAV_ODID_UA_TYPE_KITEKite.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            8MAV_ODID_UA_TYPE_FREE_BALLOONFree Balloon.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            9MAV_ODID_UA_TYPE_CAPTIVE_BALLOONCaptive Balloon.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            10MAV_ODID_UA_TYPE_AIRSHIPAirship. E.g. a blimp.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            11MAV_ODID_UA_TYPE_FREE_FALL_PARACHUTEFree Fall/Parachute (unpowered).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            12MAV_ODID_UA_TYPE_ROCKETRocket.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            13MAV_ODID_UA_TYPE_TETHERED_POWERED_AIRCRAFTTethered powered aircraft.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            14MAV_ODID_UA_TYPE_GROUND_OBSTACLEGround Obstacle.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            15MAV_ODID_UA_TYPE_OTHEROther type of aircraft not listed earlier.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_ODID_STATUS

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            0MAV_ODID_STATUS_UNDECLAREDThe status of the (UA) Unmanned Aircraft is undefined.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1MAV_ODID_STATUS_GROUNDThe UA is on the ground.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            2MAV_ODID_STATUS_AIRBORNEThe UA is in the air.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            3MAV_ODID_STATUS_EMERGENCYThe UA is having an emergency.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            4MAV_ODID_STATUS_REMOTE_ID_SYSTEM_FAILUREThe remote ID system is failing or unreliable in some way.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_ODID_HEIGHT_REF

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            0MAV_ODID_HEIGHT_REF_OVER_TAKEOFFThe height field is relative to the take-off location.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1MAV_ODID_HEIGHT_REF_OVER_GROUNDThe height field is relative to ground.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_ODID_HOR_ACC

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            0MAV_ODID_HOR_ACC_UNKNOWNThe horizontal accuracy is unknown.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1MAV_ODID_HOR_ACC_10NMThe horizontal accuracy is smaller than 10 Nautical Miles. 18.52 km.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            2MAV_ODID_HOR_ACC_4NMThe horizontal accuracy is smaller than 4 Nautical Miles. 7.408 km.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            3MAV_ODID_HOR_ACC_2NMThe horizontal accuracy is smaller than 2 Nautical Miles. 3.704 km.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            4MAV_ODID_HOR_ACC_1NMThe horizontal accuracy is smaller than 1 Nautical Miles. 1.852 km.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            5MAV_ODID_HOR_ACC_0_5NMThe horizontal accuracy is smaller than 0.5 Nautical Miles. 926 m.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            6MAV_ODID_HOR_ACC_0_3NMThe horizontal accuracy is smaller than 0.3 Nautical Miles. 555.6 m.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            7MAV_ODID_HOR_ACC_0_1NMThe horizontal accuracy is smaller than 0.1 Nautical Miles. 185.2 m.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            8MAV_ODID_HOR_ACC_0_05NMThe horizontal accuracy is smaller than 0.05 Nautical Miles. 92.6 m.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            9MAV_ODID_HOR_ACC_30_METERThe horizontal accuracy is smaller than 30 meter.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            10MAV_ODID_HOR_ACC_10_METERThe horizontal accuracy is smaller than 10 meter.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            11MAV_ODID_HOR_ACC_3_METERThe horizontal accuracy is smaller than 3 meter.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            12MAV_ODID_HOR_ACC_1_METERThe horizontal accuracy is smaller than 1 meter.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_ODID_VER_ACC

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            0MAV_ODID_VER_ACC_UNKNOWNThe vertical accuracy is unknown.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1MAV_ODID_VER_ACC_150_METERThe vertical accuracy is smaller than 150 meter.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            2MAV_ODID_VER_ACC_45_METERThe vertical accuracy is smaller than 45 meter.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            3MAV_ODID_VER_ACC_25_METERThe vertical accuracy is smaller than 25 meter.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            4MAV_ODID_VER_ACC_10_METERThe vertical accuracy is smaller than 10 meter.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            5MAV_ODID_VER_ACC_3_METERThe vertical accuracy is smaller than 3 meter.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            6MAV_ODID_VER_ACC_1_METERThe vertical accuracy is smaller than 1 meter.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_ODID_SPEED_ACC

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            0MAV_ODID_SPEED_ACC_UNKNOWNThe speed accuracy is unknown.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1MAV_ODID_SPEED_ACC_10_METERS_PER_SECONDThe speed accuracy is smaller than 10 meters per second.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            2MAV_ODID_SPEED_ACC_3_METERS_PER_SECONDThe speed accuracy is smaller than 3 meters per second.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            3MAV_ODID_SPEED_ACC_1_METERS_PER_SECONDThe speed accuracy is smaller than 1 meters per second.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            4MAV_ODID_SPEED_ACC_0_3_METERS_PER_SECONDThe speed accuracy is smaller than 0.3 meters per second.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_ODID_TIME_ACC

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            0MAV_ODID_TIME_ACC_UNKNOWNThe timestamp accuracy is unknown.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1MAV_ODID_TIME_ACC_0_1_SECONDThe timestamp accuracy is smaller than or equal to 0.1 second.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            2MAV_ODID_TIME_ACC_0_2_SECONDThe timestamp accuracy is smaller than or equal to 0.2 second.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            3MAV_ODID_TIME_ACC_0_3_SECONDThe timestamp accuracy is smaller than or equal to 0.3 second.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            4MAV_ODID_TIME_ACC_0_4_SECONDThe timestamp accuracy is smaller than or equal to 0.4 second.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            5MAV_ODID_TIME_ACC_0_5_SECONDThe timestamp accuracy is smaller than or equal to 0.5 second.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            6MAV_ODID_TIME_ACC_0_6_SECONDThe timestamp accuracy is smaller than or equal to 0.6 second.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            7MAV_ODID_TIME_ACC_0_7_SECONDThe timestamp accuracy is smaller than or equal to 0.7 second.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            8MAV_ODID_TIME_ACC_0_8_SECONDThe timestamp accuracy is smaller than or equal to 0.8 second.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            9MAV_ODID_TIME_ACC_0_9_SECONDThe timestamp accuracy is smaller than or equal to 0.9 second.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            10MAV_ODID_TIME_ACC_1_0_SECONDThe timestamp accuracy is smaller than or equal to 1.0 second.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            11MAV_ODID_TIME_ACC_1_1_SECONDThe timestamp accuracy is smaller than or equal to 1.1 second.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            12MAV_ODID_TIME_ACC_1_2_SECONDThe timestamp accuracy is smaller than or equal to 1.2 second.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            13MAV_ODID_TIME_ACC_1_3_SECONDThe timestamp accuracy is smaller than or equal to 1.3 second.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            14MAV_ODID_TIME_ACC_1_4_SECONDThe timestamp accuracy is smaller than or equal to 1.4 second.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            15MAV_ODID_TIME_ACC_1_5_SECONDThe timestamp accuracy is smaller than or equal to 1.5 second.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_ODID_AUTH_TYPE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            0MAV_ODID_AUTH_TYPE_NONENo authentication type is specified.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1MAV_ODID_AUTH_TYPE_UAS_ID_SIGNATURESignature for the UAS (Unmanned Aircraft System) ID.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            2MAV_ODID_AUTH_TYPE_OPERATOR_ID_SIGNATURESignature for the Operator ID.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            3MAV_ODID_AUTH_TYPE_MESSAGE_SET_SIGNATURESignature for the entire message set.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            4MAV_ODID_AUTH_TYPE_NETWORK_REMOTE_IDAuthentication is provided by Network Remote ID.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            5MAV_ODID_AUTH_TYPE_SPECIFIC_AUTHENTICATIONThe exact authentication type is indicated by the first byte of authentication_data and these type values are managed by ICAO.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_ODID_DESC_TYPE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            0MAV_ODID_DESC_TYPE_TEXTOptional free-form text description of the purpose of the flight.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1MAV_ODID_DESC_TYPE_EMERGENCYOptional additional clarification when status == MAV_ODID_STATUS_EMERGENCY.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            2MAV_ODID_DESC_TYPE_EXTENDED_STATUSOptional additional clarification when status != MAV_ODID_STATUS_EMERGENCY.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_ODID_OPERATOR_LOCATION_TYPE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            0MAV_ODID_OPERATOR_LOCATION_TYPE_TAKEOFFThe location/altitude of the operator is the same as the take-off location.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1MAV_ODID_OPERATOR_LOCATION_TYPE_LIVE_GNSSThe location/altitude of the operator is dynamic. E.g. based on live GNSS data.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            2MAV_ODID_OPERATOR_LOCATION_TYPE_FIXEDThe location/altitude of the operator are fixed values.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_ODID_CLASSIFICATION_TYPE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            0MAV_ODID_CLASSIFICATION_TYPE_UNDECLAREDThe classification type for the UA is undeclared.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1MAV_ODID_CLASSIFICATION_TYPE_EUThe classification type for the UA follows EU (European Union) specifications.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_ODID_CATEGORY_EU

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            0MAV_ODID_CATEGORY_EU_UNDECLAREDThe category for the UA, according to the EU specification, is undeclared.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1MAV_ODID_CATEGORY_EU_OPENThe category for the UA, according to the EU specification, is the Open category.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            2MAV_ODID_CATEGORY_EU_SPECIFICThe category for the UA, according to the EU specification, is the Specific category.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            3MAV_ODID_CATEGORY_EU_CERTIFIEDThe category for the UA, according to the EU specification, is the Certified category.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_ODID_CLASS_EU

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            0MAV_ODID_CLASS_EU_UNDECLAREDThe class for the UA, according to the EU specification, is undeclared.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1MAV_ODID_CLASS_EU_CLASS_0The class for the UA, according to the EU specification, is Class 0.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            2MAV_ODID_CLASS_EU_CLASS_1The class for the UA, according to the EU specification, is Class 1.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            3MAV_ODID_CLASS_EU_CLASS_2The class for the UA, according to the EU specification, is Class 2.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            4MAV_ODID_CLASS_EU_CLASS_3The class for the UA, according to the EU specification, is Class 3.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            5MAV_ODID_CLASS_EU_CLASS_4The class for the UA, according to the EU specification, is Class 4.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            6MAV_ODID_CLASS_EU_CLASS_5The class for the UA, according to the EU specification, is Class 5.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            7MAV_ODID_CLASS_EU_CLASS_6The class for the UA, according to the EU specification, is Class 6.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_ODID_OPERATOR_ID_TYPE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            0MAV_ODID_OPERATOR_ID_TYPE_CAACAA (Civil Aviation Authority) registered operator ID.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_ODID_ARM_STATUS

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            0MAV_ODID_ARM_STATUS_GOOD_TO_ARMPassing arming checks.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1MAV_ODID_ARM_STATUS_PRE_ARM_FAIL_GENERICGeneric arming failure, see error string for details.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            TUNE_FORMAT

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Tune formats (used for vehicle buzzer/tone generation).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1TUNE_FORMAT_QBASIC1_1Format is QBasic 1.1 Play: https://www.qbasic.net/en/reference/qb11/Statement/PLAY-006.htm.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            2TUNE_FORMAT_MML_MODERNFormat is Modern Music Markup Language (MML): https://en.wikipedia.org/wiki/Music_Macro_Language#Modern_MML.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            AIS_TYPE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Type of AIS vessel, enum duplicated from AIS standard, https://gpsd.gitlab.io/gpsd/AIVDM.html

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            0AIS_TYPE_UNKNOWNNot available (default).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1AIS_TYPE_RESERVED_1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            2AIS_TYPE_RESERVED_2
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            3AIS_TYPE_RESERVED_3
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            4AIS_TYPE_RESERVED_4
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            5AIS_TYPE_RESERVED_5
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            6AIS_TYPE_RESERVED_6
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            7AIS_TYPE_RESERVED_7
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            8AIS_TYPE_RESERVED_8
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            9AIS_TYPE_RESERVED_9
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            10AIS_TYPE_RESERVED_10
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            11AIS_TYPE_RESERVED_11
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            12AIS_TYPE_RESERVED_12
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            13AIS_TYPE_RESERVED_13
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            14AIS_TYPE_RESERVED_14
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            15AIS_TYPE_RESERVED_15
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            16AIS_TYPE_RESERVED_16
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            17AIS_TYPE_RESERVED_17
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            18AIS_TYPE_RESERVED_18
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            19AIS_TYPE_RESERVED_19
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            20AIS_TYPE_WIGWing In Ground effect.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            21AIS_TYPE_WIG_HAZARDOUS_A
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            22AIS_TYPE_WIG_HAZARDOUS_B
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            23AIS_TYPE_WIG_HAZARDOUS_C
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            24AIS_TYPE_WIG_HAZARDOUS_D
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            25AIS_TYPE_WIG_RESERVED_1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            26AIS_TYPE_WIG_RESERVED_2
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            27AIS_TYPE_WIG_RESERVED_3
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            28AIS_TYPE_WIG_RESERVED_4
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            29AIS_TYPE_WIG_RESERVED_5
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            30AIS_TYPE_FISHING
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            31AIS_TYPE_TOWING
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            32AIS_TYPE_TOWING_LARGETowing: length exceeds 200m or breadth exceeds 25m.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            33AIS_TYPE_DREDGINGDredging or other underwater ops.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            34AIS_TYPE_DIVING
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            35AIS_TYPE_MILITARY
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            36AIS_TYPE_SAILING
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            37AIS_TYPE_PLEASURE
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            38AIS_TYPE_RESERVED_20
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            39AIS_TYPE_RESERVED_21
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            40AIS_TYPE_HSCHigh Speed Craft.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            41AIS_TYPE_HSC_HAZARDOUS_A
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            42AIS_TYPE_HSC_HAZARDOUS_B
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            43AIS_TYPE_HSC_HAZARDOUS_C
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            44AIS_TYPE_HSC_HAZARDOUS_D
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            45AIS_TYPE_HSC_RESERVED_1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            46AIS_TYPE_HSC_RESERVED_2
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            47AIS_TYPE_HSC_RESERVED_3
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            48AIS_TYPE_HSC_RESERVED_4
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            49AIS_TYPE_HSC_UNKNOWN
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            50AIS_TYPE_PILOT
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            51AIS_TYPE_SARSearch And Rescue vessel.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            52AIS_TYPE_TUG
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            53AIS_TYPE_PORT_TENDER
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            54AIS_TYPE_ANTI_POLLUTIONAnti-pollution equipment.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            55AIS_TYPE_LAW_ENFORCEMENT
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            56AIS_TYPE_SPARE_LOCAL_1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            57AIS_TYPE_SPARE_LOCAL_2
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            58AIS_TYPE_MEDICAL_TRANSPORT
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            59AIS_TYPE_NONECOMBATANTNoncombatant ship according to RR Resolution No. 18.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            60AIS_TYPE_PASSENGER
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            61AIS_TYPE_PASSENGER_HAZARDOUS_A
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            62AIS_TYPE_PASSENGER_HAZARDOUS_B
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            63AIS_TYPE_PASSENGER_HAZARDOUS_C
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            64AIS_TYPE_PASSENGER_HAZARDOUS_D
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            65AIS_TYPE_PASSENGER_RESERVED_1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            66AIS_TYPE_PASSENGER_RESERVED_2
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            67AIS_TYPE_PASSENGER_RESERVED_3
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            68AIS_TYPE_PASSENGER_RESERVED_4
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            69AIS_TYPE_PASSENGER_UNKNOWN
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            70AIS_TYPE_CARGO
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            71AIS_TYPE_CARGO_HAZARDOUS_A
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            72AIS_TYPE_CARGO_HAZARDOUS_B
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            73AIS_TYPE_CARGO_HAZARDOUS_C
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            74AIS_TYPE_CARGO_HAZARDOUS_D
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            75AIS_TYPE_CARGO_RESERVED_1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            76AIS_TYPE_CARGO_RESERVED_2
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            77AIS_TYPE_CARGO_RESERVED_3
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            78AIS_TYPE_CARGO_RESERVED_4
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            79AIS_TYPE_CARGO_UNKNOWN
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            80AIS_TYPE_TANKER
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            81AIS_TYPE_TANKER_HAZARDOUS_A
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            82AIS_TYPE_TANKER_HAZARDOUS_B
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            83AIS_TYPE_TANKER_HAZARDOUS_C
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            84AIS_TYPE_TANKER_HAZARDOUS_D
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            85AIS_TYPE_TANKER_RESERVED_1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            86AIS_TYPE_TANKER_RESERVED_2
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            87AIS_TYPE_TANKER_RESERVED_3
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            88AIS_TYPE_TANKER_RESERVED_4
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            89AIS_TYPE_TANKER_UNKNOWN
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            90AIS_TYPE_OTHER
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            91AIS_TYPE_OTHER_HAZARDOUS_A
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            92AIS_TYPE_OTHER_HAZARDOUS_B
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            93AIS_TYPE_OTHER_HAZARDOUS_C
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            94AIS_TYPE_OTHER_HAZARDOUS_D
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            95AIS_TYPE_OTHER_RESERVED_1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            96AIS_TYPE_OTHER_RESERVED_2
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            97AIS_TYPE_OTHER_RESERVED_3
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            98AIS_TYPE_OTHER_RESERVED_4
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            99AIS_TYPE_OTHER_UNKNOWN

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            AIS_NAV_STATUS

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Navigational status of AIS vessel, enum duplicated from AIS standard, https://gpsd.gitlab.io/gpsd/AIVDM.html

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            0UNDER_WAYUnder way using engine.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1AIS_NAV_ANCHORED
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            2AIS_NAV_UN_COMMANDED
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            3AIS_NAV_RESTRICTED_MANOEUVERABILITY
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            4AIS_NAV_DRAUGHT_CONSTRAINED
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            5AIS_NAV_MOORED
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            6AIS_NAV_AGROUND
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            7AIS_NAV_FISHING
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            8AIS_NAV_SAILING
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            9AIS_NAV_RESERVED_HSC
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            10AIS_NAV_RESERVED_WIG
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            11AIS_NAV_RESERVED_1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            12AIS_NAV_RESERVED_2
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            13AIS_NAV_RESERVED_3
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            14AIS_NAV_AIS_SARTSearch And Rescue Transponder.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            15AIS_NAV_UNKNOWNNot available (default).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            AIS_FLAGS

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            (Bitmask) These flags are used in the AIS_VESSEL.fields bitmask to indicate validity of data in the other message fields. When set, the data is valid.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1AIS_FLAGS_POSITION_ACCURACY1 = Position accuracy less than 10m, 0 = position accuracy greater than 10m.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            2AIS_FLAGS_VALID_COG
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            4AIS_FLAGS_VALID_VELOCITY
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            8AIS_FLAGS_HIGH_VELOCITY1 = Velocity over 52.5765m/s (102.2 knots)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            16AIS_FLAGS_VALID_TURN_RATE
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            32AIS_FLAGS_TURN_RATE_SIGN_ONLYOnly the sign of the returned turn rate value is valid, either greater than 5deg/30s or less than -5deg/30s
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            64AIS_FLAGS_VALID_DIMENSIONS
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            128AIS_FLAGS_LARGE_BOW_DIMENSIONDistance to bow is larger than 511m
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            256AIS_FLAGS_LARGE_STERN_DIMENSIONDistance to stern is larger than 511m
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            512AIS_FLAGS_LARGE_PORT_DIMENSIONDistance to port side is larger than 63m
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1024AIS_FLAGS_LARGE_STARBOARD_DIMENSIONDistance to starboard side is larger than 63m
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            2048AIS_FLAGS_VALID_CALLSIGN
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            4096AIS_FLAGS_VALID_NAME

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            FAILURE_UNIT

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            List of possible units where failures can be injected.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            0FAILURE_UNIT_SENSOR_GYRO
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1FAILURE_UNIT_SENSOR_ACCEL
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            2FAILURE_UNIT_SENSOR_MAG
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            3FAILURE_UNIT_SENSOR_BARO
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            4FAILURE_UNIT_SENSOR_GPS
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            5FAILURE_UNIT_SENSOR_OPTICAL_FLOW
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            6FAILURE_UNIT_SENSOR_VIO
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            7FAILURE_UNIT_SENSOR_DISTANCE_SENSOR
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            8FAILURE_UNIT_SENSOR_AIRSPEED
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            100FAILURE_UNIT_SYSTEM_BATTERY
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            101FAILURE_UNIT_SYSTEM_MOTOR
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            102FAILURE_UNIT_SYSTEM_SERVO
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            103FAILURE_UNIT_SYSTEM_AVOIDANCE
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            104FAILURE_UNIT_SYSTEM_RC_SIGNAL
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            105FAILURE_UNIT_SYSTEM_MAVLINK_SIGNAL

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            FAILURE_TYPE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            List of possible failure type to inject.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            0FAILURE_TYPE_OKNo failure injected, used to reset a previous failure.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1FAILURE_TYPE_OFFSets unit off, so completely non-responsive.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            2FAILURE_TYPE_STUCKUnit is stuck e.g. keeps reporting the same value.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            3FAILURE_TYPE_GARBAGEUnit is reporting complete garbage.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            4FAILURE_TYPE_WRONGUnit is consistently wrong.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            5FAILURE_TYPE_SLOWUnit is slow, so e.g. reporting at slower than expected rate.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            6FAILURE_TYPE_DELAYEDData of unit is delayed in time.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            7FAILURE_TYPE_INTERMITTENTUnit is sometimes working, sometimes not.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            0NAV_VTOL_LAND_OPTIONS_DEFAULTDefault autopilot landing behaviour.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1NAV_VTOL_LAND_OPTIONS_FW_DESCENTDescend in fixed wing mode, transitioning to multicopter mode for vertical landing when close to the ground.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            The fixed wing descent pattern is at the discretion of the vehicle (e.g. transition altitude, loiter direction, radius, and speed, etc.). | | 2 | NAV_VTOL_LAND_OPTIONS_HOVER_DESCENT | Land in multicopter mode on reaching the landing coordinates (the whole landing is by "hover descent"). |

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_WINCH_STATUS_FLAG

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            (Bitmask) Winch status flags used in WINCH_STATUS

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1MAV_WINCH_STATUS_HEALTHYWinch is healthy
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            2MAV_WINCH_STATUS_FULLY_RETRACTEDWinch line is fully retracted
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            4MAV_WINCH_STATUS_MOVINGWinch motor is moving
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            8MAV_WINCH_STATUS_CLUTCH_ENGAGEDWinch clutch is engaged allowing motor to move freely.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            16MAV_WINCH_STATUS_LOCKEDWinch is locked by locking mechanism.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            32MAV_WINCH_STATUS_DROPPINGWinch is gravity dropping payload.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            64MAV_WINCH_STATUS_ARRESTINGWinch is arresting payload descent.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            128MAV_WINCH_STATUS_GROUND_SENSEWinch is using torque measurements to sense the ground.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            256MAV_WINCH_STATUS_RETRACTINGWinch is returning to the fully retracted position.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            512MAV_WINCH_STATUS_REDELIVERWinch is redelivering the payload. This is a failover state if the line tension goes above a threshold during RETRACTING.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1024MAV_WINCH_STATUS_ABANDON_LINEWinch is abandoning the line and possibly payload. Winch unspools the entire calculated line length. This is a failover state from REDELIVER if the number of attempts exceeds a threshold.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            2048MAV_WINCH_STATUS_LOCKINGWinch is engaging the locking mechanism.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            4096MAV_WINCH_STATUS_LOAD_LINEWinch is spooling on line.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            8192MAV_WINCH_STATUS_LOAD_PAYLOADWinch is loading a payload.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAG_CAL_STATUS

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            0MAG_CAL_NOT_STARTED
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1MAG_CAL_WAITING_TO_START
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            2MAG_CAL_RUNNING_STEP_ONE
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            3MAG_CAL_RUNNING_STEP_TWO
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            4MAG_CAL_SUCCESS
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            5MAG_CAL_FAILED
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            6MAG_CAL_BAD_ORIENTATION
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            7MAG_CAL_BAD_RADIUS

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_EVENT_ERROR_REASON

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Reason for an event error response.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            0MAV_EVENT_ERROR_REASON_UNAVAILABLEThe requested event is not available (anymore).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_EVENT_CURRENT_SEQUENCE_FLAGS

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Flags for CURRENT_EVENT_SEQUENCE.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1MAV_EVENT_CURRENT_SEQUENCE_FLAGS_RESETA sequence reset has happened (e.g. vehicle reboot).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            HIL_SENSOR_UPDATED_FLAGS

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            (Bitmask) Flags in the HIL_SENSOR message indicate which fields have updated since the last message

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            0HIL_SENSOR_UPDATED_NONENone of the fields in HIL_SENSOR have been updated
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1HIL_SENSOR_UPDATED_XACCThe value in the xacc field has been updated
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            2HIL_SENSOR_UPDATED_YACCThe value in the yacc field has been updated
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            4HIL_SENSOR_UPDATED_ZACCThe value in the zacc field has been updated
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            8HIL_SENSOR_UPDATED_XGYROThe value in the xgyro field has been updated
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            16HIL_SENSOR_UPDATED_YGYROThe value in the ygyro field has been updated
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            32HIL_SENSOR_UPDATED_ZGYROThe value in the zgyro field has been updated
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            64HIL_SENSOR_UPDATED_XMAGThe value in the xmag field has been updated
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            128HIL_SENSOR_UPDATED_YMAGThe value in the ymag field has been updated
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            256HIL_SENSOR_UPDATED_ZMAGThe value in the zmag field has been updated
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            512HIL_SENSOR_UPDATED_ABS_PRESSUREThe value in the abs_pressure field has been updated
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1024HIL_SENSOR_UPDATED_DIFF_PRESSUREThe value in the diff_pressure field has been updated
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            2048HIL_SENSOR_UPDATED_PRESSURE_ALTThe value in the pressure_alt field has been updated
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            4096HIL_SENSOR_UPDATED_TEMPERATUREThe value in the temperature field has been updated
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            2147483648HIL_SENSOR_UPDATED_RESETFull reset of attitude/position/velocities/etc was performed in sim (Bit 31).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            HIGHRES_IMU_UPDATED_FLAGS

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            (Bitmask) Flags in the HIGHRES_IMU message indicate which fields have updated since the last message

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            0HIGHRES_IMU_UPDATED_NONENone of the fields in HIGHRES_IMU have been updated
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1HIGHRES_IMU_UPDATED_XACCThe value in the xacc field has been updated
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            2HIGHRES_IMU_UPDATED_YACCThe value in the yacc field has been updated
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            4HIGHRES_IMU_UPDATED_ZACCThe value in the zacc field has been updated since
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            8HIGHRES_IMU_UPDATED_XGYROThe value in the xgyro field has been updated
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            16HIGHRES_IMU_UPDATED_YGYROThe value in the ygyro field has been updated
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            32HIGHRES_IMU_UPDATED_ZGYROThe value in the zgyro field has been updated
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            64HIGHRES_IMU_UPDATED_XMAGThe value in the xmag field has been updated
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            128HIGHRES_IMU_UPDATED_YMAGThe value in the ymag field has been updated
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            256HIGHRES_IMU_UPDATED_ZMAGThe value in the zmag field has been updated
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            512HIGHRES_IMU_UPDATED_ABS_PRESSUREThe value in the abs_pressure field has been updated
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1024HIGHRES_IMU_UPDATED_DIFF_PRESSUREThe value in the diff_pressure field has been updated
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            2048HIGHRES_IMU_UPDATED_PRESSURE_ALTThe value in the pressure_alt field has been updated
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            4096HIGHRES_IMU_UPDATED_TEMPERATUREThe value in the temperature field has been updated
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            65535HIGHRES_IMU_UPDATED_ALLAll fields in HIGHRES_IMU have been updated.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            CAN_FILTER_OP

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            0CAN_FILTER_REPLACE
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1CAN_FILTER_ADD
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            2CAN_FILTER_REMOVE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_FTP_ERR

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV FTP error codes (https://mavlink.io/en/services/ftp.html)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            0MAV_FTP_ERR_NONENone: No error
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1MAV_FTP_ERR_FAILFail: Unknown failure
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            2MAV_FTP_ERR_FAILERRNOFailErrno: Command failed, Err number sent back in PayloadHeader.data[1].

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            This is a file-system error number understood by the server operating system. | | </a>3 | MAV_FTP_ERR_INVALIDDATASIZE | InvalidDataSize: Payload size is invalid | | 4 | MAV_FTP_ERR_INVALIDSESSION | InvalidSession: Session is not currently open | | </a>5 | MAV_FTP_ERR_NOSESSIONSAVAILABLE | NoSessionsAvailable: All available sessions are already in use | | 6 | MAV_FTP_ERR_EOF | EOF: Offset past end of file for ListDirectory and ReadFile commands | | </a>7 | MAV_FTP_ERR_UNKNOWNCOMMAND | UnknownCommand: Unknown command / opcode | | 8 | MAV_FTP_ERR_FILEEXISTS | FileExists: File/directory already exists | | </a>9 | MAV_FTP_ERR_FILEPROTECTED | FileProtected: File/directory is write protected | | 10 | MAV_FTP_ERR_FILENOTFOUND | FileNotFound: File/directory not found |

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_FTP_OPCODE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV FTP opcodes: https://mavlink.io/en/services/ftp.html

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            0MAV_FTP_OPCODE_NONENone. Ignored, always ACKed
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1MAV_FTP_OPCODE_TERMINATESESSIONTerminateSession: Terminates open Read session
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            2MAV_FTP_OPCODE_RESETSESSIONResetSessions: Terminates all open read sessions
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            3MAV_FTP_OPCODE_LISTDIRECTORYListDirectory. List files and directories in path from offset
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            4MAV_FTP_OPCODE_OPENFILEROOpenFileRO: Opens file at path for reading, returns session
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            5MAV_FTP_OPCODE_READFILEReadFile: Reads size bytes from offset in session
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            6MAV_FTP_OPCODE_CREATEFILECreateFile: Creates file at path for writing, returns session
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            7MAV_FTP_OPCODE_WRITEFILEWriteFile: Writes size bytes to offset in session
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            8MAV_FTP_OPCODE_REMOVEFILERemoveFile: Remove file at path
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            9MAV_FTP_OPCODE_CREATEDIRECTORYCreateDirectory: Creates directory at path
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            10MAV_FTP_OPCODE_REMOVEDIRECTORYRemoveDirectory: Removes directory at path. The directory must be empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            11MAV_FTP_OPCODE_OPENFILEWOOpenFileWO: Opens file at path for writing, returns session
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            12MAV_FTP_OPCODE_TRUNCATEFILETruncateFile: Truncate file at path to offset length
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            13MAV_FTP_OPCODE_RENAMERename: Rename path1 to path2
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            14MAV_FTP_OPCODE_CALCFILECRCCalcFileCRC32: Calculate CRC32 for file at path
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            15MAV_FTP_OPCODE_BURSTREADFILEBurstReadFile: Burst download session file
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            128MAV_FTP_OPCODE_ACKACK: ACK response
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            129MAV_FTP_OPCODE_NAKNAK: NAK response

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MISSION_STATE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            States of the mission state machine. Note that these states are independent of whether the mission is in a mode that can execute mission items or not (is suspended). They may not all be relevant on all vehicles.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            0MISSION_STATE_UNKNOWNThe mission status reporting is not supported.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1MISSION_STATE_NO_MISSIONNo mission on the vehicle.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            2MISSION_STATE_NOT_STARTEDMission has not started. This is the case after a mission has uploaded but not yet started executing.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            3MISSION_STATE_ACTIVEMission is active, and will execute mission items when in auto mode.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            4MISSION_STATE_PAUSEDMission is paused when in auto mode.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            5MISSION_STATE_COMPLETEMission has executed all mission items.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            SAFETY_SWITCH_STATE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Possible safety switch states.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            0SAFETY_SWITCH_STATE_SAFESafety switch is engaged and vehicle should be safe to approach.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1SAFETY_SWITCH_STATE_DANGEROUSSafety switch is NOT engaged and motors, propellers and other actuators should be considered active.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ILLUMINATOR_MODE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Modes of illuminator

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            0ILLUMINATOR_MODE_UNKNOWNIlluminator mode is not specified/unknown
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1ILLUMINATOR_MODE_INTERNAL_CONTROLIlluminator behavior is controlled by MAV_CMD_DO_ILLUMINATOR_CONFIGURE settings
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            2ILLUMINATOR_MODE_EXTERNAL_SYNCIlluminator behavior is controlled by external factors: e.g. an external hardware signal

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ILLUMINATOR_ERROR_FLAGS

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            (Bitmask) Illuminator module error flags (bitmap, 0 means no error)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1ILLUMINATOR_ERROR_FLAGS_THERMAL_THROTTLINGIlluminator thermal throttling error.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            2ILLUMINATOR_ERROR_FLAGS_OVER_TEMPERATURE_SHUTDOWNIlluminator over temperature shutdown error.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            4ILLUMINATOR_ERROR_FLAGS_THERMISTOR_FAILUREIlluminator thermistor failure.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_AUTOPILOT — [from: minimal]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Micro air vehicle / autopilot classes. This identifies the individual model.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            0MAV_AUTOPILOT_GENERICGeneric autopilot, full support for everything
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1MAV_AUTOPILOT_RESERVEDReserved for future use.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            2MAV_AUTOPILOT_SLUGSSLUGS autopilot, http://slugsuav.soe.ucsc.edu
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            3MAV_AUTOPILOT_ARDUPILOTMEGAArduPilot - Plane/Copter/Rover/Sub/Tracker, https://ardupilot.org
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            4MAV_AUTOPILOT_OPENPILOTOpenPilot, http://openpilot.org
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            5MAV_AUTOPILOT_GENERIC_WAYPOINTS_ONLYGeneric autopilot only supporting simple waypoints
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            6MAV_AUTOPILOT_GENERIC_WAYPOINTS_AND_SIMPLE_NAVIGATION_ONLYGeneric autopilot supporting waypoints and other simple navigation commands
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            7MAV_AUTOPILOT_GENERIC_MISSION_FULLGeneric autopilot supporting the full mission command set
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            8MAV_AUTOPILOT_INVALIDNo valid autopilot, e.g. a GCS or other MAVLink component
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            9MAV_AUTOPILOT_PPZPPZ UAV - http://nongnu.org/paparazzi
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            10MAV_AUTOPILOT_UDBUAV Dev Board
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            11MAV_AUTOPILOT_FPFlexiPilot
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            12MAV_AUTOPILOT_PX4PX4 Autopilot - http://px4.io/
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            13MAV_AUTOPILOT_SMACCMPILOTSMACCMPilot - http://smaccmpilot.org
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            14MAV_AUTOPILOT_AUTOQUADAutoQuad -- http://autoquad.org
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            15MAV_AUTOPILOT_ARMAZILAArmazila -- http://armazila.com
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            16MAV_AUTOPILOT_AEROBAerob -- http://aerob.ru
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            17MAV_AUTOPILOT_ASLUAVASLUAV autopilot -- http://www.asl.ethz.ch
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            18MAV_AUTOPILOT_SMARTAPSmartAP Autopilot - http://sky-drones.com
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            19MAV_AUTOPILOT_AIRRAILSAirRails - http://uaventure.com
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            20MAV_AUTOPILOT_REFLEXFusion Reflex - https://fusion.engineering

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_TYPE — [from: minimal]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAVLINK component type reported in HEARTBEAT message. Flight controllers must report the type of the vehicle on which they are mounted (e.g. MAV_TYPE_OCTOROTOR). All other components must report a value appropriate for their type (e.g. a camera must use MAV_TYPE_CAMERA).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            0MAV_TYPE_GENERICGeneric micro air vehicle
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1MAV_TYPE_FIXED_WINGFixed wing aircraft.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            2MAV_TYPE_QUADROTORQuadrotor
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            3MAV_TYPE_COAXIALCoaxial helicopter
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            4MAV_TYPE_HELICOPTERNormal helicopter with tail rotor.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            5MAV_TYPE_ANTENNA_TRACKERGround installation
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            6MAV_TYPE_GCSOperator control unit / ground control station
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            7MAV_TYPE_AIRSHIPAirship, controlled
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            8MAV_TYPE_FREE_BALLOONFree balloon, uncontrolled
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            9MAV_TYPE_ROCKETRocket
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            10MAV_TYPE_GROUND_ROVERGround rover
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            11MAV_TYPE_SURFACE_BOATSurface vessel, boat, ship
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            12MAV_TYPE_SUBMARINESubmarine
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            13MAV_TYPE_HEXAROTORHexarotor
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            14MAV_TYPE_OCTOROTOROctorotor
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            15MAV_TYPE_TRICOPTERTricopter
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            16MAV_TYPE_FLAPPING_WINGFlapping wing
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            17MAV_TYPE_KITEKite
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            18MAV_TYPE_ONBOARD_CONTROLLEROnboard companion controller
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            19MAV_TYPE_VTOL_TAILSITTER_DUOROTORTwo-rotor Tailsitter VTOL that additionally uses control surfaces in vertical operation. Note, value previously named MAV_TYPE_VTOL_DUOROTOR.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            20MAV_TYPE_VTOL_TAILSITTER_QUADROTORQuad-rotor Tailsitter VTOL using a V-shaped quad config in vertical operation. Note: value previously named MAV_TYPE_VTOL_QUADROTOR.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            21MAV_TYPE_VTOL_TILTROTORTiltrotor VTOL. Fuselage and wings stay (nominally) horizontal in all flight phases. It able to tilt (some) rotors to provide thrust in cruise flight.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            22MAV_TYPE_VTOL_FIXEDROTORVTOL with separate fixed rotors for hover and cruise flight. Fuselage and wings stay (nominally) horizontal in all flight phases.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            23MAV_TYPE_VTOL_TAILSITTERTailsitter VTOL. Fuselage and wings orientation changes depending on flight phase: vertical for hover, horizontal for cruise. Use more specific VTOL MAV_TYPE_VTOL_TAILSITTER_DUOROTOR or MAV_TYPE_VTOL_TAILSITTER_QUADROTOR if appropriate.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            24MAV_TYPE_VTOL_TILTWINGTiltwing VTOL. Fuselage stays horizontal in all flight phases. The whole wing, along with any attached engine, can tilt between vertical and horizontal mode.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            25MAV_TYPE_VTOL_RESERVED5VTOL reserved 5
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            26MAV_TYPE_GIMBALGimbal
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            27MAV_TYPE_ADSBADSB system
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            28MAV_TYPE_PARAFOILSteerable, nonrigid airfoil
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            29MAV_TYPE_DODECAROTORDodecarotor
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            30MAV_TYPE_CAMERACamera
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            31MAV_TYPE_CHARGING_STATIONCharging station
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            32MAV_TYPE_FLARMFLARM collision avoidance system
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            33MAV_TYPE_SERVOServo
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            34MAV_TYPE_ODIDOpen Drone ID. See https://mavlink.io/en/services/opendroneid.html.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            35MAV_TYPE_DECAROTORDecarotor
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            36MAV_TYPE_BATTERYBattery
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            37MAV_TYPE_PARACHUTEParachute
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            38MAV_TYPE_LOGLog
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            39MAV_TYPE_OSDOSD
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            40MAV_TYPE_IMUIMU
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            41MAV_TYPE_GPSGPS
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            42MAV_TYPE_WINCHWinch
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            43MAV_TYPE_GENERIC_MULTIROTORGeneric multirotor that does not fit into a specific type or whose type is unknown
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            44MAV_TYPE_ILLUMINATORIlluminator. An illuminator is a light source that is used for lighting up dark areas external to the sytstem: e.g. a torch or searchlight (as opposed to a light source for illuminating the system itself, e.g. an indicator light).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_MODE_FLAG — [from: minimal]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            (Bitmask) These flags encode the MAV mode.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1MAV_MODE_FLAG_CUSTOM_MODE_ENABLED0b00000001 Reserved for future use.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            2MAV_MODE_FLAG_TEST_ENABLED0b00000010 system has a test mode enabled. This flag is intended for temporary system tests and should not be used for stable implementations.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            4MAV_MODE_FLAG_AUTO_ENABLED0b00000100 autonomous mode enabled, system finds its own goal positions. Guided flag can be set or not, depends on the actual implementation.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            8MAV_MODE_FLAG_GUIDED_ENABLED0b00001000 guided mode enabled, system flies waypoints / mission items.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            16MAV_MODE_FLAG_STABILIZE_ENABLED0b00010000 system stabilizes electronically its attitude (and optionally position). It needs however further control inputs to move around.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            32MAV_MODE_FLAG_HIL_ENABLED0b00100000 hardware in the loop simulation. All motors / actuators are blocked, but internal software is full operational.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            64MAV_MODE_FLAG_MANUAL_INPUT_ENABLED0b01000000 remote control input is enabled.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            128MAV_MODE_FLAG_SAFETY_ARMED0b10000000 MAV safety set to armed. Motors are enabled / running / can start. Ready to fly. Additional note: this flag is to be ignore when sent in the command MAV_CMD_DO_SET_MODE and MAV_CMD_COMPONENT_ARM_DISARM shall be used instead. The flag can still be used to report the armed state.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_MODE_FLAG_DECODE_POSITION — [from: minimal]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            (Bitmask) These values encode the bit positions of the decode position. These values can be used to read the value of a flag bit by combining the base_mode variable with AND with the flag position value. The result will be either 0 or 1, depending on if the flag is set or not.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1MAV_MODE_FLAG_DECODE_POSITION_CUSTOM_MODEEighth bit: 00000001
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            2MAV_MODE_FLAG_DECODE_POSITION_TESTSeventh bit: 00000010
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            4MAV_MODE_FLAG_DECODE_POSITION_AUTOSixth bit: 00000100
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            8MAV_MODE_FLAG_DECODE_POSITION_GUIDEDFifth bit: 00001000
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            16MAV_MODE_FLAG_DECODE_POSITION_STABILIZEFourth bit: 00010000
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            32MAV_MODE_FLAG_DECODE_POSITION_HILThird bit: 00100000
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            64MAV_MODE_FLAG_DECODE_POSITION_MANUALSecond bit: 01000000
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            128MAV_MODE_FLAG_DECODE_POSITION_SAFETYFirst bit: 10000000

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_STATE — [from: minimal]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            0MAV_STATE_UNINITUninitialized system, state is unknown.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1MAV_STATE_BOOTSystem is booting up.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            2MAV_STATE_CALIBRATINGSystem is calibrating and not flight-ready.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            3MAV_STATE_STANDBYSystem is grounded and on standby. It can be launched any time.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            4MAV_STATE_ACTIVESystem is active and might be already airborne. Motors are engaged.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            5MAV_STATE_CRITICALSystem is in a non-normal flight mode (failsafe). It can however still navigate.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            6MAV_STATE_EMERGENCYSystem is in a non-normal flight mode (failsafe). It lost control over parts or over the whole airframe. It is in mayday and going down.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            7MAV_STATE_POWEROFFSystem just initialized its power-down sequence, will shut down now.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            8MAV_STATE_FLIGHT_TERMINATIONSystem is terminating itself (failsafe or commanded).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_COMPONENT — [from: minimal]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Component ids (values) for the different types and instances of onboard hardware/software that might make up a MAVLink system (autopilot, cameras, servos, GPS systems, avoidance systems etc.).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Components must use the appropriate ID in their source address when sending messages. Components can also use IDs to determine if they are the intended recipient of an incoming message. The MAV_COMP_ID_ALL value is used to indicate messages that must be processed by all components. When creating new entries, components that can have multiple instances (e.g. cameras, servos etc.) should be allocated sequential values. An appropriate number of values should be left free after these components to allow the number of instances to be expanded.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            0MAV_COMP_ID_ALLTarget id (target_component) used to broadcast messages to all components of the receiving system. Components should attempt to process messages with this component ID and forward to components on any other interfaces. Note: This is not a valid source component id for a message.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1MAV_COMP_ID_AUTOPILOT1System flight controller component ("autopilot"). Only one autopilot is expected in a particular system.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            25MAV_COMP_ID_USER1Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            26MAV_COMP_ID_USER2Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            27MAV_COMP_ID_USER3Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            28MAV_COMP_ID_USER4Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            29MAV_COMP_ID_USER5Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            30MAV_COMP_ID_USER6Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            31MAV_COMP_ID_USER7Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            32MAV_COMP_ID_USER8Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            33MAV_COMP_ID_USER9Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            34MAV_COMP_ID_USER10Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            35MAV_COMP_ID_USER11Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            36MAV_COMP_ID_USER12Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            37MAV_COMP_ID_USER13Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            38MAV_COMP_ID_USER14Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            39MAV_COMP_ID_USER15Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            40MAV_COMP_ID_USER16Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            41MAV_COMP_ID_USER17Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            42MAV_COMP_ID_USER18Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            43MAV_COMP_ID_USER19Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            44MAV_COMP_ID_USER20Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            45MAV_COMP_ID_USER21Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            46MAV_COMP_ID_USER22Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            47MAV_COMP_ID_USER23Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            48MAV_COMP_ID_USER24Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            49MAV_COMP_ID_USER25Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            50MAV_COMP_ID_USER26Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            51MAV_COMP_ID_USER27Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            52MAV_COMP_ID_USER28Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            53MAV_COMP_ID_USER29Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            54MAV_COMP_ID_USER30Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            55MAV_COMP_ID_USER31Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            56MAV_COMP_ID_USER32Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            57MAV_COMP_ID_USER33Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            58MAV_COMP_ID_USER34Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            59MAV_COMP_ID_USER35Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            60MAV_COMP_ID_USER36Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            61MAV_COMP_ID_USER37Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            62MAV_COMP_ID_USER38Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            63MAV_COMP_ID_USER39Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            64MAV_COMP_ID_USER40Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            65MAV_COMP_ID_USER41Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            66MAV_COMP_ID_USER42Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            67MAV_COMP_ID_USER43Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            68MAV_COMP_ID_TELEMETRY_RADIOTelemetry radio (e.g. SiK radio, or other component that emits RADIO_STATUS messages).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            69MAV_COMP_ID_USER45Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            70MAV_COMP_ID_USER46Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            71MAV_COMP_ID_USER47Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            72MAV_COMP_ID_USER48Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            73MAV_COMP_ID_USER49Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            74MAV_COMP_ID_USER50Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            75MAV_COMP_ID_USER51Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            76MAV_COMP_ID_USER52Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            77MAV_COMP_ID_USER53Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            78MAV_COMP_ID_USER54Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            79MAV_COMP_ID_USER55Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            80MAV_COMP_ID_USER56Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            81MAV_COMP_ID_USER57Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            82MAV_COMP_ID_USER58Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            83MAV_COMP_ID_USER59Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            84MAV_COMP_ID_USER60Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            85MAV_COMP_ID_USER61Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            86MAV_COMP_ID_USER62Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            87MAV_COMP_ID_USER63Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            88MAV_COMP_ID_USER64Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            89MAV_COMP_ID_USER65Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            90MAV_COMP_ID_USER66Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            91MAV_COMP_ID_USER67Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            92MAV_COMP_ID_USER68Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            93MAV_COMP_ID_USER69Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            94MAV_COMP_ID_USER70Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            95MAV_COMP_ID_USER71Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            96MAV_COMP_ID_USER72Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            97MAV_COMP_ID_USER73Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            98MAV_COMP_ID_USER74Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            99MAV_COMP_ID_USER75Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            100MAV_COMP_ID_CAMERACamera #1.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            101MAV_COMP_ID_CAMERA2Camera #2.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            102MAV_COMP_ID_CAMERA3Camera #3.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            103MAV_COMP_ID_CAMERA4Camera #4.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            104MAV_COMP_ID_CAMERA5Camera #5.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            105MAV_COMP_ID_CAMERA6Camera #6.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            140MAV_COMP_ID_SERVO1Servo #1.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            141MAV_COMP_ID_SERVO2Servo #2.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            142MAV_COMP_ID_SERVO3Servo #3.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            143MAV_COMP_ID_SERVO4Servo #4.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            144MAV_COMP_ID_SERVO5Servo #5.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            145MAV_COMP_ID_SERVO6Servo #6.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            146MAV_COMP_ID_SERVO7Servo #7.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            147MAV_COMP_ID_SERVO8Servo #8.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            148MAV_COMP_ID_SERVO9Servo #9.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            149MAV_COMP_ID_SERVO10Servo #10.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            150MAV_COMP_ID_SERVO11Servo #11.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            151MAV_COMP_ID_SERVO12Servo #12.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            152MAV_COMP_ID_SERVO13Servo #13.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            153MAV_COMP_ID_SERVO14Servo #14.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            154MAV_COMP_ID_GIMBALGimbal #1.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            155MAV_COMP_ID_LOGLogging component.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            156MAV_COMP_ID_ADSBAutomatic Dependent Surveillance-Broadcast (ADS-B) component.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            157MAV_COMP_ID_OSDOn Screen Display (OSD) devices for video links.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            158MAV_COMP_ID_PERIPHERALGeneric autopilot peripheral component ID. Meant for devices that do not implement the parameter microservice.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            159MAV_COMP_ID_QX1_GIMBALGimbal ID for QX1.DEPRECATED: Replaced By MAV_COMP_ID_GIMBAL (2018-11) — All gimbals should use MAV_COMP_ID_GIMBAL.)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            160MAV_COMP_ID_FLARMFLARM collision alert component.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            161MAV_COMP_ID_PARACHUTEParachute component.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            169MAV_COMP_ID_WINCHWinch component.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            171MAV_COMP_ID_GIMBAL2Gimbal #2.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            172MAV_COMP_ID_GIMBAL3Gimbal #3.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            173MAV_COMP_ID_GIMBAL4Gimbal #4
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            174MAV_COMP_ID_GIMBAL5Gimbal #5.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            175MAV_COMP_ID_GIMBAL6Gimbal #6.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            180MAV_COMP_ID_BATTERYBattery #1.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            181MAV_COMP_ID_BATTERY2Battery #2.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            189MAV_COMP_ID_MAVCANCAN over MAVLink client.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            190MAV_COMP_ID_MISSIONPLANNERComponent that can generate/supply a mission flight plan (e.g. GCS or developer API).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            191MAV_COMP_ID_ONBOARD_COMPUTERComponent that lives on the onboard computer (companion computer) and has some generic functionalities, such as settings system parameters and monitoring the status of some processes that don't directly speak mavlink and so on.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            192MAV_COMP_ID_ONBOARD_COMPUTER2Component that lives on the onboard computer (companion computer) and has some generic functionalities, such as settings system parameters and monitoring the status of some processes that don't directly speak mavlink and so on.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            193MAV_COMP_ID_ONBOARD_COMPUTER3Component that lives on the onboard computer (companion computer) and has some generic functionalities, such as settings system parameters and monitoring the status of some processes that don't directly speak mavlink and so on.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            194MAV_COMP_ID_ONBOARD_COMPUTER4Component that lives on the onboard computer (companion computer) and has some generic functionalities, such as settings system parameters and monitoring the status of some processes that don't directly speak mavlink and so on.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            195MAV_COMP_ID_PATHPLANNERComponent that finds an optimal path between points based on a certain constraint (e.g. minimum snap, shortest path, cost, etc.).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            196MAV_COMP_ID_OBSTACLE_AVOIDANCEComponent that plans a collision free path between two points.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            197MAV_COMP_ID_VISUAL_INERTIAL_ODOMETRYComponent that provides position estimates using VIO techniques.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            198MAV_COMP_ID_PAIRING_MANAGERComponent that manages pairing of vehicle and GCS.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            200MAV_COMP_ID_IMUInertial Measurement Unit (IMU) #1.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            201MAV_COMP_ID_IMU_2Inertial Measurement Unit (IMU) #2.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            202MAV_COMP_ID_IMU_3Inertial Measurement Unit (IMU) #3.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            220MAV_COMP_ID_GPSGPS #1.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            221MAV_COMP_ID_GPS2GPS #2.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            236MAV_COMP_ID_ODID_TXRX_1Open Drone ID transmitter/receiver (Bluetooth/WiFi/Internet).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            237MAV_COMP_ID_ODID_TXRX_2Open Drone ID transmitter/receiver (Bluetooth/WiFi/Internet).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            238MAV_COMP_ID_ODID_TXRX_3Open Drone ID transmitter/receiver (Bluetooth/WiFi/Internet).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            240MAV_COMP_ID_UDP_BRIDGEComponent to bridge MAVLink to UDP (i.e. from a UART).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            241MAV_COMP_ID_UART_BRIDGEComponent to bridge to UART (i.e. from UDP).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            242MAV_COMP_ID_TUNNEL_NODEComponent handling TUNNEL messages (e.g. vendor specific GUI of a component).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            243MAV_COMP_ID_ILLUMINATORIlluminator
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            250MAV_COMP_ID_SYSTEM_CONTROLDeprecated, don't use. Component for handling system messages (e.g. to ARM, takeoff, etc.).DEPRECATED: Replaced By MAV_COMP_ID_ALL (2018-11) — System control does not require a separate component ID. Instead, system commands should be sent with target_component=MAV_COMP_ID_ALL allowing the target component to use any appropriate component id.)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Commands (MAV_CMD)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_NAV_WAYPOINT (16)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Navigate to waypoint. This is intended for use in missions (for guided commands outside of missions use MAV_CMD_DO_REPOSITION).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Param (Label)DescriptionValuesUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1 (Hold)Hold time. (ignored by fixed wing, time to stay at waypoint for rotary wing)min: 0s
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            2 (Accept Radius)Acceptance radius (if the sphere with this radius is hit, the waypoint counts as reached)min: 0m
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            3 (Pass Radius)0 to pass through the WP, if > 0 radius to pass by WP. Positive value for clockwise orbit, negative value for counter-clockwise orbit. Allows trajectory control.m
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            4 (Yaw)Desired yaw angle at waypoint (rotary wing). NaN to use the current system yaw heading mode (e.g. yaw towards next waypoint, yaw to home, etc.).deg
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            5 (Latitude)Latitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            6 (Longitude)Longitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            7 (Altitude)Altitudem

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_NAV_LOITER_UNLIM (17)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Loiter around this waypoint an unlimited amount of time

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Param (Label)DescriptionUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            2Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            3 (Radius)Loiter radius around waypoint for forward-only moving vehicles (not multicopters). If positive loiter clockwise, else counter-clockwisem
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            4 (Yaw)Desired yaw angle. NaN to use the current system yaw heading mode (e.g. yaw towards next waypoint, yaw to home, etc.).deg
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            5 (Latitude)Latitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            6 (Longitude)Longitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            7 (Altitude)Altitudem

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_NAV_LOITER_TURNS (18)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Loiter around this waypoint for X turns

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Param (Label)DescriptionValuesUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1 (Turns)Number of turns.min: 0
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            2 (Heading Required)Leave loiter circle only once heading towards the next waypoint (0 = False)min: 0 max: 1 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            3 (Radius)Loiter radius around waypoint for forward-only moving vehicles (not multicopters). If positive loiter clockwise, else counter-clockwisem
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            4 (Xtrack Location)Loiter circle exit location and/or path to next waypoint ("xtrack") for forward-only moving vehicles (not multicopters). 0 for the vehicle to converge towards the center xtrack when it leaves the loiter (the line between the centers of the current and next waypoint), 1 to converge to the direct line between the location that the vehicle exits the loiter radius and the next waypoint. Otherwise the angle (in degrees) between the tangent of the loiter circle and the center xtrack at which the vehicle must leave the loiter (and converge to the center xtrack). NaN to use the current system default xtrack behaviour.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            5 (Latitude)Latitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            6 (Longitude)Longitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            7 (Altitude)Altitudem

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_NAV_LOITER_TIME (19)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Loiter at the specified latitude, longitude and altitude for a certain amount of time. Multicopter vehicles stop at the point (within a vehicle-specific acceptance radius). Forward-only moving vehicles (e.g. fixed-wing) circle the point with the specified radius/direction. If the Heading Required parameter (2) is non-zero forward moving aircraft will only leave the loiter circle once heading towards the next waypoint.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Param (Label)DescriptionValuesUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1 (Time)Loiter time (only starts once Lat, Lon and Alt is reached).min: 0s
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            2 (Heading Required)Leave loiter circle only once heading towards the next waypoint (0 = False)min: 0 max: 1 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            3 (Radius)Loiter radius around waypoint for forward-only moving vehicles (not multicopters). If positive loiter clockwise, else counter-clockwise.m
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            4 (Xtrack Location)Loiter circle exit location and/or path to next waypoint ("xtrack") for forward-only moving vehicles (not multicopters). 0 for the vehicle to converge towards the center xtrack when it leaves the loiter (the line between the centers of the current and next waypoint), 1 to converge to the direct line between the location that the vehicle exits the loiter radius and the next waypoint. Otherwise the angle (in degrees) between the tangent of the loiter circle and the center xtrack at which the vehicle must leave the loiter (and converge to the center xtrack). NaN to use the current system default xtrack behaviour.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            5 (Latitude)Latitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            6 (Longitude)Longitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            7 (Altitude)Altitudem

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_NAV_RETURN_TO_LAUNCH (20)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Return to launch location

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Param (Label)Description
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            2Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            3Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            4Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            5Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            6Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            7Empty

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_NAV_LAND (21)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Land at location.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Param (Label)DescriptionValuesUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1 (Abort Alt)Minimum target altitude if landing is aborted (0 = undefined/use system default).m
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            2 (Land Mode)Precision land mode.PRECISION_LAND_MODE
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            3Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            4 (Yaw Angle)Desired yaw angle. NaN to use the current system yaw heading mode (e.g. yaw towards next waypoint, yaw to home, etc.).deg
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            5 (Latitude)Latitude.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            6 (Longitude)Longitude.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            7 (Altitude)Landing altitude (ground level in current frame).m

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_NAV_TAKEOFF (22)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Takeoff from ground / hand. Vehicles that support multiple takeoff modes (e.g. VTOL quadplane) should take off using the currently configured mode.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Param (Label)DescriptionUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1 (Pitch)Minimum pitch (if airspeed sensor present), desired pitch without sensordeg
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            2Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            3Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            4 (Yaw)Yaw angle (if magnetometer present), ignored without magnetometer. NaN to use the current system yaw heading mode (e.g. yaw towards next waypoint, yaw to home, etc.).deg
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            5 (Latitude)Latitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            6 (Longitude)Longitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            7 (Altitude)Altitudem

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_NAV_LAND_LOCAL (23)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Land at local position (local frame only)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Param (Label)DescriptionValuesUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1 (Target)Landing target number (if available)min: 0 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            2 (Offset)Maximum accepted offset from desired landing position - computed magnitude from spherical coordinates: d = sqrt(x^2 + y^2 + z^2), which gives the maximum accepted distance between the desired landing position and the position where the vehicle is about to landmin: 0m
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            3 (Descend Rate)Landing descend ratem/s
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            4 (Yaw)Desired yaw anglerad
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            5 (Y Position)Y-axis positionm
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            6 (X Position)X-axis positionm
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            7 (Z Position)Z-axis / ground level positionm

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_NAV_TAKEOFF_LOCAL (24)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Takeoff from local position (local frame only)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Param (Label)DescriptionUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1 (Pitch)Minimum pitch (if airspeed sensor present), desired pitch without sensorrad
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            2Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            3 (Ascend Rate)Takeoff ascend ratem/s
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            4 (Yaw)Yaw angle (if magnetometer or another yaw estimation source present), ignored without one of theserad
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            5 (Y Position)Y-axis positionm
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            6 (X Position)X-axis positionm
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            7 (Z Position)Z-axis positionm

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_NAV_FOLLOW (25)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Vehicle following, i.e. this waypoint represents the position of a moving vehicle

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Param (Label)DescriptionValuesUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1 (Following)Following logic to use (e.g. loitering or sinusoidal following) - depends on specific autopilot implementationinc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            2 (Ground Speed)Ground speed of vehicle to be followedm/s
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            3 (Radius)Radius around waypoint. If positive loiter clockwise, else counter-clockwisem
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            4 (Yaw)Desired yaw angle.deg
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            5 (Latitude)Latitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            6 (Longitude)Longitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            7 (Altitude)Altitudem

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_NAV_CONTINUE_AND_CHANGE_ALT (30)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Continue on the current course and climb/descend to specified altitude. When the altitude is reached continue to the next command (i.e., don't proceed to the next command until the desired altitude is reached.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Param (Label)DescriptionValuesUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1 (Action)Climb or Descend (0 = Neutral, command completes when within 5m of this command's altitude, 1 = Climbing, command completes when at or above this command's altitude, 2 = Descending, command completes when at or below this command's altitude.min: 0 max: 2 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            2Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            3Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            4Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            5Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            6Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            7 (Altitude)Desired altitudem

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_NAV_LOITER_TO_ALT (31)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Begin loiter at the specified Latitude and Longitude. If Lat=Lon=0, then loiter at the current position. Don't consider the navigation command complete (don't leave loiter) until the altitude has been reached. Additionally, if the Heading Required parameter is non-zero the aircraft will not leave the loiter until heading toward the next waypoint.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Param (Label)DescriptionValuesUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1 (Heading Required)Leave loiter circle only once heading towards the next waypoint (0 = False)min: 0 max: 1 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            2 (Radius)Loiter radius around waypoint for forward-only moving vehicles (not multicopters). If positive loiter clockwise, negative counter-clockwise, 0 means no change to standard loiter.m
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            3Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            4 (Xtrack Location)Loiter circle exit location and/or path to next waypoint ("xtrack") for forward-only moving vehicles (not multicopters). 0 for the vehicle to converge towards the center xtrack when it leaves the loiter (the line between the centers of the current and next waypoint), 1 to converge to the direct line between the location that the vehicle exits the loiter radius and the next waypoint. Otherwise the angle (in degrees) between the tangent of the loiter circle and the center xtrack at which the vehicle must leave the loiter (and converge to the center xtrack). NaN to use the current system default xtrack behaviour.min: 0 max: 1 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            5 (Latitude)Latitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            6 (Longitude)Longitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            7 (Altitude)Altitudem

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_DO_FOLLOW (32)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Begin following a target

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Param (Label)DescriptionValuesUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1 (System ID)System ID (of the FOLLOW_TARGET beacon). Send 0 to disable follow-me and return to the default position hold mode.min: 0 max: 255 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            2Reserved
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            3Reserved
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            4 (Altitude Mode)Altitude mode: 0: Keep current altitude, 1: keep altitude difference to target, 2: go to a fixed altitude above home.min: 0 max: 2 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            5 (Altitude)Altitude above home. (used if mode=2)m
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            6Reserved
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            7 (Time to Land)Time to land in which the MAV should go to the default position hold mode after a message RX timeout.min: 0s

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_DO_FOLLOW_REPOSITION (33)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Reposition the MAV after a follow target command has been sent

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Param (Label)DescriptionUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1 (Camera Q1)Camera q1 (where 0 is on the ray from the camera to the tracking device)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            2 (Camera Q2)Camera q2
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            3 (Camera Q3)Camera q3
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            4 (Camera Q4)Camera q4
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            5 (Altitude Offset)altitude offset from targetm
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            6 (X Offset)X offset from targetm
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            7 (Y Offset)Y offset from targetm

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_DO_ORBIT (34) — [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Start orbiting on the circumference of a circle defined by the parameters. Setting values to NaN/INT32_MAX (as appropriate) results in using defaults.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Param (Label)DescriptionValuesUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1 (Radius)Radius of the circle. Positive: orbit clockwise. Negative: orbit counter-clockwise. NaN: Use vehicle default radius, or current radius if already orbiting.m
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            2 (Velocity)Tangential Velocity. NaN: Use vehicle default velocity, or current velocity if already orbiting.m/s
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            3 (Yaw Behavior)Yaw behavior of the vehicle.ORBIT_YAW_BEHAVIOUR
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            4 (Orbits)Orbit around the centre point for this many radians (i.e. for a three-quarter orbit set 270*Pi/180). 0: Orbit forever. NaN: Use vehicle default, or current value if already orbiting.min: 0rad
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            5 (Latitude/X)Center point latitude (if no MAV_FRAME specified) / X coordinate according to MAV_FRAME. INT32_MAX (or NaN if sent in COMMAND_LONG): Use current vehicle position, or current center if already orbiting.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            6 (Longitude/Y)Center point longitude (if no MAV_FRAME specified) / Y coordinate according to MAV_FRAME. INT32_MAX (or NaN if sent in COMMAND_LONG): Use current vehicle position, or current center if already orbiting.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            7 (Altitude/Z)Center point altitude (MSL) (if no MAV_FRAME specified) / Z coordinate according to MAV_FRAME. NaN: Use current vehicle altitude.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_NAV_ROI (80) — [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            DEPRECATED: Replaced By MAVCMD_DO_SET_ROI* (2018-01)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Sets the region of interest (ROI) for a sensor set or the vehicle itself. This can then be used by the vehicle's control system to control the vehicle attitude and the attitude of various sensors such as cameras.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1 (ROI Mode)Region of interest mode.MAV_ROI
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            2 (WP Index)Waypoint index/ target ID. (see MAV_ROI enum)min: 0 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            3 (ROI Index)ROI index (allows a vehicle to manage multiple ROI's)min: 0 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            4Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            5 (X)x the location of the fixed ROI (see MAV_FRAME)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            6 (Y)y
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            7 (Z)z

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_NAV_PATHPLANNING (81)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Control autonomous path planning on the MAV.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Param (Label)DescriptionValuesUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1 (Local Ctrl)0: Disable local obstacle avoidance / local path planning (without resetting map), 1: Enable local path planning, 2: Enable and reset local path planningmin: 0 max: 2 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            2 (Global Ctrl)0: Disable full path planning (without resetting map), 1: Enable, 2: Enable and reset map/occupancy grid, 3: Enable and reset planned route, but not occupancy gridmin: 0 max: 3 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            3Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            4 (Yaw)Yaw angle at goaldeg
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            5 (Latitude/X)Latitude/X of goal
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            6 (Longitude/Y)Longitude/Y of goal
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            7 (Altitude/Z)Altitude/Z of goal

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_NAV_SPLINE_WAYPOINT (82)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Navigate to waypoint using a spline path.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Param (Label)DescriptionValuesUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1 (Hold)Hold time. (ignored by fixed wing, time to stay at waypoint for rotary wing)min: 0s
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            2Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            3Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            4Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            5 (Latitude/X)Latitude/X of goal
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            6 (Longitude/Y)Longitude/Y of goal
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            7 (Altitude/Z)Altitude/Z of goal

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_NAV_VTOL_TAKEOFF (84)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Takeoff from ground using VTOL mode, and transition to forward flight with specified heading. The command should be ignored by vehicles that dont support both VTOL and fixed-wing flight (multicopters, boats,etc.).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Param (Label)DescriptionValuesUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            2 (Transition Heading)Front transition heading.VTOL_TRANSITION_HEADING
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            3Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            4 (Yaw Angle)Yaw angle. NaN to use the current system yaw heading mode (e.g. yaw towards next waypoint, yaw to home, etc.).deg
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            5 (Latitude)Latitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            6 (Longitude)Longitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            7 (Altitude)Altitudem

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_NAV_VTOL_LAND (85)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Land using VTOL mode

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Param (Label)DescriptionValuesUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1 (Land Options)Landing behaviour.NAV_VTOL_LAND_OPTIONS
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            2Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            3 (Approach Altitude)Approach altitude (with the same reference as the Altitude field). NaN if unspecified.m
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            4 (Yaw)Yaw angle. NaN to use the current system yaw heading mode (e.g. yaw towards next waypoint, yaw to home, etc.).deg
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            5 (Latitude)Latitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            6 (Longitude)Longitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            7 (Ground Altitude)Altitude (ground level) relative to the current coordinate frame. NaN to use system default landing altitude (ignore value).m

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_NAV_GUIDED_ENABLE (92)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            hand control over to an external controller

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1 (Enable)On / Off (> 0.5f on)min: 0 max: 1 inc: 1
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_NAV_DELAY (93)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Delay the next navigation command a number of seconds or until a specified time

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Param (Label)DescriptionValuesUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1 (Delay)Delay (-1 to enable time-of-day fields)min: -1 inc: 1s
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            2 (Hour)hour (24h format, UTC, -1 to ignore)min: -1 max: 23 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            3 (Minute)minute (24h format, UTC, -1 to ignore)min: -1 max: 59 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            4 (Second)second (24h format, UTC, -1 to ignore)min: -1 max: 59 inc: 1
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_NAV_PAYLOAD_PLACE (94)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Descend and place payload. Vehicle moves to specified location, descends until it detects a hanging payload has reached the ground, and then releases the payload. If ground is not detected before the reaching the maximum descent value (param1), the command will complete without releasing the payload.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Param (Label)DescriptionValuesUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1 (Max Descent)Maximum distance to descend.min: 0m
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            2Empty
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            5 (Latitude)Latitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            6 (Longitude)Longitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            7 (Altitude)Altitudem

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_NAV_LAST (95)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            NOP - This command is only used to mark the upper limit of the NAV/ACTION commands in the enumeration

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Param (Label)Description
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            2Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            3Empty
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            7Empty

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_CONDITION_DELAY (112)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Delay mission state machine.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Param (Label)DescriptionValuesUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1 (Delay)Delaymin: 0s
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_CONDITION_CHANGE_ALT (113)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Ascend/descend to target altitude at specified rate. Delay mission state machine until desired altitude reached.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Param (Label)DescriptionUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1 (Rate)Descent / Ascend rate.m/s
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            2Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            3Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            4Empty
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            7 (Altitude)Target Altitudem

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_CONDITION_DISTANCE (114)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Delay mission state machine until within desired distance of next NAV point.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Param (Label)DescriptionValuesUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1 (Distance)Distance.min: 0m
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_CONDITION_YAW (115)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Reach a certain target angle.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Param (Label)DescriptionValuesUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1 (Angle)target angle [0-360]. Absolute angles: 0 is north. Relative angle: 0 is initial yaw. Direction set by param3.min: 0 max: 360deg
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            2 (Angular Speed)angular speedmin: 0deg/s
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            3 (Direction)direction: -1: counter clockwise, 0: shortest direction, 1: clockwisemin: -1 max: 1 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            4 (Relative)0: absolute angle, 1: relative offsetmin: 0 max: 1 inc: 1
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_CONDITION_LAST (159)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            NOP - This command is only used to mark the upper limit of the CONDITION commands in the enumeration

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Param (Label)Description
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            2Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            3Empty
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_DO_SET_MODE (176)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Set system mode.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1 (Mode)ModeMAV_MODE
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            2 (Custom Mode)Custom mode - this is system specific, please refer to the individual autopilot specifications for details.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            3 (Custom Submode)Custom sub mode - this is system specific, please refer to the individual autopilot specifications for details.
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_DO_JUMP (177)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Jump to the desired command in the mission list. Repeat this action only the specified number of times

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1 (Number)Sequence numbermin: 0 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            2 (Repeat)Repeat countmin: 0 inc: 1
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_DO_CHANGE_SPEED (178)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Change speed and/or throttle set points. The value persists until it is overridden or there is a mode change

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Param (Label)DescriptionValuesUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1 (Speed Type)Speed type of value set in param2 (such as airspeed, ground speed, and so on)SPEED_TYPE
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            2 (Speed)Speed (-1 indicates no change, -2 indicates return to default vehicle speed)min: -2m/s
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            3 (Throttle)Throttle (-1 indicates no change, -2 indicates return to default vehicle throttle value)min: -2%
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            4
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            5
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            6
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            7

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_DO_SET_HOME (179)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Sets the home position to either to the current position or a specified position. The home position is the default position that the system will return to and land on. The position is set automatically by the system during the takeoff (and may also be set using this command). Note: the current home position may be emitted in a HOME_POSITION message on request (using MAV_CMD_REQUEST_MESSAGE with param1=242).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Param (Label)DescriptionValuesUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1 (Use Current)Use current (1=use current location, 0=use specified location)min: 0 max: 1 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            2 (Roll)Roll angle (of surface). Range: -180..180 degrees. NAN or 0 means value not set. 0.01 indicates zero roll.min: -180 max: 180deg
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            3 (Pitch)Pitch angle (of surface). Range: -90..90 degrees. NAN or 0 means value not set. 0.01 means zero pitch.min: -90 max: 90deg
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            4 (Yaw)Yaw angle. NaN to use default heading. Range: -180..180 degrees.min: -180 max: 180deg
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            5 (Latitude)Latitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            6 (Longitude)Longitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            7 (Altitude)Altitudem

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_DO_SET_PARAMETER (180) — [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            DEPRECATED: Replaced By PARAM_SET (2024-04)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Set a system parameter. Caution! Use of this command requires knowledge of the numeric enumeration value of the parameter.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1 (Number)Parameter numbermin: 0 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            2 (Value)Parameter value
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_DO_SET_RELAY (181)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Set a relay to a condition.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1 (Instance)Relay instance number.min: 0 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            2 (Setting)Setting. (1=on, 0=off, others possible depending on system hardware)min: 0 inc: 1
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_DO_REPEAT_RELAY (182)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Cycle a relay on and off for a desired number of cycles with a desired period.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Param (Label)DescriptionValuesUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1 (Instance)Relay instance number.min: 0 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            2 (Count)Cycle count.min: 1 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            3 (Time)Cycle time.min: 0s
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_DO_SET_SERVO (183)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Set a servo to a desired PWM value.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Param (Label)DescriptionValuesUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1 (Instance)Servo instance number.min: 0 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            2 (PWM)Pulse Width Modulation.min: 0 inc: 1us
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_DO_REPEAT_SERVO (184)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Cycle a between its nominal setting and a desired PWM for a desired number of cycles with a desired period.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Param (Label)DescriptionValuesUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1 (Instance)Servo instance number.min: 0 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            2 (PWM)Pulse Width Modulation.min: 0 inc: 1us
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            3 (Count)Cycle count.min: 1 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            4 (Time)Cycle time.min: 0s
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_DO_FLIGHTTERMINATION (185)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Terminate flight immediately.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Flight termination immediately and irreversibly terminates the current flight, returning the vehicle to ground. The vehicle will ignore RC or other input until it has been power-cycled. Termination may trigger safety measures, including: disabling motors and deployment of parachute on multicopters, and setting flight surfaces to initiate a landing pattern on fixed-wing). On multicopters without a parachute it may trigger a crash landing. Support for this command can be tested using the protocol bit: MAV_PROTOCOL_CAPABILITY_FLIGHT_TERMINATION. Support for this command can also be tested by sending the command with param1=0 (< 0.5); the ACK should be either MAV_RESULT_FAILED or MAV_RESULT_UNSUPPORTED.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1 (Terminate)Flight termination activated if > 0.5. Otherwise not activated and ACK with MAV_RESULT_FAILED.min: 0 max: 1 inc: 1
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_DO_CHANGE_ALTITUDE (186)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Change altitude set point.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Param (Label)DescriptionValuesUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1 (Altitude)Altitude.m
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            2 (Frame)Frame of new altitude.MAV_FRAME
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_DO_SET_ACTUATOR (187)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Sets actuators (e.g. servos) to a desired value. The actuator numbers are mapped to specific outputs (e.g. on any MAIN or AUX PWM or UAVCAN) using a flight-stack specific mechanism (i.e. a parameter).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1 (Actuator 1)Actuator 1 value, scaled from [-1 to 1]. NaN to ignore.min: -1 max: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            2 (Actuator 2)Actuator 2 value, scaled from [-1 to 1]. NaN to ignore.min: -1 max: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            3 (Actuator 3)Actuator 3 value, scaled from [-1 to 1]. NaN to ignore.min: -1 max: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            4 (Actuator 4)Actuator 4 value, scaled from [-1 to 1]. NaN to ignore.min: -1 max: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            5 (Actuator 5)Actuator 5 value, scaled from [-1 to 1]. NaN to ignore.min: -1 max: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            6 (Actuator 6)Actuator 6 value, scaled from [-1 to 1]. NaN to ignore.min: -1 max: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            7 (Index)Index of actuator set (i.e if set to 1, Actuator 1 becomes Actuator 7)min: 0 inc: 1

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_DO_RETURN_PATH_START (188) — [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Mission item to specify the start of a failsafe/landing return-path segment (the end of the segment is the next MAV_CMD_DO_LAND_START item).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            A vehicle that is using missions for landing (e.g. in a return mode) will join the mission on the closest path of the return-path segment (instead of MAV_CMD_DO_LAND_START or the nearest waypoint). The main use case is to minimize the failsafe flight path in corridor missions, where the inbound/outbound paths are constrained (by geofences) to the same particular path. The MAV_CMD_NAV_RETURN_PATH_START would be placed at the start of the return path. If a failsafe occurs on the outbound path the vehicle will move to the nearest point on the return path (which is parallel for this kind of mission), effectively turning round and following the shortest path to landing. If a failsafe occurs on the inbound path the vehicle is already on the return segment and will continue to landing. The Latitude/Longitude/Altitude are optional, and may be set to 0 if not needed. If specified, the item defines the waypoint at which the return segment starts. If sent using as a command, the vehicle will perform a mission landing (using the land segment if defined) or reject the command if mission landings are not supported, or no mission landing is defined. When used as a command any position information in the command is ignored.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Param (Label)DescriptionUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            2Empty
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            5 (Latitude)Latitudee. 0: not used.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            6 (Longitude)Longitudee. 0: not used.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            7 (Altitude)Altitudee. 0: not used.m

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_DO_LAND_START (189)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Mission command to perform a landing. This is used as a marker in a mission to tell the autopilot where a sequence of mission items that represents a landing starts.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            It may also be sent via a COMMAND_LONG to trigger a landing, in which case the nearest (geographically) landing sequence in the mission will be used. The Latitude/Longitude/Altitude is optional, and may be set to 0 if not needed. If specified then it will be used to help find the closest landing sequence.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Param (Label)DescriptionUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1Empty
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            5 (Latitude)Latitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            6 (Longitude)Longitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            7 (Altitude)Altitudem

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_DO_RALLY_LAND (190)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Mission command to perform a landing from a rally point.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Param (Label)DescriptionUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1 (Altitude)Break altitudem
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            2 (Speed)Landing speedm/s
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_DO_GO_AROUND (191)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Mission command to safely abort an autonomous landing.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Param (Label)DescriptionUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1 (Altitude)Altitudem
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_DO_REPOSITION (192)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Reposition the vehicle to a specific WGS84 global position. This command is intended for guided commands (for missions use MAV_CMD_NAV_WAYPOINT instead).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Param (Label)DescriptionValuesUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1 (Speed)Ground speed, less than 0 (-1) for defaultmin: -1m/s
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            2 (Bitmask)Bitmask of option flags.MAV_DO_REPOSITION_FLAGS
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            3 (Radius)Loiter radius for planes. Positive values only, direction is controlled by Yaw value. A value of zero or NaN is ignored.m
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            4 (Yaw)Yaw heading. NaN to use the current system yaw heading mode (e.g. yaw towards next waypoint, yaw to home, etc.). For planes indicates loiter direction (0: clockwise, 1: counter clockwise)deg
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            5 (Latitude)Latitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            6 (Longitude)Longitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            7 (Altitude)Altitudem

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_DO_PAUSE_CONTINUE (193)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            If in a GPS controlled position mode, hold the current position or continue.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1 (Continue)0: Pause current mission or reposition command, hold current position. 1: Continue mission. A VTOL capable vehicle should enter hover mode (multicopter and VTOL planes). A plane should loiter with the default loiter radius.min: 0 max: 1 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            2Reserved
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_DO_SET_REVERSE (194)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Set moving direction to forward or reverse.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1 (Reverse)Direction (0=Forward, 1=Reverse)min: 0 max: 1 inc: 1
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_DO_SET_ROI_LOCATION (195)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Sets the region of interest (ROI) to a location. This can then be used by the vehicle's control system to control the vehicle attitude and the attitude of various sensors such as cameras. This command can be sent to a gimbal manager but not to a gimbal device. A gimbal is not to react to this message.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Param (Label)DescriptionUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1 (Gimbal device ID)Component ID of gimbal device to address (or 1-6 for non-MAVLink gimbal), 0 for all gimbal device components. Send command multiple times for more than one gimbal (but not all gimbals).
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            5 (Latitude)Latitude of ROI locationdegE7
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            6 (Longitude)Longitude of ROI locationdegE7
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            7 (Altitude)Altitude of ROI locationm

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_DO_SET_ROI_WPNEXT_OFFSET (196)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Sets the region of interest (ROI) to be toward next waypoint, with optional pitch/roll/yaw offset. This can then be used by the vehicle's control system to control the vehicle attitude and the attitude of various sensors such as cameras. This command can be sent to a gimbal manager but not to a gimbal device. A gimbal device is not to react to this message.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Param (Label)DescriptionUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1 (Gimbal device ID)Component ID of gimbal device to address (or 1-6 for non-MAVLink gimbal), 0 for all gimbal device components. Send command multiple times for more than one gimbal (but not all gimbals).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            2Empty
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            5 (Pitch Offset)Pitch offset from next waypoint, positive pitching updeg
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            6 (Roll Offset)Roll offset from next waypoint, positive rolling to the rightdeg
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            7 (Yaw Offset)Yaw offset from next waypoint, positive yawing to the rightdeg

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_DO_SET_ROI_NONE (197)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Cancels any previous ROI command returning the vehicle/sensors to default flight characteristics. This can then be used by the vehicle's control system to control the vehicle attitude and the attitude of various sensors such as cameras. This command can be sent to a gimbal manager but not to a gimbal device. A gimbal device is not to react to this message. After this command the gimbal manager should go back to manual input if available, and otherwise assume a neutral position.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Param (Label)Description
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1 (Gimbal device ID)Component ID of gimbal device to address (or 1-6 for non-MAVLink gimbal), 0 for all gimbal device components. Send command multiple times for more than one gimbal (but not all gimbals).
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_DO_SET_ROI_SYSID (198)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Mount tracks system with specified system ID. Determination of target vehicle position may be done with GLOBAL_POSITION_INT or any other means. This command can be sent to a gimbal manager but not to a gimbal device. A gimbal device is not to react to this message.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1 (System ID)System IDmin: 1 max: 255 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            2 (Gimbal device ID)Component ID of gimbal device to address (or 1-6 for non-MAVLink gimbal), 0 for all gimbal device components. Send command multiple times for more than one gimbal (but not all gimbals).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_DO_CONTROL_VIDEO (200)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Control onboard camera system.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Param (Label)DescriptionValuesUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1 (ID)Camera ID (-1 for all)min: -1 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            2 (Transmission)Transmission: 0: disabled, 1: enabled compressed, 2: enabled rawmin: 0 max: 2 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            3 (Interval)Transmission mode: 0: video stream, >0: single images every n secondsmin: 0s
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            4 (Recording)Recording: 0: disabled, 1: enabled compressed, 2: enabled rawmin: 0 max: 2 inc: 1
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_DO_SET_ROI (201) — [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            DEPRECATED: Replaced By MAVCMD_DO_SET_ROI* (2018-01)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Sets the region of interest (ROI) for a sensor set or the vehicle itself. This can then be used by the vehicle's control system to control the vehicle attitude and the attitude of various sensors such as cameras.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1 (ROI Mode)Region of interest mode.MAV_ROI
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            2 (WP Index)Waypoint index/ target ID (depends on param 1).min: 0 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            3 (ROI Index)Region of interest index. (allows a vehicle to manage multiple ROI's)min: 0 inc: 1
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            6MAV_ROI_WPNEXT: roll offset from next waypoint, MAV_ROI_LOCATION: longitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            7MAV_ROI_WPNEXT: yaw offset from next waypoint, MAV_ROI_LOCATION: altitude

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_DO_DIGICAM_CONFIGURE (202)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Configure digital camera. This is a fallback message for systems that have not yet implemented PARAM_EXT_XXX messages and camera definition files (see https://mavlink.io/en/services/camera_def.html ).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Param (Label)DescriptionValuesUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1 (Mode)Modes: P, TV, AV, M, Etc.min: 0 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            2 (Shutter Speed)Shutter speed: Divisor number for one second.min: 0 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            3 (Aperture)Aperture: F stop number.min: 0
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            4 (ISO)ISO number e.g. 80, 100, 200, Etc.min: 0 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            5 (Exposure)Exposure type enumerator.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            6 (Command Identity)Command Identity.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            7 (Engine Cut-off)Main engine cut-off time before camera trigger. (0 means no cut-off)min: 0 inc: 1ds

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_DO_DIGICAM_CONTROL (203)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Control digital camera. This is a fallback message for systems that have not yet implemented PARAM_EXT_XXX messages and camera definition files (see https://mavlink.io/en/services/camera_def.html ).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Param (Label)Description
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1 (Session Control)Session control e.g. show/hide lens
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            2 (Zoom Absolute)Zoom's absolute position
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            3 (Zoom Relative)Zooming step value to offset zoom from the current position
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            4 (Focus)Focus Locking, Unlocking or Re-locking
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            5 (Shoot Command)Shooting Command
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            6 (Command Identity)Command Identity
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            7 (Shot ID)Test shot identifier. If set to 1, image will only be captured, but not counted towards internal frame count.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_DO_MOUNT_CONFIGURE (204) — [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            DEPRECATED: Replaced By MAV_CMD_DO_GIMBAL_MANAGER_CONFIGURE (2020-01) — This message has been superseded by MAV_CMD_DO_GIMBAL_MANAGER_CONFIGURE. The message can still be used to communicate with legacy gimbals implementing it.)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Mission command to configure a camera or antenna mount

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1 (Mode)Mount operation modeMAV_MOUNT_MODE
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            2 (Stabilize Roll)stabilize roll? (1 = yes, 0 = no)min: 0 max: 1 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            3 (Stabilize Pitch)stabilize pitch? (1 = yes, 0 = no)min: 0 max: 1 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            4 (Stabilize Yaw)stabilize yaw? (1 = yes, 0 = no)min: 0 max: 1 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            5 (Roll Input Mode)roll input (0 = angle body frame, 1 = angular rate, 2 = angle absolute frame)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            6 (Pitch Input Mode)pitch input (0 = angle body frame, 1 = angular rate, 2 = angle absolute frame)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            7 (Yaw Input Mode)yaw input (0 = angle body frame, 1 = angular rate, 2 = angle absolute frame)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_DO_MOUNT_CONTROL (205) — [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            DEPRECATED: Replaced By MAV_CMD_DO_GIMBAL_MANAGER_PITCHYAW (2020-01) — This message is ambiguous and inconsistent. It has been superseded by MAV_CMD_DO_GIMBAL_MANAGER_PITCHYAW and MAVCMD_DO_SET_ROI* variants. The message can still be used to communicate with legacy gimbals implementing it.)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Mission command to control a camera or antenna mount

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Param (Label)DescriptionValuesUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1 (Pitch)pitch depending on mount mode (degrees or degrees/second depending on pitch input).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            2 (Roll)roll depending on mount mode (degrees or degrees/second depending on roll input).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            3 (Yaw)yaw depending on mount mode (degrees or degrees/second depending on yaw input).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            4 (Altitude)altitude depending on mount mode.m
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            5 (Latitude)latitude, set if appropriate mount mode.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            6 (Longitude)longitude, set if appropriate mount mode.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            7 (Mode)Mount mode.MAV_MOUNT_MODE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_DO_SET_CAM_TRIGG_DIST (206)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Mission command to set camera trigger distance for this flight. The camera is triggered each time this distance is exceeded. This command can also be used to set the shutter integration time for the camera.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Param (Label)DescriptionValuesUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1 (Distance)Camera trigger distance. 0 to stop triggering.min: 0m
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            2 (Shutter)Camera shutter integration time. -1 or 0 to ignoremin: -1 inc: 1ms
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            3 (Trigger)Trigger camera once immediately. (0 = no trigger, 1 = trigger)min: 0 max: 1 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            4 (Target Camera ID)Target camera ID. 7 to 255: MAVLink camera component id. 1 to 6 for cameras attached to the autopilot, which don't have a distinct component id. 0: all cameras. This is used to target specific autopilot-connected cameras. It is also used to target specific cameras when the MAV_CMD is used in a mission.min: 0 max: 255 inc: 1
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_DO_FENCE_ENABLE (207)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Enable the geofence. This can be used in a mission or via the command protocol. The persistence/lifetime of the setting is undefined. Depending on flight stack implementation it may persist until superseded, or it may revert to a system default at the end of a mission. Flight stacks typically reset the setting to system defaults on reboot.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1 (Enable)enable? (0=disable, 1=enable, 2=disable_floor_only)min: 0 max: 2 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            2 (Types)Fence types to enable or disable as a bitmask. A value of 0 indicates that all fences should be enabled or disabled. This parameter is ignored if param 1 has the value 2FENCE_TYPE
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_DO_PARACHUTE (208)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Mission item/command to release a parachute or enable/disable auto release.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1 (Action)ActionPARACHUTE_ACTION
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_DO_MOTOR_TEST (209)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Command to perform motor test.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Param (Label)DescriptionValuesUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1 (Instance)Motor instance number (from 1 to max number of motors on the vehicle).min: 1 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            2 (Throttle Type)Throttle type (whether the Throttle Value in param3 is a percentage, PWM value, etc.)MOTOR_TEST_THROTTLE_TYPE
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            3 (Throttle)Throttle value.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            4 (Timeout)Timeout between tests that are run in sequence.min: 0s
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            5 (Motor Count)Motor count. Number of motors to test in sequence: 0/1=one motor, 2= two motors, etc. The Timeout (param4) is used between tests.min: 0 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            6 (Test Order)Motor test order.MOTOR_TEST_ORDER
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_DO_INVERTED_FLIGHT (210)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Change to/from inverted flight.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1 (Inverted)Inverted flight. (0=normal, 1=inverted)min: 0 max: 1 inc: 1
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_DO_GRIPPER (211)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Mission command to operate a gripper.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1 (Instance)Gripper instance number.min: 1 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            2 (Action)Gripper action to perform.GRIPPER_ACTIONS
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_DO_AUTOTUNE_ENABLE (212)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Enable/disable autotune.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1 (Enable)Enable (1: enable, 0:disable).min: 0 max: 1 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            2 (Axis)Specify which axis are autotuned. 0 indicates autopilot default settings.AUTOTUNE_AXIS
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_NAV_SET_YAW_SPEED (213)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Sets a desired vehicle turn angle and speed change.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Param (Label)DescriptionValuesUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1 (Yaw)Yaw angle to adjust steering by.deg
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            2 (Speed)Speed.m/s
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            3 (Angle)Final angle. (0=absolute, 1=relative)min: 0 max: 1 inc: 1
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_DO_SET_CAM_TRIGG_INTERVAL (214)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Mission command to set camera trigger interval for this flight. If triggering is enabled, the camera is triggered each time this interval expires. This command can also be used to set the shutter integration time for the camera.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Param (Label)DescriptionValuesUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1 (Trigger Cycle)Camera trigger cycle time. -1 or 0 to ignore.min: -1 inc: 1ms
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            2 (Shutter Integration)Camera shutter integration time. Should be less than trigger cycle time. -1 or 0 to ignore.min: -1 inc: 1ms
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            3 (Target Camera ID)Target camera ID. 7 to 255: MAVLink camera component id. 1 to 6 for cameras attached to the autopilot, which don't have a distinct component id. 0: all cameras. This is used to target specific autopilot-connected cameras. It is also used to target specific cameras when the MAV_CMD is used in a mission.min: 0 max: 255 inc: 1
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_DO_MOUNT_CONTROL_QUAT (220) — [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            DEPRECATED: Replaced By MAV_CMD_DO_GIMBAL_MANAGER_PITCHYAW (2020-01)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Mission command to control a camera or antenna mount, using a quaternion as reference.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Param (Label)Description
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1 (Q1)quaternion param q1, w (1 in null-rotation)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            2 (Q2)quaternion param q2, x (0 in null-rotation)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            3 (Q3)quaternion param q3, y (0 in null-rotation)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            4 (Q4)quaternion param q4, z (0 in null-rotation)
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_DO_GUIDED_MASTER (221)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            set id of master controller

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1 (System ID)System IDmin: 0 max: 255 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            2 (Component ID)Component IDmin: 0 max: 255 inc: 1
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_DO_GUIDED_LIMITS (222)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Set limits for external control

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Param (Label)DescriptionValuesUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1 (Timeout)Timeout - maximum time that external controller will be allowed to control vehicle. 0 means no timeout.min: 0s
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            2 (Min Altitude)Altitude (MSL) min - if vehicle moves below this alt, the command will be aborted and the mission will continue. 0 means no lower altitude limit.m
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            3 (Max Altitude)Altitude (MSL) max - if vehicle moves above this alt, the command will be aborted and the mission will continue. 0 means no upper altitude limit.m
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            4 (Horiz. Move Limit)Horizontal move limit - if vehicle moves more than this distance from its location at the moment the command was executed, the command will be aborted and the mission will continue. 0 means no horizontal move limit.min: 0m
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_DO_ENGINE_CONTROL (223)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Control vehicle engine. This is interpreted by the vehicles engine controller to change the target engine state. It is intended for vehicles with internal combustion engines

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Param (Label)DescriptionValuesUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1 (Start Engine)0: Stop engine, 1:Start Enginemin: 0 max: 1 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            2 (Cold Start)0: Warm start, 1:Cold start. Controls use of choke where applicablemin: 0 max: 1 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            3 (Height Delay)Height delay. This is for commanding engine start only after the vehicle has gained the specified height. Used in VTOL vehicles during takeoff to start engine after the aircraft is off the ground. Zero for no delay.min: 0m
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_DO_SET_MISSION_CURRENT (224)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Set the mission item with sequence number seq as the current item and emit MISSION_CURRENT (whether or not the mission number changed). If a mission is currently being executed, the system will continue to this new mission item on the shortest path, skipping any intermediate mission items. Note that mission jump repeat counters are not reset unless param2 is set (see MAV_CMD_DO_JUMP param2).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            This command may trigger a mission state-machine change on some systems: for example from MISSION_STATE_NOT_STARTED or MISSION_STATE_PAUSED to MISSION_STATE_ACTIVE. If the system is in mission mode, on those systems this command might therefore start, restart or resume the mission. If the system is not in mission mode this command must not trigger a switch to mission mode.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            The mission may be "reset" using param2. Resetting sets jump counters to initial values (to reset counters without changing the current mission item set the param1 to -1). Resetting also explicitly changes a mission state of MISSION_STATE_COMPLETE to MISSION_STATE_PAUSED or MISSION_STATE_ACTIVE, potentially allowing it to resume when it is (next) in a mission mode.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            The command will ACK with MAV_RESULT_FAILED if the sequence number is out of range (including if there is no mission item).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1 (Number)Mission sequence value to set. -1 for the current mission item (use to reset mission without changing current mission item).min: -1 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            2 (Reset Mission)Resets mission. 1: true, 0: false. Resets jump counters to initial values and changes mission state "completed" to be "active" or "paused".min: 0 max: 1 inc: 1
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_DO_LAST (240)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            NOP - This command is only used to mark the upper limit of the DO commands in the enumeration

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Param (Label)Description
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_PREFLIGHT_CALIBRATION (241)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Trigger calibration. This command will be only accepted if in pre-flight mode. Except for Temperature Calibration, only one sensor should be set in a single message and all others should be zero.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1 (Gyro Temperature)1: gyro calibration, 3: gyro temperature calibrationmin: 0 max: 3 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            2 (Magnetometer)1: magnetometer calibrationmin: 0 max: 1 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            3 (Ground Pressure)1: ground pressure calibrationmin: 0 max: 1 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            4 (Remote Control)1: radio RC calibration, 2: RC trim calibrationmin: 0 max: 1 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            5 (Accelerometer)1: accelerometer calibration, 2: board level calibration, 3: accelerometer temperature calibration, 4: simple accelerometer calibrationmin: 0 max: 4 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            6 (Compmot or Airspeed)1: APM: compass/motor interference calibration (PX4: airspeed calibration, deprecated), 2: airspeed calibrationmin: 0 max: 2 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            7 (ESC or Baro)1: ESC calibration, 3: barometer temperature calibrationmin: 0 max: 3 inc: 1

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_PREFLIGHT_SET_SENSOR_OFFSETS (242)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Set sensor offsets. This command will be only accepted if in pre-flight mode.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1 (Sensor Type)Sensor to adjust the offsets for: 0: gyros, 1: accelerometer, 2: magnetometer, 3: barometer, 4: optical flow, 5: second magnetometer, 6: third magnetometermin: 0 max: 6 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            2 (X Offset)X axis offset (or generic dimension 1), in the sensor's raw units
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            3 (Y Offset)Y axis offset (or generic dimension 2), in the sensor's raw units
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            4 (Z Offset)Z axis offset (or generic dimension 3), in the sensor's raw units
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            5 (4th Dimension)Generic dimension 4, in the sensor's raw units
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            6 (5th Dimension)Generic dimension 5, in the sensor's raw units
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            7 (6th Dimension)Generic dimension 6, in the sensor's raw units

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_PREFLIGHT_UAVCAN (243)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Trigger UAVCAN configuration (actuator ID assignment and direction mapping). Note that this maps to the legacy UAVCAN v0 function UAVCAN_ENUMERATE, which is intended to be executed just once during initial vehicle configuration (it is not a normal pre-flight command and has been poorly named).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Param (Label)Description
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1 (Actuator ID)1: Trigger actuator ID assignment and direction mapping. 0: Cancel command.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            2Reserved
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            3Reserved
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            4Reserved
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            5Reserved
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            6Reserved
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            7Reserved

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_PREFLIGHT_STORAGE (245)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Request storage of different parameter values and logs. This command will be only accepted if in pre-flight mode.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Param (Label)DescriptionValuesUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1 (Parameter Storage)Action to perform on the persistent parameter storagePREFLIGHT_STORAGE_PARAMETER_ACTION
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            2 (Mission Storage)Action to perform on the persistent mission storagePREFLIGHT_STORAGE_MISSION_ACTION
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            3 (Logging Rate)Onboard logging: 0: Ignore, 1: Start default rate logging, -1: Stop logging, > 1: logging rate (e.g. set to 1000 for 1000 Hz logging)min: -1 inc: 1Hz
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            4Reserved
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            5Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            6Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            7Empty

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN (246)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Request the reboot or shutdown of system components.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1 (Autopilot)0: Do nothing for autopilot, 1: Reboot autopilot, 2: Shutdown autopilot, 3: Reboot autopilot and keep it in the bootloader until upgraded.min: 0 max: 3 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            2 (Companion)0: Do nothing for onboard computer, 1: Reboot onboard computer, 2: Shutdown onboard computer, 3: Reboot onboard computer and keep it in the bootloader until upgraded.min: 0 max: 3 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            3 (Component action)0: Do nothing for component, 1: Reboot component, 2: Shutdown component, 3: Reboot component and keep it in the bootloader until upgradedmin: 0 max: 3 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            4 (Component ID)MAVLink Component ID targeted in param3 (0 for all components).min: 0 max: 255 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            5Reserved (set to 0)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            6Reserved (set to 0)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            7WIP: ID (e.g. camera ID -1 for all IDs)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_OVERRIDE_GOTO (252)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Override current mission with command to pause mission, pause mission and move to position, continue/resume mission. When param 1 indicates that the mission is paused (MAV_GOTO_DO_HOLD), param 2 defines whether it holds in place or moves to another position.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Param (Label)DescriptionValuesUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1 (Continue)MAV_GOTO_DO_HOLD: pause mission and either hold or move to specified position (depending on param2), MAV_GOTO_DO_CONTINUE: resume mission.MAV_GOTO
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            2 (Position)MAV_GOTO_HOLD_AT_CURRENT_POSITION: hold at current position, MAV_GOTO_HOLD_AT_SPECIFIED_POSITION: hold at specified position.MAV_GOTO
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            3 (Frame)Coordinate frame of hold point.MAV_FRAME
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            4 (Yaw)Desired yaw angle.deg
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            5 (Latitude/X)Latitude/X position.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            6 (Longitude/Y)Longitude/Y position.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            7 (Altitude/Z)Altitude/Z position.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_OBLIQUE_SURVEY (260)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Mission command to set a Camera Auto Mount Pivoting Oblique Survey (Replaces CAM_TRIGG_DIST for this purpose). The camera is triggered each time this distance is exceeded, then the mount moves to the next position. Params 4~6 set-up the angle limits and number of positions for oblique survey, where mount-enabled vehicles automatically roll the camera between shots to emulate an oblique camera setup (providing an increased HFOV). This command can also be used to set the shutter integration time for the camera.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Param (Label)DescriptionValuesUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1 (Distance)Camera trigger distance. 0 to stop triggering.min: 0m
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            2 (Shutter)Camera shutter integration time. 0 to ignoremin: 0 inc: 1ms
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            3 (Min Interval)The minimum interval in which the camera is capable of taking subsequent pictures repeatedly. 0 to ignore.min: 0 max: 10000 inc: 1ms
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            4 (Positions)Total number of roll positions at which the camera will capture photos (images captures spread evenly across the limits defined by param5).min: 2 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            5 (Roll Angle)Angle limits that the camera can be rolled to left and right of center.min: 0deg
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            6 (Pitch Angle)Fixed pitch angle that the camera will hold in oblique mode if the mount is actuated in the pitch axis.min: -180 max: 180deg
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            7Empty

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_MISSION_START (300)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            start running a mission

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1 (First Item)first_item: the first mission item to runmin: 0 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            2 (Last Item)last_item: the last mission item to run (after this item is run, the mission ends)min: 0 inc: 1

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_ACTUATOR_TEST (310)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Actuator testing command. This is similar to MAV_CMD_DO_MOTOR_TEST but operates on the level of output functions, i.e. it is possible to test Motor1 independent from which output it is configured on. Autopilots typically refuse this command while armed.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Param (Label)DescriptionValuesUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1 (Value)Output value: 1 means maximum positive output, 0 to center servos or minimum motor thrust (expected to spin), -1 for maximum negative (if not supported by the motors, i.e. motor is not reversible, smaller than 0 maps to NaN). And NaN maps to disarmed (stop the motors).min: -1 max: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            2 (Timeout)Timeout after which the test command expires and the output is restored to the previous value. A timeout has to be set for safety reasons. A timeout of 0 means to restore the previous value immediately.min: 0 max: 3s
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            3
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            4
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            5 (Output Function)Actuator Output functionACTUATOR_OUTPUT_FUNCTION
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            6
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            7

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_CONFIGURE_ACTUATOR (311)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Actuator configuration command.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1 (Configuration)Actuator configuration actionACTUATOR_CONFIGURATION
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            2
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            3
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            4
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            5 (Output Function)Actuator Output functionACTUATOR_OUTPUT_FUNCTION
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            6
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            7

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_COMPONENT_ARM_DISARM (400)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Arms / Disarms a component

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1 (Arm)0: disarm, 1: armmin: 0 max: 1 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            2 (Force)0: arm-disarm unless prevented by safety checks (i.e. when landed), 21196: force arming/disarming (e.g. allow arming to override preflight checks and disarming in flight)min: 0 max: 21196 inc: 21196

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_RUN_PREARM_CHECKS (401)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Instructs a target system to run pre-arm checks.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            This allows preflight checks to be run on demand, which may be useful on systems that normally run them at low rate, or which do not trigger checks when the armable state might have changed. This command should return MAV_RESULT_ACCEPTED if it will run the checks. The results of the checks are usually then reported in SYS_STATUS messages (this is system-specific). The command should return MAV_RESULT_TEMPORARILY_REJECTED if the system is already armed.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Param (Label)Description

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_ILLUMINATOR_ON_OFF (405)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Turns illuminators ON/OFF. An illuminator is a light source that is used for lighting up dark areas external to the system: e.g. a torch or searchlight (as opposed to a light source for illuminating the system itself, e.g. an indicator light).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1 (Enable)0: Illuminators OFF, 1: Illuminators ONmin: 0 max: 1 inc: 1

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_DO_ILLUMINATOR_CONFIGURE (406)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Configures illuminator settings. An illuminator is a light source that is used for lighting up dark areas external to the system: e.g. a torch or searchlight (as opposed to a light source for illuminating the system itself, e.g. an indicator light).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Param (Label)DescriptionValuesUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1 (Mode)ModeILLUMINATOR_MODE
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            2 (Brightness)0%: Off, 100%: Max Brightnessmin: 0 max: 100%
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            3 (Strobe Period)Strobe period in seconds where 0 means strobing is not usedmin: 0s
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            4 (Strobe Duty)Strobe duty cycle where 100% means it is on constantly and 0 means strobing is not usedmin: 0 max: 100%

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_GET_HOME_POSITION (410) — [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            DEPRECATED: Replaced By MAV_CMD_REQUEST_MESSAGE (2022-04)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Request the home position from the vehicle.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            The vehicle will ACK the command and then emit the HOME_POSITION message.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Param (Label)Description
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1Reserved
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            2Reserved
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            3Reserved
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            4Reserved
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            5Reserved
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            6Reserved
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            7Reserved

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_INJECT_FAILURE (420)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Inject artificial failure for testing purposes. Note that autopilots should implement an additional protection before accepting this command such as a specific param setting.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1 (Failure unit)The unit which is affected by the failure.FAILURE_UNIT
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            2 (Failure type)The type how the failure manifests itself.FAILURE_TYPE
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            3 (Instance)Instance affected by failure (0 to signal all).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_START_RX_PAIR (500)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Starts receiver pairing.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1 (RC Type)RC type.RC_TYPE
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            2 (RC Sub Type)RC sub type.RC_SUB_TYPE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_GET_MESSAGE_INTERVAL (510) — [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            DEPRECATED: Replaced By MAV_CMD_REQUEST_MESSAGE (2022-04)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Request the interval between messages for a particular MAVLink message ID. The receiver should ACK the command and then emit its response in a MESSAGE_INTERVAL message.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1 (Message ID)The MAVLink message IDmin: 0 max: 16777215 inc: 1

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_SET_MESSAGE_INTERVAL (511)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Set the interval between messages for a particular MAVLink message ID. This interface replaces REQUEST_DATA_STREAM.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Param (Label)DescriptionValuesUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1 (Message ID)The MAVLink message IDmin: 0 max: 16777215 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            2 (Interval)The interval between two messages. -1: disable. 0: request default rate (which may be zero).min: -1 inc: 1us
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            3 (Req Param 3)Use for index ID, if required. Otherwise, the use of this parameter (if any) must be defined in the requested message. By default assumed not used (0).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            4 (Req Param 4)The use of this parameter (if any), must be defined in the requested message. By default assumed not used (0).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            5 (Req Param 5)The use of this parameter (if any), must be defined in the requested message. By default assumed not used (0).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            6 (Req Param 6)The use of this parameter (if any), must be defined in the requested message. By default assumed not used (0).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            7 (Response Target)Target address of message stream (if message has target address fields). 0: Flight-stack default (recommended), 1: address of requestor, 2: broadcast.min: 0 max: 2 inc: 1

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_REQUEST_MESSAGE (512)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Request the target system(s) emit a single instance of a specified message (i.e. a "one-shot" version of MAV_CMD_SET_MESSAGE_INTERVAL).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1 (Message ID)The MAVLink message ID of the requested message.min: 0 max: 16777215 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            2 (Req Param 1)Use for index ID, if required. Otherwise, the use of this parameter (if any) must be defined in the requested message. By default assumed not used (0).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            3 (Req Param 2)The use of this parameter (if any), must be defined in the requested message. By default assumed not used (0).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            4 (Req Param 3)The use of this parameter (if any), must be defined in the requested message. By default assumed not used (0).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            5 (Req Param 4)The use of this parameter (if any), must be defined in the requested message. By default assumed not used (0).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            6 (Req Param 5)The use of this parameter (if any), must be defined in the requested message. By default assumed not used (0).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            7 (Response Target)Target address for requested message (if message has target address fields). 0: Flight-stack default, 1: address of requestor, 2: broadcast.min: 0 max: 2 inc: 1

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_REQUEST_PROTOCOL_VERSION (519) — [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            DEPRECATED: Replaced By MAV_CMD_REQUEST_MESSAGE (2019-08)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Request MAVLink protocol version compatibility. All receivers should ACK the command and then emit their capabilities in an PROTOCOL_VERSION message

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1 (Protocol)1: Request supported protocol versions by all nodes on the networkmin: 0 max: 1 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            2Reserved (all remaining params)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_REQUEST_AUTOPILOT_CAPABILITIES (520) — [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            DEPRECATED: Replaced By MAV_CMD_REQUEST_MESSAGE (2019-08)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Request autopilot capabilities. The receiver should ACK the command and then emit its capabilities in an AUTOPILOT_VERSION message

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1 (Version)1: Request autopilot versionmin: 0 max: 1 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            2Reserved (all remaining params)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_REQUEST_CAMERA_INFORMATION (521) — [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            DEPRECATED: Replaced By MAV_CMD_REQUEST_MESSAGE (2019-08)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Request camera information (CAMERA_INFORMATION).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1 (Capabilities)0: No action 1: Request camera capabilitiesmin: 0 max: 1 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            2Reserved (all remaining params)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_REQUEST_CAMERA_SETTINGS (522) — [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            DEPRECATED: Replaced By MAV_CMD_REQUEST_MESSAGE (2019-08)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Request camera settings (CAMERA_SETTINGS).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1 (Settings)0: No Action 1: Request camera settingsmin: 0 max: 1 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            2Reserved (all remaining params)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_REQUEST_STORAGE_INFORMATION (525) — [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            DEPRECATED: Replaced By MAV_CMD_REQUEST_MESSAGE (2019-08)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Request storage information (STORAGE_INFORMATION). Use the command's target_component to target a specific component's storage.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1 (Storage ID)Storage ID (0 for all, 1 for first, 2 for second, etc.)min: 0 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            2 (Information)0: No Action 1: Request storage informationmin: 0 max: 1 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            3Reserved (all remaining params)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_STORAGE_FORMAT (526)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Format a storage medium. Once format is complete, a STORAGE_INFORMATION message is sent. Use the command's target_component to target a specific component's storage.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1 (Storage ID)Storage ID (1 for first, 2 for second, etc.)min: 0 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            2 (Format)Format storage (and reset image log). 0: No action 1: Format storagemin: 0 max: 1 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            3 (Reset Image Log)Reset Image Log (without formatting storage medium). This will reset CAMERA_CAPTURE_STATUS.image_count and CAMERA_IMAGE_CAPTURED.image_index. 0: No action 1: Reset Image Logmin: 0 max: 1 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            4Reserved (all remaining params)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_REQUEST_CAMERA_CAPTURE_STATUS (527) — [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            DEPRECATED: Replaced By MAV_CMD_REQUEST_MESSAGE (2019-08)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Request camera capture status (CAMERA_CAPTURE_STATUS)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1 (Capture Status)0: No Action 1: Request camera capture statusmin: 0 max: 1 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            2Reserved (all remaining params)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_REQUEST_FLIGHT_INFORMATION (528) — [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            DEPRECATED: Replaced By MAV_CMD_REQUEST_MESSAGE (2019-08)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Request flight information (FLIGHT_INFORMATION)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1 (Flight Information)1: Request flight informationmin: 0 max: 1 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            2Reserved (all remaining params)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_RESET_CAMERA_SETTINGS (529)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Reset all camera settings to Factory Default

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1 (Reset)0: No Action 1: Reset all settingsmin: 0 max: 1 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            2 (Target Camera ID)Target camera ID. 7 to 255: MAVLink camera component id. 1 to 6 for cameras attached to the autopilot, which don't have a distinct component id. 0: all cameras. This is used to target specific autopilot-connected cameras. It is also used to target specific cameras when the MAV_CMD is used in a mission.min: 0 max: 255 inc: 1

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_SET_CAMERA_MODE (530)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Set camera running mode. Use NaN for reserved values. GCS will send a MAV_CMD_REQUEST_VIDEO_STREAM_STATUS command after a mode change if the camera supports video streaming.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1 (id)Target camera ID. 7 to 255: MAVLink camera component id. 1 to 6 for cameras attached to the autopilot, which don't have a distinct component id. 0: all cameras. This is used to target specific autopilot-connected cameras. It is also used to target specific cameras when the MAV_CMD is used in a mission.min: 0 max: 255 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            2 (Camera Mode)Camera modeCAMERA_MODE
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_SET_CAMERA_ZOOM (531)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Set camera zoom. Camera must respond with a CAMERA_SETTINGS message (on success).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1 (Zoom Type)Zoom typeCAMERA_ZOOM_TYPE
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            2 (Zoom Value)Zoom value. The range of valid values depend on the zoom type.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            3 (Target Camera ID)Target camera ID. 7 to 255: MAVLink camera component id. 1 to 6 for cameras attached to the autopilot, which don't have a distinct component id. 0: all cameras. This is used to target specific autopilot-connected cameras. It is also used to target specific cameras when the MAV_CMD is used in a mission.min: 0 max: 255 inc: 1
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_SET_CAMERA_FOCUS (532)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Set camera focus. Camera must respond with a CAMERA_SETTINGS message (on success).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1 (Focus Type)Focus typeSET_FOCUS_TYPE
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            2 (Focus Value)Focus value
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            3 (Target Camera ID)Target camera ID. 7 to 255: MAVLink camera component id. 1 to 6 for cameras attached to the autopilot, which don't have a distinct component id. 0: all cameras. This is used to target specific autopilot-connected cameras. It is also used to target specific cameras when the MAV_CMD is used in a mission.min: 0 max: 255 inc: 1
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_SET_STORAGE_USAGE (533)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Set that a particular storage is the preferred location for saving photos, videos, and/or other media (e.g. to set that an SD card is used for storing videos).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            There can only be one preferred save location for each particular media type: setting a media usage flag will clear/reset that same flag if set on any other storage. If no flag is set the system should use its default storage. A target system can choose to always use default storage, in which case it should ACK the command with MAV_RESULT_UNSUPPORTED. A target system can choose to not allow a particular storage to be set as preferred storage, in which case it should ACK the command with MAV_RESULT_DENIED.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1 (Storage ID)Storage ID (1 for first, 2 for second, etc.)min: 0 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            2 (Usage)Usage flagsSTORAGE_USAGE_FLAG

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_SET_CAMERA_SOURCE (534)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Set camera source. Changes the camera's active sources on cameras with multiple image sensors.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1 (device id)Component Id of camera to address or 1-6 for non-MAVLink cameras, 0 for all cameras.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            2 (primary source)Primary SourceCAMERA_SOURCE
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            3 (secondary source)Secondary Source. If non-zero the second source will be displayed as picture-in-picture.CAMERA_SOURCE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_JUMP_TAG (600)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Tagged jump target. Can be jumped to with MAV_CMD_DO_JUMP_TAG.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1 (Tag)Tag.min: 0 inc: 1

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_DO_JUMP_TAG (601)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Jump to the matching tag in the mission list. Repeat this action for the specified number of times. A mission should contain a single matching tag for each jump. If this is not the case then a jump to a missing tag should complete the mission, and a jump where there are multiple matching tags should always select the one with the lowest mission sequence number.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1 (Tag)Target tag to jump to.min: 0 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            2 (Repeat)Repeat count.min: 0 inc: 1

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_DO_GIMBAL_MANAGER_PITCHYAW (1000)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Set gimbal manager pitch/yaw setpoints (low rate command). It is possible to set combinations of the values below. E.g. an angle as well as a desired angular rate can be used to get to this angle at a certain angular rate, or an angular rate only will result in continuous turning. NaN is to be used to signal unset. Note: only the gimbal manager will react to this command - it will be ignored by a gimbal device. Use GIMBAL_MANAGER_SET_PITCHYAW if you need to stream pitch/yaw setpoints at higher rate.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Param (Label)DescriptionValuesUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1 (Pitch angle)Pitch angle (positive to pitch up, relative to vehicle for FOLLOW mode, relative to world horizon for LOCK mode).min: -180 max: 180deg
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            2 (Yaw angle)Yaw angle (positive to yaw to the right, relative to vehicle for FOLLOW mode, absolute to North for LOCK mode).min: -180 max: 180deg
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            3 (Pitch rate)Pitch rate (positive to pitch up).deg/s
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            4 (Yaw rate)Yaw rate (positive to yaw to the right).deg/s
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            5 (Gimbal manager flags)Gimbal manager flags to use.GIMBAL_MANAGER_FLAGS
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            7 (Gimbal device ID)Component ID of gimbal device to address (or 1-6 for non-MAVLink gimbal), 0 for all gimbal device components. Send command multiple times for more than one gimbal (but not all gimbals).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_DO_GIMBAL_MANAGER_CONFIGURE (1001)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Gimbal configuration to set which sysid/compid is in primary and secondary control.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Param (Label)Description
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1 (sysid primary control)Sysid for primary control (0: no one in control, -1: leave unchanged, -2: set itself in control (for missions where the own sysid is still unknown), -3: remove control if currently in control).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            2 (compid primary control)Compid for primary control (0: no one in control, -1: leave unchanged, -2: set itself in control (for missions where the own sysid is still unknown), -3: remove control if currently in control).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            3 (sysid secondary control)Sysid for secondary control (0: no one in control, -1: leave unchanged, -2: set itself in control (for missions where the own sysid is still unknown), -3: remove control if currently in control).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            4 (compid secondary control)Compid for secondary control (0: no one in control, -1: leave unchanged, -2: set itself in control (for missions where the own sysid is still unknown), -3: remove control if currently in control).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            7 (Gimbal device ID)Component ID of gimbal device to address (or 1-6 for non-MAVLink gimbal), 0 for all gimbal device components. Send command multiple times for more than one gimbal (but not all gimbals).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_IMAGE_START_CAPTURE (2000)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Start image capture sequence. CAMERA_IMAGE_CAPTURED must be emitted after each capture.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Param1 (id) may be used to specify the target camera: 0: all cameras, 1 to 6: autopilot-connected cameras, 7-255: MAVLink camera component ID. It is needed in order to target specific cameras connected to the autopilot, or specific sensors in a multi-sensor camera (neither of which have a distinct MAVLink component ID). It is also needed to specify the target camera in missions.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            When used in a mission, an autopilot should execute the MAV_CMD for a specified local camera (param1 = 1-6), or resend it as a command if it is intended for a MAVLink camera (param1 = 7 - 255), setting the command's target_component as the param1 value (and setting param1 in the command to zero). If the param1 is 0 the autopilot should do both.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            When sent in a command the target MAVLink address is set using target_component. If addressed specifically to an autopilot: param1 should be used in the same way as it is for missions (though command should NACK with MAV_RESULT_DENIED if a specified local camera does not exist). If addressed to a MAVLink camera, param 1 can be used to address all cameras (0), or to separately address 1 to 7 individual sensors. Other values should be NACKed with MAV_RESULT_DENIED. If the command is broadcast (target_component is 0) then param 1 should be set to 0 (any other value should be NACKED with MAV_RESULT_DENIED). An autopilot would trigger any local cameras and forward the command to all channels.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Param (Label)DescriptionValuesUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1 (Target Camera ID)Target camera ID. 7 to 255: MAVLink camera component id. 1 to 6 for cameras attached to the autopilot, which don't have a distinct component id. 0: all cameras. This is used to target specific autopilot-connected cameras. It is also used to target specific cameras when the MAV_CMD is used in a mission.min: 0 max: 255 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            2 (Interval)Desired elapsed time between two consecutive pictures (in seconds). Minimum values depend on hardware (typically greater than 2 seconds).min: 0s
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            3 (Total Images)Total number of images to capture. 0 to capture forever/until MAV_CMD_IMAGE_STOP_CAPTURE.min: 0 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            4 (Sequence Number)Capture sequence number starting from 1. This is only valid for single-capture (param3 == 1), otherwise set to 0. Increment the capture ID for each capture command to prevent double captures when a command is re-transmitted.min: 1 inc: 1
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_IMAGE_STOP_CAPTURE (2001)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Stop image capture sequence.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Param1 (id) may be used to specify the target camera: 0: all cameras, 1 to 6: autopilot-connected cameras, 7-255: MAVLink camera component ID. It is needed in order to target specific cameras connected to the autopilot, or specific sensors in a multi-sensor camera (neither of which have a distinct MAVLink component ID). It is also needed to specify the target camera in missions.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            When used in a mission, an autopilot should execute the MAV_CMD for a specified local camera (param1 = 1-6), or resend it as a command if it is intended for a MAVLink camera (param1 = 7 - 255), setting the command's target_component as the param1 value (and setting param1 in the command to zero). If the param1 is 0 the autopilot should do both.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            When sent in a command the target MAVLink address is set using target_component. If addressed specifically to an autopilot: param1 should be used in the same way as it is for missions (though command should NACK with MAV_RESULT_DENIED if a specified local camera does not exist). If addressed to a MAVLink camera, param1 can be used to address all cameras (0), or to separately address 1 to 7 individual sensors. Other values should be NACKed with MAV_RESULT_DENIED. If the command is broadcast (target_component is 0) then param 1 should be set to 0 (any other value should be NACKED with MAV_RESULT_DENIED). An autopilot would trigger any local cameras and forward the command to all channels.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1 (Target Camera ID)Target camera ID. 7 to 255: MAVLink camera component id. 1 to 6 for cameras attached to the autopilot, which don't have a distinct component id. 0: all cameras. This is used to target specific autopilot-connected cameras. It is also used to target specific cameras when the MAV_CMD is used in a mission.min: 0 max: 255 inc: 1
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_REQUEST_CAMERA_IMAGE_CAPTURE (2002) — [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            DEPRECATED: Replaced By MAV_CMD_REQUEST_MESSAGE (2019-08)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Re-request a CAMERA_IMAGE_CAPTURED message.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1 (Number)Sequence number for missing CAMERA_IMAGE_CAPTURED messagemin: 0 inc: 1
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_DO_TRIGGER_CONTROL (2003)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Enable or disable on-board camera triggering system.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1 (Enable)Trigger enable/disable (0 for disable, 1 for start), -1 to ignoremin: -1 max: 1 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            2 (Reset)1 to reset the trigger sequence, -1 or 0 to ignoremin: -1 max: 1 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            3 (Pause)1 to pause triggering, but without switching the camera off or retracting it. -1 to ignoremin: -1 max: 1 inc: 2
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            4 (Target Camera ID)Target camera ID. 7 to 255: MAVLink camera component id. 1 to 6 for cameras attached to the autopilot, which don't have a distinct component id. 0: all cameras. This is used to target specific autopilot-connected cameras. It is also used to target specific cameras when the MAV_CMD is used in a mission.min: 0 max: 255 inc: 1

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_CAMERA_TRACK_POINT (2004)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            If the camera supports point visual tracking (CAMERA_CAP_FLAGS_HAS_TRACKING_POINT is set), this command allows to initiate the tracking.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1 (Point x)Point to track x value (normalized 0..1, 0 is left, 1 is right).min: 0 max: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            2 (Point y)Point to track y value (normalized 0..1, 0 is top, 1 is bottom).min: 0 max: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            3 (Radius)Point radius (normalized 0..1, 0 is one pixel, 1 is full image width).min: 0 max: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            4 (Target Camera ID)Target camera ID. 7 to 255: MAVLink camera component id. 1 to 6 for cameras attached to the autopilot, which don't have a distinct component id. 0: all cameras. This is used to target specific autopilot-connected cameras. It is also used to target specific cameras when the MAV_CMD is used in a mission.min: 0 max: 255 inc: 1

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_CAMERA_TRACK_RECTANGLE (2005)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            If the camera supports rectangle visual tracking (CAMERA_CAP_FLAGS_HAS_TRACKING_RECTANGLE is set), this command allows to initiate the tracking.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1 (Top left corner x)Top left corner of rectangle x value (normalized 0..1, 0 is left, 1 is right).min: 0 max: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            2 (Top left corner y)Top left corner of rectangle y value (normalized 0..1, 0 is top, 1 is bottom).min: 0 max: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            3 (Bottom right corner x)Bottom right corner of rectangle x value (normalized 0..1, 0 is left, 1 is right).min: 0 max: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            4 (Bottom right corner y)Bottom right corner of rectangle y value (normalized 0..1, 0 is top, 1 is bottom).min: 0 max: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            5 (Target Camera ID)Target camera ID. 7 to 255: MAVLink camera component id. 1 to 6 for cameras attached to the autopilot, which don't have a distinct component id. 0: all cameras. This is used to target specific autopilot-connected cameras. It is also used to target specific cameras when the MAV_CMD is used in a mission.min: 0 max: 255 inc: 1

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_CAMERA_STOP_TRACKING (2010)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Stops ongoing tracking.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1 (Target Camera ID)Target camera ID. 7 to 255: MAVLink camera component id. 1 to 6 for cameras attached to the autopilot, which don't have a distinct component id. 0: all cameras. This is used to target specific autopilot-connected cameras. It is also used to target specific cameras when the MAV_CMD is used in a mission.min: 0 max: 255 inc: 1

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_VIDEO_START_CAPTURE (2500)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Starts video capture (recording).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Param (Label)DescriptionValuesUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1 (Stream ID)Video Stream ID (0 for all streams)min: 0 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            2 (Status Frequency)Frequency CAMERA_CAPTURE_STATUS messages should be sent while recording (0 for no messages, otherwise frequency)min: 0Hz
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            3 (Target Camera ID)Target camera ID. 7 to 255: MAVLink camera component id. 1 to 6 for cameras attached to the autopilot, which don't have a distinct component id. 0: all cameras. This is used to target specific autopilot-connected cameras. It is also used to target specific cameras when the MAV_CMD is used in a mission.min: 0 max: 255 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            4
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            5
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            6
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            7

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_VIDEO_STOP_CAPTURE (2501)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Stop the current video capture (recording).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1 (Stream ID)Video Stream ID (0 for all streams)min: 0 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            2 (Target Camera ID)Target camera ID. 7 to 255: MAVLink camera component id. 1 to 6 for cameras attached to the autopilot, which don't have a distinct component id. 0: all cameras. This is used to target specific autopilot-connected cameras. It is also used to target specific cameras when the MAV_CMD is used in a mission.min: 0 max: 255 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            3
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            4
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            5
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            6
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            7

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_VIDEO_START_STREAMING (2502)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Start video streaming

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1 (Stream ID)Video Stream ID (0 for all streams, 1 for first, 2 for second, etc.)min: 0 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            2 (Target Camera ID)Target camera ID. 7 to 255: MAVLink camera component id. 1 to 6 for cameras attached to the autopilot, which don't have a distinct component id. 0: all cameras. This is used to target specific autopilot-connected cameras. It is also used to target specific cameras when the MAV_CMD is used in a mission.min: 0 max: 255 inc: 1

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_VIDEO_STOP_STREAMING (2503)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Stop the given video stream

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1 (Stream ID)Video Stream ID (0 for all streams, 1 for first, 2 for second, etc.)min: 0 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            2 (Target Camera ID)Target camera ID. 7 to 255: MAVLink camera component id. 1 to 6 for cameras attached to the autopilot, which don't have a distinct component id. 0: all cameras. This is used to target specific autopilot-connected cameras. It is also used to target specific cameras when the MAV_CMD is used in a mission.min: 0 max: 255 inc: 1

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_REQUEST_VIDEO_STREAM_INFORMATION (2504) — [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            DEPRECATED: Replaced By MAV_CMD_REQUEST_MESSAGE (2019-08)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Request video stream information (VIDEO_STREAM_INFORMATION)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1 (Stream ID)Video Stream ID (0 for all streams, 1 for first, 2 for second, etc.)min: 0 inc: 1

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_REQUEST_VIDEO_STREAM_STATUS (2505) — [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            DEPRECATED: Replaced By MAV_CMD_REQUEST_MESSAGE (2019-08)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Request video stream status (VIDEO_STREAM_STATUS)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1 (Stream ID)Video Stream ID (0 for all streams, 1 for first, 2 for second, etc.)min: 0 inc: 1

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_LOGGING_START (2510)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Request to start streaming logging data over MAVLink (see also LOGGING_DATA message)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1 (Format)Format: 0: ULogmin: 0 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            2Reserved (set to 0)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            3Reserved (set to 0)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            4Reserved (set to 0)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            5Reserved (set to 0)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            6Reserved (set to 0)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            7Reserved (set to 0)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_LOGGING_STOP (2511)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Request to stop streaming log data over MAVLink

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Param (Label)Description
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1Reserved (set to 0)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            2Reserved (set to 0)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            3Reserved (set to 0)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            4Reserved (set to 0)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            5Reserved (set to 0)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            6Reserved (set to 0)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            7Reserved (set to 0)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_AIRFRAME_CONFIGURATION (2520)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1 (Landing Gear ID)Landing gear ID (default: 0, -1 for all)min: -1 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            2 (Landing Gear Position)Landing gear position (Down: 0, Up: 1, NaN for no change)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            3
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            4
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            5
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            6
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            7

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_CONTROL_HIGH_LATENCY (2600)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Request to start/stop transmitting over the high latency telemetry

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1 (Enable)Control transmission over high latency telemetry (0: stop, 1: start)min: 0 max: 1 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            2Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            3Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            4Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            5Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            6Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            7Empty

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_PANORAMA_CREATE (2800)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Create a panorama at the current position

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Param (Label)DescriptionUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1 (Horizontal Angle)Viewing angle horizontal of the panorama (+- 0.5 the total angle)deg
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            2 (Vertical Angle)Viewing angle vertical of panorama.deg
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            3 (Horizontal Speed)Speed of the horizontal rotation.deg/s
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            4 (Vertical Speed)Speed of the vertical rotation.deg/s

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_DO_VTOL_TRANSITION (3000)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Request VTOL transition

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1 (State)The target VTOL state. For normal transitions, only MAV_VTOL_STATE_MC and MAV_VTOL_STATE_FW can be used.MAV_VTOL_STATE
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            2 (Immediate)Force immediate transition to the specified MAV_VTOL_STATE. 1: Force immediate, 0: normal transition. Can be used, for example, to trigger an emergency "Quadchute". Caution: Can be dangerous/damage vehicle, depending on autopilot implementation of this command.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_ARM_AUTHORIZATION_REQUEST (3001)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Request authorization to arm the vehicle to a external entity, the arm authorizer is responsible to request all data that is needs from the vehicle before authorize or deny the request.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            If approved the COMMAND_ACK message progress field should be set with period of time that this authorization is valid in seconds. If the authorization is denied COMMAND_ACK.result_param2 should be set with one of the reasons in ARM_AUTH_DENIED_REASON.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1 (System ID)Vehicle system id, this way ground station can request arm authorization on behalf of any vehiclemin: 0 max: 255 inc: 1

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_SET_GUIDED_SUBMODE_STANDARD (4000)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            This command sets the submode to standard guided when vehicle is in guided mode. The vehicle holds position and altitude and the user can input the desired velocities along all three axes.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Param (Label)Description

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_SET_GUIDED_SUBMODE_CIRCLE (4001)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            This command sets submode circle when vehicle is in guided mode. Vehicle flies along a circle facing the center of the circle. The user can input the velocity along the circle and change the radius. If no input is given the vehicle will hold position.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Param (Label)DescriptionUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1 (Radius)Radius of desired circle in CIRCLE_MODEm
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            2User defined
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            3User defined
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            4User defined
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            5 (Latitude)Target latitude of center of circle in CIRCLE_MODEdegE7
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            6 (Longitude)Target longitude of center of circle in CIRCLE_MODEdegE7

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_CONDITION_GATE (4501) — [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Delay mission state machine until gate has been reached.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Param (Label)DescriptionValuesUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1 (Geometry)Geometry: 0: orthogonal to path between previous and next waypoint.min: 0 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            2 (UseAltitude)Altitude: 0: ignore altitudemin: 0 max: 1 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            3Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            4Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            5 (Latitude)Latitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            6 (Longitude)Longitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            7 (Altitude)Altitudem

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_NAV_FENCE_RETURN_POINT (5000)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Fence return point (there can only be one such point in a geofence definition). If rally points are supported they should be used instead.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Param (Label)DescriptionUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1Reserved
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            2Reserved
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            3Reserved
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            4Reserved
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            5 (Latitude)Latitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            6 (Longitude)Longitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            7 (Altitude)Altitudem

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_NAV_FENCE_POLYGON_VERTEX_INCLUSION (5001)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Fence vertex for an inclusion polygon (the polygon must not be self-intersecting). The vehicle must stay within this area. Minimum of 3 vertices required.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1 (Vertex Count)Polygon vertex countmin: 3 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            2 (Inclusion Group)Vehicle must be inside ALL inclusion zones in a single group, vehicle must be inside at least one group, must be the same for all points in each polygonmin: 0 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            3Reserved
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            4Reserved
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            5 (Latitude)Latitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            6 (Longitude)Longitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            7Reserved

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_NAV_FENCE_POLYGON_VERTEX_EXCLUSION (5002)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Fence vertex for an exclusion polygon (the polygon must not be self-intersecting). The vehicle must stay outside this area. Minimum of 3 vertices required.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1 (Vertex Count)Polygon vertex countmin: 3 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            2Reserved
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            3Reserved
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            4Reserved
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            5 (Latitude)Latitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            6 (Longitude)Longitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            7Reserved

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_NAV_FENCE_CIRCLE_INCLUSION (5003)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Circular fence area. The vehicle must stay inside this area.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Param (Label)DescriptionValuesUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1 (Radius)Radius.m
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            2 (Inclusion Group)Vehicle must be inside ALL inclusion zones in a single group, vehicle must be inside at least one groupmin: 0 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            3Reserved
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            4Reserved
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            5 (Latitude)Latitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            6 (Longitude)Longitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            7Reserved

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_NAV_FENCE_CIRCLE_EXCLUSION (5004)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Circular fence area. The vehicle must stay outside this area.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Param (Label)DescriptionUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1 (Radius)Radius.m
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            2Reserved
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            3Reserved
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            4Reserved
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            5 (Latitude)Latitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            6 (Longitude)Longitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            7Reserved

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_NAV_RALLY_POINT (5100)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Rally point. You can have multiple rally points defined.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Param (Label)DescriptionUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1Reserved
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            2Reserved
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            3Reserved
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            4Reserved
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            5 (Latitude)Latitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            6 (Longitude)Longitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            7 (Altitude)Altitudem

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_UAVCAN_GET_NODE_INFO (5200)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Commands the vehicle to respond with a sequence of messages UAVCAN_NODE_INFO, one message per every UAVCAN node that is online. Note that some of the response messages can be lost, which the receiver can detect easily by checking whether every received UAVCAN_NODE_STATUS has a matching message UAVCAN_NODE_INFO received earlier; if not, this command should be sent again in order to request re-transmission of the node information messages.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Param (Label)Description
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1Reserved (set to 0)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            2Reserved (set to 0)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            3Reserved (set to 0)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            4Reserved (set to 0)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            5Reserved (set to 0)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            6Reserved (set to 0)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            7Reserved (set to 0)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_DO_SET_SAFETY_SWITCH_STATE (5300)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Change state of safety switch.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1 (Desired State)New safety switch state.SAFETY_SWITCH_STATE
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            2Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            3Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            4Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            5Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            6Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            7Empty.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_DO_ADSB_OUT_IDENT (10001)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Trigger the start of an ADSB-out IDENT. This should only be used when requested to do so by an Air Traffic Controller in controlled airspace. This starts the IDENT which is then typically held for 18 seconds by the hardware per the Mode A, C, and S transponder spec.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Param (Label)Description
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1Reserved (set to 0)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            2Reserved (set to 0)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            3Reserved (set to 0)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            4Reserved (set to 0)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            5Reserved (set to 0)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            6Reserved (set to 0)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            7Reserved (set to 0)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_PAYLOAD_PREPARE_DEPLOY (30001) — [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            DEPRECATED:(2021-06)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Deploy payload on a Lat / Lon / Alt position. This includes the navigation to reach the required release position and velocity.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Param (Label)DescriptionValuesUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1 (Operation Mode)Operation mode. 0: prepare single payload deploy (overwriting previous requests), but do not execute it. 1: execute payload deploy immediately (rejecting further deploy commands during execution, but allowing abort). 2: add payload deploy to existing deployment list.min: 0 max: 2 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            2 (Approach Vector)Desired approach vector in compass heading. A negative value indicates the system can define the approach vector at will.min: -1 max: 360deg
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            3 (Ground Speed)Desired ground speed at release time. This can be overridden by the airframe in case it needs to meet minimum airspeed. A negative value indicates the system can define the ground speed at will.min: -1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            4 (Altitude Clearance)Minimum altitude clearance to the release position. A negative value indicates the system can define the clearance at will.min: -1m
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            5 (Latitude)Latitude.degE7
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            6 (Longitude)Longitude.degE7
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            7 (Altitude)Altitude (MSL)m

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_PAYLOAD_CONTROL_DEPLOY (30002) — [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            DEPRECATED:(2021-06)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Control the payload deployment.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1 (Operation Mode)Operation mode. 0: Abort deployment, continue normal mission. 1: switch to payload deployment mode. 100: delete first payload deployment request. 101: delete all payload deployment requests.min: 0 max: 101 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            2Reserved
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            3Reserved
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            4Reserved
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            5Reserved
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            6Reserved
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            7Reserved

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_WAYPOINT_USER_1 (31000)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            User defined waypoint item. Ground Station will show the Vehicle as flying through this item.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Param (Label)DescriptionUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1User defined
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            2User defined
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            3User defined
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            4User defined
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            5 (Latitude)Latitude unscaled
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            6 (Longitude)Longitude unscaled
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            7 (Altitude)Altitude (MSL)m

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_WAYPOINT_USER_2 (31001)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            User defined waypoint item. Ground Station will show the Vehicle as flying through this item.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Param (Label)DescriptionUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1User defined
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            2User defined
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            3User defined
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            4User defined
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            5 (Latitude)Latitude unscaled
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            6 (Longitude)Longitude unscaled
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            7 (Altitude)Altitude (MSL)m

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_WAYPOINT_USER_3 (31002)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            User defined waypoint item. Ground Station will show the Vehicle as flying through this item.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Param (Label)DescriptionUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1User defined
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            2User defined
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            3User defined
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            4User defined
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            5 (Latitude)Latitude unscaled
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            6 (Longitude)Longitude unscaled
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            7 (Altitude)Altitude (MSL)m

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_WAYPOINT_USER_4 (31003)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            User defined waypoint item. Ground Station will show the Vehicle as flying through this item.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Param (Label)DescriptionUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1User defined
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            2User defined
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            3User defined
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            4User defined
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            5 (Latitude)Latitude unscaled
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            6 (Longitude)Longitude unscaled
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            7 (Altitude)Altitude (MSL)m

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_WAYPOINT_USER_5 (31004)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            User defined waypoint item. Ground Station will show the Vehicle as flying through this item.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Param (Label)DescriptionUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1User defined
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            2User defined
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            3User defined
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            4User defined
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            5 (Latitude)Latitude unscaled
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            6 (Longitude)Longitude unscaled
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            7 (Altitude)Altitude (MSL)m

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_SPATIAL_USER_1 (31005)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            User defined spatial item. Ground Station will not show the Vehicle as flying through this item. Example: ROI item.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Param (Label)DescriptionUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1User defined
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            2User defined
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            3User defined
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            4User defined
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            5 (Latitude)Latitude unscaled
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            6 (Longitude)Longitude unscaled
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            7 (Altitude)Altitude (MSL)m

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_SPATIAL_USER_2 (31006)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            User defined spatial item. Ground Station will not show the Vehicle as flying through this item. Example: ROI item.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Param (Label)DescriptionUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1User defined
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            2User defined
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            3User defined
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            4User defined
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            5 (Latitude)Latitude unscaled
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            6 (Longitude)Longitude unscaled
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            7 (Altitude)Altitude (MSL)m

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_SPATIAL_USER_3 (31007)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            User defined spatial item. Ground Station will not show the Vehicle as flying through this item. Example: ROI item.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Param (Label)DescriptionUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1User defined
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            2User defined
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            3User defined
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            4User defined
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            5 (Latitude)Latitude unscaled
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            6 (Longitude)Longitude unscaled
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            7 (Altitude)Altitude (MSL)m

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_SPATIAL_USER_4 (31008)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            User defined spatial item. Ground Station will not show the Vehicle as flying through this item. Example: ROI item.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Param (Label)DescriptionUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1User defined
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            2User defined
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            3User defined
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            4User defined
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            5 (Latitude)Latitude unscaled
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            6 (Longitude)Longitude unscaled
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            7 (Altitude)Altitude (MSL)m

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_SPATIAL_USER_5 (31009)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            User defined spatial item. Ground Station will not show the Vehicle as flying through this item. Example: ROI item.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Param (Label)DescriptionUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1User defined
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            2User defined
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            3User defined
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            4User defined
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            5 (Latitude)Latitude unscaled
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            6 (Longitude)Longitude unscaled
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            7 (Altitude)Altitude (MSL)m

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_USER_1 (31010)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            User defined command. Ground Station will not show the Vehicle as flying through this item. Example: MAV_CMD_DO_SET_PARAMETER item.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Param (Label)Description
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1User defined
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            2User defined
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            3User defined
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            4User defined
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            5User defined
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            6User defined
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            7User defined

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_USER_2 (31011)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            User defined command. Ground Station will not show the Vehicle as flying through this item. Example: MAV_CMD_DO_SET_PARAMETER item.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Param (Label)Description
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1User defined
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            2User defined
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            3User defined
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            4User defined
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            5User defined
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            6User defined
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            7User defined

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_USER_3 (31012)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            User defined command. Ground Station will not show the Vehicle as flying through this item. Example: MAV_CMD_DO_SET_PARAMETER item.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Param (Label)Description
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1User defined
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            2User defined
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            3User defined
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            4User defined
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            5User defined
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            6User defined
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            7User defined

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_USER_4 (31013)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            User defined command. Ground Station will not show the Vehicle as flying through this item. Example: MAV_CMD_DO_SET_PARAMETER item.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Param (Label)Description
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1User defined
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            2User defined
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            3User defined
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            4User defined
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            5User defined
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            6User defined
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            7User defined

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_USER_5 (31014)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            User defined command. Ground Station will not show the Vehicle as flying through this item. Example: MAV_CMD_DO_SET_PARAMETER item.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Param (Label)Description
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1User defined
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            2User defined
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            3User defined
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            4User defined
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            5User defined
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            6User defined
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            7User defined

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_CAN_FORWARD (32000)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Request forwarding of CAN packets from the given CAN bus to this component. CAN Frames are sent using CAN_FRAME and CANFD_FRAME messages

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Param (Label)Description
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1 (bus)Bus number (0 to disable forwarding, 1 for first bus, 2 for 2nd bus, 3 for 3rd bus).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            2Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            3Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            4Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            5Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            6Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            7Empty.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_FIXED_MAG_CAL_YAW (42006)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Magnetometer calibration based on provided known yaw. This allows for fast calibration using WMM field tables in the vehicle, given only the known yaw of the vehicle. If Latitude and longitude are both zero then use the current vehicle location.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Param (Label)DescriptionUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1 (Yaw)Yaw of vehicle in earth frame.deg
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            2 (CompassMask)CompassMask, 0 for all.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            3 (Latitude)Latitude.deg
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            4 (Longitude)Longitude.deg
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            5Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            6Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            7Empty.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_DO_WINCH (42600)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Command to operate winch.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Param (Label)DescriptionValuesUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1 (Instance)Winch instance number.min: 1 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            2 (Action)Action to perform.WINCH_ACTIONS
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            3 (Length)Length of line to release (negative to wind).m
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            4 (Rate)Release rate (negative to wind).m/s
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            5Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            6Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            7Empty.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_EXTERNAL_POSITION_ESTIMATE (43003)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Provide an external position estimate for use when dead-reckoning. This is meant to be used for occasional position resets that may be provided by a external system such as a remote pilot using landmarks over a video link.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Param (Label)DescriptionUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1 (transmission_time)Timestamp that this message was sent as a time in the transmitters time domain. The sender should wrap this time back to zero based on required timing accuracy for the application and the limitations of a 32 bit float. For example, wrapping at 10 hours would give approximately 1ms accuracy. Recipient must handle time wrap in any timing jitter correction applied to this field. Wrap rollover time should not be at not more than 250 seconds, which would give approximately 10 microsecond accuracy.s
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            2 (processing_time)The time spent in processing the sensor data that is the basis for this position. The recipient can use this to improve time alignment of the data. Set to zero if not known.s
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            3 (accuracy)estimated one standard deviation accuracy of the measurement. Set to NaN if not known.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            4Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            5 (Latitude)Latitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            6 (Longitude)Longitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            7 (Altitude)Altitude, not used. Should be sent as NaN. May be supported in a future version of this message.m

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            results matching ""

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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              \ No newline at end of file diff --git a/ko/messages/cubepilot.md b/ko/messages/cubepilot.md index 2a05e314a..43f6d580f 100644 --- a/ko/messages/cubepilot.md +++ b/ko/messages/cubepilot.md @@ -33,461 +33,13 @@ span.warning { | Type | Defined | Included | | -------------------------- | ------- | -------- | | [Messages](#messages) | 5 | 224 | -| [Enums](#enumerated-types) | 0 | 142 | +| [Enums](#enumerated-types) | 0 | 143 | | [Commands](#mav_commands) | 164 | 0 | The following sections list all entities in the dialect (both included and defined in this file). ## Messages -### HEARTBEAT (0) — \[from: [minimal](../messages/minimal.md#HEARTBEAT)\] {#HEARTBEAT} - -### SYS_STATUS (1) — \[from: [common](../messages/common.md#SYS_STATUS)\] {#SYS_STATUS} - -### SYSTEM_TIME (2) — \[from: [common](../messages/common.md#SYSTEM_TIME)\] {#SYSTEM_TIME} - -### PING (4) — \[from: [common](../messages/common.md#PING)\] [DEP] {#PING} - -### CHANGE_OPERATOR_CONTROL (5) — \[from: [common](../messages/common.md#CHANGE_OPERATOR_CONTROL)\] {#CHANGE_OPERATOR_CONTROL} - -### CHANGE_OPERATOR_CONTROL_ACK (6) — \[from: [common](../messages/common.md#CHANGE_OPERATOR_CONTROL_ACK)\] {#CHANGE_OPERATOR_CONTROL_ACK} - -### AUTH_KEY (7) — \[from: [common](../messages/common.md#AUTH_KEY)\] {#AUTH_KEY} - -### LINK_NODE_STATUS (8) — \[from: [common](../messages/common.md#LINK_NODE_STATUS)\] [WIP] {#LINK_NODE_STATUS} - -### SET_MODE (11) — \[from: [common](../messages/common.md#SET_MODE)\] [DEP] {#SET_MODE} - -### PARAM_REQUEST_READ (20) — \[from: [common](../messages/common.md#PARAM_REQUEST_READ)\] {#PARAM_REQUEST_READ} - -### PARAM_REQUEST_LIST (21) — \[from: [common](../messages/common.md#PARAM_REQUEST_LIST)\] {#PARAM_REQUEST_LIST} - -### PARAM_VALUE (22) — \[from: [common](../messages/common.md#PARAM_VALUE)\] {#PARAM_VALUE} - -### PARAM_SET (23) — \[from: [common](../messages/common.md#PARAM_SET)\] {#PARAM_SET} - -### GPS_RAW_INT (24) — \[from: [common](../messages/common.md#GPS_RAW_INT)\] {#GPS_RAW_INT} - -### GPS_STATUS (25) — \[from: [common](../messages/common.md#GPS_STATUS)\] {#GPS_STATUS} - -### SCALED_IMU (26) — \[from: [common](../messages/common.md#SCALED_IMU)\] {#SCALED_IMU} - -### RAW_IMU (27) — \[from: [common](../messages/common.md#RAW_IMU)\] {#RAW_IMU} - -### RAW_PRESSURE (28) — \[from: [common](../messages/common.md#RAW_PRESSURE)\] {#RAW_PRESSURE} - -### SCALED_PRESSURE (29) — \[from: [common](../messages/common.md#SCALED_PRESSURE)\] {#SCALED_PRESSURE} - -### ATTITUDE (30) — \[from: [common](../messages/common.md#ATTITUDE)\] {#ATTITUDE} - -### ATTITUDE_QUATERNION (31) — \[from: [common](../messages/common.md#ATTITUDE_QUATERNION)\] {#ATTITUDE_QUATERNION} - -### LOCAL_POSITION_NED (32) — \[from: [common](../messages/common.md#LOCAL_POSITION_NED)\] {#LOCAL_POSITION_NED} - -### GLOBAL_POSITION_INT (33) — \[from: [common](../messages/common.md#GLOBAL_POSITION_INT)\] {#GLOBAL_POSITION_INT} - -### RC_CHANNELS_SCALED (34) — \[from: [common](../messages/common.md#RC_CHANNELS_SCALED)\] {#RC_CHANNELS_SCALED} - -### RC_CHANNELS_RAW (35) — \[from: [common](../messages/common.md#RC_CHANNELS_RAW)\] {#RC_CHANNELS_RAW} - -### SERVO_OUTPUT_RAW (36) — \[from: [common](../messages/common.md#SERVO_OUTPUT_RAW)\] {#SERVO_OUTPUT_RAW} - -### MISSION_REQUEST_PARTIAL_LIST (37) — \[from: [common](../messages/common.md#MISSION_REQUEST_PARTIAL_LIST)\] {#MISSION_REQUEST_PARTIAL_LIST} - -### MISSION_WRITE_PARTIAL_LIST (38) — \[from: [common](../messages/common.md#MISSION_WRITE_PARTIAL_LIST)\] {#MISSION_WRITE_PARTIAL_LIST} - -### MISSION_ITEM (39) — \[from: [common](../messages/common.md#MISSION_ITEM)\] [DEP] {#MISSION_ITEM} - -### MISSION_REQUEST (40) — \[from: [common](../messages/common.md#MISSION_REQUEST)\] [DEP] {#MISSION_REQUEST} - -### MISSION_SET_CURRENT (41) — \[from: [common](../messages/common.md#MISSION_SET_CURRENT)\] [DEP] {#MISSION_SET_CURRENT} - -### MISSION_CURRENT (42) — \[from: [common](../messages/common.md#MISSION_CURRENT)\] {#MISSION_CURRENT} - -### MISSION_REQUEST_LIST (43) — \[from: [common](../messages/common.md#MISSION_REQUEST_LIST)\] {#MISSION_REQUEST_LIST} - -### MISSION_COUNT (44) — \[from: [common](../messages/common.md#MISSION_COUNT)\] {#MISSION_COUNT} - -### MISSION_CLEAR_ALL (45) — \[from: [common](../messages/common.md#MISSION_CLEAR_ALL)\] {#MISSION_CLEAR_ALL} - -### MISSION_ITEM_REACHED (46) — \[from: [common](../messages/common.md#MISSION_ITEM_REACHED)\] {#MISSION_ITEM_REACHED} - -### MISSION_ACK (47) — \[from: [common](../messages/common.md#MISSION_ACK)\] {#MISSION_ACK} - -### SET_GPS_GLOBAL_ORIGIN (48) — \[from: [common](../messages/common.md#SET_GPS_GLOBAL_ORIGIN)\] {#SET_GPS_GLOBAL_ORIGIN} - -### GPS_GLOBAL_ORIGIN (49) — \[from: [common](../messages/common.md#GPS_GLOBAL_ORIGIN)\] {#GPS_GLOBAL_ORIGIN} - -### PARAM_MAP_RC (50) — \[from: [common](../messages/common.md#PARAM_MAP_RC)\] {#PARAM_MAP_RC} - -### MISSION_REQUEST_INT (51) — \[from: [common](../messages/common.md#MISSION_REQUEST_INT)\] {#MISSION_REQUEST_INT} - -### SAFETY_SET_ALLOWED_AREA (54) — \[from: [common](../messages/common.md#SAFETY_SET_ALLOWED_AREA)\] {#SAFETY_SET_ALLOWED_AREA} - -### SAFETY_ALLOWED_AREA (55) — \[from: [common](../messages/common.md#SAFETY_ALLOWED_AREA)\] {#SAFETY_ALLOWED_AREA} - -### ATTITUDE_QUATERNION_COV (61) — \[from: [common](../messages/common.md#ATTITUDE_QUATERNION_COV)\] {#ATTITUDE_QUATERNION_COV} - -### NAV_CONTROLLER_OUTPUT (62) — \[from: [common](../messages/common.md#NAV_CONTROLLER_OUTPUT)\] {#NAV_CONTROLLER_OUTPUT} - -### GLOBAL_POSITION_INT_COV (63) — \[from: [common](../messages/common.md#GLOBAL_POSITION_INT_COV)\] {#GLOBAL_POSITION_INT_COV} - -### LOCAL_POSITION_NED_COV (64) — \[from: [common](../messages/common.md#LOCAL_POSITION_NED_COV)\] {#LOCAL_POSITION_NED_COV} - -### RC_CHANNELS (65) — \[from: [common](../messages/common.md#RC_CHANNELS)\] {#RC_CHANNELS} - -### REQUEST_DATA_STREAM (66) — \[from: [common](../messages/common.md#REQUEST_DATA_STREAM)\] [DEP] {#REQUEST_DATA_STREAM} - -### DATA_STREAM (67) — \[from: [common](../messages/common.md#DATA_STREAM)\] [DEP] {#DATA_STREAM} - -### MANUAL_CONTROL (69) — \[from: [common](../messages/common.md#MANUAL_CONTROL)\] {#MANUAL_CONTROL} - -### RC_CHANNELS_OVERRIDE (70) — \[from: [common](../messages/common.md#RC_CHANNELS_OVERRIDE)\] {#RC_CHANNELS_OVERRIDE} - -### MISSION_ITEM_INT (73) — \[from: [common](../messages/common.md#MISSION_ITEM_INT)\] {#MISSION_ITEM_INT} - -### VFR_HUD (74) — \[from: [common](../messages/common.md#VFR_HUD)\] {#VFR_HUD} - -### COMMAND_INT (75) — \[from: [common](../messages/common.md#COMMAND_INT)\] {#COMMAND_INT} - -### COMMAND_LONG (76) — \[from: [common](../messages/common.md#COMMAND_LONG)\] {#COMMAND_LONG} - -### COMMAND_ACK (77) — \[from: [common](../messages/common.md#COMMAND_ACK)\] {#COMMAND_ACK} - -### COMMAND_CANCEL (80) — \[from: [common](../messages/common.md#COMMAND_CANCEL)\] [WIP] {#COMMAND_CANCEL} - -### MANUAL_SETPOINT (81) — \[from: [common](../messages/common.md#MANUAL_SETPOINT)\] {#MANUAL_SETPOINT} - -### SET_ATTITUDE_TARGET (82) — \[from: [common](../messages/common.md#SET_ATTITUDE_TARGET)\] {#SET_ATTITUDE_TARGET} - -### ATTITUDE_TARGET (83) — \[from: [common](../messages/common.md#ATTITUDE_TARGET)\] {#ATTITUDE_TARGET} - -### SET_POSITION_TARGET_LOCAL_NED (84) — \[from: [common](../messages/common.md#SET_POSITION_TARGET_LOCAL_NED)\] {#SET_POSITION_TARGET_LOCAL_NED} - -### POSITION_TARGET_LOCAL_NED (85) — \[from: [common](../messages/common.md#POSITION_TARGET_LOCAL_NED)\] {#POSITION_TARGET_LOCAL_NED} - -### SET_POSITION_TARGET_GLOBAL_INT (86) — \[from: [common](../messages/common.md#SET_POSITION_TARGET_GLOBAL_INT)\] {#SET_POSITION_TARGET_GLOBAL_INT} - -### POSITION_TARGET_GLOBAL_INT (87) — \[from: [common](../messages/common.md#POSITION_TARGET_GLOBAL_INT)\] {#POSITION_TARGET_GLOBAL_INT} - -### LOCAL_POSITION_NED_SYSTEM_GLOBAL_OFFSET (89) — \[from: [common](../messages/common.md#LOCAL_POSITION_NED_SYSTEM_GLOBAL_OFFSET)\] {#LOCAL_POSITION_NED_SYSTEM_GLOBAL_OFFSET} - -### HIL_STATE (90) — \[from: [common](../messages/common.md#HIL_STATE)\] [DEP] {#HIL_STATE} - -### HIL_CONTROLS (91) — \[from: [common](../messages/common.md#HIL_CONTROLS)\] {#HIL_CONTROLS} - -### HIL_RC_INPUTS_RAW (92) — \[from: [common](../messages/common.md#HIL_RC_INPUTS_RAW)\] {#HIL_RC_INPUTS_RAW} - -### HIL_ACTUATOR_CONTROLS (93) — \[from: [common](../messages/common.md#HIL_ACTUATOR_CONTROLS)\] {#HIL_ACTUATOR_CONTROLS} - -### OPTICAL_FLOW (100) — \[from: [common](../messages/common.md#OPTICAL_FLOW)\] {#OPTICAL_FLOW} - -### GLOBAL_VISION_POSITION_ESTIMATE (101) — \[from: [common](../messages/common.md#GLOBAL_VISION_POSITION_ESTIMATE)\] {#GLOBAL_VISION_POSITION_ESTIMATE} - -### VISION_POSITION_ESTIMATE (102) — \[from: [common](../messages/common.md#VISION_POSITION_ESTIMATE)\] {#VISION_POSITION_ESTIMATE} - -### VISION_SPEED_ESTIMATE (103) — \[from: [common](../messages/common.md#VISION_SPEED_ESTIMATE)\] {#VISION_SPEED_ESTIMATE} - -### VICON_POSITION_ESTIMATE (104) — \[from: [common](../messages/common.md#VICON_POSITION_ESTIMATE)\] {#VICON_POSITION_ESTIMATE} - -### HIGHRES_IMU (105) — \[from: [common](../messages/common.md#HIGHRES_IMU)\] {#HIGHRES_IMU} - -### OPTICAL_FLOW_RAD (106) — \[from: [common](../messages/common.md#OPTICAL_FLOW_RAD)\] {#OPTICAL_FLOW_RAD} - -### HIL_SENSOR (107) — \[from: [common](../messages/common.md#HIL_SENSOR)\] {#HIL_SENSOR} - -### SIM_STATE (108) — \[from: [common](../messages/common.md#SIM_STATE)\] {#SIM_STATE} - -### RADIO_STATUS (109) — \[from: [common](../messages/common.md#RADIO_STATUS)\] {#RADIO_STATUS} - -### FILE_TRANSFER_PROTOCOL (110) — \[from: [common](../messages/common.md#FILE_TRANSFER_PROTOCOL)\] {#FILE_TRANSFER_PROTOCOL} - -### TIMESYNC (111) — \[from: [common](../messages/common.md#TIMESYNC)\] {#TIMESYNC} - -### CAMERA_TRIGGER (112) — \[from: [common](../messages/common.md#CAMERA_TRIGGER)\] {#CAMERA_TRIGGER} - -### HIL_GPS (113) — \[from: [common](../messages/common.md#HIL_GPS)\] {#HIL_GPS} - -### HIL_OPTICAL_FLOW (114) — \[from: [common](../messages/common.md#HIL_OPTICAL_FLOW)\] {#HIL_OPTICAL_FLOW} - -### HIL_STATE_QUATERNION (115) — \[from: [common](../messages/common.md#HIL_STATE_QUATERNION)\] {#HIL_STATE_QUATERNION} - -### SCALED_IMU2 (116) — \[from: [common](../messages/common.md#SCALED_IMU2)\] {#SCALED_IMU2} - -### LOG_REQUEST_LIST (117) — \[from: [common](../messages/common.md#LOG_REQUEST_LIST)\] {#LOG_REQUEST_LIST} - -### LOG_ENTRY (118) — \[from: [common](../messages/common.md#LOG_ENTRY)\] {#LOG_ENTRY} - -### LOG_REQUEST_DATA (119) — \[from: [common](../messages/common.md#LOG_REQUEST_DATA)\] {#LOG_REQUEST_DATA} - -### LOG_DATA (120) — \[from: [common](../messages/common.md#LOG_DATA)\] {#LOG_DATA} - -### LOG_ERASE (121) — \[from: [common](../messages/common.md#LOG_ERASE)\] {#LOG_ERASE} - -### LOG_REQUEST_END (122) — \[from: [common](../messages/common.md#LOG_REQUEST_END)\] {#LOG_REQUEST_END} - -### GPS_INJECT_DATA (123) — \[from: [common](../messages/common.md#GPS_INJECT_DATA)\] [DEP] {#GPS_INJECT_DATA} - -### GPS2_RAW (124) — \[from: [common](../messages/common.md#GPS2_RAW)\] {#GPS2_RAW} - -### POWER_STATUS (125) — \[from: [common](../messages/common.md#POWER_STATUS)\] {#POWER_STATUS} - -### SERIAL_CONTROL (126) — \[from: [common](../messages/common.md#SERIAL_CONTROL)\] {#SERIAL_CONTROL} - -### GPS_RTK (127) — \[from: [common](../messages/common.md#GPS_RTK)\] {#GPS_RTK} - -### GPS2_RTK (128) — \[from: [common](../messages/common.md#GPS2_RTK)\] {#GPS2_RTK} - -### SCALED_IMU3 (129) — \[from: [common](../messages/common.md#SCALED_IMU3)\] {#SCALED_IMU3} - -### DATA_TRANSMISSION_HANDSHAKE (130) — \[from: [common](../messages/common.md#DATA_TRANSMISSION_HANDSHAKE)\] {#DATA_TRANSMISSION_HANDSHAKE} - -### ENCAPSULATED_DATA (131) — \[from: [common](../messages/common.md#ENCAPSULATED_DATA)\] {#ENCAPSULATED_DATA} - -### DISTANCE_SENSOR (132) — \[from: [common](../messages/common.md#DISTANCE_SENSOR)\] {#DISTANCE_SENSOR} - -### TERRAIN_REQUEST (133) — \[from: [common](../messages/common.md#TERRAIN_REQUEST)\] {#TERRAIN_REQUEST} - -### TERRAIN_DATA (134) — \[from: [common](../messages/common.md#TERRAIN_DATA)\] {#TERRAIN_DATA} - -### TERRAIN_CHECK (135) — \[from: [common](../messages/common.md#TERRAIN_CHECK)\] {#TERRAIN_CHECK} - -### TERRAIN_REPORT (136) — \[from: [common](../messages/common.md#TERRAIN_REPORT)\] {#TERRAIN_REPORT} - -### SCALED_PRESSURE2 (137) — \[from: [common](../messages/common.md#SCALED_PRESSURE2)\] {#SCALED_PRESSURE2} - -### ATT_POS_MOCAP (138) — \[from: [common](../messages/common.md#ATT_POS_MOCAP)\] {#ATT_POS_MOCAP} - -### SET_ACTUATOR_CONTROL_TARGET (139) — \[from: [common](../messages/common.md#SET_ACTUATOR_CONTROL_TARGET)\] {#SET_ACTUATOR_CONTROL_TARGET} - -### ACTUATOR_CONTROL_TARGET (140) — \[from: [common](../messages/common.md#ACTUATOR_CONTROL_TARGET)\] {#ACTUATOR_CONTROL_TARGET} - -### ALTITUDE (141) — \[from: [common](../messages/common.md#ALTITUDE)\] {#ALTITUDE} - -### RESOURCE_REQUEST (142) — \[from: [common](../messages/common.md#RESOURCE_REQUEST)\] {#RESOURCE_REQUEST} - -### SCALED_PRESSURE3 (143) — \[from: [common](../messages/common.md#SCALED_PRESSURE3)\] {#SCALED_PRESSURE3} - -### FOLLOW_TARGET (144) — \[from: [common](../messages/common.md#FOLLOW_TARGET)\] {#FOLLOW_TARGET} - -### CONTROL_SYSTEM_STATE (146) — \[from: [common](../messages/common.md#CONTROL_SYSTEM_STATE)\] {#CONTROL_SYSTEM_STATE} - -### BATTERY_STATUS (147) — \[from: [common](../messages/common.md#BATTERY_STATUS)\] {#BATTERY_STATUS} - -### AUTOPILOT_VERSION (148) — \[from: [common](../messages/common.md#AUTOPILOT_VERSION)\] {#AUTOPILOT_VERSION} - -### LANDING_TARGET (149) — \[from: [common](../messages/common.md#LANDING_TARGET)\] {#LANDING_TARGET} - -### FENCE_STATUS (162) — \[from: [common](../messages/common.md#FENCE_STATUS)\] {#FENCE_STATUS} - -### MAG_CAL_REPORT (192) — \[from: [common](../messages/common.md#MAG_CAL_REPORT)\] {#MAG_CAL_REPORT} - -### EFI_STATUS (225) — \[from: [common](../messages/common.md#EFI_STATUS)\] {#EFI_STATUS} - -### ESTIMATOR_STATUS (230) — \[from: [common](../messages/common.md#ESTIMATOR_STATUS)\] {#ESTIMATOR_STATUS} - -### WIND_COV (231) — \[from: [common](../messages/common.md#WIND_COV)\] {#WIND_COV} - -### GPS_INPUT (232) — \[from: [common](../messages/common.md#GPS_INPUT)\] {#GPS_INPUT} - -### GPS_RTCM_DATA (233) — \[from: [common](../messages/common.md#GPS_RTCM_DATA)\] {#GPS_RTCM_DATA} - -### HIGH_LATENCY (234) — \[from: [common](../messages/common.md#HIGH_LATENCY)\] [DEP] {#HIGH_LATENCY} - -### HIGH_LATENCY2 (235) — \[from: [common](../messages/common.md#HIGH_LATENCY2)\] {#HIGH_LATENCY2} - -### VIBRATION (241) — \[from: [common](../messages/common.md#VIBRATION)\] {#VIBRATION} - -### HOME_POSITION (242) — \[from: [common](../messages/common.md#HOME_POSITION)\] {#HOME_POSITION} - -### SET_HOME_POSITION (243) — \[from: [common](../messages/common.md#SET_HOME_POSITION)\] [DEP] {#SET_HOME_POSITION} - -### MESSAGE_INTERVAL (244) — \[from: [common](../messages/common.md#MESSAGE_INTERVAL)\] {#MESSAGE_INTERVAL} - -### EXTENDED_SYS_STATE (245) — \[from: [common](../messages/common.md#EXTENDED_SYS_STATE)\] {#EXTENDED_SYS_STATE} - -### ADSB_VEHICLE (246) — \[from: [common](../messages/common.md#ADSB_VEHICLE)\] {#ADSB_VEHICLE} - -### COLLISION (247) — \[from: [common](../messages/common.md#COLLISION)\] {#COLLISION} - -### V2_EXTENSION (248) — \[from: [common](../messages/common.md#V2_EXTENSION)\] {#V2_EXTENSION} - -### MEMORY_VECT (249) — \[from: [common](../messages/common.md#MEMORY_VECT)\] {#MEMORY_VECT} - -### DEBUG_VECT (250) — \[from: [common](../messages/common.md#DEBUG_VECT)\] {#DEBUG_VECT} - -### NAMED_VALUE_FLOAT (251) — \[from: [common](../messages/common.md#NAMED_VALUE_FLOAT)\] {#NAMED_VALUE_FLOAT} - -### NAMED_VALUE_INT (252) — \[from: [common](../messages/common.md#NAMED_VALUE_INT)\] {#NAMED_VALUE_INT} - -### STATUSTEXT (253) — \[from: [common](../messages/common.md#STATUSTEXT)\] {#STATUSTEXT} - -### DEBUG (254) — \[from: [common](../messages/common.md#DEBUG)\] {#DEBUG} - -### SETUP_SIGNING (256) — \[from: [common](../messages/common.md#SETUP_SIGNING)\] {#SETUP_SIGNING} - -### BUTTON_CHANGE (257) — \[from: [common](../messages/common.md#BUTTON_CHANGE)\] {#BUTTON_CHANGE} - -### PLAY_TUNE (258) — \[from: [common](../messages/common.md#PLAY_TUNE)\] [DEP] {#PLAY_TUNE} - -### CAMERA_INFORMATION (259) — \[from: [common](../messages/common.md#CAMERA_INFORMATION)\] {#CAMERA_INFORMATION} - -### CAMERA_SETTINGS (260) — \[from: [common](../messages/common.md#CAMERA_SETTINGS)\] {#CAMERA_SETTINGS} - -### STORAGE_INFORMATION (261) — \[from: [common](../messages/common.md#STORAGE_INFORMATION)\] {#STORAGE_INFORMATION} - -### CAMERA_CAPTURE_STATUS (262) — \[from: [common](../messages/common.md#CAMERA_CAPTURE_STATUS)\] {#CAMERA_CAPTURE_STATUS} - -### CAMERA_IMAGE_CAPTURED (263) — \[from: [common](../messages/common.md#CAMERA_IMAGE_CAPTURED)\] {#CAMERA_IMAGE_CAPTURED} - -### FLIGHT_INFORMATION (264) — \[from: [common](../messages/common.md#FLIGHT_INFORMATION)\] {#FLIGHT_INFORMATION} - -### MOUNT_ORIENTATION (265) — \[from: [common](../messages/common.md#MOUNT_ORIENTATION)\] [DEP] {#MOUNT_ORIENTATION} - -### LOGGING_DATA (266) — \[from: [common](../messages/common.md#LOGGING_DATA)\] {#LOGGING_DATA} - -### LOGGING_DATA_ACKED (267) — \[from: [common](../messages/common.md#LOGGING_DATA_ACKED)\] {#LOGGING_DATA_ACKED} - -### LOGGING_ACK (268) — \[from: [common](../messages/common.md#LOGGING_ACK)\] {#LOGGING_ACK} - -### VIDEO_STREAM_INFORMATION (269) — \[from: [common](../messages/common.md#VIDEO_STREAM_INFORMATION)\] {#VIDEO_STREAM_INFORMATION} - -### VIDEO_STREAM_STATUS (270) — \[from: [common](../messages/common.md#VIDEO_STREAM_STATUS)\] {#VIDEO_STREAM_STATUS} - -### CAMERA_FOV_STATUS (271) — \[from: [common](../messages/common.md#CAMERA_FOV_STATUS)\] {#CAMERA_FOV_STATUS} - -### CAMERA_TRACKING_IMAGE_STATUS (275) — \[from: [common](../messages/common.md#CAMERA_TRACKING_IMAGE_STATUS)\] {#CAMERA_TRACKING_IMAGE_STATUS} - -### CAMERA_TRACKING_GEO_STATUS (276) — \[from: [common](../messages/common.md#CAMERA_TRACKING_GEO_STATUS)\] {#CAMERA_TRACKING_GEO_STATUS} - -### CAMERA_THERMAL_RANGE (277) — \[from: [common](../messages/common.md#CAMERA_THERMAL_RANGE)\] [WIP] {#CAMERA_THERMAL_RANGE} - -### GIMBAL_MANAGER_INFORMATION (280) — \[from: [common](../messages/common.md#GIMBAL_MANAGER_INFORMATION)\] {#GIMBAL_MANAGER_INFORMATION} - -### GIMBAL_MANAGER_STATUS (281) — \[from: [common](../messages/common.md#GIMBAL_MANAGER_STATUS)\] {#GIMBAL_MANAGER_STATUS} - -### GIMBAL_MANAGER_SET_ATTITUDE (282) — \[from: [common](../messages/common.md#GIMBAL_MANAGER_SET_ATTITUDE)\] {#GIMBAL_MANAGER_SET_ATTITUDE} - -### GIMBAL_DEVICE_INFORMATION (283) — \[from: [common](../messages/common.md#GIMBAL_DEVICE_INFORMATION)\] {#GIMBAL_DEVICE_INFORMATION} - -### GIMBAL_DEVICE_SET_ATTITUDE (284) — \[from: [common](../messages/common.md#GIMBAL_DEVICE_SET_ATTITUDE)\] {#GIMBAL_DEVICE_SET_ATTITUDE} - -### GIMBAL_DEVICE_ATTITUDE_STATUS (285) — \[from: [common](../messages/common.md#GIMBAL_DEVICE_ATTITUDE_STATUS)\] {#GIMBAL_DEVICE_ATTITUDE_STATUS} - -### AUTOPILOT_STATE_FOR_GIMBAL_DEVICE (286) — \[from: [common](../messages/common.md#AUTOPILOT_STATE_FOR_GIMBAL_DEVICE)\] {#AUTOPILOT_STATE_FOR_GIMBAL_DEVICE} - -### GIMBAL_MANAGER_SET_PITCHYAW (287) — \[from: [common](../messages/common.md#GIMBAL_MANAGER_SET_PITCHYAW)\] {#GIMBAL_MANAGER_SET_PITCHYAW} - -### GIMBAL_MANAGER_SET_MANUAL_CONTROL (288) — \[from: [common](../messages/common.md#GIMBAL_MANAGER_SET_MANUAL_CONTROL)\] {#GIMBAL_MANAGER_SET_MANUAL_CONTROL} - -### ESC_INFO (290) — \[from: [common](../messages/common.md#ESC_INFO)\] [WIP] {#ESC_INFO} - -### ESC_STATUS (291) — \[from: [common](../messages/common.md#ESC_STATUS)\] [WIP] {#ESC_STATUS} - -### WIFI_CONFIG_AP (299) — \[from: [common](../messages/common.md#WIFI_CONFIG_AP)\] {#WIFI_CONFIG_AP} - -### PROTOCOL_VERSION (300) — \[from: [minimal](../messages/minimal.md#PROTOCOL_VERSION)\] [WIP] {#PROTOCOL_VERSION} - -### AIS_VESSEL (301) — \[from: [common](../messages/common.md#AIS_VESSEL)\] {#AIS_VESSEL} - -### UAVCAN_NODE_STATUS (310) — \[from: [common](../messages/common.md#UAVCAN_NODE_STATUS)\] {#UAVCAN_NODE_STATUS} - -### UAVCAN_NODE_INFO (311) — \[from: [common](../messages/common.md#UAVCAN_NODE_INFO)\] {#UAVCAN_NODE_INFO} - -### PARAM_EXT_REQUEST_READ (320) — \[from: [common](../messages/common.md#PARAM_EXT_REQUEST_READ)\] {#PARAM_EXT_REQUEST_READ} - -### PARAM_EXT_REQUEST_LIST (321) — \[from: [common](../messages/common.md#PARAM_EXT_REQUEST_LIST)\] {#PARAM_EXT_REQUEST_LIST} - -### PARAM_EXT_VALUE (322) — \[from: [common](../messages/common.md#PARAM_EXT_VALUE)\] {#PARAM_EXT_VALUE} - -### PARAM_EXT_SET (323) — \[from: [common](../messages/common.md#PARAM_EXT_SET)\] {#PARAM_EXT_SET} - -### PARAM_EXT_ACK (324) — \[from: [common](../messages/common.md#PARAM_EXT_ACK)\] {#PARAM_EXT_ACK} - -### OBSTACLE_DISTANCE (330) — \[from: [common](../messages/common.md#OBSTACLE_DISTANCE)\] {#OBSTACLE_DISTANCE} - -### ODOMETRY (331) — \[from: [common](../messages/common.md#ODOMETRY)\] {#ODOMETRY} - -### TRAJECTORY_REPRESENTATION_WAYPOINTS (332) — \[from: [common](../messages/common.md#TRAJECTORY_REPRESENTATION_WAYPOINTS)\] {#TRAJECTORY_REPRESENTATION_WAYPOINTS} - -### TRAJECTORY_REPRESENTATION_BEZIER (333) — \[from: [common](../messages/common.md#TRAJECTORY_REPRESENTATION_BEZIER)\] {#TRAJECTORY_REPRESENTATION_BEZIER} - -### CELLULAR_STATUS (334) — \[from: [common](../messages/common.md#CELLULAR_STATUS)\] {#CELLULAR_STATUS} - -### ISBD_LINK_STATUS (335) — \[from: [common](../messages/common.md#ISBD_LINK_STATUS)\] {#ISBD_LINK_STATUS} - -### CELLULAR_CONFIG (336) — \[from: [common](../messages/common.md#CELLULAR_CONFIG)\] {#CELLULAR_CONFIG} - -### RAW_RPM (339) — \[from: [common](../messages/common.md#RAW_RPM)\] {#RAW_RPM} - -### UTM_GLOBAL_POSITION (340) — \[from: [common](../messages/common.md#UTM_GLOBAL_POSITION)\] {#UTM_GLOBAL_POSITION} - -### DEBUG_FLOAT_ARRAY (350) — \[from: [common](../messages/common.md#DEBUG_FLOAT_ARRAY)\] {#DEBUG_FLOAT_ARRAY} - -### ORBIT_EXECUTION_STATUS (360) — \[from: [common](../messages/common.md#ORBIT_EXECUTION_STATUS)\] [WIP] {#ORBIT_EXECUTION_STATUS} - -### BATTERY_INFO (370) — \[from: [common](../messages/common.md#BATTERY_INFO)\] [WIP] {#BATTERY_INFO} - -### GENERATOR_STATUS (373) — \[from: [common](../messages/common.md#GENERATOR_STATUS)\] {#GENERATOR_STATUS} - -### ACTUATOR_OUTPUT_STATUS (375) — \[from: [common](../messages/common.md#ACTUATOR_OUTPUT_STATUS)\] {#ACTUATOR_OUTPUT_STATUS} - -### TIME_ESTIMATE_TO_TARGET (380) — \[from: [common](../messages/common.md#TIME_ESTIMATE_TO_TARGET)\] [WIP] {#TIME_ESTIMATE_TO_TARGET} - -### TUNNEL (385) — \[from: [common](../messages/common.md#TUNNEL)\] {#TUNNEL} - -### CAN_FRAME (386) — \[from: [common](../messages/common.md#CAN_FRAME)\] {#CAN_FRAME} - -### CANFD_FRAME (387) — \[from: [common](../messages/common.md#CANFD_FRAME)\] {#CANFD_FRAME} - -### CAN_FILTER_MODIFY (388) — \[from: [common](../messages/common.md#CAN_FILTER_MODIFY)\] {#CAN_FILTER_MODIFY} - -### ONBOARD_COMPUTER_STATUS (390) — \[from: [common](../messages/common.md#ONBOARD_COMPUTER_STATUS)\] [WIP] {#ONBOARD_COMPUTER_STATUS} - -### COMPONENT_INFORMATION (395) — \[from: [common](../messages/common.md#COMPONENT_INFORMATION)\] [DEP] {#COMPONENT_INFORMATION} - -### COMPONENT_INFORMATION_BASIC (396) — \[from: [common](../messages/common.md#COMPONENT_INFORMATION_BASIC)\] {#COMPONENT_INFORMATION_BASIC} - -### COMPONENT_METADATA (397) — \[from: [common](../messages/common.md#COMPONENT_METADATA)\] [WIP] {#COMPONENT_METADATA} - -### PLAY_TUNE_V2 (400) — \[from: [common](../messages/common.md#PLAY_TUNE_V2)\] {#PLAY_TUNE_V2} - -### SUPPORTED_TUNES (401) — \[from: [common](../messages/common.md#SUPPORTED_TUNES)\] {#SUPPORTED_TUNES} - -### EVENT (410) — \[from: [common](../messages/common.md#EVENT)\] [WIP] {#EVENT} - -### CURRENT_EVENT_SEQUENCE (411) — \[from: [common](../messages/common.md#CURRENT_EVENT_SEQUENCE)\] [WIP] {#CURRENT_EVENT_SEQUENCE} - -### REQUEST_EVENT (412) — \[from: [common](../messages/common.md#REQUEST_EVENT)\] [WIP] {#REQUEST_EVENT} - -### RESPONSE_EVENT_ERROR (413) — \[from: [common](../messages/common.md#RESPONSE_EVENT_ERROR)\] [WIP] {#RESPONSE_EVENT_ERROR} - -### ILLUMINATOR_STATUS (440) — \[from: [common](../messages/common.md#ILLUMINATOR_STATUS)\] {#ILLUMINATOR_STATUS} - -### WHEEL_DISTANCE (9000) — \[from: [common](../messages/common.md#WHEEL_DISTANCE)\] {#WHEEL_DISTANCE} - -### WINCH_STATUS (9005) — \[from: [common](../messages/common.md#WINCH_STATUS)\] {#WINCH_STATUS} - -### OPEN_DRONE_ID_BASIC_ID (12900) — \[from: [common](../messages/common.md#OPEN_DRONE_ID_BASIC_ID)\] {#OPEN_DRONE_ID_BASIC_ID} - -### OPEN_DRONE_ID_LOCATION (12901) — \[from: [common](../messages/common.md#OPEN_DRONE_ID_LOCATION)\] {#OPEN_DRONE_ID_LOCATION} - -### OPEN_DRONE_ID_AUTHENTICATION (12902) — \[from: [common](../messages/common.md#OPEN_DRONE_ID_AUTHENTICATION)\] {#OPEN_DRONE_ID_AUTHENTICATION} - -### OPEN_DRONE_ID_SELF_ID (12903) — \[from: [common](../messages/common.md#OPEN_DRONE_ID_SELF_ID)\] {#OPEN_DRONE_ID_SELF_ID} - -### OPEN_DRONE_ID_SYSTEM (12904) — \[from: [common](../messages/common.md#OPEN_DRONE_ID_SYSTEM)\] {#OPEN_DRONE_ID_SYSTEM} - -### OPEN_DRONE_ID_OPERATOR_ID (12905) — \[from: [common](../messages/common.md#OPEN_DRONE_ID_OPERATOR_ID)\] {#OPEN_DRONE_ID_OPERATOR_ID} - -### OPEN_DRONE_ID_MESSAGE_PACK (12915) — \[from: [common](../messages/common.md#OPEN_DRONE_ID_MESSAGE_PACK)\] {#OPEN_DRONE_ID_MESSAGE_PACK} - -### OPEN_DRONE_ID_ARM_STATUS (12918) — \[from: [common](../messages/common.md#OPEN_DRONE_ID_ARM_STATUS)\] {#OPEN_DRONE_ID_ARM_STATUS} - -### OPEN_DRONE_ID_SYSTEM_UPDATE (12919) — \[from: [common](../messages/common.md#OPEN_DRONE_ID_SYSTEM_UPDATE)\] {#OPEN_DRONE_ID_SYSTEM_UPDATE} - -### HYGROMETER_SENSOR (12920) — \[from: [common](../messages/common.md#HYGROMETER_SENSOR)\] {#HYGROMETER_SENSOR} - ### CUBEPILOT_RAW_RC (50001) {#CUBEPILOT_RAW_RC} Raw RC Data @@ -553,617 +105,5 @@ offset response to encapsulated data. ## Enumerated Types -### FIRMWARE_VERSION_TYPE — \[from: [common](../messages/common.md#FIRMWARE_VERSION_TYPE)\] {#FIRMWARE_VERSION_TYPE} - -### HL_FAILURE_FLAG — \[from: [common](../messages/common.md#HL_FAILURE_FLAG)\] {#HL_FAILURE_FLAG} - -### MAV_GOTO — \[from: [common](../messages/common.md#MAV_GOTO)\] {#MAV_GOTO} - -### MAV_MODE — \[from: [common](../messages/common.md#MAV_MODE)\] {#MAV_MODE} - -### MAV_SYS_STATUS_SENSOR — \[from: [common](../messages/common.md#MAV_SYS_STATUS_SENSOR)\] {#MAV_SYS_STATUS_SENSOR} - -### MAV_SYS_STATUS_SENSOR_EXTENDED — \[from: [common](../messages/common.md#MAV_SYS_STATUS_SENSOR_EXTENDED)\] {#MAV_SYS_STATUS_SENSOR_EXTENDED} - -### MAV_FRAME — \[from: [common](../messages/common.md#MAV_FRAME)\] {#MAV_FRAME} - -### MAVLINK_DATA_STREAM_TYPE — \[from: [common](../messages/common.md#MAVLINK_DATA_STREAM_TYPE)\] {#MAVLINK_DATA_STREAM_TYPE} - -### FENCE_ACTION — \[from: [common](../messages/common.md#FENCE_ACTION)\] {#FENCE_ACTION} - -### FENCE_BREACH — \[from: [common](../messages/common.md#FENCE_BREACH)\] {#FENCE_BREACH} - -### FENCE_MITIGATE — \[from: [common](../messages/common.md#FENCE_MITIGATE)\] {#FENCE_MITIGATE} - -### FENCE_TYPE — \[from: [common](../messages/common.md#FENCE_TYPE)\] {#FENCE_TYPE} - -### MAV_MOUNT_MODE — \[from: [common](../messages/common.md#MAV_MOUNT_MODE)\] [DEP] {#MAV_MOUNT_MODE} - -### GIMBAL_DEVICE_CAP_FLAGS — \[from: [common](../messages/common.md#GIMBAL_DEVICE_CAP_FLAGS)\] {#GIMBAL_DEVICE_CAP_FLAGS} - -### GIMBAL_MANAGER_CAP_FLAGS — \[from: [common](../messages/common.md#GIMBAL_MANAGER_CAP_FLAGS)\] {#GIMBAL_MANAGER_CAP_FLAGS} - -### GIMBAL_DEVICE_FLAGS — \[from: [common](../messages/common.md#GIMBAL_DEVICE_FLAGS)\] {#GIMBAL_DEVICE_FLAGS} - -### GIMBAL_MANAGER_FLAGS — \[from: [common](../messages/common.md#GIMBAL_MANAGER_FLAGS)\] {#GIMBAL_MANAGER_FLAGS} - -### GIMBAL_DEVICE_ERROR_FLAGS — \[from: [common](../messages/common.md#GIMBAL_DEVICE_ERROR_FLAGS)\] {#GIMBAL_DEVICE_ERROR_FLAGS} - -### GRIPPER_ACTIONS — \[from: [common](../messages/common.md#GRIPPER_ACTIONS)\] {#GRIPPER_ACTIONS} - -### WINCH_ACTIONS — \[from: [common](../messages/common.md#WINCH_ACTIONS)\] {#WINCH_ACTIONS} - -### UAVCAN_NODE_HEALTH — \[from: [common](../messages/common.md#UAVCAN_NODE_HEALTH)\] {#UAVCAN_NODE_HEALTH} - -### UAVCAN_NODE_MODE — \[from: [common](../messages/common.md#UAVCAN_NODE_MODE)\] {#UAVCAN_NODE_MODE} - -### ESC_CONNECTION_TYPE — \[from: [common](../messages/common.md#ESC_CONNECTION_TYPE)\] {#ESC_CONNECTION_TYPE} - -### ESC_FAILURE_FLAGS — \[from: [common](../messages/common.md#ESC_FAILURE_FLAGS)\] {#ESC_FAILURE_FLAGS} - -### STORAGE_STATUS — \[from: [common](../messages/common.md#STORAGE_STATUS)\] {#STORAGE_STATUS} - -### STORAGE_TYPE — \[from: [common](../messages/common.md#STORAGE_TYPE)\] {#STORAGE_TYPE} - -### STORAGE_USAGE_FLAG — \[from: [common](../messages/common.md#STORAGE_USAGE_FLAG)\] {#STORAGE_USAGE_FLAG} - -### ORBIT_YAW_BEHAVIOUR — \[from: [common](../messages/common.md#ORBIT_YAW_BEHAVIOUR)\] {#ORBIT_YAW_BEHAVIOUR} - -### WIFI_CONFIG_AP_RESPONSE — \[from: [common](../messages/common.md#WIFI_CONFIG_AP_RESPONSE)\] {#WIFI_CONFIG_AP_RESPONSE} - -### CELLULAR_CONFIG_RESPONSE — \[from: [common](../messages/common.md#CELLULAR_CONFIG_RESPONSE)\] {#CELLULAR_CONFIG_RESPONSE} - -### WIFI_CONFIG_AP_MODE — \[from: [common](../messages/common.md#WIFI_CONFIG_AP_MODE)\] {#WIFI_CONFIG_AP_MODE} - -### COMP_METADATA_TYPE — \[from: [common](../messages/common.md#COMP_METADATA_TYPE)\] {#COMP_METADATA_TYPE} - -### ACTUATOR_CONFIGURATION — \[from: [common](../messages/common.md#ACTUATOR_CONFIGURATION)\] {#ACTUATOR_CONFIGURATION} - -### ACTUATOR_OUTPUT_FUNCTION — \[from: [common](../messages/common.md#ACTUATOR_OUTPUT_FUNCTION)\] {#ACTUATOR_OUTPUT_FUNCTION} - -### AUTOTUNE_AXIS — \[from: [common](../messages/common.md#AUTOTUNE_AXIS)\] {#AUTOTUNE_AXIS} - -### PREFLIGHT_STORAGE_PARAMETER_ACTION — \[from: [common](../messages/common.md#PREFLIGHT_STORAGE_PARAMETER_ACTION)\] {#PREFLIGHT_STORAGE_PARAMETER_ACTION} - -### PREFLIGHT_STORAGE_MISSION_ACTION — \[from: [common](../messages/common.md#PREFLIGHT_STORAGE_MISSION_ACTION)\] {#PREFLIGHT_STORAGE_MISSION_ACTION} - -### MAV_DATA_STREAM — \[from: [common](../messages/common.md#MAV_DATA_STREAM)\] [DEP] {#MAV_DATA_STREAM} - -### MAV_ROI — \[from: [common](../messages/common.md#MAV_ROI)\] [DEP] {#MAV_ROI} - -### MAV_PARAM_TYPE — \[from: [common](../messages/common.md#MAV_PARAM_TYPE)\] {#MAV_PARAM_TYPE} - -### MAV_PARAM_EXT_TYPE — \[from: [common](../messages/common.md#MAV_PARAM_EXT_TYPE)\] {#MAV_PARAM_EXT_TYPE} - -### MAV_RESULT — \[from: [common](../messages/common.md#MAV_RESULT)\] {#MAV_RESULT} - -### MAV_MISSION_RESULT — \[from: [common](../messages/common.md#MAV_MISSION_RESULT)\] {#MAV_MISSION_RESULT} - -### MAV_SEVERITY — \[from: [common](../messages/common.md#MAV_SEVERITY)\] {#MAV_SEVERITY} - -### MAV_POWER_STATUS — \[from: [common](../messages/common.md#MAV_POWER_STATUS)\] {#MAV_POWER_STATUS} - -### SERIAL_CONTROL_DEV — \[from: [common](../messages/common.md#SERIAL_CONTROL_DEV)\] {#SERIAL_CONTROL_DEV} - -### SERIAL_CONTROL_FLAG — \[from: [common](../messages/common.md#SERIAL_CONTROL_FLAG)\] {#SERIAL_CONTROL_FLAG} - -### MAV_DISTANCE_SENSOR — \[from: [common](../messages/common.md#MAV_DISTANCE_SENSOR)\] {#MAV_DISTANCE_SENSOR} - -### MAV_SENSOR_ORIENTATION — \[from: [common](../messages/common.md#MAV_SENSOR_ORIENTATION)\] {#MAV_SENSOR_ORIENTATION} - -### MAV_PROTOCOL_CAPABILITY — \[from: [common](../messages/common.md#MAV_PROTOCOL_CAPABILITY)\] {#MAV_PROTOCOL_CAPABILITY} - -### MAV_MISSION_TYPE — \[from: [common](../messages/common.md#MAV_MISSION_TYPE)\] {#MAV_MISSION_TYPE} - -### MAV_ESTIMATOR_TYPE — \[from: [common](../messages/common.md#MAV_ESTIMATOR_TYPE)\] {#MAV_ESTIMATOR_TYPE} - -### MAV_BATTERY_TYPE — \[from: [common](../messages/common.md#MAV_BATTERY_TYPE)\] {#MAV_BATTERY_TYPE} - -### MAV_BATTERY_FUNCTION — \[from: [common](../messages/common.md#MAV_BATTERY_FUNCTION)\] {#MAV_BATTERY_FUNCTION} - -### MAV_BATTERY_CHARGE_STATE — \[from: [common](../messages/common.md#MAV_BATTERY_CHARGE_STATE)\] {#MAV_BATTERY_CHARGE_STATE} - -### MAV_BATTERY_MODE — \[from: [common](../messages/common.md#MAV_BATTERY_MODE)\] {#MAV_BATTERY_MODE} - -### MAV_BATTERY_FAULT — \[from: [common](../messages/common.md#MAV_BATTERY_FAULT)\] {#MAV_BATTERY_FAULT} - -### MAV_GENERATOR_STATUS_FLAG — \[from: [common](../messages/common.md#MAV_GENERATOR_STATUS_FLAG)\] {#MAV_GENERATOR_STATUS_FLAG} - -### MAV_VTOL_STATE — \[from: [common](../messages/common.md#MAV_VTOL_STATE)\] {#MAV_VTOL_STATE} - -### MAV_LANDED_STATE — \[from: [common](../messages/common.md#MAV_LANDED_STATE)\] {#MAV_LANDED_STATE} - -### ADSB_ALTITUDE_TYPE — \[from: [common](../messages/common.md#ADSB_ALTITUDE_TYPE)\] {#ADSB_ALTITUDE_TYPE} - -### ADSB_EMITTER_TYPE — \[from: [common](../messages/common.md#ADSB_EMITTER_TYPE)\] {#ADSB_EMITTER_TYPE} - -### ADSB_FLAGS — \[from: [common](../messages/common.md#ADSB_FLAGS)\] {#ADSB_FLAGS} - -### MAV_DO_REPOSITION_FLAGS — \[from: [common](../messages/common.md#MAV_DO_REPOSITION_FLAGS)\] {#MAV_DO_REPOSITION_FLAGS} - -### SPEED_TYPE — \[from: [common](../messages/common.md#SPEED_TYPE)\] {#SPEED_TYPE} - -### ESTIMATOR_STATUS_FLAGS — \[from: [common](../messages/common.md#ESTIMATOR_STATUS_FLAGS)\] {#ESTIMATOR_STATUS_FLAGS} - -### MOTOR_TEST_ORDER — \[from: [common](../messages/common.md#MOTOR_TEST_ORDER)\] {#MOTOR_TEST_ORDER} - -### MOTOR_TEST_THROTTLE_TYPE — \[from: [common](../messages/common.md#MOTOR_TEST_THROTTLE_TYPE)\] {#MOTOR_TEST_THROTTLE_TYPE} - -### GPS_INPUT_IGNORE_FLAGS — \[from: [common](../messages/common.md#GPS_INPUT_IGNORE_FLAGS)\] {#GPS_INPUT_IGNORE_FLAGS} - -### MAV_COLLISION_ACTION — \[from: [common](../messages/common.md#MAV_COLLISION_ACTION)\] {#MAV_COLLISION_ACTION} - -### MAV_COLLISION_THREAT_LEVEL — \[from: [common](../messages/common.md#MAV_COLLISION_THREAT_LEVEL)\] {#MAV_COLLISION_THREAT_LEVEL} - -### MAV_COLLISION_SRC — \[from: [common](../messages/common.md#MAV_COLLISION_SRC)\] {#MAV_COLLISION_SRC} - -### GPS_FIX_TYPE — \[from: [common](../messages/common.md#GPS_FIX_TYPE)\] {#GPS_FIX_TYPE} - -### RTK_BASELINE_COORDINATE_SYSTEM — \[from: [common](../messages/common.md#RTK_BASELINE_COORDINATE_SYSTEM)\] {#RTK_BASELINE_COORDINATE_SYSTEM} - -### LANDING_TARGET_TYPE — \[from: [common](../messages/common.md#LANDING_TARGET_TYPE)\] {#LANDING_TARGET_TYPE} - -### VTOL_TRANSITION_HEADING — \[from: [common](../messages/common.md#VTOL_TRANSITION_HEADING)\] {#VTOL_TRANSITION_HEADING} - -### CAMERA_CAP_FLAGS — \[from: [common](../messages/common.md#CAMERA_CAP_FLAGS)\] {#CAMERA_CAP_FLAGS} - -### VIDEO_STREAM_STATUS_FLAGS — \[from: [common](../messages/common.md#VIDEO_STREAM_STATUS_FLAGS)\] {#VIDEO_STREAM_STATUS_FLAGS} - -### VIDEO_STREAM_TYPE — \[from: [common](../messages/common.md#VIDEO_STREAM_TYPE)\] {#VIDEO_STREAM_TYPE} - -### VIDEO_STREAM_ENCODING — \[from: [common](../messages/common.md#VIDEO_STREAM_ENCODING)\] {#VIDEO_STREAM_ENCODING} - -### CAMERA_TRACKING_STATUS_FLAGS — \[from: [common](../messages/common.md#CAMERA_TRACKING_STATUS_FLAGS)\] {#CAMERA_TRACKING_STATUS_FLAGS} - -### CAMERA_TRACKING_MODE — \[from: [common](../messages/common.md#CAMERA_TRACKING_MODE)\] {#CAMERA_TRACKING_MODE} - -### CAMERA_TRACKING_TARGET_DATA — \[from: [common](../messages/common.md#CAMERA_TRACKING_TARGET_DATA)\] {#CAMERA_TRACKING_TARGET_DATA} - -### CAMERA_ZOOM_TYPE — \[from: [common](../messages/common.md#CAMERA_ZOOM_TYPE)\] {#CAMERA_ZOOM_TYPE} - -### SET_FOCUS_TYPE — \[from: [common](../messages/common.md#SET_FOCUS_TYPE)\] {#SET_FOCUS_TYPE} - -### CAMERA_SOURCE — \[from: [common](../messages/common.md#CAMERA_SOURCE)\] {#CAMERA_SOURCE} - -### PARAM_ACK — \[from: [common](../messages/common.md#PARAM_ACK)\] {#PARAM_ACK} - -### CAMERA_MODE — \[from: [common](../messages/common.md#CAMERA_MODE)\] {#CAMERA_MODE} - -### MAV_ARM_AUTH_DENIED_REASON — \[from: [common](../messages/common.md#MAV_ARM_AUTH_DENIED_REASON)\] {#MAV_ARM_AUTH_DENIED_REASON} - -### RC_TYPE — \[from: [common](../messages/common.md#RC_TYPE)\] {#RC_TYPE} - -### POSITION_TARGET_TYPEMASK — \[from: [common](../messages/common.md#POSITION_TARGET_TYPEMASK)\] {#POSITION_TARGET_TYPEMASK} - -### ATTITUDE_TARGET_TYPEMASK — \[from: [common](../messages/common.md#ATTITUDE_TARGET_TYPEMASK)\] {#ATTITUDE_TARGET_TYPEMASK} - -### UTM_FLIGHT_STATE — \[from: [common](../messages/common.md#UTM_FLIGHT_STATE)\] {#UTM_FLIGHT_STATE} - -### UTM_DATA_AVAIL_FLAGS — \[from: [common](../messages/common.md#UTM_DATA_AVAIL_FLAGS)\] {#UTM_DATA_AVAIL_FLAGS} - -### CELLULAR_STATUS_FLAG — \[from: [common](../messages/common.md#CELLULAR_STATUS_FLAG)\] {#CELLULAR_STATUS_FLAG} - -### CELLULAR_NETWORK_FAILED_REASON — \[from: [common](../messages/common.md#CELLULAR_NETWORK_FAILED_REASON)\] {#CELLULAR_NETWORK_FAILED_REASON} - -### CELLULAR_NETWORK_RADIO_TYPE — \[from: [common](../messages/common.md#CELLULAR_NETWORK_RADIO_TYPE)\] {#CELLULAR_NETWORK_RADIO_TYPE} - -### PRECISION_LAND_MODE — \[from: [common](../messages/common.md#PRECISION_LAND_MODE)\] {#PRECISION_LAND_MODE} - -### PARACHUTE_ACTION — \[from: [common](../messages/common.md#PARACHUTE_ACTION)\] {#PARACHUTE_ACTION} - -### MAV_TUNNEL_PAYLOAD_TYPE — \[from: [common](../messages/common.md#MAV_TUNNEL_PAYLOAD_TYPE)\] {#MAV_TUNNEL_PAYLOAD_TYPE} - -### MAV_ODID_ID_TYPE — \[from: [common](../messages/common.md#MAV_ODID_ID_TYPE)\] {#MAV_ODID_ID_TYPE} - -### MAV_ODID_UA_TYPE — \[from: [common](../messages/common.md#MAV_ODID_UA_TYPE)\] {#MAV_ODID_UA_TYPE} - -### MAV_ODID_STATUS — \[from: [common](../messages/common.md#MAV_ODID_STATUS)\] {#MAV_ODID_STATUS} - -### MAV_ODID_HEIGHT_REF — \[from: [common](../messages/common.md#MAV_ODID_HEIGHT_REF)\] {#MAV_ODID_HEIGHT_REF} - -### MAV_ODID_HOR_ACC — \[from: [common](../messages/common.md#MAV_ODID_HOR_ACC)\] {#MAV_ODID_HOR_ACC} - -### MAV_ODID_VER_ACC — \[from: [common](../messages/common.md#MAV_ODID_VER_ACC)\] {#MAV_ODID_VER_ACC} - -### MAV_ODID_SPEED_ACC — \[from: [common](../messages/common.md#MAV_ODID_SPEED_ACC)\] {#MAV_ODID_SPEED_ACC} - -### MAV_ODID_TIME_ACC — \[from: [common](../messages/common.md#MAV_ODID_TIME_ACC)\] {#MAV_ODID_TIME_ACC} - -### MAV_ODID_AUTH_TYPE — \[from: [common](../messages/common.md#MAV_ODID_AUTH_TYPE)\] {#MAV_ODID_AUTH_TYPE} - -### MAV_ODID_DESC_TYPE — \[from: [common](../messages/common.md#MAV_ODID_DESC_TYPE)\] {#MAV_ODID_DESC_TYPE} - -### MAV_ODID_OPERATOR_LOCATION_TYPE — \[from: [common](../messages/common.md#MAV_ODID_OPERATOR_LOCATION_TYPE)\] {#MAV_ODID_OPERATOR_LOCATION_TYPE} - -### MAV_ODID_CLASSIFICATION_TYPE — \[from: [common](../messages/common.md#MAV_ODID_CLASSIFICATION_TYPE)\] {#MAV_ODID_CLASSIFICATION_TYPE} - -### MAV_ODID_CATEGORY_EU — \[from: [common](../messages/common.md#MAV_ODID_CATEGORY_EU)\] {#MAV_ODID_CATEGORY_EU} - -### MAV_ODID_CLASS_EU — \[from: [common](../messages/common.md#MAV_ODID_CLASS_EU)\] {#MAV_ODID_CLASS_EU} - -### MAV_ODID_OPERATOR_ID_TYPE — \[from: [common](../messages/common.md#MAV_ODID_OPERATOR_ID_TYPE)\] {#MAV_ODID_OPERATOR_ID_TYPE} - -### MAV_ODID_ARM_STATUS — \[from: [common](../messages/common.md#MAV_ODID_ARM_STATUS)\] {#MAV_ODID_ARM_STATUS} - -### TUNE_FORMAT — \[from: [common](../messages/common.md#TUNE_FORMAT)\] {#TUNE_FORMAT} - -### AIS_TYPE — \[from: [common](../messages/common.md#AIS_TYPE)\] {#AIS_TYPE} - -### AIS_NAV_STATUS — \[from: [common](../messages/common.md#AIS_NAV_STATUS)\] {#AIS_NAV_STATUS} - -### AIS_FLAGS — \[from: [common](../messages/common.md#AIS_FLAGS)\] {#AIS_FLAGS} - -### FAILURE_UNIT — \[from: [common](../messages/common.md#FAILURE_UNIT)\] {#FAILURE_UNIT} - -### FAILURE_TYPE — \[from: [common](../messages/common.md#FAILURE_TYPE)\] {#FAILURE_TYPE} - -### NAV_VTOL_LAND_OPTIONS — \[from: [common](../messages/common.md#NAV_VTOL_LAND_OPTIONS)\] {#NAV_VTOL_LAND_OPTIONS} - -### MAV_WINCH_STATUS_FLAG — \[from: [common](../messages/common.md#MAV_WINCH_STATUS_FLAG)\] {#MAV_WINCH_STATUS_FLAG} - -### MAG_CAL_STATUS — \[from: [common](../messages/common.md#MAG_CAL_STATUS)\] {#MAG_CAL_STATUS} - -### MAV_EVENT_ERROR_REASON — \[from: [common](../messages/common.md#MAV_EVENT_ERROR_REASON)\] {#MAV_EVENT_ERROR_REASON} - -### MAV_EVENT_CURRENT_SEQUENCE_FLAGS — \[from: [common](../messages/common.md#MAV_EVENT_CURRENT_SEQUENCE_FLAGS)\] {#MAV_EVENT_CURRENT_SEQUENCE_FLAGS} - -### HIL_SENSOR_UPDATED_FLAGS — \[from: [common](../messages/common.md#HIL_SENSOR_UPDATED_FLAGS)\] {#HIL_SENSOR_UPDATED_FLAGS} - -### HIGHRES_IMU_UPDATED_FLAGS — \[from: [common](../messages/common.md#HIGHRES_IMU_UPDATED_FLAGS)\] {#HIGHRES_IMU_UPDATED_FLAGS} - -### CAN_FILTER_OP — \[from: [common](../messages/common.md#CAN_FILTER_OP)\] {#CAN_FILTER_OP} - -### MAV_FTP_ERR — \[from: [common](../messages/common.md#MAV_FTP_ERR)\] {#MAV_FTP_ERR} - -### MAV_FTP_OPCODE — \[from: [common](../messages/common.md#MAV_FTP_OPCODE)\] {#MAV_FTP_OPCODE} - -### MISSION_STATE — \[from: [common](../messages/common.md#MISSION_STATE)\] {#MISSION_STATE} - -### SAFETY_SWITCH_STATE — \[from: [common](../messages/common.md#SAFETY_SWITCH_STATE)\] {#SAFETY_SWITCH_STATE} - -### ILLUMINATOR_MODE — \[from: [common](../messages/common.md#ILLUMINATOR_MODE)\] {#ILLUMINATOR_MODE} - -### ILLUMINATOR_ERROR_FLAGS — \[from: [common](../messages/common.md#ILLUMINATOR_ERROR_FLAGS)\] {#ILLUMINATOR_ERROR_FLAGS} - -### MAV_AUTOPILOT — \[from: [minimal](../messages/minimal.md#MAV_AUTOPILOT)\] {#MAV_AUTOPILOT} - -### MAV_TYPE — \[from: [minimal](../messages/minimal.md#MAV_TYPE)\] {#MAV_TYPE} - -### MAV_MODE_FLAG — \[from: [minimal](../messages/minimal.md#MAV_MODE_FLAG)\] {#MAV_MODE_FLAG} - -### MAV_MODE_FLAG_DECODE_POSITION — \[from: [minimal](../messages/minimal.md#MAV_MODE_FLAG_DECODE_POSITION)\] {#MAV_MODE_FLAG_DECODE_POSITION} - -### MAV_STATE — \[from: [minimal](../messages/minimal.md#MAV_STATE)\] {#MAV_STATE} - -### MAV_COMPONENT — \[from: [minimal](../messages/minimal.md#MAV_COMPONENT)\] {#MAV_COMPONENT} - ## Commands (MAV_CMD) {#mav_commands} -### MAV_CMD_NAV_WAYPOINT (16) — \[from: [common](../messages/common.md#MAV_CMD_NAV_WAYPOINT)\] {#MAV_CMD_NAV_WAYPOINT} - -### MAV_CMD_NAV_LOITER_UNLIM (17) — \[from: [common](../messages/common.md#MAV_CMD_NAV_LOITER_UNLIM)\] {#MAV_CMD_NAV_LOITER_UNLIM} - -### MAV_CMD_NAV_LOITER_TURNS (18) — \[from: [common](../messages/common.md#MAV_CMD_NAV_LOITER_TURNS)\] {#MAV_CMD_NAV_LOITER_TURNS} - -### MAV_CMD_NAV_LOITER_TIME (19) — \[from: [common](../messages/common.md#MAV_CMD_NAV_LOITER_TIME)\] {#MAV_CMD_NAV_LOITER_TIME} - -### MAV_CMD_NAV_RETURN_TO_LAUNCH (20) — \[from: [common](../messages/common.md#MAV_CMD_NAV_RETURN_TO_LAUNCH)\] {#MAV_CMD_NAV_RETURN_TO_LAUNCH} - -### MAV_CMD_NAV_LAND (21) — \[from: [common](../messages/common.md#MAV_CMD_NAV_LAND)\] {#MAV_CMD_NAV_LAND} - -### MAV_CMD_NAV_TAKEOFF (22) — \[from: [common](../messages/common.md#MAV_CMD_NAV_TAKEOFF)\] {#MAV_CMD_NAV_TAKEOFF} - -### MAV_CMD_NAV_LAND_LOCAL (23) — \[from: [common](../messages/common.md#MAV_CMD_NAV_LAND_LOCAL)\] {#MAV_CMD_NAV_LAND_LOCAL} - -### MAV_CMD_NAV_TAKEOFF_LOCAL (24) — \[from: [common](../messages/common.md#MAV_CMD_NAV_TAKEOFF_LOCAL)\] {#MAV_CMD_NAV_TAKEOFF_LOCAL} - -### MAV_CMD_NAV_FOLLOW (25) — \[from: [common](../messages/common.md#MAV_CMD_NAV_FOLLOW)\] {#MAV_CMD_NAV_FOLLOW} - -### MAV_CMD_NAV_CONTINUE_AND_CHANGE_ALT (30) — \[from: [common](../messages/common.md#MAV_CMD_NAV_CONTINUE_AND_CHANGE_ALT)\] {#MAV_CMD_NAV_CONTINUE_AND_CHANGE_ALT} - -### MAV_CMD_NAV_LOITER_TO_ALT (31) — \[from: [common](../messages/common.md#MAV_CMD_NAV_LOITER_TO_ALT)\] {#MAV_CMD_NAV_LOITER_TO_ALT} - -### MAV_CMD_DO_FOLLOW (32) — \[from: [common](../messages/common.md#MAV_CMD_DO_FOLLOW)\] {#MAV_CMD_DO_FOLLOW} - -### MAV_CMD_DO_FOLLOW_REPOSITION (33) — \[from: [common](../messages/common.md#MAV_CMD_DO_FOLLOW_REPOSITION)\] {#MAV_CMD_DO_FOLLOW_REPOSITION} - -### MAV_CMD_DO_ORBIT (34) — \[from: [common](../messages/common.md#MAV_CMD_DO_ORBIT)\] [WIP] {#MAV_CMD_DO_ORBIT} - -### MAV_CMD_NAV_ROI (80) — \[from: [common](../messages/common.md#MAV_CMD_NAV_ROI)\] [DEP] {#MAV_CMD_NAV_ROI} - -### MAV_CMD_NAV_PATHPLANNING (81) — \[from: [common](../messages/common.md#MAV_CMD_NAV_PATHPLANNING)\] {#MAV_CMD_NAV_PATHPLANNING} - -### MAV_CMD_NAV_SPLINE_WAYPOINT (82) — \[from: [common](../messages/common.md#MAV_CMD_NAV_SPLINE_WAYPOINT)\] {#MAV_CMD_NAV_SPLINE_WAYPOINT} - -### MAV_CMD_NAV_VTOL_TAKEOFF (84) — \[from: [common](../messages/common.md#MAV_CMD_NAV_VTOL_TAKEOFF)\] {#MAV_CMD_NAV_VTOL_TAKEOFF} - -### MAV_CMD_NAV_VTOL_LAND (85) — \[from: [common](../messages/common.md#MAV_CMD_NAV_VTOL_LAND)\] {#MAV_CMD_NAV_VTOL_LAND} - -### MAV_CMD_NAV_GUIDED_ENABLE (92) — \[from: [common](../messages/common.md#MAV_CMD_NAV_GUIDED_ENABLE)\] {#MAV_CMD_NAV_GUIDED_ENABLE} - -### MAV_CMD_NAV_DELAY (93) — \[from: [common](../messages/common.md#MAV_CMD_NAV_DELAY)\] {#MAV_CMD_NAV_DELAY} - -### MAV_CMD_NAV_PAYLOAD_PLACE (94) — \[from: [common](../messages/common.md#MAV_CMD_NAV_PAYLOAD_PLACE)\] {#MAV_CMD_NAV_PAYLOAD_PLACE} - -### MAV_CMD_NAV_LAST (95) — \[from: [common](../messages/common.md#MAV_CMD_NAV_LAST)\] {#MAV_CMD_NAV_LAST} - -### MAV_CMD_CONDITION_DELAY (112) — \[from: [common](../messages/common.md#MAV_CMD_CONDITION_DELAY)\] {#MAV_CMD_CONDITION_DELAY} - -### MAV_CMD_CONDITION_CHANGE_ALT (113) — \[from: [common](../messages/common.md#MAV_CMD_CONDITION_CHANGE_ALT)\] {#MAV_CMD_CONDITION_CHANGE_ALT} - -### MAV_CMD_CONDITION_DISTANCE (114) — \[from: [common](../messages/common.md#MAV_CMD_CONDITION_DISTANCE)\] {#MAV_CMD_CONDITION_DISTANCE} - -### MAV_CMD_CONDITION_YAW (115) — \[from: [common](../messages/common.md#MAV_CMD_CONDITION_YAW)\] {#MAV_CMD_CONDITION_YAW} - -### MAV_CMD_CONDITION_LAST (159) — \[from: [common](../messages/common.md#MAV_CMD_CONDITION_LAST)\] {#MAV_CMD_CONDITION_LAST} - -### MAV_CMD_DO_SET_MODE (176) — \[from: [common](../messages/common.md#MAV_CMD_DO_SET_MODE)\] {#MAV_CMD_DO_SET_MODE} - -### MAV_CMD_DO_JUMP (177) — \[from: [common](../messages/common.md#MAV_CMD_DO_JUMP)\] {#MAV_CMD_DO_JUMP} - -### MAV_CMD_DO_CHANGE_SPEED (178) — \[from: [common](../messages/common.md#MAV_CMD_DO_CHANGE_SPEED)\] {#MAV_CMD_DO_CHANGE_SPEED} - -### MAV_CMD_DO_SET_HOME (179) — \[from: [common](../messages/common.md#MAV_CMD_DO_SET_HOME)\] {#MAV_CMD_DO_SET_HOME} - -### MAV_CMD_DO_SET_PARAMETER (180) — \[from: [common](../messages/common.md#MAV_CMD_DO_SET_PARAMETER)\] [DEP] {#MAV_CMD_DO_SET_PARAMETER} - -### MAV_CMD_DO_SET_RELAY (181) — \[from: [common](../messages/common.md#MAV_CMD_DO_SET_RELAY)\] {#MAV_CMD_DO_SET_RELAY} - -### MAV_CMD_DO_REPEAT_RELAY (182) — \[from: [common](../messages/common.md#MAV_CMD_DO_REPEAT_RELAY)\] {#MAV_CMD_DO_REPEAT_RELAY} - -### MAV_CMD_DO_SET_SERVO (183) — \[from: [common](../messages/common.md#MAV_CMD_DO_SET_SERVO)\] {#MAV_CMD_DO_SET_SERVO} - -### MAV_CMD_DO_REPEAT_SERVO (184) — \[from: [common](../messages/common.md#MAV_CMD_DO_REPEAT_SERVO)\] {#MAV_CMD_DO_REPEAT_SERVO} - -### MAV_CMD_DO_FLIGHTTERMINATION (185) — \[from: [common](../messages/common.md#MAV_CMD_DO_FLIGHTTERMINATION)\] {#MAV_CMD_DO_FLIGHTTERMINATION} - -### MAV_CMD_DO_CHANGE_ALTITUDE (186) — \[from: [common](../messages/common.md#MAV_CMD_DO_CHANGE_ALTITUDE)\] {#MAV_CMD_DO_CHANGE_ALTITUDE} - -### MAV_CMD_DO_SET_ACTUATOR (187) — \[from: [common](../messages/common.md#MAV_CMD_DO_SET_ACTUATOR)\] {#MAV_CMD_DO_SET_ACTUATOR} - -### MAV_CMD_DO_RETURN_PATH_START (188) — \[from: [common](../messages/common.md#MAV_CMD_DO_RETURN_PATH_START)\] [WIP] {#MAV_CMD_DO_RETURN_PATH_START} - -### MAV_CMD_DO_LAND_START (189) — \[from: [common](../messages/common.md#MAV_CMD_DO_LAND_START)\] {#MAV_CMD_DO_LAND_START} - -### MAV_CMD_DO_RALLY_LAND (190) — \[from: [common](../messages/common.md#MAV_CMD_DO_RALLY_LAND)\] {#MAV_CMD_DO_RALLY_LAND} - -### MAV_CMD_DO_GO_AROUND (191) — \[from: [common](../messages/common.md#MAV_CMD_DO_GO_AROUND)\] {#MAV_CMD_DO_GO_AROUND} - -### MAV_CMD_DO_REPOSITION (192) — \[from: [common](../messages/common.md#MAV_CMD_DO_REPOSITION)\] {#MAV_CMD_DO_REPOSITION} - -### MAV_CMD_DO_PAUSE_CONTINUE (193) — \[from: [common](../messages/common.md#MAV_CMD_DO_PAUSE_CONTINUE)\] {#MAV_CMD_DO_PAUSE_CONTINUE} - -### MAV_CMD_DO_SET_REVERSE (194) — \[from: [common](../messages/common.md#MAV_CMD_DO_SET_REVERSE)\] {#MAV_CMD_DO_SET_REVERSE} - -### MAV_CMD_DO_SET_ROI_LOCATION (195) — \[from: [common](../messages/common.md#MAV_CMD_DO_SET_ROI_LOCATION)\] {#MAV_CMD_DO_SET_ROI_LOCATION} - -### MAV_CMD_DO_SET_ROI_WPNEXT_OFFSET (196) — \[from: [common](../messages/common.md#MAV_CMD_DO_SET_ROI_WPNEXT_OFFSET)\] {#MAV_CMD_DO_SET_ROI_WPNEXT_OFFSET} - -### MAV_CMD_DO_SET_ROI_NONE (197) — \[from: [common](../messages/common.md#MAV_CMD_DO_SET_ROI_NONE)\] {#MAV_CMD_DO_SET_ROI_NONE} - -### MAV_CMD_DO_SET_ROI_SYSID (198) — \[from: [common](../messages/common.md#MAV_CMD_DO_SET_ROI_SYSID)\] {#MAV_CMD_DO_SET_ROI_SYSID} - -### MAV_CMD_DO_CONTROL_VIDEO (200) — \[from: [common](../messages/common.md#MAV_CMD_DO_CONTROL_VIDEO)\] {#MAV_CMD_DO_CONTROL_VIDEO} - -### MAV_CMD_DO_SET_ROI (201) — \[from: [common](../messages/common.md#MAV_CMD_DO_SET_ROI)\] [DEP] {#MAV_CMD_DO_SET_ROI} - -### MAV_CMD_DO_DIGICAM_CONFIGURE (202) — \[from: [common](../messages/common.md#MAV_CMD_DO_DIGICAM_CONFIGURE)\] {#MAV_CMD_DO_DIGICAM_CONFIGURE} - -### MAV_CMD_DO_DIGICAM_CONTROL (203) — \[from: [common](../messages/common.md#MAV_CMD_DO_DIGICAM_CONTROL)\] {#MAV_CMD_DO_DIGICAM_CONTROL} - -### MAV_CMD_DO_MOUNT_CONFIGURE (204) — \[from: [common](../messages/common.md#MAV_CMD_DO_MOUNT_CONFIGURE)\] [DEP] {#MAV_CMD_DO_MOUNT_CONFIGURE} - -### MAV_CMD_DO_MOUNT_CONTROL (205) — \[from: [common](../messages/common.md#MAV_CMD_DO_MOUNT_CONTROL)\] [DEP] {#MAV_CMD_DO_MOUNT_CONTROL} - -### MAV_CMD_DO_SET_CAM_TRIGG_DIST (206) — \[from: [common](../messages/common.md#MAV_CMD_DO_SET_CAM_TRIGG_DIST)\] {#MAV_CMD_DO_SET_CAM_TRIGG_DIST} - -### MAV_CMD_DO_FENCE_ENABLE (207) — \[from: [common](../messages/common.md#MAV_CMD_DO_FENCE_ENABLE)\] {#MAV_CMD_DO_FENCE_ENABLE} - -### MAV_CMD_DO_PARACHUTE (208) — \[from: [common](../messages/common.md#MAV_CMD_DO_PARACHUTE)\] {#MAV_CMD_DO_PARACHUTE} - -### MAV_CMD_DO_MOTOR_TEST (209) — \[from: [common](../messages/common.md#MAV_CMD_DO_MOTOR_TEST)\] {#MAV_CMD_DO_MOTOR_TEST} - -### MAV_CMD_DO_INVERTED_FLIGHT (210) — \[from: [common](../messages/common.md#MAV_CMD_DO_INVERTED_FLIGHT)\] {#MAV_CMD_DO_INVERTED_FLIGHT} - -### MAV_CMD_DO_GRIPPER (211) — \[from: [common](../messages/common.md#MAV_CMD_DO_GRIPPER)\] {#MAV_CMD_DO_GRIPPER} - -### MAV_CMD_DO_AUTOTUNE_ENABLE (212) — \[from: [common](../messages/common.md#MAV_CMD_DO_AUTOTUNE_ENABLE)\] {#MAV_CMD_DO_AUTOTUNE_ENABLE} - -### MAV_CMD_NAV_SET_YAW_SPEED (213) — \[from: [common](../messages/common.md#MAV_CMD_NAV_SET_YAW_SPEED)\] {#MAV_CMD_NAV_SET_YAW_SPEED} - -### MAV_CMD_DO_SET_CAM_TRIGG_INTERVAL (214) — \[from: [common](../messages/common.md#MAV_CMD_DO_SET_CAM_TRIGG_INTERVAL)\] {#MAV_CMD_DO_SET_CAM_TRIGG_INTERVAL} - -### MAV_CMD_DO_MOUNT_CONTROL_QUAT (220) — \[from: [common](../messages/common.md#MAV_CMD_DO_MOUNT_CONTROL_QUAT)\] [DEP] {#MAV_CMD_DO_MOUNT_CONTROL_QUAT} - -### MAV_CMD_DO_GUIDED_MASTER (221) — \[from: [common](../messages/common.md#MAV_CMD_DO_GUIDED_MASTER)\] {#MAV_CMD_DO_GUIDED_MASTER} - -### MAV_CMD_DO_GUIDED_LIMITS (222) — \[from: [common](../messages/common.md#MAV_CMD_DO_GUIDED_LIMITS)\] {#MAV_CMD_DO_GUIDED_LIMITS} - -### MAV_CMD_DO_ENGINE_CONTROL (223) — \[from: [common](../messages/common.md#MAV_CMD_DO_ENGINE_CONTROL)\] {#MAV_CMD_DO_ENGINE_CONTROL} - -### MAV_CMD_DO_SET_MISSION_CURRENT (224) — \[from: [common](../messages/common.md#MAV_CMD_DO_SET_MISSION_CURRENT)\] {#MAV_CMD_DO_SET_MISSION_CURRENT} - -### MAV_CMD_DO_LAST (240) — \[from: [common](../messages/common.md#MAV_CMD_DO_LAST)\] {#MAV_CMD_DO_LAST} - -### MAV_CMD_PREFLIGHT_CALIBRATION (241) — \[from: [common](../messages/common.md#MAV_CMD_PREFLIGHT_CALIBRATION)\] {#MAV_CMD_PREFLIGHT_CALIBRATION} - -### MAV_CMD_PREFLIGHT_SET_SENSOR_OFFSETS (242) — \[from: [common](../messages/common.md#MAV_CMD_PREFLIGHT_SET_SENSOR_OFFSETS)\] {#MAV_CMD_PREFLIGHT_SET_SENSOR_OFFSETS} - -### MAV_CMD_PREFLIGHT_UAVCAN (243) — \[from: [common](../messages/common.md#MAV_CMD_PREFLIGHT_UAVCAN)\] {#MAV_CMD_PREFLIGHT_UAVCAN} - -### MAV_CMD_PREFLIGHT_STORAGE (245) — \[from: [common](../messages/common.md#MAV_CMD_PREFLIGHT_STORAGE)\] {#MAV_CMD_PREFLIGHT_STORAGE} - -### MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN (246) — \[from: [common](../messages/common.md#MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN)\] {#MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN} - -### MAV_CMD_OVERRIDE_GOTO (252) — \[from: [common](../messages/common.md#MAV_CMD_OVERRIDE_GOTO)\] {#MAV_CMD_OVERRIDE_GOTO} - -### MAV_CMD_OBLIQUE_SURVEY (260) — \[from: [common](../messages/common.md#MAV_CMD_OBLIQUE_SURVEY)\] {#MAV_CMD_OBLIQUE_SURVEY} - -### MAV_CMD_MISSION_START (300) — \[from: [common](../messages/common.md#MAV_CMD_MISSION_START)\] {#MAV_CMD_MISSION_START} - -### MAV_CMD_ACTUATOR_TEST (310) — \[from: [common](../messages/common.md#MAV_CMD_ACTUATOR_TEST)\] {#MAV_CMD_ACTUATOR_TEST} - -### MAV_CMD_CONFIGURE_ACTUATOR (311) — \[from: [common](../messages/common.md#MAV_CMD_CONFIGURE_ACTUATOR)\] {#MAV_CMD_CONFIGURE_ACTUATOR} - -### MAV_CMD_COMPONENT_ARM_DISARM (400) — \[from: [common](../messages/common.md#MAV_CMD_COMPONENT_ARM_DISARM)\] {#MAV_CMD_COMPONENT_ARM_DISARM} - -### MAV_CMD_RUN_PREARM_CHECKS (401) — \[from: [common](../messages/common.md#MAV_CMD_RUN_PREARM_CHECKS)\] {#MAV_CMD_RUN_PREARM_CHECKS} - -### MAV_CMD_ILLUMINATOR_ON_OFF (405) — \[from: [common](../messages/common.md#MAV_CMD_ILLUMINATOR_ON_OFF)\] {#MAV_CMD_ILLUMINATOR_ON_OFF} - -### MAV_CMD_DO_ILLUMINATOR_CONFIGURE (406) — \[from: [common](../messages/common.md#MAV_CMD_DO_ILLUMINATOR_CONFIGURE)\] {#MAV_CMD_DO_ILLUMINATOR_CONFIGURE} - -### MAV_CMD_GET_HOME_POSITION (410) — \[from: [common](../messages/common.md#MAV_CMD_GET_HOME_POSITION)\] [DEP] {#MAV_CMD_GET_HOME_POSITION} - -### MAV_CMD_INJECT_FAILURE (420) — \[from: [common](../messages/common.md#MAV_CMD_INJECT_FAILURE)\] {#MAV_CMD_INJECT_FAILURE} - -### MAV_CMD_START_RX_PAIR (500) — \[from: [common](../messages/common.md#MAV_CMD_START_RX_PAIR)\] {#MAV_CMD_START_RX_PAIR} - -### MAV_CMD_GET_MESSAGE_INTERVAL (510) — \[from: [common](../messages/common.md#MAV_CMD_GET_MESSAGE_INTERVAL)\] [DEP] {#MAV_CMD_GET_MESSAGE_INTERVAL} - -### MAV_CMD_SET_MESSAGE_INTERVAL (511) — \[from: [common](../messages/common.md#MAV_CMD_SET_MESSAGE_INTERVAL)\] {#MAV_CMD_SET_MESSAGE_INTERVAL} - -### MAV_CMD_REQUEST_MESSAGE (512) — \[from: [common](../messages/common.md#MAV_CMD_REQUEST_MESSAGE)\] {#MAV_CMD_REQUEST_MESSAGE} - -### MAV_CMD_REQUEST_PROTOCOL_VERSION (519) — \[from: [common](../messages/common.md#MAV_CMD_REQUEST_PROTOCOL_VERSION)\] [DEP] {#MAV_CMD_REQUEST_PROTOCOL_VERSION} - -### MAV_CMD_REQUEST_AUTOPILOT_CAPABILITIES (520) — \[from: [common](../messages/common.md#MAV_CMD_REQUEST_AUTOPILOT_CAPABILITIES)\] [DEP] {#MAV_CMD_REQUEST_AUTOPILOT_CAPABILITIES} - -### MAV_CMD_REQUEST_CAMERA_INFORMATION (521) — \[from: [common](../messages/common.md#MAV_CMD_REQUEST_CAMERA_INFORMATION)\] [DEP] {#MAV_CMD_REQUEST_CAMERA_INFORMATION} - -### MAV_CMD_REQUEST_CAMERA_SETTINGS (522) — \[from: [common](../messages/common.md#MAV_CMD_REQUEST_CAMERA_SETTINGS)\] [DEP] {#MAV_CMD_REQUEST_CAMERA_SETTINGS} - -### MAV_CMD_REQUEST_STORAGE_INFORMATION (525) — \[from: [common](../messages/common.md#MAV_CMD_REQUEST_STORAGE_INFORMATION)\] [DEP] {#MAV_CMD_REQUEST_STORAGE_INFORMATION} - -### MAV_CMD_STORAGE_FORMAT (526) — \[from: [common](../messages/common.md#MAV_CMD_STORAGE_FORMAT)\] {#MAV_CMD_STORAGE_FORMAT} - -### MAV_CMD_REQUEST_CAMERA_CAPTURE_STATUS (527) — \[from: [common](../messages/common.md#MAV_CMD_REQUEST_CAMERA_CAPTURE_STATUS)\] [DEP] {#MAV_CMD_REQUEST_CAMERA_CAPTURE_STATUS} - -### MAV_CMD_REQUEST_FLIGHT_INFORMATION (528) — \[from: [common](../messages/common.md#MAV_CMD_REQUEST_FLIGHT_INFORMATION)\] [DEP] {#MAV_CMD_REQUEST_FLIGHT_INFORMATION} - -### MAV_CMD_RESET_CAMERA_SETTINGS (529) — \[from: [common](../messages/common.md#MAV_CMD_RESET_CAMERA_SETTINGS)\] {#MAV_CMD_RESET_CAMERA_SETTINGS} - -### MAV_CMD_SET_CAMERA_MODE (530) — \[from: [common](../messages/common.md#MAV_CMD_SET_CAMERA_MODE)\] {#MAV_CMD_SET_CAMERA_MODE} - -### MAV_CMD_SET_CAMERA_ZOOM (531) — \[from: [common](../messages/common.md#MAV_CMD_SET_CAMERA_ZOOM)\] {#MAV_CMD_SET_CAMERA_ZOOM} - -### MAV_CMD_SET_CAMERA_FOCUS (532) — \[from: [common](../messages/common.md#MAV_CMD_SET_CAMERA_FOCUS)\] {#MAV_CMD_SET_CAMERA_FOCUS} - -### MAV_CMD_SET_STORAGE_USAGE (533) — \[from: [common](../messages/common.md#MAV_CMD_SET_STORAGE_USAGE)\] {#MAV_CMD_SET_STORAGE_USAGE} - -### MAV_CMD_SET_CAMERA_SOURCE (534) — \[from: [common](../messages/common.md#MAV_CMD_SET_CAMERA_SOURCE)\] {#MAV_CMD_SET_CAMERA_SOURCE} - -### MAV_CMD_JUMP_TAG (600) — \[from: [common](../messages/common.md#MAV_CMD_JUMP_TAG)\] {#MAV_CMD_JUMP_TAG} - -### MAV_CMD_DO_JUMP_TAG (601) — \[from: [common](../messages/common.md#MAV_CMD_DO_JUMP_TAG)\] {#MAV_CMD_DO_JUMP_TAG} - -### MAV_CMD_DO_GIMBAL_MANAGER_PITCHYAW (1000) — \[from: [common](../messages/common.md#MAV_CMD_DO_GIMBAL_MANAGER_PITCHYAW)\] {#MAV_CMD_DO_GIMBAL_MANAGER_PITCHYAW} - -### MAV_CMD_DO_GIMBAL_MANAGER_CONFIGURE (1001) — \[from: [common](../messages/common.md#MAV_CMD_DO_GIMBAL_MANAGER_CONFIGURE)\] {#MAV_CMD_DO_GIMBAL_MANAGER_CONFIGURE} - -### MAV_CMD_IMAGE_START_CAPTURE (2000) — \[from: [common](../messages/common.md#MAV_CMD_IMAGE_START_CAPTURE)\] {#MAV_CMD_IMAGE_START_CAPTURE} - -### MAV_CMD_IMAGE_STOP_CAPTURE (2001) — \[from: [common](../messages/common.md#MAV_CMD_IMAGE_STOP_CAPTURE)\] {#MAV_CMD_IMAGE_STOP_CAPTURE} - -### MAV_CMD_REQUEST_CAMERA_IMAGE_CAPTURE (2002) — \[from: [common](../messages/common.md#MAV_CMD_REQUEST_CAMERA_IMAGE_CAPTURE)\] [DEP] {#MAV_CMD_REQUEST_CAMERA_IMAGE_CAPTURE} - -### MAV_CMD_DO_TRIGGER_CONTROL (2003) — \[from: [common](../messages/common.md#MAV_CMD_DO_TRIGGER_CONTROL)\] {#MAV_CMD_DO_TRIGGER_CONTROL} - -### MAV_CMD_CAMERA_TRACK_POINT (2004) — \[from: [common](../messages/common.md#MAV_CMD_CAMERA_TRACK_POINT)\] {#MAV_CMD_CAMERA_TRACK_POINT} - -### MAV_CMD_CAMERA_TRACK_RECTANGLE (2005) — \[from: [common](../messages/common.md#MAV_CMD_CAMERA_TRACK_RECTANGLE)\] {#MAV_CMD_CAMERA_TRACK_RECTANGLE} - -### MAV_CMD_CAMERA_STOP_TRACKING (2010) — \[from: [common](../messages/common.md#MAV_CMD_CAMERA_STOP_TRACKING)\] {#MAV_CMD_CAMERA_STOP_TRACKING} - -### MAV_CMD_VIDEO_START_CAPTURE (2500) — \[from: [common](../messages/common.md#MAV_CMD_VIDEO_START_CAPTURE)\] {#MAV_CMD_VIDEO_START_CAPTURE} - -### MAV_CMD_VIDEO_STOP_CAPTURE (2501) — \[from: [common](../messages/common.md#MAV_CMD_VIDEO_STOP_CAPTURE)\] {#MAV_CMD_VIDEO_STOP_CAPTURE} - -### MAV_CMD_VIDEO_START_STREAMING (2502) — \[from: [common](../messages/common.md#MAV_CMD_VIDEO_START_STREAMING)\] {#MAV_CMD_VIDEO_START_STREAMING} - -### MAV_CMD_VIDEO_STOP_STREAMING (2503) — \[from: [common](../messages/common.md#MAV_CMD_VIDEO_STOP_STREAMING)\] {#MAV_CMD_VIDEO_STOP_STREAMING} - -### MAV_CMD_REQUEST_VIDEO_STREAM_INFORMATION (2504) — \[from: [common](../messages/common.md#MAV_CMD_REQUEST_VIDEO_STREAM_INFORMATION)\] [DEP] {#MAV_CMD_REQUEST_VIDEO_STREAM_INFORMATION} - -### MAV_CMD_REQUEST_VIDEO_STREAM_STATUS (2505) — \[from: [common](../messages/common.md#MAV_CMD_REQUEST_VIDEO_STREAM_STATUS)\] [DEP] {#MAV_CMD_REQUEST_VIDEO_STREAM_STATUS} - -### MAV_CMD_LOGGING_START (2510) — \[from: [common](../messages/common.md#MAV_CMD_LOGGING_START)\] {#MAV_CMD_LOGGING_START} - -### MAV_CMD_LOGGING_STOP (2511) — \[from: [common](../messages/common.md#MAV_CMD_LOGGING_STOP)\] {#MAV_CMD_LOGGING_STOP} - -### MAV_CMD_AIRFRAME_CONFIGURATION (2520) — \[from: [common](../messages/common.md#MAV_CMD_AIRFRAME_CONFIGURATION)\] {#MAV_CMD_AIRFRAME_CONFIGURATION} - -### MAV_CMD_CONTROL_HIGH_LATENCY (2600) — \[from: [common](../messages/common.md#MAV_CMD_CONTROL_HIGH_LATENCY)\] {#MAV_CMD_CONTROL_HIGH_LATENCY} - -### MAV_CMD_PANORAMA_CREATE (2800) — \[from: [common](../messages/common.md#MAV_CMD_PANORAMA_CREATE)\] {#MAV_CMD_PANORAMA_CREATE} - -### MAV_CMD_DO_VTOL_TRANSITION (3000) — \[from: [common](../messages/common.md#MAV_CMD_DO_VTOL_TRANSITION)\] {#MAV_CMD_DO_VTOL_TRANSITION} - -### MAV_CMD_ARM_AUTHORIZATION_REQUEST (3001) — \[from: [common](../messages/common.md#MAV_CMD_ARM_AUTHORIZATION_REQUEST)\] {#MAV_CMD_ARM_AUTHORIZATION_REQUEST} - -### MAV_CMD_SET_GUIDED_SUBMODE_STANDARD (4000) — \[from: [common](../messages/common.md#MAV_CMD_SET_GUIDED_SUBMODE_STANDARD)\] {#MAV_CMD_SET_GUIDED_SUBMODE_STANDARD} - -### MAV_CMD_SET_GUIDED_SUBMODE_CIRCLE (4001) — \[from: [common](../messages/common.md#MAV_CMD_SET_GUIDED_SUBMODE_CIRCLE)\] {#MAV_CMD_SET_GUIDED_SUBMODE_CIRCLE} - -### MAV_CMD_CONDITION_GATE (4501) — \[from: [common](../messages/common.md#MAV_CMD_CONDITION_GATE)\] [WIP] {#MAV_CMD_CONDITION_GATE} - -### MAV_CMD_NAV_FENCE_RETURN_POINT (5000) — \[from: [common](../messages/common.md#MAV_CMD_NAV_FENCE_RETURN_POINT)\] {#MAV_CMD_NAV_FENCE_RETURN_POINT} - -### MAV_CMD_NAV_FENCE_POLYGON_VERTEX_INCLUSION (5001) — \[from: [common](../messages/common.md#MAV_CMD_NAV_FENCE_POLYGON_VERTEX_INCLUSION)\] {#MAV_CMD_NAV_FENCE_POLYGON_VERTEX_INCLUSION} - -### MAV_CMD_NAV_FENCE_POLYGON_VERTEX_EXCLUSION (5002) — \[from: [common](../messages/common.md#MAV_CMD_NAV_FENCE_POLYGON_VERTEX_EXCLUSION)\] {#MAV_CMD_NAV_FENCE_POLYGON_VERTEX_EXCLUSION} - -### MAV_CMD_NAV_FENCE_CIRCLE_INCLUSION (5003) — \[from: [common](../messages/common.md#MAV_CMD_NAV_FENCE_CIRCLE_INCLUSION)\] {#MAV_CMD_NAV_FENCE_CIRCLE_INCLUSION} - -### MAV_CMD_NAV_FENCE_CIRCLE_EXCLUSION (5004) — \[from: [common](../messages/common.md#MAV_CMD_NAV_FENCE_CIRCLE_EXCLUSION)\] {#MAV_CMD_NAV_FENCE_CIRCLE_EXCLUSION} - -### MAV_CMD_NAV_RALLY_POINT (5100) — \[from: [common](../messages/common.md#MAV_CMD_NAV_RALLY_POINT)\] {#MAV_CMD_NAV_RALLY_POINT} - -### MAV_CMD_UAVCAN_GET_NODE_INFO (5200) — \[from: [common](../messages/common.md#MAV_CMD_UAVCAN_GET_NODE_INFO)\] {#MAV_CMD_UAVCAN_GET_NODE_INFO} - -### MAV_CMD_DO_SET_SAFETY_SWITCH_STATE (5300) — \[from: [common](../messages/common.md#MAV_CMD_DO_SET_SAFETY_SWITCH_STATE)\] {#MAV_CMD_DO_SET_SAFETY_SWITCH_STATE} - -### MAV_CMD_DO_ADSB_OUT_IDENT (10001) — \[from: [common](../messages/common.md#MAV_CMD_DO_ADSB_OUT_IDENT)\] {#MAV_CMD_DO_ADSB_OUT_IDENT} - -### MAV_CMD_PAYLOAD_PREPARE_DEPLOY (30001) — \[from: [common](../messages/common.md#MAV_CMD_PAYLOAD_PREPARE_DEPLOY)\] [DEP] {#MAV_CMD_PAYLOAD_PREPARE_DEPLOY} - -### MAV_CMD_PAYLOAD_CONTROL_DEPLOY (30002) — \[from: [common](../messages/common.md#MAV_CMD_PAYLOAD_CONTROL_DEPLOY)\] [DEP] {#MAV_CMD_PAYLOAD_CONTROL_DEPLOY} - -### MAV_CMD_WAYPOINT_USER_1 (31000) — \[from: [common](../messages/common.md#MAV_CMD_WAYPOINT_USER_1)\] {#MAV_CMD_WAYPOINT_USER_1} - -### MAV_CMD_WAYPOINT_USER_2 (31001) — \[from: [common](../messages/common.md#MAV_CMD_WAYPOINT_USER_2)\] {#MAV_CMD_WAYPOINT_USER_2} - -### MAV_CMD_WAYPOINT_USER_3 (31002) — \[from: [common](../messages/common.md#MAV_CMD_WAYPOINT_USER_3)\] {#MAV_CMD_WAYPOINT_USER_3} - -### MAV_CMD_WAYPOINT_USER_4 (31003) — \[from: [common](../messages/common.md#MAV_CMD_WAYPOINT_USER_4)\] {#MAV_CMD_WAYPOINT_USER_4} - -### MAV_CMD_WAYPOINT_USER_5 (31004) — \[from: [common](../messages/common.md#MAV_CMD_WAYPOINT_USER_5)\] {#MAV_CMD_WAYPOINT_USER_5} - -### MAV_CMD_SPATIAL_USER_1 (31005) — \[from: [common](../messages/common.md#MAV_CMD_SPATIAL_USER_1)\] {#MAV_CMD_SPATIAL_USER_1} - -### MAV_CMD_SPATIAL_USER_2 (31006) — \[from: [common](../messages/common.md#MAV_CMD_SPATIAL_USER_2)\] {#MAV_CMD_SPATIAL_USER_2} - -### MAV_CMD_SPATIAL_USER_3 (31007) — \[from: [common](../messages/common.md#MAV_CMD_SPATIAL_USER_3)\] {#MAV_CMD_SPATIAL_USER_3} - -### MAV_CMD_SPATIAL_USER_4 (31008) — \[from: [common](../messages/common.md#MAV_CMD_SPATIAL_USER_4)\] {#MAV_CMD_SPATIAL_USER_4} - -### MAV_CMD_SPATIAL_USER_5 (31009) — \[from: [common](../messages/common.md#MAV_CMD_SPATIAL_USER_5)\] {#MAV_CMD_SPATIAL_USER_5} - -### MAV_CMD_USER_1 (31010) — \[from: [common](../messages/common.md#MAV_CMD_USER_1)\] {#MAV_CMD_USER_1} - -### MAV_CMD_USER_2 (31011) — \[from: [common](../messages/common.md#MAV_CMD_USER_2)\] {#MAV_CMD_USER_2} - -### MAV_CMD_USER_3 (31012) — \[from: [common](../messages/common.md#MAV_CMD_USER_3)\] {#MAV_CMD_USER_3} - -### MAV_CMD_USER_4 (31013) — \[from: [common](../messages/common.md#MAV_CMD_USER_4)\] {#MAV_CMD_USER_4} - -### MAV_CMD_USER_5 (31014) — \[from: [common](../messages/common.md#MAV_CMD_USER_5)\] {#MAV_CMD_USER_5} - -### MAV_CMD_CAN_FORWARD (32000) — \[from: [common](../messages/common.md#MAV_CMD_CAN_FORWARD)\] {#MAV_CMD_CAN_FORWARD} - -### MAV_CMD_FIXED_MAG_CAL_YAW (42006) — \[from: [common](../messages/common.md#MAV_CMD_FIXED_MAG_CAL_YAW)\] {#MAV_CMD_FIXED_MAG_CAL_YAW} - -### MAV_CMD_DO_WINCH (42600) — \[from: [common](../messages/common.md#MAV_CMD_DO_WINCH)\] {#MAV_CMD_DO_WINCH} - -### MAV_CMD_EXTERNAL_POSITION_ESTIMATE (43003) — \[from: [common](../messages/common.md#MAV_CMD_EXTERNAL_POSITION_ESTIMATE)\] {#MAV_CMD_EXTERNAL_POSITION_ESTIMATE} - diff --git a/ko/messages/development.html b/ko/messages/development.html index 5131326ae..26fba8548 100644 --- a/ko/messages/development.html +++ b/ko/messages/development.html @@ -1 +1 @@ -development.xml · MAVLink Developer Guide
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Messages
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Messages
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              FAQ
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              FAQ
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Implementations
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Implementations
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Examples
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Dialect: development

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              This dialect contains messages that are proposed for inclusion in the standard set, in order to ease development of prototype implementations. They should be considered a 'work in progress' and not included in production builds.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              This topic is a human-readable form of the XML definition file: development.xml.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAVLink 2 extension fields that have been added to MAVLink 1 messages are displayed in blue. - Entities from dialects are displayed only as headings (with link to original)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Protocol dialect: 0

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Protocol version: 0

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Summary

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              TypeDefinedIncluded
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Messages17224
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Enums16142
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Commands1740

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              The following sections list all entities in the dialect (both included and defined in this file).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Messages

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              HEARTBEAT (0) — [from: minimal]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              SYS_STATUS (1) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              SYSTEM_TIME (2) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              PING (4) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              CHANGE_OPERATOR_CONTROL (5) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              CHANGE_OPERATOR_CONTROL_ACK (6) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              AUTH_KEY (7) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              SET_MODE (11) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              PARAM_ACK_TRANSACTION (19) — [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Response from a PARAM_SET message when it is used in a transaction.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Field NameTypeValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              target_systemuint8_tId of system that sent PARAM_SET message.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              target_componentuint8_tId of system that sent PARAM_SET message.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              param_idchar[16]Parameter id, terminated by NULL if the length is less than 16 human-readable chars and WITHOUT null termination (NULL) byte if the length is exactly 16 chars - applications have to provide 16+1 bytes storage if the ID is stored as string
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              param_valuefloatParameter value (new value if PARAM_ACCEPTED, current value otherwise)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              param_typeuint8_tMAV_PARAM_TYPEParameter type.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              param_resultuint8_tPARAM_ACKResult code.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              PARAM_REQUEST_READ (20) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              PARAM_REQUEST_LIST (21) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              PARAM_VALUE (22) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              PARAM_SET (23) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              GPS_RAW_INT (24) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              GPS_STATUS (25) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              SCALED_IMU (26) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              RAW_IMU (27) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              RAW_PRESSURE (28) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              SCALED_PRESSURE (29) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              ATTITUDE (30) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              ATTITUDE_QUATERNION (31) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              LOCAL_POSITION_NED (32) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              GLOBAL_POSITION_INT (33) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              RC_CHANNELS_SCALED (34) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              RC_CHANNELS_RAW (35) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              SERVO_OUTPUT_RAW (36) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MISSION_REQUEST_PARTIAL_LIST (37) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MISSION_WRITE_PARTIAL_LIST (38) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MISSION_ITEM (39) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MISSION_REQUEST (40) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MISSION_SET_CURRENT (41) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MISSION_CURRENT (42) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MISSION_REQUEST_LIST (43) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MISSION_COUNT (44) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MISSION_CLEAR_ALL (45) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MISSION_ITEM_REACHED (46) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MISSION_ACK (47) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              SET_GPS_GLOBAL_ORIGIN (48) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              GPS_GLOBAL_ORIGIN (49) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              PARAM_MAP_RC (50) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MISSION_REQUEST_INT (51) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              SAFETY_SET_ALLOWED_AREA (54) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              SAFETY_ALLOWED_AREA (55) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              ATTITUDE_QUATERNION_COV (61) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              GLOBAL_POSITION_INT_COV (63) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              LOCAL_POSITION_NED_COV (64) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              RC_CHANNELS (65) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              REQUEST_DATA_STREAM (66) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              DATA_STREAM (67) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MANUAL_CONTROL (69) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              RC_CHANNELS_OVERRIDE (70) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MISSION_ITEM_INT (73) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              VFR_HUD (74) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              COMMAND_INT (75) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              COMMAND_LONG (76) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              COMMAND_ACK (77) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              COMMAND_CANCEL (80) — [from: common] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MANUAL_SETPOINT (81) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              SET_ATTITUDE_TARGET (82) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              ATTITUDE_TARGET (83) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              SET_POSITION_TARGET_LOCAL_NED (84) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              POSITION_TARGET_LOCAL_NED (85) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              SET_POSITION_TARGET_GLOBAL_INT (86) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              POSITION_TARGET_GLOBAL_INT (87) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              LOCAL_POSITION_NED_SYSTEM_GLOBAL_OFFSET (89) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              HIL_STATE (90) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              HIL_CONTROLS (91) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              HIL_RC_INPUTS_RAW (92) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              HIL_ACTUATOR_CONTROLS (93) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              OPTICAL_FLOW (100) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              GLOBAL_VISION_POSITION_ESTIMATE (101) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              VISION_POSITION_ESTIMATE (102) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              VISION_SPEED_ESTIMATE (103) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              VICON_POSITION_ESTIMATE (104) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              HIGHRES_IMU (105) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              OPTICAL_FLOW_RAD (106) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              HIL_SENSOR (107) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              SIM_STATE (108) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              RADIO_STATUS (109) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              FILE_TRANSFER_PROTOCOL (110) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              TIMESYNC (111) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              CAMERA_TRIGGER (112) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              HIL_GPS (113) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              HIL_OPTICAL_FLOW (114) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              HIL_STATE_QUATERNION (115) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              SCALED_IMU2 (116) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              LOG_REQUEST_LIST (117) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              LOG_ENTRY (118) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              LOG_REQUEST_DATA (119) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              LOG_DATA (120) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              LOG_ERASE (121) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              LOG_REQUEST_END (122) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              GPS_INJECT_DATA (123) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              GPS2_RAW (124) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              POWER_STATUS (125) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              SERIAL_CONTROL (126) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              GPS_RTK (127) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              GPS2_RTK (128) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              SCALED_IMU3 (129) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              DATA_TRANSMISSION_HANDSHAKE (130) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              ENCAPSULATED_DATA (131) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              DISTANCE_SENSOR (132) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              TERRAIN_REQUEST (133) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              TERRAIN_DATA (134) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              TERRAIN_CHECK (135) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              TERRAIN_REPORT (136) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              SCALED_PRESSURE2 (137) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              ATT_POS_MOCAP (138) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              SET_ACTUATOR_CONTROL_TARGET (139) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              ACTUATOR_CONTROL_TARGET (140) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              ALTITUDE (141) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              RESOURCE_REQUEST (142) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              SCALED_PRESSURE3 (143) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              FOLLOW_TARGET (144) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              CONTROL_SYSTEM_STATE (146) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              BATTERY_STATUS (147) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              AUTOPILOT_VERSION (148) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              LANDING_TARGET (149) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              FENCE_STATUS (162) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAG_CAL_REPORT (192) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              EFI_STATUS (225) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              ESTIMATOR_STATUS (230) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              WIND_COV (231) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              GPS_INPUT (232) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              GPS_RTCM_DATA (233) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              HIGH_LATENCY (234) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              HIGH_LATENCY2 (235) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              VIBRATION (241) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              HOME_POSITION (242) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              SET_HOME_POSITION (243) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MESSAGE_INTERVAL (244) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              EXTENDED_SYS_STATE (245) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              ADSB_VEHICLE (246) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              COLLISION (247) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              V2_EXTENSION (248) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MEMORY_VECT (249) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              DEBUG_VECT (250) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              NAMED_VALUE_FLOAT (251) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              NAMED_VALUE_INT (252) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              STATUSTEXT (253) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              DEBUG (254) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              SETUP_SIGNING (256) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              BUTTON_CHANGE (257) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              PLAY_TUNE (258) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              CAMERA_INFORMATION (259) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              CAMERA_SETTINGS (260) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              STORAGE_INFORMATION (261) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              CAMERA_CAPTURE_STATUS (262) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              CAMERA_IMAGE_CAPTURED (263) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              FLIGHT_INFORMATION (264) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MOUNT_ORIENTATION (265) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              LOGGING_DATA (266) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              LOGGING_DATA_ACKED (267) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              LOGGING_ACK (268) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              VIDEO_STREAM_INFORMATION (269) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              VIDEO_STREAM_STATUS (270) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              CAMERA_FOV_STATUS (271) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              CAMERA_TRACKING_IMAGE_STATUS (275) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              CAMERA_TRACKING_GEO_STATUS (276) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              CAMERA_THERMAL_RANGE (277) — [from: common] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              GIMBAL_MANAGER_INFORMATION (280) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              GIMBAL_MANAGER_STATUS (281) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              GIMBAL_MANAGER_SET_ATTITUDE (282) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              GIMBAL_DEVICE_INFORMATION (283) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              GIMBAL_DEVICE_SET_ATTITUDE (284) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              GIMBAL_DEVICE_ATTITUDE_STATUS (285) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              AUTOPILOT_STATE_FOR_GIMBAL_DEVICE (286) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              GIMBAL_MANAGER_SET_PITCHYAW (287) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              GIMBAL_MANAGER_SET_MANUAL_CONTROL (288) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              ESC_INFO (290) — [from: common] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              ESC_STATUS (291) — [from: common] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              AIRSPEED (295) — [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Airspeed information from a sensor.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              iduint8_tSensor ID.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Messages with same value are from the same source (instance).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              airspeedfloatm/sCalibrated airspeed (CAS).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              temperatureint16_tcdegCTemperature. INT16_MAX for value unknown/not supplied.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              raw_pressfloathPaRaw differential pressure. NaN for value unknown/not supplied.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              flagsuint8_tAIRSPEED_SENSOR_FLAGSAirspeed sensor flags.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              WIFI_NETWORK_INFO (298) — [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Detected WiFi network status information. This message is sent per each WiFi network detected in range with known SSID and general status parameters.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              ssidchar[32]Name of Wi-Fi network (SSID).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              channel_iduint8_tWiFi network operating channel ID. Set to 0 if unknown or unidentified.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              signal_qualityuint8_t%WiFi network signal quality.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              data_rateuint16_tMiB/sWiFi network data rate. Set to UINT16_MAX if data_rate information is not supplied.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              securityuint8_tWIFI_NETWORK_SECURITYWiFi network security type.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              WIFI_CONFIG_AP (299) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              PROTOCOL_VERSION (300) — [from: minimal] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              AIS_VESSEL (301) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              UAVCAN_NODE_STATUS (310) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              UAVCAN_NODE_INFO (311) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              PARAM_EXT_REQUEST_READ (320) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              PARAM_EXT_REQUEST_LIST (321) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              PARAM_EXT_VALUE (322) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              PARAM_EXT_SET (323) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              PARAM_EXT_ACK (324) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              OBSTACLE_DISTANCE (330) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              ODOMETRY (331) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              TRAJECTORY_REPRESENTATION_WAYPOINTS (332) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              TRAJECTORY_REPRESENTATION_BEZIER (333) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              CELLULAR_STATUS (334) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              CELLULAR_CONFIG (336) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              RAW_RPM (339) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              UTM_GLOBAL_POSITION (340) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              DEBUG_FLOAT_ARRAY (350) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              SET_VELOCITY_LIMITS (354) — [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Set temporary maximum limits for horizontal speed, vertical speed and yaw rate.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              The consumer must stream the current limits in VELOCITY_LIMITS at 1 Hz or more (when limits are being set). The consumer should latch the limits until a new limit is received or the mode is changed.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              target_systemuint8_tSystem ID (0 for broadcast).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              target_componentuint8_tComponent ID (0 for broadcast).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              horizontal_speed_limitfloatm/sLimit for horizontal movement in MAV_FRAME_LOCAL_NED. NaN: Field not used (ignore)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              vertical_speed_limitfloatm/sLimit for vertical movement in MAV_FRAME_LOCAL_NED. NaN: Field not used (ignore)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              yaw_rate_limitfloatrad/sLimit for vehicle turn rate around its yaw axis. NaN: Field not used (ignore)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              VELOCITY_LIMITS (355) — [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Current limits for horizontal speed, vertical speed and yaw rate, as set by SET_VELOCITY_LIMITS.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              horizontal_speed_limitfloatm/sLimit for horizontal movement in MAV_FRAME_LOCAL_NED. NaN: No limit applied
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              vertical_speed_limitfloatm/sLimit for vertical movement in MAV_FRAME_LOCAL_NED. NaN: No limit applied
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              yaw_rate_limitfloatrad/sLimit for vehicle turn rate around its yaw axis. NaN: No limit applied

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              ORBIT_EXECUTION_STATUS (360) — [from: common] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              FIGURE_EIGHT_EXECUTION_STATUS (361) — [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Vehicle status report that is sent out while figure eight execution is in progress (see MAV_CMD_DO_FIGURE_EIGHT). This may typically send at low rates: of the order of 2Hz.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              major_radiusfloatmMajor axis radius of the figure eight. Positive: orbit the north circle clockwise. Negative: orbit the north circle counter-clockwise.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              minor_radiusfloatmMinor axis radius of the figure eight. Defines the radius of two circles that make up the figure.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              orientationfloatradOrientation of the figure eight major axis with respect to true north in [-pi,pi).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              frameuint8_tMAV_FRAMEThe coordinate system of the fields: x, y, z.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              xint32_tX coordinate of center point. Coordinate system depends on frame field.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              yint32_tY coordinate of center point. Coordinate system depends on frame field.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              zfloatmAltitude of center point. Coordinate system depends on frame field.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              BATTERY_STATUS_V2 (369) — [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Battery dynamic information.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              This should be streamed (nominally at 1Hz). Static/invariant battery information is sent in BATTERY_INFO. Note that smart batteries should set the MAV_BATTERY_STATUS_FLAGS_CAPACITY_RELATIVE_TO_FULL bit to indicate that supplied capacity values are relative to a battery that is known to be full. Power monitors would not set this bit, indicating that capacity_consumed is relative to drone power-on, and that other values are estimated based on the assumption that the battery was full on power-on.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              iduint8_tBattery ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Messages with same value are from the same source (instance).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              temperatureint16_tcdegCinvalid:INT16_MAXTemperature of the whole battery pack (not internal electronics). INT16_MAX field not provided.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              voltagefloatVinvalid:NaNBattery voltage (total). NaN: field not provided.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              currentfloatAinvalid:NaNBattery current (through all cells/loads). Positive value when discharging and negative if charging. NaN: field not provided.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              capacity_consumedfloatAhinvalid:NaNConsumed charge. NaN: field not provided. This is either the consumption since power-on or since the battery was full, depending on the value of MAV_BATTERY_STATUS_FLAGS_CAPACITY_RELATIVE_TO_FULL.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              capacity_remainingfloatAhinvalid:NaNRemaining charge (until empty). NaN: field not provided. Note: If MAV_BATTERY_STATUS_FLAGS_CAPACITY_RELATIVE_TO_FULL is unset, this value is based on the assumption the battery was full when the system was powered.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              percent_remaininguint8_t%invalid:UINT8_MAXRemaining battery energy. Values: [0-100], UINT8_MAX: field not provided.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              status_flagsuint32_tMAV_BATTERY_STATUS_FLAGSFault, health, readiness, and other status indications.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              BATTERY_INFO (370) — [from: common] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              FUEL_STATUS (371) — [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Fuel status.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              This message provides "generic" fuel level information for display in a GCS and for triggering failsafes in an autopilot. The fuel type and associated units for fields in this message are defined in the enum MAV_FUEL_TYPE.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              The reported consumed_fuel and remaining_fuel must only be supplied if measured: they must not be inferred from the maximum_fuel and the other value. A recipient can assume that if these fields are supplied they are accurate. If not provided, the recipient can infer remaining_fuel from maximum_fuel and consumed_fuel on the assumption that the fuel was initially at its maximum (this is what battery monitors assume). Note however that this is an assumption, and the UI should prompt the user appropriately (i.e. notify user that they should fill the tank before boot).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              This kind of information may also be sent in fuel-specific messages such as BATTERY_STATUS_V2. If both messages are sent for the same fuel system, the ids and corresponding information must match.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              This should be streamed (nominally at 0.1 Hz).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              iduint8_tFuel ID. Must match ID of other messages for same fuel system, such as BATTERY_STATUS_V2.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Messages with same value are from the same source (instance).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              maximum_fuelfloatCapacity when full. Must be provided.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              consumed_fuelfloatinvalid:NaNConsumed fuel (measured). This value should not be inferred: if not measured set to NaN. NaN: field not provided.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              remaining_fuelfloatinvalid:NaNRemaining fuel until empty (measured). The value should not be inferred: if not measured set to NaN. NaN: field not provided.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              percent_remaininguint8_t%invalid:UINT8_MAXPercentage of remaining fuel, relative to full. Values: [0-100], UINT8_MAX: field not provided.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              flow_ratefloatinvalid:NaNPositive value when emptying/using, and negative if filling/replacing. NaN: field not provided.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              temperaturefloatKinvalid:NaNFuel temperature. NaN: field not provided.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              fuel_typeuint32_tMAV_FUEL_TYPEFuel type. Defines units for fuel capacity and consumption fields above.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              GENERATOR_STATUS (373) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              ACTUATOR_OUTPUT_STATUS (375) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              TIME_ESTIMATE_TO_TARGET (380) — [from: common] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              TUNNEL (385) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              CAN_FRAME (386) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              CANFD_FRAME (387) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              CAN_FILTER_MODIFY (388) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              ONBOARD_COMPUTER_STATUS (390) — [from: common] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              COMPONENT_INFORMATION (395) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              COMPONENT_INFORMATION_BASIC (396) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              COMPONENT_METADATA (397) — [from: common] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              PLAY_TUNE_V2 (400) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              SUPPORTED_TUNES (401) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              EVENT (410) — [from: common] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              CURRENT_EVENT_SEQUENCE (411) — [from: common] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              REQUEST_EVENT (412) — [from: common] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              RESPONSE_EVENT_ERROR (413) — [from: common] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              GROUP_START (414) — [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Emitted during mission execution when control reaches MAV_CMD_GROUP_START.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              group_iduint32_tMission-unique group id (from MAV_CMD_GROUP_START).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              mission_checksumuint32_tCRC32 checksum of current plan for MAV_MISSION_TYPE_ALL. As defined in MISSION_CHECKSUM message.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              GROUP_END (415) — [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Emitted during mission execution when control reaches MAV_CMD_GROUP_END.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              group_iduint32_tMission-unique group id (from MAV_CMD_GROUP_END).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              mission_checksumuint32_tCRC32 checksum of current plan for MAV_MISSION_TYPE_ALL. As defined in MISSION_CHECKSUM message.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              RADIO_RC_CHANNELS (420) — [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              RC channel outputs from a MAVLink RC receiver for input to a flight controller or other components (allows an RC receiver to connect via MAVLink instead of some other protocol such as PPM-Sum or S.BUS).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Note that this is not intended to be an over-the-air format, and does not replace RC_CHANNELS and similar messages reported by the flight controller. The target_system field should normally be set to the system id of the system to control, typically the flight controller. The target_component field can normally be set to 0, so that all components of the system can receive the message. The channels array field can publish up to 32 channels; the number of channel items used in the array is specified in the count field. The time_last_update_ms field contains the timestamp of the last received valid channels data in the receiver's time domain. The count field indicates the first index of the channel array that is not used for channel data (this and later indexes are zero-filled). The RADIO_RC_CHANNELS_FLAGS_OUTDATED flag is set by the receiver if the channels data is not up-to-date (for example, if new data from the transmitter could not be validated so the last valid data is resent). The RADIO_RC_CHANNELS_FLAGS_FAILSAFE failsafe flag is set by the receiver if the receiver's failsafe condition is met (implementation dependent, e.g., connection to the RC radio is lost). In this case time_last_update_ms still contains the timestamp of the last valid channels data, but the content of the channels data is not defined by the protocol (it is up to the implementation of the receiver). For instance, the channels data could contain failsafe values configured in the receiver; the default is to carry the last valid data. Note: The RC channels fields are extensions to ensure that they are located at the end of the serialized payload and subject to MAVLink's trailing-zero trimming.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              target_systemuint8_tSystem ID (ID of target system, normally flight controller).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              target_componentuint8_tComponent ID (normally 0 for broadcast).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              time_last_update_msuint32_tmsTime when the data in the channels field were last updated (time since boot in the receiver's time domain).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              flagsuint16_tRADIO_RC_CHANNELS_FLAGSRadio RC channels status flags.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              countuint8_tTotal number of RC channels being received. This can be larger than 32, indicating that more channels are available but not given in this message.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              channels ++int16_t[32]min:-4096 max:4096RC channels.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Channel values are in centered 13 bit format. Range is -4096 to 4096, center is 0. Conversion to PWM is x * 5/32 + 1500.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Channels with indexes equal or above count should be set to 0, to benefit from MAVLink's trailing-zero trimming.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              AVAILABLE_MODES (435) — [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Get information about a particular flight modes.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              The message can be enumerated or requested for a particular mode using MAV_CMD_REQUEST_MESSAGE. Specify 0 in param2 to request that the message is emitted for all available modes or the specific index for just one mode. The modes must be available/settable for the current vehicle/frame type. Each modes should only be emitted once (even if it is both standard and custom).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Field NameTypeValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              number_modesuint8_tThe total number of available modes for the current vehicle type.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              mode_indexuint8_tThe current mode index within number_modes, indexed from 1.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              standard_modeuint8_tMAV_STANDARD_MODEStandard mode.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              custom_modeuint32_tA bitfield for use for autopilot-specific flags
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              propertiesuint32_tMAV_MODE_PROPERTYMode properties.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              mode_namechar[35]Name of custom mode, with null termination character. Should be omitted for standard modes.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              CURRENT_MODE (436) — [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Get the current mode.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              This should be emitted on any mode change, and broadcast at low rate (nominally 0.5 Hz). It may be requested using MAV_CMD_REQUEST_MESSAGE.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Field NameTypeValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              standard_modeuint8_tMAV_STANDARD_MODEStandard mode.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              custom_modeuint32_tA bitfield for use for autopilot-specific flags
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              intended_custom_modeuint32_tinvalid:0The custom_mode of the mode that was last commanded by the user (for example, with MAV_CMD_DO_SET_STANDARD_MODE, MAV_CMD_DO_SET_MODE or via RC). This should usually be the same as custom_mode. It will be different if the vehicle is unable to enter the intended mode, or has left that mode due to a failsafe condition. 0 indicates the intended custom mode is unknown/not supplied

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              AVAILABLE_MODES_MONITOR (437) — [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              A change to the sequence number indicates that the set of AVAILABLE_MODES has changed.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              A receiver must re-request all available modes whenever the sequence number changes. This is only emitted after the first change and should then be broadcast at low rate (nominally 0.3 Hz) and on change.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              sequint8_tSequence number. The value iterates sequentially whenever AVAILABLE_MODES changes (e.g. support for a new mode is added/removed dynamically).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              ILLUMINATOR_STATUS (440) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              GNSS_INTEGRITY (441) — [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Information about key components of GNSS receivers, like signal authentication, interference and system errors.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              iduint8_tGNSS receiver id. Must match instance ids of other messages from same receiver.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Messages with same value are from the same source (instance).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              system_errorsuint32_tGPS_SYSTEM_ERROR_FLAGSErrors in the GPS system.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              authentication_stateuint8_tGPS_AUTHENTICATION_STATESignal authentication state of the GPS system.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              jamming_stateuint8_tGPS_JAMMING_STATESignal jamming state of the GPS system.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              spoofing_stateuint8_tGPS_SPOOFING_STATESignal spoofing state of the GPS system.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              raim_stateuint8_tGPS_RAIM_STATEThe state of the RAIM processing.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              raim_hfomuint16_tcminvalid:UINT16_MAXHorizontal expected accuracy using satellites successfully validated using RAIM.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              raim_vfomuint16_tcminvalid:UINT16_MAXVertical expected accuracy using satellites successfully validated using RAIM.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              corrections_qualityuint8_tinvalid:UINT8_MAX min:0 max:10An abstract value representing the estimated quality of incoming corrections, or 255 if not available.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              system_status_summaryuint8_tinvalid:UINT8_MAX min:0 max:10An abstract value representing the overall status of the receiver, or 255 if not available.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              gnss_signal_qualityuint8_tinvalid:UINT8_MAX min:0 max:10An abstract value representing the quality of incoming GNSS signals, or 255 if not available.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              post_processing_qualityuint8_tinvalid:UINT8_MAX min:0 max:10An abstract value representing the estimated PPK quality, or 255 if not available.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              TARGET_ABSOLUTE (510) — [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Current motion information from sensors on a target

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              timestampuint64_tusTimestamp (UNIX epoch time).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              iduint8_tThe ID of the target if multiple targets are present
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              sensor_capabilitiesuint8_tTARGET_ABSOLUTE_SENSOR_CAPABILITY_FLAGSBitmap to indicate the sensor's reporting capabilities
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              latint32_tdegE7Target's latitude (WGS84)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              lonint32_tdegE7Target's longitude (WGS84)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              altfloatmTarget's altitude (AMSL)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              velfloat[3]m/sinvalid:[0]Target's velocity in its body frame
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              accfloat[3]m/s/sinvalid:[0]Linear target's acceleration in its body frame
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              q_targetfloat[4]invalid:[0]Quaternion of the target's orientation from its body frame to the vehicle's NED frame.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              ratesfloat[3]rad/sinvalid:[0]Target's roll, pitch and yaw rates
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              position_stdfloat[2]mStandard deviation of horizontal (eph) and vertical (epv) position errors
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              vel_stdfloat[3]m/sStandard deviation of the target's velocity in its body frame
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              acc_stdfloat[3]m/s/sStandard deviation of the target's acceleration in its body frame

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              TARGET_RELATIVE (511) — [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              The location of a target measured by MAV's onboard sensors.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              timestampuint64_tusTimestamp (UNIX epoch time)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              iduint8_tThe ID of the target if multiple targets are present
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Messages with same value are from the same source (instance).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              frameuint8_tTARGET_OBS_FRAMECoordinate frame used for following fields.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              xfloatmX Position of the target in TARGET_OBS_FRAME
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              yfloatmY Position of the target in TARGET_OBS_FRAME
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              zfloatmZ Position of the target in TARGET_OBS_FRAME
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              pos_stdfloat[3]mStandard deviation of the target's position in TARGET_OBS_FRAME
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              yaw_stdfloatradStandard deviation of the target's orientation in TARGET_OBS_FRAME
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              q_targetfloat[4]Quaternion of the target's orientation from the target's frame to the TARGET_OBS_FRAME (w, x, y, z order, zero-rotation is 1, 0, 0, 0)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              q_sensorfloat[4]Quaternion of the sensor's orientation from TARGET_OBS_FRAME to vehicle-carried NED. (Ignored if set to (0,0,0,0)) (w, x, y, z order, zero-rotation is 1, 0, 0, 0)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              typeuint8_tLANDING_TARGET_TYPEType of target

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              WHEEL_DISTANCE (9000) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              WINCH_STATUS (9005) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              OPEN_DRONE_ID_BASIC_ID (12900) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              OPEN_DRONE_ID_LOCATION (12901) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              OPEN_DRONE_ID_AUTHENTICATION (12902) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              OPEN_DRONE_ID_SELF_ID (12903) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              OPEN_DRONE_ID_SYSTEM (12904) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              OPEN_DRONE_ID_OPERATOR_ID (12905) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              OPEN_DRONE_ID_MESSAGE_PACK (12915) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              OPEN_DRONE_ID_ARM_STATUS (12918) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              OPEN_DRONE_ID_SYSTEM_UPDATE (12919) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              HYGROMETER_SENSOR (12920) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Enumerated Types

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              WIFI_NETWORK_SECURITY — [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              WiFi wireless security protocols.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              0WIFI_NETWORK_SECURITY_UNDEFINEDUndefined or unknown security protocol.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              1WIFI_NETWORK_SECURITY_OPENOpen network, no security.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              2WIFI_NETWORK_SECURITY_WEPWEP.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              3WIFI_NETWORK_SECURITY_WPA1WPA1.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              4WIFI_NETWORK_SECURITY_WPA2WPA2.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              5WIFI_NETWORK_SECURITY_WPA3WPA3.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              AIRSPEED_SENSOR_FLAGS — [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              (Bitmask) Airspeed sensor flags

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              0AIRSPEED_SENSOR_UNHEALTHYAirspeed sensor is unhealthy
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              1AIRSPEED_SENSOR_USINGTrue if the data from this sensor is being actively used by the flight controller for guidance, navigation or control.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              PARAM_TRANSACTION_TRANSPORT — [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Possible transport layers to set and get parameters via mavlink during a parameter transaction.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              0PARAM_TRANSACTION_TRANSPORT_PARAMTransaction over param transport.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              1PARAM_TRANSACTION_TRANSPORT_PARAM_EXTTransaction over param_ext transport.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              PARAM_TRANSACTION_ACTION — [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Possible parameter transaction actions.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              0PARAM_TRANSACTION_ACTION_STARTCommit the current parameter transaction.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              1PARAM_TRANSACTION_ACTION_COMMITCommit the current parameter transaction.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              2PARAM_TRANSACTION_ACTION_CANCELCancel the current parameter transaction.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_STANDARD_MODE — [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Standard modes with a well understood meaning across flight stacks and vehicle types.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              For example, most flight stack have the concept of a "return" or "RTL" mode that takes a vehicle to safety, even though the precise mechanics of this mode may differ. Modes may be set using MAV_CMD_DO_SET_STANDARD_MODE.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              0MAV_STANDARD_MODE_NON_STANDARDNon standard mode.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              This may be used when reporting the mode if the current flight mode is not a standard mode.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              1MAV_STANDARD_MODE_POSITION_HOLDPosition mode (manual).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Position-controlled and stabilized manual mode.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              When sticks are released vehicles return to their level-flight orientation and hold both position and altitude against wind and external forces.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              This mode can only be set by vehicles that can hold a fixed position.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Multicopter (MC) vehicles actively brake and hold both position and altitude against wind and external forces.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Hybrid MC/FW ("VTOL") vehicles first transition to multicopter mode (if needed) but otherwise behave in the same way as MC vehicles.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Fixed-wing (FW) vehicles must not support this mode.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Other vehicle types must not support this mode (this may be revisited through the PR process).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              2MAV_STANDARD_MODE_ORBITOrbit (manual).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Position-controlled and stabilized manual mode.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              The vehicle circles around a fixed setpoint in the horizontal plane at a particular radius, altitude, and direction.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Flight stacks may further allow manual control over the setpoint position, radius, direction, speed, and/or altitude of the circle, but this is not mandated.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Flight stacks may support the MAV_CMD_DO_ORBIT for changing the orbit parameters.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MC and FW vehicles may support this mode.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Hybrid MC/FW ("VTOL") vehicles may support this mode in MC/FW or both modes; if the mode is not supported by the current configuration the vehicle should transition to the supported configuration.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Other vehicle types must not support this mode (this may be revisited through the PR process).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              3MAV_STANDARD_MODE_CRUISECruise mode (manual).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Position-controlled and stabilized manual mode.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              When sticks are released vehicles return to their level-flight orientation and hold their original track against wind and external forces.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Fixed-wing (FW) vehicles level orientation and maintain current track and altitude against wind and external forces.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Hybrid MC/FW ("VTOL") vehicles first transition to FW mode (if needed) but otherwise behave in the same way as MC vehicles.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Multicopter (MC) vehicles must not support this mode.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Other vehicle types must not support this mode (this may be revisited through the PR process).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              4MAV_STANDARD_MODE_ALTITUDE_HOLDAltitude hold (manual).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Altitude-controlled and stabilized manual mode.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              When sticks are released vehicles return to their level-flight orientation and hold their altitude.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MC vehicles continue with existing momentum and may move with wind (or other external forces).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              FW vehicles continue with current heading, but may be moved off-track by wind.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Hybrid MC/FW ("VTOL") vehicles behave according to their current configuration/mode (FW or MC).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Other vehicle types must not support this mode (this may be revisited through the PR process).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              5MAV_STANDARD_MODE_RETURN_HOMEReturn home mode (auto).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Automatic mode that returns vehicle to home via a safe flight path.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              It may also automatically land the vehicle (i.e. RTL).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              The precise flight path and landing behaviour depend on vehicle configuration and type.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              6MAV_STANDARD_MODE_SAFE_RECOVERYSafe recovery mode (auto).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Automatic mode that takes vehicle to a predefined safe location via a safe flight path (rally point or mission defined landing) .
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              It may also automatically land the vehicle.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              The precise return location, flight path, and landing behaviour depend on vehicle configuration and type.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              7MAV_STANDARD_MODE_MISSIONMission mode (automatic).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Automatic mode that executes MAVLink missions.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Missions are executed from the current waypoint as soon as the mode is enabled.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              8MAV_STANDARD_MODE_LANDLand mode (auto).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Automatic mode that lands the vehicle at the current location.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              The precise landing behaviour depends on vehicle configuration and type.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              9MAV_STANDARD_MODE_TAKEOFFTakeoff mode (auto).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Automatic takeoff mode.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              The precise takeoff behaviour depends on vehicle configuration and type.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_MODE_PROPERTY — [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              (Bitmask) Mode properties.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              1MAV_MODE_PROPERTY_ADVANCEDIf set, this mode is an advanced mode.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              For example a rate-controlled manual mode might be advanced, whereas a position-controlled manual mode is not.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              A GCS can optionally use this flag to configure the UI for its intended users.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              2MAV_MODE_PROPERTY_NOT_USER_SELECTABLEIf set, this mode should not be added to the list of selectable modes.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              The mode might still be selected by the FC directly (for example as part of a failsafe).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_BATTERY_STATUS_FLAGS — [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              (Bitmask) Battery status flags for fault, health and state indication.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              1MAV_BATTERY_STATUS_FLAGS_NOT_READY_TO_USEThe battery is not ready to use (fly).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Set if the battery has faults or other conditions that make it unsafe to fly with.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Note: It will be the logical OR of other status bits (chosen by the manufacturer/integrator).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              2MAV_BATTERY_STATUS_FLAGS_CHARGINGBattery is charging.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              4MAV_BATTERY_STATUS_FLAGS_CELL_BALANCINGBattery is cell balancing (during charging).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Not ready to use (MAV_BATTERY_STATUS_FLAGS_NOT_READY_TO_USE may be set).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              8MAV_BATTERY_STATUS_FLAGS_FAULT_CELL_IMBALANCEBattery cells are not balanced.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Not ready to use.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              16MAV_BATTERY_STATUS_FLAGS_AUTO_DISCHARGINGBattery is auto discharging (towards storage level).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Not ready to use (MAV_BATTERY_STATUS_FLAGS_NOT_READY_TO_USE would be set).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              32MAV_BATTERY_STATUS_FLAGS_REQUIRES_SERVICEBattery requires service (not safe to fly).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              This is set at vendor discretion.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              It is likely to be set for most faults, and may also be set according to a maintenance schedule (such as age, or number of recharge cycles, etc.).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              64MAV_BATTERY_STATUS_FLAGS_BAD_BATTERYBattery is faulty and cannot be repaired (not safe to fly).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              This is set at vendor discretion.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              The battery should be disposed of safely.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              128MAV_BATTERY_STATUS_FLAGS_PROTECTIONS_ENABLEDAutomatic battery protection monitoring is enabled.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              When enabled, the system will monitor for certain kinds of faults, such as cells being over-voltage.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              If a fault is triggered then and protections are enabled then a safety fault (MAV_BATTERY_STATUS_FLAGS_FAULT_PROTECTION_SYSTEM) will be set and power from the battery will be stopped.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Note that battery protection monitoring should only be enabled when the vehicle is landed. Once the vehicle is armed, or starts moving, the protections should be disabled to prevent false positives from disabling the output.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              256MAV_BATTERY_STATUS_FLAGS_FAULT_PROTECTION_SYSTEMThe battery fault protection system had detected a fault and cut all power from the battery.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              This will only trigger if MAV_BATTERY_STATUS_FLAGS_PROTECTIONS_ENABLED is set.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Other faults like MAV_BATTERY_STATUS_FLAGS_FAULT_OVER_VOLT may also be set, indicating the cause of the protection fault.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              512MAV_BATTERY_STATUS_FLAGS_FAULT_OVER_VOLTOne or more cells are above their maximum voltage rating.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              1024MAV_BATTERY_STATUS_FLAGS_FAULT_UNDER_VOLTOne or more cells are below their minimum voltage rating.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              A battery that had deep-discharged might be irrepairably damaged, and set both MAV_BATTERY_STATUS_FLAGS_FAULT_UNDER_VOLT and MAV_BATTERY_STATUS_FLAGS_BAD_BATTERY.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              2048MAV_BATTERY_STATUS_FLAGS_FAULT_OVER_TEMPERATUREOver-temperature fault.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              4096MAV_BATTERY_STATUS_FLAGS_FAULT_UNDER_TEMPERATUREUnder-temperature fault.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              8192MAV_BATTERY_STATUS_FLAGS_FAULT_OVER_CURRENTOver-current fault.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              16384MAV_BATTERY_STATUS_FLAGS_FAULT_SHORT_CIRCUITShort circuit event detected.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              The battery may or may not be safe to use (check other flags).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              32768MAV_BATTERY_STATUS_FLAGS_FAULT_INCOMPATIBLE_VOLTAGEVoltage not compatible with power rail voltage (batteries on same power rail should have similar voltage).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              65536MAV_BATTERY_STATUS_FLAGS_FAULT_INCOMPATIBLE_FIRMWAREBattery firmware is not compatible with current autopilot firmware.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              131072MAV_BATTERY_STATUS_FLAGS_FAULT_INCOMPATIBLE_CELLS_CONFIGURATIONBattery is not compatible due to cell configuration (e.g. 5s1p when vehicle requires 6s).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              262144MAV_BATTERY_STATUS_FLAGS_CAPACITY_RELATIVE_TO_FULLBattery capacity_consumed and capacity_remaining values are relative to a full battery (they sum to the total capacity of the battery).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              This flag would be set for a smart battery that can accurately determine its remaining charge across vehicle reboots and discharge/recharge cycles.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              If unset the capacity_consumed indicates the consumption since vehicle power-on, as measured using a power monitor. The capacity_remaining, if provided, indicates the estimated remaining capacity on the assumption that the battery was full on vehicle boot.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              If unset a GCS is recommended to advise that users fully charge the battery on power on.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              4294967295MAV_BATTERY_STATUS_FLAGS_EXTENDEDReserved (not used). If set, this will indicate that an additional status field exists for higher status values.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              TARGET_ABSOLUTE_SENSOR_CAPABILITY_FLAGS — [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              (Bitmask) These flags indicate the sensor reporting capabilities for TARGET_ABSOLUTE.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              1TARGET_ABSOLUTE_SENSOR_CAPABILITY_POSITION
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              2TARGET_ABSOLUTE_SENSOR_CAPABILITY_VELOCITY
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              4TARGET_ABSOLUTE_SENSOR_CAPABILITY_ACCELERATION
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              8TARGET_ABSOLUTE_SENSOR_CAPABILITY_ATTITUDE
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              16TARGET_ABSOLUTE_SENSOR_CAPABILITY_RATES

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              TARGET_OBS_FRAME — [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              The frame of a target observation from an onboard sensor.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              0TARGET_OBS_FRAME_LOCAL_NEDNED local tangent frame (x: North, y: East, z: Down) with origin fixed relative to earth.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              1TARGET_OBS_FRAME_BODY_FRDFRD local frame aligned to the vehicle's attitude (x: Forward, y: Right, z: Down) with an origin that travels with vehicle.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              2TARGET_OBS_FRAME_LOCAL_OFFSET_NEDNED local tangent frame (x: North, y: East, z: Down) with an origin that travels with vehicle.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              3TARGET_OBS_FRAME_OTHEROther sensor frame for target observations neither in local NED nor in body FRD.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              RADIO_RC_CHANNELS_FLAGS — [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              (Bitmask) RADIO_RC_CHANNELS flags (bitmask).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              1RADIO_RC_CHANNELS_FLAGS_FAILSAFEFailsafe is active. The content of the RC channels data in the RADIO_RC_CHANNELS message is implementation dependent.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              2RADIO_RC_CHANNELS_FLAGS_OUTDATEDChannel data may be out of date. This is set when the receiver is unable to validate incoming data from the transmitter and has therefore resent the last valid data it received.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_FUEL_TYPE — [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Fuel types for use in FUEL_TYPE. Fuel types specify the units for the maximum, available and consumed fuel, and for the flow rates.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              0MAV_FUEL_TYPE_UNKNOWNNot specified. Fuel levels are normalized (i.e. maximum is 1, and other levels are relative to 1.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              1MAV_FUEL_TYPE_LIQUIDA generic liquid fuel. Fuel levels are in millilitres (ml). Fuel rates are in millilitres/second.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              2MAV_FUEL_TYPE_GASA gas tank. Fuel levels are in kilo-Pascal (kPa), and flow rates are in milliliters per second (ml/s).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              GPS_SYSTEM_ERROR_FLAGS — [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              (Bitmask) Flags indicating errors in a GPS receiver.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              1GPS_SYSTEM_ERROR_INCOMING_CORRECTIONSThere are problems with incoming correction streams.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              2GPS_SYSTEM_ERROR_CONFIGURATIONThere are problems with the configuration.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              4GPS_SYSTEM_ERROR_SOFTWAREThere are problems with the software on the GPS receiver.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              8GPS_SYSTEM_ERROR_ANTENNAThere are problems with an antenna connected to the GPS receiver.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              16GPS_SYSTEM_ERROR_EVENT_CONGESTIONThere are problems handling all incoming events.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              32GPS_SYSTEM_ERROR_CPU_OVERLOADThe GPS receiver CPU is overloaded.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              64GPS_SYSTEM_ERROR_OUTPUT_CONGESTIONThe GPS receiver is experiencing output congestion.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              GPS_AUTHENTICATION_STATE — [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Signal authentication state in a GPS receiver.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              0GPS_AUTHENTICATION_STATE_UNKNOWNThe GPS receiver does not provide GPS signal authentication info.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              1GPS_AUTHENTICATION_STATE_INITIALIZINGThe GPS receiver is initializing signal authentication.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              2GPS_AUTHENTICATION_STATE_ERRORThe GPS receiver encountered an error while initializing signal authentication.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              3GPS_AUTHENTICATION_STATE_OKThe GPS receiver has correctly authenticated all signals.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              4GPS_AUTHENTICATION_STATE_DISABLEDGPS signal authentication is disabled on the receiver.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              GPS_JAMMING_STATE — [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Signal jamming state in a GPS receiver.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              0GPS_JAMMING_STATE_UNKNOWNThe GPS receiver does not provide GPS signal jamming info.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              1GPS_JAMMING_STATE_OKThe GPS receiver detected no signal jamming.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              2GPS_JAMMING_STATE_MITIGATEDThe GPS receiver detected and mitigated signal jamming.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              3GPS_JAMMING_STATE_DETECTEDThe GPS receiver detected signal jamming.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              GPS_SPOOFING_STATE — [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Signal spoofing state in a GPS receiver.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              0GPS_SPOOFING_STATE_UNKNOWNThe GPS receiver does not provide GPS signal spoofing info.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              1GPS_SPOOFING_STATE_OKThe GPS receiver detected no signal spoofing.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              2GPS_SPOOFING_STATE_MITIGATEDThe GPS receiver detected and mitigated signal spoofing.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              3GPS_SPOOFING_STATE_DETECTEDThe GPS receiver detected signal spoofing but still has a fix.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              GPS_RAIM_STATE — [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              State of RAIM processing.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              0GPS_RAIM_STATE_UNKNOWNRAIM capability is unknown.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              1GPS_RAIM_STATE_DISABLEDRAIM is disabled.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              2GPS_RAIM_STATE_OKRAIM integrity check was successful.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              3GPS_RAIM_STATE_FAILEDRAIM integrity check failed.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              FIRMWARE_VERSION_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              HL_FAILURE_FLAG — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_GOTO — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_MODE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_SYS_STATUS_SENSOR — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_SYS_STATUS_SENSOR_EXTENDED — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_FRAME — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              FENCE_ACTION — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              FENCE_BREACH — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              FENCE_MITIGATE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              FENCE_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_MOUNT_MODE — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              GIMBAL_DEVICE_CAP_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              GIMBAL_MANAGER_CAP_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              GIMBAL_DEVICE_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              GIMBAL_MANAGER_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              GIMBAL_DEVICE_ERROR_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              GRIPPER_ACTIONS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              WINCH_ACTIONS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              UAVCAN_NODE_HEALTH — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              UAVCAN_NODE_MODE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              ESC_CONNECTION_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              ESC_FAILURE_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              STORAGE_STATUS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              STORAGE_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              STORAGE_USAGE_FLAG — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              ORBIT_YAW_BEHAVIOUR — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              WIFI_CONFIG_AP_RESPONSE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              CELLULAR_CONFIG_RESPONSE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              WIFI_CONFIG_AP_MODE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              COMP_METADATA_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              ACTUATOR_CONFIGURATION — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              ACTUATOR_OUTPUT_FUNCTION — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              AUTOTUNE_AXIS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              PREFLIGHT_STORAGE_PARAMETER_ACTION — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              PREFLIGHT_STORAGE_MISSION_ACTION — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_DATA_STREAM — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_ROI — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_PARAM_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_PARAM_EXT_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_RESULT — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_MISSION_RESULT — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_SEVERITY — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_POWER_STATUS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              SERIAL_CONTROL_DEV — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              SERIAL_CONTROL_FLAG — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_DISTANCE_SENSOR — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_SENSOR_ORIENTATION — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_PROTOCOL_CAPABILITY — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_MISSION_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_ESTIMATOR_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_BATTERY_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_BATTERY_FUNCTION — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_BATTERY_CHARGE_STATE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_BATTERY_MODE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_BATTERY_FAULT — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_GENERATOR_STATUS_FLAG — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_VTOL_STATE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_LANDED_STATE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              ADSB_ALTITUDE_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              ADSB_EMITTER_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              ADSB_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_DO_REPOSITION_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              SPEED_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              ESTIMATOR_STATUS_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MOTOR_TEST_ORDER — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MOTOR_TEST_THROTTLE_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              GPS_INPUT_IGNORE_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_COLLISION_ACTION — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_COLLISION_THREAT_LEVEL — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_COLLISION_SRC — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              GPS_FIX_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              RTK_BASELINE_COORDINATE_SYSTEM — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              LANDING_TARGET_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              VTOL_TRANSITION_HEADING — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              CAMERA_CAP_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              VIDEO_STREAM_STATUS_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              VIDEO_STREAM_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              VIDEO_STREAM_ENCODING — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              CAMERA_TRACKING_STATUS_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              CAMERA_TRACKING_MODE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              CAMERA_TRACKING_TARGET_DATA — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              CAMERA_ZOOM_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              SET_FOCUS_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              CAMERA_SOURCE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              PARAM_ACK — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              CAMERA_MODE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_ARM_AUTH_DENIED_REASON — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              RC_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              POSITION_TARGET_TYPEMASK — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              ATTITUDE_TARGET_TYPEMASK — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              UTM_FLIGHT_STATE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              UTM_DATA_AVAIL_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              CELLULAR_STATUS_FLAG — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              CELLULAR_NETWORK_FAILED_REASON — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              CELLULAR_NETWORK_RADIO_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              PRECISION_LAND_MODE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              PARACHUTE_ACTION — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_TUNNEL_PAYLOAD_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_ODID_ID_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_ODID_UA_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_ODID_STATUS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_ODID_HEIGHT_REF — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_ODID_HOR_ACC — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_ODID_VER_ACC — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_ODID_SPEED_ACC — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_ODID_TIME_ACC — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_ODID_AUTH_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_ODID_DESC_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_ODID_OPERATOR_LOCATION_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_ODID_CLASSIFICATION_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_ODID_CATEGORY_EU — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_ODID_CLASS_EU — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_ODID_OPERATOR_ID_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_ODID_ARM_STATUS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              TUNE_FORMAT — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              AIS_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              AIS_NAV_STATUS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              AIS_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              FAILURE_UNIT — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              FAILURE_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_WINCH_STATUS_FLAG — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAG_CAL_STATUS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_EVENT_ERROR_REASON — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_EVENT_CURRENT_SEQUENCE_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              HIL_SENSOR_UPDATED_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              HIGHRES_IMU_UPDATED_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              CAN_FILTER_OP — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_FTP_ERR — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_FTP_OPCODE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MISSION_STATE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              SAFETY_SWITCH_STATE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              ILLUMINATOR_MODE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              ILLUMINATOR_ERROR_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_AUTOPILOT — [from: minimal]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_TYPE — [from: minimal]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_MODE_FLAG — [from: minimal]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_MODE_FLAG_DECODE_POSITION — [from: minimal]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_STATE — [from: minimal]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_COMPONENT — [from: minimal]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Commands (MAV_CMD)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_NAV_WAYPOINT (16) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_NAV_LOITER_UNLIM (17) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_NAV_LOITER_TURNS (18) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_NAV_LOITER_TIME (19) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_NAV_RETURN_TO_LAUNCH (20) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_NAV_LAND (21) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_NAV_TAKEOFF (22) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_NAV_LAND_LOCAL (23) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_NAV_TAKEOFF_LOCAL (24) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_NAV_FOLLOW (25) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_NAV_CONTINUE_AND_CHANGE_ALT (30) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_NAV_LOITER_TO_ALT (31) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_DO_FOLLOW (32) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_DO_FOLLOW_REPOSITION (33) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_DO_ORBIT (34) — [from: common] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_DO_FIGURE_EIGHT (35) — [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Fly a figure eight path as defined by the parameters.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Set parameters to NaN/INT32_MAX (as appropriate) to use system-default values. The command is intended for fixed wing vehicles (and VTOL hybrids flying in fixed-wing mode), allowing POI tracking for gimbals that don't support infinite rotation. This command only defines the flight path. Speed should be set independently (use e.g. MAV_CMD_DO_CHANGE_SPEED). Yaw and other degrees of freedom are not specified, and will be flight-stack specific (on vehicles where they can be controlled independent of the heading).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Param (Label)DescriptionUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              1 (Major Radius)Major axis radius of the figure eight. Positive: orbit the north circle clockwise. Negative: orbit the north circle counter-clockwise.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              NaN: The radius will be set to 2.5 times the minor radius and direction is clockwise.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Must be greater or equal to two times the minor radius for feasible values.                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              		m
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              2 (Minor Radius)Minor axis radius of the figure eight. Defines the radius of the two circles that make up the figure. Negative value has no effect.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              NaN: The radius will be set to the default loiter radius.                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              		m
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              3
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              4 (Orientation)Orientation of the figure eight major axis with respect to true north (range: [-pi,pi]). NaN: use default orientation aligned to true north.rad
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              5 (Latitude/X)Center point latitude/X coordinate according to MAV_FRAME. If no MAV_FRAME specified, MAV_FRAME_GLOBAL is assumed.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              INT32_MAX or NaN: Use current vehicle position, or current center if already loitering.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              6 (Longitude/Y)Center point longitude/Y coordinate according to MAV_FRAME. If no MAV_FRAME specified, MAV_FRAME_GLOBAL is assumed.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              INT32_MAX or NaN: Use current vehicle position, or current center if already loitering.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              7 (Altitude/Z)Center point altitude MSL/Z coordinate according to MAV_FRAME. If no MAV_FRAME specified, MAV_FRAME_GLOBAL is assumed.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              INT32_MAX or NaN: Use current vehicle altitude.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_NAV_ROI (80) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_NAV_PATHPLANNING (81) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_NAV_SPLINE_WAYPOINT (82) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_NAV_VTOL_TAKEOFF (84) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_NAV_VTOL_LAND (85) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_NAV_GUIDED_ENABLE (92) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_NAV_DELAY (93) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_NAV_PAYLOAD_PLACE (94) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_NAV_LAST (95) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_CONDITION_DELAY (112) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_CONDITION_CHANGE_ALT (113) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_CONDITION_DISTANCE (114) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_CONDITION_YAW (115) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_CONDITION_LAST (159) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_DO_SET_MODE (176) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_DO_JUMP (177) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_DO_CHANGE_SPEED (178) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_DO_SET_HOME (179) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_DO_SET_PARAMETER (180) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_DO_SET_RELAY (181) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_DO_REPEAT_RELAY (182) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_DO_SET_SERVO (183) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_DO_REPEAT_SERVO (184) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_DO_FLIGHTTERMINATION (185) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_DO_CHANGE_ALTITUDE (186) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_DO_SET_ACTUATOR (187) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_DO_RETURN_PATH_START (188) — [from: common] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_DO_LAND_START (189) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_DO_RALLY_LAND (190) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_DO_GO_AROUND (191) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_DO_REPOSITION (192) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_DO_PAUSE_CONTINUE (193) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_DO_SET_REVERSE (194) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_DO_SET_ROI_LOCATION (195) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_DO_SET_ROI_WPNEXT_OFFSET (196) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_DO_SET_ROI_NONE (197) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_DO_SET_ROI_SYSID (198) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_DO_CONTROL_VIDEO (200) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_DO_SET_ROI (201) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_DO_DIGICAM_CONFIGURE (202) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_DO_DIGICAM_CONTROL (203) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_DO_MOUNT_CONFIGURE (204) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_DO_MOUNT_CONTROL (205) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_DO_SET_CAM_TRIGG_DIST (206) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_DO_FENCE_ENABLE (207) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_DO_PARACHUTE (208) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_DO_MOTOR_TEST (209) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_DO_INVERTED_FLIGHT (210) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_DO_GRIPPER (211) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_DO_AUTOTUNE_ENABLE (212) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_NAV_SET_YAW_SPEED (213) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_DO_SET_CAM_TRIGG_INTERVAL (214) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_DO_MOUNT_CONTROL_QUAT (220) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_DO_GUIDED_MASTER (221) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_DO_GUIDED_LIMITS (222) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_DO_ENGINE_CONTROL (223) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_DO_SET_MISSION_CURRENT (224) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_DO_LAST (240) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_PREFLIGHT_CALIBRATION (241) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_PREFLIGHT_SET_SENSOR_OFFSETS (242) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_PREFLIGHT_UAVCAN (243) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_PREFLIGHT_STORAGE (245) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN (246) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_DO_UPGRADE (247) — [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Request a target system to start an upgrade of one (or all) of its components.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              For example, the command might be sent to a companion computer to cause it to upgrade a connected flight controller. The system doing the upgrade will report progress using the normal command protocol sequence for a long running operation. Command protocol information: https://mavlink.io/en/services/command.html.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              1 (Component ID)Component id of the component to be upgraded. If set to 0, all components should be upgraded.MAV_COMPONENT
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              2 (Reboot)0: Do not reboot component after the action is executed, 1: Reboot component after the action is executed.min: 0 max: 1 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              3Reserved
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              4Reserved
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              5Reserved
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              6Reserved
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              7WIP: upgrade progress report rate (can be used for more granular control).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_OVERRIDE_GOTO (252) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_OBLIQUE_SURVEY (260) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_DO_SET_STANDARD_MODE (262) — [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Enable the specified standard MAVLink mode.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              If the mode is not supported the vehicle should ACK with MAV_RESULT_FAILED.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              1 (Standard Mode)The mode to set.MAV_STANDARD_MODE
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              2
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              3
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              4
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              5
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              6
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              7

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_MISSION_START (300) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_GROUP_START (301) — [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Define start of a group of mission items. When control reaches this command a GROUP_START message is emitted.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              The end of a group is marked using MAV_CMD_GROUP_END with the same group id. Group ids are expected, but not required, to iterate sequentially. Groups can be nested.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              1 (Group ID)Mission-unique group id.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Group id is limited because only 24 bit integer can be stored in 32 bit float.                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              		min: 0 max: 16777216 inc: 1

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_GROUP_END (302) — [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Define end of a group of mission items. When control reaches this command a GROUP_END message is emitted.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              The start of the group is marked is marked using MAV_CMD_GROUP_START with the same group id. Group ids are expected, but not required, to iterate sequentially. Groups can be nested.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              1 (Group ID)Mission-unique group id.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Group id is limited because only 24 bit integer can be stored in 32 bit float.                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              		min: 0 max: 16777216 inc: 1

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_ACTUATOR_TEST (310) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_CONFIGURE_ACTUATOR (311) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_COMPONENT_ARM_DISARM (400) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_RUN_PREARM_CHECKS (401) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_ILLUMINATOR_ON_OFF (405) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_DO_ILLUMINATOR_CONFIGURE (406) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_GET_HOME_POSITION (410) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_INJECT_FAILURE (420) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_START_RX_PAIR (500) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_GET_MESSAGE_INTERVAL (510) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_SET_MESSAGE_INTERVAL (511) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_REQUEST_MESSAGE (512) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_REQUEST_PROTOCOL_VERSION (519) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_REQUEST_AUTOPILOT_CAPABILITIES (520) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_REQUEST_CAMERA_INFORMATION (521) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_REQUEST_CAMERA_SETTINGS (522) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_REQUEST_STORAGE_INFORMATION (525) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_STORAGE_FORMAT (526) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_REQUEST_CAMERA_CAPTURE_STATUS (527) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_REQUEST_FLIGHT_INFORMATION (528) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_RESET_CAMERA_SETTINGS (529) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_SET_CAMERA_MODE (530) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_SET_CAMERA_ZOOM (531) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_SET_CAMERA_FOCUS (532) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_SET_STORAGE_USAGE (533) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_SET_CAMERA_SOURCE (534) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_SET_AT_S_PARAM (550) — [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Allows setting an AT S command of an SiK radio.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Param (Label)Description
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              1 (Radio instance)The radio instance, one-based, 0 for all.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              2 (Index)The Sx index, e.g. 3 for S3 which is NETID.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              3 (Value)The value to set it to, e.g. default 25 for NETID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              4
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              5
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              6
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              7

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_JUMP_TAG (600) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_DO_JUMP_TAG (601) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_DO_SET_SYS_CMP_ID (610) — [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Set system and component id. This allows moving of a system and all its components to a new system id, or moving a particular component to a new system/component id. Recipients must reject command addressed to broadcast system ID.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              1 (System ID)New system ID for target component(s). 0: ignore and reject command (broadcast system ID not allowed).min: 1 max: 255 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              2 (Component ID)New component ID for target component(s). 0: ignore (component IDs don't change).min: 0 max: 255 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              3 (Reboot)Reboot components after ID change. Any non-zero value triggers the reboot.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              4

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_PARAM_TRANSACTION (900) — [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Request to start or end a parameter transaction. Multiple kinds of transport layers can be used to exchange parameters in the transaction (param, param_ext and mavftp). The command response can either be a success/failure or an in progress in case the receiving side takes some time to apply the parameters.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              1 (Action)Action to be performed (start, commit, cancel, etc.)PARAM_TRANSACTION_ACTION
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              2 (Transport)Possible transport layers to set and get parameters via mavlink during a parameter transaction.PARAM_TRANSACTION_TRANSPORT
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              3 (Transaction ID)Identifier for a specific transaction.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_DO_GIMBAL_MANAGER_PITCHYAW (1000) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_DO_GIMBAL_MANAGER_CONFIGURE (1001) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_IMAGE_START_CAPTURE (2000) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_IMAGE_STOP_CAPTURE (2001) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_REQUEST_CAMERA_IMAGE_CAPTURE (2002) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_DO_TRIGGER_CONTROL (2003) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_CAMERA_TRACK_POINT (2004) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_CAMERA_TRACK_RECTANGLE (2005) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_CAMERA_STOP_TRACKING (2010) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_VIDEO_START_CAPTURE (2500) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_VIDEO_STOP_CAPTURE (2501) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_VIDEO_START_STREAMING (2502) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_VIDEO_STOP_STREAMING (2503) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_REQUEST_VIDEO_STREAM_INFORMATION (2504) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_REQUEST_VIDEO_STREAM_STATUS (2505) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_LOGGING_START (2510) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_LOGGING_STOP (2511) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_AIRFRAME_CONFIGURATION (2520) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_CONTROL_HIGH_LATENCY (2600) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_PANORAMA_CREATE (2800) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_DO_VTOL_TRANSITION (3000) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_ARM_AUTHORIZATION_REQUEST (3001) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_SET_GUIDED_SUBMODE_STANDARD (4000) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_SET_GUIDED_SUBMODE_CIRCLE (4001) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_CONDITION_GATE (4501) — [from: common] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_NAV_FENCE_RETURN_POINT (5000) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_NAV_FENCE_POLYGON_VERTEX_INCLUSION (5001) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_NAV_FENCE_POLYGON_VERTEX_EXCLUSION (5002) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_NAV_FENCE_CIRCLE_INCLUSION (5003) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_NAV_FENCE_CIRCLE_EXCLUSION (5004) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_NAV_RALLY_POINT (5100) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_UAVCAN_GET_NODE_INFO (5200) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_DO_SET_SAFETY_SWITCH_STATE (5300) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_DO_ADSB_OUT_IDENT (10001) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_ODID_SET_EMERGENCY (12900) — [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Used to manually set/unset emergency status for remote id.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              This is for compliance with MOC ASTM docs, specifically F358 section 7.7: "Emergency Status Indicator". The requirement can also be satisfied by automatic setting of the emergency status by flight stack, and that approach is preferred. See https://mavlink.io/en/services/opendroneid.html for more information.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              1 (Number)Set/unset emergency 0: unset, 1: setmin: 0 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              2
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              3
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              4Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              5Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              5Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              6Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              7Empty

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_PAYLOAD_PREPARE_DEPLOY (30001) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_PAYLOAD_CONTROL_DEPLOY (30002) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_WAYPOINT_USER_1 (31000) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_WAYPOINT_USER_2 (31001) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_WAYPOINT_USER_3 (31002) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_WAYPOINT_USER_4 (31003) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_WAYPOINT_USER_5 (31004) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_SPATIAL_USER_1 (31005) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_SPATIAL_USER_2 (31006) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_SPATIAL_USER_3 (31007) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_SPATIAL_USER_4 (31008) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_SPATIAL_USER_5 (31009) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_USER_1 (31010) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_USER_2 (31011) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_USER_3 (31012) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_USER_4 (31013) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_USER_5 (31014) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_CAN_FORWARD (32000) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_FIXED_MAG_CAL_YAW (42006) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_DO_WINCH (42600) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_EXTERNAL_POSITION_ESTIMATE (43003) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_EXTERNAL_WIND_ESTIMATE (43004) — [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Set an external estimate of wind direction and speed.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              This might be used to provide an initial wind estimate to the estimator (EKF) in the case where the vehicle is wind dead-reckoning, extending the time when operating without GPS before before position drift builds to an unsafe level. For this use case the command might reasonably be sent every few minutes when operating at altitude, and the value is cleared if the estimator resets itself.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Param (Label)DescriptionValuesUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              1 (Wind speed)Horizontal wind speed.min: 0m/s
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              2 (Wind speed accuracy)Estimated 1 sigma accuracy of wind speed. Set to NaN if unknown.m/s
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              3 (Direction)Azimuth (relative to true north) from where the wind is blowing.min: 0 max: 360deg
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              4 (Direction accuracy)Estimated 1 sigma accuracy of wind direction. Set to NaN if unknown.deg
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              5Empty
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                \ No newline at end of file +development.xml · MAVLink Developer Guide
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Dialect: development

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                This dialect contains messages that are proposed for inclusion in the standard set, in order to ease development of prototype implementations. They should be considered a 'work in progress' and not included in production builds.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                This topic is a human-readable form of the XML definition file: development.xml.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAVLink 2 extension fields that have been added to MAVLink 1 messages are displayed in blue. - Entities from dialects are displayed only as headings (with link to original)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Protocol dialect: 0

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Protocol version: 0

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Summary

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                TypeDefinedIncluded
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Messages18224
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Enums17143
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Commands1750

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                The following sections list all entities in the dialect (both included and defined in this file).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Messages

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                PARAM_ACK_TRANSACTION (19) — [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Response from a PARAM_SET message when it is used in a transaction.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Field NameTypeValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                target_systemuint8_tId of system that sent PARAM_SET message.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                target_componentuint8_tId of system that sent PARAM_SET message.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                param_idchar[16]Parameter id, terminated by NULL if the length is less than 16 human-readable chars and WITHOUT null termination (NULL) byte if the length is exactly 16 chars - applications have to provide 16+1 bytes storage if the ID is stored as string
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                param_valuefloatParameter value (new value if PARAM_ACCEPTED, current value otherwise)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                param_typeuint8_tMAV_PARAM_TYPEParameter type.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                param_resultuint8_tPARAM_ACKResult code.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                AIRSPEED (295) — [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Airspeed information from a sensor.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                iduint8_tSensor ID.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Messages with same value are from the same source (instance).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                airspeedfloatm/sCalibrated airspeed (CAS).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                temperatureint16_tcdegCTemperature. INT16_MAX for value unknown/not supplied.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                raw_pressfloathPaRaw differential pressure. NaN for value unknown/not supplied.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                flagsuint8_tAIRSPEED_SENSOR_FLAGSAirspeed sensor flags.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                WIFI_NETWORK_INFO (298) — [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Detected WiFi network status information. This message is sent per each WiFi network detected in range with known SSID and general status parameters.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                ssidchar[32]Name of Wi-Fi network (SSID).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                channel_iduint8_tWiFi network operating channel ID. Set to 0 if unknown or unidentified.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                signal_qualityuint8_t%WiFi network signal quality.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                data_rateuint16_tMiB/sWiFi network data rate. Set to UINT16_MAX if data_rate information is not supplied.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                securityuint8_tWIFI_NETWORK_SECURITYWiFi network security type.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                SET_VELOCITY_LIMITS (354) — [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Set temporary maximum limits for horizontal speed, vertical speed and yaw rate.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                The consumer must stream the current limits in VELOCITY_LIMITS at 1 Hz or more (when limits are being set). The consumer should latch the limits until a new limit is received or the mode is changed.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                target_systemuint8_tSystem ID (0 for broadcast).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                target_componentuint8_tComponent ID (0 for broadcast).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                horizontal_speed_limitfloatm/sLimit for horizontal movement in MAV_FRAME_LOCAL_NED. NaN: Field not used (ignore)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                vertical_speed_limitfloatm/sLimit for vertical movement in MAV_FRAME_LOCAL_NED. NaN: Field not used (ignore)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                yaw_rate_limitfloatrad/sLimit for vehicle turn rate around its yaw axis. NaN: Field not used (ignore)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                VELOCITY_LIMITS (355) — [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Current limits for horizontal speed, vertical speed and yaw rate, as set by SET_VELOCITY_LIMITS.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                horizontal_speed_limitfloatm/sLimit for horizontal movement in MAV_FRAME_LOCAL_NED. NaN: No limit applied
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                vertical_speed_limitfloatm/sLimit for vertical movement in MAV_FRAME_LOCAL_NED. NaN: No limit applied
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                yaw_rate_limitfloatrad/sLimit for vehicle turn rate around its yaw axis. NaN: No limit applied

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                FIGURE_EIGHT_EXECUTION_STATUS (361) — [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Vehicle status report that is sent out while figure eight execution is in progress (see MAV_CMD_DO_FIGURE_EIGHT). This may typically send at low rates: of the order of 2Hz.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                major_radiusfloatmMajor axis radius of the figure eight. Positive: orbit the north circle clockwise. Negative: orbit the north circle counter-clockwise.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                minor_radiusfloatmMinor axis radius of the figure eight. Defines the radius of two circles that make up the figure.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                orientationfloatradOrientation of the figure eight major axis with respect to true north in [-pi,pi).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                frameuint8_tMAV_FRAMEThe coordinate system of the fields: x, y, z.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                xint32_tX coordinate of center point. Coordinate system depends on frame field.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                yint32_tY coordinate of center point. Coordinate system depends on frame field.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                zfloatmAltitude of center point. Coordinate system depends on frame field.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                BATTERY_STATUS_V2 (369) — [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Battery dynamic information.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                This should be streamed (nominally at 1Hz). Static/invariant battery information is sent in BATTERY_INFO. Note that smart batteries should set the MAV_BATTERY_STATUS_FLAGS_CAPACITY_RELATIVE_TO_FULL bit to indicate that supplied capacity values are relative to a battery that is known to be full. Power monitors would not set this bit, indicating that capacity_consumed is relative to drone power-on, and that other values are estimated based on the assumption that the battery was full on power-on.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                iduint8_tBattery ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Messages with same value are from the same source (instance).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                temperatureint16_tcdegCinvalid:INT16_MAXTemperature of the whole battery pack (not internal electronics). INT16_MAX field not provided.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                voltagefloatVinvalid:NaNBattery voltage (total). NaN: field not provided.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                currentfloatAinvalid:NaNBattery current (through all cells/loads). Positive value when discharging and negative if charging. NaN: field not provided.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                capacity_consumedfloatAhinvalid:NaNConsumed charge. NaN: field not provided. This is either the consumption since power-on or since the battery was full, depending on the value of MAV_BATTERY_STATUS_FLAGS_CAPACITY_RELATIVE_TO_FULL.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                capacity_remainingfloatAhinvalid:NaNRemaining charge (until empty). NaN: field not provided. Note: If MAV_BATTERY_STATUS_FLAGS_CAPACITY_RELATIVE_TO_FULL is unset, this value is based on the assumption the battery was full when the system was powered.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                percent_remaininguint8_t%invalid:UINT8_MAXRemaining battery energy. Values: [0-100], UINT8_MAX: field not provided.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                status_flagsuint32_tMAV_BATTERY_STATUS_FLAGSFault, health, readiness, and other status indications.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                FUEL_STATUS (371) — [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Fuel status.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                This message provides "generic" fuel level information for display in a GCS and for triggering failsafes in an autopilot. The fuel type and associated units for fields in this message are defined in the enum MAV_FUEL_TYPE.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                The reported consumed_fuel and remaining_fuel must only be supplied if measured: they must not be inferred from the maximum_fuel and the other value. A recipient can assume that if these fields are supplied they are accurate. If not provided, the recipient can infer remaining_fuel from maximum_fuel and consumed_fuel on the assumption that the fuel was initially at its maximum (this is what battery monitors assume). Note however that this is an assumption, and the UI should prompt the user appropriately (i.e. notify user that they should fill the tank before boot).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                This kind of information may also be sent in fuel-specific messages such as BATTERY_STATUS_V2. If both messages are sent for the same fuel system, the ids and corresponding information must match.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                This should be streamed (nominally at 0.1 Hz).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                iduint8_tFuel ID. Must match ID of other messages for same fuel system, such as BATTERY_STATUS_V2.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Messages with same value are from the same source (instance).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                maximum_fuelfloatCapacity when full. Must be provided.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                consumed_fuelfloatinvalid:NaNConsumed fuel (measured). This value should not be inferred: if not measured set to NaN. NaN: field not provided.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                remaining_fuelfloatinvalid:NaNRemaining fuel until empty (measured). The value should not be inferred: if not measured set to NaN. NaN: field not provided.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                percent_remaininguint8_t%invalid:UINT8_MAXPercentage of remaining fuel, relative to full. Values: [0-100], UINT8_MAX: field not provided.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                flow_ratefloatinvalid:NaNPositive value when emptying/using, and negative if filling/replacing. NaN: field not provided.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                temperaturefloatKinvalid:NaNFuel temperature. NaN: field not provided.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                fuel_typeuint32_tMAV_FUEL_TYPEFuel type. Defines units for fuel capacity and consumption fields above.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                GROUP_START (414) — [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Emitted during mission execution when control reaches MAV_CMD_GROUP_START.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                group_iduint32_tMission-unique group id (from MAV_CMD_GROUP_START).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                mission_checksumuint32_tCRC32 checksum of current plan for MAV_MISSION_TYPE_ALL. As defined in MISSION_CHECKSUM message.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                GROUP_END (415) — [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Emitted during mission execution when control reaches MAV_CMD_GROUP_END.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                group_iduint32_tMission-unique group id (from MAV_CMD_GROUP_END).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                mission_checksumuint32_tCRC32 checksum of current plan for MAV_MISSION_TYPE_ALL. As defined in MISSION_CHECKSUM message.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                RADIO_RC_CHANNELS (420) — [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                RC channel outputs from a MAVLink RC receiver for input to a flight controller or other components (allows an RC receiver to connect via MAVLink instead of some other protocol such as PPM-Sum or S.BUS).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Note that this is not intended to be an over-the-air format, and does not replace RC_CHANNELS and similar messages reported by the flight controller. The target_system field should normally be set to the system id of the system to control, typically the flight controller. The target_component field can normally be set to 0, so that all components of the system can receive the message. The channels array field can publish up to 32 channels; the number of channel items used in the array is specified in the count field. The time_last_update_ms field contains the timestamp of the last received valid channels data in the receiver's time domain. The count field indicates the first index of the channel array that is not used for channel data (this and later indexes are zero-filled). The RADIO_RC_CHANNELS_FLAGS_OUTDATED flag is set by the receiver if the channels data is not up-to-date (for example, if new data from the transmitter could not be validated so the last valid data is resent). The RADIO_RC_CHANNELS_FLAGS_FAILSAFE failsafe flag is set by the receiver if the receiver's failsafe condition is met (implementation dependent, e.g., connection to the RC radio is lost). In this case time_last_update_ms still contains the timestamp of the last valid channels data, but the content of the channels data is not defined by the protocol (it is up to the implementation of the receiver). For instance, the channels data could contain failsafe values configured in the receiver; the default is to carry the last valid data. Note: The RC channels fields are extensions to ensure that they are located at the end of the serialized payload and subject to MAVLink's trailing-zero trimming.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                target_systemuint8_tSystem ID (ID of target system, normally flight controller).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                target_componentuint8_tComponent ID (normally 0 for broadcast).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                time_last_update_msuint32_tmsTime when the data in the channels field were last updated (time since boot in the receiver's time domain).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                flagsuint16_tRADIO_RC_CHANNELS_FLAGSRadio RC channels status flags.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                countuint8_tTotal number of RC channels being received. This can be larger than 32, indicating that more channels are available but not given in this message.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                channels ++int16_t[32]min:-4096 max:4096RC channels.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Channel values are in centered 13 bit format. Range is -4096 to 4096, center is 0. Conversion to PWM is x * 5/32 + 1500.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Channels with indexes equal or above count should be set to 0, to benefit from MAVLink's trailing-zero trimming.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                AVAILABLE_MODES (435) — [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Get information about a particular flight modes.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                The message can be enumerated or requested for a particular mode using MAV_CMD_REQUEST_MESSAGE. Specify 0 in param2 to request that the message is emitted for all available modes or the specific index for just one mode. The modes must be available/settable for the current vehicle/frame type. Each modes should only be emitted once (even if it is both standard and custom).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Field NameTypeValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                number_modesuint8_tThe total number of available modes for the current vehicle type.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                mode_indexuint8_tThe current mode index within number_modes, indexed from 1.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                standard_modeuint8_tMAV_STANDARD_MODEStandard mode.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                custom_modeuint32_tA bitfield for use for autopilot-specific flags
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                propertiesuint32_tMAV_MODE_PROPERTYMode properties.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                mode_namechar[35]Name of custom mode, with null termination character. Should be omitted for standard modes.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                CURRENT_MODE (436) — [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Get the current mode.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                This should be emitted on any mode change, and broadcast at low rate (nominally 0.5 Hz). It may be requested using MAV_CMD_REQUEST_MESSAGE.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Field NameTypeValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                standard_modeuint8_tMAV_STANDARD_MODEStandard mode.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                custom_modeuint32_tA bitfield for use for autopilot-specific flags
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                intended_custom_modeuint32_tinvalid:0The custom_mode of the mode that was last commanded by the user (for example, with MAV_CMD_DO_SET_STANDARD_MODE, MAV_CMD_DO_SET_MODE or via RC). This should usually be the same as custom_mode. It will be different if the vehicle is unable to enter the intended mode, or has left that mode due to a failsafe condition. 0 indicates the intended custom mode is unknown/not supplied

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                AVAILABLE_MODES_MONITOR (437) — [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                A change to the sequence number indicates that the set of AVAILABLE_MODES has changed.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                A receiver must re-request all available modes whenever the sequence number changes. This is only emitted after the first change and should then be broadcast at low rate (nominally 0.3 Hz) and on change.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                sequint8_tSequence number. The value iterates sequentially whenever AVAILABLE_MODES changes (e.g. support for a new mode is added/removed dynamically).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                GNSS_INTEGRITY (441) — [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Information about key components of GNSS receivers, like signal authentication, interference and system errors.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                iduint8_tGNSS receiver id. Must match instance ids of other messages from same receiver.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Messages with same value are from the same source (instance).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                system_errorsuint32_tGPS_SYSTEM_ERROR_FLAGSErrors in the GPS system.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                authentication_stateuint8_tGPS_AUTHENTICATION_STATESignal authentication state of the GPS system.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                jamming_stateuint8_tGPS_JAMMING_STATESignal jamming state of the GPS system.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                spoofing_stateuint8_tGPS_SPOOFING_STATESignal spoofing state of the GPS system.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                raim_stateuint8_tGPS_RAIM_STATEThe state of the RAIM processing.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                raim_hfomuint16_tcminvalid:UINT16_MAXHorizontal expected accuracy using satellites successfully validated using RAIM.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                raim_vfomuint16_tcminvalid:UINT16_MAXVertical expected accuracy using satellites successfully validated using RAIM.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                corrections_qualityuint8_tinvalid:UINT8_MAX min:0 max:10An abstract value representing the estimated quality of incoming corrections, or 255 if not available.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                system_status_summaryuint8_tinvalid:UINT8_MAX min:0 max:10An abstract value representing the overall status of the receiver, or 255 if not available.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                gnss_signal_qualityuint8_tinvalid:UINT8_MAX min:0 max:10An abstract value representing the quality of incoming GNSS signals, or 255 if not available.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                post_processing_qualityuint8_tinvalid:UINT8_MAX min:0 max:10An abstract value representing the estimated PPK quality, or 255 if not available.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                TARGET_ABSOLUTE (510) — [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Current motion information from sensors on a target

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                timestampuint64_tusTimestamp (UNIX epoch time).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                iduint8_tThe ID of the target if multiple targets are present
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                sensor_capabilitiesuint8_tTARGET_ABSOLUTE_SENSOR_CAPABILITY_FLAGSBitmap to indicate the sensor's reporting capabilities
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                latint32_tdegE7Target's latitude (WGS84)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                lonint32_tdegE7Target's longitude (WGS84)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                altfloatmTarget's altitude (AMSL)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                velfloat[3]m/sinvalid:[0]Target's velocity in its body frame
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                accfloat[3]m/s/sinvalid:[0]Linear target's acceleration in its body frame
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                q_targetfloat[4]invalid:[0]Quaternion of the target's orientation from its body frame to the vehicle's NED frame.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                ratesfloat[3]rad/sinvalid:[0]Target's roll, pitch and yaw rates
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                position_stdfloat[2]mStandard deviation of horizontal (eph) and vertical (epv) position errors
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                vel_stdfloat[3]m/sStandard deviation of the target's velocity in its body frame
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                acc_stdfloat[3]m/s/sStandard deviation of the target's acceleration in its body frame

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                TARGET_RELATIVE (511) — [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                The location of a target measured by MAV's onboard sensors.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                timestampuint64_tusTimestamp (UNIX epoch time)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                iduint8_tThe ID of the target if multiple targets are present
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Messages with same value are from the same source (instance).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                frameuint8_tTARGET_OBS_FRAMECoordinate frame used for following fields.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                xfloatmX Position of the target in TARGET_OBS_FRAME
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                yfloatmY Position of the target in TARGET_OBS_FRAME
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                zfloatmZ Position of the target in TARGET_OBS_FRAME
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                pos_stdfloat[3]mStandard deviation of the target's position in TARGET_OBS_FRAME
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                yaw_stdfloatradStandard deviation of the target's orientation in TARGET_OBS_FRAME
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                q_targetfloat[4]Quaternion of the target's orientation from the target's frame to the TARGET_OBS_FRAME (w, x, y, z order, zero-rotation is 1, 0, 0, 0)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                q_sensorfloat[4]Quaternion of the sensor's orientation from TARGET_OBS_FRAME to vehicle-carried NED. (Ignored if set to (0,0,0,0)) (w, x, y, z order, zero-rotation is 1, 0, 0, 0)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                typeuint8_tLANDING_TARGET_TYPEType of target

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                CONTROL_STATUS (512) — [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Information about GCS in control of this MAV. This should be broadcast at low rate (nominally 1 Hz) and emitted when ownership or takeover status change. Control over MAV is requested using MAV_CMD_REQUEST_OPERATOR_CONTROL.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Field NameTypeValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                sysid_in_controluint8_tSystem ID of GCS MAVLink component in control (0: no GCS in control).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                flagsuint8_tGCS_CONTROL_STATUS_FLAGSControl status. For example, whether takeover is allowed, and whether this message instance defines the default controlling GCS for the whole system.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Enumerated Types

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                WIFI_NETWORK_SECURITY — [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                WiFi wireless security protocols.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                0WIFI_NETWORK_SECURITY_UNDEFINEDUndefined or unknown security protocol.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                1WIFI_NETWORK_SECURITY_OPENOpen network, no security.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                2WIFI_NETWORK_SECURITY_WEPWEP.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                3WIFI_NETWORK_SECURITY_WPA1WPA1.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                4WIFI_NETWORK_SECURITY_WPA2WPA2.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                5WIFI_NETWORK_SECURITY_WPA3WPA3.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                AIRSPEED_SENSOR_FLAGS — [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                (Bitmask) Airspeed sensor flags

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                0AIRSPEED_SENSOR_UNHEALTHYAirspeed sensor is unhealthy
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                1AIRSPEED_SENSOR_USINGTrue if the data from this sensor is being actively used by the flight controller for guidance, navigation or control.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                PARAM_TRANSACTION_TRANSPORT — [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Possible transport layers to set and get parameters via mavlink during a parameter transaction.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                0PARAM_TRANSACTION_TRANSPORT_PARAMTransaction over param transport.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                1PARAM_TRANSACTION_TRANSPORT_PARAM_EXTTransaction over param_ext transport.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                PARAM_TRANSACTION_ACTION — [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Possible parameter transaction actions.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                0PARAM_TRANSACTION_ACTION_STARTCommit the current parameter transaction.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                1PARAM_TRANSACTION_ACTION_COMMITCommit the current parameter transaction.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                2PARAM_TRANSACTION_ACTION_CANCELCancel the current parameter transaction.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_STANDARD_MODE — [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Standard modes with a well understood meaning across flight stacks and vehicle types.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                For example, most flight stack have the concept of a "return" or "RTL" mode that takes a vehicle to safety, even though the precise mechanics of this mode may differ. Modes may be set using MAV_CMD_DO_SET_STANDARD_MODE.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                0MAV_STANDARD_MODE_NON_STANDARDNon standard mode.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                This may be used when reporting the mode if the current flight mode is not a standard mode.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                1MAV_STANDARD_MODE_POSITION_HOLDPosition mode (manual).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Position-controlled and stabilized manual mode.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                When sticks are released vehicles return to their level-flight orientation and hold both position and altitude against wind and external forces.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                This mode can only be set by vehicles that can hold a fixed position.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Multicopter (MC) vehicles actively brake and hold both position and altitude against wind and external forces.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Hybrid MC/FW ("VTOL") vehicles first transition to multicopter mode (if needed) but otherwise behave in the same way as MC vehicles.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Fixed-wing (FW) vehicles must not support this mode.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Other vehicle types must not support this mode (this may be revisited through the PR process).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                2MAV_STANDARD_MODE_ORBITOrbit (manual).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Position-controlled and stabilized manual mode.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                The vehicle circles around a fixed setpoint in the horizontal plane at a particular radius, altitude, and direction.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Flight stacks may further allow manual control over the setpoint position, radius, direction, speed, and/or altitude of the circle, but this is not mandated.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Flight stacks may support the MAV_CMD_DO_ORBIT for changing the orbit parameters.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MC and FW vehicles may support this mode.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Hybrid MC/FW ("VTOL") vehicles may support this mode in MC/FW or both modes; if the mode is not supported by the current configuration the vehicle should transition to the supported configuration.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Other vehicle types must not support this mode (this may be revisited through the PR process).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                3MAV_STANDARD_MODE_CRUISECruise mode (manual).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Position-controlled and stabilized manual mode.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                When sticks are released vehicles return to their level-flight orientation and hold their original track against wind and external forces.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Fixed-wing (FW) vehicles level orientation and maintain current track and altitude against wind and external forces.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Hybrid MC/FW ("VTOL") vehicles first transition to FW mode (if needed) but otherwise behave in the same way as MC vehicles.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Multicopter (MC) vehicles must not support this mode.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Other vehicle types must not support this mode (this may be revisited through the PR process).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                4MAV_STANDARD_MODE_ALTITUDE_HOLDAltitude hold (manual).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Altitude-controlled and stabilized manual mode.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                When sticks are released vehicles return to their level-flight orientation and hold their altitude.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MC vehicles continue with existing momentum and may move with wind (or other external forces).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                FW vehicles continue with current heading, but may be moved off-track by wind.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Hybrid MC/FW ("VTOL") vehicles behave according to their current configuration/mode (FW or MC).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Other vehicle types must not support this mode (this may be revisited through the PR process).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                5MAV_STANDARD_MODE_RETURN_HOMEReturn home mode (auto).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Automatic mode that returns vehicle to home via a safe flight path.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                It may also automatically land the vehicle (i.e. RTL).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                The precise flight path and landing behaviour depend on vehicle configuration and type.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                6MAV_STANDARD_MODE_SAFE_RECOVERYSafe recovery mode (auto).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Automatic mode that takes vehicle to a predefined safe location via a safe flight path (rally point or mission defined landing) .
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                It may also automatically land the vehicle.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                The precise return location, flight path, and landing behaviour depend on vehicle configuration and type.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                7MAV_STANDARD_MODE_MISSIONMission mode (automatic).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Automatic mode that executes MAVLink missions.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Missions are executed from the current waypoint as soon as the mode is enabled.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                8MAV_STANDARD_MODE_LANDLand mode (auto).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Automatic mode that lands the vehicle at the current location.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                The precise landing behaviour depends on vehicle configuration and type.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                9MAV_STANDARD_MODE_TAKEOFFTakeoff mode (auto).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Automatic takeoff mode.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                The precise takeoff behaviour depends on vehicle configuration and type.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_MODE_PROPERTY — [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                (Bitmask) Mode properties.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                1MAV_MODE_PROPERTY_ADVANCEDIf set, this mode is an advanced mode.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                For example a rate-controlled manual mode might be advanced, whereas a position-controlled manual mode is not.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                A GCS can optionally use this flag to configure the UI for its intended users.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                2MAV_MODE_PROPERTY_NOT_USER_SELECTABLEIf set, this mode should not be added to the list of selectable modes.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                The mode might still be selected by the FC directly (for example as part of a failsafe).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_BATTERY_STATUS_FLAGS — [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                (Bitmask) Battery status flags for fault, health and state indication.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                1MAV_BATTERY_STATUS_FLAGS_NOT_READY_TO_USEThe battery is not ready to use (fly).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Set if the battery has faults or other conditions that make it unsafe to fly with.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Note: It will be the logical OR of other status bits (chosen by the manufacturer/integrator).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                2MAV_BATTERY_STATUS_FLAGS_CHARGINGBattery is charging.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                4MAV_BATTERY_STATUS_FLAGS_CELL_BALANCINGBattery is cell balancing (during charging).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Not ready to use (MAV_BATTERY_STATUS_FLAGS_NOT_READY_TO_USE may be set).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                8MAV_BATTERY_STATUS_FLAGS_FAULT_CELL_IMBALANCEBattery cells are not balanced.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Not ready to use.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                16MAV_BATTERY_STATUS_FLAGS_AUTO_DISCHARGINGBattery is auto discharging (towards storage level).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Not ready to use (MAV_BATTERY_STATUS_FLAGS_NOT_READY_TO_USE would be set).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                32MAV_BATTERY_STATUS_FLAGS_REQUIRES_SERVICEBattery requires service (not safe to fly).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                This is set at vendor discretion.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                It is likely to be set for most faults, and may also be set according to a maintenance schedule (such as age, or number of recharge cycles, etc.).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                64MAV_BATTERY_STATUS_FLAGS_BAD_BATTERYBattery is faulty and cannot be repaired (not safe to fly).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                This is set at vendor discretion.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                The battery should be disposed of safely.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                128MAV_BATTERY_STATUS_FLAGS_PROTECTIONS_ENABLEDAutomatic battery protection monitoring is enabled.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                When enabled, the system will monitor for certain kinds of faults, such as cells being over-voltage.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                If a fault is triggered then and protections are enabled then a safety fault (MAV_BATTERY_STATUS_FLAGS_FAULT_PROTECTION_SYSTEM) will be set and power from the battery will be stopped.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Note that battery protection monitoring should only be enabled when the vehicle is landed. Once the vehicle is armed, or starts moving, the protections should be disabled to prevent false positives from disabling the output.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                256MAV_BATTERY_STATUS_FLAGS_FAULT_PROTECTION_SYSTEMThe battery fault protection system had detected a fault and cut all power from the battery.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                This will only trigger if MAV_BATTERY_STATUS_FLAGS_PROTECTIONS_ENABLED is set.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Other faults like MAV_BATTERY_STATUS_FLAGS_FAULT_OVER_VOLT may also be set, indicating the cause of the protection fault.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                512MAV_BATTERY_STATUS_FLAGS_FAULT_OVER_VOLTOne or more cells are above their maximum voltage rating.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                1024MAV_BATTERY_STATUS_FLAGS_FAULT_UNDER_VOLTOne or more cells are below their minimum voltage rating.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                A battery that had deep-discharged might be irrepairably damaged, and set both MAV_BATTERY_STATUS_FLAGS_FAULT_UNDER_VOLT and MAV_BATTERY_STATUS_FLAGS_BAD_BATTERY.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                2048MAV_BATTERY_STATUS_FLAGS_FAULT_OVER_TEMPERATUREOver-temperature fault.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                4096MAV_BATTERY_STATUS_FLAGS_FAULT_UNDER_TEMPERATUREUnder-temperature fault.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                8192MAV_BATTERY_STATUS_FLAGS_FAULT_OVER_CURRENTOver-current fault.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                16384MAV_BATTERY_STATUS_FLAGS_FAULT_SHORT_CIRCUITShort circuit event detected.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                The battery may or may not be safe to use (check other flags).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                32768MAV_BATTERY_STATUS_FLAGS_FAULT_INCOMPATIBLE_VOLTAGEVoltage not compatible with power rail voltage (batteries on same power rail should have similar voltage).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                65536MAV_BATTERY_STATUS_FLAGS_FAULT_INCOMPATIBLE_FIRMWAREBattery firmware is not compatible with current autopilot firmware.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                131072MAV_BATTERY_STATUS_FLAGS_FAULT_INCOMPATIBLE_CELLS_CONFIGURATIONBattery is not compatible due to cell configuration (e.g. 5s1p when vehicle requires 6s).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                262144MAV_BATTERY_STATUS_FLAGS_CAPACITY_RELATIVE_TO_FULLBattery capacity_consumed and capacity_remaining values are relative to a full battery (they sum to the total capacity of the battery).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                This flag would be set for a smart battery that can accurately determine its remaining charge across vehicle reboots and discharge/recharge cycles.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                If unset the capacity_consumed indicates the consumption since vehicle power-on, as measured using a power monitor. The capacity_remaining, if provided, indicates the estimated remaining capacity on the assumption that the battery was full on vehicle boot.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                If unset a GCS is recommended to advise that users fully charge the battery on power on.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                4294967295MAV_BATTERY_STATUS_FLAGS_EXTENDEDReserved (not used). If set, this will indicate that an additional status field exists for higher status values.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                GCS_CONTROL_STATUS_FLAGS — [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                (Bitmask) CONTROL_STATUS flags.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                1GCS_CONTROL_STATUS_FLAGS_SYSTEM_MANAGERIf set, this CONTROL_STATUS publishes the controlling GCS for the whole system. If unset, the CONTROL_STATUS indicates the controlling GCS for just the component emitting the message. Note that to request control of the system a GCS should send MAV_CMD_REQUEST_OPERATOR_CONTROL to the component emitting CONTROL_STATUS with this flag set.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                2GCS_CONTROL_STATUS_FLAGS_TAKEOVER_ALLOWEDTakeover allowed (requests for control will be granted). If not set requests for control will be rejected, but the controlling GCS will be notified (and may release control or allow takeover).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                TARGET_ABSOLUTE_SENSOR_CAPABILITY_FLAGS — [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                (Bitmask) These flags indicate the sensor reporting capabilities for TARGET_ABSOLUTE.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                1TARGET_ABSOLUTE_SENSOR_CAPABILITY_POSITION
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                2TARGET_ABSOLUTE_SENSOR_CAPABILITY_VELOCITY
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                4TARGET_ABSOLUTE_SENSOR_CAPABILITY_ACCELERATION
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                8TARGET_ABSOLUTE_SENSOR_CAPABILITY_ATTITUDE
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                16TARGET_ABSOLUTE_SENSOR_CAPABILITY_RATES

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                TARGET_OBS_FRAME — [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                The frame of a target observation from an onboard sensor.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                0TARGET_OBS_FRAME_LOCAL_NEDNED local tangent frame (x: North, y: East, z: Down) with origin fixed relative to earth.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                1TARGET_OBS_FRAME_BODY_FRDFRD local frame aligned to the vehicle's attitude (x: Forward, y: Right, z: Down) with an origin that travels with vehicle.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                2TARGET_OBS_FRAME_LOCAL_OFFSET_NEDNED local tangent frame (x: North, y: East, z: Down) with an origin that travels with vehicle.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                3TARGET_OBS_FRAME_OTHEROther sensor frame for target observations neither in local NED nor in body FRD.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                RADIO_RC_CHANNELS_FLAGS — [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                (Bitmask) RADIO_RC_CHANNELS flags (bitmask).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                1RADIO_RC_CHANNELS_FLAGS_FAILSAFEFailsafe is active. The content of the RC channels data in the RADIO_RC_CHANNELS message is implementation dependent.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                2RADIO_RC_CHANNELS_FLAGS_OUTDATEDChannel data may be out of date. This is set when the receiver is unable to validate incoming data from the transmitter and has therefore resent the last valid data it received.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_FUEL_TYPE — [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Fuel types for use in FUEL_TYPE. Fuel types specify the units for the maximum, available and consumed fuel, and for the flow rates.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                0MAV_FUEL_TYPE_UNKNOWNNot specified. Fuel levels are normalized (i.e. maximum is 1, and other levels are relative to 1.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                1MAV_FUEL_TYPE_LIQUIDA generic liquid fuel. Fuel levels are in millilitres (ml). Fuel rates are in millilitres/second.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                2MAV_FUEL_TYPE_GASA gas tank. Fuel levels are in kilo-Pascal (kPa), and flow rates are in milliliters per second (ml/s).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                GPS_SYSTEM_ERROR_FLAGS — [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                (Bitmask) Flags indicating errors in a GPS receiver.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                1GPS_SYSTEM_ERROR_INCOMING_CORRECTIONSThere are problems with incoming correction streams.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                2GPS_SYSTEM_ERROR_CONFIGURATIONThere are problems with the configuration.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                4GPS_SYSTEM_ERROR_SOFTWAREThere are problems with the software on the GPS receiver.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                8GPS_SYSTEM_ERROR_ANTENNAThere are problems with an antenna connected to the GPS receiver.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                16GPS_SYSTEM_ERROR_EVENT_CONGESTIONThere are problems handling all incoming events.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                32GPS_SYSTEM_ERROR_CPU_OVERLOADThe GPS receiver CPU is overloaded.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                64GPS_SYSTEM_ERROR_OUTPUT_CONGESTIONThe GPS receiver is experiencing output congestion.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                GPS_AUTHENTICATION_STATE — [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Signal authentication state in a GPS receiver.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                0GPS_AUTHENTICATION_STATE_UNKNOWNThe GPS receiver does not provide GPS signal authentication info.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                1GPS_AUTHENTICATION_STATE_INITIALIZINGThe GPS receiver is initializing signal authentication.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                2GPS_AUTHENTICATION_STATE_ERRORThe GPS receiver encountered an error while initializing signal authentication.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                3GPS_AUTHENTICATION_STATE_OKThe GPS receiver has correctly authenticated all signals.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                4GPS_AUTHENTICATION_STATE_DISABLEDGPS signal authentication is disabled on the receiver.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                GPS_JAMMING_STATE — [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Signal jamming state in a GPS receiver.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                0GPS_JAMMING_STATE_UNKNOWNThe GPS receiver does not provide GPS signal jamming info.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                1GPS_JAMMING_STATE_OKThe GPS receiver detected no signal jamming.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                2GPS_JAMMING_STATE_MITIGATEDThe GPS receiver detected and mitigated signal jamming.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                3GPS_JAMMING_STATE_DETECTEDThe GPS receiver detected signal jamming.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                GPS_SPOOFING_STATE — [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Signal spoofing state in a GPS receiver.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                0GPS_SPOOFING_STATE_UNKNOWNThe GPS receiver does not provide GPS signal spoofing info.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                1GPS_SPOOFING_STATE_OKThe GPS receiver detected no signal spoofing.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                2GPS_SPOOFING_STATE_MITIGATEDThe GPS receiver detected and mitigated signal spoofing.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                3GPS_SPOOFING_STATE_DETECTEDThe GPS receiver detected signal spoofing but still has a fix.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                GPS_RAIM_STATE — [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                State of RAIM processing.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                0GPS_RAIM_STATE_UNKNOWNRAIM capability is unknown.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                1GPS_RAIM_STATE_DISABLEDRAIM is disabled.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                2GPS_RAIM_STATE_OKRAIM integrity check was successful.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                3GPS_RAIM_STATE_FAILEDRAIM integrity check failed.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Commands (MAV_CMD)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_DO_FIGURE_EIGHT (35) — [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Fly a figure eight path as defined by the parameters.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Set parameters to NaN/INT32_MAX (as appropriate) to use system-default values. The command is intended for fixed wing vehicles (and VTOL hybrids flying in fixed-wing mode), allowing POI tracking for gimbals that don't support infinite rotation. This command only defines the flight path. Speed should be set independently (use e.g. MAV_CMD_DO_CHANGE_SPEED). Yaw and other degrees of freedom are not specified, and will be flight-stack specific (on vehicles where they can be controlled independent of the heading).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Param (Label)DescriptionUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                1 (Major Radius)Major axis radius of the figure eight. Positive: orbit the north circle clockwise. Negative: orbit the north circle counter-clockwise.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                NaN: The radius will be set to 2.5 times the minor radius and direction is clockwise.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Must be greater or equal to two times the minor radius for feasible values.                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                		m
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                2 (Minor Radius)Minor axis radius of the figure eight. Defines the radius of the two circles that make up the figure. Negative value has no effect.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                NaN: The radius will be set to the default loiter radius.                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                		m
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                3
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                4 (Orientation)Orientation of the figure eight major axis with respect to true north (range: [-pi,pi]). NaN: use default orientation aligned to true north.rad
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                5 (Latitude/X)Center point latitude/X coordinate according to MAV_FRAME. If no MAV_FRAME specified, MAV_FRAME_GLOBAL is assumed.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                INT32_MAX or NaN: Use current vehicle position, or current center if already loitering.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                6 (Longitude/Y)Center point longitude/Y coordinate according to MAV_FRAME. If no MAV_FRAME specified, MAV_FRAME_GLOBAL is assumed.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                INT32_MAX or NaN: Use current vehicle position, or current center if already loitering.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                7 (Altitude/Z)Center point altitude MSL/Z coordinate according to MAV_FRAME. If no MAV_FRAME specified, MAV_FRAME_GLOBAL is assumed.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                INT32_MAX or NaN: Use current vehicle altitude.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_DO_UPGRADE (247) — [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Request a target system to start an upgrade of one (or all) of its components.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                For example, the command might be sent to a companion computer to cause it to upgrade a connected flight controller. The system doing the upgrade will report progress using the normal command protocol sequence for a long running operation. Command protocol information: https://mavlink.io/en/services/command.html.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                1 (Component ID)Component id of the component to be upgraded. If set to 0, all components should be upgraded.MAV_COMPONENT
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                2 (Reboot)0: Do not reboot component after the action is executed, 1: Reboot component after the action is executed.min: 0 max: 1 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                3Reserved
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                4Reserved
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                5Reserved
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                6Reserved
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                7WIP: upgrade progress report rate (can be used for more granular control).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_DO_SET_STANDARD_MODE (262) — [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Enable the specified standard MAVLink mode.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                If the mode is not supported the vehicle should ACK with MAV_RESULT_FAILED.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                1 (Standard Mode)The mode to set.MAV_STANDARD_MODE
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                2
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                3
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                4
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                5
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                6
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                7

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_GROUP_START (301) — [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Define start of a group of mission items. When control reaches this command a GROUP_START message is emitted.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                The end of a group is marked using MAV_CMD_GROUP_END with the same group id. Group ids are expected, but not required, to iterate sequentially. Groups can be nested.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                1 (Group ID)Mission-unique group id.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Group id is limited because only 24 bit integer can be stored in 32 bit float.                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                		min: 0 max: 16777216 inc: 1

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_GROUP_END (302) — [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Define end of a group of mission items. When control reaches this command a GROUP_END message is emitted.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                The start of the group is marked is marked using MAV_CMD_GROUP_START with the same group id. Group ids are expected, but not required, to iterate sequentially. Groups can be nested.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                1 (Group ID)Mission-unique group id.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Group id is limited because only 24 bit integer can be stored in 32 bit float.                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                		min: 0 max: 16777216 inc: 1

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_SET_AT_S_PARAM (550) — [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Allows setting an AT S command of an SiK radio.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Param (Label)Description
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                1 (Radio instance)The radio instance, one-based, 0 for all.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                2 (Index)The Sx index, e.g. 3 for S3 which is NETID.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                3 (Value)The value to set it to, e.g. default 25 for NETID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                4
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                5
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                6
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                7

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_DO_SET_SYS_CMP_ID (610) — [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Set system and component id. This allows moving of a system and all its components to a new system id, or moving a particular component to a new system/component id. Recipients must reject command addressed to broadcast system ID.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                1 (System ID)New system ID for target component(s). 0: ignore and reject command (broadcast system ID not allowed).min: 1 max: 255 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                2 (Component ID)New component ID for target component(s). 0: ignore (component IDs don't change).min: 0 max: 255 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                3 (Reboot)Reboot components after ID change. Any non-zero value triggers the reboot.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                4

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_PARAM_TRANSACTION (900) — [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Request to start or end a parameter transaction. Multiple kinds of transport layers can be used to exchange parameters in the transaction (param, param_ext and mavftp). The command response can either be a success/failure or an in progress in case the receiving side takes some time to apply the parameters.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                1 (Action)Action to be performed (start, commit, cancel, etc.)PARAM_TRANSACTION_ACTION
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                2 (Transport)Possible transport layers to set and get parameters via mavlink during a parameter transaction.PARAM_TRANSACTION_TRANSPORT
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                3 (Transaction ID)Identifier for a specific transaction.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_ODID_SET_EMERGENCY (12900) — [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Used to manually set/unset emergency status for remote id.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                This is for compliance with MOC ASTM docs, specifically F358 section 7.7: "Emergency Status Indicator". The requirement can also be satisfied by automatic setting of the emergency status by flight stack, and that approach is preferred. See https://mavlink.io/en/services/opendroneid.html for more information.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                1 (Number)Set/unset emergency 0: unset, 1: setmin: 0 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                2
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                3
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                4Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                5Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                5Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                6Empty
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_EXTERNAL_WIND_ESTIMATE (43004) — [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Set an external estimate of wind direction and speed.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                This might be used to provide an initial wind estimate to the estimator (EKF) in the case where the vehicle is wind dead-reckoning, extending the time when operating without GPS before before position drift builds to an unsafe level. For this use case the command might reasonably be sent every few minutes when operating at altitude, and the value is cleared if the estimator resets itself.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Param (Label)DescriptionValuesUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                1 (Wind speed)Horizontal wind speed.min: 0m/s
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                2 (Wind speed accuracy)Estimated 1 sigma accuracy of wind speed. Set to NaN if unknown.m/s
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                3 (Direction)Azimuth (relative to true north) from where the wind is blowing.min: 0 max: 360deg
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                4 (Direction accuracy)Estimated 1 sigma accuracy of wind direction. Set to NaN if unknown.deg
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_REQUEST_OPERATOR_CONTROL (43005) — [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Request GCS control of a system (or of a specific component in a system).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                A controlled system should only accept MAVLink commands and command-like messages that are sent by its controlling GCS, or from other components with the same system id. Commands from other systems should be rejected with MAV_RESULT_PERMISSION_DENIED (except for this command, which may be acknowledged with MAV_RESULT_ACCEPTED if control is granted). Command-like messages should be ignored (or rejected if that is supported by their associated protocol).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                GCS control of the whole system is managed via a single component that we will refer to here as the "system manager component". This component streams the CONTROL_STATUS message and sets the GCS_CONTROL_STATUS_FLAGS_SYSTEM_MANAGER flag. Other components in the system should monitor for the CONTROL_STATUS message with this flag, and set their controlling GCS to match its published system id. A GCS that wants to control the system should also monitor for the same message and flag, and address the MAV_CMD_REQUEST_OPERATOR_CONTROL to its component id. Note that integrators are required to ensure that there is only one system manager component in the system (i.e. one component emitting the message with GCS_CONTROL_STATUS_FLAGS_SYSTEM_MANAGER set).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                The MAV_CMD_REQUEST_OPERATOR_CONTROL command is sent by a GCS to the system manager component to request or release control of a system, specifying whether subsequent takeover requests from another GCS are automatically granted, or require permission.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                The system manager component should grant control to the GCS if the system does not require takeover permission (or is uncontrolled) and ACK the request with MAV_RESULT_ACCEPTED. The system manager component should then stream CONTROL_STATUS indicating its controlling system: all other components with the same system id should monitor this message and set their own controlling GCS to match that of the system manager component.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                If the system manager component cannot grant control (because takeover requires permission), the request should be rejected with MAV_RESULT_PERMISSION_DENIED. The system manager component should then send this same command to the current owning GCS in order to notify of the request. The owning GCS would ACK with MAV_RESULT_ACCEPTED, and might choose to release control of the vehicle, or re-request control with the takeover bit set to allow permission. Note that the pilots of both GCS should co-ordinate safe handover offline.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Note that in most systems the only controlled component will be the "system manager component", and that will be the autopilot. However separate GCS control of a particular component is also permitted, if supported by the component. In this case the GCS will address MAV_CMD_REQUEST_OPERATOR_CONTROL to the specific component it wants to control. The component will then stream CONTROL_STATUS for its controlling GCS (it must not set GCS_CONTROL_STATUS_FLAGS_SYSTEM_MANAGER). The component should fall back to the system GCS (if any) when it is not directly controlled, and may stop emitting CONTROL_STATUS. The flow is otherwise the same as for requesting control over the whole system.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Param (Label)Description
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                1 (Sysid requesting control)System ID of GCS requesting control. 0 when command sent from GCS to autopilot (autopilot determines requesting GCS sysid from message header). Sysid of GCS requesting control when command sent by autopilot to controlling GCS.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                2 (Action)0: Release control, 1: Request control.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                3 (Allow takeover)Enable automatic granting of ownership on request (by default reject request and notify current owner). 0: Ask current owner and reject request, 1: Allow automatic takeover.
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Dialect: icarous

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  This topic documents the version of the dialect file in the mavlink/mavlink Github repository, which may not be up to date with the file in the source repository (it is up to the dialect owner to push changes when needed). The source repo should be listed in the comments at the top of the XML definition file listed below (but may not be).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  This is a human-readable form of the XML definition file: icarous.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAVLink 2 extension fields that have been added to MAVLink 1 messages are displayed in blue. - Entities from dialects are displayed only as headings (with link to original)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  None

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Summary

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  TypeDefinedIncluded
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Messages20
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Enums20
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Commands00

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  The following sections list all entities in the dialect (both included and defined in this file).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Messages

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  ICAROUS_HEARTBEAT (42000)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  ICAROUS heartbeat

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Field NameTypeValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  statusuint8_tICAROUS_FMS_STATESee the FMS_STATE enum.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  ICAROUS_KINEMATIC_BANDS (42001)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Kinematic multi bands (track) output from Daidalus

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  numBandsint8_tNumber of track bands
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  type1uint8_tICAROUS_TRACK_BAND_TYPESSee the TRACK_BAND_TYPES enum.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  min1floatdegmin angle (degrees)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  max1floatdegmax angle (degrees)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  type2uint8_tICAROUS_TRACK_BAND_TYPESSee the TRACK_BAND_TYPES enum.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  min2floatdegmin angle (degrees)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  max2floatdegmax angle (degrees)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  type3uint8_tICAROUS_TRACK_BAND_TYPESSee the TRACK_BAND_TYPES enum.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  min3floatdegmin angle (degrees)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  max3floatdegmax angle (degrees)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  type4uint8_tICAROUS_TRACK_BAND_TYPESSee the TRACK_BAND_TYPES enum.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  min4floatdegmin angle (degrees)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  max4floatdegmax angle (degrees)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  type5uint8_tICAROUS_TRACK_BAND_TYPESSee the TRACK_BAND_TYPES enum.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  min5floatdegmin angle (degrees)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  max5floatdegmax angle (degrees)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Enumerated Types

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  ICAROUS_TRACK_BAND_TYPES

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  0ICAROUS_TRACK_BAND_TYPE_NONE
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  1ICAROUS_TRACK_BAND_TYPE_NEAR
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  2ICAROUS_TRACK_BAND_TYPE_RECOVERY

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  ICAROUS_FMS_STATE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  0ICAROUS_FMS_STATE_IDLE
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  1ICAROUS_FMS_STATE_TAKEOFF
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  2ICAROUS_FMS_STATE_CLIMB
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  3ICAROUS_FMS_STATE_CRUISE
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  4ICAROUS_FMS_STATE_APPROACH
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  5ICAROUS_FMS_STATE_LAND

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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    \ No newline at end of file +icarous.xml · MAVLink Developer Guide
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Dialect: icarous

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    This topic documents the version of the dialect file in the mavlink/mavlink Github repository, which may not be up to date with the file in the source repository (it is up to the dialect owner to push changes when needed). The source repo should be listed in the comments at the top of the XML definition file listed below (but may not be).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    This is a human-readable form of the XML definition file: icarous.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAVLink 2 extension fields that have been added to MAVLink 1 messages are displayed in blue. - Entities from dialects are displayed only as headings (with link to original)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    None

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Summary

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    TypeDefinedIncluded
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Messages20
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Enums20
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Commands00

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    The following sections list all entities in the dialect (both included and defined in this file).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Messages

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    ICAROUS_HEARTBEAT (42000)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    ICAROUS heartbeat

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    statusuint8_tICAROUS_FMS_STATESee the FMS_STATE enum.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    ICAROUS_KINEMATIC_BANDS (42001)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Kinematic multi bands (track) output from Daidalus

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    numBandsint8_tNumber of track bands
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    type1uint8_tICAROUS_TRACK_BAND_TYPESSee the TRACK_BAND_TYPES enum.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    min1floatdegmin angle (degrees)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    max1floatdegmax angle (degrees)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    type2uint8_tICAROUS_TRACK_BAND_TYPESSee the TRACK_BAND_TYPES enum.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    min2floatdegmin angle (degrees)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    max2floatdegmax angle (degrees)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    type3uint8_tICAROUS_TRACK_BAND_TYPESSee the TRACK_BAND_TYPES enum.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    min3floatdegmin angle (degrees)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    max3floatdegmax angle (degrees)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    type4uint8_tICAROUS_TRACK_BAND_TYPESSee the TRACK_BAND_TYPES enum.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    min4floatdegmin angle (degrees)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    max4floatdegmax angle (degrees)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    type5uint8_tICAROUS_TRACK_BAND_TYPESSee the TRACK_BAND_TYPES enum.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    min5floatdegmin angle (degrees)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    max5floatdegmax angle (degrees)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Enumerated Types

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    ICAROUS_TRACK_BAND_TYPES

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    0ICAROUS_TRACK_BAND_TYPE_NONE
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1ICAROUS_TRACK_BAND_TYPE_NEAR
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2ICAROUS_TRACK_BAND_TYPE_RECOVERY

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    ICAROUS_FMS_STATE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    0ICAROUS_FMS_STATE_IDLE
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1ICAROUS_FMS_STATE_TAKEOFF
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2ICAROUS_FMS_STATE_CLIMB
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    3ICAROUS_FMS_STATE_CRUISE
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    4ICAROUS_FMS_STATE_APPROACH
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    5ICAROUS_FMS_STATE_LAND

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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      XML Definition Files & Dialects

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAVLink definitions files can be found in mavlink/message definitions. These can roughly be divided into:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Standard Definitions

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      The following XML definition files are considered standard/core (i.e. not dialects):

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • minimal.xml - the minimum set of entities (messages, enums, MAV_CMD) required to set up a MAVLink network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • standard.xml - the standard set of entities that are implemented by almost all flight stacks (at least 2, in a compatible way). This includes minimal.xml.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • common.xml - the set of entities that have been implemented in at least one core flight stack. This includes standard.xml

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      We are still working towards moving the truly standard entities from common.xml to standard.xml Currently you should include common.xml

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      In addition:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • development.xml - XML definitions that are proposed for inclusion in the standard definitions. These are work in progress.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Test Definitions

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      The following definitions are used for testing and dialect validation:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • all.xml - This includes all other XML files, and is used to verify that there are no ID clashes (and can potentially be used by GCS to communicate with any core dialect).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • test.xml - Test XML definition file.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Dialects

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAVLink dialects are XML definition files that define protocol- and vendor-specific messages, enums and commands.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Vendor forks of MAVLink may contain XML entities that have not yet been pushed into the main repository (and will not be documented).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Dialects may include other MAVLink XML files, which may in turn contain other XML files (up to 5 levels of XML file nesting are allowed - see MAXIMUM_INCLUDE_FILE_NESTING in mavgen.py). A typical pattern is for a dialect to include common.xml (containing the MAVLink standard definitions), extending it with vendor or protocol specific messages.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      The dialect definitions are:

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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        \ No newline at end of file +Dialects · MAVLink Developer Guide
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        FAQ
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        XML Definition Files & Dialects

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAVLink definitions files can be found in mavlink/message definitions. These can roughly be divided into:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Standard Definitions

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        The following XML definition files are considered standard/core (i.e. not dialects):

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • minimal.xml - the minimum set of entities (messages, enums, MAV_CMD) required to set up a MAVLink network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • standard.xml - the standard set of entities that are implemented by almost all flight stacks (at least 2, in a compatible way). This includes minimal.xml.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • common.xml - the set of entities that have been implemented in at least one core flight stack. This includes standard.xml

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        We are still working towards moving the truly standard entities from common.xml to standard.xml Currently you should include common.xml

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        In addition:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • development.xml - XML definitions that are proposed for inclusion in the standard definitions. These are work in progress.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Test Definitions

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        The following definitions are used for testing and dialect validation:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • all.xml - This includes all other XML files, and is used to verify that there are no ID clashes (and can potentially be used by GCS to communicate with any core dialect).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • test.xml - Test XML definition file.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Dialects

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAVLink dialects are XML definition files that define protocol- and vendor-specific messages, enums and commands.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Vendor forks of MAVLink may contain XML entities that have not yet been pushed into the main repository (and will not be documented).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Dialects may include other MAVLink XML files, which may in turn contain other XML files (up to 5 levels of XML file nesting are allowed - see MAXIMUM_INCLUDE_FILE_NESTING in mavgen.py). A typical pattern is for a dialect to include common.xml (containing the MAVLink standard definitions), extending it with vendor or protocol specific messages.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        The dialect definitions are:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        results matching ""

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          No results matching ""

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          \ No newline at end of file diff --git a/ko/messages/matrixpilot.html b/ko/messages/matrixpilot.html index d23ac4e42..6ebe5d729 100644 --- a/ko/messages/matrixpilot.html +++ b/ko/messages/matrixpilot.html @@ -1 +1 @@ -matrixpilot.xml · MAVLink Developer Guide
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          FAQ
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Dialect: matrixpilot

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          This topic documents the version of the dialect file in the mavlink/mavlink Github repository, which may not be up to date with the file in the source repository (it is up to the dialect owner to push changes when needed). The source repo should be listed in the comments at the top of the XML definition file listed below (but may not be).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          This is a human-readable form of the XML definition file: matrixpilot.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAVLink 2 extension fields that have been added to MAVLink 1 messages are displayed in blue. - Entities from dialects are displayed only as headings (with link to original)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Summary

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          TypeDefinedIncluded
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Messages27224
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Enums1142
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Commands1650

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          The following sections list all entities in the dialect (both included and defined in this file).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Messages

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          HEARTBEAT (0) — [from: minimal]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          SYS_STATUS (1) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          SYSTEM_TIME (2) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          PING (4) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          CHANGE_OPERATOR_CONTROL (5) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          CHANGE_OPERATOR_CONTROL_ACK (6) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          AUTH_KEY (7) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          SET_MODE (11) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          PARAM_REQUEST_READ (20) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          PARAM_REQUEST_LIST (21) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          PARAM_VALUE (22) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          PARAM_SET (23) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          GPS_RAW_INT (24) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          GPS_STATUS (25) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          SCALED_IMU (26) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          RAW_IMU (27) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          RAW_PRESSURE (28) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          SCALED_PRESSURE (29) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ATTITUDE (30) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ATTITUDE_QUATERNION (31) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          LOCAL_POSITION_NED (32) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          GLOBAL_POSITION_INT (33) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          RC_CHANNELS_SCALED (34) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          RC_CHANNELS_RAW (35) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          SERVO_OUTPUT_RAW (36) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MISSION_REQUEST_PARTIAL_LIST (37) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MISSION_WRITE_PARTIAL_LIST (38) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MISSION_ITEM (39) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MISSION_REQUEST (40) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MISSION_SET_CURRENT (41) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MISSION_CURRENT (42) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MISSION_REQUEST_LIST (43) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MISSION_COUNT (44) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MISSION_CLEAR_ALL (45) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MISSION_ITEM_REACHED (46) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MISSION_ACK (47) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          SET_GPS_GLOBAL_ORIGIN (48) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          GPS_GLOBAL_ORIGIN (49) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          PARAM_MAP_RC (50) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MISSION_REQUEST_INT (51) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          SAFETY_SET_ALLOWED_AREA (54) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          SAFETY_ALLOWED_AREA (55) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ATTITUDE_QUATERNION_COV (61) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          GLOBAL_POSITION_INT_COV (63) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          LOCAL_POSITION_NED_COV (64) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          RC_CHANNELS (65) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          REQUEST_DATA_STREAM (66) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          DATA_STREAM (67) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MANUAL_CONTROL (69) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          RC_CHANNELS_OVERRIDE (70) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MISSION_ITEM_INT (73) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          VFR_HUD (74) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          COMMAND_INT (75) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          COMMAND_LONG (76) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          COMMAND_ACK (77) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          COMMAND_CANCEL (80) — [from: common] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MANUAL_SETPOINT (81) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          SET_ATTITUDE_TARGET (82) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ATTITUDE_TARGET (83) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          SET_POSITION_TARGET_LOCAL_NED (84) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          POSITION_TARGET_LOCAL_NED (85) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          SET_POSITION_TARGET_GLOBAL_INT (86) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          POSITION_TARGET_GLOBAL_INT (87) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          LOCAL_POSITION_NED_SYSTEM_GLOBAL_OFFSET (89) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          HIL_STATE (90) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          HIL_CONTROLS (91) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          HIL_RC_INPUTS_RAW (92) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          HIL_ACTUATOR_CONTROLS (93) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          OPTICAL_FLOW (100) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          GLOBAL_VISION_POSITION_ESTIMATE (101) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          VISION_POSITION_ESTIMATE (102) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          VISION_SPEED_ESTIMATE (103) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          VICON_POSITION_ESTIMATE (104) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          HIGHRES_IMU (105) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          OPTICAL_FLOW_RAD (106) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          HIL_SENSOR (107) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          SIM_STATE (108) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          RADIO_STATUS (109) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          FILE_TRANSFER_PROTOCOL (110) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          TIMESYNC (111) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          CAMERA_TRIGGER (112) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          HIL_GPS (113) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          HIL_OPTICAL_FLOW (114) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          HIL_STATE_QUATERNION (115) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          SCALED_IMU2 (116) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          LOG_REQUEST_LIST (117) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          LOG_ENTRY (118) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          LOG_REQUEST_DATA (119) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          LOG_DATA (120) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          LOG_ERASE (121) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          LOG_REQUEST_END (122) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          GPS_INJECT_DATA (123) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          GPS2_RAW (124) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          POWER_STATUS (125) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          SERIAL_CONTROL (126) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          GPS_RTK (127) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          GPS2_RTK (128) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          SCALED_IMU3 (129) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          DATA_TRANSMISSION_HANDSHAKE (130) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ENCAPSULATED_DATA (131) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          DISTANCE_SENSOR (132) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          TERRAIN_REQUEST (133) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          TERRAIN_DATA (134) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          TERRAIN_CHECK (135) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          TERRAIN_REPORT (136) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          SCALED_PRESSURE2 (137) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ATT_POS_MOCAP (138) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          SET_ACTUATOR_CONTROL_TARGET (139) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ACTUATOR_CONTROL_TARGET (140) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ALTITUDE (141) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          RESOURCE_REQUEST (142) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          SCALED_PRESSURE3 (143) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          FOLLOW_TARGET (144) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          CONTROL_SYSTEM_STATE (146) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          BATTERY_STATUS (147) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          AUTOPILOT_VERSION (148) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          LANDING_TARGET (149) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          FLEXIFUNCTION_SET (150)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Depreciated but used as a compiler flag. Do not remove

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          target_systemuint8_tSystem ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          target_componentuint8_tComponent ID

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          FLEXIFUNCTION_READ_REQ (151)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Request reading of flexifunction data

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          target_systemuint8_tSystem ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          target_componentuint8_tComponent ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          read_req_typeint16_tType of flexifunction data requested
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          data_indexint16_tindex into data where needed

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          FLEXIFUNCTION_BUFFER_FUNCTION (152)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Flexifunction type and parameters for component at function index from buffer

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          target_systemuint8_tSystem ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          target_componentuint8_tComponent ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          func_indexuint16_tFunction index
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          func_countuint16_tTotal count of functions
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          data_addressuint16_tAddress in the flexifunction data, Set to 0xFFFF to use address in target memory
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          data_sizeuint16_tSize of the
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          dataint8_t[48]Settings data

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          FLEXIFUNCTION_BUFFER_FUNCTION_ACK (153)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Flexifunction type and parameters for component at function index from buffer

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          target_systemuint8_tSystem ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          target_componentuint8_tComponent ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          func_indexuint16_tFunction index
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          resultuint16_tresult of acknowledge, 0=fail, 1=good

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          FLEXIFUNCTION_DIRECTORY (155)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Acknowldge success or failure of a flexifunction command

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          target_systemuint8_tSystem ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          target_componentuint8_tComponent ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          directory_typeuint8_t0=inputs, 1=outputs
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          start_indexuint8_tindex of first directory entry to write
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          countuint8_tcount of directory entries to write
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          directory_dataint8_t[48]Settings data

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          FLEXIFUNCTION_DIRECTORY_ACK (156)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Acknowldge success or failure of a flexifunction command

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          target_systemuint8_tSystem ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          target_componentuint8_tComponent ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          directory_typeuint8_t0=inputs, 1=outputs
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          start_indexuint8_tindex of first directory entry to write
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          countuint8_tcount of directory entries to write
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          resultuint16_tresult of acknowledge, 0=fail, 1=good

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          FLEXIFUNCTION_COMMAND (157)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Acknowldge success or failure of a flexifunction command

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          target_systemuint8_tSystem ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          target_componentuint8_tComponent ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          command_typeuint8_tFlexifunction command type

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          FLEXIFUNCTION_COMMAND_ACK (158)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Acknowldge success or failure of a flexifunction command

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          command_typeuint16_tCommand acknowledged
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          resultuint16_tresult of acknowledge

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          FENCE_STATUS (162) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          SERIAL_UDB_EXTRA_F2_A (170)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Backwards compatible MAVLink version of SERIAL_UDB_EXTRA - F2: Format Part A

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          sue_timeuint32_tSerial UDB Extra Time
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          sue_statusuint8_tSerial UDB Extra Status
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          sue_latitudeint32_tSerial UDB Extra Latitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          sue_longitudeint32_tSerial UDB Extra Longitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          sue_altitudeint32_tSerial UDB Extra Altitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          sue_waypoint_indexuint16_tSerial UDB Extra Waypoint Index
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          sue_rmat0int16_tSerial UDB Extra Rmat 0
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          sue_rmat1int16_tSerial UDB Extra Rmat 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          sue_rmat2int16_tSerial UDB Extra Rmat 2
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          sue_rmat3int16_tSerial UDB Extra Rmat 3
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          sue_rmat4int16_tSerial UDB Extra Rmat 4
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          sue_rmat5int16_tSerial UDB Extra Rmat 5
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          sue_rmat6int16_tSerial UDB Extra Rmat 6
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          sue_rmat7int16_tSerial UDB Extra Rmat 7
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          sue_rmat8int16_tSerial UDB Extra Rmat 8
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          sue_coguint16_tSerial UDB Extra GPS Course Over Ground
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          sue_sogint16_tSerial UDB Extra Speed Over Ground
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          sue_cpu_loaduint16_tSerial UDB Extra CPU Load
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          sue_air_speed_3DIMUuint16_tSerial UDB Extra 3D IMU Air Speed
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          sue_estimated_wind_0int16_tSerial UDB Extra Estimated Wind 0
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          sue_estimated_wind_1int16_tSerial UDB Extra Estimated Wind 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          sue_estimated_wind_2int16_tSerial UDB Extra Estimated Wind 2
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          sue_magFieldEarth0int16_tSerial UDB Extra Magnetic Field Earth 0
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          sue_magFieldEarth1int16_tSerial UDB Extra Magnetic Field Earth 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          sue_magFieldEarth2int16_tSerial UDB Extra Magnetic Field Earth 2
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          sue_svsint16_tSerial UDB Extra Number of Satellites in View
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          sue_hdopint16_tSerial UDB Extra GPS Horizontal Dilution of Precision

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          SERIAL_UDB_EXTRA_F2_B (171)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Backwards compatible version of SERIAL_UDB_EXTRA - F2: Part B

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          sue_timeuint32_tSerial UDB Extra Time
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          sue_pwm_input_1int16_tSerial UDB Extra PWM Input Channel 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          sue_pwm_input_2int16_tSerial UDB Extra PWM Input Channel 2
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          sue_pwm_input_3int16_tSerial UDB Extra PWM Input Channel 3
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          sue_pwm_input_4int16_tSerial UDB Extra PWM Input Channel 4
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          sue_pwm_input_5int16_tSerial UDB Extra PWM Input Channel 5
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          sue_pwm_input_6int16_tSerial UDB Extra PWM Input Channel 6
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          sue_pwm_input_7int16_tSerial UDB Extra PWM Input Channel 7
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          sue_pwm_input_8int16_tSerial UDB Extra PWM Input Channel 8
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          sue_pwm_input_9int16_tSerial UDB Extra PWM Input Channel 9
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          sue_pwm_input_10int16_tSerial UDB Extra PWM Input Channel 10
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          sue_pwm_input_11int16_tSerial UDB Extra PWM Input Channel 11
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          sue_pwm_input_12int16_tSerial UDB Extra PWM Input Channel 12
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          sue_pwm_output_1int16_tSerial UDB Extra PWM Output Channel 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          sue_pwm_output_2int16_tSerial UDB Extra PWM Output Channel 2
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          sue_pwm_output_3int16_tSerial UDB Extra PWM Output Channel 3
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          sue_pwm_output_4int16_tSerial UDB Extra PWM Output Channel 4
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          sue_pwm_output_5int16_tSerial UDB Extra PWM Output Channel 5
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          sue_pwm_output_6int16_tSerial UDB Extra PWM Output Channel 6
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          sue_pwm_output_7int16_tSerial UDB Extra PWM Output Channel 7
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          sue_pwm_output_8int16_tSerial UDB Extra PWM Output Channel 8
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          sue_pwm_output_9int16_tSerial UDB Extra PWM Output Channel 9
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          sue_pwm_output_10int16_tSerial UDB Extra PWM Output Channel 10
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          sue_pwm_output_11int16_tSerial UDB Extra PWM Output Channel 11
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          sue_pwm_output_12int16_tSerial UDB Extra PWM Output Channel 12
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          sue_imu_location_xint16_tSerial UDB Extra IMU Location X
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          sue_imu_location_yint16_tSerial UDB Extra IMU Location Y
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          sue_imu_location_zint16_tSerial UDB Extra IMU Location Z
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          sue_location_error_earth_xint16_tSerial UDB Location Error Earth X
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          sue_location_error_earth_yint16_tSerial UDB Location Error Earth Y
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          sue_location_error_earth_zint16_tSerial UDB Location Error Earth Z
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          sue_flagsuint32_tSerial UDB Extra Status Flags
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          sue_osc_failsint16_tSerial UDB Extra Oscillator Failure Count
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          sue_imu_velocity_xint16_tSerial UDB Extra IMU Velocity X
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          sue_imu_velocity_yint16_tSerial UDB Extra IMU Velocity Y
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          sue_imu_velocity_zint16_tSerial UDB Extra IMU Velocity Z
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          sue_waypoint_goal_xint16_tSerial UDB Extra Current Waypoint Goal X
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          sue_waypoint_goal_yint16_tSerial UDB Extra Current Waypoint Goal Y
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          sue_waypoint_goal_zint16_tSerial UDB Extra Current Waypoint Goal Z
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          sue_aero_xint16_tAeroforce in UDB X Axis
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          sue_aero_yint16_tAeroforce in UDB Y Axis
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          sue_aero_zint16_tAeroforce in UDB Z axis
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          sue_barom_tempint16_tSUE barometer temperature
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          sue_barom_pressint32_tSUE barometer pressure
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          sue_barom_altint32_tSUE barometer altitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          sue_bat_voltint16_tSUE battery voltage
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          sue_bat_ampint16_tSUE battery current
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          sue_bat_amp_hoursint16_tSUE battery milli amp hours used
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          sue_desired_heightint16_tSue autopilot desired height
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          sue_memory_stack_freeint16_tSerial UDB Extra Stack Memory Free

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          SERIAL_UDB_EXTRA_F4 (172)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Backwards compatible version of SERIAL_UDB_EXTRA F4: format

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          sue_ROLL_STABILIZATION_AILERONSuint8_tSerial UDB Extra Roll Stabilization with Ailerons Enabled
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          sue_ROLL_STABILIZATION_RUDDERuint8_tSerial UDB Extra Roll Stabilization with Rudder Enabled
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          sue_PITCH_STABILIZATIONuint8_tSerial UDB Extra Pitch Stabilization Enabled
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          sue_YAW_STABILIZATION_RUDDERuint8_tSerial UDB Extra Yaw Stabilization using Rudder Enabled
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          sue_YAW_STABILIZATION_AILERONuint8_tSerial UDB Extra Yaw Stabilization using Ailerons Enabled
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          sue_AILERON_NAVIGATIONuint8_tSerial UDB Extra Navigation with Ailerons Enabled
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          sue_RUDDER_NAVIGATIONuint8_tSerial UDB Extra Navigation with Rudder Enabled
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          sue_ALTITUDEHOLD_STABILIZEDuint8_tSerial UDB Extra Type of Alitude Hold when in Stabilized Mode
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          sue_ALTITUDEHOLD_WAYPOINTuint8_tSerial UDB Extra Type of Alitude Hold when in Waypoint Mode
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          sue_RACING_MODEuint8_tSerial UDB Extra Firmware racing mode enabled

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          SERIAL_UDB_EXTRA_F5 (173)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Backwards compatible version of SERIAL_UDB_EXTRA F5: format

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          sue_YAWKP_AILERONfloatSerial UDB YAWKP_AILERON Gain for Proporional control of navigation
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          sue_YAWKD_AILERONfloatSerial UDB YAWKD_AILERON Gain for Rate control of navigation
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          sue_ROLLKPfloatSerial UDB Extra ROLLKP Gain for Proportional control of roll stabilization
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          sue_ROLLKDfloatSerial UDB Extra ROLLKD Gain for Rate control of roll stabilization

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          SERIAL_UDB_EXTRA_F6 (174)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Backwards compatible version of SERIAL_UDB_EXTRA F6: format

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          sue_PITCHGAINfloatSerial UDB Extra PITCHGAIN Proportional Control
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          sue_PITCHKDfloatSerial UDB Extra Pitch Rate Control
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          sue_RUDDER_ELEV_MIXfloatSerial UDB Extra Rudder to Elevator Mix
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          sue_ROLL_ELEV_MIXfloatSerial UDB Extra Roll to Elevator Mix
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          sue_ELEVATOR_BOOSTfloatGain For Boosting Manual Elevator control When Plane Stabilized

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          SERIAL_UDB_EXTRA_F7 (175)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Backwards compatible version of SERIAL_UDB_EXTRA F7: format

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          sue_YAWKP_RUDDERfloatSerial UDB YAWKP_RUDDER Gain for Proporional control of navigation
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          sue_YAWKD_RUDDERfloatSerial UDB YAWKD_RUDDER Gain for Rate control of navigation
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          sue_ROLLKP_RUDDERfloatSerial UDB Extra ROLLKP_RUDDER Gain for Proportional control of roll stabilization
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          sue_ROLLKD_RUDDERfloatSerial UDB Extra ROLLKD_RUDDER Gain for Rate control of roll stabilization
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          sue_RUDDER_BOOSTfloatSERIAL UDB EXTRA Rudder Boost Gain to Manual Control when stabilized
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          sue_RTL_PITCH_DOWNfloatSerial UDB Extra Return To Landing - Angle to Pitch Plane Down

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          SERIAL_UDB_EXTRA_F8 (176)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Backwards compatible version of SERIAL_UDB_EXTRA F8: format

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          sue_HEIGHT_TARGET_MAXfloatSerial UDB Extra HEIGHT_TARGET_MAX
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          sue_HEIGHT_TARGET_MINfloatSerial UDB Extra HEIGHT_TARGET_MIN
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          sue_ALT_HOLD_THROTTLE_MINfloatSerial UDB Extra ALT_HOLD_THROTTLE_MIN
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          sue_ALT_HOLD_THROTTLE_MAXfloatSerial UDB Extra ALT_HOLD_THROTTLE_MAX
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          sue_ALT_HOLD_PITCH_MINfloatSerial UDB Extra ALT_HOLD_PITCH_MIN
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          sue_ALT_HOLD_PITCH_MAXfloatSerial UDB Extra ALT_HOLD_PITCH_MAX
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          sue_ALT_HOLD_PITCH_HIGHfloatSerial UDB Extra ALT_HOLD_PITCH_HIGH

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          SERIAL_UDB_EXTRA_F13 (177)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Backwards compatible version of SERIAL_UDB_EXTRA F13: format

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          sue_week_noint16_tSerial UDB Extra GPS Week Number
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          sue_lat_originint32_tSerial UDB Extra MP Origin Latitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          sue_lon_originint32_tSerial UDB Extra MP Origin Longitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          sue_alt_originint32_tSerial UDB Extra MP Origin Altitude Above Sea Level

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          SERIAL_UDB_EXTRA_F14 (178)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Backwards compatible version of SERIAL_UDB_EXTRA F14: format

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          sue_WIND_ESTIMATIONuint8_tSerial UDB Extra Wind Estimation Enabled
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          sue_GPS_TYPEuint8_tSerial UDB Extra Type of GPS Unit
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          sue_DRuint8_tSerial UDB Extra Dead Reckoning Enabled
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          sue_BOARD_TYPEuint8_tSerial UDB Extra Type of UDB Hardware
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          sue_AIRFRAMEuint8_tSerial UDB Extra Type of Airframe
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          sue_RCONint16_tSerial UDB Extra Reboot Register of DSPIC
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          sue_TRAP_FLAGSint16_tSerial UDB Extra Last dspic Trap Flags
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          sue_TRAP_SOURCEuint32_tSerial UDB Extra Type Program Address of Last Trap
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          sue_osc_fail_countint16_tSerial UDB Extra Number of Ocillator Failures
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          sue_CLOCK_CONFIGuint8_tSerial UDB Extra UDB Internal Clock Configuration
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          sue_FLIGHT_PLAN_TYPEuint8_tSerial UDB Extra Type of Flight Plan

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          SERIAL_UDB_EXTRA_F15 (179)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Backwards compatible version of SERIAL_UDB_EXTRA F15 format

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          sue_ID_VEHICLE_MODEL_NAMEuint8_t[40]Serial UDB Extra Model Name Of Vehicle
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          sue_ID_VEHICLE_REGISTRATIONuint8_t[20]Serial UDB Extra Registraton Number of Vehicle

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          SERIAL_UDB_EXTRA_F16 (180)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Backwards compatible version of SERIAL_UDB_EXTRA F16 format

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          sue_ID_LEAD_PILOTuint8_t[40]Serial UDB Extra Name of Expected Lead Pilot
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          sue_ID_DIY_DRONES_URLuint8_t[70]Serial UDB Extra URL of Lead Pilot or Team

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ALTITUDES (181)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          The altitude measured by sensors and IMU

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          time_boot_msuint32_tTimestamp (milliseconds since system boot)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          alt_gpsint32_tGPS altitude (MSL) in meters, expressed as * 1000 (millimeters)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          alt_imuint32_tIMU altitude above ground in meters, expressed as * 1000 (millimeters)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          alt_barometricint32_tbarometeric altitude above ground in meters, expressed as * 1000 (millimeters)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          alt_optical_flowint32_tOptical flow altitude above ground in meters, expressed as * 1000 (millimeters)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          alt_range_finderint32_tRangefinder Altitude above ground in meters, expressed as * 1000 (millimeters)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          alt_extraint32_tExtra altitude above ground in meters, expressed as * 1000 (millimeters)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          AIRSPEEDS (182)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          The airspeed measured by sensors and IMU

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          time_boot_msuint32_tTimestamp (milliseconds since system boot)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          airspeed_imuint16_tAirspeed estimate from IMU, cm/s
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          airspeed_pitotint16_tPitot measured forward airpseed, cm/s
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          airspeed_hot_wireint16_tHot wire anenometer measured airspeed, cm/s
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          airspeed_ultrasonicint16_tUltrasonic measured airspeed, cm/s
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          aoaint16_tAngle of attack sensor, degrees * 10
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          aoyint16_tYaw angle sensor, degrees * 10

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          SERIAL_UDB_EXTRA_F17 (183)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Backwards compatible version of SERIAL_UDB_EXTRA F17 format

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          sue_feed_forwardfloatSUE Feed Forward Gain
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          sue_turn_rate_navfloatSUE Max Turn Rate when Navigating
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          sue_turn_rate_fbwfloatSUE Max Turn Rate in Fly By Wire Mode

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          SERIAL_UDB_EXTRA_F18 (184)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Backwards compatible version of SERIAL_UDB_EXTRA F18 format

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          angle_of_attack_normalfloatSUE Angle of Attack Normal
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          angle_of_attack_invertedfloatSUE Angle of Attack Inverted
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          elevator_trim_normalfloatSUE Elevator Trim Normal
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          elevator_trim_invertedfloatSUE Elevator Trim Inverted
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          reference_speedfloatSUE reference_speed

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          SERIAL_UDB_EXTRA_F19 (185)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Backwards compatible version of SERIAL_UDB_EXTRA F19 format

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          sue_aileron_output_channeluint8_tSUE aileron output channel
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          sue_aileron_reverseduint8_tSUE aileron reversed
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          sue_elevator_output_channeluint8_tSUE elevator output channel
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          sue_elevator_reverseduint8_tSUE elevator reversed
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          sue_throttle_output_channeluint8_tSUE throttle output channel
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          sue_throttle_reverseduint8_tSUE throttle reversed
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          sue_rudder_output_channeluint8_tSUE rudder output channel
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          sue_rudder_reverseduint8_tSUE rudder reversed

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          SERIAL_UDB_EXTRA_F20 (186)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Backwards compatible version of SERIAL_UDB_EXTRA F20 format

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          sue_number_of_inputsuint8_tSUE Number of Input Channels
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          sue_trim_value_input_1int16_tSUE UDB PWM Trim Value on Input 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          sue_trim_value_input_2int16_tSUE UDB PWM Trim Value on Input 2
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          sue_trim_value_input_3int16_tSUE UDB PWM Trim Value on Input 3
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          sue_trim_value_input_4int16_tSUE UDB PWM Trim Value on Input 4
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          sue_trim_value_input_5int16_tSUE UDB PWM Trim Value on Input 5
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          sue_trim_value_input_6int16_tSUE UDB PWM Trim Value on Input 6
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          sue_trim_value_input_7int16_tSUE UDB PWM Trim Value on Input 7
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          sue_trim_value_input_8int16_tSUE UDB PWM Trim Value on Input 8
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          sue_trim_value_input_9int16_tSUE UDB PWM Trim Value on Input 9
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          sue_trim_value_input_10int16_tSUE UDB PWM Trim Value on Input 10
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          sue_trim_value_input_11int16_tSUE UDB PWM Trim Value on Input 11
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          sue_trim_value_input_12int16_tSUE UDB PWM Trim Value on Input 12

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          SERIAL_UDB_EXTRA_F21 (187)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Backwards compatible version of SERIAL_UDB_EXTRA F21 format

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          sue_accel_x_offsetint16_tSUE X accelerometer offset
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          sue_accel_y_offsetint16_tSUE Y accelerometer offset
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          sue_accel_z_offsetint16_tSUE Z accelerometer offset
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          sue_gyro_x_offsetint16_tSUE X gyro offset
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          sue_gyro_y_offsetint16_tSUE Y gyro offset
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          sue_gyro_z_offsetint16_tSUE Z gyro offset

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          SERIAL_UDB_EXTRA_F22 (188)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Backwards compatible version of SERIAL_UDB_EXTRA F22 format

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          sue_accel_x_at_calibrationint16_tSUE X accelerometer at calibration time
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          sue_accel_y_at_calibrationint16_tSUE Y accelerometer at calibration time
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          sue_accel_z_at_calibrationint16_tSUE Z accelerometer at calibration time
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          sue_gyro_x_at_calibrationint16_tSUE X gyro at calibration time
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          sue_gyro_y_at_calibrationint16_tSUE Y gyro at calibration time
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          sue_gyro_z_at_calibrationint16_tSUE Z gyro at calibration time

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAG_CAL_REPORT (192) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          EFI_STATUS (225) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ESTIMATOR_STATUS (230) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          WIND_COV (231) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          GPS_INPUT (232) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          GPS_RTCM_DATA (233) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          HIGH_LATENCY (234) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          HIGH_LATENCY2 (235) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          VIBRATION (241) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          HOME_POSITION (242) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          SET_HOME_POSITION (243) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MESSAGE_INTERVAL (244) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          EXTENDED_SYS_STATE (245) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ADSB_VEHICLE (246) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          COLLISION (247) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          V2_EXTENSION (248) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MEMORY_VECT (249) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          DEBUG_VECT (250) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          NAMED_VALUE_FLOAT (251) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          NAMED_VALUE_INT (252) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          STATUSTEXT (253) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          DEBUG (254) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          SETUP_SIGNING (256) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          BUTTON_CHANGE (257) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          PLAY_TUNE (258) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          CAMERA_INFORMATION (259) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          CAMERA_SETTINGS (260) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          STORAGE_INFORMATION (261) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          CAMERA_CAPTURE_STATUS (262) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          CAMERA_IMAGE_CAPTURED (263) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          FLIGHT_INFORMATION (264) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MOUNT_ORIENTATION (265) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          LOGGING_DATA (266) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          LOGGING_DATA_ACKED (267) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          LOGGING_ACK (268) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          VIDEO_STREAM_INFORMATION (269) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          VIDEO_STREAM_STATUS (270) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          CAMERA_FOV_STATUS (271) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          CAMERA_TRACKING_IMAGE_STATUS (275) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          CAMERA_TRACKING_GEO_STATUS (276) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          CAMERA_THERMAL_RANGE (277) — [from: common] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          GIMBAL_MANAGER_INFORMATION (280) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          GIMBAL_MANAGER_STATUS (281) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          GIMBAL_MANAGER_SET_ATTITUDE (282) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          GIMBAL_DEVICE_INFORMATION (283) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          GIMBAL_DEVICE_SET_ATTITUDE (284) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          GIMBAL_DEVICE_ATTITUDE_STATUS (285) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          AUTOPILOT_STATE_FOR_GIMBAL_DEVICE (286) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          GIMBAL_MANAGER_SET_PITCHYAW (287) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          GIMBAL_MANAGER_SET_MANUAL_CONTROL (288) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ESC_INFO (290) — [from: common] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ESC_STATUS (291) — [from: common] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          WIFI_CONFIG_AP (299) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          PROTOCOL_VERSION (300) — [from: minimal] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          AIS_VESSEL (301) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          UAVCAN_NODE_STATUS (310) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          UAVCAN_NODE_INFO (311) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          PARAM_EXT_REQUEST_READ (320) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          PARAM_EXT_REQUEST_LIST (321) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          PARAM_EXT_VALUE (322) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          PARAM_EXT_SET (323) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          PARAM_EXT_ACK (324) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          OBSTACLE_DISTANCE (330) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ODOMETRY (331) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          TRAJECTORY_REPRESENTATION_WAYPOINTS (332) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          TRAJECTORY_REPRESENTATION_BEZIER (333) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          CELLULAR_STATUS (334) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          CELLULAR_CONFIG (336) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          RAW_RPM (339) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          UTM_GLOBAL_POSITION (340) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          DEBUG_FLOAT_ARRAY (350) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ORBIT_EXECUTION_STATUS (360) — [from: common] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          BATTERY_INFO (370) — [from: common] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          GENERATOR_STATUS (373) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ACTUATOR_OUTPUT_STATUS (375) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          TIME_ESTIMATE_TO_TARGET (380) — [from: common] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          TUNNEL (385) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          CAN_FRAME (386) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          CANFD_FRAME (387) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          CAN_FILTER_MODIFY (388) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ONBOARD_COMPUTER_STATUS (390) — [from: common] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          COMPONENT_INFORMATION (395) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          COMPONENT_INFORMATION_BASIC (396) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          COMPONENT_METADATA (397) — [from: common] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          PLAY_TUNE_V2 (400) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          SUPPORTED_TUNES (401) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          EVENT (410) — [from: common] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          CURRENT_EVENT_SEQUENCE (411) — [from: common] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          REQUEST_EVENT (412) — [from: common] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          RESPONSE_EVENT_ERROR (413) — [from: common] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ILLUMINATOR_STATUS (440) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          WHEEL_DISTANCE (9000) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          WINCH_STATUS (9005) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          OPEN_DRONE_ID_BASIC_ID (12900) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          OPEN_DRONE_ID_LOCATION (12901) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          OPEN_DRONE_ID_AUTHENTICATION (12902) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          OPEN_DRONE_ID_SELF_ID (12903) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          OPEN_DRONE_ID_SYSTEM (12904) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          OPEN_DRONE_ID_OPERATOR_ID (12905) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          OPEN_DRONE_ID_MESSAGE_PACK (12915) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          OPEN_DRONE_ID_ARM_STATUS (12918) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          OPEN_DRONE_ID_SYSTEM_UPDATE (12919) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          HYGROMETER_SENSOR (12920) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Enumerated Types

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_PREFLIGHT_STORAGE_ACTION

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Action required when performing CMD_PREFLIGHT_STORAGE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          0MAV_PFS_CMD_READ_ALLRead all parameters from storage
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1MAV_PFS_CMD_WRITE_ALLWrite all parameters to storage
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2MAV_PFS_CMD_CLEAR_ALLClear all parameters in storage
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          3MAV_PFS_CMD_READ_SPECIFICRead specific parameters from storage
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          4MAV_PFS_CMD_WRITE_SPECIFICWrite specific parameters to storage
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          5MAV_PFS_CMD_CLEAR_SPECIFICClear specific parameters in storage
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          6MAV_PFS_CMD_DO_NOTHINGdo nothing

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          FIRMWARE_VERSION_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          HL_FAILURE_FLAG — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_GOTO — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_MODE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_SYS_STATUS_SENSOR — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_SYS_STATUS_SENSOR_EXTENDED — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_FRAME — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          FENCE_ACTION — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          FENCE_BREACH — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          FENCE_MITIGATE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          FENCE_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_MOUNT_MODE — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          GIMBAL_DEVICE_CAP_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          GIMBAL_MANAGER_CAP_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          GIMBAL_DEVICE_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          GIMBAL_MANAGER_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          GIMBAL_DEVICE_ERROR_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          GRIPPER_ACTIONS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          WINCH_ACTIONS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          UAVCAN_NODE_HEALTH — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          UAVCAN_NODE_MODE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ESC_CONNECTION_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ESC_FAILURE_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          STORAGE_STATUS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          STORAGE_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          STORAGE_USAGE_FLAG — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ORBIT_YAW_BEHAVIOUR — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          WIFI_CONFIG_AP_RESPONSE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          CELLULAR_CONFIG_RESPONSE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          WIFI_CONFIG_AP_MODE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          COMP_METADATA_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ACTUATOR_CONFIGURATION — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ACTUATOR_OUTPUT_FUNCTION — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          AUTOTUNE_AXIS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          PREFLIGHT_STORAGE_PARAMETER_ACTION — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          PREFLIGHT_STORAGE_MISSION_ACTION — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_DATA_STREAM — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_ROI — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_PARAM_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_PARAM_EXT_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_RESULT — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_MISSION_RESULT — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_SEVERITY — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_POWER_STATUS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          SERIAL_CONTROL_DEV — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          SERIAL_CONTROL_FLAG — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_DISTANCE_SENSOR — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_SENSOR_ORIENTATION — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_PROTOCOL_CAPABILITY — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_MISSION_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_ESTIMATOR_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_BATTERY_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_BATTERY_FUNCTION — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_BATTERY_CHARGE_STATE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_BATTERY_MODE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_BATTERY_FAULT — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_GENERATOR_STATUS_FLAG — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_VTOL_STATE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_LANDED_STATE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ADSB_ALTITUDE_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ADSB_EMITTER_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ADSB_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_DO_REPOSITION_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          SPEED_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ESTIMATOR_STATUS_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MOTOR_TEST_ORDER — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MOTOR_TEST_THROTTLE_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          GPS_INPUT_IGNORE_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_COLLISION_ACTION — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_COLLISION_THREAT_LEVEL — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_COLLISION_SRC — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          GPS_FIX_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          RTK_BASELINE_COORDINATE_SYSTEM — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          LANDING_TARGET_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          VTOL_TRANSITION_HEADING — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          CAMERA_CAP_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          VIDEO_STREAM_STATUS_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          VIDEO_STREAM_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          VIDEO_STREAM_ENCODING — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          CAMERA_TRACKING_STATUS_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          CAMERA_TRACKING_MODE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          CAMERA_TRACKING_TARGET_DATA — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          CAMERA_ZOOM_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          SET_FOCUS_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          CAMERA_SOURCE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          PARAM_ACK — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          CAMERA_MODE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_ARM_AUTH_DENIED_REASON — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          RC_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          POSITION_TARGET_TYPEMASK — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ATTITUDE_TARGET_TYPEMASK — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          UTM_FLIGHT_STATE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          UTM_DATA_AVAIL_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          CELLULAR_STATUS_FLAG — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          CELLULAR_NETWORK_FAILED_REASON — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          CELLULAR_NETWORK_RADIO_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          PRECISION_LAND_MODE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          PARACHUTE_ACTION — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_TUNNEL_PAYLOAD_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_ODID_ID_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_ODID_UA_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_ODID_STATUS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_ODID_HEIGHT_REF — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_ODID_HOR_ACC — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_ODID_VER_ACC — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_ODID_SPEED_ACC — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_ODID_TIME_ACC — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_ODID_AUTH_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_ODID_DESC_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_ODID_OPERATOR_LOCATION_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_ODID_CLASSIFICATION_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_ODID_CATEGORY_EU — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_ODID_CLASS_EU — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_ODID_OPERATOR_ID_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_ODID_ARM_STATUS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          TUNE_FORMAT — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          AIS_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          AIS_NAV_STATUS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          AIS_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          FAILURE_UNIT — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          FAILURE_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_WINCH_STATUS_FLAG — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAG_CAL_STATUS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_EVENT_ERROR_REASON — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_EVENT_CURRENT_SEQUENCE_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          HIL_SENSOR_UPDATED_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          HIGHRES_IMU_UPDATED_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          CAN_FILTER_OP — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_FTP_ERR — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_FTP_OPCODE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MISSION_STATE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          SAFETY_SWITCH_STATE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ILLUMINATOR_MODE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ILLUMINATOR_ERROR_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_AUTOPILOT — [from: minimal]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_TYPE — [from: minimal]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_MODE_FLAG — [from: minimal]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_MODE_FLAG_DECODE_POSITION — [from: minimal]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_STATE — [from: minimal]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_COMPONENT — [from: minimal]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Commands (MAV_CMD)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_PREFLIGHT_STORAGE_ADVANCED (0)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Request storage of different parameter values and logs. This command will be only accepted if in pre-flight mode.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Param (Label)Description
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1Storage action: Action defined by MAV_PREFLIGHT_STORAGE_ACTION_ADVANCED
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2Storage area as defined by parameter database
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          3Storage flags as defined by parameter database
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          4Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          5Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          6Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          7Empty

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_NAV_WAYPOINT (16) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_NAV_LOITER_UNLIM (17) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_NAV_LOITER_TURNS (18) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_NAV_LOITER_TIME (19) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_NAV_RETURN_TO_LAUNCH (20) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_NAV_LAND (21) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_NAV_TAKEOFF (22) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_NAV_LAND_LOCAL (23) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_NAV_TAKEOFF_LOCAL (24) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_NAV_FOLLOW (25) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_NAV_CONTINUE_AND_CHANGE_ALT (30) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_NAV_LOITER_TO_ALT (31) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_DO_FOLLOW (32) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_DO_FOLLOW_REPOSITION (33) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_DO_ORBIT (34) — [from: common] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_NAV_ROI (80) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_NAV_PATHPLANNING (81) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_NAV_SPLINE_WAYPOINT (82) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_NAV_VTOL_TAKEOFF (84) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_NAV_VTOL_LAND (85) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_NAV_GUIDED_ENABLE (92) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_NAV_DELAY (93) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_NAV_PAYLOAD_PLACE (94) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_NAV_LAST (95) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_CONDITION_DELAY (112) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_CONDITION_CHANGE_ALT (113) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_CONDITION_DISTANCE (114) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_CONDITION_YAW (115) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_CONDITION_LAST (159) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_DO_SET_MODE (176) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_DO_JUMP (177) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_DO_CHANGE_SPEED (178) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_DO_SET_HOME (179) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_DO_SET_PARAMETER (180) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_DO_SET_RELAY (181) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_DO_REPEAT_RELAY (182) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_DO_SET_SERVO (183) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_DO_REPEAT_SERVO (184) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_DO_FLIGHTTERMINATION (185) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_DO_CHANGE_ALTITUDE (186) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_DO_SET_ACTUATOR (187) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_DO_RETURN_PATH_START (188) — [from: common] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_DO_LAND_START (189) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_DO_RALLY_LAND (190) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_DO_GO_AROUND (191) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_DO_REPOSITION (192) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_DO_PAUSE_CONTINUE (193) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_DO_SET_REVERSE (194) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_DO_SET_ROI_LOCATION (195) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_DO_SET_ROI_WPNEXT_OFFSET (196) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_DO_SET_ROI_NONE (197) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_DO_SET_ROI_SYSID (198) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_DO_CONTROL_VIDEO (200) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_DO_SET_ROI (201) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_DO_DIGICAM_CONFIGURE (202) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_DO_DIGICAM_CONTROL (203) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_DO_MOUNT_CONFIGURE (204) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_DO_MOUNT_CONTROL (205) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_DO_SET_CAM_TRIGG_DIST (206) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_DO_FENCE_ENABLE (207) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_DO_PARACHUTE (208) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_DO_MOTOR_TEST (209) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_DO_INVERTED_FLIGHT (210) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_DO_GRIPPER (211) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_DO_AUTOTUNE_ENABLE (212) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_NAV_SET_YAW_SPEED (213) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_DO_SET_CAM_TRIGG_INTERVAL (214) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_DO_MOUNT_CONTROL_QUAT (220) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_DO_GUIDED_MASTER (221) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_DO_GUIDED_LIMITS (222) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_DO_ENGINE_CONTROL (223) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_DO_SET_MISSION_CURRENT (224) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_DO_LAST (240) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_PREFLIGHT_CALIBRATION (241) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_PREFLIGHT_SET_SENSOR_OFFSETS (242) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_PREFLIGHT_UAVCAN (243) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_PREFLIGHT_STORAGE (245) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN (246) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_OVERRIDE_GOTO (252) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_OBLIQUE_SURVEY (260) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_MISSION_START (300) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_ACTUATOR_TEST (310) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_CONFIGURE_ACTUATOR (311) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_COMPONENT_ARM_DISARM (400) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_RUN_PREARM_CHECKS (401) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_ILLUMINATOR_ON_OFF (405) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_DO_ILLUMINATOR_CONFIGURE (406) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_GET_HOME_POSITION (410) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_INJECT_FAILURE (420) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_START_RX_PAIR (500) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_GET_MESSAGE_INTERVAL (510) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_SET_MESSAGE_INTERVAL (511) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_REQUEST_MESSAGE (512) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_REQUEST_PROTOCOL_VERSION (519) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_REQUEST_AUTOPILOT_CAPABILITIES (520) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_REQUEST_CAMERA_INFORMATION (521) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_REQUEST_CAMERA_SETTINGS (522) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_REQUEST_STORAGE_INFORMATION (525) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_STORAGE_FORMAT (526) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_REQUEST_CAMERA_CAPTURE_STATUS (527) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_REQUEST_FLIGHT_INFORMATION (528) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_RESET_CAMERA_SETTINGS (529) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_SET_CAMERA_MODE (530) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_SET_CAMERA_ZOOM (531) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_SET_CAMERA_FOCUS (532) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_SET_STORAGE_USAGE (533) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_SET_CAMERA_SOURCE (534) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_JUMP_TAG (600) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_DO_JUMP_TAG (601) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_DO_GIMBAL_MANAGER_PITCHYAW (1000) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_DO_GIMBAL_MANAGER_CONFIGURE (1001) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_IMAGE_START_CAPTURE (2000) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_IMAGE_STOP_CAPTURE (2001) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_REQUEST_CAMERA_IMAGE_CAPTURE (2002) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_DO_TRIGGER_CONTROL (2003) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_CAMERA_TRACK_POINT (2004) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_CAMERA_TRACK_RECTANGLE (2005) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_CAMERA_STOP_TRACKING (2010) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_VIDEO_START_CAPTURE (2500) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_VIDEO_STOP_CAPTURE (2501) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_VIDEO_START_STREAMING (2502) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_VIDEO_STOP_STREAMING (2503) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_REQUEST_VIDEO_STREAM_INFORMATION (2504) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_REQUEST_VIDEO_STREAM_STATUS (2505) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_LOGGING_START (2510) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_LOGGING_STOP (2511) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_AIRFRAME_CONFIGURATION (2520) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_CONTROL_HIGH_LATENCY (2600) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_PANORAMA_CREATE (2800) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_DO_VTOL_TRANSITION (3000) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_ARM_AUTHORIZATION_REQUEST (3001) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_SET_GUIDED_SUBMODE_STANDARD (4000) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_SET_GUIDED_SUBMODE_CIRCLE (4001) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_CONDITION_GATE (4501) — [from: common] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_NAV_FENCE_RETURN_POINT (5000) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_NAV_FENCE_POLYGON_VERTEX_INCLUSION (5001) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_NAV_FENCE_POLYGON_VERTEX_EXCLUSION (5002) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_NAV_FENCE_CIRCLE_INCLUSION (5003) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_NAV_FENCE_CIRCLE_EXCLUSION (5004) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_NAV_RALLY_POINT (5100) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_UAVCAN_GET_NODE_INFO (5200) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_DO_SET_SAFETY_SWITCH_STATE (5300) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_DO_ADSB_OUT_IDENT (10001) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_PAYLOAD_PREPARE_DEPLOY (30001) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_PAYLOAD_CONTROL_DEPLOY (30002) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_WAYPOINT_USER_1 (31000) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_WAYPOINT_USER_2 (31001) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_WAYPOINT_USER_3 (31002) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_WAYPOINT_USER_4 (31003) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_WAYPOINT_USER_5 (31004) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_SPATIAL_USER_1 (31005) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_SPATIAL_USER_2 (31006) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_SPATIAL_USER_3 (31007) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_SPATIAL_USER_4 (31008) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_SPATIAL_USER_5 (31009) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_USER_1 (31010) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_USER_2 (31011) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_USER_3 (31012) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_USER_4 (31013) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_USER_5 (31014) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_CAN_FORWARD (32000) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_FIXED_MAG_CAL_YAW (42006) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_DO_WINCH (42600) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_EXTERNAL_POSITION_ESTIMATE (43003) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          results matching ""

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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            \ No newline at end of file +matrixpilot.xml · MAVLink Developer Guide
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Dialect: matrixpilot

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            This topic documents the version of the dialect file in the mavlink/mavlink Github repository, which may not be up to date with the file in the source repository (it is up to the dialect owner to push changes when needed). The source repo should be listed in the comments at the top of the XML definition file listed below (but may not be).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            This is a human-readable form of the XML definition file: matrixpilot.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAVLink 2 extension fields that have been added to MAVLink 1 messages are displayed in blue. - Entities from dialects are displayed only as headings (with link to original)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Summary

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            TypeDefinedIncluded
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Messages27224
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Enums1143
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Commands1650

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            The following sections list all entities in the dialect (both included and defined in this file).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Messages

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            FLEXIFUNCTION_SET (150)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Depreciated but used as a compiler flag. Do not remove

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            target_systemuint8_tSystem ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            target_componentuint8_tComponent ID

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            FLEXIFUNCTION_READ_REQ (151)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Request reading of flexifunction data

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            target_systemuint8_tSystem ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            target_componentuint8_tComponent ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            read_req_typeint16_tType of flexifunction data requested
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            data_indexint16_tindex into data where needed

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            FLEXIFUNCTION_BUFFER_FUNCTION (152)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Flexifunction type and parameters for component at function index from buffer

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            target_systemuint8_tSystem ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            target_componentuint8_tComponent ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            func_indexuint16_tFunction index
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            func_countuint16_tTotal count of functions
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            data_addressuint16_tAddress in the flexifunction data, Set to 0xFFFF to use address in target memory
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            data_sizeuint16_tSize of the
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            dataint8_t[48]Settings data

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            FLEXIFUNCTION_BUFFER_FUNCTION_ACK (153)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Flexifunction type and parameters for component at function index from buffer

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            target_systemuint8_tSystem ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            target_componentuint8_tComponent ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            func_indexuint16_tFunction index
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            resultuint16_tresult of acknowledge, 0=fail, 1=good

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            FLEXIFUNCTION_DIRECTORY (155)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Acknowldge success or failure of a flexifunction command

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            target_systemuint8_tSystem ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            target_componentuint8_tComponent ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            directory_typeuint8_t0=inputs, 1=outputs
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            start_indexuint8_tindex of first directory entry to write
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            countuint8_tcount of directory entries to write
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            directory_dataint8_t[48]Settings data

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            FLEXIFUNCTION_DIRECTORY_ACK (156)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Acknowldge success or failure of a flexifunction command

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            target_systemuint8_tSystem ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            target_componentuint8_tComponent ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            directory_typeuint8_t0=inputs, 1=outputs
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            start_indexuint8_tindex of first directory entry to write
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            countuint8_tcount of directory entries to write
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            resultuint16_tresult of acknowledge, 0=fail, 1=good

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            FLEXIFUNCTION_COMMAND (157)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Acknowldge success or failure of a flexifunction command

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            target_systemuint8_tSystem ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            target_componentuint8_tComponent ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            command_typeuint8_tFlexifunction command type

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            FLEXIFUNCTION_COMMAND_ACK (158)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Acknowldge success or failure of a flexifunction command

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            command_typeuint16_tCommand acknowledged
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            resultuint16_tresult of acknowledge

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            SERIAL_UDB_EXTRA_F2_A (170)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Backwards compatible MAVLink version of SERIAL_UDB_EXTRA - F2: Format Part A

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            sue_timeuint32_tSerial UDB Extra Time
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            sue_statusuint8_tSerial UDB Extra Status
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            sue_latitudeint32_tSerial UDB Extra Latitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            sue_longitudeint32_tSerial UDB Extra Longitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            sue_altitudeint32_tSerial UDB Extra Altitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            sue_waypoint_indexuint16_tSerial UDB Extra Waypoint Index
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            sue_rmat0int16_tSerial UDB Extra Rmat 0
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            sue_rmat1int16_tSerial UDB Extra Rmat 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            sue_rmat2int16_tSerial UDB Extra Rmat 2
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            sue_rmat3int16_tSerial UDB Extra Rmat 3
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            sue_rmat4int16_tSerial UDB Extra Rmat 4
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            sue_rmat5int16_tSerial UDB Extra Rmat 5
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            sue_rmat6int16_tSerial UDB Extra Rmat 6
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            sue_rmat7int16_tSerial UDB Extra Rmat 7
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            sue_rmat8int16_tSerial UDB Extra Rmat 8
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            sue_coguint16_tSerial UDB Extra GPS Course Over Ground
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            sue_sogint16_tSerial UDB Extra Speed Over Ground
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            sue_cpu_loaduint16_tSerial UDB Extra CPU Load
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            sue_air_speed_3DIMUuint16_tSerial UDB Extra 3D IMU Air Speed
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            sue_estimated_wind_0int16_tSerial UDB Extra Estimated Wind 0
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            sue_estimated_wind_1int16_tSerial UDB Extra Estimated Wind 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            sue_estimated_wind_2int16_tSerial UDB Extra Estimated Wind 2
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            sue_magFieldEarth0int16_tSerial UDB Extra Magnetic Field Earth 0
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            sue_magFieldEarth1int16_tSerial UDB Extra Magnetic Field Earth 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            sue_magFieldEarth2int16_tSerial UDB Extra Magnetic Field Earth 2
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            sue_svsint16_tSerial UDB Extra Number of Satellites in View
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            sue_hdopint16_tSerial UDB Extra GPS Horizontal Dilution of Precision

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            SERIAL_UDB_EXTRA_F2_B (171)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Backwards compatible version of SERIAL_UDB_EXTRA - F2: Part B

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            sue_timeuint32_tSerial UDB Extra Time
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            sue_pwm_input_1int16_tSerial UDB Extra PWM Input Channel 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            sue_pwm_input_2int16_tSerial UDB Extra PWM Input Channel 2
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            sue_pwm_input_3int16_tSerial UDB Extra PWM Input Channel 3
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            sue_pwm_input_4int16_tSerial UDB Extra PWM Input Channel 4
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            sue_pwm_input_5int16_tSerial UDB Extra PWM Input Channel 5
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            sue_pwm_input_6int16_tSerial UDB Extra PWM Input Channel 6
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            sue_pwm_input_7int16_tSerial UDB Extra PWM Input Channel 7
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            sue_pwm_input_8int16_tSerial UDB Extra PWM Input Channel 8
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            sue_pwm_input_9int16_tSerial UDB Extra PWM Input Channel 9
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            sue_pwm_input_10int16_tSerial UDB Extra PWM Input Channel 10
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            sue_pwm_input_11int16_tSerial UDB Extra PWM Input Channel 11
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            sue_pwm_input_12int16_tSerial UDB Extra PWM Input Channel 12
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            sue_pwm_output_1int16_tSerial UDB Extra PWM Output Channel 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            sue_pwm_output_2int16_tSerial UDB Extra PWM Output Channel 2
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            sue_pwm_output_3int16_tSerial UDB Extra PWM Output Channel 3
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            sue_pwm_output_4int16_tSerial UDB Extra PWM Output Channel 4
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            sue_pwm_output_5int16_tSerial UDB Extra PWM Output Channel 5
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            sue_pwm_output_6int16_tSerial UDB Extra PWM Output Channel 6
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            sue_pwm_output_7int16_tSerial UDB Extra PWM Output Channel 7
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            sue_pwm_output_8int16_tSerial UDB Extra PWM Output Channel 8
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            sue_pwm_output_9int16_tSerial UDB Extra PWM Output Channel 9
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            sue_pwm_output_10int16_tSerial UDB Extra PWM Output Channel 10
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            sue_pwm_output_11int16_tSerial UDB Extra PWM Output Channel 11
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            sue_pwm_output_12int16_tSerial UDB Extra PWM Output Channel 12
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            sue_imu_location_xint16_tSerial UDB Extra IMU Location X
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            sue_imu_location_yint16_tSerial UDB Extra IMU Location Y
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            sue_imu_location_zint16_tSerial UDB Extra IMU Location Z
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            sue_location_error_earth_xint16_tSerial UDB Location Error Earth X
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            sue_location_error_earth_yint16_tSerial UDB Location Error Earth Y
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            sue_location_error_earth_zint16_tSerial UDB Location Error Earth Z
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            sue_flagsuint32_tSerial UDB Extra Status Flags
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            sue_osc_failsint16_tSerial UDB Extra Oscillator Failure Count
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            sue_imu_velocity_xint16_tSerial UDB Extra IMU Velocity X
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            sue_imu_velocity_yint16_tSerial UDB Extra IMU Velocity Y
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            sue_imu_velocity_zint16_tSerial UDB Extra IMU Velocity Z
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            sue_waypoint_goal_xint16_tSerial UDB Extra Current Waypoint Goal X
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            sue_waypoint_goal_yint16_tSerial UDB Extra Current Waypoint Goal Y
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            sue_waypoint_goal_zint16_tSerial UDB Extra Current Waypoint Goal Z
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            sue_aero_xint16_tAeroforce in UDB X Axis
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            sue_aero_yint16_tAeroforce in UDB Y Axis
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            sue_aero_zint16_tAeroforce in UDB Z axis
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            sue_barom_tempint16_tSUE barometer temperature
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            sue_barom_pressint32_tSUE barometer pressure
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            sue_barom_altint32_tSUE barometer altitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            sue_bat_voltint16_tSUE battery voltage
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            sue_bat_ampint16_tSUE battery current
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            sue_bat_amp_hoursint16_tSUE battery milli amp hours used
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            sue_desired_heightint16_tSue autopilot desired height
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            sue_memory_stack_freeint16_tSerial UDB Extra Stack Memory Free

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            SERIAL_UDB_EXTRA_F4 (172)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Backwards compatible version of SERIAL_UDB_EXTRA F4: format

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            sue_ROLL_STABILIZATION_AILERONSuint8_tSerial UDB Extra Roll Stabilization with Ailerons Enabled
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            sue_ROLL_STABILIZATION_RUDDERuint8_tSerial UDB Extra Roll Stabilization with Rudder Enabled
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            sue_PITCH_STABILIZATIONuint8_tSerial UDB Extra Pitch Stabilization Enabled
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            sue_YAW_STABILIZATION_RUDDERuint8_tSerial UDB Extra Yaw Stabilization using Rudder Enabled
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            sue_YAW_STABILIZATION_AILERONuint8_tSerial UDB Extra Yaw Stabilization using Ailerons Enabled
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            sue_AILERON_NAVIGATIONuint8_tSerial UDB Extra Navigation with Ailerons Enabled
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            sue_RUDDER_NAVIGATIONuint8_tSerial UDB Extra Navigation with Rudder Enabled
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            sue_ALTITUDEHOLD_STABILIZEDuint8_tSerial UDB Extra Type of Alitude Hold when in Stabilized Mode
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            sue_ALTITUDEHOLD_WAYPOINTuint8_tSerial UDB Extra Type of Alitude Hold when in Waypoint Mode
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            sue_RACING_MODEuint8_tSerial UDB Extra Firmware racing mode enabled

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            SERIAL_UDB_EXTRA_F5 (173)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Backwards compatible version of SERIAL_UDB_EXTRA F5: format

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            sue_YAWKP_AILERONfloatSerial UDB YAWKP_AILERON Gain for Proporional control of navigation
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            sue_YAWKD_AILERONfloatSerial UDB YAWKD_AILERON Gain for Rate control of navigation
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            sue_ROLLKPfloatSerial UDB Extra ROLLKP Gain for Proportional control of roll stabilization
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            sue_ROLLKDfloatSerial UDB Extra ROLLKD Gain for Rate control of roll stabilization

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            SERIAL_UDB_EXTRA_F6 (174)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Backwards compatible version of SERIAL_UDB_EXTRA F6: format

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            sue_PITCHGAINfloatSerial UDB Extra PITCHGAIN Proportional Control
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            sue_PITCHKDfloatSerial UDB Extra Pitch Rate Control
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            sue_RUDDER_ELEV_MIXfloatSerial UDB Extra Rudder to Elevator Mix
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            sue_ROLL_ELEV_MIXfloatSerial UDB Extra Roll to Elevator Mix
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            sue_ELEVATOR_BOOSTfloatGain For Boosting Manual Elevator control When Plane Stabilized

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            SERIAL_UDB_EXTRA_F7 (175)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Backwards compatible version of SERIAL_UDB_EXTRA F7: format

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            sue_YAWKP_RUDDERfloatSerial UDB YAWKP_RUDDER Gain for Proporional control of navigation
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            sue_YAWKD_RUDDERfloatSerial UDB YAWKD_RUDDER Gain for Rate control of navigation
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            sue_ROLLKP_RUDDERfloatSerial UDB Extra ROLLKP_RUDDER Gain for Proportional control of roll stabilization
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            sue_ROLLKD_RUDDERfloatSerial UDB Extra ROLLKD_RUDDER Gain for Rate control of roll stabilization
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            sue_RUDDER_BOOSTfloatSERIAL UDB EXTRA Rudder Boost Gain to Manual Control when stabilized
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            sue_RTL_PITCH_DOWNfloatSerial UDB Extra Return To Landing - Angle to Pitch Plane Down

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            SERIAL_UDB_EXTRA_F8 (176)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Backwards compatible version of SERIAL_UDB_EXTRA F8: format

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            sue_HEIGHT_TARGET_MAXfloatSerial UDB Extra HEIGHT_TARGET_MAX
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            sue_HEIGHT_TARGET_MINfloatSerial UDB Extra HEIGHT_TARGET_MIN
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            sue_ALT_HOLD_THROTTLE_MINfloatSerial UDB Extra ALT_HOLD_THROTTLE_MIN
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            sue_ALT_HOLD_THROTTLE_MAXfloatSerial UDB Extra ALT_HOLD_THROTTLE_MAX
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            sue_ALT_HOLD_PITCH_MINfloatSerial UDB Extra ALT_HOLD_PITCH_MIN
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            sue_ALT_HOLD_PITCH_MAXfloatSerial UDB Extra ALT_HOLD_PITCH_MAX
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            sue_ALT_HOLD_PITCH_HIGHfloatSerial UDB Extra ALT_HOLD_PITCH_HIGH

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            SERIAL_UDB_EXTRA_F13 (177)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Backwards compatible version of SERIAL_UDB_EXTRA F13: format

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            sue_week_noint16_tSerial UDB Extra GPS Week Number
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            sue_lat_originint32_tSerial UDB Extra MP Origin Latitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            sue_lon_originint32_tSerial UDB Extra MP Origin Longitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            sue_alt_originint32_tSerial UDB Extra MP Origin Altitude Above Sea Level

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            SERIAL_UDB_EXTRA_F14 (178)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Backwards compatible version of SERIAL_UDB_EXTRA F14: format

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            sue_WIND_ESTIMATIONuint8_tSerial UDB Extra Wind Estimation Enabled
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            sue_GPS_TYPEuint8_tSerial UDB Extra Type of GPS Unit
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            sue_DRuint8_tSerial UDB Extra Dead Reckoning Enabled
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            sue_BOARD_TYPEuint8_tSerial UDB Extra Type of UDB Hardware
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            sue_AIRFRAMEuint8_tSerial UDB Extra Type of Airframe
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            sue_RCONint16_tSerial UDB Extra Reboot Register of DSPIC
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            sue_TRAP_FLAGSint16_tSerial UDB Extra Last dspic Trap Flags
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            sue_TRAP_SOURCEuint32_tSerial UDB Extra Type Program Address of Last Trap
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            sue_osc_fail_countint16_tSerial UDB Extra Number of Ocillator Failures
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            sue_CLOCK_CONFIGuint8_tSerial UDB Extra UDB Internal Clock Configuration
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            sue_FLIGHT_PLAN_TYPEuint8_tSerial UDB Extra Type of Flight Plan

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            SERIAL_UDB_EXTRA_F15 (179)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Backwards compatible version of SERIAL_UDB_EXTRA F15 format

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            sue_ID_VEHICLE_MODEL_NAMEuint8_t[40]Serial UDB Extra Model Name Of Vehicle
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            sue_ID_VEHICLE_REGISTRATIONuint8_t[20]Serial UDB Extra Registraton Number of Vehicle

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            SERIAL_UDB_EXTRA_F16 (180)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Backwards compatible version of SERIAL_UDB_EXTRA F16 format

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            sue_ID_LEAD_PILOTuint8_t[40]Serial UDB Extra Name of Expected Lead Pilot
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            sue_ID_DIY_DRONES_URLuint8_t[70]Serial UDB Extra URL of Lead Pilot or Team

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ALTITUDES (181)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            The altitude measured by sensors and IMU

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            time_boot_msuint32_tTimestamp (milliseconds since system boot)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            alt_gpsint32_tGPS altitude (MSL) in meters, expressed as * 1000 (millimeters)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            alt_imuint32_tIMU altitude above ground in meters, expressed as * 1000 (millimeters)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            alt_barometricint32_tbarometeric altitude above ground in meters, expressed as * 1000 (millimeters)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            alt_optical_flowint32_tOptical flow altitude above ground in meters, expressed as * 1000 (millimeters)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            alt_range_finderint32_tRangefinder Altitude above ground in meters, expressed as * 1000 (millimeters)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            alt_extraint32_tExtra altitude above ground in meters, expressed as * 1000 (millimeters)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            AIRSPEEDS (182)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            The airspeed measured by sensors and IMU

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            time_boot_msuint32_tTimestamp (milliseconds since system boot)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            airspeed_imuint16_tAirspeed estimate from IMU, cm/s
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            airspeed_pitotint16_tPitot measured forward airpseed, cm/s
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            airspeed_hot_wireint16_tHot wire anenometer measured airspeed, cm/s
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            airspeed_ultrasonicint16_tUltrasonic measured airspeed, cm/s
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            aoaint16_tAngle of attack sensor, degrees * 10
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            aoyint16_tYaw angle sensor, degrees * 10

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            SERIAL_UDB_EXTRA_F17 (183)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Backwards compatible version of SERIAL_UDB_EXTRA F17 format

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            sue_feed_forwardfloatSUE Feed Forward Gain
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            sue_turn_rate_navfloatSUE Max Turn Rate when Navigating
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            sue_turn_rate_fbwfloatSUE Max Turn Rate in Fly By Wire Mode

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            SERIAL_UDB_EXTRA_F18 (184)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Backwards compatible version of SERIAL_UDB_EXTRA F18 format

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            angle_of_attack_normalfloatSUE Angle of Attack Normal
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            angle_of_attack_invertedfloatSUE Angle of Attack Inverted
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            elevator_trim_normalfloatSUE Elevator Trim Normal
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            elevator_trim_invertedfloatSUE Elevator Trim Inverted
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            reference_speedfloatSUE reference_speed

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            SERIAL_UDB_EXTRA_F19 (185)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Backwards compatible version of SERIAL_UDB_EXTRA F19 format

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            sue_aileron_output_channeluint8_tSUE aileron output channel
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            sue_aileron_reverseduint8_tSUE aileron reversed
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            sue_elevator_output_channeluint8_tSUE elevator output channel
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            sue_elevator_reverseduint8_tSUE elevator reversed
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            sue_throttle_output_channeluint8_tSUE throttle output channel
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            sue_throttle_reverseduint8_tSUE throttle reversed
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            sue_rudder_output_channeluint8_tSUE rudder output channel
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            sue_rudder_reverseduint8_tSUE rudder reversed

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            SERIAL_UDB_EXTRA_F20 (186)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Backwards compatible version of SERIAL_UDB_EXTRA F20 format

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            sue_number_of_inputsuint8_tSUE Number of Input Channels
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            sue_trim_value_input_1int16_tSUE UDB PWM Trim Value on Input 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            sue_trim_value_input_2int16_tSUE UDB PWM Trim Value on Input 2
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            sue_trim_value_input_3int16_tSUE UDB PWM Trim Value on Input 3
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            sue_trim_value_input_4int16_tSUE UDB PWM Trim Value on Input 4
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            sue_trim_value_input_5int16_tSUE UDB PWM Trim Value on Input 5
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            sue_trim_value_input_6int16_tSUE UDB PWM Trim Value on Input 6
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            sue_trim_value_input_7int16_tSUE UDB PWM Trim Value on Input 7
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            sue_trim_value_input_8int16_tSUE UDB PWM Trim Value on Input 8
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            sue_trim_value_input_9int16_tSUE UDB PWM Trim Value on Input 9
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            sue_trim_value_input_10int16_tSUE UDB PWM Trim Value on Input 10
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            sue_trim_value_input_11int16_tSUE UDB PWM Trim Value on Input 11
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            sue_trim_value_input_12int16_tSUE UDB PWM Trim Value on Input 12

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            SERIAL_UDB_EXTRA_F21 (187)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Backwards compatible version of SERIAL_UDB_EXTRA F21 format

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            sue_accel_x_offsetint16_tSUE X accelerometer offset
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            sue_accel_y_offsetint16_tSUE Y accelerometer offset
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            sue_accel_z_offsetint16_tSUE Z accelerometer offset
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            sue_gyro_x_offsetint16_tSUE X gyro offset
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            sue_gyro_y_offsetint16_tSUE Y gyro offset
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            sue_gyro_z_offsetint16_tSUE Z gyro offset

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            SERIAL_UDB_EXTRA_F22 (188)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Backwards compatible version of SERIAL_UDB_EXTRA F22 format

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            sue_accel_x_at_calibrationint16_tSUE X accelerometer at calibration time
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            sue_accel_y_at_calibrationint16_tSUE Y accelerometer at calibration time
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            sue_accel_z_at_calibrationint16_tSUE Z accelerometer at calibration time
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            sue_gyro_x_at_calibrationint16_tSUE X gyro at calibration time
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            sue_gyro_y_at_calibrationint16_tSUE Y gyro at calibration time
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            sue_gyro_z_at_calibrationint16_tSUE Z gyro at calibration time

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Enumerated Types

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_PREFLIGHT_STORAGE_ACTION

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Action required when performing CMD_PREFLIGHT_STORAGE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            0MAV_PFS_CMD_READ_ALLRead all parameters from storage
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1MAV_PFS_CMD_WRITE_ALLWrite all parameters to storage
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            2MAV_PFS_CMD_CLEAR_ALLClear all parameters in storage
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            3MAV_PFS_CMD_READ_SPECIFICRead specific parameters from storage
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            4MAV_PFS_CMD_WRITE_SPECIFICWrite specific parameters to storage
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            5MAV_PFS_CMD_CLEAR_SPECIFICClear specific parameters in storage
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            6MAV_PFS_CMD_DO_NOTHINGdo nothing

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Commands (MAV_CMD)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_PREFLIGHT_STORAGE_ADVANCED (0)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Request storage of different parameter values and logs. This command will be only accepted if in pre-flight mode.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Param (Label)Description
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1Storage action: Action defined by MAV_PREFLIGHT_STORAGE_ACTION_ADVANCED
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            2Storage area as defined by parameter database
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            3Storage flags as defined by parameter database
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            4Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            5Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            6Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            7Empty

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            results matching ""

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              No results matching ""

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              \ No newline at end of file diff --git a/ko/messages/minimal.html b/ko/messages/minimal.html index 95e769ef3..25b03f99e 100644 --- a/ko/messages/minimal.html +++ b/ko/messages/minimal.html @@ -1 +1 @@ -minimal.xml · MAVLink Developer Guide
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAVLink Minimal Set

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              The MAVLink minimal set contains the minimal set of definitions for a viable MAVLink system.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              The message set is defined in minimal.xml and is managed by the MAVLink project.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              The minimal set is included (imported into) other xml definition files, including the MAVLink Common Message Set (common.xml).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAVLink 2 extension fields that have been added to MAVLink 1 messages are displayed in blue. - Entities from dialects are displayed only as headings (with link to original)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Protocol version: 3

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              None

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Summary

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              TypeDefinedIncluded
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Messages20
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Enums60
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Commands00

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              The following sections list all entities in the dialect (both included and defined in this file).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Messages

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              HEARTBEAT (0)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              The heartbeat message shows that a system or component is present and responding. The type and autopilot fields (along with the message component id), allow the receiving system to treat further messages from this system appropriately (e.g. by laying out the user interface based on the autopilot). This microservice is documented at https://mavlink.io/en/services/heartbeat.html

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Field NameTypeValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              typeuint8_tMAV_TYPEVehicle or component type. For a flight controller component the vehicle type (quadrotor, helicopter, etc.). For other components the component type (e.g. camera, gimbal, etc.). This should be used in preference to component id for identifying the component type.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              autopilotuint8_tMAV_AUTOPILOTAutopilot type / class. Use MAV_AUTOPILOT_INVALID for components that are not flight controllers.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              base_modeuint8_tMAV_MODE_FLAGSystem mode bitmap.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              custom_modeuint32_tA bitfield for use for autopilot-specific flags
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              system_statusuint8_tMAV_STATESystem status flag.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              mavlink_versionuint8_t_mavlink_versionMAVLink version, not writable by user, gets added by protocol because of magic data type: uint8_t_mavlink_version

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              PROTOCOL_VERSION (300) — [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Version and capability of protocol version. This message can be requested with MAV_CMD_REQUEST_MESSAGE and is used as part of the handshaking to establish which MAVLink version should be used on the network. Every node should respond to a request for PROTOCOL_VERSION to enable the handshaking. Library implementers should consider adding this into the default decoding state machine to allow the protocol core to respond directly.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              versionuint16_tCurrently active MAVLink version number * 100: v1.0 is 100, v2.0 is 200, etc.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              min_versionuint16_tMinimum MAVLink version supported
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              max_versionuint16_tMaximum MAVLink version supported (set to the same value as version by default)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              spec_version_hashuint8_t[8]The first 8 bytes (not characters printed in hex!) of the git hash.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              library_version_hashuint8_t[8]The first 8 bytes (not characters printed in hex!) of the git hash.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Enumerated Types

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_AUTOPILOT

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Micro air vehicle / autopilot classes. This identifies the individual model.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              0MAV_AUTOPILOT_GENERICGeneric autopilot, full support for everything
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              1MAV_AUTOPILOT_RESERVEDReserved for future use.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              2MAV_AUTOPILOT_SLUGSSLUGS autopilot, http://slugsuav.soe.ucsc.edu
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              3MAV_AUTOPILOT_ARDUPILOTMEGAArduPilot - Plane/Copter/Rover/Sub/Tracker, https://ardupilot.org
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              4MAV_AUTOPILOT_OPENPILOTOpenPilot, http://openpilot.org
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              5MAV_AUTOPILOT_GENERIC_WAYPOINTS_ONLYGeneric autopilot only supporting simple waypoints
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              6MAV_AUTOPILOT_GENERIC_WAYPOINTS_AND_SIMPLE_NAVIGATION_ONLYGeneric autopilot supporting waypoints and other simple navigation commands
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              7MAV_AUTOPILOT_GENERIC_MISSION_FULLGeneric autopilot supporting the full mission command set
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              8MAV_AUTOPILOT_INVALIDNo valid autopilot, e.g. a GCS or other MAVLink component
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              9MAV_AUTOPILOT_PPZPPZ UAV - http://nongnu.org/paparazzi
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              10MAV_AUTOPILOT_UDBUAV Dev Board
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              11MAV_AUTOPILOT_FPFlexiPilot
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              12MAV_AUTOPILOT_PX4PX4 Autopilot - http://px4.io/
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              13MAV_AUTOPILOT_SMACCMPILOTSMACCMPilot - http://smaccmpilot.org
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              14MAV_AUTOPILOT_AUTOQUADAutoQuad -- http://autoquad.org
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              15MAV_AUTOPILOT_ARMAZILAArmazila -- http://armazila.com
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              16MAV_AUTOPILOT_AEROBAerob -- http://aerob.ru
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              17MAV_AUTOPILOT_ASLUAVASLUAV autopilot -- http://www.asl.ethz.ch
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              18MAV_AUTOPILOT_SMARTAPSmartAP Autopilot - http://sky-drones.com
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              19MAV_AUTOPILOT_AIRRAILSAirRails - http://uaventure.com
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              20MAV_AUTOPILOT_REFLEXFusion Reflex - https://fusion.engineering

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_TYPE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAVLINK component type reported in HEARTBEAT message. Flight controllers must report the type of the vehicle on which they are mounted (e.g. MAV_TYPE_OCTOROTOR). All other components must report a value appropriate for their type (e.g. a camera must use MAV_TYPE_CAMERA).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              0MAV_TYPE_GENERICGeneric micro air vehicle
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              1MAV_TYPE_FIXED_WINGFixed wing aircraft.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              2MAV_TYPE_QUADROTORQuadrotor
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              3MAV_TYPE_COAXIALCoaxial helicopter
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              4MAV_TYPE_HELICOPTERNormal helicopter with tail rotor.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              5MAV_TYPE_ANTENNA_TRACKERGround installation
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              6MAV_TYPE_GCSOperator control unit / ground control station
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              7MAV_TYPE_AIRSHIPAirship, controlled
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              8MAV_TYPE_FREE_BALLOONFree balloon, uncontrolled
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              9MAV_TYPE_ROCKETRocket
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              10MAV_TYPE_GROUND_ROVERGround rover
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              11MAV_TYPE_SURFACE_BOATSurface vessel, boat, ship
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              12MAV_TYPE_SUBMARINESubmarine
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              13MAV_TYPE_HEXAROTORHexarotor
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              14MAV_TYPE_OCTOROTOROctorotor
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              15MAV_TYPE_TRICOPTERTricopter
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              16MAV_TYPE_FLAPPING_WINGFlapping wing
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              17MAV_TYPE_KITEKite
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              18MAV_TYPE_ONBOARD_CONTROLLEROnboard companion controller
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              19MAV_TYPE_VTOL_TAILSITTER_DUOROTORTwo-rotor Tailsitter VTOL that additionally uses control surfaces in vertical operation. Note, value previously named MAV_TYPE_VTOL_DUOROTOR.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              20MAV_TYPE_VTOL_TAILSITTER_QUADROTORQuad-rotor Tailsitter VTOL using a V-shaped quad config in vertical operation. Note: value previously named MAV_TYPE_VTOL_QUADROTOR.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              21MAV_TYPE_VTOL_TILTROTORTiltrotor VTOL. Fuselage and wings stay (nominally) horizontal in all flight phases. It able to tilt (some) rotors to provide thrust in cruise flight.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              22MAV_TYPE_VTOL_FIXEDROTORVTOL with separate fixed rotors for hover and cruise flight. Fuselage and wings stay (nominally) horizontal in all flight phases.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              23MAV_TYPE_VTOL_TAILSITTERTailsitter VTOL. Fuselage and wings orientation changes depending on flight phase: vertical for hover, horizontal for cruise. Use more specific VTOL MAV_TYPE_VTOL_TAILSITTER_DUOROTOR or MAV_TYPE_VTOL_TAILSITTER_QUADROTOR if appropriate.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              24MAV_TYPE_VTOL_TILTWINGTiltwing VTOL. Fuselage stays horizontal in all flight phases. The whole wing, along with any attached engine, can tilt between vertical and horizontal mode.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              25MAV_TYPE_VTOL_RESERVED5VTOL reserved 5
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              26MAV_TYPE_GIMBALGimbal
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              27MAV_TYPE_ADSBADSB system
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              28MAV_TYPE_PARAFOILSteerable, nonrigid airfoil
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              29MAV_TYPE_DODECAROTORDodecarotor
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              30MAV_TYPE_CAMERACamera
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              31MAV_TYPE_CHARGING_STATIONCharging station
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              32MAV_TYPE_FLARMFLARM collision avoidance system
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              33MAV_TYPE_SERVOServo
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              34MAV_TYPE_ODIDOpen Drone ID. See https://mavlink.io/en/services/opendroneid.html.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              35MAV_TYPE_DECAROTORDecarotor
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              36MAV_TYPE_BATTERYBattery
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              37MAV_TYPE_PARACHUTEParachute
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              38MAV_TYPE_LOGLog
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              39MAV_TYPE_OSDOSD
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              40MAV_TYPE_IMUIMU
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              41MAV_TYPE_GPSGPS
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              42MAV_TYPE_WINCHWinch
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              43MAV_TYPE_GENERIC_MULTIROTORGeneric multirotor that does not fit into a specific type or whose type is unknown
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              44MAV_TYPE_ILLUMINATORIlluminator. An illuminator is a light source that is used for lighting up dark areas external to the sytstem: e.g. a torch or searchlight (as opposed to a light source for illuminating the system itself, e.g. an indicator light).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_MODE_FLAG

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              (Bitmask) These flags encode the MAV mode.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              1MAV_MODE_FLAG_CUSTOM_MODE_ENABLED0b00000001 Reserved for future use.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              2MAV_MODE_FLAG_TEST_ENABLED0b00000010 system has a test mode enabled. This flag is intended for temporary system tests and should not be used for stable implementations.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              4MAV_MODE_FLAG_AUTO_ENABLED0b00000100 autonomous mode enabled, system finds its own goal positions. Guided flag can be set or not, depends on the actual implementation.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              8MAV_MODE_FLAG_GUIDED_ENABLED0b00001000 guided mode enabled, system flies waypoints / mission items.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              16MAV_MODE_FLAG_STABILIZE_ENABLED0b00010000 system stabilizes electronically its attitude (and optionally position). It needs however further control inputs to move around.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              32MAV_MODE_FLAG_HIL_ENABLED0b00100000 hardware in the loop simulation. All motors / actuators are blocked, but internal software is full operational.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              64MAV_MODE_FLAG_MANUAL_INPUT_ENABLED0b01000000 remote control input is enabled.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              128MAV_MODE_FLAG_SAFETY_ARMED0b10000000 MAV safety set to armed. Motors are enabled / running / can start. Ready to fly. Additional note: this flag is to be ignore when sent in the command MAV_CMD_DO_SET_MODE and MAV_CMD_COMPONENT_ARM_DISARM shall be used instead. The flag can still be used to report the armed state.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_MODE_FLAG_DECODE_POSITION

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              (Bitmask) These values encode the bit positions of the decode position. These values can be used to read the value of a flag bit by combining the base_mode variable with AND with the flag position value. The result will be either 0 or 1, depending on if the flag is set or not.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              1MAV_MODE_FLAG_DECODE_POSITION_CUSTOM_MODEEighth bit: 00000001
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              2MAV_MODE_FLAG_DECODE_POSITION_TESTSeventh bit: 00000010
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              4MAV_MODE_FLAG_DECODE_POSITION_AUTOSixth bit: 00000100
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              8MAV_MODE_FLAG_DECODE_POSITION_GUIDEDFifth bit: 00001000
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              16MAV_MODE_FLAG_DECODE_POSITION_STABILIZEFourth bit: 00010000
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              32MAV_MODE_FLAG_DECODE_POSITION_HILThird bit: 00100000
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              64MAV_MODE_FLAG_DECODE_POSITION_MANUALSecond bit: 01000000
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              128MAV_MODE_FLAG_DECODE_POSITION_SAFETYFirst bit: 10000000

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_STATE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              0MAV_STATE_UNINITUninitialized system, state is unknown.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              1MAV_STATE_BOOTSystem is booting up.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              2MAV_STATE_CALIBRATINGSystem is calibrating and not flight-ready.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              3MAV_STATE_STANDBYSystem is grounded and on standby. It can be launched any time.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              4MAV_STATE_ACTIVESystem is active and might be already airborne. Motors are engaged.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              5MAV_STATE_CRITICALSystem is in a non-normal flight mode (failsafe). It can however still navigate.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              6MAV_STATE_EMERGENCYSystem is in a non-normal flight mode (failsafe). It lost control over parts or over the whole airframe. It is in mayday and going down.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              7MAV_STATE_POWEROFFSystem just initialized its power-down sequence, will shut down now.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              8MAV_STATE_FLIGHT_TERMINATIONSystem is terminating itself (failsafe or commanded).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_COMPONENT

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Component ids (values) for the different types and instances of onboard hardware/software that might make up a MAVLink system (autopilot, cameras, servos, GPS systems, avoidance systems etc.).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Components must use the appropriate ID in their source address when sending messages. Components can also use IDs to determine if they are the intended recipient of an incoming message. The MAV_COMP_ID_ALL value is used to indicate messages that must be processed by all components. When creating new entries, components that can have multiple instances (e.g. cameras, servos etc.) should be allocated sequential values. An appropriate number of values should be left free after these components to allow the number of instances to be expanded.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              0MAV_COMP_ID_ALLTarget id (target_component) used to broadcast messages to all components of the receiving system. Components should attempt to process messages with this component ID and forward to components on any other interfaces. Note: This is not a valid source component id for a message.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              1MAV_COMP_ID_AUTOPILOT1System flight controller component ("autopilot"). Only one autopilot is expected in a particular system.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              25MAV_COMP_ID_USER1Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              26MAV_COMP_ID_USER2Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              27MAV_COMP_ID_USER3Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              28MAV_COMP_ID_USER4Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              29MAV_COMP_ID_USER5Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              30MAV_COMP_ID_USER6Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              31MAV_COMP_ID_USER7Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              32MAV_COMP_ID_USER8Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              33MAV_COMP_ID_USER9Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              34MAV_COMP_ID_USER10Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              35MAV_COMP_ID_USER11Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              36MAV_COMP_ID_USER12Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              37MAV_COMP_ID_USER13Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              38MAV_COMP_ID_USER14Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              39MAV_COMP_ID_USER15Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              40MAV_COMP_ID_USER16Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              41MAV_COMP_ID_USER17Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              42MAV_COMP_ID_USER18Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              43MAV_COMP_ID_USER19Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              44MAV_COMP_ID_USER20Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              45MAV_COMP_ID_USER21Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              46MAV_COMP_ID_USER22Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              47MAV_COMP_ID_USER23Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              48MAV_COMP_ID_USER24Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              49MAV_COMP_ID_USER25Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              50MAV_COMP_ID_USER26Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              51MAV_COMP_ID_USER27Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              52MAV_COMP_ID_USER28Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              53MAV_COMP_ID_USER29Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              54MAV_COMP_ID_USER30Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              55MAV_COMP_ID_USER31Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              56MAV_COMP_ID_USER32Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              57MAV_COMP_ID_USER33Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              58MAV_COMP_ID_USER34Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              59MAV_COMP_ID_USER35Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              60MAV_COMP_ID_USER36Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              61MAV_COMP_ID_USER37Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              62MAV_COMP_ID_USER38Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              63MAV_COMP_ID_USER39Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              64MAV_COMP_ID_USER40Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              65MAV_COMP_ID_USER41Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              66MAV_COMP_ID_USER42Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              67MAV_COMP_ID_USER43Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              68MAV_COMP_ID_TELEMETRY_RADIOTelemetry radio (e.g. SiK radio, or other component that emits RADIO_STATUS messages).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              69MAV_COMP_ID_USER45Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              70MAV_COMP_ID_USER46Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              71MAV_COMP_ID_USER47Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              72MAV_COMP_ID_USER48Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              73MAV_COMP_ID_USER49Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              74MAV_COMP_ID_USER50Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              75MAV_COMP_ID_USER51Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              76MAV_COMP_ID_USER52Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              77MAV_COMP_ID_USER53Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              78MAV_COMP_ID_USER54Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              79MAV_COMP_ID_USER55Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              80MAV_COMP_ID_USER56Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              81MAV_COMP_ID_USER57Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              82MAV_COMP_ID_USER58Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              83MAV_COMP_ID_USER59Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              84MAV_COMP_ID_USER60Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              85MAV_COMP_ID_USER61Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              86MAV_COMP_ID_USER62Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              87MAV_COMP_ID_USER63Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              88MAV_COMP_ID_USER64Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              89MAV_COMP_ID_USER65Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              90MAV_COMP_ID_USER66Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              91MAV_COMP_ID_USER67Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              92MAV_COMP_ID_USER68Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              93MAV_COMP_ID_USER69Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              94MAV_COMP_ID_USER70Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              95MAV_COMP_ID_USER71Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              96MAV_COMP_ID_USER72Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              97MAV_COMP_ID_USER73Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              98MAV_COMP_ID_USER74Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              99MAV_COMP_ID_USER75Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              100MAV_COMP_ID_CAMERACamera #1.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              101MAV_COMP_ID_CAMERA2Camera #2.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              102MAV_COMP_ID_CAMERA3Camera #3.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              103MAV_COMP_ID_CAMERA4Camera #4.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              104MAV_COMP_ID_CAMERA5Camera #5.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              105MAV_COMP_ID_CAMERA6Camera #6.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              140MAV_COMP_ID_SERVO1Servo #1.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              141MAV_COMP_ID_SERVO2Servo #2.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              142MAV_COMP_ID_SERVO3Servo #3.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              143MAV_COMP_ID_SERVO4Servo #4.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              144MAV_COMP_ID_SERVO5Servo #5.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              145MAV_COMP_ID_SERVO6Servo #6.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              146MAV_COMP_ID_SERVO7Servo #7.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              147MAV_COMP_ID_SERVO8Servo #8.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              148MAV_COMP_ID_SERVO9Servo #9.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              149MAV_COMP_ID_SERVO10Servo #10.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              150MAV_COMP_ID_SERVO11Servo #11.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              151MAV_COMP_ID_SERVO12Servo #12.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              152MAV_COMP_ID_SERVO13Servo #13.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              153MAV_COMP_ID_SERVO14Servo #14.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              154MAV_COMP_ID_GIMBALGimbal #1.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              155MAV_COMP_ID_LOGLogging component.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              156MAV_COMP_ID_ADSBAutomatic Dependent Surveillance-Broadcast (ADS-B) component.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              157MAV_COMP_ID_OSDOn Screen Display (OSD) devices for video links.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              158MAV_COMP_ID_PERIPHERALGeneric autopilot peripheral component ID. Meant for devices that do not implement the parameter microservice.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              159MAV_COMP_ID_QX1_GIMBALGimbal ID for QX1.DEPRECATED: Replaced By MAV_COMP_ID_GIMBAL (2018-11) — All gimbals should use MAV_COMP_ID_GIMBAL.)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              160MAV_COMP_ID_FLARMFLARM collision alert component.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              161MAV_COMP_ID_PARACHUTEParachute component.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              169MAV_COMP_ID_WINCHWinch component.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              171MAV_COMP_ID_GIMBAL2Gimbal #2.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              172MAV_COMP_ID_GIMBAL3Gimbal #3.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              173MAV_COMP_ID_GIMBAL4Gimbal #4
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              174MAV_COMP_ID_GIMBAL5Gimbal #5.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              175MAV_COMP_ID_GIMBAL6Gimbal #6.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              180MAV_COMP_ID_BATTERYBattery #1.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              181MAV_COMP_ID_BATTERY2Battery #2.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              189MAV_COMP_ID_MAVCANCAN over MAVLink client.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              190MAV_COMP_ID_MISSIONPLANNERComponent that can generate/supply a mission flight plan (e.g. GCS or developer API).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              191MAV_COMP_ID_ONBOARD_COMPUTERComponent that lives on the onboard computer (companion computer) and has some generic functionalities, such as settings system parameters and monitoring the status of some processes that don't directly speak mavlink and so on.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              192MAV_COMP_ID_ONBOARD_COMPUTER2Component that lives on the onboard computer (companion computer) and has some generic functionalities, such as settings system parameters and monitoring the status of some processes that don't directly speak mavlink and so on.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              193MAV_COMP_ID_ONBOARD_COMPUTER3Component that lives on the onboard computer (companion computer) and has some generic functionalities, such as settings system parameters and monitoring the status of some processes that don't directly speak mavlink and so on.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              194MAV_COMP_ID_ONBOARD_COMPUTER4Component that lives on the onboard computer (companion computer) and has some generic functionalities, such as settings system parameters and monitoring the status of some processes that don't directly speak mavlink and so on.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              195MAV_COMP_ID_PATHPLANNERComponent that finds an optimal path between points based on a certain constraint (e.g. minimum snap, shortest path, cost, etc.).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              196MAV_COMP_ID_OBSTACLE_AVOIDANCEComponent that plans a collision free path between two points.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              197MAV_COMP_ID_VISUAL_INERTIAL_ODOMETRYComponent that provides position estimates using VIO techniques.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              198MAV_COMP_ID_PAIRING_MANAGERComponent that manages pairing of vehicle and GCS.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              200MAV_COMP_ID_IMUInertial Measurement Unit (IMU) #1.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              201MAV_COMP_ID_IMU_2Inertial Measurement Unit (IMU) #2.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              202MAV_COMP_ID_IMU_3Inertial Measurement Unit (IMU) #3.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              220MAV_COMP_ID_GPSGPS #1.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              221MAV_COMP_ID_GPS2GPS #2.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              236MAV_COMP_ID_ODID_TXRX_1Open Drone ID transmitter/receiver (Bluetooth/WiFi/Internet).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              237MAV_COMP_ID_ODID_TXRX_2Open Drone ID transmitter/receiver (Bluetooth/WiFi/Internet).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              238MAV_COMP_ID_ODID_TXRX_3Open Drone ID transmitter/receiver (Bluetooth/WiFi/Internet).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              240MAV_COMP_ID_UDP_BRIDGEComponent to bridge MAVLink to UDP (i.e. from a UART).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              241MAV_COMP_ID_UART_BRIDGEComponent to bridge to UART (i.e. from UDP).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              242MAV_COMP_ID_TUNNEL_NODEComponent handling TUNNEL messages (e.g. vendor specific GUI of a component).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              243MAV_COMP_ID_ILLUMINATORIlluminator
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              250MAV_COMP_ID_SYSTEM_CONTROLDeprecated, don't use. Component for handling system messages (e.g. to ARM, takeoff, etc.).DEPRECATED: Replaced By MAV_COMP_ID_ALL (2018-11) — System control does not require a separate component ID. Instead, system commands should be sent with target_component=MAV_COMP_ID_ALL allowing the target component to use any appropriate component id.)

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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAVLink Minimal Set

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                The MAVLink minimal set contains the minimal set of definitions for a viable MAVLink system.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                The message set is defined in minimal.xml and is managed by the MAVLink project.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                The minimal set is included (imported into) other xml definition files, including the MAVLink Common Message Set (common.xml).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAVLink 2 extension fields that have been added to MAVLink 1 messages are displayed in blue. - Entities from dialects are displayed only as headings (with link to original)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Protocol version: 3

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                None

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Summary

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                TypeDefinedIncluded
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Messages20
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Enums60
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Commands00

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                The following sections list all entities in the dialect (both included and defined in this file).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Messages

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                HEARTBEAT (0)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                The heartbeat message shows that a system or component is present and responding. The type and autopilot fields (along with the message component id), allow the receiving system to treat further messages from this system appropriately (e.g. by laying out the user interface based on the autopilot). This microservice is documented at https://mavlink.io/en/services/heartbeat.html

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Field NameTypeValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                typeuint8_tMAV_TYPEVehicle or component type. For a flight controller component the vehicle type (quadrotor, helicopter, etc.). For other components the component type (e.g. camera, gimbal, etc.). This should be used in preference to component id for identifying the component type.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                autopilotuint8_tMAV_AUTOPILOTAutopilot type / class. Use MAV_AUTOPILOT_INVALID for components that are not flight controllers.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                base_modeuint8_tMAV_MODE_FLAGSystem mode bitmap.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                custom_modeuint32_tA bitfield for use for autopilot-specific flags
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                system_statusuint8_tMAV_STATESystem status flag.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                mavlink_versionuint8_t_mavlink_versionMAVLink version, not writable by user, gets added by protocol because of magic data type: uint8_t_mavlink_version

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                PROTOCOL_VERSION (300) — [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Version and capability of protocol version. This message can be requested with MAV_CMD_REQUEST_MESSAGE and is used as part of the handshaking to establish which MAVLink version should be used on the network. Every node should respond to a request for PROTOCOL_VERSION to enable the handshaking. Library implementers should consider adding this into the default decoding state machine to allow the protocol core to respond directly.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                versionuint16_tCurrently active MAVLink version number * 100: v1.0 is 100, v2.0 is 200, etc.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                min_versionuint16_tMinimum MAVLink version supported
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                max_versionuint16_tMaximum MAVLink version supported (set to the same value as version by default)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                spec_version_hashuint8_t[8]The first 8 bytes (not characters printed in hex!) of the git hash.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                library_version_hashuint8_t[8]The first 8 bytes (not characters printed in hex!) of the git hash.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Enumerated Types

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_AUTOPILOT

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Micro air vehicle / autopilot classes. This identifies the individual model.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                0MAV_AUTOPILOT_GENERICGeneric autopilot, full support for everything
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                1MAV_AUTOPILOT_RESERVEDReserved for future use.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                2MAV_AUTOPILOT_SLUGSSLUGS autopilot, http://slugsuav.soe.ucsc.edu
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                3MAV_AUTOPILOT_ARDUPILOTMEGAArduPilot - Plane/Copter/Rover/Sub/Tracker, https://ardupilot.org
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                4MAV_AUTOPILOT_OPENPILOTOpenPilot, http://openpilot.org
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                5MAV_AUTOPILOT_GENERIC_WAYPOINTS_ONLYGeneric autopilot only supporting simple waypoints
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                6MAV_AUTOPILOT_GENERIC_WAYPOINTS_AND_SIMPLE_NAVIGATION_ONLYGeneric autopilot supporting waypoints and other simple navigation commands
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                7MAV_AUTOPILOT_GENERIC_MISSION_FULLGeneric autopilot supporting the full mission command set
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                8MAV_AUTOPILOT_INVALIDNo valid autopilot, e.g. a GCS or other MAVLink component
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                9MAV_AUTOPILOT_PPZPPZ UAV - http://nongnu.org/paparazzi
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                10MAV_AUTOPILOT_UDBUAV Dev Board
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                11MAV_AUTOPILOT_FPFlexiPilot
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                12MAV_AUTOPILOT_PX4PX4 Autopilot - http://px4.io/
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                13MAV_AUTOPILOT_SMACCMPILOTSMACCMPilot - http://smaccmpilot.org
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                14MAV_AUTOPILOT_AUTOQUADAutoQuad -- http://autoquad.org
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                15MAV_AUTOPILOT_ARMAZILAArmazila -- http://armazila.com
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                16MAV_AUTOPILOT_AEROBAerob -- http://aerob.ru
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                17MAV_AUTOPILOT_ASLUAVASLUAV autopilot -- http://www.asl.ethz.ch
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                18MAV_AUTOPILOT_SMARTAPSmartAP Autopilot - http://sky-drones.com
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                19MAV_AUTOPILOT_AIRRAILSAirRails - http://uaventure.com
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                20MAV_AUTOPILOT_REFLEXFusion Reflex - https://fusion.engineering

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_TYPE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAVLINK component type reported in HEARTBEAT message. Flight controllers must report the type of the vehicle on which they are mounted (e.g. MAV_TYPE_OCTOROTOR). All other components must report a value appropriate for their type (e.g. a camera must use MAV_TYPE_CAMERA).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                0MAV_TYPE_GENERICGeneric micro air vehicle
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                1MAV_TYPE_FIXED_WINGFixed wing aircraft.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                2MAV_TYPE_QUADROTORQuadrotor
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                3MAV_TYPE_COAXIALCoaxial helicopter
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                4MAV_TYPE_HELICOPTERNormal helicopter with tail rotor.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                5MAV_TYPE_ANTENNA_TRACKERGround installation
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                6MAV_TYPE_GCSOperator control unit / ground control station
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                7MAV_TYPE_AIRSHIPAirship, controlled
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                8MAV_TYPE_FREE_BALLOONFree balloon, uncontrolled
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                9MAV_TYPE_ROCKETRocket
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                10MAV_TYPE_GROUND_ROVERGround rover
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                11MAV_TYPE_SURFACE_BOATSurface vessel, boat, ship
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                12MAV_TYPE_SUBMARINESubmarine
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                13MAV_TYPE_HEXAROTORHexarotor
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                14MAV_TYPE_OCTOROTOROctorotor
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                15MAV_TYPE_TRICOPTERTricopter
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                16MAV_TYPE_FLAPPING_WINGFlapping wing
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                17MAV_TYPE_KITEKite
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                18MAV_TYPE_ONBOARD_CONTROLLEROnboard companion controller
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                19MAV_TYPE_VTOL_TAILSITTER_DUOROTORTwo-rotor Tailsitter VTOL that additionally uses control surfaces in vertical operation. Note, value previously named MAV_TYPE_VTOL_DUOROTOR.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                20MAV_TYPE_VTOL_TAILSITTER_QUADROTORQuad-rotor Tailsitter VTOL using a V-shaped quad config in vertical operation. Note: value previously named MAV_TYPE_VTOL_QUADROTOR.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                21MAV_TYPE_VTOL_TILTROTORTiltrotor VTOL. Fuselage and wings stay (nominally) horizontal in all flight phases. It able to tilt (some) rotors to provide thrust in cruise flight.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                22MAV_TYPE_VTOL_FIXEDROTORVTOL with separate fixed rotors for hover and cruise flight. Fuselage and wings stay (nominally) horizontal in all flight phases.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                23MAV_TYPE_VTOL_TAILSITTERTailsitter VTOL. Fuselage and wings orientation changes depending on flight phase: vertical for hover, horizontal for cruise. Use more specific VTOL MAV_TYPE_VTOL_TAILSITTER_DUOROTOR or MAV_TYPE_VTOL_TAILSITTER_QUADROTOR if appropriate.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                24MAV_TYPE_VTOL_TILTWINGTiltwing VTOL. Fuselage stays horizontal in all flight phases. The whole wing, along with any attached engine, can tilt between vertical and horizontal mode.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                25MAV_TYPE_VTOL_RESERVED5VTOL reserved 5
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                26MAV_TYPE_GIMBALGimbal
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                27MAV_TYPE_ADSBADSB system
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                28MAV_TYPE_PARAFOILSteerable, nonrigid airfoil
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                29MAV_TYPE_DODECAROTORDodecarotor
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                30MAV_TYPE_CAMERACamera
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                31MAV_TYPE_CHARGING_STATIONCharging station
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                32MAV_TYPE_FLARMFLARM collision avoidance system
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                33MAV_TYPE_SERVOServo
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                34MAV_TYPE_ODIDOpen Drone ID. See https://mavlink.io/en/services/opendroneid.html.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                35MAV_TYPE_DECAROTORDecarotor
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                36MAV_TYPE_BATTERYBattery
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                37MAV_TYPE_PARACHUTEParachute
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                38MAV_TYPE_LOGLog
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                39MAV_TYPE_OSDOSD
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                40MAV_TYPE_IMUIMU
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                41MAV_TYPE_GPSGPS
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                42MAV_TYPE_WINCHWinch
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                43MAV_TYPE_GENERIC_MULTIROTORGeneric multirotor that does not fit into a specific type or whose type is unknown
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                44MAV_TYPE_ILLUMINATORIlluminator. An illuminator is a light source that is used for lighting up dark areas external to the sytstem: e.g. a torch or searchlight (as opposed to a light source for illuminating the system itself, e.g. an indicator light).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_MODE_FLAG

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                (Bitmask) These flags encode the MAV mode.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                1MAV_MODE_FLAG_CUSTOM_MODE_ENABLED0b00000001 Reserved for future use.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                2MAV_MODE_FLAG_TEST_ENABLED0b00000010 system has a test mode enabled. This flag is intended for temporary system tests and should not be used for stable implementations.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                4MAV_MODE_FLAG_AUTO_ENABLED0b00000100 autonomous mode enabled, system finds its own goal positions. Guided flag can be set or not, depends on the actual implementation.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                8MAV_MODE_FLAG_GUIDED_ENABLED0b00001000 guided mode enabled, system flies waypoints / mission items.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                16MAV_MODE_FLAG_STABILIZE_ENABLED0b00010000 system stabilizes electronically its attitude (and optionally position). It needs however further control inputs to move around.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                32MAV_MODE_FLAG_HIL_ENABLED0b00100000 hardware in the loop simulation. All motors / actuators are blocked, but internal software is full operational.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                64MAV_MODE_FLAG_MANUAL_INPUT_ENABLED0b01000000 remote control input is enabled.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                128MAV_MODE_FLAG_SAFETY_ARMED0b10000000 MAV safety set to armed. Motors are enabled / running / can start. Ready to fly. Additional note: this flag is to be ignore when sent in the command MAV_CMD_DO_SET_MODE and MAV_CMD_COMPONENT_ARM_DISARM shall be used instead. The flag can still be used to report the armed state.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_MODE_FLAG_DECODE_POSITION

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                (Bitmask) These values encode the bit positions of the decode position. These values can be used to read the value of a flag bit by combining the base_mode variable with AND with the flag position value. The result will be either 0 or 1, depending on if the flag is set or not.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                1MAV_MODE_FLAG_DECODE_POSITION_CUSTOM_MODEEighth bit: 00000001
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                2MAV_MODE_FLAG_DECODE_POSITION_TESTSeventh bit: 00000010
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                4MAV_MODE_FLAG_DECODE_POSITION_AUTOSixth bit: 00000100
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                8MAV_MODE_FLAG_DECODE_POSITION_GUIDEDFifth bit: 00001000
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                16MAV_MODE_FLAG_DECODE_POSITION_STABILIZEFourth bit: 00010000
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                32MAV_MODE_FLAG_DECODE_POSITION_HILThird bit: 00100000
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                64MAV_MODE_FLAG_DECODE_POSITION_MANUALSecond bit: 01000000
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                128MAV_MODE_FLAG_DECODE_POSITION_SAFETYFirst bit: 10000000

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_STATE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                0MAV_STATE_UNINITUninitialized system, state is unknown.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                1MAV_STATE_BOOTSystem is booting up.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                2MAV_STATE_CALIBRATINGSystem is calibrating and not flight-ready.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                3MAV_STATE_STANDBYSystem is grounded and on standby. It can be launched any time.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                4MAV_STATE_ACTIVESystem is active and might be already airborne. Motors are engaged.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                5MAV_STATE_CRITICALSystem is in a non-normal flight mode (failsafe). It can however still navigate.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                6MAV_STATE_EMERGENCYSystem is in a non-normal flight mode (failsafe). It lost control over parts or over the whole airframe. It is in mayday and going down.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                7MAV_STATE_POWEROFFSystem just initialized its power-down sequence, will shut down now.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                8MAV_STATE_FLIGHT_TERMINATIONSystem is terminating itself (failsafe or commanded).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_COMPONENT

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Component ids (values) for the different types and instances of onboard hardware/software that might make up a MAVLink system (autopilot, cameras, servos, GPS systems, avoidance systems etc.).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Components must use the appropriate ID in their source address when sending messages. Components can also use IDs to determine if they are the intended recipient of an incoming message. The MAV_COMP_ID_ALL value is used to indicate messages that must be processed by all components. When creating new entries, components that can have multiple instances (e.g. cameras, servos etc.) should be allocated sequential values. An appropriate number of values should be left free after these components to allow the number of instances to be expanded.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                0MAV_COMP_ID_ALLTarget id (target_component) used to broadcast messages to all components of the receiving system. Components should attempt to process messages with this component ID and forward to components on any other interfaces. Note: This is not a valid source component id for a message.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                1MAV_COMP_ID_AUTOPILOT1System flight controller component ("autopilot"). Only one autopilot is expected in a particular system.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                25MAV_COMP_ID_USER1Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                26MAV_COMP_ID_USER2Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                27MAV_COMP_ID_USER3Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                28MAV_COMP_ID_USER4Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                29MAV_COMP_ID_USER5Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                30MAV_COMP_ID_USER6Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                31MAV_COMP_ID_USER7Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                32MAV_COMP_ID_USER8Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                33MAV_COMP_ID_USER9Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                34MAV_COMP_ID_USER10Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                35MAV_COMP_ID_USER11Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                36MAV_COMP_ID_USER12Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                37MAV_COMP_ID_USER13Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                38MAV_COMP_ID_USER14Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                39MAV_COMP_ID_USER15Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                40MAV_COMP_ID_USER16Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                41MAV_COMP_ID_USER17Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                42MAV_COMP_ID_USER18Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                43MAV_COMP_ID_USER19Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                44MAV_COMP_ID_USER20Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                45MAV_COMP_ID_USER21Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                46MAV_COMP_ID_USER22Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                47MAV_COMP_ID_USER23Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                48MAV_COMP_ID_USER24Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                49MAV_COMP_ID_USER25Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                50MAV_COMP_ID_USER26Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                51MAV_COMP_ID_USER27Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                52MAV_COMP_ID_USER28Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                53MAV_COMP_ID_USER29Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                54MAV_COMP_ID_USER30Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                55MAV_COMP_ID_USER31Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                56MAV_COMP_ID_USER32Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                57MAV_COMP_ID_USER33Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                58MAV_COMP_ID_USER34Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                59MAV_COMP_ID_USER35Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                60MAV_COMP_ID_USER36Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                61MAV_COMP_ID_USER37Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                62MAV_COMP_ID_USER38Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                63MAV_COMP_ID_USER39Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                64MAV_COMP_ID_USER40Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                65MAV_COMP_ID_USER41Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                66MAV_COMP_ID_USER42Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                67MAV_COMP_ID_USER43Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                68MAV_COMP_ID_TELEMETRY_RADIOTelemetry radio (e.g. SiK radio, or other component that emits RADIO_STATUS messages).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                69MAV_COMP_ID_USER45Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                70MAV_COMP_ID_USER46Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                71MAV_COMP_ID_USER47Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                72MAV_COMP_ID_USER48Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                73MAV_COMP_ID_USER49Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                74MAV_COMP_ID_USER50Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                75MAV_COMP_ID_USER51Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                76MAV_COMP_ID_USER52Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                77MAV_COMP_ID_USER53Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                78MAV_COMP_ID_USER54Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                79MAV_COMP_ID_USER55Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                80MAV_COMP_ID_USER56Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                81MAV_COMP_ID_USER57Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                82MAV_COMP_ID_USER58Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                83MAV_COMP_ID_USER59Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                84MAV_COMP_ID_USER60Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                85MAV_COMP_ID_USER61Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                86MAV_COMP_ID_USER62Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                87MAV_COMP_ID_USER63Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                88MAV_COMP_ID_USER64Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                89MAV_COMP_ID_USER65Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                90MAV_COMP_ID_USER66Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                91MAV_COMP_ID_USER67Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                92MAV_COMP_ID_USER68Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                93MAV_COMP_ID_USER69Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                94MAV_COMP_ID_USER70Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                95MAV_COMP_ID_USER71Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                96MAV_COMP_ID_USER72Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                97MAV_COMP_ID_USER73Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                98MAV_COMP_ID_USER74Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                99MAV_COMP_ID_USER75Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                100MAV_COMP_ID_CAMERACamera #1.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                101MAV_COMP_ID_CAMERA2Camera #2.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                102MAV_COMP_ID_CAMERA3Camera #3.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                103MAV_COMP_ID_CAMERA4Camera #4.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                104MAV_COMP_ID_CAMERA5Camera #5.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                105MAV_COMP_ID_CAMERA6Camera #6.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                140MAV_COMP_ID_SERVO1Servo #1.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                141MAV_COMP_ID_SERVO2Servo #2.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                142MAV_COMP_ID_SERVO3Servo #3.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                143MAV_COMP_ID_SERVO4Servo #4.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                144MAV_COMP_ID_SERVO5Servo #5.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                145MAV_COMP_ID_SERVO6Servo #6.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                146MAV_COMP_ID_SERVO7Servo #7.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                147MAV_COMP_ID_SERVO8Servo #8.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                148MAV_COMP_ID_SERVO9Servo #9.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                149MAV_COMP_ID_SERVO10Servo #10.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                150MAV_COMP_ID_SERVO11Servo #11.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                151MAV_COMP_ID_SERVO12Servo #12.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                152MAV_COMP_ID_SERVO13Servo #13.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                153MAV_COMP_ID_SERVO14Servo #14.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                154MAV_COMP_ID_GIMBALGimbal #1.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                155MAV_COMP_ID_LOGLogging component.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                156MAV_COMP_ID_ADSBAutomatic Dependent Surveillance-Broadcast (ADS-B) component.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                157MAV_COMP_ID_OSDOn Screen Display (OSD) devices for video links.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                158MAV_COMP_ID_PERIPHERALGeneric autopilot peripheral component ID. Meant for devices that do not implement the parameter microservice.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                159MAV_COMP_ID_QX1_GIMBALGimbal ID for QX1.DEPRECATED: Replaced By MAV_COMP_ID_GIMBAL (2018-11) — All gimbals should use MAV_COMP_ID_GIMBAL.)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                160MAV_COMP_ID_FLARMFLARM collision alert component.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                161MAV_COMP_ID_PARACHUTEParachute component.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                169MAV_COMP_ID_WINCHWinch component.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                171MAV_COMP_ID_GIMBAL2Gimbal #2.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                172MAV_COMP_ID_GIMBAL3Gimbal #3.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                173MAV_COMP_ID_GIMBAL4Gimbal #4
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                174MAV_COMP_ID_GIMBAL5Gimbal #5.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                175MAV_COMP_ID_GIMBAL6Gimbal #6.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                180MAV_COMP_ID_BATTERYBattery #1.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                181MAV_COMP_ID_BATTERY2Battery #2.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                189MAV_COMP_ID_MAVCANCAN over MAVLink client.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                190MAV_COMP_ID_MISSIONPLANNERComponent that can generate/supply a mission flight plan (e.g. GCS or developer API).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                191MAV_COMP_ID_ONBOARD_COMPUTERComponent that lives on the onboard computer (companion computer) and has some generic functionalities, such as settings system parameters and monitoring the status of some processes that don't directly speak mavlink and so on.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                192MAV_COMP_ID_ONBOARD_COMPUTER2Component that lives on the onboard computer (companion computer) and has some generic functionalities, such as settings system parameters and monitoring the status of some processes that don't directly speak mavlink and so on.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                193MAV_COMP_ID_ONBOARD_COMPUTER3Component that lives on the onboard computer (companion computer) and has some generic functionalities, such as settings system parameters and monitoring the status of some processes that don't directly speak mavlink and so on.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                194MAV_COMP_ID_ONBOARD_COMPUTER4Component that lives on the onboard computer (companion computer) and has some generic functionalities, such as settings system parameters and monitoring the status of some processes that don't directly speak mavlink and so on.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                195MAV_COMP_ID_PATHPLANNERComponent that finds an optimal path between points based on a certain constraint (e.g. minimum snap, shortest path, cost, etc.).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                196MAV_COMP_ID_OBSTACLE_AVOIDANCEComponent that plans a collision free path between two points.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                197MAV_COMP_ID_VISUAL_INERTIAL_ODOMETRYComponent that provides position estimates using VIO techniques.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                198MAV_COMP_ID_PAIRING_MANAGERComponent that manages pairing of vehicle and GCS.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                200MAV_COMP_ID_IMUInertial Measurement Unit (IMU) #1.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                201MAV_COMP_ID_IMU_2Inertial Measurement Unit (IMU) #2.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                202MAV_COMP_ID_IMU_3Inertial Measurement Unit (IMU) #3.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                220MAV_COMP_ID_GPSGPS #1.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                221MAV_COMP_ID_GPS2GPS #2.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                236MAV_COMP_ID_ODID_TXRX_1Open Drone ID transmitter/receiver (Bluetooth/WiFi/Internet).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                237MAV_COMP_ID_ODID_TXRX_2Open Drone ID transmitter/receiver (Bluetooth/WiFi/Internet).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                238MAV_COMP_ID_ODID_TXRX_3Open Drone ID transmitter/receiver (Bluetooth/WiFi/Internet).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                240MAV_COMP_ID_UDP_BRIDGEComponent to bridge MAVLink to UDP (i.e. from a UART).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                241MAV_COMP_ID_UART_BRIDGEComponent to bridge to UART (i.e. from UDP).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                242MAV_COMP_ID_TUNNEL_NODEComponent handling TUNNEL messages (e.g. vendor specific GUI of a component).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                243MAV_COMP_ID_ILLUMINATORIlluminator
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                250MAV_COMP_ID_SYSTEM_CONTROLDeprecated, don't use. Component for handling system messages (e.g. to ARM, takeoff, etc.).DEPRECATED: Replaced By MAV_COMP_ID_ALL (2018-11) — System control does not require a separate component ID. Instead, system commands should be sent with target_component=MAV_COMP_ID_ALL allowing the target component to use any appropriate component id.)

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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  \ No newline at end of file diff --git a/ko/messages/paparazzi.html b/ko/messages/paparazzi.html index 75174df3a..a8cc16681 100644 --- a/ko/messages/paparazzi.html +++ b/ko/messages/paparazzi.html @@ -1 +1 @@ -paparazzi.xml · MAVLink Developer Guide
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Messages
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  FAQ
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Dialect: paparazzi

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  This topic documents the version of the dialect file in the mavlink/mavlink Github repository, which may not be up to date with the file in the source repository (it is up to the dialect owner to push changes when needed). The source repo should be listed in the comments at the top of the XML definition file listed below (but may not be).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  This is a human-readable form of the XML definition file: paparazzi.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAVLink 2 extension fields that have been added to MAVLink 1 messages are displayed in blue. - Entities from dialects are displayed only as headings (with link to original)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Protocol version: 3

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Summary

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  TypeDefinedIncluded
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Messages5224
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Enums0142
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Commands1640

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  The following sections list all entities in the dialect (both included and defined in this file).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Messages

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  HEARTBEAT (0) — [from: minimal]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  SYS_STATUS (1) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  SYSTEM_TIME (2) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  PING (4) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  CHANGE_OPERATOR_CONTROL (5) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  CHANGE_OPERATOR_CONTROL_ACK (6) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  AUTH_KEY (7) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  SET_MODE (11) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  PARAM_REQUEST_READ (20) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  PARAM_REQUEST_LIST (21) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  PARAM_VALUE (22) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  PARAM_SET (23) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  GPS_RAW_INT (24) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  GPS_STATUS (25) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  SCALED_IMU (26) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  RAW_IMU (27) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  RAW_PRESSURE (28) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  SCALED_PRESSURE (29) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  ATTITUDE (30) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  ATTITUDE_QUATERNION (31) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  LOCAL_POSITION_NED (32) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  GLOBAL_POSITION_INT (33) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  RC_CHANNELS_SCALED (34) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  RC_CHANNELS_RAW (35) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  SERVO_OUTPUT_RAW (36) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MISSION_REQUEST_PARTIAL_LIST (37) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MISSION_WRITE_PARTIAL_LIST (38) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MISSION_ITEM (39) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MISSION_REQUEST (40) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MISSION_SET_CURRENT (41) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MISSION_CURRENT (42) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MISSION_REQUEST_LIST (43) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MISSION_COUNT (44) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MISSION_CLEAR_ALL (45) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MISSION_ITEM_REACHED (46) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MISSION_ACK (47) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  SET_GPS_GLOBAL_ORIGIN (48) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  GPS_GLOBAL_ORIGIN (49) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  PARAM_MAP_RC (50) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MISSION_REQUEST_INT (51) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  SAFETY_SET_ALLOWED_AREA (54) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  SAFETY_ALLOWED_AREA (55) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  ATTITUDE_QUATERNION_COV (61) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  GLOBAL_POSITION_INT_COV (63) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  LOCAL_POSITION_NED_COV (64) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  RC_CHANNELS (65) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  REQUEST_DATA_STREAM (66) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  DATA_STREAM (67) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MANUAL_CONTROL (69) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  RC_CHANNELS_OVERRIDE (70) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MISSION_ITEM_INT (73) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  VFR_HUD (74) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  COMMAND_INT (75) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  COMMAND_LONG (76) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  COMMAND_ACK (77) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  COMMAND_CANCEL (80) — [from: common] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MANUAL_SETPOINT (81) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  SET_ATTITUDE_TARGET (82) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  ATTITUDE_TARGET (83) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  SET_POSITION_TARGET_LOCAL_NED (84) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  POSITION_TARGET_LOCAL_NED (85) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  SET_POSITION_TARGET_GLOBAL_INT (86) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  POSITION_TARGET_GLOBAL_INT (87) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  LOCAL_POSITION_NED_SYSTEM_GLOBAL_OFFSET (89) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  HIL_STATE (90) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  HIL_CONTROLS (91) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  HIL_RC_INPUTS_RAW (92) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  HIL_ACTUATOR_CONTROLS (93) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  OPTICAL_FLOW (100) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  GLOBAL_VISION_POSITION_ESTIMATE (101) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  VISION_POSITION_ESTIMATE (102) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  VISION_SPEED_ESTIMATE (103) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  VICON_POSITION_ESTIMATE (104) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  HIGHRES_IMU (105) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  OPTICAL_FLOW_RAD (106) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  HIL_SENSOR (107) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  SIM_STATE (108) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  RADIO_STATUS (109) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  FILE_TRANSFER_PROTOCOL (110) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  TIMESYNC (111) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  CAMERA_TRIGGER (112) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  HIL_GPS (113) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  HIL_OPTICAL_FLOW (114) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  HIL_STATE_QUATERNION (115) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  SCALED_IMU2 (116) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  LOG_REQUEST_LIST (117) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  LOG_ENTRY (118) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  LOG_REQUEST_DATA (119) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  LOG_DATA (120) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  LOG_ERASE (121) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  LOG_REQUEST_END (122) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  GPS_INJECT_DATA (123) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  GPS2_RAW (124) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  POWER_STATUS (125) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  SERIAL_CONTROL (126) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  GPS_RTK (127) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  GPS2_RTK (128) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  SCALED_IMU3 (129) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  DATA_TRANSMISSION_HANDSHAKE (130) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  ENCAPSULATED_DATA (131) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  DISTANCE_SENSOR (132) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  TERRAIN_REQUEST (133) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  TERRAIN_DATA (134) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  TERRAIN_CHECK (135) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  TERRAIN_REPORT (136) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  SCALED_PRESSURE2 (137) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  ATT_POS_MOCAP (138) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  SET_ACTUATOR_CONTROL_TARGET (139) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  ACTUATOR_CONTROL_TARGET (140) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  ALTITUDE (141) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  RESOURCE_REQUEST (142) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  SCALED_PRESSURE3 (143) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  FOLLOW_TARGET (144) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  CONTROL_SYSTEM_STATE (146) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  BATTERY_STATUS (147) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  AUTOPILOT_VERSION (148) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  LANDING_TARGET (149) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  FENCE_STATUS (162) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  SCRIPT_ITEM (180)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Message encoding a mission script item. This message is emitted upon a request for the next script item.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  target_systemuint8_tSystem ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  target_componentuint8_tComponent ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  sequint16_tSequence
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  namechar[50]The name of the mission script, NULL terminated.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  SCRIPT_REQUEST (181)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Request script item with the sequence number seq. The response of the system to this message should be a SCRIPT_ITEM message.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  target_systemuint8_tSystem ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  target_componentuint8_tComponent ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  sequint16_tSequence

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  SCRIPT_REQUEST_LIST (182)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Request the overall list of mission items from the system/component.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  target_systemuint8_tSystem ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  target_componentuint8_tComponent ID

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  SCRIPT_COUNT (183)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  This message is emitted as response to SCRIPT_REQUEST_LIST by the MAV to get the number of mission scripts.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  target_systemuint8_tSystem ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  target_componentuint8_tComponent ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  countuint16_tNumber of script items in the sequence

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  SCRIPT_CURRENT (184)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  This message informs about the currently active SCRIPT.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  sequint16_tActive Sequence

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAG_CAL_REPORT (192) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  EFI_STATUS (225) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  ESTIMATOR_STATUS (230) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  WIND_COV (231) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  GPS_INPUT (232) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  GPS_RTCM_DATA (233) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  HIGH_LATENCY (234) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  HIGH_LATENCY2 (235) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  VIBRATION (241) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  HOME_POSITION (242) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  SET_HOME_POSITION (243) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MESSAGE_INTERVAL (244) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  EXTENDED_SYS_STATE (245) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  ADSB_VEHICLE (246) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  COLLISION (247) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  V2_EXTENSION (248) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MEMORY_VECT (249) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  DEBUG_VECT (250) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  NAMED_VALUE_FLOAT (251) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  NAMED_VALUE_INT (252) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  STATUSTEXT (253) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  DEBUG (254) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  SETUP_SIGNING (256) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  BUTTON_CHANGE (257) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  PLAY_TUNE (258) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  CAMERA_INFORMATION (259) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  CAMERA_SETTINGS (260) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  STORAGE_INFORMATION (261) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  CAMERA_CAPTURE_STATUS (262) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  CAMERA_IMAGE_CAPTURED (263) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  FLIGHT_INFORMATION (264) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MOUNT_ORIENTATION (265) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  LOGGING_DATA (266) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  LOGGING_DATA_ACKED (267) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  LOGGING_ACK (268) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  VIDEO_STREAM_INFORMATION (269) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  VIDEO_STREAM_STATUS (270) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  CAMERA_FOV_STATUS (271) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  CAMERA_TRACKING_IMAGE_STATUS (275) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  CAMERA_TRACKING_GEO_STATUS (276) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  CAMERA_THERMAL_RANGE (277) — [from: common] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  GIMBAL_MANAGER_INFORMATION (280) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  GIMBAL_MANAGER_STATUS (281) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  GIMBAL_MANAGER_SET_ATTITUDE (282) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  GIMBAL_DEVICE_INFORMATION (283) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  GIMBAL_DEVICE_SET_ATTITUDE (284) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  GIMBAL_DEVICE_ATTITUDE_STATUS (285) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  AUTOPILOT_STATE_FOR_GIMBAL_DEVICE (286) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  GIMBAL_MANAGER_SET_PITCHYAW (287) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  GIMBAL_MANAGER_SET_MANUAL_CONTROL (288) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  ESC_INFO (290) — [from: common] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  ESC_STATUS (291) — [from: common] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  WIFI_CONFIG_AP (299) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  PROTOCOL_VERSION (300) — [from: minimal] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  AIS_VESSEL (301) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  UAVCAN_NODE_STATUS (310) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  UAVCAN_NODE_INFO (311) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  PARAM_EXT_REQUEST_READ (320) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  PARAM_EXT_REQUEST_LIST (321) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  PARAM_EXT_VALUE (322) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  PARAM_EXT_SET (323) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  PARAM_EXT_ACK (324) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  OBSTACLE_DISTANCE (330) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  ODOMETRY (331) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  TRAJECTORY_REPRESENTATION_WAYPOINTS (332) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  TRAJECTORY_REPRESENTATION_BEZIER (333) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  CELLULAR_STATUS (334) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  CELLULAR_CONFIG (336) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  RAW_RPM (339) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  UTM_GLOBAL_POSITION (340) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  DEBUG_FLOAT_ARRAY (350) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  ORBIT_EXECUTION_STATUS (360) — [from: common] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  BATTERY_INFO (370) — [from: common] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  GENERATOR_STATUS (373) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  ACTUATOR_OUTPUT_STATUS (375) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  TIME_ESTIMATE_TO_TARGET (380) — [from: common] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  TUNNEL (385) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  CAN_FRAME (386) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  CANFD_FRAME (387) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  CAN_FILTER_MODIFY (388) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  ONBOARD_COMPUTER_STATUS (390) — [from: common] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  COMPONENT_INFORMATION (395) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  COMPONENT_INFORMATION_BASIC (396) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  COMPONENT_METADATA (397) — [from: common] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  PLAY_TUNE_V2 (400) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  SUPPORTED_TUNES (401) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  EVENT (410) — [from: common] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  CURRENT_EVENT_SEQUENCE (411) — [from: common] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  REQUEST_EVENT (412) — [from: common] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  RESPONSE_EVENT_ERROR (413) — [from: common] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  ILLUMINATOR_STATUS (440) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  WHEEL_DISTANCE (9000) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  WINCH_STATUS (9005) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  OPEN_DRONE_ID_BASIC_ID (12900) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  OPEN_DRONE_ID_LOCATION (12901) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  OPEN_DRONE_ID_AUTHENTICATION (12902) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  OPEN_DRONE_ID_SELF_ID (12903) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  OPEN_DRONE_ID_SYSTEM (12904) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  OPEN_DRONE_ID_OPERATOR_ID (12905) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  OPEN_DRONE_ID_MESSAGE_PACK (12915) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  OPEN_DRONE_ID_ARM_STATUS (12918) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  OPEN_DRONE_ID_SYSTEM_UPDATE (12919) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  HYGROMETER_SENSOR (12920) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Enumerated Types

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  FIRMWARE_VERSION_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  HL_FAILURE_FLAG — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_GOTO — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_MODE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_SYS_STATUS_SENSOR — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_SYS_STATUS_SENSOR_EXTENDED — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_FRAME — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  FENCE_ACTION — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  FENCE_BREACH — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  FENCE_MITIGATE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  FENCE_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_MOUNT_MODE — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  GIMBAL_DEVICE_CAP_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  GIMBAL_MANAGER_CAP_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  GIMBAL_DEVICE_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  GIMBAL_MANAGER_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  GIMBAL_DEVICE_ERROR_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  GRIPPER_ACTIONS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  WINCH_ACTIONS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  UAVCAN_NODE_HEALTH — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  UAVCAN_NODE_MODE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  ESC_CONNECTION_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  ESC_FAILURE_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  STORAGE_STATUS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  STORAGE_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  STORAGE_USAGE_FLAG — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  ORBIT_YAW_BEHAVIOUR — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  WIFI_CONFIG_AP_RESPONSE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  CELLULAR_CONFIG_RESPONSE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  WIFI_CONFIG_AP_MODE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  COMP_METADATA_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  ACTUATOR_CONFIGURATION — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  ACTUATOR_OUTPUT_FUNCTION — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  AUTOTUNE_AXIS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  PREFLIGHT_STORAGE_PARAMETER_ACTION — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  PREFLIGHT_STORAGE_MISSION_ACTION — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_DATA_STREAM — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_ROI — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_PARAM_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_PARAM_EXT_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_RESULT — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_MISSION_RESULT — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_SEVERITY — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_POWER_STATUS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  SERIAL_CONTROL_DEV — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  SERIAL_CONTROL_FLAG — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_DISTANCE_SENSOR — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_SENSOR_ORIENTATION — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_PROTOCOL_CAPABILITY — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_MISSION_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_ESTIMATOR_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_BATTERY_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_BATTERY_FUNCTION — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_BATTERY_CHARGE_STATE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_BATTERY_MODE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_BATTERY_FAULT — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_GENERATOR_STATUS_FLAG — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_VTOL_STATE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_LANDED_STATE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  ADSB_ALTITUDE_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  ADSB_EMITTER_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  ADSB_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_DO_REPOSITION_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  SPEED_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  ESTIMATOR_STATUS_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MOTOR_TEST_ORDER — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MOTOR_TEST_THROTTLE_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  GPS_INPUT_IGNORE_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_COLLISION_ACTION — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_COLLISION_THREAT_LEVEL — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_COLLISION_SRC — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  GPS_FIX_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  RTK_BASELINE_COORDINATE_SYSTEM — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  LANDING_TARGET_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  VTOL_TRANSITION_HEADING — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  CAMERA_CAP_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  VIDEO_STREAM_STATUS_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  VIDEO_STREAM_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  VIDEO_STREAM_ENCODING — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  CAMERA_TRACKING_STATUS_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  CAMERA_TRACKING_MODE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  CAMERA_TRACKING_TARGET_DATA — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  CAMERA_ZOOM_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  SET_FOCUS_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  CAMERA_SOURCE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  PARAM_ACK — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  CAMERA_MODE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_ARM_AUTH_DENIED_REASON — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  RC_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  POSITION_TARGET_TYPEMASK — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  ATTITUDE_TARGET_TYPEMASK — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  UTM_FLIGHT_STATE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  UTM_DATA_AVAIL_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  CELLULAR_STATUS_FLAG — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  CELLULAR_NETWORK_FAILED_REASON — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  CELLULAR_NETWORK_RADIO_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  PRECISION_LAND_MODE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  PARACHUTE_ACTION — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_TUNNEL_PAYLOAD_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_ODID_ID_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_ODID_UA_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_ODID_STATUS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_ODID_HEIGHT_REF — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_ODID_HOR_ACC — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_ODID_VER_ACC — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_ODID_SPEED_ACC — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_ODID_TIME_ACC — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_ODID_AUTH_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_ODID_DESC_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_ODID_OPERATOR_LOCATION_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_ODID_CLASSIFICATION_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_ODID_CATEGORY_EU — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_ODID_CLASS_EU — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_ODID_OPERATOR_ID_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_ODID_ARM_STATUS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  TUNE_FORMAT — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  AIS_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  AIS_NAV_STATUS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  AIS_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  FAILURE_UNIT — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  FAILURE_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_WINCH_STATUS_FLAG — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAG_CAL_STATUS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_EVENT_ERROR_REASON — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_EVENT_CURRENT_SEQUENCE_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  HIL_SENSOR_UPDATED_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  HIGHRES_IMU_UPDATED_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  CAN_FILTER_OP — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_FTP_ERR — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_FTP_OPCODE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MISSION_STATE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  SAFETY_SWITCH_STATE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  ILLUMINATOR_MODE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  ILLUMINATOR_ERROR_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_AUTOPILOT — [from: minimal]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_TYPE — [from: minimal]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_MODE_FLAG — [from: minimal]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_MODE_FLAG_DECODE_POSITION — [from: minimal]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_STATE — [from: minimal]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_COMPONENT — [from: minimal]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Commands (MAV_CMD)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_NAV_WAYPOINT (16) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_NAV_LOITER_UNLIM (17) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_NAV_LOITER_TURNS (18) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_NAV_LOITER_TIME (19) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_NAV_RETURN_TO_LAUNCH (20) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_NAV_LAND (21) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_NAV_TAKEOFF (22) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_NAV_LAND_LOCAL (23) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_NAV_TAKEOFF_LOCAL (24) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_NAV_FOLLOW (25) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_NAV_CONTINUE_AND_CHANGE_ALT (30) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_NAV_LOITER_TO_ALT (31) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_DO_FOLLOW (32) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_DO_FOLLOW_REPOSITION (33) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_DO_ORBIT (34) — [from: common] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_NAV_ROI (80) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_NAV_PATHPLANNING (81) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_NAV_SPLINE_WAYPOINT (82) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_NAV_VTOL_TAKEOFF (84) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_NAV_VTOL_LAND (85) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_NAV_GUIDED_ENABLE (92) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_NAV_DELAY (93) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_NAV_PAYLOAD_PLACE (94) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_NAV_LAST (95) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_CONDITION_DELAY (112) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_CONDITION_CHANGE_ALT (113) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_CONDITION_DISTANCE (114) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_CONDITION_YAW (115) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_CONDITION_LAST (159) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_DO_SET_MODE (176) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_DO_JUMP (177) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_DO_CHANGE_SPEED (178) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_DO_SET_HOME (179) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_DO_SET_PARAMETER (180) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_DO_SET_RELAY (181) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_DO_REPEAT_RELAY (182) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_DO_SET_SERVO (183) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_DO_REPEAT_SERVO (184) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_DO_FLIGHTTERMINATION (185) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_DO_CHANGE_ALTITUDE (186) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_DO_SET_ACTUATOR (187) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_DO_RETURN_PATH_START (188) — [from: common] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_DO_LAND_START (189) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_DO_RALLY_LAND (190) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_DO_GO_AROUND (191) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_DO_REPOSITION (192) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_DO_PAUSE_CONTINUE (193) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_DO_SET_REVERSE (194) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_DO_SET_ROI_LOCATION (195) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_DO_SET_ROI_WPNEXT_OFFSET (196) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_DO_SET_ROI_NONE (197) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_DO_SET_ROI_SYSID (198) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_DO_CONTROL_VIDEO (200) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_DO_SET_ROI (201) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_DO_DIGICAM_CONFIGURE (202) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_DO_DIGICAM_CONTROL (203) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_DO_MOUNT_CONFIGURE (204) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_DO_MOUNT_CONTROL (205) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_DO_SET_CAM_TRIGG_DIST (206) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_DO_FENCE_ENABLE (207) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_DO_PARACHUTE (208) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_DO_MOTOR_TEST (209) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_DO_INVERTED_FLIGHT (210) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_DO_GRIPPER (211) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_DO_AUTOTUNE_ENABLE (212) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_NAV_SET_YAW_SPEED (213) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_DO_SET_CAM_TRIGG_INTERVAL (214) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_DO_MOUNT_CONTROL_QUAT (220) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_DO_GUIDED_MASTER (221) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_DO_GUIDED_LIMITS (222) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_DO_ENGINE_CONTROL (223) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_DO_SET_MISSION_CURRENT (224) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_DO_LAST (240) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_PREFLIGHT_CALIBRATION (241) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_PREFLIGHT_SET_SENSOR_OFFSETS (242) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_PREFLIGHT_UAVCAN (243) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_PREFLIGHT_STORAGE (245) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN (246) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_OVERRIDE_GOTO (252) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_OBLIQUE_SURVEY (260) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_MISSION_START (300) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_ACTUATOR_TEST (310) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_CONFIGURE_ACTUATOR (311) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_COMPONENT_ARM_DISARM (400) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_RUN_PREARM_CHECKS (401) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_ILLUMINATOR_ON_OFF (405) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_DO_ILLUMINATOR_CONFIGURE (406) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_GET_HOME_POSITION (410) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_INJECT_FAILURE (420) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_START_RX_PAIR (500) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_GET_MESSAGE_INTERVAL (510) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_SET_MESSAGE_INTERVAL (511) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_REQUEST_MESSAGE (512) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_REQUEST_PROTOCOL_VERSION (519) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_REQUEST_AUTOPILOT_CAPABILITIES (520) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_REQUEST_CAMERA_INFORMATION (521) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_REQUEST_CAMERA_SETTINGS (522) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_REQUEST_STORAGE_INFORMATION (525) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_STORAGE_FORMAT (526) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_REQUEST_CAMERA_CAPTURE_STATUS (527) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_REQUEST_FLIGHT_INFORMATION (528) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_RESET_CAMERA_SETTINGS (529) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_SET_CAMERA_MODE (530) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_SET_CAMERA_ZOOM (531) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_SET_CAMERA_FOCUS (532) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_SET_STORAGE_USAGE (533) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_SET_CAMERA_SOURCE (534) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_JUMP_TAG (600) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_DO_JUMP_TAG (601) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_DO_GIMBAL_MANAGER_PITCHYAW (1000) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_DO_GIMBAL_MANAGER_CONFIGURE (1001) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_IMAGE_START_CAPTURE (2000) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_IMAGE_STOP_CAPTURE (2001) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_REQUEST_CAMERA_IMAGE_CAPTURE (2002) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_DO_TRIGGER_CONTROL (2003) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_CAMERA_TRACK_POINT (2004) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_CAMERA_TRACK_RECTANGLE (2005) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_CAMERA_STOP_TRACKING (2010) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_VIDEO_START_CAPTURE (2500) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_VIDEO_STOP_CAPTURE (2501) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_VIDEO_START_STREAMING (2502) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_VIDEO_STOP_STREAMING (2503) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_REQUEST_VIDEO_STREAM_INFORMATION (2504) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_REQUEST_VIDEO_STREAM_STATUS (2505) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_LOGGING_START (2510) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_LOGGING_STOP (2511) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_AIRFRAME_CONFIGURATION (2520) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_CONTROL_HIGH_LATENCY (2600) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_PANORAMA_CREATE (2800) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_DO_VTOL_TRANSITION (3000) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_ARM_AUTHORIZATION_REQUEST (3001) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_SET_GUIDED_SUBMODE_STANDARD (4000) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_SET_GUIDED_SUBMODE_CIRCLE (4001) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_CONDITION_GATE (4501) — [from: common] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_NAV_FENCE_RETURN_POINT (5000) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_NAV_FENCE_POLYGON_VERTEX_INCLUSION (5001) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_NAV_FENCE_POLYGON_VERTEX_EXCLUSION (5002) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_NAV_FENCE_CIRCLE_INCLUSION (5003) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_NAV_FENCE_CIRCLE_EXCLUSION (5004) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_NAV_RALLY_POINT (5100) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_UAVCAN_GET_NODE_INFO (5200) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_DO_SET_SAFETY_SWITCH_STATE (5300) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_DO_ADSB_OUT_IDENT (10001) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_PAYLOAD_PREPARE_DEPLOY (30001) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_PAYLOAD_CONTROL_DEPLOY (30002) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_WAYPOINT_USER_1 (31000) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_WAYPOINT_USER_2 (31001) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_WAYPOINT_USER_3 (31002) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_WAYPOINT_USER_4 (31003) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_WAYPOINT_USER_5 (31004) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_SPATIAL_USER_1 (31005) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_SPATIAL_USER_2 (31006) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_SPATIAL_USER_3 (31007) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_SPATIAL_USER_4 (31008) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_SPATIAL_USER_5 (31009) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_USER_1 (31010) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_USER_2 (31011) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_USER_3 (31012) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_USER_4 (31013) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_USER_5 (31014) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_CAN_FORWARD (32000) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_FIXED_MAG_CAL_YAW (42006) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_DO_WINCH (42600) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_EXTERNAL_POSITION_ESTIMATE (43003) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  results matching ""

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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    \ No newline at end of file +paparazzi.xml · MAVLink Developer Guide
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Dialect: paparazzi

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    This topic documents the version of the dialect file in the mavlink/mavlink Github repository, which may not be up to date with the file in the source repository (it is up to the dialect owner to push changes when needed). The source repo should be listed in the comments at the top of the XML definition file listed below (but may not be).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    This is a human-readable form of the XML definition file: paparazzi.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAVLink 2 extension fields that have been added to MAVLink 1 messages are displayed in blue. - Entities from dialects are displayed only as headings (with link to original)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Protocol version: 3

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Summary

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    TypeDefinedIncluded
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Messages5224
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Enums0143
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Commands1640

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    The following sections list all entities in the dialect (both included and defined in this file).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Messages

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    SCRIPT_ITEM (180)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Message encoding a mission script item. This message is emitted upon a request for the next script item.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    target_systemuint8_tSystem ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    target_componentuint8_tComponent ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    sequint16_tSequence
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    namechar[50]The name of the mission script, NULL terminated.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    SCRIPT_REQUEST (181)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Request script item with the sequence number seq. The response of the system to this message should be a SCRIPT_ITEM message.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    target_systemuint8_tSystem ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    target_componentuint8_tComponent ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    sequint16_tSequence

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    SCRIPT_REQUEST_LIST (182)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Request the overall list of mission items from the system/component.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    target_systemuint8_tSystem ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    target_componentuint8_tComponent ID

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    SCRIPT_COUNT (183)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    This message is emitted as response to SCRIPT_REQUEST_LIST by the MAV to get the number of mission scripts.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    target_systemuint8_tSystem ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    target_componentuint8_tComponent ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    countuint16_tNumber of script items in the sequence

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    SCRIPT_CURRENT (184)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    This message informs about the currently active SCRIPT.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    sequint16_tActive Sequence

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Enumerated Types

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Commands (MAV_CMD)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    results matching ""

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      No results matching ""

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      \ No newline at end of file diff --git a/ko/messages/python_array_test.html b/ko/messages/python_array_test.html index 164f632c0..57c9e87a9 100644 --- a/ko/messages/python_array_test.html +++ b/ko/messages/python_array_test.html @@ -1 +1 @@ -python_array_test.xml · MAVLink Developer Guide
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Messages
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      FAQ
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Dialect: python_array_test

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      This topic documents the version of the dialect file in the mavlink/mavlink Github repository, which may not be up to date with the file in the source repository (it is up to the dialect owner to push changes when needed). The source repo should be listed in the comments at the top of the XML definition file listed below (but may not be).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      This is a human-readable form of the XML definition file: python_array_test.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAVLink 2 extension fields that have been added to MAVLink 1 messages are displayed in blue. - Entities from dialects are displayed only as headings (with link to original)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Summary

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      TypeDefinedIncluded
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Messages8224
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Enums0142
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Commands1640

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      The following sections list all entities in the dialect (both included and defined in this file).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Messages

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      HEARTBEAT (0) — [from: minimal]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      SYS_STATUS (1) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      SYSTEM_TIME (2) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      PING (4) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      CHANGE_OPERATOR_CONTROL (5) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      CHANGE_OPERATOR_CONTROL_ACK (6) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      AUTH_KEY (7) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      SET_MODE (11) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      PARAM_REQUEST_READ (20) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      PARAM_REQUEST_LIST (21) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      PARAM_VALUE (22) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      PARAM_SET (23) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      GPS_RAW_INT (24) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      GPS_STATUS (25) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      SCALED_IMU (26) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      RAW_IMU (27) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      RAW_PRESSURE (28) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      SCALED_PRESSURE (29) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ATTITUDE (30) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ATTITUDE_QUATERNION (31) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      LOCAL_POSITION_NED (32) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      GLOBAL_POSITION_INT (33) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      RC_CHANNELS_SCALED (34) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      RC_CHANNELS_RAW (35) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      SERVO_OUTPUT_RAW (36) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MISSION_REQUEST_PARTIAL_LIST (37) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MISSION_WRITE_PARTIAL_LIST (38) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MISSION_ITEM (39) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MISSION_REQUEST (40) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MISSION_SET_CURRENT (41) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MISSION_CURRENT (42) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MISSION_REQUEST_LIST (43) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MISSION_COUNT (44) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MISSION_CLEAR_ALL (45) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MISSION_ITEM_REACHED (46) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MISSION_ACK (47) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      SET_GPS_GLOBAL_ORIGIN (48) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      GPS_GLOBAL_ORIGIN (49) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      PARAM_MAP_RC (50) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MISSION_REQUEST_INT (51) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      SAFETY_SET_ALLOWED_AREA (54) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      SAFETY_ALLOWED_AREA (55) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ATTITUDE_QUATERNION_COV (61) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      GLOBAL_POSITION_INT_COV (63) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      LOCAL_POSITION_NED_COV (64) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      RC_CHANNELS (65) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      REQUEST_DATA_STREAM (66) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      DATA_STREAM (67) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MANUAL_CONTROL (69) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      RC_CHANNELS_OVERRIDE (70) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MISSION_ITEM_INT (73) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      VFR_HUD (74) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      COMMAND_INT (75) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      COMMAND_LONG (76) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      COMMAND_ACK (77) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      COMMAND_CANCEL (80) — [from: common] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MANUAL_SETPOINT (81) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      SET_ATTITUDE_TARGET (82) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ATTITUDE_TARGET (83) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      SET_POSITION_TARGET_LOCAL_NED (84) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      POSITION_TARGET_LOCAL_NED (85) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      SET_POSITION_TARGET_GLOBAL_INT (86) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      POSITION_TARGET_GLOBAL_INT (87) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      LOCAL_POSITION_NED_SYSTEM_GLOBAL_OFFSET (89) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      HIL_STATE (90) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      HIL_CONTROLS (91) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      HIL_RC_INPUTS_RAW (92) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      HIL_ACTUATOR_CONTROLS (93) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      OPTICAL_FLOW (100) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      GLOBAL_VISION_POSITION_ESTIMATE (101) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      VISION_POSITION_ESTIMATE (102) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      VISION_SPEED_ESTIMATE (103) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      VICON_POSITION_ESTIMATE (104) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      HIGHRES_IMU (105) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      OPTICAL_FLOW_RAD (106) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      HIL_SENSOR (107) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      SIM_STATE (108) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      RADIO_STATUS (109) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      FILE_TRANSFER_PROTOCOL (110) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      TIMESYNC (111) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      CAMERA_TRIGGER (112) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      HIL_GPS (113) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      HIL_OPTICAL_FLOW (114) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      HIL_STATE_QUATERNION (115) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      SCALED_IMU2 (116) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      LOG_REQUEST_LIST (117) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      LOG_ENTRY (118) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      LOG_REQUEST_DATA (119) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      LOG_DATA (120) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      LOG_ERASE (121) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      LOG_REQUEST_END (122) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      GPS_INJECT_DATA (123) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      GPS2_RAW (124) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      POWER_STATUS (125) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      SERIAL_CONTROL (126) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      GPS_RTK (127) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      GPS2_RTK (128) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      SCALED_IMU3 (129) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      DATA_TRANSMISSION_HANDSHAKE (130) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ENCAPSULATED_DATA (131) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      DISTANCE_SENSOR (132) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      TERRAIN_REQUEST (133) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      TERRAIN_DATA (134) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      TERRAIN_CHECK (135) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      TERRAIN_REPORT (136) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      SCALED_PRESSURE2 (137) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ATT_POS_MOCAP (138) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      SET_ACTUATOR_CONTROL_TARGET (139) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ACTUATOR_CONTROL_TARGET (140) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ALTITUDE (141) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      RESOURCE_REQUEST (142) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      SCALED_PRESSURE3 (143) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      FOLLOW_TARGET (144) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      CONTROL_SYSTEM_STATE (146) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      BATTERY_STATUS (147) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      AUTOPILOT_VERSION (148) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      LANDING_TARGET (149) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      FENCE_STATUS (162) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAG_CAL_REPORT (192) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      EFI_STATUS (225) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ESTIMATOR_STATUS (230) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      WIND_COV (231) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      GPS_INPUT (232) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      GPS_RTCM_DATA (233) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      HIGH_LATENCY (234) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      HIGH_LATENCY2 (235) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      VIBRATION (241) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      HOME_POSITION (242) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      SET_HOME_POSITION (243) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MESSAGE_INTERVAL (244) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      EXTENDED_SYS_STATE (245) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ADSB_VEHICLE (246) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      COLLISION (247) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      V2_EXTENSION (248) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MEMORY_VECT (249) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      DEBUG_VECT (250) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      NAMED_VALUE_FLOAT (251) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      NAMED_VALUE_INT (252) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      STATUSTEXT (253) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      DEBUG (254) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      SETUP_SIGNING (256) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      BUTTON_CHANGE (257) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      PLAY_TUNE (258) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      CAMERA_INFORMATION (259) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      CAMERA_SETTINGS (260) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      STORAGE_INFORMATION (261) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      CAMERA_CAPTURE_STATUS (262) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      CAMERA_IMAGE_CAPTURED (263) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      FLIGHT_INFORMATION (264) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MOUNT_ORIENTATION (265) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      LOGGING_DATA (266) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      LOGGING_DATA_ACKED (267) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      LOGGING_ACK (268) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      VIDEO_STREAM_INFORMATION (269) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      VIDEO_STREAM_STATUS (270) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      CAMERA_FOV_STATUS (271) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      CAMERA_TRACKING_IMAGE_STATUS (275) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      CAMERA_TRACKING_GEO_STATUS (276) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      CAMERA_THERMAL_RANGE (277) — [from: common] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      GIMBAL_MANAGER_INFORMATION (280) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      GIMBAL_MANAGER_STATUS (281) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      GIMBAL_MANAGER_SET_ATTITUDE (282) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      GIMBAL_DEVICE_INFORMATION (283) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      GIMBAL_DEVICE_SET_ATTITUDE (284) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      GIMBAL_DEVICE_ATTITUDE_STATUS (285) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      AUTOPILOT_STATE_FOR_GIMBAL_DEVICE (286) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      GIMBAL_MANAGER_SET_PITCHYAW (287) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      GIMBAL_MANAGER_SET_MANUAL_CONTROL (288) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ESC_INFO (290) — [from: common] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ESC_STATUS (291) — [from: common] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      WIFI_CONFIG_AP (299) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      PROTOCOL_VERSION (300) — [from: minimal] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      AIS_VESSEL (301) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      UAVCAN_NODE_STATUS (310) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      UAVCAN_NODE_INFO (311) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      PARAM_EXT_REQUEST_READ (320) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      PARAM_EXT_REQUEST_LIST (321) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      PARAM_EXT_VALUE (322) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      PARAM_EXT_SET (323) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      PARAM_EXT_ACK (324) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      OBSTACLE_DISTANCE (330) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ODOMETRY (331) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      TRAJECTORY_REPRESENTATION_WAYPOINTS (332) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      TRAJECTORY_REPRESENTATION_BEZIER (333) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      CELLULAR_STATUS (334) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      CELLULAR_CONFIG (336) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      RAW_RPM (339) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      UTM_GLOBAL_POSITION (340) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      DEBUG_FLOAT_ARRAY (350) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ORBIT_EXECUTION_STATUS (360) — [from: common] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      BATTERY_INFO (370) — [from: common] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      GENERATOR_STATUS (373) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ACTUATOR_OUTPUT_STATUS (375) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      TIME_ESTIMATE_TO_TARGET (380) — [from: common] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      TUNNEL (385) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      CAN_FRAME (386) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      CANFD_FRAME (387) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      CAN_FILTER_MODIFY (388) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ONBOARD_COMPUTER_STATUS (390) — [from: common] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      COMPONENT_INFORMATION (395) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      COMPONENT_INFORMATION_BASIC (396) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      COMPONENT_METADATA (397) — [from: common] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      PLAY_TUNE_V2 (400) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      SUPPORTED_TUNES (401) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      EVENT (410) — [from: common] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      CURRENT_EVENT_SEQUENCE (411) — [from: common] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      REQUEST_EVENT (412) — [from: common] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      RESPONSE_EVENT_ERROR (413) — [from: common] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ILLUMINATOR_STATUS (440) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      WHEEL_DISTANCE (9000) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      WINCH_STATUS (9005) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      OPEN_DRONE_ID_BASIC_ID (12900) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      OPEN_DRONE_ID_LOCATION (12901) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      OPEN_DRONE_ID_AUTHENTICATION (12902) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      OPEN_DRONE_ID_SELF_ID (12903) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      OPEN_DRONE_ID_SYSTEM (12904) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      OPEN_DRONE_ID_OPERATOR_ID (12905) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      OPEN_DRONE_ID_MESSAGE_PACK (12915) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      OPEN_DRONE_ID_ARM_STATUS (12918) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      OPEN_DRONE_ID_SYSTEM_UPDATE (12919) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      HYGROMETER_SENSOR (12920) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ARRAY_TEST_0 (17150)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Array test #0.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      v1uint8_tStub field
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ar_i8int8_t[4]Value array
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ar_u8uint8_t[4]Value array
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ar_u16uint16_t[4]Value array
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ar_u32uint32_t[4]Value array

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ARRAY_TEST_1 (17151)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Array test #1.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ar_u32uint32_t[4]Value array

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ARRAY_TEST_3 (17153)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Array test #3.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      vuint8_tStub field
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ar_u32uint32_t[4]Value array

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ARRAY_TEST_4 (17154)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Array test #4.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ar_u32uint32_t[4]Value array
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      vuint8_tStub field

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ARRAY_TEST_5 (17155)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Array test #5.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      c1char[5]Value array
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      c2char[5]Value array

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ARRAY_TEST_6 (17156)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Array test #6.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      v1uint8_tStub field
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      v2uint16_tStub field
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      v3uint32_tStub field
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ar_u32uint32_t[2]Value array
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ar_i32int32_t[2]Value array
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ar_u16uint16_t[2]Value array
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ar_i16int16_t[2]Value array
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ar_u8uint8_t[2]Value array
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ar_i8int8_t[2]Value array
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ar_cchar[32]Value array
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ar_ddouble[2]Value array
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ar_ffloat[2]Value array

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ARRAY_TEST_7 (17157)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Array test #7.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ar_ddouble[2]Value array
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ar_ffloat[2]Value array
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ar_u32uint32_t[2]Value array
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ar_i32int32_t[2]Value array
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ar_u16uint16_t[2]Value array
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ar_i16int16_t[2]Value array
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ar_u8uint8_t[2]Value array
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ar_i8int8_t[2]Value array
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ar_cchar[32]Value array

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ARRAY_TEST_8 (17158)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Array test #8.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      v3uint32_tStub field
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ar_ddouble[2]Value array
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ar_u16uint16_t[2]Value array

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Enumerated Types

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      FIRMWARE_VERSION_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      HL_FAILURE_FLAG — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_GOTO — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_MODE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_SYS_STATUS_SENSOR — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_SYS_STATUS_SENSOR_EXTENDED — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_FRAME — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      FENCE_ACTION — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      FENCE_BREACH — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      FENCE_MITIGATE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      FENCE_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_MOUNT_MODE — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      GIMBAL_DEVICE_CAP_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      GIMBAL_MANAGER_CAP_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      GIMBAL_DEVICE_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      GIMBAL_MANAGER_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      GIMBAL_DEVICE_ERROR_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      GRIPPER_ACTIONS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      WINCH_ACTIONS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      UAVCAN_NODE_HEALTH — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      UAVCAN_NODE_MODE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ESC_CONNECTION_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ESC_FAILURE_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      STORAGE_STATUS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      STORAGE_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      STORAGE_USAGE_FLAG — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ORBIT_YAW_BEHAVIOUR — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      WIFI_CONFIG_AP_RESPONSE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      CELLULAR_CONFIG_RESPONSE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      WIFI_CONFIG_AP_MODE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      COMP_METADATA_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ACTUATOR_CONFIGURATION — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ACTUATOR_OUTPUT_FUNCTION — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      AUTOTUNE_AXIS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      PREFLIGHT_STORAGE_PARAMETER_ACTION — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      PREFLIGHT_STORAGE_MISSION_ACTION — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_DATA_STREAM — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_ROI — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_PARAM_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_PARAM_EXT_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_RESULT — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_MISSION_RESULT — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_SEVERITY — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_POWER_STATUS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      SERIAL_CONTROL_DEV — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      SERIAL_CONTROL_FLAG — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_DISTANCE_SENSOR — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_SENSOR_ORIENTATION — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_PROTOCOL_CAPABILITY — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_MISSION_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_ESTIMATOR_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_BATTERY_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_BATTERY_FUNCTION — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_BATTERY_CHARGE_STATE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_BATTERY_MODE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_BATTERY_FAULT — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_GENERATOR_STATUS_FLAG — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_VTOL_STATE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_LANDED_STATE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ADSB_ALTITUDE_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ADSB_EMITTER_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ADSB_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_DO_REPOSITION_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      SPEED_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ESTIMATOR_STATUS_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MOTOR_TEST_ORDER — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MOTOR_TEST_THROTTLE_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      GPS_INPUT_IGNORE_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_COLLISION_ACTION — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_COLLISION_THREAT_LEVEL — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_COLLISION_SRC — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      GPS_FIX_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      RTK_BASELINE_COORDINATE_SYSTEM — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      LANDING_TARGET_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      VTOL_TRANSITION_HEADING — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      CAMERA_CAP_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      VIDEO_STREAM_STATUS_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      VIDEO_STREAM_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      VIDEO_STREAM_ENCODING — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      CAMERA_TRACKING_STATUS_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      CAMERA_TRACKING_MODE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      CAMERA_TRACKING_TARGET_DATA — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      CAMERA_ZOOM_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      SET_FOCUS_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      CAMERA_SOURCE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      PARAM_ACK — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      CAMERA_MODE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_ARM_AUTH_DENIED_REASON — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      RC_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      POSITION_TARGET_TYPEMASK — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ATTITUDE_TARGET_TYPEMASK — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      UTM_FLIGHT_STATE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      UTM_DATA_AVAIL_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      CELLULAR_STATUS_FLAG — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      CELLULAR_NETWORK_FAILED_REASON — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      CELLULAR_NETWORK_RADIO_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      PRECISION_LAND_MODE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      PARACHUTE_ACTION — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_TUNNEL_PAYLOAD_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_ODID_ID_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_ODID_UA_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_ODID_STATUS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_ODID_HEIGHT_REF — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_ODID_HOR_ACC — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_ODID_VER_ACC — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_ODID_SPEED_ACC — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_ODID_TIME_ACC — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_ODID_AUTH_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_ODID_DESC_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_ODID_OPERATOR_LOCATION_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_ODID_CLASSIFICATION_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_ODID_CATEGORY_EU — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_ODID_CLASS_EU — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_ODID_OPERATOR_ID_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_ODID_ARM_STATUS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      TUNE_FORMAT — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      AIS_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      AIS_NAV_STATUS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      AIS_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      FAILURE_UNIT — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      FAILURE_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_WINCH_STATUS_FLAG — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAG_CAL_STATUS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_EVENT_ERROR_REASON — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_EVENT_CURRENT_SEQUENCE_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      HIL_SENSOR_UPDATED_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      HIGHRES_IMU_UPDATED_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      CAN_FILTER_OP — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_FTP_ERR — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_FTP_OPCODE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MISSION_STATE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      SAFETY_SWITCH_STATE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ILLUMINATOR_MODE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ILLUMINATOR_ERROR_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_AUTOPILOT — [from: minimal]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_TYPE — [from: minimal]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_MODE_FLAG — [from: minimal]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_MODE_FLAG_DECODE_POSITION — [from: minimal]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_STATE — [from: minimal]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_COMPONENT — [from: minimal]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Commands (MAV_CMD)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_NAV_WAYPOINT (16) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_NAV_LOITER_UNLIM (17) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_NAV_LOITER_TURNS (18) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_NAV_LOITER_TIME (19) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_NAV_RETURN_TO_LAUNCH (20) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_NAV_LAND (21) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_NAV_TAKEOFF (22) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_NAV_LAND_LOCAL (23) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_NAV_TAKEOFF_LOCAL (24) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_NAV_FOLLOW (25) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_NAV_CONTINUE_AND_CHANGE_ALT (30) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_NAV_LOITER_TO_ALT (31) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_DO_FOLLOW (32) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_DO_FOLLOW_REPOSITION (33) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_DO_ORBIT (34) — [from: common] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_NAV_ROI (80) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_NAV_PATHPLANNING (81) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_NAV_SPLINE_WAYPOINT (82) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_NAV_VTOL_TAKEOFF (84) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_NAV_VTOL_LAND (85) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_NAV_GUIDED_ENABLE (92) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_NAV_DELAY (93) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_NAV_PAYLOAD_PLACE (94) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_NAV_LAST (95) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_CONDITION_DELAY (112) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_CONDITION_CHANGE_ALT (113) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_CONDITION_DISTANCE (114) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_CONDITION_YAW (115) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_CONDITION_LAST (159) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_DO_SET_MODE (176) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_DO_JUMP (177) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_DO_CHANGE_SPEED (178) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_DO_SET_HOME (179) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_DO_SET_PARAMETER (180) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_DO_SET_RELAY (181) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_DO_REPEAT_RELAY (182) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_DO_SET_SERVO (183) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_DO_REPEAT_SERVO (184) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_DO_FLIGHTTERMINATION (185) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_DO_CHANGE_ALTITUDE (186) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_DO_SET_ACTUATOR (187) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_DO_RETURN_PATH_START (188) — [from: common] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_DO_LAND_START (189) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_DO_RALLY_LAND (190) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_DO_GO_AROUND (191) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_DO_REPOSITION (192) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_DO_PAUSE_CONTINUE (193) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_DO_SET_REVERSE (194) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_DO_SET_ROI_LOCATION (195) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_DO_SET_ROI_WPNEXT_OFFSET (196) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_DO_SET_ROI_NONE (197) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_DO_SET_ROI_SYSID (198) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_DO_CONTROL_VIDEO (200) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_DO_SET_ROI (201) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_DO_DIGICAM_CONFIGURE (202) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_DO_DIGICAM_CONTROL (203) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_DO_MOUNT_CONFIGURE (204) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_DO_MOUNT_CONTROL (205) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_DO_SET_CAM_TRIGG_DIST (206) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_DO_FENCE_ENABLE (207) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_DO_PARACHUTE (208) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_DO_MOTOR_TEST (209) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_DO_INVERTED_FLIGHT (210) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_DO_GRIPPER (211) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_DO_AUTOTUNE_ENABLE (212) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_NAV_SET_YAW_SPEED (213) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_DO_SET_CAM_TRIGG_INTERVAL (214) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_DO_MOUNT_CONTROL_QUAT (220) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_DO_GUIDED_MASTER (221) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_DO_GUIDED_LIMITS (222) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_DO_ENGINE_CONTROL (223) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_DO_SET_MISSION_CURRENT (224) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_DO_LAST (240) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_PREFLIGHT_CALIBRATION (241) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_PREFLIGHT_SET_SENSOR_OFFSETS (242) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_PREFLIGHT_UAVCAN (243) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_PREFLIGHT_STORAGE (245) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN (246) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_OVERRIDE_GOTO (252) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_OBLIQUE_SURVEY (260) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_MISSION_START (300) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_ACTUATOR_TEST (310) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_CONFIGURE_ACTUATOR (311) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_COMPONENT_ARM_DISARM (400) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_RUN_PREARM_CHECKS (401) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_ILLUMINATOR_ON_OFF (405) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_DO_ILLUMINATOR_CONFIGURE (406) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_GET_HOME_POSITION (410) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_INJECT_FAILURE (420) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_START_RX_PAIR (500) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_GET_MESSAGE_INTERVAL (510) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_SET_MESSAGE_INTERVAL (511) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_REQUEST_MESSAGE (512) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_REQUEST_PROTOCOL_VERSION (519) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_REQUEST_AUTOPILOT_CAPABILITIES (520) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_REQUEST_CAMERA_INFORMATION (521) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_REQUEST_CAMERA_SETTINGS (522) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_REQUEST_STORAGE_INFORMATION (525) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_STORAGE_FORMAT (526) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_REQUEST_CAMERA_CAPTURE_STATUS (527) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_REQUEST_FLIGHT_INFORMATION (528) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_RESET_CAMERA_SETTINGS (529) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_SET_CAMERA_MODE (530) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_SET_CAMERA_ZOOM (531) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_SET_CAMERA_FOCUS (532) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_SET_STORAGE_USAGE (533) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_SET_CAMERA_SOURCE (534) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_JUMP_TAG (600) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_DO_JUMP_TAG (601) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_DO_GIMBAL_MANAGER_PITCHYAW (1000) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_DO_GIMBAL_MANAGER_CONFIGURE (1001) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_IMAGE_START_CAPTURE (2000) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_IMAGE_STOP_CAPTURE (2001) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_REQUEST_CAMERA_IMAGE_CAPTURE (2002) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_DO_TRIGGER_CONTROL (2003) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_CAMERA_TRACK_POINT (2004) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_CAMERA_TRACK_RECTANGLE (2005) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_CAMERA_STOP_TRACKING (2010) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_VIDEO_START_CAPTURE (2500) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_VIDEO_STOP_CAPTURE (2501) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_VIDEO_START_STREAMING (2502) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_VIDEO_STOP_STREAMING (2503) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_REQUEST_VIDEO_STREAM_INFORMATION (2504) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_REQUEST_VIDEO_STREAM_STATUS (2505) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_LOGGING_START (2510) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_LOGGING_STOP (2511) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_AIRFRAME_CONFIGURATION (2520) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_CONTROL_HIGH_LATENCY (2600) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_PANORAMA_CREATE (2800) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_DO_VTOL_TRANSITION (3000) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_ARM_AUTHORIZATION_REQUEST (3001) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_SET_GUIDED_SUBMODE_STANDARD (4000) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_SET_GUIDED_SUBMODE_CIRCLE (4001) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_CONDITION_GATE (4501) — [from: common] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_NAV_FENCE_RETURN_POINT (5000) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_NAV_FENCE_POLYGON_VERTEX_INCLUSION (5001) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_NAV_FENCE_POLYGON_VERTEX_EXCLUSION (5002) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_NAV_FENCE_CIRCLE_INCLUSION (5003) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_NAV_FENCE_CIRCLE_EXCLUSION (5004) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_NAV_RALLY_POINT (5100) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_UAVCAN_GET_NODE_INFO (5200) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_DO_SET_SAFETY_SWITCH_STATE (5300) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_DO_ADSB_OUT_IDENT (10001) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_PAYLOAD_PREPARE_DEPLOY (30001) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_PAYLOAD_CONTROL_DEPLOY (30002) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_WAYPOINT_USER_1 (31000) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_WAYPOINT_USER_2 (31001) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_WAYPOINT_USER_3 (31002) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_WAYPOINT_USER_4 (31003) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_WAYPOINT_USER_5 (31004) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_SPATIAL_USER_1 (31005) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_SPATIAL_USER_2 (31006) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_SPATIAL_USER_3 (31007) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_SPATIAL_USER_4 (31008) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_SPATIAL_USER_5 (31009) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_USER_1 (31010) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_USER_2 (31011) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_USER_3 (31012) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_USER_4 (31013) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_USER_5 (31014) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_CAN_FORWARD (32000) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_FIXED_MAG_CAL_YAW (42006) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_DO_WINCH (42600) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_EXTERNAL_POSITION_ESTIMATE (43003) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      results matching ""

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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        \ No newline at end of file +python_array_test.xml · MAVLink Developer Guide
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Messages
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Messages
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Dialect: python_array_test

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        This topic documents the version of the dialect file in the mavlink/mavlink Github repository, which may not be up to date with the file in the source repository (it is up to the dialect owner to push changes when needed). The source repo should be listed in the comments at the top of the XML definition file listed below (but may not be).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        This is a human-readable form of the XML definition file: python_array_test.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAVLink 2 extension fields that have been added to MAVLink 1 messages are displayed in blue. - Entities from dialects are displayed only as headings (with link to original)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Summary

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        TypeDefinedIncluded
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Messages8224
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Enums0143
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Commands1640

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        The following sections list all entities in the dialect (both included and defined in this file).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Messages

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        ARRAY_TEST_0 (17150)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Array test #0.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        v1uint8_tStub field
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        ar_i8int8_t[4]Value array
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        ar_u8uint8_t[4]Value array
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        ar_u16uint16_t[4]Value array
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        ar_u32uint32_t[4]Value array

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        ARRAY_TEST_1 (17151)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Array test #1.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        ar_u32uint32_t[4]Value array

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        ARRAY_TEST_3 (17153)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Array test #3.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        vuint8_tStub field
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        ar_u32uint32_t[4]Value array

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        ARRAY_TEST_4 (17154)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Array test #4.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        ar_u32uint32_t[4]Value array
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        vuint8_tStub field

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        ARRAY_TEST_5 (17155)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Array test #5.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        c1char[5]Value array
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        c2char[5]Value array

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        ARRAY_TEST_6 (17156)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Array test #6.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        v1uint8_tStub field
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        v2uint16_tStub field
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        v3uint32_tStub field
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        ar_u32uint32_t[2]Value array
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        ar_i32int32_t[2]Value array
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        ar_u16uint16_t[2]Value array
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        ar_i16int16_t[2]Value array
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        ar_u8uint8_t[2]Value array
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        ar_i8int8_t[2]Value array
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        ar_cchar[32]Value array
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        ar_ddouble[2]Value array
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        ar_ffloat[2]Value array

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        ARRAY_TEST_7 (17157)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Array test #7.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        ar_ddouble[2]Value array
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        ar_ffloat[2]Value array
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        ar_u32uint32_t[2]Value array
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        ar_i32int32_t[2]Value array
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        ar_u16uint16_t[2]Value array
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        ar_i16int16_t[2]Value array
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        ar_u8uint8_t[2]Value array
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        ar_i8int8_t[2]Value array
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        ar_cchar[32]Value array

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        ARRAY_TEST_8 (17158)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Array test #8.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        v3uint32_tStub field
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        ar_ddouble[2]Value array
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        ar_u16uint16_t[2]Value array

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Enumerated Types

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Commands (MAV_CMD)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        results matching ""

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          No results matching ""

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          \ No newline at end of file diff --git a/ko/messages/standard.html b/ko/messages/standard.html index b8a0ca9d8..040c39369 100644 --- a/ko/messages/standard.html +++ b/ko/messages/standard.html @@ -1 +1 @@ -standard.xml · MAVLink Developer Guide
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Messages
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Messages
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          FAQ
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Dialect: MAVLINK Standard Message Set (standard.xml)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          The MAVLink standard message set contains standard definitions that are managed by the MAVLink project. The definitions are those that are expected to be implemented in all flight stacks/ground stations AND are likely to be implemented in a compatible way. This is a human-readable form of the XML definition file: standard.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAVLink 2 extension fields that have been added to MAVLink 1 messages are displayed in blue. - Entities from dialects are displayed only as headings (with link to original)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Protocol dialect: 0

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Summary

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          TypeDefinedIncluded
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Messages02
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Enums06
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Commands00

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          The following sections list all entities in the dialect (both included and defined in this file).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Messages

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          HEARTBEAT (0) — [from: minimal]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          PROTOCOL_VERSION (300) — [from: minimal] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Enumerated Types

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_AUTOPILOT — [from: minimal]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_TYPE — [from: minimal]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_MODE_FLAG — [from: minimal]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_MODE_FLAG_DECODE_POSITION — [from: minimal]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_STATE — [from: minimal]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_COMPONENT — [from: minimal]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          results matching ""

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            No results matching ""

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            \ No newline at end of file +standard.xml · MAVLink Developer Guide
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Messages
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Messages
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            FAQ
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Implementations
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Implementations
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Examples
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Examples
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Support
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Dialect: MAVLINK Standard Message Set (standard.xml)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            The MAVLink standard message set contains standard definitions that are managed by the MAVLink project. The definitions are those that are expected to be implemented in all flight stacks/ground stations AND are likely to be implemented in a compatible way. This is a human-readable form of the XML definition file: standard.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAVLink 2 extension fields that have been added to MAVLink 1 messages are displayed in blue. - Entities from dialects are displayed only as headings (with link to original)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Protocol dialect: 0

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Summary

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            TypeDefinedIncluded
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Messages02
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Enums06
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Commands00

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            The following sections list all entities in the dialect (both included and defined in this file).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Messages

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Enumerated Types

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            results matching ""

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              No results matching ""

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              \ No newline at end of file diff --git a/ko/messages/storm32.md b/ko/messages/storm32.md index 0f32e19e5..800237d70 100644 --- a/ko/messages/storm32.md +++ b/ko/messages/storm32.md @@ -33,1647 +33,243 @@ span.warning { | Type | Defined | Included | | -------------------------- | ------- | -------- | | [Messages](#messages) | 8 | 305 | -| [Enums](#enumerated-types) | 8 | 202 | +| [Enums](#enumerated-types) | 8 | 203 | | [Commands](#mav_commands) | 198 | 0 | The following sections list all entities in the dialect (both included and defined in this file). ## Messages -### HEARTBEAT (0) — \[from: [minimal](../messages/minimal.md#HEARTBEAT)\] {#HEARTBEAT} - -### SYS_STATUS (1) — \[from: [common](../messages/common.md#SYS_STATUS)\] {#SYS_STATUS} - -### SYSTEM_TIME (2) — \[from: [common](../messages/common.md#SYSTEM_TIME)\] {#SYSTEM_TIME} - -### PING (4) — \[from: [common](../messages/common.md#PING)\] [DEP] {#PING} - -### CHANGE_OPERATOR_CONTROL (5) — \[from: [common](../messages/common.md#CHANGE_OPERATOR_CONTROL)\] {#CHANGE_OPERATOR_CONTROL} - -### CHANGE_OPERATOR_CONTROL_ACK (6) — \[from: [common](../messages/common.md#CHANGE_OPERATOR_CONTROL_ACK)\] {#CHANGE_OPERATOR_CONTROL_ACK} - -### AUTH_KEY (7) — \[from: [common](../messages/common.md#AUTH_KEY)\] {#AUTH_KEY} - -### LINK_NODE_STATUS (8) — \[from: [common](../messages/common.md#LINK_NODE_STATUS)\] [WIP] {#LINK_NODE_STATUS} - -### SET_MODE (11) — \[from: [common](../messages/common.md#SET_MODE)\] [DEP] {#SET_MODE} - -### PARAM_REQUEST_READ (20) — \[from: [common](../messages/common.md#PARAM_REQUEST_READ)\] {#PARAM_REQUEST_READ} - -### PARAM_REQUEST_LIST (21) — \[from: [common](../messages/common.md#PARAM_REQUEST_LIST)\] {#PARAM_REQUEST_LIST} - -### PARAM_VALUE (22) — \[from: [common](../messages/common.md#PARAM_VALUE)\] {#PARAM_VALUE} - -### PARAM_SET (23) — \[from: [common](../messages/common.md#PARAM_SET)\] {#PARAM_SET} - -### GPS_RAW_INT (24) — \[from: [common](../messages/common.md#GPS_RAW_INT)\] {#GPS_RAW_INT} - -### GPS_STATUS (25) — \[from: [common](../messages/common.md#GPS_STATUS)\] {#GPS_STATUS} - -### SCALED_IMU (26) — \[from: [common](../messages/common.md#SCALED_IMU)\] {#SCALED_IMU} - -### RAW_IMU (27) — \[from: [common](../messages/common.md#RAW_IMU)\] {#RAW_IMU} - -### RAW_PRESSURE (28) — \[from: [common](../messages/common.md#RAW_PRESSURE)\] {#RAW_PRESSURE} - -### SCALED_PRESSURE (29) — \[from: [common](../messages/common.md#SCALED_PRESSURE)\] {#SCALED_PRESSURE} - -### ATTITUDE (30) — \[from: [common](../messages/common.md#ATTITUDE)\] {#ATTITUDE} - -### ATTITUDE_QUATERNION (31) — \[from: [common](../messages/common.md#ATTITUDE_QUATERNION)\] {#ATTITUDE_QUATERNION} - -### LOCAL_POSITION_NED (32) — \[from: [common](../messages/common.md#LOCAL_POSITION_NED)\] {#LOCAL_POSITION_NED} - -### GLOBAL_POSITION_INT (33) — \[from: [common](../messages/common.md#GLOBAL_POSITION_INT)\] {#GLOBAL_POSITION_INT} - -### RC_CHANNELS_SCALED (34) — \[from: [common](../messages/common.md#RC_CHANNELS_SCALED)\] {#RC_CHANNELS_SCALED} - -### RC_CHANNELS_RAW (35) — \[from: [common](../messages/common.md#RC_CHANNELS_RAW)\] {#RC_CHANNELS_RAW} - -### SERVO_OUTPUT_RAW (36) — \[from: [common](../messages/common.md#SERVO_OUTPUT_RAW)\] {#SERVO_OUTPUT_RAW} - -### MISSION_REQUEST_PARTIAL_LIST (37) — \[from: [common](../messages/common.md#MISSION_REQUEST_PARTIAL_LIST)\] {#MISSION_REQUEST_PARTIAL_LIST} - -### MISSION_WRITE_PARTIAL_LIST (38) — \[from: [common](../messages/common.md#MISSION_WRITE_PARTIAL_LIST)\] {#MISSION_WRITE_PARTIAL_LIST} - -### MISSION_ITEM (39) — \[from: [common](../messages/common.md#MISSION_ITEM)\] [DEP] {#MISSION_ITEM} - -### MISSION_REQUEST (40) — \[from: [common](../messages/common.md#MISSION_REQUEST)\] [DEP] {#MISSION_REQUEST} - -### MISSION_SET_CURRENT (41) — \[from: [common](../messages/common.md#MISSION_SET_CURRENT)\] [DEP] {#MISSION_SET_CURRENT} - -### MISSION_CURRENT (42) — \[from: [common](../messages/common.md#MISSION_CURRENT)\] {#MISSION_CURRENT} - -### MISSION_REQUEST_LIST (43) — \[from: [common](../messages/common.md#MISSION_REQUEST_LIST)\] {#MISSION_REQUEST_LIST} - -### MISSION_COUNT (44) — \[from: [common](../messages/common.md#MISSION_COUNT)\] {#MISSION_COUNT} - -### MISSION_CLEAR_ALL (45) — \[from: [common](../messages/common.md#MISSION_CLEAR_ALL)\] {#MISSION_CLEAR_ALL} - -### MISSION_ITEM_REACHED (46) — \[from: [common](../messages/common.md#MISSION_ITEM_REACHED)\] {#MISSION_ITEM_REACHED} - -### MISSION_ACK (47) — \[from: [common](../messages/common.md#MISSION_ACK)\] {#MISSION_ACK} - -### SET_GPS_GLOBAL_ORIGIN (48) — \[from: [common](../messages/common.md#SET_GPS_GLOBAL_ORIGIN)\] {#SET_GPS_GLOBAL_ORIGIN} - -### GPS_GLOBAL_ORIGIN (49) — \[from: [common](../messages/common.md#GPS_GLOBAL_ORIGIN)\] {#GPS_GLOBAL_ORIGIN} - -### PARAM_MAP_RC (50) — \[from: [common](../messages/common.md#PARAM_MAP_RC)\] {#PARAM_MAP_RC} - -### MISSION_REQUEST_INT (51) — \[from: [common](../messages/common.md#MISSION_REQUEST_INT)\] {#MISSION_REQUEST_INT} - -### SAFETY_SET_ALLOWED_AREA (54) — \[from: [common](../messages/common.md#SAFETY_SET_ALLOWED_AREA)\] {#SAFETY_SET_ALLOWED_AREA} - -### SAFETY_ALLOWED_AREA (55) — \[from: [common](../messages/common.md#SAFETY_ALLOWED_AREA)\] {#SAFETY_ALLOWED_AREA} - -### ATTITUDE_QUATERNION_COV (61) — \[from: [common](../messages/common.md#ATTITUDE_QUATERNION_COV)\] {#ATTITUDE_QUATERNION_COV} - -### NAV_CONTROLLER_OUTPUT (62) — \[from: [common](../messages/common.md#NAV_CONTROLLER_OUTPUT)\] {#NAV_CONTROLLER_OUTPUT} - -### GLOBAL_POSITION_INT_COV (63) — \[from: [common](../messages/common.md#GLOBAL_POSITION_INT_COV)\] {#GLOBAL_POSITION_INT_COV} - -### LOCAL_POSITION_NED_COV (64) — \[from: [common](../messages/common.md#LOCAL_POSITION_NED_COV)\] {#LOCAL_POSITION_NED_COV} - -### RC_CHANNELS (65) — \[from: [common](../messages/common.md#RC_CHANNELS)\] {#RC_CHANNELS} - -### REQUEST_DATA_STREAM (66) — \[from: [common](../messages/common.md#REQUEST_DATA_STREAM)\] [DEP] {#REQUEST_DATA_STREAM} - -### DATA_STREAM (67) — \[from: [common](../messages/common.md#DATA_STREAM)\] [DEP] {#DATA_STREAM} - -### MANUAL_CONTROL (69) — \[from: [common](../messages/common.md#MANUAL_CONTROL)\] {#MANUAL_CONTROL} - -### RC_CHANNELS_OVERRIDE (70) — \[from: [common](../messages/common.md#RC_CHANNELS_OVERRIDE)\] {#RC_CHANNELS_OVERRIDE} - -### MISSION_ITEM_INT (73) — \[from: [common](../messages/common.md#MISSION_ITEM_INT)\] {#MISSION_ITEM_INT} - -### VFR_HUD (74) — \[from: [common](../messages/common.md#VFR_HUD)\] {#VFR_HUD} - -### COMMAND_INT (75) — \[from: [common](../messages/common.md#COMMAND_INT)\] {#COMMAND_INT} - -### COMMAND_LONG (76) — \[from: [common](../messages/common.md#COMMAND_LONG)\] {#COMMAND_LONG} - -### COMMAND_ACK (77) — \[from: [common](../messages/common.md#COMMAND_ACK)\] {#COMMAND_ACK} - -### COMMAND_CANCEL (80) — \[from: [common](../messages/common.md#COMMAND_CANCEL)\] [WIP] {#COMMAND_CANCEL} - -### MANUAL_SETPOINT (81) — \[from: [common](../messages/common.md#MANUAL_SETPOINT)\] {#MANUAL_SETPOINT} - -### SET_ATTITUDE_TARGET (82) — \[from: [common](../messages/common.md#SET_ATTITUDE_TARGET)\] {#SET_ATTITUDE_TARGET} - -### ATTITUDE_TARGET (83) — \[from: [common](../messages/common.md#ATTITUDE_TARGET)\] {#ATTITUDE_TARGET} - -### SET_POSITION_TARGET_LOCAL_NED (84) — \[from: [common](../messages/common.md#SET_POSITION_TARGET_LOCAL_NED)\] {#SET_POSITION_TARGET_LOCAL_NED} - -### POSITION_TARGET_LOCAL_NED (85) — \[from: [common](../messages/common.md#POSITION_TARGET_LOCAL_NED)\] {#POSITION_TARGET_LOCAL_NED} - -### SET_POSITION_TARGET_GLOBAL_INT (86) — \[from: [common](../messages/common.md#SET_POSITION_TARGET_GLOBAL_INT)\] {#SET_POSITION_TARGET_GLOBAL_INT} - -### POSITION_TARGET_GLOBAL_INT (87) — \[from: [common](../messages/common.md#POSITION_TARGET_GLOBAL_INT)\] {#POSITION_TARGET_GLOBAL_INT} - -### LOCAL_POSITION_NED_SYSTEM_GLOBAL_OFFSET (89) — \[from: [common](../messages/common.md#LOCAL_POSITION_NED_SYSTEM_GLOBAL_OFFSET)\] {#LOCAL_POSITION_NED_SYSTEM_GLOBAL_OFFSET} - -### HIL_STATE (90) — \[from: [common](../messages/common.md#HIL_STATE)\] [DEP] {#HIL_STATE} - -### HIL_CONTROLS (91) — \[from: [common](../messages/common.md#HIL_CONTROLS)\] {#HIL_CONTROLS} - -### HIL_RC_INPUTS_RAW (92) — \[from: [common](../messages/common.md#HIL_RC_INPUTS_RAW)\] {#HIL_RC_INPUTS_RAW} - -### HIL_ACTUATOR_CONTROLS (93) — \[from: [common](../messages/common.md#HIL_ACTUATOR_CONTROLS)\] {#HIL_ACTUATOR_CONTROLS} - -### OPTICAL_FLOW (100) — \[from: [common](../messages/common.md#OPTICAL_FLOW)\] {#OPTICAL_FLOW} - -### GLOBAL_VISION_POSITION_ESTIMATE (101) — \[from: [common](../messages/common.md#GLOBAL_VISION_POSITION_ESTIMATE)\] {#GLOBAL_VISION_POSITION_ESTIMATE} - -### VISION_POSITION_ESTIMATE (102) — \[from: [common](../messages/common.md#VISION_POSITION_ESTIMATE)\] {#VISION_POSITION_ESTIMATE} - -### VISION_SPEED_ESTIMATE (103) — \[from: [common](../messages/common.md#VISION_SPEED_ESTIMATE)\] {#VISION_SPEED_ESTIMATE} - -### VICON_POSITION_ESTIMATE (104) — \[from: [common](../messages/common.md#VICON_POSITION_ESTIMATE)\] {#VICON_POSITION_ESTIMATE} - -### HIGHRES_IMU (105) — \[from: [common](../messages/common.md#HIGHRES_IMU)\] {#HIGHRES_IMU} - -### OPTICAL_FLOW_RAD (106) — \[from: [common](../messages/common.md#OPTICAL_FLOW_RAD)\] {#OPTICAL_FLOW_RAD} - -### HIL_SENSOR (107) — \[from: [common](../messages/common.md#HIL_SENSOR)\] {#HIL_SENSOR} - -### SIM_STATE (108) — \[from: [common](../messages/common.md#SIM_STATE)\] {#SIM_STATE} - -### RADIO_STATUS (109) — \[from: [common](../messages/common.md#RADIO_STATUS)\] {#RADIO_STATUS} - -### FILE_TRANSFER_PROTOCOL (110) — \[from: [common](../messages/common.md#FILE_TRANSFER_PROTOCOL)\] {#FILE_TRANSFER_PROTOCOL} - -### TIMESYNC (111) — \[from: [common](../messages/common.md#TIMESYNC)\] {#TIMESYNC} - -### CAMERA_TRIGGER (112) — \[from: [common](../messages/common.md#CAMERA_TRIGGER)\] {#CAMERA_TRIGGER} - -### HIL_GPS (113) — \[from: [common](../messages/common.md#HIL_GPS)\] {#HIL_GPS} - -### HIL_OPTICAL_FLOW (114) — \[from: [common](../messages/common.md#HIL_OPTICAL_FLOW)\] {#HIL_OPTICAL_FLOW} - -### HIL_STATE_QUATERNION (115) — \[from: [common](../messages/common.md#HIL_STATE_QUATERNION)\] {#HIL_STATE_QUATERNION} - -### SCALED_IMU2 (116) — \[from: [common](../messages/common.md#SCALED_IMU2)\] {#SCALED_IMU2} - -### LOG_REQUEST_LIST (117) — \[from: [common](../messages/common.md#LOG_REQUEST_LIST)\] {#LOG_REQUEST_LIST} - -### LOG_ENTRY (118) — \[from: [common](../messages/common.md#LOG_ENTRY)\] {#LOG_ENTRY} - -### LOG_REQUEST_DATA (119) — \[from: [common](../messages/common.md#LOG_REQUEST_DATA)\] {#LOG_REQUEST_DATA} - -### LOG_DATA (120) — \[from: [common](../messages/common.md#LOG_DATA)\] {#LOG_DATA} - -### LOG_ERASE (121) — \[from: [common](../messages/common.md#LOG_ERASE)\] {#LOG_ERASE} - -### LOG_REQUEST_END (122) — \[from: [common](../messages/common.md#LOG_REQUEST_END)\] {#LOG_REQUEST_END} - -### GPS_INJECT_DATA (123) — \[from: [common](../messages/common.md#GPS_INJECT_DATA)\] [DEP] {#GPS_INJECT_DATA} - -### GPS2_RAW (124) — \[from: [common](../messages/common.md#GPS2_RAW)\] {#GPS2_RAW} - -### POWER_STATUS (125) — \[from: [common](../messages/common.md#POWER_STATUS)\] {#POWER_STATUS} - -### SERIAL_CONTROL (126) — \[from: [common](../messages/common.md#SERIAL_CONTROL)\] {#SERIAL_CONTROL} - -### GPS_RTK (127) — \[from: [common](../messages/common.md#GPS_RTK)\] {#GPS_RTK} - -### GPS2_RTK (128) — \[from: [common](../messages/common.md#GPS2_RTK)\] {#GPS2_RTK} - -### SCALED_IMU3 (129) — \[from: [common](../messages/common.md#SCALED_IMU3)\] {#SCALED_IMU3} - -### DATA_TRANSMISSION_HANDSHAKE (130) — \[from: [common](../messages/common.md#DATA_TRANSMISSION_HANDSHAKE)\] {#DATA_TRANSMISSION_HANDSHAKE} - -### ENCAPSULATED_DATA (131) — \[from: [common](../messages/common.md#ENCAPSULATED_DATA)\] {#ENCAPSULATED_DATA} - -### DISTANCE_SENSOR (132) — \[from: [common](../messages/common.md#DISTANCE_SENSOR)\] {#DISTANCE_SENSOR} - -### TERRAIN_REQUEST (133) — \[from: [common](../messages/common.md#TERRAIN_REQUEST)\] {#TERRAIN_REQUEST} - -### TERRAIN_DATA (134) — \[from: [common](../messages/common.md#TERRAIN_DATA)\] {#TERRAIN_DATA} - -### TERRAIN_CHECK (135) — \[from: [common](../messages/common.md#TERRAIN_CHECK)\] {#TERRAIN_CHECK} - -### TERRAIN_REPORT (136) — \[from: [common](../messages/common.md#TERRAIN_REPORT)\] {#TERRAIN_REPORT} - -### SCALED_PRESSURE2 (137) — \[from: [common](../messages/common.md#SCALED_PRESSURE2)\] {#SCALED_PRESSURE2} - -### ATT_POS_MOCAP (138) — \[from: [common](../messages/common.md#ATT_POS_MOCAP)\] {#ATT_POS_MOCAP} - -### SET_ACTUATOR_CONTROL_TARGET (139) — \[from: [common](../messages/common.md#SET_ACTUATOR_CONTROL_TARGET)\] {#SET_ACTUATOR_CONTROL_TARGET} - -### ACTUATOR_CONTROL_TARGET (140) — \[from: [common](../messages/common.md#ACTUATOR_CONTROL_TARGET)\] {#ACTUATOR_CONTROL_TARGET} - -### ALTITUDE (141) — \[from: [common](../messages/common.md#ALTITUDE)\] {#ALTITUDE} - -### RESOURCE_REQUEST (142) — \[from: [common](../messages/common.md#RESOURCE_REQUEST)\] {#RESOURCE_REQUEST} - -### SCALED_PRESSURE3 (143) — \[from: [common](../messages/common.md#SCALED_PRESSURE3)\] {#SCALED_PRESSURE3} - -### FOLLOW_TARGET (144) — \[from: [common](../messages/common.md#FOLLOW_TARGET)\] {#FOLLOW_TARGET} - -### CONTROL_SYSTEM_STATE (146) — \[from: [common](../messages/common.md#CONTROL_SYSTEM_STATE)\] {#CONTROL_SYSTEM_STATE} - -### BATTERY_STATUS (147) — \[from: [common](../messages/common.md#BATTERY_STATUS)\] {#BATTERY_STATUS} - -### AUTOPILOT_VERSION (148) — \[from: [common](../messages/common.md#AUTOPILOT_VERSION)\] {#AUTOPILOT_VERSION} - -### LANDING_TARGET (149) — \[from: [common](../messages/common.md#LANDING_TARGET)\] {#LANDING_TARGET} - -### SENSOR_OFFSETS (150) — \[from: [ardupilotmega](../messages/ardupilotmega.md#SENSOR_OFFSETS)\] {#SENSOR_OFFSETS} - -### SET_MAG_OFFSETS (151) — \[from: [ardupilotmega](../messages/ardupilotmega.md#SET_MAG_OFFSETS)\] [DEP] {#SET_MAG_OFFSETS} - -### MEMINFO (152) — \[from: [ardupilotmega](../messages/ardupilotmega.md#MEMINFO)\] {#MEMINFO} - -### AP_ADC (153) — \[from: [ardupilotmega](../messages/ardupilotmega.md#AP_ADC)\] {#AP_ADC} - -### DIGICAM_CONFIGURE (154) — \[from: [ardupilotmega](../messages/ardupilotmega.md#DIGICAM_CONFIGURE)\] {#DIGICAM_CONFIGURE} - -### DIGICAM_CONTROL (155) — \[from: [ardupilotmega](../messages/ardupilotmega.md#DIGICAM_CONTROL)\] {#DIGICAM_CONTROL} - -### MOUNT_CONFIGURE (156) — \[from: [ardupilotmega](../messages/ardupilotmega.md#MOUNT_CONFIGURE)\] {#MOUNT_CONFIGURE} - -### MOUNT_CONTROL (157) — \[from: [ardupilotmega](../messages/ardupilotmega.md#MOUNT_CONTROL)\] {#MOUNT_CONTROL} - -### MOUNT_STATUS (158) — \[from: [ardupilotmega](../messages/ardupilotmega.md#MOUNT_STATUS)\] {#MOUNT_STATUS} - -### FENCE_POINT (160) — \[from: [ardupilotmega](../messages/ardupilotmega.md#FENCE_POINT)\] {#FENCE_POINT} - -### FENCE_FETCH_POINT (161) — \[from: [ardupilotmega](../messages/ardupilotmega.md#FENCE_FETCH_POINT)\] {#FENCE_FETCH_POINT} - -### FENCE_STATUS (162) — \[from: [common](../messages/common.md#FENCE_STATUS)\] {#FENCE_STATUS} - -### AHRS (163) — \[from: [ardupilotmega](../messages/ardupilotmega.md#AHRS)\] {#AHRS} - -### SIMSTATE (164) — \[from: [ardupilotmega](../messages/ardupilotmega.md#SIMSTATE)\] {#SIMSTATE} - -### HWSTATUS (165) — \[from: [ardupilotmega](../messages/ardupilotmega.md#HWSTATUS)\] {#HWSTATUS} - -### RADIO (166) — \[from: [ardupilotmega](../messages/ardupilotmega.md#RADIO)\] {#RADIO} - -### LIMITS_STATUS (167) — \[from: [ardupilotmega](../messages/ardupilotmega.md#LIMITS_STATUS)\] {#LIMITS_STATUS} - -### WIND (168) — \[from: [ardupilotmega](../messages/ardupilotmega.md#WIND)\] {#WIND} - -### DATA16 (169) — \[from: [ardupilotmega](../messages/ardupilotmega.md#DATA16)\] {#DATA16} - -### DATA32 (170) — \[from: [ardupilotmega](../messages/ardupilotmega.md#DATA32)\] {#DATA32} - -### DATA64 (171) — \[from: [ardupilotmega](../messages/ardupilotmega.md#DATA64)\] {#DATA64} - -### DATA96 (172) — \[from: [ardupilotmega](../messages/ardupilotmega.md#DATA96)\] {#DATA96} - -### RANGEFINDER (173) — \[from: [ardupilotmega](../messages/ardupilotmega.md#RANGEFINDER)\] {#RANGEFINDER} - -### AIRSPEED_AUTOCAL (174) — \[from: [ardupilotmega](../messages/ardupilotmega.md#AIRSPEED_AUTOCAL)\] {#AIRSPEED_AUTOCAL} - -### RALLY_POINT (175) — \[from: [ardupilotmega](../messages/ardupilotmega.md#RALLY_POINT)\] {#RALLY_POINT} - -### RALLY_FETCH_POINT (176) — \[from: [ardupilotmega](../messages/ardupilotmega.md#RALLY_FETCH_POINT)\] {#RALLY_FETCH_POINT} - -### COMPASSMOT_STATUS (177) — \[from: [ardupilotmega](../messages/ardupilotmega.md#COMPASSMOT_STATUS)\] {#COMPASSMOT_STATUS} - -### AHRS2 (178) — \[from: [ardupilotmega](../messages/ardupilotmega.md#AHRS2)\] {#AHRS2} - -### CAMERA_STATUS (179) — \[from: [ardupilotmega](../messages/ardupilotmega.md#CAMERA_STATUS)\] {#CAMERA_STATUS} - -### CAMERA_FEEDBACK (180) — \[from: [ardupilotmega](../messages/ardupilotmega.md#CAMERA_FEEDBACK)\] {#CAMERA_FEEDBACK} - -### BATTERY2 (181) — \[from: [ardupilotmega](../messages/ardupilotmega.md#BATTERY2)\] [DEP] {#BATTERY2} - -### AHRS3 (182) — \[from: [ardupilotmega](../messages/ardupilotmega.md#AHRS3)\] {#AHRS3} - -### AUTOPILOT_VERSION_REQUEST (183) — \[from: [ardupilotmega](../messages/ardupilotmega.md#AUTOPILOT_VERSION_REQUEST)\] {#AUTOPILOT_VERSION_REQUEST} - -### REMOTE_LOG_DATA_BLOCK (184) — \[from: [ardupilotmega](../messages/ardupilotmega.md#REMOTE_LOG_DATA_BLOCK)\] {#REMOTE_LOG_DATA_BLOCK} - -### REMOTE_LOG_BLOCK_STATUS (185) — \[from: [ardupilotmega](../messages/ardupilotmega.md#REMOTE_LOG_BLOCK_STATUS)\] {#REMOTE_LOG_BLOCK_STATUS} - -### LED_CONTROL (186) — \[from: [ardupilotmega](../messages/ardupilotmega.md#LED_CONTROL)\] {#LED_CONTROL} - -### MAG_CAL_PROGRESS (191) — \[from: [ardupilotmega](../messages/ardupilotmega.md#MAG_CAL_PROGRESS)\] {#MAG_CAL_PROGRESS} - -### MAG_CAL_REPORT (192) — \[from: [common](../messages/common.md#MAG_CAL_REPORT)\] {#MAG_CAL_REPORT} - -### EKF_STATUS_REPORT (193) — \[from: [ardupilotmega](../messages/ardupilotmega.md#EKF_STATUS_REPORT)\] {#EKF_STATUS_REPORT} - -### PID_TUNING (194) — \[from: [ardupilotmega](../messages/ardupilotmega.md#PID_TUNING)\] {#PID_TUNING} - -### DEEPSTALL (195) — \[from: [ardupilotmega](../messages/ardupilotmega.md#DEEPSTALL)\] {#DEEPSTALL} - -### GIMBAL_REPORT (200) — \[from: [ardupilotmega](../messages/ardupilotmega.md#GIMBAL_REPORT)\] {#GIMBAL_REPORT} - -### GIMBAL_CONTROL (201) — \[from: [ardupilotmega](../messages/ardupilotmega.md#GIMBAL_CONTROL)\] {#GIMBAL_CONTROL} - -### GIMBAL_TORQUE_CMD_REPORT (214) — \[from: [ardupilotmega](../messages/ardupilotmega.md#GIMBAL_TORQUE_CMD_REPORT)\] {#GIMBAL_TORQUE_CMD_REPORT} - -### GOPRO_HEARTBEAT (215) — \[from: [ardupilotmega](../messages/ardupilotmega.md#GOPRO_HEARTBEAT)\] {#GOPRO_HEARTBEAT} - -### GOPRO_GET_REQUEST (216) — \[from: [ardupilotmega](../messages/ardupilotmega.md#GOPRO_GET_REQUEST)\] {#GOPRO_GET_REQUEST} - -### GOPRO_GET_RESPONSE (217) — \[from: [ardupilotmega](../messages/ardupilotmega.md#GOPRO_GET_RESPONSE)\] {#GOPRO_GET_RESPONSE} - -### GOPRO_SET_REQUEST (218) — \[from: [ardupilotmega](../messages/ardupilotmega.md#GOPRO_SET_REQUEST)\] {#GOPRO_SET_REQUEST} - -### GOPRO_SET_RESPONSE (219) — \[from: [ardupilotmega](../messages/ardupilotmega.md#GOPRO_SET_RESPONSE)\] {#GOPRO_SET_RESPONSE} - -### EFI_STATUS (225) — \[from: [common](../messages/common.md#EFI_STATUS)\] {#EFI_STATUS} - -### RPM (226) — \[from: [ardupilotmega](../messages/ardupilotmega.md#RPM)\] {#RPM} - -### ESTIMATOR_STATUS (230) — \[from: [common](../messages/common.md#ESTIMATOR_STATUS)\] {#ESTIMATOR_STATUS} - -### WIND_COV (231) — \[from: [common](../messages/common.md#WIND_COV)\] {#WIND_COV} - -### GPS_INPUT (232) — \[from: [common](../messages/common.md#GPS_INPUT)\] {#GPS_INPUT} - -### GPS_RTCM_DATA (233) — \[from: [common](../messages/common.md#GPS_RTCM_DATA)\] {#GPS_RTCM_DATA} - -### HIGH_LATENCY (234) — \[from: [common](../messages/common.md#HIGH_LATENCY)\] [DEP] {#HIGH_LATENCY} - -### HIGH_LATENCY2 (235) — \[from: [common](../messages/common.md#HIGH_LATENCY2)\] {#HIGH_LATENCY2} - -### VIBRATION (241) — \[from: [common](../messages/common.md#VIBRATION)\] {#VIBRATION} - -### HOME_POSITION (242) — \[from: [common](../messages/common.md#HOME_POSITION)\] {#HOME_POSITION} - -### SET_HOME_POSITION (243) — \[from: [common](../messages/common.md#SET_HOME_POSITION)\] [DEP] {#SET_HOME_POSITION} - -### MESSAGE_INTERVAL (244) — \[from: [common](../messages/common.md#MESSAGE_INTERVAL)\] {#MESSAGE_INTERVAL} - -### EXTENDED_SYS_STATE (245) — \[from: [common](../messages/common.md#EXTENDED_SYS_STATE)\] {#EXTENDED_SYS_STATE} - -### ADSB_VEHICLE (246) — \[from: [common](../messages/common.md#ADSB_VEHICLE)\] {#ADSB_VEHICLE} - -### COLLISION (247) — \[from: [common](../messages/common.md#COLLISION)\] {#COLLISION} - -### V2_EXTENSION (248) — \[from: [common](../messages/common.md#V2_EXTENSION)\] {#V2_EXTENSION} - -### MEMORY_VECT (249) — \[from: [common](../messages/common.md#MEMORY_VECT)\] {#MEMORY_VECT} - -### DEBUG_VECT (250) — \[from: [common](../messages/common.md#DEBUG_VECT)\] {#DEBUG_VECT} - -### NAMED_VALUE_FLOAT (251) — \[from: [common](../messages/common.md#NAMED_VALUE_FLOAT)\] {#NAMED_VALUE_FLOAT} - -### NAMED_VALUE_INT (252) — \[from: [common](../messages/common.md#NAMED_VALUE_INT)\] {#NAMED_VALUE_INT} - -### STATUSTEXT (253) — \[from: [common](../messages/common.md#STATUSTEXT)\] {#STATUSTEXT} - -### DEBUG (254) — \[from: [common](../messages/common.md#DEBUG)\] {#DEBUG} - -### SETUP_SIGNING (256) — \[from: [common](../messages/common.md#SETUP_SIGNING)\] {#SETUP_SIGNING} - -### BUTTON_CHANGE (257) — \[from: [common](../messages/common.md#BUTTON_CHANGE)\] {#BUTTON_CHANGE} - -### PLAY_TUNE (258) — \[from: [common](../messages/common.md#PLAY_TUNE)\] [DEP] {#PLAY_TUNE} - -### CAMERA_INFORMATION (259) — \[from: [common](../messages/common.md#CAMERA_INFORMATION)\] {#CAMERA_INFORMATION} - -### CAMERA_SETTINGS (260) — \[from: [common](../messages/common.md#CAMERA_SETTINGS)\] {#CAMERA_SETTINGS} - -### STORAGE_INFORMATION (261) — \[from: [common](../messages/common.md#STORAGE_INFORMATION)\] {#STORAGE_INFORMATION} - -### CAMERA_CAPTURE_STATUS (262) — \[from: [common](../messages/common.md#CAMERA_CAPTURE_STATUS)\] {#CAMERA_CAPTURE_STATUS} - -### CAMERA_IMAGE_CAPTURED (263) — \[from: [common](../messages/common.md#CAMERA_IMAGE_CAPTURED)\] {#CAMERA_IMAGE_CAPTURED} - -### FLIGHT_INFORMATION (264) — \[from: [common](../messages/common.md#FLIGHT_INFORMATION)\] {#FLIGHT_INFORMATION} - -### MOUNT_ORIENTATION (265) — \[from: [common](../messages/common.md#MOUNT_ORIENTATION)\] [DEP] {#MOUNT_ORIENTATION} - -### LOGGING_DATA (266) — \[from: [common](../messages/common.md#LOGGING_DATA)\] {#LOGGING_DATA} - -### LOGGING_DATA_ACKED (267) — \[from: [common](../messages/common.md#LOGGING_DATA_ACKED)\] {#LOGGING_DATA_ACKED} - -### LOGGING_ACK (268) — \[from: [common](../messages/common.md#LOGGING_ACK)\] {#LOGGING_ACK} - -### VIDEO_STREAM_INFORMATION (269) — \[from: [common](../messages/common.md#VIDEO_STREAM_INFORMATION)\] {#VIDEO_STREAM_INFORMATION} - -### VIDEO_STREAM_STATUS (270) — \[from: [common](../messages/common.md#VIDEO_STREAM_STATUS)\] {#VIDEO_STREAM_STATUS} - -### CAMERA_FOV_STATUS (271) — \[from: [common](../messages/common.md#CAMERA_FOV_STATUS)\] {#CAMERA_FOV_STATUS} - -### CAMERA_TRACKING_IMAGE_STATUS (275) — \[from: [common](../messages/common.md#CAMERA_TRACKING_IMAGE_STATUS)\] {#CAMERA_TRACKING_IMAGE_STATUS} - -### CAMERA_TRACKING_GEO_STATUS (276) — \[from: [common](../messages/common.md#CAMERA_TRACKING_GEO_STATUS)\] {#CAMERA_TRACKING_GEO_STATUS} - -### CAMERA_THERMAL_RANGE (277) — \[from: [common](../messages/common.md#CAMERA_THERMAL_RANGE)\] [WIP] {#CAMERA_THERMAL_RANGE} - -### GIMBAL_MANAGER_INFORMATION (280) — \[from: [common](../messages/common.md#GIMBAL_MANAGER_INFORMATION)\] {#GIMBAL_MANAGER_INFORMATION} - -### GIMBAL_MANAGER_STATUS (281) — \[from: [common](../messages/common.md#GIMBAL_MANAGER_STATUS)\] {#GIMBAL_MANAGER_STATUS} - -### GIMBAL_MANAGER_SET_ATTITUDE (282) — \[from: [common](../messages/common.md#GIMBAL_MANAGER_SET_ATTITUDE)\] {#GIMBAL_MANAGER_SET_ATTITUDE} - -### GIMBAL_DEVICE_INFORMATION (283) — \[from: [common](../messages/common.md#GIMBAL_DEVICE_INFORMATION)\] {#GIMBAL_DEVICE_INFORMATION} - -### GIMBAL_DEVICE_SET_ATTITUDE (284) — \[from: [common](../messages/common.md#GIMBAL_DEVICE_SET_ATTITUDE)\] {#GIMBAL_DEVICE_SET_ATTITUDE} - -### GIMBAL_DEVICE_ATTITUDE_STATUS (285) — \[from: [common](../messages/common.md#GIMBAL_DEVICE_ATTITUDE_STATUS)\] {#GIMBAL_DEVICE_ATTITUDE_STATUS} - -### AUTOPILOT_STATE_FOR_GIMBAL_DEVICE (286) — \[from: [common](../messages/common.md#AUTOPILOT_STATE_FOR_GIMBAL_DEVICE)\] {#AUTOPILOT_STATE_FOR_GIMBAL_DEVICE} - -### GIMBAL_MANAGER_SET_PITCHYAW (287) — \[from: [common](../messages/common.md#GIMBAL_MANAGER_SET_PITCHYAW)\] {#GIMBAL_MANAGER_SET_PITCHYAW} - -### GIMBAL_MANAGER_SET_MANUAL_CONTROL (288) — \[from: [common](../messages/common.md#GIMBAL_MANAGER_SET_MANUAL_CONTROL)\] {#GIMBAL_MANAGER_SET_MANUAL_CONTROL} - -### ESC_INFO (290) — \[from: [common](../messages/common.md#ESC_INFO)\] [WIP] {#ESC_INFO} - -### ESC_STATUS (291) — \[from: [common](../messages/common.md#ESC_STATUS)\] [WIP] {#ESC_STATUS} - -### WIFI_CONFIG_AP (299) — \[from: [common](../messages/common.md#WIFI_CONFIG_AP)\] {#WIFI_CONFIG_AP} - -### PROTOCOL_VERSION (300) — \[from: [minimal](../messages/minimal.md#PROTOCOL_VERSION)\] [WIP] {#PROTOCOL_VERSION} - -### AIS_VESSEL (301) — \[from: [common](../messages/common.md#AIS_VESSEL)\] {#AIS_VESSEL} - -### UAVCAN_NODE_STATUS (310) — \[from: [common](../messages/common.md#UAVCAN_NODE_STATUS)\] {#UAVCAN_NODE_STATUS} - -### UAVCAN_NODE_INFO (311) — \[from: [common](../messages/common.md#UAVCAN_NODE_INFO)\] {#UAVCAN_NODE_INFO} - -### PARAM_EXT_REQUEST_READ (320) — \[from: [common](../messages/common.md#PARAM_EXT_REQUEST_READ)\] {#PARAM_EXT_REQUEST_READ} - -### PARAM_EXT_REQUEST_LIST (321) — \[from: [common](../messages/common.md#PARAM_EXT_REQUEST_LIST)\] {#PARAM_EXT_REQUEST_LIST} - -### PARAM_EXT_VALUE (322) — \[from: [common](../messages/common.md#PARAM_EXT_VALUE)\] {#PARAM_EXT_VALUE} - -### PARAM_EXT_SET (323) — \[from: [common](../messages/common.md#PARAM_EXT_SET)\] {#PARAM_EXT_SET} - -### PARAM_EXT_ACK (324) — \[from: [common](../messages/common.md#PARAM_EXT_ACK)\] {#PARAM_EXT_ACK} - -### OBSTACLE_DISTANCE (330) — \[from: [common](../messages/common.md#OBSTACLE_DISTANCE)\] {#OBSTACLE_DISTANCE} - -### ODOMETRY (331) — \[from: [common](../messages/common.md#ODOMETRY)\] {#ODOMETRY} - -### TRAJECTORY_REPRESENTATION_WAYPOINTS (332) — \[from: [common](../messages/common.md#TRAJECTORY_REPRESENTATION_WAYPOINTS)\] {#TRAJECTORY_REPRESENTATION_WAYPOINTS} - -### TRAJECTORY_REPRESENTATION_BEZIER (333) — \[from: [common](../messages/common.md#TRAJECTORY_REPRESENTATION_BEZIER)\] {#TRAJECTORY_REPRESENTATION_BEZIER} - -### CELLULAR_STATUS (334) — \[from: [common](../messages/common.md#CELLULAR_STATUS)\] {#CELLULAR_STATUS} - -### ISBD_LINK_STATUS (335) — \[from: [common](../messages/common.md#ISBD_LINK_STATUS)\] {#ISBD_LINK_STATUS} - -### CELLULAR_CONFIG (336) — \[from: [common](../messages/common.md#CELLULAR_CONFIG)\] {#CELLULAR_CONFIG} - -### RAW_RPM (339) — \[from: [common](../messages/common.md#RAW_RPM)\] {#RAW_RPM} - -### UTM_GLOBAL_POSITION (340) — \[from: [common](../messages/common.md#UTM_GLOBAL_POSITION)\] {#UTM_GLOBAL_POSITION} - -### DEBUG_FLOAT_ARRAY (350) — \[from: [common](../messages/common.md#DEBUG_FLOAT_ARRAY)\] {#DEBUG_FLOAT_ARRAY} - -### ORBIT_EXECUTION_STATUS (360) — \[from: [common](../messages/common.md#ORBIT_EXECUTION_STATUS)\] [WIP] {#ORBIT_EXECUTION_STATUS} - -### BATTERY_INFO (370) — \[from: [common](../messages/common.md#BATTERY_INFO)\] [WIP] {#BATTERY_INFO} - -### GENERATOR_STATUS (373) — \[from: [common](../messages/common.md#GENERATOR_STATUS)\] {#GENERATOR_STATUS} - -### ACTUATOR_OUTPUT_STATUS (375) — \[from: [common](../messages/common.md#ACTUATOR_OUTPUT_STATUS)\] {#ACTUATOR_OUTPUT_STATUS} - -### TIME_ESTIMATE_TO_TARGET (380) — \[from: [common](../messages/common.md#TIME_ESTIMATE_TO_TARGET)\] [WIP] {#TIME_ESTIMATE_TO_TARGET} - -### TUNNEL (385) — \[from: [common](../messages/common.md#TUNNEL)\] {#TUNNEL} - -### CAN_FRAME (386) — \[from: [common](../messages/common.md#CAN_FRAME)\] {#CAN_FRAME} - -### CANFD_FRAME (387) — \[from: [common](../messages/common.md#CANFD_FRAME)\] {#CANFD_FRAME} - -### CAN_FILTER_MODIFY (388) — \[from: [common](../messages/common.md#CAN_FILTER_MODIFY)\] {#CAN_FILTER_MODIFY} - -### ONBOARD_COMPUTER_STATUS (390) — \[from: [common](../messages/common.md#ONBOARD_COMPUTER_STATUS)\] [WIP] {#ONBOARD_COMPUTER_STATUS} - -### COMPONENT_INFORMATION (395) — \[from: [common](../messages/common.md#COMPONENT_INFORMATION)\] [DEP] {#COMPONENT_INFORMATION} - -### COMPONENT_INFORMATION_BASIC (396) — \[from: [common](../messages/common.md#COMPONENT_INFORMATION_BASIC)\] {#COMPONENT_INFORMATION_BASIC} - -### COMPONENT_METADATA (397) — \[from: [common](../messages/common.md#COMPONENT_METADATA)\] [WIP] {#COMPONENT_METADATA} - -### PLAY_TUNE_V2 (400) — \[from: [common](../messages/common.md#PLAY_TUNE_V2)\] {#PLAY_TUNE_V2} - -### SUPPORTED_TUNES (401) — \[from: [common](../messages/common.md#SUPPORTED_TUNES)\] {#SUPPORTED_TUNES} - -### EVENT (410) — \[from: [common](../messages/common.md#EVENT)\] [WIP] {#EVENT} - -### CURRENT_EVENT_SEQUENCE (411) — \[from: [common](../messages/common.md#CURRENT_EVENT_SEQUENCE)\] [WIP] {#CURRENT_EVENT_SEQUENCE} - -### REQUEST_EVENT (412) — \[from: [common](../messages/common.md#REQUEST_EVENT)\] [WIP] {#REQUEST_EVENT} - -### RESPONSE_EVENT_ERROR (413) — \[from: [common](../messages/common.md#RESPONSE_EVENT_ERROR)\] [WIP] {#RESPONSE_EVENT_ERROR} - -### ILLUMINATOR_STATUS (440) — \[from: [common](../messages/common.md#ILLUMINATOR_STATUS)\] {#ILLUMINATOR_STATUS} - -### WHEEL_DISTANCE (9000) — \[from: [common](../messages/common.md#WHEEL_DISTANCE)\] {#WHEEL_DISTANCE} - -### WINCH_STATUS (9005) — \[from: [common](../messages/common.md#WINCH_STATUS)\] {#WINCH_STATUS} - -### UAVIONIX_ADSB_OUT_CFG (10001) — \[from: [uAvionix](../messages/uAvionix.md#UAVIONIX_ADSB_OUT_CFG)\] {#UAVIONIX_ADSB_OUT_CFG} - -### UAVIONIX_ADSB_OUT_DYNAMIC (10002) — \[from: [uAvionix](../messages/uAvionix.md#UAVIONIX_ADSB_OUT_DYNAMIC)\] {#UAVIONIX_ADSB_OUT_DYNAMIC} - -### UAVIONIX_ADSB_TRANSCEIVER_HEALTH_REPORT (10003) — \[from: [uAvionix](../messages/uAvionix.md#UAVIONIX_ADSB_TRANSCEIVER_HEALTH_REPORT)\] {#UAVIONIX_ADSB_TRANSCEIVER_HEALTH_REPORT} - -### DEVICE_OP_READ (11000) — \[from: [ardupilotmega](../messages/ardupilotmega.md#DEVICE_OP_READ)\] {#DEVICE_OP_READ} - -### DEVICE_OP_READ_REPLY (11001) — \[from: [ardupilotmega](../messages/ardupilotmega.md#DEVICE_OP_READ_REPLY)\] {#DEVICE_OP_READ_REPLY} - -### DEVICE_OP_WRITE (11002) — \[from: [ardupilotmega](../messages/ardupilotmega.md#DEVICE_OP_WRITE)\] {#DEVICE_OP_WRITE} - -### DEVICE_OP_WRITE_REPLY (11003) — \[from: [ardupilotmega](../messages/ardupilotmega.md#DEVICE_OP_WRITE_REPLY)\] {#DEVICE_OP_WRITE_REPLY} - -### ADAP_TUNING (11010) — \[from: [ardupilotmega](../messages/ardupilotmega.md#ADAP_TUNING)\] {#ADAP_TUNING} - -### VISION_POSITION_DELTA (11011) — \[from: [ardupilotmega](../messages/ardupilotmega.md#VISION_POSITION_DELTA)\] {#VISION_POSITION_DELTA} - -### AOA_SSA (11020) — \[from: [ardupilotmega](../messages/ardupilotmega.md#AOA_SSA)\] {#AOA_SSA} - -### ESC_TELEMETRY_1_TO_4 (11030) — \[from: [ardupilotmega](../messages/ardupilotmega.md#ESC_TELEMETRY_1_TO_4)\] {#ESC_TELEMETRY_1_TO_4} - -### ESC_TELEMETRY_5_TO_8 (11031) — \[from: [ardupilotmega](../messages/ardupilotmega.md#ESC_TELEMETRY_5_TO_8)\] {#ESC_TELEMETRY_5_TO_8} - -### ESC_TELEMETRY_9_TO_12 (11032) — \[from: [ardupilotmega](../messages/ardupilotmega.md#ESC_TELEMETRY_9_TO_12)\] {#ESC_TELEMETRY_9_TO_12} - -### OSD_PARAM_CONFIG (11033) — \[from: [ardupilotmega](../messages/ardupilotmega.md#OSD_PARAM_CONFIG)\] {#OSD_PARAM_CONFIG} - -### OSD_PARAM_CONFIG_REPLY (11034) — \[from: [ardupilotmega](../messages/ardupilotmega.md#OSD_PARAM_CONFIG_REPLY)\] {#OSD_PARAM_CONFIG_REPLY} - -### OSD_PARAM_SHOW_CONFIG (11035) — \[from: [ardupilotmega](../messages/ardupilotmega.md#OSD_PARAM_SHOW_CONFIG)\] {#OSD_PARAM_SHOW_CONFIG} - -### OSD_PARAM_SHOW_CONFIG_REPLY (11036) — \[from: [ardupilotmega](../messages/ardupilotmega.md#OSD_PARAM_SHOW_CONFIG_REPLY)\] {#OSD_PARAM_SHOW_CONFIG_REPLY} - -### OBSTACLE_DISTANCE_3D (11037) — \[from: [ardupilotmega](../messages/ardupilotmega.md#OBSTACLE_DISTANCE_3D)\] [WIP] {#OBSTACLE_DISTANCE_3D} - -### WATER_DEPTH (11038) — \[from: [ardupilotmega](../messages/ardupilotmega.md#WATER_DEPTH)\] {#WATER_DEPTH} - -### MCU_STATUS (11039) — \[from: [ardupilotmega](../messages/ardupilotmega.md#MCU_STATUS)\] {#MCU_STATUS} - -### OPEN_DRONE_ID_BASIC_ID (12900) — \[from: [common](../messages/common.md#OPEN_DRONE_ID_BASIC_ID)\] {#OPEN_DRONE_ID_BASIC_ID} - -### OPEN_DRONE_ID_LOCATION (12901) — \[from: [common](../messages/common.md#OPEN_DRONE_ID_LOCATION)\] {#OPEN_DRONE_ID_LOCATION} - -### OPEN_DRONE_ID_AUTHENTICATION (12902) — \[from: [common](../messages/common.md#OPEN_DRONE_ID_AUTHENTICATION)\] {#OPEN_DRONE_ID_AUTHENTICATION} - -### OPEN_DRONE_ID_SELF_ID (12903) — \[from: [common](../messages/common.md#OPEN_DRONE_ID_SELF_ID)\] {#OPEN_DRONE_ID_SELF_ID} - -### OPEN_DRONE_ID_SYSTEM (12904) — \[from: [common](../messages/common.md#OPEN_DRONE_ID_SYSTEM)\] {#OPEN_DRONE_ID_SYSTEM} - -### OPEN_DRONE_ID_OPERATOR_ID (12905) — \[from: [common](../messages/common.md#OPEN_DRONE_ID_OPERATOR_ID)\] {#OPEN_DRONE_ID_OPERATOR_ID} - -### OPEN_DRONE_ID_MESSAGE_PACK (12915) — \[from: [common](../messages/common.md#OPEN_DRONE_ID_MESSAGE_PACK)\] {#OPEN_DRONE_ID_MESSAGE_PACK} - -### OPEN_DRONE_ID_ARM_STATUS (12918) — \[from: [common](../messages/common.md#OPEN_DRONE_ID_ARM_STATUS)\] {#OPEN_DRONE_ID_ARM_STATUS} - -### OPEN_DRONE_ID_SYSTEM_UPDATE (12919) — \[from: [common](../messages/common.md#OPEN_DRONE_ID_SYSTEM_UPDATE)\] {#OPEN_DRONE_ID_SYSTEM_UPDATE} - -### HYGROMETER_SENSOR (12920) — \[from: [common](../messages/common.md#HYGROMETER_SENSOR)\] {#HYGROMETER_SENSOR} - -### ICAROUS_HEARTBEAT (42000) — \[from: [icarous](../messages/icarous.md#ICAROUS_HEARTBEAT)\] {#ICAROUS_HEARTBEAT} - -### ICAROUS_KINEMATIC_BANDS (42001) — \[from: [icarous](../messages/icarous.md#ICAROUS_KINEMATIC_BANDS)\] {#ICAROUS_KINEMATIC_BANDS} - -### CUBEPILOT_RAW_RC (50001) — \[from: [cubepilot](../messages/cubepilot.md#CUBEPILOT_RAW_RC)\] {#CUBEPILOT_RAW_RC} - -### HERELINK_VIDEO_STREAM_INFORMATION (50002) — \[from: [cubepilot](../messages/cubepilot.md#HERELINK_VIDEO_STREAM_INFORMATION)\] {#HERELINK_VIDEO_STREAM_INFORMATION} - -### HERELINK_TELEM (50003) — \[from: [cubepilot](../messages/cubepilot.md#HERELINK_TELEM)\] {#HERELINK_TELEM} - -### CUBEPILOT_FIRMWARE_UPDATE_START (50004) — \[from: [cubepilot](../messages/cubepilot.md#CUBEPILOT_FIRMWARE_UPDATE_START)\] {#CUBEPILOT_FIRMWARE_UPDATE_START} - -### CUBEPILOT_FIRMWARE_UPDATE_RESP (50005) — \[from: [cubepilot](../messages/cubepilot.md#CUBEPILOT_FIRMWARE_UPDATE_RESP)\] {#CUBEPILOT_FIRMWARE_UPDATE_RESP} - -### AIRLINK_AUTH (52000) — \[from: [csAirLink](../messages/csAirLink.md#AIRLINK_AUTH)\] {#AIRLINK_AUTH} - -### AIRLINK_AUTH_RESPONSE (52001) — \[from: [csAirLink](../messages/csAirLink.md#AIRLINK_AUTH_RESPONSE)\] {#AIRLINK_AUTH_RESPONSE} - -### AIRLINK_EYE_GS_HOLE_PUSH_REQUEST (52002) — \[from: [csAirLink](../messages/csAirLink.md#AIRLINK_EYE_GS_HOLE_PUSH_REQUEST)\] {#AIRLINK_EYE_GS_HOLE_PUSH_REQUEST} - -### AIRLINK_EYE_GS_HOLE_PUSH_RESPONSE (52003) — \[from: [csAirLink](../messages/csAirLink.md#AIRLINK_EYE_GS_HOLE_PUSH_RESPONSE)\] {#AIRLINK_EYE_GS_HOLE_PUSH_RESPONSE} - -### AIRLINK_EYE_HP (52004) — \[from: [csAirLink](../messages/csAirLink.md#AIRLINK_EYE_HP)\] {#AIRLINK_EYE_HP} - -### AIRLINK_EYE_TURN_INIT (52005) — \[from: [csAirLink](../messages/csAirLink.md#AIRLINK_EYE_TURN_INIT)\] {#AIRLINK_EYE_TURN_INIT} - -### STORM32_GIMBAL_MANAGER_INFORMATION (60010) {#STORM32_GIMBAL_MANAGER_INFORMATION} - -Information about a gimbal manager. This message should be requested by a ground station using [MAV_CMD_REQUEST_MESSAGE](#MAV_CMD_REQUEST_MESSAGE). It mirrors some fields of the [GIMBAL_DEVICE_INFORMATION](#GIMBAL_DEVICE_INFORMATION) message, but not all. If the additional information is desired, also [GIMBAL_DEVICE_INFORMATION](#GIMBAL_DEVICE_INFORMATION) should be requested. - -| Field Name | Type | Units | Values | Description | -| ------------------- | ---------- | ----- | --------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | -| gimbal_id | `uint8_t` | | | Gimbal ID (component ID or 1-6 for non-MAVLink gimbal) that this gimbal manager is responsible for.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Messages with same value are from the same source (instance). | -| device_cap_flags | `uint32_t` | | [GIMBAL_DEVICE_CAP_FLAGS](#GIMBAL_DEVICE_CAP_FLAGS) | Gimbal device capability flags. Same flags as reported by [GIMBAL_DEVICE_INFORMATION](#GIMBAL_DEVICE_INFORMATION). The flag is only 16 bit wide, but stored in 32 bit, for backwards compatibility (high word is zero). | -| manager_cap_flags | `uint32_t` | | [MAV_STORM32_GIMBAL_MANAGER_CAP_FLAGS](#MAV_STORM32_GIMBAL_MANAGER_CAP_FLAGS) | Gimbal manager capability flags. | -| roll_min | `float` | rad | invalid:NaN | Hardware minimum roll angle (positive: roll to the right). NaN if unknown. | -| roll_max | `float` | rad | invalid:NaN | Hardware maximum roll angle (positive: roll to the right). NaN if unknown. | -| pitch_min | `float` | rad | invalid:NaN | Hardware minimum pitch/tilt angle (positive: tilt up). NaN if unknown. | -| pitch_max | `float` | rad | invalid:NaN | Hardware maximum pitch/tilt angle (positive: tilt up). NaN if unknown. | -| yaw_min | `float` | rad | invalid:NaN | Hardware minimum yaw/pan angle (positive: pan to the right, relative to the vehicle/gimbal base). NaN if unknown. | -| yaw_max | `float` | rad | invalid:NaN | Hardware maximum yaw/pan angle (positive: pan to the right, relative to the vehicle/gimbal base). NaN if unknown. | - - -### STORM32_GIMBAL_MANAGER_STATUS (60011) {#STORM32_GIMBAL_MANAGER_STATUS} - -Message reporting the current status of a gimbal manager. This message should be broadcast at a low regular rate (e.g. 1 Hz, may be increase momentarily to e.g. 5 Hz for a period of 1 sec after a change). - -| Field Name | Type | Values | Description | -| ------------- | ---------- | ----------------------------------------------------------------------------- | -------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | -| gimbal_id | `uint8_t` | | Gimbal ID (component ID or 1-6 for non-MAVLink gimbal) that this gimbal manager is responsible for.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Messages with same value are from the same source (instance). | -| supervisor | `uint8_t` | [MAV_STORM32_GIMBAL_MANAGER_CLIENT](#MAV_STORM32_GIMBAL_MANAGER_CLIENT) | Client who is currently supervisor (0 = none). | -| device_flags | `uint16_t` | [GIMBAL_DEVICE_FLAGS](#GIMBAL_DEVICE_FLAGS) | Gimbal device flags currently applied. Same flags as reported by [GIMBAL_DEVICE_ATTITUDE_STATUS](#GIMBAL_DEVICE_ATTITUDE_STATUS). | -| manager_flags | `uint16_t` | [MAV_STORM32_GIMBAL_MANAGER_FLAGS](#MAV_STORM32_GIMBAL_MANAGER_FLAGS) | Gimbal manager flags currently applied. | -| profile | `uint8_t` | [MAV_STORM32_GIMBAL_MANAGER_PROFILE](#MAV_STORM32_GIMBAL_MANAGER_PROFILE) | Profile currently applied (0 = default). | - - -### STORM32_GIMBAL_MANAGER_CONTROL (60012) {#STORM32_GIMBAL_MANAGER_CONTROL} - -Message to a gimbal manager to control the gimbal attitude. Angles and rates can be set to NaN according to use case. A gimbal device is never to react to this message. - -| Field Name | Type | Units | Values | Description | -| -------------------- | ---------- | ----- | ----------------------------------------------------------------------------------- | ----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | -| target_system | `uint8_t` | | | System ID | -| target_component | `uint8_t` | | | Component ID | -| gimbal_id | `uint8_t` | | | Gimbal ID of the gimbal manager to address (component ID or 1-6 for non-MAVLink gimbal, 0 for all gimbals). Send command multiple times for more than one but not all gimbals.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Messages with same value are from the same source (instance). | -| client | `uint8_t` | | [MAV_STORM32_GIMBAL_MANAGER_CLIENT](#MAV_STORM32_GIMBAL_MANAGER_CLIENT) | Client which is contacting the gimbal manager (must be set). | -| device_flags | `uint16_t` | | invalid:UINT16_MAX [GIMBAL_DEVICE_FLAGS](#GIMBAL_DEVICE_FLAGS) | Gimbal device flags to be applied (UINT16_MAX to be ignored). Same flags as used in [GIMBAL_DEVICE_SET_ATTITUDE](#GIMBAL_DEVICE_SET_ATTITUDE). | -| manager_flags | `uint16_t` | | invalid:0 [MAV_STORM32_GIMBAL_MANAGER_FLAGS](#MAV_STORM32_GIMBAL_MANAGER_FLAGS) | Gimbal manager flags to be applied (0 to be ignored). | -| q | `float[4]` | | invalid:[NaN:] | Quaternion components, w, x, y, z (1 0 0 0 is the null-rotation). Set first element to NaN to be ignored. The frame is determined by the GIMBAL_DEVICE_FLAGS_YAW_IN_xxx_FRAME flags. | -| angular_velocity_x | `float` | rad/s | invalid:NaN | X component of angular velocity (positive: roll to the right). NaN to be ignored. | -| angular_velocity_y | `float` | rad/s | invalid:NaN | Y component of angular velocity (positive: tilt up). NaN to be ignored. | -| angular_velocity_z | `float` | rad/s | invalid:NaN | Z component of angular velocity (positive: pan to the right). NaN to be ignored. The frame is determined by the GIMBAL_DEVICE_FLAGS_YAW_IN_xxx_FRAME flags. | - - -### STORM32_GIMBAL_MANAGER_CONTROL_PITCHYAW (60013) {#STORM32_GIMBAL_MANAGER_CONTROL_PITCHYAW} - -Message to a gimbal manager to control the gimbal tilt and pan angles. Angles and rates can be set to NaN according to use case. A gimbal device is never to react to this message. - -| Field Name | Type | Units | Values | Description | -| ---------------- | ---------- | ----- | ----------------------------------------------------------------------------------- | ----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | -| target_system | `uint8_t` | | | System ID | -| target_component | `uint8_t` | | | Component ID | -| gimbal_id | `uint8_t` | | | Gimbal ID of the gimbal manager to address (component ID or 1-6 for non-MAVLink gimbal, 0 for all gimbals). Send command multiple times for more than one but not all gimbals.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Messages with same value are from the same source (instance). | -| client | `uint8_t` | | [MAV_STORM32_GIMBAL_MANAGER_CLIENT](#MAV_STORM32_GIMBAL_MANAGER_CLIENT) | Client which is contacting the gimbal manager (must be set). | -| device_flags | `uint16_t` | | invalid:UINT16_MAX [GIMBAL_DEVICE_FLAGS](#GIMBAL_DEVICE_FLAGS) | Gimbal device flags to be applied (UINT16_MAX to be ignored). Same flags as used in [GIMBAL_DEVICE_SET_ATTITUDE](#GIMBAL_DEVICE_SET_ATTITUDE). | -| manager_flags | `uint16_t` | | invalid:0 [MAV_STORM32_GIMBAL_MANAGER_FLAGS](#MAV_STORM32_GIMBAL_MANAGER_FLAGS) | Gimbal manager flags to be applied (0 to be ignored). | -| pitch | `float` | rad | invalid:NaN | Pitch/tilt angle (positive: tilt up). NaN to be ignored. | -| yaw | `float` | rad | invalid:NaN | Yaw/pan angle (positive: pan the right). NaN to be ignored. The frame is determined by the GIMBAL_DEVICE_FLAGS_YAW_IN_xxx_FRAME flags. | -| pitch_rate | `float` | rad/s | invalid:NaN | Pitch/tilt angular rate (positive: tilt up). NaN to be ignored. | -| yaw_rate | `float` | rad/s | invalid:NaN | Yaw/pan angular rate (positive: pan to the right). NaN to be ignored. The frame is determined by the GIMBAL_DEVICE_FLAGS_YAW_IN_xxx_FRAME flags. | - - -### STORM32_GIMBAL_MANAGER_CORRECT_ROLL (60014) {#STORM32_GIMBAL_MANAGER_CORRECT_ROLL} - -Message to a gimbal manager to correct the gimbal roll angle. This message is typically used to manually correct for a tilted horizon in operation. A gimbal device is never to react to this message. - -| Field Name | Type | Units | Values | Description | -| ---------------- | --------- | ----- | --------------------------------------------------------------------------- | ----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | -| target_system | `uint8_t` | | | System ID | -| target_component | `uint8_t` | | | Component ID | -| gimbal_id | `uint8_t` | | | Gimbal ID of the gimbal manager to address (component ID or 1-6 for non-MAVLink gimbal, 0 for all gimbals). Send command multiple times for more than one but not all gimbals.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Messages with same value are from the same source (instance). | -| client | `uint8_t` | | [MAV_STORM32_GIMBAL_MANAGER_CLIENT](#MAV_STORM32_GIMBAL_MANAGER_CLIENT) | Client which is contacting the gimbal manager (must be set). | -| roll | `float` | rad | | Roll angle (positive to roll to the right). | - - -### QSHOT_STATUS (60020) — [WIP] {#QSHOT_STATUS} - -**WORK IN PROGRESS**: Do not use in stable production environments (it may change). - -Information about the shot operation. - -| Field Name | Type | Values | Description | -| ---------- | ---------- | ----------------------------------- | ------------------------------------------------------------------------- | -| mode | `uint16_t` | [MAV_QSHOT_MODE](#MAV_QSHOT_MODE) | Current shot mode. | -| shot_state | `uint16_t` | | Current state in the shot. States are specific to the selected shot mode. | - - -### FRSKY_PASSTHROUGH_ARRAY (60040) {#FRSKY_PASSTHROUGH_ARRAY} - -Frsky SPort passthrough multi packet container. - -| Field Name | Type | Units | Description | -| -------------- | -------------- | ----- | ------------------------------------------------------------------------------------------------------------------- | -| time_boot_ms | `uint32_t` | ms | Timestamp (time since system boot). | -| count | `uint8_t` | | Number of passthrough packets in this message. | -| packet_buf | `uint8_t[240]` | | Passthrough packet buffer. A packet has 6 bytes: uint16_t id + uint32_t data. The array has space for 40 packets. | - - -### PARAM_VALUE_ARRAY (60041) {#PARAM_VALUE_ARRAY} - -Parameter multi param value container. - -| Field Name | Type | Description | -| ------------------- | -------------- | ------------------------------------------------------------------------------------------------------------------------------- | -| param_count | `uint16_t` | Total number of onboard parameters. | -| param_index_first | `uint16_t` | Index of the first onboard parameter in this array. | -| param_array_len | `uint8_t` | Number of onboard parameters in this array. | -| flags | `uint16_t` | Flags. | -| packet_buf | `uint8_t[248]` | Parameters buffer. Contains a series of variable length parameter blocks, one per parameter, with format as specifed elsewhere. | - - -## Enumerated Types - -### MAV_STORM32_TUNNEL_PAYLOAD_TYPE {#MAV_STORM32_TUNNEL_PAYLOAD_TYPE} - -| Value | Name | Description | -| ---------------------------- | --------------------------------------------------------------------------------------------------------- | ---------------------------------------------------------------------------------- | -| 200 | [MAV_STORM32_TUNNEL_PAYLOAD_TYPE_STORM32_CH1_IN](#MAV_STORM32_TUNNEL_PAYLOAD_TYPE_STORM32_CH1_IN) | Registered for STorM32 gimbal controller. For communication with gimbal or camera. | -| 201 | [MAV_STORM32_TUNNEL_PAYLOAD_TYPE_STORM32_CH1_OUT](#MAV_STORM32_TUNNEL_PAYLOAD_TYPE_STORM32_CH1_OUT) | Registered for STorM32 gimbal controller. For communication with gimbal or camera. | -| 202 | [MAV_STORM32_TUNNEL_PAYLOAD_TYPE_STORM32_CH2_IN](#MAV_STORM32_TUNNEL_PAYLOAD_TYPE_STORM32_CH2_IN) | Registered for STorM32 gimbal controller. For communication with gimbal. | -| 203 | [MAV_STORM32_TUNNEL_PAYLOAD_TYPE_STORM32_CH2_OUT](#MAV_STORM32_TUNNEL_PAYLOAD_TYPE_STORM32_CH2_OUT) | Registered for STorM32 gimbal controller. For communication with gimbal. | -| 204 | [MAV_STORM32_TUNNEL_PAYLOAD_TYPE_STORM32_CH3_IN](#MAV_STORM32_TUNNEL_PAYLOAD_TYPE_STORM32_CH3_IN) | Registered for STorM32 gimbal controller. For communication with camera. | -| 205 | [MAV_STORM32_TUNNEL_PAYLOAD_TYPE_STORM32_CH3_OUT](#MAV_STORM32_TUNNEL_PAYLOAD_TYPE_STORM32_CH3_OUT) | Registered for STorM32 gimbal controller. For communication with camera. | - -### MAV_STORM32_GIMBAL_PREARM_FLAGS {#MAV_STORM32_GIMBAL_PREARM_FLAGS} - -(Bitmask) STorM32 gimbal prearm check flags. - -| Value | Name | Description | -| ------------------------------ | ----------------------------------------------------------------------------------------------------------------------------- | ---------------------------------------------- | -| 1 | [MAV_STORM32_GIMBAL_PREARM_FLAGS_IS_NORMAL](#MAV_STORM32_GIMBAL_PREARM_FLAGS_IS_NORMAL) | STorM32 gimbal is in normal state. | -| 2 | [MAV_STORM32_GIMBAL_PREARM_FLAGS_IMUS_WORKING](#MAV_STORM32_GIMBAL_PREARM_FLAGS_IMUS_WORKING) | The IMUs are healthy and working normally. | -| 4 | [MAV_STORM32_GIMBAL_PREARM_FLAGS_MOTORS_WORKING](#MAV_STORM32_GIMBAL_PREARM_FLAGS_MOTORS_WORKING) | The motors are active and working normally. | -| 8 | [MAV_STORM32_GIMBAL_PREARM_FLAGS_ENCODERS_WORKING](#MAV_STORM32_GIMBAL_PREARM_FLAGS_ENCODERS_WORKING) | The encoders are healthy and working normally. | -| 16 | [MAV_STORM32_GIMBAL_PREARM_FLAGS_VOLTAGE_OK](#MAV_STORM32_GIMBAL_PREARM_FLAGS_VOLTAGE_OK) | A battery voltage is applied and is in range. | -| 32 | [MAV_STORM32_GIMBAL_PREARM_FLAGS_VIRTUALCHANNELS_RECEIVING](#MAV_STORM32_GIMBAL_PREARM_FLAGS_VIRTUALCHANNELS_RECEIVING) | Virtual input channels are receiving data. | -| 64 | [MAV_STORM32_GIMBAL_PREARM_FLAGS_MAVLINK_RECEIVING](#MAV_STORM32_GIMBAL_PREARM_FLAGS_MAVLINK_RECEIVING) | Mavlink messages are being received. | -| 128 | [MAV_STORM32_GIMBAL_PREARM_FLAGS_STORM32LINK_QFIX](#MAV_STORM32_GIMBAL_PREARM_FLAGS_STORM32LINK_QFIX) | The STorM32Link data indicates QFix. | -| 256 | [MAV_STORM32_GIMBAL_PREARM_FLAGS_STORM32LINK_WORKING](#MAV_STORM32_GIMBAL_PREARM_FLAGS_STORM32LINK_WORKING) | The STorM32Link is working. | -| 512 | [MAV_STORM32_GIMBAL_PREARM_FLAGS_CAMERA_CONNECTED](#MAV_STORM32_GIMBAL_PREARM_FLAGS_CAMERA_CONNECTED) | The camera has been found and is connected. | -| 1024 | [MAV_STORM32_GIMBAL_PREARM_FLAGS_AUX0_LOW](#MAV_STORM32_GIMBAL_PREARM_FLAGS_AUX0_LOW) | The signal on the AUX0 input pin is low. | -| 2048 | [MAV_STORM32_GIMBAL_PREARM_FLAGS_AUX1_LOW](#MAV_STORM32_GIMBAL_PREARM_FLAGS_AUX1_LOW) | The signal on the AUX1 input pin is low. | -| 4096 | [MAV_STORM32_GIMBAL_PREARM_FLAGS_NTLOGGER_WORKING](#MAV_STORM32_GIMBAL_PREARM_FLAGS_NTLOGGER_WORKING) | The NTLogger is working normally. | - -### MAV_STORM32_CAMERA_PREARM_FLAGS {#MAV_STORM32_CAMERA_PREARM_FLAGS} - -(Bitmask) STorM32 camera prearm check flags. - -| Value | Name | Description | -| --------------------------- | ------------------------------------------------------------------------------------------- | ------------------------------------------- | -| 1 | [MAV_STORM32_CAMERA_PREARM_FLAGS_CONNECTED](#MAV_STORM32_CAMERA_PREARM_FLAGS_CONNECTED) | The camera has been found and is connected. | - -### MAV_STORM32_GIMBAL_MANAGER_CAP_FLAGS {#MAV_STORM32_GIMBAL_MANAGER_CAP_FLAGS} - -(Bitmask) Gimbal manager capability flags. - -| Value | Name | Description | -| --------------------------- | ------------------------------------------------------------------------------------------------------------- | --------------------------------------------- | -| 1 | [MAV_STORM32_GIMBAL_MANAGER_CAP_FLAGS_HAS_PROFILES](#MAV_STORM32_GIMBAL_MANAGER_CAP_FLAGS_HAS_PROFILES) | The gimbal manager supports several profiles. | - -### MAV_STORM32_GIMBAL_MANAGER_FLAGS {#MAV_STORM32_GIMBAL_MANAGER_FLAGS} - -(Bitmask) Flags for gimbal manager operation. Used for setting and reporting, unless specified otherwise. If a setting has been accepted by the gimbal manager is reported in the STORM32_GIMBAL_MANAGER_STATUS message. - -| Value | Name | Description | -| ------------------------------ | --------------------------------------------------------------------------------------------------------------------------- | ----------------------------------------------------------------------------------------------------------------------------------------------- | -| 0 | [MAV_STORM32_GIMBAL_MANAGER_FLAGS_NONE](#MAV_STORM32_GIMBAL_MANAGER_FLAGS_NONE) | 0 = ignore. | -| 1 | [MAV_STORM32_GIMBAL_MANAGER_FLAGS_RC_ACTIVE](#MAV_STORM32_GIMBAL_MANAGER_FLAGS_RC_ACTIVE) | Request to set RC input to active, or report RC input is active. Implies RC mixed. RC exclusive is achieved by setting all clients to inactive. | -| 2 | [MAV_STORM32_GIMBAL_MANAGER_FLAGS_CLIENT_ONBOARD_ACTIVE](#MAV_STORM32_GIMBAL_MANAGER_FLAGS_CLIENT_ONBOARD_ACTIVE) | Request to set onboard/companion computer client to active, or report this client is active. | -| 4 | [MAV_STORM32_GIMBAL_MANAGER_FLAGS_CLIENT_AUTOPILOT_ACTIVE](#MAV_STORM32_GIMBAL_MANAGER_FLAGS_CLIENT_AUTOPILOT_ACTIVE) | Request to set autopliot client to active, or report this client is active. | -| 8 | [MAV_STORM32_GIMBAL_MANAGER_FLAGS_CLIENT_GCS_ACTIVE](#MAV_STORM32_GIMBAL_MANAGER_FLAGS_CLIENT_GCS_ACTIVE) | Request to set GCS client to active, or report this client is active. | -| 16 | [MAV_STORM32_GIMBAL_MANAGER_FLAGS_CLIENT_CAMERA_ACTIVE](#MAV_STORM32_GIMBAL_MANAGER_FLAGS_CLIENT_CAMERA_ACTIVE) | Request to set camera client to active, or report this client is active. | -| 32 | [MAV_STORM32_GIMBAL_MANAGER_FLAGS_CLIENT_GCS2_ACTIVE](#MAV_STORM32_GIMBAL_MANAGER_FLAGS_CLIENT_GCS2_ACTIVE) | Request to set GCS2 client to active, or report this client is active. | -| 64 | [MAV_STORM32_GIMBAL_MANAGER_FLAGS_CLIENT_CAMERA2_ACTIVE](#MAV_STORM32_GIMBAL_MANAGER_FLAGS_CLIENT_CAMERA2_ACTIVE) | Request to set camera2 client to active, or report this client is active. | -| 128 | [MAV_STORM32_GIMBAL_MANAGER_FLAGS_CLIENT_CUSTOM_ACTIVE](#MAV_STORM32_GIMBAL_MANAGER_FLAGS_CLIENT_CUSTOM_ACTIVE) | Request to set custom client to active, or report this client is active. | -| 256 | [MAV_STORM32_GIMBAL_MANAGER_FLAGS_CLIENT_CUSTOM2_ACTIVE](#MAV_STORM32_GIMBAL_MANAGER_FLAGS_CLIENT_CUSTOM2_ACTIVE) | Request to set custom2 client to active, or report this client is active. | -| 512 | [MAV_STORM32_GIMBAL_MANAGER_FLAGS_SET_SUPERVISON](#MAV_STORM32_GIMBAL_MANAGER_FLAGS_SET_SUPERVISON) | Request supervision. This flag is only for setting, it is not reported. | -| 1024 | [MAV_STORM32_GIMBAL_MANAGER_FLAGS_SET_RELEASE](#MAV_STORM32_GIMBAL_MANAGER_FLAGS_SET_RELEASE) | Release supervision. This flag is only for setting, it is not reported. | - -### MAV_STORM32_GIMBAL_MANAGER_CLIENT {#MAV_STORM32_GIMBAL_MANAGER_CLIENT} - -Gimbal manager client ID. In a prioritizing profile, the priorities are determined by the implementation; they could e.g. be custom1 > onboard > GCS > autopilot/camera > GCS2 > custom2. - -| Value | Name | Description | -| --------------------------- | ----------------------------------------------------------------------------------------------- | ---------------------------------------------- | -| 0 | [MAV_STORM32_GIMBAL_MANAGER_CLIENT_NONE](#MAV_STORM32_GIMBAL_MANAGER_CLIENT_NONE) | For convenience. | -| 1 | [MAV_STORM32_GIMBAL_MANAGER_CLIENT_ONBOARD](#MAV_STORM32_GIMBAL_MANAGER_CLIENT_ONBOARD) | This is the onboard/companion computer client. | -| 2 | [MAV_STORM32_GIMBAL_MANAGER_CLIENT_AUTOPILOT](#MAV_STORM32_GIMBAL_MANAGER_CLIENT_AUTOPILOT) | This is the autopilot client. | -| 3 | [MAV_STORM32_GIMBAL_MANAGER_CLIENT_GCS](#MAV_STORM32_GIMBAL_MANAGER_CLIENT_GCS) | This is the GCS client. | -| 4 | [MAV_STORM32_GIMBAL_MANAGER_CLIENT_CAMERA](#MAV_STORM32_GIMBAL_MANAGER_CLIENT_CAMERA) | This is the camera client. | -| 5 | [MAV_STORM32_GIMBAL_MANAGER_CLIENT_GCS2](#MAV_STORM32_GIMBAL_MANAGER_CLIENT_GCS2) | This is the GCS2 client. | -| 6 | [MAV_STORM32_GIMBAL_MANAGER_CLIENT_CAMERA2](#MAV_STORM32_GIMBAL_MANAGER_CLIENT_CAMERA2) | This is the camera2 client. | -| 7 | [MAV_STORM32_GIMBAL_MANAGER_CLIENT_CUSTOM](#MAV_STORM32_GIMBAL_MANAGER_CLIENT_CUSTOM) | This is the custom client. | -| 8 | [MAV_STORM32_GIMBAL_MANAGER_CLIENT_CUSTOM2](#MAV_STORM32_GIMBAL_MANAGER_CLIENT_CUSTOM2) | This is the custom2 client. | - -### MAV_STORM32_GIMBAL_MANAGER_PROFILE {#MAV_STORM32_GIMBAL_MANAGER_PROFILE} - -Gimbal manager profiles. Only standard profiles are defined. Any implementation can define its own profile(s) in addition, and should use enum values > 16. - -| Value | Name | Description | -| --------------------------- | ------------------------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------ | -| 0 | [MAV_STORM32_GIMBAL_MANAGER_PROFILE_DEFAULT](#MAV_STORM32_GIMBAL_MANAGER_PROFILE_DEFAULT) | Default profile. Implementation specific. | -| 1 | [MAV_STORM32_GIMBAL_MANAGER_PROFILE_CUSTOM](#MAV_STORM32_GIMBAL_MANAGER_PROFILE_CUSTOM) | Not supported/deprecated. | -| 2 | [MAV_STORM32_GIMBAL_MANAGER_PROFILE_COOPERATIVE](#MAV_STORM32_GIMBAL_MANAGER_PROFILE_COOPERATIVE) | Profile with cooperative behavior. | -| 3 | [MAV_STORM32_GIMBAL_MANAGER_PROFILE_EXCLUSIVE](#MAV_STORM32_GIMBAL_MANAGER_PROFILE_EXCLUSIVE) | Profile with exclusive behavior. | -| 4 | [MAV_STORM32_GIMBAL_MANAGER_PROFILE_PRIORITY_COOPERATIVE](#MAV_STORM32_GIMBAL_MANAGER_PROFILE_PRIORITY_COOPERATIVE) | Profile with priority and cooperative behavior for equal priority. | -| 5 | [MAV_STORM32_GIMBAL_MANAGER_PROFILE_PRIORITY_EXCLUSIVE](#MAV_STORM32_GIMBAL_MANAGER_PROFILE_PRIORITY_EXCLUSIVE) | Profile with priority and exclusive behavior for equal priority. | - -### MAV_QSHOT_MODE {#MAV_QSHOT_MODE} - -Enumeration of possible shot modes. - -| Value | Name | Description | -| --------------------------- | ------------------------------------------------------------------------- | ------------------------------------------------------------------------------ | -| 0 | [MAV_QSHOT_MODE_UNDEFINED](#MAV_QSHOT_MODE_UNDEFINED) | Undefined shot mode. Can be used to determine if qshots should be used or not. | -| 1 | [MAV_QSHOT_MODE_DEFAULT](#MAV_QSHOT_MODE_DEFAULT) | Start normal gimbal operation. Is usually used to return back from a shot. | -| 2 | [MAV_QSHOT_MODE_GIMBAL_RETRACT](#MAV_QSHOT_MODE_GIMBAL_RETRACT) | Load and keep safe gimbal position and stop stabilization. | -| 3 | [MAV_QSHOT_MODE_GIMBAL_NEUTRAL](#MAV_QSHOT_MODE_GIMBAL_NEUTRAL) | Load neutral gimbal position and keep it while stabilizing. | -| 4 | [MAV_QSHOT_MODE_GIMBAL_MISSION](#MAV_QSHOT_MODE_GIMBAL_MISSION) | Start mission with gimbal control. | -| 5 | [MAV_QSHOT_MODE_GIMBAL_RC_CONTROL](#MAV_QSHOT_MODE_GIMBAL_RC_CONTROL) | Start RC gimbal control. | -| 6 | [MAV_QSHOT_MODE_POI_TARGETING](#MAV_QSHOT_MODE_POI_TARGETING) | Start gimbal tracking the point specified by Lat, Lon, Alt. | -| 7 | [MAV_QSHOT_MODE_SYSID_TARGETING](#MAV_QSHOT_MODE_SYSID_TARGETING) | Start gimbal tracking the system with specified system ID. | -| 8 | [MAV_QSHOT_MODE_CABLECAM_2POINT](#MAV_QSHOT_MODE_CABLECAM_2POINT) | Start 2-point cable cam quick shot. | -| 9 | [MAV_QSHOT_MODE_HOME_TARGETING](#MAV_QSHOT_MODE_HOME_TARGETING) | Start gimbal tracking the home location. | - -### ACCELCAL_VEHICLE_POS — \[from: [ardupilotmega](../messages/ardupilotmega.md#ACCELCAL_VEHICLE_POS)\] {#ACCELCAL_VEHICLE_POS} - -### HEADING_TYPE — \[from: [ardupilotmega](../messages/ardupilotmega.md#HEADING_TYPE)\] {#HEADING_TYPE} - -### SCRIPTING_CMD — \[from: [ardupilotmega](../messages/ardupilotmega.md#SCRIPTING_CMD)\] {#SCRIPTING_CMD} - -### LIMITS_STATE — \[from: [ardupilotmega](../messages/ardupilotmega.md#LIMITS_STATE)\] {#LIMITS_STATE} - -### LIMIT_MODULE — \[from: [ardupilotmega](../messages/ardupilotmega.md#LIMIT_MODULE)\] {#LIMIT_MODULE} - -### RALLY_FLAGS — \[from: [ardupilotmega](../messages/ardupilotmega.md#RALLY_FLAGS)\] {#RALLY_FLAGS} - -### CAMERA_STATUS_TYPES — \[from: [ardupilotmega](../messages/ardupilotmega.md#CAMERA_STATUS_TYPES)\] {#CAMERA_STATUS_TYPES} - -### CAMERA_FEEDBACK_FLAGS — \[from: [ardupilotmega](../messages/ardupilotmega.md#CAMERA_FEEDBACK_FLAGS)\] {#CAMERA_FEEDBACK_FLAGS} - -### MAV_MODE_GIMBAL — \[from: [ardupilotmega](../messages/ardupilotmega.md#MAV_MODE_GIMBAL)\] {#MAV_MODE_GIMBAL} - -### GIMBAL_AXIS — \[from: [ardupilotmega](../messages/ardupilotmega.md#GIMBAL_AXIS)\] {#GIMBAL_AXIS} - -### GIMBAL_AXIS_CALIBRATION_STATUS — \[from: [ardupilotmega](../messages/ardupilotmega.md#GIMBAL_AXIS_CALIBRATION_STATUS)\] {#GIMBAL_AXIS_CALIBRATION_STATUS} - -### GIMBAL_AXIS_CALIBRATION_REQUIRED — \[from: [ardupilotmega](../messages/ardupilotmega.md#GIMBAL_AXIS_CALIBRATION_REQUIRED)\] {#GIMBAL_AXIS_CALIBRATION_REQUIRED} - -### GOPRO_HEARTBEAT_STATUS — \[from: [ardupilotmega](../messages/ardupilotmega.md#GOPRO_HEARTBEAT_STATUS)\] {#GOPRO_HEARTBEAT_STATUS} - -### GOPRO_HEARTBEAT_FLAGS — \[from: [ardupilotmega](../messages/ardupilotmega.md#GOPRO_HEARTBEAT_FLAGS)\] {#GOPRO_HEARTBEAT_FLAGS} - -### GOPRO_REQUEST_STATUS — \[from: [ardupilotmega](../messages/ardupilotmega.md#GOPRO_REQUEST_STATUS)\] {#GOPRO_REQUEST_STATUS} - -### GOPRO_COMMAND — \[from: [ardupilotmega](../messages/ardupilotmega.md#GOPRO_COMMAND)\] {#GOPRO_COMMAND} - -### GOPRO_CAPTURE_MODE — \[from: [ardupilotmega](../messages/ardupilotmega.md#GOPRO_CAPTURE_MODE)\] {#GOPRO_CAPTURE_MODE} - -### GOPRO_RESOLUTION — \[from: [ardupilotmega](../messages/ardupilotmega.md#GOPRO_RESOLUTION)\] {#GOPRO_RESOLUTION} - -### GOPRO_FRAME_RATE — \[from: [ardupilotmega](../messages/ardupilotmega.md#GOPRO_FRAME_RATE)\] {#GOPRO_FRAME_RATE} - -### GOPRO_FIELD_OF_VIEW — \[from: [ardupilotmega](../messages/ardupilotmega.md#GOPRO_FIELD_OF_VIEW)\] {#GOPRO_FIELD_OF_VIEW} - -### GOPRO_VIDEO_SETTINGS_FLAGS — \[from: [ardupilotmega](../messages/ardupilotmega.md#GOPRO_VIDEO_SETTINGS_FLAGS)\] {#GOPRO_VIDEO_SETTINGS_FLAGS} - -### GOPRO_PHOTO_RESOLUTION — \[from: [ardupilotmega](../messages/ardupilotmega.md#GOPRO_PHOTO_RESOLUTION)\] {#GOPRO_PHOTO_RESOLUTION} - -### GOPRO_PROTUNE_WHITE_BALANCE — \[from: [ardupilotmega](../messages/ardupilotmega.md#GOPRO_PROTUNE_WHITE_BALANCE)\] {#GOPRO_PROTUNE_WHITE_BALANCE} - -### GOPRO_PROTUNE_COLOUR — \[from: [ardupilotmega](../messages/ardupilotmega.md#GOPRO_PROTUNE_COLOUR)\] {#GOPRO_PROTUNE_COLOUR} - -### GOPRO_PROTUNE_GAIN — \[from: [ardupilotmega](../messages/ardupilotmega.md#GOPRO_PROTUNE_GAIN)\] {#GOPRO_PROTUNE_GAIN} - -### GOPRO_PROTUNE_SHARPNESS — \[from: [ardupilotmega](../messages/ardupilotmega.md#GOPRO_PROTUNE_SHARPNESS)\] {#GOPRO_PROTUNE_SHARPNESS} - -### GOPRO_PROTUNE_EXPOSURE — \[from: [ardupilotmega](../messages/ardupilotmega.md#GOPRO_PROTUNE_EXPOSURE)\] {#GOPRO_PROTUNE_EXPOSURE} - -### GOPRO_CHARGING — \[from: [ardupilotmega](../messages/ardupilotmega.md#GOPRO_CHARGING)\] {#GOPRO_CHARGING} - -### GOPRO_MODEL — \[from: [ardupilotmega](../messages/ardupilotmega.md#GOPRO_MODEL)\] {#GOPRO_MODEL} - -### GOPRO_BURST_RATE — \[from: [ardupilotmega](../messages/ardupilotmega.md#GOPRO_BURST_RATE)\] {#GOPRO_BURST_RATE} - -### MAV_CMD_DO_AUX_FUNCTION_SWITCH_LEVEL — \[from: [ardupilotmega](../messages/ardupilotmega.md#MAV_CMD_DO_AUX_FUNCTION_SWITCH_LEVEL)\] {#MAV_CMD_DO_AUX_FUNCTION_SWITCH_LEVEL} - -### LED_CONTROL_PATTERN — \[from: [ardupilotmega](../messages/ardupilotmega.md#LED_CONTROL_PATTERN)\] {#LED_CONTROL_PATTERN} - -### EKF_STATUS_FLAGS — \[from: [ardupilotmega](../messages/ardupilotmega.md#EKF_STATUS_FLAGS)\] {#EKF_STATUS_FLAGS} - -### PID_TUNING_AXIS — \[from: [ardupilotmega](../messages/ardupilotmega.md#PID_TUNING_AXIS)\] {#PID_TUNING_AXIS} - -### MAV_REMOTE_LOG_DATA_BLOCK_COMMANDS — \[from: [ardupilotmega](../messages/ardupilotmega.md#MAV_REMOTE_LOG_DATA_BLOCK_COMMANDS)\] {#MAV_REMOTE_LOG_DATA_BLOCK_COMMANDS} - -### MAV_REMOTE_LOG_DATA_BLOCK_STATUSES — \[from: [ardupilotmega](../messages/ardupilotmega.md#MAV_REMOTE_LOG_DATA_BLOCK_STATUSES)\] {#MAV_REMOTE_LOG_DATA_BLOCK_STATUSES} - -### DEVICE_OP_BUSTYPE — \[from: [ardupilotmega](../messages/ardupilotmega.md#DEVICE_OP_BUSTYPE)\] {#DEVICE_OP_BUSTYPE} - -### DEEPSTALL_STAGE — \[from: [ardupilotmega](../messages/ardupilotmega.md#DEEPSTALL_STAGE)\] {#DEEPSTALL_STAGE} - -### PLANE_MODE — \[from: [ardupilotmega](../messages/ardupilotmega.md#PLANE_MODE)\] {#PLANE_MODE} - -### COPTER_MODE — \[from: [ardupilotmega](../messages/ardupilotmega.md#COPTER_MODE)\] {#COPTER_MODE} - -### SUB_MODE — \[from: [ardupilotmega](../messages/ardupilotmega.md#SUB_MODE)\] {#SUB_MODE} - -### ROVER_MODE — \[from: [ardupilotmega](../messages/ardupilotmega.md#ROVER_MODE)\] {#ROVER_MODE} - -### TRACKER_MODE — \[from: [ardupilotmega](../messages/ardupilotmega.md#TRACKER_MODE)\] {#TRACKER_MODE} - -### OSD_PARAM_CONFIG_TYPE — \[from: [ardupilotmega](../messages/ardupilotmega.md#OSD_PARAM_CONFIG_TYPE)\] {#OSD_PARAM_CONFIG_TYPE} - -### OSD_PARAM_CONFIG_ERROR — \[from: [ardupilotmega](../messages/ardupilotmega.md#OSD_PARAM_CONFIG_ERROR)\] {#OSD_PARAM_CONFIG_ERROR} - -### FIRMWARE_VERSION_TYPE — \[from: [common](../messages/common.md#FIRMWARE_VERSION_TYPE)\] {#FIRMWARE_VERSION_TYPE} - -### HL_FAILURE_FLAG — \[from: [common](../messages/common.md#HL_FAILURE_FLAG)\] {#HL_FAILURE_FLAG} - -### MAV_GOTO — \[from: [common](../messages/common.md#MAV_GOTO)\] {#MAV_GOTO} - -### MAV_MODE — \[from: [common](../messages/common.md#MAV_MODE)\] {#MAV_MODE} - -### MAV_SYS_STATUS_SENSOR — \[from: [common](../messages/common.md#MAV_SYS_STATUS_SENSOR)\] {#MAV_SYS_STATUS_SENSOR} - -### MAV_SYS_STATUS_SENSOR_EXTENDED — \[from: [common](../messages/common.md#MAV_SYS_STATUS_SENSOR_EXTENDED)\] {#MAV_SYS_STATUS_SENSOR_EXTENDED} - -### MAV_FRAME — \[from: [common](../messages/common.md#MAV_FRAME)\] {#MAV_FRAME} - -### MAVLINK_DATA_STREAM_TYPE — \[from: [common](../messages/common.md#MAVLINK_DATA_STREAM_TYPE)\] {#MAVLINK_DATA_STREAM_TYPE} - -### FENCE_ACTION — \[from: [common](../messages/common.md#FENCE_ACTION)\] {#FENCE_ACTION} - -### FENCE_BREACH — \[from: [common](../messages/common.md#FENCE_BREACH)\] {#FENCE_BREACH} - -### FENCE_MITIGATE — \[from: [common](../messages/common.md#FENCE_MITIGATE)\] {#FENCE_MITIGATE} - -### FENCE_TYPE — \[from: [common](../messages/common.md#FENCE_TYPE)\] {#FENCE_TYPE} - -### MAV_MOUNT_MODE — \[from: [common](../messages/common.md#MAV_MOUNT_MODE)\] [DEP] {#MAV_MOUNT_MODE} - -### GIMBAL_DEVICE_CAP_FLAGS — \[from: [common](../messages/common.md#GIMBAL_DEVICE_CAP_FLAGS)\] {#GIMBAL_DEVICE_CAP_FLAGS} - -### GIMBAL_MANAGER_CAP_FLAGS — \[from: [common](../messages/common.md#GIMBAL_MANAGER_CAP_FLAGS)\] {#GIMBAL_MANAGER_CAP_FLAGS} - -### GIMBAL_DEVICE_FLAGS — \[from: [common](../messages/common.md#GIMBAL_DEVICE_FLAGS)\] {#GIMBAL_DEVICE_FLAGS} - -### GIMBAL_MANAGER_FLAGS — \[from: [common](../messages/common.md#GIMBAL_MANAGER_FLAGS)\] {#GIMBAL_MANAGER_FLAGS} - -### GIMBAL_DEVICE_ERROR_FLAGS — \[from: [common](../messages/common.md#GIMBAL_DEVICE_ERROR_FLAGS)\] {#GIMBAL_DEVICE_ERROR_FLAGS} - -### GRIPPER_ACTIONS — \[from: [common](../messages/common.md#GRIPPER_ACTIONS)\] {#GRIPPER_ACTIONS} - -### WINCH_ACTIONS — \[from: [common](../messages/common.md#WINCH_ACTIONS)\] {#WINCH_ACTIONS} - -### UAVCAN_NODE_HEALTH — \[from: [common](../messages/common.md#UAVCAN_NODE_HEALTH)\] {#UAVCAN_NODE_HEALTH} - -### UAVCAN_NODE_MODE — \[from: [common](../messages/common.md#UAVCAN_NODE_MODE)\] {#UAVCAN_NODE_MODE} - -### ESC_CONNECTION_TYPE — \[from: [common](../messages/common.md#ESC_CONNECTION_TYPE)\] {#ESC_CONNECTION_TYPE} - -### ESC_FAILURE_FLAGS — \[from: [common](../messages/common.md#ESC_FAILURE_FLAGS)\] {#ESC_FAILURE_FLAGS} - -### STORAGE_STATUS — \[from: [common](../messages/common.md#STORAGE_STATUS)\] {#STORAGE_STATUS} - -### STORAGE_TYPE — \[from: [common](../messages/common.md#STORAGE_TYPE)\] {#STORAGE_TYPE} - -### STORAGE_USAGE_FLAG — \[from: [common](../messages/common.md#STORAGE_USAGE_FLAG)\] {#STORAGE_USAGE_FLAG} - -### ORBIT_YAW_BEHAVIOUR — \[from: [common](../messages/common.md#ORBIT_YAW_BEHAVIOUR)\] {#ORBIT_YAW_BEHAVIOUR} - -### WIFI_CONFIG_AP_RESPONSE — \[from: [common](../messages/common.md#WIFI_CONFIG_AP_RESPONSE)\] {#WIFI_CONFIG_AP_RESPONSE} - -### CELLULAR_CONFIG_RESPONSE — \[from: [common](../messages/common.md#CELLULAR_CONFIG_RESPONSE)\] {#CELLULAR_CONFIG_RESPONSE} - -### WIFI_CONFIG_AP_MODE — \[from: [common](../messages/common.md#WIFI_CONFIG_AP_MODE)\] {#WIFI_CONFIG_AP_MODE} - -### COMP_METADATA_TYPE — \[from: [common](../messages/common.md#COMP_METADATA_TYPE)\] {#COMP_METADATA_TYPE} - -### ACTUATOR_CONFIGURATION — \[from: [common](../messages/common.md#ACTUATOR_CONFIGURATION)\] {#ACTUATOR_CONFIGURATION} - -### ACTUATOR_OUTPUT_FUNCTION — \[from: [common](../messages/common.md#ACTUATOR_OUTPUT_FUNCTION)\] {#ACTUATOR_OUTPUT_FUNCTION} - -### AUTOTUNE_AXIS — \[from: [common](../messages/common.md#AUTOTUNE_AXIS)\] {#AUTOTUNE_AXIS} - -### PREFLIGHT_STORAGE_PARAMETER_ACTION — \[from: [common](../messages/common.md#PREFLIGHT_STORAGE_PARAMETER_ACTION)\] {#PREFLIGHT_STORAGE_PARAMETER_ACTION} - -### PREFLIGHT_STORAGE_MISSION_ACTION — \[from: [common](../messages/common.md#PREFLIGHT_STORAGE_MISSION_ACTION)\] {#PREFLIGHT_STORAGE_MISSION_ACTION} - -### MAV_DATA_STREAM — \[from: [common](../messages/common.md#MAV_DATA_STREAM)\] [DEP] {#MAV_DATA_STREAM} - -### MAV_ROI — \[from: [common](../messages/common.md#MAV_ROI)\] [DEP] {#MAV_ROI} - -### MAV_PARAM_TYPE — \[from: [common](../messages/common.md#MAV_PARAM_TYPE)\] {#MAV_PARAM_TYPE} - -### MAV_PARAM_EXT_TYPE — \[from: [common](../messages/common.md#MAV_PARAM_EXT_TYPE)\] {#MAV_PARAM_EXT_TYPE} - -### MAV_RESULT — \[from: [common](../messages/common.md#MAV_RESULT)\] {#MAV_RESULT} - -### MAV_MISSION_RESULT — \[from: [common](../messages/common.md#MAV_MISSION_RESULT)\] {#MAV_MISSION_RESULT} - -### MAV_SEVERITY — \[from: [common](../messages/common.md#MAV_SEVERITY)\] {#MAV_SEVERITY} - -### MAV_POWER_STATUS — \[from: [common](../messages/common.md#MAV_POWER_STATUS)\] {#MAV_POWER_STATUS} - -### SERIAL_CONTROL_DEV — \[from: [common](../messages/common.md#SERIAL_CONTROL_DEV)\] {#SERIAL_CONTROL_DEV} - -### SERIAL_CONTROL_FLAG — \[from: [common](../messages/common.md#SERIAL_CONTROL_FLAG)\] {#SERIAL_CONTROL_FLAG} - -### MAV_DISTANCE_SENSOR — \[from: [common](../messages/common.md#MAV_DISTANCE_SENSOR)\] {#MAV_DISTANCE_SENSOR} - -### MAV_SENSOR_ORIENTATION — \[from: [common](../messages/common.md#MAV_SENSOR_ORIENTATION)\] {#MAV_SENSOR_ORIENTATION} - -### MAV_PROTOCOL_CAPABILITY — \[from: [common](../messages/common.md#MAV_PROTOCOL_CAPABILITY)\] {#MAV_PROTOCOL_CAPABILITY} - -### MAV_MISSION_TYPE — \[from: [common](../messages/common.md#MAV_MISSION_TYPE)\] {#MAV_MISSION_TYPE} - -### MAV_ESTIMATOR_TYPE — \[from: [common](../messages/common.md#MAV_ESTIMATOR_TYPE)\] {#MAV_ESTIMATOR_TYPE} - -### MAV_BATTERY_TYPE — \[from: [common](../messages/common.md#MAV_BATTERY_TYPE)\] {#MAV_BATTERY_TYPE} - -### MAV_BATTERY_FUNCTION — \[from: [common](../messages/common.md#MAV_BATTERY_FUNCTION)\] {#MAV_BATTERY_FUNCTION} - -### MAV_BATTERY_CHARGE_STATE — \[from: [common](../messages/common.md#MAV_BATTERY_CHARGE_STATE)\] {#MAV_BATTERY_CHARGE_STATE} - -### MAV_BATTERY_MODE — \[from: [common](../messages/common.md#MAV_BATTERY_MODE)\] {#MAV_BATTERY_MODE} - -### MAV_BATTERY_FAULT — \[from: [common](../messages/common.md#MAV_BATTERY_FAULT)\] {#MAV_BATTERY_FAULT} - -### MAV_GENERATOR_STATUS_FLAG — \[from: [common](../messages/common.md#MAV_GENERATOR_STATUS_FLAG)\] {#MAV_GENERATOR_STATUS_FLAG} - -### MAV_VTOL_STATE — \[from: [common](../messages/common.md#MAV_VTOL_STATE)\] {#MAV_VTOL_STATE} - -### MAV_LANDED_STATE — \[from: [common](../messages/common.md#MAV_LANDED_STATE)\] {#MAV_LANDED_STATE} - -### ADSB_ALTITUDE_TYPE — \[from: [common](../messages/common.md#ADSB_ALTITUDE_TYPE)\] {#ADSB_ALTITUDE_TYPE} - -### ADSB_EMITTER_TYPE — \[from: [common](../messages/common.md#ADSB_EMITTER_TYPE)\] {#ADSB_EMITTER_TYPE} - -### ADSB_FLAGS — \[from: [common](../messages/common.md#ADSB_FLAGS)\] {#ADSB_FLAGS} - -### MAV_DO_REPOSITION_FLAGS — \[from: [common](../messages/common.md#MAV_DO_REPOSITION_FLAGS)\] {#MAV_DO_REPOSITION_FLAGS} - -### SPEED_TYPE — \[from: [common](../messages/common.md#SPEED_TYPE)\] {#SPEED_TYPE} - -### ESTIMATOR_STATUS_FLAGS — \[from: [common](../messages/common.md#ESTIMATOR_STATUS_FLAGS)\] {#ESTIMATOR_STATUS_FLAGS} - -### MOTOR_TEST_ORDER — \[from: [common](../messages/common.md#MOTOR_TEST_ORDER)\] {#MOTOR_TEST_ORDER} - -### MOTOR_TEST_THROTTLE_TYPE — \[from: [common](../messages/common.md#MOTOR_TEST_THROTTLE_TYPE)\] {#MOTOR_TEST_THROTTLE_TYPE} - -### GPS_INPUT_IGNORE_FLAGS — \[from: [common](../messages/common.md#GPS_INPUT_IGNORE_FLAGS)\] {#GPS_INPUT_IGNORE_FLAGS} - -### MAV_COLLISION_ACTION — \[from: [common](../messages/common.md#MAV_COLLISION_ACTION)\] {#MAV_COLLISION_ACTION} - -### MAV_COLLISION_THREAT_LEVEL — \[from: [common](../messages/common.md#MAV_COLLISION_THREAT_LEVEL)\] {#MAV_COLLISION_THREAT_LEVEL} - -### MAV_COLLISION_SRC — \[from: [common](../messages/common.md#MAV_COLLISION_SRC)\] {#MAV_COLLISION_SRC} - -### GPS_FIX_TYPE — \[from: [common](../messages/common.md#GPS_FIX_TYPE)\] {#GPS_FIX_TYPE} - -### RTK_BASELINE_COORDINATE_SYSTEM — \[from: [common](../messages/common.md#RTK_BASELINE_COORDINATE_SYSTEM)\] {#RTK_BASELINE_COORDINATE_SYSTEM} - -### LANDING_TARGET_TYPE — \[from: [common](../messages/common.md#LANDING_TARGET_TYPE)\] {#LANDING_TARGET_TYPE} - -### VTOL_TRANSITION_HEADING — \[from: [common](../messages/common.md#VTOL_TRANSITION_HEADING)\] {#VTOL_TRANSITION_HEADING} - -### CAMERA_CAP_FLAGS — \[from: [common](../messages/common.md#CAMERA_CAP_FLAGS)\] {#CAMERA_CAP_FLAGS} - -### VIDEO_STREAM_STATUS_FLAGS — \[from: [common](../messages/common.md#VIDEO_STREAM_STATUS_FLAGS)\] {#VIDEO_STREAM_STATUS_FLAGS} - -### VIDEO_STREAM_TYPE — \[from: [common](../messages/common.md#VIDEO_STREAM_TYPE)\] {#VIDEO_STREAM_TYPE} - -### VIDEO_STREAM_ENCODING — \[from: [common](../messages/common.md#VIDEO_STREAM_ENCODING)\] {#VIDEO_STREAM_ENCODING} - -### CAMERA_TRACKING_STATUS_FLAGS — \[from: [common](../messages/common.md#CAMERA_TRACKING_STATUS_FLAGS)\] {#CAMERA_TRACKING_STATUS_FLAGS} - -### CAMERA_TRACKING_MODE — \[from: [common](../messages/common.md#CAMERA_TRACKING_MODE)\] {#CAMERA_TRACKING_MODE} - -### CAMERA_TRACKING_TARGET_DATA — \[from: [common](../messages/common.md#CAMERA_TRACKING_TARGET_DATA)\] {#CAMERA_TRACKING_TARGET_DATA} - -### CAMERA_ZOOM_TYPE — \[from: [common](../messages/common.md#CAMERA_ZOOM_TYPE)\] {#CAMERA_ZOOM_TYPE} - -### SET_FOCUS_TYPE — \[from: [common](../messages/common.md#SET_FOCUS_TYPE)\] {#SET_FOCUS_TYPE} - -### CAMERA_SOURCE — \[from: [common](../messages/common.md#CAMERA_SOURCE)\] {#CAMERA_SOURCE} - -### PARAM_ACK — \[from: [common](../messages/common.md#PARAM_ACK)\] {#PARAM_ACK} - -### CAMERA_MODE — \[from: [common](../messages/common.md#CAMERA_MODE)\] {#CAMERA_MODE} - -### MAV_ARM_AUTH_DENIED_REASON — \[from: [common](../messages/common.md#MAV_ARM_AUTH_DENIED_REASON)\] {#MAV_ARM_AUTH_DENIED_REASON} - -### RC_TYPE — \[from: [common](../messages/common.md#RC_TYPE)\] {#RC_TYPE} - -### POSITION_TARGET_TYPEMASK — \[from: [common](../messages/common.md#POSITION_TARGET_TYPEMASK)\] {#POSITION_TARGET_TYPEMASK} - -### ATTITUDE_TARGET_TYPEMASK — \[from: [common](../messages/common.md#ATTITUDE_TARGET_TYPEMASK)\] {#ATTITUDE_TARGET_TYPEMASK} - -### UTM_FLIGHT_STATE — \[from: [common](../messages/common.md#UTM_FLIGHT_STATE)\] {#UTM_FLIGHT_STATE} - -### UTM_DATA_AVAIL_FLAGS — \[from: [common](../messages/common.md#UTM_DATA_AVAIL_FLAGS)\] {#UTM_DATA_AVAIL_FLAGS} - -### CELLULAR_STATUS_FLAG — \[from: [common](../messages/common.md#CELLULAR_STATUS_FLAG)\] {#CELLULAR_STATUS_FLAG} - -### CELLULAR_NETWORK_FAILED_REASON — \[from: [common](../messages/common.md#CELLULAR_NETWORK_FAILED_REASON)\] {#CELLULAR_NETWORK_FAILED_REASON} - -### CELLULAR_NETWORK_RADIO_TYPE — \[from: [common](../messages/common.md#CELLULAR_NETWORK_RADIO_TYPE)\] {#CELLULAR_NETWORK_RADIO_TYPE} - -### PRECISION_LAND_MODE — \[from: [common](../messages/common.md#PRECISION_LAND_MODE)\] {#PRECISION_LAND_MODE} - -### PARACHUTE_ACTION — \[from: [common](../messages/common.md#PARACHUTE_ACTION)\] {#PARACHUTE_ACTION} - -### MAV_TUNNEL_PAYLOAD_TYPE — \[from: [common](../messages/common.md#MAV_TUNNEL_PAYLOAD_TYPE)\] {#MAV_TUNNEL_PAYLOAD_TYPE} - -### MAV_ODID_ID_TYPE — \[from: [common](../messages/common.md#MAV_ODID_ID_TYPE)\] {#MAV_ODID_ID_TYPE} - -### MAV_ODID_UA_TYPE — \[from: [common](../messages/common.md#MAV_ODID_UA_TYPE)\] {#MAV_ODID_UA_TYPE} - -### MAV_ODID_STATUS — \[from: [common](../messages/common.md#MAV_ODID_STATUS)\] {#MAV_ODID_STATUS} - -### MAV_ODID_HEIGHT_REF — \[from: [common](../messages/common.md#MAV_ODID_HEIGHT_REF)\] {#MAV_ODID_HEIGHT_REF} - -### MAV_ODID_HOR_ACC — \[from: [common](../messages/common.md#MAV_ODID_HOR_ACC)\] {#MAV_ODID_HOR_ACC} - -### MAV_ODID_VER_ACC — \[from: [common](../messages/common.md#MAV_ODID_VER_ACC)\] {#MAV_ODID_VER_ACC} - -### MAV_ODID_SPEED_ACC — \[from: [common](../messages/common.md#MAV_ODID_SPEED_ACC)\] {#MAV_ODID_SPEED_ACC} - -### MAV_ODID_TIME_ACC — \[from: [common](../messages/common.md#MAV_ODID_TIME_ACC)\] {#MAV_ODID_TIME_ACC} - -### MAV_ODID_AUTH_TYPE — \[from: [common](../messages/common.md#MAV_ODID_AUTH_TYPE)\] {#MAV_ODID_AUTH_TYPE} - -### MAV_ODID_DESC_TYPE — \[from: [common](../messages/common.md#MAV_ODID_DESC_TYPE)\] {#MAV_ODID_DESC_TYPE} - -### MAV_ODID_OPERATOR_LOCATION_TYPE — \[from: [common](../messages/common.md#MAV_ODID_OPERATOR_LOCATION_TYPE)\] {#MAV_ODID_OPERATOR_LOCATION_TYPE} - -### MAV_ODID_CLASSIFICATION_TYPE — \[from: [common](../messages/common.md#MAV_ODID_CLASSIFICATION_TYPE)\] {#MAV_ODID_CLASSIFICATION_TYPE} - -### MAV_ODID_CATEGORY_EU — \[from: [common](../messages/common.md#MAV_ODID_CATEGORY_EU)\] {#MAV_ODID_CATEGORY_EU} - -### MAV_ODID_CLASS_EU — \[from: [common](../messages/common.md#MAV_ODID_CLASS_EU)\] {#MAV_ODID_CLASS_EU} - -### MAV_ODID_OPERATOR_ID_TYPE — \[from: [common](../messages/common.md#MAV_ODID_OPERATOR_ID_TYPE)\] {#MAV_ODID_OPERATOR_ID_TYPE} - -### MAV_ODID_ARM_STATUS — \[from: [common](../messages/common.md#MAV_ODID_ARM_STATUS)\] {#MAV_ODID_ARM_STATUS} - -### TUNE_FORMAT — \[from: [common](../messages/common.md#TUNE_FORMAT)\] {#TUNE_FORMAT} - -### AIS_TYPE — \[from: [common](../messages/common.md#AIS_TYPE)\] {#AIS_TYPE} - -### AIS_NAV_STATUS — \[from: [common](../messages/common.md#AIS_NAV_STATUS)\] {#AIS_NAV_STATUS} - -### AIS_FLAGS — \[from: [common](../messages/common.md#AIS_FLAGS)\] {#AIS_FLAGS} - -### FAILURE_UNIT — \[from: [common](../messages/common.md#FAILURE_UNIT)\] {#FAILURE_UNIT} - -### FAILURE_TYPE — \[from: [common](../messages/common.md#FAILURE_TYPE)\] {#FAILURE_TYPE} - -### NAV_VTOL_LAND_OPTIONS — \[from: [common](../messages/common.md#NAV_VTOL_LAND_OPTIONS)\] {#NAV_VTOL_LAND_OPTIONS} - -### MAV_WINCH_STATUS_FLAG — \[from: [common](../messages/common.md#MAV_WINCH_STATUS_FLAG)\] {#MAV_WINCH_STATUS_FLAG} - -### MAG_CAL_STATUS — \[from: [common](../messages/common.md#MAG_CAL_STATUS)\] {#MAG_CAL_STATUS} - -### MAV_EVENT_ERROR_REASON — \[from: [common](../messages/common.md#MAV_EVENT_ERROR_REASON)\] {#MAV_EVENT_ERROR_REASON} - -### MAV_EVENT_CURRENT_SEQUENCE_FLAGS — \[from: [common](../messages/common.md#MAV_EVENT_CURRENT_SEQUENCE_FLAGS)\] {#MAV_EVENT_CURRENT_SEQUENCE_FLAGS} - -### HIL_SENSOR_UPDATED_FLAGS — \[from: [common](../messages/common.md#HIL_SENSOR_UPDATED_FLAGS)\] {#HIL_SENSOR_UPDATED_FLAGS} - -### HIGHRES_IMU_UPDATED_FLAGS — \[from: [common](../messages/common.md#HIGHRES_IMU_UPDATED_FLAGS)\] {#HIGHRES_IMU_UPDATED_FLAGS} - -### CAN_FILTER_OP — \[from: [common](../messages/common.md#CAN_FILTER_OP)\] {#CAN_FILTER_OP} - -### MAV_FTP_ERR — \[from: [common](../messages/common.md#MAV_FTP_ERR)\] {#MAV_FTP_ERR} - -### MAV_FTP_OPCODE — \[from: [common](../messages/common.md#MAV_FTP_OPCODE)\] {#MAV_FTP_OPCODE} - -### MISSION_STATE — \[from: [common](../messages/common.md#MISSION_STATE)\] {#MISSION_STATE} - -### SAFETY_SWITCH_STATE — \[from: [common](../messages/common.md#SAFETY_SWITCH_STATE)\] {#SAFETY_SWITCH_STATE} - -### ILLUMINATOR_MODE — \[from: [common](../messages/common.md#ILLUMINATOR_MODE)\] {#ILLUMINATOR_MODE} - -### ILLUMINATOR_ERROR_FLAGS — \[from: [common](../messages/common.md#ILLUMINATOR_ERROR_FLAGS)\] {#ILLUMINATOR_ERROR_FLAGS} - -### MAV_AUTOPILOT — \[from: [minimal](../messages/minimal.md#MAV_AUTOPILOT)\] {#MAV_AUTOPILOT} - -### MAV_TYPE — \[from: [minimal](../messages/minimal.md#MAV_TYPE)\] {#MAV_TYPE} - -### MAV_MODE_FLAG — \[from: [minimal](../messages/minimal.md#MAV_MODE_FLAG)\] {#MAV_MODE_FLAG} - -### MAV_MODE_FLAG_DECODE_POSITION — \[from: [minimal](../messages/minimal.md#MAV_MODE_FLAG_DECODE_POSITION)\] {#MAV_MODE_FLAG_DECODE_POSITION} - -### MAV_STATE — \[from: [minimal](../messages/minimal.md#MAV_STATE)\] {#MAV_STATE} - -### MAV_COMPONENT — \[from: [minimal](../messages/minimal.md#MAV_COMPONENT)\] {#MAV_COMPONENT} - -### UAVIONIX_ADSB_OUT_DYNAMIC_STATE — \[from: [uAvionix](../messages/uAvionix.md#UAVIONIX_ADSB_OUT_DYNAMIC_STATE)\] {#UAVIONIX_ADSB_OUT_DYNAMIC_STATE} - -### UAVIONIX_ADSB_OUT_RF_SELECT — \[from: [uAvionix](../messages/uAvionix.md#UAVIONIX_ADSB_OUT_RF_SELECT)\] {#UAVIONIX_ADSB_OUT_RF_SELECT} - -### UAVIONIX_ADSB_OUT_DYNAMIC_GPS_FIX — \[from: [uAvionix](../messages/uAvionix.md#UAVIONIX_ADSB_OUT_DYNAMIC_GPS_FIX)\] {#UAVIONIX_ADSB_OUT_DYNAMIC_GPS_FIX} - -### UAVIONIX_ADSB_RF_HEALTH — \[from: [uAvionix](../messages/uAvionix.md#UAVIONIX_ADSB_RF_HEALTH)\] {#UAVIONIX_ADSB_RF_HEALTH} - -### UAVIONIX_ADSB_OUT_CFG_AIRCRAFT_SIZE — \[from: [uAvionix](../messages/uAvionix.md#UAVIONIX_ADSB_OUT_CFG_AIRCRAFT_SIZE)\] {#UAVIONIX_ADSB_OUT_CFG_AIRCRAFT_SIZE} - -### UAVIONIX_ADSB_OUT_CFG_GPS_OFFSET_LAT — \[from: [uAvionix](../messages/uAvionix.md#UAVIONIX_ADSB_OUT_CFG_GPS_OFFSET_LAT)\] {#UAVIONIX_ADSB_OUT_CFG_GPS_OFFSET_LAT} - -### UAVIONIX_ADSB_OUT_CFG_GPS_OFFSET_LON — \[from: [uAvionix](../messages/uAvionix.md#UAVIONIX_ADSB_OUT_CFG_GPS_OFFSET_LON)\] {#UAVIONIX_ADSB_OUT_CFG_GPS_OFFSET_LON} - -### UAVIONIX_ADSB_EMERGENCY_STATUS — \[from: [uAvionix](../messages/uAvionix.md#UAVIONIX_ADSB_EMERGENCY_STATUS)\] {#UAVIONIX_ADSB_EMERGENCY_STATUS} - -### ICAROUS_TRACK_BAND_TYPES — \[from: [icarous](../messages/icarous.md#ICAROUS_TRACK_BAND_TYPES)\] {#ICAROUS_TRACK_BAND_TYPES} - -### ICAROUS_FMS_STATE — \[from: [icarous](../messages/icarous.md#ICAROUS_FMS_STATE)\] {#ICAROUS_FMS_STATE} - -### AIRLINK_AUTH_RESPONSE_TYPE — \[from: [csAirLink](../messages/csAirLink.md#AIRLINK_AUTH_RESPONSE_TYPE)\] {#AIRLINK_AUTH_RESPONSE_TYPE} - -### AIRLINK_EYE_GS_HOLE_PUSH_RESP_TYPE — \[from: [csAirLink](../messages/csAirLink.md#AIRLINK_EYE_GS_HOLE_PUSH_RESP_TYPE)\] {#AIRLINK_EYE_GS_HOLE_PUSH_RESP_TYPE} - -### AIRLINK_EYE_IP_VERSION — \[from: [csAirLink](../messages/csAirLink.md#AIRLINK_EYE_IP_VERSION)\] {#AIRLINK_EYE_IP_VERSION} - -### AIRLINK_EYE_HOLE_PUSH_TYPE — \[from: [csAirLink](../messages/csAirLink.md#AIRLINK_EYE_HOLE_PUSH_TYPE)\] {#AIRLINK_EYE_HOLE_PUSH_TYPE} - -### AIRLINK_EYE_TURN_INIT_TYPE — \[from: [csAirLink](../messages/csAirLink.md#AIRLINK_EYE_TURN_INIT_TYPE)\] {#AIRLINK_EYE_TURN_INIT_TYPE} - -## Commands (MAV_CMD) {#mav_commands} - -### MAV_CMD_NAV_WAYPOINT (16) — \[from: [common](../messages/common.md#MAV_CMD_NAV_WAYPOINT)\] {#MAV_CMD_NAV_WAYPOINT} - -### MAV_CMD_NAV_LOITER_UNLIM (17) — \[from: [common](../messages/common.md#MAV_CMD_NAV_LOITER_UNLIM)\] {#MAV_CMD_NAV_LOITER_UNLIM} - -### MAV_CMD_NAV_LOITER_TURNS (18) — \[from: [common](../messages/common.md#MAV_CMD_NAV_LOITER_TURNS)\] {#MAV_CMD_NAV_LOITER_TURNS} - -### MAV_CMD_NAV_LOITER_TIME (19) — \[from: [common](../messages/common.md#MAV_CMD_NAV_LOITER_TIME)\] {#MAV_CMD_NAV_LOITER_TIME} - -### MAV_CMD_NAV_RETURN_TO_LAUNCH (20) — \[from: [common](../messages/common.md#MAV_CMD_NAV_RETURN_TO_LAUNCH)\] {#MAV_CMD_NAV_RETURN_TO_LAUNCH} - -### MAV_CMD_NAV_LAND (21) — \[from: [common](../messages/common.md#MAV_CMD_NAV_LAND)\] {#MAV_CMD_NAV_LAND} - -### MAV_CMD_NAV_TAKEOFF (22) — \[from: [common](../messages/common.md#MAV_CMD_NAV_TAKEOFF)\] {#MAV_CMD_NAV_TAKEOFF} - -### MAV_CMD_NAV_LAND_LOCAL (23) — \[from: [common](../messages/common.md#MAV_CMD_NAV_LAND_LOCAL)\] {#MAV_CMD_NAV_LAND_LOCAL} - -### MAV_CMD_NAV_TAKEOFF_LOCAL (24) — \[from: [common](../messages/common.md#MAV_CMD_NAV_TAKEOFF_LOCAL)\] {#MAV_CMD_NAV_TAKEOFF_LOCAL} - -### MAV_CMD_NAV_FOLLOW (25) — \[from: [common](../messages/common.md#MAV_CMD_NAV_FOLLOW)\] {#MAV_CMD_NAV_FOLLOW} - -### MAV_CMD_NAV_CONTINUE_AND_CHANGE_ALT (30) — \[from: [common](../messages/common.md#MAV_CMD_NAV_CONTINUE_AND_CHANGE_ALT)\] {#MAV_CMD_NAV_CONTINUE_AND_CHANGE_ALT} - -### MAV_CMD_NAV_LOITER_TO_ALT (31) — \[from: [common](../messages/common.md#MAV_CMD_NAV_LOITER_TO_ALT)\] {#MAV_CMD_NAV_LOITER_TO_ALT} - -### MAV_CMD_DO_FOLLOW (32) — \[from: [common](../messages/common.md#MAV_CMD_DO_FOLLOW)\] {#MAV_CMD_DO_FOLLOW} - -### MAV_CMD_DO_FOLLOW_REPOSITION (33) — \[from: [common](../messages/common.md#MAV_CMD_DO_FOLLOW_REPOSITION)\] {#MAV_CMD_DO_FOLLOW_REPOSITION} - -### MAV_CMD_DO_ORBIT (34) — \[from: [common](../messages/common.md#MAV_CMD_DO_ORBIT)\] [WIP] {#MAV_CMD_DO_ORBIT} - -### MAV_CMD_NAV_ROI (80) — \[from: [common](../messages/common.md#MAV_CMD_NAV_ROI)\] [DEP] {#MAV_CMD_NAV_ROI} - -### MAV_CMD_NAV_PATHPLANNING (81) — \[from: [common](../messages/common.md#MAV_CMD_NAV_PATHPLANNING)\] {#MAV_CMD_NAV_PATHPLANNING} - -### MAV_CMD_NAV_SPLINE_WAYPOINT (82) — \[from: [common](../messages/common.md#MAV_CMD_NAV_SPLINE_WAYPOINT)\] {#MAV_CMD_NAV_SPLINE_WAYPOINT} - -### MAV_CMD_NAV_ALTITUDE_WAIT (83) — \[from: [ardupilotmega](../messages/ardupilotmega.md#MAV_CMD_NAV_ALTITUDE_WAIT)\] {#MAV_CMD_NAV_ALTITUDE_WAIT} - -### MAV_CMD_NAV_VTOL_TAKEOFF (84) — \[from: [common](../messages/common.md#MAV_CMD_NAV_VTOL_TAKEOFF)\] {#MAV_CMD_NAV_VTOL_TAKEOFF} - -### MAV_CMD_NAV_VTOL_LAND (85) — \[from: [common](../messages/common.md#MAV_CMD_NAV_VTOL_LAND)\] {#MAV_CMD_NAV_VTOL_LAND} - -### MAV_CMD_NAV_GUIDED_ENABLE (92) — \[from: [common](../messages/common.md#MAV_CMD_NAV_GUIDED_ENABLE)\] {#MAV_CMD_NAV_GUIDED_ENABLE} - -### MAV_CMD_NAV_DELAY (93) — \[from: [common](../messages/common.md#MAV_CMD_NAV_DELAY)\] {#MAV_CMD_NAV_DELAY} - -### MAV_CMD_NAV_PAYLOAD_PLACE (94) — \[from: [common](../messages/common.md#MAV_CMD_NAV_PAYLOAD_PLACE)\] {#MAV_CMD_NAV_PAYLOAD_PLACE} - -### MAV_CMD_NAV_LAST (95) — \[from: [common](../messages/common.md#MAV_CMD_NAV_LAST)\] {#MAV_CMD_NAV_LAST} - -### MAV_CMD_CONDITION_DELAY (112) — \[from: [common](../messages/common.md#MAV_CMD_CONDITION_DELAY)\] {#MAV_CMD_CONDITION_DELAY} - -### MAV_CMD_CONDITION_CHANGE_ALT (113) — \[from: [common](../messages/common.md#MAV_CMD_CONDITION_CHANGE_ALT)\] {#MAV_CMD_CONDITION_CHANGE_ALT} - -### MAV_CMD_CONDITION_DISTANCE (114) — \[from: [common](../messages/common.md#MAV_CMD_CONDITION_DISTANCE)\] {#MAV_CMD_CONDITION_DISTANCE} - -### MAV_CMD_CONDITION_YAW (115) — \[from: [common](../messages/common.md#MAV_CMD_CONDITION_YAW)\] {#MAV_CMD_CONDITION_YAW} - -### MAV_CMD_CONDITION_LAST (159) — \[from: [common](../messages/common.md#MAV_CMD_CONDITION_LAST)\] {#MAV_CMD_CONDITION_LAST} - -### MAV_CMD_DO_SET_MODE (176) — \[from: [common](../messages/common.md#MAV_CMD_DO_SET_MODE)\] {#MAV_CMD_DO_SET_MODE} - -### MAV_CMD_DO_JUMP (177) — \[from: [common](../messages/common.md#MAV_CMD_DO_JUMP)\] {#MAV_CMD_DO_JUMP} - -### MAV_CMD_DO_CHANGE_SPEED (178) — \[from: [common](../messages/common.md#MAV_CMD_DO_CHANGE_SPEED)\] {#MAV_CMD_DO_CHANGE_SPEED} - -### MAV_CMD_DO_SET_HOME (179) — \[from: [common](../messages/common.md#MAV_CMD_DO_SET_HOME)\] {#MAV_CMD_DO_SET_HOME} - -### MAV_CMD_DO_SET_PARAMETER (180) — \[from: [common](../messages/common.md#MAV_CMD_DO_SET_PARAMETER)\] [DEP] {#MAV_CMD_DO_SET_PARAMETER} - -### MAV_CMD_DO_SET_RELAY (181) — \[from: [common](../messages/common.md#MAV_CMD_DO_SET_RELAY)\] {#MAV_CMD_DO_SET_RELAY} - -### MAV_CMD_DO_REPEAT_RELAY (182) — \[from: [common](../messages/common.md#MAV_CMD_DO_REPEAT_RELAY)\] {#MAV_CMD_DO_REPEAT_RELAY} - -### MAV_CMD_DO_SET_SERVO (183) — \[from: [common](../messages/common.md#MAV_CMD_DO_SET_SERVO)\] {#MAV_CMD_DO_SET_SERVO} - -### MAV_CMD_DO_REPEAT_SERVO (184) — \[from: [common](../messages/common.md#MAV_CMD_DO_REPEAT_SERVO)\] {#MAV_CMD_DO_REPEAT_SERVO} - -### MAV_CMD_DO_FLIGHTTERMINATION (185) — \[from: [common](../messages/common.md#MAV_CMD_DO_FLIGHTTERMINATION)\] {#MAV_CMD_DO_FLIGHTTERMINATION} - -### MAV_CMD_DO_CHANGE_ALTITUDE (186) — \[from: [common](../messages/common.md#MAV_CMD_DO_CHANGE_ALTITUDE)\] {#MAV_CMD_DO_CHANGE_ALTITUDE} - -### MAV_CMD_DO_SET_ACTUATOR (187) — \[from: [common](../messages/common.md#MAV_CMD_DO_SET_ACTUATOR)\] {#MAV_CMD_DO_SET_ACTUATOR} - -### MAV_CMD_DO_RETURN_PATH_START (188) — \[from: [common](../messages/common.md#MAV_CMD_DO_RETURN_PATH_START)\] [WIP] {#MAV_CMD_DO_RETURN_PATH_START} - -### MAV_CMD_DO_LAND_START (189) — \[from: [common](../messages/common.md#MAV_CMD_DO_LAND_START)\] {#MAV_CMD_DO_LAND_START} - -### MAV_CMD_DO_RALLY_LAND (190) — \[from: [common](../messages/common.md#MAV_CMD_DO_RALLY_LAND)\] {#MAV_CMD_DO_RALLY_LAND} - -### MAV_CMD_DO_GO_AROUND (191) — \[from: [common](../messages/common.md#MAV_CMD_DO_GO_AROUND)\] {#MAV_CMD_DO_GO_AROUND} - -### MAV_CMD_DO_REPOSITION (192) — \[from: [common](../messages/common.md#MAV_CMD_DO_REPOSITION)\] {#MAV_CMD_DO_REPOSITION} - -### MAV_CMD_DO_PAUSE_CONTINUE (193) — \[from: [common](../messages/common.md#MAV_CMD_DO_PAUSE_CONTINUE)\] {#MAV_CMD_DO_PAUSE_CONTINUE} - -### MAV_CMD_DO_SET_REVERSE (194) — \[from: [common](../messages/common.md#MAV_CMD_DO_SET_REVERSE)\] {#MAV_CMD_DO_SET_REVERSE} - -### MAV_CMD_DO_SET_ROI_LOCATION (195) — \[from: [common](../messages/common.md#MAV_CMD_DO_SET_ROI_LOCATION)\] {#MAV_CMD_DO_SET_ROI_LOCATION} - -### MAV_CMD_DO_SET_ROI_WPNEXT_OFFSET (196) — \[from: [common](../messages/common.md#MAV_CMD_DO_SET_ROI_WPNEXT_OFFSET)\] {#MAV_CMD_DO_SET_ROI_WPNEXT_OFFSET} - -### MAV_CMD_DO_SET_ROI_NONE (197) — \[from: [common](../messages/common.md#MAV_CMD_DO_SET_ROI_NONE)\] {#MAV_CMD_DO_SET_ROI_NONE} - -### MAV_CMD_DO_SET_ROI_SYSID (198) — \[from: [common](../messages/common.md#MAV_CMD_DO_SET_ROI_SYSID)\] {#MAV_CMD_DO_SET_ROI_SYSID} - -### MAV_CMD_DO_CONTROL_VIDEO (200) — \[from: [common](../messages/common.md#MAV_CMD_DO_CONTROL_VIDEO)\] {#MAV_CMD_DO_CONTROL_VIDEO} - -### MAV_CMD_DO_SET_ROI (201) — \[from: [common](../messages/common.md#MAV_CMD_DO_SET_ROI)\] [DEP] {#MAV_CMD_DO_SET_ROI} - -### MAV_CMD_DO_DIGICAM_CONFIGURE (202) — \[from: [common](../messages/common.md#MAV_CMD_DO_DIGICAM_CONFIGURE)\] {#MAV_CMD_DO_DIGICAM_CONFIGURE} - -### MAV_CMD_DO_DIGICAM_CONTROL (203) — \[from: [common](../messages/common.md#MAV_CMD_DO_DIGICAM_CONTROL)\] {#MAV_CMD_DO_DIGICAM_CONTROL} - -### MAV_CMD_DO_MOUNT_CONFIGURE (204) — \[from: [common](../messages/common.md#MAV_CMD_DO_MOUNT_CONFIGURE)\] [DEP] {#MAV_CMD_DO_MOUNT_CONFIGURE} - -### MAV_CMD_DO_MOUNT_CONTROL (205) — \[from: [common](../messages/common.md#MAV_CMD_DO_MOUNT_CONTROL)\] [DEP] {#MAV_CMD_DO_MOUNT_CONTROL} - -### MAV_CMD_DO_SET_CAM_TRIGG_DIST (206) — \[from: [common](../messages/common.md#MAV_CMD_DO_SET_CAM_TRIGG_DIST)\] {#MAV_CMD_DO_SET_CAM_TRIGG_DIST} - -### MAV_CMD_DO_FENCE_ENABLE (207) — \[from: [common](../messages/common.md#MAV_CMD_DO_FENCE_ENABLE)\] {#MAV_CMD_DO_FENCE_ENABLE} - -### MAV_CMD_DO_PARACHUTE (208) — \[from: [common](../messages/common.md#MAV_CMD_DO_PARACHUTE)\] {#MAV_CMD_DO_PARACHUTE} - -### MAV_CMD_DO_MOTOR_TEST (209) — \[from: [common](../messages/common.md#MAV_CMD_DO_MOTOR_TEST)\] {#MAV_CMD_DO_MOTOR_TEST} - -### MAV_CMD_DO_INVERTED_FLIGHT (210) — \[from: [common](../messages/common.md#MAV_CMD_DO_INVERTED_FLIGHT)\] {#MAV_CMD_DO_INVERTED_FLIGHT} - -### MAV_CMD_DO_GRIPPER (211) — \[from: [common](../messages/common.md#MAV_CMD_DO_GRIPPER)\] {#MAV_CMD_DO_GRIPPER} - -### MAV_CMD_DO_AUTOTUNE_ENABLE (212) — \[from: [common](../messages/common.md#MAV_CMD_DO_AUTOTUNE_ENABLE)\] {#MAV_CMD_DO_AUTOTUNE_ENABLE} - -### MAV_CMD_NAV_SET_YAW_SPEED (213) — \[from: [common](../messages/common.md#MAV_CMD_NAV_SET_YAW_SPEED)\] {#MAV_CMD_NAV_SET_YAW_SPEED} - -### MAV_CMD_DO_SET_CAM_TRIGG_INTERVAL (214) — \[from: [common](../messages/common.md#MAV_CMD_DO_SET_CAM_TRIGG_INTERVAL)\] {#MAV_CMD_DO_SET_CAM_TRIGG_INTERVAL} - -### MAV_CMD_DO_SET_RESUME_REPEAT_DIST (215) — \[from: [ardupilotmega](../messages/ardupilotmega.md#MAV_CMD_DO_SET_RESUME_REPEAT_DIST)\] {#MAV_CMD_DO_SET_RESUME_REPEAT_DIST} - -### MAV_CMD_DO_SPRAYER (216) — \[from: [ardupilotmega](../messages/ardupilotmega.md#MAV_CMD_DO_SPRAYER)\] {#MAV_CMD_DO_SPRAYER} - -### MAV_CMD_DO_SEND_SCRIPT_MESSAGE (217) — \[from: [ardupilotmega](../messages/ardupilotmega.md#MAV_CMD_DO_SEND_SCRIPT_MESSAGE)\] {#MAV_CMD_DO_SEND_SCRIPT_MESSAGE} - -### MAV_CMD_DO_AUX_FUNCTION (218) — \[from: [ardupilotmega](../messages/ardupilotmega.md#MAV_CMD_DO_AUX_FUNCTION)\] {#MAV_CMD_DO_AUX_FUNCTION} - -### MAV_CMD_DO_MOUNT_CONTROL_QUAT (220) — \[from: [common](../messages/common.md#MAV_CMD_DO_MOUNT_CONTROL_QUAT)\] [DEP] {#MAV_CMD_DO_MOUNT_CONTROL_QUAT} - -### MAV_CMD_DO_GUIDED_MASTER (221) — \[from: [common](../messages/common.md#MAV_CMD_DO_GUIDED_MASTER)\] {#MAV_CMD_DO_GUIDED_MASTER} - -### MAV_CMD_DO_GUIDED_LIMITS (222) — \[from: [common](../messages/common.md#MAV_CMD_DO_GUIDED_LIMITS)\] {#MAV_CMD_DO_GUIDED_LIMITS} - -### MAV_CMD_DO_ENGINE_CONTROL (223) — \[from: [common](../messages/common.md#MAV_CMD_DO_ENGINE_CONTROL)\] {#MAV_CMD_DO_ENGINE_CONTROL} - -### MAV_CMD_DO_SET_MISSION_CURRENT (224) — \[from: [common](../messages/common.md#MAV_CMD_DO_SET_MISSION_CURRENT)\] {#MAV_CMD_DO_SET_MISSION_CURRENT} - -### MAV_CMD_DO_LAST (240) — \[from: [common](../messages/common.md#MAV_CMD_DO_LAST)\] {#MAV_CMD_DO_LAST} - -### MAV_CMD_PREFLIGHT_CALIBRATION (241) — \[from: [common](../messages/common.md#MAV_CMD_PREFLIGHT_CALIBRATION)\] {#MAV_CMD_PREFLIGHT_CALIBRATION} - -### MAV_CMD_PREFLIGHT_SET_SENSOR_OFFSETS (242) — \[from: [common](../messages/common.md#MAV_CMD_PREFLIGHT_SET_SENSOR_OFFSETS)\] {#MAV_CMD_PREFLIGHT_SET_SENSOR_OFFSETS} - -### MAV_CMD_PREFLIGHT_UAVCAN (243) — \[from: [common](../messages/common.md#MAV_CMD_PREFLIGHT_UAVCAN)\] {#MAV_CMD_PREFLIGHT_UAVCAN} - -### MAV_CMD_PREFLIGHT_STORAGE (245) — \[from: [common](../messages/common.md#MAV_CMD_PREFLIGHT_STORAGE)\] {#MAV_CMD_PREFLIGHT_STORAGE} - -### MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN (246) — \[from: [common](../messages/common.md#MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN)\] {#MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN} - -### MAV_CMD_OVERRIDE_GOTO (252) — \[from: [common](../messages/common.md#MAV_CMD_OVERRIDE_GOTO)\] {#MAV_CMD_OVERRIDE_GOTO} - -### MAV_CMD_OBLIQUE_SURVEY (260) — \[from: [common](../messages/common.md#MAV_CMD_OBLIQUE_SURVEY)\] {#MAV_CMD_OBLIQUE_SURVEY} - -### MAV_CMD_MISSION_START (300) — \[from: [common](../messages/common.md#MAV_CMD_MISSION_START)\] {#MAV_CMD_MISSION_START} - -### MAV_CMD_ACTUATOR_TEST (310) — \[from: [common](../messages/common.md#MAV_CMD_ACTUATOR_TEST)\] {#MAV_CMD_ACTUATOR_TEST} - -### MAV_CMD_CONFIGURE_ACTUATOR (311) — \[from: [common](../messages/common.md#MAV_CMD_CONFIGURE_ACTUATOR)\] {#MAV_CMD_CONFIGURE_ACTUATOR} - -### MAV_CMD_COMPONENT_ARM_DISARM (400) — \[from: [common](../messages/common.md#MAV_CMD_COMPONENT_ARM_DISARM)\] {#MAV_CMD_COMPONENT_ARM_DISARM} - -### MAV_CMD_RUN_PREARM_CHECKS (401) — \[from: [common](../messages/common.md#MAV_CMD_RUN_PREARM_CHECKS)\] {#MAV_CMD_RUN_PREARM_CHECKS} - -### MAV_CMD_ILLUMINATOR_ON_OFF (405) — \[from: [common](../messages/common.md#MAV_CMD_ILLUMINATOR_ON_OFF)\] {#MAV_CMD_ILLUMINATOR_ON_OFF} - -### MAV_CMD_DO_ILLUMINATOR_CONFIGURE (406) — \[from: [common](../messages/common.md#MAV_CMD_DO_ILLUMINATOR_CONFIGURE)\] {#MAV_CMD_DO_ILLUMINATOR_CONFIGURE} - -### MAV_CMD_GET_HOME_POSITION (410) — \[from: [common](../messages/common.md#MAV_CMD_GET_HOME_POSITION)\] [DEP] {#MAV_CMD_GET_HOME_POSITION} - -### MAV_CMD_INJECT_FAILURE (420) — \[from: [common](../messages/common.md#MAV_CMD_INJECT_FAILURE)\] {#MAV_CMD_INJECT_FAILURE} - -### MAV_CMD_START_RX_PAIR (500) — \[from: [common](../messages/common.md#MAV_CMD_START_RX_PAIR)\] {#MAV_CMD_START_RX_PAIR} - -### MAV_CMD_GET_MESSAGE_INTERVAL (510) — \[from: [common](../messages/common.md#MAV_CMD_GET_MESSAGE_INTERVAL)\] [DEP] {#MAV_CMD_GET_MESSAGE_INTERVAL} - -### MAV_CMD_SET_MESSAGE_INTERVAL (511) — \[from: [common](../messages/common.md#MAV_CMD_SET_MESSAGE_INTERVAL)\] {#MAV_CMD_SET_MESSAGE_INTERVAL} - -### MAV_CMD_REQUEST_MESSAGE (512) — \[from: [common](../messages/common.md#MAV_CMD_REQUEST_MESSAGE)\] {#MAV_CMD_REQUEST_MESSAGE} - -### MAV_CMD_REQUEST_PROTOCOL_VERSION (519) — \[from: [common](../messages/common.md#MAV_CMD_REQUEST_PROTOCOL_VERSION)\] [DEP] {#MAV_CMD_REQUEST_PROTOCOL_VERSION} - -### MAV_CMD_REQUEST_AUTOPILOT_CAPABILITIES (520) — \[from: [common](../messages/common.md#MAV_CMD_REQUEST_AUTOPILOT_CAPABILITIES)\] [DEP] {#MAV_CMD_REQUEST_AUTOPILOT_CAPABILITIES} - -### MAV_CMD_REQUEST_CAMERA_INFORMATION (521) — \[from: [common](../messages/common.md#MAV_CMD_REQUEST_CAMERA_INFORMATION)\] [DEP] {#MAV_CMD_REQUEST_CAMERA_INFORMATION} - -### MAV_CMD_REQUEST_CAMERA_SETTINGS (522) — \[from: [common](../messages/common.md#MAV_CMD_REQUEST_CAMERA_SETTINGS)\] [DEP] {#MAV_CMD_REQUEST_CAMERA_SETTINGS} - -### MAV_CMD_REQUEST_STORAGE_INFORMATION (525) — \[from: [common](../messages/common.md#MAV_CMD_REQUEST_STORAGE_INFORMATION)\] [DEP] {#MAV_CMD_REQUEST_STORAGE_INFORMATION} - -### MAV_CMD_STORAGE_FORMAT (526) — \[from: [common](../messages/common.md#MAV_CMD_STORAGE_FORMAT)\] {#MAV_CMD_STORAGE_FORMAT} - -### MAV_CMD_REQUEST_CAMERA_CAPTURE_STATUS (527) — \[from: [common](../messages/common.md#MAV_CMD_REQUEST_CAMERA_CAPTURE_STATUS)\] [DEP] {#MAV_CMD_REQUEST_CAMERA_CAPTURE_STATUS} - -### MAV_CMD_REQUEST_FLIGHT_INFORMATION (528) — \[from: [common](../messages/common.md#MAV_CMD_REQUEST_FLIGHT_INFORMATION)\] [DEP] {#MAV_CMD_REQUEST_FLIGHT_INFORMATION} - -### MAV_CMD_RESET_CAMERA_SETTINGS (529) — \[from: [common](../messages/common.md#MAV_CMD_RESET_CAMERA_SETTINGS)\] {#MAV_CMD_RESET_CAMERA_SETTINGS} - -### MAV_CMD_SET_CAMERA_MODE (530) — \[from: [common](../messages/common.md#MAV_CMD_SET_CAMERA_MODE)\] {#MAV_CMD_SET_CAMERA_MODE} - -### MAV_CMD_SET_CAMERA_ZOOM (531) — \[from: [common](../messages/common.md#MAV_CMD_SET_CAMERA_ZOOM)\] {#MAV_CMD_SET_CAMERA_ZOOM} - -### MAV_CMD_SET_CAMERA_FOCUS (532) — \[from: [common](../messages/common.md#MAV_CMD_SET_CAMERA_FOCUS)\] {#MAV_CMD_SET_CAMERA_FOCUS} - -### MAV_CMD_SET_STORAGE_USAGE (533) — \[from: [common](../messages/common.md#MAV_CMD_SET_STORAGE_USAGE)\] {#MAV_CMD_SET_STORAGE_USAGE} - -### MAV_CMD_SET_CAMERA_SOURCE (534) — \[from: [common](../messages/common.md#MAV_CMD_SET_CAMERA_SOURCE)\] {#MAV_CMD_SET_CAMERA_SOURCE} - -### MAV_CMD_JUMP_TAG (600) — \[from: [common](../messages/common.md#MAV_CMD_JUMP_TAG)\] {#MAV_CMD_JUMP_TAG} - -### MAV_CMD_DO_JUMP_TAG (601) — \[from: [common](../messages/common.md#MAV_CMD_DO_JUMP_TAG)\] {#MAV_CMD_DO_JUMP_TAG} - -### MAV_CMD_DO_GIMBAL_MANAGER_PITCHYAW (1000) — \[from: [common](../messages/common.md#MAV_CMD_DO_GIMBAL_MANAGER_PITCHYAW)\] {#MAV_CMD_DO_GIMBAL_MANAGER_PITCHYAW} - -### MAV_CMD_DO_GIMBAL_MANAGER_CONFIGURE (1001) — \[from: [common](../messages/common.md#MAV_CMD_DO_GIMBAL_MANAGER_CONFIGURE)\] {#MAV_CMD_DO_GIMBAL_MANAGER_CONFIGURE} - -### MAV_CMD_IMAGE_START_CAPTURE (2000) — \[from: [common](../messages/common.md#MAV_CMD_IMAGE_START_CAPTURE)\] {#MAV_CMD_IMAGE_START_CAPTURE} - -### MAV_CMD_IMAGE_STOP_CAPTURE (2001) — \[from: [common](../messages/common.md#MAV_CMD_IMAGE_STOP_CAPTURE)\] {#MAV_CMD_IMAGE_STOP_CAPTURE} - -### MAV_CMD_REQUEST_CAMERA_IMAGE_CAPTURE (2002) — \[from: [common](../messages/common.md#MAV_CMD_REQUEST_CAMERA_IMAGE_CAPTURE)\] [DEP] {#MAV_CMD_REQUEST_CAMERA_IMAGE_CAPTURE} - -### MAV_CMD_DO_TRIGGER_CONTROL (2003) — \[from: [common](../messages/common.md#MAV_CMD_DO_TRIGGER_CONTROL)\] {#MAV_CMD_DO_TRIGGER_CONTROL} - -### MAV_CMD_CAMERA_TRACK_POINT (2004) — \[from: [common](../messages/common.md#MAV_CMD_CAMERA_TRACK_POINT)\] {#MAV_CMD_CAMERA_TRACK_POINT} - -### MAV_CMD_CAMERA_TRACK_RECTANGLE (2005) — \[from: [common](../messages/common.md#MAV_CMD_CAMERA_TRACK_RECTANGLE)\] {#MAV_CMD_CAMERA_TRACK_RECTANGLE} - -### MAV_CMD_CAMERA_STOP_TRACKING (2010) — \[from: [common](../messages/common.md#MAV_CMD_CAMERA_STOP_TRACKING)\] {#MAV_CMD_CAMERA_STOP_TRACKING} - -### MAV_CMD_VIDEO_START_CAPTURE (2500) — \[from: [common](../messages/common.md#MAV_CMD_VIDEO_START_CAPTURE)\] {#MAV_CMD_VIDEO_START_CAPTURE} - -### MAV_CMD_VIDEO_STOP_CAPTURE (2501) — \[from: [common](../messages/common.md#MAV_CMD_VIDEO_STOP_CAPTURE)\] {#MAV_CMD_VIDEO_STOP_CAPTURE} - -### MAV_CMD_VIDEO_START_STREAMING (2502) — \[from: [common](../messages/common.md#MAV_CMD_VIDEO_START_STREAMING)\] {#MAV_CMD_VIDEO_START_STREAMING} - -### MAV_CMD_VIDEO_STOP_STREAMING (2503) — \[from: [common](../messages/common.md#MAV_CMD_VIDEO_STOP_STREAMING)\] {#MAV_CMD_VIDEO_STOP_STREAMING} - -### MAV_CMD_REQUEST_VIDEO_STREAM_INFORMATION (2504) — \[from: [common](../messages/common.md#MAV_CMD_REQUEST_VIDEO_STREAM_INFORMATION)\] [DEP] {#MAV_CMD_REQUEST_VIDEO_STREAM_INFORMATION} - -### MAV_CMD_REQUEST_VIDEO_STREAM_STATUS (2505) — \[from: [common](../messages/common.md#MAV_CMD_REQUEST_VIDEO_STREAM_STATUS)\] [DEP] {#MAV_CMD_REQUEST_VIDEO_STREAM_STATUS} - -### MAV_CMD_LOGGING_START (2510) — \[from: [common](../messages/common.md#MAV_CMD_LOGGING_START)\] {#MAV_CMD_LOGGING_START} - -### MAV_CMD_LOGGING_STOP (2511) — \[from: [common](../messages/common.md#MAV_CMD_LOGGING_STOP)\] {#MAV_CMD_LOGGING_STOP} - -### MAV_CMD_AIRFRAME_CONFIGURATION (2520) — \[from: [common](../messages/common.md#MAV_CMD_AIRFRAME_CONFIGURATION)\] {#MAV_CMD_AIRFRAME_CONFIGURATION} - -### MAV_CMD_CONTROL_HIGH_LATENCY (2600) — \[from: [common](../messages/common.md#MAV_CMD_CONTROL_HIGH_LATENCY)\] {#MAV_CMD_CONTROL_HIGH_LATENCY} - -### MAV_CMD_PANORAMA_CREATE (2800) — \[from: [common](../messages/common.md#MAV_CMD_PANORAMA_CREATE)\] {#MAV_CMD_PANORAMA_CREATE} - -### MAV_CMD_DO_VTOL_TRANSITION (3000) — \[from: [common](../messages/common.md#MAV_CMD_DO_VTOL_TRANSITION)\] {#MAV_CMD_DO_VTOL_TRANSITION} - -### MAV_CMD_ARM_AUTHORIZATION_REQUEST (3001) — \[from: [common](../messages/common.md#MAV_CMD_ARM_AUTHORIZATION_REQUEST)\] {#MAV_CMD_ARM_AUTHORIZATION_REQUEST} - -### MAV_CMD_SET_GUIDED_SUBMODE_STANDARD (4000) — \[from: [common](../messages/common.md#MAV_CMD_SET_GUIDED_SUBMODE_STANDARD)\] {#MAV_CMD_SET_GUIDED_SUBMODE_STANDARD} - -### MAV_CMD_SET_GUIDED_SUBMODE_CIRCLE (4001) — \[from: [common](../messages/common.md#MAV_CMD_SET_GUIDED_SUBMODE_CIRCLE)\] {#MAV_CMD_SET_GUIDED_SUBMODE_CIRCLE} +### STORM32_GIMBAL_MANAGER_INFORMATION (60010) {#STORM32_GIMBAL_MANAGER_INFORMATION} -### MAV_CMD_CONDITION_GATE (4501) — \[from: [common](../messages/common.md#MAV_CMD_CONDITION_GATE)\] [WIP] {#MAV_CMD_CONDITION_GATE} +Information about a gimbal manager. This message should be requested by a ground station using [MAV_CMD_REQUEST_MESSAGE](#MAV_CMD_REQUEST_MESSAGE). It mirrors some fields of the [GIMBAL_DEVICE_INFORMATION](#GIMBAL_DEVICE_INFORMATION) message, but not all. If the additional information is desired, also [GIMBAL_DEVICE_INFORMATION](#GIMBAL_DEVICE_INFORMATION) should be requested. -### MAV_CMD_NAV_FENCE_RETURN_POINT (5000) — \[from: [common](../messages/common.md#MAV_CMD_NAV_FENCE_RETURN_POINT)\] {#MAV_CMD_NAV_FENCE_RETURN_POINT} +| Field Name | Type | Units | Values | Description | +| ------------------- | ---------- | ----- | --------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | +| gimbal_id | `uint8_t` | | | Gimbal ID (component ID or 1-6 for non-MAVLink gimbal) that this gimbal manager is responsible for.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Messages with same value are from the same source (instance). | +| device_cap_flags | `uint32_t` | | [GIMBAL_DEVICE_CAP_FLAGS](#GIMBAL_DEVICE_CAP_FLAGS) | Gimbal device capability flags. Same flags as reported by [GIMBAL_DEVICE_INFORMATION](#GIMBAL_DEVICE_INFORMATION). The flag is only 16 bit wide, but stored in 32 bit, for backwards compatibility (high word is zero). | +| manager_cap_flags | `uint32_t` | | [MAV_STORM32_GIMBAL_MANAGER_CAP_FLAGS](#MAV_STORM32_GIMBAL_MANAGER_CAP_FLAGS) | Gimbal manager capability flags. | +| roll_min | `float` | rad | invalid:NaN | Hardware minimum roll angle (positive: roll to the right). NaN if unknown. | +| roll_max | `float` | rad | invalid:NaN | Hardware maximum roll angle (positive: roll to the right). NaN if unknown. | +| pitch_min | `float` | rad | invalid:NaN | Hardware minimum pitch/tilt angle (positive: tilt up). NaN if unknown. | +| pitch_max | `float` | rad | invalid:NaN | Hardware maximum pitch/tilt angle (positive: tilt up). NaN if unknown. | +| yaw_min | `float` | rad | invalid:NaN | Hardware minimum yaw/pan angle (positive: pan to the right, relative to the vehicle/gimbal base). NaN if unknown. | +| yaw_max | `float` | rad | invalid:NaN | Hardware maximum yaw/pan angle (positive: pan to the right, relative to the vehicle/gimbal base). NaN if unknown. | -### MAV_CMD_NAV_FENCE_POLYGON_VERTEX_INCLUSION (5001) — \[from: [common](../messages/common.md#MAV_CMD_NAV_FENCE_POLYGON_VERTEX_INCLUSION)\] {#MAV_CMD_NAV_FENCE_POLYGON_VERTEX_INCLUSION} -### MAV_CMD_NAV_FENCE_POLYGON_VERTEX_EXCLUSION (5002) — \[from: [common](../messages/common.md#MAV_CMD_NAV_FENCE_POLYGON_VERTEX_EXCLUSION)\] {#MAV_CMD_NAV_FENCE_POLYGON_VERTEX_EXCLUSION} +### STORM32_GIMBAL_MANAGER_STATUS (60011) {#STORM32_GIMBAL_MANAGER_STATUS} -### MAV_CMD_NAV_FENCE_CIRCLE_INCLUSION (5003) — \[from: [common](../messages/common.md#MAV_CMD_NAV_FENCE_CIRCLE_INCLUSION)\] {#MAV_CMD_NAV_FENCE_CIRCLE_INCLUSION} +Message reporting the current status of a gimbal manager. This message should be broadcast at a low regular rate (e.g. 1 Hz, may be increase momentarily to e.g. 5 Hz for a period of 1 sec after a change). -### MAV_CMD_NAV_FENCE_CIRCLE_EXCLUSION (5004) — \[from: [common](../messages/common.md#MAV_CMD_NAV_FENCE_CIRCLE_EXCLUSION)\] {#MAV_CMD_NAV_FENCE_CIRCLE_EXCLUSION} +| Field Name | Type | Values | Description | +| ------------- | ---------- | ----------------------------------------------------------------------------- | -------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | +| gimbal_id | `uint8_t` | | Gimbal ID (component ID or 1-6 for non-MAVLink gimbal) that this gimbal manager is responsible for.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Messages with same value are from the same source (instance). | +| supervisor | `uint8_t` | [MAV_STORM32_GIMBAL_MANAGER_CLIENT](#MAV_STORM32_GIMBAL_MANAGER_CLIENT) | Client who is currently supervisor (0 = none). | +| device_flags | `uint16_t` | [GIMBAL_DEVICE_FLAGS](#GIMBAL_DEVICE_FLAGS) | Gimbal device flags currently applied. Same flags as reported by [GIMBAL_DEVICE_ATTITUDE_STATUS](#GIMBAL_DEVICE_ATTITUDE_STATUS). | +| manager_flags | `uint16_t` | [MAV_STORM32_GIMBAL_MANAGER_FLAGS](#MAV_STORM32_GIMBAL_MANAGER_FLAGS) | Gimbal manager flags currently applied. | +| profile | `uint8_t` | [MAV_STORM32_GIMBAL_MANAGER_PROFILE](#MAV_STORM32_GIMBAL_MANAGER_PROFILE) | Profile currently applied (0 = default). | -### MAV_CMD_NAV_RALLY_POINT (5100) — \[from: [common](../messages/common.md#MAV_CMD_NAV_RALLY_POINT)\] {#MAV_CMD_NAV_RALLY_POINT} -### MAV_CMD_UAVCAN_GET_NODE_INFO (5200) — \[from: [common](../messages/common.md#MAV_CMD_UAVCAN_GET_NODE_INFO)\] {#MAV_CMD_UAVCAN_GET_NODE_INFO} +### STORM32_GIMBAL_MANAGER_CONTROL (60012) {#STORM32_GIMBAL_MANAGER_CONTROL} -### MAV_CMD_DO_SET_SAFETY_SWITCH_STATE (5300) — \[from: [common](../messages/common.md#MAV_CMD_DO_SET_SAFETY_SWITCH_STATE)\] {#MAV_CMD_DO_SET_SAFETY_SWITCH_STATE} +Message to a gimbal manager to control the gimbal attitude. Angles and rates can be set to NaN according to use case. A gimbal device is never to react to this message. -### MAV_CMD_DO_ADSB_OUT_IDENT (10001) — \[from: [common](../messages/common.md#MAV_CMD_DO_ADSB_OUT_IDENT)\] {#MAV_CMD_DO_ADSB_OUT_IDENT} +| Field Name | Type | Units | Values | Description | +| -------------------- | ---------- | ----- | ----------------------------------------------------------------------------------- | ----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | +| target_system | `uint8_t` | | | System ID | +| target_component | `uint8_t` | | | Component ID | +| gimbal_id | `uint8_t` | | | Gimbal ID of the gimbal manager to address (component ID or 1-6 for non-MAVLink gimbal, 0 for all gimbals). Send command multiple times for more than one but not all gimbals.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Messages with same value are from the same source (instance). | +| client | `uint8_t` | | [MAV_STORM32_GIMBAL_MANAGER_CLIENT](#MAV_STORM32_GIMBAL_MANAGER_CLIENT) | Client which is contacting the gimbal manager (must be set). | +| device_flags | `uint16_t` | | invalid:UINT16_MAX [GIMBAL_DEVICE_FLAGS](#GIMBAL_DEVICE_FLAGS) | Gimbal device flags to be applied (UINT16_MAX to be ignored). Same flags as used in [GIMBAL_DEVICE_SET_ATTITUDE](#GIMBAL_DEVICE_SET_ATTITUDE). | +| manager_flags | `uint16_t` | | invalid:0 [MAV_STORM32_GIMBAL_MANAGER_FLAGS](#MAV_STORM32_GIMBAL_MANAGER_FLAGS) | Gimbal manager flags to be applied (0 to be ignored). | +| q | `float[4]` | | invalid:[NaN:] | Quaternion components, w, x, y, z (1 0 0 0 is the null-rotation). Set first element to NaN to be ignored. The frame is determined by the GIMBAL_DEVICE_FLAGS_YAW_IN_xxx_FRAME flags. | +| angular_velocity_x | `float` | rad/s | invalid:NaN | X component of angular velocity (positive: roll to the right). NaN to be ignored. | +| angular_velocity_y | `float` | rad/s | invalid:NaN | Y component of angular velocity (positive: tilt up). NaN to be ignored. | +| angular_velocity_z | `float` | rad/s | invalid:NaN | Z component of angular velocity (positive: pan to the right). NaN to be ignored. The frame is determined by the GIMBAL_DEVICE_FLAGS_YAW_IN_xxx_FRAME flags. | -### MAV_CMD_PAYLOAD_PREPARE_DEPLOY (30001) — \[from: [common](../messages/common.md#MAV_CMD_PAYLOAD_PREPARE_DEPLOY)\] [DEP] {#MAV_CMD_PAYLOAD_PREPARE_DEPLOY} -### MAV_CMD_PAYLOAD_CONTROL_DEPLOY (30002) — \[from: [common](../messages/common.md#MAV_CMD_PAYLOAD_CONTROL_DEPLOY)\] [DEP] {#MAV_CMD_PAYLOAD_CONTROL_DEPLOY} +### STORM32_GIMBAL_MANAGER_CONTROL_PITCHYAW (60013) {#STORM32_GIMBAL_MANAGER_CONTROL_PITCHYAW} -### MAV_CMD_WAYPOINT_USER_1 (31000) — \[from: [common](../messages/common.md#MAV_CMD_WAYPOINT_USER_1)\] {#MAV_CMD_WAYPOINT_USER_1} +Message to a gimbal manager to control the gimbal tilt and pan angles. Angles and rates can be set to NaN according to use case. A gimbal device is never to react to this message. -### MAV_CMD_WAYPOINT_USER_2 (31001) — \[from: [common](../messages/common.md#MAV_CMD_WAYPOINT_USER_2)\] {#MAV_CMD_WAYPOINT_USER_2} +| Field Name | Type | Units | Values | Description | +| ---------------- | ---------- | ----- | ----------------------------------------------------------------------------------- | ----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | +| target_system | `uint8_t` | | | System ID | +| target_component | `uint8_t` | | | Component ID | +| gimbal_id | `uint8_t` | | | Gimbal ID of the gimbal manager to address (component ID or 1-6 for non-MAVLink gimbal, 0 for all gimbals). Send command multiple times for more than one but not all gimbals.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Messages with same value are from the same source (instance). | +| client | `uint8_t` | | [MAV_STORM32_GIMBAL_MANAGER_CLIENT](#MAV_STORM32_GIMBAL_MANAGER_CLIENT) | Client which is contacting the gimbal manager (must be set). | +| device_flags | `uint16_t` | | invalid:UINT16_MAX [GIMBAL_DEVICE_FLAGS](#GIMBAL_DEVICE_FLAGS) | Gimbal device flags to be applied (UINT16_MAX to be ignored). Same flags as used in [GIMBAL_DEVICE_SET_ATTITUDE](#GIMBAL_DEVICE_SET_ATTITUDE). | +| manager_flags | `uint16_t` | | invalid:0 [MAV_STORM32_GIMBAL_MANAGER_FLAGS](#MAV_STORM32_GIMBAL_MANAGER_FLAGS) | Gimbal manager flags to be applied (0 to be ignored). | +| pitch | `float` | rad | invalid:NaN | Pitch/tilt angle (positive: tilt up). NaN to be ignored. | +| yaw | `float` | rad | invalid:NaN | Yaw/pan angle (positive: pan the right). NaN to be ignored. The frame is determined by the GIMBAL_DEVICE_FLAGS_YAW_IN_xxx_FRAME flags. | +| pitch_rate | `float` | rad/s | invalid:NaN | Pitch/tilt angular rate (positive: tilt up). NaN to be ignored. | +| yaw_rate | `float` | rad/s | invalid:NaN | Yaw/pan angular rate (positive: pan to the right). NaN to be ignored. The frame is determined by the GIMBAL_DEVICE_FLAGS_YAW_IN_xxx_FRAME flags. | -### MAV_CMD_WAYPOINT_USER_3 (31002) — \[from: [common](../messages/common.md#MAV_CMD_WAYPOINT_USER_3)\] {#MAV_CMD_WAYPOINT_USER_3} -### MAV_CMD_WAYPOINT_USER_4 (31003) — \[from: [common](../messages/common.md#MAV_CMD_WAYPOINT_USER_4)\] {#MAV_CMD_WAYPOINT_USER_4} +### STORM32_GIMBAL_MANAGER_CORRECT_ROLL (60014) {#STORM32_GIMBAL_MANAGER_CORRECT_ROLL} -### MAV_CMD_WAYPOINT_USER_5 (31004) — \[from: [common](../messages/common.md#MAV_CMD_WAYPOINT_USER_5)\] {#MAV_CMD_WAYPOINT_USER_5} +Message to a gimbal manager to correct the gimbal roll angle. This message is typically used to manually correct for a tilted horizon in operation. A gimbal device is never to react to this message. -### MAV_CMD_SPATIAL_USER_1 (31005) — \[from: [common](../messages/common.md#MAV_CMD_SPATIAL_USER_1)\] {#MAV_CMD_SPATIAL_USER_1} +| Field Name | Type | Units | Values | Description | +| ---------------- | --------- | ----- | --------------------------------------------------------------------------- | ----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | +| target_system | `uint8_t` | | | System ID | +| target_component | `uint8_t` | | | Component ID | +| gimbal_id | `uint8_t` | | | Gimbal ID of the gimbal manager to address (component ID or 1-6 for non-MAVLink gimbal, 0 for all gimbals). Send command multiple times for more than one but not all gimbals.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Messages with same value are from the same source (instance). | +| client | `uint8_t` | | [MAV_STORM32_GIMBAL_MANAGER_CLIENT](#MAV_STORM32_GIMBAL_MANAGER_CLIENT) | Client which is contacting the gimbal manager (must be set). | +| roll | `float` | rad | | Roll angle (positive to roll to the right). | -### MAV_CMD_SPATIAL_USER_2 (31006) — \[from: [common](../messages/common.md#MAV_CMD_SPATIAL_USER_2)\] {#MAV_CMD_SPATIAL_USER_2} -### MAV_CMD_SPATIAL_USER_3 (31007) — \[from: [common](../messages/common.md#MAV_CMD_SPATIAL_USER_3)\] {#MAV_CMD_SPATIAL_USER_3} +### QSHOT_STATUS (60020) — [WIP] {#QSHOT_STATUS} -### MAV_CMD_SPATIAL_USER_4 (31008) — \[from: [common](../messages/common.md#MAV_CMD_SPATIAL_USER_4)\] {#MAV_CMD_SPATIAL_USER_4} +**WORK IN PROGRESS**: Do not use in stable production environments (it may change). -### MAV_CMD_SPATIAL_USER_5 (31009) — \[from: [common](../messages/common.md#MAV_CMD_SPATIAL_USER_5)\] {#MAV_CMD_SPATIAL_USER_5} +Information about the shot operation. -### MAV_CMD_USER_1 (31010) — \[from: [common](../messages/common.md#MAV_CMD_USER_1)\] {#MAV_CMD_USER_1} +| Field Name | Type | Values | Description | +| ---------- | ---------- | ----------------------------------- | ------------------------------------------------------------------------- | +| mode | `uint16_t` | [MAV_QSHOT_MODE](#MAV_QSHOT_MODE) | Current shot mode. | +| shot_state | `uint16_t` | | Current state in the shot. States are specific to the selected shot mode. | -### MAV_CMD_USER_2 (31011) — \[from: [common](../messages/common.md#MAV_CMD_USER_2)\] {#MAV_CMD_USER_2} -### MAV_CMD_USER_3 (31012) — \[from: [common](../messages/common.md#MAV_CMD_USER_3)\] {#MAV_CMD_USER_3} +### FRSKY_PASSTHROUGH_ARRAY (60040) {#FRSKY_PASSTHROUGH_ARRAY} -### MAV_CMD_USER_4 (31013) — \[from: [common](../messages/common.md#MAV_CMD_USER_4)\] {#MAV_CMD_USER_4} +Frsky SPort passthrough multi packet container. -### MAV_CMD_USER_5 (31014) — \[from: [common](../messages/common.md#MAV_CMD_USER_5)\] {#MAV_CMD_USER_5} +| Field Name | Type | Units | Description | +| -------------- | -------------- | ----- | ------------------------------------------------------------------------------------------------------------------- | +| time_boot_ms | `uint32_t` | ms | Timestamp (time since system boot). | +| count | `uint8_t` | | Number of passthrough packets in this message. | +| packet_buf | `uint8_t[240]` | | Passthrough packet buffer. A packet has 6 bytes: uint16_t id + uint32_t data. The array has space for 40 packets. | -### MAV_CMD_CAN_FORWARD (32000) — \[from: [common](../messages/common.md#MAV_CMD_CAN_FORWARD)\] {#MAV_CMD_CAN_FORWARD} -### MAV_CMD_POWER_OFF_INITIATED (42000) — \[from: [ardupilotmega](../messages/ardupilotmega.md#MAV_CMD_POWER_OFF_INITIATED)\] {#MAV_CMD_POWER_OFF_INITIATED} +### PARAM_VALUE_ARRAY (60041) {#PARAM_VALUE_ARRAY} -### MAV_CMD_SOLO_BTN_FLY_CLICK (42001) — \[from: [ardupilotmega](../messages/ardupilotmega.md#MAV_CMD_SOLO_BTN_FLY_CLICK)\] {#MAV_CMD_SOLO_BTN_FLY_CLICK} +Parameter multi param value container. -### MAV_CMD_SOLO_BTN_FLY_HOLD (42002) — \[from: [ardupilotmega](../messages/ardupilotmega.md#MAV_CMD_SOLO_BTN_FLY_HOLD)\] {#MAV_CMD_SOLO_BTN_FLY_HOLD} +| Field Name | Type | Description | +| ------------------- | -------------- | ------------------------------------------------------------------------------------------------------------------------------- | +| param_count | `uint16_t` | Total number of onboard parameters. | +| param_index_first | `uint16_t` | Index of the first onboard parameter in this array. | +| param_array_len | `uint8_t` | Number of onboard parameters in this array. | +| flags | `uint16_t` | Flags. | +| packet_buf | `uint8_t[248]` | Parameters buffer. Contains a series of variable length parameter blocks, one per parameter, with format as specifed elsewhere. | -### MAV_CMD_SOLO_BTN_PAUSE_CLICK (42003) — \[from: [ardupilotmega](../messages/ardupilotmega.md#MAV_CMD_SOLO_BTN_PAUSE_CLICK)\] {#MAV_CMD_SOLO_BTN_PAUSE_CLICK} -### MAV_CMD_FIXED_MAG_CAL (42004) — \[from: [ardupilotmega](../messages/ardupilotmega.md#MAV_CMD_FIXED_MAG_CAL)\] {#MAV_CMD_FIXED_MAG_CAL} +## Enumerated Types -### MAV_CMD_FIXED_MAG_CAL_FIELD (42005) — \[from: [ardupilotmega](../messages/ardupilotmega.md#MAV_CMD_FIXED_MAG_CAL_FIELD)\] {#MAV_CMD_FIXED_MAG_CAL_FIELD} +### MAV_STORM32_TUNNEL_PAYLOAD_TYPE {#MAV_STORM32_TUNNEL_PAYLOAD_TYPE} -### MAV_CMD_FIXED_MAG_CAL_YAW (42006) — \[from: [common](../messages/common.md#MAV_CMD_FIXED_MAG_CAL_YAW)\] {#MAV_CMD_FIXED_MAG_CAL_YAW} +| Value | Name | Description | +| ---------------------------- | --------------------------------------------------------------------------------------------------------- | ---------------------------------------------------------------------------------- | +| 200 | [MAV_STORM32_TUNNEL_PAYLOAD_TYPE_STORM32_CH1_IN](#MAV_STORM32_TUNNEL_PAYLOAD_TYPE_STORM32_CH1_IN) | Registered for STorM32 gimbal controller. For communication with gimbal or camera. | +| 201 | [MAV_STORM32_TUNNEL_PAYLOAD_TYPE_STORM32_CH1_OUT](#MAV_STORM32_TUNNEL_PAYLOAD_TYPE_STORM32_CH1_OUT) | Registered for STorM32 gimbal controller. For communication with gimbal or camera. | +| 202 | [MAV_STORM32_TUNNEL_PAYLOAD_TYPE_STORM32_CH2_IN](#MAV_STORM32_TUNNEL_PAYLOAD_TYPE_STORM32_CH2_IN) | Registered for STorM32 gimbal controller. For communication with gimbal. | +| 203 | [MAV_STORM32_TUNNEL_PAYLOAD_TYPE_STORM32_CH2_OUT](#MAV_STORM32_TUNNEL_PAYLOAD_TYPE_STORM32_CH2_OUT) | Registered for STorM32 gimbal controller. For communication with gimbal. | +| 204 | [MAV_STORM32_TUNNEL_PAYLOAD_TYPE_STORM32_CH3_IN](#MAV_STORM32_TUNNEL_PAYLOAD_TYPE_STORM32_CH3_IN) | Registered for STorM32 gimbal controller. For communication with camera. | +| 205 | [MAV_STORM32_TUNNEL_PAYLOAD_TYPE_STORM32_CH3_OUT](#MAV_STORM32_TUNNEL_PAYLOAD_TYPE_STORM32_CH3_OUT) | Registered for STorM32 gimbal controller. For communication with camera. | -### MAV_CMD_SET_EKF_SOURCE_SET (42007) — \[from: [ardupilotmega](../messages/ardupilotmega.md#MAV_CMD_SET_EKF_SOURCE_SET)\] {#MAV_CMD_SET_EKF_SOURCE_SET} +### MAV_STORM32_GIMBAL_PREARM_FLAGS {#MAV_STORM32_GIMBAL_PREARM_FLAGS} -### MAV_CMD_DO_START_MAG_CAL (42424) — \[from: [ardupilotmega](../messages/ardupilotmega.md#MAV_CMD_DO_START_MAG_CAL)\] {#MAV_CMD_DO_START_MAG_CAL} +(Bitmask) STorM32 gimbal prearm check flags. -### MAV_CMD_DO_ACCEPT_MAG_CAL (42425) — \[from: [ardupilotmega](../messages/ardupilotmega.md#MAV_CMD_DO_ACCEPT_MAG_CAL)\] {#MAV_CMD_DO_ACCEPT_MAG_CAL} +| Value | Name | Description | +| ------------------------------ | ----------------------------------------------------------------------------------------------------------------------------- | ---------------------------------------------- | +| 1 | [MAV_STORM32_GIMBAL_PREARM_FLAGS_IS_NORMAL](#MAV_STORM32_GIMBAL_PREARM_FLAGS_IS_NORMAL) | STorM32 gimbal is in normal state. | +| 2 | [MAV_STORM32_GIMBAL_PREARM_FLAGS_IMUS_WORKING](#MAV_STORM32_GIMBAL_PREARM_FLAGS_IMUS_WORKING) | The IMUs are healthy and working normally. | +| 4 | [MAV_STORM32_GIMBAL_PREARM_FLAGS_MOTORS_WORKING](#MAV_STORM32_GIMBAL_PREARM_FLAGS_MOTORS_WORKING) | The motors are active and working normally. | +| 8 | [MAV_STORM32_GIMBAL_PREARM_FLAGS_ENCODERS_WORKING](#MAV_STORM32_GIMBAL_PREARM_FLAGS_ENCODERS_WORKING) | The encoders are healthy and working normally. | +| 16 | [MAV_STORM32_GIMBAL_PREARM_FLAGS_VOLTAGE_OK](#MAV_STORM32_GIMBAL_PREARM_FLAGS_VOLTAGE_OK) | A battery voltage is applied and is in range. | +| 32 | [MAV_STORM32_GIMBAL_PREARM_FLAGS_VIRTUALCHANNELS_RECEIVING](#MAV_STORM32_GIMBAL_PREARM_FLAGS_VIRTUALCHANNELS_RECEIVING) | Virtual input channels are receiving data. | +| 64 | [MAV_STORM32_GIMBAL_PREARM_FLAGS_MAVLINK_RECEIVING](#MAV_STORM32_GIMBAL_PREARM_FLAGS_MAVLINK_RECEIVING) | Mavlink messages are being received. | +| 128 | [MAV_STORM32_GIMBAL_PREARM_FLAGS_STORM32LINK_QFIX](#MAV_STORM32_GIMBAL_PREARM_FLAGS_STORM32LINK_QFIX) | The STorM32Link data indicates QFix. | +| 256 | [MAV_STORM32_GIMBAL_PREARM_FLAGS_STORM32LINK_WORKING](#MAV_STORM32_GIMBAL_PREARM_FLAGS_STORM32LINK_WORKING) | The STorM32Link is working. | +| 512 | [MAV_STORM32_GIMBAL_PREARM_FLAGS_CAMERA_CONNECTED](#MAV_STORM32_GIMBAL_PREARM_FLAGS_CAMERA_CONNECTED) | The camera has been found and is connected. | +| 1024 | [MAV_STORM32_GIMBAL_PREARM_FLAGS_AUX0_LOW](#MAV_STORM32_GIMBAL_PREARM_FLAGS_AUX0_LOW) | The signal on the AUX0 input pin is low. | +| 2048 | [MAV_STORM32_GIMBAL_PREARM_FLAGS_AUX1_LOW](#MAV_STORM32_GIMBAL_PREARM_FLAGS_AUX1_LOW) | The signal on the AUX1 input pin is low. | +| 4096 | [MAV_STORM32_GIMBAL_PREARM_FLAGS_NTLOGGER_WORKING](#MAV_STORM32_GIMBAL_PREARM_FLAGS_NTLOGGER_WORKING) | The NTLogger is working normally. | -### MAV_CMD_DO_CANCEL_MAG_CAL (42426) — \[from: [ardupilotmega](../messages/ardupilotmega.md#MAV_CMD_DO_CANCEL_MAG_CAL)\] {#MAV_CMD_DO_CANCEL_MAG_CAL} +### MAV_STORM32_CAMERA_PREARM_FLAGS {#MAV_STORM32_CAMERA_PREARM_FLAGS} -### MAV_CMD_SET_FACTORY_TEST_MODE (42427) — \[from: [ardupilotmega](../messages/ardupilotmega.md#MAV_CMD_SET_FACTORY_TEST_MODE)\] {#MAV_CMD_SET_FACTORY_TEST_MODE} +(Bitmask) STorM32 camera prearm check flags. -### MAV_CMD_DO_SEND_BANNER (42428) — \[from: [ardupilotmega](../messages/ardupilotmega.md#MAV_CMD_DO_SEND_BANNER)\] {#MAV_CMD_DO_SEND_BANNER} +| Value | Name | Description | +| --------------------------- | ------------------------------------------------------------------------------------------- | ------------------------------------------- | +| 1 | [MAV_STORM32_CAMERA_PREARM_FLAGS_CONNECTED](#MAV_STORM32_CAMERA_PREARM_FLAGS_CONNECTED) | The camera has been found and is connected. | -### MAV_CMD_ACCELCAL_VEHICLE_POS (42429) — \[from: [ardupilotmega](../messages/ardupilotmega.md#MAV_CMD_ACCELCAL_VEHICLE_POS)\] {#MAV_CMD_ACCELCAL_VEHICLE_POS} +### MAV_STORM32_GIMBAL_MANAGER_CAP_FLAGS {#MAV_STORM32_GIMBAL_MANAGER_CAP_FLAGS} -### MAV_CMD_GIMBAL_RESET (42501) — \[from: [ardupilotmega](../messages/ardupilotmega.md#MAV_CMD_GIMBAL_RESET)\] {#MAV_CMD_GIMBAL_RESET} +(Bitmask) Gimbal manager capability flags. -### MAV_CMD_GIMBAL_AXIS_CALIBRATION_STATUS (42502) — \[from: [ardupilotmega](../messages/ardupilotmega.md#MAV_CMD_GIMBAL_AXIS_CALIBRATION_STATUS)\] {#MAV_CMD_GIMBAL_AXIS_CALIBRATION_STATUS} +| Value | Name | Description | +| --------------------------- | ------------------------------------------------------------------------------------------------------------- | --------------------------------------------- | +| 1 | [MAV_STORM32_GIMBAL_MANAGER_CAP_FLAGS_HAS_PROFILES](#MAV_STORM32_GIMBAL_MANAGER_CAP_FLAGS_HAS_PROFILES) | The gimbal manager supports several profiles. | -### MAV_CMD_GIMBAL_REQUEST_AXIS_CALIBRATION (42503) — \[from: [ardupilotmega](../messages/ardupilotmega.md#MAV_CMD_GIMBAL_REQUEST_AXIS_CALIBRATION)\] {#MAV_CMD_GIMBAL_REQUEST_AXIS_CALIBRATION} +### MAV_STORM32_GIMBAL_MANAGER_FLAGS {#MAV_STORM32_GIMBAL_MANAGER_FLAGS} -### MAV_CMD_GIMBAL_FULL_RESET (42505) — \[from: [ardupilotmega](../messages/ardupilotmega.md#MAV_CMD_GIMBAL_FULL_RESET)\] {#MAV_CMD_GIMBAL_FULL_RESET} +(Bitmask) Flags for gimbal manager operation. Used for setting and reporting, unless specified otherwise. If a setting has been accepted by the gimbal manager is reported in the STORM32_GIMBAL_MANAGER_STATUS message. -### MAV_CMD_DO_WINCH (42600) — \[from: [common](../messages/common.md#MAV_CMD_DO_WINCH)\] {#MAV_CMD_DO_WINCH} +| Value | Name | Description | +| ------------------------------ | --------------------------------------------------------------------------------------------------------------------------- | ----------------------------------------------------------------------------------------------------------------------------------------------- | +| 0 | [MAV_STORM32_GIMBAL_MANAGER_FLAGS_NONE](#MAV_STORM32_GIMBAL_MANAGER_FLAGS_NONE) | 0 = ignore. | +| 1 | [MAV_STORM32_GIMBAL_MANAGER_FLAGS_RC_ACTIVE](#MAV_STORM32_GIMBAL_MANAGER_FLAGS_RC_ACTIVE) | Request to set RC input to active, or report RC input is active. Implies RC mixed. RC exclusive is achieved by setting all clients to inactive. | +| 2 | [MAV_STORM32_GIMBAL_MANAGER_FLAGS_CLIENT_ONBOARD_ACTIVE](#MAV_STORM32_GIMBAL_MANAGER_FLAGS_CLIENT_ONBOARD_ACTIVE) | Request to set onboard/companion computer client to active, or report this client is active. | +| 4 | [MAV_STORM32_GIMBAL_MANAGER_FLAGS_CLIENT_AUTOPILOT_ACTIVE](#MAV_STORM32_GIMBAL_MANAGER_FLAGS_CLIENT_AUTOPILOT_ACTIVE) | Request to set autopliot client to active, or report this client is active. | +| 8 | [MAV_STORM32_GIMBAL_MANAGER_FLAGS_CLIENT_GCS_ACTIVE](#MAV_STORM32_GIMBAL_MANAGER_FLAGS_CLIENT_GCS_ACTIVE) | Request to set GCS client to active, or report this client is active. | +| 16 | [MAV_STORM32_GIMBAL_MANAGER_FLAGS_CLIENT_CAMERA_ACTIVE](#MAV_STORM32_GIMBAL_MANAGER_FLAGS_CLIENT_CAMERA_ACTIVE) | Request to set camera client to active, or report this client is active. | +| 32 | [MAV_STORM32_GIMBAL_MANAGER_FLAGS_CLIENT_GCS2_ACTIVE](#MAV_STORM32_GIMBAL_MANAGER_FLAGS_CLIENT_GCS2_ACTIVE) | Request to set GCS2 client to active, or report this client is active. | +| 64 | [MAV_STORM32_GIMBAL_MANAGER_FLAGS_CLIENT_CAMERA2_ACTIVE](#MAV_STORM32_GIMBAL_MANAGER_FLAGS_CLIENT_CAMERA2_ACTIVE) | Request to set camera2 client to active, or report this client is active. | +| 128 | [MAV_STORM32_GIMBAL_MANAGER_FLAGS_CLIENT_CUSTOM_ACTIVE](#MAV_STORM32_GIMBAL_MANAGER_FLAGS_CLIENT_CUSTOM_ACTIVE) | Request to set custom client to active, or report this client is active. | +| 256 | [MAV_STORM32_GIMBAL_MANAGER_FLAGS_CLIENT_CUSTOM2_ACTIVE](#MAV_STORM32_GIMBAL_MANAGER_FLAGS_CLIENT_CUSTOM2_ACTIVE) | Request to set custom2 client to active, or report this client is active. | +| 512 | [MAV_STORM32_GIMBAL_MANAGER_FLAGS_SET_SUPERVISON](#MAV_STORM32_GIMBAL_MANAGER_FLAGS_SET_SUPERVISON) | Request supervision. This flag is only for setting, it is not reported. | +| 1024 | [MAV_STORM32_GIMBAL_MANAGER_FLAGS_SET_RELEASE](#MAV_STORM32_GIMBAL_MANAGER_FLAGS_SET_RELEASE) | Release supervision. This flag is only for setting, it is not reported. | -### MAV_CMD_FLASH_BOOTLOADER (42650) — \[from: [ardupilotmega](../messages/ardupilotmega.md#MAV_CMD_FLASH_BOOTLOADER)\] {#MAV_CMD_FLASH_BOOTLOADER} +### MAV_STORM32_GIMBAL_MANAGER_CLIENT {#MAV_STORM32_GIMBAL_MANAGER_CLIENT} -### MAV_CMD_BATTERY_RESET (42651) — \[from: [ardupilotmega](../messages/ardupilotmega.md#MAV_CMD_BATTERY_RESET)\] {#MAV_CMD_BATTERY_RESET} +Gimbal manager client ID. In a prioritizing profile, the priorities are determined by the implementation; they could e.g. be custom1 > onboard > GCS > autopilot/camera > GCS2 > custom2. -### MAV_CMD_DEBUG_TRAP (42700) — \[from: [ardupilotmega](../messages/ardupilotmega.md#MAV_CMD_DEBUG_TRAP)\] {#MAV_CMD_DEBUG_TRAP} +| Value | Name | Description | +| --------------------------- | ----------------------------------------------------------------------------------------------- | ---------------------------------------------- | +| 0 | [MAV_STORM32_GIMBAL_MANAGER_CLIENT_NONE](#MAV_STORM32_GIMBAL_MANAGER_CLIENT_NONE) | For convenience. | +| 1 | [MAV_STORM32_GIMBAL_MANAGER_CLIENT_ONBOARD](#MAV_STORM32_GIMBAL_MANAGER_CLIENT_ONBOARD) | This is the onboard/companion computer client. | +| 2 | [MAV_STORM32_GIMBAL_MANAGER_CLIENT_AUTOPILOT](#MAV_STORM32_GIMBAL_MANAGER_CLIENT_AUTOPILOT) | This is the autopilot client. | +| 3 | [MAV_STORM32_GIMBAL_MANAGER_CLIENT_GCS](#MAV_STORM32_GIMBAL_MANAGER_CLIENT_GCS) | This is the GCS client. | +| 4 | [MAV_STORM32_GIMBAL_MANAGER_CLIENT_CAMERA](#MAV_STORM32_GIMBAL_MANAGER_CLIENT_CAMERA) | This is the camera client. | +| 5 | [MAV_STORM32_GIMBAL_MANAGER_CLIENT_GCS2](#MAV_STORM32_GIMBAL_MANAGER_CLIENT_GCS2) | This is the GCS2 client. | +| 6 | [MAV_STORM32_GIMBAL_MANAGER_CLIENT_CAMERA2](#MAV_STORM32_GIMBAL_MANAGER_CLIENT_CAMERA2) | This is the camera2 client. | +| 7 | [MAV_STORM32_GIMBAL_MANAGER_CLIENT_CUSTOM](#MAV_STORM32_GIMBAL_MANAGER_CLIENT_CUSTOM) | This is the custom client. | +| 8 | [MAV_STORM32_GIMBAL_MANAGER_CLIENT_CUSTOM2](#MAV_STORM32_GIMBAL_MANAGER_CLIENT_CUSTOM2) | This is the custom2 client. | -### MAV_CMD_SCRIPTING (42701) — \[from: [ardupilotmega](../messages/ardupilotmega.md#MAV_CMD_SCRIPTING)\] {#MAV_CMD_SCRIPTING} +### MAV_STORM32_GIMBAL_MANAGER_PROFILE {#MAV_STORM32_GIMBAL_MANAGER_PROFILE} -### MAV_CMD_NAV_SCRIPT_TIME (42702) — \[from: [ardupilotmega](../messages/ardupilotmega.md#MAV_CMD_NAV_SCRIPT_TIME)\] {#MAV_CMD_NAV_SCRIPT_TIME} +Gimbal manager profiles. Only standard profiles are defined. Any implementation can define its own profile(s) in addition, and should use enum values > 16. -### MAV_CMD_NAV_ATTITUDE_TIME (42703) — \[from: [ardupilotmega](../messages/ardupilotmega.md#MAV_CMD_NAV_ATTITUDE_TIME)\] {#MAV_CMD_NAV_ATTITUDE_TIME} +| Value | Name | Description | +| --------------------------- | ------------------------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------ | +| 0 | [MAV_STORM32_GIMBAL_MANAGER_PROFILE_DEFAULT](#MAV_STORM32_GIMBAL_MANAGER_PROFILE_DEFAULT) | Default profile. Implementation specific. | +| 1 | [MAV_STORM32_GIMBAL_MANAGER_PROFILE_CUSTOM](#MAV_STORM32_GIMBAL_MANAGER_PROFILE_CUSTOM) | Not supported/deprecated. | +| 2 | [MAV_STORM32_GIMBAL_MANAGER_PROFILE_COOPERATIVE](#MAV_STORM32_GIMBAL_MANAGER_PROFILE_COOPERATIVE) | Profile with cooperative behavior. | +| 3 | [MAV_STORM32_GIMBAL_MANAGER_PROFILE_EXCLUSIVE](#MAV_STORM32_GIMBAL_MANAGER_PROFILE_EXCLUSIVE) | Profile with exclusive behavior. | +| 4 | [MAV_STORM32_GIMBAL_MANAGER_PROFILE_PRIORITY_COOPERATIVE](#MAV_STORM32_GIMBAL_MANAGER_PROFILE_PRIORITY_COOPERATIVE) | Profile with priority and cooperative behavior for equal priority. | +| 5 | [MAV_STORM32_GIMBAL_MANAGER_PROFILE_PRIORITY_EXCLUSIVE](#MAV_STORM32_GIMBAL_MANAGER_PROFILE_PRIORITY_EXCLUSIVE) | Profile with priority and exclusive behavior for equal priority. | -### MAV_CMD_GUIDED_CHANGE_SPEED (43000) — \[from: [ardupilotmega](../messages/ardupilotmega.md#MAV_CMD_GUIDED_CHANGE_SPEED)\] {#MAV_CMD_GUIDED_CHANGE_SPEED} +### MAV_QSHOT_MODE {#MAV_QSHOT_MODE} -### MAV_CMD_GUIDED_CHANGE_ALTITUDE (43001) — \[from: [ardupilotmega](../messages/ardupilotmega.md#MAV_CMD_GUIDED_CHANGE_ALTITUDE)\] {#MAV_CMD_GUIDED_CHANGE_ALTITUDE} +Enumeration of possible shot modes. -### MAV_CMD_GUIDED_CHANGE_HEADING (43002) — \[from: [ardupilotmega](../messages/ardupilotmega.md#MAV_CMD_GUIDED_CHANGE_HEADING)\] {#MAV_CMD_GUIDED_CHANGE_HEADING} +| Value | Name | Description | +| --------------------------- | ------------------------------------------------------------------------- | ------------------------------------------------------------------------------ | +| 0 | [MAV_QSHOT_MODE_UNDEFINED](#MAV_QSHOT_MODE_UNDEFINED) | Undefined shot mode. Can be used to determine if qshots should be used or not. | +| 1 | [MAV_QSHOT_MODE_DEFAULT](#MAV_QSHOT_MODE_DEFAULT) | Start normal gimbal operation. Is usually used to return back from a shot. | +| 2 | [MAV_QSHOT_MODE_GIMBAL_RETRACT](#MAV_QSHOT_MODE_GIMBAL_RETRACT) | Load and keep safe gimbal position and stop stabilization. | +| 3 | [MAV_QSHOT_MODE_GIMBAL_NEUTRAL](#MAV_QSHOT_MODE_GIMBAL_NEUTRAL) | Load neutral gimbal position and keep it while stabilizing. | +| 4 | [MAV_QSHOT_MODE_GIMBAL_MISSION](#MAV_QSHOT_MODE_GIMBAL_MISSION) | Start mission with gimbal control. | +| 5 | [MAV_QSHOT_MODE_GIMBAL_RC_CONTROL](#MAV_QSHOT_MODE_GIMBAL_RC_CONTROL) | Start RC gimbal control. | +| 6 | [MAV_QSHOT_MODE_POI_TARGETING](#MAV_QSHOT_MODE_POI_TARGETING) | Start gimbal tracking the point specified by Lat, Lon, Alt. | +| 7 | [MAV_QSHOT_MODE_SYSID_TARGETING](#MAV_QSHOT_MODE_SYSID_TARGETING) | Start gimbal tracking the system with specified system ID. | +| 8 | [MAV_QSHOT_MODE_CABLECAM_2POINT](#MAV_QSHOT_MODE_CABLECAM_2POINT) | Start 2-point cable cam quick shot. | +| 9 | [MAV_QSHOT_MODE_HOME_TARGETING](#MAV_QSHOT_MODE_HOME_TARGETING) | Start gimbal tracking the home location. | -### MAV_CMD_EXTERNAL_POSITION_ESTIMATE (43003) — \[from: [common](../messages/common.md#MAV_CMD_EXTERNAL_POSITION_ESTIMATE)\] {#MAV_CMD_EXTERNAL_POSITION_ESTIMATE} +## Commands (MAV_CMD) {#mav_commands} ### MAV_CMD_STORM32_DO_GIMBAL_MANAGER_CONTROL_PITCHYAW (60002) {#MAV_CMD_STORM32_DO_GIMBAL_MANAGER_CONTROL_PITCHYAW} diff --git a/ko/messages/test.html b/ko/messages/test.html index 20d2dfba4..a33b66e5b 100644 --- a/ko/messages/test.html +++ b/ko/messages/test.html @@ -1 +1 @@ -test.xml · MAVLink Developer Guide
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Dialect: test

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              The test dialect is used for testing XML file parsing.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              This is a human-readable form of the XML definition file: test.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAVLink 2 extension fields that have been added to MAVLink 1 messages are displayed in blue. - Entities from dialects are displayed only as headings (with link to original)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Protocol version: 3

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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Summary

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              TypeDefinedIncluded
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Messages10
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Enums00
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              The following sections list all entities in the dialect (both included and defined in this file).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Messages

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              TEST_TYPES (17000)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Test all field types

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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              s64int64_tint64_t
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              ffloatfloat
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              ddoubledouble
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              u8_arrayuint8_t[3]uint8_t_array
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              u16_arrayuint16_t[3]uint16_t_array
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              u32_arrayuint32_t[3]uint32_t_array
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              u64_arrayuint64_t[3]uint64_t_array
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              s8_arrayint8_t[3]int8_t_array
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              s16_arrayint16_t[3]int16_t_array
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              s32_arrayint32_t[3]int32_t_array
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              s64_arrayint64_t[3]int64_t_array
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              f_arrayfloat[3]float_array
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              d_arraydouble[3]double_array

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              results matching ""

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                No results matching ""

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                \ No newline at end of file +test.xml · MAVLink Developer Guide
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Messages
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Messages
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                FAQ
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                FAQ
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Implementations
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Implementations
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Examples
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Examples
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Support
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Help

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Dialect: test

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                The test dialect is used for testing XML file parsing.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                This is a human-readable form of the XML definition file: test.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAVLink 2 extension fields that have been added to MAVLink 1 messages are displayed in blue. - Entities from dialects are displayed only as headings (with link to original)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Protocol version: 3

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                None

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Summary

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                TypeDefinedIncluded
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Messages10
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Enums00
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Commands00

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                The following sections list all entities in the dialect (both included and defined in this file).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Messages

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                TEST_TYPES (17000)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Test all field types

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                ccharchar
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                schar[10]string
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                u8uint8_tuint8_t
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                u16uint16_tuint16_t
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                u32uint32_tuint32_t
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                u64uint64_tuint64_t
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                s8int8_tint8_t
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                s16int16_tint16_t
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                s32int32_tint32_t
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                s64int64_tint64_t
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                ffloatfloat
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                ddoubledouble
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                u8_arrayuint8_t[3]uint8_t_array
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                u16_arrayuint16_t[3]uint16_t_array
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                u32_arrayuint32_t[3]uint32_t_array
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                u64_arrayuint64_t[3]uint64_t_array
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                s8_arrayint8_t[3]int8_t_array
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                s16_arrayint16_t[3]int16_t_array
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                s32_arrayint32_t[3]int32_t_array
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                s64_arrayint64_t[3]int64_t_array
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                f_arrayfloat[3]float_array
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                d_arraydouble[3]double_array

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                results matching ""

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  No results matching ""

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  \ No newline at end of file diff --git a/ko/messages/uAvionix.html b/ko/messages/uAvionix.html index 1ae561f6d..16d1bf246 100644 --- a/ko/messages/uAvionix.html +++ b/ko/messages/uAvionix.html @@ -1 +1 @@ -uAvionix.xml · MAVLink Developer Guide
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Messages
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Messages
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  FAQ
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  FAQ
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Implementations
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Implementations
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Examples
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Examples
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Support
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Help

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Dialect: uAvionix

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  This topic documents the version of the dialect file in the mavlink/mavlink Github repository, which may not be up to date with the file in the source repository (it is up to the dialect owner to push changes when needed). The source repo should be listed in the comments at the top of the XML definition file listed below (but may not be).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  This is a human-readable form of the XML definition file: uAvionix.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAVLink 2 extension fields that have been added to MAVLink 1 messages are displayed in blue. - Entities from dialects are displayed only as headings (with link to original)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Summary

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  TypeDefinedIncluded
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Messages3224
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Enums8142
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Commands1640

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  The following sections list all entities in the dialect (both included and defined in this file).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Messages

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  HEARTBEAT (0) — [from: minimal]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  SYS_STATUS (1) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  SYSTEM_TIME (2) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  PING (4) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  CHANGE_OPERATOR_CONTROL (5) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  CHANGE_OPERATOR_CONTROL_ACK (6) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  AUTH_KEY (7) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  SET_MODE (11) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  PARAM_REQUEST_READ (20) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  PARAM_REQUEST_LIST (21) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  PARAM_VALUE (22) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  PARAM_SET (23) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  GPS_RAW_INT (24) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  GPS_STATUS (25) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  SCALED_IMU (26) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  RAW_IMU (27) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  RAW_PRESSURE (28) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  SCALED_PRESSURE (29) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  ATTITUDE (30) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  ATTITUDE_QUATERNION (31) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  LOCAL_POSITION_NED (32) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  GLOBAL_POSITION_INT (33) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  RC_CHANNELS_SCALED (34) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  RC_CHANNELS_RAW (35) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  SERVO_OUTPUT_RAW (36) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MISSION_REQUEST_PARTIAL_LIST (37) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MISSION_WRITE_PARTIAL_LIST (38) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MISSION_ITEM (39) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MISSION_REQUEST (40) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MISSION_SET_CURRENT (41) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MISSION_CURRENT (42) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MISSION_REQUEST_LIST (43) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MISSION_COUNT (44) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MISSION_CLEAR_ALL (45) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MISSION_ITEM_REACHED (46) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MISSION_ACK (47) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  SET_GPS_GLOBAL_ORIGIN (48) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  GPS_GLOBAL_ORIGIN (49) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  PARAM_MAP_RC (50) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MISSION_REQUEST_INT (51) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  SAFETY_SET_ALLOWED_AREA (54) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  SAFETY_ALLOWED_AREA (55) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  ATTITUDE_QUATERNION_COV (61) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  GLOBAL_POSITION_INT_COV (63) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  LOCAL_POSITION_NED_COV (64) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  RC_CHANNELS (65) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  REQUEST_DATA_STREAM (66) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  DATA_STREAM (67) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MANUAL_CONTROL (69) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  RC_CHANNELS_OVERRIDE (70) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MISSION_ITEM_INT (73) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  VFR_HUD (74) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  COMMAND_INT (75) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  COMMAND_LONG (76) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  COMMAND_ACK (77) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  COMMAND_CANCEL (80) — [from: common] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MANUAL_SETPOINT (81) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  SET_ATTITUDE_TARGET (82) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  ATTITUDE_TARGET (83) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  SET_POSITION_TARGET_LOCAL_NED (84) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  POSITION_TARGET_LOCAL_NED (85) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  SET_POSITION_TARGET_GLOBAL_INT (86) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  POSITION_TARGET_GLOBAL_INT (87) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  LOCAL_POSITION_NED_SYSTEM_GLOBAL_OFFSET (89) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  HIL_STATE (90) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  HIL_CONTROLS (91) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  HIL_RC_INPUTS_RAW (92) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  HIL_ACTUATOR_CONTROLS (93) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  OPTICAL_FLOW (100) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  GLOBAL_VISION_POSITION_ESTIMATE (101) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  VISION_POSITION_ESTIMATE (102) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  VISION_SPEED_ESTIMATE (103) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  VICON_POSITION_ESTIMATE (104) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  HIGHRES_IMU (105) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  OPTICAL_FLOW_RAD (106) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  HIL_SENSOR (107) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  SIM_STATE (108) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  RADIO_STATUS (109) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  FILE_TRANSFER_PROTOCOL (110) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  TIMESYNC (111) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  CAMERA_TRIGGER (112) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  HIL_GPS (113) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  HIL_OPTICAL_FLOW (114) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  HIL_STATE_QUATERNION (115) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  SCALED_IMU2 (116) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  LOG_REQUEST_LIST (117) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  LOG_ENTRY (118) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  LOG_REQUEST_DATA (119) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  LOG_DATA (120) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  LOG_ERASE (121) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  LOG_REQUEST_END (122) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  GPS_INJECT_DATA (123) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  GPS2_RAW (124) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  POWER_STATUS (125) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  SERIAL_CONTROL (126) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  GPS_RTK (127) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  GPS2_RTK (128) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  SCALED_IMU3 (129) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  DATA_TRANSMISSION_HANDSHAKE (130) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  ENCAPSULATED_DATA (131) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  DISTANCE_SENSOR (132) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  TERRAIN_REQUEST (133) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  TERRAIN_DATA (134) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  TERRAIN_CHECK (135) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  TERRAIN_REPORT (136) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  SCALED_PRESSURE2 (137) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  ATT_POS_MOCAP (138) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  SET_ACTUATOR_CONTROL_TARGET (139) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  ACTUATOR_CONTROL_TARGET (140) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  ALTITUDE (141) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  RESOURCE_REQUEST (142) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  SCALED_PRESSURE3 (143) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  FOLLOW_TARGET (144) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  CONTROL_SYSTEM_STATE (146) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  BATTERY_STATUS (147) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  AUTOPILOT_VERSION (148) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  LANDING_TARGET (149) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  FENCE_STATUS (162) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAG_CAL_REPORT (192) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  EFI_STATUS (225) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  ESTIMATOR_STATUS (230) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  WIND_COV (231) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  GPS_INPUT (232) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  GPS_RTCM_DATA (233) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  HIGH_LATENCY (234) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  HIGH_LATENCY2 (235) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  VIBRATION (241) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  HOME_POSITION (242) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  SET_HOME_POSITION (243) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MESSAGE_INTERVAL (244) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  EXTENDED_SYS_STATE (245) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  ADSB_VEHICLE (246) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  COLLISION (247) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  V2_EXTENSION (248) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MEMORY_VECT (249) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  DEBUG_VECT (250) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  NAMED_VALUE_FLOAT (251) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  NAMED_VALUE_INT (252) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  STATUSTEXT (253) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  DEBUG (254) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  SETUP_SIGNING (256) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  BUTTON_CHANGE (257) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  PLAY_TUNE (258) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  CAMERA_INFORMATION (259) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  CAMERA_SETTINGS (260) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  STORAGE_INFORMATION (261) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  CAMERA_CAPTURE_STATUS (262) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  CAMERA_IMAGE_CAPTURED (263) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  FLIGHT_INFORMATION (264) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MOUNT_ORIENTATION (265) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  LOGGING_DATA (266) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  LOGGING_DATA_ACKED (267) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  LOGGING_ACK (268) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  VIDEO_STREAM_INFORMATION (269) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  VIDEO_STREAM_STATUS (270) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  CAMERA_FOV_STATUS (271) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  CAMERA_TRACKING_IMAGE_STATUS (275) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  CAMERA_TRACKING_GEO_STATUS (276) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  CAMERA_THERMAL_RANGE (277) — [from: common] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  GIMBAL_MANAGER_INFORMATION (280) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  GIMBAL_MANAGER_STATUS (281) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  GIMBAL_MANAGER_SET_ATTITUDE (282) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  GIMBAL_DEVICE_INFORMATION (283) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  GIMBAL_DEVICE_SET_ATTITUDE (284) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  GIMBAL_DEVICE_ATTITUDE_STATUS (285) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  AUTOPILOT_STATE_FOR_GIMBAL_DEVICE (286) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  GIMBAL_MANAGER_SET_PITCHYAW (287) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  GIMBAL_MANAGER_SET_MANUAL_CONTROL (288) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  ESC_INFO (290) — [from: common] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  ESC_STATUS (291) — [from: common] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  WIFI_CONFIG_AP (299) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  PROTOCOL_VERSION (300) — [from: minimal] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  AIS_VESSEL (301) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  UAVCAN_NODE_STATUS (310) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  UAVCAN_NODE_INFO (311) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  PARAM_EXT_REQUEST_READ (320) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  PARAM_EXT_REQUEST_LIST (321) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  PARAM_EXT_VALUE (322) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  PARAM_EXT_SET (323) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  PARAM_EXT_ACK (324) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  OBSTACLE_DISTANCE (330) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  ODOMETRY (331) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  TRAJECTORY_REPRESENTATION_WAYPOINTS (332) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  TRAJECTORY_REPRESENTATION_BEZIER (333) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  CELLULAR_STATUS (334) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  CELLULAR_CONFIG (336) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  RAW_RPM (339) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  UTM_GLOBAL_POSITION (340) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  DEBUG_FLOAT_ARRAY (350) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  ORBIT_EXECUTION_STATUS (360) — [from: common] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  BATTERY_INFO (370) — [from: common] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  GENERATOR_STATUS (373) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  ACTUATOR_OUTPUT_STATUS (375) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  TIME_ESTIMATE_TO_TARGET (380) — [from: common] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  TUNNEL (385) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  CAN_FRAME (386) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  CANFD_FRAME (387) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  CAN_FILTER_MODIFY (388) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  ONBOARD_COMPUTER_STATUS (390) — [from: common] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  COMPONENT_INFORMATION (395) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  COMPONENT_INFORMATION_BASIC (396) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  COMPONENT_METADATA (397) — [from: common] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  PLAY_TUNE_V2 (400) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  SUPPORTED_TUNES (401) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  EVENT (410) — [from: common] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  CURRENT_EVENT_SEQUENCE (411) — [from: common] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  REQUEST_EVENT (412) — [from: common] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  RESPONSE_EVENT_ERROR (413) — [from: common] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  ILLUMINATOR_STATUS (440) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  WHEEL_DISTANCE (9000) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  WINCH_STATUS (9005) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  UAVIONIX_ADSB_OUT_CFG (10001)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Static data to configure the ADS-B transponder (send within 10 sec of a POR and every 10 sec thereafter)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  ICAOuint32_tVehicle address (24 bit)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  callsignchar[9]Vehicle identifier (8 characters, null terminated, valid characters are A-Z, 0-9, " " only)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  emitterTypeuint8_tADSB_EMITTER_TYPETransmitting vehicle type. See ADSB_EMITTER_TYPE enum
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  aircraftSizeuint8_tUAVIONIX_ADSB_OUT_CFG_AIRCRAFT_SIZEAircraft length and width encoding (table 2-35 of DO-282B)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  gpsOffsetLatuint8_tUAVIONIX_ADSB_OUT_CFG_GPS_OFFSET_LATGPS antenna lateral offset (table 2-36 of DO-282B)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  gpsOffsetLonuint8_tUAVIONIX_ADSB_OUT_CFG_GPS_OFFSET_LONGPS antenna longitudinal offset from nose [if non-zero, take position (in meters) divide by 2 and add one] (table 2-37 DO-282B)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  stallSpeeduint16_tcm/sAircraft stall speed in cm/s
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  rfSelectuint8_tUAVIONIX_ADSB_OUT_RF_SELECTADS-B transponder receiver and transmit enable flags

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  UAVIONIX_ADSB_OUT_DYNAMIC (10002)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Dynamic data used to generate ADS-B out transponder data (send at 5Hz)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  utcTimeuint32_tsUTC time in seconds since GPS epoch (Jan 6, 1980). If unknown set to UINT32_MAX
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  gpsLatint32_tdegE7Latitude WGS84 (deg * 1E7). If unknown set to INT32_MAX
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  gpsLonint32_tdegE7Longitude WGS84 (deg * 1E7). If unknown set to INT32_MAX
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  gpsAltint32_tmmAltitude (WGS84). UP +ve. If unknown set to INT32_MAX
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  gpsFixuint8_tUAVIONIX_ADSB_OUT_DYNAMIC_GPS_FIX0-1: no fix, 2: 2D fix, 3: 3D fix, 4: DGPS, 5: RTK
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  numSatsuint8_tNumber of satellites visible. If unknown set to UINT8_MAX
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  baroAltMSLint32_tmbarBarometric pressure altitude (MSL) relative to a standard atmosphere of 1013.2 mBar and NOT bar corrected altitude (m * 1E-3). (up +ve). If unknown set to INT32_MAX
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  accuracyHoruint32_tmmHorizontal accuracy in mm (m * 1E-3). If unknown set to UINT32_MAX
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  accuracyVertuint16_tcmVertical accuracy in cm. If unknown set to UINT16_MAX
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  accuracyVeluint16_tmm/sVelocity accuracy in mm/s (m * 1E-3). If unknown set to UINT16_MAX
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  velVertint16_tcm/sGPS vertical speed in cm/s. If unknown set to INT16_MAX
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  velNSint16_tcm/sNorth-South velocity over ground in cm/s North +ve. If unknown set to INT16_MAX
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  VelEWint16_tcm/sEast-West velocity over ground in cm/s East +ve. If unknown set to INT16_MAX
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  emergencyStatusuint8_tUAVIONIX_ADSB_EMERGENCY_STATUSEmergency status
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  stateuint16_tUAVIONIX_ADSB_OUT_DYNAMIC_STATEADS-B transponder dynamic input state flags
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  squawkuint16_tMode A code (typically 1200 [0x04B0] for VFR)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  UAVIONIX_ADSB_TRANSCEIVER_HEALTH_REPORT (10003)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Transceiver heartbeat with health report (updated every 10s)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Field NameTypeValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  rfHealthuint8_tUAVIONIX_ADSB_RF_HEALTHADS-B transponder messages

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  OPEN_DRONE_ID_BASIC_ID (12900) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  OPEN_DRONE_ID_LOCATION (12901) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  OPEN_DRONE_ID_AUTHENTICATION (12902) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  OPEN_DRONE_ID_SELF_ID (12903) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  OPEN_DRONE_ID_SYSTEM (12904) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  OPEN_DRONE_ID_OPERATOR_ID (12905) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  OPEN_DRONE_ID_MESSAGE_PACK (12915) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  OPEN_DRONE_ID_ARM_STATUS (12918) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  OPEN_DRONE_ID_SYSTEM_UPDATE (12919) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  HYGROMETER_SENSOR (12920) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Enumerated Types

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  UAVIONIX_ADSB_OUT_DYNAMIC_STATE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  (Bitmask) State flags for ADS-B transponder dynamic report

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  1UAVIONIX_ADSB_OUT_DYNAMIC_STATE_INTENT_CHANGE
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  2UAVIONIX_ADSB_OUT_DYNAMIC_STATE_AUTOPILOT_ENABLED
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  4UAVIONIX_ADSB_OUT_DYNAMIC_STATE_NICBARO_CROSSCHECKED
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  8UAVIONIX_ADSB_OUT_DYNAMIC_STATE_ON_GROUND
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  16UAVIONIX_ADSB_OUT_DYNAMIC_STATE_IDENT

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  UAVIONIX_ADSB_OUT_RF_SELECT

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  (Bitmask) Transceiver RF control flags for ADS-B transponder dynamic reports

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  0UAVIONIX_ADSB_OUT_RF_SELECT_STANDBY
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  1UAVIONIX_ADSB_OUT_RF_SELECT_RX_ENABLED
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  2UAVIONIX_ADSB_OUT_RF_SELECT_TX_ENABLED

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  UAVIONIX_ADSB_OUT_DYNAMIC_GPS_FIX

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Status for ADS-B transponder dynamic input

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  0UAVIONIX_ADSB_OUT_DYNAMIC_GPS_FIX_NONE_0
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  1UAVIONIX_ADSB_OUT_DYNAMIC_GPS_FIX_NONE_1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  2UAVIONIX_ADSB_OUT_DYNAMIC_GPS_FIX_2D
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  3UAVIONIX_ADSB_OUT_DYNAMIC_GPS_FIX_3D
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  4UAVIONIX_ADSB_OUT_DYNAMIC_GPS_FIX_DGPS
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  5UAVIONIX_ADSB_OUT_DYNAMIC_GPS_FIX_RTK

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  UAVIONIX_ADSB_RF_HEALTH

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  (Bitmask) Status flags for ADS-B transponder dynamic output

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  0UAVIONIX_ADSB_RF_HEALTH_INITIALIZING
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  1UAVIONIX_ADSB_RF_HEALTH_OK
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  2UAVIONIX_ADSB_RF_HEALTH_FAIL_TX
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  16UAVIONIX_ADSB_RF_HEALTH_FAIL_RX

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  UAVIONIX_ADSB_OUT_CFG_AIRCRAFT_SIZE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Definitions for aircraft size

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  0UAVIONIX_ADSB_OUT_CFG_AIRCRAFT_SIZE_NO_DATA
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  1UAVIONIX_ADSB_OUT_CFG_AIRCRAFT_SIZE_L15M_W23M
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  2UAVIONIX_ADSB_OUT_CFG_AIRCRAFT_SIZE_L25M_W28P5M
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  3UAVIONIX_ADSB_OUT_CFG_AIRCRAFT_SIZE_L25_34M
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  4UAVIONIX_ADSB_OUT_CFG_AIRCRAFT_SIZE_L35_33M
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  5UAVIONIX_ADSB_OUT_CFG_AIRCRAFT_SIZE_L35_38M
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  6UAVIONIX_ADSB_OUT_CFG_AIRCRAFT_SIZE_L45_39P5M
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  7UAVIONIX_ADSB_OUT_CFG_AIRCRAFT_SIZE_L45_45M
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  8UAVIONIX_ADSB_OUT_CFG_AIRCRAFT_SIZE_L55_45M
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  9UAVIONIX_ADSB_OUT_CFG_AIRCRAFT_SIZE_L55_52M
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  10UAVIONIX_ADSB_OUT_CFG_AIRCRAFT_SIZE_L65_59P5M
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  11UAVIONIX_ADSB_OUT_CFG_AIRCRAFT_SIZE_L65_67M
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  12UAVIONIX_ADSB_OUT_CFG_AIRCRAFT_SIZE_L75_W72P5M
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  13UAVIONIX_ADSB_OUT_CFG_AIRCRAFT_SIZE_L75_W80M
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  14UAVIONIX_ADSB_OUT_CFG_AIRCRAFT_SIZE_L85_W80M
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  15UAVIONIX_ADSB_OUT_CFG_AIRCRAFT_SIZE_L85_W90M

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  UAVIONIX_ADSB_OUT_CFG_GPS_OFFSET_LAT

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  GPS lataral offset encoding

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  0UAVIONIX_ADSB_OUT_CFG_GPS_OFFSET_LAT_NO_DATA
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  1UAVIONIX_ADSB_OUT_CFG_GPS_OFFSET_LAT_LEFT_2M
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  2UAVIONIX_ADSB_OUT_CFG_GPS_OFFSET_LAT_LEFT_4M
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  3UAVIONIX_ADSB_OUT_CFG_GPS_OFFSET_LAT_LEFT_6M
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  4UAVIONIX_ADSB_OUT_CFG_GPS_OFFSET_LAT_RIGHT_0M
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  5UAVIONIX_ADSB_OUT_CFG_GPS_OFFSET_LAT_RIGHT_2M
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  6UAVIONIX_ADSB_OUT_CFG_GPS_OFFSET_LAT_RIGHT_4M
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  7UAVIONIX_ADSB_OUT_CFG_GPS_OFFSET_LAT_RIGHT_6M

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  UAVIONIX_ADSB_OUT_CFG_GPS_OFFSET_LON

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  GPS longitudinal offset encoding

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  0UAVIONIX_ADSB_OUT_CFG_GPS_OFFSET_LON_NO_DATA
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  1UAVIONIX_ADSB_OUT_CFG_GPS_OFFSET_LON_APPLIED_BY_SENSOR

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  UAVIONIX_ADSB_EMERGENCY_STATUS

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Emergency status encoding

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  0UAVIONIX_ADSB_OUT_NO_EMERGENCY
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  1UAVIONIX_ADSB_OUT_GENERAL_EMERGENCY
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  2UAVIONIX_ADSB_OUT_LIFEGUARD_EMERGENCY
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  3UAVIONIX_ADSB_OUT_MINIMUM_FUEL_EMERGENCY
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  4UAVIONIX_ADSB_OUT_NO_COMM_EMERGENCY
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  5UAVIONIX_ADSB_OUT_UNLAWFUL_INTERFERANCE_EMERGENCY
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  6UAVIONIX_ADSB_OUT_DOWNED_AIRCRAFT_EMERGENCY
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  7UAVIONIX_ADSB_OUT_RESERVED

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  FIRMWARE_VERSION_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  HL_FAILURE_FLAG — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_GOTO — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_MODE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_SYS_STATUS_SENSOR — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_SYS_STATUS_SENSOR_EXTENDED — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_FRAME — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  FENCE_ACTION — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  FENCE_BREACH — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  FENCE_MITIGATE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  FENCE_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_MOUNT_MODE — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  GIMBAL_DEVICE_CAP_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  GIMBAL_MANAGER_CAP_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  GIMBAL_DEVICE_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  GIMBAL_MANAGER_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  GIMBAL_DEVICE_ERROR_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  GRIPPER_ACTIONS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  WINCH_ACTIONS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  UAVCAN_NODE_HEALTH — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  UAVCAN_NODE_MODE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  ESC_CONNECTION_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  ESC_FAILURE_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  STORAGE_STATUS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  STORAGE_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  STORAGE_USAGE_FLAG — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  ORBIT_YAW_BEHAVIOUR — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  WIFI_CONFIG_AP_RESPONSE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  CELLULAR_CONFIG_RESPONSE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  WIFI_CONFIG_AP_MODE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  COMP_METADATA_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  ACTUATOR_CONFIGURATION — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  ACTUATOR_OUTPUT_FUNCTION — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  AUTOTUNE_AXIS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  PREFLIGHT_STORAGE_PARAMETER_ACTION — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  PREFLIGHT_STORAGE_MISSION_ACTION — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_DATA_STREAM — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_ROI — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_PARAM_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_PARAM_EXT_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_RESULT — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_MISSION_RESULT — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_SEVERITY — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_POWER_STATUS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  SERIAL_CONTROL_DEV — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  SERIAL_CONTROL_FLAG — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_DISTANCE_SENSOR — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_SENSOR_ORIENTATION — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_PROTOCOL_CAPABILITY — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_MISSION_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_ESTIMATOR_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_BATTERY_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_BATTERY_FUNCTION — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_BATTERY_CHARGE_STATE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_BATTERY_MODE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_BATTERY_FAULT — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_GENERATOR_STATUS_FLAG — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_VTOL_STATE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_LANDED_STATE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  ADSB_ALTITUDE_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  ADSB_EMITTER_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  ADSB_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_DO_REPOSITION_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  SPEED_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  ESTIMATOR_STATUS_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MOTOR_TEST_ORDER — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MOTOR_TEST_THROTTLE_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  GPS_INPUT_IGNORE_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_COLLISION_ACTION — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_COLLISION_THREAT_LEVEL — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_COLLISION_SRC — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  GPS_FIX_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  RTK_BASELINE_COORDINATE_SYSTEM — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  LANDING_TARGET_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  VTOL_TRANSITION_HEADING — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  CAMERA_CAP_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  VIDEO_STREAM_STATUS_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  VIDEO_STREAM_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  VIDEO_STREAM_ENCODING — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  CAMERA_TRACKING_STATUS_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  CAMERA_TRACKING_MODE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  CAMERA_TRACKING_TARGET_DATA — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  CAMERA_ZOOM_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  SET_FOCUS_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  CAMERA_SOURCE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  PARAM_ACK — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  CAMERA_MODE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_ARM_AUTH_DENIED_REASON — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  RC_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  POSITION_TARGET_TYPEMASK — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  ATTITUDE_TARGET_TYPEMASK — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  UTM_FLIGHT_STATE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  UTM_DATA_AVAIL_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  CELLULAR_STATUS_FLAG — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  CELLULAR_NETWORK_FAILED_REASON — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  CELLULAR_NETWORK_RADIO_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  PRECISION_LAND_MODE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  PARACHUTE_ACTION — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_TUNNEL_PAYLOAD_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_ODID_ID_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_ODID_UA_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_ODID_STATUS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_ODID_HEIGHT_REF — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_ODID_HOR_ACC — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_ODID_VER_ACC — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_ODID_SPEED_ACC — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_ODID_TIME_ACC — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_ODID_AUTH_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_ODID_DESC_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_ODID_OPERATOR_LOCATION_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_ODID_CLASSIFICATION_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_ODID_CATEGORY_EU — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_ODID_CLASS_EU — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_ODID_OPERATOR_ID_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_ODID_ARM_STATUS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  TUNE_FORMAT — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  AIS_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  AIS_NAV_STATUS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  AIS_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  FAILURE_UNIT — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  FAILURE_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_WINCH_STATUS_FLAG — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAG_CAL_STATUS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_EVENT_ERROR_REASON — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_EVENT_CURRENT_SEQUENCE_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  HIL_SENSOR_UPDATED_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  HIGHRES_IMU_UPDATED_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  CAN_FILTER_OP — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_FTP_ERR — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_FTP_OPCODE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MISSION_STATE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  SAFETY_SWITCH_STATE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  ILLUMINATOR_MODE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  ILLUMINATOR_ERROR_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_AUTOPILOT — [from: minimal]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_TYPE — [from: minimal]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_MODE_FLAG — [from: minimal]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_MODE_FLAG_DECODE_POSITION — [from: minimal]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_STATE — [from: minimal]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_COMPONENT — [from: minimal]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Commands (MAV_CMD)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_NAV_WAYPOINT (16) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_NAV_LOITER_UNLIM (17) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_NAV_LOITER_TURNS (18) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_NAV_LOITER_TIME (19) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_NAV_RETURN_TO_LAUNCH (20) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_NAV_LAND (21) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_NAV_TAKEOFF (22) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_NAV_LAND_LOCAL (23) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_NAV_TAKEOFF_LOCAL (24) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_NAV_FOLLOW (25) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_NAV_CONTINUE_AND_CHANGE_ALT (30) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_NAV_LOITER_TO_ALT (31) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_DO_FOLLOW (32) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_DO_FOLLOW_REPOSITION (33) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_DO_ORBIT (34) — [from: common] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_NAV_ROI (80) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_NAV_PATHPLANNING (81) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_NAV_SPLINE_WAYPOINT (82) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_NAV_VTOL_TAKEOFF (84) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_NAV_VTOL_LAND (85) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_NAV_GUIDED_ENABLE (92) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_NAV_DELAY (93) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_NAV_PAYLOAD_PLACE (94) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_NAV_LAST (95) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_CONDITION_DELAY (112) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_CONDITION_CHANGE_ALT (113) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_CONDITION_DISTANCE (114) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_CONDITION_YAW (115) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_CONDITION_LAST (159) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_DO_SET_MODE (176) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_DO_JUMP (177) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_DO_CHANGE_SPEED (178) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_DO_SET_HOME (179) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_DO_SET_PARAMETER (180) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_DO_SET_RELAY (181) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_DO_REPEAT_RELAY (182) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_DO_SET_SERVO (183) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_DO_REPEAT_SERVO (184) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_DO_FLIGHTTERMINATION (185) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_DO_CHANGE_ALTITUDE (186) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_DO_SET_ACTUATOR (187) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_DO_RETURN_PATH_START (188) — [from: common] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_DO_LAND_START (189) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_DO_RALLY_LAND (190) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_DO_GO_AROUND (191) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_DO_REPOSITION (192) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_DO_PAUSE_CONTINUE (193) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_DO_SET_REVERSE (194) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_DO_SET_ROI_LOCATION (195) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_DO_SET_ROI_WPNEXT_OFFSET (196) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_DO_SET_ROI_NONE (197) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_DO_SET_ROI_SYSID (198) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_DO_CONTROL_VIDEO (200) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_DO_SET_ROI (201) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_DO_DIGICAM_CONFIGURE (202) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_DO_DIGICAM_CONTROL (203) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_DO_MOUNT_CONFIGURE (204) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_DO_MOUNT_CONTROL (205) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_DO_SET_CAM_TRIGG_DIST (206) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_DO_FENCE_ENABLE (207) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_DO_PARACHUTE (208) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_DO_MOTOR_TEST (209) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_DO_INVERTED_FLIGHT (210) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_DO_GRIPPER (211) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_DO_AUTOTUNE_ENABLE (212) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_NAV_SET_YAW_SPEED (213) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_DO_SET_CAM_TRIGG_INTERVAL (214) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_DO_MOUNT_CONTROL_QUAT (220) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_DO_GUIDED_MASTER (221) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_DO_GUIDED_LIMITS (222) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_DO_ENGINE_CONTROL (223) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_DO_SET_MISSION_CURRENT (224) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_DO_LAST (240) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_PREFLIGHT_CALIBRATION (241) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_PREFLIGHT_SET_SENSOR_OFFSETS (242) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_PREFLIGHT_UAVCAN (243) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_PREFLIGHT_STORAGE (245) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN (246) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_OVERRIDE_GOTO (252) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_OBLIQUE_SURVEY (260) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_MISSION_START (300) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_ACTUATOR_TEST (310) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_CONFIGURE_ACTUATOR (311) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_COMPONENT_ARM_DISARM (400) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_RUN_PREARM_CHECKS (401) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_ILLUMINATOR_ON_OFF (405) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_DO_ILLUMINATOR_CONFIGURE (406) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_GET_HOME_POSITION (410) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_INJECT_FAILURE (420) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_START_RX_PAIR (500) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_GET_MESSAGE_INTERVAL (510) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_SET_MESSAGE_INTERVAL (511) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_REQUEST_MESSAGE (512) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_REQUEST_PROTOCOL_VERSION (519) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_REQUEST_AUTOPILOT_CAPABILITIES (520) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_REQUEST_CAMERA_INFORMATION (521) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_REQUEST_CAMERA_SETTINGS (522) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_REQUEST_STORAGE_INFORMATION (525) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_STORAGE_FORMAT (526) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_REQUEST_CAMERA_CAPTURE_STATUS (527) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_REQUEST_FLIGHT_INFORMATION (528) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_RESET_CAMERA_SETTINGS (529) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_SET_CAMERA_MODE (530) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_SET_CAMERA_ZOOM (531) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_SET_CAMERA_FOCUS (532) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_SET_STORAGE_USAGE (533) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_SET_CAMERA_SOURCE (534) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_JUMP_TAG (600) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_DO_JUMP_TAG (601) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_DO_GIMBAL_MANAGER_PITCHYAW (1000) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_DO_GIMBAL_MANAGER_CONFIGURE (1001) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_IMAGE_START_CAPTURE (2000) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_IMAGE_STOP_CAPTURE (2001) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_REQUEST_CAMERA_IMAGE_CAPTURE (2002) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_DO_TRIGGER_CONTROL (2003) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_CAMERA_TRACK_POINT (2004) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_CAMERA_TRACK_RECTANGLE (2005) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_CAMERA_STOP_TRACKING (2010) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_VIDEO_START_CAPTURE (2500) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_VIDEO_STOP_CAPTURE (2501) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_VIDEO_START_STREAMING (2502) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_VIDEO_STOP_STREAMING (2503) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_REQUEST_VIDEO_STREAM_INFORMATION (2504) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_REQUEST_VIDEO_STREAM_STATUS (2505) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_LOGGING_START (2510) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_LOGGING_STOP (2511) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_AIRFRAME_CONFIGURATION (2520) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_CONTROL_HIGH_LATENCY (2600) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_PANORAMA_CREATE (2800) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_DO_VTOL_TRANSITION (3000) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_ARM_AUTHORIZATION_REQUEST (3001) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_SET_GUIDED_SUBMODE_STANDARD (4000) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_SET_GUIDED_SUBMODE_CIRCLE (4001) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_CONDITION_GATE (4501) — [from: common] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_NAV_FENCE_RETURN_POINT (5000) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_NAV_FENCE_POLYGON_VERTEX_INCLUSION (5001) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_NAV_FENCE_POLYGON_VERTEX_EXCLUSION (5002) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_NAV_FENCE_CIRCLE_INCLUSION (5003) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_NAV_FENCE_CIRCLE_EXCLUSION (5004) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_NAV_RALLY_POINT (5100) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_UAVCAN_GET_NODE_INFO (5200) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_DO_SET_SAFETY_SWITCH_STATE (5300) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_DO_ADSB_OUT_IDENT (10001) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_PAYLOAD_PREPARE_DEPLOY (30001) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_PAYLOAD_CONTROL_DEPLOY (30002) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_WAYPOINT_USER_1 (31000) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_WAYPOINT_USER_2 (31001) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_WAYPOINT_USER_3 (31002) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_WAYPOINT_USER_4 (31003) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_WAYPOINT_USER_5 (31004) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_SPATIAL_USER_1 (31005) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_SPATIAL_USER_2 (31006) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_SPATIAL_USER_3 (31007) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_SPATIAL_USER_4 (31008) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_SPATIAL_USER_5 (31009) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_USER_1 (31010) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_USER_2 (31011) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_USER_3 (31012) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_USER_4 (31013) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_USER_5 (31014) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_CAN_FORWARD (32000) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_FIXED_MAG_CAL_YAW (42006) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_DO_WINCH (42600) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_EXTERNAL_POSITION_ESTIMATE (43003) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  results matching ""

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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    \ No newline at end of file +uAvionix.xml · MAVLink Developer Guide
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Dialect: uAvionix

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    This topic documents the version of the dialect file in the mavlink/mavlink Github repository, which may not be up to date with the file in the source repository (it is up to the dialect owner to push changes when needed). The source repo should be listed in the comments at the top of the XML definition file listed below (but may not be).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    This is a human-readable form of the XML definition file: uAvionix.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAVLink 2 extension fields that have been added to MAVLink 1 messages are displayed in blue. - Entities from dialects are displayed only as headings (with link to original)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Summary

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    TypeDefinedIncluded
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Messages3224
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Enums8143
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Commands1640

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    The following sections list all entities in the dialect (both included and defined in this file).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Messages

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    UAVIONIX_ADSB_OUT_CFG (10001)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Static data to configure the ADS-B transponder (send within 10 sec of a POR and every 10 sec thereafter)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    ICAOuint32_tVehicle address (24 bit)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    callsignchar[9]Vehicle identifier (8 characters, null terminated, valid characters are A-Z, 0-9, " " only)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    emitterTypeuint8_tADSB_EMITTER_TYPETransmitting vehicle type. See ADSB_EMITTER_TYPE enum
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    aircraftSizeuint8_tUAVIONIX_ADSB_OUT_CFG_AIRCRAFT_SIZEAircraft length and width encoding (table 2-35 of DO-282B)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    gpsOffsetLatuint8_tUAVIONIX_ADSB_OUT_CFG_GPS_OFFSET_LATGPS antenna lateral offset (table 2-36 of DO-282B)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    gpsOffsetLonuint8_tUAVIONIX_ADSB_OUT_CFG_GPS_OFFSET_LONGPS antenna longitudinal offset from nose [if non-zero, take position (in meters) divide by 2 and add one] (table 2-37 DO-282B)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    stallSpeeduint16_tcm/sAircraft stall speed in cm/s
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    rfSelectuint8_tUAVIONIX_ADSB_OUT_RF_SELECTADS-B transponder receiver and transmit enable flags

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    UAVIONIX_ADSB_OUT_DYNAMIC (10002)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Dynamic data used to generate ADS-B out transponder data (send at 5Hz)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    utcTimeuint32_tsUTC time in seconds since GPS epoch (Jan 6, 1980). If unknown set to UINT32_MAX
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    gpsLatint32_tdegE7Latitude WGS84 (deg * 1E7). If unknown set to INT32_MAX
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    gpsLonint32_tdegE7Longitude WGS84 (deg * 1E7). If unknown set to INT32_MAX
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    gpsAltint32_tmmAltitude (WGS84). UP +ve. If unknown set to INT32_MAX
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    gpsFixuint8_tUAVIONIX_ADSB_OUT_DYNAMIC_GPS_FIX0-1: no fix, 2: 2D fix, 3: 3D fix, 4: DGPS, 5: RTK
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    numSatsuint8_tNumber of satellites visible. If unknown set to UINT8_MAX
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    baroAltMSLint32_tmbarBarometric pressure altitude (MSL) relative to a standard atmosphere of 1013.2 mBar and NOT bar corrected altitude (m * 1E-3). (up +ve). If unknown set to INT32_MAX
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    accuracyHoruint32_tmmHorizontal accuracy in mm (m * 1E-3). If unknown set to UINT32_MAX
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    accuracyVertuint16_tcmVertical accuracy in cm. If unknown set to UINT16_MAX
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    accuracyVeluint16_tmm/sVelocity accuracy in mm/s (m * 1E-3). If unknown set to UINT16_MAX
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    velVertint16_tcm/sGPS vertical speed in cm/s. If unknown set to INT16_MAX
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    velNSint16_tcm/sNorth-South velocity over ground in cm/s North +ve. If unknown set to INT16_MAX
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    VelEWint16_tcm/sEast-West velocity over ground in cm/s East +ve. If unknown set to INT16_MAX
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    emergencyStatusuint8_tUAVIONIX_ADSB_EMERGENCY_STATUSEmergency status
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    stateuint16_tUAVIONIX_ADSB_OUT_DYNAMIC_STATEADS-B transponder dynamic input state flags
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    squawkuint16_tMode A code (typically 1200 [0x04B0] for VFR)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    UAVIONIX_ADSB_TRANSCEIVER_HEALTH_REPORT (10003)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Transceiver heartbeat with health report (updated every 10s)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    rfHealthuint8_tUAVIONIX_ADSB_RF_HEALTHADS-B transponder messages

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Enumerated Types

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    UAVIONIX_ADSB_OUT_DYNAMIC_STATE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    (Bitmask) State flags for ADS-B transponder dynamic report

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1UAVIONIX_ADSB_OUT_DYNAMIC_STATE_INTENT_CHANGE
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2UAVIONIX_ADSB_OUT_DYNAMIC_STATE_AUTOPILOT_ENABLED
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    4UAVIONIX_ADSB_OUT_DYNAMIC_STATE_NICBARO_CROSSCHECKED
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    8UAVIONIX_ADSB_OUT_DYNAMIC_STATE_ON_GROUND
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    16UAVIONIX_ADSB_OUT_DYNAMIC_STATE_IDENT

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    UAVIONIX_ADSB_OUT_RF_SELECT

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    (Bitmask) Transceiver RF control flags for ADS-B transponder dynamic reports

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    0UAVIONIX_ADSB_OUT_RF_SELECT_STANDBY
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1UAVIONIX_ADSB_OUT_RF_SELECT_RX_ENABLED
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2UAVIONIX_ADSB_OUT_RF_SELECT_TX_ENABLED

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    UAVIONIX_ADSB_OUT_DYNAMIC_GPS_FIX

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Status for ADS-B transponder dynamic input

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    0UAVIONIX_ADSB_OUT_DYNAMIC_GPS_FIX_NONE_0
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1UAVIONIX_ADSB_OUT_DYNAMIC_GPS_FIX_NONE_1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2UAVIONIX_ADSB_OUT_DYNAMIC_GPS_FIX_2D
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    3UAVIONIX_ADSB_OUT_DYNAMIC_GPS_FIX_3D
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    4UAVIONIX_ADSB_OUT_DYNAMIC_GPS_FIX_DGPS
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    5UAVIONIX_ADSB_OUT_DYNAMIC_GPS_FIX_RTK

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    UAVIONIX_ADSB_RF_HEALTH

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    (Bitmask) Status flags for ADS-B transponder dynamic output

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    0UAVIONIX_ADSB_RF_HEALTH_INITIALIZING
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1UAVIONIX_ADSB_RF_HEALTH_OK
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2UAVIONIX_ADSB_RF_HEALTH_FAIL_TX
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    16UAVIONIX_ADSB_RF_HEALTH_FAIL_RX

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    UAVIONIX_ADSB_OUT_CFG_AIRCRAFT_SIZE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Definitions for aircraft size

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    0UAVIONIX_ADSB_OUT_CFG_AIRCRAFT_SIZE_NO_DATA
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1UAVIONIX_ADSB_OUT_CFG_AIRCRAFT_SIZE_L15M_W23M
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2UAVIONIX_ADSB_OUT_CFG_AIRCRAFT_SIZE_L25M_W28P5M
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    3UAVIONIX_ADSB_OUT_CFG_AIRCRAFT_SIZE_L25_34M
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    4UAVIONIX_ADSB_OUT_CFG_AIRCRAFT_SIZE_L35_33M
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    5UAVIONIX_ADSB_OUT_CFG_AIRCRAFT_SIZE_L35_38M
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    6UAVIONIX_ADSB_OUT_CFG_AIRCRAFT_SIZE_L45_39P5M
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    7UAVIONIX_ADSB_OUT_CFG_AIRCRAFT_SIZE_L45_45M
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    8UAVIONIX_ADSB_OUT_CFG_AIRCRAFT_SIZE_L55_45M
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    9UAVIONIX_ADSB_OUT_CFG_AIRCRAFT_SIZE_L55_52M
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    10UAVIONIX_ADSB_OUT_CFG_AIRCRAFT_SIZE_L65_59P5M
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    11UAVIONIX_ADSB_OUT_CFG_AIRCRAFT_SIZE_L65_67M
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    12UAVIONIX_ADSB_OUT_CFG_AIRCRAFT_SIZE_L75_W72P5M
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    13UAVIONIX_ADSB_OUT_CFG_AIRCRAFT_SIZE_L75_W80M
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    14UAVIONIX_ADSB_OUT_CFG_AIRCRAFT_SIZE_L85_W80M
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    15UAVIONIX_ADSB_OUT_CFG_AIRCRAFT_SIZE_L85_W90M

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    UAVIONIX_ADSB_OUT_CFG_GPS_OFFSET_LAT

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    GPS lataral offset encoding

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    0UAVIONIX_ADSB_OUT_CFG_GPS_OFFSET_LAT_NO_DATA
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1UAVIONIX_ADSB_OUT_CFG_GPS_OFFSET_LAT_LEFT_2M
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2UAVIONIX_ADSB_OUT_CFG_GPS_OFFSET_LAT_LEFT_4M
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    3UAVIONIX_ADSB_OUT_CFG_GPS_OFFSET_LAT_LEFT_6M
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    4UAVIONIX_ADSB_OUT_CFG_GPS_OFFSET_LAT_RIGHT_0M
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    5UAVIONIX_ADSB_OUT_CFG_GPS_OFFSET_LAT_RIGHT_2M
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    6UAVIONIX_ADSB_OUT_CFG_GPS_OFFSET_LAT_RIGHT_4M
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    7UAVIONIX_ADSB_OUT_CFG_GPS_OFFSET_LAT_RIGHT_6M

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    UAVIONIX_ADSB_OUT_CFG_GPS_OFFSET_LON

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    GPS longitudinal offset encoding

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    0UAVIONIX_ADSB_OUT_CFG_GPS_OFFSET_LON_NO_DATA
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1UAVIONIX_ADSB_OUT_CFG_GPS_OFFSET_LON_APPLIED_BY_SENSOR

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    UAVIONIX_ADSB_EMERGENCY_STATUS

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Emergency status encoding

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    0UAVIONIX_ADSB_OUT_NO_EMERGENCY
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1UAVIONIX_ADSB_OUT_GENERAL_EMERGENCY
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2UAVIONIX_ADSB_OUT_LIFEGUARD_EMERGENCY
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    3UAVIONIX_ADSB_OUT_MINIMUM_FUEL_EMERGENCY
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    4UAVIONIX_ADSB_OUT_NO_COMM_EMERGENCY
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    5UAVIONIX_ADSB_OUT_UNLAWFUL_INTERFERANCE_EMERGENCY
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    6UAVIONIX_ADSB_OUT_DOWNED_AIRCRAFT_EMERGENCY
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    7UAVIONIX_ADSB_OUT_RESERVED

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Commands (MAV_CMD)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    results matching ""

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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      \ No newline at end of file diff --git a/ko/messages/ualberta.html b/ko/messages/ualberta.html index a32d3f038..e6f8344a5 100644 --- a/ko/messages/ualberta.html +++ b/ko/messages/ualberta.html @@ -1 +1 @@ -ualberta.xml · MAVLink Developer Guide
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Dialect: ualberta

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      This topic documents the version of the dialect file in the mavlink/mavlink Github repository, which may not be up to date with the file in the source repository (it is up to the dialect owner to push changes when needed). The source repo should be listed in the comments at the top of the XML definition file listed below (but may not be).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      This is a human-readable form of the XML definition file: ualberta.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAVLink 2 extension fields that have been added to MAVLink 1 messages are displayed in blue. - Entities from dialects are displayed only as headings (with link to original)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Summary

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      TypeDefinedIncluded
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Messages3224
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Enums3142
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Commands1640

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      The following sections list all entities in the dialect (both included and defined in this file).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Messages

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      HEARTBEAT (0) — [from: minimal]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      SYS_STATUS (1) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      SYSTEM_TIME (2) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      PING (4) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      CHANGE_OPERATOR_CONTROL (5) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      CHANGE_OPERATOR_CONTROL_ACK (6) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      AUTH_KEY (7) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      SET_MODE (11) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      PARAM_REQUEST_READ (20) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      PARAM_REQUEST_LIST (21) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      PARAM_VALUE (22) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      PARAM_SET (23) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      GPS_RAW_INT (24) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      GPS_STATUS (25) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      SCALED_IMU (26) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      RAW_IMU (27) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      RAW_PRESSURE (28) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      SCALED_PRESSURE (29) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ATTITUDE (30) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ATTITUDE_QUATERNION (31) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      LOCAL_POSITION_NED (32) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      GLOBAL_POSITION_INT (33) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      RC_CHANNELS_SCALED (34) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      RC_CHANNELS_RAW (35) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      SERVO_OUTPUT_RAW (36) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MISSION_REQUEST_PARTIAL_LIST (37) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MISSION_WRITE_PARTIAL_LIST (38) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MISSION_ITEM (39) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MISSION_REQUEST (40) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MISSION_SET_CURRENT (41) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MISSION_CURRENT (42) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MISSION_REQUEST_LIST (43) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MISSION_COUNT (44) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MISSION_CLEAR_ALL (45) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MISSION_ITEM_REACHED (46) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MISSION_ACK (47) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      SET_GPS_GLOBAL_ORIGIN (48) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      GPS_GLOBAL_ORIGIN (49) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      PARAM_MAP_RC (50) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MISSION_REQUEST_INT (51) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      SAFETY_SET_ALLOWED_AREA (54) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      SAFETY_ALLOWED_AREA (55) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ATTITUDE_QUATERNION_COV (61) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      GLOBAL_POSITION_INT_COV (63) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      LOCAL_POSITION_NED_COV (64) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      RC_CHANNELS (65) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      REQUEST_DATA_STREAM (66) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      DATA_STREAM (67) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MANUAL_CONTROL (69) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      RC_CHANNELS_OVERRIDE (70) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MISSION_ITEM_INT (73) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      VFR_HUD (74) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      COMMAND_INT (75) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      COMMAND_LONG (76) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      COMMAND_ACK (77) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      COMMAND_CANCEL (80) — [from: common] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MANUAL_SETPOINT (81) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      SET_ATTITUDE_TARGET (82) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ATTITUDE_TARGET (83) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      SET_POSITION_TARGET_LOCAL_NED (84) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      POSITION_TARGET_LOCAL_NED (85) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      SET_POSITION_TARGET_GLOBAL_INT (86) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      POSITION_TARGET_GLOBAL_INT (87) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      LOCAL_POSITION_NED_SYSTEM_GLOBAL_OFFSET (89) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      HIL_STATE (90) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      HIL_CONTROLS (91) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      HIL_RC_INPUTS_RAW (92) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      HIL_ACTUATOR_CONTROLS (93) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      OPTICAL_FLOW (100) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      GLOBAL_VISION_POSITION_ESTIMATE (101) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      VISION_POSITION_ESTIMATE (102) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      VISION_SPEED_ESTIMATE (103) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      VICON_POSITION_ESTIMATE (104) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      HIGHRES_IMU (105) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      OPTICAL_FLOW_RAD (106) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      HIL_SENSOR (107) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      SIM_STATE (108) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      RADIO_STATUS (109) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      FILE_TRANSFER_PROTOCOL (110) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      TIMESYNC (111) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      CAMERA_TRIGGER (112) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      HIL_GPS (113) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      HIL_OPTICAL_FLOW (114) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      HIL_STATE_QUATERNION (115) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      SCALED_IMU2 (116) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      LOG_REQUEST_LIST (117) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      LOG_ENTRY (118) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      LOG_REQUEST_DATA (119) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      LOG_DATA (120) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      LOG_ERASE (121) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      LOG_REQUEST_END (122) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      GPS_INJECT_DATA (123) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      GPS2_RAW (124) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      POWER_STATUS (125) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      SERIAL_CONTROL (126) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      GPS_RTK (127) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      GPS2_RTK (128) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      SCALED_IMU3 (129) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      DATA_TRANSMISSION_HANDSHAKE (130) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ENCAPSULATED_DATA (131) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      DISTANCE_SENSOR (132) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      TERRAIN_REQUEST (133) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      TERRAIN_DATA (134) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      TERRAIN_CHECK (135) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      TERRAIN_REPORT (136) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      SCALED_PRESSURE2 (137) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ATT_POS_MOCAP (138) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      SET_ACTUATOR_CONTROL_TARGET (139) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ACTUATOR_CONTROL_TARGET (140) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ALTITUDE (141) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      RESOURCE_REQUEST (142) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      SCALED_PRESSURE3 (143) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      FOLLOW_TARGET (144) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      CONTROL_SYSTEM_STATE (146) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      BATTERY_STATUS (147) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      AUTOPILOT_VERSION (148) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      LANDING_TARGET (149) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      FENCE_STATUS (162) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAG_CAL_REPORT (192) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Accelerometer and Gyro biases from the navigation filter

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      usecuint64_tTimestamp (microseconds)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      accel_0floatb_f[0]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      accel_1floatb_f[1]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      accel_2floatb_f[2]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      gyro_0floatb_f[0]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      gyro_1floatb_f[1]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      gyro_2floatb_f[2]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      RADIO_CALIBRATION (221)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Complete set of calibration parameters for the radio

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      aileronuint16_t[3]Aileron setpoints: left, center, right
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      elevatoruint16_t[3]Elevator setpoints: nose down, center, nose up
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      rudderuint16_t[3]Rudder setpoints: nose left, center, nose right
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      gyrouint16_t[2]Tail gyro mode/gain setpoints: heading hold, rate mode
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      pitchuint16_t[5]Pitch curve setpoints (every 25%)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      throttleuint16_t[5]Throttle curve setpoints (every 25%)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      UALBERTA_SYS_STATUS (222)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      System status specific to ualberta uav

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      modeuint8_tSystem mode, see UALBERTA_AUTOPILOT_MODE ENUM
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      nav_modeuint8_tNavigation mode, see UALBERTA_NAV_MODE ENUM
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      pilotuint8_tPilot mode, see UALBERTA_PILOT_MODE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      EFI_STATUS (225) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ESTIMATOR_STATUS (230) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      WIND_COV (231) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      GPS_INPUT (232) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      GPS_RTCM_DATA (233) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      HIGH_LATENCY (234) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      HIGH_LATENCY2 (235) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      VIBRATION (241) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      HOME_POSITION (242) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      SET_HOME_POSITION (243) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MESSAGE_INTERVAL (244) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      EXTENDED_SYS_STATE (245) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ADSB_VEHICLE (246) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      COLLISION (247) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      V2_EXTENSION (248) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MEMORY_VECT (249) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      DEBUG_VECT (250) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      NAMED_VALUE_FLOAT (251) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      NAMED_VALUE_INT (252) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      STATUSTEXT (253) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      DEBUG (254) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      SETUP_SIGNING (256) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      BUTTON_CHANGE (257) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      PLAY_TUNE (258) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      CAMERA_INFORMATION (259) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      CAMERA_SETTINGS (260) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      STORAGE_INFORMATION (261) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      CAMERA_CAPTURE_STATUS (262) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      CAMERA_IMAGE_CAPTURED (263) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      FLIGHT_INFORMATION (264) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MOUNT_ORIENTATION (265) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      LOGGING_DATA (266) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      LOGGING_DATA_ACKED (267) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      LOGGING_ACK (268) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      VIDEO_STREAM_INFORMATION (269) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      VIDEO_STREAM_STATUS (270) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      CAMERA_FOV_STATUS (271) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      CAMERA_TRACKING_IMAGE_STATUS (275) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      CAMERA_TRACKING_GEO_STATUS (276) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      CAMERA_THERMAL_RANGE (277) — [from: common] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      GIMBAL_MANAGER_INFORMATION (280) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      GIMBAL_MANAGER_STATUS (281) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      GIMBAL_MANAGER_SET_ATTITUDE (282) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      GIMBAL_DEVICE_INFORMATION (283) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      GIMBAL_DEVICE_SET_ATTITUDE (284) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      GIMBAL_DEVICE_ATTITUDE_STATUS (285) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      AUTOPILOT_STATE_FOR_GIMBAL_DEVICE (286) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      GIMBAL_MANAGER_SET_PITCHYAW (287) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      GIMBAL_MANAGER_SET_MANUAL_CONTROL (288) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ESC_INFO (290) — [from: common] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ESC_STATUS (291) — [from: common] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      WIFI_CONFIG_AP (299) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      PROTOCOL_VERSION (300) — [from: minimal] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      AIS_VESSEL (301) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      UAVCAN_NODE_STATUS (310) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      UAVCAN_NODE_INFO (311) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      PARAM_EXT_REQUEST_READ (320) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      PARAM_EXT_REQUEST_LIST (321) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      PARAM_EXT_VALUE (322) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      PARAM_EXT_SET (323) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      PARAM_EXT_ACK (324) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      OBSTACLE_DISTANCE (330) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ODOMETRY (331) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      TRAJECTORY_REPRESENTATION_WAYPOINTS (332) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      TRAJECTORY_REPRESENTATION_BEZIER (333) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      CELLULAR_STATUS (334) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      CELLULAR_CONFIG (336) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      RAW_RPM (339) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      UTM_GLOBAL_POSITION (340) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      DEBUG_FLOAT_ARRAY (350) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ORBIT_EXECUTION_STATUS (360) — [from: common] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      BATTERY_INFO (370) — [from: common] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      GENERATOR_STATUS (373) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ACTUATOR_OUTPUT_STATUS (375) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      TIME_ESTIMATE_TO_TARGET (380) — [from: common] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      TUNNEL (385) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      CAN_FRAME (386) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      CANFD_FRAME (387) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      CAN_FILTER_MODIFY (388) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ONBOARD_COMPUTER_STATUS (390) — [from: common] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      COMPONENT_INFORMATION (395) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      COMPONENT_INFORMATION_BASIC (396) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      COMPONENT_METADATA (397) — [from: common] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      PLAY_TUNE_V2 (400) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      SUPPORTED_TUNES (401) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      EVENT (410) — [from: common] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      CURRENT_EVENT_SEQUENCE (411) — [from: common] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      REQUEST_EVENT (412) — [from: common] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      RESPONSE_EVENT_ERROR (413) — [from: common] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ILLUMINATOR_STATUS (440) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      WHEEL_DISTANCE (9000) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      WINCH_STATUS (9005) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      OPEN_DRONE_ID_BASIC_ID (12900) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      OPEN_DRONE_ID_LOCATION (12901) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      OPEN_DRONE_ID_AUTHENTICATION (12902) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      OPEN_DRONE_ID_SELF_ID (12903) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      OPEN_DRONE_ID_SYSTEM (12904) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      OPEN_DRONE_ID_OPERATOR_ID (12905) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      OPEN_DRONE_ID_MESSAGE_PACK (12915) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      OPEN_DRONE_ID_ARM_STATUS (12918) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      OPEN_DRONE_ID_SYSTEM_UPDATE (12919) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      HYGROMETER_SENSOR (12920) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Enumerated Types

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      UALBERTA_AUTOPILOT_MODE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Available autopilot modes for ualberta uav

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1MODE_MANUAL_DIRECTRaw input pulse widts sent to output
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2MODE_MANUAL_SCALEDInputs are normalized using calibration, the converted back to raw pulse widths for output
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      3MODE_AUTO_PID_ATT
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      4MODE_AUTO_PID_VEL
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      5MODE_AUTO_PID_POS

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      UALBERTA_NAV_MODE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Navigation filter mode

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1NAV_AHRS_INIT
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2NAV_AHRSAHRS mode
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      3NAV_INS_GPS_INITINS/GPS initialization mode
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      4NAV_INS_GPSINS/GPS mode

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      UALBERTA_PILOT_MODE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Mode currently commanded by pilot

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1PILOT_MANUAL
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2PILOT_AUTO
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      3PILOT_ROTORotomotion mode

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      FIRMWARE_VERSION_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      HL_FAILURE_FLAG — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_GOTO — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_MODE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_SYS_STATUS_SENSOR — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_SYS_STATUS_SENSOR_EXTENDED — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_FRAME — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      FENCE_ACTION — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      FENCE_BREACH — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      FENCE_MITIGATE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      FENCE_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_MOUNT_MODE — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      GIMBAL_DEVICE_CAP_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      GIMBAL_MANAGER_CAP_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      GIMBAL_DEVICE_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      GIMBAL_MANAGER_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      GIMBAL_DEVICE_ERROR_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      GRIPPER_ACTIONS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      WINCH_ACTIONS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      UAVCAN_NODE_HEALTH — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      UAVCAN_NODE_MODE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ESC_CONNECTION_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ESC_FAILURE_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      STORAGE_STATUS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      STORAGE_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      STORAGE_USAGE_FLAG — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ORBIT_YAW_BEHAVIOUR — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      WIFI_CONFIG_AP_RESPONSE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      CELLULAR_CONFIG_RESPONSE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      WIFI_CONFIG_AP_MODE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      COMP_METADATA_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ACTUATOR_CONFIGURATION — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ACTUATOR_OUTPUT_FUNCTION — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      AUTOTUNE_AXIS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      PREFLIGHT_STORAGE_PARAMETER_ACTION — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      PREFLIGHT_STORAGE_MISSION_ACTION — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_DATA_STREAM — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_ROI — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_PARAM_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_PARAM_EXT_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_RESULT — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_MISSION_RESULT — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_SEVERITY — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_POWER_STATUS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      SERIAL_CONTROL_DEV — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      SERIAL_CONTROL_FLAG — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_DISTANCE_SENSOR — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_SENSOR_ORIENTATION — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_PROTOCOL_CAPABILITY — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_MISSION_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_ESTIMATOR_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_BATTERY_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_BATTERY_FUNCTION — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_BATTERY_CHARGE_STATE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_BATTERY_MODE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_BATTERY_FAULT — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_GENERATOR_STATUS_FLAG — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_VTOL_STATE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_LANDED_STATE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ADSB_ALTITUDE_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ADSB_EMITTER_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ADSB_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_DO_REPOSITION_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      SPEED_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ESTIMATOR_STATUS_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MOTOR_TEST_ORDER — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MOTOR_TEST_THROTTLE_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      GPS_INPUT_IGNORE_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_COLLISION_ACTION — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_COLLISION_THREAT_LEVEL — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_COLLISION_SRC — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      GPS_FIX_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      RTK_BASELINE_COORDINATE_SYSTEM — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      LANDING_TARGET_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      VTOL_TRANSITION_HEADING — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      CAMERA_CAP_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      VIDEO_STREAM_STATUS_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      VIDEO_STREAM_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      VIDEO_STREAM_ENCODING — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      CAMERA_TRACKING_STATUS_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      CAMERA_TRACKING_MODE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      CAMERA_TRACKING_TARGET_DATA — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      CAMERA_ZOOM_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      SET_FOCUS_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      CAMERA_SOURCE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      PARAM_ACK — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      CAMERA_MODE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_ARM_AUTH_DENIED_REASON — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      RC_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      POSITION_TARGET_TYPEMASK — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ATTITUDE_TARGET_TYPEMASK — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      UTM_FLIGHT_STATE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      UTM_DATA_AVAIL_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      CELLULAR_STATUS_FLAG — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      CELLULAR_NETWORK_FAILED_REASON — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      CELLULAR_NETWORK_RADIO_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      PRECISION_LAND_MODE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      PARACHUTE_ACTION — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_TUNNEL_PAYLOAD_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_ODID_ID_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_ODID_UA_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_ODID_STATUS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_ODID_HEIGHT_REF — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_ODID_HOR_ACC — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_ODID_VER_ACC — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_ODID_SPEED_ACC — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_ODID_TIME_ACC — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_ODID_AUTH_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_ODID_DESC_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_ODID_OPERATOR_LOCATION_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_ODID_CLASSIFICATION_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_ODID_CATEGORY_EU — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_ODID_CLASS_EU — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_ODID_OPERATOR_ID_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_ODID_ARM_STATUS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      TUNE_FORMAT — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      AIS_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      AIS_NAV_STATUS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      AIS_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      FAILURE_UNIT — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      FAILURE_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_WINCH_STATUS_FLAG — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAG_CAL_STATUS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_EVENT_ERROR_REASON — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_EVENT_CURRENT_SEQUENCE_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      HIL_SENSOR_UPDATED_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      HIGHRES_IMU_UPDATED_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      CAN_FILTER_OP — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_FTP_ERR — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_FTP_OPCODE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MISSION_STATE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      SAFETY_SWITCH_STATE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ILLUMINATOR_MODE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ILLUMINATOR_ERROR_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_AUTOPILOT — [from: minimal]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_TYPE — [from: minimal]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_MODE_FLAG — [from: minimal]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_MODE_FLAG_DECODE_POSITION — [from: minimal]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_STATE — [from: minimal]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_COMPONENT — [from: minimal]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Commands (MAV_CMD)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_NAV_WAYPOINT (16) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_NAV_LOITER_UNLIM (17) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_NAV_LOITER_TURNS (18) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_NAV_LOITER_TIME (19) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_NAV_RETURN_TO_LAUNCH (20) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_NAV_LAND (21) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_NAV_TAKEOFF (22) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_NAV_LAND_LOCAL (23) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_NAV_TAKEOFF_LOCAL (24) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_NAV_FOLLOW (25) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_NAV_CONTINUE_AND_CHANGE_ALT (30) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_NAV_LOITER_TO_ALT (31) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_DO_FOLLOW (32) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_DO_FOLLOW_REPOSITION (33) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_DO_ORBIT (34) — [from: common] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_NAV_ROI (80) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_NAV_PATHPLANNING (81) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_NAV_SPLINE_WAYPOINT (82) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_NAV_VTOL_TAKEOFF (84) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_NAV_VTOL_LAND (85) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_NAV_GUIDED_ENABLE (92) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_NAV_DELAY (93) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_NAV_PAYLOAD_PLACE (94) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_NAV_LAST (95) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_CONDITION_DELAY (112) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_CONDITION_CHANGE_ALT (113) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_CONDITION_DISTANCE (114) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_CONDITION_YAW (115) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_CONDITION_LAST (159) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_DO_SET_MODE (176) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_DO_JUMP (177) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_DO_CHANGE_SPEED (178) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_DO_SET_HOME (179) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_DO_SET_PARAMETER (180) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_DO_SET_RELAY (181) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_DO_REPEAT_RELAY (182) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_DO_SET_SERVO (183) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_DO_REPEAT_SERVO (184) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_DO_FLIGHTTERMINATION (185) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_DO_CHANGE_ALTITUDE (186) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_DO_SET_ACTUATOR (187) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_DO_RETURN_PATH_START (188) — [from: common] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_DO_LAND_START (189) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_DO_RALLY_LAND (190) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_DO_GO_AROUND (191) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_DO_REPOSITION (192) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_DO_PAUSE_CONTINUE (193) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_DO_SET_REVERSE (194) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_DO_SET_ROI_LOCATION (195) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_DO_SET_ROI_WPNEXT_OFFSET (196) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_DO_SET_ROI_NONE (197) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_DO_SET_ROI_SYSID (198) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_DO_CONTROL_VIDEO (200) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_DO_SET_ROI (201) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_DO_DIGICAM_CONFIGURE (202) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_DO_DIGICAM_CONTROL (203) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_DO_MOUNT_CONFIGURE (204) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_DO_MOUNT_CONTROL (205) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_DO_SET_CAM_TRIGG_DIST (206) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_DO_FENCE_ENABLE (207) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_DO_PARACHUTE (208) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_DO_MOTOR_TEST (209) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_DO_INVERTED_FLIGHT (210) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_DO_GRIPPER (211) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_DO_AUTOTUNE_ENABLE (212) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_NAV_SET_YAW_SPEED (213) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_DO_SET_CAM_TRIGG_INTERVAL (214) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_DO_MOUNT_CONTROL_QUAT (220) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_DO_GUIDED_MASTER (221) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_DO_GUIDED_LIMITS (222) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_DO_ENGINE_CONTROL (223) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_DO_SET_MISSION_CURRENT (224) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_DO_LAST (240) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_PREFLIGHT_CALIBRATION (241) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_PREFLIGHT_SET_SENSOR_OFFSETS (242) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_PREFLIGHT_UAVCAN (243) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_PREFLIGHT_STORAGE (245) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN (246) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_OVERRIDE_GOTO (252) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_OBLIQUE_SURVEY (260) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_MISSION_START (300) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_ACTUATOR_TEST (310) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_CONFIGURE_ACTUATOR (311) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_COMPONENT_ARM_DISARM (400) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_RUN_PREARM_CHECKS (401) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_ILLUMINATOR_ON_OFF (405) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_DO_ILLUMINATOR_CONFIGURE (406) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_GET_HOME_POSITION (410) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_INJECT_FAILURE (420) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_START_RX_PAIR (500) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_GET_MESSAGE_INTERVAL (510) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_SET_MESSAGE_INTERVAL (511) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_REQUEST_MESSAGE (512) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_REQUEST_PROTOCOL_VERSION (519) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_REQUEST_AUTOPILOT_CAPABILITIES (520) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_REQUEST_CAMERA_INFORMATION (521) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_REQUEST_CAMERA_SETTINGS (522) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_REQUEST_STORAGE_INFORMATION (525) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_STORAGE_FORMAT (526) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_REQUEST_CAMERA_CAPTURE_STATUS (527) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_REQUEST_FLIGHT_INFORMATION (528) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_RESET_CAMERA_SETTINGS (529) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_SET_CAMERA_MODE (530) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_SET_CAMERA_ZOOM (531) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_SET_CAMERA_FOCUS (532) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_SET_STORAGE_USAGE (533) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_SET_CAMERA_SOURCE (534) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_JUMP_TAG (600) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_DO_JUMP_TAG (601) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_DO_GIMBAL_MANAGER_PITCHYAW (1000) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_DO_GIMBAL_MANAGER_CONFIGURE (1001) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_IMAGE_START_CAPTURE (2000) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_IMAGE_STOP_CAPTURE (2001) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_REQUEST_CAMERA_IMAGE_CAPTURE (2002) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_DO_TRIGGER_CONTROL (2003) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_CAMERA_TRACK_POINT (2004) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_CAMERA_TRACK_RECTANGLE (2005) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_CAMERA_STOP_TRACKING (2010) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_VIDEO_START_CAPTURE (2500) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_VIDEO_STOP_CAPTURE (2501) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_VIDEO_START_STREAMING (2502) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_VIDEO_STOP_STREAMING (2503) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_REQUEST_VIDEO_STREAM_INFORMATION (2504) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_REQUEST_VIDEO_STREAM_STATUS (2505) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_LOGGING_START (2510) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_LOGGING_STOP (2511) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_AIRFRAME_CONFIGURATION (2520) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_CONTROL_HIGH_LATENCY (2600) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_PANORAMA_CREATE (2800) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_DO_VTOL_TRANSITION (3000) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_ARM_AUTHORIZATION_REQUEST (3001) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_SET_GUIDED_SUBMODE_STANDARD (4000) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_SET_GUIDED_SUBMODE_CIRCLE (4001) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_CONDITION_GATE (4501) — [from: common] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_NAV_FENCE_RETURN_POINT (5000) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_NAV_FENCE_POLYGON_VERTEX_INCLUSION (5001) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_NAV_FENCE_POLYGON_VERTEX_EXCLUSION (5002) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_NAV_FENCE_CIRCLE_INCLUSION (5003) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_NAV_FENCE_CIRCLE_EXCLUSION (5004) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_NAV_RALLY_POINT (5100) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_UAVCAN_GET_NODE_INFO (5200) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_DO_SET_SAFETY_SWITCH_STATE (5300) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_DO_ADSB_OUT_IDENT (10001) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_PAYLOAD_PREPARE_DEPLOY (30001) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_PAYLOAD_CONTROL_DEPLOY (30002) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_WAYPOINT_USER_1 (31000) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_WAYPOINT_USER_2 (31001) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_WAYPOINT_USER_3 (31002) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_WAYPOINT_USER_4 (31003) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_WAYPOINT_USER_5 (31004) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_SPATIAL_USER_1 (31005) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_SPATIAL_USER_2 (31006) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_SPATIAL_USER_3 (31007) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_SPATIAL_USER_4 (31008) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_SPATIAL_USER_5 (31009) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_USER_1 (31010) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_USER_2 (31011) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_USER_3 (31012) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_USER_4 (31013) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_USER_5 (31014) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_CAN_FORWARD (32000) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_FIXED_MAG_CAL_YAW (42006) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_DO_WINCH (42600) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_EXTERNAL_POSITION_ESTIMATE (43003) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      results matching ""

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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        \ No newline at end of file +ualberta.xml · MAVLink Developer Guide
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Messages
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Messages
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        FAQ
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Dialect: ualberta

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        This topic documents the version of the dialect file in the mavlink/mavlink Github repository, which may not be up to date with the file in the source repository (it is up to the dialect owner to push changes when needed). The source repo should be listed in the comments at the top of the XML definition file listed below (but may not be).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        This is a human-readable form of the XML definition file: ualberta.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAVLink 2 extension fields that have been added to MAVLink 1 messages are displayed in blue. - Entities from dialects are displayed only as headings (with link to original)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Summary

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        TypeDefinedIncluded
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Messages3224
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Enums3143
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Commands1640

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        The following sections list all entities in the dialect (both included and defined in this file).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Messages

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Accelerometer and Gyro biases from the navigation filter

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        usecuint64_tTimestamp (microseconds)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        accel_0floatb_f[0]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        accel_1floatb_f[1]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        accel_2floatb_f[2]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        gyro_0floatb_f[0]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        gyro_1floatb_f[1]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        gyro_2floatb_f[2]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        RADIO_CALIBRATION (221)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Complete set of calibration parameters for the radio

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        aileronuint16_t[3]Aileron setpoints: left, center, right
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        elevatoruint16_t[3]Elevator setpoints: nose down, center, nose up
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        rudderuint16_t[3]Rudder setpoints: nose left, center, nose right
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        gyrouint16_t[2]Tail gyro mode/gain setpoints: heading hold, rate mode
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        pitchuint16_t[5]Pitch curve setpoints (every 25%)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        throttleuint16_t[5]Throttle curve setpoints (every 25%)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        UALBERTA_SYS_STATUS (222)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        System status specific to ualberta uav

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        modeuint8_tSystem mode, see UALBERTA_AUTOPILOT_MODE ENUM
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        nav_modeuint8_tNavigation mode, see UALBERTA_NAV_MODE ENUM
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        pilotuint8_tPilot mode, see UALBERTA_PILOT_MODE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Enumerated Types

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        UALBERTA_AUTOPILOT_MODE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Available autopilot modes for ualberta uav

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        1MODE_MANUAL_DIRECTRaw input pulse widts sent to output
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        2MODE_MANUAL_SCALEDInputs are normalized using calibration, the converted back to raw pulse widths for output
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        3MODE_AUTO_PID_ATT
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        4MODE_AUTO_PID_VEL
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        5MODE_AUTO_PID_POS

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        UALBERTA_NAV_MODE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Navigation filter mode

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        1NAV_AHRS_INIT
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        2NAV_AHRSAHRS mode
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        3NAV_INS_GPS_INITINS/GPS initialization mode
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        4NAV_INS_GPSINS/GPS mode

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        UALBERTA_PILOT_MODE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Mode currently commanded by pilot

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        1PILOT_MANUAL
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        2PILOT_AUTO
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        3PILOT_ROTORotomotion mode

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Commands (MAV_CMD)

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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          \ No newline at end of file diff --git a/ko/services/arm_authorization.html b/ko/services/arm_authorization.html index 1151f0b09..0fc3aae8e 100644 --- a/ko/services/arm_authorization.html +++ b/ko/services/arm_authorization.html @@ -1,4 +1,4 @@ -Arm Authorization Protocol · MAVLink Developer Guide
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Messages
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          FAQ
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Examples
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Arm Authorization

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          When enabled by setting a parameter on flight stack, the drone will only arm the motors if authorized by a external entity. This external entity is responsible for requesting any information that it needs from the drone and from other sources (example: weather) and whether (or not) to authorize the arming procedure.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          This is required to comply with NASA UTM, but may also be useful for private companies.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Authorization Flow

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Mermaid Squence: Authorization Flow

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          In case the authorizer need a lot of time to get and process the information is better have another authorization flow to avoid arm the drone at unexpected time.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Mermaid Sequence: Arm authorisation 2

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Message Parameters

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          COMMAND_LONG

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          command=MAV_CMD_ARM_AUTHORIZATION_REQUEST
+Arm Authorization Protocol · MAVLink Developer Guide
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Arm Authorization
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          When enabled by setting a parameter on flight stack, the drone will only arm the motors if authorized by a external entity. This external entity is responsible for requesting any information that it needs from the drone and from other sources (example: weather) and whether (or not) to authorize the arming procedure.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          This is required to comply with NASA UTM, but may also be useful for private companies.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Authorization Flow
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Mermaid Squence: Authorization Flow
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          In case the authorizer need a lot of time to get and process the information is better have another authorization flow to avoid arm the drone at unexpected time.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Mermaid Sequence: Arm authorisation 2
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Message Parameters
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          COMMAND_LONG
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          command=MAV_CMD_ARM_AUTHORIZATION_REQUEST
 target_system=system id of arm authorizer
 target_component=component id of arm authorizer
 
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          COMMAND_ACK
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          command=MAV_CMD_ARM_AUTHORIZATION_REQUEST
@@ -7,4 +7,4 @@
 result_param2=if result is ACCEPTED the it should be set with the time in seconds that this authorization is valid otherwise an aditional information about why it was denied should be set. example: for result_param1=MAV_ARM_AUTH_DENIED_REASON_INVALID_WAYPOINT or MAV_ARM_AUTH_DENIED_REASON_AIRSPACE_IN_USE it may have the index of the waypoint that caused it to be denied.
 target_system=system id of the drone
 target_component=component id of the drone
-
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Battery Protocol

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAVLink provides a number of messages for providing battery information:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              The messages should be sent individually for each battery in the system (the messages have an instance id field that is used to identify the corresponding battery). It is up to the GCS to provide an appropriate mechanism that allows the user to assess the aggregate battery status on systems that have multiple batteries.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              There is no standardized mechanism to report the "aggregate" battery state on a multi-battery system. A GCS is expected to provide enough information from the individual battery reports to allow a user to make a reasonable assessment of vehicle battery status.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Message/Enum Summary

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MessageDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              !!crwdBlockTags_10_sgaTkcolBdwrc!BATTERY_STATUSBattery message used for frequent status update - e.g. of current capacity, voltages, faults, etc.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              !!crwdBlockTags_11_sgaTkcolBdwrc!SMART_BATTERY_INFO (WIP)Smart battery message used for invariant or infrequently changing data - e.g. battery name, battery full/empty capacity and voltages etc.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              EnumDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              !!crwdBlockTags_13_sgaTkcolBdwrc!MAV_BATTERY_FAULTFault/health indications.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              !!crwdBlockTags_14_sgaTkcolBdwrc!MAV_BATTERY_MODESmart battery mode.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Battery Components

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Smart batteries that are connected to a flight controller via a non-MAVLink bus are treated as part of the flight controller component. Specifically, the battery messages are emitted with the autopilot system and component ids, and the MAV_TYPE for the type of vehicle.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Smart batteries that are distinct components on the MAVLink network must:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Ground stations (and other components) that are interested in battery messages should differentiate batteries based on BATTERY_STATUS.id/SMART_BATTERY_INFO.id.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              A Note on SYS_STATUS

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              SYS_STATUS contains three battery information fields: voltage_battery, current_battery, battery_remaining.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              On a single-battery system these usually provide the same information as the BATTERY_STATUS message.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              On multi-battery systems the values are not standardised, and depend on the flight stack and/or flight stack configuration. For example, a system may report the same information as the first BATTERY_STATUS, allow the user to configure which battery is reported (i.e. with a parameter), report the battery with the lowest remaining capacity.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              GCS should not rely on the value of SYS_STATUS. However it cannot be removed because it is used for battery reporting on many legacy systems (e.g. On-screen displays).

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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                \ No newline at end of file +Battery Protocol · MAVLink Developer Guide
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Battery Protocol

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAVLink provides a number of messages for providing battery information:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                The messages should be sent individually for each battery in the system (the messages have an instance id field that is used to identify the corresponding battery). It is up to the GCS to provide an appropriate mechanism that allows the user to assess the aggregate battery status on systems that have multiple batteries.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                There is no standardized mechanism to report the "aggregate" battery state on a multi-battery system. A GCS is expected to provide enough information from the individual battery reports to allow a user to make a reasonable assessment of vehicle battery status.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Message/Enum Summary

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MessageDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                !!crwdBlockTags_10_sgaTkcolBdwrc!BATTERY_STATUSBattery message used for frequent status update - e.g. of current capacity, voltages, faults, etc.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                !!crwdBlockTags_11_sgaTkcolBdwrc!SMART_BATTERY_INFO (WIP)Smart battery message used for invariant or infrequently changing data - e.g. battery name, battery full/empty capacity and voltages etc.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                EnumDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                !!crwdBlockTags_13_sgaTkcolBdwrc!MAV_BATTERY_FAULTFault/health indications.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                !!crwdBlockTags_14_sgaTkcolBdwrc!MAV_BATTERY_MODESmart battery mode.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Battery Components

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Smart batteries that are connected to a flight controller via a non-MAVLink bus are treated as part of the flight controller component. Specifically, the battery messages are emitted with the autopilot system and component ids, and the MAV_TYPE for the type of vehicle.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Smart batteries that are distinct components on the MAVLink network must:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Ground stations (and other components) that are interested in battery messages should differentiate batteries based on BATTERY_STATUS.id/SMART_BATTERY_INFO.id.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                A Note on SYS_STATUS

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                SYS_STATUS contains three battery information fields: voltage_battery, current_battery, battery_remaining.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                On a single-battery system these usually provide the same information as the BATTERY_STATUS message.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                On multi-battery systems the values are not standardised, and depend on the flight stack and/or flight stack configuration. For example, a system may report the same information as the first BATTERY_STATUS, allow the user to configure which battery is reported (i.e. with a parameter), report the battery with the lowest remaining capacity.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                GCS should not rely on the value of SYS_STATUS. However it cannot be removed because it is used for battery reporting on many legacy systems (e.g. On-screen displays).

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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Camera Protocol

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  The camera protocol is used to configure camera payloads and request their status. It supports photo capture, and video capture and streaming. It also includes messages to query and configure the onboard camera storage.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  This protocol supersedes Camera Protocol v1 (Simple Trigger Protocol). The older protocol enables camera triggering, but does not support other features or querying camera capabilities.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  We are transitioning from specific request commands to a single generic requestor. GCS and MAVLink SDKs/apps should support both approaches as we migrate to exclusive use of the new method (documented here). For more information see Migration Notes for GCS & Camera Servers.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Camera Connection

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Camera Managers provide a MAVLink Camera protocol interface for cameras that don't directly implement MAVLink support. These generally run on a companion computer:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  These cameras have inbuilt support for MAVLink (but not necessarily camera protocol v2):

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Camera Addressing

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAVLink cameras are identified and addressed by their system and component id.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Components that have non-MAVLink cameras attached, such as companion computers, are expected expose each of them as a separate MAVLink camera component with its own HEARTBEAT.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  The exception is the autopilot component, which can "proxy" up to 6 attached non-MAVLink cameras: these are identified by a camera_device_id field in messages and Target Camera ID label in commands.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Camera Messages

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Camera components are expected to follow the Heartbeat/Connection Protocol and sent a constant flow of heartbeats (nominally at 1Hz). Each camera must use a different pre-defined camera component ID: MAV_COMP_ID_CAMERA to MAV_COMP_ID_CAMERA6.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  non-MAVLink cameras attached to the autopilot are identified first by the autopilot system/component id, and then by a camera_device_id field in the message payload (all camera messages should have an id field with this or a similar name). An autopilot should set this to the id of the associated camera device, and otherwise this should always be set to zero.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Camera Addressing in Commands

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAVLink cameras are sent commands addressed using their system and component ids (just as when addressing commands to any other component).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  To send commands to autopilot-attached cameras, the command should be send to the autopilot component. The device id of the target attached camera must further be set in the command's Target Camera ID parameter (the index and precise label of this parameter may vary). The autopilot is required to respond to the command with COMMAND_ACK, populating the COMMAND_ACK.result_param2 field with the id of the targeted autopilot connected camera, if any.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Note that the Target Camera ID parameter should be set to 0 in order to target all cameras, or if targeting a MAVLink camera.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Camera Addressing in Missions

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  When using a camera MAV_CMD in a mission, the id parameter (if present) indicates the target camera:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • 1 - 6 indicates a flight-stack connected camera
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • 7-255 is the component id of a MAVLink connected camera. Note that component ids 1-6 should never be used for MAVLink cameras!
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • 0 indicates "all connected cameras".

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  When processing a camera item in a mission the autopilot should:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • For Target Camera ID values of 1-6, perform the specified camera action on the connected camera if it exists, and otherwise log an error.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • For other Target Camera ID values, re-emit the MAV_CMD using the command protocol, setting the target component id to the id set in the camera mission item. It should also log any errors from the returned COMMAND_ACK.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Flight stacks that predate using a camera id typically re-emit the mission command addressed either to the broadcast component id (0) or to MAV_COMP_ID_CAMERA. The former triggers all cameras on the system, while the later provides better command handling because there is only one COMMAND_ACK.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Camera Discovery

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Connection

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAVLink Camera components are expected to follow the Heartbeat/Connection Protocol and sent a constant flow of heartbeats (nominally at 1Hz). Cameras must set a HEARTBEAT.type of MAV_TYPE_CAMERA. Each camera must use a different pre-defined camera component ID. Values of MAV_COMP_ID_CAMERA to MAV_COMP_ID_CAMERA6 are recommended, but in theory any camera ID may be used except for 0 to 6 (which are reserved for cameras proxied by another component, such as the autopilot).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  The first time a heartbeat is detected from a new camera, a GCS (or other receiving system) should start the Camera Identification process.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • MAVLink camera component.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • Autopilot, in order to detect autopilot-connected cameras.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  If a receiving system stops receiving heartbeats from the camera it is assumed to be disconnected, and should be removed from the list of available cameras. If heartbeats are again detected, the camera identification process below must be restarted from the beginning.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  If a vehicle has more than one camera, each camera will have a different component ID and send its own heartbeat. The vehicle autopilot might also have directly connected cameras, which are separately addressed by a camera device id. The GCS should create multiple instances of a camera controller based on the component ID of each camera. All commands are sent to a specific camera by addressing the command to a specific component ID.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Camera Identification

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  The camera identification operation identifies all the available cameras associated with a system and determines their capabilities. It is used to discover both MAVLink cameras and non-MAVLink cameras attached to the autopilot.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  The camera will then respond with the a COMMAND_ACK message containing a result. On success (result is MAV_RESULT_ACCEPTED) the camera component must then send a CAMERA_INFORMATION message. The first time a heartbeat is received from a new camera component, the GCS will send it a MAV_CMD_REQUEST_MESSAGE message asking for CAMERA_INFORMATION (message id 259).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Camera identification must be carried out before all other operations!

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  The first time a heartbeat is received from a new camera component (HEARTBEAT.type=MAV_TYPE_CAMERA), the GCS should send it a MAV_CMD_REQUEST_MESSAGE message asking for CAMERA_INFORMATION (message id 259). The camera will then respond with the a COMMAND_ACK message containing a result. On success (result is MAV_RESULT_ACCEPTED) the camera component must then send a CAMERA_INFORMATION message.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Mermaid Sequence: Camera Id

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  The operation follows the normal Command Protocol rules for command/acknowledgment (if no COMMAND_ACK response is received for MAV_CMD_REQUEST_MESSAGE the command will be re-sent a number of times before failing). If CAMERA_INFORMATION is not received after receiving an ACK with MAV_RESULT_ACCEPTED, the protocol assumes the message was lost, and the cycle of sending MAV_CMD_REQUEST_MESSAGE is repeated. If CAMERA_INFORMATION is still not received after three cycle repeats, the GCS may assume that the camera is not supported.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  The first time a heartbeat is received from an autopilot, the GCS follow the same process to query for information about directly connected cameras. The only difference is that the autopilot should return a CAMERA_INFORMATION message for each connected camera, populated with its camera_device_id.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  deprecated

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Additional Camera Information

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  The CAMERA_INFORMATION response contains the bare minimum information about the camera and what it can or cannot do. This is sufficient for basic image and/or video capture.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  If a camera provides finer control over its settings CAMERA_INFORMATION.cam_definition_uri will include a URI to a Camera Definition File. If this URI exists, the GCS will request it, parse it and prepare the UI for the user to control the camera settings.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  The CAMERA_INFORMATION.cam_definition_version field should provide a version for the definition file, allowing the GCS to cache it. Once downloaded, it would only be requested again if the version number changes.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  A GCS that implements this protocol is expected to support both HTTP (http://) and MAVLink FTP (mftp://) URIs for download of the camera definition file. If the camera provides an HTTP or MAVLink FTP interface, the definition file can be hosted on the camera itself. Otherwise, it can be hosted anywhere (on any reachable server).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Basic Camera Operations

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Camera Modes

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Some cameras must be in a certain mode for still and/or video capture.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  The GCS can determine if it needs to make sure the camera is in the proper mode prior to sending a start capture (image or video) command by checking whether the CAMERA_CAP_FLAGS_HAS_MODES bit is set true in CAMERA_INFORMATION.flags.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  In addition, some cameras can capture images in any mode but with different resolutions. For example, a 20 megapixel camera would take a full resolution image when set to CAMERA_MODE_IMAGE but only at the current video resolution if it is set to CAMERA_MODE_VIDEO.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  To get the current mode, the GCS would send a MAV_CMD_REQUEST_MESSAGE command asking for CAMERA_SETTINGS. The current mode is the CAMERA_SETTINGS.mode_id field. The camera component will then respond with the COMMAND_ACK message containing a result. On success (COMMAND_ACK.result is MAV_RESULT_ACCEPTED) the camera must then send a CAMERA_SETTINGS message.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  The sequence is shown below:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Camera Settings

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Command acknowledgment and message resending is handled in the same way as for camera identification (if a successful ACK is received the camera will expect the CAMERA_SETTINGS message, and repeat the cycle - up to 3 times - until it is received).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  To set the camera to a specific mode, the GCS would send the MAV_CMD_SET_CAMERA_MODE command with the appropriate mode.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  The sequence is shown below:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  The operation follows the normal Command Protocol rules for command/acknowledgment.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Storage Status

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Before capturing images and/or videos, a GCS should query the storage status to determine if the camera has enough free space for these operations (and provide the user with feedback as to the current storage status). The GCS will send the MAV_CMD_REQUEST_MESSAGE command and it expects a COMMAND_ACK message back as well as a STORAGE_INFORMATION response. For formatting (or erasing depending on your implementation), the GCS will send a MAV_CMD_STORAGE_FORMAT command.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Camera Capture Status

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  In addition to querying about storage status, the GCS will also request the current Camera Capture Status in order to provide the user with proper UI indicators.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  The CAMERA_INFORMATION.flags provides information about camera capabilities. It contains a bitmap of CAMERA_CAP_FLAGS values that tell the GCS if the camera supports still image capture, video capture, or video streaming, and if it needs to be in a certain mode for capture, etc.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Still Image Capture

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  A camera supports still image capture if the CAMERA_CAP_FLAGS_CAPTURE_IMAGE bit is set in CAMERA_INFORMATION.flags.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  A GCS/MAVLink app uses the MAV_CMD_IMAGE_START_CAPTURE command to request that the camera capture a specified number of images (or forever), and the duration between them. The camera immediately returns the normal command acknowledgment (MAV_RESULT).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Each time an image is captured, the camera broadcasts a CAMERA_IMAGE_CAPTURED message. This message not only tells the GCS the image was captured, it is also intended for geo-tagging.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  The camera must iterate CAMERA_IMAGE_CAPTURED.image_index and the counter used in CAMERA_CAPTURE_STATUS.image_count for every new image capture (these values iterate until explicitly cleared using MAV_CMD_STORAGE_FORMAT). The index and total image count can be used to re-request missing images (e.g. images captured when the vehicle was out of telemetry range).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  The MAV_CMD_IMAGE_STOP_CAPTURE command can optionally be sent to stop an image capture sequence (this is needed if image capture has been set to continue forever).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  The still image capture message sequence for missions (as described above) is shown below:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Mermaid Sequence: Image capture

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  The message sequence for interactive user-initiated image capture through a GUI is slightly different. In this case the GCS should:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  The sequence is as shown below:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Mermaid Sequence: Interactive user intiated image capture

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Request Lost CAMERA_IMAGE_CAPTURED Messages

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  The camera broadcasts a CAMERA_IMAGE_CAPTURED every time a new image is captured, iterating both the current image index (CAMERA_IMAGE_CAPTURED.image_index) and the total image count (CAMERA_CAPTURE_STATUS.image_count).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  These messages can be lost during transmission; for example if the vehicle is out of data-link range of the ground stations.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Lost image capture messages can be detected by comparing GCS and camera image counts. Individual entries can be requested using MAV_CMD_REQUEST_MESSAGE, where param1="MAVLINK_MSG_ID_CAMERA_IMAGE_CAPTURED" and param2="the index of the missing image".

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  The camera image log iterates "forever" (but may be explicitly reset using MAV_CMD_STORAGE_FORMAT.param3=1).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Video Capture

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  A camera supports video capture if the CAMERA_CAP_FLAGS_CAPTURE_VIDEO bit is set in CAMERA_INFORMATION.flags.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  To start recording videos, the GCS uses the MAV_CMD_VIDEO_START_CAPTURE command. If requested, the CAMERA_CAPTURE_STATUS message is sent to the GCS at a set interval.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  To stop recording, the GCS uses the MAV_CMD_VIDEO_STOP_CAPTURE command.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Video Streaming

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  The GCS should already have identified all connected cameras by their heartbeat and followed the Camera Identification steps to get CAMERA_INFORMATION for every camera.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  A camera is capable of streaming video if it sets the CAMERA_CAP_FLAGS_HAS_VIDEO_STREAM bit set in CAMERA_INFORMATION.flags.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  The sequence for requesting all video streams from a particular camera is shown below:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Mermaid Sequence: Video stream info

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  The steps are:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  1. GCS follows the Camera Identification steps to get CAMERA_INFORMATION for every camera.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  2. GCS checks if CAMERA_INFORMATION.flags contains the CAMERA_CAP_FLAGS_HAS_VIDEO_STREAM flag.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  3. If so, the GCS sends the MAV_CMD_REQUEST_MESSAGE message to the camera requesting the video streaming configuration (param1=269) for all streams (param2=0). > Note A GCS can also request information for a particular stream by setting its id in param2.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  4. Camera returns a VIDEO_STREAM_INFORMATION message for the specified stream or all streams it supports.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  If your camera only provides video streaming and nothing else (no camera features), the CAMERA_CAP_FLAGS_HAS_VIDEO_STREAM flag is the only flag you need to set. The GCS will then provide video streaming support and skip camera control.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Video Metadata

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  The protocol provides some information about video streaming support in CAMERA_CAP_FLAGS, such as support for video streaming (CAMERA_CAP_FLAGS_HAS_VIDEO_STREAM) and thermal range information (CAMERA_CAP_FLAGS_HAS_THERMAL_RANGE), In addition the VIDEO_STREAM_INFORMATION and VIDEO_STREAM_STATUS provide broad information about each stream, including its transport mechanism, encoding, resolution, frame rate, and status (VIDEO_STREAM_STATUS_FLAGS).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAVLink does not specify any mechanism for getting frame-synchronized video metadata, such as absolute thermal values of thermal video streams, text-tracks, and so on. The following sections outline some MAVLink-centric methods for getting "approximate" video-synchronized metadata.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Camera absolute thermal range

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  A thermal video stream is often coloured as a heatmap in order to highlight hotter and colder sections. This heatmap is relative to the hottest and coldest points on the frame, so the hot sections are not necessarily hot, they are just hotter than their surroundings. If you're searching for things that have a specific temperature, it can be useful to know the absolute temperatures represented by the image.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  The CAMERA_THERMAL_RANGE message can be streamed alongside a video stream to provide this information. The message includes the associated stream and camera id, along with the position and value of the maximum and minimum temperature in the video frame. That is sufficient to overlay the hottest and coldest points on a video, and in theory to determine the absolute temperature of all pixels.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  The message is streamed alongside the video stream, but there is no precise mechanism to synchronize values to frames. The information is therefore an estimate/approximate.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  The message can be requested for a particular camera and stream using the MAV_CMD_SET_MESSAGE_INTERVAL, when the associated VIDEO_STREAM_STATUS.flag for the stream has bit VIDEO_STREAM_STATUS_FLAGS_THERMAL_RANGE_ENABLED set. Note that MAV_CMD_SET_MESSAGE_INTERVAL.param3 indicates the stream id of the current camera, or 0 for all streams, while param4 indicates the target camera_device_id for autopilot-attached cameras or 0 for MAVLink cameras.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Camera Tracking

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  A camera may support tracking a point and/or a rectangle. Information about the tracked point can be streamed during tracking, and may be passed to a gimbal in order to move the camera to track the target (or control vehicle attitude to track the target).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  The camera identification operation identifies all the available cameras and determines their capabilities.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  To start camera tracking a GCS uses either the MAV_CMD_CAMERA_TRACK_POINT or MAV_CMD_CAMERA_TRACK_RECTANGLE command.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  After starting camera tracking you should call MAV_CMD_SET_MESSAGE_INTERVAL to start streaming the CAMERA_TRACKING_IMAGE_STATUS message at your desired rate. This message contains information about the tracked point/rectangle in an image, and may be used by the receiving system to determine the location of the target (alongside other information like the CAMERA_FOV_STATUS).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  If geo-tracking status information is supported (indicated by CAMERA_CAP_FLAGS_HAS_TRACKING_GEO_STATUS) you should also call MAV_CMD_SET_MESSAGE_INTERVAL to stream CAMERA_TRACKING_GEO_STATUS at your desired rate. This message provides the location of the target in physical co-ordinates that can be passed to a gimbal.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  To stop any kind of tracking, a GCS uses the MAV_CMD_CAMERA_STOP_TRACKING command. After stopping tracking you should call MAV_CMD_SET_MESSAGE_INTERVAL to stop streaming CAMERA_TRACKING_IMAGE_STATUS and CAMERA_TRACKING_GEO_STATUS (set their rates to 0).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Camera tracking message sequence

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  The GCS should already have identified all connected cameras by their heartbeat and followed the Camera Identification steps to get CAMERA_INFORMATION for every camera.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  The sequence for tracking a point is shown below (tracking a rectangle is the same sequence but a different tracking command).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  deprecated

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  The steps are:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  1. GCS follows the Camera Identification steps to get CAMERA_INFORMATION for every camera.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  2. The GCS will send a MAV_CMD_REQUEST_MESSAGE command asking for [CAMERA_CAPTURE_STATUS] and it expects a COMMAND_ACK message back as well as a CAMERA_CAPTURE_STATUS response.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  3. If tracking is supported the GCS sends the command to start the type of tracking it wants to do: MAV_CMD_CAMERA_TRACK_POINT or MAV_CMD_CAMERA_TRACK_RECTANGLE. The sequence above just shows point tracking.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  4. Set the desired rates (intervals) for streaming the tracking status messages.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  5. Camera streams CAMERA_TRACKING_IMAGE_STATUS and/or CAMERA_TRACKING_GEO_STATUS. These are used to provide camera targetting information.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  6. To stop tracking, a GCS uses the MAV_CMD_CAMERA_STOP_TRACKING command. The streaming intervals must also be set to zero.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Battery Status

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Camera components that are powered from their own battery should publish BATTERY_STATUS messages.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Other components like a GCS will typically only use the camera BATTERY_STATUS.battery_remaining field (or possibly time_remaining); generally other fields can be set as "not supported".

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Message/Enum Summary

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Messages

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MessageDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  CAMERA_INFORMATIONBasic information about camera including supported features and URI link to extended information (cam_definition_uri field).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  CAMERA_SETTINGSTimestamp and camera mode information.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  VIDEO_STREAM_INFORMATIONInformation defining a video stream configuration. If a camera has more than one video stream, it would send one of this for each video stream, with their specific configuration. Each stream must have its own, unique stream_id.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  VIDEO_STREAM_STATUSInformation updating a video stream configuration.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  STORAGE_INFORMATIONStorage information (e.g. number and type of storage devices, total/used/available capacity, read/write speeds).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  CAMERA_CAPTURE_STATUSCamera capture status, including current capture type (if any), capture interval, available capacity.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  CAMERA_IMAGE_CAPTUREDInformation about image captured (returned to GPS every time an image is captured).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_STORAGE_FORMATInformation about the field of view of a camera. Requested using MAV_CMD_REQUEST_MESSAGE.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  CAMERA_TRACKING_IMAGE_STATUSCamera tracking status, sent while in active tracking. Use MAV_CMD_SET_MESSAGE_INTERVAL to define message interval.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  CAMERA_TRACKING_GEO_STATUSCamera tracking status, sent while in active tracking. Use MAV_CMD_SET_MESSAGE_INTERVAL to define message interval.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  CAMERA_THERMAL_RANGECamera absolute thermal range. This provides value and position of max/min temperature in a video stream, allowing thermal range of video to be calibrated to absolute rather than relative temperature. Use MAV_CMD_SET_MESSAGE_INTERVAL to define message interval for a particular camera and stream.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Commands

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  CommandDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_REQUEST_MESSAGESend command to request any message (used to request CAMERA_INFORMATION and the other messages above)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_SET_CAMERA_MODESend command to set CAMERA_MODE.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_IMAGE_START_CAPTURESend command to start image capture, specifying the duration between captures and total number of images to capture.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_IMAGE_STOP_CAPTURESend command to stop image capture.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_VIDEO_START_CAPTURESend command to start video capture, specifying the frequency that CAMERA_CAPTURE_STATUS messages should be sent while recording.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_VIDEO_STOP_CAPTURESend command to stop video capture.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_VIDEO_START_STREAMINGSend command to start video streaming for the given Stream ID (stream_id.) This is mostly for streaming protocols that push a stream. If your camera uses a connection based streaming configuration (RTSP, TCP, etc.), you may ignore it if you don't need it but note that you still must ACK the command, like all MAV_CMD_XXX commands. When using a connection based streaming configuration, the GCS will connect the stream from its side. When a camera offers more than one stream and the user switches from one stream to another, the GCS will send a MAV_CMD_VIDEO_STOP_STREAMING command targeting the current Stream ID followed by a MAV_CMD_VIDEO_START_STREAMING targeting the newly selected Stream ID.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_VIDEO_STOP_STREAMINGSend command to stop video streaming for the given Stream ID (stream_id.) This is mostly for streaming protocols that push a stream. If your camera uses a connection based streaming configuration (RTSP, TCP, etc.), you may ignore it if you don't need it but note that you still must ACK the command, like all MAV_CMD_XXX commands. When using a connection based streaming configuration, the GCS will disconnect the stream from its side. When a camera offers more than one stream and the user switches from one stream to another, the GCS will send a MAV_CMD_VIDEO_STOP_STREAMING command targeting the current Stream ID followed by a MAV_CMD_VIDEO_START_STREAMING targeting the newly selected Stream ID.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Tip The Dronecode Camera Manager provides an implementation of this protocol.Initate visual point tracking, if supported by the camera (CAMERA_CAP_FLAGS_HAS_TRACKING_POINT is set).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Send command to request any messageInitiate visual rectangle tracking, if supported by the camera (CAMERA_CAP_FLAGS_HAS_TRACKING_RECTANGLE is set).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Send command to format the specified storage device.Stop camera tracking (as initiated using MAV_CMD_CAMERA_TRACK_POINT or MAV_CMD_CAMERA_TRACK_RECTANGLE).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Deprecated Commands

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  These commands have been deprecated, replaced by the generic requester command MAV_CMD_REQUEST_MESSAGE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  CommandDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_REQUEST_CAMERA_SETTINGSSend command to request CAMERA_SETTINGS.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_REQUEST_CAMERA_INFORMATIONSend command to request CAMERA_INFORMATION.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_REQUEST_VIDEO_STREAM_INFORMATIONSend command to request VIDEO_STREAM_INFORMATION. This is sent once for each camera when a camera is detected and it has set the CAMERA_CAP_FLAGS_HAS_VIDEO_STREAM flag within the CAMERA_INFORMATION message flags field.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_REQUEST_VIDEO_STREAM_STATUSSend command to request VIDEO_STREAM_STATUS. This is sent whenever there is a mode change (when MAV_CMD_SET_CAMERA_MODE is sent.) It allows the camera to update the stream configuration when a camera mode change occurs.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_REQUEST_STORAGE_INFORMATIONSend command to request STORAGE_INFORMATION.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_REQUEST_CAMERA_CAPTURE_STATUSSend command to request CAMERA_CAPTURE_STATUS.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Enum

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  EnumDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  CAMERA_CAP_FLAGSCamera capability flags (Bitmap). For example: ability to capture images in video mode, support for survey mode etc. Received in CAMERA_INFORMATION.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  CAMERA_MODECamera mode (image, video, survey etc.). Received in CAMERA_SETTINGS.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  VIDEO_STREAM_TYPEType of stream - e.g. RTSP, MPEG. Received in VIDEO_STREAM_INFORMATION .
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  VIDEO_STREAM_STATUS_FLAGSBitmap of stream status flags - e.g. zoom, thermal imaging, etc. Received in VIDEO_STREAM_INFORMATION .
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  CAMERA_TRACKING_STATUS_FLAGSCurrent tracking status. Received in CAMERA_TRACKING_IMAGE_STATUS amd CAMERA_TRACKING_GEO_STATUS.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  CAMERA_TRACKING_MODECurrent tracking mode. Received in CAMERA_TRACKING_IMAGE_STATUS.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  CAMERA_TRACKING_TARGET_DATAIndicates how target data is encoded in image. Received in CAMERA_TRACKING_IMAGE_STATUS.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Migration Notes for GCS & MAVLink SDKs

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  The original definition of this protocol used specific commands to query for each type of information requested from the camera: MAV_CMD_REQUEST_CAMERA_INFORMATION (for CAMERA_INFORMATION), MAV_CMD_REQUEST_CAMERA_SETTINGS, MAV_CMD_REQUEST_CAMERA_CAPTURE_STATUS, MAV_CMD_REQUEST_VIDEO_STREAM_INFORMATION, MAV_CMD_REQUEST_STORAGE_INFORMATION.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  The latest version replaces all of these specific commands with the general requestor MAV_CMD_REQUEST_MESSAGE.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  The transition works like this:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  1. Cameras need to handle both approaches for now (i.e. support both new generic and old specific commands).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  2. Ground stations will move from using the old specific commands to using both. They can try the new one and if they don't get an answer within a timeout they need to fall back to the previous command.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  3. After the new commands have been established in server and ground stations, the old specific commands may be removed from the implementations.

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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Camera Protocol

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    The camera protocol is used to configure camera payloads and request their status. It supports photo capture, and video capture and streaming. It also includes messages to query and configure the onboard camera storage.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    This protocol supersedes Camera Protocol v1 (Simple Trigger Protocol). The older protocol enables camera triggering, but does not support other features or querying camera capabilities.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    We are transitioning from specific request commands to a single generic requestor. GCS and MAVLink SDKs/apps should support both approaches as we migrate to exclusive use of the new method (documented here). For more information see Migration Notes for GCS & Camera Servers.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Camera Connection

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Camera Managers provide a MAVLink Camera protocol interface for cameras that don't directly implement MAVLink support. These generally run on a companion computer:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    These cameras have inbuilt support for MAVLink (but not necessarily camera protocol v2):

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Camera Addressing

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAVLink cameras are identified and addressed by their system and component id.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Components that have non-MAVLink cameras attached, such as companion computers, are expected expose each of them as a separate MAVLink camera component with its own HEARTBEAT.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    The exception is the autopilot component, which can "proxy" up to 6 attached non-MAVLink cameras: these are identified by a camera_device_id field in messages and Target Camera ID label in commands.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Camera Messages

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Camera components are expected to follow the Heartbeat/Connection Protocol and sent a constant flow of heartbeats (nominally at 1Hz). Each camera must use a different pre-defined camera component ID: MAV_COMP_ID_CAMERA to MAV_COMP_ID_CAMERA6.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    non-MAVLink cameras attached to the autopilot are identified first by the autopilot system/component id, and then by a camera_device_id field in the message payload (all camera messages should have an id field with this or a similar name). An autopilot should set this to the id of the associated camera device, and otherwise this should always be set to zero.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Camera Addressing in Commands

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAVLink cameras are sent commands addressed using their system and component ids (just as when addressing commands to any other component).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    To send commands to autopilot-attached cameras, the command should be send to the autopilot component. The device id of the target attached camera must further be set in the command's Target Camera ID parameter (the index and precise label of this parameter may vary). The autopilot is required to respond to the command with COMMAND_ACK, populating the COMMAND_ACK.result_param2 field with the id of the targeted autopilot connected camera, if any.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Note that the Target Camera ID parameter should be set to 0 in order to target all cameras, or if targeting a MAVLink camera.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Camera Addressing in Missions

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    When using a camera MAV_CMD in a mission, the id parameter (if present) indicates the target camera:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • 1 - 6 indicates a flight-stack connected camera
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • 7-255 is the component id of a MAVLink connected camera. Note that component ids 1-6 should never be used for MAVLink cameras!
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • 0 indicates "all connected cameras".

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    When processing a camera item in a mission the autopilot should:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • For Target Camera ID values of 1-6, perform the specified camera action on the connected camera if it exists, and otherwise log an error.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • For other Target Camera ID values, re-emit the MAV_CMD using the command protocol, setting the target component id to the id set in the camera mission item. It should also log any errors from the returned COMMAND_ACK.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Flight stacks that predate using a camera id typically re-emit the mission command addressed either to the broadcast component id (0) or to MAV_COMP_ID_CAMERA. The former triggers all cameras on the system, while the later provides better command handling because there is only one COMMAND_ACK.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Camera Discovery

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Connection

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAVLink Camera components are expected to follow the Heartbeat/Connection Protocol and sent a constant flow of heartbeats (nominally at 1Hz). Cameras must set a HEARTBEAT.type of MAV_TYPE_CAMERA. Each camera must use a different pre-defined camera component ID. Values of MAV_COMP_ID_CAMERA to MAV_COMP_ID_CAMERA6 are recommended, but in theory any camera ID may be used except for 0 to 6 (which are reserved for cameras proxied by another component, such as the autopilot).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    The first time a heartbeat is detected from a new camera, a GCS (or other receiving system) should start the Camera Identification process.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • MAVLink camera component.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • Autopilot, in order to detect autopilot-connected cameras.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    If a receiving system stops receiving heartbeats from the camera it is assumed to be disconnected, and should be removed from the list of available cameras. If heartbeats are again detected, the camera identification process below must be restarted from the beginning.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    If a vehicle has more than one camera, each camera will have a different component ID and send its own heartbeat. The vehicle autopilot might also have directly connected cameras, which are separately addressed by a camera device id. The GCS should create multiple instances of a camera controller based on the component ID of each camera. All commands are sent to a specific camera by addressing the command to a specific component ID.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Camera Identification

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    The camera identification operation identifies all the available cameras associated with a system and determines their capabilities. It is used to discover both MAVLink cameras and non-MAVLink cameras attached to the autopilot.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    The camera will then respond with the a COMMAND_ACK message containing a result. On success (result is MAV_RESULT_ACCEPTED) the camera component must then send a CAMERA_INFORMATION message. The first time a heartbeat is received from a new camera component, the GCS will send it a MAV_CMD_REQUEST_MESSAGE message asking for CAMERA_INFORMATION (message id 259).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Camera identification must be carried out before all other operations!

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    The first time a heartbeat is received from a new camera component (HEARTBEAT.type=MAV_TYPE_CAMERA), the GCS should send it a MAV_CMD_REQUEST_MESSAGE message asking for CAMERA_INFORMATION (message id 259). The camera will then respond with the a COMMAND_ACK message containing a result. On success (result is MAV_RESULT_ACCEPTED) the camera component must then send a CAMERA_INFORMATION message.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Mermaid Sequence: Camera Id

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    The operation follows the normal Command Protocol rules for command/acknowledgment (if no COMMAND_ACK response is received for MAV_CMD_REQUEST_MESSAGE the command will be re-sent a number of times before failing). If CAMERA_INFORMATION is not received after receiving an ACK with MAV_RESULT_ACCEPTED, the protocol assumes the message was lost, and the cycle of sending MAV_CMD_REQUEST_MESSAGE is repeated. If CAMERA_INFORMATION is still not received after three cycle repeats, the GCS may assume that the camera is not supported.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    The first time a heartbeat is received from an autopilot, the GCS follow the same process to query for information about directly connected cameras. The only difference is that the autopilot should return a CAMERA_INFORMATION message for each connected camera, populated with its camera_device_id.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    deprecated

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Additional Camera Information

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    The CAMERA_INFORMATION response contains the bare minimum information about the camera and what it can or cannot do. This is sufficient for basic image and/or video capture.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    If a camera provides finer control over its settings CAMERA_INFORMATION.cam_definition_uri will include a URI to a Camera Definition File. If this URI exists, the GCS will request it, parse it and prepare the UI for the user to control the camera settings.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    The CAMERA_INFORMATION.cam_definition_version field should provide a version for the definition file, allowing the GCS to cache it. Once downloaded, it would only be requested again if the version number changes.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    A GCS that implements this protocol is expected to support both HTTP (http://) and MAVLink FTP (mftp://) URIs for download of the camera definition file. If the camera provides an HTTP or MAVLink FTP interface, the definition file can be hosted on the camera itself. Otherwise, it can be hosted anywhere (on any reachable server).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Basic Camera Operations

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Camera Modes

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Some cameras must be in a certain mode for still and/or video capture.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    The GCS can determine if it needs to make sure the camera is in the proper mode prior to sending a start capture (image or video) command by checking whether the CAMERA_CAP_FLAGS_HAS_MODES bit is set true in CAMERA_INFORMATION.flags.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    In addition, some cameras can capture images in any mode but with different resolutions. For example, a 20 megapixel camera would take a full resolution image when set to CAMERA_MODE_IMAGE but only at the current video resolution if it is set to CAMERA_MODE_VIDEO.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    To get the current mode, the GCS would send a MAV_CMD_REQUEST_MESSAGE command asking for CAMERA_SETTINGS. The current mode is the CAMERA_SETTINGS.mode_id field. The camera component will then respond with the COMMAND_ACK message containing a result. On success (COMMAND_ACK.result is MAV_RESULT_ACCEPTED) the camera must then send a CAMERA_SETTINGS message.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    The sequence is shown below:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Camera Settings

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Command acknowledgment and message resending is handled in the same way as for camera identification (if a successful ACK is received the camera will expect the CAMERA_SETTINGS message, and repeat the cycle - up to 3 times - until it is received).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    To set the camera to a specific mode, the GCS would send the MAV_CMD_SET_CAMERA_MODE command with the appropriate mode.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    The sequence is shown below:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    The operation follows the normal Command Protocol rules for command/acknowledgment.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Storage Status

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Before capturing images and/or videos, a GCS should query the storage status to determine if the camera has enough free space for these operations (and provide the user with feedback as to the current storage status). The GCS will send the MAV_CMD_REQUEST_MESSAGE command and it expects a COMMAND_ACK message back as well as a STORAGE_INFORMATION response. For formatting (or erasing depending on your implementation), the GCS will send a MAV_CMD_STORAGE_FORMAT command.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Camera Capture Status

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    In addition to querying about storage status, the GCS will also request the current Camera Capture Status in order to provide the user with proper UI indicators.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    The CAMERA_INFORMATION.flags provides information about camera capabilities. It contains a bitmap of CAMERA_CAP_FLAGS values that tell the GCS if the camera supports still image capture, video capture, or video streaming, and if it needs to be in a certain mode for capture, etc.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Still Image Capture

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    A camera supports still image capture if the CAMERA_CAP_FLAGS_CAPTURE_IMAGE bit is set in CAMERA_INFORMATION.flags.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    A GCS/MAVLink app uses the MAV_CMD_IMAGE_START_CAPTURE command to request that the camera capture a specified number of images (or forever), and the duration between them. The camera immediately returns the normal command acknowledgment (MAV_RESULT).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Each time an image is captured, the camera broadcasts a CAMERA_IMAGE_CAPTURED message. This message not only tells the GCS the image was captured, it is also intended for geo-tagging.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    The camera must iterate CAMERA_IMAGE_CAPTURED.image_index and the counter used in CAMERA_CAPTURE_STATUS.image_count for every new image capture (these values iterate until explicitly cleared using MAV_CMD_STORAGE_FORMAT). The index and total image count can be used to re-request missing images (e.g. images captured when the vehicle was out of telemetry range).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    The MAV_CMD_IMAGE_STOP_CAPTURE command can optionally be sent to stop an image capture sequence (this is needed if image capture has been set to continue forever).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    The still image capture message sequence for missions (as described above) is shown below:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Mermaid Sequence: Image capture

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    The message sequence for interactive user-initiated image capture through a GUI is slightly different. In this case the GCS should:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    The sequence is as shown below:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Mermaid Sequence: Interactive user intiated image capture

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Request Lost CAMERA_IMAGE_CAPTURED Messages

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    The camera broadcasts a CAMERA_IMAGE_CAPTURED every time a new image is captured, iterating both the current image index (CAMERA_IMAGE_CAPTURED.image_index) and the total image count (CAMERA_CAPTURE_STATUS.image_count).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    These messages can be lost during transmission; for example if the vehicle is out of data-link range of the ground stations.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Lost image capture messages can be detected by comparing GCS and camera image counts. Individual entries can be requested using MAV_CMD_REQUEST_MESSAGE, where param1="MAVLINK_MSG_ID_CAMERA_IMAGE_CAPTURED" and param2="the index of the missing image".

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    The camera image log iterates "forever" (but may be explicitly reset using MAV_CMD_STORAGE_FORMAT.param3=1).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Video Capture

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    A camera supports video capture if the CAMERA_CAP_FLAGS_CAPTURE_VIDEO bit is set in CAMERA_INFORMATION.flags.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    To start recording videos, the GCS uses the MAV_CMD_VIDEO_START_CAPTURE command. If requested, the CAMERA_CAPTURE_STATUS message is sent to the GCS at a set interval.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    To stop recording, the GCS uses the MAV_CMD_VIDEO_STOP_CAPTURE command.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Video Streaming

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    The GCS should already have identified all connected cameras by their heartbeat and followed the Camera Identification steps to get CAMERA_INFORMATION for every camera.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    A camera is capable of streaming video if it sets the CAMERA_CAP_FLAGS_HAS_VIDEO_STREAM bit set in CAMERA_INFORMATION.flags.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    The sequence for requesting all video streams from a particular camera is shown below:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Mermaid Sequence: Video stream info

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    The steps are:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1. GCS follows the Camera Identification steps to get CAMERA_INFORMATION for every camera.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2. GCS checks if CAMERA_INFORMATION.flags contains the CAMERA_CAP_FLAGS_HAS_VIDEO_STREAM flag.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    3. If so, the GCS sends the MAV_CMD_REQUEST_MESSAGE message to the camera requesting the video streaming configuration (param1=269) for all streams (param2=0). > Note A GCS can also request information for a particular stream by setting its id in param2.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    4. Camera returns a VIDEO_STREAM_INFORMATION message for the specified stream or all streams it supports.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    If your camera only provides video streaming and nothing else (no camera features), the CAMERA_CAP_FLAGS_HAS_VIDEO_STREAM flag is the only flag you need to set. The GCS will then provide video streaming support and skip camera control.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Video Metadata

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    The protocol provides some information about video streaming support in CAMERA_CAP_FLAGS, such as support for video streaming (CAMERA_CAP_FLAGS_HAS_VIDEO_STREAM) and thermal range information (CAMERA_CAP_FLAGS_HAS_THERMAL_RANGE), In addition the VIDEO_STREAM_INFORMATION and VIDEO_STREAM_STATUS provide broad information about each stream, including its transport mechanism, encoding, resolution, frame rate, and status (VIDEO_STREAM_STATUS_FLAGS).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAVLink does not specify any mechanism for getting frame-synchronized video metadata, such as absolute thermal values of thermal video streams, text-tracks, and so on. The following sections outline some MAVLink-centric methods for getting "approximate" video-synchronized metadata.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Camera absolute thermal range

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    A thermal video stream is often coloured as a heatmap in order to highlight hotter and colder sections. This heatmap is relative to the hottest and coldest points on the frame, so the hot sections are not necessarily hot, they are just hotter than their surroundings. If you're searching for things that have a specific temperature, it can be useful to know the absolute temperatures represented by the image.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    The CAMERA_THERMAL_RANGE message can be streamed alongside a video stream to provide this information. The message includes the associated stream and camera id, along with the position and value of the maximum and minimum temperature in the video frame. That is sufficient to overlay the hottest and coldest points on a video, and in theory to determine the absolute temperature of all pixels.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    The message is streamed alongside the video stream, but there is no precise mechanism to synchronize values to frames. The information is therefore an estimate/approximate.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    The message can be requested for a particular camera and stream using the MAV_CMD_SET_MESSAGE_INTERVAL, when the associated VIDEO_STREAM_STATUS.flag for the stream has bit VIDEO_STREAM_STATUS_FLAGS_THERMAL_RANGE_ENABLED set. Note that MAV_CMD_SET_MESSAGE_INTERVAL.param3 indicates the stream id of the current camera, or 0 for all streams, while param4 indicates the target camera_device_id for autopilot-attached cameras or 0 for MAVLink cameras.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Camera Tracking

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    A camera may support tracking a point and/or a rectangle. Information about the tracked point can be streamed during tracking, and may be passed to a gimbal in order to move the camera to track the target (or control vehicle attitude to track the target).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    The camera identification operation identifies all the available cameras and determines their capabilities.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    To start camera tracking a GCS uses either the MAV_CMD_CAMERA_TRACK_POINT or MAV_CMD_CAMERA_TRACK_RECTANGLE command.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    After starting camera tracking you should call MAV_CMD_SET_MESSAGE_INTERVAL to start streaming the CAMERA_TRACKING_IMAGE_STATUS message at your desired rate. This message contains information about the tracked point/rectangle in an image, and may be used by the receiving system to determine the location of the target (alongside other information like the CAMERA_FOV_STATUS).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    If geo-tracking status information is supported (indicated by CAMERA_CAP_FLAGS_HAS_TRACKING_GEO_STATUS) you should also call MAV_CMD_SET_MESSAGE_INTERVAL to stream CAMERA_TRACKING_GEO_STATUS at your desired rate. This message provides the location of the target in physical co-ordinates that can be passed to a gimbal.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    To stop any kind of tracking, a GCS uses the MAV_CMD_CAMERA_STOP_TRACKING command. After stopping tracking you should call MAV_CMD_SET_MESSAGE_INTERVAL to stop streaming CAMERA_TRACKING_IMAGE_STATUS and CAMERA_TRACKING_GEO_STATUS (set their rates to 0).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Camera tracking message sequence

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    The GCS should already have identified all connected cameras by their heartbeat and followed the Camera Identification steps to get CAMERA_INFORMATION for every camera.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    The sequence for tracking a point is shown below (tracking a rectangle is the same sequence but a different tracking command).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    deprecated

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    The steps are:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1. GCS follows the Camera Identification steps to get CAMERA_INFORMATION for every camera.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2. The GCS will send a MAV_CMD_REQUEST_MESSAGE command asking for [CAMERA_CAPTURE_STATUS] and it expects a COMMAND_ACK message back as well as a CAMERA_CAPTURE_STATUS response.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    3. If tracking is supported the GCS sends the command to start the type of tracking it wants to do: MAV_CMD_CAMERA_TRACK_POINT or MAV_CMD_CAMERA_TRACK_RECTANGLE. The sequence above just shows point tracking.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    4. Set the desired rates (intervals) for streaming the tracking status messages.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    5. Camera streams CAMERA_TRACKING_IMAGE_STATUS and/or CAMERA_TRACKING_GEO_STATUS. These are used to provide camera targetting information.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    6. To stop tracking, a GCS uses the MAV_CMD_CAMERA_STOP_TRACKING command. The streaming intervals must also be set to zero.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Battery Status

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Camera components that are powered from their own battery should publish BATTERY_STATUS messages.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Other components like a GCS will typically only use the camera BATTERY_STATUS.battery_remaining field (or possibly time_remaining); generally other fields can be set as "not supported".

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Message/Enum Summary

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Messages

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MessageDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    CAMERA_INFORMATIONBasic information about camera including supported features and URI link to extended information (cam_definition_uri field).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    CAMERA_SETTINGSTimestamp and camera mode information.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    VIDEO_STREAM_INFORMATIONInformation defining a video stream configuration. If a camera has more than one video stream, it would send one of this for each video stream, with their specific configuration. Each stream must have its own, unique stream_id.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    VIDEO_STREAM_STATUSInformation updating a video stream configuration.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    STORAGE_INFORMATIONStorage information (e.g. number and type of storage devices, total/used/available capacity, read/write speeds).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    CAMERA_CAPTURE_STATUSCamera capture status, including current capture type (if any), capture interval, available capacity.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    CAMERA_IMAGE_CAPTUREDInformation about image captured (returned to GPS every time an image is captured).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_STORAGE_FORMATInformation about the field of view of a camera. Requested using MAV_CMD_REQUEST_MESSAGE.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    CAMERA_TRACKING_IMAGE_STATUSCamera tracking status, sent while in active tracking. Use MAV_CMD_SET_MESSAGE_INTERVAL to define message interval.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    CAMERA_TRACKING_GEO_STATUSCamera tracking status, sent while in active tracking. Use MAV_CMD_SET_MESSAGE_INTERVAL to define message interval.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    CAMERA_THERMAL_RANGECamera absolute thermal range. This provides value and position of max/min temperature in a video stream, allowing thermal range of video to be calibrated to absolute rather than relative temperature. Use MAV_CMD_SET_MESSAGE_INTERVAL to define message interval for a particular camera and stream.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Commands

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    CommandDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_REQUEST_MESSAGESend command to request any message (used to request CAMERA_INFORMATION and the other messages above)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_SET_CAMERA_MODESend command to set CAMERA_MODE.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_IMAGE_START_CAPTURESend command to start image capture, specifying the duration between captures and total number of images to capture.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_IMAGE_STOP_CAPTURESend command to stop image capture.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_VIDEO_START_CAPTURESend command to start video capture, specifying the frequency that CAMERA_CAPTURE_STATUS messages should be sent while recording.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_VIDEO_STOP_CAPTURESend command to stop video capture.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_VIDEO_START_STREAMINGSend command to start video streaming for the given Stream ID (stream_id.) This is mostly for streaming protocols that push a stream. If your camera uses a connection based streaming configuration (RTSP, TCP, etc.), you may ignore it if you don't need it but note that you still must ACK the command, like all MAV_CMD_XXX commands. When using a connection based streaming configuration, the GCS will connect the stream from its side. When a camera offers more than one stream and the user switches from one stream to another, the GCS will send a MAV_CMD_VIDEO_STOP_STREAMING command targeting the current Stream ID followed by a MAV_CMD_VIDEO_START_STREAMING targeting the newly selected Stream ID.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_VIDEO_STOP_STREAMINGSend command to stop video streaming for the given Stream ID (stream_id.) This is mostly for streaming protocols that push a stream. If your camera uses a connection based streaming configuration (RTSP, TCP, etc.), you may ignore it if you don't need it but note that you still must ACK the command, like all MAV_CMD_XXX commands. When using a connection based streaming configuration, the GCS will disconnect the stream from its side. When a camera offers more than one stream and the user switches from one stream to another, the GCS will send a MAV_CMD_VIDEO_STOP_STREAMING command targeting the current Stream ID followed by a MAV_CMD_VIDEO_START_STREAMING targeting the newly selected Stream ID.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Tip The Dronecode Camera Manager provides an implementation of this protocol.Initate visual point tracking, if supported by the camera (CAMERA_CAP_FLAGS_HAS_TRACKING_POINT is set).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Send command to request any messageInitiate visual rectangle tracking, if supported by the camera (CAMERA_CAP_FLAGS_HAS_TRACKING_RECTANGLE is set).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Send command to format the specified storage device.Stop camera tracking (as initiated using MAV_CMD_CAMERA_TRACK_POINT or MAV_CMD_CAMERA_TRACK_RECTANGLE).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Deprecated Commands

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    These commands have been deprecated, replaced by the generic requester command MAV_CMD_REQUEST_MESSAGE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    CommandDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_REQUEST_CAMERA_SETTINGSSend command to request CAMERA_SETTINGS.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_REQUEST_CAMERA_INFORMATIONSend command to request CAMERA_INFORMATION.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_REQUEST_VIDEO_STREAM_INFORMATIONSend command to request VIDEO_STREAM_INFORMATION. This is sent once for each camera when a camera is detected and it has set the CAMERA_CAP_FLAGS_HAS_VIDEO_STREAM flag within the CAMERA_INFORMATION message flags field.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_REQUEST_VIDEO_STREAM_STATUSSend command to request VIDEO_STREAM_STATUS. This is sent whenever there is a mode change (when MAV_CMD_SET_CAMERA_MODE is sent.) It allows the camera to update the stream configuration when a camera mode change occurs.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_REQUEST_STORAGE_INFORMATIONSend command to request STORAGE_INFORMATION.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_REQUEST_CAMERA_CAPTURE_STATUSSend command to request CAMERA_CAPTURE_STATUS.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Enum

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    EnumDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    CAMERA_CAP_FLAGSCamera capability flags (Bitmap). For example: ability to capture images in video mode, support for survey mode etc. Received in CAMERA_INFORMATION.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    CAMERA_MODECamera mode (image, video, survey etc.). Received in CAMERA_SETTINGS.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    VIDEO_STREAM_TYPEType of stream - e.g. RTSP, MPEG. Received in VIDEO_STREAM_INFORMATION .
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    VIDEO_STREAM_STATUS_FLAGSBitmap of stream status flags - e.g. zoom, thermal imaging, etc. Received in VIDEO_STREAM_INFORMATION .
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    CAMERA_TRACKING_STATUS_FLAGSCurrent tracking status. Received in CAMERA_TRACKING_IMAGE_STATUS amd CAMERA_TRACKING_GEO_STATUS.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    CAMERA_TRACKING_MODECurrent tracking mode. Received in CAMERA_TRACKING_IMAGE_STATUS.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    CAMERA_TRACKING_TARGET_DATAIndicates how target data is encoded in image. Received in CAMERA_TRACKING_IMAGE_STATUS.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Migration Notes for GCS & MAVLink SDKs

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    The original definition of this protocol used specific commands to query for each type of information requested from the camera: MAV_CMD_REQUEST_CAMERA_INFORMATION (for CAMERA_INFORMATION), MAV_CMD_REQUEST_CAMERA_SETTINGS, MAV_CMD_REQUEST_CAMERA_CAPTURE_STATUS, MAV_CMD_REQUEST_VIDEO_STREAM_INFORMATION, MAV_CMD_REQUEST_STORAGE_INFORMATION.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    The latest version replaces all of these specific commands with the general requestor MAV_CMD_REQUEST_MESSAGE.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    The transition works like this:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1. Cameras need to handle both approaches for now (i.e. support both new generic and old specific commands).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2. Ground stations will move from using the old specific commands to using both. They can try the new one and if they don't get an answer within a timeout they need to fall back to the previous command.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    3. After the new commands have been established in server and ground stations, the old specific commands may be removed from the implementations.

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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      \ No newline at end of file diff --git a/ko/services/camera_def.html b/ko/services/camera_def.html index fc99aeaa5..d4d0fc4bf 100644 --- a/ko/services/camera_def.html +++ b/ko/services/camera_def.html @@ -1,4 +1,4 @@ -Camera Definition · MAVLink Developer Guide
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Camera Definition File

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      A GCS will build a Camera Controller UI for image capture, video capture and video streaming using information provided by the CAMERA_INFORMATION message. For very simple cameras, the information in the CAMERA_INFORMATION message itself is sufficient to construct the UI. For more advanced cameras (with settings and options) the information required to build the UI must be supplied in a Camera Definition File that is located at the URI specified in the message's cam_definition_uri field.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      The Camera Definition File contains all the camera settings, the options for each setting, and exclusion lists (options that invalidate or are conditional on other settings). In addition, it may contain localisations of GUI strings for display to the user.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      At the bottom of this page, you can find a full example of a Camera Definition File.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      A Camera Definition File is required because the camera options differ so greatly between cameras. It is not reasonable to create specific MAVLink messages for each and every possible option and to tell the GCS the valid options for each camera setting.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      File Compression

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Camera definition files may be .xz compressed (this is recommended for files that are hosted on the camera component/device).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Systems that request camera definition files must support extraction of .xz-compressed definition files.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      The Tukaani Project XZ Embedded library is an easy-to-use XZ compression library for embedded systems.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Schema

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      The XML file has 3 main sections (elements):

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • Definition
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • Parameters
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • Localization

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Definition

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      All fields are self explanatory:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      <definition version="1">
+Camera Definition · MAVLink Developer Guide
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Camera Definition File
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      A GCS will build a Camera Controller UI for image capture, video capture and video streaming using information provided by the CAMERA_INFORMATION message. For very simple cameras, the information in the CAMERA_INFORMATION message itself is sufficient to construct the UI. For more advanced cameras (with settings and options) the information required to build the UI must be supplied in a Camera Definition File that is located at the URI specified in the message's cam_definition_uri field.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      The Camera Definition File contains all the camera settings, the options for each setting, and exclusion lists (options that invalidate or are conditional on other settings). In addition, it may contain localisations of GUI strings for display to the user.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      At the bottom of this page, you can find a full example of a Camera Definition File.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      A Camera Definition File is required because the camera options differ so greatly between cameras. It is not reasonable to create specific MAVLink messages for each and every possible option and to tell the GCS the valid options for each camera setting.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      File Compression
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Camera definition files may be .xz compressed (this is recommended for files that are hosted on the camera component/device).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Systems that request camera definition files must support extraction of .xz-compressed definition files.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      The Tukaani Project XZ Embedded library is an easy-to-use XZ compression library for embedded systems.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Schema
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      The XML file has 3 main sections (elements):
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • Definition
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • Parameters
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • Localization
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Definition
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      All fields are self explanatory:
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      <definition version="1">
     <model>T100</model>
     <vendor>Foo Industries</vendor>
 </definition>
@@ -782,4 +782,4 @@
         </locale>
     </localization>
 </mavlinkcamera>
-
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          \ No newline at end of file diff --git a/ko/services/camera_v1.html b/ko/services/camera_v1.html index 926904dca..2ff126260 100644 --- a/ko/services/camera_v1.html +++ b/ko/services/camera_v1.html @@ -1 +1 @@ -Camera Protocol v1 (Simple Trigger Protocol) · MAVLink Developer Guide
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Camera Protocol v1: Camera Triggering

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          The MAVLink Camera Protocol v1 defines a set of commands for configuring a camera to capture images at a particular time or distance interval, and to start/stop/pause/reset triggering. It also includes commands to configure/control a video camera.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          This API has been superseded by Camera Protocol v2, which provides a more natural set of commands for using a camera, along with a comprehensive API for querying camera capabilities. This API is used by some older MAVLink cameras, and can be supported in parallel with the new protocol.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          The protocol can be used to control cameras attached to autopilot outputs or standalone MAVLink cameras that support this protocol

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          A standalone MAVLink camera that needs to interact with a ground station must be able to send and recieve MAVLink messages from the ground station. If the GCS and Camera are connected to the flight stack on different MAVLink channels then the flight stack will need to forward messages between them.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          If the MAVLink camera does not emit the CAMERA_TRIGGER message on image capture then the flight stack may need to do this on its behalf.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          When processing a mission, the flight stack should re-emit camera command items using the command protocol (in order to trigger a connected MAVLink camera). The commands should be addressed to the same system ID as the autopilot, and with MAV_COMP_ID_ALL as the component ID. This ensures that any and all MAVLink cameras associated with the system will be triggered.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Note that setting the component ID to MAV_COMP_ID_CAMERA is not recommended, as a camera does not have to use this component ID.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Flight Controller Connected Cameras

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          The commands can be used to control a camera attached to autopilot outputs.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          A GCS should address the commands to the autopilot component, which will need to trigger the connected camera appropriately. The flight stack will also need to trigger the camera when the commands are found in a mission.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Note that a flight stack implementation can generally trigger attached cameras and emit a MAVLink command in missions. If a connected camera and MAVLink camera are connected, both with be triggered.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Message/Command Summary

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Image Capture

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          CommandDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_DO_SET_CAM_TRIGG_INTERVALSet time interval between captures.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_DO_SET_CAM_TRIGG_DISTSet distance between image captures (or trigger once, immediately).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_DO_TRIGGER_CONTROLStart/stop capturing images (using distance or time, as defined using above messages).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_OBLIQUE_SURVEYStart/stop/configure an camera mount pivoting oblique survey.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MessageDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          CAMERA_TRIGGERCamera-IMU triggering and synchronisation message. Should be emitted when an image is captured. Depending on the camera integration this might be when the camera is commanded to capture an image and or when the camera provides feedback that it has been triggered.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Video Capture

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          CommandDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_DO_DIGICAM_CONFIGUREConfigure digital camera features such as ISO, aperture, etc. Replaced by Camera Definition Files in Camera Protocol v2.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_DO_DIGICAM_CONTROLControl digital camera features such as zoom, focus, shooting. Replaced by basic camera commands and Camera Definition Files in Camera Protocol v2.

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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            \ No newline at end of file +Camera Protocol v1 (Simple Trigger Protocol) · MAVLink Developer Guide
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Camera Protocol v1: Camera Triggering

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            The MAVLink Camera Protocol v1 defines a set of commands for configuring a camera to capture images at a particular time or distance interval, and to start/stop/pause/reset triggering. It also includes commands to configure/control a video camera.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            This API has been superseded by Camera Protocol v2, which provides a more natural set of commands for using a camera, along with a comprehensive API for querying camera capabilities. This API is used by some older MAVLink cameras, and can be supported in parallel with the new protocol.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            The protocol can be used to control cameras attached to autopilot outputs or standalone MAVLink cameras that support this protocol

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            A standalone MAVLink camera that needs to interact with a ground station must be able to send and recieve MAVLink messages from the ground station. If the GCS and Camera are connected to the flight stack on different MAVLink channels then the flight stack will need to forward messages between them.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            If the MAVLink camera does not emit the CAMERA_TRIGGER message on image capture then the flight stack may need to do this on its behalf.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            When processing a mission, the flight stack should re-emit camera command items using the command protocol (in order to trigger a connected MAVLink camera). The commands should be addressed to the same system ID as the autopilot, and with MAV_COMP_ID_ALL as the component ID. This ensures that any and all MAVLink cameras associated with the system will be triggered.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Note that setting the component ID to MAV_COMP_ID_CAMERA is not recommended, as a camera does not have to use this component ID.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Flight Controller Connected Cameras

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            The commands can be used to control a camera attached to autopilot outputs.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            A GCS should address the commands to the autopilot component, which will need to trigger the connected camera appropriately. The flight stack will also need to trigger the camera when the commands are found in a mission.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Note that a flight stack implementation can generally trigger attached cameras and emit a MAVLink command in missions. If a connected camera and MAVLink camera are connected, both with be triggered.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Message/Command Summary

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Image Capture

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            CommandDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_DO_SET_CAM_TRIGG_INTERVALSet time interval between captures.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_DO_SET_CAM_TRIGG_DISTSet distance between image captures (or trigger once, immediately).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_DO_TRIGGER_CONTROLStart/stop capturing images (using distance or time, as defined using above messages).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_OBLIQUE_SURVEYStart/stop/configure an camera mount pivoting oblique survey.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MessageDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            CAMERA_TRIGGERCamera-IMU triggering and synchronisation message. Should be emitted when an image is captured. Depending on the camera integration this might be when the camera is commanded to capture an image and or when the camera provides feedback that it has been triggered.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Video Capture

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            CommandDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_DO_DIGICAM_CONFIGUREConfigure digital camera features such as ISO, aperture, etc. Replaced by Camera Definition Files in Camera Protocol v2.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_DO_DIGICAM_CONTROLControl digital camera features such as zoom, focus, shooting. Replaced by basic camera commands and Camera Definition Files in Camera Protocol v2.

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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Command Protocol

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              The MAVLink command protocol allows guaranteed delivery of MAVLink commands.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Commands are values of MAV_CMD that define the values of up to 7 parameters. These parameters and the command id are encoded in COMMAND_INT or COMMAND_LONG for sending.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              The protocol provides reliable delivery by expecting a matching acknowledgement (COMMAND_ACK) from commands to indicate command arrival, and result. If no acknowledgement is received the command must be automatically re-sent.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Message/Enum Summary

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MessageDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              COMMAND_INTMessage for encoding a command (MAV_CMD). The message encodes commands into up to 7 parameters: parameters 1-4, 7 are floats, and parameters 5,6 are scaled integers. The scaled integers are used for positional information (scaling depends on the actual command value). The coordinate frame of positional parameters is explicitly specified in a frame field. Commands that require float-only properties in parameters 5, 6 cannot be sent in this message (e.g. commands where NaN has an explicit meaning).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              COMMAND_LONGMessage for encoding a command (MAV_CMD). The mesage encodes commands into up to 7 float parameters. The coordinate frame used for positional co-ordinates is implementation dependent. Any command may be packaged in this message, but there may be some loss of precision for positional co-ordinates (latitude, longitude).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              COMMAND_ACKCommand acknowledgement. Includes result (success, failure, still in progress) and may include progress information and additional detail about failure reasons.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              COMMAND_CANCELCancel a long running command.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              EnumDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMDCommands to be executed/sent in the command messages.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_FRAMECoordinate frame. Used in COMMAND_INT to specify the co-ordinate frame of any positional parameters.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_RESULTResult of command, included in COMMAND_ACK.result.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Use COMMAND_INT or COMMAND_LONG?

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              COMMAND_INT should be used when sending commands that contain positional or navigation information, if supported by the flight stack for the particular command. This is because it allows the co-ordinate frame to be specified for location and altitude values, which may otherwise be "unspecified". In addition latitudes/longitudes can be sent with greater precision in a COMMAND_INT as scaled integers in params 5 and 6 (than when sent in float values in COMMAND_LONG).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Commands that require float-only properties in parameters 5, 6 must be sent in COMMAND_LONG (e.g. commands where NaN has an explicit meaning).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Commands that are not positional or that specify integers in params 5 and 6 can be used in either message, if supported by the flight stack.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Flight stacks may support commands in either message COMMAND_INT or COMMAND_LONG or both, albeit with a loss of precision, rounding errors, and/or undefined frames of reference. However they are encouraged to only support positional commands in COMMAND_INT, and commands that have float values in param 5 and 6 in COMMAND_LONG. The flight stack can reject commands sent in the "wrong" message type using the COMMAND_ACK.result of MAV_RESULT_COMMAND_LONG_ONLY or MAV_RESULT_COMMAND_INT_ONLY, as appropriate. Flight stacks that only support a particular command in a particular message type can more generally use these result values to indicate the correct message type for a command.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Sequences

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              COMMAND_INT sequence

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Mermaid Sequence: Command INT

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              The request is sent by the ground station encoded within a COMMAND_INT. The drone processes the request and responds quickly with a COMMAND_ACK indicating the result. The result is that the command has been accepted (COMMAND_ACK.result=MAV_RESULT_ACCEPTED), has been accepted and is in progress (MAV_RESULT_IN_PROGRESS) or it has been rejected with some reason code. Note that "accepted" means that the command is valid and the flight stack will attempt to act on it, not that the command has completed. Most commands just return "accepted" (they are not implemented as long running commands).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              COMMAND_ACK.result_param2 may also include additional information about the reason for command rejection in a command-specific enum.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              If no ACK is received the GCS will resend COMMAND_INT for a flight-specific number of times before giving up.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              COMMAND_LONG sequence

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Mermaid Sequence: Command Long

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              If the command drops the sender should increase the confirmation field:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Mermaid Sequence: increase confirmation field

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Long Running Commands

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Some commands are long running, and cannot complete immediately. The drone reports its progress by sending COMMMAND_ACK messages with COMMAND_ACK.result=MAV_RESULT_IN_PROGRESS and the progress as a percentage in COMMMAND_ACK.progress ([0-100] percent complete, 255 if progress not supplied). When the operation completes, the drone must terminate with a COMMMAND_ACK containing the final result of the operation: MAV_RESULT_ACCEPTED, MAV_RESULT_FAILED, MAV_RESULT_CANCELLED).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Mermaid Sequence: MAV_RESULT_IN_PROGRESS

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Long running operations may be cancelled by sending the COMMAND_CANCEL message. The drone should cancel the operation and complete the sequence by sending COMMAND_ACK with COMMAND_ACK.result=MAV_RESULT_CANCELLED

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • If cancellation is not supported the drone can just continue to send progress updates until completion.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • If the sequence has already completed (or is idle) the cancel command should be ignored.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              The rate at which progress messages are emitted is system-dependent. Generally though, the GCS should have a much increased timeout after receiving an ACK with MAV_RESULT_IN_PROGRESS.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              If a timeout is triggered when waiting for a progress or completion update, the GCS should terminate the sequence (return to the idle state) and notify the user if appropriate.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Only one instance of a particular long running command can execute at a time; to restart a long running operation (i.e. with new parameters) it must first be cancelled! If the same command is recieved while the operation is in progress the new command should be ACKed with MAV_RESULT_TEMPORARILY_REJECTED (to indicate that the target is busy).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              The protocol allows for different long running commands to run in parallel, if supported by the state machine of the recieving flight stack. If a flight stack does not support multiple commands running in parallel it should ACK new commands with MAV_RESULT_TEMPORARILY_REJECTED (with the possible exception of the COMMAND_CANCEL, which might be used to cancel the first request).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Location Commands and Frame Types

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Commands that contain a location or altitude should be sent in COMMAND_INT so that the frame can be specified in the COMMAND_INT.frame field (as outlined above). If sent in COMMAND_LONG the frame is arbitrary, and cannot be predicted.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              A flight stack that does not support the frame specified in a command (if required by command) should reject it with the MAV_RESULT of MAV_RESULT_COMMAND_UNSUPPORTED_MAV_FRAME. This allows consumers to attempt the same command with other frames. Flight stacks that return MAV_RESULT_COMMAND_UNSUPPORTED for this case should be updated to use MAV_RESULT_COMMAND_UNSUPPORTED_MAV_FRAME.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Note that it is an error to ignore the specified frame and use some other arbitrary frame.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Designing Commands

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Guidance for designing commands can be found in Defining XML Elements > Command values.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              At high level:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • Commands that include location information should specify latitude in Param 5, Longitude in param 6, and Altitude in param 7. This allows them to be sent in COMMAND_INT with higher precision.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • Otherwise it is desirable to be able to send commands in either command message. Therefore use param 5 and 6 for integers rather than floats if possible. If reserving values, then consider choosing to reserve params 5 and 6, and reserve them with a default value of 0.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              results matching ""

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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                \ No newline at end of file +Command Protocol · MAVLink Developer Guide
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Messages
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Implementations
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Command Protocol

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                The MAVLink command protocol allows guaranteed delivery of MAVLink commands.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Commands are values of MAV_CMD that define the values of up to 7 parameters. These parameters and the command id are encoded in COMMAND_INT or COMMAND_LONG for sending.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                The protocol provides reliable delivery by expecting a matching acknowledgement (COMMAND_ACK) from commands to indicate command arrival, and result. If no acknowledgement is received the command must be automatically re-sent.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Message/Enum Summary

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MessageDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                COMMAND_INTMessage for encoding a command (MAV_CMD). The message encodes commands into up to 7 parameters: parameters 1-4, 7 are floats, and parameters 5,6 are scaled integers. The scaled integers are used for positional information (scaling depends on the actual command value). The coordinate frame of positional parameters is explicitly specified in a frame field. Commands that require float-only properties in parameters 5, 6 cannot be sent in this message (e.g. commands where NaN has an explicit meaning).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                COMMAND_LONGMessage for encoding a command (MAV_CMD). The mesage encodes commands into up to 7 float parameters. The coordinate frame used for positional co-ordinates is implementation dependent. Any command may be packaged in this message, but there may be some loss of precision for positional co-ordinates (latitude, longitude).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                COMMAND_ACKCommand acknowledgement. Includes result (success, failure, still in progress) and may include progress information and additional detail about failure reasons.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                COMMAND_CANCELCancel a long running command.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                EnumDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMDCommands to be executed/sent in the command messages.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_FRAMECoordinate frame. Used in COMMAND_INT to specify the co-ordinate frame of any positional parameters.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_RESULTResult of command, included in COMMAND_ACK.result.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Use COMMAND_INT or COMMAND_LONG?

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                COMMAND_INT should be used when sending commands that contain positional or navigation information, if supported by the flight stack for the particular command. This is because it allows the co-ordinate frame to be specified for location and altitude values, which may otherwise be "unspecified". In addition latitudes/longitudes can be sent with greater precision in a COMMAND_INT as scaled integers in params 5 and 6 (than when sent in float values in COMMAND_LONG).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Commands that require float-only properties in parameters 5, 6 must be sent in COMMAND_LONG (e.g. commands where NaN has an explicit meaning).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Commands that are not positional or that specify integers in params 5 and 6 can be used in either message, if supported by the flight stack.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Flight stacks may support commands in either message COMMAND_INT or COMMAND_LONG or both, albeit with a loss of precision, rounding errors, and/or undefined frames of reference. However they are encouraged to only support positional commands in COMMAND_INT, and commands that have float values in param 5 and 6 in COMMAND_LONG. The flight stack can reject commands sent in the "wrong" message type using the COMMAND_ACK.result of MAV_RESULT_COMMAND_LONG_ONLY or MAV_RESULT_COMMAND_INT_ONLY, as appropriate. Flight stacks that only support a particular command in a particular message type can more generally use these result values to indicate the correct message type for a command.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Sequences

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                COMMAND_INT sequence

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Mermaid Sequence: Command INT

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                The request is sent by the ground station encoded within a COMMAND_INT. The drone processes the request and responds quickly with a COMMAND_ACK indicating the result. The result is that the command has been accepted (COMMAND_ACK.result=MAV_RESULT_ACCEPTED), has been accepted and is in progress (MAV_RESULT_IN_PROGRESS) or it has been rejected with some reason code. Note that "accepted" means that the command is valid and the flight stack will attempt to act on it, not that the command has completed. Most commands just return "accepted" (they are not implemented as long running commands).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                COMMAND_ACK.result_param2 may also include additional information about the reason for command rejection in a command-specific enum.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                If no ACK is received the GCS will resend COMMAND_INT for a flight-specific number of times before giving up.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                COMMAND_LONG sequence

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Mermaid Sequence: Command Long

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                If the command drops the sender should increase the confirmation field:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Mermaid Sequence: increase confirmation field

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Long Running Commands

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Some commands are long running, and cannot complete immediately. The drone reports its progress by sending COMMMAND_ACK messages with COMMAND_ACK.result=MAV_RESULT_IN_PROGRESS and the progress as a percentage in COMMMAND_ACK.progress ([0-100] percent complete, 255 if progress not supplied). When the operation completes, the drone must terminate with a COMMMAND_ACK containing the final result of the operation: MAV_RESULT_ACCEPTED, MAV_RESULT_FAILED, MAV_RESULT_CANCELLED).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Mermaid Sequence: MAV_RESULT_IN_PROGRESS

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Long running operations may be cancelled by sending the COMMAND_CANCEL message. The drone should cancel the operation and complete the sequence by sending COMMAND_ACK with COMMAND_ACK.result=MAV_RESULT_CANCELLED

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • If cancellation is not supported the drone can just continue to send progress updates until completion.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • If the sequence has already completed (or is idle) the cancel command should be ignored.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                The rate at which progress messages are emitted is system-dependent. Generally though, the GCS should have a much increased timeout after receiving an ACK with MAV_RESULT_IN_PROGRESS.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                If a timeout is triggered when waiting for a progress or completion update, the GCS should terminate the sequence (return to the idle state) and notify the user if appropriate.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Only one instance of a particular long running command can execute at a time; to restart a long running operation (i.e. with new parameters) it must first be cancelled! If the same command is recieved while the operation is in progress the new command should be ACKed with MAV_RESULT_TEMPORARILY_REJECTED (to indicate that the target is busy).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                The protocol allows for different long running commands to run in parallel, if supported by the state machine of the recieving flight stack. If a flight stack does not support multiple commands running in parallel it should ACK new commands with MAV_RESULT_TEMPORARILY_REJECTED (with the possible exception of the COMMAND_CANCEL, which might be used to cancel the first request).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Location Commands and Frame Types

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Commands that contain a location or altitude should be sent in COMMAND_INT so that the frame can be specified in the COMMAND_INT.frame field (as outlined above). If sent in COMMAND_LONG the frame is arbitrary, and cannot be predicted.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                A flight stack that does not support the frame specified in a command (if required by command) should reject it with the MAV_RESULT of MAV_RESULT_COMMAND_UNSUPPORTED_MAV_FRAME. This allows consumers to attempt the same command with other frames. Flight stacks that return MAV_RESULT_COMMAND_UNSUPPORTED for this case should be updated to use MAV_RESULT_COMMAND_UNSUPPORTED_MAV_FRAME.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Note that it is an error to ignore the specified frame and use some other arbitrary frame.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Designing Commands

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Guidance for designing commands can be found in Defining XML Elements > Command values.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                At high level:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • Commands that include location information should specify latitude in Param 5, Longitude in param 6, and Altitude in param 7. This allows them to be sent in COMMAND_INT with higher precision.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • Otherwise it is desirable to be able to send commands in either command message. Therefore use param 5 and 6 for integers rather than floats if possible. If reserving values, then consider choosing to reserve params 5 and 6, and reserve them with a default value of 0.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                results matching ""

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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  \ No newline at end of file diff --git a/ko/services/component_information.html b/ko/services/component_information.html index 6d8d39d50..2146ef133 100644 --- a/ko/services/component_information.html +++ b/ko/services/component_information.html @@ -1,4 +1,4 @@ -Component Metadata Protocol (WIP) · MAVLink Developer Guide
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Messages
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Component Metadata Protocol (WIP)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  This service is still marked as "work in progress", and should not be relied upon in production. It has also evolved since first created as the "Component Information Protocol".

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  The Component Metadata Protocol is a MAVLink service for requesting metadata from (and about) MAVLink components. It is intended to provide autopilot- and version- independent feature discovery and configuration, allowing a GCS to configure its UI and/or a device without knowing anything about the connected system.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Information shared using this service may include:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • What types of component information are supported (by this component).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • What MAVLink commands are supported (both in missions and in other modes).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • Parameter metadata for parameters supported by the vehicle.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • Metadata about events emitted by the system
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • Self-describing configuration UIs (i.e. similar to MAVLink camera configuration files).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • Translations of other metadata.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  It will also include CRC32 values any files that contain only static data (no CRC32 should be supplied for metadata files that might be updated dynamically). The general metadata file similarly provides file locations for other metadata supported by a component.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Information supplied by the service is assumed to be invariant after boot. There is no mechanism, for example, to provide an update if the set of supported parameters was to change after boot.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Message/Enum Summary

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MessageDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  COMPONENT_METADATAMessage providing a download url and CRC for the general metadata component information file. The message is requested using MAV_CMD_REQUEST_MESSAGE.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_REQUEST_MESSAGEUse this command to request that a component emit COMPONENT_METADATA. Use param1=397 (the message id of COMPONENT_METADATA).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  EnumDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  COMP_METADATA_TYPETypes of component metadata supported by the protocol - e.g. general information, parameter metadata, supported commands, events, peripherals, etc. The type identifiers are used in the "general" metadata file to identify the sections that provide information about each supported type of metadata.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  COMPONENT_INFORMATION is not used by thie service (it is a deprecated legacy version of COMPONENT_METADATA).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Component Information File Format (Schema)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Component information files are written in JSON and must conform to the schema definitions found in the folder /component_metadata. The component information file types and schema are (at time of writing):

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  TypeType IdSchemaDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  General metadataCOMP_METADATA_TYPE_GENERALgeneral.schema.jsonGeneral information about the component including hardware/firmware vendor version. This metadata includes information about all the other metadata types are supported by the component and where their metadata files are located. This metadata type must be supported if this protocol is supported and the file must be present on vehicle and delivered by MAVLink FTP. Note however that you never actually need to specify this type!
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Parameter metadataCOMP_METADATA_TYPE_PARAMETERparameter.schema.jsonInformation about parameters supported by the vehicle (on boot).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Command protocol metadataCOMP_METADATA_TYPE_COMMANDSTBDInformation about which commands and command paramters are supported in via the command protocol.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Peripheral metadataCOMP_METADATA_TYPE_PERIPHERALSperipherals.schema.jsonInformation about non-MAVLink peripherals connected to vehicle (on boot).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Event metadataCOMP_METADATA_TYPE_EVENTSTBDInformation about events interface support by the vehicle.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Event metadataCOMP_METADATA_TYPE_ACTUATORSactuators.schema.jsonMetadata for actuator configuration (motors, servos and vehicle geometry) and testing.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  All schema files are versioned using a version integer.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Schema versions are backwards compatible - i.e. a ground station that was able to populate its UI from a file based on an older schema should be able to do so from a newer version (albeit losing information provided by the newer format).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Generally this means that new versions may add fields but should not delete them, and also that a recipient can ignore fields that it does not understand.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  The schema are currently a work in progress and can be modified as needed. Once accepted, they will be under change control (managed in a similar way to standard MAVLink messages).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  File Locations/URLs

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  General metadata files must be stored on the device, and will usually be .xz compressed. The location of these files is returned in the COMPONENT_METADATA uri field.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Other component information files may be hosted on either the device or on the internet.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Where permitted by memory constraints you should host component information on the device (so that it is always available and cannot get out of sync).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Files on the device are downloaded using MAVLink FTP. The URI format is defined in MAVLink FTP URL Scheme. A typical parameter metadata URI might look like this: mftp:///component_metadata/parameters.json.xz.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Files on the Internet are downloaded using HTTPS or HTTP via a normal web URL (e.g. https://some_domain/component_metadata/parameters.json).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Metadata Caching (CRC)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  The COMPONENT_METADATA message includes the file_crc field, which contain CRC32 values calculated for the file referenced in the uri field. A ground station should cache downloaded component metadata and only update it if the CRC value changes.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  The component metadata protocol is used to request the location of the general metadata file file, which is then parsed to get the location of other metadata files supported by the component. It will also include CRC32 values any files that contain only static data (no CRC32 should be supplied for metadata files that might be updated dynamically).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  File Compression

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Component information files may be .xz compressed (this is recommended for files that are hosted on the device).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  The prototype implementation generates and compresses component information files at build time. No compression library is required within the flight stack itself.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Systems that request component information must support extraction of .xz-compressed JSON files.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  The Tukaani Project XZ Embedded library is an easy-to-use XZ compression library for embedded systems and cross-platform C/C++ projects.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Sequences

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Component Discovery

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  A GCS can broadcast the MAV_CMD_REQUEST_MESSAGE specifying param1=397; all components that support the protocol should respond with COMPONENT_METADATA.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  A GCS can further discover all components in the system by monitoring the channel for HEARTBEAT ids, and then send the request to each of them to verify whether the protocol is supported. The broadcast approach is recommended for GCSes that don't track all components on the link.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Check if Protocol is Supported

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  A system can query whether another component supports the protocol by sending the command MAV_CMD_REQUEST_MESSAGE (specifying the COMPONENT_METADATA message).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  The component will respond with COMPONENT_METADATA.uri containing a valid URI if the protocol is supported. If the protocol is not supported the component will ACK that the message with MAV_RESULT_UNSUPPORTED, MAV_RESULT_DENIED or MAV_RESULT_FAILED, or return a null value in uri.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  A component that supports this service must return a general metadata file URI that is hosted on the vehicle (accessed using MAVLink FTP).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Get MetaData

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  The basic sequence is shown below.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  In summary:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  1. GCS (client) sends MAV_CMD_REQUEST_MESSAGE to component (server) specifying param1=397.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • This is a normal command protocol request with timeouts and resends based on the ACK.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  2. The component will ACK the command and immediately send the requested COMPONENT_METADATA message (populated with URI and CRC for the general metadata file).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • A CMD_ACK of anything other than MAV_RESULT_ACCEPTED indicates the protocol is not supported (sequence completes).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  3. GCS waits for the COMPONENT_METADATA message
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • If not recieved the GCS should resend the request (typically in the application level).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • Once information is received:
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • the GCS checks if COMPONENT_METADATA.file_crc matches its cached CRC value. If so, there is no need to download the general metadata file (or other files it references) as it has not changed since the last download. If the cached values do not match the associated files should be downloaded and parsed (vehicle firmware has updated).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  4. GCS downloads the file specified in the uri using MAVLink FTP.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  5. GCS parses the general metadata for other supported metadata locations, and then downloads the files via MAVFTP or HTTP(s). This may be done immediately, or as needed.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Metadata Types

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Actuators (COMP_METADATA_TYPE_ACTUATORS)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  The actuators metadata allows a GCS to create a UI to configure and test actuators, and configure vehicle geometries, without having to understand anything about the underlying flight stack.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  The mechanism works similarly to camera definition files. It can be used for flight stacks that allow outputs and geometry definition to be configured using parameters. If flight stack outputs or geometries cannot be configured using parameters, the mechanism can still be used to display the current geometry and output mappings, and to test outputs.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  The definition contains information about actuator output drivers (e.g. PWM MAIN or UAVCAN), the functions that can be assigned to each output channel, supported geometries, and their configuration parameters. Detailed information can be found in the schema file, and there's also an example.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Specifically, the following information is provided:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • A list of actuator output drivers (e.g. PWM MAIN or UAVCAN): outputs_v1. This can be hardware-specific. Each output driver contains one or more groups of output channels. A group contains a common set of configuration parameters, indexed for each channel. A parameter may be assigned a specific meaning, e.g. disarmed. A GCS can use this information to provide specific actions for these (without having to know all disarmed parameters a priori).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • Actuator output functions: functions_v1. A list of the output functions (hardware) that can be connected to a particular output channel, for example: Motor 1, Landing Gear, Camera capture. Each actuator output channel is expected to provide a parameter that can be used to configure its output function.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • A geometry/mixer section: mixer_v1. A list of frame geometries, where at most one geometry is selected (via parameter), and a list of actuator types. An actuator type (e.g. servo or motor) contains limits and defaults for actuator testing, and a set of output function values that can be assigned to this type. A GCS may use the type to render the geometry, so it can display different images depending on the type.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Each mixer contains one or more groups of actuators, where each group belongs to an actuator type. The group can contain a fixed or configurable number of actuators and a set of indexed configuration parameters. If the size is fixed, the actuator group can contain lists of fixed values, e.g. to provide position information for non-configurable actuators. As with the actuator outputs, parameters may be assigned a specific meaning, e.g. posx, which hints to the GCS that this parameter/value defines the x position of the actuator. This can be used to dynamically render a vehicle's geometry.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Additionally there is an optional list of rules. Rules are used to constrain or hide/disable geometry parameters depending on the value of a selection parameter. For example there could be a parameter to select the control surface type, and three parameters to configure the roll, pitch and yaw torque. When the user sets the type to 'Left Aileron', certain restrictions to roll and pitch torque are applied, and the yaw torque is hidden.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  A GCS can provide a UI for testing outputs based on the configured output functions, by iterating over all output channels and collecting the configured actuator output functions, and then utilizing the MAV_CMD_ACTUATOR_TEST command.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Translations

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  At high-level, metadata translation works as follows:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • The metadata provider sets the translationUri in general metadata file for each metadata type that supports translation. Note that the URL has no associated CRC as the translation data can change independently of metadata (for example, adding or changing translations).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • The translationUri URL points to a summary JSON file that contains links to the separate files that contain each translation of the particular metadata type. The translation summary JSON file also contains modification timestamps for each linked translation file so that a GCS can determine whether a particular file has been updated. The translation files are in TS file format, and may optionally be compressed in .xz format.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • A client (GCS) downloads the summary file then uses it to locate and download the translation file(s) it is interested in.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • The client can then apply the downloaded translations to the metadata json file(s) (which contains annotations for which tags to translate).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Caching

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  The following caching strategy is recommended for clients:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • Locally cache the downloaded translation files. These should be used until successfully replaced with a newer version.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • After 3 days attempt to download the summary JSON file again.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • Translation files can either be downloaded whenever the summary is downloaded or only when needed (because a modification timestamp has changed in the summary).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  File Formats

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Component metadata is specified in appropriately formatted JSON files (which may be .xz compressed). The translation section follows this schema, which is used to extract the translation strings into a TS file (see below for a script), and by the client to know which strings to translate. The TS file may be xz compressed.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  This allows to add new metadata without having to change the translation implementation in the client.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  The summary json has the following form:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  {
+Component Metadata Protocol (WIP) · MAVLink Developer Guide
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Component Metadata Protocol (WIP)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  This service is still marked as "work in progress", and should not be relied upon in production. It has also evolved since first created as the "Component Information Protocol".
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  The Component Metadata Protocol is a MAVLink service for requesting metadata from (and about) MAVLink components. It is intended to provide autopilot- and version- independent feature discovery and configuration, allowing a GCS to configure its UI and/or a device without knowing anything about the connected system.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Information shared using this service may include:
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • What types of component information are supported (by this component).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • What MAVLink commands are supported (both in missions and in other modes).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • Parameter metadata for parameters supported by the vehicle.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • Metadata about events emitted by the system
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • Self-describing configuration UIs (i.e. similar to MAVLink camera configuration files).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • Translations of other metadata.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  It will also include CRC32 values any files that contain only static data (no CRC32 should be supplied for metadata files that might be updated dynamically). The general metadata file similarly provides file locations for other metadata supported by a component.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Information supplied by the service is assumed to be invariant after boot. There is no mechanism, for example, to provide an update if the set of supported parameters was to change after boot.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Message/Enum Summary
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MessageDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  COMPONENT_METADATAMessage providing a download url and CRC for the general metadata component information file. The message is requested using MAV_CMD_REQUEST_MESSAGE.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_REQUEST_MESSAGEUse this command to request that a component emit COMPONENT_METADATA. Use param1=397 (the message id of COMPONENT_METADATA).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  EnumDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  COMP_METADATA_TYPETypes of component metadata supported by the protocol - e.g. general information, parameter metadata, supported commands, events, peripherals, etc. The type identifiers are used in the "general" metadata file to identify the sections that provide information about each supported type of metadata.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  COMPONENT_INFORMATION is not used by thie service (it is a deprecated legacy version of COMPONENT_METADATA).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Component Information File Format (Schema)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Component information files are written in JSON and must conform to the schema definitions found in the folder /component_metadata. The component information file types and schema are (at time of writing):
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  TypeType IdSchemaDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  General metadataCOMP_METADATA_TYPE_GENERALgeneral.schema.jsonGeneral information about the component including hardware/firmware vendor version. This metadata includes information about all the other metadata types are supported by the component and where their metadata files are located. This metadata type must be supported if this protocol is supported and the file must be present on vehicle and delivered by MAVLink FTP. Note however that you never actually need to specify this type!
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Parameter metadataCOMP_METADATA_TYPE_PARAMETERparameter.schema.jsonInformation about parameters supported by the vehicle (on boot).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                   Command protocol metadataCOMP_METADATA_TYPE_COMMANDSTBDInformation about which commands and command paramters are supported in via the command protocol.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                   Peripheral metadataCOMP_METADATA_TYPE_PERIPHERALSperipherals.schema.jsonInformation about non-MAVLink peripherals connected to vehicle (on boot).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                   Event metadataCOMP_METADATA_TYPE_EVENTSTBDInformation about events interface support by the vehicle.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                   Event metadataCOMP_METADATA_TYPE_ACTUATORSactuators.schema.jsonMetadata for actuator configuration (motors, servos and vehicle geometry) and testing.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  All schema files are versioned using a version integer.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Schema versions are backwards compatible - i.e. a ground station that was able to populate its UI from a file based on an older schema should be able to do so from a newer version (albeit losing information provided by the newer format).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Generally this means that new versions may add fields but should not delete them, and also that a recipient can ignore fields that it does not understand.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  The schema are currently a work in progress and can be modified as needed. Once accepted, they will be under change control (managed in a similar way to standard MAVLink messages).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  File Locations/URLs
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  General metadata files must be stored on the device, and will usually be .xz compressed. The location of these files is returned in the COMPONENT_METADATA uri field.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Other component information files may be hosted on either the device or on the internet.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Where permitted by memory constraints you should host component information on the device (so that it is always available and cannot get out of sync).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Files on the device are downloaded using MAVLink FTP. The URI format is defined in MAVLink FTP URL Scheme. A typical parameter metadata URI might look like this: mftp:///component_metadata/parameters.json.xz.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Files on the Internet are downloaded using HTTPS or HTTP via a normal web URL (e.g. https://some_domain/component_metadata/parameters.json).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Metadata Caching (CRC)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  The COMPONENT_METADATA message includes the file_crc field, which contain CRC32 values calculated for the file referenced in the uri field. A ground station should cache downloaded component metadata and only update it if the CRC value changes.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  The component metadata protocol is used to request the location of the general metadata file file, which is then parsed to get the location of other metadata files supported by the component. It will also include CRC32 values any files that contain only static data (no CRC32 should be supplied for metadata files that might be updated dynamically).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  File Compression
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Component information files may be .xz compressed (this is recommended for files that are hosted on the device).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  The prototype implementation generates and compresses component information files at build time. No compression library is required within the flight stack itself.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Systems that request component information must support extraction of .xz-compressed JSON files.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  The Tukaani Project XZ Embedded library is an easy-to-use XZ compression library for embedded systems and cross-platform C/C++ projects.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Sequences
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Component Discovery
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  A GCS can broadcast the MAV_CMD_REQUEST_MESSAGE specifying param1=397; all components that support the protocol should respond with COMPONENT_METADATA.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  A GCS can further discover all components in the system by monitoring the channel for HEARTBEAT ids, and then send the request to each of them to verify whether the protocol is supported. The broadcast approach is recommended for GCSes that don't track all components on the link.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Check if Protocol is Supported
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  A system can query whether another component supports the protocol by sending the command MAV_CMD_REQUEST_MESSAGE (specifying the COMPONENT_METADATA message).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  The component will respond with COMPONENT_METADATA.uri containing a valid URI if the protocol is supported. If the protocol is not supported the component will ACK that the message with MAV_RESULT_UNSUPPORTED, MAV_RESULT_DENIED or MAV_RESULT_FAILED, or return a null value in uri.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  A component that supports this service must return a general metadata file URI that is hosted on the vehicle (accessed using MAVLink FTP).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Get MetaData
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  The basic sequence is shown below.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  In summary:
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  1. GCS (client) sends MAV_CMD_REQUEST_MESSAGE to component (server) specifying param1=397.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • This is a normal command protocol request with timeouts and resends based on the ACK.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  2. The component will ACK the command and immediately send the requested COMPONENT_METADATA message (populated with URI and CRC for the general metadata file).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • A CMD_ACK of anything other than MAV_RESULT_ACCEPTED indicates the protocol is not supported (sequence completes).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  3. GCS waits for the COMPONENT_METADATA message
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • If not recieved the GCS should resend the request (typically in the application level).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • Once information is received:
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • the GCS checks if COMPONENT_METADATA.file_crc matches its cached CRC value. If so, there is no need to download the general metadata file (or other files it references) as it has not changed since the last download. If the cached values do not match the associated files should be downloaded and parsed (vehicle firmware has updated).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  4. GCS downloads the file specified in the uri using MAVLink FTP.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  5. GCS parses the general metadata for other supported metadata locations, and then downloads the files via MAVFTP or HTTP(s). This may be done immediately, or as needed.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Metadata Types
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Actuators (COMP_METADATA_TYPE_ACTUATORS)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  The actuators metadata allows a GCS to create a UI to configure and test actuators, and configure vehicle geometries, without having to understand anything about the underlying flight stack.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  The mechanism works similarly to camera definition files. It can be used for flight stacks that allow outputs and geometry definition to be configured using parameters. If flight stack outputs or geometries cannot be configured using parameters, the mechanism can still be used to display the current geometry and output mappings, and to test outputs.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  The definition contains information about actuator output drivers (e.g. PWM MAIN or UAVCAN), the functions that can be assigned to each output channel, supported geometries, and their configuration parameters. Detailed information can be found in the schema file, and there's also an example.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Specifically, the following information is provided:
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • A list of actuator output drivers (e.g. PWM MAIN or UAVCAN): outputs_v1. This can be hardware-specific. Each output driver contains one or more groups of output channels. A group contains a common set of configuration parameters, indexed for each channel. A parameter may be assigned a specific meaning, e.g. disarmed. A GCS can use this information to provide specific actions for these (without having to know all disarmed parameters a priori).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • Actuator output functions: functions_v1. A list of the output functions (hardware) that can be connected to a particular output channel, for example: Motor 1, Landing Gear, Camera capture. Each actuator output channel is expected to provide a parameter that can be used to configure its output function.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • A geometry/mixer section: mixer_v1. A list of frame geometries, where at most one geometry is selected (via parameter), and a list of actuator types. An actuator type (e.g. servo or motor) contains limits and defaults for actuator testing, and a set of output function values that can be assigned to this type. A GCS may use the type to render the geometry, so it can display different images depending on the type.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Each mixer contains one or more groups of actuators, where each group belongs to an actuator type. The group can contain a fixed or configurable number of actuators and a set of indexed configuration parameters. If the size is fixed, the actuator group can contain lists of fixed values, e.g. to provide position information for non-configurable actuators. As with the actuator outputs, parameters may be assigned a specific meaning, e.g. posx, which hints to the GCS that this parameter/value defines the x position of the actuator. This can be used to dynamically render a vehicle's geometry.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Additionally there is an optional list of rules. Rules are used to constrain or hide/disable geometry parameters depending on the value of a selection parameter. For example there could be a parameter to select the control surface type, and three parameters to configure the roll, pitch and yaw torque. When the user sets the type to 'Left Aileron', certain restrictions to roll and pitch torque are applied, and the yaw torque is hidden.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  A GCS can provide a UI for testing outputs based on the configured output functions, by iterating over all output channels and collecting the configured actuator output functions, and then utilizing the MAV_CMD_ACTUATOR_TEST command.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Translations
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  At high-level, metadata translation works as follows:
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • The metadata provider sets the translationUri in general metadata file for each metadata type that supports translation. Note that the URL has no associated CRC as the translation data can change independently of metadata (for example, adding or changing translations).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • The translationUri URL points to a summary JSON file that contains links to the separate files that contain each translation of the particular metadata type. The translation summary JSON file also contains modification timestamps for each linked translation file so that a GCS can determine whether a particular file has been updated. The translation files are in TS file format, and may optionally be compressed in .xz format.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • A client (GCS) downloads the summary file then uses it to locate and download the translation file(s) it is interested in.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • The client can then apply the downloaded translations to the metadata json file(s) (which contains annotations for which tags to translate).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Caching
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  The following caching strategy is recommended for clients:
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • Locally cache the downloaded translation files. These should be used until successfully replaced with a newer version.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • After 3 days attempt to download the summary JSON file again.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • Translation files can either be downloaded whenever the summary is downloaded or only when needed (because a modification timestamp has changed in the summary).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  File Formats
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Component metadata is specified in appropriately formatted JSON files (which may be .xz compressed). The translation section follows this schema, which is used to extract the translation strings into a TS file (see below for a script), and by the client to know which strings to translate. The TS file may be xz compressed.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  This allows to add new metadata without having to change the translation implementation in the client.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  The summary json has the following form:
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  {
   "<locale>": {
     "url": "<file url>.ts.xz",
     "last-modified": "<ISO 8601 timestamp>"
@@ -15,4 +15,4 @@
     "last-modified": "2023-03-22T06:15:59.199476+00:00"
   }
 }
-
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  General metadata will contain the location of translation file URIs, but not their CRC.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Any server can be used to host translations. The following example uses github.com, as it is easy to set up, automate, and download files.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  The example repository is https://github.com/PX4/PX4-Metadata-Translations:
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • metadata/ contains the untranslated metadata JSON files.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • to_translate contains the TS files to translate. This is generated from the files in metadata/ using scripts/prepare_ts.py.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • A translation service, such as crowdin can be used to translate the files
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • translated/ contains translated metadata TS files (in this case synced back from Crowdin)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • scripts/update_summary.py is executed to update the summary JSON file with translation file locations and modification dates.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Open Issues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Schema Management
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Schema management has not yet been signed off.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Guaranteed Availablility of Component Information
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  There is a concern that vehicles reliant on internet-hosted component information files may stop working if the hosting ceases.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  This can generally be avoided by hosting the files compressed on-vehicle.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  We propose that manufacturers that use autopilots with limited flash (1MB or below) and do custom firmware development should host the files in github.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                   results matching ""
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+

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    General metadata will contain the location of translation file URIs, but not their CRC.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Any server can be used to host translations. The following example uses github.com, as it is easy to set up, automate, and download files.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    The example repository is https://github.com/PX4/PX4-Metadata-Translations:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • metadata/ contains the untranslated metadata JSON files.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • to_translate contains the TS files to translate. This is generated from the files in metadata/ using scripts/prepare_ts.py.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • A translation service, such as crowdin can be used to translate the files
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • translated/ contains translated metadata TS files (in this case synced back from Crowdin)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • scripts/update_summary.py is executed to update the summary JSON file with translation file locations and modification dates.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Open Issues

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Schema Management

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Schema management has not yet been signed off.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Guaranteed Availablility of Component Information

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    There is a concern that vehicles reliant on internet-hosted component information files may stop working if the hosting ceases.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    This can generally be avoided by hosting the files compressed on-vehicle.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    We propose that manufacturers that use autopilots with limited flash (1MB or below) and do custom firmware development should host the files in github.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    results matching ""

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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      \ No newline at end of file diff --git a/ko/services/events.html b/ko/services/events.html index 8252e2318..299b33722 100644 --- a/ko/services/events.html +++ b/ko/services/events.html @@ -1 +1 @@ -Events Interface (WIP) · MAVLink Developer Guide
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Events Interface (WIP)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      The Events Interface is a work in progress and may change. It has an initial implementation in PX4 and QGroundControl and is planned for ArduPilot.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      The information below is just an overview. Full details of the interface are provided in the: Events Interface Proposal

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      The Events Interface is a generic and flexible mechanism that allows one component to reliably notify a GCS (or any other component) of sporadic events and state changes. For example, the interface might be used notifying of arming readiness, calibration completion, and reaching the target takeoff height.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      The interface provides for both common events that are shared by flight stacks or other components, and events that are specific to an implementation. MAVLink "common" events are defined in mavlink/libevents/events/common.json.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      The events interface is intended to replace the widespread use of STATUSTEXT messages, which are not really fit for purpose.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Key features

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      The following key features are provided by the interface:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • Reliable delivery with retransmission
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • Consistent interface to report system health and arming checks.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • Minimized buffer requirements on the autopilot side.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • Minimized binary message length
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • Generic: autopilot- and GCS-agnostic.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • Long-term stable and extensible
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • Allows arguments to be attached to an event.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • Possible types: uint8, int8, uint16, int16, uint32, int32, int64, uint64, float
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • Enums and bit fields can be built on top of these types
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • Enable automated processing (for example from a flight log containing events).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • Minimize amount of auto-generated code for embedded implementations.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • Events volume of <1 Hz on average (may scale with protocol parameters adjustments, like retransmission timeouts).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • Events can be targeted or broadcast
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • Any component can send events, including cameras, companion computers, ground stations, etc.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • Events have metadata, like a log level. They can also have a detailed, more extensive description, possibly with URLs.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • Support for message text and message translation.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Message/Enum Summary

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MessageDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      EVENTEvent message. Each new event from a particular component gets a new sequence number. The same message might be sent multiple times if (re-)requested. Most events are broadcast, some can be specific to a target component (as receivers keep track of the sequence for missed events, all events need to be broadcast. Thus we use destination_component instead of target_component).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      CURRENT_EVENT_SEQUENCERegular broadcast for the current latest event sequence number for a component. This is used to check for dropped events.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      REQUEST_EVENTRequest one or more events to be (re-)sent. If first_sequence==last_sequence, only a single event is requested. Note that first_sequence can be larger than last_sequence (because the sequence number can wrap). Each sequence will trigger an EVENT or EVENT_ERROR response.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      RESPONSE_EVENT_ERRORResponse to a REQUEST_EVENT if there is an error requesting an event, including the reason. The most common reason would be that the event is not longer available (has been discarded).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      EnumDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_EVENT_CURRENT_SEQUENCE_FLAGSFlags for CURRENT_EVENT_SEQUENCE. For exmaple, to indicate when the sequence has reset.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_EVENT_ERROR_REASONReasons for an error, as provided in RESPONSE_EVENT_ERROR. For example, common error would be that the event is not available (i.e. it has been discarded).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Implementations

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Implementation PRs and other information is listed below. All of these should be considered prototypes/WIP.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      results matching ""

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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        \ No newline at end of file +Events Interface (WIP) · MAVLink Developer Guide
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Messages
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Messages
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        FAQ
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        FAQ
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Implementations
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Implementations
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Examples
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Examples
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Help

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Events Interface (WIP)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        The Events Interface is a work in progress and may change. It has an initial implementation in PX4 and QGroundControl and is planned for ArduPilot.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        The information below is just an overview. Full details of the interface are provided in the: Events Interface Proposal

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        The Events Interface is a generic and flexible mechanism that allows one component to reliably notify a GCS (or any other component) of sporadic events and state changes. For example, the interface might be used notifying of arming readiness, calibration completion, and reaching the target takeoff height.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        The interface provides for both common events that are shared by flight stacks or other components, and events that are specific to an implementation. MAVLink "common" events are defined in mavlink/libevents/events/common.json.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        The events interface is intended to replace the widespread use of STATUSTEXT messages, which are not really fit for purpose.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Key features

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        The following key features are provided by the interface:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • Reliable delivery with retransmission
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • Consistent interface to report system health and arming checks.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • Minimized buffer requirements on the autopilot side.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • Minimized binary message length
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • Generic: autopilot- and GCS-agnostic.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • Long-term stable and extensible
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • Allows arguments to be attached to an event.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • Possible types: uint8, int8, uint16, int16, uint32, int32, int64, uint64, float
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • Enums and bit fields can be built on top of these types
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • Enable automated processing (for example from a flight log containing events).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • Minimize amount of auto-generated code for embedded implementations.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • Events volume of <1 Hz on average (may scale with protocol parameters adjustments, like retransmission timeouts).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • Events can be targeted or broadcast
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • Any component can send events, including cameras, companion computers, ground stations, etc.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • Events have metadata, like a log level. They can also have a detailed, more extensive description, possibly with URLs.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • Support for message text and message translation.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Message/Enum Summary

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MessageDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        EVENTEvent message. Each new event from a particular component gets a new sequence number. The same message might be sent multiple times if (re-)requested. Most events are broadcast, some can be specific to a target component (as receivers keep track of the sequence for missed events, all events need to be broadcast. Thus we use destination_component instead of target_component).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        CURRENT_EVENT_SEQUENCERegular broadcast for the current latest event sequence number for a component. This is used to check for dropped events.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        REQUEST_EVENTRequest one or more events to be (re-)sent. If first_sequence==last_sequence, only a single event is requested. Note that first_sequence can be larger than last_sequence (because the sequence number can wrap). Each sequence will trigger an EVENT or EVENT_ERROR response.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        RESPONSE_EVENT_ERRORResponse to a REQUEST_EVENT if there is an error requesting an event, including the reason. The most common reason would be that the event is not longer available (has been discarded).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        EnumDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_EVENT_CURRENT_SEQUENCE_FLAGSFlags for CURRENT_EVENT_SEQUENCE. For exmaple, to indicate when the sequence has reset.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_EVENT_ERROR_REASONReasons for an error, as provided in RESPONSE_EVENT_ERROR. For example, common error would be that the event is not available (i.e. it has been discarded).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Implementations

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Implementation PRs and other information is listed below. All of these should be considered prototypes/WIP.

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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          \ No newline at end of file diff --git a/ko/services/ftp.html b/ko/services/ftp.html index 4ade0408e..8b6e6b435 100644 --- a/ko/services/ftp.html +++ b/ko/services/ftp.html @@ -1,4 +1,4 @@ -File Transfer Protocol (FTP) · MAVLink Developer Guide
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          File Transfer Protocol (FTP)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Developers can read the Internet protocol RFCs to understand MAVLink FTP. Note MAVLink FTP implementation closely follows the design of the original internet FTP protocol in terms of the message structure, sequences, and the supported opcodes/operations.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAVLink FTP implementation closely follows the design of the original internet FTP protocol in terms of the message structure, sequences, and the supported opcodes/operations. The File Transfer Protocol (FTP) enables file transfer over MAVLink.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          The protocol follows a client-server pattern, where all commands are sent by the GCS (client), and the Drone (server) responds either with an ACK containing the requested information, or a NAK containing an error. The GCS sets a timeout after most commands, and may resend the command if it is triggered. The drone must re-send its response if a request with the same sequence number is received.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          All messages (commands, ACK, NAK) are exchanged inside FILE_TRANSFER_PROTOCOL messages. This message type definition is minimal, with fields for specifying the target network, system and component, and for an "arbitrary" variable-length payload.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          The different commands and other information required to implement the protocol are encoded within in the FILE_TRANSFER_PROTOCOL payload. This topic explains the encoding, packing format, commands and errors, and the order in which the commands are sent to implement the core FTP functionality.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Protocol Discovery

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          FTP (v1) is supported if the AUTOPILOT_VERSION.capability field has the MAV_PROTOCOL_CAPABILITY_FTP flag set.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          This flag should only be set by a MAVLink component that supports the specific version of the protocol defined in this document.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          The encoding and content of the FILE_TRANSFER_PROTOCOL payload field are not mandated by the specification, and other encoding schemes might be used, for example, in private networks. If you have implemented a private encoding or different version you must not set the MAV_PROTOCOL_CAPABILITY_FTP flag.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Payload Format

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          The FILE_TRANSFER_PROTOCOL payload is encoded with the information required for the various FTP messages. This includes fields for holding the command that is being sent, the sequence number of the current FTP message (for multi-message data transfers), the size of information in the data part of the message etc.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Readers will note that the FTP payload format is very similar to the packet format used for serializing MAVLink itself.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Below is the over-the-wire format for the payload part of the FILE_TRANSFER_PROTOCOL message on PX4/QGroundControl.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          FILE_TRANSFER_PROTOCOL Payload format - QGC

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Byte IndexC versionContentValueExplanation
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          0 to 1uint16_t seq_numberSequence number for message0 - 65535All new messages between the GCS and drone iterate this number. Re-sent commands/ACK/NAK should use the previous response's sequence number.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2uint8_t sessionSession id0 - 255Session id for read/write operations (the server may use this to reference the file handle and information about the progress of read/write operations).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          3uint8_t opcodeOpCode (id)0 - 255Ids for particular commands and ACK/NAK messages.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          4uint8_t sizeSize0 - 255Depends on OpCode. For Reads/Writes this is the size of the data transported. For NAK it is the number of bytes used for error information (1 or 2).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          5uint8_t req_opcodeRequest OpCode0 - 255OpCode (of original message) returned in an ACK or NAK response.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          6uint8_t burst_completeBurst complete0, 1Code to indicate if a burst is complete. 1: set of burst packets complete, 0: More burst packets coming.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          7uint8_t paddingPadding32 bit alignment padding.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          8 to 11uint32_t offsetContent offset8 to 11uint32_t offsetContent offsetOffsets into data to be sent for ListDirectory and ReadFile commands.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          12 to (max) 251uint8_t data[]DataCommand/response data. Varies by OpCode. This contains the path for operations that act on a file or directory. For an ACK for a read or write this is the requested information. For an ACK for a OpenFileRO operation this is the size of the file that was opened. For a NAK the first byte is the error code and the (optional) second byte may be an error number.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          OpCodes/Command

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          The opcodes that may be sent by the GCS (client) to the drone (server) are listed below.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          OpcodeNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          0NoneIgnored, always ACKed
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1TerminateSessionTerminates open Read session.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2ResetSessionsClears all state held by the drone (server); closes all open files, etc.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          3ListDirectorySends an ACK reply with no data.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          </a> 3 | ListDirectory | List directory entry information (files, folders etc.) in <path>, starting from a specified entry index (<offset>). | | 4 | OpenFileRO | Opens file at <path> for reading, returns <session>

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          The drone (server) will respond with/send the following opcodes for any of the above messages (ACK response on success or a NAK in the event of an error).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          OpcodeNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          128ACKACK response.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          129NAKNAK response.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Notes:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • An ACK response may additionally return requested data in the payload (e.g. OpenFileRO returns the session and file size, ReadFile returns the requested file data, etc.).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • The NAK response includes error information in the payload data.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          NAK Error Information

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          NAK responses must include one of the errors codes listed below in the payload data[0] field.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          An appropriate error code must be used if one is defined. If no appropriate error code exists, the Drone (server) may respond with Fail or FailErrno.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          If the error code is FailErrno, then data[1] must additionally contain an error number. This error number is a file-system specific error code (understood by the server).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          The payload size field must be set to either 1 or 2, depending on whether or not FailErrno is specified.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          These are errors. Normally if the GCS receives an error it should not attempt to continue the FTP operation, but instead return to an idle state.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ErrorNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          0NoneNo error
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1FailUnknown failure
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2FailErrnoCommand failed, Err number sent back in PayloadHeader.data[1]. This is a file-system error number understood by the server operating system.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          3InvalidDataSizePayload size is invalid
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          4InvalidSessionSession is not currently open
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          5NoSessionsAvailableAll available sessions are already in use.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          6EOFOffset past end of file for ListDirectory and ReadFile commands.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          7UnknownCommandUnknown command / opcode
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          8FileExistsFile/directory already exists
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          9FileProtectedFile/directory is write protected
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          10FileNotFoundFile/directory not found

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Timeouts/Resending

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          The GCS (client) starts a timeout after most commands are sent (these are cleared if an ACK/NAK is received).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Timeouts may not be set for some messages. For example, a timeout need not set for ResetSessions as the message should always succeed.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          If a timeout activates either the command or its response is assumed to have been lost, and the command should be re-sent with the same sequence number etc. A number of retries are allowed, after which the GCS should fail the whole download and reset to an idle state.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          If the drone (client) receives a message with the same sequence number then it assumes that its ACK/NAK response was lost. In this case it should resend the response (the sequence number is not iterated, because it is as though the previous response was not sent).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          The drone has no timeout mechanism; it only ever responds to commands and does not expect any responses.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          GCS recommended settings:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • ACK/NAK timeout: 50 milliseconds
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • Command retries: 6

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          FTP Operations

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Reading a File (ReadFile)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          After opening a file session, ReadFile is called to request a message sized chunk of the file, which is then returned to the client in an ACK message. The process is repeated at different offsets until the whole file has been retrieved. The file session is then closed.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Burst reading a file is a (generally) faster alternative to this approach.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          The sequence of operations for downloading (reading) a file using [ReadFile] is shown below. This assumes that there are no timeouts and all operations/requests succeed.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Mermaid Sequence: Reading a File

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          The sequence of operations is:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1. GCS (client) sends OpenFileRO command specifying the file path to open.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • The payload must specify: data[0]= file path string, size=length of file path string.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2. Drone (server) responds with either
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • ACK on success. The payload must specify fields: session = file session id, size = 4, data = length of file that has been opened.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • NAK with error information, e.g. NoSessionsAvailable, FileExists. The GCS may cancel the operation, depending on the error.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          3. GCS sends ReadFile commands to download a chunk of data from the file.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • The payload must specify: session=current session, size=size of data to read, offset= position in data to start reading
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          4. Drone responds to each message with either
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • ACK on success. The payload fields are: data = data chunk requested, size = size of data in the data field.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • NAK on failure with error information.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          5. The ReadFile/ACK sequence above is repeated at different offsets to download the whole file.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • Eventually the GCS will (must) request an offset past the end of the file.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • The Drone will return a NAK with error code EOF. The GCS uses this message to recognise the download is complete.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          6. GCS sends TerminateSession to close the file. The drone should send an ACK/NAK, but this may (generally speaking) be ignored by the GCS.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          The GSC should create a timeout after OpenFileRO and ReadFile commands are sent and resend the messages as needed (and described above). A timeout is not set for TerminateSession (the server may ignore failure of the command or the ACK).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Reading a File (BurstReadFile)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          After opening a file for reading, it is read in "bursts". Each burst delivers a part of the file as a stream of messages. The last message in the burst is indicated by setting burst_complete=1 (without any ACKs).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          The client tracks the recieved chunks. On completion of the burst (or the file), if there are any missing parts of the file it can request them using either another burst or using ReadFile.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Burst read is a (generally) faster alternative to using ReadFile to read a file. This is because fewer messages are sent and need to be waited on.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          The sequence of operations for a burst read is shown below (assuming there are no timeouts and all operations/requests succeed).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Mermaid Sequence: Burst read directory

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          The sequence of operations is:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1. GCS (client) sends OpenFileRO command specifying the file path to open.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • The payload must specify: data[0]= file path string, size=length of file path string.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2. Drone (server) responds with either
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • ACK on success. The payload must specify fields: session = file session id, size = 4, data = length of file that has been opened.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • NAK with error information, e.g. NoSessionsAvailable, FileExists. The GCS may cancel the operation, depending on the error.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          3. Client (i.e. GCS) sends BurstReadFile command specifying the part of the file that it wants to get.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • The payload must specify: session: the current session id, offset = offset in file of start of burst, data= length of burst, size=4.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          4. Server (drone) responds with either
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • ACK on success. The payload must specify fields: session = file session id, size = 4, data = lenght of file in burst.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • NAK with error information. The client may cancel the operation, depending on the error.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          5. Server sends stream of BurstReadFile data to client (without ACK) until the whole burst is sent, or a server-defined burst size limit is reached.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • The payload must specify: session=current session, size=size of data to read, offset= position in original data of current chunk.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • The payload must specify burst_complete=0 for all chunks, except the last one, which must set burst_complete=1.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          6. The client must maintain its own record of the received (and missing) chunks. It may request any missing chunks at either the end of a burst or at the end of the file. Missing chunks can be requested using either BurstReadFile or ReadFile.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          7. Client sends TerminateSession to close the file once all the chunks have been downloaded The server should send an ACK/NAK, but this may (generally speaking) be ignored by the client.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          The client should create a timeout while waiting for a new BurstReadFile, and on expiry may request missing parts of the file using either BurstReadFile or ReadFile A timeout is not set for TerminateSession (the server may ignore failure of the command or the ACK).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Uploading a File

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          The sequence of operations for uploading a file to the drone, assuming there are no timeouts and all operations/requests succeed, is shown below.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Mermaid Sequence: Uploading a file

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          The sequence of operations is:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1. GCS (client) sends CreateFile command specifying the file path where the file is to be uploaded.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • The payload must specify: data[0]= target file path string, size=length of file path string.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2. Drone (server) attempts to create the file, and responds with either
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • ACK on success. The payload must specify fields: session = new file session id, size = 0.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • NAK with error information.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • The GCS should cancel the whole operation on error.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • If there is a sequence error at this stage the GCS should send a command to ResetSessions
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          3. GCS sends WriteFile commands to upload a chunk of data to the Drone.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • The payload must specify: session=current session id, data=file chunk,size=length of data, offset= offset of data to write
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          4. Drone responds to each message with either
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • ACK on success. The payload fields are: size = 0.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • NAK on failure with error information.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • The GCS should cancel the whole upload operation by sending a command to ResetSessions if there is an NAK.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          5. The WriteFile/ACK sequence above is repeated at different offsets to upload the whole file. Once the GCS determines that the upload is complete it moves to the next step.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          6. GCS sends TerminateSession to close the file. The drone should send an ACK/NAK, but this may (generally speaking) be ignored by the GCS.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          The GSC should create a timeout after CreateFile and WriteFile commands are sent, and resend the messages as needed (and described above). A timeout is not set for TerminateSession (the server may ignore failure of the command or the ACK).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          PX4 and QGroundControl implement this slightly differently than outlined above. The implementation only has a single session (id=0) so only a single operation can be active at a time. As a result, this operation should only be started if no other operation is active. The drone expects that the session id will be set to zero by the sender of CreateFile. Last of all, the GCS sends ResetSessions rather than TerminateSession. While you can send either if talking to PX4, if the protocol is implemented elsewhere calling ResetSessions may break other communications.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Remove File

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          RemoveFile handling is implemented in PX4 but not in QGroundControl. GCS behaviour is therefore not fully defined/tested.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          The sequence of operations for removing a file is shown below (assuming there are no timeouts and all operations/requests succeed).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Mermaid Sequence: Removing a file

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          The sequence of operations is:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1. GCS sends RemoveFile command specifying the full path of the file to be deleted.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • The payload must specify: data[0]= file path string, size=length of file path string.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2. Drone attempts to delete file, and responds to the message with either:
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • ACK on success, containing payload size=0 (i.e. no data).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • NAK on failure, with error information.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • The drone must clean up any resources associated with the request after sending the response.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          The GSC should create a timeout after the RemoveFile command is sent and resend the message as needed (and described above).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Truncate File

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          The sequence of operations for truncating a file is shown below (assuming there are no timeouts and all operations/requests succeed).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          TruncateFile handling is implemented in PX4 but not in QGroundControl. GCS behaviour is therefore not fully defined/tested.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Mermaid Sequence: Truncate file

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          The sequence of operations is:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1. GCS sends TruncateFile command specifying file to truncate and the offset for truncation.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • The payload must specify: data[0]= file path string, size = length of file path string, offset = truncation point in file (amount of data to keep).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2. Drone attempts to truncate file, and responds to the message with either:
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • ACK on success, containing payload size=0 (i.e. no data).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • The request should succeed if the offset is the same as the file size, and may be attempted if the offset is zero (i.e. truncate whole file).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • NAK on failure, with error information.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • The request should fail if the offset is 0 (truncate whole file) and for normal file system errors.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • The drone must clean up any resources associated with the request after sending the response.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          The GSC should create a timeout after the TruncateFile command is sent and resend the message as needed (and described above).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          List Directory

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          The sequence of operations for getting a directory listing is shown below (assuming there are no timeouts and all operations/requests succeed).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Mermaid Sequence: List Directory

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          The sequence of operations is:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1. GCS sends ListDirectory command specifying a directory path and the index of an entry.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • The payload must specify:
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • data[0] = file path
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • size = length of path string
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • offset = The index of the first entry to get (0 for first entry, 1 for second, etc.).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2. Drone responds with an ACK containing one or more entries (the first entry is the one specified in request offset field).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • The payload must specify:
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • data[0] = Information for one or more (sequential) entries, starting at the requested entry index (offset). Each entry is separated with a null terminator (\0), and has the following format (where type is one of the letters F(ile), D(irectory), S(skip)) <type><file_or_folder_name>\t<file_size_in_bytes>\0 For example, given five files named TestFile1.xml to TestFile5.xml, the entries returned at offset 2 might look like: FTestFile3.xml\t223\0FTestFile4.xml\t755568\0FTestFile5.xml\t11111\0
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • size = The size of the data.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          3. The operation is then repeated at different offsets to download the whole directory listing. > Note The offset for each request will depend on how many entries were returned by the previous request(s).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          4. The operation completes when the GCS requests an entry index (offset) greater than or equal to the number of entries. In this case the drone responds with a NAK containing EOF (end of file).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          The GSC should create a timeout after the ListDirectory command is sent and resend the message as needed (and described above).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          The drone may also NAK with an unexpected error. Generally errors are unrecoverable, and the drone must clean up all resources (i.e. close file handles) associated with the request after sending the NAK.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Create Directory

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          The sequence of operations for creating a directory is shown below (assuming there are no timeouts and all operations/requests succeed). Note that this operation will fail if the directory is not empty.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Mermaid Sequence: Create Directory

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          The sequence of operations is:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1. GCS sends CreateDirectory command specifying the full path of the directory to be created.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • The payload must specify: data[0]= directory path string, size=length of directory path string.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2. Drone attempts to create directory, and responds to the message with either:
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • ACK on success, containing payload size=0 (i.e. no data).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • NAK on failure, with error information.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • The drone must clean up any resources associated with the request after sending the response.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          The GSC should not create timeouts or handle the NAK case (other than to report an error to the user).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Remove Directory

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          RemoveDirectory handling is implemented in PX4 but not in QGroundControl. GCS behaviour is therefore not fully defined/tested.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          The sequence of operations for removing a directory is shown below (assuming there are no timeouts and all operations/requests succeed). Note that this operation will fail if the directory is not empty.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Mermaid Sequence: Remove directory

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          The sequence of operations is:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1. GCS sends RemoveDirectory command specifying the full path of the directory to be deleted.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • The payload must specify: data[0]= directory path string, size=length of directory path string.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2. Drone attempts to delete directory, and responds to the message with either:
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • ACK on success, containing payload size=0 (i.e. no data).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • NAK on failure, with error information.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • The drone must clean up any resources associated with the request after sending the response.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          The GSC should create a timeout after the RemoveDirectory command is sent and resend the message as needed (and described above).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Implementations

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          The FTP v1 Protocol has been implemented (at least) in PX4, ArduPilot, QGroundControl and MAVSDK. Those implementations can be used in your own code within the terms of their software licenses.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          PX4 Implementation:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          QGroundControl implementation:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Everything is run by the master (QGC in this case); the slave simply responds to packets in order as they arrive. There’s buffering in the server for a little overlap (two packets in the queue at a time). This is a tradeoff between memory and link latency which may need to be reconsidered at some point.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          The MAVLink receiver thread copies an incoming request verbatim from the MAVLink buffer into a request queue, and queues a low-priority work item to handle the packet. This avoids trying to do file I/O on the MAVLink receiver thread, as well as avoiding yet another worker thread. The worker is responsible for directly queuing replies, which are sent with the same sequence number as the request.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          The implementation on PX4 only supports a single session.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          CRC32 Implementation

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          The CRC32 algorithm used by MAVLink FTP is described in MAVLink CRCs.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Resources to be downloaded using MAVLink FTP can be referenced using the following URL-like format:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          mftp://[;comp=<id>]<path>
+File Transfer Protocol (FTP) · MAVLink Developer Guide
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          File Transfer Protocol (FTP)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Developers can read the Internet protocol RFCs to understand MAVLink FTP. Note MAVLink FTP implementation closely follows the design of the original internet FTP protocol in terms of the message structure, sequences, and the supported opcodes/operations.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAVLink FTP implementation closely follows the design of the original internet FTP protocol in terms of the message structure, sequences, and the supported opcodes/operations. The File Transfer Protocol (FTP) enables file transfer over MAVLink.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          The protocol follows a client-server pattern, where all commands are sent by the GCS (client), and the Drone (server) responds either with an ACK containing the requested information, or a NAK containing an error. The GCS sets a timeout after most commands, and may resend the command if it is triggered. The drone must re-send its response if a request with the same sequence number is received.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          All messages (commands, ACK, NAK) are exchanged inside FILE_TRANSFER_PROTOCOL messages. This message type definition is minimal, with fields for specifying the target network, system and component, and for an "arbitrary" variable-length payload.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          The different commands and other information required to implement the protocol are encoded within in the FILE_TRANSFER_PROTOCOL payload. This topic explains the encoding, packing format, commands and errors, and the order in which the commands are sent to implement the core FTP functionality.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Protocol Discovery
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          FTP (v1) is supported if the AUTOPILOT_VERSION.capability field has the MAV_PROTOCOL_CAPABILITY_FTP flag set.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          This flag should only be set by a MAVLink component that supports the specific version of the protocol defined in this document.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          The encoding and content of the FILE_TRANSFER_PROTOCOL payload field are not mandated by the specification, and other encoding schemes might be used, for example, in private networks. If you have implemented a private encoding or different version you must not set the MAV_PROTOCOL_CAPABILITY_FTP flag.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Payload Format
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          The FILE_TRANSFER_PROTOCOL payload is encoded with the information required for the various FTP messages. This includes fields for holding the command that is being sent, the sequence number of the current FTP message (for multi-message data transfers), the size of information in the data part of the message etc.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Readers will note that the FTP payload format is very similar to the packet format used for serializing MAVLink itself.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Below is the over-the-wire format for the payload part of the FILE_TRANSFER_PROTOCOL message on PX4/QGroundControl.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          FILE_TRANSFER_PROTOCOL Payload format - QGC
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Byte IndexC versionContentValueExplanation
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          0 to 1uint16_t seq_numberSequence number for message0 - 65535All new messages between the GCS and drone iterate this number. Re-sent commands/ACK/NAK should use the previous response's sequence number.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2uint8_t sessionSession id0 - 255Session id for read/write operations (the server may use this to reference the file handle and information about the progress of read/write operations).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          3uint8_t opcodeOpCode (id)0 - 255Ids for particular commands and ACK/NAK messages.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          4uint8_t sizeSize0 - 255Depends on OpCode. For Reads/Writes this is the size of the data transported. For NAK it is the number of bytes used for error information (1 or 2).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          5uint8_t req_opcodeRequest OpCode0 - 255OpCode (of original message) returned in an ACK or NAK response.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          6uint8_t burst_completeBurst complete0, 1Code to indicate if a burst is complete. 1: set of burst packets complete, 0: More burst packets coming.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          7uint8_t paddingPadding32 bit alignment padding.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          8 to 11uint32_t offsetContent offset8 to 11uint32_t offsetContent offsetOffsets into data to be sent for ListDirectory and ReadFile commands.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          12 to (max) 251uint8_t data[]DataCommand/response data. Varies by OpCode. This contains the path for operations that act on a file or directory. For an ACK for a read or write this is the requested information. For an ACK for a OpenFileRO operation this is the size of the file that was opened. For a NAK the first byte is the error code and the (optional) second byte may be an error number.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          OpCodes/Command
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          The opcodes that may be sent by the GCS (client) to the drone (server) are listed below.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          OpcodeNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          0NoneIgnored, always ACKed
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                           1TerminateSessionTerminates open Read session.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                           2ResetSessionsClears all state held by the drone (server); closes all open files, etc.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                           3ListDirectorySends an ACK reply with no data.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          </a> 3 | ListDirectory | List directory entry information (files, folders etc.) in <path>, starting from a specified entry index (<offset>). | |  4 | OpenFileRO | Opens file at <path> for reading, returns <session>
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          The drone (server) will respond with/send the following opcodes for any of the above messages (ACK response on success or a NAK in the event of an error).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          OpcodeNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          128ACKACK response.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          129NAKNAK response.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Notes:
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • An ACK response may additionally return requested data in the payload (e.g. OpenFileRO returns the session and file size, ReadFile returns the requested file data, etc.).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • The NAK response includes error information in the payload data.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          NAK Error Information
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          NAK responses must include one of the errors codes listed below in the payload data[0] field.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          An appropriate error code must be used if one is defined. If no appropriate error code exists, the Drone (server) may respond with Fail or FailErrno.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          If the error code is FailErrno, then data[1] must additionally contain an error number. This error number is a file-system specific error code (understood by the server).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          The payload size field must be set to either 1 or 2, depending on whether or not FailErrno is specified.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          These are errors. Normally if the GCS receives an error it should not attempt to continue the FTP operation, but instead return to an idle state.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ErrorNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          0NoneNo error
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1FailUnknown failure
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2FailErrnoCommand failed, Err number sent back in PayloadHeader.data[1]. This is a file-system error number understood by the server operating system.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          3InvalidDataSizePayload size is invalid
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          4InvalidSessionSession is not currently open
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          5NoSessionsAvailableAll available sessions are already in use.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          6EOFOffset past end of file for ListDirectory and ReadFile commands.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          7UnknownCommandUnknown command / opcode
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          8FileExistsFile/directory already exists
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          9FileProtectedFile/directory is write protected
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          10FileNotFoundFile/directory not found
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Timeouts/Resending
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          The GCS (client) starts a timeout after most commands are sent (these are cleared if an ACK/NAK is received).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Timeouts may not be set for some messages. For example, a timeout need not set for ResetSessions as the message should always succeed.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          If a timeout activates either the command or its response is assumed to have been lost, and the command should be re-sent with the same sequence number etc. A number of retries are allowed, after which the GCS should fail the whole download and reset to an idle state.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          If the drone (client) receives a message with the same sequence number then it assumes that its ACK/NAK response was lost. In this case it should resend the response (the sequence number is not iterated, because it is as though the previous response was not sent).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          The drone has no timeout mechanism; it only ever responds to commands and does not expect any responses.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          GCS recommended settings:
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • ACK/NAK timeout: 50 milliseconds
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • Command retries: 6
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          FTP Operations
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Reading a File (ReadFile)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          After opening a file session, ReadFile is called to request a message sized chunk of the file, which is then returned to the client in an ACK message. The process is repeated at different offsets until the whole file has been retrieved. The file session is then closed.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Burst reading a file is a (generally) faster alternative to this approach.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          The sequence of operations for downloading (reading) a file using [ReadFile] is shown below. This assumes that there are no timeouts and all operations/requests succeed.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Mermaid Sequence: Reading a File
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          The sequence of operations is:
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1. GCS (client) sends OpenFileRO command specifying the file path to open.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • The payload must specify: data[0]= file path string, size=length of file path string.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2. Drone (server) responds with either
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • ACK on success. The payload must specify fields: session = file session id, size = 4, data = length of file that has been opened.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • NAK with error information, e.g. NoSessionsAvailable, FileExists. The GCS may cancel the operation, depending on the error.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          3. GCS sends ReadFile commands to download a chunk of data from the file.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • The payload must specify: session=current session, size=size of data to read, offset= position in data to start reading
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          4. Drone responds to each message with either
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • ACK on success. The payload fields are: data = data chunk requested, size = size of data in the data field.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • NAK on failure with error information.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          5. The ReadFile/ACK sequence above is repeated at different offsets to download the whole file.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • Eventually the GCS will (must) request an offset past the end of the file.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • The Drone will return a NAK with error code EOF. The GCS uses this message to recognise the download is complete.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          6. GCS sends TerminateSession to close the file. The drone should send an ACK/NAK, but this may (generally speaking) be ignored by the GCS.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          The GSC should create a timeout after OpenFileRO and ReadFile commands are sent and resend the messages as needed (and described above). A timeout is not set for TerminateSession (the server may ignore failure of the command or the ACK).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Reading a File (BurstReadFile)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          After opening a file for reading, it is read in "bursts". Each burst delivers a part of the file as a stream of messages. The last message in the burst is indicated by setting burst_complete=1 (without any ACKs).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          The client tracks the recieved chunks. On completion of the burst (or the file), if there are any missing parts of the file it can request them using either another burst or using ReadFile.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Burst read is a (generally) faster alternative to using ReadFile to read a file. This is because fewer messages are sent and need to be waited on.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          The sequence of operations for a burst read is shown below (assuming there are no timeouts and all operations/requests succeed).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Mermaid Sequence: Burst read directory
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          The sequence of operations is:
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1. GCS (client) sends OpenFileRO command specifying the file path to open.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • The payload must specify: data[0]= file path string, size=length of file path string.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2. Drone (server) responds with either
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • ACK on success. The payload must specify fields: session = file session id, size = 4, data = length of file that has been opened.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • NAK with error information, e.g. NoSessionsAvailable, FileExists. The GCS may cancel the operation, depending on the error.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          3. Client (i.e. GCS) sends BurstReadFile command specifying the part of the file that it wants to get.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • The payload must specify: session: the current session id, offset = offset in file of start of burst, data= length of burst, size=4.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          4. Server (drone) responds with either
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • ACK on success. The payload must specify fields: session = file session id, size = 4, data = lenght of file in burst.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • NAK with error information. The client may cancel the operation, depending on the error.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          5. Server sends stream of BurstReadFile data to client (without ACK) until the whole burst is sent, or a server-defined burst size limit is reached.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • The payload must specify: session=current session, size=size of data to read, offset= position in original data of current chunk.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • The payload must specify burst_complete=0 for all chunks, except the last one, which must set burst_complete=1.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          6. The client must maintain its own record of the received (and missing) chunks. It may request any missing chunks at either the end of a burst or at the end of the file. Missing chunks can be requested using either BurstReadFile or ReadFile.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          7. Client sends TerminateSession to close the file once all the chunks have been downloaded The server should send an ACK/NAK, but this may (generally speaking) be ignored by the client.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          The client should create a timeout while waiting for a new BurstReadFile, and on expiry may request missing parts of the file using either BurstReadFile or ReadFile A timeout is not set for TerminateSession (the server may ignore failure of the command or the ACK).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Uploading a File
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          The sequence of operations for uploading a file to the drone, assuming there are no timeouts and all operations/requests succeed, is shown below.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Mermaid Sequence: Uploading a file
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          The sequence of operations is:
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1. GCS (client) sends CreateFile command specifying the file path where the file is to be uploaded.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • The payload must specify: data[0]= target file path string, size=length of file path string.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2. Drone (server) attempts to create the file, and responds with either
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • ACK on success. The payload must specify fields: session = new file session id, size = 0.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • NAK with error information.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • The GCS should cancel the whole operation on error.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • If there is a sequence error at this stage the GCS should send a command to ResetSessions
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          3. GCS sends WriteFile commands to upload a chunk of data to the Drone.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • The payload must specify: session=current session id, data=file chunk,size=length of data, offset= offset of data to write
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          4. Drone responds to each message with either
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • ACK on success. The payload fields are: size = 0.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • NAK on failure with error information.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • The GCS should cancel the whole upload operation by sending a command to ResetSessions if there is an NAK.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          5. The WriteFile/ACK sequence above is repeated at different offsets to upload the whole file. Once the GCS determines that the upload is complete it moves to the next step.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          6. GCS sends TerminateSession to close the file. The drone should send an ACK/NAK, but this may (generally speaking) be ignored by the GCS.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          The GSC should create a timeout after CreateFile and WriteFile commands are sent, and resend the messages as needed (and described above). A timeout is not set for TerminateSession (the server may ignore failure of the command or the ACK).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          PX4 and QGroundControl implement this slightly differently than outlined above. The implementation only has a single session (id=0) so only a single operation can be active at a time. As a result, this operation should only be started if no other operation is active. The drone expects that the session id will be set to zero by the sender of CreateFile. Last of all, the GCS sends ResetSessions rather than TerminateSession. While you can send either if talking to PX4, if the protocol is implemented elsewhere calling ResetSessions may break other communications.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Remove File
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          RemoveFile handling is implemented in PX4 but not in QGroundControl. GCS behaviour is therefore not fully defined/tested.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          The sequence of operations for removing a file is shown below (assuming there are no timeouts and all operations/requests succeed).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Mermaid Sequence: Removing a file
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          The sequence of operations is:
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1. GCS sends RemoveFile command specifying the full path of the file to be deleted.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • The payload must specify: data[0]= file path string, size=length of file path string.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2. Drone attempts to delete file, and responds to the message with either:
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • ACK on success, containing payload size=0 (i.e. no data).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • NAK on failure, with error information.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • The drone must clean up any resources associated with the request after sending the response.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          The GSC should create a timeout after the RemoveFile command is sent and resend the message as needed (and described above).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Truncate File
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          The sequence of operations for truncating a file is shown below (assuming there are no timeouts and all operations/requests succeed).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          TruncateFile handling is implemented in PX4 but not in QGroundControl. GCS behaviour is therefore not fully defined/tested.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Mermaid Sequence: Truncate file
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          The sequence of operations is:
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1. GCS sends TruncateFile command specifying file to truncate and the offset for truncation.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • The payload must specify: data[0]= file path string, size = length of file path string, offset = truncation point in file (amount of data to keep).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2. Drone attempts to truncate file, and responds to the message with either:
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • ACK on success, containing payload size=0 (i.e. no data).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • The request should succeed if the offset is the same as the file size, and may be attempted if the offset is zero (i.e. truncate whole file).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • NAK on failure, with error information.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • The request should fail if the offset is 0 (truncate whole file) and for normal file system errors.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • The drone must clean up any resources associated with the request after sending the response.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          The GSC should create a timeout after the TruncateFile command is sent and resend the message as needed (and described above).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          List Directory
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          The sequence of operations for getting a directory listing is shown below (assuming there are no timeouts and all operations/requests succeed).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Mermaid Sequence: List Directory
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          The sequence of operations is:
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1. GCS sends ListDirectory command specifying a directory path and the index of an entry.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • The payload must specify:
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • data[0] = file path
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • size = length of path string
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • offset = The index of the first entry to get (0 for first entry, 1 for second, etc.).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2. Drone responds with an ACK containing one or more entries (the first entry is the one specified in request offset field).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • The payload must specify:
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • data[0] = Information for one or more (sequential) entries, starting at the requested entry index (offset). Each entry is separated with a null terminator (\0), and has the following format (where type is one of the letters F(ile), D(irectory), S(skip)) <type><file_or_folder_name>\t<file_size_in_bytes>\0 For example, given five files named TestFile1.xml to TestFile5.xml, the entries returned at offset 2 might look like: FTestFile3.xml\t223\0FTestFile4.xml\t755568\0FTestFile5.xml\t11111\0
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • size = The size of the data.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          3. The operation is then repeated at different offsets to download the whole directory listing. > Note The offset for each request will depend on how many entries were returned by the previous request(s).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          4. The operation completes when the GCS requests an entry index (offset) greater than or equal to the number of entries. In this case the drone responds with a NAK containing EOF (end of file).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          The GSC should create a timeout after the ListDirectory command is sent and resend the message as needed (and described above).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          The drone may also NAK with an unexpected error. Generally errors are unrecoverable, and the drone must clean up all resources (i.e. close file handles) associated with the request after sending the NAK.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Create Directory
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          The sequence of operations for creating a directory is shown below (assuming there are no timeouts and all operations/requests succeed). Note that this operation will fail if the directory is not empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Mermaid Sequence: Create Directory
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          The sequence of operations is:
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1. GCS sends CreateDirectory command specifying the full path of the directory to be created.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • The payload must specify: data[0]= directory path string, size=length of directory path string.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2. Drone attempts to create directory, and responds to the message with either:
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • ACK on success, containing payload size=0 (i.e. no data).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • NAK on failure, with error information.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • The drone must clean up any resources associated with the request after sending the response.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          The GSC should not create timeouts or handle the NAK case (other than to report an error to the user).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Remove Directory
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          RemoveDirectory handling is implemented in PX4 but not in QGroundControl. GCS behaviour is therefore not fully defined/tested.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          The sequence of operations for removing a directory is shown below (assuming there are no timeouts and all operations/requests succeed). Note that this operation will fail if the directory is not empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Mermaid Sequence: Remove directory
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          The sequence of operations is:
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1. GCS sends RemoveDirectory command specifying the full path of the directory to be deleted.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • The payload must specify: data[0]= directory path string, size=length of directory path string.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2. Drone attempts to delete directory, and responds to the message with either:
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • ACK on success, containing payload size=0 (i.e. no data).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • NAK on failure, with error information.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • The drone must clean up any resources associated with the request after sending the response.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          The GSC should create a timeout after the RemoveDirectory command is sent and resend the message as needed (and described above).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Implementations
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          The FTP v1 Protocol has been implemented (at least) in PX4, ArduPilot, QGroundControl and MAVSDK. Those implementations can be used in your own code within the terms of their software licenses.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          PX4 Implementation:
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          QGroundControl implementation:
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Everything is run by the master (QGC in this case); the slave simply responds to packets in order as they arrive. There’s buffering in the server for a little overlap (two packets in the queue at a time). This is a tradeoff between memory and link latency which may need to be reconsidered at some point.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          The MAVLink receiver thread copies an incoming request verbatim from the MAVLink buffer into a request queue, and queues a low-priority work item to handle the packet. This avoids trying to do file I/O on the MAVLink receiver thread, as well as avoiding yet another worker thread. The worker is responsible for directly queuing replies, which are sent with the same sequence number as the request.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          The implementation on PX4 only supports a single session.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          CRC32 Implementation
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          The CRC32 algorithm used by MAVLink FTP is described in MAVLink CRCs.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Resources to be downloaded using MAVLink FTP can be referenced using the following URL-like format:
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          mftp://[;comp=<id>]<path>
 
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Where:
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • path: the location of the resource on the target component.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • id: target component ID of the component hosting the resource. The [;comp=<id>] part is optional (if omitted, the resource is downloaded from the current component). It should be specified if the request must be redirected
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          For example:
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • A GCS connected to an autopilot might download a file using the following URL: ## FTP resource 'camera.xml' from current component mftp://camera.xml https://mermaid-js.github.io/mermaid-live-editor/edit/#pako:eNqtVE2P0zAQ_Ssjn1Ipu-pKnAKtBIW9ILFSy42iyE0mjYVjB3tCtaz2vzOOk34stKxYemgSz7x58549fhCFLVFkwuP3Dk2B75XcOtm8XhvgXysdqUK10hAstEJDv6-v0P1AF9c_WUKw_DlkpzGYwV2LBiqlEZLKOth0zhM4lKUy28kR1qltTWCrAZ_BMvTFuXYsEJNj-Go-Hwl6hluOL-8SKCXJL9Ovs1ZSnYJXP3Gm0SThcwIDXQRecYmR6u3iYwIevVfWDKhXaV-rRwfyPfqs0CVrAqoxilUmSvWQOGxREow-wwa13QGvGNyx4Moj-Wc5cfCu34aQsudLmJBq5aGQHkPxWHg2nZyz7V2oFpoO3h3JH4FH9gUncmXyvoF_9_GkDJw6qrHqBY3txSd4YrmN72sET4u6M9980KdMwSHPp2j0EHaK6mhSXtim1Ug4m57r9VT-vumn8D_6semqCt0k3R-3YeF_cb0pOucYmfM30vwFzNfX1xdMvuWB1JL3ouGW5PZwankT6Wl7Ny9Td3NQF58sLg_k-ZAYdvb5Ui-PoTT30Cjfn44wKh66_v2kVUj2Iyk3XGoCbMcY_AvLQlses0Er7GoMf1YPw1hYrbEgLM_N3md0jTKScBUrjK5dnCwOilQ0DJWq5Iv7ISSvBV8BDa5Fxq8lVrLTtBZr88ipXcvW4YdSkXUiq6T2mArZkV3dm0Jk5Dock4bLf8h6_AUnGRvv
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • A GCS connected to an autopilot through a companion computer might host the metadata on the companion (e.g. due to lack of flash space, faster download or if there's a central MAVFTP server on the vehicle), so it would need to specify the component ID of the component running on the companion (e.g. 100 for the camera), so that the request is redirected: ## FTP resource '/info/version.json' from component with id 100 mftp://[;comp=100]/info/version.json
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              ## FTP resource '/info/version.json' from component with id 100
   mftp://[;comp=100]/info/version.json
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Gimbal Configuration Protocol (v1)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              This service defintion has been superseded by Gimbal Protocol v2 (gimbal manufacturers/GCSs/autopilots are expected to use the new API, but the old API is still in broad use, and there is no plan to for it to be removed).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              The gimbal configuration message set uses a number of commands and few special-purpose messages to configure a payload mount.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              By default the gimbal should be communicating with the component ID MAV_COMP_ID_GIMBAL.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Commands to Configure and Control Gimbal

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              The commands to use mavlink gimbals are MAV_CMD_DO_MOUNT_CONFIGURE and MAV_CMD_DO_MOUNT_CONTROL. MAV_CMD_DO_MOUNT_CONTROL_QUAT is also defined but does not seem to be implemented by any systems at time of writing.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              CommandDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_DO_MOUNT_CONFIGUREConfigure a camera or antenna mount
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_DO_MOUNT_CONTROLControl mount
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_DO_MOUNT_CONTROL_QUATControl a camera or antenna mount, using a quaternion as reference.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              EnumDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_MOUNT_MODEEnumeration of possible mount operation modes.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Command to Reboot or Shutdown Gimbal

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              To reboot or shut down a gimbal send the command MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN. The options to be set for the gimbal are found in param4.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              This is the same message/process as for autopilot systems.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Telemetry from Gimbal

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              A gimbal (or mount) should send a HEARTBEAT (e.g. every second) just like any other MAVLink component. Additionally, it can send feedback about the angles it's pointing using the message MOUNT_ORIENTATION.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Known Issues

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              This version of the gimbal protocol (v1) has a number of known issues:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • Unspecified signs in DO_MOUNT_CONTROL.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • Confusing order of axes in DO_MOUNT_CONTROL.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • Unclear “stabilize” flags in DO_MOUNT_CONFIGURE.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • Confusing and unimplemented “absolute” flags in DO_MOUNT_CONFIGURE.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • Unclear when to use DO_MOUNT_CONTROL or DO_MOUNT_CONFIGURE.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • Too many overloaded params in DO_MOUNT_CONTROL depending on GPS or targetting.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • Unusual param number for DO_MOUNT_CONTROL.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • The GPS mode in DO_MOUNT_CONTROL conflicts with DO_SET_ROI_* commands.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • MOUNT naming makes discovery hard.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • Unused DO_MOUNT_CONTROL_QUAT.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • Confusion and conflicts between gimbal commands used between ground station and gimbal messages between autopilot and gimbal.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • Commands require acknowledgements back and are therefore not suitable for higher rate setpoint streams for manual control.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • Control conflicts between different sources. It is not clear what takes precedence and how the deconfliction between different sources and commands should be implemented.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              If possible migrate to Gimbal Protocol v2 which addresses these issues.

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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Gimbal Configuration Protocol (v1)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                This service defintion has been superseded by Gimbal Protocol v2 (gimbal manufacturers/GCSs/autopilots are expected to use the new API, but the old API is still in broad use, and there is no plan to for it to be removed).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                The gimbal configuration message set uses a number of commands and few special-purpose messages to configure a payload mount.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                By default the gimbal should be communicating with the component ID MAV_COMP_ID_GIMBAL.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Commands to Configure and Control Gimbal

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                The commands to use mavlink gimbals are MAV_CMD_DO_MOUNT_CONFIGURE and MAV_CMD_DO_MOUNT_CONTROL. MAV_CMD_DO_MOUNT_CONTROL_QUAT is also defined but does not seem to be implemented by any systems at time of writing.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                CommandDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_DO_MOUNT_CONFIGUREConfigure a camera or antenna mount
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_DO_MOUNT_CONTROLControl mount
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_DO_MOUNT_CONTROL_QUATControl a camera or antenna mount, using a quaternion as reference.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                EnumDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_MOUNT_MODEEnumeration of possible mount operation modes.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Command to Reboot or Shutdown Gimbal

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                To reboot or shut down a gimbal send the command MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN. The options to be set for the gimbal are found in param4.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                This is the same message/process as for autopilot systems.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Telemetry from Gimbal

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                A gimbal (or mount) should send a HEARTBEAT (e.g. every second) just like any other MAVLink component. Additionally, it can send feedback about the angles it's pointing using the message MOUNT_ORIENTATION.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Known Issues

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                This version of the gimbal protocol (v1) has a number of known issues:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • Unspecified signs in DO_MOUNT_CONTROL.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • Confusing order of axes in DO_MOUNT_CONTROL.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • Unclear “stabilize” flags in DO_MOUNT_CONFIGURE.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • Confusing and unimplemented “absolute” flags in DO_MOUNT_CONFIGURE.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • Unclear when to use DO_MOUNT_CONTROL or DO_MOUNT_CONFIGURE.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • Too many overloaded params in DO_MOUNT_CONTROL depending on GPS or targetting.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • Unusual param number for DO_MOUNT_CONTROL.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • The GPS mode in DO_MOUNT_CONTROL conflicts with DO_SET_ROI_* commands.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • MOUNT naming makes discovery hard.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • Unused DO_MOUNT_CONTROL_QUAT.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • Confusion and conflicts between gimbal commands used between ground station and gimbal messages between autopilot and gimbal.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • Commands require acknowledgements back and are therefore not suitable for higher rate setpoint streams for manual control.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • Control conflicts between different sources. It is not clear what takes precedence and how the deconfliction between different sources and commands should be implemented.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                If possible migrate to Gimbal Protocol v2 which addresses these issues.

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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Gimbal Protocol (v2)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  This version supersedes Gimbal Protocol v1 Existing functionality is now fixed, but compatible changes may still be added.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Introduction

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  The gimbal protocol allows MAVLink control over the attitude/orientation of cameras (or other sensors) mounted on the drone. The orientation can be: controlled by the pilot in real time (e.g. using a joystick from a ground station), set as part of a mission, or moved based on camera tracking.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  The protocol also defines what status information is published for developers, configurators, as well as users of the drone. It additionally provides ways to assign control to different sources.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  The protocol supports a number of hardware setups, and enables gimbals with varying capabilities.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  The original protocol design document can be found here.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Concepts

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Gimbal Manager and Gimbal Device

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  To accommodate gimbals with varying capabilities, and various hardware setups, "a gimbal" is conceptually split into two parts:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • Gimbal Device: the actual gimbal device, hardware and software.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • Gimbal Manager: software to deconflict gimbal messages and commands from different sources, and to abstract the capabilities of the Gimbal Device from gimbal users.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  The Gimbal Manager and Gimbal Device expose respective message sets that can be used for: gimbal manager/device discovery, querying capabilities, publishing status, and various types of orientation/attitude control.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  The key concept to understand is that a Gimbal Manager has a 1:1 relationship with a particular Gimbal Device, and is the only party on the MAVLink network that is allowed to directly command that device - it does so using the Gimbal Device message set.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  The Gimbal Device must act only upon messages that come from the associated Gimbal Manager! The device will however broadcast its status to all parties on the network (not just its manager).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAVLink applications (ground stations, developer APIs like the MAVSDK, etc.), and any other software that wants to control a particular gimbal, must do so via its Gimbal Manager, using the Gimbal Manager message set.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Note that the gimbal manager is (by default) implemented on the autopilot.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Common Set-ups

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  This section outlines the three most common hardware set-ups.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Simple Gimbal Directly Connected to Autopilot

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  In this (default) set-up the autopilot takes the role of the gimbal manager.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Standalone Integrated Camera/Gimbal

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  In this set-up the integrated camera/gimbal itself can be the Gimbal Manager.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Therefore, the gimbal device interface is internal (no implementation is required).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Onboard Computer with Camera and Gimbal Connected to Autopilot

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  In this set-up the Gimbal Manager can be on the onboard computer.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Commands from the GCS (etc.) are sent to the Gimbal Manager on the companion computer. Messages from the Gimbal Manager to the Gimbal Device need to be sent to/routed through the autopilot.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Multiple Gimbals

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Multiple gimbals per drone are supported.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Component IDs

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Multiple component IDs are reserved for MAVLink gimbal devices: MAV_COMP_ID_GIMBAL, MAV_COMP_ID_GIMBAL2, MAV_COMP_ID_GIMBAL3, MAV_COMP_ID_GIMBAL4, MAV_COMP_ID_GIMBAL5, MAV_COMP_ID_GIMBAL6.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  The listed component IDs should be used where possible. Ids 0-6 may not be used. Other ids may be used as long as the MAV_TYPE is correctly set to MAV_TYPE_GIMBAL.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Mapping from Gimbal Managers to Gimbal Devices

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Every Gimbal Manager has a single associated Gimbal Device that it controls (there is a 1:1 relationship). A particular MAVLink component, such as an autopilot, can implement multiple gimbal managers in order to control two or more gimbal devices. The identity of a gimbal device and its associated manager, are represented by a "gimbal device id". This id is used to differentiate messages from different gimbal managers, and also to target a particular gimbal in commands/messages sent to the component that is hosting its gimbal manager.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  A Gimbal Manager publishes the id of its associated device in the gimbal_device_id field of the GIMBAL_MANAGER_INFORMATION message (this same field name is present in all gimbal manager messages so you can identify the source). Similarly, commands that can be sent to a gimbal manager include a parameter with label Gimbal device ID that indicates the particular gimbal manager (and device).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • A system that wants to control a particular gimbal device will send messages to the component that has the manager(s), such as an autopilot, specifying the device id of the gimbal to be controlled.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • A system that wants to control all gimbal devices managed by gimbal managers on a particular component, would send the command/message to that component and set the device id to 0.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Addressing of Gimbal Devices

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  For MAVLink gimbal devices the gimbal device id (gimbal_device_id) is the MAVLink component ID of the gimbal device controlled by the gimbal manager.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  The gimbal manager processes commands for its associated device, sending appropriate/corresponding gimbal device commands to the MAVLink gimbal device.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Non-MAVLink gimbal devices are gimbals that don't expose a MAVLink Gimbal Device (or manager) API, but instead are connected to the gimbal manager using some other protocol. For instance, this could be a PWM gimbal connected to an autopilot. Since the gimbal device is not a MAVLink component, it does not have a unique MAVLink component ID that can be used for the gimbal device id. Therefore you either have to make it into a MAVLink component (so it has an id) or assign it a particular non-MAVLink id.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Autopilots are expected to implement gimbal managers for each attached gimbal and assign each a unique gimbal device id between 1 and 6 (which is why these values can't be used as MAVLink component IDs for gimbal devices). This id would then be used in gimbal manager messages sent by the autopilot, and for addressing the particular gimbal in commands. The autopilot would directly control attached gimbals in response to gimbal manager commands. In addition to sending gimbal manager messages when appropriate, it should also send/stream required gimbal device messages, such as GIMBAL_DEVICE_ATTITUDE_STATUS.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  All other hardware with attached gimbal devices, such as a companion computers, are expected to implement them as separate MAVLink components, with their own MAVLink component ID that can be used for addressing. For example, a companion computer with an attached gimbal would appear as two MAVLink components: a companion computer and a gimbal. The gimbal component would identify as a type MAV_TYPE_GIMBAL and assert that it implements the gimbal manager protocol. As with autopilot-attached cameras it would need to respond as a gimbal manager, and also stream required gimbal device messages.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Implementing each attached camera as a separate MAVLink component allows cameras attached to a companion computer to be separately addressed in missions executed on the autopilot.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Implementation and Messages

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Messages between Ground Station and Gimbal Manager

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Discovery of Gimbal Manager

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  A ground station should monitor for HEARTBEAT messages from all new components and check their capabilities by requesting AUTOPILOT_VERSION for autopilots and COMPONENT_INFORMATION_BASIC for other components (see HEARTBEAT/Connection protocol).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  If the capabilities field of the above message(s) has the flag MAV_PROTOCOL_CAPABILITY_COMPONENT_IMPLEMENTS_GIMBAL_MANAGER set:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  The GIMBAL_MANAGER_INFORMATION contains important information a particular gimbal, such as its capabilities (GIMBAL_MANAGER_CAP_FLAGS), maximum angles and angle rates, as well as the gimbal_device_id which identifies the specific gimbal device controlled by a particular Gimbal Manager.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  A GCS should always request GIMBAL_MANAGER_INFORMATION from autopilot components prior to: PX4 v1.16, ArduPilot-4.5 (when the protocol bit was added).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Gimbal Manager Status

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  A Gimbal Manager should send out GIMBAL_MANAGER_STATUS at a low regular rate (e.g. 5 Hz) to inform the ground station about its status.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Starting / Configuring Gimbal Control

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  It is possible for multiple components to want to control a gimbal at the same time, e.g.: a ground station, a companion computer, or the autopilot running a mission.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  In order to start controlling a gimbal, a component first needs to send the MAV_CMD_DO_GIMBAL_MANAGER_CONFIGURE command. This allows setting which MAVLink component (set by system ID and component ID) is in primary control and which one is in secondary control. The gimbal manager is to ignore any gimbal controls which come from MAVLink components that are not explicity set to "in control". This should prevent conflicts between various inputs as long as all components are fair/co-operative when using the configure command.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  To be co-operative entails the following rules:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • Don't send the configure manager configure command continuously but only once to initiate and once to stop control again.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • Check the GIMBAL_MANAGER_STATUS about who is in control first and - if possible - warn user about planned action. For example, if the autopilot is in control of the gimbal as part of a mission, the ground station should ask the user first (i.e. via a pop-up) if they really want to take over manual control.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • Don't forget to release control when an action/task is finished and set the sysid/compid to 0.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  It is possible to assign control to another component too, not just to itself. For example, a smart shot running on a companion computer can set itself to be in primary control but assign a ground station for secondary control to e.g. nudge during the smart shot.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Note The implementation of how primary and secondary control are combined or mixed is not defined by the protocol but up to the implementation. This allows flexibility for different use cases.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  A ground station can manually control a gimbal by sending GIMBAL_MANAGER_SET_MANUAL_CONTROL. This allows controlling the gimbal with either angles, or angular rates, using a normalized unit (-1..1). The gimbal device is responsible for translating the input based on angle, speed, and "smoothness" settings.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  This input can additionally be scaled by the gimbal manager depending on its state. For example, if the gimbal manager is on a camera and knows the current zoom level / focal length of the camera, it can scale the angular rate down to support smooth paning and tilting.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  A ground station, companion computer, or other MAVLink component can set the gimbal angle and/or angular rates using the messages GIMBAL_MANAGER_SET_ATTITUDE or GIMBAL_MANAGER_SET_PITCHYAW.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Messages between Gimbal Manager and Gimbal Device

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Discovery of Gimbal Device

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  The MAVlink node where the Gimbal Manager is implemented needs to discover Gimbal Devices by sending a broadcast MAV_CMD_REQUEST_MESSAGE for GIMBAL_DEVICE_INFORMATION. Every gimbal device should respond with GIMBAL_DEVICE_INFORMATION.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  The MAVLink node should then create as many Gimbal Manager instances as Gimbal Devices found.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Control of a Gimbal Device

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  To control the angle and/or angular rate of the Gimbal Device, use the message GIMBAL_DEVICE_SET_ATTITUDE. If the gimbal manager has multiple gimbal control inputs available it should deconflict them as explained below.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Autopilot State for Gimbal Device

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  The autopilot should also send the message AUTOPILOT_STATE_FOR_GIMBAL_DEVICE to the gimbal device. This data is required by the Gimbal Device attitude estimator (horizon compensation), as well as to anticipate the vehicle's movements (e.g. the feed forward angular velocity in z-axis, so the current yaw intention).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Gimbal Device Broadcast/Status Messages

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  The gimbal device should send out its attitude and status in GIMBAL_DEVICE_ATTITUDE_STATUS at a regular rate, e.g. 10 Hz.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  This message is a meant as broadcast, so it's set to the GCS, Gimbal Manager, and all parties on the network (not just Gimbal Manager, like all other messages).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Custom Gimbal Device Settings

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Custom gimbal settings can be accomplished using the component information microservice which is based on a component information file (this is similar to the camera definition file).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  FAQ

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  How to set the System ID of a gimbal device?

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  The system ID of all components (e.g. autopilot, companion computer, camera, gimbal) on a drone/system must be the same. This needs to be either done manually by configuration, or alternatively, the components need to listen to the heartbeat of the autopilot and then adjust their system ID accordingly.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  When is Gimbal Device also a Gimbal Manager?

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  The default case should be to use the Gimbal Manager in the autopilot. The only exception to this are integrated solutions containing a camera and gimbal for functionality like visual tracking.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  How to test Gimbal Device?

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  A Gimbal Device can be tested by connecting it to an autopilot with a Gimbal Manager. To avoid having to do a full setup including autopilot, a direct test using MAVSDK is available.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Gimbals that use the (old) Gimbal Protocol v1 should still be supported by autopilot software. Basically, the Gimbal Manager needs to translate the commands to the old protocol.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Gimbals controlled using a protocol like PPM, PWM, SBUS or something proprietary can still be supported. The autopilot will have to act as the Gimbal Manager and provide the driver and translation to the respective protocol.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  The autopilot needs to be configured to either accept MAVLink input (so GIMBAL_MANAGER_SET_MANUAL_CONTROL) or RC control. In both cases, the autopilot can then calculate a gimbal angle or angular rate from the manual control input and send the resulting setpoint to the gimbal device.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  For RC control, the channels will have to be manually mapped/configured to control the gimbal. This is the same approach as is used for managing the input source for flying; it is up to the implementation to select either RC or MAVLink. The recommendation is to make it configurable using (for instance) a parameter.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  A non-MAVLink gimbal needs to be connected to a gimbal manager, which then takes care of sending the gimbal device messages. Since a non-MAVLink gimbal can't be addressed with a MAVLink component ID, the gimbal_device_id needs to be set to one of the magic values (1 to 6). This signals that the gimbal manager also is also acting as the gimbal device.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Also see how to address non-MAVLink gimbal devices.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  How to interpret GIMBAL_DEVICE_ATTITUDE_STATUS yaw gimbal angle

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  The GIMBAL_DEVICE_ATTITUDE_STATUS.flags field must report the frame used for reported yaw values as either:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • GIMBAL_DEVICE_FLAGS_YAW_IN_VEHICLE_FRAME: Yaw is relative to vehicle.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • GIMBAL_DEVICE_FLAGS_YAW_IN_EARTH_FRAME: Yaw is relative to north.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  For older devices, if neither of the flags above are set, the yaw frame must be inferred from the GIMBAL_DEVICE_FLAGS_YAW_LOCK. If it is set, the yaw is relative to North, otherwise to the front of the vehicle.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Manufacturers working on new gimbal devices should set either GIMBAL_DEVICE_FLAGS_YAW_IN_VEHICLE_FRAME or GIMBAL_DEVICE_FLAGS_YAW_IN_EARTH_FRAME. Components recieving the message should also handle GIMBAL_DEVICE_FLAGS_YAW_LOCK for backwards compatibility with older devices.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Message/Command/Enum Summary

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Gimbal Manager Messages

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  This is the set of messages/enums for communicating with the gimbal manager (by ground station, autopilot, etc.).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MessageDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  !!crwdBlockTags_43_sgaTkcolBdwrc!GIMBAL_MANAGER_INFORMATIONInformation about a high level gimbal manager. This message should be requested by a ground station using MAV_CMD_REQUEST_MESSAGE.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  !!crwdBlockTags_44_sgaTkcolBdwrc!GIMBAL_MANAGER_STATUSCurrent status about a high level gimbal manager. This message should be broadcast at a low regular rate (e.g. 5Hz).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  !!crwdBlockTags_45_sgaTkcolBdwrc!GIMBAL_MANAGER_SET_ATTITUDEHigh level message to control a gimbal's attitude. This message is to be sent to the gimbal manager (e.g. from a ground station).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  !!crwdBlockTags_46_sgaTkcolBdwrc!GIMBAL_MANAGER_SET_MANUAL_CONTROLHigh level message to control a gimbal manually, so without units. The actual angles or angular rates will be produced by the gimbal manager based on settings. This message is to be sent to the gimbal manager (e.g. from a ground station). Angles and rates can be set to NaN according to use case.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  !!crwdBlockTags_47_sgaTkcolBdwrc!GIMBAL_MANAGER_SET_PITCHYAWHigh level message to control a gimbal's pitch and yaw angles. This message is to be sent to the gimbal manager (e.g. from a ground station). Angles and rates can be set to NaN according to use case.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  CommandDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  !!crwdBlockTags_35_sgaTkcolBdwrc!MAV_CMD_REQUEST_MESSAGERequest the target system(s) emit a single instance of a specified message. This is used to request GIMBAL_MANAGER_INFORMATION.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  !!crwdBlockTags_51_sgaTkcolBdwrc!MAV_CMD_DO_GIMBAL_MANAGER_CONFIGUREGimbal configuration to set which sysid/compid is in primary and secondary control.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  !!crwdBlockTags_52_sgaTkcolBdwrc!MAV_CMD_DO_GIMBAL_MANAGER_PITCHYAWHigh level setpoint to be sent to a gimbal manager to set a gimbal attitude. Note: a gimbal is never to react to this command but only the gimbal manager.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  !!crwdBlockTags_53_sgaTkcolBdwrc!MAV_CMD_DO_SET_ROI_LOCATIONSets the region of interest (ROI) to a location. This can then be used by the vehicle's control system to control the vehicle attitude and the attitude of various sensors such as cameras. This command can be sent to a gimbal manager but not to a gimbal device. A gimbal is not to react to this message.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  !!crwdBlockTags_54_sgaTkcolBdwrc!MAV_CMD_DO_SET_ROI_WPNEXT_OFFSETSets the region of interest (ROI) to be toward next waypoint, with optional pitch/roll/yaw offset. This can then be used by the vehicle's control system to control the vehicle attitude and the attitude of various sensors such as cameras. This command can be sent to a gimbal manager but not to a gimbal device. A gimbal device is not to react to this message.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  !!crwdBlockTags_25_sgaTkcolBdwrc!MAV_CMD_DO_SET_ROI_SYSIDMount tracks system with specified system ID. Determination of target vehicle position may be done with GLOBAL_POSITION_INT or any other means. This command can be sent to a gimbal manager but not to a gimbal device. A gimbal device is not to react to this message.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  !!crwdBlockTags_34_sgaTkcolBdwrc!MAV_CMD_DO_SET_ROI_NONECancels any previous ROI command returning the vehicle/sensors to default flight characteristics. This can then be used by the vehicle's control system to control the vehicle attitude and the attitude of various sensors such as cameras. This command can be sent to a gimbal manager but not to a gimbal device. A gimbal device is not to react to this message. After this command the gimbal manager should go back to manual input if available, and otherwise assume a neutral position.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  !!crwdBlockTags_57_sgaTkcolBdwrc!MAV_CMD_DO_GIMBAL_MANAGER_TRACK_POINTIf the gimbal manager supports visual tracking (GIMBAL_MANAGER_CAP_FLAGS_HAS_TRACKING_POINT is set), this command allows to initiate the tracking. Such a tracking gimbal manager would usually be an integrated camera/gimbal, or alternatively a companion computer connected to a camera.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  !!crwdBlockTags_58_sgaTkcolBdwrc!MAV_CMD_DO_GIMBAL_MANAGER_TRACK_RECTANGLEIf the gimbal supports visual tracking (GIMBAL_MANAGER_CAP_FLAGS_HAS_TRACKING_RECTANGLE is set), this command allows to initiate the tracking. Such a tracking gimbal manager would usually be an integrated camera/gimbal, or alternatively a companion computer connected to a camera.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  EnumDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  !!crwdBlockTags_30_sgaTkcolBdwrc!GIMBAL_MANAGER_FLAGSFlags for high level gimbal manager operation.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  The first 16 bytes are identical to the GIMBAL_DEVICE_FLAGS. Used in MAV_CMD_DO_GIMBAL_MANAGER_PITCHYAW, GIMBAL_MANAGER_STATUS , GIMBAL_MANAGER_SET_ATTITUDE.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  !!crwdBlockTags_31_sgaTkcolBdwrc!GIMBAL_MANAGER_CAP_FLAGSGimbal manager high level capability flags (bitmap).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  The first 16 bits are identical to the GIMBAL_DEVICE_CAP_FLAGS which are identical with GIMBAL_DEVICE_FLAGS. However, the gimbal manager does not need to copy the flags from the gimbal but can also enhance the capabilities and thus add flags. Used in GIMBAL_MANAGER_INFORMATION

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Gimbal Device Messages

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  This is the set of messages/enums for communication between gimbal manager and gimbal device.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MessageDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  !!crwdBlockTags_64_sgaTkcolBdwrc!GIMBAL_DEVICE_INFORMATIONInformation about a low level gimbal. This message should be requested by the gimbal manager or a ground station using MAV_CMD_REQUEST_MESSAGE.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  !!crwdBlockTags_32_sgaTkcolBdwrc!GIMBAL_DEVICE_SET_ATTITUDELow level message to control a gimbal device's attitude. This message is to be sent from the gimbal manager to the gimbal device component. Angles and rates can be set to NaN according to use case.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  !!crwdBlockTags_24_sgaTkcolBdwrc!GIMBAL_DEVICE_ATTITUDE_STATUSMessage reporting the status of a gimbal device. This message should be broadcasted by a gimbal device component.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  CommandDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  !!crwdBlockTags_68_sgaTkcolBdwrc!MAV_CMD_REQUEST_MESSAGERequest the target system(s) emit a single instance of a specified message. This is used to request GIMBAL_DEVICE_INFORMATION.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  EnumDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  !!crwdBlockTags_70_sgaTkcolBdwrc!GIMBAL_DEVICE_CAP_FLAGSGimbal device (low level) capability flags (bitmap).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Used in GIMBAL_DEVICE_INFORMATION.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  !!crwdBlockTags_71_sgaTkcolBdwrc!GIMBAL_DEVICE_FLAGSFlags for gimbal device (lower level) operation.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Used in GIMBAL_DEVICE_ATTITUDE_STATUS and GIMBAL_DEVICE_SET_ATTITUDE.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  !!crwdBlockTags_72_sgaTkcolBdwrc!GIMBAL_DEVICE_ERROR_FLAGSGimbal device (low level) error flags (bitmap, 0 means no error).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Used in GIMBAL_DEVICE_ATTITUDE_STATUS.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Sequences

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Depicted below are message sequences for some common scenarious.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Discovery

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  This shows a possible sequence on startup. Note that the gimbal manager could already discover the gimbal device before the ground station asks for the information.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Normal Manual Control

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  During the normal manual control, all messages are streamed at a regular rate. Note that GIMBAL_DEVICE_ATTITUDE_STATUS is broadcast to anyone, so to the gimbal manager and also the ground station.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  ROI Initiated from Ground Station

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  ROI can be started using a command and should also be stopped again with a command. The ROI command is translated to a gimbal attitude in the the gimbal manager.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Attitude Set During Mission

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  In this case the gimbal manager is implemented by the autopilot which "sends" the attitude command (for instance for a survey).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  How to Implement the Gimbal Device Interface

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Below is a short summary of all messages that a gimbal device should implement.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  A Gimbal Device can be tested by connecting it to an autopilot with a Gimbal Manager. To avoid having to do a full setup including autopilot, a direct test using MAVSDK is available.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Messages to Send

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  The messages listed should be broadcast on the network/on all connections (sent to everyone).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  HEARTBEAT

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Heartbeats should always be sent (usually at 1 Hz).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Gimbals that set their sysid from the autopilot will need to wait for the autopilot's heartbeat before emitting their own (note that if the gimbal can receive heartbeats from multiple autopilots then the sysid must be explicitly/statically configured).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • sysid: the same sysid as the autopilot (this can either be done by configuration, or by listening to the autopilot's heartbeat first and then copying the sysid, default: 1)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • compid: MAV_COMP_ID_GIMBAL
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • type: MAV_TYPE_GIMBAL
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • autopilot: MAV_AUTOPILOT_INVALID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • base_mode: 0
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • custom_mode: 0
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • system_status: MAV_STATE_UNINIT

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  GIMBAL_DEVICE_ATTITUDE_STATUS

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  The gimbal device should send out its attitude status at a regular rate, e.g. 10 Hz. The fields target_system and target_component can be set to 0 (broadcast) by default.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  GIMBAL_DEVICE_INFORMATION

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  The static information about the gimbal device needs to be sent out when requested using MAV_CMD_REQUEST_MESSAGE.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Messages to Listen To/Handle

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  GIMBAL_DEVICE_SET_ATTITUDE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  This is the actual attitude setpoint that the gimbal device should follow. Note that the frame of the quaternion setpoint depends on the GIMBAL_DEVICE_FLAGS.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  AUTOPILOT_STATE_FOR_GIMBAL_DEVICE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  The gimbal device should be able to get all the information from the autopilot that it requires in this one message. If something is missing that should be streamed at a high rate, it should be added to this message.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  If this message is not sent by default by the autopilot, or the rate is not ok, the command MAV_CMD_SET_MESSAGE_INTERVAL can be used to request it at a certain rate.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  COMMAND_LONG

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  The gimbal device needs to check for commands. See below which commands should get answered.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Commands to Answer

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_REQUEST_MESSAGE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  The gimbal device should send out messages when they get requested, e.g. GIMBAL_DEVICE_INFORMATION.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_SET_MESSAGE_INTERVAL

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  The gimbal device should stream messages at the rate requested.

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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Gimbal Protocol (v2)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    This version supersedes Gimbal Protocol v1 Existing functionality is now fixed, but compatible changes may still be added.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Introduction

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    The gimbal protocol allows MAVLink control over the attitude/orientation of cameras (or other sensors) mounted on the drone. The orientation can be: controlled by the pilot in real time (e.g. using a joystick from a ground station), set as part of a mission, or moved based on camera tracking.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    The protocol also defines what status information is published for developers, configurators, as well as users of the drone. It additionally provides ways to assign control to different sources.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    The protocol supports a number of hardware setups, and enables gimbals with varying capabilities.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    The original protocol design document can be found here.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Concepts

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Gimbal Manager and Gimbal Device

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    To accommodate gimbals with varying capabilities, and various hardware setups, "a gimbal" is conceptually split into two parts:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • Gimbal Device: the actual gimbal device, hardware and software.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • Gimbal Manager: software to deconflict gimbal messages and commands from different sources, and to abstract the capabilities of the Gimbal Device from gimbal users.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    The Gimbal Manager and Gimbal Device expose respective message sets that can be used for: gimbal manager/device discovery, querying capabilities, publishing status, and various types of orientation/attitude control.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    The key concept to understand is that a Gimbal Manager has a 1:1 relationship with a particular Gimbal Device, and is the only party on the MAVLink network that is allowed to directly command that device - it does so using the Gimbal Device message set.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    The Gimbal Device must act only upon messages that come from the associated Gimbal Manager! The device will however broadcast its status to all parties on the network (not just its manager).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAVLink applications (ground stations, developer APIs like the MAVSDK, etc.), and any other software that wants to control a particular gimbal, must do so via its Gimbal Manager, using the Gimbal Manager message set.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Note that the gimbal manager is (by default) implemented on the autopilot.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Common Set-ups

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    This section outlines the three most common hardware set-ups.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Simple Gimbal Directly Connected to Autopilot

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    In this (default) set-up the autopilot takes the role of the gimbal manager.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Standalone Integrated Camera/Gimbal

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    In this set-up the integrated camera/gimbal itself can be the Gimbal Manager.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Therefore, the gimbal device interface is internal (no implementation is required).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Onboard Computer with Camera and Gimbal Connected to Autopilot

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    In this set-up the Gimbal Manager can be on the onboard computer.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Commands from the GCS (etc.) are sent to the Gimbal Manager on the companion computer. Messages from the Gimbal Manager to the Gimbal Device need to be sent to/routed through the autopilot.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Multiple Gimbals

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Multiple gimbals per drone are supported.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Component IDs

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Multiple component IDs are reserved for MAVLink gimbal devices: MAV_COMP_ID_GIMBAL, MAV_COMP_ID_GIMBAL2, MAV_COMP_ID_GIMBAL3, MAV_COMP_ID_GIMBAL4, MAV_COMP_ID_GIMBAL5, MAV_COMP_ID_GIMBAL6.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    The listed component IDs should be used where possible. Ids 0-6 may not be used. Other ids may be used as long as the MAV_TYPE is correctly set to MAV_TYPE_GIMBAL.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Mapping from Gimbal Managers to Gimbal Devices

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Every Gimbal Manager has a single associated Gimbal Device that it controls (there is a 1:1 relationship). A particular MAVLink component, such as an autopilot, can implement multiple gimbal managers in order to control two or more gimbal devices. The identity of a gimbal device and its associated manager, are represented by a "gimbal device id". This id is used to differentiate messages from different gimbal managers, and also to target a particular gimbal in commands/messages sent to the component that is hosting its gimbal manager.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    A Gimbal Manager publishes the id of its associated device in the gimbal_device_id field of the GIMBAL_MANAGER_INFORMATION message (this same field name is present in all gimbal manager messages so you can identify the source). Similarly, commands that can be sent to a gimbal manager include a parameter with label Gimbal device ID that indicates the particular gimbal manager (and device).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • A system that wants to control a particular gimbal device will send messages to the component that has the manager(s), such as an autopilot, specifying the device id of the gimbal to be controlled.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • A system that wants to control all gimbal devices managed by gimbal managers on a particular component, would send the command/message to that component and set the device id to 0.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Addressing of Gimbal Devices

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    For MAVLink gimbal devices the gimbal device id (gimbal_device_id) is the MAVLink component ID of the gimbal device controlled by the gimbal manager.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    The gimbal manager processes commands for its associated device, sending appropriate/corresponding gimbal device commands to the MAVLink gimbal device.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Non-MAVLink gimbal devices are gimbals that don't expose a MAVLink Gimbal Device (or manager) API, but instead are connected to the gimbal manager using some other protocol. For instance, this could be a PWM gimbal connected to an autopilot. Since the gimbal device is not a MAVLink component, it does not have a unique MAVLink component ID that can be used for the gimbal device id. Therefore you either have to make it into a MAVLink component (so it has an id) or assign it a particular non-MAVLink id.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Autopilots are expected to implement gimbal managers for each attached gimbal and assign each a unique gimbal device id between 1 and 6 (which is why these values can't be used as MAVLink component IDs for gimbal devices). This id would then be used in gimbal manager messages sent by the autopilot, and for addressing the particular gimbal in commands. The autopilot would directly control attached gimbals in response to gimbal manager commands. In addition to sending gimbal manager messages when appropriate, it should also send/stream required gimbal device messages, such as GIMBAL_DEVICE_ATTITUDE_STATUS.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    All other hardware with attached gimbal devices, such as a companion computers, are expected to implement them as separate MAVLink components, with their own MAVLink component ID that can be used for addressing. For example, a companion computer with an attached gimbal would appear as two MAVLink components: a companion computer and a gimbal. The gimbal component would identify as a type MAV_TYPE_GIMBAL and assert that it implements the gimbal manager protocol. As with autopilot-attached cameras it would need to respond as a gimbal manager, and also stream required gimbal device messages.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Implementing each attached camera as a separate MAVLink component allows cameras attached to a companion computer to be separately addressed in missions executed on the autopilot.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Implementation and Messages

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Messages between Ground Station and Gimbal Manager

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Discovery of Gimbal Manager

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    A ground station should monitor for HEARTBEAT messages from all new components and check their capabilities by requesting AUTOPILOT_VERSION for autopilots and COMPONENT_INFORMATION_BASIC for other components (see HEARTBEAT/Connection protocol).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    If the capabilities field of the above message(s) has the flag MAV_PROTOCOL_CAPABILITY_COMPONENT_IMPLEMENTS_GIMBAL_MANAGER set:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    The GIMBAL_MANAGER_INFORMATION contains important information a particular gimbal, such as its capabilities (GIMBAL_MANAGER_CAP_FLAGS), maximum angles and angle rates, as well as the gimbal_device_id which identifies the specific gimbal device controlled by a particular Gimbal Manager.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    A GCS should always request GIMBAL_MANAGER_INFORMATION from autopilot components prior to: PX4 v1.16, ArduPilot-4.5 (when the protocol bit was added).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Gimbal Manager Status

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    A Gimbal Manager should send out GIMBAL_MANAGER_STATUS at a low regular rate (e.g. 5 Hz) to inform the ground station about its status.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Starting / Configuring Gimbal Control

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    It is possible for multiple components to want to control a gimbal at the same time, e.g.: a ground station, a companion computer, or the autopilot running a mission.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    In order to start controlling a gimbal, a component first needs to send the MAV_CMD_DO_GIMBAL_MANAGER_CONFIGURE command. This allows setting which MAVLink component (set by system ID and component ID) is in primary control and which one is in secondary control. The gimbal manager is to ignore any gimbal controls which come from MAVLink components that are not explicity set to "in control". This should prevent conflicts between various inputs as long as all components are fair/co-operative when using the configure command.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    To be co-operative entails the following rules:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • Don't send the configure manager configure command continuously but only once to initiate and once to stop control again.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • Check the GIMBAL_MANAGER_STATUS about who is in control first and - if possible - warn user about planned action. For example, if the autopilot is in control of the gimbal as part of a mission, the ground station should ask the user first (i.e. via a pop-up) if they really want to take over manual control.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • Don't forget to release control when an action/task is finished and set the sysid/compid to 0.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    It is possible to assign control to another component too, not just to itself. For example, a smart shot running on a companion computer can set itself to be in primary control but assign a ground station for secondary control to e.g. nudge during the smart shot.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Note The implementation of how primary and secondary control are combined or mixed is not defined by the protocol but up to the implementation. This allows flexibility for different use cases.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    A ground station can manually control a gimbal by sending GIMBAL_MANAGER_SET_MANUAL_CONTROL. This allows controlling the gimbal with either angles, or angular rates, using a normalized unit (-1..1). The gimbal device is responsible for translating the input based on angle, speed, and "smoothness" settings.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    This input can additionally be scaled by the gimbal manager depending on its state. For example, if the gimbal manager is on a camera and knows the current zoom level / focal length of the camera, it can scale the angular rate down to support smooth paning and tilting.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    A ground station, companion computer, or other MAVLink component can set the gimbal angle and/or angular rates using the messages GIMBAL_MANAGER_SET_ATTITUDE or GIMBAL_MANAGER_SET_PITCHYAW.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Messages between Gimbal Manager and Gimbal Device

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Discovery of Gimbal Device

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    The MAVlink node where the Gimbal Manager is implemented needs to discover Gimbal Devices by sending a broadcast MAV_CMD_REQUEST_MESSAGE for GIMBAL_DEVICE_INFORMATION. Every gimbal device should respond with GIMBAL_DEVICE_INFORMATION.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    The MAVLink node should then create as many Gimbal Manager instances as Gimbal Devices found.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Control of a Gimbal Device

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    To control the angle and/or angular rate of the Gimbal Device, use the message GIMBAL_DEVICE_SET_ATTITUDE. If the gimbal manager has multiple gimbal control inputs available it should deconflict them as explained below.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Autopilot State for Gimbal Device

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    The autopilot should also send the message AUTOPILOT_STATE_FOR_GIMBAL_DEVICE to the gimbal device. This data is required by the Gimbal Device attitude estimator (horizon compensation), as well as to anticipate the vehicle's movements (e.g. the feed forward angular velocity in z-axis, so the current yaw intention).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Gimbal Device Broadcast/Status Messages

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    The gimbal device should send out its attitude and status in GIMBAL_DEVICE_ATTITUDE_STATUS at a regular rate, e.g. 10 Hz.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    This message is a meant as broadcast, so it's set to the GCS, Gimbal Manager, and all parties on the network (not just Gimbal Manager, like all other messages).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Custom Gimbal Device Settings

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Custom gimbal settings can be accomplished using the component information microservice which is based on a component information file (this is similar to the camera definition file).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    FAQ

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    How to set the System ID of a gimbal device?

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    The system ID of all components (e.g. autopilot, companion computer, camera, gimbal) on a drone/system must be the same. This needs to be either done manually by configuration, or alternatively, the components need to listen to the heartbeat of the autopilot and then adjust their system ID accordingly.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    When is Gimbal Device also a Gimbal Manager?

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    The default case should be to use the Gimbal Manager in the autopilot. The only exception to this are integrated solutions containing a camera and gimbal for functionality like visual tracking.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    How to test Gimbal Device?

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    A Gimbal Device can be tested by connecting it to an autopilot with a Gimbal Manager. To avoid having to do a full setup including autopilot, a direct test using MAVSDK is available.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Gimbals that use the (old) Gimbal Protocol v1 should still be supported by autopilot software. Basically, the Gimbal Manager needs to translate the commands to the old protocol.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Gimbals controlled using a protocol like PPM, PWM, SBUS or something proprietary can still be supported. The autopilot will have to act as the Gimbal Manager and provide the driver and translation to the respective protocol.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    The autopilot needs to be configured to either accept MAVLink input (so GIMBAL_MANAGER_SET_MANUAL_CONTROL) or RC control. In both cases, the autopilot can then calculate a gimbal angle or angular rate from the manual control input and send the resulting setpoint to the gimbal device.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    For RC control, the channels will have to be manually mapped/configured to control the gimbal. This is the same approach as is used for managing the input source for flying; it is up to the implementation to select either RC or MAVLink. The recommendation is to make it configurable using (for instance) a parameter.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    A non-MAVLink gimbal needs to be connected to a gimbal manager, which then takes care of sending the gimbal device messages. Since a non-MAVLink gimbal can't be addressed with a MAVLink component ID, the gimbal_device_id needs to be set to one of the magic values (1 to 6). This signals that the gimbal manager also is also acting as the gimbal device.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Also see how to address non-MAVLink gimbal devices.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    How to interpret GIMBAL_DEVICE_ATTITUDE_STATUS yaw gimbal angle

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    The GIMBAL_DEVICE_ATTITUDE_STATUS.flags field must report the frame used for reported yaw values as either:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • GIMBAL_DEVICE_FLAGS_YAW_IN_VEHICLE_FRAME: Yaw is relative to vehicle.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • GIMBAL_DEVICE_FLAGS_YAW_IN_EARTH_FRAME: Yaw is relative to north.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    For older devices, if neither of the flags above are set, the yaw frame must be inferred from the GIMBAL_DEVICE_FLAGS_YAW_LOCK. If it is set, the yaw is relative to North, otherwise to the front of the vehicle.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Manufacturers working on new gimbal devices should set either GIMBAL_DEVICE_FLAGS_YAW_IN_VEHICLE_FRAME or GIMBAL_DEVICE_FLAGS_YAW_IN_EARTH_FRAME. Components recieving the message should also handle GIMBAL_DEVICE_FLAGS_YAW_LOCK for backwards compatibility with older devices.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Message/Command/Enum Summary

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Gimbal Manager Messages

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    This is the set of messages/enums for communicating with the gimbal manager (by ground station, autopilot, etc.).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MessageDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    !!crwdBlockTags_43_sgaTkcolBdwrc!GIMBAL_MANAGER_INFORMATIONInformation about a high level gimbal manager. This message should be requested by a ground station using MAV_CMD_REQUEST_MESSAGE.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    !!crwdBlockTags_44_sgaTkcolBdwrc!GIMBAL_MANAGER_STATUSCurrent status about a high level gimbal manager. This message should be broadcast at a low regular rate (e.g. 5Hz).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    !!crwdBlockTags_45_sgaTkcolBdwrc!GIMBAL_MANAGER_SET_ATTITUDEHigh level message to control a gimbal's attitude. This message is to be sent to the gimbal manager (e.g. from a ground station).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    !!crwdBlockTags_46_sgaTkcolBdwrc!GIMBAL_MANAGER_SET_MANUAL_CONTROLHigh level message to control a gimbal manually, so without units. The actual angles or angular rates will be produced by the gimbal manager based on settings. This message is to be sent to the gimbal manager (e.g. from a ground station). Angles and rates can be set to NaN according to use case.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    !!crwdBlockTags_47_sgaTkcolBdwrc!GIMBAL_MANAGER_SET_PITCHYAWHigh level message to control a gimbal's pitch and yaw angles. This message is to be sent to the gimbal manager (e.g. from a ground station). Angles and rates can be set to NaN according to use case.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    CommandDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    !!crwdBlockTags_35_sgaTkcolBdwrc!MAV_CMD_REQUEST_MESSAGERequest the target system(s) emit a single instance of a specified message. This is used to request GIMBAL_MANAGER_INFORMATION.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    !!crwdBlockTags_51_sgaTkcolBdwrc!MAV_CMD_DO_GIMBAL_MANAGER_CONFIGUREGimbal configuration to set which sysid/compid is in primary and secondary control.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    !!crwdBlockTags_52_sgaTkcolBdwrc!MAV_CMD_DO_GIMBAL_MANAGER_PITCHYAWHigh level setpoint to be sent to a gimbal manager to set a gimbal attitude. Note: a gimbal is never to react to this command but only the gimbal manager.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    !!crwdBlockTags_53_sgaTkcolBdwrc!MAV_CMD_DO_SET_ROI_LOCATIONSets the region of interest (ROI) to a location. This can then be used by the vehicle's control system to control the vehicle attitude and the attitude of various sensors such as cameras. This command can be sent to a gimbal manager but not to a gimbal device. A gimbal is not to react to this message.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    !!crwdBlockTags_54_sgaTkcolBdwrc!MAV_CMD_DO_SET_ROI_WPNEXT_OFFSETSets the region of interest (ROI) to be toward next waypoint, with optional pitch/roll/yaw offset. This can then be used by the vehicle's control system to control the vehicle attitude and the attitude of various sensors such as cameras. This command can be sent to a gimbal manager but not to a gimbal device. A gimbal device is not to react to this message.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    !!crwdBlockTags_25_sgaTkcolBdwrc!MAV_CMD_DO_SET_ROI_SYSIDMount tracks system with specified system ID. Determination of target vehicle position may be done with GLOBAL_POSITION_INT or any other means. This command can be sent to a gimbal manager but not to a gimbal device. A gimbal device is not to react to this message.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    !!crwdBlockTags_34_sgaTkcolBdwrc!MAV_CMD_DO_SET_ROI_NONECancels any previous ROI command returning the vehicle/sensors to default flight characteristics. This can then be used by the vehicle's control system to control the vehicle attitude and the attitude of various sensors such as cameras. This command can be sent to a gimbal manager but not to a gimbal device. A gimbal device is not to react to this message. After this command the gimbal manager should go back to manual input if available, and otherwise assume a neutral position.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    !!crwdBlockTags_57_sgaTkcolBdwrc!MAV_CMD_DO_GIMBAL_MANAGER_TRACK_POINTIf the gimbal manager supports visual tracking (GIMBAL_MANAGER_CAP_FLAGS_HAS_TRACKING_POINT is set), this command allows to initiate the tracking. Such a tracking gimbal manager would usually be an integrated camera/gimbal, or alternatively a companion computer connected to a camera.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    !!crwdBlockTags_58_sgaTkcolBdwrc!MAV_CMD_DO_GIMBAL_MANAGER_TRACK_RECTANGLEIf the gimbal supports visual tracking (GIMBAL_MANAGER_CAP_FLAGS_HAS_TRACKING_RECTANGLE is set), this command allows to initiate the tracking. Such a tracking gimbal manager would usually be an integrated camera/gimbal, or alternatively a companion computer connected to a camera.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    EnumDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    !!crwdBlockTags_30_sgaTkcolBdwrc!GIMBAL_MANAGER_FLAGSFlags for high level gimbal manager operation.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    The first 16 bytes are identical to the GIMBAL_DEVICE_FLAGS. Used in MAV_CMD_DO_GIMBAL_MANAGER_PITCHYAW, GIMBAL_MANAGER_STATUS , GIMBAL_MANAGER_SET_ATTITUDE.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    !!crwdBlockTags_31_sgaTkcolBdwrc!GIMBAL_MANAGER_CAP_FLAGSGimbal manager high level capability flags (bitmap).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    The first 16 bits are identical to the GIMBAL_DEVICE_CAP_FLAGS which are identical with GIMBAL_DEVICE_FLAGS. However, the gimbal manager does not need to copy the flags from the gimbal but can also enhance the capabilities and thus add flags. Used in GIMBAL_MANAGER_INFORMATION

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Gimbal Device Messages

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    This is the set of messages/enums for communication between gimbal manager and gimbal device.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MessageDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    !!crwdBlockTags_64_sgaTkcolBdwrc!GIMBAL_DEVICE_INFORMATIONInformation about a low level gimbal. This message should be requested by the gimbal manager or a ground station using MAV_CMD_REQUEST_MESSAGE.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    !!crwdBlockTags_32_sgaTkcolBdwrc!GIMBAL_DEVICE_SET_ATTITUDELow level message to control a gimbal device's attitude. This message is to be sent from the gimbal manager to the gimbal device component. Angles and rates can be set to NaN according to use case.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    !!crwdBlockTags_24_sgaTkcolBdwrc!GIMBAL_DEVICE_ATTITUDE_STATUSMessage reporting the status of a gimbal device. This message should be broadcasted by a gimbal device component.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    CommandDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    !!crwdBlockTags_68_sgaTkcolBdwrc!MAV_CMD_REQUEST_MESSAGERequest the target system(s) emit a single instance of a specified message. This is used to request GIMBAL_DEVICE_INFORMATION.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    EnumDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    !!crwdBlockTags_70_sgaTkcolBdwrc!GIMBAL_DEVICE_CAP_FLAGSGimbal device (low level) capability flags (bitmap).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Used in GIMBAL_DEVICE_INFORMATION.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    !!crwdBlockTags_71_sgaTkcolBdwrc!GIMBAL_DEVICE_FLAGSFlags for gimbal device (lower level) operation.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Used in GIMBAL_DEVICE_ATTITUDE_STATUS and GIMBAL_DEVICE_SET_ATTITUDE.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    !!crwdBlockTags_72_sgaTkcolBdwrc!GIMBAL_DEVICE_ERROR_FLAGSGimbal device (low level) error flags (bitmap, 0 means no error).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Used in GIMBAL_DEVICE_ATTITUDE_STATUS.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Sequences

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Depicted below are message sequences for some common scenarious.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Discovery

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    This shows a possible sequence on startup. Note that the gimbal manager could already discover the gimbal device before the ground station asks for the information.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Normal Manual Control

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    During the normal manual control, all messages are streamed at a regular rate. Note that GIMBAL_DEVICE_ATTITUDE_STATUS is broadcast to anyone, so to the gimbal manager and also the ground station.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    ROI Initiated from Ground Station

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    ROI can be started using a command and should also be stopped again with a command. The ROI command is translated to a gimbal attitude in the the gimbal manager.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Attitude Set During Mission

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    In this case the gimbal manager is implemented by the autopilot which "sends" the attitude command (for instance for a survey).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    How to Implement the Gimbal Device Interface

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Below is a short summary of all messages that a gimbal device should implement.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    A Gimbal Device can be tested by connecting it to an autopilot with a Gimbal Manager. To avoid having to do a full setup including autopilot, a direct test using MAVSDK is available.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Messages to Send

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    The messages listed should be broadcast on the network/on all connections (sent to everyone).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    HEARTBEAT

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Heartbeats should always be sent (usually at 1 Hz).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Gimbals that set their sysid from the autopilot will need to wait for the autopilot's heartbeat before emitting their own (note that if the gimbal can receive heartbeats from multiple autopilots then the sysid must be explicitly/statically configured).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • sysid: the same sysid as the autopilot (this can either be done by configuration, or by listening to the autopilot's heartbeat first and then copying the sysid, default: 1)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • compid: MAV_COMP_ID_GIMBAL
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • type: MAV_TYPE_GIMBAL
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • autopilot: MAV_AUTOPILOT_INVALID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • base_mode: 0
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • custom_mode: 0
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • system_status: MAV_STATE_UNINIT

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    GIMBAL_DEVICE_ATTITUDE_STATUS

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    The gimbal device should send out its attitude status at a regular rate, e.g. 10 Hz. The fields target_system and target_component can be set to 0 (broadcast) by default.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    GIMBAL_DEVICE_INFORMATION

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    The static information about the gimbal device needs to be sent out when requested using MAV_CMD_REQUEST_MESSAGE.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Messages to Listen To/Handle

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    GIMBAL_DEVICE_SET_ATTITUDE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    This is the actual attitude setpoint that the gimbal device should follow. Note that the frame of the quaternion setpoint depends on the GIMBAL_DEVICE_FLAGS.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    AUTOPILOT_STATE_FOR_GIMBAL_DEVICE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    The gimbal device should be able to get all the information from the autopilot that it requires in this one message. If something is missing that should be streamed at a high rate, it should be added to this message.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    If this message is not sent by default by the autopilot, or the rate is not ok, the command MAV_CMD_SET_MESSAGE_INTERVAL can be used to request it at a certain rate.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    COMMAND_LONG

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    The gimbal device needs to check for commands. See below which commands should get answered.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Commands to Answer

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_REQUEST_MESSAGE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    The gimbal device should send out messages when they get requested, e.g. GIMBAL_DEVICE_INFORMATION.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_SET_MESSAGE_INTERVAL

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    The gimbal device should stream messages at the rate requested.

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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      \ No newline at end of file diff --git a/ko/services/heartbeat.html b/ko/services/heartbeat.html index 798b17192..226455c17 100644 --- a/ko/services/heartbeat.html +++ b/ko/services/heartbeat.html @@ -1 +1 @@ -주기 신호/연결 프로토콜 · MAVLink Developer Guide
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Heartbeat/Connection Protocol

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      The heartbeat protocol is used to advertise the existence of a system on the MAVLink network, along with its system and component id, vehicle type, flight stack, component type, and flight mode.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      The heartbeat allows other components to:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • discover systems that are connected to the network and infer when they have disconnected. A component is considered to be connected to the network if its HEARTBEAT message is regularly received, and disconnected if a number of expected messages are not received.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • handle other messages from the component appropriately, based on component type and other properties (e.g. layout a GCS interface based on vehicle type).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • route messages to systems on different interfaces.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Message/Enum Summary

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MessageDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      HEARTBEATBroadcast that a MAVLink component is present and responding, along with its type (MAV_TYPE) and other properties.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      EnumDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_TYPEType of the component. Flight controllers must report the type of the vehicle on which they are mounted (e.g. MAV_TYPE_OCTOROTOR). All other components must report a value appropriate for their type (e.g. a camera must use MAV_TYPE_CAMERA).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_AUTOPILOTAutopilot type / class. Set to MAV_AUTOPILOT_INVALID for components that are not flight controllers (e.g. ground stations, gimbals, etc.).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_MODE_FLAGSystem mode bitmap.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_STATESystem status flag.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      HEARTBEAT Broadcast Frequency

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Components must regularly broadcast their HEARTBEAT and monitor for heartbeats from other components/systems.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      The rate at which the HEARTBEAT message must be broadcast, and how many messages may be "missed" before a system is considered to have timed out/disconnected from the network, depends on the channel (it is not defined by MAVLink). On RF telemetry links, components typically publish their heartbeat at 1 Hz and consider another system to have disconnected if four or five messages are not received.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      A component may choose not to send or broadcast information on a channel (other than the HEARTBEAT) if it does not detect another system, and it will continue to send messages to a system while it is receiving heartbeats. Therefore it is important that systems:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • broadcast a heartbeat even when not commanding the remote system.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • do not broadcast a heartbeat when they are in a faulted state (i.e. do not publish a heartbeat from a separate thread that is unaware of the state of the rest of the component).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Connecting to a GCS or MAVLink API

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      The HEARTBEAT may also used by GCS (or Developer API) to determine if it can connect to a vehicle in order to collect telemetry and send missions/commands.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      For example, QGroundControl will only connect to a vehicle system (i.e. not another GCS, gimbal, or onboard controller), and also checks that it has a non-zero system ID before displaying the vehicle connected message. QGC also uses the specific type of vehicle and other heartbeat information to control layout of the GUI.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      The specific code for connecting to QGroundControl can be found in MultiVehicleManager.cc (see void MultiVehicleManager::_vehicleHeartbeatInfo).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Component Identity

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      The type of a component is obtained from its HEARTBEAT.type (MAV_TYPE) and HEARTBEAT.autopilot (MAV_AUTOPILOT) fields:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • A flight controller component must use a MAV_TYPE corresponding to a particular vehicle (e.g. MAV_TYPE_FIXED_WING, MAV_TYPE_QUADROTOR etc.), and set HEARTBEAT.autopilot to a valid flight stack.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • All other components must use a MAV_TYPE corresponding to the actual type (e.g.: MAV_TYPE_GIMBAL, MAV_TYPE_BATTERY, etc.), and should set HEARTBEAT.autopilot to MAV_AUTOPILOT_INVALID.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      The recommended way to recognise an autopilot component is to check that HEARTBEAT.type is not MAV_AUTOPILOT_INVALID.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Every component must have a system-unique component id, which is used for routing and for identifying multiple instances of a particular component type.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Historically the component id was also used to determine the component type. New code must not make any assumption about the type from the id used (type is determined from HEARTBEAT.type).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAVLink recommends that by default components use a type-appropriate component id from MAV_COMPONENT, and provide an interface to change the component id if needed. For example, a camera component might use any of the MAV_COMP_ID_CAMERAn ids, and should not use MAV_COMP_ID_GPS2.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Using type-specific component ids:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • Tip Using type-specific component ids: - makes id clashes less likely "out of the box" (unless two components of the same type are present on the same system).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • reduces the impact on legacy code that determines component type from the id.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Component Capabilities

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      The basic properties and capabilities of an autopilot can be determined by requesting the AUTOPILOT_VERSION message using MAV_CMD_REQUEST_MESSAGE, and for other components by requesting COMPONENT_INFORMATION_BASIC. This should normally be done on discovery of a new component, and the results cached.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      The information includes hardware and software versioning information, and also the capabilities, a bitmap of the MAVLink services/protocols (MAV_PROTOCOL_CAPABILITY) supported by the component.

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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Heartbeat/Connection Protocol

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        The heartbeat protocol is used to advertise the existence of a system on the MAVLink network, along with its system and component id, vehicle type, flight stack, component type, and flight mode.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        The heartbeat allows other components to:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • discover systems that are connected to the network and infer when they have disconnected. A component is considered to be connected to the network if its HEARTBEAT message is regularly received, and disconnected if a number of expected messages are not received.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • handle other messages from the component appropriately, based on component type and other properties (e.g. layout a GCS interface based on vehicle type).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • route messages to systems on different interfaces.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Message/Enum Summary

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MessageDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        HEARTBEATBroadcast that a MAVLink component is present and responding, along with its type (MAV_TYPE) and other properties.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        EnumDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_TYPEType of the component. Flight controllers must report the type of the vehicle on which they are mounted (e.g. MAV_TYPE_OCTOROTOR). All other components must report a value appropriate for their type (e.g. a camera must use MAV_TYPE_CAMERA).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_AUTOPILOTAutopilot type / class. Set to MAV_AUTOPILOT_INVALID for components that are not flight controllers (e.g. ground stations, gimbals, etc.).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_MODE_FLAGSystem mode bitmap.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_STATESystem status flag.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        HEARTBEAT Broadcast Frequency

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Components must regularly broadcast their HEARTBEAT and monitor for heartbeats from other components/systems.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        The rate at which the HEARTBEAT message must be broadcast, and how many messages may be "missed" before a system is considered to have timed out/disconnected from the network, depends on the channel (it is not defined by MAVLink). On RF telemetry links, components typically publish their heartbeat at 1 Hz and consider another system to have disconnected if four or five messages are not received.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        A component may choose not to send or broadcast information on a channel (other than the HEARTBEAT) if it does not detect another system, and it will continue to send messages to a system while it is receiving heartbeats. Therefore it is important that systems:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • broadcast a heartbeat even when not commanding the remote system.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • do not broadcast a heartbeat when they are in a faulted state (i.e. do not publish a heartbeat from a separate thread that is unaware of the state of the rest of the component).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Connecting to a GCS or MAVLink API

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        The HEARTBEAT may also used by GCS (or Developer API) to determine if it can connect to a vehicle in order to collect telemetry and send missions/commands.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        For example, QGroundControl will only connect to a vehicle system (i.e. not another GCS, gimbal, or onboard controller), and also checks that it has a non-zero system ID before displaying the vehicle connected message. QGC also uses the specific type of vehicle and other heartbeat information to control layout of the GUI.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        The specific code for connecting to QGroundControl can be found in MultiVehicleManager.cc (see void MultiVehicleManager::_vehicleHeartbeatInfo).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Component Identity

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        The type of a component is obtained from its HEARTBEAT.type (MAV_TYPE) and HEARTBEAT.autopilot (MAV_AUTOPILOT) fields:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • A flight controller component must use a MAV_TYPE corresponding to a particular vehicle (e.g. MAV_TYPE_FIXED_WING, MAV_TYPE_QUADROTOR etc.), and set HEARTBEAT.autopilot to a valid flight stack.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • All other components must use a MAV_TYPE corresponding to the actual type (e.g.: MAV_TYPE_GIMBAL, MAV_TYPE_BATTERY, etc.), and should set HEARTBEAT.autopilot to MAV_AUTOPILOT_INVALID.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        The recommended way to recognise an autopilot component is to check that HEARTBEAT.type is not MAV_AUTOPILOT_INVALID.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Every component must have a system-unique component id, which is used for routing and for identifying multiple instances of a particular component type.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Historically the component id was also used to determine the component type. New code must not make any assumption about the type from the id used (type is determined from HEARTBEAT.type).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAVLink recommends that by default components use a type-appropriate component id from MAV_COMPONENT, and provide an interface to change the component id if needed. For example, a camera component might use any of the MAV_COMP_ID_CAMERAn ids, and should not use MAV_COMP_ID_GPS2.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Using type-specific component ids:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • Tip Using type-specific component ids: - makes id clashes less likely "out of the box" (unless two components of the same type are present on the same system).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • reduces the impact on legacy code that determines component type from the id.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Component Capabilities

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        The basic properties and capabilities of an autopilot can be determined by requesting the AUTOPILOT_VERSION message using MAV_CMD_REQUEST_MESSAGE, and for other components by requesting COMPONENT_INFORMATION_BASIC. This should normally be done on discovery of a new component, and the results cached.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        The information includes hardware and software versioning information, and also the capabilities, a bitmap of the MAVLink services/protocols (MAV_PROTOCOL_CAPABILITY) supported by the component.

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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          High Latency Protocol

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          High Latency (HL) links, for example made using the Iridium Satellite network, provide global connectivity, albeit with significant message latency (> 1 second) and high cost-per-message. Generally the cost and latency means that high-latency links are only used when there is no lower-latency alternative, and should only send essential information or commands.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          The protocol provides a heartbeat-like message (HIGH_LATENCY2) for transmitting just the most important telemetry at low rate, and a command (MAV_CMD_CONTROL_HIGH_LATENCY) for enabling/disabling the HL link when needed (i.e. when no lower-latency link is available).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          The GCS should carefully manage what data is sent to/requested from the autopilot on the HL link, in order to avoid congestion and minimize the cost of using the channel:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • Ground stations should not upload or download missions, waypoints or geofences on the HL link (i.e. should not use the mission protocol).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • Ground stations should not update or synchronise parameters over the HL channel (i.e. using the parameter protocol).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • HEARTBEAT messages should not be sent over the HL channel (see the section below for more information).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Typically the initial connection with a GCS is made over a low latency link (often before takeoff), so that the above data can be transferred before switching to the HL link.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Heartbeat/Routing

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          In order to reduce traffic to the bare minimum, some of the fundamental assumptions of MAVLink are explicitly broken:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • HEARTBEAT messages are not emitted on the channel (either by the autopilot or GCS).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            The heartbeat is used to build MAVLink routing tables between channels. Commands addressed specifically to the high latency component may not be routed from another channel (i.e. you can connect to the component from a GCS directly, but not via a MAVLink router).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • Only the command protocol service messages and HIGH_LATENCY2 message should be sent over the high latency channel.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          The other rules are essentially the same but there are some implications of the above changes:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • Messages from the high latency channel should be routed to other nodes on the network as usual. Note that this in reality most systems on a high latency network only send HIGH_LATENCY2.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • Addressed messages should be sent over the high latency channel (in both directions) in accordance with the normal routing rules. In practice the lack of HEARTBEAT means that addressed messages are unlikely to arrive, and hence be sent.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          The implication is that while all components on a MAVLink network will get HIGH_LATENCY2 updates, only the directly connected GCS (or other component) will be able send command protocol messages to the vehicle.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Message/Enum Summary

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MessageDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          HIGH_LATENCY2A heartbeat-like message that contains all the most important (but not time-sensitive) telemetry for sending over high latency links.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          CommandDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_CONTROL_HIGH_LATENCYCommand to start/stop transmitting high latency telemetry (HIGH_LATENCY2).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          EnumDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          HL_FAILURE_FLAGFlags to report failure cases over the high latency telemetry.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Sequences

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          A GCS should only upload/download missions, geofences, rally points, and parameters when connected over a low latency link. Generally a vehicle is connected to the GCS via a low latency link for initial synchronisation of parameters etc., and will reconnect whenever the low latency vehicle is available. When the link is not available it will switch to the high latency link and primarily just monitor the high latency telemetry.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          A typical flight sequence might therefore look like:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • Vehicle is started and connects to ground station over low latency link (e.g. USB cable, Telemetry radio).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • Ground station(s) download, check and sync all mission protocol items and parameter protocol items over the low latency link
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • Vehicle starts mission.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • Ground station detects when low latency link is lost/available and enables/disables the high latency link appropriately.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • While low latency link is active the mission and parameter protocols can be used.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • While high latency link is active the vehicle provide telemetry updates but parameters and missions should not be updated.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          When the low latency link is lost, the GCS sends MAV_CMD_CONTROL_HIGH_LATENCY to the vehicle over the high latency channel to turn the high latency link on on (causing the vehicle to start emitting HIGH_LATENCY2 messages). When the low latency link is regained the GCS sends MAV_CMD_CONTROL_HIGH_LATENCY to stop the vehicle from broadcasting HIGH_LATENCY2 messages (usually this would be sent over the low latency link).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          The diagram below shows a GCS switching from a higher-latency primary link to a lower latency secondary link when one becomes available, and then back to the higher latency link when the primary link drops out.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Explicit Handover

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          A ground station may also support a handover model, where the high latency link is established before the low latency link is dropped (i.e. the high latency link may be enabled by sending MAV_CMD_CONTROL_HIGH_LATENCY over the low latency link prior to loss of coverage).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          This approach allows the GCS to verify that the high latency link is available before losing the low latency connection.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          If using this model the GCS and autopilot should be able to work with a mixed regime of low and high latency links. Specifically, this means that they should be able to handle the case where the same message is sent over different both channels.

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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            \ No newline at end of file +High Latency Protocol · MAVLink Developer Guide
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            High Latency Protocol

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            High Latency (HL) links, for example made using the Iridium Satellite network, provide global connectivity, albeit with significant message latency (> 1 second) and high cost-per-message. Generally the cost and latency means that high-latency links are only used when there is no lower-latency alternative, and should only send essential information or commands.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            The protocol provides a heartbeat-like message (HIGH_LATENCY2) for transmitting just the most important telemetry at low rate, and a command (MAV_CMD_CONTROL_HIGH_LATENCY) for enabling/disabling the HL link when needed (i.e. when no lower-latency link is available).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            The GCS should carefully manage what data is sent to/requested from the autopilot on the HL link, in order to avoid congestion and minimize the cost of using the channel:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • Ground stations should not upload or download missions, waypoints or geofences on the HL link (i.e. should not use the mission protocol).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • Ground stations should not update or synchronise parameters over the HL channel (i.e. using the parameter protocol).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • HEARTBEAT messages should not be sent over the HL channel (see the section below for more information).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Typically the initial connection with a GCS is made over a low latency link (often before takeoff), so that the above data can be transferred before switching to the HL link.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Heartbeat/Routing

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            In order to reduce traffic to the bare minimum, some of the fundamental assumptions of MAVLink are explicitly broken:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • HEARTBEAT messages are not emitted on the channel (either by the autopilot or GCS).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              The heartbeat is used to build MAVLink routing tables between channels. Commands addressed specifically to the high latency component may not be routed from another channel (i.e. you can connect to the component from a GCS directly, but not via a MAVLink router).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • Only the command protocol service messages and HIGH_LATENCY2 message should be sent over the high latency channel.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            The other rules are essentially the same but there are some implications of the above changes:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • Messages from the high latency channel should be routed to other nodes on the network as usual. Note that this in reality most systems on a high latency network only send HIGH_LATENCY2.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • Addressed messages should be sent over the high latency channel (in both directions) in accordance with the normal routing rules. In practice the lack of HEARTBEAT means that addressed messages are unlikely to arrive, and hence be sent.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            The implication is that while all components on a MAVLink network will get HIGH_LATENCY2 updates, only the directly connected GCS (or other component) will be able send command protocol messages to the vehicle.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Message/Enum Summary

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MessageDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            HIGH_LATENCY2A heartbeat-like message that contains all the most important (but not time-sensitive) telemetry for sending over high latency links.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            CommandDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_CONTROL_HIGH_LATENCYCommand to start/stop transmitting high latency telemetry (HIGH_LATENCY2).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            EnumDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            HL_FAILURE_FLAGFlags to report failure cases over the high latency telemetry.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Sequences

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            A GCS should only upload/download missions, geofences, rally points, and parameters when connected over a low latency link. Generally a vehicle is connected to the GCS via a low latency link for initial synchronisation of parameters etc., and will reconnect whenever the low latency vehicle is available. When the link is not available it will switch to the high latency link and primarily just monitor the high latency telemetry.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            A typical flight sequence might therefore look like:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • Vehicle is started and connects to ground station over low latency link (e.g. USB cable, Telemetry radio).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • Ground station(s) download, check and sync all mission protocol items and parameter protocol items over the low latency link
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • Vehicle starts mission.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • Ground station detects when low latency link is lost/available and enables/disables the high latency link appropriately.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • While low latency link is active the mission and parameter protocols can be used.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • While high latency link is active the vehicle provide telemetry updates but parameters and missions should not be updated.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            When the low latency link is lost, the GCS sends MAV_CMD_CONTROL_HIGH_LATENCY to the vehicle over the high latency channel to turn the high latency link on on (causing the vehicle to start emitting HIGH_LATENCY2 messages). When the low latency link is regained the GCS sends MAV_CMD_CONTROL_HIGH_LATENCY to stop the vehicle from broadcasting HIGH_LATENCY2 messages (usually this would be sent over the low latency link).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            The diagram below shows a GCS switching from a higher-latency primary link to a lower latency secondary link when one becomes available, and then back to the higher latency link when the primary link drops out.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Explicit Handover

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            A ground station may also support a handover model, where the high latency link is established before the low latency link is dropped (i.e. the high latency link may be enabled by sending MAV_CMD_CONTROL_HIGH_LATENCY over the low latency link prior to loss of coverage).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            This approach allows the GCS to verify that the high latency link is available before losing the low latency connection.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            If using this model the GCS and autopilot should be able to work with a mixed regime of low and high latency links. Specifically, this means that they should be able to handle the case where the same message is sent over different both channels.

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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              \ No newline at end of file diff --git a/ko/services/illuminator.html b/ko/services/illuminator.html index a2ee47e3d..96b1f1321 100644 --- a/ko/services/illuminator.html +++ b/ko/services/illuminator.html @@ -1 +1 @@ -Illuminator Protocol · MAVLink Developer Guide
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Illuminator Protocol

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              The illuminator protocol allows MAVLink control over the behaviour of lights, LEDs, and/or emitters mounted or integrated on the drone. The protocol currently allows for the following control: brightness, on/off, and a strobe feature.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Along with this, the illuminator protocol also publishes status information for developers or users. The status messaging encompasses the current configuration of the illuminator and the health of the illuminator device.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              These illuminators have built-in MAVLink support:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • Skydio Spotlight for X10

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Message/Command/Enum Summary

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MessageDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              COMPONENT_INFORMATION_BASICBasic illuminator information data. Should be requested using MAV_CMD_REQUEST_MESSAGE on startup, or when required.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              ILLUMINATOR_STATUSCurrent status of the illuminator. Recommended to publish this at a regular rate.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              CommandDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_ILLUMINATOR_ON_OFFTurns illuminators ON/OFF.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_DO_ILLUMINATOR_CONFIGUREConfigures illuminator settings.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Enum ValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_TYPE_ILLUMINATORType of the component (illuminator).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_COMP_ID_ILLUMINATORID of the component (illuminator).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              EnumDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              ILLUMINATOR_MODEIlluminator modes.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              ILLUMINATOR_ERROR_FLAGSFault/health indications.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Implementation and Messages

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Illuminator Connection

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Illuminators are expected to follow the Heartbeat/Connection Protocol and send a constant flow of heartbeats (nominally at 1Hz). Illuminators are identified via their type MAV_TYPE_ILLUMINATOR. Individual illuminators are distinguished via their unique component ID, which by default should be MAV_COMP_ID_ILLUMINATOR (though this is not mandated and any ID may be used). Once a heartbeat is received, the drone can then send a MAV_CMD_REQUEST_MESSAGE command to the illuminator to receive information, set settings, or control the illuminator. An example below illustrates how a drone can request the status of the illuminator.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              COMPONENT_INFORMATION_BASIC

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              While the MAV_TYPE and Component ID help identify the system and component, the COMPONENT_INFORMATION_BASIC command can be requested to retrieve component information data, which can help further identify the component being communicated with. This data includes time_boot_ms, MAV_PROTOCOL_CAPABILITY, vendor_name, model_name, software_version, hardware_version, and serial_number.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              ParameterDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              time_boot_msTime since system boot up in milliseconds.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_PROTOCOL_CAPABILITYBitmask detailing the component capability flags.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              vendor_nameName of the component vendor (optional).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              model_nameName of the component's model (optional).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              software_versionSoftware version on the module, recommended format is SEMVER: 'major.minor.patch' but any format can be used (24-character string) (optional).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              hardware_versionHardware version on the module, recommended format is SEMVER: 'major.minor.patch' but any format can be used (24-character string) (optional).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              serial_numberHardware's serial number (optional).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Optional parameters can be left empty or set to zero.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              ON/OFF

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              The MAV_CMD_ILLUMINATOR_ON_OFF command is used to enable/disable the illuminator. It's usage can be seen below:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              CONFIGURE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              The MAV_CMD_DO_ILLUMINATOR_CONFIGURE command controls the illuminator's settings. This will adjust how the illuminator behaves when enabled. The operation follows the normal Command Protocol rules for command/acknowledgment. The four parameters for this command are: Mode, Brightness, Strobe Period, Strobe Duty.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Illuminators can be set in different modes which can change the behavior of the illuminator (described in a separate section, Modes). The brightness can be set via "Brightness" as a percentage value (0-100%). Illuminators may also have the functionality to strobe the light source. This behavior is configured via "Strobe Period" and "Strobe Duty". These parameters can be set to 0 when not used. "Strobe Period" is in seconds and "Strobe Duty" is a percentage value (indicating the % of time in the "Strobe Period" the illuminator is enabled).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MODES

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              If the mode is unknown, the mode parameter value will be set to 0.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              A mode value of 1 is ILLUMINATOR_MODE_INTERNAL_CONTROL, where the illuminator behavior is controlled by MAV_CMD_DO_ILLUMINATOR_CONFIGURE settings.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              When the value is set to 2, it indicates that the illuminator mode is ILLUMINATOR_MODE_EXTERNAL_SYNC. This mode is for instances where the illuminator behavior is controlled by external factors: e.g. an external hardware signal.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              STATUS

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              The ILLUMINATOR_STATUS message can be requested to receive information about the status of the illuminator. This includes information such as uptime, errors, whether the illuminator is enabled via MAV_CMD_ILLUMINATOR_ON_OFF, current settings from the MAV_CMD_DO_ILLUMINATOR_CONFIGURE command, and the temperature of the illuminator.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              ILLUMINATOR_ERROR_FLAGS

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              The ILLUMINATOR_ERROR_FLAGS can be used to indicate if there is any issue with the illuminator. At this time, there are three flags. If there is no error and the illuminator is behaving as normal, the ILLUMINATOR_ERROR_FLAGS bitmap will be 0. If ILLUMINATOR_ERROR_FLAGS is set to 1 or 2, this indicates an error related to the temperature of the illuminator.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              1 indicates ILLUMINATOR_ERROR_FLAGS_THERMAL_THROTTLING as in the illuminator is throttling its output due to a thermal issue. 2 indicates ILLUMINATOR_ERROR_FLAGS_OVER_TEMPERATURE_SHUTDOWN which means that the illuminator is shutting off due to passing some temperature threshold.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              The status message utilization can be seen below:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Test Script

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Description

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              The test suite included in assets/services/illuminators allows for testing both sides of the illuminator interaction.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • illuminator.py emulates a standard illuminator module.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • test_illuminator.py runs a standard test suite against the emulator, testing all commands listed in this document.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Instructions

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              1. Run simple illuminator emulator python3 illuminator.py
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              2. Run test python3 -m unittest -v test_illuminator.py

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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Illuminator Protocol

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                The illuminator protocol allows MAVLink control over the behaviour of lights, LEDs, and/or emitters mounted or integrated on the drone. The protocol currently allows for the following control: brightness, on/off, and a strobe feature.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Along with this, the illuminator protocol also publishes status information for developers or users. The status messaging encompasses the current configuration of the illuminator and the health of the illuminator device.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                These illuminators have built-in MAVLink support:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • Skydio Spotlight for X10

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Message/Command/Enum Summary

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MessageDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                COMPONENT_INFORMATION_BASICBasic illuminator information data. Should be requested using MAV_CMD_REQUEST_MESSAGE on startup, or when required.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                ILLUMINATOR_STATUSCurrent status of the illuminator. Recommended to publish this at a regular rate.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                CommandDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_ILLUMINATOR_ON_OFFTurns illuminators ON/OFF.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_DO_ILLUMINATOR_CONFIGUREConfigures illuminator settings.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Enum ValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_TYPE_ILLUMINATORType of the component (illuminator).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_COMP_ID_ILLUMINATORID of the component (illuminator).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                EnumDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                ILLUMINATOR_MODEIlluminator modes.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                ILLUMINATOR_ERROR_FLAGSFault/health indications.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Implementation and Messages

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Illuminator Connection

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Illuminators are expected to follow the Heartbeat/Connection Protocol and send a constant flow of heartbeats (nominally at 1Hz). Illuminators are identified via their type MAV_TYPE_ILLUMINATOR. Individual illuminators are distinguished via their unique component ID, which by default should be MAV_COMP_ID_ILLUMINATOR (though this is not mandated and any ID may be used). Once a heartbeat is received, the drone can then send a MAV_CMD_REQUEST_MESSAGE command to the illuminator to receive information, set settings, or control the illuminator. An example below illustrates how a drone can request the status of the illuminator.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                COMPONENT_INFORMATION_BASIC

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                While the MAV_TYPE and Component ID help identify the system and component, the COMPONENT_INFORMATION_BASIC command can be requested to retrieve component information data, which can help further identify the component being communicated with. This data includes time_boot_ms, MAV_PROTOCOL_CAPABILITY, vendor_name, model_name, software_version, hardware_version, and serial_number.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                ParameterDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                time_boot_msTime since system boot up in milliseconds.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_PROTOCOL_CAPABILITYBitmask detailing the component capability flags.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                vendor_nameName of the component vendor (optional).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                model_nameName of the component's model (optional).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                software_versionSoftware version on the module, recommended format is SEMVER: 'major.minor.patch' but any format can be used (24-character string) (optional).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                hardware_versionHardware version on the module, recommended format is SEMVER: 'major.minor.patch' but any format can be used (24-character string) (optional).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                serial_numberHardware's serial number (optional).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Optional parameters can be left empty or set to zero.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                ON/OFF

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                The MAV_CMD_ILLUMINATOR_ON_OFF command is used to enable/disable the illuminator. It's usage can be seen below:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                CONFIGURE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                The MAV_CMD_DO_ILLUMINATOR_CONFIGURE command controls the illuminator's settings. This will adjust how the illuminator behaves when enabled. The operation follows the normal Command Protocol rules for command/acknowledgment. The four parameters for this command are: Mode, Brightness, Strobe Period, Strobe Duty.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Illuminators can be set in different modes which can change the behavior of the illuminator (described in a separate section, Modes). The brightness can be set via "Brightness" as a percentage value (0-100%). Illuminators may also have the functionality to strobe the light source. This behavior is configured via "Strobe Period" and "Strobe Duty". These parameters can be set to 0 when not used. "Strobe Period" is in seconds and "Strobe Duty" is a percentage value (indicating the % of time in the "Strobe Period" the illuminator is enabled).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MODES

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                If the mode is unknown, the mode parameter value will be set to 0.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                A mode value of 1 is ILLUMINATOR_MODE_INTERNAL_CONTROL, where the illuminator behavior is controlled by MAV_CMD_DO_ILLUMINATOR_CONFIGURE settings.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                When the value is set to 2, it indicates that the illuminator mode is ILLUMINATOR_MODE_EXTERNAL_SYNC. This mode is for instances where the illuminator behavior is controlled by external factors: e.g. an external hardware signal.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                STATUS

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                The ILLUMINATOR_STATUS message can be requested to receive information about the status of the illuminator. This includes information such as uptime, errors, whether the illuminator is enabled via MAV_CMD_ILLUMINATOR_ON_OFF, current settings from the MAV_CMD_DO_ILLUMINATOR_CONFIGURE command, and the temperature of the illuminator.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                ILLUMINATOR_ERROR_FLAGS

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                The ILLUMINATOR_ERROR_FLAGS can be used to indicate if there is any issue with the illuminator. At this time, there are three flags. If there is no error and the illuminator is behaving as normal, the ILLUMINATOR_ERROR_FLAGS bitmap will be 0. If ILLUMINATOR_ERROR_FLAGS is set to 1 or 2, this indicates an error related to the temperature of the illuminator.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                1 indicates ILLUMINATOR_ERROR_FLAGS_THERMAL_THROTTLING as in the illuminator is throttling its output due to a thermal issue. 2 indicates ILLUMINATOR_ERROR_FLAGS_OVER_TEMPERATURE_SHUTDOWN which means that the illuminator is shutting off due to passing some temperature threshold.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                The status message utilization can be seen below:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Test Script

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Description

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                The test suite included in assets/services/illuminators allows for testing both sides of the illuminator interaction.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • illuminator.py emulates a standard illuminator module.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • test_illuminator.py runs a standard test suite against the emulator, testing all commands listed in this document.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Instructions

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                1. Run simple illuminator emulator python3 illuminator.py
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                2. Run test python3 -m unittest -v test_illuminator.py

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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  \ No newline at end of file diff --git a/ko/services/image_transmission.html b/ko/services/image_transmission.html index 96e313e9a..7d206ac5e 100644 --- a/ko/services/image_transmission.html +++ b/ko/services/image_transmission.html @@ -1,5 +1,5 @@ -Image Transmission Protocol · MAVLink Developer Guide
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Image Transmission Protocol

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  The Camera Protocol and MAVLink FTP are recommended for sending images, video and files.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  This protocol is not intended for general image transmission use (it was originally designed as a simple protocol for transfering small images over a low bandwidth channel from an optical flow sensor to a GCS).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  The image transmission protocol uses MAVLink as the communication channel to transport any kind of image (raw images, Kinect data, etc.) from one MAVLink node to another. It basically takes a live camera image, splits it into small chunks and sends it over MAVLink.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  This topic describes how the image streaming functionality works and covers both the communication protocol and implementation details (for a vehicle and QGroundControl).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Communication

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  The image streaming component uses two MAVLink messages: a handshake message, DATA_TRANSMISSION_HANDSHAKE, to initiate image streaming and describe the image to be sent, and a data container message, ENCAPSULATED_DATA, to transport the image data.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  1. The communication is initiated by the QGroundControl with a DATA_TRANSMISSION_HANDSHAKE request to start the stream. The messages should specify:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  2. type: any of the types in the enum MAVLINK_DATA_STREAM_TYPE in mavlink.h,

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  3. jpg_quality: Desired image quality (for lossy formats like JPEG).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  4. All other fields must be zero in the initial request.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  5. When the targeted MAV receives the handshake request, it sends back a DATA_TRANSMISSION_HANDSHAKE. This acts provides acknowledgment of the request and information about the image that is about to be streamed:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  6. type: Type of image to be streamed (same as requested type)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  7. size: Image size in bytes.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  8. width: Image width in pixels.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  9. height: Image height in pixels.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  10. packets: number of MAVLink ENCAPSULATED_DATA packets to be sent
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  11. payload: Size of the payload of each data packet (normally 252 bytes)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  12. jpg_quality: Image quality (same as requested)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  13. The image data is then split into chunks to fit into ENCAPSULATED_DATA message and sent over MAVLink. Every packet contains a sequence number as well as the ID of the image stream it belongs to.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  14. The image streamer periodically sends new images without further interaction. Every new image comes with a new DATA_TRANSMISSION_HANDSHAKE ACK packet with updated image size, packets and payload fields. After this ACK packet, the new image arrives as a series of ENCAPSULATED_DATA packets.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    The sequence number starts at 0 for every new image of the stream.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  15. To stop an image stream a GSC must send a new DATA_TRANSMISSION_HANDSHAKE request packet, with all 0 values. The MAVLink node will acknowledge this by sending back DATA_TRANSMISSION_HANDSHAKE also containing 0 values.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Usage / Configuration

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  To use the two modules on your MAV, you have to do the following steps:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • Compile the mavconn middleware for your MAV: Guide, Github.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • Start at least these components on the MAV:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Start at least these components on the MAV: 
+Image Transmission Protocol · MAVLink Developer Guide
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Image Transmission Protocol
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    The Camera Protocol and MAVLink FTP are recommended for sending images, video and files.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    This protocol is not intended for general image transmission use (it was originally designed as a simple protocol for transfering small images over a low bandwidth channel from an optical flow sensor to a GCS).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    The image transmission protocol uses MAVLink as the communication channel to transport any kind of image (raw images, Kinect data, etc.) from one MAVLink node to another. It basically takes a live camera image, splits it into small chunks and sends it over MAVLink.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    This topic describes how the image streaming functionality works and covers both the communication protocol and implementation details (for a vehicle and QGroundControl).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Communication
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    The image streaming component uses two MAVLink messages: a handshake message, DATA_TRANSMISSION_HANDSHAKE, to initiate image streaming and describe the image to be sent, and a data container message, ENCAPSULATED_DATA, to transport the image data.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1. The communication is initiated by the QGroundControl with a DATA_TRANSMISSION_HANDSHAKE request to start the stream. The messages should specify:
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2. type: any of the types in the enum MAVLINK_DATA_STREAM_TYPE in mavlink.h,
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    3. jpg_quality: Desired image quality (for lossy formats like JPEG).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    4. All other fields must be zero in the initial request.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    5. When the targeted MAV receives the handshake request, it sends back a DATA_TRANSMISSION_HANDSHAKE. This acts provides acknowledgment of the request and information about the image that is about to be streamed:
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    6. type: Type of image to be streamed (same as requested type)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    7. size: Image size in bytes.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    8. width: Image width in pixels.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    9. height: Image height in pixels.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    10. packets: number of MAVLink ENCAPSULATED_DATA packets to be sent
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    11. payload: Size of the payload of each data packet (normally 252 bytes)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    12. jpg_quality: Image quality (same as requested)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    13. The image data is then split into chunks to fit into ENCAPSULATED_DATA message and sent over MAVLink. Every packet contains a sequence number as well as the ID of the image stream it belongs to.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    14. The image streamer periodically sends new images without further interaction. Every new image comes with a new DATA_TRANSMISSION_HANDSHAKE ACK packet with updated image size, packets and payload fields. After this ACK packet, the new image arrives as a series of ENCAPSULATED_DATA packets.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      The sequence number starts at 0 for every new image of the stream.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    15. To stop an image stream a GSC must send a new DATA_TRANSMISSION_HANDSHAKE request packet, with all 0 values. The MAVLink node will acknowledge this by sending back DATA_TRANSMISSION_HANDSHAKE also containing 0 values.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Usage / Configuration
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    To use the two modules on your MAV, you have to do the following steps:
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • Compile the mavconn middleware for your MAV: Guide, Github.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • Start at least these components on the MAV:
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Start at least these components on the MAV: 
       px_mavlink_bridge_udp &
       px_system_control --heartbeat &
       px_camera -o lcm &
-
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • Compile and start QGroundControl.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • Start the image streaming component (you can add the -v flag to see some more output): px_imagestreamer.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • Initiate the image stream: Open the HUD widget, right-click into the widget and choose Enable live Image Streaming.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    You should now be able to see the live video feed with one image per second (default, hardcoded at the moment).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Developer
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Out-of-the-box, the image streaming component only implements JPEG streaming of the camera image. To implement your own image stream, you have to do the following:
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • Write a MAVLink handler, which handles requests to start image streams of your type of choice.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • Write a data handler, which takes your desired data (i.e. a stereo camera image), encodes it into the format of your choice (i.e. rawimage, JPEG, BMP) and splits/sends the data over MAVLink.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • Extend the data/message handler in the UAS component of QGroundControl to correctly handle your data (i.e. unpacking of the chosen format).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • Write or extend a widget to display your data according to your wishes.
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • Compile and start QGroundControl.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • Start the image streaming component (you can add the -v flag to see some more output): px_imagestreamer.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • Initiate the image stream: Open the HUD widget, right-click into the widget and choose Enable live Image Streaming.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    You should now be able to see the live video feed with one image per second (default, hardcoded at the moment).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Developer

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Out-of-the-box, the image streaming component only implements JPEG streaming of the camera image. To implement your own image stream, you have to do the following:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • Write a MAVLink handler, which handles requests to start image streams of your type of choice.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • Write a data handler, which takes your desired data (i.e. a stereo camera image), encodes it into the format of your choice (i.e. rawimage, JPEG, BMP) and splits/sends the data over MAVLink.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • Extend the data/message handler in the UAS component of QGroundControl to correctly handle your data (i.e. unpacking of the chosen format).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • Write or extend a widget to display your data according to your wishes.

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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      \ No newline at end of file diff --git a/ko/services/index.html b/ko/services/index.html index 088518215..7c2b0c0a4 100644 --- a/ko/services/index.html +++ b/ko/services/index.html @@ -1 +1 @@ -Microservices · MAVLink Developer Guide
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Microservices

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      The MAVLink "microservices" define higher-level protocols that MAVLink systems can adopt in order to better inter-operate. For example, QGroundControl, ArduPilot and PX4 autopilots all share a common Command Protocol for sending point-to-point messages that require an acknowledgment.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      The microservices are used to exchange many types of data, including: parameters, missions, trajectories, images, other files. If the data can be far larger than can be fit into a single message, services will define how the data is split and re-assembled, and how to ensure that any lost data is re-transmitted. Other services provide command acknowledgment and/or error reporting.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Most services use the client-server pattern, such that the GCS (client) initiates a request and the vehicle (server) responds with data.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      The main microservices are shown in the sidebar (most are listed below):

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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Microservices

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        The MAVLink "microservices" define higher-level protocols that MAVLink systems can adopt in order to better inter-operate. For example, QGroundControl, ArduPilot and PX4 autopilots all share a common Command Protocol for sending point-to-point messages that require an acknowledgment.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        The microservices are used to exchange many types of data, including: parameters, missions, trajectories, images, other files. If the data can be far larger than can be fit into a single message, services will define how the data is split and re-assembled, and how to ensure that any lost data is re-transmitted. Other services provide command acknowledgment and/or error reporting.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Most services use the client-server pattern, such that the GCS (client) initiates a request and the vehicle (server) responds with data.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        The main microservices are shown in the sidebar (most are listed below):

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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          \ No newline at end of file diff --git a/ko/services/landing_target.html b/ko/services/landing_target.html index 929c09d1e..edd3b4aa3 100644 --- a/ko/services/landing_target.html +++ b/ko/services/landing_target.html @@ -1 +1 @@ -Landing Target Protocol · MAVLink Developer Guide
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Landing Target Protocol

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          The landing target services/message communicates the position of one or more targets from MAVLink positioning system(s) to an autopilot. A multicopter or VTOL system can use the message to land with far greater positional accuracy than provided by conventional GPS (GPS provides position within several meters while a landing-target system might reasonably provide centimetre-level precision landing).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          A positioning system might typically consist of an onboard companion computer with a vision system that can detect a light beacon or target image. Radio beacons and different types of visual markers and tags are also supported.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Protocol Messages

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          The message used by this protocol is LANDING_TARGET. This is broadcast by the positioning system to indicate the position of a particular target at a particular time.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          The required broadcast rate depends on the landing speed and desired accuracy; start with rates between 10 Hz and 50 Hz and tune performance as needed.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          The original MAVLink 1 message was designed with the assumption that the target is captured from a downward facing camera, and provides fields that are relative to the captured image. MAVLink 2 extended the message to provide positional information in terms of standard frames (MAV_FRAME), a quaternion and the type of landing targets (LANDING_TARGET_TYPE). This allows more flexibility for the types of target that can be supported, simplifies the code required by the autopilot, and allows the autopilot to control both landing position and orientation on (some) targets.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Different systems may support either (or presumably both) sets of fields. These are discussed below.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Target Relative to Captured Image

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          The LANDING_TARGET fields that are relative to a captured image are shown below:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          angle_xfloatradX-axis angular offset of the target from the center of the image
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          angle_yfloatradY-axis angular offset of the target from the center of the image
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          distancefloatmDistance to the target from the vehicle
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          size_xfloatradSize of target along x-axis
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          size_yfloatradSize of target along y-axis

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          The positional information can be interpreted as described below.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Imagine a ray pointing from the camera's principal point to the target. The x angle (angle_x) is the angle spanned by that ray and the x-axis of the image plane. The same holds for the y angle (angle_y). Otherwise the receiver of the message would need to know the camera field of view etc. In other words, the x angle is a function of the x pixel coordinate of the target (denoted by u̅ in the image below), the y angle is a function of the y pixel coordinate (denoted v in the image below). Using the angle rather than u̅/v̅ pixel coordinates has the advantage that the effect of the camera lens is already accounted for.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Landing Target Fields

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          The sizes in x and y direction are analogous (size_x/size_y). They describe the angle between the smallest and biggest pixel in x/y direction respectively of the target as seen in the image.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ArduPilot supports messages with these fields if position_valid is 0.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Target as Position/Quaternion (MAVLink 2 and later)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          The message fields that are used to provide target information as a position/quaternion are shown below. Field meaning and use is clear from the description.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          frameuint8_tMAV_FRAMECoordinate frame used for following fields.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          xfloatmX Position of the landing target in MAV_FRAME
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          yfloatmY Position of the landing target in MAV_FRAME
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          zfloatmZ Position of the landing target in MAV_FRAME
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          qfloat[4]Quaternion of landing target orientation (w, x, y, z order, zero-rotation is 1, 0, 0, 0)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          typeuint8_tLANDING_TARGET_TYPEType of landing target
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          position_validuint8_tBoolean indicating whether these position field values are populated with valid position target information (1: valid, 0: invalid). The default is '0', so that if the fields are not populated the default-zero values are not interpreted as a valid target position.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • Tip - PX4 supports this form of positioning in MAV_FRAME_LOCAL_NED (only). The original (MAVLink 1) fields are ignored.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • ArduPilot supports this form of positioning in MAV_FRAME_BODY_FRD (only). position_valid must be 1 and distance must be filled.

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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Landing Target Protocol

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            The landing target services/message communicates the position of one or more targets from MAVLink positioning system(s) to an autopilot. A multicopter or VTOL system can use the message to land with far greater positional accuracy than provided by conventional GPS (GPS provides position within several meters while a landing-target system might reasonably provide centimetre-level precision landing).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            A positioning system might typically consist of an onboard companion computer with a vision system that can detect a light beacon or target image. Radio beacons and different types of visual markers and tags are also supported.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Protocol Messages

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            The message used by this protocol is LANDING_TARGET. This is broadcast by the positioning system to indicate the position of a particular target at a particular time.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            The required broadcast rate depends on the landing speed and desired accuracy; start with rates between 10 Hz and 50 Hz and tune performance as needed.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            The original MAVLink 1 message was designed with the assumption that the target is captured from a downward facing camera, and provides fields that are relative to the captured image. MAVLink 2 extended the message to provide positional information in terms of standard frames (MAV_FRAME), a quaternion and the type of landing targets (LANDING_TARGET_TYPE). This allows more flexibility for the types of target that can be supported, simplifies the code required by the autopilot, and allows the autopilot to control both landing position and orientation on (some) targets.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Different systems may support either (or presumably both) sets of fields. These are discussed below.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Target Relative to Captured Image

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            The LANDING_TARGET fields that are relative to a captured image are shown below:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            angle_xfloatradX-axis angular offset of the target from the center of the image
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            angle_yfloatradY-axis angular offset of the target from the center of the image
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            distancefloatmDistance to the target from the vehicle
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            size_xfloatradSize of target along x-axis
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            size_yfloatradSize of target along y-axis

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            The positional information can be interpreted as described below.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Imagine a ray pointing from the camera's principal point to the target. The x angle (angle_x) is the angle spanned by that ray and the x-axis of the image plane. The same holds for the y angle (angle_y). Otherwise the receiver of the message would need to know the camera field of view etc. In other words, the x angle is a function of the x pixel coordinate of the target (denoted by u̅ in the image below), the y angle is a function of the y pixel coordinate (denoted v in the image below). Using the angle rather than u̅/v̅ pixel coordinates has the advantage that the effect of the camera lens is already accounted for.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Landing Target Fields

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            The sizes in x and y direction are analogous (size_x/size_y). They describe the angle between the smallest and biggest pixel in x/y direction respectively of the target as seen in the image.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ArduPilot supports messages with these fields if position_valid is 0.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Target as Position/Quaternion (MAVLink 2 and later)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            The message fields that are used to provide target information as a position/quaternion are shown below. Field meaning and use is clear from the description.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            frameuint8_tMAV_FRAMECoordinate frame used for following fields.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            xfloatmX Position of the landing target in MAV_FRAME
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            yfloatmY Position of the landing target in MAV_FRAME
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            zfloatmZ Position of the landing target in MAV_FRAME
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            qfloat[4]Quaternion of landing target orientation (w, x, y, z order, zero-rotation is 1, 0, 0, 0)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            typeuint8_tLANDING_TARGET_TYPEType of landing target
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            position_validuint8_tBoolean indicating whether these position field values are populated with valid position target information (1: valid, 0: invalid). The default is '0', so that if the fields are not populated the default-zero values are not interpreted as a valid target position.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • Tip - PX4 supports this form of positioning in MAV_FRAME_LOCAL_NED (only). The original (MAVLink 1) fields are ignored.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • ArduPilot supports this form of positioning in MAV_FRAME_BODY_FRD (only). position_valid must be 1 and distance must be filled.

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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              \ No newline at end of file diff --git a/ko/services/manual_control.html b/ko/services/manual_control.html index 938bbcc0f..9b46ecccd 100644 --- a/ko/services/manual_control.html +++ b/ko/services/manual_control.html @@ -1 +1 @@ -Manual Control (Joystick) Protocol · MAVLink Developer Guide
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Manual Control Protocol (Joystick)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              The Manual Control Protocol enables controlling a system using a "standard joystick" (or joystick-like input device that supports the same axes nomenclature).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              The protocol is implemented with just the MANUAL_CONTROL message. It defines the target system to be controlled, the movement in four primary axes (x, y, z, r) and two extension axes (s, t), and two 16-bit fields to represent the states of up to 32 buttons (buttons, buttons2). Unused axes can be disabled, and the extension axes must be explicitly enabled using bits 0 and 1 of the enabled_extensions field.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              The protocol is by intent relatively simple and abstract, and provides a simple way of controlling the main motion of a vehicle, along with several arbitrary features that can be triggered using buttons.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              This allows GCS software to provide a simple level of control for many types of vehicles, and allows new vehicle types with unusual functions to operate with minimal (if any) changes to the MAVLink protocol or existing ground control station (GCS) software.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Mapping Axes

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Manual control is performed in the vehicle-frame. All axis values are normalised to the range -1000 to 1000.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Rotation-Focused Control

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              The typical axis assignments for a thrust- and rotation-controlled vehicle (e.g. planes, multicopters) are listed below.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              fieldmotion axis+ve direction-ve direction
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              xpitchforward/nose-downbackward/nose-up
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              yrollright-downleft-down
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              zthrustpositivenegative
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              ryawcounter-clockwiseclockwise

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Directional Control

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Vehicles with direct control over vehicle translation directions (multicopters) typically use the following mappings.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              fieldmotion axis+ve direction-ve direction
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              xforwardforwardbackward
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              ylateralrightleft
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              zverticalupdown
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              ryawcounter-clockwiseclockwise
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              spitchforward/nose-downbackward/nose-up
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              trollright-downleft-down

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Mapping Buttons

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Button functions are vehicle/flight-stack dependent:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • ArduPilot treats button values as user-configurable using firmware parameters (e.g. ArduCopter's BTN_FUNCn or ArduSub's BTNn_FUNCTION), through the Parameter or Extended Parameter protocols.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • PX4 defines fixed meanings to some of the buttons values, and these are mapped to user-selected functions by the ground station.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              The buttons field is required, and corresponds to the first 16 buttons.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              buttons2 is an extension, and corresponds to the optional second set of 16 buttons.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Alternatives

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Vehicles may alternatively be controlled by sending information as a set of up to 18 channel values using RC_CHANNELS_OVERRIDE. Channels can be mapped to firmware parameters using PARAM_MAP_RC, and the autopilot can use the current parameter values at each point in time to determine control actions.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              It's worth noting that the generality of RC channels control is a double-edged sword. It is incredibly versatile, and can be used to provide support for several arbitrary control axes, but the user-defined in-vehicle nature of the mapped parameters means additional setup is frequently required for compatibility with GCSs, and there are no guarantees that multiple vehicles running the same firmware will have the same channel-parameter mapping. This is a similar issue to the MANUAL_CONTROL buttons, so to minimise firmware complexity and maximise interoperability between a vehicle type and GCSs it's recommended to use targetted MAVLink commands where possible.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Implementations

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              The protocol has been implemented in various GCSs and vehicle firmwares. These implementations can be used in your own code within the terms of their software licenses.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Ground Control Stations

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              The protocol has been implemented in QGroundControl and Mission Planner.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              QGroundControl implementation:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MissionPlanner implementation:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Vehicle Firmwares

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              The protocol has been implemented in PX4, and in the Copter, Plane, Rover, and Sub vehicle firmwares in ArduPilot.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              PX4 Implementation:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              ArduPilot Implementations:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Future Extensions

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Future extensions are likely to be handled with additional targetted MAVLink commands rather than mapping functionality in the flight controller (i.e. handling more complex inputs in the GCS to reduce vehicle firmware complexity).

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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Manual Control Protocol (Joystick)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                The Manual Control Protocol enables controlling a system using a "standard joystick" (or joystick-like input device that supports the same axes nomenclature).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                The protocol is implemented with just the MANUAL_CONTROL message. It defines the target system to be controlled, the movement in four primary axes (x, y, z, r) and two extension axes (s, t), and two 16-bit fields to represent the states of up to 32 buttons (buttons, buttons2). Unused axes can be disabled, and the extension axes must be explicitly enabled using bits 0 and 1 of the enabled_extensions field.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                The protocol is by intent relatively simple and abstract, and provides a simple way of controlling the main motion of a vehicle, along with several arbitrary features that can be triggered using buttons.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                This allows GCS software to provide a simple level of control for many types of vehicles, and allows new vehicle types with unusual functions to operate with minimal (if any) changes to the MAVLink protocol or existing ground control station (GCS) software.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Mapping Axes

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Manual control is performed in the vehicle-frame. All axis values are normalised to the range -1000 to 1000.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Rotation-Focused Control

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                The typical axis assignments for a thrust- and rotation-controlled vehicle (e.g. planes, multicopters) are listed below.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                fieldmotion axis+ve direction-ve direction
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                xpitchforward/nose-downbackward/nose-up
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                yrollright-downleft-down
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                zthrustpositivenegative
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                ryawcounter-clockwiseclockwise

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Directional Control

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Vehicles with direct control over vehicle translation directions (multicopters) typically use the following mappings.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                fieldmotion axis+ve direction-ve direction
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                xforwardforwardbackward
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                ylateralrightleft
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                zverticalupdown
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                ryawcounter-clockwiseclockwise
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                spitchforward/nose-downbackward/nose-up
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                trollright-downleft-down

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Mapping Buttons

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Button functions are vehicle/flight-stack dependent:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • ArduPilot treats button values as user-configurable using firmware parameters (e.g. ArduCopter's BTN_FUNCn or ArduSub's BTNn_FUNCTION), through the Parameter or Extended Parameter protocols.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • PX4 defines fixed meanings to some of the buttons values, and these are mapped to user-selected functions by the ground station.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                The buttons field is required, and corresponds to the first 16 buttons.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                buttons2 is an extension, and corresponds to the optional second set of 16 buttons.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Alternatives

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Vehicles may alternatively be controlled by sending information as a set of up to 18 channel values using RC_CHANNELS_OVERRIDE. Channels can be mapped to firmware parameters using PARAM_MAP_RC, and the autopilot can use the current parameter values at each point in time to determine control actions.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                It's worth noting that the generality of RC channels control is a double-edged sword. It is incredibly versatile, and can be used to provide support for several arbitrary control axes, but the user-defined in-vehicle nature of the mapped parameters means additional setup is frequently required for compatibility with GCSs, and there are no guarantees that multiple vehicles running the same firmware will have the same channel-parameter mapping. This is a similar issue to the MANUAL_CONTROL buttons, so to minimise firmware complexity and maximise interoperability between a vehicle type and GCSs it's recommended to use targetted MAVLink commands where possible.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Implementations

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                The protocol has been implemented in various GCSs and vehicle firmwares. These implementations can be used in your own code within the terms of their software licenses.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Ground Control Stations

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                The protocol has been implemented in QGroundControl and Mission Planner.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                QGroundControl implementation:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MissionPlanner implementation:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Vehicle Firmwares

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                The protocol has been implemented in PX4, and in the Copter, Plane, Rover, and Sub vehicle firmwares in ArduPilot.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                PX4 Implementation:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                ArduPilot Implementations:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Future Extensions

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Future extensions are likely to be handled with additional targetted MAVLink commands rather than mapping functionality in the flight controller (i.e. handling more complex inputs in the GCS to reduce vehicle firmware complexity).

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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  \ No newline at end of file diff --git a/ko/services/mavlink_id_assignment.html b/ko/services/mavlink_id_assignment.html index 5dc1f8e43..23f4f8946 100644 --- a/ko/services/mavlink_id_assignment.html +++ b/ko/services/mavlink_id_assignment.html @@ -1 +1 @@ -MAVLink Id Assignment (sysid, compid) · MAVLink Developer Guide
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAVLink Id Assignment

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  A MAVLink system consists of one or more MAVLink components that all share the same system id, and that must each have a system-unique component id. This topic explains how you can ensure that your components are updated appropriately when the system id of the autopilot is changed, and how to ensure that they each have a unique component id.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Overview

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Generally MAVLink flight stacks give the autopilot component a default system id of 1 and a component id of MAV_COMP_ID_AUTOPILOT1 (also 1).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Other MAVLink components typically also have a default system id of 1, and a component id that is the default for the component's type (such as MAV_COMP_ID_CAMERA for a MAVLink camera). This ensures that they will often work with autopilots "out of the box" when setting up a system for the first time.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  In a more complex MAVLink system you will have multiple vehicles, so you will need to assign each vehicle a unique system id, and have a mechanism to change the associated components to that same id.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  In a single system you may also have multiple components of the same type. In this case you will need to ensure that each has a unique component id.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  The following section suggests a process to allow MAVLink components to automatically update themselves with the correct ids.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  System Id Assignment

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  First change the system ID of the autopilot component. This is usually done with a flight-stack specific parameter such as MAV_SYS_ID (PX4) or SYSID_THISMAV (ArduCopter).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_DO_SET_SYS_CMP_ID is a work-in-progress command for setting and changing system and command ids.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Then reboot the vehicle off-network, so that the only autopilot visible to components should be the one on the vehicle (you can disconnect your telemetry radio, for example).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  On boot, components should look for autopilot HEARTBEAT messages.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  If HEARTBEAT messages are detected from:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • Only one autopilot within 3 seconds of the first autopilot heartbeat being detected, the component should set its system id to match that of the autopilot.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • Multiple autopilots within the first 3 seconds then the autopilot should keep its current system id. Note that this is true even if autopilot heartbeats from corresponding autopilot are not seen.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • No autopilots then components should keep their current system id.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  This ensures that components will latch to an unambiguous system id if available, and otherwise keep their current system id.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Component Id Assignment

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Component IDs should be manually assigned by the system integrator.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  In practise most components are factory-shipped using the first "allocated" component ID for their type from the MAV_COMPONENT enum, such as MAV_COMP_ID_CAMERA for cameras, and MAV_COMP_ID_GIMBAL for gimbals. If the vehicle has only one component of a particular type, then this is usually sufficient to avoid clashes.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  When there are multiple instances of a particular component, each will need a unique id. The easiest way to do this is to sequentially allocate component IDs from the allocated ranges, such as MAV_COMP_ID_CAMERA2. The mechanisms to set and change component ids are component-dependent (and some components may not allow the component id to be changed).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Note that in theory any component can have any id. However associating components with their well-known component ids makes it easier to, for example, associate a gimbal with a camera, or capture an image using a particular camera.

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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    \ No newline at end of file +MAVLink Id Assignment (sysid, compid) · MAVLink Developer Guide
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAVLink Id Assignment

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    A MAVLink system consists of one or more MAVLink components that all share the same system id, and that must each have a system-unique component id. This topic explains how you can ensure that your components are updated appropriately when the system id of the autopilot is changed, and how to ensure that they each have a unique component id.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Overview

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Generally MAVLink flight stacks give the autopilot component a default system id of 1 and a component id of MAV_COMP_ID_AUTOPILOT1 (also 1).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Other MAVLink components typically also have a default system id of 1, and a component id that is the default for the component's type (such as MAV_COMP_ID_CAMERA for a MAVLink camera). This ensures that they will often work with autopilots "out of the box" when setting up a system for the first time.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    In a more complex MAVLink system you will have multiple vehicles, so you will need to assign each vehicle a unique system id, and have a mechanism to change the associated components to that same id.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    In a single system you may also have multiple components of the same type. In this case you will need to ensure that each has a unique component id.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    The following section suggests a process to allow MAVLink components to automatically update themselves with the correct ids.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    System Id Assignment

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    First change the system ID of the autopilot component. This is usually done with a flight-stack specific parameter such as MAV_SYS_ID (PX4) or SYSID_THISMAV (ArduCopter).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_DO_SET_SYS_CMP_ID is a work-in-progress command for setting and changing system and command ids.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Then reboot the vehicle off-network, so that the only autopilot visible to components should be the one on the vehicle (you can disconnect your telemetry radio, for example).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    On boot, components should look for autopilot HEARTBEAT messages.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    If HEARTBEAT messages are detected from:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • Only one autopilot within 3 seconds of the first autopilot heartbeat being detected, the component should set its system id to match that of the autopilot.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • Multiple autopilots within the first 3 seconds then the autopilot should keep its current system id. Note that this is true even if autopilot heartbeats from corresponding autopilot are not seen.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • No autopilots then components should keep their current system id.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    This ensures that components will latch to an unambiguous system id if available, and otherwise keep their current system id.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Component Id Assignment

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Component IDs should be manually assigned by the system integrator.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    In practise most components are factory-shipped using the first "allocated" component ID for their type from the MAV_COMPONENT enum, such as MAV_COMP_ID_CAMERA for cameras, and MAV_COMP_ID_GIMBAL for gimbals. If the vehicle has only one component of a particular type, then this is usually sufficient to avoid clashes.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    When there are multiple instances of a particular component, each will need a unique id. The easiest way to do this is to sequentially allocate component IDs from the allocated ranges, such as MAV_COMP_ID_CAMERA2. The mechanisms to set and change component ids are component-dependent (and some components may not allow the component id to be changed).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Note that in theory any component can have any id. However associating components with their well-known component ids makes it easier to, for example, associate a gimbal with a camera, or capture an image using a particular camera.

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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      \ No newline at end of file diff --git a/ko/services/mission.html b/ko/services/mission.html index c660adb0e..111bfc52c 100644 --- a/ko/services/mission.html +++ b/ko/services/mission.html @@ -1 +1 @@ -미션 프로토콜 · MAVLink Developer Guide
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Mission Protocol

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      The mission sub-protocol allows a GCS or developer API to exchange mission (flight plan), geofence and safe point information with a drone/component.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      The protocol covers:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • Operations to upload, download and clear missions, set/get the current mission item number, and get notification when the current mission item has changed.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • Message type(s) and enumerations for exchanging mission items.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • Mission Items ("MAVLink commands") that are common to most systems.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      The protocol supports re-request of messages that have not arrived, which allows missions to be reliably transferred over a lossy link.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Mission Types

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAVLink 2 supports three types of "missions": flight plans, geofences and rally/safe points. The protocol uses the same sequence of operations for all types (albeit with different types of Mission Items). The mission types must be stored and handled separately/independently.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Mission protocol messages include the type of associated mission in the mission_type field (a MAVLink 2 message extension). The field takes one of the MAV_MISSION_TYPE enum values: MAV_MISSION_TYPE_MISSION, MAV_MISSION_TYPE_FENCE, MAV_MISSION_TYPE_RALLY.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAVLink 1 supports only "regular" flight-plan missions (this is implied/not explicitly set).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Mission items for all the mission types are defined in the MAV_CMD enum.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD is used to define commands that can be used in missions ("mission items") and commands that can be sent outside of a mission context (using the Command Protocol). Some MAV_CMD can be used with both mission and command protocols. Not all commands/mission items are supported on all systems (or for all flight modes).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      The items for the different types of mission are identified using a simple name prefix convention:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Mission items (MAV_CMD) are transmitted/encoded in MISSION_ITEM_INT messages. This message includes fields to identify the particular mission item (command id) and up to 7 command-specific optional parameters.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Field NameTypeValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      commanduint16_tMAV_CMDCommand id, as defined in MAV_CMD.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      param1floatParam #1.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      param2floatParam #2.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      param3floatParam #3.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      param4floatParam #4.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      param5 (x)int32_tX coordinate (local frame) or latitude (global frame) for navigation commands (otherwise Param #5).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      param6 (y)int32_tY coordinate (local frame) or longitude (global frame) for navigation commands (otherwise Param #6).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      param7 (z)floatZ coordinate (local frame) or altitude (global - relative or absolute, depending on frame) (otherwise Param #7).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      The first four parameters (shown above) can be used for any purpose - this depends on the particular command. The last three parameters (x, y, z) are used for positional information in MAV_CMD_NAV_* commands, but can be used for any purpose in other commands.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      The remaining message fields are used for addressing, defining the mission type, specifying the reference frame used for x, y, z in MAV_CMD_NAV_* messages, etc.:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Field NameTypeValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      target_systemuint8_tSystem ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      target_componentuint8_tComponent ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      sequint16_tSequence number for item within mission (indexed from 0).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      frameuint8_tMAV_FRAMEframeuint8_tMAV_FRAMEThe coordinate system of the waypoint.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ArduPilot and PX4 both only support global frames in MAVLink commands (local frames may be supported if the same command is sent via the command protocol). | | mission_type | uint8_t | MAV_MISSION_TYPE | Mission type. | | current | uint8_t | false:0, true:1 | When downloading, whether the item is the current mission item. | | autocontinue | uint8_t | | Autocontinue to next waypoint when the command completes. |

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Message/Enum Summary

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      The following messages and enums are used by the service.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MessageDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MISSION_REQUEST_LISTInitiate mission download from a system by requesting the list of mission items.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MISSION_COUNTSend the number of items in a mission. This is used to initiate mission upload or as a response to MISSION_REQUEST_LIST when downloading a mission.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MISSION_REQUEST_INTRequest mission item data for a specific sequence number be sent by the recipient using a MISSION_ITEM_INT message. Used for mission upload and download.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MISSION_ITEM_INTMessage encoding a mission item/command (defined in a MAV_CMD). Used for mission upload and download.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MISSION_ACKAcknowledgment message when a system completes a mission operation (e.g. sent by autopilot after it has uploaded all mission items). The message includes a MAV_MISSION_RESULT indicating either success or the type of failure.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MISSION_CURRENTMessage containing the current mission item sequence number. This is emitted when the current mission item is set/changed.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MISSION_SET_CURRENTSet the current mission item by sequence number (continue to this item on the shortest path).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      STATUSTEXTSent to notify systems when a request to set the current mission item fails.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MISSION_CLEAR_ALLMessage sent to clear/delete all mission items stored on a system.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MISSION_ITEM_REACHEDMessage emitted by system whenever it reaches a new waypoint. Used to monitor progress.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      CommandDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_DO_SET_MISSION_CURRENTSet current mission item and optionally reset mission counter. Supersedes MISSION_SET_CURRENT.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      EnumDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_MISSION_TYPEMission type for message (mission, geofence, rallypoints).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_MISSION_RESULTUsed to indicate the success or failure reason for an operation (e.g. to upload or download a mission). This is carried in a MISSION_ACK.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_FRAMECo-ordinate frame for position/velocity/acceleration data in the message.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMDMission Items (and MAVLink commands) sent in MISSION_ITEM_INT.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Deprecated Types: MISSION_ITEM

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      The legacy version of the protocol also supported MISSION_REQUEST for requesting that a mission be sent as a sequence of MISSION_ITEM messages.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Both MISSION_REQUEST and MISSION_ITEM messages are now deprecated, and should no longer be sent. If MISSION_REQUEST is recieved the system should instead respond with MISSION_ITEM_INT items (as though it received MISSION_REQUEST_INT).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Frames & Positional Information

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      By convention, mission items use param5, param6, param7 for positional information when needed (and otherwise as "free use" parameters). The table below shows that the positional parameters can be local (x, y, z), global (latitude, longitude, altitude), and also the data type used to store the parameters in the MISSION_ITEM_INT message.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      paramtypeLocalGlobal
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      param5int32_txLatitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      param6int32_tyLongitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      param7floatzAltitude (global - relative or absolute)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      The co-ordinate frame of positional parameters is defined in the MISSION_ITEM_INT.frame field using a MAV_FRAME value.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      The global frames are prefixed with MAV_FRAME_GLOBAL_*. Mission items should use frame variants that have the suffix _INT: e.g. MAV_FRAME_GLOBAL_RELATIVE_ALT_INT, MAV_FRAME_GLOBAL_INT, MAV_FRAME_GLOBAL_TERRAIN_ALT_INT. When using these frames, latitude and longitude values must be encoded by multiplying the degrees by 1E7 (e.g. the latitude 69.69000000 would be sent as 69.69000000x1E7 = 696900000). Using int32 of degrees * 10^7 has higher resolution than could be achieved with single floating point.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      A number of local frames are also specified. Local frame position values that are sent in integer field parameters must be encoded as position in meters x 1E4 (e.g. 5m would be encoded and sent as 50000). If sent in messages float parameter fields the value should be sent as-is.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Don't use the non-INT global frames in mission items (e.g. MAV_FRAME_GLOBAL_RELATIVE_ALT). These are intended to be used with messages that have float fields for positional information, e.g.: MISSION_ITEM (deprecated), COMMAND_LONG. If these frames are used, position values should be sent unencoded (i.e. no need to multiply by 1E7).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      As above, in theory if a global non-INT frame variant is set for a MISSION_ITEM_INT the position value should be sent as-is (not encoded). This will result in the value being rounded when it is sent in the integer value, which will make the value unusable. In practice, many systems will assume you have encoded the value, but you should test this for your particular flight stack. Better just to use the correct frames!

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Don't use MAV_FRAME_MISSION for mission items that contain positional data; this does not correspond to any particular real frame, and so will be ambiguous. MAV_FRAME_MISSION should be used for mission items that use params5 and param6 for other purposes.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Param 5, 6 For Non-Positional Data

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Param5, param6, param7 may also be used for non-positional information. In this case the MISSION_ITEM_INT.frame should be set to MAV_FRAME_MISSION (this is equivalent to say "the frame data is irrelevant").

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      As param5 and param6 are sent in integer fields, generally you should design mission items/MAV_CMDs such that these only include integer data (and are sent as-is/unscaled). If these must be used for real numbers and scaling is required, then this must be noted in the mission item itself.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Operations

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      This section defines all the protocol operations.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Detecting Mission/Plan Changes

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Mission upload and download can be expensive operations, in particular for large missions. A GCS can avoid unnecessary uploads and downloads by first checking whether it has a matching id(s) for the corresponding plan on the vehicle.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      The current id for different parts of the plan are streamed in MISSION_CURRENT message, using the appropriately named fields: mission_id, fence_id, rally_points_id. These values are 0 if there is no plan uploaded, or if detecting plan changes is not supported by the flight stack.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      The IDs are generated by the flight stack when a new mission, rally point, or geofence, is uploaded to the vehicle (at which point it also starts publishing the value in MISSION_CURRENT). MAVLink puts no particular requirements on how the "opaque_id" values are calculated by the flight stack (this is why they are named "opaque"). The only expectation is that the scheme used makes it unlikely that the GCS will incorrectly determine that it has a matching plan (a flight stack might use file hashes, plan checksums, pseudo-random numbers, or some other technique).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      On upload, the generated ID is sent to the GCS in the final part of the upload sequence in the MISSION_ACK.opaque_id field. On download, the stored ID is sent to the GCS in the MISSION_COUNT.opaque_id field.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      The GCS should store the value of the ID from the flight stack as the "current id" for whatever part of the plan was uploaded/download. It can then monitor MISSION_CURRENT, and check its cached values against the current plan ids to determine whether it has a matching mission, or needs to download the mission from the vehicle.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Upload a Mission to the Vehicle

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      The diagram below shows the communication sequence to upload a mission to a drone (assuming all operations succeed).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Mission update must be robust! A new mission should be fully uploaded and accepted before the old mission is replaced/removed.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Mission upload/download can be bandwidth intensive and time consuming Check for plan changes before uploading (or downloading) a mission.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Mission Upload Sequence

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      In more detail, the sequence of operations is:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1. GCS sends MISSION_COUNT including the number of mission items to be uploaded (count).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • A timeout must be started for the GCS to wait on the response from Drone (MISSION_REQUEST_INT).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2. Drone receives message and responds with MISSION_REQUEST_INT requesting the first mission item (seq==0).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • A timeout must be started for the Drone to wait on the MISSION_ITEM_INT response from GCS.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      3. GCS receives MISSION_REQUEST_INT and responds with the requested mission item in a MISSION_ITEM_INT message.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      4. Drone and GCS repeat the MISSION_REQUEST_INT/MISSION_ITEM_INT cycle, iterating seq until all items are uploaded (seq==count-1).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      5. After receiving the last mission item the drone responds with MISSION_ACK with the type of MAV_MISSION_ACCEPTED indicating mission upload completion/success.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • The drone should set the new mission to be the current mission, discarding the original data.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • The drone considers the upload complete.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      6. GCS receives MISSION_ACK containing MAV_MISSION_ACCEPTED to indicate the operation is complete.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • The GCS should store MISSION_ACK.opaque_id (the current id of the uploaded plan) and can use it later to check for plan changes.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Notes:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • A timeout is set for every message that requires a response (e.g. MISSION_REQUEST_INT). If the timeout expires without a response being received then the request must be resent.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • Mission items must be received in order. If an item is received out-of-sequence the expected item should be re-requested by the vehicle (the out-of-sequence item is dropped).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • An error can be signaled in response to any request using a MISSION_ACK message containing an error code. This must cancel the operation and restore the mission to its previous state. For example, the drone might respond to the MISSION_COUNT request with a MAV_MISSION_NO_SPACE if there isn't enough space to upload the mission.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • The sequence above shows the mission items packaged in MISSION_ITEM_INT messages. Protocol implementations must also support MISSION_ITEM and MISSION_REQUEST in the same way.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • Uploading an empty mission (MISSION_COUNT is 0) has the same effect as clearing the mission.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Download a Mission from the Vehicle

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Mission upload/download can also be bandwidth intensive and time consuming. Check for plan changes before downloading (or uploading) a mission.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      The diagram below shows the communication sequence to download a mission from a drone (assuming all operations succeed).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Sequence: Download mission

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      The sequence is similar to that for uploading a mission. This starts a cycle where the GCS requests mission items, and the drone supplies them. The main difference is that the client (e.g. GCS) sends MISSION_REQUEST_LIST, which triggers the autopilot to respond with the current count of items.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Note:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • The MISSION_COUNT.opaque_id is the stored ID of the part of the plan that is being uploaded from the vehicle. This should be stored by the GCS so that it can later check that its plan matches that on the vehicle.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • A timeout is set for every message that requires a response (e.g. MISSION_REQUEST_INT). If the timeout expires without a response being received then the request must be resent.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • Mission items must be received in order. If an item is received out-of-sequence the expected item should be re-requested by the GCS (the out-of-sequence item is dropped).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • An error can be signaled in response to any request using a MISSION_ACK message containing an error code. This must cancel the operation.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • The sequence above shows the mission items packaged in MISSION_ITEM_INT messages. Protocol implementations must also support MISSION_ITEM and MISSION_REQUEST in the same way.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Set Current Mission Item

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      The diagram below shows the communication sequence to set the current mission item.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Mermaid Diagram: Set mission item

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      In more detail, the sequence of operations is:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1. GCS/App sends MISSION_SET_CURRENT, specifying the new sequence number (seq).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2. Drone receives message and attempts to update the current mission sequence number.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • On success, the Drone must broadcast a MISSION_CURRENT message containing the current sequence number (seq).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • On failure, the Drone must broadcast a STATUSTEXT with a MAV_SEVERITY and a string stating the problem. This may be displayed in the UI of receiving systems.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Notes:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • There is no specific timeout on the MISSION_SET_CURRENT message.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • The acknowledgment of the message is via broadcast of mission/system status, which is not associated with the original message. This differs from error handling in other operations. This approach is used because the success/failure is relevant to all mission-handling clients.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Monitor Mission Progress

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      GCS/developer API can monitor progress by handling the appropriate messages sent by the drone:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Clear Missions

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      The diagram below shows the communication sequence to clear the mission from a drone (assuming all operations succeed).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Mermaid Diagram: Clear Missions

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      In more detail, the sequence of operations is:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1. GCS/API sends MISSION_CLEAR_ALL
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • A timeout is started for the GCS to wait on MISSION_ACK from Drone.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2. Drone receives the message, and clears the mission from storage.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      3. Drone responds with MISSION_ACK with result type of MAV_MISSION_ACCEPTEDMAV_MISSION_RESULT.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      4. GCS receives MISSION_ACK and clears its own stored information about the mission. The operation is now complete.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Note:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • A timeout is set for every message that requires a response (e.g. MISSION_CLEAR_ALL). If the timeout expires without a response being received then the request must be resent.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • An error can be signaled in response to any request (in this case, just MISSION_CLEAR_ALL) using a MISSION_ACK message containing an error code. This must cancel the operation. The GCS record of the mission (if any) should be retained.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Canceling Operations

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      The above mission operations may be canceled by responding to any request (e.g. MISSION_REQUEST_INT) with a MISSION_ACK message containing the MAV_MISSION_OPERATION_CANCELLED error.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Both systems should then return themselves to the idle state (if the system does not receive the cancellation message it will resend the request; the recipient will then be in the idle state and may respond with an appropriate error for that state).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Operation Exceptions

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Timeouts and Retries

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      A timeout should be set for all messages that require a response. If the expected response is not received before the timeout then the message must be resent. If no response is received after a number of retries then the client must cancel the operation and return to an idle state.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      The recommended timeout values before resending, and the number of retries are:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • Timeout (default): 1500 ms
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • Timeout (mission items): 250 ms.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • Retries (max): 5

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Errors/Completion

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      All operations complete with a MISSION_ACK message containing the result of the operation (MAV_MISSION_RESULT) in the type field.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      On successful completion, the message must contain type of MAV_MISSION_ACCEPTED; this is sent by the system that is receiving the command/data (e.g. the drone for mission upload or the GCS for mission download).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      An operation may also complete with an error - MISSION_ACK.type set to MAV_MISSION_ERROR or some other error code in MAV_MISSION_RESULT. This can occur in response to any message/anywhere in the sequence.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Errors are considered unrecoverable. In an error is sent, both ends of the system should reset themselves to the idle state and the current state of the mission on the vehicle should be unaltered.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Note:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • timeouts are not considered errors.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • Out-of-sequence messages in mission upload/download are recoverable, and are not treated as errors.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Mission File Formats

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      The defacto standard file format for exchanging missions/plans is discussed in: File Formats > Mission Plain-Text File Format.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Mission Command Detail

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      This section is for clarifications and additional information about common mission items. In particular it is intended for cases that are difficult to document in the specification XML, or when images will much better describe expected behaviour.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Loiter Commands (MAV_CMD_NAV_LOITER_*)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Loiter commands are provided to allow a vehicle to hold at a location for a specified time or number of turns, until it reaches the specified altitude, or indefinitely. Multicopter vehicles stop at the specified point (within a vehicle-specific acceptance radius that is not set by the mission item). Forward-moving vehicles (e.g. fixed-wing) circle the point with the specified radius/direction.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      The commands are:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      The location and fixed-wing loiter radius parameters are common to all commands:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Param (:Label)DescriptionUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      3: RadiusRadius around waypoint. If positive loiter clockwise, else counter-clockwisem
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      5: LatitudeLatitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      6: LongitudeLongitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      7: AltitudeAltitudem

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      The loiter time and turns are set in param 1 for the respective messages. The direction of loiter for MAV_CMD_NAV_LOITER_UNLIM can be set using param4 (Yaw).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      The remaining parameters (xtrack and heading) apply only to forward flying aircraft (not multicopters!)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Xtrack and heading define the location at which a forward flying (fixed wing) vehicle will exit the loiter circle, and its path to the next waypoint (these apply only to apply to only MAV_CMD_NAV_LOITER_TIME and MAV_CMD_NAV_LOITER_TURNS).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Param (:Label)DescriptionUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2: Heading RequiredLeave loiter circle only once heading towards the next waypoint (0 = False)min:0 max:1 increment:1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      4: Xtrack LocationSets xtrack path or exit location: 0 for the vehicle to converge towards the center xtrack when it leaves the loiter (the line between the centers of the current and next waypoint), 1 to converge to the direct line between the location that the vehicle exits the loiter radius and the next waypoint. Otherwise the angle (in degrees) between the tangent of the loiter circle and the center xtrack at which the vehicle must leave the loiter (and converge to the center xtrack). NaN to use the current system default xtrack behaviour.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      The recommended values (and resulting paths) are those shown below.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Loiter heading

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      The vehicle leaves the loiter after it reaches the desired number of turns or time and based on both the heading required and xtrack params.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      A heading required of 1 prevents the vehicle from exiting the loiter unless it is heading towards the next waypoint (if 0 it can leave at any point provided the other conditions are met). With this setting the vehicle can leave at any point in the arc shown, provided it meets the other conditions (e.g. xtrack). If necessary (i.e. it is not in the arc when the other conditions are met), the vehicle will loop back around the loiter before it evaluates the xtrack condition.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Loiter heading

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      The Xtrack parameter independently defines the path and exit location:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • xtrack=0: Exit the loiter circle and converge to the centre xtrack between this and the next waypoint.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • If the heading required parameter is not set it will exit the loiter immediately.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • Otherwise it will leave as soon as it is heading towards the next waypoint (which may also be immediately!)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • xtrack=1: Exit the loiter circle and fly/converge to the straight line between the exit point and the centre of the next waypoint (i.e. don't converge to the centre xtrack).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • If the heading required parameter is set it will exit the loiter as soon as it is heading towards the next waypoint (which may be immediately!).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • If the heading required parameter is not set it will exit the loiter immediately (note that this exit path does not make much sense unless the heading parameter is set).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • xtrack=NaN``xtrack=NaN: Exit the loiter using "system specific default behaviour".

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • The vehicle must still respect the heading required param.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • Usually this is synonymous with xtrack=0

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • xtrack=any other value: Exit the loiter when the vehicle heading (tangent) makes the specified angle in degrees to the center xtrack. Converge to the center xtrack. The vehicle must still respect the heading required param (some xtrack values may not be possible with this condition true). This allows callers to specify how quickly the vehicle converges to the center xtrack. For example, the image below shows the vehicle exiting the loiter at 30 degrees.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Loiter angle

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Implementations

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      PX4

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      The protocol has been implemented in C.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Source code:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      The implementation status is (at time of writing):

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • Flight plan missions:
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • upload, download, clearing missions, and monitoring progress are supported as defined in this specification.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • Geofence missions" are supported as defined in this specification.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • Rally point "missions" are not supported on PX4.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Mission operation cancellation works for mission download (sets system to idle). Mission operation cancellation does not work for mission uploading; PX4 resends MISSION_REQUEST_INT until the operation times out.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Source code:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      QGroundControl

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      The protocol has been implemented in C++.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Source code:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ArduPilot

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ArduPilot implements the mission protocol in C++.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ArduPilot uses the same messages and message flow described in this specification. There are (anecdotally) some implementation differences that affect compatibility. These are documented below.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Source:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Flight Plan Missions

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Mission upload, download, clearing missions, and monitoring progress are supported.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ArduPilot implements also partial mission upload using MISSION_WRITE_PARTIAL_LIST, but not partial mission download (MISSION_REQUEST_PARTIAL_LIST). Partial mission upload/download is not an official/standardised part of the mission service.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ArduPilot's implementation differs from this specification (non-exhaustively):

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • The first mission sequence number (seq==0) is populated with the home position of the vehicle instead of the first mission item.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • Mission uploads are not "atomic". An upload that fails (or is canceled) part-way through will not match the pre-update state. Instead it may be a mix of the original and new mission.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • Even if upload is successful, the vehicle mission may not match the version on the uploading system (and if the mission is then downloaded it will differ from the original).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • There is rounding on some fields (and in some cases internal maximum possible values due to available storage space). Failures can occur if you do a straight comparison of the float params before/after upload.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • A MISSION_ACK returning an error value (NACK) does not terminate the upload (i.e. it is not considered an unrecoverable error). As long as ArduPilot has not yet timed-out a system can retry the current mission item upload.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • A mission cannot be cleared while it is being executed (i.e. while in Auto mode). Note that a new mission can be uploaded (even a zero-size mission - which is equivalent to clearing).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • Explicit cancellation of operations is not supported. If one end stops communicating the other end will eventually timeout and reset itself to an idle/ready state.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      The following behaviour is not defined by the specification (but is still of interest):

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • ArduPilot performs some validation of fields when mission items are submitted. The validation code is common to all vehicles; mission items that are not understood by the vehicle type are accepted on upload but skipped during mission execution.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • ArduPilot preforms some vehicle-specific validation at mission runtime (e.g. of jump targets).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • A new mission can be uploaded while a mission is being executed. In this case the current waypoint will be executed to completion even if the waypoint sequence is different in the new mission (to get the new item you would need to reset the sequence or switch in/out of auto mode).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • ArduPilot missions are not stored in an SD card and therefore have a vehicle/board-specific maximum mission size (as a benefit, on ArduPilot, missions can survive SD card failure in flight).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Geofence & Rally Point Plans

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      QGroundControl is the reference implementation for mission / rally point plans.

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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Mission Protocol

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        The mission sub-protocol allows a GCS or developer API to exchange mission (flight plan), geofence and safe point information with a drone/component.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        The protocol covers:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • Operations to upload, download and clear missions, set/get the current mission item number, and get notification when the current mission item has changed.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • Message type(s) and enumerations for exchanging mission items.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • Mission Items ("MAVLink commands") that are common to most systems.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        The protocol supports re-request of messages that have not arrived, which allows missions to be reliably transferred over a lossy link.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Mission Types

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAVLink 2 supports three types of "missions": flight plans, geofences and rally/safe points. The protocol uses the same sequence of operations for all types (albeit with different types of Mission Items). The mission types must be stored and handled separately/independently.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Mission protocol messages include the type of associated mission in the mission_type field (a MAVLink 2 message extension). The field takes one of the MAV_MISSION_TYPE enum values: MAV_MISSION_TYPE_MISSION, MAV_MISSION_TYPE_FENCE, MAV_MISSION_TYPE_RALLY.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAVLink 1 supports only "regular" flight-plan missions (this is implied/not explicitly set).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Mission items for all the mission types are defined in the MAV_CMD enum.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD is used to define commands that can be used in missions ("mission items") and commands that can be sent outside of a mission context (using the Command Protocol). Some MAV_CMD can be used with both mission and command protocols. Not all commands/mission items are supported on all systems (or for all flight modes).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        The items for the different types of mission are identified using a simple name prefix convention:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Mission items (MAV_CMD) are transmitted/encoded in MISSION_ITEM_INT messages. This message includes fields to identify the particular mission item (command id) and up to 7 command-specific optional parameters.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Field NameTypeValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        commanduint16_tMAV_CMDCommand id, as defined in MAV_CMD.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        param1floatParam #1.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        param2floatParam #2.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        param3floatParam #3.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        param4floatParam #4.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        param5 (x)int32_tX coordinate (local frame) or latitude (global frame) for navigation commands (otherwise Param #5).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        param6 (y)int32_tY coordinate (local frame) or longitude (global frame) for navigation commands (otherwise Param #6).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        param7 (z)floatZ coordinate (local frame) or altitude (global - relative or absolute, depending on frame) (otherwise Param #7).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        The first four parameters (shown above) can be used for any purpose - this depends on the particular command. The last three parameters (x, y, z) are used for positional information in MAV_CMD_NAV_* commands, but can be used for any purpose in other commands.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        The remaining message fields are used for addressing, defining the mission type, specifying the reference frame used for x, y, z in MAV_CMD_NAV_* messages, etc.:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Field NameTypeValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        target_systemuint8_tSystem ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        target_componentuint8_tComponent ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        sequint16_tSequence number for item within mission (indexed from 0).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        frameuint8_tMAV_FRAMEframeuint8_tMAV_FRAMEThe coordinate system of the waypoint.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        ArduPilot and PX4 both only support global frames in MAVLink commands (local frames may be supported if the same command is sent via the command protocol). | | mission_type | uint8_t | MAV_MISSION_TYPE | Mission type. | | current | uint8_t | false:0, true:1 | When downloading, whether the item is the current mission item. | | autocontinue | uint8_t | | Autocontinue to next waypoint when the command completes. |

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Message/Enum Summary

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        The following messages and enums are used by the service.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MessageDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MISSION_REQUEST_LISTInitiate mission download from a system by requesting the list of mission items.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MISSION_COUNTSend the number of items in a mission. This is used to initiate mission upload or as a response to MISSION_REQUEST_LIST when downloading a mission.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MISSION_REQUEST_INTRequest mission item data for a specific sequence number be sent by the recipient using a MISSION_ITEM_INT message. Used for mission upload and download.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MISSION_ITEM_INTMessage encoding a mission item/command (defined in a MAV_CMD). Used for mission upload and download.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MISSION_ACKAcknowledgment message when a system completes a mission operation (e.g. sent by autopilot after it has uploaded all mission items). The message includes a MAV_MISSION_RESULT indicating either success or the type of failure.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MISSION_CURRENTMessage containing the current mission item sequence number. This is emitted when the current mission item is set/changed.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MISSION_SET_CURRENTSet the current mission item by sequence number (continue to this item on the shortest path).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        STATUSTEXTSent to notify systems when a request to set the current mission item fails.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MISSION_CLEAR_ALLMessage sent to clear/delete all mission items stored on a system.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MISSION_ITEM_REACHEDMessage emitted by system whenever it reaches a new waypoint. Used to monitor progress.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        CommandDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_DO_SET_MISSION_CURRENTSet current mission item and optionally reset mission counter. Supersedes MISSION_SET_CURRENT.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        EnumDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_MISSION_TYPEMission type for message (mission, geofence, rallypoints).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_MISSION_RESULTUsed to indicate the success or failure reason for an operation (e.g. to upload or download a mission). This is carried in a MISSION_ACK.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_FRAMECo-ordinate frame for position/velocity/acceleration data in the message.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMDMission Items (and MAVLink commands) sent in MISSION_ITEM_INT.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Deprecated Types: MISSION_ITEM

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        The legacy version of the protocol also supported MISSION_REQUEST for requesting that a mission be sent as a sequence of MISSION_ITEM messages.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Both MISSION_REQUEST and MISSION_ITEM messages are now deprecated, and should no longer be sent. If MISSION_REQUEST is recieved the system should instead respond with MISSION_ITEM_INT items (as though it received MISSION_REQUEST_INT).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Frames & Positional Information

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        By convention, mission items use param5, param6, param7 for positional information when needed (and otherwise as "free use" parameters). The table below shows that the positional parameters can be local (x, y, z), global (latitude, longitude, altitude), and also the data type used to store the parameters in the MISSION_ITEM_INT message.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        paramtypeLocalGlobal
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        param5int32_txLatitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        param6int32_tyLongitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        param7floatzAltitude (global - relative or absolute)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        The co-ordinate frame of positional parameters is defined in the MISSION_ITEM_INT.frame field using a MAV_FRAME value.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        The global frames are prefixed with MAV_FRAME_GLOBAL_*. Mission items should use frame variants that have the suffix _INT: e.g. MAV_FRAME_GLOBAL_RELATIVE_ALT_INT, MAV_FRAME_GLOBAL_INT, MAV_FRAME_GLOBAL_TERRAIN_ALT_INT. When using these frames, latitude and longitude values must be encoded by multiplying the degrees by 1E7 (e.g. the latitude 69.69000000 would be sent as 69.69000000x1E7 = 696900000). Using int32 of degrees * 10^7 has higher resolution than could be achieved with single floating point.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        A number of local frames are also specified. Local frame position values that are sent in integer field parameters must be encoded as position in meters x 1E4 (e.g. 5m would be encoded and sent as 50000). If sent in messages float parameter fields the value should be sent as-is.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Don't use the non-INT global frames in mission items (e.g. MAV_FRAME_GLOBAL_RELATIVE_ALT). These are intended to be used with messages that have float fields for positional information, e.g.: MISSION_ITEM (deprecated), COMMAND_LONG. If these frames are used, position values should be sent unencoded (i.e. no need to multiply by 1E7).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        As above, in theory if a global non-INT frame variant is set for a MISSION_ITEM_INT the position value should be sent as-is (not encoded). This will result in the value being rounded when it is sent in the integer value, which will make the value unusable. In practice, many systems will assume you have encoded the value, but you should test this for your particular flight stack. Better just to use the correct frames!

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Don't use MAV_FRAME_MISSION for mission items that contain positional data; this does not correspond to any particular real frame, and so will be ambiguous. MAV_FRAME_MISSION should be used for mission items that use params5 and param6 for other purposes.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Param 5, 6 For Non-Positional Data

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Param5, param6, param7 may also be used for non-positional information. In this case the MISSION_ITEM_INT.frame should be set to MAV_FRAME_MISSION (this is equivalent to say "the frame data is irrelevant").

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        As param5 and param6 are sent in integer fields, generally you should design mission items/MAV_CMDs such that these only include integer data (and are sent as-is/unscaled). If these must be used for real numbers and scaling is required, then this must be noted in the mission item itself.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Operations

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        This section defines all the protocol operations.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Detecting Mission/Plan Changes

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Mission upload and download can be expensive operations, in particular for large missions. A GCS can avoid unnecessary uploads and downloads by first checking whether it has a matching id(s) for the corresponding plan on the vehicle.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        The current id for different parts of the plan are streamed in MISSION_CURRENT message, using the appropriately named fields: mission_id, fence_id, rally_points_id. These values are 0 if there is no plan uploaded, or if detecting plan changes is not supported by the flight stack.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        The IDs are generated by the flight stack when a new mission, rally point, or geofence, is uploaded to the vehicle (at which point it also starts publishing the value in MISSION_CURRENT). MAVLink puts no particular requirements on how the "opaque_id" values are calculated by the flight stack (this is why they are named "opaque"). The only expectation is that the scheme used makes it unlikely that the GCS will incorrectly determine that it has a matching plan (a flight stack might use file hashes, plan checksums, pseudo-random numbers, or some other technique).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        On upload, the generated ID is sent to the GCS in the final part of the upload sequence in the MISSION_ACK.opaque_id field. On download, the stored ID is sent to the GCS in the MISSION_COUNT.opaque_id field.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        The GCS should store the value of the ID from the flight stack as the "current id" for whatever part of the plan was uploaded/download. It can then monitor MISSION_CURRENT, and check its cached values against the current plan ids to determine whether it has a matching mission, or needs to download the mission from the vehicle.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Upload a Mission to the Vehicle

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        The diagram below shows the communication sequence to upload a mission to a drone (assuming all operations succeed).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Mission update must be robust! A new mission should be fully uploaded and accepted before the old mission is replaced/removed.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Mission upload/download can be bandwidth intensive and time consuming Check for plan changes before uploading (or downloading) a mission.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Mission Upload Sequence

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        In more detail, the sequence of operations is:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        1. GCS sends MISSION_COUNT including the number of mission items to be uploaded (count).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • A timeout must be started for the GCS to wait on the response from Drone (MISSION_REQUEST_INT).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        2. Drone receives message and responds with MISSION_REQUEST_INT requesting the first mission item (seq==0).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • A timeout must be started for the Drone to wait on the MISSION_ITEM_INT response from GCS.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        3. GCS receives MISSION_REQUEST_INT and responds with the requested mission item in a MISSION_ITEM_INT message.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        4. Drone and GCS repeat the MISSION_REQUEST_INT/MISSION_ITEM_INT cycle, iterating seq until all items are uploaded (seq==count-1).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        5. After receiving the last mission item the drone responds with MISSION_ACK with the type of MAV_MISSION_ACCEPTED indicating mission upload completion/success.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • The drone should set the new mission to be the current mission, discarding the original data.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • The drone considers the upload complete.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        6. GCS receives MISSION_ACK containing MAV_MISSION_ACCEPTED to indicate the operation is complete.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • The GCS should store MISSION_ACK.opaque_id (the current id of the uploaded plan) and can use it later to check for plan changes.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Notes:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • A timeout is set for every message that requires a response (e.g. MISSION_REQUEST_INT). If the timeout expires without a response being received then the request must be resent.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • Mission items must be received in order. If an item is received out-of-sequence the expected item should be re-requested by the vehicle (the out-of-sequence item is dropped).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • An error can be signaled in response to any request using a MISSION_ACK message containing an error code. This must cancel the operation and restore the mission to its previous state. For example, the drone might respond to the MISSION_COUNT request with a MAV_MISSION_NO_SPACE if there isn't enough space to upload the mission.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • The sequence above shows the mission items packaged in MISSION_ITEM_INT messages. Protocol implementations must also support MISSION_ITEM and MISSION_REQUEST in the same way.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • Uploading an empty mission (MISSION_COUNT is 0) has the same effect as clearing the mission.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Download a Mission from the Vehicle

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Mission upload/download can also be bandwidth intensive and time consuming. Check for plan changes before downloading (or uploading) a mission.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        The diagram below shows the communication sequence to download a mission from a drone (assuming all operations succeed).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Sequence: Download mission

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        The sequence is similar to that for uploading a mission. This starts a cycle where the GCS requests mission items, and the drone supplies them. The main difference is that the client (e.g. GCS) sends MISSION_REQUEST_LIST, which triggers the autopilot to respond with the current count of items.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Note:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • The MISSION_COUNT.opaque_id is the stored ID of the part of the plan that is being uploaded from the vehicle. This should be stored by the GCS so that it can later check that its plan matches that on the vehicle.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • A timeout is set for every message that requires a response (e.g. MISSION_REQUEST_INT). If the timeout expires without a response being received then the request must be resent.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • Mission items must be received in order. If an item is received out-of-sequence the expected item should be re-requested by the GCS (the out-of-sequence item is dropped).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • An error can be signaled in response to any request using a MISSION_ACK message containing an error code. This must cancel the operation.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • The sequence above shows the mission items packaged in MISSION_ITEM_INT messages. Protocol implementations must also support MISSION_ITEM and MISSION_REQUEST in the same way.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Set Current Mission Item

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        The diagram below shows the communication sequence to set the current mission item.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Mermaid Diagram: Set mission item

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        In more detail, the sequence of operations is:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        1. GCS/App sends MISSION_SET_CURRENT, specifying the new sequence number (seq).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        2. Drone receives message and attempts to update the current mission sequence number.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • On success, the Drone must broadcast a MISSION_CURRENT message containing the current sequence number (seq).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • On failure, the Drone must broadcast a STATUSTEXT with a MAV_SEVERITY and a string stating the problem. This may be displayed in the UI of receiving systems.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Notes:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • There is no specific timeout on the MISSION_SET_CURRENT message.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • The acknowledgment of the message is via broadcast of mission/system status, which is not associated with the original message. This differs from error handling in other operations. This approach is used because the success/failure is relevant to all mission-handling clients.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Monitor Mission Progress

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        GCS/developer API can monitor progress by handling the appropriate messages sent by the drone:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Clear Missions

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        The diagram below shows the communication sequence to clear the mission from a drone (assuming all operations succeed).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Mermaid Diagram: Clear Missions

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        In more detail, the sequence of operations is:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        1. GCS/API sends MISSION_CLEAR_ALL
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • A timeout is started for the GCS to wait on MISSION_ACK from Drone.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        2. Drone receives the message, and clears the mission from storage.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        3. Drone responds with MISSION_ACK with result type of MAV_MISSION_ACCEPTEDMAV_MISSION_RESULT.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        4. GCS receives MISSION_ACK and clears its own stored information about the mission. The operation is now complete.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Note:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • A timeout is set for every message that requires a response (e.g. MISSION_CLEAR_ALL). If the timeout expires without a response being received then the request must be resent.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • An error can be signaled in response to any request (in this case, just MISSION_CLEAR_ALL) using a MISSION_ACK message containing an error code. This must cancel the operation. The GCS record of the mission (if any) should be retained.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Canceling Operations

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        The above mission operations may be canceled by responding to any request (e.g. MISSION_REQUEST_INT) with a MISSION_ACK message containing the MAV_MISSION_OPERATION_CANCELLED error.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Both systems should then return themselves to the idle state (if the system does not receive the cancellation message it will resend the request; the recipient will then be in the idle state and may respond with an appropriate error for that state).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Operation Exceptions

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Timeouts and Retries

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        A timeout should be set for all messages that require a response. If the expected response is not received before the timeout then the message must be resent. If no response is received after a number of retries then the client must cancel the operation and return to an idle state.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        The recommended timeout values before resending, and the number of retries are:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • Timeout (default): 1500 ms
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • Timeout (mission items): 250 ms.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • Retries (max): 5

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Errors/Completion

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        All operations complete with a MISSION_ACK message containing the result of the operation (MAV_MISSION_RESULT) in the type field.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        On successful completion, the message must contain type of MAV_MISSION_ACCEPTED; this is sent by the system that is receiving the command/data (e.g. the drone for mission upload or the GCS for mission download).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        An operation may also complete with an error - MISSION_ACK.type set to MAV_MISSION_ERROR or some other error code in MAV_MISSION_RESULT. This can occur in response to any message/anywhere in the sequence.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Errors are considered unrecoverable. In an error is sent, both ends of the system should reset themselves to the idle state and the current state of the mission on the vehicle should be unaltered.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Note:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • timeouts are not considered errors.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • Out-of-sequence messages in mission upload/download are recoverable, and are not treated as errors.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Mission File Formats

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        The defacto standard file format for exchanging missions/plans is discussed in: File Formats > Mission Plain-Text File Format.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Mission Command Detail

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        This section is for clarifications and additional information about common mission items. In particular it is intended for cases that are difficult to document in the specification XML, or when images will much better describe expected behaviour.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Loiter Commands (MAV_CMD_NAV_LOITER_*)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Loiter commands are provided to allow a vehicle to hold at a location for a specified time or number of turns, until it reaches the specified altitude, or indefinitely. Multicopter vehicles stop at the specified point (within a vehicle-specific acceptance radius that is not set by the mission item). Forward-moving vehicles (e.g. fixed-wing) circle the point with the specified radius/direction.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        The commands are:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        The location and fixed-wing loiter radius parameters are common to all commands:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Param (:Label)DescriptionUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        3: RadiusRadius around waypoint. If positive loiter clockwise, else counter-clockwisem
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        5: LatitudeLatitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        6: LongitudeLongitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        7: AltitudeAltitudem

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        The loiter time and turns are set in param 1 for the respective messages. The direction of loiter for MAV_CMD_NAV_LOITER_UNLIM can be set using param4 (Yaw).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        The remaining parameters (xtrack and heading) apply only to forward flying aircraft (not multicopters!)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Xtrack and heading define the location at which a forward flying (fixed wing) vehicle will exit the loiter circle, and its path to the next waypoint (these apply only to apply to only MAV_CMD_NAV_LOITER_TIME and MAV_CMD_NAV_LOITER_TURNS).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Param (:Label)DescriptionUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        2: Heading RequiredLeave loiter circle only once heading towards the next waypoint (0 = False)min:0 max:1 increment:1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        4: Xtrack LocationSets xtrack path or exit location: 0 for the vehicle to converge towards the center xtrack when it leaves the loiter (the line between the centers of the current and next waypoint), 1 to converge to the direct line between the location that the vehicle exits the loiter radius and the next waypoint. Otherwise the angle (in degrees) between the tangent of the loiter circle and the center xtrack at which the vehicle must leave the loiter (and converge to the center xtrack). NaN to use the current system default xtrack behaviour.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        The recommended values (and resulting paths) are those shown below.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Loiter heading

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        The vehicle leaves the loiter after it reaches the desired number of turns or time and based on both the heading required and xtrack params.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        A heading required of 1 prevents the vehicle from exiting the loiter unless it is heading towards the next waypoint (if 0 it can leave at any point provided the other conditions are met). With this setting the vehicle can leave at any point in the arc shown, provided it meets the other conditions (e.g. xtrack). If necessary (i.e. it is not in the arc when the other conditions are met), the vehicle will loop back around the loiter before it evaluates the xtrack condition.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Loiter heading

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        The Xtrack parameter independently defines the path and exit location:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • xtrack=0: Exit the loiter circle and converge to the centre xtrack between this and the next waypoint.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • If the heading required parameter is not set it will exit the loiter immediately.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • Otherwise it will leave as soon as it is heading towards the next waypoint (which may also be immediately!)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • xtrack=1: Exit the loiter circle and fly/converge to the straight line between the exit point and the centre of the next waypoint (i.e. don't converge to the centre xtrack).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • If the heading required parameter is set it will exit the loiter as soon as it is heading towards the next waypoint (which may be immediately!).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • If the heading required parameter is not set it will exit the loiter immediately (note that this exit path does not make much sense unless the heading parameter is set).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • xtrack=NaN``xtrack=NaN: Exit the loiter using "system specific default behaviour".

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • The vehicle must still respect the heading required param.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • Usually this is synonymous with xtrack=0

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • xtrack=any other value: Exit the loiter when the vehicle heading (tangent) makes the specified angle in degrees to the center xtrack. Converge to the center xtrack. The vehicle must still respect the heading required param (some xtrack values may not be possible with this condition true). This allows callers to specify how quickly the vehicle converges to the center xtrack. For example, the image below shows the vehicle exiting the loiter at 30 degrees.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Loiter angle

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Implementations

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        PX4

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        The protocol has been implemented in C.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Source code:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        The implementation status is (at time of writing):

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • Flight plan missions:
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • upload, download, clearing missions, and monitoring progress are supported as defined in this specification.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • Geofence missions" are supported as defined in this specification.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • Rally point "missions" are not supported on PX4.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Mission operation cancellation works for mission download (sets system to idle). Mission operation cancellation does not work for mission uploading; PX4 resends MISSION_REQUEST_INT until the operation times out.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Source code:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        QGroundControl

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        The protocol has been implemented in C++.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Source code:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        ArduPilot

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        ArduPilot implements the mission protocol in C++.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        ArduPilot uses the same messages and message flow described in this specification. There are (anecdotally) some implementation differences that affect compatibility. These are documented below.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Source:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Flight Plan Missions

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Mission upload, download, clearing missions, and monitoring progress are supported.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        ArduPilot implements also partial mission upload using MISSION_WRITE_PARTIAL_LIST, but not partial mission download (MISSION_REQUEST_PARTIAL_LIST). Partial mission upload/download is not an official/standardised part of the mission service.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        ArduPilot's implementation differs from this specification (non-exhaustively):

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • The first mission sequence number (seq==0) is populated with the home position of the vehicle instead of the first mission item.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • Mission uploads are not "atomic". An upload that fails (or is canceled) part-way through will not match the pre-update state. Instead it may be a mix of the original and new mission.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • Even if upload is successful, the vehicle mission may not match the version on the uploading system (and if the mission is then downloaded it will differ from the original).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • There is rounding on some fields (and in some cases internal maximum possible values due to available storage space). Failures can occur if you do a straight comparison of the float params before/after upload.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • A MISSION_ACK returning an error value (NACK) does not terminate the upload (i.e. it is not considered an unrecoverable error). As long as ArduPilot has not yet timed-out a system can retry the current mission item upload.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • A mission cannot be cleared while it is being executed (i.e. while in Auto mode). Note that a new mission can be uploaded (even a zero-size mission - which is equivalent to clearing).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • Explicit cancellation of operations is not supported. If one end stops communicating the other end will eventually timeout and reset itself to an idle/ready state.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        The following behaviour is not defined by the specification (but is still of interest):

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • ArduPilot performs some validation of fields when mission items are submitted. The validation code is common to all vehicles; mission items that are not understood by the vehicle type are accepted on upload but skipped during mission execution.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • ArduPilot preforms some vehicle-specific validation at mission runtime (e.g. of jump targets).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • A new mission can be uploaded while a mission is being executed. In this case the current waypoint will be executed to completion even if the waypoint sequence is different in the new mission (to get the new item you would need to reset the sequence or switch in/out of auto mode).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • ArduPilot missions are not stored in an SD card and therefore have a vehicle/board-specific maximum mission size (as a benefit, on ArduPilot, missions can survive SD card failure in flight).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Geofence & Rally Point Plans

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        QGroundControl is the reference implementation for mission / rally point plans.

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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Offboard Control Interface

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          The offboard control interface allows an external controller to send low-level attitude, position, velocity, and/or acceleration setpoints to the vehicle.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          This is commonly used to provide external control of a real-time flight stack from a companion/mission computer, for example, in order to implement features such as obstacle avoidance or collision prevention.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Generally setpoints are only obeyed in a specific flight-stack mode. The flight stack requires the setpoints to be recieved for some time before it will allow the mode to be enabled, and will switch out of the mode if setpoints are no longer received.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          The particular types of setpoints that are supported, if any, depend on the vehicle type and flight stack.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Message/Enum Summary

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MessageDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          SET_POSITION_TARGET_LOCAL_NEDSets a desired vehicle position, velocity, and/or accelaration setpoint in a local north-east-down coordinate frame.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          SET_POSITION_TARGET_GLOBAL_INTSets a desired vehicle position, velocity, and/or acceleration in a global coordinate system (WGS84)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          SET_ATTITUDE_TARGETSets a desired vehicle attitude.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          POSITION_TARGET_LOCAL_NEDPublishes current local NED target (set by SET_POSITION_TARGET_LOCAL_NED).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          POSITION_TARGET_GLOBAL_INTPublishes current global target (set by SET_POSITION_TARGET_GLOBAL_INT).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ATTITUDE_TARGETPublishes current attitude target (set by SET_ATTITUDE_TARGET).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          EnumDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_PROTOCOL_CAPABILITY_SET_POSITION_TARGET_LOCAL_NEDFlight stack supports SET_POSITION_TARGET_LOCAL_NED.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_PROTOCOL_CAPABILITY_SET_POSITION_TARGET_GLOBAL_INTFlight stack supports SET_POSITION_TARGET_LOCAL_NED.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_PROTOCOL_CAPABILITY_SET_ATTITUDE_TARGETFlight stack supports SET_ATTITUDE_TARGET.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Feature support

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Test for setter message support by checking AUTOPILOT_VERSION.capabilities for the associated protocol bit: MAV_PROTOCOL_CAPABILITY_SET_POSITION_TARGET_LOCAL_NED, MAV_PROTOCOL_CAPABILITY_SET_POSITION_TARGET_GLOBAL_INT, MAV_PROTOCOL_CAPABILITY_SET_ATTITUDE_TARGET.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Note that support for the protocol/message does not imply that every vehicle will support every possible combination of parameters. This can only be inferred from the flight stack documentation.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Implementations

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          PX4 supports this protocol in Offboard mode. The allowed setpoints are documented at that link, and depend on the vehicle type.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ArduPilot supports this protocol in Guided mode. The supported messages for each vehicle type are covered in:

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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Offboard Control Interface

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            The offboard control interface allows an external controller to send low-level attitude, position, velocity, and/or acceleration setpoints to the vehicle.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            This is commonly used to provide external control of a real-time flight stack from a companion/mission computer, for example, in order to implement features such as obstacle avoidance or collision prevention.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Generally setpoints are only obeyed in a specific flight-stack mode. The flight stack requires the setpoints to be recieved for some time before it will allow the mode to be enabled, and will switch out of the mode if setpoints are no longer received.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            The particular types of setpoints that are supported, if any, depend on the vehicle type and flight stack.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Message/Enum Summary

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MessageDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            SET_POSITION_TARGET_LOCAL_NEDSets a desired vehicle position, velocity, and/or accelaration setpoint in a local north-east-down coordinate frame.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            SET_POSITION_TARGET_GLOBAL_INTSets a desired vehicle position, velocity, and/or acceleration in a global coordinate system (WGS84)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            SET_ATTITUDE_TARGETSets a desired vehicle attitude.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            POSITION_TARGET_LOCAL_NEDPublishes current local NED target (set by SET_POSITION_TARGET_LOCAL_NED).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            POSITION_TARGET_GLOBAL_INTPublishes current global target (set by SET_POSITION_TARGET_GLOBAL_INT).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ATTITUDE_TARGETPublishes current attitude target (set by SET_ATTITUDE_TARGET).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            EnumDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_PROTOCOL_CAPABILITY_SET_POSITION_TARGET_LOCAL_NEDFlight stack supports SET_POSITION_TARGET_LOCAL_NED.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_PROTOCOL_CAPABILITY_SET_POSITION_TARGET_GLOBAL_INTFlight stack supports SET_POSITION_TARGET_LOCAL_NED.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_PROTOCOL_CAPABILITY_SET_ATTITUDE_TARGETFlight stack supports SET_ATTITUDE_TARGET.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Feature support

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Test for setter message support by checking AUTOPILOT_VERSION.capabilities for the associated protocol bit: MAV_PROTOCOL_CAPABILITY_SET_POSITION_TARGET_LOCAL_NED, MAV_PROTOCOL_CAPABILITY_SET_POSITION_TARGET_GLOBAL_INT, MAV_PROTOCOL_CAPABILITY_SET_ATTITUDE_TARGET.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Note that support for the protocol/message does not imply that every vehicle will support every possible combination of parameters. This can only be inferred from the flight stack documentation.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Implementations

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            PX4 supports this protocol in Offboard mode. The allowed setpoints are documented at that link, and depend on the vehicle type.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ArduPilot supports this protocol in Guided mode. The supported messages for each vehicle type are covered in:

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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              \ No newline at end of file diff --git a/ko/services/opendroneid.html b/ko/services/opendroneid.html index 67e22d22e..fb4b159a8 100644 --- a/ko/services/opendroneid.html +++ b/ko/services/opendroneid.html @@ -1 +1 @@ -Open Drone ID Protocol · MAVLink Developer Guide
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Open Drone ID

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Direct Remote Identification (DRI) or Remote ID (RID) is/will be a mandatory technology for Unmanned Aircraft (UA) in Japan, the United States of America and the European Union. Data such as the UA real-time location/altitude, UA serial number, operator ID/location etc. are broadcast via either Wi-Fi or Bluetooth from the UA. Open Drone ID is an open source implementation of RID.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              The terms Remote ID and drone ID are used interchangeably in the text below.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Relevant specifications

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              The MAVLink messages defined for usage with Open Drone ID are compliant with the following standards:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • ASTM F3411 Specification for Remote ID and Tracking
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • ASD-STAN prEN 4709-002 Direct Remote Identification

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              For additional details, please see here. In general, the front page of the opendroneid core-c repository has lots of pointers to additional information and SW projects related to drone ID.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Broadcast methods and impact on the message design

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Four different broadcast methods are defined:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • Bluetooth Legacy Advertising (Bluetooth 4.x)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • Bluetooth Long Range with Extended Advertising (Bluetooth 5.x)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • Wi-Fi Neighbor-aware Network (Wi-Fi NaN)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • Wi-Fi Beacon (vendor specific information element in the SSID beacon frame)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              The broadcast method used with Bluetooth Legacy Advertising signals impose a strict size limitation on the amount of data that can be transmitted in each radio burst. Therefore the relevant data is divided into different categories and each category is transmitted via its own message.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              The standards defines 6 such messages and an additional 7th message type for packing multiple messages together into a message pack (used when transmitting on Wi-Fi NaN, Wi-Fi Beacon or Bluetooth Long Range with Extended Advertising). To support easy data transfers to/from a Remote ID (RID) transmitter/receiver component, MAVLink messages supporting all the fields of the drone ID messages have been made available. See Messages below.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Use case examples

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              There are multiple possible use cases for the MAVLink drone ID messages:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • A flight controller sends ID, location etc. data to an onboard Bluetooth/Wi-Fi RID transmitter component.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • An onboard Bluetooth/Wi-Fi receiver picks up drone ID messages from surrounding aircraft, relays this information using MAVLink drone ID messages to the flight controller, which then uses the information e.g. for Detect And Avoid (DAA) calculations.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • A drone sends MAVLink drone ID messages via its control link to the Ground Control Station (GCS). The GCS is connected via the Internet to a Remote ID server, which stores and publishes the drone's ID, location etc.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • As above but in the other direction for DAA calculations.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • A Remote ID Display application (RID) on the GCS listens to all drone ID data received from surrounding UAs and displays their position to the operator.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Messages

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              The ASTM, ASD-STAN and MAVLink messages are listed below.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              ASTMASD-STANMAVLinkPurpose
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Basic IDBasic IDOPEN_DRONE_ID_BASIC_IDProvides an ID for the UA, characterizes the type of ID and identifies the type of UA.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              LocationLocationOPEN_DRONE_ID_LOCATIONProvides location, altitude, direction, and speed of the UA.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              AuthenticationNot specified (reserved)OPEN_DRONE_ID_AUTHENTICATIONProvides authentication data for the UA.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Self-IDSelf-IDOPEN_DRONE_ID_SELF_IDOptional plain text message that can be used by operators to identify themselves and the purpose of an operation. Can also be used to provide optional additional clarification in an emergency/remote ID system failure situation.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              SystemSystemOPEN_DRONE_ID_SYSTEMIncludes the operator location/altitude, multiple aircraft information (group/swarm, if applicable), full timestamp and possible category/class information.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Operator IDOperator IDOPEN_DRONE_ID_OPERATOR_IDProvides the operator ID.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Message PackMessage PackOPEN_DRONE_ID_MESSAGE_PACKA payload mechanism for combining the messages above into a single message pack. Used with Bluetooth Extended Advertising, Wi-Fi NaN and Wi-Fi Beacon.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              __OPEN_DRONE_ID_ARM_STATUSSent by RID transmitter/receiver components to indicate that the RID system is "ready to use". This should be used as an arming condition for the flight stack. Note that this differs from the HEARTBEAT which indicates that the component is "alive" but not necessarily ready to use.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              __OPEN_DRONE_ID_SYSTEM_UPDATEA subset of the OPEN_DRONE_ID_SYSTEM message, containing only the fields that must be updated at a high rate. Typically sent from the GCS to provide data to the RID transmitter component. If both OPEN_DRONE_ID_SYSTEM and OPEN_DRONE_ID_SYSTEM_UPDATE are used, the more efficient OPEN_DRONE_ID_SYSTEM_UPDATE will be used at a high rate and the full OPEN_DRONE_ID_SYSTEM at a low rate, to reduce the traffic on the control link.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              The raw byte layout of the MAVLink messages is not exactly the same as what a RID Bluetooth/Wi-Fi transmitter component will broadcast over the air. Slight compression is applied. Example code for this conversion can be found in the project: Open Drone ID Core C Library.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              The Open Drone ID Core C Library contains code for decoding the MAVLink messages and "compressing" the data into data structures for broadcast over Bluetooth or Wi-Fi (or vice-versa for reception).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              The standards do not impose any requirements for a drone to be capable of receiving drone ID messages, nor any requirements for reacting to their content (requirements from local legislation might be different).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              An example Android receiver implementation for Bluetooth/Wi-Fi drone ID is available here (source codes).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Code related to (Internet) Network Remote ID can be found in the InterUSS Project and https://github.com/uastech/standards (Unofficial reference for UAS-related APIs).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Message update rates

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              ASTM F3411 and ASD-STAN prEN 4709-002 (and possibly other standards) require that the LOCATION message is broadcast/published from the RID transmitter component at least once per second. The rest of the messages must be broadcast/published once per 3 seconds (the rules in some regions have tightened this requirement to 1 second for also the BASIC ID and the SYSTEM message. Please see here).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Not all message types or fields within a message type are mandatory to broadcast/publish. The mandatory message set vary from region to region. Please see the summary.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              The standards require that the data contained in the LOCATION and the SYSTEM messages (on the air/internet) is not older than 1 second (the location data, timestamps etc.).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              To be compliant in different regions and receive certification acceptance, the UAS as a complete entity must obey the above timing restrictions. Although popular autopilot SW stacks will be verified to be capable of this, the compliance testing will have been done using a certain set of HW/SW components. Any deviation from this set, will require the integrator of the UAS to consider the combination of the above requirements when deciding the internal update rates for each component, in the MAVLink network, generating data for the RID transmitter component.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              It must be expected that there will be some delays from e.g. the GCS sending a SYSTEM message via the flight controller to the RID transmitter component. The RID transmitter component will gather this data plus data from other messages together and generate the final message data set, which is broadcast over the air. Each of these components will be running on their own update and forward/relay cycle and can thus introduce delays. I.e. running everything at exactly one second cycles, probably will lead to violations of the data "freshness" requirement. But going to the other extreme of forcing all messages to be at 10+ Hz would likely lead to unnecessary airwave noise on the (Command and Control) C2 link/Wi-Fi/Bluetooth spectrum. Components are expected to tune refresh rates to ensure compliance, without saturating internal communication links.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              RID broadcasting using Bluetooth 4 Legacy Advertising introduces additional complexity to this. For Bluetooth 5 or Wi-Fi Beacon/NaN, all messages are packed together and broadcast in a single advertisement by the RID transmitter component. Bluetooth 4 advertisements can only contain 25 bytes and thus can fit only a single message. Since typically at least three messages must be broadcast on the air per second, the BT4 RID transmitter component must advertise at least every 333 ms.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Routing drone ID MAVLink messages inside the UAS

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              There can be multiple MAVLink components in an UAS involved in the handling of drone ID data. An example is shown in the figure below. Certainly not all UAS will contain all of these components and the placement of some of them can be different from one system to another.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              drone ID conceptual overview

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              All senders of MAVLink drone ID messages must fill the sysid field with the MAVLink system ID value that the MAVLink sender component belongs to and fill the compid field with the MAVLink component ID value of the sender.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              The MAVLink components or systems that will typically generate drone ID MAVLink messages are listed in the table below:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Component/SystemDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_COMP_ID_AUTOPILOT1The flight controller/autopilot. Knows the ID of the UA, the current location, altitude, speed etc.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Ground Control StationGCS with a human user interface for inputting the operator ID, text description of the flight purpose, method for obtaining the operator location etc.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_COMP_ID_ODID_TXRX_1A Remote ID transmitter/receiver component (Bluetooth/Wi-Fi/Internet).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_COMP_ID_ODID_TXRX_2A Remote ID transmitter/receiver component (Bluetooth/Wi-Fi/Internet).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_COMP_ID_ODID_TXRX_3A Remote ID transmitter/receiver component (Bluetooth/Wi-Fi/Internet).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              The autopilot/flight controller is typically the component that knows about the data needed for the BASIC ID and the LOCATION messages. It must stream MAVLink messages with this information to the RID transmitter component.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              The Ground Control Station system is the interface for the operator of the UAS. The operator must enter the data needed for the SELF_ID, the SYSTEM and the OPERATOR_ID, messages before the flight. The GCS must send this data via MAVLink messages to the RID transmitter component (possibly via the autopilot component). If the GCS is capable of regularly obtaining its own location, these updates are sent in the SYSTEM message together with a full timestamp.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              The UAS has one or more RID transmitter components for publishing the drone ID data to the rest of the world, either via Bluetooth or Wi-Fi broadcasts, or via an internet connection to an internet Remote ID server. The RID transmitter components will listen to the MAVLink messages from the flight controller and the GCS but must ignore MAVLink messages where the compid field is set to MAV_COMP_ID_ODID_TXRX_1, MAV_COMP_ID_ODID_TXRX_2 or MAV_COMP_ID_ODID_TXRX_3 (those MAVLink messages would have originated from a RID receiver component and would be the drone ID information from other UAs). The method for the RID transmitter components to identify MAVLink messages from the GCS, is described in the Heartbeat section below.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              The MAVLink components in the UAS involved in the drone ID MAVLink message exchange, must keep track of the HEARTBEAT MAVLink messages from the other MAVLink components. If the HEARTBEAT messages are not received within a required time interval, they must declare a malfunction of the Remote ID system and indicate this in the status field of the LOCATION message. This must also be indicated to the operator of the UAS.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Similarly, the autopilot and GCS components must listen to the ARM_STATUS from the RID transmitter component(s) and not allow the UA to be airborne before the RID transmitter component(s) is ready. During flight, if the arm status indicates a failure, similar action must be taken as for a lack of HEARTBEAT messages. The ARM_STATUS message must also be routed to a GCS, if present, allowing it to provide more detailed information about RemoteID arming failures.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              In addition to the above, there are multiple additional different scenarios that must result in the Location status field being set to Emergency or Remote ID System Failure. The exact strategy on how to avoid having multiple MAVLink components overwriting each-others emergency declarations is not yet fully defined. Some preliminary discussion can be found here.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Optionally, further restrictions on which RID transmitter/receiver component must process a MAVLink message can be enforced if the sender fills the target_system and target_component fields of the MAVLink message. RID transmitter/receiver components must only listen to MAVLink messages that have these fields set to either zero (broadcast) or the component's own MAVLink system ID and component ID. This can be useful if e.g. there are two UA connected to a single GCS. The GCS can then direct information to specific MAV_COMP_ID_ODID_TXRX_x components on a specific UA. By default, all senders of drone ID MAVLink messages must fill the target_system and target_component fields with zero, to indicate a broadcast to all MAVLink components.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Open Drone ID data from other UA(s)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              It is possible that the RID transmitter components also work as receivers, for obtaining drone ID data from surrounding UAs. When publishing the received drone ID data as internal MAVLink messages, they must set the compid field to their own MAV_COMP_ID_ODID_TXRX_n ID to make it possible to distinguish this data from the drone ID data of the UA itself. Also the systemid field must be set with the MAVLink system ID value that the RID receiver component belongs to.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              At least two possible consumers of drone ID data from surrounding aircraft are possible:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • A Detect And Avoid (DAA) system that tracks the current and estimated future positions of other UAs and takes that into account when setting the flight path of the UA itself.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • A Remote ID Display (RID) application that visually shows the surrounding UA's locations (and possibly past and estimated future flight paths) to the operator of the UA, in order for him/her to utilize this information when controlling the UA.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              See below on how to combine remote ID data from other UAs.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Heartbeat

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Each component involved in the MAVLink message exchange, is required to regularly send out MAVLink HEARTBEAT messages in order to facilitate discovery and monitoring of the component in the UAS. Please see further details in the HEARTBEAT documentation.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              For RID transmitter/receiver components (with compids MAV_COMP_ID_ODID_TXRX_1, MAV_COMP_ID_ODID_TXRX_2 or MAV_COMP_ID_ODID_TXRX_3), the type field in the HEARTBEAT message must be filled with MAV_TYPE_ODID.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              The MAVLink HEARTBEAT message serves as the way for RID transmitter/receiver components to identify the sysid of the GCS. The GCS will send out MAVLink HEARTBEAT messages with its sysid field set to the GCS's MAVLink system ID and the type set to MAV_TYPE_GCS. The RID transmitter/receiver components must interpret all MAVLink Open Drone ID messages from that system ID, as coming from the GCS. There is no dedicated MAVLink component ID for GCSs, hence the MAVLink system ID must be used instead for identifying the GCS.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Possible future improvements

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              The current set of MAVLink drone ID messages do not provide any means for controlling some of the RID transmitter/receiver component details. The RID transmitter/receiver component must be hard-coded by the manufacturer to a certain configuration. Some discussion and proposal for this type of messages can be found here. It would be useful to control e.g. the following items:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • Starting/stopping broadcast
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • Configure the broadcast method (BT4, BT5, Beacon, NaN)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • Wi-Fi channel configuration for Beacon
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • Message update rates on the air

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              No regions currently require drone ID publication via the internet (Network Remote ID). However, it is possible that in the future this will change from being optional to mandatory for some use cases/regions as a part of the UTM/USpace efforts. Currently there are no suitable MAVLink messages defined to configure a Network Remote ID transceiver. Messages to specify the server(s) to connect to, credentials etc. would be needed.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Security of drone ID data is partly under definition. The Japan rule requires a signature of the drone ID data to be broadcasted in the AUTHENTICATION message. The details are in Japanese. No such requirement currently exists for the US and EU. It is possible that some use cases in the future might require more security related activities for drone ID data. Some additional protocol specification work is being drafted by the IETF in the DRIP working group.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              UAS with multiple RID transmitters and/or receiver components

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Since three different technologies for broadcasting/publishing drone ID data have been defined (Bluetooth, Wi-Fi and internet), it is quite possible for a UAS to support more than just a single type.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              For UASs that desire to listen to other UA's information, it would be desirable to include receivers for all three methods, in order to maximize the possibility of detecting all other surrounding UAs.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Combining data from other UAs when receiving drone ID data

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              For Drone ID data that is received from other UAs, the data of the message itself does not always identify exactly which UA the data originated from. E.g. for data received via Bluetooth Legacy Advertising (Bluetooth 4.x), many of the received messages will not contain the unique serial number/ID of the UA that broadcasted the data, due to the severe size limitation imposed by Legacy Advertising where only one 25 byte message can be broadcasted in one advertisement radio burst. The MAC address (possibly randomized) of the Bluetooth HW is the only way to associate these messages to the same UA. For Bluetooth 5.x and Wi-Fi, it is possible that the same can happen in certain specific situations (e.g. sending large amount of authentication data), although for the majority of normal usage this is unlikely, since the use of MESSAGE_PACKs is mandated. For data received via internet, the data packet will always contain the unique serial number/ID of the originating UA but no associated MAC address.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              In order to allow e.g. a DAA component to sort and identify which UA each data message has originated from, the RID receiver components must add, to the MAVLink message, either the MAC address or the ID number associated with the UA that originated the data message, before sending it on the internal UAS MAVLink network. This information must be added in the id_or_mac field of each MAVLink message.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              The serial/ID is copied directly from the uas_id field with NULLs in the unused portion. The MAC address must be entered in ASCII format with NULLs in the unused portion. Any separation characters must be removed. E.g. "30-65-EC-6F-C4-58" or "30:65:EC:6F:C4:58" must be represented as the ASCII string "3065EC6FC458". When not used for the above purpose, the id_or_mac field must be filled with NULLs.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              The MAVLink system/component listening to the MAVLink messages must be aware that it is possible to receive drone ID data from the same UA via multiple receive paths (e.g. Wi-Fi and internet). Filtering and merging of the data (and possible deletion of duplicates) will be needed and it must keep track of both a possible MAC address and the serial/ID of the other UAs. Additional filtering and sorting based on the timestamp in the LOCATION or SYSTEM messages can also be needed in order to generate a consistent flight path for the other UAs.

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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Open Drone ID

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Direct Remote Identification (DRI) or Remote ID (RID) is/will be a mandatory technology for Unmanned Aircraft (UA) in Japan, the United States of America and the European Union. Data such as the UA real-time location/altitude, UA serial number, operator ID/location etc. are broadcast via either Wi-Fi or Bluetooth from the UA. Open Drone ID is an open source implementation of RID.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                The terms Remote ID and drone ID are used interchangeably in the text below.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Relevant specifications

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                The MAVLink messages defined for usage with Open Drone ID are compliant with the following standards:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • ASTM F3411 Specification for Remote ID and Tracking
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • ASD-STAN prEN 4709-002 Direct Remote Identification

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                For additional details, please see here. In general, the front page of the opendroneid core-c repository has lots of pointers to additional information and SW projects related to drone ID.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Broadcast methods and impact on the message design

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Four different broadcast methods are defined:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • Bluetooth Legacy Advertising (Bluetooth 4.x)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • Bluetooth Long Range with Extended Advertising (Bluetooth 5.x)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • Wi-Fi Neighbor-aware Network (Wi-Fi NaN)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • Wi-Fi Beacon (vendor specific information element in the SSID beacon frame)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                The broadcast method used with Bluetooth Legacy Advertising signals impose a strict size limitation on the amount of data that can be transmitted in each radio burst. Therefore the relevant data is divided into different categories and each category is transmitted via its own message.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                The standards defines 6 such messages and an additional 7th message type for packing multiple messages together into a message pack (used when transmitting on Wi-Fi NaN, Wi-Fi Beacon or Bluetooth Long Range with Extended Advertising). To support easy data transfers to/from a Remote ID (RID) transmitter/receiver component, MAVLink messages supporting all the fields of the drone ID messages have been made available. See Messages below.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Use case examples

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                There are multiple possible use cases for the MAVLink drone ID messages:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • A flight controller sends ID, location etc. data to an onboard Bluetooth/Wi-Fi RID transmitter component.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • An onboard Bluetooth/Wi-Fi receiver picks up drone ID messages from surrounding aircraft, relays this information using MAVLink drone ID messages to the flight controller, which then uses the information e.g. for Detect And Avoid (DAA) calculations.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • A drone sends MAVLink drone ID messages via its control link to the Ground Control Station (GCS). The GCS is connected via the Internet to a Remote ID server, which stores and publishes the drone's ID, location etc.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • As above but in the other direction for DAA calculations.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • A Remote ID Display application (RID) on the GCS listens to all drone ID data received from surrounding UAs and displays their position to the operator.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Messages

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                The ASTM, ASD-STAN and MAVLink messages are listed below.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                ASTMASD-STANMAVLinkPurpose
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Basic IDBasic IDOPEN_DRONE_ID_BASIC_IDProvides an ID for the UA, characterizes the type of ID and identifies the type of UA.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                LocationLocationOPEN_DRONE_ID_LOCATIONProvides location, altitude, direction, and speed of the UA.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                AuthenticationNot specified (reserved)OPEN_DRONE_ID_AUTHENTICATIONProvides authentication data for the UA.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Self-IDSelf-IDOPEN_DRONE_ID_SELF_IDOptional plain text message that can be used by operators to identify themselves and the purpose of an operation. Can also be used to provide optional additional clarification in an emergency/remote ID system failure situation.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                SystemSystemOPEN_DRONE_ID_SYSTEMIncludes the operator location/altitude, multiple aircraft information (group/swarm, if applicable), full timestamp and possible category/class information.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Operator IDOperator IDOPEN_DRONE_ID_OPERATOR_IDProvides the operator ID.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Message PackMessage PackOPEN_DRONE_ID_MESSAGE_PACKA payload mechanism for combining the messages above into a single message pack. Used with Bluetooth Extended Advertising, Wi-Fi NaN and Wi-Fi Beacon.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                __OPEN_DRONE_ID_ARM_STATUSSent by RID transmitter/receiver components to indicate that the RID system is "ready to use". This should be used as an arming condition for the flight stack. Note that this differs from the HEARTBEAT which indicates that the component is "alive" but not necessarily ready to use.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                __OPEN_DRONE_ID_SYSTEM_UPDATEA subset of the OPEN_DRONE_ID_SYSTEM message, containing only the fields that must be updated at a high rate. Typically sent from the GCS to provide data to the RID transmitter component. If both OPEN_DRONE_ID_SYSTEM and OPEN_DRONE_ID_SYSTEM_UPDATE are used, the more efficient OPEN_DRONE_ID_SYSTEM_UPDATE will be used at a high rate and the full OPEN_DRONE_ID_SYSTEM at a low rate, to reduce the traffic on the control link.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                The raw byte layout of the MAVLink messages is not exactly the same as what a RID Bluetooth/Wi-Fi transmitter component will broadcast over the air. Slight compression is applied. Example code for this conversion can be found in the project: Open Drone ID Core C Library.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                The Open Drone ID Core C Library contains code for decoding the MAVLink messages and "compressing" the data into data structures for broadcast over Bluetooth or Wi-Fi (or vice-versa for reception).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                The standards do not impose any requirements for a drone to be capable of receiving drone ID messages, nor any requirements for reacting to their content (requirements from local legislation might be different).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                An example Android receiver implementation for Bluetooth/Wi-Fi drone ID is available here (source codes).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Code related to (Internet) Network Remote ID can be found in the InterUSS Project and https://github.com/uastech/standards (Unofficial reference for UAS-related APIs).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Message update rates

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                ASTM F3411 and ASD-STAN prEN 4709-002 (and possibly other standards) require that the LOCATION message is broadcast/published from the RID transmitter component at least once per second. The rest of the messages must be broadcast/published once per 3 seconds (the rules in some regions have tightened this requirement to 1 second for also the BASIC ID and the SYSTEM message. Please see here).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Not all message types or fields within a message type are mandatory to broadcast/publish. The mandatory message set vary from region to region. Please see the summary.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                The standards require that the data contained in the LOCATION and the SYSTEM messages (on the air/internet) is not older than 1 second (the location data, timestamps etc.).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                To be compliant in different regions and receive certification acceptance, the UAS as a complete entity must obey the above timing restrictions. Although popular autopilot SW stacks will be verified to be capable of this, the compliance testing will have been done using a certain set of HW/SW components. Any deviation from this set, will require the integrator of the UAS to consider the combination of the above requirements when deciding the internal update rates for each component, in the MAVLink network, generating data for the RID transmitter component.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                It must be expected that there will be some delays from e.g. the GCS sending a SYSTEM message via the flight controller to the RID transmitter component. The RID transmitter component will gather this data plus data from other messages together and generate the final message data set, which is broadcast over the air. Each of these components will be running on their own update and forward/relay cycle and can thus introduce delays. I.e. running everything at exactly one second cycles, probably will lead to violations of the data "freshness" requirement. But going to the other extreme of forcing all messages to be at 10+ Hz would likely lead to unnecessary airwave noise on the (Command and Control) C2 link/Wi-Fi/Bluetooth spectrum. Components are expected to tune refresh rates to ensure compliance, without saturating internal communication links.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                RID broadcasting using Bluetooth 4 Legacy Advertising introduces additional complexity to this. For Bluetooth 5 or Wi-Fi Beacon/NaN, all messages are packed together and broadcast in a single advertisement by the RID transmitter component. Bluetooth 4 advertisements can only contain 25 bytes and thus can fit only a single message. Since typically at least three messages must be broadcast on the air per second, the BT4 RID transmitter component must advertise at least every 333 ms.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Routing drone ID MAVLink messages inside the UAS

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                There can be multiple MAVLink components in an UAS involved in the handling of drone ID data. An example is shown in the figure below. Certainly not all UAS will contain all of these components and the placement of some of them can be different from one system to another.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                drone ID conceptual overview

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                All senders of MAVLink drone ID messages must fill the sysid field with the MAVLink system ID value that the MAVLink sender component belongs to and fill the compid field with the MAVLink component ID value of the sender.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                The MAVLink components or systems that will typically generate drone ID MAVLink messages are listed in the table below:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Component/SystemDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_COMP_ID_AUTOPILOT1The flight controller/autopilot. Knows the ID of the UA, the current location, altitude, speed etc.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Ground Control StationGCS with a human user interface for inputting the operator ID, text description of the flight purpose, method for obtaining the operator location etc.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_COMP_ID_ODID_TXRX_1A Remote ID transmitter/receiver component (Bluetooth/Wi-Fi/Internet).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_COMP_ID_ODID_TXRX_2A Remote ID transmitter/receiver component (Bluetooth/Wi-Fi/Internet).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_COMP_ID_ODID_TXRX_3A Remote ID transmitter/receiver component (Bluetooth/Wi-Fi/Internet).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                The autopilot/flight controller is typically the component that knows about the data needed for the BASIC ID and the LOCATION messages. It must stream MAVLink messages with this information to the RID transmitter component.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                The Ground Control Station system is the interface for the operator of the UAS. The operator must enter the data needed for the SELF_ID, the SYSTEM and the OPERATOR_ID, messages before the flight. The GCS must send this data via MAVLink messages to the RID transmitter component (possibly via the autopilot component). If the GCS is capable of regularly obtaining its own location, these updates are sent in the SYSTEM message together with a full timestamp.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                The UAS has one or more RID transmitter components for publishing the drone ID data to the rest of the world, either via Bluetooth or Wi-Fi broadcasts, or via an internet connection to an internet Remote ID server. The RID transmitter components will listen to the MAVLink messages from the flight controller and the GCS but must ignore MAVLink messages where the compid field is set to MAV_COMP_ID_ODID_TXRX_1, MAV_COMP_ID_ODID_TXRX_2 or MAV_COMP_ID_ODID_TXRX_3 (those MAVLink messages would have originated from a RID receiver component and would be the drone ID information from other UAs). The method for the RID transmitter components to identify MAVLink messages from the GCS, is described in the Heartbeat section below.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                The MAVLink components in the UAS involved in the drone ID MAVLink message exchange, must keep track of the HEARTBEAT MAVLink messages from the other MAVLink components. If the HEARTBEAT messages are not received within a required time interval, they must declare a malfunction of the Remote ID system and indicate this in the status field of the LOCATION message. This must also be indicated to the operator of the UAS.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Similarly, the autopilot and GCS components must listen to the ARM_STATUS from the RID transmitter component(s) and not allow the UA to be airborne before the RID transmitter component(s) is ready. During flight, if the arm status indicates a failure, similar action must be taken as for a lack of HEARTBEAT messages. The ARM_STATUS message must also be routed to a GCS, if present, allowing it to provide more detailed information about RemoteID arming failures.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                In addition to the above, there are multiple additional different scenarios that must result in the Location status field being set to Emergency or Remote ID System Failure. The exact strategy on how to avoid having multiple MAVLink components overwriting each-others emergency declarations is not yet fully defined. Some preliminary discussion can be found here.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Optionally, further restrictions on which RID transmitter/receiver component must process a MAVLink message can be enforced if the sender fills the target_system and target_component fields of the MAVLink message. RID transmitter/receiver components must only listen to MAVLink messages that have these fields set to either zero (broadcast) or the component's own MAVLink system ID and component ID. This can be useful if e.g. there are two UA connected to a single GCS. The GCS can then direct information to specific MAV_COMP_ID_ODID_TXRX_x components on a specific UA. By default, all senders of drone ID MAVLink messages must fill the target_system and target_component fields with zero, to indicate a broadcast to all MAVLink components.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Open Drone ID data from other UA(s)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                It is possible that the RID transmitter components also work as receivers, for obtaining drone ID data from surrounding UAs. When publishing the received drone ID data as internal MAVLink messages, they must set the compid field to their own MAV_COMP_ID_ODID_TXRX_n ID to make it possible to distinguish this data from the drone ID data of the UA itself. Also the systemid field must be set with the MAVLink system ID value that the RID receiver component belongs to.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                At least two possible consumers of drone ID data from surrounding aircraft are possible:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • A Detect And Avoid (DAA) system that tracks the current and estimated future positions of other UAs and takes that into account when setting the flight path of the UA itself.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • A Remote ID Display (RID) application that visually shows the surrounding UA's locations (and possibly past and estimated future flight paths) to the operator of the UA, in order for him/her to utilize this information when controlling the UA.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                See below on how to combine remote ID data from other UAs.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Heartbeat

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Each component involved in the MAVLink message exchange, is required to regularly send out MAVLink HEARTBEAT messages in order to facilitate discovery and monitoring of the component in the UAS. Please see further details in the HEARTBEAT documentation.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                For RID transmitter/receiver components (with compids MAV_COMP_ID_ODID_TXRX_1, MAV_COMP_ID_ODID_TXRX_2 or MAV_COMP_ID_ODID_TXRX_3), the type field in the HEARTBEAT message must be filled with MAV_TYPE_ODID.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                The MAVLink HEARTBEAT message serves as the way for RID transmitter/receiver components to identify the sysid of the GCS. The GCS will send out MAVLink HEARTBEAT messages with its sysid field set to the GCS's MAVLink system ID and the type set to MAV_TYPE_GCS. The RID transmitter/receiver components must interpret all MAVLink Open Drone ID messages from that system ID, as coming from the GCS. There is no dedicated MAVLink component ID for GCSs, hence the MAVLink system ID must be used instead for identifying the GCS.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Possible future improvements

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                The current set of MAVLink drone ID messages do not provide any means for controlling some of the RID transmitter/receiver component details. The RID transmitter/receiver component must be hard-coded by the manufacturer to a certain configuration. Some discussion and proposal for this type of messages can be found here. It would be useful to control e.g. the following items:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • Starting/stopping broadcast
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • Configure the broadcast method (BT4, BT5, Beacon, NaN)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • Wi-Fi channel configuration for Beacon
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • Message update rates on the air

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                No regions currently require drone ID publication via the internet (Network Remote ID). However, it is possible that in the future this will change from being optional to mandatory for some use cases/regions as a part of the UTM/USpace efforts. Currently there are no suitable MAVLink messages defined to configure a Network Remote ID transceiver. Messages to specify the server(s) to connect to, credentials etc. would be needed.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Security of drone ID data is partly under definition. The Japan rule requires a signature of the drone ID data to be broadcasted in the AUTHENTICATION message. The details are in Japanese. No such requirement currently exists for the US and EU. It is possible that some use cases in the future might require more security related activities for drone ID data. Some additional protocol specification work is being drafted by the IETF in the DRIP working group.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                UAS with multiple RID transmitters and/or receiver components

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Since three different technologies for broadcasting/publishing drone ID data have been defined (Bluetooth, Wi-Fi and internet), it is quite possible for a UAS to support more than just a single type.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                For UASs that desire to listen to other UA's information, it would be desirable to include receivers for all three methods, in order to maximize the possibility of detecting all other surrounding UAs.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Combining data from other UAs when receiving drone ID data

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                For Drone ID data that is received from other UAs, the data of the message itself does not always identify exactly which UA the data originated from. E.g. for data received via Bluetooth Legacy Advertising (Bluetooth 4.x), many of the received messages will not contain the unique serial number/ID of the UA that broadcasted the data, due to the severe size limitation imposed by Legacy Advertising where only one 25 byte message can be broadcasted in one advertisement radio burst. The MAC address (possibly randomized) of the Bluetooth HW is the only way to associate these messages to the same UA. For Bluetooth 5.x and Wi-Fi, it is possible that the same can happen in certain specific situations (e.g. sending large amount of authentication data), although for the majority of normal usage this is unlikely, since the use of MESSAGE_PACKs is mandated. For data received via internet, the data packet will always contain the unique serial number/ID of the originating UA but no associated MAC address.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                In order to allow e.g. a DAA component to sort and identify which UA each data message has originated from, the RID receiver components must add, to the MAVLink message, either the MAC address or the ID number associated with the UA that originated the data message, before sending it on the internal UAS MAVLink network. This information must be added in the id_or_mac field of each MAVLink message.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                The serial/ID is copied directly from the uas_id field with NULLs in the unused portion. The MAC address must be entered in ASCII format with NULLs in the unused portion. Any separation characters must be removed. E.g. "30-65-EC-6F-C4-58" or "30:65:EC:6F:C4:58" must be represented as the ASCII string "3065EC6FC458". When not used for the above purpose, the id_or_mac field must be filled with NULLs.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                The MAVLink system/component listening to the MAVLink messages must be aware that it is possible to receive drone ID data from the same UA via multiple receive paths (e.g. Wi-Fi and internet). Filtering and merging of the data (and possible deletion of duplicates) will be needed and it must keep track of both a possible MAC address and the serial/ID of the other UAs. Additional filtering and sorting based on the timestamp in the LOCATION or SYSTEM messages can also be needed in order to generate a consistent flight path for the other UAs.

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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Parameter Protocol

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  The parameter microservice is used to exchange configuration settings between MAVLink components.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Each parameter is represented as a key/value pair. The key is usually the human-readable name of the parameter (maximum of 16 characters) and a value - which can be one of a number of types.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  The key/value pair has a number of important properties:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • The human-readable name is small but useful (it can encode parameter names from which users can infer the purpose of the parameter).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • Unknown autopilots that implement the protocol can be supported "out of the box".
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • A GCS does not have to know in advance what parameters exist on a remote system (although in practice a GCS can provide a better user experience with additional parameter metadata like maximum and minimum values, default values, etc.).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • Adding a parameter only requires changes to the system with parameters. A GCS that loads the parameters, and the MAVLink communication libraries, should not require any changes.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Message/Enum Summary

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MessageDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  PARAM_REQUEST_LISTRequest all parameters. The recipient broadcast all parameter values using PARAM_VALUE.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  PARAM_REQUEST_READRequest a single parameter. The recipient broadcasts the specified parameter value using PARAM_VALUE.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  PARAM_SETSend command to set a specified parameter to a value. After the value has been set (whether successful or not), the recipient should broadcast the current value using PARAM_VALUE.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  PARAM_VALUEThe current value of a parameter, broadcast in response to a request to get one or more parameters (PARAM_REQUEST_READ, PARAM_REQUEST_LIST) or whenever a parameter is set (PARAM_SET) or changes.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  EnumDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_PARAM_TYPEPARAM_SET and PARAM_VALUE store/encode parameter values within a float field. This type conveys the real type of the encoded parameter value, e.g. MAV_PARAM_TYPE_UINT16, MAV_PARAM_TYPE_INT32, etc.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  FlagsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_PROTOCOL_CAPABILITY_PARAM_ENCODE_BYTEWISEParameter values are byte-wise encoded in the PARAM_SET.param_value and PARAM_VALUE.param_value fields (float).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_PROTOCOL_CAPABILITY_PARAM_ENCODE_C_CASTParameter values are encoded using C casts into the PARAM_SET.param_value and PARAM_VALUE.param_value fields (float).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Protocol Discovery

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Support for the parameter protocol is indicated if either MAV_PROTOCOL_CAPABILITY_PARAM_ENCODE_BYTEWISE or MAV_PROTOCOL_CAPABILITY_PARAM_ENCODE_C_CAST protocol bits are set in AUTOPILOT_VERSION.capabilities.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  These protocol bits indicate different bytewise and C-style parameter value encoding respectively.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  The protocol may still be supported even if neither protocol bit is set. To use the protocol in this case, a connected system would need to have prior knowledge of connected component.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Parameter Names

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Parameters names/ids are set in the param_id field of messages where they are used. The param_id string can store up to 16 characters. The string is terminated with a NULL (\0) character if there are less than 16 human-readable chars, and without a null termination byte if the length is exactly 16 chars.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Parameter Encoding

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Parameter values are encoded in the param_value field, an IEE754 single-precision, 4 byte, floating point value (see PARAM_SET and PARAM_VALUE). The param_type (MAV_PARAM_TYPE) is used to indicate the actual type of the data, so that it can be decoded by the recipient. Supported types are: 8, 16, 32 and 64-bit signed and unsigned integers, and 32 and 64-bit floating point numbers.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Two encoding approaches are supported:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • Byte-wise encoding: The parameter's bytes are copied directly into the bytes used for the field. A 32-bit integer is sent as 32 bits of data.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • C-style cast: The parameter value is converted to a float. This may result in some loss of precision as a float can represent an integer with up to 24 bits of pecision.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Byte wise encoding is recommended as it allows very large integers to be exchanged (e.g. 1E7 scaled integers can be useful for encoding some types of data, but lose precision if cast directly to floats).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  A component should support only one type, and indicate that type by setting the MAV_PROTOCOL_CAPABILITY_PARAM_ENCODE_BYTEWISE (byte-wise encoding) or MAV_PROTOCOL_CAPABILITY_PARAM_ENCODE_C_CAST (C-style encoding) protocol bits in AUTOPILOT_VERSION.capabilities. A GCS may support both types and use the type that is indicated by the target component.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Bytewise Encoding: Mavgen C API

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  The C API provides a convenient union that allows you to bytewise convert between any of the supported types: mavlink_param_union_t (mavlink_types.h). For example, below we shown how you can set the union integer field, and then pass the float value to the sending function:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  mavlink_param_union_t param;
+매개변수 프로토콜 · MAVLink Developer Guide
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Parameter Protocol
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  The parameter microservice is used to exchange configuration settings between MAVLink components.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Each parameter is represented as a key/value pair. The key is usually the human-readable name of the parameter (maximum of 16 characters) and a value - which can be one of a number of types.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  The key/value pair has a number of important properties:
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • The human-readable name is small but useful (it can encode parameter names from which users can infer the purpose of the parameter).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • Unknown autopilots that implement the protocol can be supported "out of the box".
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • A GCS does not have to know in advance what parameters exist on a remote system (although in practice a GCS can provide a better user experience with additional parameter metadata like maximum and minimum values, default values, etc.).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • Adding a parameter only requires changes to the system with parameters. A GCS that loads the parameters, and the MAVLink communication libraries, should not require any changes.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Message/Enum Summary
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MessageDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  PARAM_REQUEST_LISTRequest all parameters. The recipient broadcast all parameter values using PARAM_VALUE.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  PARAM_REQUEST_READRequest a single parameter. The recipient broadcasts the specified parameter value using PARAM_VALUE.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  PARAM_SETSend command to set a specified parameter to a value. After the value has been set (whether successful or not), the recipient should broadcast the current value using PARAM_VALUE.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  PARAM_VALUEThe current value of a parameter, broadcast in response to a request to get one or more parameters (PARAM_REQUEST_READ, PARAM_REQUEST_LIST) or whenever a parameter is set (PARAM_SET) or changes.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  EnumDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_PARAM_TYPEPARAM_SET and PARAM_VALUE store/encode parameter values within a float field. This type conveys the real type of the encoded parameter value, e.g. MAV_PARAM_TYPE_UINT16, MAV_PARAM_TYPE_INT32, etc.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  FlagsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_PROTOCOL_CAPABILITY_PARAM_ENCODE_BYTEWISEParameter values are byte-wise encoded in the PARAM_SET.param_value and PARAM_VALUE.param_value fields (float).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_PROTOCOL_CAPABILITY_PARAM_ENCODE_C_CASTParameter values are encoded using C casts into the PARAM_SET.param_value and PARAM_VALUE.param_value fields (float).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Protocol Discovery
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Support for the parameter protocol is indicated if either MAV_PROTOCOL_CAPABILITY_PARAM_ENCODE_BYTEWISE or MAV_PROTOCOL_CAPABILITY_PARAM_ENCODE_C_CAST protocol bits are set in AUTOPILOT_VERSION.capabilities.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  These protocol bits indicate different bytewise and C-style parameter value encoding respectively.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  The protocol may still be supported even if neither protocol bit is set. To use the protocol in this case, a connected system would need to have prior knowledge of connected component.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Parameter Names
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Parameters names/ids are set in the param_id field of messages where they are used. The param_id string can store up to 16 characters. The string is terminated with a NULL (\0) character if there are less than 16 human-readable chars, and without a null termination byte if the length is exactly 16 chars.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Parameter Encoding
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Parameter values are encoded in the param_value field, an IEE754 single-precision, 4 byte, floating point value (see PARAM_SET and PARAM_VALUE). The param_type (MAV_PARAM_TYPE) is used to indicate the actual type of the data, so that it can be decoded by the recipient. Supported types are: 8, 16, 32 and 64-bit signed and unsigned integers, and 32 and 64-bit floating point numbers.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Two encoding approaches are supported:
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • Byte-wise encoding: The parameter's bytes are copied directly into the bytes used for the field. A 32-bit integer is sent as 32 bits of data.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • C-style cast: The parameter value is converted to a float. This may result in some loss of precision as a float can represent an integer with up to 24 bits of pecision.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Byte wise encoding is recommended as it allows very large integers to be exchanged (e.g. 1E7 scaled integers can be useful for encoding some types of data, but lose precision if cast directly to floats).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  A component should support only one type, and indicate that type by setting the MAV_PROTOCOL_CAPABILITY_PARAM_ENCODE_BYTEWISE (byte-wise encoding) or MAV_PROTOCOL_CAPABILITY_PARAM_ENCODE_C_CAST (C-style encoding) protocol bits in AUTOPILOT_VERSION.capabilities. A GCS may support both types and use the type that is indicated by the target component.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Bytewise Encoding: Mavgen C API
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  The C API provides a convenient union that allows you to bytewise convert between any of the supported types: mavlink_param_union_t (mavlink_types.h). For example, below we shown how you can set the union integer field, and then pass the float value to the sending function:
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  mavlink_param_union_t param;
 int32_t integer = 20000;
 param.param_int32 = integer;
 param.type = MAV_PARAM_TYPE_INT32;
 
 // Then send the param by providing the float bytes to the send function
 mavlink_msg_param_set_send(xxx, xxx, param.param_float, param.type, xxx);
-
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Bytewise Encoding: Mavgen Python API
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Pymavlink does not include special support to byte-wise encode the non-float data types (unsurprisingly, because Python effectively "hides" low level data types from users). When working with a system that supports non-float parameters (e.g. PX4) you will need to do the encoding/decoding yourself when sending and receiving messages.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  There is a good example of how to do this in the Pymavlink mavparm.py module (see MAVParmDict.mavset()).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Parameter Types
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  The allowed parameter types are given in MAV_PARAM_TYPE.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Note that not all types are supported: for example PX4 supports only INT32 and FLOAT. A GCS can infer the supported types from the parameters it is sent.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Parameter Metadata
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Parameter metadata is additional information about a parameters that allow them to be safely used in a ground station. This might include a description and listing of possible values.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  The Component Information Protocol has been proposed as a mechanism for getting this information directly from a vehicle.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Parameter Caching
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  A GCS or other component may choose to maintain a cache of parameter values for connected components/systems, in order to reduce the time required to display values and reduce MAVLink traffic.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  The cache can be populated initially by first reading the full parameter list at least once, and then updated by monitoring for PARAM_VALUE messages (which are emitted whenever a parameter is written or otherwise changed).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Cache synchronisation is not guaranteed; a component may miss update messages due to parameter changes by other components.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Multi-System and Multi-Component Support
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAVLink supports multiple systems in parallel on the same link, and multiple MAVLink enabled components within a system.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Requests to get and set parameters can be sent to individual systems or components. To get a complete parameter list from a system, send the request parameter message with target_component set to MAV_COMP_ID_ALL.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  All components must respond to parameter request messages addressed to their ID or the ID MAV_COMP_ID_ALL.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  QGroundControl by default queries all components of the currently connected system (it sends ID MAV_COMP_ID_ALL).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Limitations
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Parameters Table is Invariant
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  The protocol requires that the parameter set does not change during normal operation/after parameters have been read.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  If a component can add parameters during (or after) initial synchronization the protocol cannot guarantee reliable/robust synchronization, because there is no way to notify that the parameter set has changed and a new sync is required.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  If working with a non-compliant component, the risk of problems when working with parameters can be reduced (but not removed) if:
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • The param_id is used to read parameters where possible (the mapping of param_index to a particular parameter might change on systems where parameters can be added/removed).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • PARAM_VALUE.param_count is monitored and the parameter set re-sychronised on change.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Parameter Synchronisation Can Fail
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  A GCS (or other component) that wants to cache parameters with a component and keep them synchronised, should first get all parameters, and then track any new parameter changes by monitoring for PARAM_VALUE messages (updating their internal list appropriately).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  This works for the originator of a parameter change, which can resend the request if an expected PARAM_VALUE is not recieved. This approach may fail for components that did not originate the change, as they will not know about updates they do not receive (i.e. if messages are dropped).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  A component may mitigate this risk by, for example, sending the PARAM_VALUE multiple times after a parameter is changed.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Parameter Operations
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  This section defines the state machine/message sequences for all parameter operations.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Read All Parameters
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  The read-all operation is started by sending the PARAM_REQUEST_LIST message. The target component must start to broadcast the parameters individually in PARAM_VALUE messages after receiving this message. The drone should allow a pause after sending each parameter to ensure that the operation doesn't consume all of the available link bandwidth (30 - 50 percent of the bandwidth is reasonable).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Mermaid sequence: Read all parameters
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  The sequence of operations is:
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  1. GCS (client) sends PARAM_REQUEST_LIST specifying a target system/component.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • Broadcast addresses may be used. All targeted components should respond with parameters (or ignore the request if they have none).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • The GCS is expected to accumulate parameters from all responding systems.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • The timeout/retry behaviour is GSC dependent.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  2. The targeted component(s) should respond, sending all parameters individually in PARAM_VALUE messages.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • Allow breaks between each message in order to avoid saturating the link.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • Components with no parameters should ignore the request.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  3. GCS starts timeout after each PARAM_VALUE message in order to detect when parameters are no longer being sent (that the operation has completed).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Notes:
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • The GCS/API may accumulate the received parameters for each component and can determine if any are missing/not received (PARAM_VALUE contains the total number of params and index of current param).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • Handling of missing params is GCS-dependent. QGroundControl, for example, individually requests each missing parameter by index.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • If a component does not any parameters then it will ignore a PARAM_REQUEST_LIST request. The sender should simply timeout (after resends) if no PARAM_VALUE is received.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Read Single Parameter
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  A single parameter can be read by sending the PARAM_REQUEST_READ message, as shown below:
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Mermaid sequence: Read single parameter
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  The sequence of operations is:
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  1. GCS (client) sends PARAM_REQUEST_READ specifying either the parameter id (name) or parameter index.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  2. GCS starts timeout waiting for acknowledgment (in the form of a PARAM_VALUE message).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  3. Drone responds with PARAM_VALUE containing the parameter value. This is a broadcast message (sent to all systems).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  The drone may restart the sequence if the PARAM_VALUE acknowledgment is not received within the timeout.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  There is no formal way for the drone to signal when an invalid parameter is requested (i.e. for a parameter name or id that does not exist). In this case the drone should emit STATUS_TEXT. The GCS may monitor for the specific notification, but will otherwise fail the request after any timeout/resend cycle completes.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Write Parameters
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Parameters can be written individually by sending the parameter name and value pair to the GCS, as shown:
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Mermaid Sequence: Write parameters
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  The sequence of operations is:
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  1. GCS (client) sends PARAM_SET specifying the param name to update and its new value (also target system/component and the param type).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  2. GCS starts timout waiting for acknowledgment (in the form of a PARAM_VALUE message).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  3. Drone writes parameter and responds by broadcasting a PARAM_VALUE containing the updated parameter value to all components/systems. > Note The Drone must acknowledge the PARAM_SET by broadcasting a PARAM_VALUE even if the write operation fails. In this case the PARAM_VALUE will be the current/unchanged parameter value.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  4. GCS should update the parameter cache (if used) with the new value.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  5. The GCS may restart the sequence if the expected PARAM_VALUE is not received within the timeout, or if the write operation fails (the value returned in PARAM_VALUE does not match the value set).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  The command MAV_CMD_DO_SET_PARAMETER is not part of the parameter protocol. If implemented it can be used to set the value of a parameter using the enumeration of the parameter within the remote system is known (rather than the id). This has no particular advantage over the parameter protocol methods.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Implementations
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  PX4
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  PX4 is compatible with the specification:
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • Byte-wise encoding of parameters is supported. Note however that PX4 does not set MAV_PROTOCOL_CAPABILITY_PARAM_ENCODE_BYTEWISE (at time of writing - PX4 v1.12). See PX4-Autopilot/issues/19275
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • Only float and Int32 parameters are used.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  PX4 provides an addition off-spec mechanism that allows a GCS to cache parameters. This significantly reduces ready-to-use time for the GCS if parameters have not been changed since the previous parameter sync. The way that this mechanism works is that when the list of parameters is requested, PX4 first sends a PARAM_VALUE with the param_index of INT16_MAX (in code, referred to as PARAM_HASH) containing a hash of the parameter set.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  This hash is calculated by computing the MAVLink CRC32 over all param names and values (see the param_hash_check() in source here). If the GCS has a matching hash value it can immediately start using its cached parameters (rather than having to wait while all the rest of the parameters upload).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Source files:
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  ArduPilot
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  ArduPilot implements a largely compatible version of this protocol.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • C-style encoding of parameters is supported. Note however that ArduPilot does not set MAV_PROTOCOL_CAPABILITY_PARAM_ENCODE_C_CAST.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Off spec-behaviour:
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • PARAM_VALUE is not emitted after the parameter update with the new value (or the old value if update failed).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Compatible differences:
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • Parameter sets can be enabled/disabled during operation. This can invalidate the set of synchronized parameters and make access to parameters by index unreliable.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • PARAM_SET
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • param_type in the message is ignored. The data type is obtained by checking stored type info (via name lookup).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • The data type is used to constrain and round the received value before it is stored (as a float).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Source files:
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  QGroundControl
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  QGroundControl implements this protocol, and works with both ArduPilot and PX4.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Source files:
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Bytewise Encoding: Mavgen Python API

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Pymavlink does not include special support to byte-wise encode the non-float data types (unsurprisingly, because Python effectively "hides" low level data types from users). When working with a system that supports non-float parameters (e.g. PX4) you will need to do the encoding/decoding yourself when sending and receiving messages.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    There is a good example of how to do this in the Pymavlink mavparm.py module (see MAVParmDict.mavset()).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Parameter Types

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    The allowed parameter types are given in MAV_PARAM_TYPE.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Note that not all types are supported: for example PX4 supports only INT32 and FLOAT. A GCS can infer the supported types from the parameters it is sent.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Parameter Metadata

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Parameter metadata is additional information about a parameters that allow them to be safely used in a ground station. This might include a description and listing of possible values.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    The Component Information Protocol has been proposed as a mechanism for getting this information directly from a vehicle.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Parameter Caching

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    A GCS or other component may choose to maintain a cache of parameter values for connected components/systems, in order to reduce the time required to display values and reduce MAVLink traffic.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    The cache can be populated initially by first reading the full parameter list at least once, and then updated by monitoring for PARAM_VALUE messages (which are emitted whenever a parameter is written or otherwise changed).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Cache synchronisation is not guaranteed; a component may miss update messages due to parameter changes by other components.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Multi-System and Multi-Component Support

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAVLink supports multiple systems in parallel on the same link, and multiple MAVLink enabled components within a system.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Requests to get and set parameters can be sent to individual systems or components. To get a complete parameter list from a system, send the request parameter message with target_component set to MAV_COMP_ID_ALL.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    All components must respond to parameter request messages addressed to their ID or the ID MAV_COMP_ID_ALL.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    QGroundControl by default queries all components of the currently connected system (it sends ID MAV_COMP_ID_ALL).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Limitations

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Parameters Table is Invariant

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    The protocol requires that the parameter set does not change during normal operation/after parameters have been read.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    If a component can add parameters during (or after) initial synchronization the protocol cannot guarantee reliable/robust synchronization, because there is no way to notify that the parameter set has changed and a new sync is required.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    If working with a non-compliant component, the risk of problems when working with parameters can be reduced (but not removed) if:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • The param_id is used to read parameters where possible (the mapping of param_index to a particular parameter might change on systems where parameters can be added/removed).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • PARAM_VALUE.param_count is monitored and the parameter set re-sychronised on change.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Parameter Synchronisation Can Fail

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    A GCS (or other component) that wants to cache parameters with a component and keep them synchronised, should first get all parameters, and then track any new parameter changes by monitoring for PARAM_VALUE messages (updating their internal list appropriately).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    This works for the originator of a parameter change, which can resend the request if an expected PARAM_VALUE is not recieved. This approach may fail for components that did not originate the change, as they will not know about updates they do not receive (i.e. if messages are dropped).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    A component may mitigate this risk by, for example, sending the PARAM_VALUE multiple times after a parameter is changed.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Parameter Operations

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    This section defines the state machine/message sequences for all parameter operations.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Read All Parameters

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    The read-all operation is started by sending the PARAM_REQUEST_LIST message. The target component must start to broadcast the parameters individually in PARAM_VALUE messages after receiving this message. The drone should allow a pause after sending each parameter to ensure that the operation doesn't consume all of the available link bandwidth (30 - 50 percent of the bandwidth is reasonable).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Mermaid sequence: Read all parameters

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    The sequence of operations is:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1. GCS (client) sends PARAM_REQUEST_LIST specifying a target system/component.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • Broadcast addresses may be used. All targeted components should respond with parameters (or ignore the request if they have none).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • The GCS is expected to accumulate parameters from all responding systems.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • The timeout/retry behaviour is GSC dependent.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2. The targeted component(s) should respond, sending all parameters individually in PARAM_VALUE messages.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • Allow breaks between each message in order to avoid saturating the link.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • Components with no parameters should ignore the request.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    3. GCS starts timeout after each PARAM_VALUE message in order to detect when parameters are no longer being sent (that the operation has completed).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Notes:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • The GCS/API may accumulate the received parameters for each component and can determine if any are missing/not received (PARAM_VALUE contains the total number of params and index of current param).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • Handling of missing params is GCS-dependent. QGroundControl, for example, individually requests each missing parameter by index.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • If a component does not any parameters then it will ignore a PARAM_REQUEST_LIST request. The sender should simply timeout (after resends) if no PARAM_VALUE is received.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Read Single Parameter

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    A single parameter can be read by sending the PARAM_REQUEST_READ message, as shown below:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Mermaid sequence: Read single parameter

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    The sequence of operations is:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1. GCS (client) sends PARAM_REQUEST_READ specifying either the parameter id (name) or parameter index.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2. GCS starts timeout waiting for acknowledgment (in the form of a PARAM_VALUE message).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    3. Drone responds with PARAM_VALUE containing the parameter value. This is a broadcast message (sent to all systems).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    The drone may restart the sequence if the PARAM_VALUE acknowledgment is not received within the timeout.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    There is no formal way for the drone to signal when an invalid parameter is requested (i.e. for a parameter name or id that does not exist). In this case the drone should emit STATUS_TEXT. The GCS may monitor for the specific notification, but will otherwise fail the request after any timeout/resend cycle completes.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Write Parameters

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Parameters can be written individually by sending the parameter name and value pair to the GCS, as shown:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Mermaid Sequence: Write parameters

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    The sequence of operations is:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1. GCS (client) sends PARAM_SET specifying the param name to update and its new value (also target system/component and the param type).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2. GCS starts timout waiting for acknowledgment (in the form of a PARAM_VALUE message).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    3. Drone writes parameter and responds by broadcasting a PARAM_VALUE containing the updated parameter value to all components/systems. > Note The Drone must acknowledge the PARAM_SET by broadcasting a PARAM_VALUE even if the write operation fails. In this case the PARAM_VALUE will be the current/unchanged parameter value.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    4. GCS should update the parameter cache (if used) with the new value.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    5. The GCS may restart the sequence if the expected PARAM_VALUE is not received within the timeout, or if the write operation fails (the value returned in PARAM_VALUE does not match the value set).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    The command MAV_CMD_DO_SET_PARAMETER is not part of the parameter protocol. If implemented it can be used to set the value of a parameter using the enumeration of the parameter within the remote system is known (rather than the id). This has no particular advantage over the parameter protocol methods.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Implementations

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    PX4

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    PX4 is compatible with the specification:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • Byte-wise encoding of parameters is supported. Note however that PX4 does not set MAV_PROTOCOL_CAPABILITY_PARAM_ENCODE_BYTEWISE (at time of writing - PX4 v1.12). See PX4-Autopilot/issues/19275
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • Only float and Int32 parameters are used.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    PX4 provides an addition off-spec mechanism that allows a GCS to cache parameters. This significantly reduces ready-to-use time for the GCS if parameters have not been changed since the previous parameter sync. The way that this mechanism works is that when the list of parameters is requested, PX4 first sends a PARAM_VALUE with the param_index of INT16_MAX (in code, referred to as PARAM_HASH) containing a hash of the parameter set.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    This hash is calculated by computing the MAVLink CRC32 over all param names and values (see the param_hash_check() in source here). If the GCS has a matching hash value it can immediately start using its cached parameters (rather than having to wait while all the rest of the parameters upload).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Source files:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    ArduPilot

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    ArduPilot implements a largely compatible version of this protocol.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • C-style encoding of parameters is supported. Note however that ArduPilot does not set MAV_PROTOCOL_CAPABILITY_PARAM_ENCODE_C_CAST.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Off spec-behaviour:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • PARAM_VALUE is not emitted after the parameter update with the new value (or the old value if update failed).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Compatible differences:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • Parameter sets can be enabled/disabled during operation. This can invalidate the set of synchronized parameters and make access to parameters by index unreliable.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • PARAM_SET
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • param_type in the message is ignored. The data type is obtained by checking stored type info (via name lookup).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • The data type is used to constrain and round the received value before it is stored (as a float).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Source files:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    QGroundControl

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    QGroundControl implements this protocol, and works with both ArduPilot and PX4.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Source files:

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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Extended Parameter Protocol

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      The Extended Parameter Protocol is an extended version of the Parameter Protocol that adds support for larger custom parameter types e.g. strings. It can be used to exchange configuration settings between MAVLink components, and in particular configuration settings that may be more than just numeric values.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      The protocol shares most of the same benefits and limitations of the original protocol, and similar (but not identical) operation sequences. The main difference is that when writing a parameter the system emits one or more PARAM_EXT_ACK messages (rather than PARAM_EXT_VALUE, as you would expect from the original protocol). This allows the Extended Parameter Protocol to differentiate between the case where a write fails (or is in progress) and the case where the value update simply went missing.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      The extensions were invented for the Camera Protocol, which uses them to request/set parameter values specified in a Camera Definition File. At time of writing the protocol is supported by QGroundControl for this purpose, but is not otherwise supported by flight stacks.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Message/Enum Summary

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MessageDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      PARAM_EXT_REQUEST_LISTRequest all parameters of this component. On receiving this request, the requested component will emit all parameter values using PARAM_EXT_VALUE.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      PARAM_EXT_VALUEEmit the value of a parameter, following a PARAM_EXT_REQUEST_LIST or PARAM_EXT_REQUEST_READ. The message includes param_count and param_index which the recipient can use to track received parameters and re-request missing parameters after a timeout.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      PARAM_EXT_REQUEST_READRequest the value of a specific parameter using either its param_id or param_index. Expects a response in a PARAM_EXT_VALUE.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      PARAM_EXT_SETSet a parameter value. Expects immediate response PARAM_EXT_ACK with result indicating success, failure, or that the request is still in progress (PARAM_ACK_IN_PROGRESS). If in progress, additional update PARAM_EXT_ACK messages are expected.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      PARAM_EXT_ACKResponse from a PARAM_EXT_SET message, which indicates whether the value was accepted (set), failed, setting is still in progress, or that the specified parameter is invalid/unsupported.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      EnumDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_PARAM_EXT_TYPESpecifies the datatype of a MAVLink extended parameter (parameter values are encoded within the a char[128] array in the messages). This type conveys the real type of the encoded parameter value, e.g. MAV_PARAM_EXT_TYPE_REAL32.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      PARAM_ACKRequest acknowledgment status value, sent in an PARAM_EXT_ACK as a response to a PARAM_EXT_SET message. A request can be accepted, fail, in-progress, or unsupported (indicating the specified parameter does not exist or has an invalid value or value type).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Parameter Encoding

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Parameters names/ids are set in the param_id field of messages where they are used. The param_id string can store up to 16 characters. The string is terminated with a NULL (\0) character if there are less than 16 human-readable chars, and without a null termination byte if the length is exactly 16 chars.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Names (as above) are the same as for the Parameter Protocol.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Values are byte-wise encoded within the param_value field, which is a char[128]. The param_type (MAV_PARAM_EXT_TYPE) is used to indicate the actual type of the data so that it can be decoded by the recipient. Supported types are: 8, 16, 32 and 64-bit signed and unsigned integers, 32 and 64-bit floating point numbers, and a "custom type" which may used for e.g. strings.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      The encoding is best described by example as shown below.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      C Encoding/Decoding

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      To send the parameter, the data is written into a union structure then memcpy used to copy the data into the message char[128] field.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      The union structure might look like this:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAVPACKED(
+Extended Parameter Protocol · MAVLink Developer Guide
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Extended Parameter Protocol
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      The Extended Parameter Protocol is an extended version of the Parameter Protocol that adds support for larger custom parameter types e.g. strings. It can be used to exchange configuration settings between MAVLink components, and in particular configuration settings that may be more than just numeric values.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      The protocol shares most of the same benefits and limitations of the original protocol, and similar (but not identical) operation sequences. The main difference is that when writing a parameter the system emits one or more PARAM_EXT_ACK messages (rather than PARAM_EXT_VALUE, as you would expect from the original protocol). This allows the Extended Parameter Protocol to differentiate between the case where a write fails (or is in progress) and the case where the value update simply went missing.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      The extensions were invented for the Camera Protocol, which uses them to request/set parameter values specified in a Camera Definition File. At time of writing the protocol is supported by QGroundControl for this purpose, but is not otherwise supported by flight stacks.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Message/Enum Summary
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MessageDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      PARAM_EXT_REQUEST_LISTRequest all parameters of this component. On receiving this request, the requested component will emit all parameter values using PARAM_EXT_VALUE.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      PARAM_EXT_VALUEEmit the value of a parameter, following a PARAM_EXT_REQUEST_LIST or PARAM_EXT_REQUEST_READ. The message includes param_count and param_index which the recipient can use to track received parameters and re-request missing parameters after a timeout.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      PARAM_EXT_REQUEST_READRequest the value of a specific parameter using either its param_id or param_index. Expects a response in a PARAM_EXT_VALUE.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      PARAM_EXT_SETSet a parameter value. Expects immediate response PARAM_EXT_ACK with result indicating success, failure, or that the request is still in progress (PARAM_ACK_IN_PROGRESS). If in progress, additional update PARAM_EXT_ACK messages are expected.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      PARAM_EXT_ACKResponse from a PARAM_EXT_SET message, which indicates whether the value was accepted (set), failed, setting is still in progress, or that the specified parameter is invalid/unsupported.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      EnumDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_PARAM_EXT_TYPESpecifies the datatype of a MAVLink extended parameter (parameter values are encoded within the a char[128] array in the messages). This type conveys the real type of the encoded parameter value, e.g. MAV_PARAM_EXT_TYPE_REAL32.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      PARAM_ACKRequest acknowledgment status value, sent in an PARAM_EXT_ACK as a response to a PARAM_EXT_SET message. A request can be accepted, fail, in-progress, or unsupported (indicating the specified parameter does not exist or has an invalid value or value type).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Parameter Encoding
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Parameters names/ids are set in the param_id field of messages where they are used. The param_id string can store up to 16 characters. The string is terminated with a NULL (\0) character if there are less than 16 human-readable chars, and without a null termination byte if the length is exactly 16 chars.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Names (as above) are the same as for the Parameter Protocol.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Values are byte-wise encoded within the param_value field, which is a char[128]. The param_type (MAV_PARAM_EXT_TYPE) is used to indicate the actual type of the data so that it can be decoded by the recipient. Supported types are: 8, 16, 32 and 64-bit signed and unsigned integers, 32 and 64-bit floating point numbers, and a "custom type" which may used for e.g. strings.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      The encoding is best described by example as shown below.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      C Encoding/Decoding
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      To send the parameter, the data is written into a union structure then memcpy used to copy the data into the message char[128] field.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      The union structure might look like this:
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAVPACKED(
 typedef struct {
     union {
         float       param_float;
@@ -47,4 +47,4 @@
         break;
     ...
 }
-
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      QGroundControl provides real code examples here:
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Parameter Caching
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      A GCS or other component may choose to maintain a cache of parameter values for connected components/systems, in order to reduce the time required to display values and reduce MAVLink traffic.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      The cache can be populated initially by first reading the full parameter list at least once, and then updated by monitoring for PARAM_EXT_ACK messages with PARAM_ACK_ACCEPTED (which are emitted whenever a parameter is successfully written/changed).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      A system may also monitor for PARAM_EXT_VALUE originating from other components/systems requesting parameter values.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Cache synchronisation is not guaranteed; a component may miss parameter update messages due to changes by other components.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Limitations
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Parameters Table is Invariant
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      The protocol requires that the parameter set does not change during normal operation/after parameters have been read.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      If a component can add parameters during (or after) initial synchronization the protocol cannot guarantee reliable/robust synchronization, because there is no way to notify that the parameter set has changed and a new sync is required.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      When requesting parameters from such a components, the risk of problems can be reduced (but not removed) if:
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • The param_id is used to read parameters where possible (the mapping of param_index to a particular parameter may change on systems where parameters can be added/removed).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • PARAM_EXT_VALUE.param_count may be monitored. If this changes the parameter set should be re-sychronised.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Parameter Synchronisation Can Fail
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      A GCS (or other system) that wants to cache parameters from a component and keep them synchronised should first get all parameters, and then track changes by monitoring for PARAM_EXT_ACK messages (updating their internal list appropriately).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      This works for the originator of a parameter change, which can resend the request if an expected PARAM_EXT_ACK is not received. This approach may fail for components that did not originate the change, as they will not know about updates they do not receive (i.e. if messages are dropped).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      A component may mitigate this risk by, for example, sending the PARAM_EXT_ACK multiple times after a parameter is changed.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Parameter Operations
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      This section defines the state machine/message sequences for all parameter operations.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Read All Parameters
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      The read-all operation is started by sending the PARAM_EXT_REQUEST_LIST message. The target component must start to broadcast the parameters individually in PARAM_EXT_VALUE messages after receiving this message. The drone should allow a pause after sending each parameter to ensure that the operation doesn't consume all of the available link bandwidth (30 - 50 percent of the bandwidth is reasonable).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      The sequence of operations is:
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1. GCS (client) sends PARAM_EXT_REQUEST_LIST specifying a target system/component.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • Broadcast addresses may be used. All targeted components should respond with parameters (or ignore the request if they have none).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • The GCS is expected to accumulate parameters from all responding systems.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • The timeout/retry behaviour is GSC dependent.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2. The targeted component(s) should respond, sending all parameters individually in PARAM_EXT_VALUE messages.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • Allow breaks between each message in order to avoid saturating the link.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • Components with no parameters should ignore the request.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      3. GCS starts timeout after each PARAM_EXT_VALUE message in order to detect when parameters are no longer being sent (that the operation has completed).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Notes:
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • The GCS/API may accumulate the received parameters for each component and can determine if any are missing/not received (PARAM_EXT_VALUE contains the total number of params and index of current param).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • Handling of missing params is GCS-dependent. QGroundControl, for example, individually requests each missing parameter by index.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • If a component does not any parameters then it will ignore a PARAM_EXT_REQUEST_LIST request. The sender should simply timeout (after resends) if no PARAM_EXT_VALUE is received.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Read Single Parameter
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      A single parameter can be read by sending the PARAM_EXT_REQUEST_READ message, as shown below:
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      The sequence of operations is:
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1. GCS (client) sends PARAM_EXT_REQUEST_READ specifying either the parameter id (name) or parameter index.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2. GCS starts timeout waiting for acknowledgment (in the form of a PARAM_EXT_VALUE message).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      3. Drone responds with PARAM_EXT_VALUE containing the parameter value. This is a broadcast message (sent to all systems).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      The drone may restart the sequence if the PARAM_EXT_VALUE acknowledgment is not received within the timeout.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Write Parameters
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Parameters are written individually using PARAM_EXT_SET. The recipient will respond with PARAM_EXT_ACK indicating success, failure, or that the write is still in progress (PARAM_ACK_IN_PROGRESS). On receipt of PARAM_ACK_IN_PROGRESS the component setting the parameter will extend its timeout (PARAM_EXT_ACK will be re-sent when the write completes)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Parameters can be written individually by sending the parameter name and value pair to the GCS, as shown:
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      For long-running write operations drone may initially respond with PARAM_ACK_IN_PROGRESS:
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      The sequence of operations is:
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1. GCS (client) sends PARAM_EXT_SET specifying the param name to update and its new value (also target system/component and the param type).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2. GCS starts timout waiting for acknowledgment (in the form of a PARAM_EXT_ACK message).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      3. Drone (starts to) write parameter and responds by broadcasting a PARAM_EXT_ACK.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • If the write succeeded the PARAM_EXT_ACK will contain a result of PARAM_ACK_ACCEPTED and the updated parameter value.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • If the parameter was unknown or of an unsupported type PARAM_EXT_ACK will contain a result of PARAM_ACK_VALUE_UNSUPPORTED and the current parameter value will be XXXXX.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • If the write failed for another reason then PARAM_EXT_ACK will contain a result of PARAM_ACK_FAILED and the current parameter value.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • If the write operation is long-running the PARAM_EXT_ACK will contain a result of PARAM_ACK_IN_PROGRESS and the XXXX parameter value. In this case the recipient should increase their timeout and way for another PARAM_EXT_ACK. PARAM_EXT_ACK should be resent when the operation completes.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      4. GCS should update the parameter cache (if used) with the new value.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      5. The GCS may restart the sequence if an expected PARAM_EXT_ACK is not received within the timeout, or if the write operation fails.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Implementations
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      QGroundControl: QGCCameraIO.h, QGCCameraIO.cc
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        QGroundControl provides real code examples here:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Parameter Caching

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        A GCS or other component may choose to maintain a cache of parameter values for connected components/systems, in order to reduce the time required to display values and reduce MAVLink traffic.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        The cache can be populated initially by first reading the full parameter list at least once, and then updated by monitoring for PARAM_EXT_ACK messages with PARAM_ACK_ACCEPTED (which are emitted whenever a parameter is successfully written/changed).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        A system may also monitor for PARAM_EXT_VALUE originating from other components/systems requesting parameter values.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Cache synchronisation is not guaranteed; a component may miss parameter update messages due to changes by other components.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Limitations

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Parameters Table is Invariant

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        The protocol requires that the parameter set does not change during normal operation/after parameters have been read.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        If a component can add parameters during (or after) initial synchronization the protocol cannot guarantee reliable/robust synchronization, because there is no way to notify that the parameter set has changed and a new sync is required.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        When requesting parameters from such a components, the risk of problems can be reduced (but not removed) if:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • The param_id is used to read parameters where possible (the mapping of param_index to a particular parameter may change on systems where parameters can be added/removed).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • PARAM_EXT_VALUE.param_count may be monitored. If this changes the parameter set should be re-sychronised.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Parameter Synchronisation Can Fail

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        A GCS (or other system) that wants to cache parameters from a component and keep them synchronised should first get all parameters, and then track changes by monitoring for PARAM_EXT_ACK messages (updating their internal list appropriately).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        This works for the originator of a parameter change, which can resend the request if an expected PARAM_EXT_ACK is not received. This approach may fail for components that did not originate the change, as they will not know about updates they do not receive (i.e. if messages are dropped).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        A component may mitigate this risk by, for example, sending the PARAM_EXT_ACK multiple times after a parameter is changed.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Parameter Operations

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        This section defines the state machine/message sequences for all parameter operations.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Read All Parameters

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        The read-all operation is started by sending the PARAM_EXT_REQUEST_LIST message. The target component must start to broadcast the parameters individually in PARAM_EXT_VALUE messages after receiving this message. The drone should allow a pause after sending each parameter to ensure that the operation doesn't consume all of the available link bandwidth (30 - 50 percent of the bandwidth is reasonable).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        The sequence of operations is:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        1. GCS (client) sends PARAM_EXT_REQUEST_LIST specifying a target system/component.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • Broadcast addresses may be used. All targeted components should respond with parameters (or ignore the request if they have none).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • The GCS is expected to accumulate parameters from all responding systems.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • The timeout/retry behaviour is GSC dependent.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        2. The targeted component(s) should respond, sending all parameters individually in PARAM_EXT_VALUE messages.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • Allow breaks between each message in order to avoid saturating the link.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • Components with no parameters should ignore the request.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        3. GCS starts timeout after each PARAM_EXT_VALUE message in order to detect when parameters are no longer being sent (that the operation has completed).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Notes:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • The GCS/API may accumulate the received parameters for each component and can determine if any are missing/not received (PARAM_EXT_VALUE contains the total number of params and index of current param).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • Handling of missing params is GCS-dependent. QGroundControl, for example, individually requests each missing parameter by index.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • If a component does not any parameters then it will ignore a PARAM_EXT_REQUEST_LIST request. The sender should simply timeout (after resends) if no PARAM_EXT_VALUE is received.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Read Single Parameter

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        A single parameter can be read by sending the PARAM_EXT_REQUEST_READ message, as shown below:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        The sequence of operations is:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        1. GCS (client) sends PARAM_EXT_REQUEST_READ specifying either the parameter id (name) or parameter index.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        2. GCS starts timeout waiting for acknowledgment (in the form of a PARAM_EXT_VALUE message).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        3. Drone responds with PARAM_EXT_VALUE containing the parameter value. This is a broadcast message (sent to all systems).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        The drone may restart the sequence if the PARAM_EXT_VALUE acknowledgment is not received within the timeout.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Write Parameters

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Parameters are written individually using PARAM_EXT_SET. The recipient will respond with PARAM_EXT_ACK indicating success, failure, or that the write is still in progress (PARAM_ACK_IN_PROGRESS). On receipt of PARAM_ACK_IN_PROGRESS the component setting the parameter will extend its timeout (PARAM_EXT_ACK will be re-sent when the write completes)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Parameters can be written individually by sending the parameter name and value pair to the GCS, as shown:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        For long-running write operations drone may initially respond with PARAM_ACK_IN_PROGRESS:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        The sequence of operations is:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        1. GCS (client) sends PARAM_EXT_SET specifying the param name to update and its new value (also target system/component and the param type).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        2. GCS starts timout waiting for acknowledgment (in the form of a PARAM_EXT_ACK message).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        3. Drone (starts to) write parameter and responds by broadcasting a PARAM_EXT_ACK.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • If the write succeeded the PARAM_EXT_ACK will contain a result of PARAM_ACK_ACCEPTED and the updated parameter value.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • If the parameter was unknown or of an unsupported type PARAM_EXT_ACK will contain a result of PARAM_ACK_VALUE_UNSUPPORTED and the current parameter value will be XXXXX.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • If the write failed for another reason then PARAM_EXT_ACK will contain a result of PARAM_ACK_FAILED and the current parameter value.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • If the write operation is long-running the PARAM_EXT_ACK will contain a result of PARAM_ACK_IN_PROGRESS and the XXXX parameter value. In this case the recipient should increase their timeout and way for another PARAM_EXT_ACK. PARAM_EXT_ACK should be resent when the operation completes.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        4. GCS should update the parameter cache (if used) with the new value.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        5. The GCS may restart the sequence if an expected PARAM_EXT_ACK is not received within the timeout, or if the write operation fails.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Implementations

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        QGroundControl: QGCCameraIO.h, QGCCameraIO.cc

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        results matching ""

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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          \ No newline at end of file diff --git a/ko/services/payload.html b/ko/services/payload.html index a33337ccd..906adde20 100644 --- a/ko/services/payload.html +++ b/ko/services/payload.html @@ -1 +1 @@ -Payload Protocols · MAVLink Developer Guide
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Payload Protocols

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAVLink defines a number of commands for directly controlling particular types of payloads like winches and grippers, and for controlling generic payloads. In addition there are commands for payload placement in missions.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Camera and Gimbal payloads are covered in their own topics.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Payload-Specific Commands

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAVLink defines a number of commands for controlling specific types of payload hardware, including: winches, grippers, spotlights, etc. These commands may be used in both missions and commands, if supported by the target system.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          They should be used (where supported) in preference to generic payload commands, as generally they provide more "tailored" control over the payload, a better GCS user experience, and more informative logs.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MessageDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_DO_GRIPPERCommand to engage and release a gripper.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_DO_WINCHCommand to operate a specified winch.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_ILLUMINATOR_ON_OFFCommand to turn illuminators ON/OFF. An illuminator is a light source that for lighting up dark areas external to the system, such as a headlight or searchlight.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Generic Payload Commands

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAVLink has a number of commands for setting actuator outputs. These can be used to control arbitrary/generic payloads.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Use the commands for known payload types where possible as they are more intuitive for users, and in logs.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MessageDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_DO_SET_ACTUATORSets actuators (e.g. servos) to a desired value. The actuator numbers are mapped to specific outputs (e.g. on any MAIN or AUX PWM or UAVCAN) using a flight-stack specific mechanism (for example, parameters).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_DO_SET_SERVOSets a servo, identified by a specified instance number, to a specified PWM value.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_DO_SET_RELAYSet a specified relay instance on or off.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_DO_REPEAT_RELAYCycle a relay on and off for a desired number of cycles with a desired period.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Implementations:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • MAV_CMD_DO_SET_ACTUATOR is more recent than MAV_CMD_DO_SET_SERVO, but has not yet been widely adopted.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • Only implemented only on PX4 (June 2021). For more information see the PX4 User Guide.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • MAV_CMD_DO_SET_SERVO is impemented on both ArduPilot and PX4 (Missions only). In both cases instance numbers map to corresponding AUX outputs.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Payload Deployment Commands

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          These commands can be used to deploy a payload at a specfic location, controlling the approach and land behaviour.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MessageDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_NAV_PAYLOAD_PLACEMove to target location, descend and release payload.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Implementations:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          results matching ""

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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            \ No newline at end of file +Payload Protocols · MAVLink Developer Guide
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Payload Protocols

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAVLink defines a number of commands for directly controlling particular types of payloads like winches and grippers, and for controlling generic payloads. In addition there are commands for payload placement in missions.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Camera and Gimbal payloads are covered in their own topics.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Payload-Specific Commands

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAVLink defines a number of commands for controlling specific types of payload hardware, including: winches, grippers, spotlights, etc. These commands may be used in both missions and commands, if supported by the target system.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            They should be used (where supported) in preference to generic payload commands, as generally they provide more "tailored" control over the payload, a better GCS user experience, and more informative logs.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MessageDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_DO_GRIPPERCommand to engage and release a gripper.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_DO_WINCHCommand to operate a specified winch.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_ILLUMINATOR_ON_OFFCommand to turn illuminators ON/OFF. An illuminator is a light source that for lighting up dark areas external to the system, such as a headlight or searchlight.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Generic Payload Commands

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAVLink has a number of commands for setting actuator outputs. These can be used to control arbitrary/generic payloads.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Use the commands for known payload types where possible as they are more intuitive for users, and in logs.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MessageDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_DO_SET_ACTUATORSets actuators (e.g. servos) to a desired value. The actuator numbers are mapped to specific outputs (e.g. on any MAIN or AUX PWM or UAVCAN) using a flight-stack specific mechanism (for example, parameters).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_DO_SET_SERVOSets a servo, identified by a specified instance number, to a specified PWM value.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_DO_SET_RELAYSet a specified relay instance on or off.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_DO_REPEAT_RELAYCycle a relay on and off for a desired number of cycles with a desired period.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Implementations:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • MAV_CMD_DO_SET_ACTUATOR is more recent than MAV_CMD_DO_SET_SERVO, but has not yet been widely adopted.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • Only implemented only on PX4 (June 2021). For more information see the PX4 User Guide.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • MAV_CMD_DO_SET_SERVO is impemented on both ArduPilot and PX4 (Missions only). In both cases instance numbers map to corresponding AUX outputs.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Payload Deployment Commands

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            These commands can be used to deploy a payload at a specfic location, controlling the approach and land behaviour.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MessageDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_NAV_PAYLOAD_PLACEMove to target location, descend and release payload.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Implementations:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            results matching ""

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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              \ No newline at end of file diff --git a/ko/services/ping.html b/ko/services/ping.html index 4313b4426..472d2a93c 100644 --- a/ko/services/ping.html +++ b/ko/services/ping.html @@ -1 +1 @@ -Ping Protocol · MAVLink Developer Guide
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              PING Protocol

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              The PING Protocol enables a system to measure system latencies on any connection: serial port, radio modem, UDP etc.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              The PING protocol is implemented with just the PING message. The message is sent with a timestamp and a sequence number that are returned by recipients, and can hence be used to determine the round-trip time.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Ping Sequence

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              A simplified sequence diagram is given below:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Mermaid sequence: Ping

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              The pinging system initially populates a PING message with:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • time_usec: Current system timestamp.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • seq: Current PING sequence number (n, n+1, ...). This should be iterated for every PING message sent and overflow back to zero.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • target_system and target_component: 0 (indicates a PING request).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • The message header automatically includes the sender system.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              The message may be received by multiple systems. All pinged systems should respond with another PING message where:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • The original timestamp and sequence number from the receive PING are sent back in the response.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • target_system and target_component are set to the ids of the pinging system from the incoming ping message header.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              The original pinging system:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • Receives a PING message with target_system and target_component matching its address. > Tip Any non-zero target system/component indicates a response message. The matching ids inform the system that it is the intended recipient.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • The system calculates the latency from the current system time and the time in the response PING for the matching sequence number.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • A system that is sending a single PING can use a timeout to detect a dropped packet. A system that is streaming (multiple) PING messages should not start detecting dropped packets until after the first responses have been received (to ensure that dropped packets are not just "late").

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              C Implementation

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              The protocol has been implemented in C by PX4 and QGroundControl. This implementation can be used in your own code within the terms of their software licenses.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              PX4 Implementation:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              QGroundControl implementation:

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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                PING Protocol

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                The PING Protocol enables a system to measure system latencies on any connection: serial port, radio modem, UDP etc.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                The PING protocol is implemented with just the PING message. The message is sent with a timestamp and a sequence number that are returned by recipients, and can hence be used to determine the round-trip time.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Ping Sequence

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                A simplified sequence diagram is given below:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Mermaid sequence: Ping

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                The pinging system initially populates a PING message with:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • time_usec: Current system timestamp.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • seq: Current PING sequence number (n, n+1, ...). This should be iterated for every PING message sent and overflow back to zero.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • target_system and target_component: 0 (indicates a PING request).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • The message header automatically includes the sender system.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                The message may be received by multiple systems. All pinged systems should respond with another PING message where:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • The original timestamp and sequence number from the receive PING are sent back in the response.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • target_system and target_component are set to the ids of the pinging system from the incoming ping message header.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                The original pinging system:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • Receives a PING message with target_system and target_component matching its address. > Tip Any non-zero target system/component indicates a response message. The matching ids inform the system that it is the intended recipient.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • The system calculates the latency from the current system time and the time in the response PING for the matching sequence number.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • A system that is sending a single PING can use a timeout to detect a dropped packet. A system that is streaming (multiple) PING messages should not start detecting dropped packets until after the first responses have been received (to ensure that dropped packets are not just "late").

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                C Implementation

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                The protocol has been implemented in C by PX4 and QGroundControl. This implementation can be used in your own code within the terms of their software licenses.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                PX4 Implementation:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                QGroundControl implementation:

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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  \ No newline at end of file diff --git a/ko/services/standard_modes.html b/ko/services/standard_modes.html new file mode 100644 index 000000000..bc11e0942 --- /dev/null +++ b/ko/services/standard_modes.html @@ -0,0 +1 @@ +Standard Flight Modes (WIP) · MAVLink Developer Guide
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Standard Modes Protocol (WIP)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  This protocol is a work in progress and may change. It has an initial implementation in PX4 and QGroundControl (daily).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  The MAVLink standard modes protocol allows a GCS to construct a UI allowing selection and display of available flight modes without prior knowledge of the connected flight stack.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  The protocol provides:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • Definitions of standard modes. These are modes that behave similarly enough across flight stacks that users can select and control them in the same way. For example, modes for taking off and landing, executing missions, holding position, and so on.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • Enumeration of all flight modes supported by the flight stack, both standard and custom.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    The provided flight mode information includes:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • Flags indicating whether particular custom modes can be selected or just displayed, and if they are displayed, whether they are advanced.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • A name/metadata string that can either be used to fetch metadata for the mode (such as a name and description), or directly as the name for custom modes.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • Notification of the current mode.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • A command to set a standard mode.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  There are additional optional messages/features to allow:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • Modes to be enabled and disabled dynamically.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • Overriding of mode metadata (provide a metadata key).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Background

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAVLink previously only standardized very high level base modes (defined in MAV_MODE), which cover things like whether the vehicle is ready to fly, being tested, manually controlled, under GCS manual control, or executing a mission. More specific flight behaviour/modes are defined in custom modes, which are specific to each flight stack.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Mechanisms are provided to set the base and custom modes (MAV_CMD_DO_SET_MODE), and the HEARTBEAT contains the current/active base_mode and custom_mode. However, prior to the addition of this service, there were no mechanisms query the available custom modes, so a GCS would have to know about a flight stack in advance in order to construct its mode display and setting UI.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Most autopilots implement a set of custom flight modes that have very similar behaviour or intent, for example: position-hold mode, altitude-hold mode, mission mode, safety return/RTL. However because these are all identified by different custom mode identifiers on different flight stacks, there is no way to be sure what these "mean" without pre-existing knowledge.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  This service defines standard modes, allowing a GCS to provide baseline support for common flight behaviour and test behaviour without explicit customisation for each autopilot. This is therefore a big step towards MAVLink being capable of being truly autopilot-agnostic for a useful minimal set of functionality.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  For more information see MAVLink RFC0016 Standard modes.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Message/Enum Summary

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Messages

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MessageDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  CURRENT_MODEGet information about the current active mode, including both its standard and custom mode identifiers (if defined). Also "the intended mode", to indicate the case where setting a mode failed.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  AVAILABLE_MODESGet information about all available modes (both standard and custom) allowing generation of a UI and setting of modes. Requested using MAV_CMD_REQUEST_MESSAGE (set param2=0 for all modes).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  AVAILABLE_MODES_MONITORProvides a sequence number that allows clients to determine if the set of available modes has changed, and hence whether the AVAILABLE_MODES must be re-requested. Sent on first mode change and subsequently streamed at low rate.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Enums

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  EnumDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_STANDARD_MODEIdentifiers for the standard modes (modes that have a well understood meaning across flight stacks and vehicle types). Used in AVAILABLE_MODES and CURRENT_MODE.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_MODE_PROPERTYProperties of a mode supplied in AVAILABLE_MODES, which may be used for GCS layout. For example MAV_MODE_PROPERTY_NOT_USER_SELECTABLE indicates that a GCS should not include the mode in UI elements that allow mode selection.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Commands

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  CommandDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_DO_SET_STANDARD_MODEEnable the specified standard MAVLink mode (MAV_STANDARD_MODE). ACK with MAV_RESULT_FAILED if the mode is not supported by the vehicle.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_REQUEST_MESSAGEUsed to request AVAILABLE_MODES message

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Operations

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Getting Available Modes

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  All available modes can be enumerated by using MAV_CMD_REQUEST_MESSAGE to request the AVAILABLE_MODES (435) message. Each AVAILABLE_MODES message includes the total number of modes and the index of the current mode, so a GCS should first query for all modes (MAV_CMD_REQUEST_MESSAGE.param2=0), and then individually query for any AVAILABLE_MODES message that it missed (MAV_CMD_REQUEST_MESSAGE.param2="missing index number").

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Notes:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • AVAILABLE_MODES includes the total number of modes and the index of the current mode. This indexing is provided to allow a GCS to confirm that all modes have been collected, and re-request any that are missing. It is internal and should not be relied upon to have any order between reboots or if the set of available modes changes.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • The GCS can request this message using MAV_CMD_REQUEST_MESSAGE, specifying either "send all modes" or "send mode with this index".
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • The flight stack should only emit a single AVAILABLE_MODES for each mode on each request. If a mode is both custom and standard it should be emitted as a "standard mode" (this allows the GCS to list the "standard modes" and separately show the additional "custom modes").
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • The modes that are emitted depend on the current vehicle type. For example, "takeoff" would not be emitted for a rover type, but would for a copter.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  The sequence for requesting all modes is shown below:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Mermaid Sequence: Requesting AVAILABLE MODES

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  In addition to the fields for enumerating the available modes, AVAILABLE_MODES has the following fields:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • standard_mode: The standard mode represented by this AVAILABLE_MODES (MAV_STANDARD_MODE). 0 for a custom mode that is not also a standard mode (MAV_STANDARD_MODE_NON_STANDARD).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • custom_mode: The id of the custom mode represented by this AVAILABLE_MODES (if any).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • properties: Flags indicating the UI properties of this mode. These provide hints about where the mode can/should appear in the UI. For example, MAV_MODE_PROPERTY_NOT_USER_SELECTABLE indicates that the mode should not be set by a user, and hence should not appear in selection lists, while MAV_MODE_PROPERTY_ADVANCED indicates a mode that is harder to fly, and might be visually separated from other modes in the UI.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • mode_name: Mode metadata key or name, with null termination character.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • The field can act as both a key for determining metadata associated with the mode, or as a fallback name to use for the mode if the GCS has no metadata.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • It can be used to override metadata on existing modes, for example to enhance standard metadata with additional information about autopilot-specific behaviour, or can provide metadata for any other static or dynamic mode.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • The field must be human readable and autopilot-unique.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • Generally does not have to be set for standard modes, where the ground station might be expected to already have metadata (but if it is, it will be used as a metadata key).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • For more information see Modes Metadata below.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Setting Modes

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Standard modes can be set using the MAV_CMD_DO_SET_STANDARD_MODE command. This will ACK with MAV_RESULT_ACCEPTED if the mode can change, and MAV_RESULT_FAILED if the particular standard mode is not supported.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Custom modes must be set with MAV_CMD_DO_SET_MODE.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  If both standard_mode and custom_mode are set you can determine the mapping between modes and might therefore use MAV_CMD_DO_SET_MODE to set a standard mode. MAV_CMD_DO_SET_STANDARD_MODE is preferred for setting standard modes.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Getting Current Active Mode

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  The current active mode is provided in CURRENT_MODE, which has both standard mode and custom mode fields.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  This is streamed (nominally 0.5 Hz). A GCS can use it to configure the UI and display appropriate metadata for the current mode.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  The message also has an intended_custom_mode field, which indicates the last (custom) mode that was commanded. This should match the custom_mode but might not if a commanded mode cannot be entered, or if the mode is exited due to a failsafe.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Note that the current custom mode is also published in the HEARTBEAT.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Dynamic Mode Changes

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  The AVAILABLE_MODES_MONITOR is an optional part of the protocol that allows a MAVLink system to dynamically change the set of modes it supports at runtime (for example, using Lua or other onboard scripting languages, or offboard from a companion computer).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  The message sequence number field is iterated sequentially whenever the set of available modes change. A GCS can detect this change and re-request the set of AVAILABLE_MODES.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  The message should be emitted when the set of available modes changes. After the set of modes changes the first time, it should also be streamed at low rate (nominally 0.1 Hz).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Mode Metadata

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Mode metadata is the information that a ground station uses represent a mode in the UI. This includes the mode name, but might also include descriptions, translations and other information (mode metadata schema is yet to be defined).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  A GCS may already have knowledge of standard or custom modes and can provide this metadata based on the mode, or their might be particular "additional" information that it can provide. The mode_name can be used as a key for finding this metadata, or as a fallback string if the GCS has no metadata for the mode.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Ground stations are expected to use the following "fallback" approach for matching modes to their metadata:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  1. mode_name field as a metadata key. If this field is defined and can be matched to metadata, the metadata should be used for the mode.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  2. standard_mode: Use metadata associated with this standard mode if no metadata can be matched using mode_name.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  3. custom_mode: Use metadata associated with the custom mode if no metadata can be matched using mode_name or standard_mode.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  4. mode_name field as a fallback mode name string. This should be used as the name if no other metadata can be mapped.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  This allows "full" autopilot-specific metadata to be provided for modes, including dynamic modes such as Lua scripts (where the custom_mode might be dynamically allocated). It also allows overriding of any existing metadata for any mode with vehicle-specific data. In the worse case, if there is no metadata for a custom mode, the mode_name string can still be used to represent the mode in the UI.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Note that the mode_name must be human readable and unique for the autopilot.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Implementations

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  PX4 v1.15 and later supports this service, including the optional part (AVAILABLE_MODES_MONITOR) (this allows ROS2 modes added using the PX4 ROS 2 Interface Library to be dynamically updated in a GCS). At time of writing it only exposes the standard modes that are common to all vehicles as standard modes, such as takeoff and landing, and missions.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  QGC also uses this service to build the mode display/setting UI, when supported by the autopilot. This feature is supported in daily builds (at time of writing).

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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    \ No newline at end of file diff --git a/ko/services/terrain.html b/ko/services/terrain.html index aa82a4cba..7d667d12a 100644 --- a/ko/services/terrain.html +++ b/ko/services/terrain.html @@ -1 +1 @@ -Terrain Protocol · MAVLink Developer Guide
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Terrain Protocol

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    The Terrain Protocol provides a mechanism for a vehicle to get terrain information (tiles) from a ground station, and for a ground station to check the autopilot terrain cache for a tile at a particular location.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Support for this protocol is indicated by AUTOPILOT_VERSION.capabilities by the MAV_PROTOCOL_CAPABILITY_TERRAIN flag.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    A vehicle that supports this capability must also support terrain following in missions using the data. Note however that a vehicle may also support terrain handling in missions using a distance sensor, even if this protocol is not supported and capability flag is not set.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Message/Enum Summary

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MessageDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    !!crwdBlockTags_23_sgaTkcolBdwrc!TERRAIN_REQUESTRequest from drone (to GCS) for terrain data. The message specifies a mask indicating what tiles are required, and the GCS responds by sending TERRAIN_DATA for each tile. The drone will also stream TERRAIN_REPORT messages to provide progress updates while it is waiting for data.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    !!crwdBlockTags_24_sgaTkcolBdwrc!TERRAIN_DATATerrain data from GCS for a particular tile (sent in response to a TERRAIN_REQUEST). The lat/lon and grid_spacing must be the same as the lat/lon from a TERRAIN_REQUEST.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    !!crwdBlockTags_25_sgaTkcolBdwrc!TERRAIN_REPORTThe drone will stream TERRAIN_REPORT to indicate progress of terrain download, and in response to a TERRAIN_CHECK.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    !!crwdBlockTags_26_sgaTkcolBdwrc!TERRAIN_CHECKRequest that the vehicle report terrain height at the given location (expected response is a TERRAIN_REPORT). Used by GCS to check if vehicle has all terrain data needed for a mission.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Sequences

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Autopilot Terrain Map Request

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    The sequence for a drone to update its terrain altitude information is entirely driven by the drone, and is shown below.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    In summary, the sequence is:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1. Drone sends TERRAIN_REQUEST to the GCS to request a set of tiles (specified in a mask).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2. The GCS responds by sending a TERRAIN_DATA for each tile set in the mask
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    3. The drone also streams TERRAIN_REPORT messages back to the GCS indicating the current state of the download
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • TERRAIN_REPORT.pending and TERRAIN_REPORT.loaded indicate how many tiles are expected and have arrived, respectively.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • TERRAIN_REPORT.lat, .lon, .terrain_height, while duplicated in other messages, are useful for debugging (a GCS can check its own internal terrain data against what the information).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    4. The drone must maintain its own record of what tiles have arrived/not arrived, and can re-request any that are missing using a further TERRAIN_REQUEST (with mask indicating just the missing tiles)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    The diagram below shows the way the data is encoded within the TERRAIN_REQUEST and TERRAIN_DATA.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Terrain_report.mask data layout

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    TERRAIN_REQUEST.mask is a 64-bit value that represents a row major 8x7 array of (4x4) tiles. The the lat, lon fields indicate the position of the South-West corner of first grid position (tile). The tiles are allocated sequentially in rows (West to East) starting from the lowest significant bit of mask, and then in columns (South to North).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Each tile represents a 4x4 grid of altitude information. The spacing between the rows/columns in the tile is indicated by grid_spacing (the same value must be used in both request and data messages).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    GCS Terrain Tile Check

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    The sequence for a GCS to check the autopilot terrain cache at a particular location is shown below.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    In summary, the sequence is:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1. GCS sends TERRAIN_CHECK to the vehicle to request terrain information at a specific location.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2. The drone responds with a TERRAIN_REPORT message containing the tile information it has for that location. If it does not have tile information for the specified location, then the request is ignored.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    3. GCS can verify that the terrain report matches a terrain check by comparing the latitude/longitude fields for both messages.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    The protocol does not define how the ground station handles the case if no TERRAIN_REPORT is received (although it might resend the request after a timeout).

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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      \ No newline at end of file +Terrain Protocol · MAVLink Developer Guide
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Terrain Protocol

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      The Terrain Protocol provides a mechanism for a vehicle to get terrain information (tiles) from a ground station, and for a ground station to check the autopilot terrain cache for a tile at a particular location.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Support for this protocol is indicated by AUTOPILOT_VERSION.capabilities by the MAV_PROTOCOL_CAPABILITY_TERRAIN flag.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      A vehicle that supports this capability must also support terrain following in missions using the data. Note however that a vehicle may also support terrain handling in missions using a distance sensor, even if this protocol is not supported and capability flag is not set.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Message/Enum Summary

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MessageDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      !!crwdBlockTags_23_sgaTkcolBdwrc!TERRAIN_REQUESTRequest from drone (to GCS) for terrain data. The message specifies a mask indicating what tiles are required, and the GCS responds by sending TERRAIN_DATA for each tile. The drone will also stream TERRAIN_REPORT messages to provide progress updates while it is waiting for data.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      !!crwdBlockTags_24_sgaTkcolBdwrc!TERRAIN_DATATerrain data from GCS for a particular tile (sent in response to a TERRAIN_REQUEST). The lat/lon and grid_spacing must be the same as the lat/lon from a TERRAIN_REQUEST.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      !!crwdBlockTags_25_sgaTkcolBdwrc!TERRAIN_REPORTThe drone will stream TERRAIN_REPORT to indicate progress of terrain download, and in response to a TERRAIN_CHECK.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      !!crwdBlockTags_26_sgaTkcolBdwrc!TERRAIN_CHECKRequest that the vehicle report terrain height at the given location (expected response is a TERRAIN_REPORT). Used by GCS to check if vehicle has all terrain data needed for a mission.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Sequences

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Autopilot Terrain Map Request

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      The sequence for a drone to update its terrain altitude information is entirely driven by the drone, and is shown below.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      In summary, the sequence is:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1. Drone sends TERRAIN_REQUEST to the GCS to request a set of tiles (specified in a mask).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2. The GCS responds by sending a TERRAIN_DATA for each tile set in the mask
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      3. The drone also streams TERRAIN_REPORT messages back to the GCS indicating the current state of the download
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • TERRAIN_REPORT.pending and TERRAIN_REPORT.loaded indicate how many tiles are expected and have arrived, respectively.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • TERRAIN_REPORT.lat, .lon, .terrain_height, while duplicated in other messages, are useful for debugging (a GCS can check its own internal terrain data against what the information).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      4. The drone must maintain its own record of what tiles have arrived/not arrived, and can re-request any that are missing using a further TERRAIN_REQUEST (with mask indicating just the missing tiles)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      The diagram below shows the way the data is encoded within the TERRAIN_REQUEST and TERRAIN_DATA.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Terrain_report.mask data layout

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      TERRAIN_REQUEST.mask is a 64-bit value that represents a row major 8x7 array of (4x4) tiles. The the lat, lon fields indicate the position of the South-West corner of first grid position (tile). The tiles are allocated sequentially in rows (West to East) starting from the lowest significant bit of mask, and then in columns (South to North).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Each tile represents a 4x4 grid of altitude information. The spacing between the rows/columns in the tile is indicated by grid_spacing (the same value must be used in both request and data messages).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      GCS Terrain Tile Check

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      The sequence for a GCS to check the autopilot terrain cache at a particular location is shown below.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      In summary, the sequence is:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1. GCS sends TERRAIN_CHECK to the vehicle to request terrain information at a specific location.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2. The drone responds with a TERRAIN_REPORT message containing the tile information it has for that location. If it does not have tile information for the specified location, then the request is ignored.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      3. GCS can verify that the terrain report matches a terrain check by comparing the latitude/longitude fields for both messages.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      The protocol does not define how the ground station handles the case if no TERRAIN_REPORT is received (although it might resend the request after a timeout).

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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Time Synchronization Protocol v2

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        This protocol is used to synchronize clocks on MAVLink components by estimating their time offset.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        The protocol uses just one message TIMESYNC, which has two int64_t fields: tc1 and ts1. A component that wants to synchronize clocks sends out a TIMESYNC request with its current timestamp in ts1. A remote system that supports the protocol sends a TIMESYNC response, including both the original timestamp and its own timestamp. The original system can use this information to determine the round-trip time, and estimate the timestamp offset.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        This sequence is run multiple times and filtered/averaged to reduce the transient effects of the channel and processor usage on the offset calculation.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        This version replaces Time Synchronization Protocol v1.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Message/Enum Summary

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MessageDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        TIMESYNCTime synchronization message.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Sequences

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Mermaid sequence: Time sync

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        The sequence is:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        1. A component that needs time synchronization sends a TIMESYNC request that includes its current nanosecond timestamp in ts1 (and tc1 = 0, indicating it is a request). This message may be broadcast, or targeted to a particular component.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        2. A component that receives a TIMESYNC request (TIMESYNC.tc1 == 0) responds with a TIMESYNC response (tc1 ≠ 0) that includes the original timestamp from the request in ts1 (mirrored), and its own timestamp in tc1.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        3. When the synchronizing component gets a TIMESYNC response with its own target_system and target_component it knows it is a reply to a timesync request that it sent.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          From the message the system can:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • determine the round trip time (by comparing its current timestamp with the original stamp that was returned in the message in ts1).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • estimate the offset between system timestamps, using the round trip time and the timestamp sent back by the remote system.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          TIMESYNC responses to the broadcast address indicate that the remote system supports Time Synchronization Protocol v1. Synchronization may be unreliable if there are multiple sychronising components on the network (report/log an error and upgrade the remote system). The component should ignore responses to all other addresses.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        The offset is an estimate because the time spent, both inbound and outbound, will change over time based on things like link congestion and processing time. Therefore the above sequence might be run a significant number of times, and filtering used to remove outlying estimates.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        A graph showing the "noise" when estimating the offset is given below (from PX4).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Timesync offsets

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Time Synchronization Protocol v1

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Version 1 of the timesync protocol uses the same message and sequences as version 2.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        The difference is the TIMESYNC message in version 1 did not have target_system and target_component fields, and so the message was always broadcast. This could result in unreliable timesync if there are multiple synchronizing components on the network, because there is no way for a component to know whether a TIMESYNC response is to its request.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        ArduPilot encodes the system id in TIMESYNC.ts1 of the request. This allows filtering of the response to a particular system (but not component), reducing the risk of clashes.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Version 2 makes adds the target address, so a syncing system can filter on just the responses to its requests.

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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Time Synchronization Protocol v2

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          This protocol is used to synchronize clocks on MAVLink components by estimating their time offset.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          The protocol uses just one message TIMESYNC, which has two int64_t fields: tc1 and ts1. A component that wants to synchronize clocks sends out a TIMESYNC request with its current timestamp in ts1. A remote system that supports the protocol sends a TIMESYNC response, including both the original timestamp and its own timestamp. The original system can use this information to determine the round-trip time, and estimate the timestamp offset.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          This sequence is run multiple times and filtered/averaged to reduce the transient effects of the channel and processor usage on the offset calculation.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          This version replaces Time Synchronization Protocol v1.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Message/Enum Summary

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MessageDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          TIMESYNCTime synchronization message.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Sequences

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Mermaid sequence: Time sync

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          The sequence is:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1. A component that needs time synchronization sends a TIMESYNC request that includes its current nanosecond timestamp in ts1 (and tc1 = 0, indicating it is a request). This message may be broadcast, or targeted to a particular component.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2. A component that receives a TIMESYNC request (TIMESYNC.tc1 == 0) responds with a TIMESYNC response (tc1 ≠ 0) that includes the original timestamp from the request in ts1 (mirrored), and its own timestamp in tc1.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          3. When the synchronizing component gets a TIMESYNC response with its own target_system and target_component it knows it is a reply to a timesync request that it sent.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            From the message the system can:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • determine the round trip time (by comparing its current timestamp with the original stamp that was returned in the message in ts1).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • estimate the offset between system timestamps, using the round trip time and the timestamp sent back by the remote system.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            TIMESYNC responses to the broadcast address indicate that the remote system supports Time Synchronization Protocol v1. Synchronization may be unreliable if there are multiple sychronising components on the network (report/log an error and upgrade the remote system). The component should ignore responses to all other addresses.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          The offset is an estimate because the time spent, both inbound and outbound, will change over time based on things like link congestion and processing time. Therefore the above sequence might be run a significant number of times, and filtering used to remove outlying estimates.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          A graph showing the "noise" when estimating the offset is given below (from PX4).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Timesync offsets

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Time Synchronization Protocol v1

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Version 1 of the timesync protocol uses the same message and sequences as version 2.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          The difference is the TIMESYNC message in version 1 did not have target_system and target_component fields, and so the message was always broadcast. This could result in unreliable timesync if there are multiple synchronizing components on the network, because there is no way for a component to know whether a TIMESYNC response is to its request.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ArduPilot encodes the system id in TIMESYNC.ts1 of the request. This allows filtering of the response to a particular system (but not component), reducing the risk of clashes.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Version 2 makes adds the target address, so a syncing system can filter on just the responses to its requests.

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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Traffic Managment and Avoidance (UTM/ADSB)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Air traffic management and avoidance systems enable vehicles to share their position and planned path or trajectory with other vehicles (and ground stations), allowing them to take appropriate action to avoid collisions.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            The approaches used to share information vary; some systems use transponders to detect and publish to local traffic, while others publish to/receive information from Internet services that aggregate the data from many vehicles. Some systems might use both approaches!

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            The approaches used to handle potential collisions depend on the flight stack, and might include: warning the user, holding, landing, pausing a mission etc.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            There are two main traffic management systems supported by MAVLink:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            The two systems share sigificant overlap and have very similar messages. Both have a single message that encapsulates the vehicle position and trajectory: UTM_GLOBAL_POSITION and ADSB_VEHICLE. A flight controller will typically recieve these messages from the appropriate transponder or service, and may also publish them to a transponder or service.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            The Open Drone ID service provides additional information about vehicle identity. This is still a "work in progress", and there are no known MAVLink implementations,

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Message/Enum Summary

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Unmanned Aircraft System Traffic Management (UTM)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MessageDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            UTM_GLOBAL_POSITIONThe global position resulting from GPS and sensor fusion.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            EnumDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            UTM_FLIGHT_STATEFlight state of the vehicle: unknown, landed, flying, emergency etc.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            UTM_DATA_AVAIL_FLAGSFlags that indicate which of the fields in UTM_GLOBAL_POSITION contain valid data.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Automatic Dependent Surveillance–Broadcast (ADS-B)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MessageDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ADSB_VEHICLEXXXXXX The global position resulting from GPS and sensor fusion.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            EnumDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ADSB_ALTITUDE_TYPEThe source of altitude data - e.g. GNSS system or barometer.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ADSB_EMITTER_TYPEADSB classification for the type of vehicle emitting the transponder signal (most drones will set ADSB_EMITTER_TYPE_UAV)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ADSB_FLAGSFlags that indicate which of the fields in ADSB_VEHICLE contain valid data.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            IdsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_TYPE_ADSBMAV_TYPE for a stand-alone MAVLink ADS-B transponder component (not part of an autopilot)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_COMP_ID_ADSBMAVLink reserved component id for a MAVLink ADS-B transponder component (not part of an autopilot)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_TYPE_ADSBMAV_TYPE for a stand-alone MAVLink Flarm transponder component (not part of an autopilot)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_COMP_ID_FLARMMAVLink reserved component id for a MAVLink Flarm transponder component (not part of an autopilot)

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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Traffic Managment and Avoidance (UTM/ADSB)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Air traffic management and avoidance systems enable vehicles to share their position and planned path or trajectory with other vehicles (and ground stations), allowing them to take appropriate action to avoid collisions.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              The approaches used to share information vary; some systems use transponders to detect and publish to local traffic, while others publish to/receive information from Internet services that aggregate the data from many vehicles. Some systems might use both approaches!

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              The approaches used to handle potential collisions depend on the flight stack, and might include: warning the user, holding, landing, pausing a mission etc.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              There are two main traffic management systems supported by MAVLink:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              The two systems share sigificant overlap and have very similar messages. Both have a single message that encapsulates the vehicle position and trajectory: UTM_GLOBAL_POSITION and ADSB_VEHICLE. A flight controller will typically recieve these messages from the appropriate transponder or service, and may also publish them to a transponder or service.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              The Open Drone ID service provides additional information about vehicle identity. This is still a "work in progress", and there are no known MAVLink implementations,

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Message/Enum Summary

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Unmanned Aircraft System Traffic Management (UTM)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MessageDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              UTM_GLOBAL_POSITIONThe global position resulting from GPS and sensor fusion.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              EnumDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              UTM_FLIGHT_STATEFlight state of the vehicle: unknown, landed, flying, emergency etc.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              UTM_DATA_AVAIL_FLAGSFlags that indicate which of the fields in UTM_GLOBAL_POSITION contain valid data.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Automatic Dependent Surveillance–Broadcast (ADS-B)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MessageDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              ADSB_VEHICLEXXXXXX The global position resulting from GPS and sensor fusion.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              EnumDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              ADSB_ALTITUDE_TYPEThe source of altitude data - e.g. GNSS system or barometer.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              ADSB_EMITTER_TYPEADSB classification for the type of vehicle emitting the transponder signal (most drones will set ADSB_EMITTER_TYPE_UAV)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              ADSB_FLAGSFlags that indicate which of the fields in ADSB_VEHICLE contain valid data.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              IdsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_TYPE_ADSBMAV_TYPE for a stand-alone MAVLink ADS-B transponder component (not part of an autopilot)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_COMP_ID_ADSBMAVLink reserved component id for a MAVLink ADS-B transponder component (not part of an autopilot)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_TYPE_ADSBMAV_TYPE for a stand-alone MAVLink Flarm transponder component (not part of an autopilot)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_COMP_ID_FLARMMAVLink reserved component id for a MAVLink Flarm transponder component (not part of an autopilot)

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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              PX4:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              ArduPilot:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              QGroundControl:

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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                \ No newline at end of file diff --git a/ko/services/trajectory.html b/ko/services/trajectory.html index ec6d58a0e..977200a07 100644 --- a/ko/services/trajectory.html +++ b/ko/services/trajectory.html @@ -1 +1 @@ -Path Planning (Trajectory) Protocol · MAVLink Developer Guide
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Path Planning Protocol (Trajectory Interface)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                The path planning protocol (a.k.a. trajectory interface) is a general-purpose protocol for a system to request dynamic path planning from another system (i.e. for an autopilot to request a path from a companion computer).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                The protocol is primarily intended for cases where constraints on the path to a destination are unknown or may change dynamically, but it can also be used for any other path management activities. Examples include: obstacle avoidance when following a preplanned mission, determining paths for self forming/healing swarms, offloading geofence management to a companion computer, etc.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Overview

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                The (autopilot) system that requires path-planning sends messages containing its current position and desired trajectory. The path planning system (companion computer) analyses the desired route, and sends back a stream of messages with setpoints for a new path.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Mermaid Sequence: Trajectory

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                When path planning is active, autopilots are expected to navigate using the most recent setpoint from the companion computer (and should have sensible behaviour if setpoints "run out").

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                The path planning system might send setpoints all the time, or only when a desired trajectory cannot be achieved (this depends on the specific service implementation).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                The protocol defines two messages:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Either message may be used to represent both the desired trajectory and the target setpoint, and a system may support either or both messages.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                When specifying a desired path (using either message):

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • The first point (0th array index) always represents the current position/state of the vehicle.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • For waypoint trajectories the current position usually needs either position or velocity fields, and either yaw or yaw_speed (not all of them)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • It may not be necessary to specify a waypoint or curve point for every array index.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • For waypoint trajectories you might only need to specify points for the current position, current waypoint, and the next waypoint.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • It may not be necessary to set a value for every field in a waypoint.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • Array indexes and field values that are not used should be set as NaN.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                When specifying a target setpoint, the values should be set in the first point of the message (0th array element). All other array fields should be set to NaN.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                The required message sending update rate depends on the speed of the vehicle and use case.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Implementations

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Obstacle Avoidance in PX4 Mission Mode

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                The protocol has been used to provide obstacle avoidance in PX4's mission mode. PX4 sends the current position, current waypoint, and next waypoint in a TRAJECTORY_REPRESENTATION_WAYPOINTS message (at 5Hz). The path planning software (a ROS node) sends setpoints for the duration of the mission. These navigate the vehicle in a straight line to each waypoint, navigating around obstacles as needed.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                For more information see: Obstacle Avoidance (PX4 User Guide).

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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  \ No newline at end of file +Path Planning (Trajectory) Protocol · MAVLink Developer Guide
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Path Planning Protocol (Trajectory Interface)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  The path planning protocol (a.k.a. trajectory interface) is a general-purpose protocol for a system to request dynamic path planning from another system (i.e. for an autopilot to request a path from a companion computer).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  The protocol is primarily intended for cases where constraints on the path to a destination are unknown or may change dynamically, but it can also be used for any other path management activities. Examples include: obstacle avoidance when following a preplanned mission, determining paths for self forming/healing swarms, offloading geofence management to a companion computer, etc.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Overview

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  The (autopilot) system that requires path-planning sends messages containing its current position and desired trajectory. The path planning system (companion computer) analyses the desired route, and sends back a stream of messages with setpoints for a new path.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Mermaid Sequence: Trajectory

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  When path planning is active, autopilots are expected to navigate using the most recent setpoint from the companion computer (and should have sensible behaviour if setpoints "run out").

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  The path planning system might send setpoints all the time, or only when a desired trajectory cannot be achieved (this depends on the specific service implementation).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  The protocol defines two messages:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Either message may be used to represent both the desired trajectory and the target setpoint, and a system may support either or both messages.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  When specifying a desired path (using either message):

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • The first point (0th array index) always represents the current position/state of the vehicle.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • For waypoint trajectories the current position usually needs either position or velocity fields, and either yaw or yaw_speed (not all of them)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • It may not be necessary to specify a waypoint or curve point for every array index.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • For waypoint trajectories you might only need to specify points for the current position, current waypoint, and the next waypoint.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • It may not be necessary to set a value for every field in a waypoint.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • Array indexes and field values that are not used should be set as NaN.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  When specifying a target setpoint, the values should be set in the first point of the message (0th array element). All other array fields should be set to NaN.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  The required message sending update rate depends on the speed of the vehicle and use case.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Implementations

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Obstacle Avoidance in PX4 Mission Mode

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  The protocol has been used to provide obstacle avoidance in PX4's mission mode. PX4 sends the current position, current waypoint, and next waypoint in a TRAJECTORY_REPRESENTATION_WAYPOINTS message (at 5Hz). The path planning software (a ROS node) sends setpoints for the duration of the mission. These navigate the vehicle in a straight line to each waypoint, navigating around obstacles as needed.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  For more information see: Obstacle Avoidance (PX4 User Guide).

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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    \ No newline at end of file diff --git a/ko/services/tunnel.html b/ko/services/tunnel.html index 5a96131eb..159870ff6 100644 --- a/ko/services/tunnel.html +++ b/ko/services/tunnel.html @@ -1 +1 @@ -Tunnel Protocol · MAVLink Developer Guide
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Tunnel Protocol

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    The Tunnel Protocol allows MAVLink to be used as a "dumb channel" to pass data in any format across, through or into a MAVLink network.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Tunnels use is highly discouraged, as they lose most of the benefits of MAVLink in terms of efficiently and interoperability. You should almost always create "dedicated" MAVLink messages for communicating in a MAVLink system.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    An example where this protocol is useful is connecting a STorM32 gimbal to a computer for configuration/debugging (via a USB connection to the autopilot and using MAVLink to carry the native serial protocol between it and the gimbal). Normally you would connect the gimbal directly via USB, but when mounted on the drone the gimbal USB port may be hard to access. You might re-invent the native protocol in MAVLink, but that would be a lot of effort for little benefit in this case.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    The protocol consists of a single TUNNEL message that has fields for the destination, payload length, payload type and data. The format of the data is entirely defined by the sender, and is inferred from the TUNNEL.payload_type (a MAV_TUNNEL_PAYLOAD_TYPE).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Vendors can use any value above 32767 for MAV_TUNNEL_PAYLOAD_TYPE in their own dialect during testing. For wider distribution they should register the payload type.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Message/Enum Summary

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MessageDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    TUNNELMessage for transporting "arbitrary" variable-length data from one component to another (broadcast is not forbidden, but discouraged).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    EnumDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_TUNNEL_PAYLOAD_TYPEA code that identifies the format of the payload (0 for unknown, which is the default). You can use any value over 32768 for on private networks or register a payload type.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Register a Payload Type

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    The format of the tunnel message data is indicated by the value of TUNNEL.payload_type. Vendors can register their own formats in MAV_TUNNEL_PAYLOAD_TYPE by creating a PR to update the enum in common.xml.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    If you register an enum value in common.xml the MAVLink toolchain will generate an error if other dialect attempts to define the same value (if the dialect includes common.xml).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    The rules for adding new MAV_TUNNEL_PAYLOAD_TYPE values are:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1. Values 0-199 are reserved for MAVLink
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2. Enum values are "allocated" to vendors and/or specific hardware in blocks of 10:
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • New blocks must start on the decade boundary (e.g. 200-209, 210-219, etc.).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • Blocks are allocated sequentially (in the previous point the next block is allocated at 220, not 430).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • Vendors may reserve multiple sequential blocks if needed.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    3. Enum values in a block may be explicitly "reserved":
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • Values should be named using the format MAV_TUNNEL_PAYLOAD_TYPE_XXXX_RESERVEDYY, where XXXX indicates the vendor or software, and YY is an increasing number starting at 0. For example, the STorM32 gimbal might reserve a block of 10 values from MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED0 to MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED9.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • You do not have to explicitly reserve unused values.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    4. Enum values that are in use should be (re)named to reflect the vendor/software and purpose (e.g. MAV_TUNNEL_PAYLOAD_TYPE_STORM32_CONFIG).

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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Tunnel Protocol

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      The Tunnel Protocol allows MAVLink to be used as a "dumb channel" to pass data in any format across, through or into a MAVLink network.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Tunnels use is highly discouraged, as they lose most of the benefits of MAVLink in terms of efficiently and interoperability. You should almost always create "dedicated" MAVLink messages for communicating in a MAVLink system.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      An example where this protocol is useful is connecting a STorM32 gimbal to a computer for configuration/debugging (via a USB connection to the autopilot and using MAVLink to carry the native serial protocol between it and the gimbal). Normally you would connect the gimbal directly via USB, but when mounted on the drone the gimbal USB port may be hard to access. You might re-invent the native protocol in MAVLink, but that would be a lot of effort for little benefit in this case.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      The protocol consists of a single TUNNEL message that has fields for the destination, payload length, payload type and data. The format of the data is entirely defined by the sender, and is inferred from the TUNNEL.payload_type (a MAV_TUNNEL_PAYLOAD_TYPE).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Vendors can use any value above 32767 for MAV_TUNNEL_PAYLOAD_TYPE in their own dialect during testing. For wider distribution they should register the payload type.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Message/Enum Summary

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MessageDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      TUNNELMessage for transporting "arbitrary" variable-length data from one component to another (broadcast is not forbidden, but discouraged).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      EnumDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_TUNNEL_PAYLOAD_TYPEA code that identifies the format of the payload (0 for unknown, which is the default). You can use any value over 32768 for on private networks or register a payload type.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Register a Payload Type

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      The format of the tunnel message data is indicated by the value of TUNNEL.payload_type. Vendors can register their own formats in MAV_TUNNEL_PAYLOAD_TYPE by creating a PR to update the enum in common.xml.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      If you register an enum value in common.xml the MAVLink toolchain will generate an error if other dialect attempts to define the same value (if the dialect includes common.xml).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      The rules for adding new MAV_TUNNEL_PAYLOAD_TYPE values are:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1. Values 0-199 are reserved for MAVLink
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2. Enum values are "allocated" to vendors and/or specific hardware in blocks of 10:
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • New blocks must start on the decade boundary (e.g. 200-209, 210-219, etc.).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • Blocks are allocated sequentially (in the previous point the next block is allocated at 220, not 430).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • Vendors may reserve multiple sequential blocks if needed.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      3. Enum values in a block may be explicitly "reserved":
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • Values should be named using the format MAV_TUNNEL_PAYLOAD_TYPE_XXXX_RESERVEDYY, where XXXX indicates the vendor or software, and YY is an increasing number starting at 0. For example, the STorM32 gimbal might reserve a block of 10 values from MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED0 to MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED9.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • You do not have to explicitly reserve unused values.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      4. Enum values that are in use should be (re)named to reflect the vendor/software and purpose (e.g. MAV_TUNNEL_PAYLOAD_TYPE_STORM32_CONFIG).

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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        \ No newline at end of file diff --git a/zh/about/faq.html b/zh/about/faq.html index 52ebe5994..a0c301bd8 100644 --- a/zh/about/faq.html +++ b/zh/about/faq.html @@ -1 +1 @@ -FAQ · MAVLink Developer Guide
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        用户

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAVLink 的传输效率如何？
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAVLink 是一种高效率的传输协议。 包含起始签名字节和丢包检测在内，MAVLink 1 版本的每个数据包中只有8个字节的额外开销。 MAVLink 2 版本只有14个字节的额外开销（如果使用签名字节的话为27个），但是现已成为可扩展的协议。 包含起始签名字节和丢包检测在内，MAVLink 1 版本的每个数据包中只有8个字节的额外开销。 MAVLink 2 版本只有14个字节的额外开销（如果使用签名字节的话为27个），但是现已成为可扩展的协议。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAVLink 可同时支持多少个运载器？
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        255个运动载体，其 ID 号从1到255（0号 ID 为无效 ID）。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Note: 严格说来，MAVLink 可同时支持 255 个系统, 它们中可以是运动载体，GCS ，天线云台和其它硬件。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAVLink 可用于哪里？
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        它可用于多个微控制器和操作系统上， 包括 arm7、atmega、dspic、stm32 等微控制器和 windows、linux、macos、android 和 ios 等操作系统。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAVLink 的可靠性如何？
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        很可靠。 自 2009 年以来，MAVLink 已用于多种运载器与地面站（或其它节点）之间使用恶劣的通信信道（大延迟、大噪声）进行通信。 它具有丢包检测功能，并使用完善的 ITU X.25 算法进行坏包检测。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAVLink 的安全性如何？
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAVLink 提供了 消息签名，系统可用其来验证是否来源于可信的消息源。 MAVLink 并不对消息进行加密处理。 MAVLink 并不对消息进行加密处理。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAVLink版本如何选择？
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        应该尽可能使用 MAVLink 2 协议(它修复了早期版本的一些限制)。 MAVLink 2 库也支持 MAVLink 1，所以也可以在需要时使用它们与旧系统通信。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAVLink更新/发布周期？
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • 底层的序列化方式很少更新(只在2017年引入 MAVLink 2时进行了更新)。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • 新的 消息/微服务经常添加。 这些更新是后向兼容，用户可定期更新其使用的库以支持新的消息。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • 消息很少被修改(或删除)，以防止它们变得不兼容。 如果需要更新，项目将通过更新MAVLink次要版本号，并通过 邮件列表 通知用户(用户也可以在代码中查询版本)。

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        开发者

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        我可以将 MAVLink 用于封闭的源程序且不用考虑版权问题吗？
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        可以，没有任何使用限制。 可以，没有任何使用限制。 生成的 mavlink 库的头文件可在遵循 * MIT许可证* 的条件下使用 （有关详细信息，请参阅： Introduction> 许可证 ）。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAVLink 如何检测数据流中的各类消息并进行解码？
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAVLink 先等待数据包的起始签名，然后读入数据包的长度并计算其后 n 个字节的校验和。 如果校验和相匹配，则返回解码后的数据包并等待下一个起始签名。 如果某些字节被改变或丢失的话，它将丢弃当前消息，继续尝试解码以后的消息。 如果校验和相匹配，则返回解码后的数据包并等待下一个起始签名。 如果某些字节被改变或丢失的话，它将丢弃当前消息，继续尝试解码以后的消息。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAVLink 中只使用了一个起始签名，使用两个或三个起始签名不是更安全吗？
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        不是这样的。 我们使用 CRC 来检测是否可靠接收到一个完整的消息。 使用更多的起始签名可以有更大的可能性检测到起始点，但是并不能增加有效消息的确定性。 因为额外的签名将增加通信负载，所以我们不使用它。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        系统 ID 和组件 ID 是干什么用的？
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        系统 ID 用来识别特定的 MAVLink 系统（运载器， GCS 等）。 MAVLink 可同时用于 255 个系统。 组件 ID 用于区分一个大系统中的组件，系统中可以包含自动驾驶仪，协处理计算机或照相机，其中每个都可被单独寻址。 MAVLink 可使用组件 ID 用于板间或板外通信。 MAVLink 可同时用于 255 个系统。 组件 ID 用于区分一个大系统中的组件，系统中可以包含自动驾驶仪，协处理计算机或照相机，其中每个都可被单独寻址。 MAVLink 可使用组件 ID 用于板间或板外通信。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        为什么在 MAVLink 数据包头中要使用序列号？
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAVLink 是无人飞行器中对安全至关重要的一部分。 较差的通信链路会丢失好多数据包，这会将所监视的飞机置于不安全的状态。 MAVLink 使用数据包头中的序列号来计算丢包率并将其反馈给另一方，使得飞行器或地面站能采取相应措施。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        为什么要在数据包的校验和中使用 CRC_EXTRA 呢？
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        CRC_EXTRA CRC 用来验证发送者和接收者是否都对链路上的消息格式有同样地解释（对于轻量级协议时必须的，因为消息结构信息并不包含在有效载荷中）。

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        在 MAVLink 0.9 版中没有使用 CRC（尽管检查了数据包的长度）。 如果 XML 所描述的消息内容偶尔被改变而长度没有改变，这样就会破坏消息中的数据域。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        我可以帮助编解码子程序或增加其它功能吗？ 我可以帮助编解码子程序或增加其它功能吗？ 可以更改 MAVLink 吗？
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        可以，在安全测试时必须十分小心。 可以，在安全测试时必须十分小心。 作为多个自动驾驶仪中对安全至关重要的组件，MAVLink 已经经历了多年的测试。 请向MAVLink的技术支持推荐你所想到的新功能。 请在 MAVLink 支持频道 上建议新的功能。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        如何进一步减少生成的 C 库大小？
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        在资源极受限制的系统中，您可以通过设置 MAVLINK_COMM_NUM_BUFFERS=1 和 MAVLINK_MAX_PAYLOAD_LEN="可提供最大缓冲区大小" (假设仅有一个普通链路并且你的有效载荷小于MAVLink支持的最大值)。 您还应确保您用来传递到 MAVLink 的任何缓冲区也尽可能小(例如：传递到 mavlink_msg_to_send_buffer()的缓冲区)。

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Another alternative is to use one of the other generators. 例如， fastMavlink 生成它比mavgen可以生成更小和更有效率的库(这尚未被 MAVLink 项目验证)。

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        results matching ""

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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          用户

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAVLink 的传输效率如何？
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAVLink 是一种高效率的传输协议。 包含起始签名字节和丢包检测在内，MAVLink 1 版本的每个数据包中只有8个字节的额外开销。 MAVLink 2 版本只有14个字节的额外开销（如果使用签名字节的话为27个），但是现已成为可扩展的协议。 包含起始签名字节和丢包检测在内，MAVLink 1 版本的每个数据包中只有8个字节的额外开销。 MAVLink 2 版本只有14个字节的额外开销（如果使用签名字节的话为27个），但是现已成为可扩展的协议。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAVLink 可同时支持多少个运载器？
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          255个运动载体，其 ID 号从1到255（0号 ID 为无效 ID）。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Note: 严格说来，MAVLink 可同时支持 255 个系统, 它们中可以是运动载体，GCS ，天线云台和其它硬件。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAVLink 可用于哪里？
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          它可用于多个微控制器和操作系统上， 包括 arm7、atmega、dspic、stm32 等微控制器和 windows、linux、macos、android 和 ios 等操作系统。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAVLink 的可靠性如何？
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          很可靠。 自 2009 年以来，MAVLink 已用于多种运载器与地面站（或其它节点）之间使用恶劣的通信信道（大延迟、大噪声）进行通信。 它具有丢包检测功能，并使用完善的 ITU X.25 算法进行坏包检测。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAVLink 的安全性如何？
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAVLink 提供了 消息签名，系统可用其来验证是否来源于可信的消息源。 MAVLink 并不对消息进行加密处理。 MAVLink 并不对消息进行加密处理。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAVLink版本如何选择？
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          应该尽可能使用 MAVLink 2 协议(它修复了早期版本的一些限制)。 MAVLink 2 库也支持 MAVLink 1，所以也可以在需要时使用它们与旧系统通信。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAVLink更新/发布周期？
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • 底层的序列化方式很少更新(只在2017年引入 MAVLink 2时进行了更新)。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • 新的 消息/微服务经常添加。 这些更新是后向兼容，用户可定期更新其使用的库以支持新的消息。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • 消息很少被修改(或删除)，以防止它们变得不兼容。 如果需要更新，项目将通过更新MAVLink次要版本号，并通过 邮件列表 通知用户(用户也可以在代码中查询版本)。

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          开发者

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          我可以将 MAVLink 用于封闭的源程序且不用考虑版权问题吗？
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          可以，没有任何使用限制。 可以，没有任何使用限制。 生成的 mavlink 库的头文件可在遵循 * MIT许可证* 的条件下使用 （有关详细信息，请参阅： Introduction> 许可证 ）。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAVLink 如何检测数据流中的各类消息并进行解码？
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAVLink 先等待数据包的起始签名，然后读入数据包的长度并计算其后 n 个字节的校验和。 如果校验和相匹配，则返回解码后的数据包并等待下一个起始签名。 如果某些字节被改变或丢失的话，它将丢弃当前消息，继续尝试解码以后的消息。 如果校验和相匹配，则返回解码后的数据包并等待下一个起始签名。 如果某些字节被改变或丢失的话，它将丢弃当前消息，继续尝试解码以后的消息。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAVLink 中只使用了一个起始签名，使用两个或三个起始签名不是更安全吗？
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          不是这样的。 我们使用 CRC 来检测是否可靠接收到一个完整的消息。 使用更多的起始签名可以有更大的可能性检测到起始点，但是并不能增加有效消息的确定性。 因为额外的签名将增加通信负载，所以我们不使用它。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          系统 ID 和组件 ID 是干什么用的？
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          系统 ID 用来识别特定的 MAVLink 系统（运载器， GCS 等）。 MAVLink 可同时用于 255 个系统。 组件 ID 用于区分一个大系统中的组件，系统中可以包含自动驾驶仪，协处理计算机或照相机，其中每个都可被单独寻址。 MAVLink 可使用组件 ID 用于板间或板外通信。 MAVLink 可同时用于 255 个系统。 组件 ID 用于区分一个大系统中的组件，系统中可以包含自动驾驶仪，协处理计算机或照相机，其中每个都可被单独寻址。 MAVLink 可使用组件 ID 用于板间或板外通信。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          为什么在 MAVLink 数据包头中要使用序列号？
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAVLink 是无人飞行器中对安全至关重要的一部分。 较差的通信链路会丢失好多数据包，这会将所监视的飞机置于不安全的状态。 MAVLink 使用数据包头中的序列号来计算丢包率并将其反馈给另一方，使得飞行器或地面站能采取相应措施。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          为什么要在数据包的校验和中使用 CRC_EXTRA 呢？
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          CRC_EXTRA CRC 用来验证发送者和接收者是否都对链路上的消息格式有同样地解释（对于轻量级协议时必须的，因为消息结构信息并不包含在有效载荷中）。

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          在 MAVLink 0.9 版中没有使用 CRC（尽管检查了数据包的长度）。 如果 XML 所描述的消息内容偶尔被改变而长度没有改变，这样就会破坏消息中的数据域。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          我可以帮助编解码子程序或增加其它功能吗？ 我可以帮助编解码子程序或增加其它功能吗？ 可以更改 MAVLink 吗？
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          可以，在安全测试时必须十分小心。 可以，在安全测试时必须十分小心。 作为多个自动驾驶仪中对安全至关重要的组件，MAVLink 已经经历了多年的测试。 请向MAVLink的技术支持推荐你所想到的新功能。 请在 MAVLink 支持频道 上建议新的功能。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          如何进一步减少生成的 C 库大小？
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          在资源极受限制的系统中，您可以通过设置 MAVLINK_COMM_NUM_BUFFERS=1 和 MAVLINK_MAX_PAYLOAD_LEN="可提供最大缓冲区大小" (假设仅有一个普通链路并且你的有效载荷小于MAVLink支持的最大值)。 您还应确保您用来传递到 MAVLink 的任何缓冲区也尽可能小(例如：传递到 mavlink_msg_to_send_buffer()的缓冲区)。

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Another alternative is to use one of the other generators. 例如， fastMavlink 生成它比mavgen可以生成更小和更有效率的库(这尚未被 MAVLink 项目验证)。

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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            \ No newline at end of file diff --git a/zh/about/implementations.html b/zh/about/implementations.html index b0ec3d59a..927e3582f 100644 --- a/zh/about/implementations.html +++ b/zh/about/implementations.html @@ -1 +1 @@ -Implementations · MAVLink Developer Guide
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAVLink 的应用

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAVLink 已经用于许多自动驾驶仪及地面站中，并已集成于API，工程及软件包中。 此工程的部分用户及贡献者如下： 此工程的部分用户及贡献者如下：

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            自动驾驶仪

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            以下自动驾驶仪都支持 MAVLink ，且正在持续改进 （距上一次发布还不到一年）。

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            地面站

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            为了简化MAVLink 与自动驾驶仪、相机及地面站等的接口，已经开发了多个高级API接口 (MAVLink is a relatively low-level API). (MAVLink is a relatively low-level API). 这些封装器能实现主要功能，并简化了发送命令及获取分析器信息的接口函数。

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            The list here contains actively maintained implementations:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            These projects have some activity but are not as well maintained:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            研究项目：

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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAVLink 的应用

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAVLink 已经用于许多自动驾驶仪及地面站中，并已集成于API，工程及软件包中。 此工程的部分用户及贡献者如下： 此工程的部分用户及贡献者如下：

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              自动驾驶仪

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              以下自动驾驶仪都支持 MAVLink ，且正在持续改进 （距上一次发布还不到一年）。

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              地面站

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              为了简化MAVLink 与自动驾驶仪、相机及地面站等的接口，已经开发了多个高级API接口 (MAVLink is a relatively low-level API). (MAVLink is a relatively low-level API). 这些封装器能实现主要功能，并简化了发送命令及获取分析器信息的接口函数。

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              The list here contains actively maintained implementations:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              These projects have some activity but are not as well maintained:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              研究项目：

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              results matching ""

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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                \ No newline at end of file diff --git a/zh/about/overview.html b/zh/about/overview.html index 6b3747a92..8983bf908 100644 --- a/zh/about/overview.html +++ b/zh/about/overview.html @@ -1,4 +1,4 @@ -Overview · MAVLink Developer Guide
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                飞控通讯协议概况

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAVLink 为一种设计用于资源受限系统及带宽受限链路的二进制遥测协议。 MAVLink 主要发行了两个版本: v1.0 和 v2.0 ，这两个版本向后兼容 （即 v2.0 版可以分析和发送 v1.0 版数据包)。 遥测数据流是以广播方式发送的， 而协议方面改变了系统配置， 并保证诸如任务协议或参数协议</1> 这类点对点式、需重新传输的消息。 MAVLink 主要发行了两个版本: v1.0 和 v2.0 ，这两个版本向后兼容 （即 v2.0 版可以分析和发送 v1.0 版数据包)。 遥测数据流是以广播方式发送的， 而协议方面改变了系统配置， 并保证诸如任务协议或参数协议</1 > 这类点对点式、需重新传输的消息。</p>

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                以下为在链路上传输的 MAVLink v2 数据包格式。 内存中的表示方式可能会有所不同。 内存中的表示方式可能会有所不同。

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                uint8_t magic;              ///< protocol magic marker
+Overview · MAVLink Developer Guide
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                飞控通讯协议概况
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAVLink 为一种设计用于资源受限系统及带宽受限链路的二进制遥测协议。 MAVLink 主要发行了两个版本: v1.0 和 v2.0 ，这两个版本向后兼容 （即 v2.0 版可以分析和发送 v1.0 版数据包)。 遥测数据流是以广播方式发送的， 而协议方面改变了系统配置， 并保证诸如任务协议或参数协议</1> 这类点对点式、需重新传输的消息。 MAVLink 主要发行了两个版本: v1.0 和 v2.0 ，这两个版本向后兼容 （即 v2.0 版可以分析和发送 v1.0 版数据包)。 遥测数据流是以广播方式发送的， 而协议方面改变了系统配置， 并保证诸如任务协议或参数协议</1 > 这类点对点式、需重新传输的消息。</p>
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                以下为在链路上传输的 MAVLink v2 数据包格式。 内存中的表示方式可能会有所不同。 内存中的表示方式可能会有所不同。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                uint8_t magic;              ///< protocol magic marker
 uint8_t len;                ///< Length of payload
 uint8_t incompat_flags;     ///< flags that must be understood
 uint8_t compat_flags;       ///< flags that can be ignored if not understood
@@ -11,4 +11,4 @@
 uint8_t payload[max 255];   ///< A maximum of 255 payload bytes
 uint16_t checksum;          ///< CRC-16/MCRF4XX
 
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                uint8_t signature[13];      ///< 保证正确连接的签名（可选）
-
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                The MAVLink 1 版本的数据包 与此类似，但是省略了 incompat_flags，compat_flags 及signature，且消息地址为单个字节。 消息信息参加 Serialization > 数据包格式. 消息信息参加 Serialization > 数据包格式.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                串行化
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAVLink 链路上的数据包格式是专为资源受限优化过的，所以其中数据域的次序与 XML 规则中的次序不一致。 链路数据发生器根据信息的长度进行排序，最长的数据（ uint64_t ） 在前，然后逐渐到最短的数据。 它采用稳定的排序算法 进行排序，这可以确保哪些不用参与排序的数据域仍保留在同样的相对位置上。 这也可以避免编解码时的对齐问题，使打包/解包算法更高效。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                有关更详细详细及例外情形，请参阅串行化。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                多点广播数据流 vs 确保式发送
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Mavlink 是为混合网络系统构建的。在这些网络中，高速数据流从数据源（通常是无人机）流向数据接收器 （通常是地面站），但是它与确保是发送的数据流是混合在一起的。 关键之处在于， 对于多数遥测数据流而言，都没有一个已知的或单一的接收。相反，机载计算机、地面站和云系统都需要同样的数据流。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                另一方面，配置机载任务或使用机载参数的方式改变系统配置需要采用确保式的点对点通信。 通过使用多种发送方式，MAVLink 可达到很高的效率。 通过使用多种发送方式，MAVLink 可达到很高的效率。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                主题模式（发布-订阅式）
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                在主题模式下，协议将不会为了节省带宽而省略掉目标系统及组件的 ID 号。 所有自动驾驶仪的数据流如位置、姿态都是这种通信模式的例子。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                这种广播式通信的优点是没有额外的数据包头，且多个订阅者都可接收此数据。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                点对点式通信
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                在点对点式通信中，MAVLink 使用目标系统的 ID 号和组件的 ID 号。 在使用这些域（任务，参数，命令）的多数情况下，子协议也可以保证采用确保式发送。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                完整性检查/校验和
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAVLink implements two integrity checks: The first check is on the integrity of the packet during transmission using the CRC-16/MCRF4XX checksum. 但是这只能保证数据没被链路改变，不能保证数据定义的一致性。 第二道检测为数据描述阶段，它保证具有同样 ID 的两个信息确实包含同样的消息。 为了达到此目的，数据定义本身也进行了 CRC-16-CCITT ，结果用作此数据包 CRC 的种子。 Most reference implementations store this constant in an array named CRC_EXTRA.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                 results matching ""
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+

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  The MAVLink 1 版本的数据包 与此类似，但是省略了 incompat_flags，compat_flags 及signature，且消息地址为单个字节。 消息信息参加 Serialization > 数据包格式. 消息信息参加 Serialization > 数据包格式.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  串行化

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAVLink 链路上的数据包格式是专为资源受限优化过的，所以其中数据域的次序与 XML 规则中的次序不一致。 链路数据发生器根据信息的长度进行排序，最长的数据（ uint64_t ） 在前，然后逐渐到最短的数据。 它采用稳定的排序算法 进行排序，这可以确保哪些不用参与排序的数据域仍保留在同样的相对位置上。 这也可以避免编解码时的对齐问题，使打包/解包算法更高效。

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  有关更详细详细及例外情形，请参阅串行化。

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  多点广播数据流 vs 确保式发送

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Mavlink 是为混合网络系统构建的。在这些网络中，高速数据流从数据源（通常是无人机）流向数据接收器 （通常是地面站），但是它与确保是发送的数据流是混合在一起的。 关键之处在于， 对于多数遥测数据流而言，都没有一个已知的或单一的接收。相反，机载计算机、地面站和云系统都需要同样的数据流。

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  另一方面，配置机载任务或使用机载参数的方式改变系统配置需要采用确保式的点对点通信。 通过使用多种发送方式，MAVLink 可达到很高的效率。 通过使用多种发送方式，MAVLink 可达到很高的效率。

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  主题模式（发布-订阅式）

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  在主题模式下，协议将不会为了节省带宽而省略掉目标系统及组件的 ID 号。 所有自动驾驶仪的数据流如位置、姿态都是这种通信模式的例子。

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  这种广播式通信的优点是没有额外的数据包头，且多个订阅者都可接收此数据。

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  点对点式通信

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  在点对点式通信中，MAVLink 使用目标系统的 ID 号和组件的 ID 号。 在使用这些域（任务，参数，命令）的多数情况下，子协议也可以保证采用确保式发送。

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  完整性检查/校验和

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAVLink implements two integrity checks: The first check is on the integrity of the packet during transmission using the CRC-16/MCRF4XX checksum. 但是这只能保证数据没被链路改变，不能保证数据定义的一致性。 第二道检测为数据描述阶段，它保证具有同样 ID 的两个信息确实包含同样的消息。 为了达到此目的，数据定义本身也进行了 CRC-16-CCITT ，结果用作此数据包 CRC 的种子。 Most reference implementations store this constant in an array named CRC_EXTRA.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  results matching ""

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    No results matching ""

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    \ No newline at end of file diff --git a/zh/about/support.html b/zh/about/support.html index 60f17178a..679fb40ac 100644 --- a/zh/about/support.html +++ b/zh/about/support.html @@ -1 +1 @@ -Support · MAVLink Developer Guide
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Examples
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    技术支持

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    邮件表/讨论组

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    核心开发团队和社区活跃在邮件表上。

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    报告错误及其它问题

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    首次使用 MAVLink 时遇到问题请发布到邮件表上。

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    如果是由开发团队转过来的问题，可在Github here 寻找。

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    开发热线

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAVLink 的开发者，使用公司及周围社区会定期举办会议，来定义此工程的使用指南，讨论 RFC 及其它问题并举办 Q&A 会议 。

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    热线为任何想要对此工程作出贡献的人员开放（不止限于开发团队成员）。 这是与开发团队交流的良好机会。 这是与开发团队交流的良好机会。

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    这些人都可参加

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • 核心项目维护者
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • 组件维护者
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • Dronecode 成员
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • 社区成员
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • 任何对开发 MAVLink感兴趣的人

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    日程

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    会议日程 （和历史会议记录）可在 MAVLink wiki here 上查阅。

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • 增加你想要讨论的内容及想要解决的问题。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • 在 Github 的Dev Call 的标题下提出问题及 PRs 。

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    日程

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    每逢双周热线会覆盖亚欧地区（当需要时，会为欧美 PST 时区的用户预留通话时间）。

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    results matching ""

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      No results matching ""

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      \ No newline at end of file +Support · MAVLink Developer Guide
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Implementations
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Examples
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Examples
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      技术支持

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      邮件表/讨论组

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      核心开发团队和社区活跃在邮件表上。

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      报告错误及其它问题

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      首次使用 MAVLink 时遇到问题请发布到邮件表上。

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      如果是由开发团队转过来的问题，可在Github here 寻找。

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      开发热线

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAVLink 的开发者，使用公司及周围社区会定期举办会议，来定义此工程的使用指南，讨论 RFC 及其它问题并举办 Q&A 会议 。

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      热线为任何想要对此工程作出贡献的人员开放（不止限于开发团队成员）。 这是与开发团队交流的良好机会。 这是与开发团队交流的良好机会。

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      这些人都可参加

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • 核心项目维护者
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • 组件维护者
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • Dronecode 成员
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • 社区成员
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • 任何对开发 MAVLink感兴趣的人

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      日程

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      会议日程 （和历史会议记录）可在 MAVLink wiki here 上查阅。

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • 增加你想要讨论的内容及想要解决的问题。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • 在 Github 的Dev Call 的标题下提出问题及 PRs 。

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      日程

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      每逢双周热线会覆盖亚欧地区（当需要时，会为欧美 PST 时区的用户预留通话时间）。

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      results matching ""

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        No results matching ""

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        \ No newline at end of file diff --git a/zh/contributing/contributing.html b/zh/contributing/contributing.html index fceb97c2a..716836cdb 100644 --- a/zh/contributing/contributing.html +++ b/zh/contributing/contributing.html @@ -1,4 +1,4 @@ -Contributing · MAVLink Developer Guide
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Implementations
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Examples
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        为 mavlink 做贡献

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        We follow the Github flow development model.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Contributions are divided into several categories:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • Complicated changes that require significant review should be initiated using an RFC pull request in mavlink/rfcs. This is primarily intended for new microservice interface definitions, as these require discussion of both messages and message sequences (state machines) (examples: parameter or mission protocol). Depending on the scope of the change, it may also be required when modifying a microservice.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • Less complex changes should be submitted as a PRs to the mavlink/mavlink repository. This includes message additions/changes that do not affect a state machine.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • Changes to mavgen generator code should be submitted as PRs to the ArduPilot/Pymavlink repository.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        The sections below explain how to contribute to each category and how to raise a pull request.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        How to Contribute Simple Changes

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        How to Contribute Complex Changes

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • Open a pull request against the RFC repository containing a new RFC number https://github.com/mavlink/rfcs and use the template in the 0000 RFC.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • Reach out to the community on Slack and the mailing list to raise awareness
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • Address concerns by pushing more commits to the pull request

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        How to Contribute to Mavgen

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Changes to the mavgen generator must be added as pull requests through the ArduPilot/pymavlink project.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Changes to existing generator code (e.g. bug fixes) are automatically tested by continuous integration (github actions). Once you have made against your PR pass, the changes will be reviewed by a project team member.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        More significant changes to the generator, such as the addition of a new programming language, will require:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • Project team should be able to commit to supporting the generator.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • common.xml and all official dialect XML files should parse, validate, and be able to encode/decode for all the messages.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • Failures should be handled gracefully (not result in exceptions/segfaults).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • Enum values that are not explicitly defined in XML should be automatically and sequentially allocated.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • Test code to validate the above.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Ideally:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • Libraries should support both MAVLink 2 and MAVLink 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • Any message with arbitrary field values can be successfully encoded and decoded.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • Errors/warnings should be reported for invalid payloads - e.g. oversize, duplicate command or message ids, etc.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • Deep dialect inclusion/nesting should be supported (minimum is 5 levels).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        How to Contribute Stand Alone Generators

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        We would prefer that new languages are supported via mavgen rather than "standalone generators", as this provides a consistent inteface for end users, and ensures that source files are parsed and handled consistently.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        That said will consider moving stand-alone generators into the MAVLink project under the same conditions as for new mavgen generator code (see section above). Primarily this means that the team developing the generator must provide sufficient validation that the generator works and commitment to support it.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        How to Open a Pull Request

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        1. 第一个fork and clone 项目项目。

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        2. 在主服务器上创建要素分支

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                           git 结帐 -b mydescriptivrancanchname
+Contributing · MAVLink Developer Guide
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          为 mavlink 做贡献
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          We follow the Github flow development model.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Contributions are divided into several categories:
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • Complicated changes that require significant review should be initiated using an RFC pull request in mavlink/rfcs. This is primarily intended for new microservice interface definitions, as these require discussion of both messages and message sequences (state machines) (examples: parameter or mission protocol). Depending on the scope of the change, it may also be required when modifying a microservice.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • Less complex changes should be submitted as a PRs to the mavlink/mavlink repository. This includes message additions/changes that do not affect a state machine.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • Changes to mavgen generator code should be submitted as PRs to the ArduPilot/Pymavlink repository.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          The sections below explain how to contribute to each category and how to raise a pull request.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          How to Contribute Simple Changes
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          How to Contribute Complex Changes
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • Open a pull request against the RFC repository containing a new RFC number https://github.com/mavlink/rfcs and use the template in the 0000 RFC.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • Reach out to the community on Slack and the mailing list to raise awareness
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • Address concerns by pushing more commits to the pull request
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          How to Contribute to Mavgen
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Changes to the mavgen generator must be added as pull requests through the ArduPilot/pymavlink project.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Changes to existing generator code (e.g. bug fixes) are automatically tested by continuous integration (github actions). Once you have made against your PR pass, the changes will be reviewed by a project team member.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          More significant changes to the generator, such as the addition of a new programming language, will require:
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • Project team should be able to commit to supporting the generator.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • common.xml and all official dialect XML files should parse, validate, and be able to encode/decode for all the messages.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • Failures should be handled gracefully (not result in exceptions/segfaults).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • Enum values that are not explicitly defined in XML should be automatically and sequentially allocated.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • Test code to validate the above.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Ideally:
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • Libraries should support both MAVLink 2 and MAVLink 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • Any message with arbitrary field values can be successfully encoded and decoded.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • Errors/warnings should be reported for invalid payloads - e.g. oversize, duplicate command or message ids, etc.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • Deep dialect inclusion/nesting should be supported (minimum is 5 levels).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          How to Contribute Stand Alone Generators
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          We would prefer that new languages are supported via mavgen rather than "standalone generators", as this provides a consistent inteface for end users, and ensures that source files are parsed and handled consistently.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          That said will consider moving stand-alone generators into the MAVLink project under the same conditions as for new mavgen generator code (see section above). Primarily this means that the team developing the generator must provide sufficient validation that the generator works and commitment to support it.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          How to Open a Pull Request
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1. 第一个fork and clone 项目项目。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2. 在主服务器上创建要素分支
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                             git 结帐 -b mydescriptivrancanchname
 
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          > **Note***Always* 分支从主分支的新功能。
 
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1. 用描述性承诺消息提交您的更改。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2. Include context information, what was fixed, and an issue number (Github will link these then conveniently)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          3. Example:
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ``` Change the attitude output spec documentation
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • Fixes a typo
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • Clarifies that units are radians
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Fixes issue #123 ```
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          4. 测试您的更改 \ (我们可能会要求您在您的 pr 中提供测试结果 )。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          5. 将更改推送到您的存储库:
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                             git 推送来源 mydescriptisbranchname
-
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1. 发送 pull request 以合并分支中的更改。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Dev Call
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          We have a regular dev call that is open to anyone who is interested in contributing to the project!
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1. 发送 pull request 以合并分支中的更改。

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Dev Call

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          We have a regular dev call that is open to anyone who is interested in contributing to the project!

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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            文件格式

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAVLink系统往往需要能够储存、交换或恢复MAVLink信息，包括：任务计划、地理围栏定义、集会点、参数、日志等。 通常, 信息是在一个系统上定义, 在另一个系统上使用 (例如, 自动驾驶仪的日志通过分析工具进行分析, 任务是使用 GCS 规划工具创建的, 并从配套计算机运行)。 通常, 信息是在一个系统上定义, 在另一个系统上使用 (例如, 自动驾驶仪的日志通过分析工具进行分析, 任务是使用 GCS 规划工具创建的, 并从配套计算机运行)。

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            许多 GCS 系统和开发人员 Api 都使用 defacto 标准来存储 mission 信息: plain-文本文件格式 。

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            在编写本报告时, 没有任何 MAVLink 标准 (事实上或其他标准): 地理围栏、反弹点、参数等。 讨论了问题 #989的标准化文件格式。 讨论了问题 #989的标准化文件格式。

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            任务纯文本文件格式

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            QGroundary Control和许多其他GCS支持各特派团较早的文本格式。 这不是MAVLink的正式组成部分，也不允许提供集会点或地理围栏信息。

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            格式如下。 第一行包含文件格式和版本信息，后面行为任务项目。

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            QGC WPL <VERSION>
+File Formats · MAVLink Developer Guide
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            文件格式
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAVLink系统往往需要能够储存、交换或恢复MAVLink信息，包括：任务计划、地理围栏定义、集会点、参数、日志等。 通常, 信息是在一个系统上定义, 在另一个系统上使用 (例如, 自动驾驶仪的日志通过分析工具进行分析, 任务是使用 GCS 规划工具创建的, 并从配套计算机运行)。 通常, 信息是在一个系统上定义, 在另一个系统上使用 (例如, 自动驾驶仪的日志通过分析工具进行分析, 任务是使用 GCS 规划工具创建的, 并从配套计算机运行)。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            许多 GCS 系统和开发人员 Api 都使用 defacto 标准来存储 mission 信息: plain-文本文件格式 。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            在编写本报告时, 没有任何 MAVLink 标准 (事实上或其他标准): 地理围栏、反弹点、参数等。 讨论了问题 #989的标准化文件格式。 讨论了问题 #989的标准化文件格式。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            任务纯文本文件格式
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            QGroundary Control和许多其他GCS支持各特派团较早的文本格式。 这不是MAVLink的正式组成部分，也不允许提供集会点或地理围栏信息。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            格式如下。 第一行包含文件格式和版本信息，后面行为任务项目。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            QGC WPL <VERSION>
 <INDEX> <CURRENT WP> <COORD FRAME> <COMMAND> <PARAM1> <PARAM2> <PARAM3> <PARAM4> <PARAM5/X/LATITUDE> <PARAM6/Y/LONGITUDE> <PARAM7/Z/ALTITUDE> <AUTOCONTINUE>
 
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            以上数字/字段之间的空间为 <tab> (i.e. \t 大多数编程语言)。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            例如：
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            QGC WPL 110
 0   1   0   16  0.149999999999999994    0   0   0   8.54800000000000004 47.3759999999999977 550 1
 1   0   0   16  0.149999999999999994    0   0   0   8.54800000000000004 47.3759999999999977 550 1
 2   0   0   16  0.149999999999999994    0   0   0   8.54800000000000004 47.3759999999999977 550 1
-
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                \ No newline at end of file diff --git a/zh/getting_started/generate_libraries.html b/zh/getting_started/generate_libraries.html index 82cb861d3..8fbc6d998 100644 --- a/zh/getting_started/generate_libraries.html +++ b/zh/getting_started/generate_libraries.html @@ -1,4 +1,4 @@ -Generate MAVLink Libraries · MAVLink Developer Guide
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                生成 MAVLink 库文件

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                通过使用代码生成器从XML格式定义的消息中生成不同编程语言使用的MAVLink库文件。

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                This page shows how to use the following two code generators provided with the MAVLink project:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • GUI tool: mavgenerate
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • Command line tool: mavgen, which is the backend tool used also by mavgenerate

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                These generators can build MAVLink 2 and MAVLink 1 libraries for the following programming languages: C, C++11, Python, Typescript, Java, and WLua. The following programming languages are supported for MAVLink 1 libraries only: C#, JavaScript, ObjC, Swift.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Generators for other programming languages are supported and documented in independent projects. For more information see Supported Languages.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                先决条件

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                1. You must already have Installed the MAVLink toolchain, which includes the mavgenerate and mavgen tools used below as well as the XML Message Definitions.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                2. If you are generating messages for a custom dialect, copy the dialect XML definition file(s) into the directory message_definitions/v1.0/. >注意*mavgen*可以处理包含XML文件相对路径的方言(例如，最常见的common.xml)，但是其他生成器可能不行。 We recommend putting custom dialects in the same folder as the ones that come with the mavlink/mavlink repository. > We recommend putting custom dialects in the same folder as the ones that come with the mavlink/mavlink repository.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Building MAVLink libraries using the Mavgenerate GUI

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                mavgenerate.py是用Python语言编写的MAVLink的图形用户界面代码生成器。

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Mavgenerate provides a GUI front end to the mavgen command line code generator, and supports the same options.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                可以使用Pythond的-m参数从任何地方打开这个图形用户界面。

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                python3 -m mavgenerate
+Generate MAVLink Libraries · MAVLink Developer Guide
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                生成 MAVLink 库文件
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                通过使用代码生成器从XML格式定义的消息中生成不同编程语言使用的MAVLink库文件。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                This page shows how to use the following two code generators provided with the MAVLink project:
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • GUI tool: mavgenerate
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • Command line tool: mavgen, which is the backend tool used also by mavgenerate
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                These generators can build MAVLink 2 and MAVLink 1 libraries for the following programming languages: C, C++11, Python, Typescript, Java, and WLua. The following programming languages are supported for MAVLink 1 libraries only: C#, JavaScript, ObjC, Swift.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Generators for other programming languages are supported and documented in independent projects. For more information see Supported Languages.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                先决条件
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                1. You must already have Installed the MAVLink toolchain, which includes the mavgenerate and mavgen tools used below as well as the XML Message Definitions.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                2. If you are generating messages for a custom dialect, copy the dialect XML definition file(s) into the directory message_definitions/v1.0/. >注意*mavgen*可以处理包含XML文件相对路径的方言(例如，最常见的common.xml)，但是其他生成器可能不行。 We recommend putting custom dialects in the same folder as the ones that come with the mavlink/mavlink repository. > We recommend putting custom dialects in the same folder as the ones that come with the mavlink/mavlink repository.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Building MAVLink libraries using the Mavgenerate GUI
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                mavgenerate.py是用Python语言编写的MAVLink的图形用户界面代码生成器。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Mavgenerate provides a GUI front end to the mavgen command line code generator, and supports the same options.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                可以使用Pythond的-m参数从任何地方打开这个图形用户界面。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                python3 -m mavgenerate
 
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                mavgenerate 界面
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Steps for generating the MAVLink library code:
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                1. Choose the target XML file (typically in mavlink/message_definitions/1.0).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  如果使用自定义文件，首先需要将其复制到上面的目录中(如果自定义文件依赖于common.xml，则必须确保两者位于同一目录中)。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                2. 选择输出路径(例如mavlink/include)。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                3. Select the target output programming language.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  mavgenerate UI - language list
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  For JavaScript in particular there are three options:
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                4. JavaScript_Stable is an older version that only supports MAVLink 1.0,
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                5. JavaScript_NextGen is a more recent version that supports MAVLink 1 and 2 along with signing.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                6. JavaScript is a "proxy" for the recommended version. Currently this is JavaScript_Stable.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                7. Select the target MAVLink protocol version. Ideally use 2.0 if the generator supports it.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Generation will fail if the protocol is not supported by the selected programming language.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                8. Optionally check Validate and/or Validate Units, which validates XML specifications.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                9. Click Generate to create the source files for the MAVLink library and the chosen dialect.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Building MAVLink libraries using the Mavgen Command Line Tool
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                mavgen.py is a command line tool for generating MAVLink libraries for various programming languages. 将mavlink路径添加到PYTHONPATH后，可以通过命令行来运行它。 However, if you are outside of the mavlink directory, you need to add the mavlink directory to the PYTHONPATH environment variable.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Mavgen is the backend used by mavgenerate. The documentation below explains all the options for both tools.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Below is an example for how to generate MAVLink 2 libraries for the C programming language using a dialect named your_custom_dialect.xml:
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                python3 -m pymavlink.tools.mavgen --lang=C --wire-protocol=2.0 --output=generated/include/mavlink/v2.0 message_definitions/v1.0/your_custom_dialect.xml
 
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                The syntax for for generating Python modules is the same, except that the --output specifies a filename rather than a directory.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                 The full syntax and options can be output by running mavgen.py -h flag, which is reproduced below:
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                usage: mavgen.py [-h] [-o OUTPUT]
                  [--lang {C,CS,JavaScript,JavaScript_Stable,JavaScript_NextGen,TypeScript,Python,Lua,WLua,ObjC,Swift,Java,C++11}]
@@ -26,4 +26,4 @@
   --error-limit ERROR_LIMIT
     可以显示的最大验证错误数
 --strict-units        执行单元属性的验证。
-
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    入门指南

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    下载或生成 dialect 的 maxlink 源文件:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    以下内容将说明，如何将生成的相关文件包含在项目中，并使用 MAVLink:

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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      \ No newline at end of file +Getting Started · MAVLink Developer Guide
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      入门指南

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      下载或生成 dialect 的 maxlink 源文件:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      以下内容将说明，如何将生成的相关文件包含在项目中，并使用 MAVLink:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      results matching ""

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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        \ No newline at end of file diff --git a/zh/getting_started/installation.html b/zh/getting_started/installation.html index b3ce4ccb8..57d8f98a2 100644 --- a/zh/getting_started/installation.html +++ b/zh/getting_started/installation.html @@ -1,3 +1,3 @@ -Install MAVLink · MAVLink Developer Guide
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        安装MAVLink工具链

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        本主题介绍如何安装MAVLink工具链。 该工具链包括XML 消息定义以及使用这些GUI命令行工具定义生成MAVLink 源文件。

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        如果你使用的是C编程语言和标准方言，则不需要安装或者生成源文件。 建议如果你使用的是C编程语言和标准方言，则不需要安装或者生成源文件。 只需要获取预构建的库然后跳转到Using C Libraries。

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        先决条件

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        使用MAVLink生成器的要求是：

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • Python 3.3+
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • pip3 install future
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • TkInter (required to use the GUI tool).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        如果您要创建新的XML定义，您还应该安装lxml和libxml2以进行XML的验证和格式化。

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        安装

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        安装MAVLink工具链：

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        1. Install Python 3.6+:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        2. Windows:从Python for Windows下载。

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        3. Ubuntu Linux pip3 install --user future sudo apt install python3-tk

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        4. Clone the official mavlink repo or your fork with your custom dialect:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                           git clone https://github.com/mavlink/mavlink.git --recursive
+Install MAVLink · MAVLink Developer Guide
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          安装MAVLink工具链
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          本主题介绍如何安装MAVLink工具链。 该工具链包括XML 消息定义以及使用这些GUI命令行工具定义生成MAVLink 源文件。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          如果你使用的是C编程语言和标准方言，则不需要安装或者生成源文件。 建议如果你使用的是C编程语言和标准方言，则不需要安装或者生成源文件。 只需要获取预构建的库然后跳转到Using C Libraries。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          先决条件
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          使用MAVLink生成器的要求是：
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • Python 3.3+
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • pip3 install future
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • TkInter (required to use the GUI tool).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          如果您要创建新的XML定义，您还应该安装lxml和libxml2以进行XML的验证和格式化。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          安装
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          安装MAVLink工具链：
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1. Install Python 3.6+:
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2. Windows:从Python for Windows下载。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          3. Ubuntu Linux pip3 install --user future sudo apt install python3-tk
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          4. Clone the official mavlink repo or your fork with your custom dialect:
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                             git clone https://github.com/mavlink/mavlink.git --recursive
 
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1. Install the required packages:
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                             sudo apt install python3-pip
-
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          现在您已经准备好了 生成 MAVLink 库。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                           results matching ""
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\ No newline at end of file
+

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          现在您已经准备好了 生成 MAVLink 库。

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          results matching ""

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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            \ No newline at end of file diff --git a/zh/getting_started/ros.html b/zh/getting_started/ros.html index 698db5127..08bde3c78 100644 --- a/zh/getting_started/ros.html +++ b/zh/getting_started/ros.html @@ -1,2 +1,2 @@ -Generate Source Files for ROS · MAVLink Developer Guide
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            针对ROS 生成源文件

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            如果在使用 ros 时，需要添加基于MAVlink的messages/dialects，具体实施步骤如下:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1. 按照 MAVROS 源安装说明，安装官方专门为ROS发布的 mavlink 库——mavlink-gbp-release。

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            2. Uninstall the MAVlink package for ROS if previously installed.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                               sudo apt-get remove ros-${rosversion -d}-mavlink
-

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              or source devel/setup.bash of your catkin workspace to override the library directory.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            3. In the mavlink-gbp-release, add the new MAVlink message to common.xml or add the new dialect dialect_name.xml in the message definitions. Do not checkout your MAVlink branch because it is not the version synced with ROS.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            4. 采用命令 catkin build mavlink生成MAVlink 标头。 您可以在目录~/catkin_ws/build/mavlink/include/ 中找到标头（俗称，头文件）。 您可以在目录~/catkin_ws/build/mavlink/include/ 中找到标头（俗称，头文件）。

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            results matching ""

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              No results matching ""

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              \ No newline at end of file +Generate Source Files for ROS · MAVLink Developer Guide
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              针对ROS 生成源文件

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              如果在使用 ros 时，需要添加基于MAVlink的messages/dialects，具体实施步骤如下:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              1. 按照 MAVROS 源安装说明，安装官方专门为ROS发布的 mavlink 库——mavlink-gbp-release。

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              2. Uninstall the MAVlink package for ROS if previously installed.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                 sudo apt-get remove ros-${rosversion -d}-mavlink
+

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                or source devel/setup.bash of your catkin workspace to override the library directory.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              3. In the mavlink-gbp-release, add the new MAVlink message to common.xml or add the new dialect dialect_name.xml in the message definitions. Do not checkout your MAVlink branch because it is not the version synced with ROS.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              4. 采用命令 catkin build mavlink生成MAVlink 标头。 您可以在目录~/catkin_ws/build/mavlink/include/ 中找到标头（俗称，头文件）。 您可以在目录~/catkin_ws/build/mavlink/include/ 中找到标头（俗称，头文件）。

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              results matching ""

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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                \ No newline at end of file diff --git a/zh/getting_started/use_libraries.html b/zh/getting_started/use_libraries.html index be6f8c89f..2960bcf4c 100644 --- a/zh/getting_started/use_libraries.html +++ b/zh/getting_started/use_libraries.html @@ -1 +1 @@ -Using MAVLink Libraries · MAVLink Developer Guide
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                使用 MAVLink 库

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                以下链接文档解释了如何将 mavlink 库用于不同的编程语言 (通过不同的代码生成器生成)。

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                并非所有库都有文档记录。 如果您有使用其他库的经验, 请帮助我们更新这些部分! 如果您有使用其他库的经验, 请帮助我们更新这些部分!

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                results matching ""

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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  \ No newline at end of file +Using MAVLink Libraries · MAVLink Developer Guide
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  使用 MAVLink 库

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  以下链接文档解释了如何将 mavlink 库用于不同的编程语言 (通过不同的代码生成器生成)。

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  并非所有库都有文档记录。 如果您有使用其他库的经验, 请帮助我们更新这些部分! 如果您有使用其他库的经验, 请帮助我们更新这些部分!

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  results matching ""

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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    \ No newline at end of file diff --git a/zh/guide/crc.html b/zh/guide/crc.html index 2580fc59e..d4bb5f50b 100644 --- a/zh/guide/crc.html +++ b/zh/guide/crc.html @@ -1 +1 @@ -MAVLink CRC · MAVLink Developer Guide
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAVLink CRC

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAVLink services that need to use a Cyclic Redundancy Check (CRC) should choose the CRC32 algorithm described below.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Using the same CRC implementation for all cases means that only one implementation is required. Do not introduce another unless there without a compelling technical reason. Do not introduce another unless there without a compelling technical reason.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    This CRC is used for higher level services (it is not related to the CRC16 used for the checksum in MAVLink serialization).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    CRC32 Algorithm

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    The CRC32 algorithm used by MAVLink is similar to (but different from) the ISO 3309 standard based on the polygon 0x04C11DB7. It is commonly referred to as "the CRC32 based on Gary Brown's work". It is commonly referred to as "the CRC32 based on Gary Brown's work".

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    The difference of MAVLink's implementation versus the standard are:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • Start at 0 instead of 0xFFFFFFFF.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • Missing final XOR out operation with 0xFFFFFFFF.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    The effects of the initial value and final XOR operation are documented in this brief tutorial on CRC computation of the Linux kernel.

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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    This implementation is currently used in:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    results matching ""

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      No results matching ""

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      \ No newline at end of file +MAVLink CRC · MAVLink Developer Guide
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAVLink CRC

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAVLink services that need to use a Cyclic Redundancy Check (CRC) should choose the CRC32 algorithm described below.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Using the same CRC implementation for all cases means that only one implementation is required. Do not introduce another unless there without a compelling technical reason. Do not introduce another unless there without a compelling technical reason.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      This CRC is used for higher level services (it is not related to the CRC16 used for the checksum in MAVLink serialization).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      CRC32 Algorithm

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      The CRC32 algorithm used by MAVLink is similar to (but different from) the ISO 3309 standard based on the polygon 0x04C11DB7. It is commonly referred to as "the CRC32 based on Gary Brown's work". It is commonly referred to as "the CRC32 based on Gary Brown's work".

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      The difference of MAVLink's implementation versus the standard are:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • Start at 0 instead of 0xFFFFFFFF.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • Missing final XOR out operation with 0xFFFFFFFF.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      The effects of the initial value and final XOR operation are documented in this brief tutorial on CRC computation of the Linux kernel.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Implementations

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      This implementation is currently used in:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      results matching ""

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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        \ No newline at end of file diff --git a/zh/guide/define_xml_element.html b/zh/guide/define_xml_element.html index 400deb1f5..9efce6063 100644 --- a/zh/guide/define_xml_element.html +++ b/zh/guide/define_xml_element.html @@ -1,4 +1,4 @@ -Defining XML Enums/Messages · MAVLink Developer Guide
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Messages
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Messages
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Implementations
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Examples
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Help

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        如何定义 MAVLink 消息（Messages）& 枚举（Enums）

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAVLink 枚举、消息、命令和其他元素是 defined within xml 文件 中，然后使用 code generator 转换为 已支持编程语言 的库。

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        本主题为定义和扩展 MAVLink XML 元素，包括约定和最佳实践，提供了实用指南。

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        有关文件格式的详细信息，请参阅 MAVLink XML Schema (您还可以检查 common.xml 和语支文件)。

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        在提交对 dialect xml fille 进行更改的请求之前, 应首先 regenerate the dialect library with validation enabled), 然后运行 ./scripts/format_xml.sh 脚本。

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        消息与命令

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        在 MAVLink 系统之间发送信息有两种方式 (包括命令、信息和确认):

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • Messages 使用 message 元素进行编码。 消息结构/字段和处理在很大程度上是不受约束的 (即取决于创建者)。 消息结构/字段和处理在很大程度上是不受约束的 (即取决于创建者)。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • MAVLink Commands are defined as entries in the MAV_CMD enum, and encoded into real messages that are sent using the Mission Protocol or Command Protocol. 它们的结构被定义 (它们有 7个 float 参数 或 5个 float 和 2个 int32_t 参数)，处理/响应取决于用于发送它们的协议。

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        下文的指南提出了一些建议，说明何时可能比较合适。

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        在以下情况下, 请考虑使用适当的消息:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • 所需的信息不适合命令 (即它不适合7个可用的字段)。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • 该消息是另一个协议的一部分。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • 消息必须广播或流式传输 (即不需要 ACK)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        如果出现以下情况, 请考虑使用命令:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • 消息应作为任务的一部分执行。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • 有一个现有的任务命令, 您希望在任务之外使用。 有一个现有的任务命令, 您希望在任务之外使用。 根据自动驾驶仪的不同, 您可以在两种模式下使用相同的代码来处理消息。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • 您正在使用 MAVLink 1，并且新消息没有可用 id (MAVLink 1 对于 MAVLink 命令的空余 id 池比消息 id 的可用 id 池大得多)。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • 重要的是，您的命令信息没有错过，所以需要一个ACK/NAK信息。 使用现有的协议确认可能比定义另一条消息进行确认要容易/快。

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        否则，任何一种方法都可以随意使用。

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        “官方”项目 XML 文件存储在 Github 仓库 mavlink/mavlink 里的 /message_definitions/v1.0/ 下。

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAVLink 系统通常 fork，并保留此仓库的副本(例如：ArduPilot/mavlink)。 下游仓库应该从 common.xml 更改（见下一节）从主仓库中下拉下来，然后将特定的变化回去。 下游仓库应该从 common.xml 更改（见下一节）从主仓库中下拉下来，然后将特定的变化回去。

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        当您 安装 MAVLink时，官方仓库被 fork 和/或 clone 到您的环境。

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        一个项目并非 必须 将更改推回 MAVLink。 但是, 如果您希望更广泛地发布消息, 并有可能将其移动到 common.xml 消息集里, 这就有意义。 但是, 如果您希望更广泛地发布消息, 并有可能将其移动到 common.xml 消息集里, 这就有意义。

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        许多飞行堆和基地站通常有用的清单和消息存储在一个名为 common.xml、由 MAVLink 项目管理的文件中。 由特定自动驾驶仪系统或协议支持的 MAVLink 元素称为 dialects。 dialects 存储在单独的 xml 文件中, 这些文件通常 include (导入) common.xml, 并且只定义特定于系统的功能所需的元素。 由特定自动驾驶仪系统或协议支持的 MAVLink 元素称为 dialects。 导入 common.xml (<include>common.xml</include>)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        从方言文件生成 MAVLink 库时，将为方言中的所有消息和任何包含的文件 (例如 common.xml) 创建代码，并合并特定枚举的条目。 如果导入的消息或枚举项之间存在名称或 id 冲突, 生成器将报告错误。 如果导入的消息或枚举项之间存在名称或 id 冲突, 生成器将报告错误。

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        定义元素的位置取决于它是公共元素还是特殊的, 以及项目是公共的还是私有的。

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        对多地面站和自动飞行可能有用的要素

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        特定 MAVLink 语言的元素

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • 将这些元素添加到所属系统的存储库分叉中的语言文件中。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • 提出一个公关与您建议的更新, 并通过该机制与方言项目讨论。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • 然后, 特定语言项目应该 (理想情况下) 将更改推回 mavlink/mavlink。

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        私人项目的要素

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • 如果您的枚举/消息永远不会同步回 MAVLink 项目, 那么在您喜欢的任何地方定义它们!

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        创建语支文件

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        创建新的语支文件：

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        1. 获取分支 mavlink/mavlink 并克隆到您的系统
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        2. 在 message_definitions/v1.0/ 中创建 MAVLink 系统(例如飞行栈)后命名的语支文件

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        3. Copy the following text into the new file.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          common.xml

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              <!-- <version>9</version> -->
+Defining XML Enums/Messages · MAVLink Developer Guide
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          如何定义 MAVLink 消息（Messages）& 枚举（Enums）
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAVLink 枚举、消息、命令和其他元素是 defined within xml 文件 中，然后使用 code generator 转换为 已支持编程语言 的库。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          本主题为定义和扩展 MAVLink XML 元素，包括约定和最佳实践，提供了实用指南。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          有关文件格式的详细信息，请参阅 MAVLink XML Schema (您还可以检查 common.xml 和语支文件)。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          在提交对 dialect xml fille 进行更改的请求之前, 应首先 regenerate the dialect library with validation enabled), 然后运行 ./scripts/format_xml.sh 脚本。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          消息与命令
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          在 MAVLink 系统之间发送信息有两种方式 (包括命令、信息和确认):
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • Messages 使用 message 元素进行编码。 消息结构/字段和处理在很大程度上是不受约束的 (即取决于创建者)。 消息结构/字段和处理在很大程度上是不受约束的 (即取决于创建者)。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • MAVLink Commands are defined as entries in the MAV_CMD enum, and encoded into real messages that are sent using the Mission Protocol or Command Protocol. 它们的结构被定义 (它们有 7个 float 参数 或 5个 float 和 2个 int32_t 参数)，处理/响应取决于用于发送它们的协议。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          下文的指南提出了一些建议，说明何时可能比较合适。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          在以下情况下, 请考虑使用适当的消息:
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • 所需的信息不适合命令 (即它不适合7个可用的字段)。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • 该消息是另一个协议的一部分。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • 消息必须广播或流式传输 (即不需要 ACK)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          如果出现以下情况, 请考虑使用命令:
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • 消息应作为任务的一部分执行。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • 有一个现有的任务命令, 您希望在任务之外使用。 有一个现有的任务命令, 您希望在任务之外使用。 根据自动驾驶仪的不同, 您可以在两种模式下使用相同的代码来处理消息。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • 您正在使用 MAVLink 1，并且新消息没有可用 id (MAVLink 1 对于 MAVLink 命令的空余 id 池比消息 id 的可用 id 池大得多)。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • 重要的是，您的命令信息没有错过，所以需要一个ACK/NAK信息。 使用现有的协议确认可能比定义另一条消息进行确认要容易/快。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          否则，任何一种方法都可以随意使用。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          “官方”项目 XML 文件存储在 Github 仓库 mavlink/mavlink 里的 /message_definitions/v1.0/ 下。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAVLink 系统通常 fork，并保留此仓库的副本(例如：ArduPilot/mavlink)。 下游仓库应该从 common.xml 更改（见下一节）从主仓库中下拉下来，然后将特定的变化回去。 下游仓库应该从 common.xml 更改（见下一节）从主仓库中下拉下来，然后将特定的变化回去。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          当您 安装 MAVLink时，官方仓库被 fork 和/或 clone 到您的环境。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          一个项目并非 必须 将更改推回 MAVLink。 但是, 如果您希望更广泛地发布消息, 并有可能将其移动到 common.xml 消息集里, 这就有意义。 但是, 如果您希望更广泛地发布消息, 并有可能将其移动到 common.xml 消息集里, 这就有意义。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          许多飞行堆和基地站通常有用的清单和消息存储在一个名为 common.xml、由 MAVLink 项目管理的文件中。 由特定自动驾驶仪系统或协议支持的 MAVLink 元素称为 dialects。 dialects 存储在单独的 xml 文件中, 这些文件通常 include (导入) common.xml, 并且只定义特定于系统的功能所需的元素。 由特定自动驾驶仪系统或协议支持的 MAVLink 元素称为 dialects。 导入 common.xml (<include>common.xml</include>)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          从方言文件生成 MAVLink 库时，将为方言中的所有消息和任何包含的文件 (例如 common.xml) 创建代码，并合并特定枚举的条目。 如果导入的消息或枚举项之间存在名称或 id 冲突, 生成器将报告错误。 如果导入的消息或枚举项之间存在名称或 id 冲突, 生成器将报告错误。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          定义元素的位置取决于它是公共元素还是特殊的, 以及项目是公共的还是私有的。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          对多地面站和自动飞行可能有用的要素
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          特定 MAVLink 语言的元素
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • 将这些元素添加到所属系统的存储库分叉中的语言文件中。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • 提出一个公关与您建议的更新, 并通过该机制与方言项目讨论。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • 然后, 特定语言项目应该 (理想情况下) 将更改推回 mavlink/mavlink。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          私人项目的要素
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • 如果您的枚举/消息永远不会同步回 MAVLink 项目, 那么在您喜欢的任何地方定义它们!
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          创建语支文件
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          创建新的语支文件：
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1. 获取分支 mavlink/mavlink 并克隆到您的系统
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2. 在 message_definitions/v1.0/ 中创建 MAVLink 系统(例如飞行栈)后命名的语支文件
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          3. Copy the following text into the new file.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            common.xml
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                <!-- <version>9</version> -->
     <dialect>8</dialect>
 
     <enums>
@@ -66,4 +66,4 @@
     </enum>
 
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAVLink 命令规则和其他的 enums 极其相同。 还有一些其他公约。 还有一些其他公约。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            命令 (条目) 值
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            所有任务命令条目 必须 具有价值(这不是由工具链强制执行的，而是与其他清单一样，它减少了所有无意改变和拆散其他系统的值的机会)。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            对于 Mavlink 每个语支都被分配到一个特定的范围, 从中可以选择 id。 大多数语支都应保留注释的版本 (即包括 common.xml 的所有语支)。 它还意味着，消息可以从语支到 common.xml 而不需要修改的任何代码。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            语支可以在其范围内选择任何信息。 语支可以在其范围内选择任何信息。 然而，我们建议，所有related 命令都保留在同一块ID中，如果今后可能有更类似的命令，那么空格可能会被留待新的命令。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            The allocated ranges are listed below (a more complete list is provided in the comments in all.xml):
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            语支范围
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Common.xml0 - 39999
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            asluav.xml40001 - 41999
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ArduPilotMega.xml42000 - 42999
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            slugs.xml10001 - 11999
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            如果要创建新的公共语支, create an issue 以请求您自己的消息 Id 范围。 对于私有语支, 您可以使用任何您喜欢的版本。 对于私有语支, 您可以使用任何您喜欢的版本。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            有一些常见的命令和 ardupilot 命令超出了范围 (例如16、200等)。 通常, 您只会使用这些范围, 以便为新命令提供一个与相关命令相关的 id。 有一些常见的命令和 ardupilot 命令超出了范围 (例如16、200等)。 通常, 您只会使用这些范围, 以便为新命令提供一个与相关命令相关的 id。 这可以做到, 前提是 mavlink/mavlink 存储库中的任何其他 xml 文件都不使用命令 id 值。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            条目名称
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            与其他枚举一样, 枚举条目名称应以枚举名称 (即 MAV_CMD_) 作为前缀。 此外, 还有一些其他用于常见命令类型的 "标准" 前缀:
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • MAV_CMD_NAV_: NAV 命令用于导航/移动命令 (以特定方式转到特定航点或移动的命令)。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • MAV_CMD_DO_: DO 命令用于设置模式、改变高度或速度等。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • MAV_CMD_CONDITION_: CONDITION_ 命令用于定义任务状态机移动到下一个项目之前的条件 (例如, 在拍照前到达航点之后的一段时间)。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • MAV_CMD_REQUEST_: 用于请求系统的信息。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            上述前缀的规则是灵活的；有些 DO 命令可能是合理的 NAV 命令。 在某些情况下, 要求提供信息可能是一种 MAV_CMD_REQUEST_, 而在另一些情况下, 它可能是一条独立的消息。 在某些情况下, 要求提供信息可能是一种 MAV_CMD_REQUEST_, 而在另一些情况下, 它可能是一条独立的消息。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            参数 (参数)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            消息数据在 param 值/属性中进行编码。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            标准映射
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            参数 (params) 必须具有1到7之间的索引。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            如果命令包含位置信息，这总是存储在：参数5 (x/纬度)、参数6 (y/经度)、参数7 (z, 高度)。 该值是本地 (x, y, z) 还是全局 (纬度、经度、高度) 取决于命令和使用的帧 (通常在父消息中定义的帧)。 该值是本地 (x, y, z) 还是全局 (纬度、经度、高度) 取决于命令和使用的帧 (通常在父消息中定义的帧)。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            数据类型
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            参数 索引 1-4 的数据，7 总是在一个大小 浮动，而索引5，6也可作为int 32(视所使用的消息而定)。 这意味着不应使用指数5和6用于可能需要以浮动点值发送的数据（例如NaN）。 这意味着不应使用指数5和6用于可能需要以浮动点值发送的数据（例如NaN）。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            保留/未定义的参数
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            许多命令没有需要 7 (或任何) 参数 值。 许多命令没有需要 7 (或任何) 参数 值。 这些未使用的参数可以被视为 reserved, 允许在以后需要扩展命令时重复使用这些参数。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            保留的 param must 始终以默认值为 0 或 NaN (这会被接收者解释为 "无操作" 或 "不受支持") 发送。 如果重复使用, 原始默认值仍然必须表示 "无操作", 以便更新后的系统仍然可以与尚未更新的系统进行交互。 如果重复使用, 原始默认值仍然必须表示 "无操作", 以便更新后的系统仍然可以与尚未更新的系统进行交互。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            不幸的是, 这意味着保留的 param 必须在声明命令时决定其默认值! 默认值以后不能从 NaN 更改为 0 (或者签证反之亦然), 而不会出现潜在的兼容性问题。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            若要将 param 声明为具有 NaN default 值的 reserved, 应使用以下语法。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            <param index="3" reserved="true" default="NaN" />
 
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            索引值5和6参数不应授予默认 的 NaN， 因为如果这些参数在COMMAND_INT或MISSION_INT这些参数是集成器 (因此没有代表导航)。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            To declare a param as reserved with default value of 0 simply omit the param from the definition. This is the default - it is equivalent to:
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            <param index="3" reserved="true" default="0" />
-
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            如果您仅有一个未使用的 参数 我们建议你不要声明。 如果您仅有一个未使用的 参数 我们建议你不要声明。 If you have more than one, you may wish to explicitly define it with default of NaN so that you can extend your command later with either default.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            GUI Param Attributes
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            A number of param attributes are provided as "GUI hints".
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            These attributes are used to better display params:
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • label - Label for param in GCS/UI. All words in label should be capitalised (e.g. "Hold Altitude").
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • units - SI units for the value.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • decimalPlaces - Hint to a UI about how many decimal places to use if the parameter value is displayed.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            These attributes help a GCS customise the editing experience (e.g. controls can choose to only offer allowed values).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • enum - Enum containing possible values for the parameter (if applicable).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • increment - Allowed increments for the parameter value.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • minValue - Minimum value for param.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • maxValue - Maximum value for the param.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                           results matching ""
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            如果您仅有一个未使用的 参数 我们建议你不要声明。 如果您仅有一个未使用的 参数 我们建议你不要声明。 If you have more than one, you may wish to explicitly define it with default of NaN so that you can extend your command later with either default.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            GUI Param Attributes

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            A number of param attributes are provided as "GUI hints".

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            These attributes are used to better display params:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • label - Label for param in GCS/UI. All words in label should be capitalised (e.g. "Hold Altitude").
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • units - SI units for the value.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • decimalPlaces - Hint to a UI about how many decimal places to use if the parameter value is displayed.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            These attributes help a GCS customise the editing experience (e.g. controls can choose to only offer allowed values).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • enum - Enum containing possible values for the parameter (if applicable).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • increment - Allowed increments for the parameter value.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • minValue - Minimum value for param.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • maxValue - Maximum value for the param.

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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            通用遥测

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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              results matching ""

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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                学习指南

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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                请点击下方的工具栏的链接，了解详情：

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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  学习指南

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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  请点击下方的工具栏的链接，了解详情：

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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAVLink 2

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAVLink 2 是对 MAVLink 协议的一个后兼容更新，目的是使MAVLink 通信有更多的灵活性和安全性。 MAVLink 2 是对 MAVLink 协议的一个后兼容更新，目的是使MAVLink 通信有更多的灵活性和安全性。 MAVLink 2 为C、C++11 和 Python 开发了绑定(见支持的语言)。

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    此主题与 MAVLink 2 的主要新功能链接，以及如何使用。

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    特性

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAVLink 2的关键新功能是：

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • 24 位消息 ID - 允许 16 000多万枚独特的信息定义(MAVLink 1 仅限256)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • Packet signing - 验证消息是由信任系统发送的。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • 消息扩展 - 在现有的 MAVLink 消息定义中添加新的字段，但不打破未更新的接收器的二进制兼容性。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • Empty-byte payload truncation - Empty (zero-filled) bytes at the end of the serialized payload must be removed before sending (All bytes were sent in MAVLink 1, regardless of content).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • Compatibility Flags/Incompatibility Flags - Allow for backwards compatible evolution of the protocol by indicating frames that must be handled in a special/non-standard way (packets with compatibility flags can still be handled in the standard way, while packets with incompatibility flags must be dropped if the flage is not supported).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAVLink 2 design document 提供了关于更新的额外背景信息。

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    版本对接/谈判

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAVLink Versions explains the handshaking used to determine the supported MAVLink version of either end of the channel, and how to negotiate the version to use.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    C 接口

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAVLink 2 C库向下兼容 MAVLink 1。 MAVLink 2 C库向下兼容 MAVLink 1。 关于如何升级库并与 MAVLink 1 工作的信息载于使用 C MAVLink 库(mavgen)。

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    results matching ""

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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAVLink 2

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAVLink 2 是对 MAVLink 协议的一个后兼容更新，目的是使MAVLink 通信有更多的灵活性和安全性。 MAVLink 2 是对 MAVLink 协议的一个后兼容更新，目的是使MAVLink 通信有更多的灵活性和安全性。 MAVLink 2 为C、C++11 和 Python 开发了绑定(见支持的语言)。

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      此主题与 MAVLink 2 的主要新功能链接，以及如何使用。

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      特性

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAVLink 2的关键新功能是：

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • 24 位消息 ID - 允许 16 000多万枚独特的信息定义(MAVLink 1 仅限256)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • Packet signing - 验证消息是由信任系统发送的。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • 消息扩展 - 在现有的 MAVLink 消息定义中添加新的字段，但不打破未更新的接收器的二进制兼容性。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • Empty-byte payload truncation - Empty (zero-filled) bytes at the end of the serialized payload must be removed before sending (All bytes were sent in MAVLink 1, regardless of content).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • Compatibility Flags/Incompatibility Flags - Allow for backwards compatible evolution of the protocol by indicating frames that must be handled in a special/non-standard way (packets with compatibility flags can still be handled in the standard way, while packets with incompatibility flags must be dropped if the flage is not supported).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAVLink 2 design document 提供了关于更新的额外背景信息。

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      版本对接/谈判

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAVLink Versions explains the handshaking used to determine the supported MAVLink version of either end of the channel, and how to negotiate the version to use.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      C 接口

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAVLink 2 C库向下兼容 MAVLink 1。 MAVLink 2 C库向下兼容 MAVLink 1。 关于如何升级库并与 MAVLink 1 工作的信息载于使用 C MAVLink 库(mavgen)。

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      results matching ""

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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAVLink 版本

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAVLink 已部署在若干版本中：

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • MAVLink 2.0：当前/推荐的主要版本。 2017年初被主要用户采用。 2017年初被主要用户采用。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • MAVLink v1.0 : 2013年前后广泛采用。 仍被许多传统的外围设备使用。 仍被许多传统的外围设备使用。

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAVLink 2.0 C/C++ 和 Python 库向后兼容的 MAVLink 1.0 (支持这两个协议)。 Version Handshaking 和 Negotiating Version 解释了如何选择使用哪种版本。 Version Handshaking 和 Negotiating Version 解释了如何选择使用哪种版本。

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAVLink v0.9 是不再受支持的预发行版本。 相关的信息于2018年8月删除。 旧代码可能存在于生成器和测试代码。 相关的信息于2018年8月删除。 旧代码可能存在于生成器和测试代码。

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        确定协议/消息版本

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        库的 MAVLink 支持可以通过多种方式来确定:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • AUTOPILOT_VERSION 可以根据 MAV_PROTOCOL_CAPABILITY_MAVLINK2 标志检查 .capabilities, 以验证 MAVLink 2 支持。

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • PROTOCOL_VERSION, 我的时间, 我的version 包含 MAVLink 版本号乘以100: v1.0 为 100, v2.3 为203等。

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • HEARTBEAT.mavlink_version 字段包含次要版本号。 HEARTBEAT.mavlink_version 字段包含次要版本号。 这是 Message Definitions (version 在 common.xml 中定义的 <version> 字段, 用于依赖于通用消息集的语支)。

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • 主要版本可以从数据包起始标记字节中确定:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • MAVLink 1: 0xFE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • MAVLink 2: 0xFD

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            不支持协议版本的 MAVLink 库将无法识别协议启动标记；因此甚至不会检测到任何消息（请参见 Serialization）。

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        虽然消息不包含版本信息，但额外的 CRC 用于确保一个库只能处理兼容的信息（见Serialization > CRC_EXTERA）。

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        版本握手

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        对 MAVLink 2 的支持在 AUTOPILOT_VERSION 消息中由 MAV_PROTOCOL_CAPABILITY_MAVLINK2 标志表示。

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        如果自动驾驶仪和 gcs 之间的通信链接是完全透明的, 这就足够了。 但是, 大多数通信链路并不完全透明, 因为它们要么包括路由, 要么在数据化上固定长度的无线实现的情况下。 为了测试链接, MAVLink 2 握手协议发送一个 MAVLink 2 帧来测试完整的通信链。

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        为此, GCS 将发送带有命令 ID MAV_CMD_REQUEST_PROTOCOL_VERSION 的 COMMAND_LONG 或 COMMAND_INT 消息。

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        如果系统支持 MAVLink 2 并且握手时, 它将以 PROTOCOL_VERSION 编码为 MAVLink 2 包。 如果它不支持 MAVLink 2 则回 NACK 命令。 如果命令接口未得到适当执行，GCS应返回超时。 如果它不支持 MAVLink 2 则回 NACK 命令。 如果命令接口未得到适当执行，GCS应返回超时。

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        下表显示完整顺序。

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Mermaid sequence: Request protocol version

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        半透明的传输

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Some popular legacy radios (e.g. the SiK radio series) operate in semi-transparent mode by injecting RADIO_STATUS messages into the MAVLink message stream. Per MAVLink spec these should actually emit a heartbeat with the same system ID and a different component ID than the autopilot to be discoverable. However, an additional heartbeat could be an issue for deployed systems. Therefore these radios can alternatively confirm their MAVLink 2 compliance by emitting RADIO_STATUS in v2 message format after receiving the first MAVLink v2 frame.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        版本和签名

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        The supported MAVLink library implementations enable different MAVLink versions on a per-channel basis, where a channel refers to a particular link in/out of a MAVLink system or component (e.g. a serial port or UDP port).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        As a result, all connections to other components over a particular channel must share the same MAVLink version. If a system is using signing, then all connections via the same channel must also be signing messages with the same key.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        系统不能使用单个通道连接到签名的 MAVLink 2 系统、未签名的 MAVLink 2 系统和/或 MAVLink 1 组件。

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Currently most MAVLink networks are configured to use unsigned MAVLink 2 messages. MAVLink 1 is primarily used to allow autopilots to connect to legacy MAVLink peripherals, and this is done via a separate channel. Signed networks will need to use a further separate channel to connect to other signed systems.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        The next section explains how a system/channel should negotiate the version to use.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        协商版本

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Vehicle and GCS implementations will support both MAVLink 1 and MAVLink 2 for quite some time. We would like most users to receive the benefit of MAVLink 2, while still supporting implementations that don't yet support MAVLink 2.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        The following is meant to capture best practice for vehicle firmware and GCS authors:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • 飞机实现应该有一种方法来启用/禁用发送 MAVLink 2 消息。 这最好是在每个链路 (通道) 的基础上, 以允许某些外围设备 MAVLink 1 而其他外围设备 MAVLink 2 。 此选项要求重新启动飞行控制器才能生效是可以接受的。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • 如果启用了签名, 则飞机应在启动时立即开始发送 signed MAVLink 2 。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • 如果未启用签名, 并且启用了 MAVLink 2 , 则飞机可以选择通过发送 MAVLink 1 启动, 并在首次收到链接上的 MAVLink 2 消息时切换到链接上的 MAVLink 2 。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • 如果链接上有 MAVLink 2 , 则飞机应在 AUTOPILOT_VERSION 消息中设置 MAV_PROTOCOL_CAPABILITY_MAVLINK2 能力标志。 如果链接上有 MAVLink 2 , 则飞机应在 AUTOPILOT_VERSION 消息中设置 MAV_PROTOCOL_CAPABILITY_MAVLINK2 能力标志。 如果链接当前正在发送 MAVLink 1 数据包, 但 MAVLink 2 数据包将被接受, 并将导致切换到 MAVLink 2 的情况下, 应设置此设置。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • GCS 实现可以选择自动切换到 MAVLink 2 (如果可用), 也可以选择具有 MAVLink 2 的配置选项。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • 如果 GCS 选择使用配置选项, 则在启用该选项时, 它应在启动链接时发送 MAVLink 2 。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • 如果 GCS 选择使用自动切换, 则应切换到发送 MAVLink 2 如果它在链接上收到 MAVLink 2 消息, 或者要求发送 AUTOPILOT_VERSION 消息并查看 MAV_PROTOCOL_CAPABILITY_设置了 mallink2 标志。

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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          No results matching ""

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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAVLink 版本

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAVLink 已部署在若干版本中：

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • MAVLink 2.0：当前/推荐的主要版本。 2017年初被主要用户采用。 2017年初被主要用户采用。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • MAVLink v1.0 : 2013年前后广泛采用。 仍被许多传统的外围设备使用。 仍被许多传统的外围设备使用。

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAVLink 2.0 C/C++ 和 Python 库向后兼容的 MAVLink 1.0 (支持这两个协议)。 Version Handshaking 和 Negotiating Version 解释了如何选择使用哪种版本。 Version Handshaking 和 Negotiating Version 解释了如何选择使用哪种版本。

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAVLink v0.9 是不再受支持的预发行版本。 相关的信息于2018年8月删除。 旧代码可能存在于生成器和测试代码。 相关的信息于2018年8月删除。 旧代码可能存在于生成器和测试代码。

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          确定协议/消息版本

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          库的 MAVLink 支持可以通过多种方式来确定:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • AUTOPILOT_VERSION 可以根据 MAV_PROTOCOL_CAPABILITY_MAVLINK2 标志检查 .capabilities, 以验证 MAVLink 2 支持。

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • PROTOCOL_VERSION, 我的时间, 我的version 包含 MAVLink 版本号乘以100: v1.0 为 100, v2.3 为203等。

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • HEARTBEAT.mavlink_version 字段包含次要版本号。 HEARTBEAT.mavlink_version 字段包含次要版本号。 这是 Message Definitions (version 在 common.xml 中定义的 <version> 字段, 用于依赖于通用消息集的语支)。

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • 主要版本可以从数据包起始标记字节中确定:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • MAVLink 1: 0xFE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • MAVLink 2: 0xFD

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              不支持协议版本的 MAVLink 库将无法识别协议启动标记；因此甚至不会检测到任何消息（请参见 Serialization）。

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          虽然消息不包含版本信息，但额外的 CRC 用于确保一个库只能处理兼容的信息（见Serialization > CRC_EXTERA）。

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          版本握手

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          对 MAVLink 2 的支持在 AUTOPILOT_VERSION 消息中由 MAV_PROTOCOL_CAPABILITY_MAVLINK2 标志表示。

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          如果自动驾驶仪和 gcs 之间的通信链接是完全透明的, 这就足够了。 但是, 大多数通信链路并不完全透明, 因为它们要么包括路由, 要么在数据化上固定长度的无线实现的情况下。 为了测试链接, MAVLink 2 握手协议发送一个 MAVLink 2 帧来测试完整的通信链。

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          为此, GCS 将发送带有命令 ID MAV_CMD_REQUEST_PROTOCOL_VERSION 的 COMMAND_LONG 或 COMMAND_INT 消息。

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          如果系统支持 MAVLink 2 并且握手时, 它将以 PROTOCOL_VERSION 编码为 MAVLink 2 包。 如果它不支持 MAVLink 2 则回 NACK 命令。 如果命令接口未得到适当执行，GCS应返回超时。 如果它不支持 MAVLink 2 则回 NACK 命令。 如果命令接口未得到适当执行，GCS应返回超时。

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          下表显示完整顺序。

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Mermaid sequence: Request protocol version

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          半透明的传输

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Some popular legacy radios (e.g. the SiK radio series) operate in semi-transparent mode by injecting RADIO_STATUS messages into the MAVLink message stream. Per MAVLink spec these should actually emit a heartbeat with the same system ID and a different component ID than the autopilot to be discoverable. However, an additional heartbeat could be an issue for deployed systems. Therefore these radios can alternatively confirm their MAVLink 2 compliance by emitting RADIO_STATUS in v2 message format after receiving the first MAVLink v2 frame.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          版本和签名

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          The supported MAVLink library implementations enable different MAVLink versions on a per-channel basis, where a channel refers to a particular link in/out of a MAVLink system or component (e.g. a serial port or UDP port).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          As a result, all connections to other components over a particular channel must share the same MAVLink version. If a system is using signing, then all connections via the same channel must also be signing messages with the same key.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          系统不能使用单个通道连接到签名的 MAVLink 2 系统、未签名的 MAVLink 2 系统和/或 MAVLink 1 组件。

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Currently most MAVLink networks are configured to use unsigned MAVLink 2 messages. MAVLink 1 is primarily used to allow autopilots to connect to legacy MAVLink peripherals, and this is done via a separate channel. Signed networks will need to use a further separate channel to connect to other signed systems.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          The next section explains how a system/channel should negotiate the version to use.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          协商版本

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Vehicle and GCS implementations will support both MAVLink 1 and MAVLink 2 for quite some time. We would like most users to receive the benefit of MAVLink 2, while still supporting implementations that don't yet support MAVLink 2.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          The following is meant to capture best practice for vehicle firmware and GCS authors:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • 飞机实现应该有一种方法来启用/禁用发送 MAVLink 2 消息。 这最好是在每个链路 (通道) 的基础上, 以允许某些外围设备 MAVLink 1 而其他外围设备 MAVLink 2 。 此选项要求重新启动飞行控制器才能生效是可以接受的。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • 如果启用了签名, 则飞机应在启动时立即开始发送 signed MAVLink 2 。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • 如果未启用签名, 并且启用了 MAVLink 2 , 则飞机可以选择通过发送 MAVLink 1 启动, 并在首次收到链接上的 MAVLink 2 消息时切换到链接上的 MAVLink 2 。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • 如果链接上有 MAVLink 2 , 则飞机应在 AUTOPILOT_VERSION 消息中设置 MAV_PROTOCOL_CAPABILITY_MAVLINK2 能力标志。 如果链接上有 MAVLink 2 , 则飞机应在 AUTOPILOT_VERSION 消息中设置 MAV_PROTOCOL_CAPABILITY_MAVLINK2 能力标志。 如果链接当前正在发送 MAVLink 1 数据包, 但 MAVLink 2 数据包将被接受, 并将导致切换到 MAVLink 2 的情况下, 应设置此设置。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • GCS 实现可以选择自动切换到 MAVLink 2 (如果可用), 也可以选择具有 MAVLink 2 的配置选项。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • 如果 GCS 选择使用配置选项, 则在启用该选项时, 它应在启动链接时发送 MAVLink 2 。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • 如果 GCS 选择使用自动切换, 则应切换到发送 MAVLink 2 如果它在链接上收到 MAVLink 2 消息, 或者要求发送 AUTOPILOT_VERSION 消息并查看 MAV_PROTOCOL_CAPABILITY_设置了 mallink2 标志。

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          results matching ""

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            No results matching ""

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            \ No newline at end of file diff --git a/zh/guide/message_signing.html b/zh/guide/message_signing.html index 19b891de9..a61955843 100644 --- a/zh/guide/message_signing.html +++ b/zh/guide/message_signing.html @@ -1,3 +1,3 @@ -Message Signing · MAVLink Developer Guide
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Messages
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Implementations
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            消息签名 (身份验证)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAVLink 2 添加了对消息签名的支持, 允许 MAVLink 系统验证消息是否来自受信任的源。

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            本主题提供消息签名的概述, 这对于使用现有 MAVLink 库的开发人员和新的 MAVLink 代码生成器的编写者都很有用。 它解释了系统如何确定报文是否已签名、签名是否有效、如何允许接受未签名的报文以及如何创建和共享用于创建签名的 secret。 它解释了系统如何确定报文是否已签名、签名是否有效、如何允许接受未签名的报文以及如何创建和共享用于创建签名的 secret。

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            有关使用现有 mavlink 库的开发人员的更多详细信息, 请参见:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            帧格式

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            对于已签名的数据包, incompatibility flag field 的 0x01 位设置为 true, 并在数据包中附加另外13个字节的 "签名" 数据。 签名的数据包格式如下。 签名的数据包格式如下。

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAVLink 2 签名

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            数据包标头中的 incompatibility 标志 用于指示如果 MAVLink 不识别或无法处理标志, 则必须拒绝数据包。 换句话说, 不支持签名的 MAVLink 库必须丢弃签名的数据包。 C 库使用 MAVLINK_IFLAG_SIGNED 表示 "支持消息签名" 位。 换句话说, 不支持签名的 MAVLink 库必须丢弃签名的数据包。 C 库使用 MAVLINK_IFLAG_SIGNED 表示 "支持消息签名" 位。

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            签字的13字节为：

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            数据描述
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            linkID(8 位)发送数据包的链接ID。 通常与channel相同。 通常与channel相同。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            时间戳(48位)2015年1月1日GMT时间以来的10个微秒时间戳。 这个 必须 单步增加每个消息 链接。 请注意，如果数据包平均每秒100,000多个数据包，那么时间戳可能早于实际时间。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            签名(48位)基于完整的数据包、时间戳和秘密密钥，数据包有48位签名。

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            见下文关于字段的更多信息。

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            提供了8位链接ID，以确保签名系统对多链接 MAVLink 系统足够强大。 每个执行都应该指定一个链接ID，指定它启用的 MAVLink 通信渠道，并将此ID置于链接ID字段中。 链接 ID 特别重要，因为不同链接（如WiFi，加上遥控无线电广播）之间可能存在巨大的潜在差异。 每个执行都应该指定一个链接ID，指定它启用的 MAVLink 通信渠道，并将此ID置于链接ID字段中。 链接 ID 特别重要，因为不同链接（如WiFi，加上遥控无线电广播）之间可能存在巨大的潜在差异。

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            每条逻辑流都单独适用单一图形增加的 timestamp 规则，其中一个流是由图波定义的：

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            (系统 id、组件 id、链接 id)
+Message Signing · MAVLink Developer Guide
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            消息签名 (身份验证)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAVLink 2 添加了对消息签名的支持, 允许 MAVLink 系统验证消息是否来自受信任的源。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            本主题提供消息签名的概述, 这对于使用现有 MAVLink 库的开发人员和新的 MAVLink 代码生成器的编写者都很有用。 它解释了系统如何确定报文是否已签名、签名是否有效、如何允许接受未签名的报文以及如何创建和共享用于创建签名的 secret。 它解释了系统如何确定报文是否已签名、签名是否有效、如何允许接受未签名的报文以及如何创建和共享用于创建签名的 secret。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            有关使用现有 mavlink 库的开发人员的更多详细信息, 请参见:
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            帧格式
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            对于已签名的数据包, incompatibility flag field 的 0x01 位设置为 true, 并在数据包中附加另外13个字节的 "签名" 数据。 签名的数据包格式如下。 签名的数据包格式如下。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAVLink 2 签名
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            数据包标头中的 incompatibility 标志 用于指示如果 MAVLink 不识别或无法处理标志, 则必须拒绝数据包。 换句话说, 不支持签名的 MAVLink 库必须丢弃签名的数据包。 C 库使用 MAVLINK_IFLAG_SIGNED 表示 "支持消息签名" 位。 换句话说, 不支持签名的 MAVLink 库必须丢弃签名的数据包。 C 库使用 MAVLINK_IFLAG_SIGNED 表示 "支持消息签名" 位。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            签字的13字节为：
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            数据描述
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            linkID(8 位)发送数据包的链接ID。 通常与channel相同。 通常与channel相同。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            时间戳(48位)2015年1月1日GMT时间以来的10个微秒时间戳。 这个 必须 单步增加每个消息 链接。 请注意，如果数据包平均每秒100,000多个数据包，那么时间戳可能早于实际时间。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            签名(48位)基于完整的数据包、时间戳和秘密密钥，数据包有48位签名。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            见下文关于字段的更多信息。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            提供了8位链接ID，以确保签名系统对多链接 MAVLink 系统足够强大。 每个执行都应该指定一个链接ID，指定它启用的 MAVLink 通信渠道，并将此ID置于链接ID字段中。 链接 ID 特别重要，因为不同链接（如WiFi，加上遥控无线电广播）之间可能存在巨大的潜在差异。 每个执行都应该指定一个链接ID，指定它启用的 MAVLink 通信渠道，并将此ID置于链接ID字段中。 链接 ID 特别重要，因为不同链接（如WiFi，加上遥控无线电广播）之间可能存在巨大的潜在差异。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            每条逻辑流都单独适用单一图形增加的 timestamp 规则，其中一个流是由图波定义的：
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            (系统 id、组件 id、链接 id)
 
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            有关详细信息, 请参阅 C Message Signing > Handling Link IDs。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            签名
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            48位(6byte) 签名是 SHA-256 完整包的第48位(无签名，但包括时间戳)，附在秘密密钥上。 密钥是 MAVLink 通道（即自动试验、地面站或 MAVLink API）两个终端储存的二进制数据的32字节。 密钥是 MAVLink 通道（即自动试验、地面站或 MAVLink API）两个终端储存的二进制数据的32字节。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            这如下所示, 其中 + 表示串联, sha256_48() 是一个 sha256 实现, 它返回正常 sha256 输出的前 48位:
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            signature = sha256_48(secret_key + header + payload + CRC + link-ID + timestamp)
-
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            时间戳处理
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            时间戳是48位，从2015年1月1日起，单位为10微秒。 对于1/1/1970年以来可用的系统（unexpoch），你可以在 14200004 秒内使用抵消。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            这是一个松散的定义, 因为下面详细介绍的各种更新机制可能会导致时间戳与实际 GMT 时间有显著差异。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            生成的所有时间戳必须至少比同一会话中为同一链接 (SystemID、组件 id、LinkID) 元组发送的上一个时间戳多1个时间戳。 如果数据包以每秒100 000多包的速度破裂，时间戳可能提前 GMT 时间。 如果数据包以每秒100 000多包的速度破裂，时间戳可能提前 GMT 时间。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAVLink 启用的设备可能不知道当前的 GMT 时间，例如，如果没有可靠的时间源，或者，如果它刚刚启动，并且尚未从GPS 或其他系统中获得时间。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            系统应当执行以下规则，以获得可靠的时间戳：
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • 当前时间戳应定期储存在持久性储存中(最好至少每分钟一次)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • 启动时使用的时间戳应该是系统时钟和存储时间戳所隐含的时间戳的最大值
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • 如果该系统没有一个 RTC 机制，则应当更新其在全球定位系统锁定时时的时间戳。 应该使用全球定位系统和存储时间戳的最大时间戳。 应该使用全球定位系统和存储时间戳的最大时间戳。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • 从特定链接发送的每个消息中，时间戳应增加一个。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • 当正确签名的信息被解码时，时间戳比当前时间戳高时，时间戳应替换。 当正确签名的信息被解码时，时间戳比当前时间戳高时，时间戳应替换。 > Note 链接的时间戳绝对不能来自错误签名的包（即使它们已经被 accepted）
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • 收到的信息上的时间戳，应当与收到的 (linkID,srcSystem,Srcontents) 的输出时间戳进行检查，如果信息较小，则该消息被否决。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • 如果没有之前的信息与给定的 (linkID,srcSystem,Srcontent) 那么，如果时间戳不超过600万(1分钟)，则应接受时间戳。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            对于在持久存储中存储时间戳的设备, 实现可以通过存储两个时间戳值来防止抢占条件。 在写入时, 应更新两个值中较小的值。 在读取时, 应使用两个值中较大的值。 在写入时, 应更新两个值中较小的值。 在读取时, 应使用两个值中较大的值。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            接受签名包
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            当签名的数据包到达时, 如果出现以下情况, 则应将其丢弃:
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • 时间戳来自同一逻辑流的上一个数据包, 其中逻辑流被定义为具有相同 (SystemID、ComponentID、LinkID) 元组的 MAVLink 数据包的序列。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • 计算的48位签名与数据包中包含的签名不匹配。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • 时间戳在本地系统的时间戳后面超过 1分钟 (6, 000, 000)。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            接受未签名包
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAVLink 库应该提供一种机制, 允许系统有条件地接受 unsigned 数据包。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            接受这些数据包的规则将是特定于实现的, 但可以基于参数设置、传输类型、消息类型、(in) 兼容性标志等的组合。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            所有不符合系统特定的未签名数据包接受规则的数据包都必须被拒绝 (否则将无法从登录/身份验证中获得任何好处)。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            关于何时接受未签名数据包的一些建议:
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • 接受基于系统特定参数的所有未签名数据包。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • 如果连接是通过 "安全通道" (例如本地 usb 电缆或本地有线以太网电缆), 则接受所有未签名的数据包。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • RADIO_STATUS 数据包总是在不签名的情况下被接受 (以便使遥测数传的工作更轻松)。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • 在 "无签名模式" (可能由启动时按下的硬件按钮触发) 时接受所有未签名的数据包。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • 接受所有未签名的数据包, 直到 (无条件地) 收到已签名的数据包, 然后移动到上面更受限制的签名规则。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            接受签名不正确的数据包
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAVLink 库应该提供一种机制, 允许系统有条件地接受签名不正确的数据包。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            此功能可能有助于查找带有损坏的密钥的失联飞机 (gcs 可以选择仍然显示位置信息, 尽管理想情况下使用不同的 "不受信任" 图标)。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            接受签名不正确的数据包的系统应提供一个非常明显的指示, 表明连接 unsafe/insecure。 格式错误的签名数据包表示配置错误、传输失败、协议失败或恶意操作。 格式错误的签名数据包表示配置错误、传输失败、协议失败或恶意操作。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            密钥管理
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            密钥是32字节的二进制数据, 用于创建可由密钥的其他持有者验证的消息签名。 密钥应在网络中的一个系统 (通常是 GCS) 上创建, 并通过安全通道共享到其他受信任的设备。 系统必须具有共享密钥才能进行通信。 密钥应在网络中的一个系统 (通常是 GCS) 上创建, 并通过安全通道共享到其他受信任的设备。 系统必须具有共享密钥才能进行通信。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            mavgen C 和 Python 库每个链接仅支持一个密钥。 这是库的选择, 而不是协议的限制/要求。 相反, 实现可以存储一个密钥池, 并/或在每个连接的基础上管理密钥。 这是库的选择, 而不是协议的限制/要求。 相反, 实现可以存储一个密钥池, 并/或在每个连接的基础上管理密钥。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            密钥应存储在持久存储设备中, 并且不得通过任何可公开访问的通信协议公开。 密钥应存储在持久存储设备中, 并且不得通过任何可公开访问的通信协议公开。 特别是, 密钥不得在可以用于公共日志分析的 MAVLink 参数、MAVLink 日志文件或数据闪存日志文件中公开。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            生成密钥的方法取决于实现。 例如, 它可以通过以下方式生成:
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • 用户输入的字符串, 然后通过 sha-256 运行。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • 随机密钥生成器。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            密钥可以使用 SETUP_SIGNING 消息共享到其他设备。 该消息只能通过安全链接 (如 USB 或有线以太网) 发送, 作为直接消息发送到每个连接的 system_id/component_id。 必须设置接收系统来处理消息, 并将接收到的密钥存储到相应的永久存储中。 该消息只能通过安全链接 (如 USB 或有线以太网) 发送, 作为直接消息发送到每个连接的 system_id/component_id。 必须设置接收系统来处理消息, 并将接收到的密钥存储到相应的永久存储中。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            同样的安全方法可以用于 set 和 reset 系统的密钥 (重新发送密钥不必比首先设置它 "更安全")。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            不应广播 SETUP_SIGNING 消息, 接收到的 SETUP_SIGNING 消息不得自动转发到其他活动的 MAVLink 设备/流通道。 这是为了避免通过安全链接 (如 usb) 收到的密钥通过不安全的链接 (例如 wifi) 自动转发到另一个系统的情况。 这是为了避免通过安全链接 (如 usb) 收到的密钥通过不安全的链接 (例如 wifi) 自动转发到另一个系统的情况。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            不通过 USB 提供 MAVLink 的自动驾驶仪可能会创建一个模块, 可以从命令行界面 (例如 nsh) 设置密钥。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            我们建议 GCS 实现生成密钥, 并通过安全链接 (例如 USB) 与连接的系统共享密钥。 可以将接收系统配置为忽略安全通道上的消息签名 (即接受所有 signed、unsigned 或 incorrectly signed 数据包), 以便可以重置已丢失或损坏的密钥。 可以将接收系统配置为忽略安全通道上的消息签名 (即接受所有 signed、unsigned 或 incorrectly signed 数据包), 以便可以重置已丢失或损坏的密钥。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            日志记录
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            为了避免泄露用于签名的密钥, 系统应省略日志中 SETUP_SIGNING 消息 (或在记录的消息中将密钥替换为 32 个 0xFF 字节)。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            同样，已签署的数据包应该将签名 incompatibility bit 清除，并在输入远程日志文件之前删除签名模块。 这使得潜在攻击者更难以收集大量签名数据来攻击系统。 这使得潜在攻击者更难以收集大量签名数据来攻击系统。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            更多信息
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Message Signing Proposal 包含额外信息，包括：
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • 设计决定背后的原因。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • 评价安全效力，包括抵制重播和脱机攻击。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • 假设。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            这些内容大部分来自 Message Signing Proposal (Google Doc)。
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              时间戳处理

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              时间戳是48位，从2015年1月1日起，单位为10微秒。 对于1/1/1970年以来可用的系统（unexpoch），你可以在 14200004 秒内使用抵消。

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              这是一个松散的定义, 因为下面详细介绍的各种更新机制可能会导致时间戳与实际 GMT 时间有显著差异。

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              生成的所有时间戳必须至少比同一会话中为同一链接 (SystemID、组件 id、LinkID) 元组发送的上一个时间戳多1个时间戳。 如果数据包以每秒100 000多包的速度破裂，时间戳可能提前 GMT 时间。 如果数据包以每秒100 000多包的速度破裂，时间戳可能提前 GMT 时间。

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAVLink 启用的设备可能不知道当前的 GMT 时间，例如，如果没有可靠的时间源，或者，如果它刚刚启动，并且尚未从GPS 或其他系统中获得时间。

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              系统应当执行以下规则，以获得可靠的时间戳：

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • 当前时间戳应定期储存在持久性储存中(最好至少每分钟一次)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • 启动时使用的时间戳应该是系统时钟和存储时间戳所隐含的时间戳的最大值
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • 如果该系统没有一个 RTC 机制，则应当更新其在全球定位系统锁定时时的时间戳。 应该使用全球定位系统和存储时间戳的最大时间戳。 应该使用全球定位系统和存储时间戳的最大时间戳。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • 从特定链接发送的每个消息中，时间戳应增加一个。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • 当正确签名的信息被解码时，时间戳比当前时间戳高时，时间戳应替换。 当正确签名的信息被解码时，时间戳比当前时间戳高时，时间戳应替换。 > Note 链接的时间戳绝对不能来自错误签名的包（即使它们已经被 accepted）
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • 收到的信息上的时间戳，应当与收到的 (linkID,srcSystem,Srcontents) 的输出时间戳进行检查，如果信息较小，则该消息被否决。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • 如果没有之前的信息与给定的 (linkID,srcSystem,Srcontent) 那么，如果时间戳不超过600万(1分钟)，则应接受时间戳。

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              对于在持久存储中存储时间戳的设备, 实现可以通过存储两个时间戳值来防止抢占条件。 在写入时, 应更新两个值中较小的值。 在读取时, 应使用两个值中较大的值。 在写入时, 应更新两个值中较小的值。 在读取时, 应使用两个值中较大的值。

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              接受签名包

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              当签名的数据包到达时, 如果出现以下情况, 则应将其丢弃:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • 时间戳来自同一逻辑流的上一个数据包, 其中逻辑流被定义为具有相同 (SystemID、ComponentID、LinkID) 元组的 MAVLink 数据包的序列。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • 计算的48位签名与数据包中包含的签名不匹配。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • 时间戳在本地系统的时间戳后面超过 1分钟 (6, 000, 000)。

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              接受未签名包

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAVLink 库应该提供一种机制, 允许系统有条件地接受 unsigned 数据包。

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              接受这些数据包的规则将是特定于实现的, 但可以基于参数设置、传输类型、消息类型、(in) 兼容性标志等的组合。

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              所有不符合系统特定的未签名数据包接受规则的数据包都必须被拒绝 (否则将无法从登录/身份验证中获得任何好处)。

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              关于何时接受未签名数据包的一些建议:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • 接受基于系统特定参数的所有未签名数据包。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • 如果连接是通过 "安全通道" (例如本地 usb 电缆或本地有线以太网电缆), 则接受所有未签名的数据包。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • RADIO_STATUS 数据包总是在不签名的情况下被接受 (以便使遥测数传的工作更轻松)。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • 在 "无签名模式" (可能由启动时按下的硬件按钮触发) 时接受所有未签名的数据包。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • 接受所有未签名的数据包, 直到 (无条件地) 收到已签名的数据包, 然后移动到上面更受限制的签名规则。

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              接受签名不正确的数据包

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAVLink 库应该提供一种机制, 允许系统有条件地接受签名不正确的数据包。

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              此功能可能有助于查找带有损坏的密钥的失联飞机 (gcs 可以选择仍然显示位置信息, 尽管理想情况下使用不同的 "不受信任" 图标)。

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              接受签名不正确的数据包的系统应提供一个非常明显的指示, 表明连接 unsafe/insecure。 格式错误的签名数据包表示配置错误、传输失败、协议失败或恶意操作。 格式错误的签名数据包表示配置错误、传输失败、协议失败或恶意操作。

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              密钥管理

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              密钥是32字节的二进制数据, 用于创建可由密钥的其他持有者验证的消息签名。 密钥应在网络中的一个系统 (通常是 GCS) 上创建, 并通过安全通道共享到其他受信任的设备。 系统必须具有共享密钥才能进行通信。 密钥应在网络中的一个系统 (通常是 GCS) 上创建, 并通过安全通道共享到其他受信任的设备。 系统必须具有共享密钥才能进行通信。

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              mavgen C 和 Python 库每个链接仅支持一个密钥。 这是库的选择, 而不是协议的限制/要求。 相反, 实现可以存储一个密钥池, 并/或在每个连接的基础上管理密钥。 这是库的选择, 而不是协议的限制/要求。 相反, 实现可以存储一个密钥池, 并/或在每个连接的基础上管理密钥。

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              密钥应存储在持久存储设备中, 并且不得通过任何可公开访问的通信协议公开。 密钥应存储在持久存储设备中, 并且不得通过任何可公开访问的通信协议公开。 特别是, 密钥不得在可以用于公共日志分析的 MAVLink 参数、MAVLink 日志文件或数据闪存日志文件中公开。

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              生成密钥的方法取决于实现。 例如, 它可以通过以下方式生成:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • 用户输入的字符串, 然后通过 sha-256 运行。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • 随机密钥生成器。

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              密钥可以使用 SETUP_SIGNING 消息共享到其他设备。 该消息只能通过安全链接 (如 USB 或有线以太网) 发送, 作为直接消息发送到每个连接的 system_id/component_id。 必须设置接收系统来处理消息, 并将接收到的密钥存储到相应的永久存储中。 该消息只能通过安全链接 (如 USB 或有线以太网) 发送, 作为直接消息发送到每个连接的 system_id/component_id。 必须设置接收系统来处理消息, 并将接收到的密钥存储到相应的永久存储中。

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              同样的安全方法可以用于 set 和 reset 系统的密钥 (重新发送密钥不必比首先设置它 "更安全")。

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              不应广播 SETUP_SIGNING 消息, 接收到的 SETUP_SIGNING 消息不得自动转发到其他活动的 MAVLink 设备/流通道。 这是为了避免通过安全链接 (如 usb) 收到的密钥通过不安全的链接 (例如 wifi) 自动转发到另一个系统的情况。 这是为了避免通过安全链接 (如 usb) 收到的密钥通过不安全的链接 (例如 wifi) 自动转发到另一个系统的情况。

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              不通过 USB 提供 MAVLink 的自动驾驶仪可能会创建一个模块, 可以从命令行界面 (例如 nsh) 设置密钥。

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              我们建议 GCS 实现生成密钥, 并通过安全链接 (例如 USB) 与连接的系统共享密钥。 可以将接收系统配置为忽略安全通道上的消息签名 (即接受所有 signed、unsigned 或 incorrectly signed 数据包), 以便可以重置已丢失或损坏的密钥。 可以将接收系统配置为忽略安全通道上的消息签名 (即接受所有 signed、unsigned 或 incorrectly signed 数据包), 以便可以重置已丢失或损坏的密钥。

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              日志记录

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              为了避免泄露用于签名的密钥, 系统应省略日志中 SETUP_SIGNING 消息 (或在记录的消息中将密钥替换为 32 个 0xFF 字节)。

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              同样，已签署的数据包应该将签名 incompatibility bit 清除，并在输入远程日志文件之前删除签名模块。 这使得潜在攻击者更难以收集大量签名数据来攻击系统。 这使得潜在攻击者更难以收集大量签名数据来攻击系统。

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              更多信息

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Message Signing Proposal 包含额外信息，包括：

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • 设计决定背后的原因。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • 评价安全效力，包括抵制重播和脱机攻击。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • 假设。

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              这些内容大部分来自 Message Signing Proposal (Google Doc)。

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              results matching ""

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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                \ No newline at end of file diff --git a/zh/guide/packet_loss.html b/zh/guide/packet_loss.html index 9b6874acb..e413301d8 100644 --- a/zh/guide/packet_loss.html +++ b/zh/guide/packet_loss.html @@ -1 +1 @@ -Packet Loss Calculation · MAVLink Developer Guide
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Packet Loss Calculation

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAVLink packet loss is calculated from the packet sequence number, an 8 bit field that is incremented each time a message is emitted on a channel. The recipient of the message can track the last recieved/next expected sequence number, and if a packet sequence number is bigger than expected, any intermediate packets between the sequence numbers are assumed to have been lost. The sequence number will wrap around at 255, and the recipient is expected to compensate for this.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                This approach works if all messages sent on a channel are routed to the system calculating packet loss, and if messages from only one channel are received by the system calculating packet loss. This is true in simple setups, in particular those where a GCS and autopilot communicate over a single telemetry radio.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                It may not work in more complicated setups:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • Companion computer setups may use routers to redirect some packets from the autopilot to specific components, and don't necessarily forward all of them to the ground station that is calculating packet loss. The packets that don't reach the ground station will be detected as packet loss, even though they were received by the router.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • Setups with redundant links may merge the channels before passing to a GCS. The sequence numbers from the messages sent on different channels will not match, and any differences are detected as packet loss.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                results matching ""

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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Packet Loss Calculation

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAVLink packet loss is calculated from the packet sequence number, an 8 bit field that is incremented each time a message is emitted on a channel. The recipient of the message can track the last recieved/next expected sequence number, and if a packet sequence number is bigger than expected, any intermediate packets between the sequence numbers are assumed to have been lost. The sequence number will wrap around at 255, and the recipient is expected to compensate for this.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  This approach works if all messages sent on a channel are routed to the system calculating packet loss, and if messages from only one channel are received by the system calculating packet loss. This is true in simple setups, in particular those where a GCS and autopilot communicate over a single telemetry radio.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  It may not work in more complicated setups:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • Companion computer setups may use routers to redirect some packets from the autopilot to specific components, and don't necessarily forward all of them to the ground station that is calculating packet loss. The packets that don't reach the ground station will be detected as packet loss, even though they were received by the router.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • Setups with redundant links may merge the channels before passing to a GCS. The sequence numbers from the messages sent on different channels will not match, and any differences are detected as packet loss.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  results matching ""

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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    \ No newline at end of file diff --git a/zh/guide/redundancy_deduplication.html b/zh/guide/redundancy_deduplication.html index 772b3c835..a02bbbfcc 100644 --- a/zh/guide/redundancy_deduplication.html +++ b/zh/guide/redundancy_deduplication.html @@ -1 +1 @@ -Redundancy/Message De-duplication · MAVLink Developer Guide
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Redundancy and Message/Command De-duplication

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    A MAVLink network may include redundant links. For example, a vehicle might have two telemetry radios for connecting to a ground station, or a telemetry radio for near-communication and a satellite connection for long range communication. In these cases, the same message or command may reach the receiver by several paths. Further, even on a single channel, it is possible that the same command is sent (and received) multiple times, due to loss of the original acknowledgement.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAVLink has no in-built mechanism for deconflicting messages received from multiple channels. The packet sequence number cannot be used, for example, because each channel has its own sequence counter.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    To mitigate this problem, commands are designed (where possible) to be idempotent, such that it doesn't matter if the same command is received when the vehicle is acting/has already acted on the same command. For example, a command to ARM or TAKEOFF when the vehicle is already armed or flying should immediately be acknowledged with a COMMAND_ACK.result of MAV_RESULT_ACCEPTED.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Another approach to mitigate this kind of problem is to only accept data on a primary channel, and fall back to the secondary channel if the first channel fails.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    When using multiple channels you may still run into problems, in particular when working with very high latency links. The appropriate actions in these cases need to be considered on a case-by-case basis.

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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Redundancy and Message/Command De-duplication

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      A MAVLink network may include redundant links. For example, a vehicle might have two telemetry radios for connecting to a ground station, or a telemetry radio for near-communication and a satellite connection for long range communication. In these cases, the same message or command may reach the receiver by several paths. Further, even on a single channel, it is possible that the same command is sent (and received) multiple times, due to loss of the original acknowledgement.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAVLink has no in-built mechanism for deconflicting messages received from multiple channels. The packet sequence number cannot be used, for example, because each channel has its own sequence counter.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      To mitigate this problem, commands are designed (where possible) to be idempotent, such that it doesn't matter if the same command is received when the vehicle is acting/has already acted on the same command. For example, a command to ARM or TAKEOFF when the vehicle is already armed or flying should immediately be acknowledged with a COMMAND_ACK.result of MAV_RESULT_ACCEPTED.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Another approach to mitigate this kind of problem is to only accept data on a primary channel, and fall back to the secondary channel if the first channel fails.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      When using multiple channels you may still run into problems, in particular when working with very high latency links. The appropriate actions in these cases need to be considered on a case-by-case basis.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      results matching ""

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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        \ No newline at end of file diff --git a/zh/guide/routing.html b/zh/guide/routing.html index 13a9f50d8..0eee6b128 100644 --- a/zh/guide/routing.html +++ b/zh/guide/routing.html @@ -1 +1 @@ -Routing · MAVLink Developer Guide
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        路由

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        这个主题解释了如何由 MAVLink 系统路由信息。

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        综述

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        一个 MAVLINK 网络由多种系统组成（无人机、地面站、天线追踪器等），这些系统可能由一个或多个组件（自动试验、相机、服务器等）组成。

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        每个系统都有一个网络独有的 系统 id，每个组件都有一个系统独有的 组件 id 可用于地址/路由：

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • 系统id 具有1-255之间的值。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • 默认自动试验系统 id通常是 1。 用户应在添加新的自动驾驶仪到网络时分配独特增加的 id 值。 用户应在添加新的自动驾驶仪到网络时分配独特增加的 id 值。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • GCS 系统和开发者API 通常在数值范围顶部使用ID，以减少ID冲突(例如：255)。 它们的系统ID经常可用于允许多GCS系统。 它们的系统ID经常可用于允许多GCS系统。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • 组件 id 按类型和数字，从 MAV_COMPONENT 分配 。

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        消息可用于所有系统、特定系统、系统中的所有组件或系统内的特定组件。 协议界定了在报文有效载荷中能够(可选) 指定的两个8位字段，以表明发送/路由。 如果遗漏或设置为零，信息将被视为 广播(用于所有系统/组件)。

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • target_system：执行命令的系统
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • target_component：执行命令的组件 (需要 target_system)。

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAVLink组件预计将处理具有匹配系统/组件id和广播信息的信息。 预计他们将转发/重发其他(或所有)收件人的消息，前往其他活动频道（即MAVLink系统可以连接不同的运输系统，连接到连接信息的路线）。 广播消息已转发给所有尚未看到消息的通道。 地址消息在新频道 ff上重新发送，系统以前从该频道的目标中看到了一条消息， (如果收件人不知道，或在原始/接入频道，信息不会重新发送)。 预计他们将转发/重发其他(或所有)收件人的消息，前往其他活动频道（即MAVLink系统可以连接不同的运输系统，连接到连接信息的路线）。 广播消息已转发给所有尚未看到消息的通道。 Addressed messages are resent on a new channel iff the system has previously seen a message from the target on that channel (messages are not resent if the addressee is not known or is on the original/incoming channel).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        转发的消息不得由转发系统更改/重新包装(原始消息传递到新链接)。

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        系统必须按照路由规则转发消息，即使它们无法处理 (例如无法验证的签名验证消息) 。 没有被库支持 / 理解的消息应当转发，它们有可能是广播消息（在这种情况下无法读取目标系统/组件id）。 没有被库支持 / 理解的消息应当转发，它们有可能是广播消息（在这种情况下无法读取目标系统/组件id）。

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        路由详细信息

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        系统/组件如果具备下列条件，应在本地处理信息：

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • 这是一个广播消息(target_system 字段忽略或零)。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • target_system 与其系统 id 和 target_component 匹配
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • target_system 与其系统ID匹配，并拥有组件的 target_component
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • target_system 匹配其系统id，组件未知 (即此组件没有看到任何信息链接上的消息 target_system/target_component)。

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        如果以下任一条件存在, 系统应将消息转发到另一个链接:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • 这是一个广播消息(目标_系统 字段忽略或零)。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • target_system 与系统ID和不符，系统知道目标系统的联系(即它先前从链接的target_system上看到一个消息)。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • target_system 与其系统 id 匹配, 并具有 target_component 字段, 并且系统在链接上看到了来自 target_system/target_component 组合的消息。

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        非广播消息只能发送 (或转发) 到已知的目标 (即系统必须以前已收到来自目标系统/组件的消息)。

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        系统还应检查 time_boot_ms 减少的 SYSTEM_TIME 消息, 因为这表明系统已重新启动。 在这种情况下, 它应该清除存储的路由信息 (并可能在重新启动后执行其他有用的操作-例如重新提取参数和家庭位置等)。 在这种情况下, 它应该清除存储的路由信息 (并可能在重新启动后执行其他有用的操作-例如重新提取参数和家庭位置等)。

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        库支持

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        C 库 (mavgen)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        为 MAVLink v1 c 库生成的代码对于路由或使用 target_system 和 target_component 没有特定的支持。 若要提取此信息, 您需要使用为读取有效负载字段提供的常规方法, 并在字段名称上匹配。 若要提取此信息, 您需要使用为读取有效负载字段提供的常规方法, 并在字段名称上匹配。

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        C 库的 MAVLink v2 生成器已更新, 以便更轻松地从有效负载中获取目标系统和组件 id (分配这些 id 时)。 Specifically, the mavlink_msg_entry_t structure contains flags to tell you if the message contains target system/component information (FLAG_HAVE_TARGET_SYSTEM, FLAG_HAVE_TARGET_COMPONENT) and offsets into the payload that you can use to get these ids (target_system_ofs and target_component_ofs, respectively). Specifically, the mavlink_msg_entry_t structure contains flags to tell you if the message contains target system/component information (FLAG_HAVE_TARGET_SYSTEM, FLAG_HAVE_TARGET_COMPONENT) and offsets into the payload that you can use to get these ids (target_system_ofs and target_component_ofs, respectively). MAVLink 助手方法 consmavlink_msg_bords_t* mavlink_get_msg_dard(ininstit32_t msgid) 可用于从消息id获取此结构。

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        未签名的 MAVLink 2 数据包与 MAVLink 1 数据包相同。

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        路由签名包

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        签名数据包应与任何其他数据包相同。

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        特别是，路由系统应：

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • 不以任何方式更改电文(包括替换原始签字)。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • 即使不能被验证(甚至理解)，因此不能在当地加以处理，也按照正常规则提交信息。

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        路由接口

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        由 Intel 创建的MAVLink Router 允许与序列端口和路由 MAVLink 流量组合和匹配不同的IP协议。

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        更多信息

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        results matching ""

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          No results matching ""

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          \ No newline at end of file +Routing · MAVLink Developer Guide
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Messages
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Examples
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          路由

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          这个主题解释了如何由 MAVLink 系统路由信息。

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          综述

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          一个 MAVLINK 网络由多种系统组成（无人机、地面站、天线追踪器等），这些系统可能由一个或多个组件（自动试验、相机、服务器等）组成。

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          每个系统都有一个网络独有的 系统 id，每个组件都有一个系统独有的 组件 id 可用于地址/路由：

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • 系统id 具有1-255之间的值。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • 默认自动试验系统 id通常是 1。 用户应在添加新的自动驾驶仪到网络时分配独特增加的 id 值。 用户应在添加新的自动驾驶仪到网络时分配独特增加的 id 值。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • GCS 系统和开发者API 通常在数值范围顶部使用ID，以减少ID冲突(例如：255)。 它们的系统ID经常可用于允许多GCS系统。 它们的系统ID经常可用于允许多GCS系统。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • 组件 id 按类型和数字，从 MAV_COMPONENT 分配 。

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          消息可用于所有系统、特定系统、系统中的所有组件或系统内的特定组件。 协议界定了在报文有效载荷中能够(可选) 指定的两个8位字段，以表明发送/路由。 如果遗漏或设置为零，信息将被视为 广播(用于所有系统/组件)。

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • target_system：执行命令的系统
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • target_component：执行命令的组件 (需要 target_system)。

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAVLink组件预计将处理具有匹配系统/组件id和广播信息的信息。 预计他们将转发/重发其他(或所有)收件人的消息，前往其他活动频道（即MAVLink系统可以连接不同的运输系统，连接到连接信息的路线）。 广播消息已转发给所有尚未看到消息的通道。 地址消息在新频道 ff上重新发送，系统以前从该频道的目标中看到了一条消息， (如果收件人不知道，或在原始/接入频道，信息不会重新发送)。 预计他们将转发/重发其他(或所有)收件人的消息，前往其他活动频道（即MAVLink系统可以连接不同的运输系统，连接到连接信息的路线）。 广播消息已转发给所有尚未看到消息的通道。 Addressed messages are resent on a new channel iff the system has previously seen a message from the target on that channel (messages are not resent if the addressee is not known or is on the original/incoming channel).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          转发的消息不得由转发系统更改/重新包装(原始消息传递到新链接)。

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          系统必须按照路由规则转发消息，即使它们无法处理 (例如无法验证的签名验证消息) 。 没有被库支持 / 理解的消息应当转发，它们有可能是广播消息（在这种情况下无法读取目标系统/组件id）。 没有被库支持 / 理解的消息应当转发，它们有可能是广播消息（在这种情况下无法读取目标系统/组件id）。

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          路由详细信息

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          系统/组件如果具备下列条件，应在本地处理信息：

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • 这是一个广播消息(target_system 字段忽略或零)。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • target_system 与其系统 id 和 target_component 匹配
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • target_system 与其系统ID匹配，并拥有组件的 target_component
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • target_system 匹配其系统id，组件未知 (即此组件没有看到任何信息链接上的消息 target_system/target_component)。

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          如果以下任一条件存在, 系统应将消息转发到另一个链接:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • 这是一个广播消息(目标_系统 字段忽略或零)。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • target_system 与系统ID和不符，系统知道目标系统的联系(即它先前从链接的target_system上看到一个消息)。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • target_system 与其系统 id 匹配, 并具有 target_component 字段, 并且系统在链接上看到了来自 target_system/target_component 组合的消息。

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          非广播消息只能发送 (或转发) 到已知的目标 (即系统必须以前已收到来自目标系统/组件的消息)。

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          系统还应检查 time_boot_ms 减少的 SYSTEM_TIME 消息, 因为这表明系统已重新启动。 在这种情况下, 它应该清除存储的路由信息 (并可能在重新启动后执行其他有用的操作-例如重新提取参数和家庭位置等)。 在这种情况下, 它应该清除存储的路由信息 (并可能在重新启动后执行其他有用的操作-例如重新提取参数和家庭位置等)。

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          库支持

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          C 库 (mavgen)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          为 MAVLink v1 c 库生成的代码对于路由或使用 target_system 和 target_component 没有特定的支持。 若要提取此信息, 您需要使用为读取有效负载字段提供的常规方法, 并在字段名称上匹配。 若要提取此信息, 您需要使用为读取有效负载字段提供的常规方法, 并在字段名称上匹配。

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          C 库的 MAVLink v2 生成器已更新, 以便更轻松地从有效负载中获取目标系统和组件 id (分配这些 id 时)。 Specifically, the mavlink_msg_entry_t structure contains flags to tell you if the message contains target system/component information (FLAG_HAVE_TARGET_SYSTEM, FLAG_HAVE_TARGET_COMPONENT) and offsets into the payload that you can use to get these ids (target_system_ofs and target_component_ofs, respectively). Specifically, the mavlink_msg_entry_t structure contains flags to tell you if the message contains target system/component information (FLAG_HAVE_TARGET_SYSTEM, FLAG_HAVE_TARGET_COMPONENT) and offsets into the payload that you can use to get these ids (target_system_ofs and target_component_ofs, respectively). MAVLink 助手方法 consmavlink_msg_bords_t* mavlink_get_msg_dard(ininstit32_t msgid) 可用于从消息id获取此结构。

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          未签名的 MAVLink 2 数据包与 MAVLink 1 数据包相同。

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          路由签名包

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          签名数据包应与任何其他数据包相同。

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          特别是，路由系统应：

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • 不以任何方式更改电文(包括替换原始签字)。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • 即使不能被验证(甚至理解)，因此不能在当地加以处理，也按照正常规则提交信息。

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          路由接口

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          由 Intel 创建的MAVLink Router 允许与序列端口和路由 MAVLink 流量组合和匹配不同的IP协议。

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          更多信息

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          results matching ""

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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            \ No newline at end of file diff --git a/zh/guide/scripts.html b/zh/guide/scripts.html index 32aadfdc4..b88e538c0 100644 --- a/zh/guide/scripts.html +++ b/zh/guide/scripts.html @@ -1,2 +1,2 @@ -Scripts · MAVLink Developer Guide
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Examples
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Pymavlink 脚本

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            此 MAVLink 库还附带了用于在 pymavlink、pymavlink/tools 和 pymavlink/examples 目录中使用、操作和分析 MAVLink 流的支持库和脚本。

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            这些脚本具有以下要求:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • Python 2.7+ 和3.3+
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • PYTHONPATH 指定包含 mavlink 存储库的目录路径。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • 写入整个 mavLink文件夹的权限
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • 在 message_definitions/*/中， 您的 特定语言 的 XML 文件

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            脚本可以通过运行 Python 与 -m 开关执行，这表明给定的脚本在 PYTHONPATH上存在。 脚本可以通过运行 Python 与 -m 开关执行，这表明给定的脚本在 PYTHONPATH上存在。 以下代码在记录的 MAVLink 流 test_run.mavlink 上，运行 /pymavlink/工具/ 中的 /pymavlog.py (其他脚本/tools 和/scripts 可以以同样的方式运行：

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            python -m pymavlink.tools.mavlogdump test_run.mavlink
-

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            使用 -m 切换脚本是运行 Python 作为 PEP-328 (和被拒绝的 PEP-3122) 库一部分的适当方式。

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            results matching ""

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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              \ No newline at end of file +Scripts · MAVLink Developer Guide
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Examples
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Examples
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Pymavlink 脚本

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              此 MAVLink 库还附带了用于在 pymavlink、pymavlink/tools 和 pymavlink/examples 目录中使用、操作和分析 MAVLink 流的支持库和脚本。

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              这些脚本具有以下要求:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • Python 2.7+ 和3.3+
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • PYTHONPATH 指定包含 mavlink 存储库的目录路径。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • 写入整个 mavLink文件夹的权限
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • 在 message_definitions/*/中， 您的 特定语言 的 XML 文件

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              脚本可以通过运行 Python 与 -m 开关执行，这表明给定的脚本在 PYTHONPATH上存在。 脚本可以通过运行 Python 与 -m 开关执行，这表明给定的脚本在 PYTHONPATH上存在。 以下代码在记录的 MAVLink 流 test_run.mavlink 上，运行 /pymavlink/工具/ 中的 /pymavlog.py (其他脚本/tools 和/scripts 可以以同样的方式运行：

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              python -m pymavlink.tools.mavlogdump test_run.mavlink
+

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              使用 -m 切换脚本是运行 Python 作为 PEP-328 (和被拒绝的 PEP-3122) 库一部分的适当方式。

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              results matching ""

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                No results matching ""

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                \ No newline at end of file diff --git a/zh/guide/serialization.html b/zh/guide/serialization.html index 3bd43edd6..1aefdf84f 100644 --- a/zh/guide/serialization.html +++ b/zh/guide/serialization.html @@ -1,4 +1,4 @@ -Serialization · MAVLink Developer Guide
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Messages
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Messages
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Examples
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Examples
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                包的序列化

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                This topic provides detailed information about about MAVLink packet serialization, including the over-the-wire formats for MAVLink v1 and v2 packets, the ordering of fields in the message payload, and the CRC_EXTRA used for ensuring that the sender and reciever share a compatible message definition.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                主要是为正在创建/维护 MAVLink 生成器的开发者

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAVLink 用户通常不需要理解序列化格式，因为编码/解码由 MAVLink 库处理。

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                数据包格式

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                本节显示 MAVLink 数据包的序列化消息格式(格式由CAN 和 SAE AS-4 标准启发)。

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Note that multi-byte fields are serialized in little-endian format, and MAVLink libraries are configured by default to run on little-endian hardware.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAVLink 2 的数据包格式

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Below is the over-the-wire format for a MAVLink 2 packet (the in-memory representation might differ).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAVLink v2 packet

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                字节索引C 版本内容值说明
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                0uint8_t magic数据包启动标记0xFD特定于协议的文本启动 (stx) 标记, 用于指示新数据包的开始。 任何不识别协议版本的系统都将跳过数据包。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                1uint8_t len载荷长度0 - 255显示 有效载荷部分的长度。 这可能会受到 payload truncation 的影响。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                2uint8_t incompat_flags不兼容标志必须理解为 MAVLink 兼容性的标志 (如果不理解标志, 则实现丢弃数据包)。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                3uint8_t compat_flags兼容性标志如果不识别, 则可以忽略的标志 (即使不识别标志, 实现仍然可以处理数据包)。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                4uint8_t seq数据包序列号0 - 255用于检测数据包丢失。 组件为发送的每封消息递增值。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                5uint8_t sysid系统 ID (发送者)1 - 255发送消息的 system (飞机) 的 ID。 用于区分网络上的系统。 Note that the broadcast address 0 may not be used in this field as it is an invalid source address.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                6uint8_t compid组件ID (发送者)1 - 255component 发送消息ID。 Used to differentiate components in a system (e.g. autopilot and a camera). Use appropriate values in MAV_COMPONENT. Note that the broadcast address MAV_COMP_ID_ALL may not be used in this field as it is an invalid source address.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                7至9uint32_t msgid:24消息 ID (低、中级、高字节)0 - 16777215有效载荷中的 message type 的 id。 用于将数据解码回消息对象。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                For n-byte payload:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                n=0: NA, n=1: 10, n>=2: 10 to (9+n) | uint8_t payload[max 255] | payload | | 消息数据。 取决于消息类型 (即消息 ID) 和内容。 | | (n+10) to (n+11) | uint16_t checksum | Checksum(低字节, 高字节) | | CRC-16/MCRF4XX for message (excluding magic byte). 包括 CRC_EXTERA 字节。 | | (n+12) to (n+25) | uint8_t signature[13] | 标记 | | (可选) 签名以确保链接不受篡改。 |

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • The minimum packet length is 12 bytes for acknowledgment packets without payload.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • The maximum packet length is 280 bytes for a signed message that uses the whole payload.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAVLink 1 的数据包格式

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Below is the over-the-wire format for a MAVLink 1 packet (the in-memory representation might differ).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAVLink v1 packet

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                字节索引C 版本内容值说明
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                0uint8_t magic数据包启动标记0xFE特定于协议的文本启动 (stx) 标记, 用于指示新数据包的开始。 任何不识别协议版本的系统都将跳过数据包。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                1uint8_t len载荷长度0 - 255指示以下 payload 部分的长度 (为特定消息固定)。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                2uint8_t seq数据包序列号0 - 255用于检测数据包丢失。 组件为发送的每封消息递增值。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                3uint8_t sysid系统 ID1 - 255发送消息的 system (飞机) 的 ID。 用于区分网络上的系统。 Note that the broadcast address 0 may not be used in this field as it is an invalid source address.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                4uint8_t compid组件ID1 - 255component 发送消息ID。 用于区分 system 中的组件 (例如自动驾驶仪和相机)。 Use appropriate values in MAV_COMPONENT. Note that the broadcast address MAV_COMP_ID_ALL may not be used in this field as it is an invalid source address.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                5uint8_t msgid消息 ID0 - 255有效载荷中的 message type 的 id。 用于将数据解码回消息对象。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                For n-byte payload:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                n=0: NA, n=1: 6, n>=2: 6 to (5+n) | uint8_t payload[max 255] | 有效负载数据 | | 消息数据。 内容取决于消息类型(即消息ID)。 | | (n+6) to (n+7) | uint16_t checksum | Checksum(低字节, 高字节) | | CRC-16/MCRF4XX for message (excluding magic byte). 包括 CRC_EXTERA 字节。 |

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • 最低数据包长度是8字节，用于没有有效载荷确认数据包。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • 最大的数据包长度是完整有效载荷263字节。

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                不兼容标记 (MAVLink 2)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Incompatibility flags are used to indicate features that a MAVLink library must support in order to be able to handle the packet. This includes any feature that affects the packet format/ordering.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                如果 incompat_flags 字段中的任何标志不识别, 则 MAVLink 必须丢弃。

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Supported incompatibility flags include (at time of writing):

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                标记C 标志特性
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                0x01MAVLINK_IFLAG_SIGNED数据包 signed (签名已追加到数据包中)。

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                兼容性标记 (MAVLink 2)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Compatibility flags are used to indicate features won't prevent a MAVLink library from handling the packet (even if the feature is not understood). This might include, for example, a flag to indicate that a packet should be treated as "high priority" (such a messages could be handled by any MAVLink implementation because packet format and structure is not affected).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                A MAVLink implementation can safely ignore flags it doesn't understand in the compat_flags field.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                有效负载格式

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAVLink does not include information about the message structure in the payload itself (in order to reduce overhead)! Instead the sender and receiver must share a common understanding of the meaning, order and size of message fields in the over-the-wire format.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Messages are encoded within the MAVLink packet:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • msgid(消息id) 字段确定了在数据包中编码的具体消息。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • 字段包含消息数据。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • len 字段包含有效负载数据的长度。

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • CRC_EXTRA 字节添加到消息 checksum。 接收器可以使用它来确认它与有效负载消息格式/定义兼容。 接收器可以使用它来确认它与有效负载消息格式/定义兼容。

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  如果消息规范不兼容 (例如 c 库 mavlink_parse_char() 给出状态 MAVLINK_FRAMING_BAD_CRC), 则 MAVLink 库应在解码过程中通知错误的 crc。

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                字段重新排序

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Message payload fields are reordered for transmission as follows:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • Fields are sorted according to their native data size:
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • (u)int64_t, double (8 bytes)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • (u)int32_t, float (4)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • (u)int16_t (2)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • (u)int8_t, char (1)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • 如果两个字段的长度相同, 则它们的顺序将保留为数据字段大小排序之前的顺序
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • 根据它们使用的数据类型处理数组，而不是根据总数组大小处理
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • 已传输的报文与 construction 相同，因此代表重新排序的字段
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • CRC_EXTERA 字段在重新排序 后 计算，这可以确保字段中的错误可以被默认 CRC 发现。 提供的 Python, C 和 C# 参考执行测试，以便正确地重新排序，这只是习惯执行的关切。 提供的 Python, C 和 C# 参考执行测试，以便正确地重新排序，这只是习惯执行的关切。

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                The only exception to the above reordering is for MAVLink 2 extension fields. Extension fields are sent in XML-declaration order and are not included in the CRC_EXTRA calculation. This allows new extension fields to be appended to the end of a message without breaking binary compatibility.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                此订单是独特的，可以通过使用稳定的分类算法，很容易在协议中轻松实现。 Warning 此订单是独特的，可以通过使用稳定的分类算法，很容易在协议中轻松实现。 The alternative to using sorting would be either to use inefficient alignment, which is bad for the target architectures for typical MAVLink applications, or to have function calls in the order of the variable size instead of the application context. 这将导致序列化函数的功能签名非常混乱。

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                空字节有效负载截断 (MAVLink 2)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAVLink 2 implementations must truncate any empty (zero-filled) bytes at the end of the serialized payload before it is sent. This contrasts with MAVLink 1, where bytes were sent for all fields regardless of content.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                An implementation that receives a (non compliant) MAVLink 2 message with zero-filled trailing bytes must still support decoding of the message (if it is otherwise valid), and provide methods to route/forward the messages. The message may be forwarded either completely unaltered (i.e. with the zeros untrimmed and original CRC) or the forwarding implementation may trim the zeros and recalculate the CRC.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                The actual fields affected/bytes saved depends on the message and its content (MAVLink field reordering means that all we can say is that any truncated fields will typically be those with the smallest data size, or extension fields).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                The first byte of the payload is never truncated, even if the payload consists entirely of zeros.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                The protocol only truncates empty bytes at the end of the serialized message payload; any null bytes/empty fields within the body of the payload are not affected.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                CRC_EXTERA 计算

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                The CRC_EXTRA CRC is used to verify that the sender and receiver have a shared understanding of the over-the-wire format of a particular message.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Changes in message specifications that might make the over-the-wire format incompatible include: new/removed fields, or changes to field name, data type, order, or array length.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                When the MAVLink code generator runs, it takes a checksum of the XML structure for each message and creates an array define MAVLINK_MESSAGE_CRCS. This is used to initialise the mavlink_message_crcs[] array in the C/C++ implementation, and is similarly used in the Python (or any other, such as the C# and JavaScript) implementation.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                When the sender calculates the checksum for a message it adds the CRC_EXTRA byte onto the end of the data that the checksum is calculated over. The recipient calculates a checksum for the received message and adds its own CRC_EXTRA for the particular message id. If the CRC_EXTRA for the sender and receiver are different the checksums will not match.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                This approach ensures that only messages where the sender and recipient are using the same message structure will be decoded (or at least it makes a mistake much more unlikely, as for any checksum application).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                If you are doing your own implementation of MAVLink you can get this checksum in one of two ways: you can include the generated headers and use MAVLINK_MESSAGE_CRCS to get the right seed for each message type, or you can re-implement the code that calculates the seed.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                As MAVLink internally reorders the message fields according to their size to prevent word / halfword alignment issues (see Data structure alignment (Wikipedia) for further reference), and a wrongly implemented reordering potentially can cause inconsistencies as well, the CRC_EXTRA is calculated based on the over-the-air message layout rather than the XML order.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAVLink 2 extension fields are not included in the CRC_EXTRA calculation.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                This is the Python code that calculates the CRC_EXTRA seed:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                def message_checksum(msg):
+Serialization · MAVLink Developer Guide
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                包的序列化
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                This topic provides detailed information about about MAVLink packet serialization, including the over-the-wire formats for MAVLink v1 and v2 packets, the ordering of fields in the message payload, and the CRC_EXTRA used for ensuring that the sender and reciever share a compatible message definition.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                主要是为正在创建/维护 MAVLink 生成器的开发者
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAVLink 用户通常不需要理解序列化格式，因为编码/解码由 MAVLink 库处理。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                数据包格式
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                本节显示 MAVLink 数据包的序列化消息格式(格式由CAN 和 SAE AS-4 标准启发)。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Note that multi-byte fields are serialized in little-endian format, and MAVLink libraries are configured by default to run on little-endian hardware.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAVLink 2 的数据包格式
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Below is the over-the-wire format for a MAVLink 2 packet (the in-memory representation might differ).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAVLink v2 packet
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                字节索引C 版本内容值说明
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                0uint8_t magic数据包启动标记0xFD特定于协议的文本启动 (stx) 标记, 用于指示新数据包的开始。 任何不识别协议版本的系统都将跳过数据包。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                1uint8_t len载荷长度0 - 255显示 有效载荷部分的长度。 这可能会受到 payload truncation 的影响。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                2uint8_t incompat_flags不兼容标志必须理解为 MAVLink 兼容性的标志 (如果不理解标志, 则实现丢弃数据包)。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                3uint8_t compat_flags兼容性标志如果不识别, 则可以忽略的标志 (即使不识别标志, 实现仍然可以处理数据包)。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                4uint8_t seq数据包序列号0 - 255用于检测数据包丢失。 组件为发送的每封消息递增值。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                5uint8_t sysid系统 ID (发送者)1 - 255发送消息的 system (飞机) 的 ID。 用于区分网络上的系统。 Note that the broadcast address 0 may not be used in this field as it is an invalid source address.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                6uint8_t compid组件ID (发送者)1 - 255component 发送消息ID。 Used to differentiate components in a system (e.g. autopilot and a camera). Use appropriate values in MAV_COMPONENT. Note that the broadcast address MAV_COMP_ID_ALL may not be used in this field as it is an invalid source address.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                7至9uint32_t msgid:24消息 ID (低、中级、高字节)0 - 16777215有效载荷中的 message type 的 id。 用于将数据解码回消息对象。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                For n-byte payload:
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                n=0: NA, n=1: 10, n>=2: 10 to (9+n) | uint8_t payload[max 255] | payload | | 消息数据。 取决于消息类型 (即消息 ID) 和内容。 | | (n+10) to (n+11) | uint16_t checksum | Checksum(低字节, 高字节) | | CRC-16/MCRF4XX for message (excluding magic byte). 包括 CRC_EXTERA 字节。 | | (n+12) to (n+25) | uint8_t signature[13] | 标记 | | (可选) 签名以确保链接不受篡改。 |
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • The minimum packet length is 12 bytes for acknowledgment packets without payload.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • The maximum packet length is 280 bytes for a signed message that uses the whole payload.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAVLink 1 的数据包格式
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Below is the over-the-wire format for a MAVLink 1 packet (the in-memory representation might differ).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAVLink v1 packet
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                字节索引C 版本内容值说明
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                0uint8_t magic数据包启动标记0xFE特定于协议的文本启动 (stx) 标记, 用于指示新数据包的开始。 任何不识别协议版本的系统都将跳过数据包。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                1uint8_t len载荷长度0 - 255指示以下 payload 部分的长度 (为特定消息固定)。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                2uint8_t seq数据包序列号0 - 255用于检测数据包丢失。 组件为发送的每封消息递增值。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                3uint8_t sysid系统 ID1 - 255发送消息的 system (飞机) 的 ID。 用于区分网络上的系统。 Note that the broadcast address 0 may not be used in this field as it is an invalid source address.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                4uint8_t compid组件ID1 - 255component 发送消息ID。 用于区分 system 中的组件 (例如自动驾驶仪和相机)。 Use appropriate values in MAV_COMPONENT. Note that the broadcast address MAV_COMP_ID_ALL may not be used in this field as it is an invalid source address.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                5uint8_t msgid消息 ID0 - 255有效载荷中的 message type 的 id。 用于将数据解码回消息对象。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                For n-byte payload:
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                n=0: NA, n=1: 6, n>=2: 6 to (5+n) | uint8_t payload[max 255] | 有效负载数据 | | 消息数据。 内容取决于消息类型(即消息ID)。 | | (n+6) to (n+7) | uint16_t checksum | Checksum(低字节, 高字节) | | CRC-16/MCRF4XX for message (excluding magic byte). 包括 CRC_EXTERA 字节。 |
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • 最低数据包长度是8字节，用于没有有效载荷确认数据包。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • 最大的数据包长度是完整有效载荷263字节。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                不兼容标记 (MAVLink 2)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Incompatibility flags are used to indicate features that a MAVLink library must support in order to be able to handle the packet. This includes any feature that affects the packet format/ordering.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                如果 incompat_flags 字段中的任何标志不识别, 则 MAVLink 必须丢弃。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Supported incompatibility flags include (at time of writing):
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                标记C 标志特性
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                0x01MAVLINK_IFLAG_SIGNED数据包 signed (签名已追加到数据包中)。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                兼容性标记 (MAVLink 2)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Compatibility flags are used to indicate features won't prevent a MAVLink library from handling the packet (even if the feature is not understood). This might include, for example, a flag to indicate that a packet should be treated as "high priority" (such a messages could be handled by any MAVLink implementation because packet format and structure is not affected).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                A MAVLink implementation can safely ignore flags it doesn't understand in the compat_flags field.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                有效负载格式
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAVLink does not include information about the message structure in the payload itself (in order to reduce overhead)! Instead the sender and receiver must share a common understanding of the meaning, order and size of message fields in the over-the-wire format.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Messages are encoded within the MAVLink packet:
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • msgid(消息id) 字段确定了在数据包中编码的具体消息。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • 字段包含消息数据。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • len 字段包含有效负载数据的长度。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • CRC_EXTRA 字节添加到消息 checksum。 接收器可以使用它来确认它与有效负载消息格式/定义兼容。 接收器可以使用它来确认它与有效负载消息格式/定义兼容。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  如果消息规范不兼容 (例如 c 库 mavlink_parse_char() 给出状态 MAVLINK_FRAMING_BAD_CRC), 则 MAVLink 库应在解码过程中通知错误的 crc。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                字段重新排序
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Message payload fields are reordered for transmission as follows:
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • Fields are sorted according to their native data size:
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • (u)int64_t, double (8 bytes)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • (u)int32_t, float (4)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • (u)int16_t (2)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • (u)int8_t, char (1)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • 如果两个字段的长度相同, 则它们的顺序将保留为数据字段大小排序之前的顺序
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • 根据它们使用的数据类型处理数组，而不是根据总数组大小处理
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • 已传输的报文与 construction 相同，因此代表重新排序的字段
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • CRC_EXTERA 字段在重新排序 后 计算，这可以确保字段中的错误可以被默认 CRC 发现。 提供的 Python, C 和 C# 参考执行测试，以便正确地重新排序，这只是习惯执行的关切。 提供的 Python, C 和 C# 参考执行测试，以便正确地重新排序，这只是习惯执行的关切。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                The only exception to the above reordering is for MAVLink 2 extension fields. Extension fields are sent in XML-declaration order and are not included in the CRC_EXTRA calculation. This allows new extension fields to be appended to the end of a message without breaking binary compatibility.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                此订单是独特的，可以通过使用稳定的分类算法，很容易在协议中轻松实现。 Warning 此订单是独特的，可以通过使用稳定的分类算法，很容易在协议中轻松实现。 The alternative to using sorting would be either to use inefficient alignment, which is bad for the target architectures for typical MAVLink applications, or to have function calls in the order of the variable size instead of the application context. 这将导致序列化函数的功能签名非常混乱。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                空字节有效负载截断 (MAVLink 2)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAVLink 2 implementations must truncate any empty (zero-filled) bytes at the end of the serialized payload before it is sent. This contrasts with MAVLink 1, where bytes were sent for all fields regardless of content.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                An implementation that receives a (non compliant) MAVLink 2 message with zero-filled trailing bytes must still support decoding of the message (if it is otherwise valid), and provide methods to route/forward the messages. The message may be forwarded either completely unaltered (i.e. with the zeros untrimmed and original CRC) or the forwarding implementation may trim the zeros and recalculate the CRC.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                The actual fields affected/bytes saved depends on the message and its content (MAVLink field reordering means that all we can say is that any truncated fields will typically be those with the smallest data size, or extension fields).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                The first byte of the payload is never truncated, even if the payload consists entirely of zeros.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                The protocol only truncates empty bytes at the end of the serialized message payload; any null bytes/empty fields within the body of the payload are not affected.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                CRC_EXTERA 计算
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                The CRC_EXTRA CRC is used to verify that the sender and receiver have a shared understanding of the over-the-wire format of a particular message.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Changes in message specifications that might make the over-the-wire format incompatible include: new/removed fields, or changes to field name, data type, order, or array length.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                When the MAVLink code generator runs, it takes a checksum of the XML structure for each message and creates an array define MAVLINK_MESSAGE_CRCS. This is used to initialise the mavlink_message_crcs[] array in the C/C++ implementation, and is similarly used in the Python (or any other, such as the C# and JavaScript) implementation.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                When the sender calculates the checksum for a message it adds the CRC_EXTRA byte onto the end of the data that the checksum is calculated over. The recipient calculates a checksum for the received message and adds its own CRC_EXTRA for the particular message id. If the CRC_EXTRA for the sender and receiver are different the checksums will not match.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                This approach ensures that only messages where the sender and recipient are using the same message structure will be decoded (or at least it makes a mistake much more unlikely, as for any checksum application).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                If you are doing your own implementation of MAVLink you can get this checksum in one of two ways: you can include the generated headers and use MAVLINK_MESSAGE_CRCS to get the right seed for each message type, or you can re-implement the code that calculates the seed.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                As MAVLink internally reorders the message fields according to their size to prevent word / halfword alignment issues (see Data structure alignment (Wikipedia) for further reference), and a wrongly implemented reordering potentially can cause inconsistencies as well, the CRC_EXTRA is calculated based on the over-the-air message layout rather than the XML order.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAVLink 2 extension fields are not included in the CRC_EXTRA calculation.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                This is the Python code that calculates the CRC_EXTRA seed:
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                def message_checksum(msg):
     '''calculate a 8-bit checksum of the key fields of a message, so we
        can detect incompatible XML changes'''
     from .mavcrc import x25crc
@@ -14,4 +14,4 @@
         if f.array_length:
             crc.accumulate([f.array_length])
     return (crc.crc&0xFF) ^ (crc.crc>>8)
-
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                This uses the same CRC-16/MCRF4XX checksum that is used at runtime. It calculates a CRC over the message name (such as “RAW_IMU”) followed by the type and name of each field, space separated. The order of the fields is the order they are sent over the wire. For arrays, the array length is also added.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                校验和
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                The packet format includes a 2-byte CRC-16/MCRF4XX to allow detection of message corruption. See the MAVLink source code for the documented C-implementation.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                The CRC covers the whole message, excluding magic byte and the signature (if present). The CRC includes the CRC_EXTRA byte, which is used to ensure that the sending and receiving systems share a common understanding of the message definition.
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  This uses the same CRC-16/MCRF4XX checksum that is used at runtime. It calculates a CRC over the message name (such as “RAW_IMU”) followed by the type and name of each field, space separated. The order of the fields is the order they are sent over the wire. For arrays, the array length is also added.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  校验和

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  The packet format includes a 2-byte CRC-16/MCRF4XX to allow detection of message corruption. See the MAVLink source code for the documented C-implementation.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  The CRC covers the whole message, excluding magic byte and the signature (if present). The CRC includes the CRC_EXTRA byte, which is used to ensure that the sending and receiving systems share a common understanding of the message definition.

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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    UAVCAN 介绍

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    本章描述 MAVLink 命令和信息，以便利操作者的设备与板载 UAVCAN 之间的数据交互。 主要目的是使用户能够通过现有的 MAVLink 连接，配置、监测和控制机上的 UCAVAN 节点。 主要目的是使用户能够通过现有的 MAVLink 连接，配置、监测和控制机上的 UCAVAN 节点。

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    概况

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    UAVCAN 的一般说明和规格可在http://uavcan.org上查阅。

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    文章将提及以下术语：

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • Bridge node——搭配机设备，连接上台VAN 的总线和 MAVLink 连接。 这一功能常常由飞行管理单元控制，例如 Pixwik 执行。 这一功能常常由飞行管理单元控制，例如 Pixwik 执行。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • Remote equipment-MAVLink 通道的其他终端，例如地面控制站。

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    UCAN Node 识别

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    每个 UAVCAN 节点都有一个称为“node ID”的总线上唯一的标识符。 节点 id 是间隔 [1, 127] 中的整数, 其中值1通常由自动驾驶仪或其他类型的中央控制单元使用, 和值126和127通常由调试或监视设备使用。 节点 id 是间隔 [1, 127] 中的整数, 其中值1通常由自动驾驶仪或其他类型的中央控制单元使用, 和值126和127通常由调试或监视设备使用。

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    每个能够通过 MAVLink 和 UAVCAN 通信的单位必须使用相同的数字，用于 MAVLink 组件ID 和 UCAN Node ID，否则可能会出现严重的不一致之处。 通常情况下, 如果有一个非冗余自动驾驶仪, 其 UAVCAN 节点 id 和 MAVLink 组件 id 将设置为 1 (1)。 通常情况下, 如果有一个非冗余自动驾驶仪, 其 UAVCAN 节点 id 和 MAVLink 组件 id 将设置为 1 (1)。

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    与给定 UAVCAN 节点相关的每个输出/传入的 MAVLink 消息/命令都将其字段 组件 id 设置为与所述 UAVCAN 节点的节点 id 相同的值。

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    节点状态报告

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    节点状态消息

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    在 UAVCAN 中, 抽象节点状态信息由标准消息类型 uavcan.protocol.NodeStatus 表示。 它的 MAVLink 对应是 UCAVAN_NODE_STATUS。 它的 MAVLink 对应是 UCAVAN_NODE_STATUS。

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    每次收到 UAVCAN 节点状态消息时, 桥接节点都应发出 UAVCAN_NODE_STATUS 的 MAVLink 消息。 允许桥节点对节点状态消息流进行抽取, 以避免 MAVLink 通道的拥塞, 但所产生的状态消息发射频率不应低于每个节点 1 hz。 允许桥节点对节点状态消息流进行抽取, 以避免 MAVLink 通道的拥塞, 但所产生的状态消息发射频率不应低于每个节点 1 hz。

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    远程设备可以通过跟踪自上次接收每个在线节点的节点状态消息以来经过的时间来监控 UAVCAN 节点的联机状态。 如果该节点的最后一个状态消息超过5秒未到达, 则应将该节点视为离线。 如果该节点的最后一个状态消息超过5秒未到达, 则应将该节点视为离线。

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    扩展节点信息

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    UAVCAN 节点通常能够通过标准服务类型 uavcan.protocol.GetNodeInfo 报告一些静态信息,以确定其类型、用途、供应商、修订等。 在此上下文中, "静态" 表示在节点运行时数据没有更改。 这种信息对于许多重要的使用案例至关重要。 在此上下文中, "静态" 表示在节点运行时数据没有更改。 这种信息对于许多重要的使用案例至关重要。

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    相应的 MAVLink 消息是UCAVAN_NODE_INFO。 它的字段是服务类型 uavcan.protocol.GetCanteInfo 对应字段的直接映射。 它的字段是服务类型 uavcan.protocol.GetCanteInfo 对应字段的直接映射。

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    桥梁节点必须在下列情况下发布消息 UCAVAN_NODE_INFO

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • 接收服务响应类型 uavcan.protocol.GetCanteInfo。 接收服务响应类型 uavcan.protocol.GetCanteInfo。 反过来，当总线上观察以下条件时，必须援引这一服务（请阅读“UAVCAN”规格，更详细地说明总线监测原则）：
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • 一个新的节点在线出现。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • 已知节点已重新启动。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • 接受 MAVLink 命令MAV_CMD_UCAVAN_GET_NODE_INFO。 接受 MAVLink 命令MAV_CMD_UCAVAN_GET_NODE_INFO。 在这种情况下，桥梁节点必须每个已知节点发布UCAVAN_NODE_INFO 一次。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • 此外，还允许，但不要求无条件地以极低的速度发布UCAVAN_NODE_INFO 消息， ，以保证远程设备总是有一个有效的板载 UAVCAN 总线。

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    配置参数管理

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    UAVCAN定义了一套标准服务类型，以便利配置参数管理在 UCAVAN 节点上。 相关的数据类型定义可在命名空间 uavcen.protocol.made 中找到。 相关的数据类型定义可在命名空间 uavcen.protocol.made 中找到。

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    UAVCAN-MAVLink 桥没有为配置参数管理定义任何额外信息。 相反，以下标准信息经常使用： 相反，以下标准信息经常使用：

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • PARAM_RECAT_LIST - 用于请求指定的 UAVCAN 节点的配置参数列表。 记住，UAVCAN 节点是通过字段组件ID指定的。 记住，UAVCAN 节点是通过字段组件ID指定的。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • PARAM_VALUE - 被桥节点用来报告配置参数的值。 节点ID已反映在字段组件ID中。 节点ID已反映在字段组件ID中。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • PARAM_SET - 远程设备用于设置配置参数的值。 节点ID已反映在字段组件ID中。 节点ID已反映在字段组件ID中。

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    请注意，配置参数名称的最大长度在 UAVCAN 和 MAVLink 中定义不同。 在 MAVLink 中，最大长度为16个字符，而在 UAVCAN 中，限制是92个字符。 如果桥节点遇到超过 MAVLink 限制的长期配置参数名称，应该尽力减少 MAVLink 侧名称长度，同时避免歧义。 UAVCAN 网络节点的设计者应避免使用配置参数名称超过 16 个字符，直到 MAVLink 协议的这一缺陷被修复。 在 MAVLink 中，最大长度为16个字符，而在 UAVCAN 中，限制是92个字符。 如果桥节点遇到超过 MAVLink 限制的长期配置参数名称，应该尽力减少 MAVLink 侧名称长度，同时避免歧义。 UAVCAN 网络节点的设计者应避免使用配置参数名称超过 16 个字符，直到 MAVLink 协议的这一缺陷被修复。

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    互联网访问桥

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    UAVCAN定义了一套标准信息，以便利 UAVCAN 节点与远程主机在互联网或 LAN 之间进行通信。 可在GitHub查看暂定规格。 今后，应该扩展 MAVLink 信息，以便通过远程设备(例如地面控制站)传输的桥梁节点与互联网之间的数据包。 如果您感兴趣此功能，请向UAVCAN 邮件列表报告。

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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      \ No newline at end of file +UAVCAN Interaction · MAVLink Developer Guide
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      UAVCAN 介绍

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      本章描述 MAVLink 命令和信息，以便利操作者的设备与板载 UAVCAN 之间的数据交互。 主要目的是使用户能够通过现有的 MAVLink 连接，配置、监测和控制机上的 UCAVAN 节点。 主要目的是使用户能够通过现有的 MAVLink 连接，配置、监测和控制机上的 UCAVAN 节点。

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      概况

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      UAVCAN 的一般说明和规格可在http://uavcan.org上查阅。

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      文章将提及以下术语：

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • Bridge node——搭配机设备，连接上台VAN 的总线和 MAVLink 连接。 这一功能常常由飞行管理单元控制，例如 Pixwik 执行。 这一功能常常由飞行管理单元控制，例如 Pixwik 执行。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • Remote equipment-MAVLink 通道的其他终端，例如地面控制站。

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      UCAN Node 识别

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      每个 UAVCAN 节点都有一个称为“node ID”的总线上唯一的标识符。 节点 id 是间隔 [1, 127] 中的整数, 其中值1通常由自动驾驶仪或其他类型的中央控制单元使用, 和值126和127通常由调试或监视设备使用。 节点 id 是间隔 [1, 127] 中的整数, 其中值1通常由自动驾驶仪或其他类型的中央控制单元使用, 和值126和127通常由调试或监视设备使用。

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      每个能够通过 MAVLink 和 UAVCAN 通信的单位必须使用相同的数字，用于 MAVLink 组件ID 和 UCAN Node ID，否则可能会出现严重的不一致之处。 通常情况下, 如果有一个非冗余自动驾驶仪, 其 UAVCAN 节点 id 和 MAVLink 组件 id 将设置为 1 (1)。 通常情况下, 如果有一个非冗余自动驾驶仪, 其 UAVCAN 节点 id 和 MAVLink 组件 id 将设置为 1 (1)。

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      与给定 UAVCAN 节点相关的每个输出/传入的 MAVLink 消息/命令都将其字段 组件 id 设置为与所述 UAVCAN 节点的节点 id 相同的值。

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      节点状态报告

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      节点状态消息

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      在 UAVCAN 中, 抽象节点状态信息由标准消息类型 uavcan.protocol.NodeStatus 表示。 它的 MAVLink 对应是 UCAVAN_NODE_STATUS。 它的 MAVLink 对应是 UCAVAN_NODE_STATUS。

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      每次收到 UAVCAN 节点状态消息时, 桥接节点都应发出 UAVCAN_NODE_STATUS 的 MAVLink 消息。 允许桥节点对节点状态消息流进行抽取, 以避免 MAVLink 通道的拥塞, 但所产生的状态消息发射频率不应低于每个节点 1 hz。 允许桥节点对节点状态消息流进行抽取, 以避免 MAVLink 通道的拥塞, 但所产生的状态消息发射频率不应低于每个节点 1 hz。

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      远程设备可以通过跟踪自上次接收每个在线节点的节点状态消息以来经过的时间来监控 UAVCAN 节点的联机状态。 如果该节点的最后一个状态消息超过5秒未到达, 则应将该节点视为离线。 如果该节点的最后一个状态消息超过5秒未到达, 则应将该节点视为离线。

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      扩展节点信息

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      UAVCAN 节点通常能够通过标准服务类型 uavcan.protocol.GetNodeInfo 报告一些静态信息,以确定其类型、用途、供应商、修订等。 在此上下文中, "静态" 表示在节点运行时数据没有更改。 这种信息对于许多重要的使用案例至关重要。 在此上下文中, "静态" 表示在节点运行时数据没有更改。 这种信息对于许多重要的使用案例至关重要。

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      相应的 MAVLink 消息是UCAVAN_NODE_INFO。 它的字段是服务类型 uavcan.protocol.GetCanteInfo 对应字段的直接映射。 它的字段是服务类型 uavcan.protocol.GetCanteInfo 对应字段的直接映射。

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      桥梁节点必须在下列情况下发布消息 UCAVAN_NODE_INFO

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • 接收服务响应类型 uavcan.protocol.GetCanteInfo。 接收服务响应类型 uavcan.protocol.GetCanteInfo。 反过来，当总线上观察以下条件时，必须援引这一服务（请阅读“UAVCAN”规格，更详细地说明总线监测原则）：
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • 一个新的节点在线出现。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • 已知节点已重新启动。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • 接受 MAVLink 命令MAV_CMD_UCAVAN_GET_NODE_INFO。 接受 MAVLink 命令MAV_CMD_UCAVAN_GET_NODE_INFO。 在这种情况下，桥梁节点必须每个已知节点发布UCAVAN_NODE_INFO 一次。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • 此外，还允许，但不要求无条件地以极低的速度发布UCAVAN_NODE_INFO 消息， ，以保证远程设备总是有一个有效的板载 UAVCAN 总线。

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      配置参数管理

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      UAVCAN定义了一套标准服务类型，以便利配置参数管理在 UCAVAN 节点上。 相关的数据类型定义可在命名空间 uavcen.protocol.made 中找到。 相关的数据类型定义可在命名空间 uavcen.protocol.made 中找到。

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      UAVCAN-MAVLink 桥没有为配置参数管理定义任何额外信息。 相反，以下标准信息经常使用： 相反，以下标准信息经常使用：

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • PARAM_RECAT_LIST - 用于请求指定的 UAVCAN 节点的配置参数列表。 记住，UAVCAN 节点是通过字段组件ID指定的。 记住，UAVCAN 节点是通过字段组件ID指定的。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • PARAM_VALUE - 被桥节点用来报告配置参数的值。 节点ID已反映在字段组件ID中。 节点ID已反映在字段组件ID中。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • PARAM_SET - 远程设备用于设置配置参数的值。 节点ID已反映在字段组件ID中。 节点ID已反映在字段组件ID中。

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      请注意，配置参数名称的最大长度在 UAVCAN 和 MAVLink 中定义不同。 在 MAVLink 中，最大长度为16个字符，而在 UAVCAN 中，限制是92个字符。 如果桥节点遇到超过 MAVLink 限制的长期配置参数名称，应该尽力减少 MAVLink 侧名称长度，同时避免歧义。 UAVCAN 网络节点的设计者应避免使用配置参数名称超过 16 个字符，直到 MAVLink 协议的这一缺陷被修复。 在 MAVLink 中，最大长度为16个字符，而在 UAVCAN 中，限制是92个字符。 如果桥节点遇到超过 MAVLink 限制的长期配置参数名称，应该尽力减少 MAVLink 侧名称长度，同时避免歧义。 UAVCAN 网络节点的设计者应避免使用配置参数名称超过 16 个字符，直到 MAVLink 协议的这一缺陷被修复。

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      互联网访问桥

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      UAVCAN定义了一套标准信息，以便利 UAVCAN 节点与远程主机在互联网或 LAN 之间进行通信。 可在GitHub查看暂定规格。 今后，应该扩展 MAVLink 信息，以便通过远程设备(例如地面控制站)传输的桥梁节点与互联网之间的数据包。 如果您感兴趣此功能，请向UAVCAN 邮件列表报告。

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      results matching ""

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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Parsing MAVLink in Wireshark

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Wireshark is an extremely popular "general purpose" network protocol analyzer that can be used to inspect and analyse MAVLink traffic.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        The benefits of using Wireshark over other alternatives are:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • it can view all traffic on a network interface (GCS tools like MAVLink Inspector often only analyse incoming traffic).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • you can use it to analyse traffic logged on a companion computer (this allows analysis of traffic between the companion computer and flight controller, which might otherwise not be visible to Wireshark).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • it is easy to update for new custom messages and dialects. it is easy to update for new custom messages and dialects. Rebuilding QGroundControl so you can use it analyse custom messages is much harder!

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        This topic shows how to generate a Wireshark plugin for a particular dialect file and install it on Wireshark, and how to perform basic filtering. It also provides an overview of how you can use tcpdump for collecting traffic on a linux computer (for later analysis). It also provides an overview of how you can use tcpdump for collecting traffic on a linux computer (for later analysis).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        You will need to regenerate and reimport the plugin (as shown below) if your dialect changes.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        First you will need to generate a Wireshark plugin that includes definitions for the MAVLink messages that you want it to handle. The MAVLink generator (mavgen) can build this plugin for a dialect in the same way as it builds MAVLink libraries for other programming languages. The MAVLink generator (mavgen) can build this plugin for a dialect in the same way as it builds MAVLink libraries for other programming languages.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        The steps are:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        1. Install MAVLink (if you have not already done so).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        2. Build libraries for your target dialect, specifing WLua as the target language. This process is described in the toicGenerate MAVLink Libraries. This process is described in the topic Generate MAVLink Libraries.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          For example, to build the MAVLink 2 Wireshark plugin for common.xml you might use the following command:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          python3 -m pymavlink.tools.mavgen --lang=WLua --wire-protocol=2.0 --output=mavlink_2_common message_definitions/v1.0/common.xml
+Debugging with Wireshark · MAVLink Developer Guide
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Parsing MAVLink in Wireshark
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Wireshark is an extremely popular "general purpose" network protocol analyzer that can be used to inspect and analyse MAVLink traffic.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          The benefits of using Wireshark over other alternatives are:
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • it can view all traffic on a network interface (GCS tools like MAVLink Inspector often only analyse incoming traffic).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • you can use it to analyse traffic logged on a companion computer (this allows analysis of traffic between the companion computer and flight controller, which might otherwise not be visible to Wireshark).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • it is easy to update for new custom messages and dialects. it is easy to update for new custom messages and dialects. Rebuilding QGroundControl so you can use it analyse custom messages is much harder!
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          This topic shows how to generate a Wireshark plugin for a particular dialect file and install it on Wireshark, and how to perform basic filtering. It also provides an overview of how you can use tcpdump for collecting traffic on a linux computer (for later analysis). It also provides an overview of how you can use tcpdump for collecting traffic on a linux computer (for later analysis).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          You will need to regenerate and reimport the plugin (as shown below) if your dialect changes.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          First you will need to generate a Wireshark plugin that includes definitions for the MAVLink messages that you want it to handle. The MAVLink generator (mavgen) can build this plugin for a dialect in the same way as it builds MAVLink libraries for other programming languages. The MAVLink generator (mavgen) can build this plugin for a dialect in the same way as it builds MAVLink libraries for other programming languages.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          The steps are:
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1. Install MAVLink (if you have not already done so).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2. Build libraries for your target dialect, specifing WLua as the target language. This process is described in the toicGenerate MAVLink Libraries. This process is described in the topic Generate MAVLink Libraries.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            For example, to build the MAVLink 2 Wireshark plugin for common.xml you might use the following command:
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            python3 -m pymavlink.tools.mavgen --lang=WLua --wire-protocol=2.0 --output=mavlink_2_common message_definitions/v1.0/common.xml
 
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            The plugin would be created in the current directory as: mavlink_2_common.lua.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Update Plugin with Correct Ports
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          The last few lines of the plugin file specify the ports to be monitored: 14550 and 14580.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          -- bind protocol dissector to port 14550 and 14580
 
 local udp_dissector_table = DissectorTable.get("udp.port")
@@ -12,4 +12,4 @@
 
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          tcpdump must be installed on the remote machine.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          When you can access the remote machine with SSH you can stream the tcpdump to your local machine instead of logging it to a file. Wireshark can open this stream and show the decoded MAVLink messages using the tools and filters from above. Wireshark can open this stream and show the decoded MAVLink messages using the tools and filters from above.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          mkfifo /tmp/mavlink;
 wireshark -k -i /tmp/mavlink &
 ssh root@10.41.1.1 -p 33333 "tcpdump -s 0 -U -n -w - -i lo not port 33333" > /tmp/mavlink;
-
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Username, IP and port above have to be adjusted to the configuration on the remote machine.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1. mkfifo /tmp/mavlink Creates a named pipe that is used to stream the data.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2. wireshark -k -i /tmp/mavlink & Start Wireshark, open the named pipe as input and start the capture immediately.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          3. Start the data stream on the remote machine and pipe it into the named pipe on your local machine.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • -s 0 Set snapshot length to default
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • -U Stream packet output packet-buffered, don’t wait for a full buffer
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • -n Don't convert addresses (i.e., host addresses, port numbers, etc.) to names
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • -w - Write raw data to standard output (piped to the local machine)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • -i lo Define which interface to listen on. -i lo Define which interface to listen on. This will listen to the loopback interface, you can change this to the Ethernet, USB or modem interface.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • not port 33333 Don’t capture the data created by the SSH session. You can add more filters to tcpdump to reduce the streamed data. You can add more filters to tcpdump to reduce the streamed data.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          After the plugin is setup in Wireshark ad you have started to capture a stream you can use the Wireshark IO graphsto monitor message rates for either the whole stream or just specific messages.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          To do this you need to go to Statistics > I/O Graphs and you will get a new window. Now you will a plot of the data rate of all packets you are analyzing. You can filter for the usual Wireshark filters and the new MAVLink ones introduced by the LUA script. Now you will a plot of the data rate of all packets you are analyzing. You can filter for the usual Wireshark filters and the new MAVLink ones introduced by the LUA script.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          We recommend changing the y axis to bits or bytes and to reduce the x axis to 10ms or faster to get meaningful plots.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                           results matching ""
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            No results matching ""
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            
\ No newline at end of file
+

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Username, IP and port above have to be adjusted to the configuration on the remote machine.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1. mkfifo /tmp/mavlink Creates a named pipe that is used to stream the data.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            2. wireshark -k -i /tmp/mavlink & Start Wireshark, open the named pipe as input and start the capture immediately.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            3. Start the data stream on the remote machine and pipe it into the named pipe on your local machine.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • -s 0 Set snapshot length to default
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • -U Stream packet output packet-buffered, don’t wait for a full buffer
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • -n Don't convert addresses (i.e., host addresses, port numbers, etc.) to names
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • -w - Write raw data to standard output (piped to the local machine)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • -i lo Define which interface to listen on. -i lo Define which interface to listen on. This will listen to the loopback interface, you can change this to the Ethernet, USB or modem interface.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • not port 33333 Don’t capture the data created by the SSH session. You can add more filters to tcpdump to reduce the streamed data. You can add more filters to tcpdump to reduce the streamed data.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            After the plugin is setup in Wireshark ad you have started to capture a stream you can use the Wireshark IO graphsto monitor message rates for either the whole stream or just specific messages.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            To do this you need to go to Statistics > I/O Graphs and you will get a new window. Now you will a plot of the data rate of all packets you are analyzing. You can filter for the usual Wireshark filters and the new MAVLink ones introduced by the LUA script. Now you will a plot of the data rate of all packets you are analyzing. You can filter for the usual Wireshark filters and the new MAVLink ones introduced by the LUA script.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            We recommend changing the y axis to bits or bytes and to reduce the x axis to 10ms or faster to get meaningful plots.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          results matching ""

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            No results matching ""

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            \ No newline at end of file diff --git a/zh/guide/xml_schema.html b/zh/guide/xml_schema.html index 10de67278..2ed9893ff 100644 --- a/zh/guide/xml_schema.html +++ b/zh/guide/xml_schema.html @@ -1,4 +1,4 @@ -MAVLink XML Schema · MAVLink Developer Guide
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Messages
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAVLink XML 文件框架/格式

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            语支文件的格式和结构在 XML 图式文档中正式定义: mavschema.xsd。

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            虽然这是规范引用, 但通过示例更容易理解 XML 文件 (如以下各节所示)。

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            文件结构

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MaVLink XML 文件的大致结构如下。

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            如果要创建自定义语支文件, 文件结构应类似于下面的文件结构 (但可能省略所有部分)。

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            <?xml version="1.0"?>
+MAVLink XML Schema · MAVLink Developer Guide
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAVLink XML 文件框架/格式
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            语支文件的格式和结构在 XML 图式文档中正式定义: mavschema.xsd。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            虽然这是规范引用, 但通过示例更容易理解 XML 文件 (如以下各节所示)。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            文件结构
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MaVLink XML 文件的大致结构如下。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            如果要创建自定义语支文件, 文件结构应类似于下面的文件结构 (但可能省略所有部分)。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            <?xml version="1.0"?>
 <mavlink>
 
     <include>common.xml</include>
@@ -68,4 +68,4 @@
 
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            主要消息标签/字段是：
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • message: 每个消息被 message 标签封装，包含以下属性
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • id“id”属性是这一信息的独特索引编号(见上文：147)。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • 对于 MAVLink 1:
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • 有效数字介于 0 到 255。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • ID 0-149 和 230-255 为common.xml保留。 语支可以使用180-229 用于自定义消息 (除非这些信息没有被其他包括语支使用)。 Dialects can use 180-229 for custom messages (provided these are not used by other included dialects).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • 对于 MAVLink 2 :
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • 有效数字介于0-1677215。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • All numbers below 255 should be considered reserved unless messages are also intended for MAVLink 1. 255以下所有值都被认为是保留的，除非报文也打算用于 MAVLink 1。 >注意 ID 在 MAVLink 1 中很宝贵！
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • name：名称属性为消息提供了人类可读的表格 (比如 "BATERY_STATUS") 它用于在生成的库命名辅助功能，但并没有通过总线发送。 它用于在生成的库命名辅助功能，但并没有通过总线发送。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • description(可选)：用户界面和代码评论中显示的信息可读描述。 这应当包含所有信息（以及超链接），以便充分了解信息。 这应当包含所有信息（以及超链接），以便充分了解信息。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • field: Encodes one field of the message. The field value is its name/text string used in GUI documentation (but not sent over the wire). Every message must have at least one field.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • type: 类似于 C struct - 存储/代表数据类型所需数据大小。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • 字段可签名/无签名，大小 8、16、23、64位({u)int8_t, (u)int16_t, (u>(u)int 32_t, (u>(u)int64_int), 单一/双精度精度IEEE754 浮点数。 它们也可以是其他类型——例如uint16_t[10]。 它们也可以是其他类型——例如uint16_t[10]。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • name：字段名称 (在代码中使用)。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • number(可选)：一个enum 定义字段可能的值的名称 (例如：MAV_BATERY_CHRRE_STATE)。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • units(可选)：信息 字段对应数字的单位(未列出)。 units(可选)：信息 字段对应数字的单位(未列出)。 这些定义在 schema(搜索 name="SI_Unit")
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • multiplier (optional) - Multiply by this value to get the unscaled original value. Allowed values are defined in the schema (search on name="factor"). For example, GPS_STATUS is a value in degrees (0-360) sent in a byte field (0-255). To get the original value, scale by multiplying the value with the multiplier (360/256). This is currently only used for values where scaling is not encoded in the units.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • display(可选)：这应当设置为 display="bitmask" 用于 bitsword 字段 (指向必须作为复选框显示数字的地面站)。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • default(可选)：TBD。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • default(可选)：TBD。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • increment - Allowed increments for the increment value.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • minValue - Minimum value for field.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • maxValue - Maximum value for the field.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • instance: If true, this indicates that the message contains the information for a particular sensor or battery (e.g. Battery 1, Battery 2, etc.) and that this field indicates which sensor. Default is false.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                This field allows a recipient automatically associate messages for a particular sensor and plot them in the same series.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • invalid: Specifies a value that can be set on a field to indicate that the data is invalid: the recipient should ignore the field if it has this value. For example, BATTERY_STATUS.current_battery specifies invalid="-1", so a battery that does not measure supplied current should set BATTERY_STATUS.current_battery to -1.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Where possible the value that indicates the field is invalid should be selected to outside the expected/valid range of the field (0 is preferred if it is not an acceptable value for the field). For integers we usually select the largest possible value (i.e. UINT16_MAX, INT16_MAX, UINT8_MAX, UINT8_MAX). For floats we usually select invalid="NaN".
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Arrays represent multiple elements, some (or all) of which may need to be marked as invalid. The following notation is used to specify the values that indicate elements of the array are invalid:
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • invalid="[value]": Array elements that contain value are invalid.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • invalid="[value:]": All array elements are invalid if the first array element is set to value.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • invalid="[value1,,value3,]": Array elements are invalid if they contain the value specified in the corresponding position of the comma separated list. If the a position in the list is empty, there is no way to indicate the corresponding array element is invalid. The example above indicates that elements 1 and 3 are invalid if they contain value1 and value3, respectively. For element 2 and any elements >4 the invalid property of the field cannot be set.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • invalid="[value1,]": The first array element is invalid if it contains value1: the invalid property cannot be set for all other elements.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • deprecated / wip (optional): A tag indicating that the message is deprecated or "work in progress".
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • 扩展 扩展 (可选)：此自闭标签被用于表明随后的字段仅适用于 MAVLink 2。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • 标记应该用于MAVLink 1 信息 (id < 256) 已扩展到MAVLink2。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            常用标签
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            本节列出一些标签可用于若干其他类型，例如消息和数字。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            废弃的
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            <deprecated> 标签可用于 enum，列出条目(值) 或消息 表示该项目已被替换。 标签属性显示废弃时间和替代项目，而元素(可选) 可以包含一个字符串，其中载有关于废弃物的补充信息。 标签属性显示废弃时间和替代项目，而元素(可选) 可以包含一个字符串，其中载有关于废弃物的补充信息。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            生成工具链可以配置为有条件的构建消息，忽略 deprecated 的条目。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            只有在主要用户有机会向新方法更新时，一个实体才能被标记为废弃。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            作为一个具体的例子，我们看到 SET_MODE 被废弃，由 MAV_CMD_DO_SET_MODE 在 2015-12 上替换。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                <message id="11" name="SET_MODE">
       <deprecated since="2015-12" replaced_by="MAV_CMD_DO_SET_MODE">Use COMMAND_LONG with MAV_CMD_DO_SET_MODE instead</deprecated>
 
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            deprecated 属性是：
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • since：废弃开始时年份/月。 格式：YYYYY-MM。 格式：YYYYY-MM。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • replaced by：取代本项目的实体集团
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            wip
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            <wip> 标签可用于列举 条目(值) 或消息 表示该项目是“正在进行中的工作”。 元素可以(可选) 包含一个字符串，其中载有关于新项目的补充信息。 元素可以(可选) 包含一个字符串，其中载有关于新项目的补充信息。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            生成工具链可以配置为有条件的构建消息，忽略 wip 条目。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            最常见的是，标签被显示：
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            <wip />
-
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                \ No newline at end of file diff --git a/zh/index.html b/zh/index.html index 84953870c..986c846a0 100644 --- a/zh/index.html +++ b/zh/index.html @@ -1 +1 @@ -简介 · MAVLink Developer Guide
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAVLink 开发人员指南

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAVLink是一种非常轻量级的消息传输协议, 用于地面控制终端（地面站）与无人机之间 (以及机载无人机组件之间) 进行通信。

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Mavlink 遵循现代混合发布-订阅和点对点设计模式: 数据流作为 topics 发送/发布的, 而配置子协议 (如 路径点协议 或 参数协议）是基于重传机制的点对点模式。

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                消息内容定义于与之关联的xml 文件中。 每个xml文件对应一个特定的MAVLink系统，并为该系统定义了专属的消息集（亦被称之为“语支dialect”）。 大部分 地面站和自动驾驶仪所采用的“通用消息集”定义于 common.xml中 (大多数“语支”均是基于“通用消息集“构建 的：即，大多数“语支”所对应的xml文件里，均包含了common.xml) 。 每个xml文件对应一个特定的MAVLink系统，并为该系统定义了专属的消息集（亦被称之为“语支dialect”）。 大部分 地面站和自动驾驶仪所采用的“通用消息集”定义于 common.xml中 (大多数“语支”均是基于“通用消息集“构建 的：即，大多数“语支”所对应的xml文件里，均包含了common.xml) 。

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Code generators create software libraries for specific programming languages from these XML message definitions, which can then be used by drones, ground control stations, and other MAVLink systems to communicate. The generated libraries are typically MIT-licensed, and can therefore be used without limits in any closed-source application without publishing the source code of the closed-source application.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                基于C封装的MAVLink库，是一个 header-only库, 其针对资源受限系统有限的ram 和闪存，进行了高度优化。 这种库，已经过现场验证, 并部署在许多产品中, 充当不同厂家组件之间的交互性接口。

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAVLink于2009年初由Lorenz Meier首次发布, 目前为止，已拥有数量可观的贡献者。

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                主要特性

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • 高效性。 MAVLink 1每个数据包只有8个字节的开销, 包括起始标志和数据包丢弃检测。 MAVLink 2只有14个字节的开销 (但它是一个更安全且可扩展的协议)。 因为MAVLink不需要任何额外的帧, 所以它非常适合通信带宽非常有限的应用程序。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • 可靠性。 自2009年以来, MAVLink一直被用于多种载具、地面站 (和其他节点) 之间的通信，而这些通信信道中，不乏各种挑战性(如高延迟、噪声) 。 同时，Mavlink也具备检测数据包丢失、损坏和数据包身份验证的功能。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • Many different programming languages can be used, running on numerous microcontrollers/operating systems (including ARM7, ATMega, dsPic, STM32 and Windows, Linux, MacOS, Android and iOS).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • 单个网络上最多可容纳255个并行系统 (载具、地面站等)。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • 支持offboard和 onboard通信 (例如，地面站和无人机之间的通信（offboard）, 以及无人机自动驾驶仪与启用MAVLink的无人机摄像头之间的通信（onboard）)。

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Language/Generator List

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                The sections below lists MAVLink generators and their associated programming languages.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                The MAVLink organisation provides (and supports) the mavgen, mavgenerate and rust-mavlink tools.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                语言生成器MAVLink v1MAVLink 2Signing备注
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Cmavgen✓✓✓MAVLink project reference implementation. 可基于两个协议版本发布相应的生成库。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                C++11mavgen✓✓✓
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Python (2.7+, 3.3+)mavgen✓✓✓Python bindings. Library also available on PyPi: pymavlink.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                C#mavgen✓✓
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Objective Cmavgen✓
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Javamavgen✓✓Dronefleet offers a more idiomatic generated library
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                JavaScript (Stable)mavgen✓✓✗Old mavgen JavaScript binding (has known bugs and no test suite).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                JavaScript (NextGen)mavgen✓✓✓New mavgen JavaScript library. Full test suite, resulting library produces binary compatible output compared to C bindings. Slightly incompatible with previous version, but not hard to migrate.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                TypeScript/JavaScriptmavgen✓✓✗TypeScript classes which can be used with node-mavlink.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Luamavgen✓✓✗Lua library. Does not support zero trimming of MAVLink 2 messages.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                WLua (Wireshark Lua bindings)mavgen✓✓NAAllow MAVLink-aware packet inspection in Wireshark. Generated lua scripts should be copied to the Wireshark plugin directory (e.g. wireshark/plugins/mavlink.lua).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Swiftmavgen✓
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Rustrust-mavlink✓✓Rust MAVLink generated code. Has tests and docs.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Adamavgen✓

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                External Generators/Languages

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                The following generators are delivered by independent projects (and supported by those projects).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                LanguageGeneratorMAVLink v1MAVLink 2SigningNotes
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                CfastMavlink✓✓✗Highly efficient C library with python code generators. Has docs, examples, test, support for routing and mavgen mimicry.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Clojureclj-mavlink✓✓✓Clojure MAVLink Bindings.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Dartdart_mavlink✓✓✗MAVLink library for Dart.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Gogomavlib✓✓✓Go library with support for MAVLink 1, 2 and signing, test suite, and documentation
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Gogo-mavlink1✓✗✗Golang MAVLink v1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                HaskellHaskMavlink✗✓✗
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Javadronefleet/mavlink✓✓✓Idiomatic Java SDK/API for MAVLink. Provides a gradle plugin for the code generator.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                TypeScript/JavaScript/npmnode-mavlink✓✓✓TypeScript code generator for data classes with tools to receive and send messages. Getting started guide and inline JSDoc, along with some examples.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Kotlinmavlink-kotlin✓✓✓Uses codegen instead of reflection for performance with Coroutines, RxJava2 and RxJava3 support. Provides a code generator Gradle plugin.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                预建的基于C语言的MAVLink库

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                C MAVLink Source Files (only) are auto-generated for the latest versions of all message specifications/dialects (for both MAVLink 1 and 2):

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Using C Libraries explains how to use these libraries.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                支持

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                The Support topic contains information about the mailing list, reporting bugs/issues, and joining the dev call.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                参与贡献

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                The Contributing Guide explains the contribution model and the main areas where you can help.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                许可证

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                The message definition XML files and the generated C-language version of MAVLink (a header-only library) are made available under the MIT-licence. MAVLink can therefore be used in any closed-source application without publishing the source code of the closed-source application. See the COPYING file for more information.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                The MAVLink generator toolchain is licensed under the terms of the Lesser General Public License (version 3) of the Free Software Foundation (LGPLv3).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                This documentation is licensed under CC BY 4.0 (Human readable overview | LICENSE).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                管理

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                The MAVLink protocol is hosted under the governance of the Dronecode Project.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Dronecode LogoLinux Foundation Logo

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                 

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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAVLink 开发人员指南

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAVLink是一种非常轻量级的消息传输协议, 用于地面控制终端（地面站）与无人机之间 (以及机载无人机组件之间) 进行通信。

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Mavlink 遵循现代混合发布-订阅和点对点设计模式: 数据流作为 topics 发送/发布的, 而配置子协议 (如 路径点协议 或 参数协议）是基于重传机制的点对点模式。

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  消息内容定义于与之关联的xml 文件中。 每个xml文件对应一个特定的MAVLink系统，并为该系统定义了专属的消息集（亦被称之为“语支dialect”）。 大部分 地面站和自动驾驶仪所采用的“通用消息集”定义于 common.xml中 (大多数“语支”均是基于“通用消息集“构建 的：即，大多数“语支”所对应的xml文件里，均包含了common.xml) 。 每个xml文件对应一个特定的MAVLink系统，并为该系统定义了专属的消息集（亦被称之为“语支dialect”）。 大部分 地面站和自动驾驶仪所采用的“通用消息集”定义于 common.xml中 (大多数“语支”均是基于“通用消息集“构建 的：即，大多数“语支”所对应的xml文件里，均包含了common.xml) 。

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Code generators create software libraries for specific programming languages from these XML message definitions, which can then be used by drones, ground control stations, and other MAVLink systems to communicate. The generated libraries are typically MIT-licensed, and can therefore be used without limits in any closed-source application without publishing the source code of the closed-source application.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  基于C封装的MAVLink库，是一个 header-only库, 其针对资源受限系统有限的ram 和闪存，进行了高度优化。 这种库，已经过现场验证, 并部署在许多产品中, 充当不同厂家组件之间的交互性接口。

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAVLink于2009年初由Lorenz Meier首次发布, 目前为止，已拥有数量可观的贡献者。

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  主要特性

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • 高效性。 MAVLink 1每个数据包只有8个字节的开销, 包括起始标志和数据包丢弃检测。 MAVLink 2只有14个字节的开销 (但它是一个更安全且可扩展的协议)。 因为MAVLink不需要任何额外的帧, 所以它非常适合通信带宽非常有限的应用程序。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • 可靠性。 自2009年以来, MAVLink一直被用于多种载具、地面站 (和其他节点) 之间的通信，而这些通信信道中，不乏各种挑战性(如高延迟、噪声) 。 同时，Mavlink也具备检测数据包丢失、损坏和数据包身份验证的功能。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • Many different programming languages can be used, running on numerous microcontrollers/operating systems (including ARM7, ATMega, dsPic, STM32 and Windows, Linux, MacOS, Android and iOS).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • 单个网络上最多可容纳255个并行系统 (载具、地面站等)。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • 支持offboard和 onboard通信 (例如，地面站和无人机之间的通信（offboard）, 以及无人机自动驾驶仪与启用MAVLink的无人机摄像头之间的通信（onboard）)。

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Language/Generator List

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  The sections below lists MAVLink generators and their associated programming languages.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  The MAVLink organisation provides (and supports) the mavgen, mavgenerate and rust-mavlink tools.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  语言生成器MAVLink v1MAVLink 2Signing备注
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Cmavgen✓✓✓MAVLink project reference implementation. 可基于两个协议版本发布相应的生成库。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  C++11mavgen✓✓✓
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Python (2.7+, 3.3+)mavgen✓✓✓Python bindings. Library also available on PyPi: pymavlink.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  C#mavgen✓✓
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Objective Cmavgen✓
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Javamavgen✓✓Dronefleet offers a more idiomatic generated library
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  JavaScript (Stable)mavgen✓✓✗Old mavgen JavaScript binding (has known bugs and no test suite).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  JavaScript (NextGen)mavgen✓✓✓New mavgen JavaScript library. Full test suite, resulting library produces binary compatible output compared to C bindings. Slightly incompatible with previous version, but not hard to migrate.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  TypeScript/JavaScriptmavgen✓✓✗TypeScript classes which can be used with node-mavlink.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Luamavgen✓✓✗Lua library. Does not support zero trimming of MAVLink 2 messages.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  WLua (Wireshark Lua bindings)mavgen✓✓NAAllow MAVLink-aware packet inspection in Wireshark. Generated lua scripts should be copied to the Wireshark plugin directory (e.g. wireshark/plugins/mavlink.lua).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Swiftmavgen✓
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Rustrust-mavlink✓✓Rust MAVLink generated code. Has tests and docs.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Adamavgen✓

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  External Generators/Languages

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  The following generators are delivered by independent projects (and supported by those projects).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  LanguageGeneratorMAVLink v1MAVLink 2SigningNotes
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  CfastMavlink✓✓✗Highly efficient C library with python code generators. Has docs, examples, test, support for routing and mavgen mimicry.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Clojureclj-mavlink✓✓✓Clojure MAVLink Bindings.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Dartdart_mavlink✓✓✗MAVLink library for Dart.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Gogomavlib✓✓✓Go library with support for MAVLink 1, 2 and signing, test suite, and documentation
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Gogo-mavlink1✓✗✗Golang MAVLink v1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  HaskellHaskMavlink✗✓✗
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Javadronefleet/mavlink✓✓✓Idiomatic Java SDK/API for MAVLink. Provides a gradle plugin for the code generator.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  TypeScript/JavaScript/npmnode-mavlink✓✓✓TypeScript code generator for data classes with tools to receive and send messages. Getting started guide and inline JSDoc, along with some examples.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Kotlinmavlink-kotlin✓✓✓Uses codegen instead of reflection for performance with Coroutines, RxJava2 and RxJava3 support. Provides a code generator Gradle plugin.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  预建的基于C语言的MAVLink库

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  C MAVLink Source Files (only) are auto-generated for the latest versions of all message specifications/dialects (for both MAVLink 1 and 2):

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Using C Libraries explains how to use these libraries.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  支持

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  The Support topic contains information about the mailing list, reporting bugs/issues, and joining the dev call.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  参与贡献

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  The Contributing Guide explains the contribution model and the main areas where you can help.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  许可证

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  The message definition XML files and the generated C-language version of MAVLink (a header-only library) are made available under the MIT-licence. MAVLink can therefore be used in any closed-source application without publishing the source code of the closed-source application. See the COPYING file for more information.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  The MAVLink generator toolchain is licensed under the terms of the Lesser General Public License (version 3) of the Free Software Foundation (LGPLv3).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  This documentation is licensed under CC BY 4.0 (Human readable overview | LICENSE).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  管理

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  The MAVLink protocol is hosted under the governance of the Dronecode Project.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Dronecode LogoLinux Foundation Logo

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                   

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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAVLink C UART Interface Example

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    The C-UART Interface Example is a simple C example of a MAVLink to UART interface for Unix-like systems.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    The example source code demonstrates how to set up serial communication between Pixhawk and an offboard computer via USB or a telemetry radio, how to put the vehicle in offboard mode, and how to send and receive MAVLink messages over the interface.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Source code and instructions for how to run the example can be found in the Github repo: mavlink/c_uart_interface_example

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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAVLink C UART Interface Example

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      The C-UART Interface Example is a simple C example of a MAVLink to UART interface for Unix-like systems.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      The example source code demonstrates how to set up serial communication between Pixhawk and an offboard computer via USB or a telemetry radio, how to put the vehicle in offboard mode, and how to send and receive MAVLink messages over the interface.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Source code and instructions for how to run the example can be found in the Github repo: mavlink/c_uart_interface_example

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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAVLink C UDP Example

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        The MAVLink UDP Example is a simple C example that sends some data to QGroundControl using MAVLink over UDP. QGroundControl responds with heartbeats and other messages, which are then printed by this program. QGroundControl responds with heartbeats and other messages, which are then printed by this program.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        The example should work on any Unix-like system (Linux, MacOS, BSD, etc.). These instructions were tested on a clean Ubuntu LTS 20.04 installation using the default version of gcc (9.3.0). These instructions were tested on a clean Ubuntu LTS 20.04 installation using the default version of gcc (9.3.0).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Building/Running the Example

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        The following instructions show how to build and run the example.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        1. Install MAVLink and generate the MAVLink 2.0 libraries into the mavlink/include directory. For example, to generate the headers for common.xml you could use the command line: For example, to generate the headers for common.xml you could use the command line:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          python3 -m pymavlink.tools.mavgen --lang=C --wire-protocol=2.0 --output=./include/ message_definitions/v1.0/common.xml
+UDP Example (C) · MAVLink Developer Guide
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAVLink C UDP Example
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          The MAVLink UDP Example is a simple C example that sends some data to QGroundControl using MAVLink over UDP. QGroundControl responds with heartbeats and other messages, which are then printed by this program. QGroundControl responds with heartbeats and other messages, which are then printed by this program.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          The example should work on any Unix-like system (Linux, MacOS, BSD, etc.). These instructions were tested on a clean Ubuntu LTS 20.04 installation using the default version of gcc (9.3.0). These instructions were tested on a clean Ubuntu LTS 20.04 installation using the default version of gcc (9.3.0).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Building/Running the Example
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          The following instructions show how to build and run the example.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1. Install MAVLink and generate the MAVLink 2.0 libraries into the mavlink/include directory. For example, to generate the headers for common.xml you could use the command line: For example, to generate the headers for common.xml you could use the command line:
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            python3 -m pymavlink.tools.mavgen --lang=C --wire-protocol=2.0 --output=./include/ message_definitions/v1.0/common.xml
 
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Alternatively you can clone the mavlink/mavlink repository and Download prebuilt headers to the same location.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          The example will not work with MAVLink 1 because it uses a message that includes extension fields which do not exist in MAVLink 1 (SYS_STATUS).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          You can put/generate the library wherever you like, but the build command below assumes they are located in directory named include below the MAVLink root directory.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1. Open a terminal and navigate to examples/linux
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2. Compile with GCC using the following command:
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            gcc -std=c99 -I ../../include/common -o mavlink_udp mavlink_udp.c
 
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            The MAVLink header directory must be added to the include path. Note The MAVLink header directory must be added to the include path. The path here assumes you are building the code from the example directory, and that have installed the headers in mavlink/include.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          3. Run the executable from the terminal:
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ./mavlink_udp
 
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            By default, the example will listen for data on the localhost IP address, port 14551. By default, the example will listen for data on the localhost IP address, port 14551. You can specify another IP address as a command line argument (use ./mavlink_udp --help to see usage).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          4. Open QGroundControl on the same machine.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            QGroundControl immediately starts broadcasting its HEARTBEAT on port 14551.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            QGroundControl returns data, but will not actually "connect" to the example (it will continue to display the message Waiting for Vehicle Connection).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          5. The example should start displaying the received data in the terminal:
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ~/github/mavlink/examples/linux$ ./mavlink_udp
@@ -11,4 +11,4 @@
 Received packet: SYS: 255, COMP: 0, LEN: 9, MSG ID: 0
 
 ...
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            例子

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • UART 接口：一个 MAVLink 到 UART 接口的 Uix 系统的简单C 实例。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • < 0>UDP 示例 </0>: 用于 unix 类系统 (Linux、MacOS、BSD 等) 的 MAVLink UDP 接口的简单 C 示例。

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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              例子

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • UART 接口：一个 MAVLink 到 UART 接口的 Uix 系统的简单C 实例。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • < 0>UDP 示例 </0>: 用于 unix 类系统 (Linux、MacOS、BSD 等) 的 MAVLink UDP 接口的简单 C 示例。

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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                使用 C MAVLink 库 (mavgen)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                The MAVLink C library generated by mavgen is a header-only implementation that is highly optimized for resource-constrained systems with limited RAM and flash memory. It is field-proven and deployed in many products where it serves as interoperability interface between components of different manufacturers.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                This topic explains how to get and use the library.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Getting the C MAVLink Libraries

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                If you are using a standard dialect then download the MAVLink 2 library from Github: c_library_v2.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                The MAVLink 2 library supports both MAVLink 2 and MAVLink 1, and is rebuilt for all the standard dialects whenever any of the definitions in the mavlink/mavlink repo change. It supersedes the MAVLink 1 library (c_library_v1), and should be used by preference.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                If you need libraries for a custom dialect then you will need to install mavgen and generate them yourself. These can then be used in the same way as the pre-generated libraries.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                The libraries can be placed/generated anywhere in your project tree.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Adding Libraries

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                The example below shows them located in: generated/include/mavlink/v2.0/.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                To use MAVLink in your C project, include the mavlink.h header file for your dialect:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                #include <your_dialect/mavlink.h>
+C (mavgen) · MAVLink Developer Guide
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                使用 C MAVLink 库 (mavgen)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                The MAVLink C library generated by mavgen is a header-only implementation that is highly optimized for resource-constrained systems with limited RAM and flash memory. It is field-proven and deployed in many products where it serves as interoperability interface between components of different manufacturers.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                This topic explains how to get and use the library.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Getting the C MAVLink Libraries
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                If you are using a standard dialect then download the MAVLink 2 library from Github: c_library_v2.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                The MAVLink 2 library supports both MAVLink 2 and MAVLink 1, and is rebuilt for all the standard dialects whenever any of the definitions in the mavlink/mavlink repo change. It supersedes the MAVLink 1 library (c_library_v1), and should be used by preference.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                If you need libraries for a custom dialect then you will need to install mavgen and generate them yourself. These can then be used in the same way as the pre-generated libraries.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                The libraries can be placed/generated anywhere in your project tree.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Adding Libraries
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                The example below shows them located in: generated/include/mavlink/v2.0/.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                To use MAVLink in your C project, include the mavlink.h header file for your dialect:
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                #include <your_dialect/mavlink.h>
 
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                This will automatically add the header files for all messages in your dialect, and for any dialect files that it includes.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Only include the header file for a single dialect. If you need to support messages from a number of dialects then create a new "parent" dialect XML file that includes them (and use its generated header as shown above).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Do not include the individual message files. If you generate your own headers, you will have to add their output location to your C compiler's search path.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                When compiling the project, make sure to add the include directory:
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                $ gcc ... -I generated/include -I generated/include/common ...
 
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Adding Library to Cmake Project
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                To include the headers in cmake, install them locally, e.g. into the directory install:
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                cmake -Bbuild -H. -DCMAKE_INSTALL_PREFIX=install -DMAVLINK_DIALECT=common -DMAVLINK_VERSION=2.0
 cmake --build build --target install
@@ -83,4 +83,4 @@
         chan_state->flags &= ~(MAVLINK_STATUS_FLAG_OUT_MAVLINK1);
     }
 }
-
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Examples
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                The following examples show the use of the API.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • UART Interface: Simple C example of a MAVLink to UART interface for Unix-like systems.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • UDP Example: Simple C example of a MAVLink UDP interface for Unix-like systems (Linux, MacOS, BSD, etc.).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                In addition, the C library is used in numerous open source systems:
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Examples

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  The following examples show the use of the API.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • UART Interface: Simple C example of a MAVLink to UART interface for Unix-like systems.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • UDP Example: Simple C example of a MAVLink UDP interface for Unix-like systems (Linux, MacOS, BSD, etc.).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  In addition, the C library is used in numerous open source systems:

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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    \ No newline at end of file diff --git a/zh/mavgen_c/message_signing_c.html b/zh/mavgen_c/message_signing_c.html index a9b523b21..0eaa1b454 100644 --- a/zh/mavgen_c/message_signing_c.html +++ b/zh/mavgen_c/message_signing_c.html @@ -1,4 +1,4 @@ -Message Signing · MAVLink Developer Guide
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    C 消息签名 (mavgen)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAVLink 2的关键功能之一是支持消息签名(认证)。

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    由 mavgen 生成的 C 库提供了支持在 MAVLink 系统中签名所需的几乎所有内容。 您需要将一些代码添加到: 您需要将一些代码添加到:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • 处理 SETUP_SIGNING 消息。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • 在链接上设置和拆分签名。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • 在持久存储中保存并加载密钥和时间戳
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • 执行回拨以确定哪些(如果有) 未签名消息将被接受。

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    密钥管理 (SETUP_SIgner)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    密匙是 32 字节，用于创建可以由密钥的其他持有人验证的消息签名。 密匙是 32 字节，用于创建可以由密钥的其他持有人验证的消息签名。 创建、存储、日志记录和共享密钥的一般要求包含在: Message Signing > Secret Key Management 中。

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    下面的 Enabling Signing on a Channel 部分显示了如何设置每个通道使用的密钥。

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    处理时间戳

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    时间戳是48位，自2015年1月1日起单位为10微秒。 时间戳是48位，自2015年1月1日起单位为10微秒。 管理时间戳的一般要求载于 Message Signing > Timestamp Handling。

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    该库自动处理一些规则：

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • 时间戳在从链接发送的每包消息上都增加一个。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • 更新时间戳，以便与最后接受的消息（如果它大于当前的当地时间戳）相匹配。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • 如果频道上的消息时间戳是在该频道上收到的最后一条消息之前，消息将被拒绝。

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    每个 MAVLink 系统都有责任储存和恢复时间戳（这对于签字系统的安全至关重要）。 下面的 Enabling Signing on a Channel 部分显示了如何设置时间戳。 下面的 Enabling Signing on a Channel 部分显示了如何设置时间戳。

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    启用频道签名

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    要在通道上启用签名, 您需要在通道的 status 结构中填写两个指针。 这两个指针是: 这两个指针是:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    mavlink_signing_t *signing;
+Message Signing · MAVLink Developer Guide
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    C 消息签名 (mavgen)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAVLink 2的关键功能之一是支持消息签名(认证)。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    由 mavgen 生成的 C 库提供了支持在 MAVLink 系统中签名所需的几乎所有内容。 您需要将一些代码添加到: 您需要将一些代码添加到:
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • 处理 SETUP_SIGNING 消息。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • 在链接上设置和拆分签名。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • 在持久存储中保存并加载密钥和时间戳
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • 执行回拨以确定哪些(如果有) 未签名消息将被接受。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    密钥管理 (SETUP_SIgner)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    密匙是 32 字节，用于创建可以由密钥的其他持有人验证的消息签名。 密匙是 32 字节，用于创建可以由密钥的其他持有人验证的消息签名。 创建、存储、日志记录和共享密钥的一般要求包含在: Message Signing > Secret Key Management 中。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    下面的 Enabling Signing on a Channel 部分显示了如何设置每个通道使用的密钥。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    处理时间戳
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    时间戳是48位，自2015年1月1日起单位为10微秒。 时间戳是48位，自2015年1月1日起单位为10微秒。 管理时间戳的一般要求载于 Message Signing > Timestamp Handling。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    该库自动处理一些规则：
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • 时间戳在从链接发送的每包消息上都增加一个。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • 更新时间戳，以便与最后接受的消息（如果它大于当前的当地时间戳）相匹配。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • 如果频道上的消息时间戳是在该频道上收到的最后一条消息之前，消息将被拒绝。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    每个 MAVLink 系统都有责任储存和恢复时间戳（这对于签字系统的安全至关重要）。 下面的 Enabling Signing on a Channel 部分显示了如何设置时间戳。 下面的 Enabling Signing on a Channel 部分显示了如何设置时间戳。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    启用频道签名
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    要在通道上启用签名, 您需要在通道的 status 结构中填写两个指针。 这两个指针是: 这两个指针是:
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    mavlink_signing_t *signing;
 mavlink_signing_streams_t *signing_streams;
 
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    signing 指针控制签名。 它是按流进行的，包含密匙、时间戳和一组标志，加上接受未签名数据包的可选回调函数。 典型的设置是:
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    mavlink_signing_t signing;
 memset(&signing, 0, sizeof(signing));
@@ -39,4 +39,4 @@
     self.target_component == msg.get_srcComponent()):
     # change to link_id from incoming packet
     self.mav.signing.link_id = msg.get_link_id()
-
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    这就是说，如果 MAVProx 使用的当前链接ID为零，它收到一个与非零链接ID的正确签名数据包，那么它将链接ID切换到接收的数据包。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    这将使 GCS 从链接ID与自动试验器的链接ID具有影响。
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+

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      这就是说，如果 MAVProx 使用的当前链接ID为零，它收到一个与非零链接ID的正确签名数据包，那么它将链接ID切换到接收的数据包。

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      这将使 GCS 从链接ID与自动试验器的链接ID具有影响。

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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • MAVProxy is a command line, console based UAV ground station software package for MAVLink based systems built on Pymavlink.

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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Complex examples:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • MAVProxy is a command line, console based UAV ground station software package for MAVLink based systems built on Pymavlink.

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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            How to Request & Stream Messages

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            A remote system will typically stream a default set of messages to a connected GCS, camera or other system. This default set may be hard coded, and is necessarily limited to reduce traffic on the channel.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            A system can request that additional messages are sent as a stream, or change the rate at which existing streamed messages are sent, using the MAV_CMD_SET_MESSAGE_INTERVAL command. A single instance of a message can be requested by sending MAV_CMD_REQUEST_MESSAGE.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            The example below shows how you can request the BATTERY_STATUS message is streamed at the rate of 1Hz, by sending MAV_CMD_SET_MESSAGE_INTERVAL in a COMMAND_LONG. Because this is a command, we then wait for a COMMAND_ACK to be recieved with the matching command id, and then display the result. Note that you could equally well send the command in a COMMAND_INT, if supported by the flight stack.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            """
+How to Request Messages/Set Message Rates · MAVLink Developer Guide
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            How to Request & Stream Messages
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            A remote system will typically stream a default set of messages to a connected GCS, camera or other system. This default set may be hard coded, and is necessarily limited to reduce traffic on the channel.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            A system can request that additional messages are sent as a stream, or change the rate at which existing streamed messages are sent, using the MAV_CMD_SET_MESSAGE_INTERVAL command. A single instance of a message can be requested by sending MAV_CMD_REQUEST_MESSAGE.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            The example below shows how you can request the BATTERY_STATUS message is streamed at the rate of 1Hz, by sending MAV_CMD_SET_MESSAGE_INTERVAL in a COMMAND_LONG. Because this is a command, we then wait for a COMMAND_ACK to be recieved with the matching command id, and then display the result. Note that you could equally well send the command in a COMMAND_INT, if supported by the flight stack.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            """
 Example: Set that a message is streamed at particular rate
 """
 
@@ -37,4 +37,4 @@
     print("Command accepted")
 else:
     print("Command failed")
-
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Pymavlink库 (mavgen)使用指南

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Pymavlink 是用 python 编写的 "低级 " 通用消息处理库。 It has been used to implement MAVLink communications in many types of MAVLink systems, including a GCS (MAVProxy), Developer APIs (DroneKit) and numerous companion computer MAVLink applications. It has been used to implement MAVLink communications in many types of MAVLink systems, including a GCS (MAVProxy), Developer APIs (DroneKit) and numerous companion computer MAVLink applications.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                The library can be used with Python 2.7+ (recommended) or Python 3.5+ and supports both MAVLink 1 and MAVLink 2 versions of the protocol.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                This topic explains how to get and use the Pymavlink MAVLink Python libraries (generated using mavgen).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Pymavlink is developed in its own project, which includes the command line MAVLink generator (mavgen), Python bindings to create Pymavlink, and other useful tools and utilities. MAVLink includes the Pymavlink repository as a submodule. While you can work with that project directly, this documentation explains how to work with pymavlink using the MAVLink project.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                If you are writing a MAVLink application to communicate with an autopilot you may prefer to use a higher level library like MAVSDK-Python or DroneKit-Python. These implement a number of MAVLink microservices.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                The following are instructions for how to obtain the MAVLink libraries for the standard and custom dialects. If the standard dialect is to be used, the instructions are much simpler. For custom dialects the library needs to be generated first.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                If you need a standard dialect then you can install these (for both MAVLink 1 and 2) with pymavlink using pip:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                pip install pymavlink
+Python (mavgen) · MAVLink Developer Guide
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Pymavlink库 (mavgen)使用指南
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Pymavlink 是用 python 编写的 "低级 " 通用消息处理库。 It has been used to implement MAVLink communications in many types of MAVLink systems, including a GCS (MAVProxy), Developer APIs (DroneKit) and numerous companion computer MAVLink applications. It has been used to implement MAVLink communications in many types of MAVLink systems, including a GCS (MAVProxy), Developer APIs (DroneKit) and numerous companion computer MAVLink applications.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                The library can be used with Python 2.7+ (recommended) or Python 3.5+ and supports both MAVLink 1 and MAVLink 2 versions of the protocol.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                This topic explains how to get and use the Pymavlink MAVLink Python libraries (generated using mavgen).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Pymavlink is developed in its own project, which includes the command line MAVLink generator (mavgen), Python bindings to create Pymavlink, and other useful tools and utilities. MAVLink includes the Pymavlink repository as a submodule. While you can work with that project directly, this documentation explains how to work with pymavlink using the MAVLink project.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                If you are writing a MAVLink application to communicate with an autopilot you may prefer to use a higher level library like MAVSDK-Python or DroneKit-Python. These implement a number of MAVLink microservices.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                The following are instructions for how to obtain the MAVLink libraries for the standard and custom dialects. If the standard dialect is to be used, the instructions are much simpler. For custom dialects the library needs to be generated first.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                If you need a standard dialect then you can install these (for both MAVLink 1 and 2) with pymavlink using pip:
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                pip install pymavlink
 
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                The PyPi repository takes message definitions from the ArduPilot/mavlink fork, which may diverge slightly from MAVLink/mavlink.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                If you need libraries for a custom dialect then you will need to install the code generator mavgen and generate the libraries yourself. You will also need to include them in pymavlink and install them locally on your system.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                1. Generate the Python MAVLink libraries for your custom dialect.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                2. Copy the generated .py MAVLink dialect library file(s) into the appropriate directory of your clone of the mavlink repository:
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • MAVLink 2: pymavlink/dialects/v20
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • MAVLink 1: pymavlink/dialects/v10
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                3. Open a command prompt and navigate to the pymavlink directory.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                4. If needed, uninstall previous versions:
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  pip uninstall pymavlink
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                5. Install dependencies if you have not previously installed pymavlink using pip:
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  sh
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  python3 -m pip install -r pymavlink/requirements.txt
 
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                6. http://python.dronekit.io/
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Run the python setup program:
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                     bash
     python setup.py install --user
@@ -21,7 +21,7 @@
 
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  The udpin prefix used above creates a socket to listen for a UDP connection on the specified port. This is the normal way to connect an autopilot simulator). The complementary udpout prefix creates a socket that initiates an IP connection:
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  python
     the_connection = mavutil.mavlink_connection('udpout:localhost:14540')
 
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Generally the API selects a sensible baud rate for the connection type. Other mavlink_connection() parameters you may wish to change include: source_system (default 255), source_component (default 0) and dialect (default ArduPilot).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Connection Strings
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  The mavutil.mavlink_connection() connection string has the format:
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  [protocol:]address[:port]
-
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  where:
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • protocol (optional): The IP protocol. If not specified pymavlink will attempt to determine if the address is a serial port (e.g. USB) or a file, and if not will default to a UDP address.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • tcp: Initiate a TCP connection on the specified address and port.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • tcpin: Listen for a TCP connection on the specified address and port.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • udpin: Listen for a UDP connection on the specified address and port.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • udpout: Initiate a TCP connection on the specified address and port.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • udp: By default, same as udpin. Set mavlink_connection parameter input=False to make same as udpout.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • udpcast: Broadcast UDP address and port. This is the same as udp with mavlink_connection() parameters input=False and broadcast=True.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • address: IP address, serial port name, or file name
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • port: IP port (only if address is an IP address)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Some of the strings you can use for different types of connections are listed below.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Connection typeConnection string
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Linux computer connected to the vehicle via USB/dev/ttyUSB0
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Linux computer connected to the vehicle via Serial port (RaspberryPi example)/dev/ttyAMA0 (also set baud=57600)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAVLink API listening for SITL connection via UDPudpin:localhost:14540 (or udp:localhost:14540, 127.0.0.1:14540,etc.)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAVLink API initiating a connection to SITL via UDPudpout:localhost:14540 (or udpout:127.0.0.1:14540)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  GCS connected to the vehicle via UDP127.0.0.1:14550 or udp:localhost:14550
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  SITL connected to the vehicle via TCPtcp:127.0.0.1:5760 (ArduPilot only, PX4 does not support TCP)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  OSX computer connected to the vehicle via USBdev/cu.usbmodem1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Windows computer connected to the vehicle via USB (in this case on COM14)com14
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Windows computer connected to the vehicle using a 3DR Telemetry Radio on COM14com14 (also set baud=57600)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  While MAVLink does not define the UDP ports used for different purposes, there is a defacto standard that MAVLink APIs should listen for SITL connections on UDP port 14540 while a GCS should listen for connections on UDP 14550.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Sending Messages
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAVLink is the main protocol handling class. It is defined in each dialect module, and includes a <message_name>_send() method for all messages in the dialect's message definition.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  The message field values are passed as arguments to the function. Fields that are the same for all messages are defined in the class - e.g. source system, source component. Each message is documented in the dialect source code, even when it was automatically generated.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  For example, the system_time_send() function is used to send the SYSTEM_TIME message as shown below:
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  def system_time_send(self, time_unix_usec, time_boot_ms, force_mavlink1=False):
+
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  where:
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • protocol (optional): The IP protocol. If not specified pymavlink will attempt to determine if the address is a serial port (e.g. USB) or a file, and if not will default to a UDP address.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • tcp: Initiate a TCP connection on the specified address and port.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • tcpin: Listen for a TCP connection on the specified address and port.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • udpin: Listen for a UDP connection on the specified address and port.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • udpout: Initiate a UDP connection on the specified address and port.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • udp: By default, same as udpin. Set mavlink_connection parameter input=False to make same as udpout.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • udpcast: Broadcast UDP address and port. This is the same as udp with mavlink_connection() parameters input=False and broadcast=True.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • address: IP address, serial port name, or file name
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • port: IP port (only if address is an IP address)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Some of the strings you can use for different types of connections are listed below.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Connection typeConnection string
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Linux computer connected to the vehicle via USB/dev/ttyUSB0
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Linux computer connected to the vehicle via Serial port (RaspberryPi example)/dev/ttyAMA0 (also set baud=57600)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAVLink API listening for SITL connection via UDPudpin:localhost:14540 (or udp:localhost:14540, 127.0.0.1:14540,etc.)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAVLink API initiating a connection to SITL via UDPudpout:localhost:14540 (or udpout:127.0.0.1:14540)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  GCS connected to the vehicle via UDP127.0.0.1:14550 or udp:localhost:14550
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  SITL connected to the vehicle via TCPtcp:127.0.0.1:5760 (ArduPilot only, PX4 does not support TCP)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  OSX computer connected to the vehicle via USBdev/cu.usbmodem1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Windows computer connected to the vehicle via USB (in this case on COM14)com14
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Windows computer connected to the vehicle using a 3DR Telemetry Radio on COM14com14 (also set baud=57600)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  While MAVLink does not define the UDP ports used for different purposes, there is a defacto standard that MAVLink APIs should listen for SITL connections on UDP port 14540 while a GCS should listen for connections on UDP 14550.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Sending Messages
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAVLink is the main protocol handling class. It is defined in each dialect module, and includes a <message_name>_send() method for all messages in the dialect's message definition.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  The message field values are passed as arguments to the function. Fields that are the same for all messages are defined in the class - e.g. source system, source component. Each message is documented in the dialect source code, even when it was automatically generated.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  For example, the system_time_send() function is used to send the SYSTEM_TIME message as shown below:
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  def system_time_send(self, time_unix_usec, time_boot_ms, force_mavlink1=False):
     '''
     The system time is the time of the master clock, typically the
     computer clock of the main onboard computer.
@@ -78,4 +78,4 @@
 # Send heartbeat from a MAVLink application.
 the_connection.mav.heartbeat_send(mavutil.mavlink.MAV_TYPE_ONBOARD_CONTROLLER,
                                                 mavutil.mavlink.MAV_AUTOPILOT_INVALID, 0, 0, 0)
-
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  The various types used above come from enum in the dialect file.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  The rate at which the heartbeat should be sent depends on the channel, but is normally 1Hz.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Generally it should be sent from the same thread as all other messages. This is in order to ensure that the heartbeat is only published when the thread is healthy.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Message Signing
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Pymavlink supports Message Signing (authentication) when using MAVLink 2.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  The Pymavlink library already implements almost all of the expected behaviour for signing messages. All you need to do is provide a secret key and initial timestamp, optionally specify whether or not outgoing messages should be signed, a link id, and a callback for determining which unsigned messages (if any) will be accepted.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  For more information see Message Signing.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Examples
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  See Examples (pymavlink)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Support
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Pymavlink questions can be raised in the normal MAVLink support channels.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  The Pymavlink Gitter channel also has an active support community.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                 results matching ""
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+

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  The various types used above come from enum in the dialect file.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  The rate at which the heartbeat should be sent depends on the channel, but is normally 1Hz.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Generally it should be sent from the same thread as all other messages. This is in order to ensure that the heartbeat is only published when the thread is healthy.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Message Signing

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Pymavlink supports Message Signing (authentication) when using MAVLink 2.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  The Pymavlink library already implements almost all of the expected behaviour for signing messages. All you need to do is provide a secret key and initial timestamp, optionally specify whether or not outgoing messages should be signed, a link id, and a callback for determining which unsigned messages (if any) will be accepted.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  For more information see Message Signing.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Examples

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  See Examples (pymavlink)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Support

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Pymavlink questions can be raised in the normal MAVLink support channels.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  The Pymavlink Gitter channel also has an active support community.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  results matching ""

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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    \ No newline at end of file diff --git a/zh/mavgen_python/message_signing.html b/zh/mavgen_python/message_signing.html index d31f6afcb..b4cdad9af 100644 --- a/zh/mavgen_python/message_signing.html +++ b/zh/mavgen_python/message_signing.html @@ -1,4 +1,4 @@ -Message Signing · MAVLink Developer Guide
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Messages
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Implementations
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Examples
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Examples
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Pymavlink supports Message Signing (authentication) when using MAVLink 2.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    The Pymavlink library already implements almost all of the expected behaviour for signing messages. All you need to do is provide a secret key and initial timestamp, optionally specify whether or not outgoing messages should be signed, a link id, and a callback for determining which unsigned messages (if any) will be accepted.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    The way you do this depends on whether you are using mavutil to manage the connection or using a MAVLink object directly.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    While not covered in this topic, you should also write code to:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    If you are using the MAVLink class directly, you can use the MAVLink.signing attribute to access a MAVLinkSigning object and set the required attributes.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    The example/mavtest.py script shows how to do this using an arbitrary secret key:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    # Create a MAVLink instance (in this case on a file object "f")
+Message Signing · MAVLink Developer Guide
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Pymavlink supports Message Signing (authentication) when using MAVLink 2.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    The Pymavlink library already implements almost all of the expected behaviour for signing messages. All you need to do is provide a secret key and initial timestamp, optionally specify whether or not outgoing messages should be signed, a link id, and a callback for determining which unsigned messages (if any) will be accepted.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    The way you do this depends on whether you are using mavutil to manage the connection or using a MAVLink object directly.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    While not covered in this topic, you should also write code to:
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    If you are using the MAVLink class directly, you can use the MAVLink.signing attribute to access a MAVLinkSigning object and set the required attributes.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    The example/mavtest.py script shows how to do this using an arbitrary secret key:
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    # Create a MAVLink instance (in this case on a file object "f")
 mav = mavlink.MAVLink(f)
 
 if signing:
@@ -25,4 +25,4 @@
 # Pass the callback  to the connection (here we also pass an arbitrary secret key)
 secret_key = chr(42)*32
 the_connection.setup_signing(secret_key, sign_outgoing=True, allow_unsigned_callback=my_allow_unsigned_callback)
-
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        \ No newline at end of file diff --git a/zh/messages/ASLUAV.html b/zh/messages/ASLUAV.html index 494eaa51f..961200974 100644 --- a/zh/messages/ASLUAV.html +++ b/zh/messages/ASLUAV.html @@ -1 +1 @@ -ASLUAV.xml · MAVLink Developer Guide
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Examples
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Examples
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        方言：ASLUAV

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        This topic documents the version of the dialect file in the mavlink/mavlink Github repository, which may not be up to date with the file in the source repository (it is up to the dialect owner to push changes when needed). The source repo should be listed in the comments at the top of the XML definition file listed below (but may not be).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        This is a human-readable form of the XML definition file: ASLUAV.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        已添加到 MAVLink 1 消息中的 MAVLink 2 扩展字段以蓝色显示。 - Entities from dialects are displayed only as headings (with link to original)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Summary

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        TypeDefinedIncluded
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Messages17224
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Enums2142
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Commands1660

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        The following sections list all entities in the dialect (both included and defined in this file).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Messages

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        HEARTBEAT (0) — [from: minimal]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        SYS_STATUS (1) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        SYSTEM_TIME (2) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        PING (4) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        CHANGE_OPERATOR_CONTROL (5) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        CHANGE_OPERATOR_CONTROL_ACK (6) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        AUTH_KEY (7) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        SET_MODE (11) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        PARAM_REQUEST_READ (20) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        PARAM_REQUEST_LIST (21) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        PARAM_VALUE (22) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        PARAM_SET (23) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        GPS_RAW_INT (24) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        GPS_STATUS (25) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        SCALED_IMU (26) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        RAW_IMU (27) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        RAW_PRESSURE (28) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        SCALED_PRESSURE (29) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        ATTITUDE (30) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        ATTITUDE_QUATERNION (31) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        LOCAL_POSITION_NED (32) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        GLOBAL_POSITION_INT (33) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        RC_CHANNELS_SCALED (34) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        RC_CHANNELS_RAW (35) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        SERVO_OUTPUT_RAW (36) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MISSION_REQUEST_PARTIAL_LIST (37) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MISSION_WRITE_PARTIAL_LIST (38) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MISSION_ITEM (39) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MISSION_REQUEST (40) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MISSION_SET_CURRENT (41) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MISSION_CURRENT (42) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MISSION_REQUEST_LIST (43) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MISSION_COUNT (44) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MISSION_CLEAR_ALL (45) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MISSION_ITEM_REACHED (46) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MISSION_ACK (47) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        SET_GPS_GLOBAL_ORIGIN (48) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        GPS_GLOBAL_ORIGIN (49) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        PARAM_MAP_RC (50) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MISSION_REQUEST_INT (51) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        SAFETY_SET_ALLOWED_AREA (54) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        SAFETY_ALLOWED_AREA (55) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        ATTITUDE_QUATERNION_COV (61) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        GLOBAL_POSITION_INT_COV (63) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        LOCAL_POSITION_NED_COV (64) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        RC_CHANNELS (65) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        REQUEST_DATA_STREAM (66) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        DATA_STREAM (67) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MANUAL_CONTROL (69) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        RC_CHANNELS_OVERRIDE (70) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MISSION_ITEM_INT (73) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        VFR_HUD (74) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        COMMAND_INT (75) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        COMMAND_LONG (76) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        COMMAND_ACK (77) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        COMMAND_CANCEL (80) — [from: common] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MANUAL_SETPOINT (81) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        SET_ATTITUDE_TARGET (82) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        ATTITUDE_TARGET (83) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        SET_POSITION_TARGET_LOCAL_NED (84) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        POSITION_TARGET_LOCAL_NED (85) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        SET_POSITION_TARGET_GLOBAL_INT (86) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        POSITION_TARGET_GLOBAL_INT (87) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        LOCAL_POSITION_NED_SYSTEM_GLOBAL_OFFSET (89) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        HIL_STATE (90) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        HIL_CONTROLS (91) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        HIL_RC_INPUTS_RAW (92) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        HIL_ACTUATOR_CONTROLS (93) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        OPTICAL_FLOW (100) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        GLOBAL_VISION_POSITION_ESTIMATE (101) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        VISION_POSITION_ESTIMATE (102) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        VISION_SPEED_ESTIMATE (103) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        VICON_POSITION_ESTIMATE (104) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        HIGHRES_IMU (105) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        OPTICAL_FLOW_RAD (106) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        HIL_SENSOR (107) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        SIM_STATE (108) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        RADIO_STATUS (109) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        FILE_TRANSFER_PROTOCOL (110) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        TIMESYNC (111) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        CAMERA_TRIGGER (112) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        HIL_GPS (113) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        HIL_OPTICAL_FLOW (114) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        HIL_STATE_QUATERNION (115) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        SCALED_IMU2 (116) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        LOG_REQUEST_LIST (117) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        LOG_ENTRY (118) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        LOG_REQUEST_DATA (119) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        LOG_DATA (120) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        LOG_ERASE (121) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        LOG_REQUEST_END (122) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        GPS_INJECT_DATA (123) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        GPS2_RAW (124) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        POWER_STATUS (125) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        SERIAL_CONTROL (126) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        GPS_RTK (127) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        GPS2_RTK (128) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        SCALED_IMU3 (129) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        DATA_TRANSMISSION_HANDSHAKE (130) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        ENCAPSULATED_DATA (131) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        DISTANCE_SENSOR (132) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        TERRAIN_REQUEST (133) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        TERRAIN_DATA (134) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        TERRAIN_CHECK (135) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        TERRAIN_REPORT (136) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        SCALED_PRESSURE2 (137) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        ATT_POS_MOCAP (138) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        SET_ACTUATOR_CONTROL_TARGET (139) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        ACTUATOR_CONTROL_TARGET (140) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        ALTITUDE (141) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        RESOURCE_REQUEST (142) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        SCALED_PRESSURE3 (143) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        FOLLOW_TARGET (144) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        CONTROL_SYSTEM_STATE (146) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        BATTERY_STATUS (147) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        AUTOPILOT_VERSION (148) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        LANDING_TARGET (149) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        FENCE_STATUS (162) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAG_CAL_REPORT (192) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        COMMAND_INT_STAMPED (223)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Message encoding a command with parameters as scaled integers and additional metadata. Scaling depends on the actual command value.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Field NameTypeValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        utc_timeuint32_tUTC time, seconds elapsed since 01.01.1970
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        vehicle_timestampuint64_tMicroseconds elapsed since vehicle boot
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        target_systemuint8_tSystem ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        target_componentuint8_tComponent ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        frameuint8_tMAV_FRAMEThe coordinate system of the COMMAND, as defined by MAV_FRAME enum
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        commanduint16_tMAV_CMDThe scheduled action for the mission item, as defined by MAV_CMD enum
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        currentuint8_tfalse:0, true:1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        autocontinueuint8_tautocontinue to next wp
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        param1floatPARAM1, see MAV_CMD enum
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        param2floatPARAM2, see MAV_CMD enum
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        param3floatPARAM3, see MAV_CMD enum
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        param4floatPARAM4, see MAV_CMD enum
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        xint32_tPARAM5 / local: x position in meters 1e4, global: latitude in degrees 10^7
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        yint32_tPARAM6 / local: y position in meters 1e4, global: longitude in degrees 10^7
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        zfloatPARAM7 / z position: global: altitude in meters (MSL, WGS84, AGL or relative to home - depending on frame).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        COMMAND_LONG_STAMPED (224)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Send a command with up to seven parameters to the MAV and additional metadata

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Field NameTypeValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        utc_timeuint32_tUTC time, seconds elapsed since 01.01.1970
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        vehicle_timestampuint64_tMicroseconds elapsed since vehicle boot
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        target_systemuint8_tSystem which should execute the command
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        target_componentuint8_tComponent which should execute the command, 0 for all components
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        commanduint16_tMAV_CMDCommand ID, as defined by MAV_CMD enum.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        confirmationuint8_t0: First transmission of this command. 1-255: Confirmation transmissions (e.g. for kill command)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        param1floatParameter 1, as defined by MAV_CMD enum.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        param2floatParameter 2, as defined by MAV_CMD enum.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        param3floatParameter 3, as defined by MAV_CMD enum.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        param4floatParameter 4, as defined by MAV_CMD enum.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        param5floatParameter 5, as defined by MAV_CMD enum.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        param6floatParameter 6, as defined by MAV_CMD enum.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        param7floatParameter 7, as defined by MAV_CMD enum.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        EFI_STATUS (225) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        ESTIMATOR_STATUS (230) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        WIND_COV (231) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        GPS_INPUT (232) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        GPS_RTCM_DATA (233) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        HIGH_LATENCY (234) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        HIGH_LATENCY2 (235) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        VIBRATION (241) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        HOME_POSITION (242) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        SET_HOME_POSITION (243) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MESSAGE_INTERVAL (244) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        EXTENDED_SYS_STATE (245) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        ADSB_VEHICLE (246) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        COLLISION (247) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        V2_EXTENSION (248) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MEMORY_VECT (249) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        DEBUG_VECT (250) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        NAMED_VALUE_FLOAT (251) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        NAMED_VALUE_INT (252) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        STATUSTEXT (253) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        DEBUG (254) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        SETUP_SIGNING (256) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        BUTTON_CHANGE (257) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        PLAY_TUNE (258) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        CAMERA_INFORMATION (259) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        CAMERA_SETTINGS (260) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        STORAGE_INFORMATION (261) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        CAMERA_CAPTURE_STATUS (262) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        CAMERA_IMAGE_CAPTURED (263) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        FLIGHT_INFORMATION (264) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MOUNT_ORIENTATION (265) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        LOGGING_DATA (266) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        LOGGING_DATA_ACKED (267) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        LOGGING_ACK (268) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        VIDEO_STREAM_INFORMATION (269) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        VIDEO_STREAM_STATUS (270) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        CAMERA_FOV_STATUS (271) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        CAMERA_TRACKING_IMAGE_STATUS (275) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        CAMERA_TRACKING_GEO_STATUS (276) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        CAMERA_THERMAL_RANGE (277) — [from: common] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        GIMBAL_MANAGER_INFORMATION (280) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        GIMBAL_MANAGER_STATUS (281) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        GIMBAL_MANAGER_SET_ATTITUDE (282) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        GIMBAL_DEVICE_INFORMATION (283) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        GIMBAL_DEVICE_SET_ATTITUDE (284) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        GIMBAL_DEVICE_ATTITUDE_STATUS (285) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        AUTOPILOT_STATE_FOR_GIMBAL_DEVICE (286) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        GIMBAL_MANAGER_SET_PITCHYAW (287) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        GIMBAL_MANAGER_SET_MANUAL_CONTROL (288) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        ESC_INFO (290) — [from: common] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        ESC_STATUS (291) — [from: common] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        WIFI_CONFIG_AP (299) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        PROTOCOL_VERSION (300) — [from: minimal] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        AIS_VESSEL (301) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        UAVCAN_NODE_STATUS (310) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        UAVCAN_NODE_INFO (311) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        PARAM_EXT_REQUEST_READ (320) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        PARAM_EXT_REQUEST_LIST (321) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        PARAM_EXT_VALUE (322) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        PARAM_EXT_SET (323) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        PARAM_EXT_ACK (324) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        OBSTACLE_DISTANCE (330) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        ODOMETRY (331) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        TRAJECTORY_REPRESENTATION_WAYPOINTS (332) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        TRAJECTORY_REPRESENTATION_BEZIER (333) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        CELLULAR_STATUS (334) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        CELLULAR_CONFIG (336) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        RAW_RPM (339) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        UTM_GLOBAL_POSITION (340) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        DEBUG_FLOAT_ARRAY (350) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        ORBIT_EXECUTION_STATUS (360) — [from: common] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        BATTERY_INFO (370) — [from: common] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        GENERATOR_STATUS (373) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        ACTUATOR_OUTPUT_STATUS (375) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        TIME_ESTIMATE_TO_TARGET (380) — [from: common] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        TUNNEL (385) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        CAN_FRAME (386) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        CANFD_FRAME (387) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        CAN_FILTER_MODIFY (388) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        ONBOARD_COMPUTER_STATUS (390) — [from: common] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        COMPONENT_INFORMATION (395) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        COMPONENT_INFORMATION_BASIC (396) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        COMPONENT_METADATA (397) — [from: common] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        PLAY_TUNE_V2 (400) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        SUPPORTED_TUNES (401) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        EVENT (410) — [from: common] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        CURRENT_EVENT_SEQUENCE (411) — [from: common] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        REQUEST_EVENT (412) — [from: common] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        RESPONSE_EVENT_ERROR (413) — [from: common] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        ILLUMINATOR_STATUS (440) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        SENS_POWER (8002)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Voltage and current sensor data

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        adc121_vspb_voltfloatVPower board voltage sensor reading
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        adc121_cspb_ampfloatAPower board current sensor reading
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        adc121_cs1_ampfloatABoard current sensor 1 reading
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        adc121_cs2_ampfloatABoard current sensor 2 reading

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        SENS_MPPT (8003)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Maximum Power Point Tracker (MPPT) sensor data for solar module power performance tracking

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        mppt_timestampuint64_tusMPPT last timestamp
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        mppt1_voltfloatVMPPT1 voltage
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        mppt1_ampfloatAMPPT1 current
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        mppt1_pwmuint16_tusMPPT1 pwm
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        mppt1_statusuint8_tMPPT1 status
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        mppt2_voltfloatVMPPT2 voltage
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        mppt2_ampfloatAMPPT2 current
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        mppt2_pwmuint16_tusMPPT2 pwm
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        mppt2_statusuint8_tMPPT2 status
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        mppt3_voltfloatVMPPT3 voltage
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        mppt3_ampfloatAMPPT3 current
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        mppt3_pwmuint16_tusMPPT3 pwm
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        mppt3_statusuint8_tMPPT3 status

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        ASLCTRL_DATA (8004)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        ASL-fixed-wing controller data

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        timestampuint64_tusTimestamp
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        aslctrl_modeuint8_tASLCTRL control-mode (manual, stabilized, auto, etc...)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        hfloatSee sourcecode for a description of these values...
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        hReffloat
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        hRef_tfloat
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        PitchAnglefloatdegPitch angle
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        PitchAngleReffloatdegPitch angle reference
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        qfloat
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        qReffloat
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        uElevfloat
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        uThrotfloat
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        uThrot2float
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        nZfloat
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        AirspeedReffloatm/sAirspeed reference
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        SpoilersEngageduint8_t
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        YawAnglefloatdegYaw angle
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        YawAngleReffloatdegYaw angle reference
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        RollAnglefloatdegRoll angle
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        RollAngleReffloatdegRoll angle reference
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        pfloat
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        pReffloat
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        rfloat
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        rReffloat
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        uAilfloat
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        uRudfloat

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        ASLCTRL_DEBUG (8005)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        ASL-fixed-wing controller debug data

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        i32_1uint32_tDebug data
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        i8_1uint8_tDebug data
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        i8_2uint8_tDebug data
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        f_1floatDebug data
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        f_2floatDebug data
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        f_3floatDebug data
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        f_4floatDebug data
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        f_5floatDebug data
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        f_6floatDebug data
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        f_7floatDebug data
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        f_8floatDebug data

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        ASLUAV_STATUS (8006)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Extended state information for ASLUAVs

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        LED_statusuint8_tStatus of the position-indicator LEDs
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        SATCOM_statusuint8_tStatus of the IRIDIUM satellite communication system
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Servo_statusuint8_t[8]Status vector for up to 8 servos
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Motor_rpmfloatMotor RPM

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        EKF_EXT (8007)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Extended EKF state estimates for ASLUAVs

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        timestampuint64_tusTime since system start
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Windspeedfloatm/sMagnitude of wind velocity (in lateral inertial plane)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        WindDirfloatradWind heading angle from North
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        WindZfloatm/sZ (Down) component of inertial wind velocity
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Airspeedfloatm/sMagnitude of air velocity
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        betafloatradSideslip angle
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        alphafloatradAngle of attack

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        ASL_OBCTRL (8008)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Off-board controls/commands for ASLUAVs

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        timestampuint64_tusTime since system start
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        uElevfloatElevator command [~]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        uThrotfloatThrottle command [~]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        uThrot2floatThrottle 2 command [~]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        uAilLfloatLeft aileron command [~]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        uAilRfloatRight aileron command [~]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        uRudfloatRudder command [~]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        obctrl_statusuint8_tOff-board computer status

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        SENS_ATMOS (8009)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Atmospheric sensors (temperature, humidity, ...)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        timestampuint64_tusTime since system boot
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        TempAmbientfloatdegCAmbient temperature
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Humidityfloat%Relative humidity

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        SENS_BATMON (8010)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Battery pack monitoring data for Li-Ion batteries

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        batmon_timestampuint64_tusTime since system start
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        temperaturefloatdegCBattery pack temperature
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        voltageuint16_tmVBattery pack voltage
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        currentint16_tmABattery pack current
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        SoCuint8_tBattery pack state-of-charge
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        batterystatusuint16_tBattery monitor status report bits in Hex
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        serialnumberuint16_tBattery monitor serial number in Hex
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        safetystatusuint32_tBattery monitor safetystatus report bits in Hex
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        operationstatusuint32_tBattery monitor operation status report bits in Hex
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        cellvoltage1uint16_tmVBattery pack cell 1 voltage
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        cellvoltage2uint16_tmVBattery pack cell 2 voltage
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        cellvoltage3uint16_tmVBattery pack cell 3 voltage
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        cellvoltage4uint16_tmVBattery pack cell 4 voltage
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        cellvoltage5uint16_tmVBattery pack cell 5 voltage
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        cellvoltage6uint16_tmVBattery pack cell 6 voltage

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        FW_SOARING_DATA (8011)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Fixed-wing soaring (i.e. thermal seeking) data

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        timestampuint64_tmsTimestamp
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        timestampModeChangeduint64_tmsTimestamp since last mode change
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        xWfloatm/sThermal core updraft strength
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        xRfloatmThermal radius
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        xLatfloatdegThermal center latitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        xLonfloatdegThermal center longitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        VarWfloatVariance W
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        VarRfloatVariance R
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        VarLatfloatVariance Lat
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        VarLonfloatVariance Lon
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        LoiterRadiusfloatmSuggested loiter radius
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        LoiterDirectionfloatSuggested loiter direction
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        DistToSoarPointfloatmDistance to soar point
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        vSinkExpfloatm/sExpected sink rate at current airspeed, roll and throttle
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        z1_LocalUpdraftSpeedfloatm/sMeasurement / updraft speed at current/local airplane position
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        z2_DeltaRollfloatdegMeasurement / roll angle tracking error
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        z1_expfloatExpected measurement 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        z2_expfloatExpected measurement 2
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        ThermalGSNorthfloatm/sThermal drift (from estimator prediction step only)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        ThermalGSEastfloatm/sThermal drift (from estimator prediction step only)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        TSE_dotfloatm/sTotal specific energy change (filtered)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        DebugVar1floatDebug variable 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        DebugVar2floatDebug variable 2
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        ControlModeuint8_tControl Mode [-]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        validuint8_tData valid [-]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        SENSORPOD_STATUS (8012)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Monitoring of sensorpod status

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        timestampuint64_tmsTimestamp in linuxtime (since 1.1.1970)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        visensor_rate_1uint8_tRate of ROS topic 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        visensor_rate_2uint8_tRate of ROS topic 2
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        visensor_rate_3uint8_tRate of ROS topic 3
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        visensor_rate_4uint8_tRate of ROS topic 4
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        recording_nodes_countuint8_tNumber of recording nodes
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        cpu_tempuint8_tdegCTemperature of sensorpod CPU in
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        free_spaceuint16_tFree space available in recordings directory in [Gb] * 1e2

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        SENS_POWER_BOARD (8013)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Monitoring of power board status

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        timestampuint64_tusTimestamp
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        pwr_brd_statusuint8_tPower board status register
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        pwr_brd_led_statusuint8_tPower board leds status
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        pwr_brd_system_voltfloatVPower board system voltage
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        pwr_brd_servo_voltfloatVPower board servo voltage
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        pwr_brd_digital_voltfloatVPower board digital voltage
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        pwr_brd_mot_l_ampfloatAPower board left motor current sensor
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        pwr_brd_mot_r_ampfloatAPower board right motor current sensor
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        pwr_brd_analog_ampfloatAPower board analog current sensor
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        pwr_brd_digital_ampfloatAPower board digital current sensor
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        pwr_brd_ext_ampfloatAPower board extension current sensor
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        pwr_brd_aux_ampfloatAPower board aux current sensor

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Status of GSM modem (connected to onboard computer)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        timestampuint64_tusTimestamp (of OBC)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        gsm_modem_typeuint8_tGSM_MODEM_TYPEGSM modem used
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        gsm_link_typeuint8_tGSM_LINK_TYPEGSM link type
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        rssiuint8_tRSSI as reported by modem (unconverted)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        rsrp_rscpuint8_tRSRP (LTE) or RSCP (WCDMA) as reported by modem (unconverted)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        sinr_eciouint8_tSINR (LTE) or ECIO (WCDMA) as reported by modem (unconverted)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        rsrquint8_tRSRQ (LTE only) as reported by modem (unconverted)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Status of the SatCom link

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        timestampuint64_tusTimestamp
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        last_heartbeatuint64_tusTimestamp of the last successful sbd session
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        failed_sessionsuint16_tNumber of failed sessions
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        successful_sessionsuint16_tNumber of successful sessions
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        signal_qualityuint8_tSignal quality
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        ring_pendinguint8_tRing call pending
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        tx_session_pendinguint8_tTransmission session pending
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        rx_session_pendinguint8_tReceiving session pending

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        SENSOR_AIRFLOW_ANGLES (8016)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Calibrated airflow angle measurements

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        timestampuint64_tusTimestamp
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        angleofattackfloatdegAngle of attack
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        angleofattack_validuint8_tAngle of attack measurement valid
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        sideslipfloatdegSideslip angle
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        sideslip_validuint8_tSideslip angle measurement valid

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        WHEEL_DISTANCE (9000) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        WINCH_STATUS (9005) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        OPEN_DRONE_ID_BASIC_ID (12900) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        OPEN_DRONE_ID_LOCATION (12901) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        OPEN_DRONE_ID_AUTHENTICATION (12902) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        OPEN_DRONE_ID_SELF_ID (12903) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        OPEN_DRONE_ID_SYSTEM (12904) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        OPEN_DRONE_ID_OPERATOR_ID (12905) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        OPEN_DRONE_ID_MESSAGE_PACK (12915) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        OPEN_DRONE_ID_ARM_STATUS (12918) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        OPEN_DRONE_ID_SYSTEM_UPDATE (12919) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        HYGROMETER_SENSOR (12920) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Enumerated Types

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        0GSM_LINK_TYPE_NONEno service
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        1GSM_LINK_TYPE_UNKNOWNlink type unknown
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        2GSM_LINK_TYPE_2G2G (GSM/GRPS/EDGE) link
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        3GSM_LINK_TYPE_3G3G link (WCDMA/HSDPA/HSPA)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        4GSM_LINK_TYPE_4G4G link (LTE)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        GSM_MODEM_TYPE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        0GSM_MODEM_TYPE_UNKNOWNnot specified
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        1GSM_MODEM_TYPE_HUAWEI_E3372HUAWEI LTE USB Stick E3372

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        FIRMWARE_VERSION_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        HL_FAILURE_FLAG — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_GOTO — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_MODE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_SYS_STATUS_SENSOR — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_SYS_STATUS_SENSOR_EXTENDED — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_FRAME — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        FENCE_ACTION — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        FENCE_BREACH — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        FENCE_MITIGATE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        FENCE_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_MOUNT_MODE — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        GIMBAL_DEVICE_CAP_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        GIMBAL_MANAGER_CAP_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        GIMBAL_DEVICE_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        GIMBAL_MANAGER_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        GIMBAL_DEVICE_ERROR_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        GRIPPER_ACTIONS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        WINCH_ACTIONS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        UAVCAN_NODE_HEALTH — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        UAVCAN_NODE_MODE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        ESC_CONNECTION_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        ESC_FAILURE_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        STORAGE_STATUS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        STORAGE_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        STORAGE_USAGE_FLAG — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        ORBIT_YAW_BEHAVIOUR — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        WIFI_CONFIG_AP_RESPONSE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        CELLULAR_CONFIG_RESPONSE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        WIFI_CONFIG_AP_MODE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        COMP_METADATA_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        ACTUATOR_CONFIGURATION — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        ACTUATOR_OUTPUT_FUNCTION — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        AUTOTUNE_AXIS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        PREFLIGHT_STORAGE_PARAMETER_ACTION — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        PREFLIGHT_STORAGE_MISSION_ACTION — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_DATA_STREAM — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_ROI — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_PARAM_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_PARAM_EXT_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_RESULT — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_MISSION_RESULT — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_SEVERITY — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_POWER_STATUS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        SERIAL_CONTROL_DEV — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        SERIAL_CONTROL_FLAG — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_DISTANCE_SENSOR — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_SENSOR_ORIENTATION — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_PROTOCOL_CAPABILITY — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_MISSION_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_ESTIMATOR_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_BATTERY_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_BATTERY_FUNCTION — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_BATTERY_CHARGE_STATE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_BATTERY_MODE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_BATTERY_FAULT — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_GENERATOR_STATUS_FLAG — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_VTOL_STATE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_LANDED_STATE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        ADSB_ALTITUDE_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        ADSB_EMITTER_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        ADSB_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_DO_REPOSITION_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        SPEED_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        ESTIMATOR_STATUS_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MOTOR_TEST_ORDER — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MOTOR_TEST_THROTTLE_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        GPS_INPUT_IGNORE_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_COLLISION_ACTION — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_COLLISION_THREAT_LEVEL — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_COLLISION_SRC — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        GPS_FIX_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        RTK_BASELINE_COORDINATE_SYSTEM — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        LANDING_TARGET_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        VTOL_TRANSITION_HEADING — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        CAMERA_CAP_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        VIDEO_STREAM_STATUS_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        VIDEO_STREAM_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        VIDEO_STREAM_ENCODING — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        CAMERA_TRACKING_STATUS_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        CAMERA_TRACKING_MODE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        CAMERA_TRACKING_TARGET_DATA — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        CAMERA_ZOOM_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        SET_FOCUS_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        CAMERA_SOURCE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        PARAM_ACK — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        CAMERA_MODE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_ARM_AUTH_DENIED_REASON — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        RC_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        POSITION_TARGET_TYPEMASK — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        ATTITUDE_TARGET_TYPEMASK — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        UTM_FLIGHT_STATE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        UTM_DATA_AVAIL_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        CELLULAR_STATUS_FLAG — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        CELLULAR_NETWORK_FAILED_REASON — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        CELLULAR_NETWORK_RADIO_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        PRECISION_LAND_MODE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        PARACHUTE_ACTION — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_TUNNEL_PAYLOAD_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_ODID_ID_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_ODID_UA_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_ODID_STATUS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_ODID_HEIGHT_REF — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_ODID_HOR_ACC — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_ODID_VER_ACC — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_ODID_SPEED_ACC — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_ODID_TIME_ACC — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_ODID_AUTH_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_ODID_DESC_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_ODID_OPERATOR_LOCATION_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_ODID_CLASSIFICATION_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_ODID_CATEGORY_EU — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_ODID_CLASS_EU — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_ODID_OPERATOR_ID_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_ODID_ARM_STATUS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        TUNE_FORMAT — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        AIS_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        AIS_NAV_STATUS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        AIS_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        FAILURE_UNIT — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        FAILURE_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_WINCH_STATUS_FLAG — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAG_CAL_STATUS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_EVENT_ERROR_REASON — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_EVENT_CURRENT_SEQUENCE_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        HIL_SENSOR_UPDATED_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        HIGHRES_IMU_UPDATED_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        CAN_FILTER_OP — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_FTP_ERR — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_FTP_OPCODE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MISSION_STATE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        SAFETY_SWITCH_STATE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        ILLUMINATOR_MODE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        ILLUMINATOR_ERROR_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_AUTOPILOT — [from: minimal]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_TYPE — [from: minimal]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_MODE_FLAG — [from: minimal]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_MODE_FLAG_DECODE_POSITION — [from: minimal]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_STATE — [from: minimal]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_COMPONENT — [from: minimal]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Commands (MAV_CMD)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_NAV_WAYPOINT (16) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_NAV_LOITER_UNLIM (17) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_NAV_LOITER_TURNS (18) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_NAV_LOITER_TIME (19) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_NAV_RETURN_TO_LAUNCH (20) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_NAV_LAND (21) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_NAV_TAKEOFF (22) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_NAV_LAND_LOCAL (23) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_NAV_TAKEOFF_LOCAL (24) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_NAV_FOLLOW (25) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_NAV_CONTINUE_AND_CHANGE_ALT (30) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_NAV_LOITER_TO_ALT (31) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_DO_FOLLOW (32) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_DO_FOLLOW_REPOSITION (33) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_DO_ORBIT (34) — [from: common] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_NAV_ROI (80) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_NAV_PATHPLANNING (81) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_NAV_SPLINE_WAYPOINT (82) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_NAV_VTOL_TAKEOFF (84) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_NAV_VTOL_LAND (85) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_NAV_GUIDED_ENABLE (92) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_NAV_DELAY (93) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_NAV_PAYLOAD_PLACE (94) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_NAV_LAST (95) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_CONDITION_DELAY (112) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_CONDITION_CHANGE_ALT (113) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_CONDITION_DISTANCE (114) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_CONDITION_YAW (115) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_CONDITION_LAST (159) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_DO_SET_MODE (176) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_DO_JUMP (177) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_DO_CHANGE_SPEED (178) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_DO_SET_HOME (179) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_DO_SET_PARAMETER (180) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_DO_SET_RELAY (181) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_DO_REPEAT_RELAY (182) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_DO_SET_SERVO (183) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_DO_REPEAT_SERVO (184) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_DO_FLIGHTTERMINATION (185) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_DO_CHANGE_ALTITUDE (186) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_DO_SET_ACTUATOR (187) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_DO_RETURN_PATH_START (188) — [from: common] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_DO_LAND_START (189) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_DO_RALLY_LAND (190) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_DO_GO_AROUND (191) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_DO_REPOSITION (192) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_DO_PAUSE_CONTINUE (193) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_DO_SET_REVERSE (194) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_DO_SET_ROI_LOCATION (195) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_DO_SET_ROI_WPNEXT_OFFSET (196) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_DO_SET_ROI_NONE (197) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_DO_SET_ROI_SYSID (198) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_DO_CONTROL_VIDEO (200) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_DO_SET_ROI (201) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_DO_DIGICAM_CONFIGURE (202) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_DO_DIGICAM_CONTROL (203) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_DO_MOUNT_CONFIGURE (204) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_DO_MOUNT_CONTROL (205) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_DO_SET_CAM_TRIGG_DIST (206) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_DO_FENCE_ENABLE (207) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_DO_PARACHUTE (208) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_DO_MOTOR_TEST (209) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_DO_INVERTED_FLIGHT (210) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_DO_GRIPPER (211) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_DO_AUTOTUNE_ENABLE (212) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_NAV_SET_YAW_SPEED (213) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_DO_SET_CAM_TRIGG_INTERVAL (214) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_DO_MOUNT_CONTROL_QUAT (220) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_DO_GUIDED_MASTER (221) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_DO_GUIDED_LIMITS (222) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_DO_ENGINE_CONTROL (223) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_DO_SET_MISSION_CURRENT (224) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_DO_LAST (240) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_PREFLIGHT_CALIBRATION (241) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_PREFLIGHT_SET_SENSOR_OFFSETS (242) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_PREFLIGHT_UAVCAN (243) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_PREFLIGHT_STORAGE (245) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN (246) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_OVERRIDE_GOTO (252) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_OBLIQUE_SURVEY (260) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_MISSION_START (300) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_ACTUATOR_TEST (310) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_CONFIGURE_ACTUATOR (311) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_COMPONENT_ARM_DISARM (400) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_RUN_PREARM_CHECKS (401) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_ILLUMINATOR_ON_OFF (405) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_DO_ILLUMINATOR_CONFIGURE (406) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_GET_HOME_POSITION (410) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_INJECT_FAILURE (420) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_START_RX_PAIR (500) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_GET_MESSAGE_INTERVAL (510) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_SET_MESSAGE_INTERVAL (511) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_REQUEST_MESSAGE (512) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_REQUEST_PROTOCOL_VERSION (519) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_REQUEST_AUTOPILOT_CAPABILITIES (520) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_REQUEST_CAMERA_INFORMATION (521) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_REQUEST_CAMERA_SETTINGS (522) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_REQUEST_STORAGE_INFORMATION (525) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_STORAGE_FORMAT (526) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_REQUEST_CAMERA_CAPTURE_STATUS (527) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_REQUEST_FLIGHT_INFORMATION (528) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_RESET_CAMERA_SETTINGS (529) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_SET_CAMERA_MODE (530) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_SET_CAMERA_ZOOM (531) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_SET_CAMERA_FOCUS (532) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_SET_STORAGE_USAGE (533) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_SET_CAMERA_SOURCE (534) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_JUMP_TAG (600) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_DO_JUMP_TAG (601) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_DO_GIMBAL_MANAGER_PITCHYAW (1000) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_DO_GIMBAL_MANAGER_CONFIGURE (1001) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_IMAGE_START_CAPTURE (2000) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_IMAGE_STOP_CAPTURE (2001) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_REQUEST_CAMERA_IMAGE_CAPTURE (2002) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_DO_TRIGGER_CONTROL (2003) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_CAMERA_TRACK_POINT (2004) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_CAMERA_TRACK_RECTANGLE (2005) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_CAMERA_STOP_TRACKING (2010) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_VIDEO_START_CAPTURE (2500) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_VIDEO_STOP_CAPTURE (2501) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_VIDEO_START_STREAMING (2502) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_VIDEO_STOP_STREAMING (2503) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_REQUEST_VIDEO_STREAM_INFORMATION (2504) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_REQUEST_VIDEO_STREAM_STATUS (2505) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_LOGGING_START (2510) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_LOGGING_STOP (2511) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_AIRFRAME_CONFIGURATION (2520) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_CONTROL_HIGH_LATENCY (2600) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_PANORAMA_CREATE (2800) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_DO_VTOL_TRANSITION (3000) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_ARM_AUTHORIZATION_REQUEST (3001) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_SET_GUIDED_SUBMODE_STANDARD (4000) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_SET_GUIDED_SUBMODE_CIRCLE (4001) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_CONDITION_GATE (4501) — [from: common] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_NAV_FENCE_RETURN_POINT (5000) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_NAV_FENCE_POLYGON_VERTEX_INCLUSION (5001) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_NAV_FENCE_POLYGON_VERTEX_EXCLUSION (5002) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_NAV_FENCE_CIRCLE_INCLUSION (5003) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_NAV_FENCE_CIRCLE_EXCLUSION (5004) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_NAV_RALLY_POINT (5100) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_UAVCAN_GET_NODE_INFO (5200) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_DO_SET_SAFETY_SWITCH_STATE (5300) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_DO_ADSB_OUT_IDENT (10001) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_PAYLOAD_PREPARE_DEPLOY (30001) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_PAYLOAD_CONTROL_DEPLOY (30002) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_WAYPOINT_USER_1 (31000) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_WAYPOINT_USER_2 (31001) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_WAYPOINT_USER_3 (31002) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_WAYPOINT_USER_4 (31003) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_WAYPOINT_USER_5 (31004) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_SPATIAL_USER_1 (31005) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_SPATIAL_USER_2 (31006) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_SPATIAL_USER_3 (31007) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_SPATIAL_USER_4 (31008) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_SPATIAL_USER_5 (31009) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_USER_1 (31010) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_USER_2 (31011) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_USER_3 (31012) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_USER_4 (31013) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_USER_5 (31014) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_CAN_FORWARD (32000) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_RESET_MPPT (40001)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Mission command to reset Maximum Power Point Tracker (MPPT)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Param (Label)Description
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        1MPPT number
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        2Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        3Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        4Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        5Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        6Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        7Empty

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_PAYLOAD_CONTROL (40002)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Mission command to perform a power cycle on payload

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Param (Label)Description
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        1Complete power cycle
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        2VISensor power cycle
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        3Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        4Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        5Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        6Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        7Empty

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_FIXED_MAG_CAL_YAW (42006) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_DO_WINCH (42600) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_EXTERNAL_POSITION_ESTIMATE (43003) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        results matching ""

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          No results matching ""

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          \ No newline at end of file +ASLUAV.xml · MAVLink Developer Guide
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          方言：ASLUAV

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          This topic documents the version of the dialect file in the mavlink/mavlink Github repository, which may not be up to date with the file in the source repository (it is up to the dialect owner to push changes when needed). The source repo should be listed in the comments at the top of the XML definition file listed below (but may not be).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          This is a human-readable form of the XML definition file: ASLUAV.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          已添加到 MAVLink 1 消息中的 MAVLink 2 扩展字段以蓝色显示。 - Entities from dialects are displayed only as headings (with link to original)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Summary

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          TypeDefinedIncluded
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Messages17224
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Enums2143
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Commands1660

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          The following sections list all entities in the dialect (both included and defined in this file).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Messages

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          COMMAND_INT_STAMPED (223)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Message encoding a command with parameters as scaled integers and additional metadata. Scaling depends on the actual command value.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          utc_timeuint32_tUTC time, seconds elapsed since 01.01.1970
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          vehicle_timestampuint64_tMicroseconds elapsed since vehicle boot
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          target_systemuint8_tSystem ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          target_componentuint8_tComponent ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          frameuint8_tMAV_FRAMEThe coordinate system of the COMMAND, as defined by MAV_FRAME enum
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          commanduint16_tMAV_CMDThe scheduled action for the mission item, as defined by MAV_CMD enum
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          currentuint8_tfalse:0, true:1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          autocontinueuint8_tautocontinue to next wp
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          param1floatPARAM1, see MAV_CMD enum
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          param2floatPARAM2, see MAV_CMD enum
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          param3floatPARAM3, see MAV_CMD enum
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          param4floatPARAM4, see MAV_CMD enum
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          xint32_tPARAM5 / local: x position in meters 1e4, global: latitude in degrees 10^7
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          yint32_tPARAM6 / local: y position in meters 1e4, global: longitude in degrees 10^7
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          zfloatPARAM7 / z position: global: altitude in meters (MSL, WGS84, AGL or relative to home - depending on frame).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          COMMAND_LONG_STAMPED (224)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Send a command with up to seven parameters to the MAV and additional metadata

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          utc_timeuint32_tUTC time, seconds elapsed since 01.01.1970
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          vehicle_timestampuint64_tMicroseconds elapsed since vehicle boot
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          target_systemuint8_tSystem which should execute the command
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          target_componentuint8_tComponent which should execute the command, 0 for all components
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          commanduint16_tMAV_CMDCommand ID, as defined by MAV_CMD enum.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          confirmationuint8_t0: First transmission of this command. 1-255: Confirmation transmissions (e.g. for kill command)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          param1floatParameter 1, as defined by MAV_CMD enum.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          param2floatParameter 2, as defined by MAV_CMD enum.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          param3floatParameter 3, as defined by MAV_CMD enum.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          param4floatParameter 4, as defined by MAV_CMD enum.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          param5floatParameter 5, as defined by MAV_CMD enum.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          param6floatParameter 6, as defined by MAV_CMD enum.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          param7floatParameter 7, as defined by MAV_CMD enum.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          SENS_POWER (8002)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Voltage and current sensor data

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          adc121_vspb_voltfloatVPower board voltage sensor reading
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          adc121_cspb_ampfloatAPower board current sensor reading
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          adc121_cs1_ampfloatABoard current sensor 1 reading
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          adc121_cs2_ampfloatABoard current sensor 2 reading

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          SENS_MPPT (8003)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Maximum Power Point Tracker (MPPT) sensor data for solar module power performance tracking

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          mppt_timestampuint64_tusMPPT last timestamp
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          mppt1_voltfloatVMPPT1 voltage
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          mppt1_ampfloatAMPPT1 current
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          mppt1_pwmuint16_tusMPPT1 pwm
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          mppt1_statusuint8_tMPPT1 status
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          mppt2_voltfloatVMPPT2 voltage
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          mppt2_ampfloatAMPPT2 current
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          mppt2_pwmuint16_tusMPPT2 pwm
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          mppt2_statusuint8_tMPPT2 status
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          mppt3_voltfloatVMPPT3 voltage
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          mppt3_ampfloatAMPPT3 current
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          mppt3_pwmuint16_tusMPPT3 pwm
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          mppt3_statusuint8_tMPPT3 status

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ASLCTRL_DATA (8004)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ASL-fixed-wing controller data

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          timestampuint64_tusTimestamp
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          aslctrl_modeuint8_tASLCTRL control-mode (manual, stabilized, auto, etc...)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          hfloatSee sourcecode for a description of these values...
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          hReffloat
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          hRef_tfloat
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          PitchAnglefloatdegPitch angle
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          PitchAngleReffloatdegPitch angle reference
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          qfloat
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          qReffloat
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          uElevfloat
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          uThrotfloat
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          uThrot2float
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          nZfloat
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          AirspeedReffloatm/sAirspeed reference
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          SpoilersEngageduint8_t
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          YawAnglefloatdegYaw angle
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          YawAngleReffloatdegYaw angle reference
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          RollAnglefloatdegRoll angle
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          RollAngleReffloatdegRoll angle reference
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          pfloat
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          pReffloat
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          rfloat
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          rReffloat
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          uAilfloat
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          uRudfloat

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ASLCTRL_DEBUG (8005)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ASL-fixed-wing controller debug data

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          i32_1uint32_tDebug data
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          i8_1uint8_tDebug data
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          i8_2uint8_tDebug data
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          f_1floatDebug data
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          f_2floatDebug data
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          f_3floatDebug data
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          f_4floatDebug data
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          f_5floatDebug data
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          f_6floatDebug data
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          f_7floatDebug data
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          f_8floatDebug data

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ASLUAV_STATUS (8006)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Extended state information for ASLUAVs

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          LED_statusuint8_tStatus of the position-indicator LEDs
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          SATCOM_statusuint8_tStatus of the IRIDIUM satellite communication system
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Servo_statusuint8_t[8]Status vector for up to 8 servos
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Motor_rpmfloatMotor RPM

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          EKF_EXT (8007)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Extended EKF state estimates for ASLUAVs

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          timestampuint64_tusTime since system start
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Windspeedfloatm/sMagnitude of wind velocity (in lateral inertial plane)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          WindDirfloatradWind heading angle from North
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          WindZfloatm/sZ (Down) component of inertial wind velocity
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Airspeedfloatm/sMagnitude of air velocity
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          betafloatradSideslip angle
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          alphafloatradAngle of attack

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ASL_OBCTRL (8008)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Off-board controls/commands for ASLUAVs

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          timestampuint64_tusTime since system start
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          uElevfloatElevator command [~]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          uThrotfloatThrottle command [~]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          uThrot2floatThrottle 2 command [~]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          uAilLfloatLeft aileron command [~]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          uAilRfloatRight aileron command [~]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          uRudfloatRudder command [~]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          obctrl_statusuint8_tOff-board computer status

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          SENS_ATMOS (8009)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Atmospheric sensors (temperature, humidity, ...)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          timestampuint64_tusTime since system boot
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          TempAmbientfloatdegCAmbient temperature
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Humidityfloat%Relative humidity

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          SENS_BATMON (8010)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Battery pack monitoring data for Li-Ion batteries

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          batmon_timestampuint64_tusTime since system start
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          temperaturefloatdegCBattery pack temperature
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          voltageuint16_tmVBattery pack voltage
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          currentint16_tmABattery pack current
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          SoCuint8_tBattery pack state-of-charge
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          batterystatusuint16_tBattery monitor status report bits in Hex
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          serialnumberuint16_tBattery monitor serial number in Hex
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          safetystatusuint32_tBattery monitor safetystatus report bits in Hex
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          operationstatusuint32_tBattery monitor operation status report bits in Hex
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          cellvoltage1uint16_tmVBattery pack cell 1 voltage
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          cellvoltage2uint16_tmVBattery pack cell 2 voltage
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          cellvoltage3uint16_tmVBattery pack cell 3 voltage
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          cellvoltage4uint16_tmVBattery pack cell 4 voltage
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          cellvoltage5uint16_tmVBattery pack cell 5 voltage
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          cellvoltage6uint16_tmVBattery pack cell 6 voltage

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          FW_SOARING_DATA (8011)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Fixed-wing soaring (i.e. thermal seeking) data

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          timestampuint64_tmsTimestamp
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          timestampModeChangeduint64_tmsTimestamp since last mode change
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          xWfloatm/sThermal core updraft strength
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          xRfloatmThermal radius
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          xLatfloatdegThermal center latitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          xLonfloatdegThermal center longitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          VarWfloatVariance W
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          VarRfloatVariance R
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          VarLatfloatVariance Lat
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          VarLonfloatVariance Lon
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          LoiterRadiusfloatmSuggested loiter radius
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          LoiterDirectionfloatSuggested loiter direction
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          DistToSoarPointfloatmDistance to soar point
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          vSinkExpfloatm/sExpected sink rate at current airspeed, roll and throttle
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          z1_LocalUpdraftSpeedfloatm/sMeasurement / updraft speed at current/local airplane position
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          z2_DeltaRollfloatdegMeasurement / roll angle tracking error
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          z1_expfloatExpected measurement 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          z2_expfloatExpected measurement 2
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ThermalGSNorthfloatm/sThermal drift (from estimator prediction step only)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ThermalGSEastfloatm/sThermal drift (from estimator prediction step only)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          TSE_dotfloatm/sTotal specific energy change (filtered)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          DebugVar1floatDebug variable 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          DebugVar2floatDebug variable 2
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ControlModeuint8_tControl Mode [-]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          validuint8_tData valid [-]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          SENSORPOD_STATUS (8012)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Monitoring of sensorpod status

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          timestampuint64_tmsTimestamp in linuxtime (since 1.1.1970)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          visensor_rate_1uint8_tRate of ROS topic 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          visensor_rate_2uint8_tRate of ROS topic 2
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          visensor_rate_3uint8_tRate of ROS topic 3
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          visensor_rate_4uint8_tRate of ROS topic 4
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          recording_nodes_countuint8_tNumber of recording nodes
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          cpu_tempuint8_tdegCTemperature of sensorpod CPU in
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          free_spaceuint16_tFree space available in recordings directory in [Gb] * 1e2

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          SENS_POWER_BOARD (8013)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Monitoring of power board status

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          timestampuint64_tusTimestamp
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          pwr_brd_statusuint8_tPower board status register
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          pwr_brd_led_statusuint8_tPower board leds status
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          pwr_brd_system_voltfloatVPower board system voltage
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          pwr_brd_servo_voltfloatVPower board servo voltage
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          pwr_brd_digital_voltfloatVPower board digital voltage
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          pwr_brd_mot_l_ampfloatAPower board left motor current sensor
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          pwr_brd_mot_r_ampfloatAPower board right motor current sensor
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          pwr_brd_analog_ampfloatAPower board analog current sensor
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          pwr_brd_digital_ampfloatAPower board digital current sensor
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          pwr_brd_ext_ampfloatAPower board extension current sensor
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          pwr_brd_aux_ampfloatAPower board aux current sensor

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Status of GSM modem (connected to onboard computer)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          timestampuint64_tusTimestamp (of OBC)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          gsm_modem_typeuint8_tGSM_MODEM_TYPEGSM modem used
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          gsm_link_typeuint8_tGSM_LINK_TYPEGSM link type
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          rssiuint8_tRSSI as reported by modem (unconverted)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          rsrp_rscpuint8_tRSRP (LTE) or RSCP (WCDMA) as reported by modem (unconverted)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          sinr_eciouint8_tSINR (LTE) or ECIO (WCDMA) as reported by modem (unconverted)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          rsrquint8_tRSRQ (LTE only) as reported by modem (unconverted)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Status of the SatCom link

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          timestampuint64_tusTimestamp
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          last_heartbeatuint64_tusTimestamp of the last successful sbd session
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          failed_sessionsuint16_tNumber of failed sessions
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          successful_sessionsuint16_tNumber of successful sessions
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          signal_qualityuint8_tSignal quality
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ring_pendinguint8_tRing call pending
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          tx_session_pendinguint8_tTransmission session pending
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          rx_session_pendinguint8_tReceiving session pending

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          SENSOR_AIRFLOW_ANGLES (8016)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Calibrated airflow angle measurements

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          timestampuint64_tusTimestamp
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          angleofattackfloatdegAngle of attack
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          angleofattack_validuint8_tAngle of attack measurement valid
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          sideslipfloatdegSideslip angle
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          sideslip_validuint8_tSideslip angle measurement valid

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Enumerated Types

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          0GSM_LINK_TYPE_NONEno service
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1GSM_LINK_TYPE_UNKNOWNlink type unknown
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2GSM_LINK_TYPE_2G2G (GSM/GRPS/EDGE) link
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          3GSM_LINK_TYPE_3G3G link (WCDMA/HSDPA/HSPA)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          4GSM_LINK_TYPE_4G4G link (LTE)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          GSM_MODEM_TYPE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          0GSM_MODEM_TYPE_UNKNOWNnot specified
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1GSM_MODEM_TYPE_HUAWEI_E3372HUAWEI LTE USB Stick E3372

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Commands (MAV_CMD)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_RESET_MPPT (40001)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Mission command to reset Maximum Power Point Tracker (MPPT)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Param (Label)Description
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1MPPT number
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          3Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          4Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          5Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          6Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          7Empty

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_PAYLOAD_CONTROL (40002)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Mission command to perform a power cycle on payload

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Param (Label)Description
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1Complete power cycle
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2VISensor power cycle
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          3Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          4Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          5Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          6Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          7Empty

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          results matching ""

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            No results matching ""

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            \ No newline at end of file diff --git a/zh/messages/AVSSUAS.md b/zh/messages/AVSSUAS.md index 70fb19155..372a0ed38 100644 --- a/zh/messages/AVSSUAS.md +++ b/zh/messages/AVSSUAS.md @@ -33,461 +33,13 @@ span.warning { | Type | Defined | Included | | -------------------------- | ------- | -------- | | [Messages](#messages) | 4 | 224 | -| [Enums](#enumerated-types) | 3 | 142 | +| [Enums](#enumerated-types) | 3 | 143 | | [Commands](#mav_commands) | 171 | 0 | The following sections list all entities in the dialect (both included and defined in this file). ## Messages -### HEARTBEAT (0) — \[from: [minimal](../messages/minimal.md#HEARTBEAT)\] {#HEARTBEAT} - -### SYS_STATUS (1) — \[from: [common](../messages/common.md#SYS_STATUS)\] {#SYS_STATUS} - -### SYSTEM_TIME (2) — \[from: [common](../messages/common.md#SYSTEM_TIME)\] {#SYSTEM_TIME} - -### PING (4) — \[from: [common](../messages/common.md#PING)\] [DEP] {#PING} - -### CHANGE_OPERATOR_CONTROL (5) — \[from: [common](../messages/common.md#CHANGE_OPERATOR_CONTROL)\] {#CHANGE_OPERATOR_CONTROL} - -### CHANGE_OPERATOR_CONTROL_ACK (6) — \[from: [common](../messages/common.md#CHANGE_OPERATOR_CONTROL_ACK)\] {#CHANGE_OPERATOR_CONTROL_ACK} - -### AUTH_KEY (7) — \[from: [common](../messages/common.md#AUTH_KEY)\] {#AUTH_KEY} - -### LINK_NODE_STATUS (8) — \[from: [common](../messages/common.md#LINK_NODE_STATUS)\] [WIP] {#LINK_NODE_STATUS} - -### SET_MODE (11) — \[from: [common](../messages/common.md#SET_MODE)\] [DEP] {#SET_MODE} - -### PARAM_REQUEST_READ (20) — \[from: [common](../messages/common.md#PARAM_REQUEST_READ)\] {#PARAM_REQUEST_READ} - -### PARAM_REQUEST_LIST (21) — \[from: [common](../messages/common.md#PARAM_REQUEST_LIST)\] {#PARAM_REQUEST_LIST} - -### PARAM_VALUE (22) — \[from: [common](../messages/common.md#PARAM_VALUE)\] {#PARAM_VALUE} - -### PARAM_SET (23) — \[from: [common](../messages/common.md#PARAM_SET)\] {#PARAM_SET} - -### GPS_RAW_INT (24) — \[from: [common](../messages/common.md#GPS_RAW_INT)\] {#GPS_RAW_INT} - -### GPS_STATUS (25) — \[from: [common](../messages/common.md#GPS_STATUS)\] {#GPS_STATUS} - -### SCALED_IMU (26) — \[from: [common](../messages/common.md#SCALED_IMU)\] {#SCALED_IMU} - -### RAW_IMU (27) — \[from: [common](../messages/common.md#RAW_IMU)\] {#RAW_IMU} - -### RAW_PRESSURE (28) — \[from: [common](../messages/common.md#RAW_PRESSURE)\] {#RAW_PRESSURE} - -### SCALED_PRESSURE (29) — \[from: [common](../messages/common.md#SCALED_PRESSURE)\] {#SCALED_PRESSURE} - -### ATTITUDE (30) — \[from: [common](../messages/common.md#ATTITUDE)\] {#ATTITUDE} - -### ATTITUDE_QUATERNION (31) — \[from: [common](../messages/common.md#ATTITUDE_QUATERNION)\] {#ATTITUDE_QUATERNION} - -### LOCAL_POSITION_NED (32) — \[from: [common](../messages/common.md#LOCAL_POSITION_NED)\] {#LOCAL_POSITION_NED} - -### GLOBAL_POSITION_INT (33) — \[from: [common](../messages/common.md#GLOBAL_POSITION_INT)\] {#GLOBAL_POSITION_INT} - -### RC_CHANNELS_SCALED (34) — \[from: [common](../messages/common.md#RC_CHANNELS_SCALED)\] {#RC_CHANNELS_SCALED} - -### RC_CHANNELS_RAW (35) — \[from: [common](../messages/common.md#RC_CHANNELS_RAW)\] {#RC_CHANNELS_RAW} - -### SERVO_OUTPUT_RAW (36) — \[from: [common](../messages/common.md#SERVO_OUTPUT_RAW)\] {#SERVO_OUTPUT_RAW} - -### MISSION_REQUEST_PARTIAL_LIST (37) — \[from: [common](../messages/common.md#MISSION_REQUEST_PARTIAL_LIST)\] {#MISSION_REQUEST_PARTIAL_LIST} - -### MISSION_WRITE_PARTIAL_LIST (38) — \[from: [common](../messages/common.md#MISSION_WRITE_PARTIAL_LIST)\] {#MISSION_WRITE_PARTIAL_LIST} - -### MISSION_ITEM (39) — \[from: [common](../messages/common.md#MISSION_ITEM)\] [DEP] {#MISSION_ITEM} - -### MISSION_REQUEST (40) — \[from: [common](../messages/common.md#MISSION_REQUEST)\] [DEP] {#MISSION_REQUEST} - -### MISSION_SET_CURRENT (41) — \[from: [common](../messages/common.md#MISSION_SET_CURRENT)\] [DEP] {#MISSION_SET_CURRENT} - -### MISSION_CURRENT (42) — \[from: [common](../messages/common.md#MISSION_CURRENT)\] {#MISSION_CURRENT} - -### MISSION_REQUEST_LIST (43) — \[from: [common](../messages/common.md#MISSION_REQUEST_LIST)\] {#MISSION_REQUEST_LIST} - -### MISSION_COUNT (44) — \[from: [common](../messages/common.md#MISSION_COUNT)\] {#MISSION_COUNT} - -### MISSION_CLEAR_ALL (45) — \[from: [common](../messages/common.md#MISSION_CLEAR_ALL)\] {#MISSION_CLEAR_ALL} - -### MISSION_ITEM_REACHED (46) — \[from: [common](../messages/common.md#MISSION_ITEM_REACHED)\] {#MISSION_ITEM_REACHED} - -### MISSION_ACK (47) — \[from: [common](../messages/common.md#MISSION_ACK)\] {#MISSION_ACK} - -### SET_GPS_GLOBAL_ORIGIN (48) — \[from: [common](../messages/common.md#SET_GPS_GLOBAL_ORIGIN)\] {#SET_GPS_GLOBAL_ORIGIN} - -### GPS_GLOBAL_ORIGIN (49) — \[from: [common](../messages/common.md#GPS_GLOBAL_ORIGIN)\] {#GPS_GLOBAL_ORIGIN} - -### PARAM_MAP_RC (50) — \[from: [common](../messages/common.md#PARAM_MAP_RC)\] {#PARAM_MAP_RC} - -### MISSION_REQUEST_INT (51) — \[from: [common](../messages/common.md#MISSION_REQUEST_INT)\] {#MISSION_REQUEST_INT} - -### SAFETY_SET_ALLOWED_AREA (54) — \[from: [common](../messages/common.md#SAFETY_SET_ALLOWED_AREA)\] {#SAFETY_SET_ALLOWED_AREA} - -### SAFETY_ALLOWED_AREA (55) — \[from: [common](../messages/common.md#SAFETY_ALLOWED_AREA)\] {#SAFETY_ALLOWED_AREA} - -### ATTITUDE_QUATERNION_COV (61) — \[from: [common](../messages/common.md#ATTITUDE_QUATERNION_COV)\] {#ATTITUDE_QUATERNION_COV} - -### NAV_CONTROLLER_OUTPUT (62) — \[from: [common](../messages/common.md#NAV_CONTROLLER_OUTPUT)\] {#NAV_CONTROLLER_OUTPUT} - -### GLOBAL_POSITION_INT_COV (63) — \[from: [common](../messages/common.md#GLOBAL_POSITION_INT_COV)\] {#GLOBAL_POSITION_INT_COV} - -### LOCAL_POSITION_NED_COV (64) — \[from: [common](../messages/common.md#LOCAL_POSITION_NED_COV)\] {#LOCAL_POSITION_NED_COV} - -### RC_CHANNELS (65) — \[from: [common](../messages/common.md#RC_CHANNELS)\] {#RC_CHANNELS} - -### REQUEST_DATA_STREAM (66) — \[from: [common](../messages/common.md#REQUEST_DATA_STREAM)\] [DEP] {#REQUEST_DATA_STREAM} - -### DATA_STREAM (67) — \[from: [common](../messages/common.md#DATA_STREAM)\] [DEP] {#DATA_STREAM} - -### MANUAL_CONTROL (69) — \[from: [common](../messages/common.md#MANUAL_CONTROL)\] {#MANUAL_CONTROL} - -### RC_CHANNELS_OVERRIDE (70) — \[from: [common](../messages/common.md#RC_CHANNELS_OVERRIDE)\] {#RC_CHANNELS_OVERRIDE} - -### MISSION_ITEM_INT (73) — \[from: [common](../messages/common.md#MISSION_ITEM_INT)\] {#MISSION_ITEM_INT} - -### VFR_HUD (74) — \[from: [common](../messages/common.md#VFR_HUD)\] {#VFR_HUD} - -### COMMAND_INT (75) — \[from: [common](../messages/common.md#COMMAND_INT)\] {#COMMAND_INT} - -### COMMAND_LONG (76) — \[from: [common](../messages/common.md#COMMAND_LONG)\] {#COMMAND_LONG} - -### COMMAND_ACK (77) — \[from: [common](../messages/common.md#COMMAND_ACK)\] {#COMMAND_ACK} - -### COMMAND_CANCEL (80) — \[from: [common](../messages/common.md#COMMAND_CANCEL)\] [WIP] {#COMMAND_CANCEL} - -### MANUAL_SETPOINT (81) — \[from: [common](../messages/common.md#MANUAL_SETPOINT)\] {#MANUAL_SETPOINT} - -### SET_ATTITUDE_TARGET (82) — \[from: [common](../messages/common.md#SET_ATTITUDE_TARGET)\] {#SET_ATTITUDE_TARGET} - -### ATTITUDE_TARGET (83) — \[from: [common](../messages/common.md#ATTITUDE_TARGET)\] {#ATTITUDE_TARGET} - -### SET_POSITION_TARGET_LOCAL_NED (84) — \[from: [common](../messages/common.md#SET_POSITION_TARGET_LOCAL_NED)\] {#SET_POSITION_TARGET_LOCAL_NED} - -### POSITION_TARGET_LOCAL_NED (85) — \[from: [common](../messages/common.md#POSITION_TARGET_LOCAL_NED)\] {#POSITION_TARGET_LOCAL_NED} - -### SET_POSITION_TARGET_GLOBAL_INT (86) — \[from: [common](../messages/common.md#SET_POSITION_TARGET_GLOBAL_INT)\] {#SET_POSITION_TARGET_GLOBAL_INT} - -### POSITION_TARGET_GLOBAL_INT (87) — \[from: [common](../messages/common.md#POSITION_TARGET_GLOBAL_INT)\] {#POSITION_TARGET_GLOBAL_INT} - -### LOCAL_POSITION_NED_SYSTEM_GLOBAL_OFFSET (89) — \[from: [common](../messages/common.md#LOCAL_POSITION_NED_SYSTEM_GLOBAL_OFFSET)\] {#LOCAL_POSITION_NED_SYSTEM_GLOBAL_OFFSET} - -### HIL_STATE (90) — \[from: [common](../messages/common.md#HIL_STATE)\] [DEP] {#HIL_STATE} - -### HIL_CONTROLS (91) — \[from: [common](../messages/common.md#HIL_CONTROLS)\] {#HIL_CONTROLS} - -### HIL_RC_INPUTS_RAW (92) — \[from: [common](../messages/common.md#HIL_RC_INPUTS_RAW)\] {#HIL_RC_INPUTS_RAW} - -### HIL_ACTUATOR_CONTROLS (93) — \[from: [common](../messages/common.md#HIL_ACTUATOR_CONTROLS)\] {#HIL_ACTUATOR_CONTROLS} - -### OPTICAL_FLOW (100) — \[from: [common](../messages/common.md#OPTICAL_FLOW)\] {#OPTICAL_FLOW} - -### GLOBAL_VISION_POSITION_ESTIMATE (101) — \[from: [common](../messages/common.md#GLOBAL_VISION_POSITION_ESTIMATE)\] {#GLOBAL_VISION_POSITION_ESTIMATE} - -### VISION_POSITION_ESTIMATE (102) — \[from: [common](../messages/common.md#VISION_POSITION_ESTIMATE)\] {#VISION_POSITION_ESTIMATE} - -### VISION_SPEED_ESTIMATE (103) — \[from: [common](../messages/common.md#VISION_SPEED_ESTIMATE)\] {#VISION_SPEED_ESTIMATE} - -### VICON_POSITION_ESTIMATE (104) — \[from: [common](../messages/common.md#VICON_POSITION_ESTIMATE)\] {#VICON_POSITION_ESTIMATE} - -### HIGHRES_IMU (105) — \[from: [common](../messages/common.md#HIGHRES_IMU)\] {#HIGHRES_IMU} - -### OPTICAL_FLOW_RAD (106) — \[from: [common](../messages/common.md#OPTICAL_FLOW_RAD)\] {#OPTICAL_FLOW_RAD} - -### HIL_SENSOR (107) — \[from: [common](../messages/common.md#HIL_SENSOR)\] {#HIL_SENSOR} - -### SIM_STATE (108) — \[from: [common](../messages/common.md#SIM_STATE)\] {#SIM_STATE} - -### RADIO_STATUS (109) — \[from: [common](../messages/common.md#RADIO_STATUS)\] {#RADIO_STATUS} - -### FILE_TRANSFER_PROTOCOL (110) — \[from: [common](../messages/common.md#FILE_TRANSFER_PROTOCOL)\] {#FILE_TRANSFER_PROTOCOL} - -### TIMESYNC (111) — \[from: [common](../messages/common.md#TIMESYNC)\] {#TIMESYNC} - -### CAMERA_TRIGGER (112) — \[from: [common](../messages/common.md#CAMERA_TRIGGER)\] {#CAMERA_TRIGGER} - -### HIL_GPS (113) — \[from: [common](../messages/common.md#HIL_GPS)\] {#HIL_GPS} - -### HIL_OPTICAL_FLOW (114) — \[from: [common](../messages/common.md#HIL_OPTICAL_FLOW)\] {#HIL_OPTICAL_FLOW} - -### HIL_STATE_QUATERNION (115) — \[from: [common](../messages/common.md#HIL_STATE_QUATERNION)\] {#HIL_STATE_QUATERNION} - -### SCALED_IMU2 (116) — \[from: [common](../messages/common.md#SCALED_IMU2)\] {#SCALED_IMU2} - -### LOG_REQUEST_LIST (117) — \[from: [common](../messages/common.md#LOG_REQUEST_LIST)\] {#LOG_REQUEST_LIST} - -### LOG_ENTRY (118) — \[from: [common](../messages/common.md#LOG_ENTRY)\] {#LOG_ENTRY} - -### LOG_REQUEST_DATA (119) — \[from: [common](../messages/common.md#LOG_REQUEST_DATA)\] {#LOG_REQUEST_DATA} - -### LOG_DATA (120) — \[from: [common](../messages/common.md#LOG_DATA)\] {#LOG_DATA} - -### LOG_ERASE (121) — \[from: [common](../messages/common.md#LOG_ERASE)\] {#LOG_ERASE} - -### LOG_REQUEST_END (122) — \[from: [common](../messages/common.md#LOG_REQUEST_END)\] {#LOG_REQUEST_END} - -### GPS_INJECT_DATA (123) — \[from: [common](../messages/common.md#GPS_INJECT_DATA)\] [DEP] {#GPS_INJECT_DATA} - -### GPS2_RAW (124) — \[from: [common](../messages/common.md#GPS2_RAW)\] {#GPS2_RAW} - -### POWER_STATUS (125) — \[from: [common](../messages/common.md#POWER_STATUS)\] {#POWER_STATUS} - -### SERIAL_CONTROL (126) — \[from: [common](../messages/common.md#SERIAL_CONTROL)\] {#SERIAL_CONTROL} - -### GPS_RTK (127) — \[from: [common](../messages/common.md#GPS_RTK)\] {#GPS_RTK} - -### GPS2_RTK (128) — \[from: [common](../messages/common.md#GPS2_RTK)\] {#GPS2_RTK} - -### SCALED_IMU3 (129) — \[from: [common](../messages/common.md#SCALED_IMU3)\] {#SCALED_IMU3} - -### DATA_TRANSMISSION_HANDSHAKE (130) — \[from: [common](../messages/common.md#DATA_TRANSMISSION_HANDSHAKE)\] {#DATA_TRANSMISSION_HANDSHAKE} - -### ENCAPSULATED_DATA (131) — \[from: [common](../messages/common.md#ENCAPSULATED_DATA)\] {#ENCAPSULATED_DATA} - -### DISTANCE_SENSOR (132) — \[from: [common](../messages/common.md#DISTANCE_SENSOR)\] {#DISTANCE_SENSOR} - -### TERRAIN_REQUEST (133) — \[from: [common](../messages/common.md#TERRAIN_REQUEST)\] {#TERRAIN_REQUEST} - -### TERRAIN_DATA (134) — \[from: [common](../messages/common.md#TERRAIN_DATA)\] {#TERRAIN_DATA} - -### TERRAIN_CHECK (135) — \[from: [common](../messages/common.md#TERRAIN_CHECK)\] {#TERRAIN_CHECK} - -### TERRAIN_REPORT (136) — \[from: [common](../messages/common.md#TERRAIN_REPORT)\] {#TERRAIN_REPORT} - -### SCALED_PRESSURE2 (137) — \[from: [common](../messages/common.md#SCALED_PRESSURE2)\] {#SCALED_PRESSURE2} - -### ATT_POS_MOCAP (138) — \[from: [common](../messages/common.md#ATT_POS_MOCAP)\] {#ATT_POS_MOCAP} - -### SET_ACTUATOR_CONTROL_TARGET (139) — \[from: [common](../messages/common.md#SET_ACTUATOR_CONTROL_TARGET)\] {#SET_ACTUATOR_CONTROL_TARGET} - -### ACTUATOR_CONTROL_TARGET (140) — \[from: [common](../messages/common.md#ACTUATOR_CONTROL_TARGET)\] {#ACTUATOR_CONTROL_TARGET} - -### ALTITUDE (141) — \[from: [common](../messages/common.md#ALTITUDE)\] {#ALTITUDE} - -### RESOURCE_REQUEST (142) — \[from: [common](../messages/common.md#RESOURCE_REQUEST)\] {#RESOURCE_REQUEST} - -### SCALED_PRESSURE3 (143) — \[from: [common](../messages/common.md#SCALED_PRESSURE3)\] {#SCALED_PRESSURE3} - -### FOLLOW_TARGET (144) — \[from: [common](../messages/common.md#FOLLOW_TARGET)\] {#FOLLOW_TARGET} - -### CONTROL_SYSTEM_STATE (146) — \[from: [common](../messages/common.md#CONTROL_SYSTEM_STATE)\] {#CONTROL_SYSTEM_STATE} - -### BATTERY_STATUS (147) — \[from: [common](../messages/common.md#BATTERY_STATUS)\] {#BATTERY_STATUS} - -### AUTOPILOT_VERSION (148) — \[from: [common](../messages/common.md#AUTOPILOT_VERSION)\] {#AUTOPILOT_VERSION} - -### LANDING_TARGET (149) — \[from: [common](../messages/common.md#LANDING_TARGET)\] {#LANDING_TARGET} - -### FENCE_STATUS (162) — \[from: [common](../messages/common.md#FENCE_STATUS)\] {#FENCE_STATUS} - -### MAG_CAL_REPORT (192) — \[from: [common](../messages/common.md#MAG_CAL_REPORT)\] {#MAG_CAL_REPORT} - -### EFI_STATUS (225) — \[from: [common](../messages/common.md#EFI_STATUS)\] {#EFI_STATUS} - -### ESTIMATOR_STATUS (230) — \[from: [common](../messages/common.md#ESTIMATOR_STATUS)\] {#ESTIMATOR_STATUS} - -### WIND_COV (231) — \[from: [common](../messages/common.md#WIND_COV)\] {#WIND_COV} - -### GPS_INPUT (232) — \[from: [common](../messages/common.md#GPS_INPUT)\] {#GPS_INPUT} - -### GPS_RTCM_DATA (233) — \[from: [common](../messages/common.md#GPS_RTCM_DATA)\] {#GPS_RTCM_DATA} - -### HIGH_LATENCY (234) — \[from: [common](../messages/common.md#HIGH_LATENCY)\] [DEP] {#HIGH_LATENCY} - -### HIGH_LATENCY2 (235) — \[from: [common](../messages/common.md#HIGH_LATENCY2)\] {#HIGH_LATENCY2} - -### VIBRATION (241) — \[from: [common](../messages/common.md#VIBRATION)\] {#VIBRATION} - -### HOME_POSITION (242) — \[from: [common](../messages/common.md#HOME_POSITION)\] {#HOME_POSITION} - -### SET_HOME_POSITION (243) — \[from: [common](../messages/common.md#SET_HOME_POSITION)\] [DEP] {#SET_HOME_POSITION} - -### MESSAGE_INTERVAL (244) — \[from: [common](../messages/common.md#MESSAGE_INTERVAL)\] {#MESSAGE_INTERVAL} - -### EXTENDED_SYS_STATE (245) — \[from: [common](../messages/common.md#EXTENDED_SYS_STATE)\] {#EXTENDED_SYS_STATE} - -### ADSB_VEHICLE (246) — \[from: [common](../messages/common.md#ADSB_VEHICLE)\] {#ADSB_VEHICLE} - -### COLLISION (247) — \[from: [common](../messages/common.md#COLLISION)\] {#COLLISION} - -### V2_EXTENSION (248) — \[from: [common](../messages/common.md#V2_EXTENSION)\] {#V2_EXTENSION} - -### MEMORY_VECT (249) — \[from: [common](../messages/common.md#MEMORY_VECT)\] {#MEMORY_VECT} - -### DEBUG_VECT (250) — \[from: [common](../messages/common.md#DEBUG_VECT)\] {#DEBUG_VECT} - -### NAMED_VALUE_FLOAT (251) — \[from: [common](../messages/common.md#NAMED_VALUE_FLOAT)\] {#NAMED_VALUE_FLOAT} - -### NAMED_VALUE_INT (252) — \[from: [common](../messages/common.md#NAMED_VALUE_INT)\] {#NAMED_VALUE_INT} - -### STATUSTEXT (253) — \[from: [common](../messages/common.md#STATUSTEXT)\] {#STATUSTEXT} - -### DEBUG (254) — \[from: [common](../messages/common.md#DEBUG)\] {#DEBUG} - -### SETUP_SIGNING (256) — \[from: [common](../messages/common.md#SETUP_SIGNING)\] {#SETUP_SIGNING} - -### BUTTON_CHANGE (257) — \[from: [common](../messages/common.md#BUTTON_CHANGE)\] {#BUTTON_CHANGE} - -### PLAY_TUNE (258) — \[from: [common](../messages/common.md#PLAY_TUNE)\] [DEP] {#PLAY_TUNE} - -### CAMERA_INFORMATION (259) — \[from: [common](../messages/common.md#CAMERA_INFORMATION)\] {#CAMERA_INFORMATION} - -### CAMERA_SETTINGS (260) — \[from: [common](../messages/common.md#CAMERA_SETTINGS)\] {#CAMERA_SETTINGS} - -### STORAGE_INFORMATION (261) — \[from: [common](../messages/common.md#STORAGE_INFORMATION)\] {#STORAGE_INFORMATION} - -### CAMERA_CAPTURE_STATUS (262) — \[from: [common](../messages/common.md#CAMERA_CAPTURE_STATUS)\] {#CAMERA_CAPTURE_STATUS} - -### CAMERA_IMAGE_CAPTURED (263) — \[from: [common](../messages/common.md#CAMERA_IMAGE_CAPTURED)\] {#CAMERA_IMAGE_CAPTURED} - -### FLIGHT_INFORMATION (264) — \[from: [common](../messages/common.md#FLIGHT_INFORMATION)\] {#FLIGHT_INFORMATION} - -### MOUNT_ORIENTATION (265) — \[from: [common](../messages/common.md#MOUNT_ORIENTATION)\] [DEP] {#MOUNT_ORIENTATION} - -### LOGGING_DATA (266) — \[from: [common](../messages/common.md#LOGGING_DATA)\] {#LOGGING_DATA} - -### LOGGING_DATA_ACKED (267) — \[from: [common](../messages/common.md#LOGGING_DATA_ACKED)\] {#LOGGING_DATA_ACKED} - -### LOGGING_ACK (268) — \[from: [common](../messages/common.md#LOGGING_ACK)\] {#LOGGING_ACK} - -### VIDEO_STREAM_INFORMATION (269) — \[from: [common](../messages/common.md#VIDEO_STREAM_INFORMATION)\] {#VIDEO_STREAM_INFORMATION} - -### VIDEO_STREAM_STATUS (270) — \[from: [common](../messages/common.md#VIDEO_STREAM_STATUS)\] {#VIDEO_STREAM_STATUS} - -### CAMERA_FOV_STATUS (271) — \[from: [common](../messages/common.md#CAMERA_FOV_STATUS)\] {#CAMERA_FOV_STATUS} - -### CAMERA_TRACKING_IMAGE_STATUS (275) — \[from: [common](../messages/common.md#CAMERA_TRACKING_IMAGE_STATUS)\] {#CAMERA_TRACKING_IMAGE_STATUS} - -### CAMERA_TRACKING_GEO_STATUS (276) — \[from: [common](../messages/common.md#CAMERA_TRACKING_GEO_STATUS)\] {#CAMERA_TRACKING_GEO_STATUS} - -### CAMERA_THERMAL_RANGE (277) — \[from: [common](../messages/common.md#CAMERA_THERMAL_RANGE)\] [WIP] {#CAMERA_THERMAL_RANGE} - -### GIMBAL_MANAGER_INFORMATION (280) — \[from: [common](../messages/common.md#GIMBAL_MANAGER_INFORMATION)\] {#GIMBAL_MANAGER_INFORMATION} - -### GIMBAL_MANAGER_STATUS (281) — \[from: [common](../messages/common.md#GIMBAL_MANAGER_STATUS)\] {#GIMBAL_MANAGER_STATUS} - -### GIMBAL_MANAGER_SET_ATTITUDE (282) — \[from: [common](../messages/common.md#GIMBAL_MANAGER_SET_ATTITUDE)\] {#GIMBAL_MANAGER_SET_ATTITUDE} - -### GIMBAL_DEVICE_INFORMATION (283) — \[from: [common](../messages/common.md#GIMBAL_DEVICE_INFORMATION)\] {#GIMBAL_DEVICE_INFORMATION} - -### GIMBAL_DEVICE_SET_ATTITUDE (284) — \[from: [common](../messages/common.md#GIMBAL_DEVICE_SET_ATTITUDE)\] {#GIMBAL_DEVICE_SET_ATTITUDE} - -### GIMBAL_DEVICE_ATTITUDE_STATUS (285) — \[from: [common](../messages/common.md#GIMBAL_DEVICE_ATTITUDE_STATUS)\] {#GIMBAL_DEVICE_ATTITUDE_STATUS} - -### AUTOPILOT_STATE_FOR_GIMBAL_DEVICE (286) — \[from: [common](../messages/common.md#AUTOPILOT_STATE_FOR_GIMBAL_DEVICE)\] {#AUTOPILOT_STATE_FOR_GIMBAL_DEVICE} - -### GIMBAL_MANAGER_SET_PITCHYAW (287) — \[from: [common](../messages/common.md#GIMBAL_MANAGER_SET_PITCHYAW)\] {#GIMBAL_MANAGER_SET_PITCHYAW} - -### GIMBAL_MANAGER_SET_MANUAL_CONTROL (288) — \[from: [common](../messages/common.md#GIMBAL_MANAGER_SET_MANUAL_CONTROL)\] {#GIMBAL_MANAGER_SET_MANUAL_CONTROL} - -### ESC_INFO (290) — \[from: [common](../messages/common.md#ESC_INFO)\] [WIP] {#ESC_INFO} - -### ESC_STATUS (291) — \[from: [common](../messages/common.md#ESC_STATUS)\] [WIP] {#ESC_STATUS} - -### WIFI_CONFIG_AP (299) — \[from: [common](../messages/common.md#WIFI_CONFIG_AP)\] {#WIFI_CONFIG_AP} - -### PROTOCOL_VERSION (300) — \[from: [minimal](../messages/minimal.md#PROTOCOL_VERSION)\] [WIP] {#PROTOCOL_VERSION} - -### AIS_VESSEL (301) — \[from: [common](../messages/common.md#AIS_VESSEL)\] {#AIS_VESSEL} - -### UAVCAN_NODE_STATUS (310) — \[from: [common](../messages/common.md#UAVCAN_NODE_STATUS)\] {#UAVCAN_NODE_STATUS} - -### UAVCAN_NODE_INFO (311) — \[from: [common](../messages/common.md#UAVCAN_NODE_INFO)\] {#UAVCAN_NODE_INFO} - -### PARAM_EXT_REQUEST_READ (320) — \[from: [common](../messages/common.md#PARAM_EXT_REQUEST_READ)\] {#PARAM_EXT_REQUEST_READ} - -### PARAM_EXT_REQUEST_LIST (321) — \[from: [common](../messages/common.md#PARAM_EXT_REQUEST_LIST)\] {#PARAM_EXT_REQUEST_LIST} - -### PARAM_EXT_VALUE (322) — \[from: [common](../messages/common.md#PARAM_EXT_VALUE)\] {#PARAM_EXT_VALUE} - -### PARAM_EXT_SET (323) — \[from: [common](../messages/common.md#PARAM_EXT_SET)\] {#PARAM_EXT_SET} - -### PARAM_EXT_ACK (324) — \[from: [common](../messages/common.md#PARAM_EXT_ACK)\] {#PARAM_EXT_ACK} - -### OBSTACLE_DISTANCE (330) — \[from: [common](../messages/common.md#OBSTACLE_DISTANCE)\] {#OBSTACLE_DISTANCE} - -### ODOMETRY (331) — \[from: [common](../messages/common.md#ODOMETRY)\] {#ODOMETRY} - -### TRAJECTORY_REPRESENTATION_WAYPOINTS (332) — \[from: [common](../messages/common.md#TRAJECTORY_REPRESENTATION_WAYPOINTS)\] {#TRAJECTORY_REPRESENTATION_WAYPOINTS} - -### TRAJECTORY_REPRESENTATION_BEZIER (333) — \[from: [common](../messages/common.md#TRAJECTORY_REPRESENTATION_BEZIER)\] {#TRAJECTORY_REPRESENTATION_BEZIER} - -### CELLULAR_STATUS (334) — \[from: [common](../messages/common.md#CELLULAR_STATUS)\] {#CELLULAR_STATUS} - -### ISBD_LINK_STATUS (335) — \[from: [common](../messages/common.md#ISBD_LINK_STATUS)\] {#ISBD_LINK_STATUS} - -### CELLULAR_CONFIG (336) — \[from: [common](../messages/common.md#CELLULAR_CONFIG)\] {#CELLULAR_CONFIG} - -### RAW_RPM (339) — \[from: [common](../messages/common.md#RAW_RPM)\] {#RAW_RPM} - -### UTM_GLOBAL_POSITION (340) — \[from: [common](../messages/common.md#UTM_GLOBAL_POSITION)\] {#UTM_GLOBAL_POSITION} - -### DEBUG_FLOAT_ARRAY (350) — \[from: [common](../messages/common.md#DEBUG_FLOAT_ARRAY)\] {#DEBUG_FLOAT_ARRAY} - -### ORBIT_EXECUTION_STATUS (360) — \[from: [common](../messages/common.md#ORBIT_EXECUTION_STATUS)\] [WIP] {#ORBIT_EXECUTION_STATUS} - -### BATTERY_INFO (370) — \[from: [common](../messages/common.md#BATTERY_INFO)\] [WIP] {#BATTERY_INFO} - -### GENERATOR_STATUS (373) — \[from: [common](../messages/common.md#GENERATOR_STATUS)\] {#GENERATOR_STATUS} - -### ACTUATOR_OUTPUT_STATUS (375) — \[from: [common](../messages/common.md#ACTUATOR_OUTPUT_STATUS)\] {#ACTUATOR_OUTPUT_STATUS} - -### TIME_ESTIMATE_TO_TARGET (380) — \[from: [common](../messages/common.md#TIME_ESTIMATE_TO_TARGET)\] [WIP] {#TIME_ESTIMATE_TO_TARGET} - -### TUNNEL (385) — \[from: [common](../messages/common.md#TUNNEL)\] {#TUNNEL} - -### CAN_FRAME (386) — \[from: [common](../messages/common.md#CAN_FRAME)\] {#CAN_FRAME} - -### CANFD_FRAME (387) — \[from: [common](../messages/common.md#CANFD_FRAME)\] {#CANFD_FRAME} - -### CAN_FILTER_MODIFY (388) — \[from: [common](../messages/common.md#CAN_FILTER_MODIFY)\] {#CAN_FILTER_MODIFY} - -### ONBOARD_COMPUTER_STATUS (390) — \[from: [common](../messages/common.md#ONBOARD_COMPUTER_STATUS)\] [WIP] {#ONBOARD_COMPUTER_STATUS} - -### COMPONENT_INFORMATION (395) — \[from: [common](../messages/common.md#COMPONENT_INFORMATION)\] [DEP] {#COMPONENT_INFORMATION} - -### COMPONENT_INFORMATION_BASIC (396) — \[from: [common](../messages/common.md#COMPONENT_INFORMATION_BASIC)\] {#COMPONENT_INFORMATION_BASIC} - -### COMPONENT_METADATA (397) — \[from: [common](../messages/common.md#COMPONENT_METADATA)\] [WIP] {#COMPONENT_METADATA} - -### PLAY_TUNE_V2 (400) — \[from: [common](../messages/common.md#PLAY_TUNE_V2)\] {#PLAY_TUNE_V2} - -### SUPPORTED_TUNES (401) — \[from: [common](../messages/common.md#SUPPORTED_TUNES)\] {#SUPPORTED_TUNES} - -### EVENT (410) — \[from: [common](../messages/common.md#EVENT)\] [WIP] {#EVENT} - -### CURRENT_EVENT_SEQUENCE (411) — \[from: [common](../messages/common.md#CURRENT_EVENT_SEQUENCE)\] [WIP] {#CURRENT_EVENT_SEQUENCE} - -### REQUEST_EVENT (412) — \[from: [common](../messages/common.md#REQUEST_EVENT)\] [WIP] {#REQUEST_EVENT} - -### RESPONSE_EVENT_ERROR (413) — \[from: [common](../messages/common.md#RESPONSE_EVENT_ERROR)\] [WIP] {#RESPONSE_EVENT_ERROR} - -### ILLUMINATOR_STATUS (440) — \[from: [common](../messages/common.md#ILLUMINATOR_STATUS)\] {#ILLUMINATOR_STATUS} - -### WHEEL_DISTANCE (9000) — \[from: [common](../messages/common.md#WHEEL_DISTANCE)\] {#WHEEL_DISTANCE} - -### WINCH_STATUS (9005) — \[from: [common](../messages/common.md#WINCH_STATUS)\] {#WINCH_STATUS} - -### OPEN_DRONE_ID_BASIC_ID (12900) — \[from: [common](../messages/common.md#OPEN_DRONE_ID_BASIC_ID)\] {#OPEN_DRONE_ID_BASIC_ID} - -### OPEN_DRONE_ID_LOCATION (12901) — \[from: [common](../messages/common.md#OPEN_DRONE_ID_LOCATION)\] {#OPEN_DRONE_ID_LOCATION} - -### OPEN_DRONE_ID_AUTHENTICATION (12902) — \[from: [common](../messages/common.md#OPEN_DRONE_ID_AUTHENTICATION)\] {#OPEN_DRONE_ID_AUTHENTICATION} - -### OPEN_DRONE_ID_SELF_ID (12903) — \[from: [common](../messages/common.md#OPEN_DRONE_ID_SELF_ID)\] {#OPEN_DRONE_ID_SELF_ID} - -### OPEN_DRONE_ID_SYSTEM (12904) — \[from: [common](../messages/common.md#OPEN_DRONE_ID_SYSTEM)\] {#OPEN_DRONE_ID_SYSTEM} - -### OPEN_DRONE_ID_OPERATOR_ID (12905) — \[from: [common](../messages/common.md#OPEN_DRONE_ID_OPERATOR_ID)\] {#OPEN_DRONE_ID_OPERATOR_ID} - -### OPEN_DRONE_ID_MESSAGE_PACK (12915) — \[from: [common](../messages/common.md#OPEN_DRONE_ID_MESSAGE_PACK)\] {#OPEN_DRONE_ID_MESSAGE_PACK} - -### OPEN_DRONE_ID_ARM_STATUS (12918) — \[from: [common](../messages/common.md#OPEN_DRONE_ID_ARM_STATUS)\] {#OPEN_DRONE_ID_ARM_STATUS} - -### OPEN_DRONE_ID_SYSTEM_UPDATE (12919) — \[from: [common](../messages/common.md#OPEN_DRONE_ID_SYSTEM_UPDATE)\] {#OPEN_DRONE_ID_SYSTEM_UPDATE} - -### HYGROMETER_SENSOR (12920) — \[from: [common](../messages/common.md#HYGROMETER_SENSOR)\] {#HYGROMETER_SENSOR} - ### AVSS_PRS_SYS_STATUS (60050) {#AVSS_PRS_SYS_STATUS} AVSS PRS system status. @@ -584,620 +136,8 @@ Drone operation mode. | 3 | [MODE_HORSEFLY_NAVI_GO_HOME](#MODE_HORSEFLY_NAVI_GO_HOME) | In go home mode | | 4 | [MODE_HORSEFLY_DROP](#MODE_HORSEFLY_DROP) | In drop mode | -### FIRMWARE_VERSION_TYPE — \[from: [common](../messages/common.md#FIRMWARE_VERSION_TYPE)\] {#FIRMWARE_VERSION_TYPE} - -### HL_FAILURE_FLAG — \[from: [common](../messages/common.md#HL_FAILURE_FLAG)\] {#HL_FAILURE_FLAG} - -### MAV_GOTO — \[from: [common](../messages/common.md#MAV_GOTO)\] {#MAV_GOTO} - -### MAV_MODE — \[from: [common](../messages/common.md#MAV_MODE)\] {#MAV_MODE} - -### MAV_SYS_STATUS_SENSOR — \[from: [common](../messages/common.md#MAV_SYS_STATUS_SENSOR)\] {#MAV_SYS_STATUS_SENSOR} - -### MAV_SYS_STATUS_SENSOR_EXTENDED — \[from: [common](../messages/common.md#MAV_SYS_STATUS_SENSOR_EXTENDED)\] {#MAV_SYS_STATUS_SENSOR_EXTENDED} - -### MAV_FRAME — \[from: [common](../messages/common.md#MAV_FRAME)\] {#MAV_FRAME} - -### MAVLINK_DATA_STREAM_TYPE — \[from: [common](../messages/common.md#MAVLINK_DATA_STREAM_TYPE)\] {#MAVLINK_DATA_STREAM_TYPE} - -### FENCE_ACTION — \[from: [common](../messages/common.md#FENCE_ACTION)\] {#FENCE_ACTION} - -### FENCE_BREACH — \[from: [common](../messages/common.md#FENCE_BREACH)\] {#FENCE_BREACH} - -### FENCE_MITIGATE — \[from: [common](../messages/common.md#FENCE_MITIGATE)\] {#FENCE_MITIGATE} - -### FENCE_TYPE — \[from: [common](../messages/common.md#FENCE_TYPE)\] {#FENCE_TYPE} - -### MAV_MOUNT_MODE — \[from: [common](../messages/common.md#MAV_MOUNT_MODE)\] [DEP] {#MAV_MOUNT_MODE} - -### GIMBAL_DEVICE_CAP_FLAGS — \[from: [common](../messages/common.md#GIMBAL_DEVICE_CAP_FLAGS)\] {#GIMBAL_DEVICE_CAP_FLAGS} - -### GIMBAL_MANAGER_CAP_FLAGS — \[from: [common](../messages/common.md#GIMBAL_MANAGER_CAP_FLAGS)\] {#GIMBAL_MANAGER_CAP_FLAGS} - -### GIMBAL_DEVICE_FLAGS — \[from: [common](../messages/common.md#GIMBAL_DEVICE_FLAGS)\] {#GIMBAL_DEVICE_FLAGS} - -### GIMBAL_MANAGER_FLAGS — \[from: [common](../messages/common.md#GIMBAL_MANAGER_FLAGS)\] {#GIMBAL_MANAGER_FLAGS} - -### GIMBAL_DEVICE_ERROR_FLAGS — \[from: [common](../messages/common.md#GIMBAL_DEVICE_ERROR_FLAGS)\] {#GIMBAL_DEVICE_ERROR_FLAGS} - -### GRIPPER_ACTIONS — \[from: [common](../messages/common.md#GRIPPER_ACTIONS)\] {#GRIPPER_ACTIONS} - -### WINCH_ACTIONS — \[from: [common](../messages/common.md#WINCH_ACTIONS)\] {#WINCH_ACTIONS} - -### UAVCAN_NODE_HEALTH — \[from: [common](../messages/common.md#UAVCAN_NODE_HEALTH)\] {#UAVCAN_NODE_HEALTH} - -### UAVCAN_NODE_MODE — \[from: [common](../messages/common.md#UAVCAN_NODE_MODE)\] {#UAVCAN_NODE_MODE} - -### ESC_CONNECTION_TYPE — \[from: [common](../messages/common.md#ESC_CONNECTION_TYPE)\] {#ESC_CONNECTION_TYPE} - -### ESC_FAILURE_FLAGS — \[from: [common](../messages/common.md#ESC_FAILURE_FLAGS)\] {#ESC_FAILURE_FLAGS} - -### STORAGE_STATUS — \[from: [common](../messages/common.md#STORAGE_STATUS)\] {#STORAGE_STATUS} - -### STORAGE_TYPE — \[from: [common](../messages/common.md#STORAGE_TYPE)\] {#STORAGE_TYPE} - -### STORAGE_USAGE_FLAG — \[from: [common](../messages/common.md#STORAGE_USAGE_FLAG)\] {#STORAGE_USAGE_FLAG} - -### ORBIT_YAW_BEHAVIOUR — \[from: [common](../messages/common.md#ORBIT_YAW_BEHAVIOUR)\] {#ORBIT_YAW_BEHAVIOUR} - -### WIFI_CONFIG_AP_RESPONSE — \[from: [common](../messages/common.md#WIFI_CONFIG_AP_RESPONSE)\] {#WIFI_CONFIG_AP_RESPONSE} - -### CELLULAR_CONFIG_RESPONSE — \[from: [common](../messages/common.md#CELLULAR_CONFIG_RESPONSE)\] {#CELLULAR_CONFIG_RESPONSE} - -### WIFI_CONFIG_AP_MODE — \[from: [common](../messages/common.md#WIFI_CONFIG_AP_MODE)\] {#WIFI_CONFIG_AP_MODE} - -### COMP_METADATA_TYPE — \[from: [common](../messages/common.md#COMP_METADATA_TYPE)\] {#COMP_METADATA_TYPE} - -### ACTUATOR_CONFIGURATION — \[from: [common](../messages/common.md#ACTUATOR_CONFIGURATION)\] {#ACTUATOR_CONFIGURATION} - -### ACTUATOR_OUTPUT_FUNCTION — \[from: [common](../messages/common.md#ACTUATOR_OUTPUT_FUNCTION)\] {#ACTUATOR_OUTPUT_FUNCTION} - -### AUTOTUNE_AXIS — \[from: [common](../messages/common.md#AUTOTUNE_AXIS)\] {#AUTOTUNE_AXIS} - -### PREFLIGHT_STORAGE_PARAMETER_ACTION — \[from: [common](../messages/common.md#PREFLIGHT_STORAGE_PARAMETER_ACTION)\] {#PREFLIGHT_STORAGE_PARAMETER_ACTION} - -### PREFLIGHT_STORAGE_MISSION_ACTION — \[from: [common](../messages/common.md#PREFLIGHT_STORAGE_MISSION_ACTION)\] {#PREFLIGHT_STORAGE_MISSION_ACTION} - -### MAV_DATA_STREAM — \[from: [common](../messages/common.md#MAV_DATA_STREAM)\] [DEP] {#MAV_DATA_STREAM} - -### MAV_ROI — \[from: [common](../messages/common.md#MAV_ROI)\] [DEP] {#MAV_ROI} - -### MAV_PARAM_TYPE — \[from: [common](../messages/common.md#MAV_PARAM_TYPE)\] {#MAV_PARAM_TYPE} - -### MAV_PARAM_EXT_TYPE — \[from: [common](../messages/common.md#MAV_PARAM_EXT_TYPE)\] {#MAV_PARAM_EXT_TYPE} - -### MAV_RESULT — \[from: [common](../messages/common.md#MAV_RESULT)\] {#MAV_RESULT} - -### MAV_MISSION_RESULT — \[from: [common](../messages/common.md#MAV_MISSION_RESULT)\] {#MAV_MISSION_RESULT} - -### MAV_SEVERITY — \[from: [common](../messages/common.md#MAV_SEVERITY)\] {#MAV_SEVERITY} - -### MAV_POWER_STATUS — \[from: [common](../messages/common.md#MAV_POWER_STATUS)\] {#MAV_POWER_STATUS} - -### SERIAL_CONTROL_DEV — \[from: [common](../messages/common.md#SERIAL_CONTROL_DEV)\] {#SERIAL_CONTROL_DEV} - -### SERIAL_CONTROL_FLAG — \[from: [common](../messages/common.md#SERIAL_CONTROL_FLAG)\] {#SERIAL_CONTROL_FLAG} - -### MAV_DISTANCE_SENSOR — \[from: [common](../messages/common.md#MAV_DISTANCE_SENSOR)\] {#MAV_DISTANCE_SENSOR} - -### MAV_SENSOR_ORIENTATION — \[from: [common](../messages/common.md#MAV_SENSOR_ORIENTATION)\] {#MAV_SENSOR_ORIENTATION} - -### MAV_PROTOCOL_CAPABILITY — \[from: [common](../messages/common.md#MAV_PROTOCOL_CAPABILITY)\] {#MAV_PROTOCOL_CAPABILITY} - -### MAV_MISSION_TYPE — \[from: [common](../messages/common.md#MAV_MISSION_TYPE)\] {#MAV_MISSION_TYPE} - -### MAV_ESTIMATOR_TYPE — \[from: [common](../messages/common.md#MAV_ESTIMATOR_TYPE)\] {#MAV_ESTIMATOR_TYPE} - -### MAV_BATTERY_TYPE — \[from: [common](../messages/common.md#MAV_BATTERY_TYPE)\] {#MAV_BATTERY_TYPE} - -### MAV_BATTERY_FUNCTION — \[from: [common](../messages/common.md#MAV_BATTERY_FUNCTION)\] {#MAV_BATTERY_FUNCTION} - -### MAV_BATTERY_CHARGE_STATE — \[from: [common](../messages/common.md#MAV_BATTERY_CHARGE_STATE)\] {#MAV_BATTERY_CHARGE_STATE} - -### MAV_BATTERY_MODE — \[from: [common](../messages/common.md#MAV_BATTERY_MODE)\] {#MAV_BATTERY_MODE} - -### MAV_BATTERY_FAULT — \[from: [common](../messages/common.md#MAV_BATTERY_FAULT)\] {#MAV_BATTERY_FAULT} - -### MAV_GENERATOR_STATUS_FLAG — \[from: [common](../messages/common.md#MAV_GENERATOR_STATUS_FLAG)\] {#MAV_GENERATOR_STATUS_FLAG} - -### MAV_VTOL_STATE — \[from: [common](../messages/common.md#MAV_VTOL_STATE)\] {#MAV_VTOL_STATE} - -### MAV_LANDED_STATE — \[from: [common](../messages/common.md#MAV_LANDED_STATE)\] {#MAV_LANDED_STATE} - -### ADSB_ALTITUDE_TYPE — \[from: [common](../messages/common.md#ADSB_ALTITUDE_TYPE)\] {#ADSB_ALTITUDE_TYPE} - -### ADSB_EMITTER_TYPE — \[from: [common](../messages/common.md#ADSB_EMITTER_TYPE)\] {#ADSB_EMITTER_TYPE} - -### ADSB_FLAGS — \[from: [common](../messages/common.md#ADSB_FLAGS)\] {#ADSB_FLAGS} - -### MAV_DO_REPOSITION_FLAGS — \[from: [common](../messages/common.md#MAV_DO_REPOSITION_FLAGS)\] {#MAV_DO_REPOSITION_FLAGS} - -### SPEED_TYPE — \[from: [common](../messages/common.md#SPEED_TYPE)\] {#SPEED_TYPE} - -### ESTIMATOR_STATUS_FLAGS — \[from: [common](../messages/common.md#ESTIMATOR_STATUS_FLAGS)\] {#ESTIMATOR_STATUS_FLAGS} - -### MOTOR_TEST_ORDER — \[from: [common](../messages/common.md#MOTOR_TEST_ORDER)\] {#MOTOR_TEST_ORDER} - -### MOTOR_TEST_THROTTLE_TYPE — \[from: [common](../messages/common.md#MOTOR_TEST_THROTTLE_TYPE)\] {#MOTOR_TEST_THROTTLE_TYPE} - -### GPS_INPUT_IGNORE_FLAGS — \[from: [common](../messages/common.md#GPS_INPUT_IGNORE_FLAGS)\] {#GPS_INPUT_IGNORE_FLAGS} - -### MAV_COLLISION_ACTION — \[from: [common](../messages/common.md#MAV_COLLISION_ACTION)\] {#MAV_COLLISION_ACTION} - -### MAV_COLLISION_THREAT_LEVEL — \[from: [common](../messages/common.md#MAV_COLLISION_THREAT_LEVEL)\] {#MAV_COLLISION_THREAT_LEVEL} - -### MAV_COLLISION_SRC — \[from: [common](../messages/common.md#MAV_COLLISION_SRC)\] {#MAV_COLLISION_SRC} - -### GPS_FIX_TYPE — \[from: [common](../messages/common.md#GPS_FIX_TYPE)\] {#GPS_FIX_TYPE} - -### RTK_BASELINE_COORDINATE_SYSTEM — \[from: [common](../messages/common.md#RTK_BASELINE_COORDINATE_SYSTEM)\] {#RTK_BASELINE_COORDINATE_SYSTEM} - -### LANDING_TARGET_TYPE — \[from: [common](../messages/common.md#LANDING_TARGET_TYPE)\] {#LANDING_TARGET_TYPE} - -### VTOL_TRANSITION_HEADING — \[from: [common](../messages/common.md#VTOL_TRANSITION_HEADING)\] {#VTOL_TRANSITION_HEADING} - -### CAMERA_CAP_FLAGS — \[from: [common](../messages/common.md#CAMERA_CAP_FLAGS)\] {#CAMERA_CAP_FLAGS} - -### VIDEO_STREAM_STATUS_FLAGS — \[from: [common](../messages/common.md#VIDEO_STREAM_STATUS_FLAGS)\] {#VIDEO_STREAM_STATUS_FLAGS} - -### VIDEO_STREAM_TYPE — \[from: [common](../messages/common.md#VIDEO_STREAM_TYPE)\] {#VIDEO_STREAM_TYPE} - -### VIDEO_STREAM_ENCODING — \[from: [common](../messages/common.md#VIDEO_STREAM_ENCODING)\] {#VIDEO_STREAM_ENCODING} - -### CAMERA_TRACKING_STATUS_FLAGS — \[from: [common](../messages/common.md#CAMERA_TRACKING_STATUS_FLAGS)\] {#CAMERA_TRACKING_STATUS_FLAGS} - -### CAMERA_TRACKING_MODE — \[from: [common](../messages/common.md#CAMERA_TRACKING_MODE)\] {#CAMERA_TRACKING_MODE} - -### CAMERA_TRACKING_TARGET_DATA — \[from: [common](../messages/common.md#CAMERA_TRACKING_TARGET_DATA)\] {#CAMERA_TRACKING_TARGET_DATA} - -### CAMERA_ZOOM_TYPE — \[from: [common](../messages/common.md#CAMERA_ZOOM_TYPE)\] {#CAMERA_ZOOM_TYPE} - -### SET_FOCUS_TYPE — \[from: [common](../messages/common.md#SET_FOCUS_TYPE)\] {#SET_FOCUS_TYPE} - -### CAMERA_SOURCE — \[from: [common](../messages/common.md#CAMERA_SOURCE)\] {#CAMERA_SOURCE} - -### PARAM_ACK — \[from: [common](../messages/common.md#PARAM_ACK)\] {#PARAM_ACK} - -### CAMERA_MODE — \[from: [common](../messages/common.md#CAMERA_MODE)\] {#CAMERA_MODE} - -### MAV_ARM_AUTH_DENIED_REASON — \[from: [common](../messages/common.md#MAV_ARM_AUTH_DENIED_REASON)\] {#MAV_ARM_AUTH_DENIED_REASON} - -### RC_TYPE — \[from: [common](../messages/common.md#RC_TYPE)\] {#RC_TYPE} - -### POSITION_TARGET_TYPEMASK — \[from: [common](../messages/common.md#POSITION_TARGET_TYPEMASK)\] {#POSITION_TARGET_TYPEMASK} - -### ATTITUDE_TARGET_TYPEMASK — \[from: [common](../messages/common.md#ATTITUDE_TARGET_TYPEMASK)\] {#ATTITUDE_TARGET_TYPEMASK} - -### UTM_FLIGHT_STATE — \[from: [common](../messages/common.md#UTM_FLIGHT_STATE)\] {#UTM_FLIGHT_STATE} - -### UTM_DATA_AVAIL_FLAGS — \[from: [common](../messages/common.md#UTM_DATA_AVAIL_FLAGS)\] {#UTM_DATA_AVAIL_FLAGS} - -### CELLULAR_STATUS_FLAG — \[from: [common](../messages/common.md#CELLULAR_STATUS_FLAG)\] {#CELLULAR_STATUS_FLAG} - -### CELLULAR_NETWORK_FAILED_REASON — \[from: [common](../messages/common.md#CELLULAR_NETWORK_FAILED_REASON)\] {#CELLULAR_NETWORK_FAILED_REASON} - -### CELLULAR_NETWORK_RADIO_TYPE — \[from: [common](../messages/common.md#CELLULAR_NETWORK_RADIO_TYPE)\] {#CELLULAR_NETWORK_RADIO_TYPE} - -### PRECISION_LAND_MODE — \[from: [common](../messages/common.md#PRECISION_LAND_MODE)\] {#PRECISION_LAND_MODE} - -### PARACHUTE_ACTION — \[from: [common](../messages/common.md#PARACHUTE_ACTION)\] {#PARACHUTE_ACTION} - -### MAV_TUNNEL_PAYLOAD_TYPE — \[from: [common](../messages/common.md#MAV_TUNNEL_PAYLOAD_TYPE)\] {#MAV_TUNNEL_PAYLOAD_TYPE} - -### MAV_ODID_ID_TYPE — \[from: [common](../messages/common.md#MAV_ODID_ID_TYPE)\] {#MAV_ODID_ID_TYPE} - -### MAV_ODID_UA_TYPE — \[from: [common](../messages/common.md#MAV_ODID_UA_TYPE)\] {#MAV_ODID_UA_TYPE} - -### MAV_ODID_STATUS — \[from: [common](../messages/common.md#MAV_ODID_STATUS)\] {#MAV_ODID_STATUS} - -### MAV_ODID_HEIGHT_REF — \[from: [common](../messages/common.md#MAV_ODID_HEIGHT_REF)\] {#MAV_ODID_HEIGHT_REF} - -### MAV_ODID_HOR_ACC — \[from: [common](../messages/common.md#MAV_ODID_HOR_ACC)\] {#MAV_ODID_HOR_ACC} - -### MAV_ODID_VER_ACC — \[from: [common](../messages/common.md#MAV_ODID_VER_ACC)\] {#MAV_ODID_VER_ACC} - -### MAV_ODID_SPEED_ACC — \[from: [common](../messages/common.md#MAV_ODID_SPEED_ACC)\] {#MAV_ODID_SPEED_ACC} - -### MAV_ODID_TIME_ACC — \[from: [common](../messages/common.md#MAV_ODID_TIME_ACC)\] {#MAV_ODID_TIME_ACC} - -### MAV_ODID_AUTH_TYPE — \[from: [common](../messages/common.md#MAV_ODID_AUTH_TYPE)\] {#MAV_ODID_AUTH_TYPE} - -### MAV_ODID_DESC_TYPE — \[from: [common](../messages/common.md#MAV_ODID_DESC_TYPE)\] {#MAV_ODID_DESC_TYPE} - -### MAV_ODID_OPERATOR_LOCATION_TYPE — \[from: [common](../messages/common.md#MAV_ODID_OPERATOR_LOCATION_TYPE)\] {#MAV_ODID_OPERATOR_LOCATION_TYPE} - -### MAV_ODID_CLASSIFICATION_TYPE — \[from: [common](../messages/common.md#MAV_ODID_CLASSIFICATION_TYPE)\] {#MAV_ODID_CLASSIFICATION_TYPE} - -### MAV_ODID_CATEGORY_EU — \[from: [common](../messages/common.md#MAV_ODID_CATEGORY_EU)\] {#MAV_ODID_CATEGORY_EU} - -### MAV_ODID_CLASS_EU — \[from: [common](../messages/common.md#MAV_ODID_CLASS_EU)\] {#MAV_ODID_CLASS_EU} - -### MAV_ODID_OPERATOR_ID_TYPE — \[from: [common](../messages/common.md#MAV_ODID_OPERATOR_ID_TYPE)\] {#MAV_ODID_OPERATOR_ID_TYPE} - -### MAV_ODID_ARM_STATUS — \[from: [common](../messages/common.md#MAV_ODID_ARM_STATUS)\] {#MAV_ODID_ARM_STATUS} - -### TUNE_FORMAT — \[from: [common](../messages/common.md#TUNE_FORMAT)\] {#TUNE_FORMAT} - -### AIS_TYPE — \[from: [common](../messages/common.md#AIS_TYPE)\] {#AIS_TYPE} - -### AIS_NAV_STATUS — \[from: [common](../messages/common.md#AIS_NAV_STATUS)\] {#AIS_NAV_STATUS} - -### AIS_FLAGS — \[from: [common](../messages/common.md#AIS_FLAGS)\] {#AIS_FLAGS} - -### FAILURE_UNIT — \[from: [common](../messages/common.md#FAILURE_UNIT)\] {#FAILURE_UNIT} - -### FAILURE_TYPE — \[from: [common](../messages/common.md#FAILURE_TYPE)\] {#FAILURE_TYPE} - -### NAV_VTOL_LAND_OPTIONS — \[from: [common](../messages/common.md#NAV_VTOL_LAND_OPTIONS)\] {#NAV_VTOL_LAND_OPTIONS} - -### MAV_WINCH_STATUS_FLAG — \[from: [common](../messages/common.md#MAV_WINCH_STATUS_FLAG)\] {#MAV_WINCH_STATUS_FLAG} - -### MAG_CAL_STATUS — \[from: [common](../messages/common.md#MAG_CAL_STATUS)\] {#MAG_CAL_STATUS} - -### MAV_EVENT_ERROR_REASON — \[from: [common](../messages/common.md#MAV_EVENT_ERROR_REASON)\] {#MAV_EVENT_ERROR_REASON} - -### MAV_EVENT_CURRENT_SEQUENCE_FLAGS — \[from: [common](../messages/common.md#MAV_EVENT_CURRENT_SEQUENCE_FLAGS)\] {#MAV_EVENT_CURRENT_SEQUENCE_FLAGS} - -### HIL_SENSOR_UPDATED_FLAGS — \[from: [common](../messages/common.md#HIL_SENSOR_UPDATED_FLAGS)\] {#HIL_SENSOR_UPDATED_FLAGS} - -### HIGHRES_IMU_UPDATED_FLAGS — \[from: [common](../messages/common.md#HIGHRES_IMU_UPDATED_FLAGS)\] {#HIGHRES_IMU_UPDATED_FLAGS} - -### CAN_FILTER_OP — \[from: [common](../messages/common.md#CAN_FILTER_OP)\] {#CAN_FILTER_OP} - -### MAV_FTP_ERR — \[from: [common](../messages/common.md#MAV_FTP_ERR)\] {#MAV_FTP_ERR} - -### MAV_FTP_OPCODE — \[from: [common](../messages/common.md#MAV_FTP_OPCODE)\] {#MAV_FTP_OPCODE} - -### MISSION_STATE — \[from: [common](../messages/common.md#MISSION_STATE)\] {#MISSION_STATE} - -### SAFETY_SWITCH_STATE — \[from: [common](../messages/common.md#SAFETY_SWITCH_STATE)\] {#SAFETY_SWITCH_STATE} - -### ILLUMINATOR_MODE — \[from: [common](../messages/common.md#ILLUMINATOR_MODE)\] {#ILLUMINATOR_MODE} - -### ILLUMINATOR_ERROR_FLAGS — \[from: [common](../messages/common.md#ILLUMINATOR_ERROR_FLAGS)\] {#ILLUMINATOR_ERROR_FLAGS} - -### MAV_AUTOPILOT — \[from: [minimal](../messages/minimal.md#MAV_AUTOPILOT)\] {#MAV_AUTOPILOT} - -### MAV_TYPE — \[from: [minimal](../messages/minimal.md#MAV_TYPE)\] {#MAV_TYPE} - -### MAV_MODE_FLAG — \[from: [minimal](../messages/minimal.md#MAV_MODE_FLAG)\] {#MAV_MODE_FLAG} - -### MAV_MODE_FLAG_DECODE_POSITION — \[from: [minimal](../messages/minimal.md#MAV_MODE_FLAG_DECODE_POSITION)\] {#MAV_MODE_FLAG_DECODE_POSITION} - -### MAV_STATE — \[from: [minimal](../messages/minimal.md#MAV_STATE)\] {#MAV_STATE} - -### MAV_COMPONENT — \[from: [minimal](../messages/minimal.md#MAV_COMPONENT)\] {#MAV_COMPONENT} - ## Commands (MAV_CMD) {#mav_commands} -### MAV_CMD_NAV_WAYPOINT (16) — \[from: [common](../messages/common.md#MAV_CMD_NAV_WAYPOINT)\] {#MAV_CMD_NAV_WAYPOINT} - -### MAV_CMD_NAV_LOITER_UNLIM (17) — \[from: [common](../messages/common.md#MAV_CMD_NAV_LOITER_UNLIM)\] {#MAV_CMD_NAV_LOITER_UNLIM} - -### MAV_CMD_NAV_LOITER_TURNS (18) — \[from: [common](../messages/common.md#MAV_CMD_NAV_LOITER_TURNS)\] {#MAV_CMD_NAV_LOITER_TURNS} - -### MAV_CMD_NAV_LOITER_TIME (19) — \[from: [common](../messages/common.md#MAV_CMD_NAV_LOITER_TIME)\] {#MAV_CMD_NAV_LOITER_TIME} - -### MAV_CMD_NAV_RETURN_TO_LAUNCH (20) — \[from: [common](../messages/common.md#MAV_CMD_NAV_RETURN_TO_LAUNCH)\] {#MAV_CMD_NAV_RETURN_TO_LAUNCH} - -### MAV_CMD_NAV_LAND (21) — \[from: [common](../messages/common.md#MAV_CMD_NAV_LAND)\] {#MAV_CMD_NAV_LAND} - -### MAV_CMD_NAV_TAKEOFF (22) — \[from: [common](../messages/common.md#MAV_CMD_NAV_TAKEOFF)\] {#MAV_CMD_NAV_TAKEOFF} - -### MAV_CMD_NAV_LAND_LOCAL (23) — \[from: [common](../messages/common.md#MAV_CMD_NAV_LAND_LOCAL)\] {#MAV_CMD_NAV_LAND_LOCAL} - -### MAV_CMD_NAV_TAKEOFF_LOCAL (24) — \[from: [common](../messages/common.md#MAV_CMD_NAV_TAKEOFF_LOCAL)\] {#MAV_CMD_NAV_TAKEOFF_LOCAL} - -### MAV_CMD_NAV_FOLLOW (25) — \[from: [common](../messages/common.md#MAV_CMD_NAV_FOLLOW)\] {#MAV_CMD_NAV_FOLLOW} - -### MAV_CMD_NAV_CONTINUE_AND_CHANGE_ALT (30) — \[from: [common](../messages/common.md#MAV_CMD_NAV_CONTINUE_AND_CHANGE_ALT)\] {#MAV_CMD_NAV_CONTINUE_AND_CHANGE_ALT} - -### MAV_CMD_NAV_LOITER_TO_ALT (31) — \[from: [common](../messages/common.md#MAV_CMD_NAV_LOITER_TO_ALT)\] {#MAV_CMD_NAV_LOITER_TO_ALT} - -### MAV_CMD_DO_FOLLOW (32) — \[from: [common](../messages/common.md#MAV_CMD_DO_FOLLOW)\] {#MAV_CMD_DO_FOLLOW} - -### MAV_CMD_DO_FOLLOW_REPOSITION (33) — \[from: [common](../messages/common.md#MAV_CMD_DO_FOLLOW_REPOSITION)\] {#MAV_CMD_DO_FOLLOW_REPOSITION} - -### MAV_CMD_DO_ORBIT (34) — \[from: [common](../messages/common.md#MAV_CMD_DO_ORBIT)\] [WIP] {#MAV_CMD_DO_ORBIT} - -### MAV_CMD_NAV_ROI (80) — \[from: [common](../messages/common.md#MAV_CMD_NAV_ROI)\] [DEP] {#MAV_CMD_NAV_ROI} - -### MAV_CMD_NAV_PATHPLANNING (81) — \[from: [common](../messages/common.md#MAV_CMD_NAV_PATHPLANNING)\] {#MAV_CMD_NAV_PATHPLANNING} - -### MAV_CMD_NAV_SPLINE_WAYPOINT (82) — \[from: [common](../messages/common.md#MAV_CMD_NAV_SPLINE_WAYPOINT)\] {#MAV_CMD_NAV_SPLINE_WAYPOINT} - -### MAV_CMD_NAV_VTOL_TAKEOFF (84) — \[from: [common](../messages/common.md#MAV_CMD_NAV_VTOL_TAKEOFF)\] {#MAV_CMD_NAV_VTOL_TAKEOFF} - -### MAV_CMD_NAV_VTOL_LAND (85) — \[from: [common](../messages/common.md#MAV_CMD_NAV_VTOL_LAND)\] {#MAV_CMD_NAV_VTOL_LAND} - -### MAV_CMD_NAV_GUIDED_ENABLE (92) — \[from: [common](../messages/common.md#MAV_CMD_NAV_GUIDED_ENABLE)\] {#MAV_CMD_NAV_GUIDED_ENABLE} - -### MAV_CMD_NAV_DELAY (93) — \[from: [common](../messages/common.md#MAV_CMD_NAV_DELAY)\] {#MAV_CMD_NAV_DELAY} - -### MAV_CMD_NAV_PAYLOAD_PLACE (94) — \[from: [common](../messages/common.md#MAV_CMD_NAV_PAYLOAD_PLACE)\] {#MAV_CMD_NAV_PAYLOAD_PLACE} - -### MAV_CMD_NAV_LAST (95) — \[from: [common](../messages/common.md#MAV_CMD_NAV_LAST)\] {#MAV_CMD_NAV_LAST} - -### MAV_CMD_CONDITION_DELAY (112) — \[from: [common](../messages/common.md#MAV_CMD_CONDITION_DELAY)\] {#MAV_CMD_CONDITION_DELAY} - -### MAV_CMD_CONDITION_CHANGE_ALT (113) — \[from: [common](../messages/common.md#MAV_CMD_CONDITION_CHANGE_ALT)\] {#MAV_CMD_CONDITION_CHANGE_ALT} - -### MAV_CMD_CONDITION_DISTANCE (114) — \[from: [common](../messages/common.md#MAV_CMD_CONDITION_DISTANCE)\] {#MAV_CMD_CONDITION_DISTANCE} - -### MAV_CMD_CONDITION_YAW (115) — \[from: [common](../messages/common.md#MAV_CMD_CONDITION_YAW)\] {#MAV_CMD_CONDITION_YAW} - -### MAV_CMD_CONDITION_LAST (159) — \[from: [common](../messages/common.md#MAV_CMD_CONDITION_LAST)\] {#MAV_CMD_CONDITION_LAST} - -### MAV_CMD_DO_SET_MODE (176) — \[from: [common](../messages/common.md#MAV_CMD_DO_SET_MODE)\] {#MAV_CMD_DO_SET_MODE} - -### MAV_CMD_DO_JUMP (177) — \[from: [common](../messages/common.md#MAV_CMD_DO_JUMP)\] {#MAV_CMD_DO_JUMP} - -### MAV_CMD_DO_CHANGE_SPEED (178) — \[from: [common](../messages/common.md#MAV_CMD_DO_CHANGE_SPEED)\] {#MAV_CMD_DO_CHANGE_SPEED} - -### MAV_CMD_DO_SET_HOME (179) — \[from: [common](../messages/common.md#MAV_CMD_DO_SET_HOME)\] {#MAV_CMD_DO_SET_HOME} - -### MAV_CMD_DO_SET_PARAMETER (180) — \[from: [common](../messages/common.md#MAV_CMD_DO_SET_PARAMETER)\] [DEP] {#MAV_CMD_DO_SET_PARAMETER} - -### MAV_CMD_DO_SET_RELAY (181) — \[from: [common](../messages/common.md#MAV_CMD_DO_SET_RELAY)\] {#MAV_CMD_DO_SET_RELAY} - -### MAV_CMD_DO_REPEAT_RELAY (182) — \[from: [common](../messages/common.md#MAV_CMD_DO_REPEAT_RELAY)\] {#MAV_CMD_DO_REPEAT_RELAY} - -### MAV_CMD_DO_SET_SERVO (183) — \[from: [common](../messages/common.md#MAV_CMD_DO_SET_SERVO)\] {#MAV_CMD_DO_SET_SERVO} - -### MAV_CMD_DO_REPEAT_SERVO (184) — \[from: [common](../messages/common.md#MAV_CMD_DO_REPEAT_SERVO)\] {#MAV_CMD_DO_REPEAT_SERVO} - -### MAV_CMD_DO_FLIGHTTERMINATION (185) — \[from: [common](../messages/common.md#MAV_CMD_DO_FLIGHTTERMINATION)\] {#MAV_CMD_DO_FLIGHTTERMINATION} - -### MAV_CMD_DO_CHANGE_ALTITUDE (186) — \[from: [common](../messages/common.md#MAV_CMD_DO_CHANGE_ALTITUDE)\] {#MAV_CMD_DO_CHANGE_ALTITUDE} - -### MAV_CMD_DO_SET_ACTUATOR (187) — \[from: [common](../messages/common.md#MAV_CMD_DO_SET_ACTUATOR)\] {#MAV_CMD_DO_SET_ACTUATOR} - -### MAV_CMD_DO_RETURN_PATH_START (188) — \[from: [common](../messages/common.md#MAV_CMD_DO_RETURN_PATH_START)\] [WIP] {#MAV_CMD_DO_RETURN_PATH_START} - -### MAV_CMD_DO_LAND_START (189) — \[from: [common](../messages/common.md#MAV_CMD_DO_LAND_START)\] {#MAV_CMD_DO_LAND_START} - -### MAV_CMD_DO_RALLY_LAND (190) — \[from: [common](../messages/common.md#MAV_CMD_DO_RALLY_LAND)\] {#MAV_CMD_DO_RALLY_LAND} - -### MAV_CMD_DO_GO_AROUND (191) — \[from: [common](../messages/common.md#MAV_CMD_DO_GO_AROUND)\] {#MAV_CMD_DO_GO_AROUND} - -### MAV_CMD_DO_REPOSITION (192) — \[from: [common](../messages/common.md#MAV_CMD_DO_REPOSITION)\] {#MAV_CMD_DO_REPOSITION} - -### MAV_CMD_DO_PAUSE_CONTINUE (193) — \[from: [common](../messages/common.md#MAV_CMD_DO_PAUSE_CONTINUE)\] {#MAV_CMD_DO_PAUSE_CONTINUE} - -### MAV_CMD_DO_SET_REVERSE (194) — \[from: [common](../messages/common.md#MAV_CMD_DO_SET_REVERSE)\] {#MAV_CMD_DO_SET_REVERSE} - -### MAV_CMD_DO_SET_ROI_LOCATION (195) — \[from: [common](../messages/common.md#MAV_CMD_DO_SET_ROI_LOCATION)\] {#MAV_CMD_DO_SET_ROI_LOCATION} - -### MAV_CMD_DO_SET_ROI_WPNEXT_OFFSET (196) — \[from: [common](../messages/common.md#MAV_CMD_DO_SET_ROI_WPNEXT_OFFSET)\] {#MAV_CMD_DO_SET_ROI_WPNEXT_OFFSET} - -### MAV_CMD_DO_SET_ROI_NONE (197) — \[from: [common](../messages/common.md#MAV_CMD_DO_SET_ROI_NONE)\] {#MAV_CMD_DO_SET_ROI_NONE} - -### MAV_CMD_DO_SET_ROI_SYSID (198) — \[from: [common](../messages/common.md#MAV_CMD_DO_SET_ROI_SYSID)\] {#MAV_CMD_DO_SET_ROI_SYSID} - -### MAV_CMD_DO_CONTROL_VIDEO (200) — \[from: [common](../messages/common.md#MAV_CMD_DO_CONTROL_VIDEO)\] {#MAV_CMD_DO_CONTROL_VIDEO} - -### MAV_CMD_DO_SET_ROI (201) — \[from: [common](../messages/common.md#MAV_CMD_DO_SET_ROI)\] [DEP] {#MAV_CMD_DO_SET_ROI} - -### MAV_CMD_DO_DIGICAM_CONFIGURE (202) — \[from: [common](../messages/common.md#MAV_CMD_DO_DIGICAM_CONFIGURE)\] {#MAV_CMD_DO_DIGICAM_CONFIGURE} - -### MAV_CMD_DO_DIGICAM_CONTROL (203) — \[from: [common](../messages/common.md#MAV_CMD_DO_DIGICAM_CONTROL)\] {#MAV_CMD_DO_DIGICAM_CONTROL} - -### MAV_CMD_DO_MOUNT_CONFIGURE (204) — \[from: [common](../messages/common.md#MAV_CMD_DO_MOUNT_CONFIGURE)\] [DEP] {#MAV_CMD_DO_MOUNT_CONFIGURE} - -### MAV_CMD_DO_MOUNT_CONTROL (205) — \[from: [common](../messages/common.md#MAV_CMD_DO_MOUNT_CONTROL)\] [DEP] {#MAV_CMD_DO_MOUNT_CONTROL} - -### MAV_CMD_DO_SET_CAM_TRIGG_DIST (206) — \[from: [common](../messages/common.md#MAV_CMD_DO_SET_CAM_TRIGG_DIST)\] {#MAV_CMD_DO_SET_CAM_TRIGG_DIST} - -### MAV_CMD_DO_FENCE_ENABLE (207) — \[from: [common](../messages/common.md#MAV_CMD_DO_FENCE_ENABLE)\] {#MAV_CMD_DO_FENCE_ENABLE} - -### MAV_CMD_DO_PARACHUTE (208) — \[from: [common](../messages/common.md#MAV_CMD_DO_PARACHUTE)\] {#MAV_CMD_DO_PARACHUTE} - -### MAV_CMD_DO_MOTOR_TEST (209) — \[from: [common](../messages/common.md#MAV_CMD_DO_MOTOR_TEST)\] {#MAV_CMD_DO_MOTOR_TEST} - -### MAV_CMD_DO_INVERTED_FLIGHT (210) — \[from: [common](../messages/common.md#MAV_CMD_DO_INVERTED_FLIGHT)\] {#MAV_CMD_DO_INVERTED_FLIGHT} - -### MAV_CMD_DO_GRIPPER (211) — \[from: [common](../messages/common.md#MAV_CMD_DO_GRIPPER)\] {#MAV_CMD_DO_GRIPPER} - -### MAV_CMD_DO_AUTOTUNE_ENABLE (212) — \[from: [common](../messages/common.md#MAV_CMD_DO_AUTOTUNE_ENABLE)\] {#MAV_CMD_DO_AUTOTUNE_ENABLE} - -### MAV_CMD_NAV_SET_YAW_SPEED (213) — \[from: [common](../messages/common.md#MAV_CMD_NAV_SET_YAW_SPEED)\] {#MAV_CMD_NAV_SET_YAW_SPEED} - -### MAV_CMD_DO_SET_CAM_TRIGG_INTERVAL (214) — \[from: [common](../messages/common.md#MAV_CMD_DO_SET_CAM_TRIGG_INTERVAL)\] {#MAV_CMD_DO_SET_CAM_TRIGG_INTERVAL} - -### MAV_CMD_DO_MOUNT_CONTROL_QUAT (220) — \[from: [common](../messages/common.md#MAV_CMD_DO_MOUNT_CONTROL_QUAT)\] [DEP] {#MAV_CMD_DO_MOUNT_CONTROL_QUAT} - -### MAV_CMD_DO_GUIDED_MASTER (221) — \[from: [common](../messages/common.md#MAV_CMD_DO_GUIDED_MASTER)\] {#MAV_CMD_DO_GUIDED_MASTER} - -### MAV_CMD_DO_GUIDED_LIMITS (222) — \[from: [common](../messages/common.md#MAV_CMD_DO_GUIDED_LIMITS)\] {#MAV_CMD_DO_GUIDED_LIMITS} - -### MAV_CMD_DO_ENGINE_CONTROL (223) — \[from: [common](../messages/common.md#MAV_CMD_DO_ENGINE_CONTROL)\] {#MAV_CMD_DO_ENGINE_CONTROL} - -### MAV_CMD_DO_SET_MISSION_CURRENT (224) — \[from: [common](../messages/common.md#MAV_CMD_DO_SET_MISSION_CURRENT)\] {#MAV_CMD_DO_SET_MISSION_CURRENT} - -### MAV_CMD_DO_LAST (240) — \[from: [common](../messages/common.md#MAV_CMD_DO_LAST)\] {#MAV_CMD_DO_LAST} - -### MAV_CMD_PREFLIGHT_CALIBRATION (241) — \[from: [common](../messages/common.md#MAV_CMD_PREFLIGHT_CALIBRATION)\] {#MAV_CMD_PREFLIGHT_CALIBRATION} - -### MAV_CMD_PREFLIGHT_SET_SENSOR_OFFSETS (242) — \[from: [common](../messages/common.md#MAV_CMD_PREFLIGHT_SET_SENSOR_OFFSETS)\] {#MAV_CMD_PREFLIGHT_SET_SENSOR_OFFSETS} - -### MAV_CMD_PREFLIGHT_UAVCAN (243) — \[from: [common](../messages/common.md#MAV_CMD_PREFLIGHT_UAVCAN)\] {#MAV_CMD_PREFLIGHT_UAVCAN} - -### MAV_CMD_PREFLIGHT_STORAGE (245) — \[from: [common](../messages/common.md#MAV_CMD_PREFLIGHT_STORAGE)\] {#MAV_CMD_PREFLIGHT_STORAGE} - -### MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN (246) — \[from: [common](../messages/common.md#MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN)\] {#MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN} - -### MAV_CMD_OVERRIDE_GOTO (252) — \[from: [common](../messages/common.md#MAV_CMD_OVERRIDE_GOTO)\] {#MAV_CMD_OVERRIDE_GOTO} - -### MAV_CMD_OBLIQUE_SURVEY (260) — \[from: [common](../messages/common.md#MAV_CMD_OBLIQUE_SURVEY)\] {#MAV_CMD_OBLIQUE_SURVEY} - -### MAV_CMD_MISSION_START (300) — \[from: [common](../messages/common.md#MAV_CMD_MISSION_START)\] {#MAV_CMD_MISSION_START} - -### MAV_CMD_ACTUATOR_TEST (310) — \[from: [common](../messages/common.md#MAV_CMD_ACTUATOR_TEST)\] {#MAV_CMD_ACTUATOR_TEST} - -### MAV_CMD_CONFIGURE_ACTUATOR (311) — \[from: [common](../messages/common.md#MAV_CMD_CONFIGURE_ACTUATOR)\] {#MAV_CMD_CONFIGURE_ACTUATOR} - -### MAV_CMD_COMPONENT_ARM_DISARM (400) — \[from: [common](../messages/common.md#MAV_CMD_COMPONENT_ARM_DISARM)\] {#MAV_CMD_COMPONENT_ARM_DISARM} - -### MAV_CMD_RUN_PREARM_CHECKS (401) — \[from: [common](../messages/common.md#MAV_CMD_RUN_PREARM_CHECKS)\] {#MAV_CMD_RUN_PREARM_CHECKS} - -### MAV_CMD_ILLUMINATOR_ON_OFF (405) — \[from: [common](../messages/common.md#MAV_CMD_ILLUMINATOR_ON_OFF)\] {#MAV_CMD_ILLUMINATOR_ON_OFF} - -### MAV_CMD_DO_ILLUMINATOR_CONFIGURE (406) — \[from: [common](../messages/common.md#MAV_CMD_DO_ILLUMINATOR_CONFIGURE)\] {#MAV_CMD_DO_ILLUMINATOR_CONFIGURE} - -### MAV_CMD_GET_HOME_POSITION (410) — \[from: [common](../messages/common.md#MAV_CMD_GET_HOME_POSITION)\] [DEP] {#MAV_CMD_GET_HOME_POSITION} - -### MAV_CMD_INJECT_FAILURE (420) — \[from: [common](../messages/common.md#MAV_CMD_INJECT_FAILURE)\] {#MAV_CMD_INJECT_FAILURE} - -### MAV_CMD_START_RX_PAIR (500) — \[from: [common](../messages/common.md#MAV_CMD_START_RX_PAIR)\] {#MAV_CMD_START_RX_PAIR} - -### MAV_CMD_GET_MESSAGE_INTERVAL (510) — \[from: [common](../messages/common.md#MAV_CMD_GET_MESSAGE_INTERVAL)\] [DEP] {#MAV_CMD_GET_MESSAGE_INTERVAL} - -### MAV_CMD_SET_MESSAGE_INTERVAL (511) — \[from: [common](../messages/common.md#MAV_CMD_SET_MESSAGE_INTERVAL)\] {#MAV_CMD_SET_MESSAGE_INTERVAL} - -### MAV_CMD_REQUEST_MESSAGE (512) — \[from: [common](../messages/common.md#MAV_CMD_REQUEST_MESSAGE)\] {#MAV_CMD_REQUEST_MESSAGE} - -### MAV_CMD_REQUEST_PROTOCOL_VERSION (519) — \[from: [common](../messages/common.md#MAV_CMD_REQUEST_PROTOCOL_VERSION)\] [DEP] {#MAV_CMD_REQUEST_PROTOCOL_VERSION} - -### MAV_CMD_REQUEST_AUTOPILOT_CAPABILITIES (520) — \[from: [common](../messages/common.md#MAV_CMD_REQUEST_AUTOPILOT_CAPABILITIES)\] [DEP] {#MAV_CMD_REQUEST_AUTOPILOT_CAPABILITIES} - -### MAV_CMD_REQUEST_CAMERA_INFORMATION (521) — \[from: [common](../messages/common.md#MAV_CMD_REQUEST_CAMERA_INFORMATION)\] [DEP] {#MAV_CMD_REQUEST_CAMERA_INFORMATION} - -### MAV_CMD_REQUEST_CAMERA_SETTINGS (522) — \[from: [common](../messages/common.md#MAV_CMD_REQUEST_CAMERA_SETTINGS)\] [DEP] {#MAV_CMD_REQUEST_CAMERA_SETTINGS} - -### MAV_CMD_REQUEST_STORAGE_INFORMATION (525) — \[from: [common](../messages/common.md#MAV_CMD_REQUEST_STORAGE_INFORMATION)\] [DEP] {#MAV_CMD_REQUEST_STORAGE_INFORMATION} - -### MAV_CMD_STORAGE_FORMAT (526) — \[from: [common](../messages/common.md#MAV_CMD_STORAGE_FORMAT)\] {#MAV_CMD_STORAGE_FORMAT} - -### MAV_CMD_REQUEST_CAMERA_CAPTURE_STATUS (527) — \[from: [common](../messages/common.md#MAV_CMD_REQUEST_CAMERA_CAPTURE_STATUS)\] [DEP] {#MAV_CMD_REQUEST_CAMERA_CAPTURE_STATUS} - -### MAV_CMD_REQUEST_FLIGHT_INFORMATION (528) — \[from: [common](../messages/common.md#MAV_CMD_REQUEST_FLIGHT_INFORMATION)\] [DEP] {#MAV_CMD_REQUEST_FLIGHT_INFORMATION} - -### MAV_CMD_RESET_CAMERA_SETTINGS (529) — \[from: [common](../messages/common.md#MAV_CMD_RESET_CAMERA_SETTINGS)\] {#MAV_CMD_RESET_CAMERA_SETTINGS} - -### MAV_CMD_SET_CAMERA_MODE (530) — \[from: [common](../messages/common.md#MAV_CMD_SET_CAMERA_MODE)\] {#MAV_CMD_SET_CAMERA_MODE} - -### MAV_CMD_SET_CAMERA_ZOOM (531) — \[from: [common](../messages/common.md#MAV_CMD_SET_CAMERA_ZOOM)\] {#MAV_CMD_SET_CAMERA_ZOOM} - -### MAV_CMD_SET_CAMERA_FOCUS (532) — \[from: [common](../messages/common.md#MAV_CMD_SET_CAMERA_FOCUS)\] {#MAV_CMD_SET_CAMERA_FOCUS} - -### MAV_CMD_SET_STORAGE_USAGE (533) — \[from: [common](../messages/common.md#MAV_CMD_SET_STORAGE_USAGE)\] {#MAV_CMD_SET_STORAGE_USAGE} - -### MAV_CMD_SET_CAMERA_SOURCE (534) — \[from: [common](../messages/common.md#MAV_CMD_SET_CAMERA_SOURCE)\] {#MAV_CMD_SET_CAMERA_SOURCE} - -### MAV_CMD_JUMP_TAG (600) — \[from: [common](../messages/common.md#MAV_CMD_JUMP_TAG)\] {#MAV_CMD_JUMP_TAG} - -### MAV_CMD_DO_JUMP_TAG (601) — \[from: [common](../messages/common.md#MAV_CMD_DO_JUMP_TAG)\] {#MAV_CMD_DO_JUMP_TAG} - -### MAV_CMD_DO_GIMBAL_MANAGER_PITCHYAW (1000) — \[from: [common](../messages/common.md#MAV_CMD_DO_GIMBAL_MANAGER_PITCHYAW)\] {#MAV_CMD_DO_GIMBAL_MANAGER_PITCHYAW} - -### MAV_CMD_DO_GIMBAL_MANAGER_CONFIGURE (1001) — \[from: [common](../messages/common.md#MAV_CMD_DO_GIMBAL_MANAGER_CONFIGURE)\] {#MAV_CMD_DO_GIMBAL_MANAGER_CONFIGURE} - -### MAV_CMD_IMAGE_START_CAPTURE (2000) — \[from: [common](../messages/common.md#MAV_CMD_IMAGE_START_CAPTURE)\] {#MAV_CMD_IMAGE_START_CAPTURE} - -### MAV_CMD_IMAGE_STOP_CAPTURE (2001) — \[from: [common](../messages/common.md#MAV_CMD_IMAGE_STOP_CAPTURE)\] {#MAV_CMD_IMAGE_STOP_CAPTURE} - -### MAV_CMD_REQUEST_CAMERA_IMAGE_CAPTURE (2002) — \[from: [common](../messages/common.md#MAV_CMD_REQUEST_CAMERA_IMAGE_CAPTURE)\] [DEP] {#MAV_CMD_REQUEST_CAMERA_IMAGE_CAPTURE} - -### MAV_CMD_DO_TRIGGER_CONTROL (2003) — \[from: [common](../messages/common.md#MAV_CMD_DO_TRIGGER_CONTROL)\] {#MAV_CMD_DO_TRIGGER_CONTROL} - -### MAV_CMD_CAMERA_TRACK_POINT (2004) — \[from: [common](../messages/common.md#MAV_CMD_CAMERA_TRACK_POINT)\] {#MAV_CMD_CAMERA_TRACK_POINT} - -### MAV_CMD_CAMERA_TRACK_RECTANGLE (2005) — \[from: [common](../messages/common.md#MAV_CMD_CAMERA_TRACK_RECTANGLE)\] {#MAV_CMD_CAMERA_TRACK_RECTANGLE} - -### MAV_CMD_CAMERA_STOP_TRACKING (2010) — \[from: [common](../messages/common.md#MAV_CMD_CAMERA_STOP_TRACKING)\] {#MAV_CMD_CAMERA_STOP_TRACKING} - -### MAV_CMD_VIDEO_START_CAPTURE (2500) — \[from: [common](../messages/common.md#MAV_CMD_VIDEO_START_CAPTURE)\] {#MAV_CMD_VIDEO_START_CAPTURE} - -### MAV_CMD_VIDEO_STOP_CAPTURE (2501) — \[from: [common](../messages/common.md#MAV_CMD_VIDEO_STOP_CAPTURE)\] {#MAV_CMD_VIDEO_STOP_CAPTURE} - -### MAV_CMD_VIDEO_START_STREAMING (2502) — \[from: [common](../messages/common.md#MAV_CMD_VIDEO_START_STREAMING)\] {#MAV_CMD_VIDEO_START_STREAMING} - -### MAV_CMD_VIDEO_STOP_STREAMING (2503) — \[from: [common](../messages/common.md#MAV_CMD_VIDEO_STOP_STREAMING)\] {#MAV_CMD_VIDEO_STOP_STREAMING} - -### MAV_CMD_REQUEST_VIDEO_STREAM_INFORMATION (2504) — \[from: [common](../messages/common.md#MAV_CMD_REQUEST_VIDEO_STREAM_INFORMATION)\] [DEP] {#MAV_CMD_REQUEST_VIDEO_STREAM_INFORMATION} - -### MAV_CMD_REQUEST_VIDEO_STREAM_STATUS (2505) — \[from: [common](../messages/common.md#MAV_CMD_REQUEST_VIDEO_STREAM_STATUS)\] [DEP] {#MAV_CMD_REQUEST_VIDEO_STREAM_STATUS} - -### MAV_CMD_LOGGING_START (2510) — \[from: [common](../messages/common.md#MAV_CMD_LOGGING_START)\] {#MAV_CMD_LOGGING_START} - -### MAV_CMD_LOGGING_STOP (2511) — \[from: [common](../messages/common.md#MAV_CMD_LOGGING_STOP)\] {#MAV_CMD_LOGGING_STOP} - -### MAV_CMD_AIRFRAME_CONFIGURATION (2520) — \[from: [common](../messages/common.md#MAV_CMD_AIRFRAME_CONFIGURATION)\] {#MAV_CMD_AIRFRAME_CONFIGURATION} - -### MAV_CMD_CONTROL_HIGH_LATENCY (2600) — \[from: [common](../messages/common.md#MAV_CMD_CONTROL_HIGH_LATENCY)\] {#MAV_CMD_CONTROL_HIGH_LATENCY} - -### MAV_CMD_PANORAMA_CREATE (2800) — \[from: [common](../messages/common.md#MAV_CMD_PANORAMA_CREATE)\] {#MAV_CMD_PANORAMA_CREATE} - -### MAV_CMD_DO_VTOL_TRANSITION (3000) — \[from: [common](../messages/common.md#MAV_CMD_DO_VTOL_TRANSITION)\] {#MAV_CMD_DO_VTOL_TRANSITION} - -### MAV_CMD_ARM_AUTHORIZATION_REQUEST (3001) — \[from: [common](../messages/common.md#MAV_CMD_ARM_AUTHORIZATION_REQUEST)\] {#MAV_CMD_ARM_AUTHORIZATION_REQUEST} - -### MAV_CMD_SET_GUIDED_SUBMODE_STANDARD (4000) — \[from: [common](../messages/common.md#MAV_CMD_SET_GUIDED_SUBMODE_STANDARD)\] {#MAV_CMD_SET_GUIDED_SUBMODE_STANDARD} - -### MAV_CMD_SET_GUIDED_SUBMODE_CIRCLE (4001) — \[from: [common](../messages/common.md#MAV_CMD_SET_GUIDED_SUBMODE_CIRCLE)\] {#MAV_CMD_SET_GUIDED_SUBMODE_CIRCLE} - -### MAV_CMD_CONDITION_GATE (4501) — \[from: [common](../messages/common.md#MAV_CMD_CONDITION_GATE)\] [WIP] {#MAV_CMD_CONDITION_GATE} - -### MAV_CMD_NAV_FENCE_RETURN_POINT (5000) — \[from: [common](../messages/common.md#MAV_CMD_NAV_FENCE_RETURN_POINT)\] {#MAV_CMD_NAV_FENCE_RETURN_POINT} - -### MAV_CMD_NAV_FENCE_POLYGON_VERTEX_INCLUSION (5001) — \[from: [common](../messages/common.md#MAV_CMD_NAV_FENCE_POLYGON_VERTEX_INCLUSION)\] {#MAV_CMD_NAV_FENCE_POLYGON_VERTEX_INCLUSION} - -### MAV_CMD_NAV_FENCE_POLYGON_VERTEX_EXCLUSION (5002) — \[from: [common](../messages/common.md#MAV_CMD_NAV_FENCE_POLYGON_VERTEX_EXCLUSION)\] {#MAV_CMD_NAV_FENCE_POLYGON_VERTEX_EXCLUSION} - -### MAV_CMD_NAV_FENCE_CIRCLE_INCLUSION (5003) — \[from: [common](../messages/common.md#MAV_CMD_NAV_FENCE_CIRCLE_INCLUSION)\] {#MAV_CMD_NAV_FENCE_CIRCLE_INCLUSION} - -### MAV_CMD_NAV_FENCE_CIRCLE_EXCLUSION (5004) — \[from: [common](../messages/common.md#MAV_CMD_NAV_FENCE_CIRCLE_EXCLUSION)\] {#MAV_CMD_NAV_FENCE_CIRCLE_EXCLUSION} - -### MAV_CMD_NAV_RALLY_POINT (5100) — \[from: [common](../messages/common.md#MAV_CMD_NAV_RALLY_POINT)\] {#MAV_CMD_NAV_RALLY_POINT} - -### MAV_CMD_UAVCAN_GET_NODE_INFO (5200) — \[from: [common](../messages/common.md#MAV_CMD_UAVCAN_GET_NODE_INFO)\] {#MAV_CMD_UAVCAN_GET_NODE_INFO} - -### MAV_CMD_DO_SET_SAFETY_SWITCH_STATE (5300) — \[from: [common](../messages/common.md#MAV_CMD_DO_SET_SAFETY_SWITCH_STATE)\] {#MAV_CMD_DO_SET_SAFETY_SWITCH_STATE} - -### MAV_CMD_DO_ADSB_OUT_IDENT (10001) — \[from: [common](../messages/common.md#MAV_CMD_DO_ADSB_OUT_IDENT)\] {#MAV_CMD_DO_ADSB_OUT_IDENT} - -### MAV_CMD_PAYLOAD_PREPARE_DEPLOY (30001) — \[from: [common](../messages/common.md#MAV_CMD_PAYLOAD_PREPARE_DEPLOY)\] [DEP] {#MAV_CMD_PAYLOAD_PREPARE_DEPLOY} - -### MAV_CMD_PAYLOAD_CONTROL_DEPLOY (30002) — \[from: [common](../messages/common.md#MAV_CMD_PAYLOAD_CONTROL_DEPLOY)\] [DEP] {#MAV_CMD_PAYLOAD_CONTROL_DEPLOY} - -### MAV_CMD_WAYPOINT_USER_1 (31000) — \[from: [common](../messages/common.md#MAV_CMD_WAYPOINT_USER_1)\] {#MAV_CMD_WAYPOINT_USER_1} - -### MAV_CMD_WAYPOINT_USER_2 (31001) — \[from: [common](../messages/common.md#MAV_CMD_WAYPOINT_USER_2)\] {#MAV_CMD_WAYPOINT_USER_2} - -### MAV_CMD_WAYPOINT_USER_3 (31002) — \[from: [common](../messages/common.md#MAV_CMD_WAYPOINT_USER_3)\] {#MAV_CMD_WAYPOINT_USER_3} - -### MAV_CMD_WAYPOINT_USER_4 (31003) — \[from: [common](../messages/common.md#MAV_CMD_WAYPOINT_USER_4)\] {#MAV_CMD_WAYPOINT_USER_4} - -### MAV_CMD_WAYPOINT_USER_5 (31004) — \[from: [common](../messages/common.md#MAV_CMD_WAYPOINT_USER_5)\] {#MAV_CMD_WAYPOINT_USER_5} - -### MAV_CMD_SPATIAL_USER_1 (31005) — \[from: [common](../messages/common.md#MAV_CMD_SPATIAL_USER_1)\] {#MAV_CMD_SPATIAL_USER_1} - -### MAV_CMD_SPATIAL_USER_2 (31006) — \[from: [common](../messages/common.md#MAV_CMD_SPATIAL_USER_2)\] {#MAV_CMD_SPATIAL_USER_2} - -### MAV_CMD_SPATIAL_USER_3 (31007) — \[from: [common](../messages/common.md#MAV_CMD_SPATIAL_USER_3)\] {#MAV_CMD_SPATIAL_USER_3} - -### MAV_CMD_SPATIAL_USER_4 (31008) — \[from: [common](../messages/common.md#MAV_CMD_SPATIAL_USER_4)\] {#MAV_CMD_SPATIAL_USER_4} - -### MAV_CMD_SPATIAL_USER_5 (31009) — \[from: [common](../messages/common.md#MAV_CMD_SPATIAL_USER_5)\] {#MAV_CMD_SPATIAL_USER_5} - -### MAV_CMD_USER_1 (31010) — \[from: [common](../messages/common.md#MAV_CMD_USER_1)\] {#MAV_CMD_USER_1} - -### MAV_CMD_USER_2 (31011) — \[from: [common](../messages/common.md#MAV_CMD_USER_2)\] {#MAV_CMD_USER_2} - -### MAV_CMD_USER_3 (31012) — \[from: [common](../messages/common.md#MAV_CMD_USER_3)\] {#MAV_CMD_USER_3} - -### MAV_CMD_USER_4 (31013) — \[from: [common](../messages/common.md#MAV_CMD_USER_4)\] {#MAV_CMD_USER_4} - -### MAV_CMD_USER_5 (31014) — \[from: [common](../messages/common.md#MAV_CMD_USER_5)\] {#MAV_CMD_USER_5} - -### MAV_CMD_CAN_FORWARD (32000) — \[from: [common](../messages/common.md#MAV_CMD_CAN_FORWARD)\] {#MAV_CMD_CAN_FORWARD} - -### MAV_CMD_FIXED_MAG_CAL_YAW (42006) — \[from: [common](../messages/common.md#MAV_CMD_FIXED_MAG_CAL_YAW)\] {#MAV_CMD_FIXED_MAG_CAL_YAW} - -### MAV_CMD_DO_WINCH (42600) — \[from: [common](../messages/common.md#MAV_CMD_DO_WINCH)\] {#MAV_CMD_DO_WINCH} - -### MAV_CMD_EXTERNAL_POSITION_ESTIMATE (43003) — \[from: [common](../messages/common.md#MAV_CMD_EXTERNAL_POSITION_ESTIMATE)\] {#MAV_CMD_EXTERNAL_POSITION_ESTIMATE} - ### MAV_CMD_PRS_SET_ARM (60050) {#MAV_CMD_PRS_SET_ARM} AVSS defined command. Set PRS arm statuses. diff --git a/zh/messages/all.html b/zh/messages/all.html index 5ac52691d..d3e846640 100644 --- a/zh/messages/all.html +++ b/zh/messages/all.html @@ -1 +1 @@ -all.xml · MAVLink Developer Guide
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Messages
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Messages
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            FAQ
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Examples
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Dialect: all

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            This dialect is intended to include all other dialects in the mavlink/mavlink repository (including external dialects).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Dialects that are in all.xml are guaranteed to not have clashes in messages, enums, enum ids, and MAV_CMDs. This ensure that: This ensure that:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • Systems based on these dialects can co-exist on the same MAVLink network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • A Ground Station might (optionally) use libraries generated from all.xml to communicate using any of the dialects.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • Warning New dialect files in the official repository must be added to all.xml and restrict themselves to using ids in their own allocated range. A few older dialects are not included because these operate in completely closed networks or because they are only used for tests.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • Dialects should push changes to mavlink/mavlink in order to avoid potential clashes from changes to other dialects.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            A few older dialects are not included because these operate in completely closed networks or because they are only used for tests.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            This topic is a human-readable form of the XML definition file: all.xml.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAVLink 2 extension fields that have been added to MAVLink 1 messages are displayed in blue. - Entities from dialects are displayed only as headings (with link to original)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Summary

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            TypeDefinedIncluded
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Messages0363
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Enums0234
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Commands2170

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            The following sections list all entities in the dialect (both included and defined in this file).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Messages

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            HEARTBEAT (0) — [from: minimal]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            SYS_STATUS (1) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            SYSTEM_TIME (2) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            PING (4) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            CHANGE_OPERATOR_CONTROL (5) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            CHANGE_OPERATOR_CONTROL_ACK (6) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            AUTH_KEY (7) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            SET_MODE (11) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            PARAM_ACK_TRANSACTION (19) — [from: development] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            PARAM_REQUEST_READ (20) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            PARAM_REQUEST_LIST (21) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            PARAM_VALUE (22) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            PARAM_SET (23) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            GPS_RAW_INT (24) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            GPS_STATUS (25) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            SCALED_IMU (26) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            RAW_IMU (27) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            RAW_PRESSURE (28) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            SCALED_PRESSURE (29) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ATTITUDE (30) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ATTITUDE_QUATERNION (31) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            LOCAL_POSITION_NED (32) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            GLOBAL_POSITION_INT (33) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            RC_CHANNELS_SCALED (34) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            RC_CHANNELS_RAW (35) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            SERVO_OUTPUT_RAW (36) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MISSION_REQUEST_PARTIAL_LIST (37) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MISSION_WRITE_PARTIAL_LIST (38) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MISSION_ITEM (39) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MISSION_REQUEST (40) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MISSION_SET_CURRENT (41) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MISSION_CURRENT (42) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MISSION_REQUEST_LIST (43) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MISSION_COUNT (44) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MISSION_CLEAR_ALL (45) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MISSION_ITEM_REACHED (46) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MISSION_ACK (47) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            SET_GPS_GLOBAL_ORIGIN (48) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            GPS_GLOBAL_ORIGIN (49) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            PARAM_MAP_RC (50) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MISSION_REQUEST_INT (51) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            SAFETY_SET_ALLOWED_AREA (54) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            SAFETY_ALLOWED_AREA (55) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ATTITUDE_QUATERNION_COV (61) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            GLOBAL_POSITION_INT_COV (63) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            LOCAL_POSITION_NED_COV (64) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            RC_CHANNELS (65) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            REQUEST_DATA_STREAM (66) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            DATA_STREAM (67) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MANUAL_CONTROL (69) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            RC_CHANNELS_OVERRIDE (70) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MISSION_ITEM_INT (73) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            VFR_HUD (74) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            COMMAND_INT (75) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            COMMAND_LONG (76) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            COMMAND_ACK (77) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            COMMAND_CANCEL (80) — [from: common] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MANUAL_SETPOINT (81) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            SET_ATTITUDE_TARGET (82) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ATTITUDE_TARGET (83) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            SET_POSITION_TARGET_LOCAL_NED (84) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            POSITION_TARGET_LOCAL_NED (85) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            SET_POSITION_TARGET_GLOBAL_INT (86) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            POSITION_TARGET_GLOBAL_INT (87) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            LOCAL_POSITION_NED_SYSTEM_GLOBAL_OFFSET (89) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            HIL_STATE (90) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            HIL_CONTROLS (91) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            HIL_RC_INPUTS_RAW (92) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            HIL_ACTUATOR_CONTROLS (93) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            OPTICAL_FLOW (100) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            GLOBAL_VISION_POSITION_ESTIMATE (101) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            VISION_POSITION_ESTIMATE (102) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            VISION_SPEED_ESTIMATE (103) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            VICON_POSITION_ESTIMATE (104) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            HIGHRES_IMU (105) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            OPTICAL_FLOW_RAD (106) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            HIL_SENSOR (107) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            SIM_STATE (108) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            RADIO_STATUS (109) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            FILE_TRANSFER_PROTOCOL (110) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            TIMESYNC (111) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            CAMERA_TRIGGER (112) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            HIL_GPS (113) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            HIL_OPTICAL_FLOW (114) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            HIL_STATE_QUATERNION (115) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            SCALED_IMU2 (116) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            LOG_REQUEST_LIST (117) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            LOG_ENTRY (118) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            LOG_REQUEST_DATA (119) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            LOG_DATA (120) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            LOG_ERASE (121) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            LOG_REQUEST_END (122) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            GPS_INJECT_DATA (123) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            GPS2_RAW (124) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            POWER_STATUS (125) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            SERIAL_CONTROL (126) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            GPS_RTK (127) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            GPS2_RTK (128) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            SCALED_IMU3 (129) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            DATA_TRANSMISSION_HANDSHAKE (130) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ENCAPSULATED_DATA (131) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            DISTANCE_SENSOR (132) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            TERRAIN_REQUEST (133) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            TERRAIN_DATA (134) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            TERRAIN_CHECK (135) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            TERRAIN_REPORT (136) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            SCALED_PRESSURE2 (137) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ATT_POS_MOCAP (138) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            SET_ACTUATOR_CONTROL_TARGET (139) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ACTUATOR_CONTROL_TARGET (140) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ALTITUDE (141) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            RESOURCE_REQUEST (142) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            SCALED_PRESSURE3 (143) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            FOLLOW_TARGET (144) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            CONTROL_SYSTEM_STATE (146) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            BATTERY_STATUS (147) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            AUTOPILOT_VERSION (148) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            LANDING_TARGET (149) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            SENSOR_OFFSETS (150) — [from: ardupilotmega]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            SET_MAG_OFFSETS (151) — [from: ardupilotmega] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MEMINFO (152) — [from: ardupilotmega]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            AP_ADC (153) — [from: ardupilotmega]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            DIGICAM_CONFIGURE (154) — [from: ardupilotmega]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            DIGICAM_CONTROL (155) — [from: ardupilotmega]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MOUNT_CONFIGURE (156) — [from: ardupilotmega]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MOUNT_CONTROL (157) — [from: ardupilotmega]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MOUNT_STATUS (158) — [from: ardupilotmega]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            FENCE_POINT (160) — [from: ardupilotmega]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            FENCE_FETCH_POINT (161) — [from: ardupilotmega]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            FENCE_STATUS (162) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            AHRS (163) — [from: ardupilotmega]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            SIMSTATE (164) — [from: ardupilotmega]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            HWSTATUS (165) — [from: ardupilotmega]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            RADIO (166) — [from: ardupilotmega]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            LIMITS_STATUS (167) — [from: ardupilotmega]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            WIND (168) — [from: ardupilotmega]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            DATA16 (169) — [from: ardupilotmega]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            DATA32 (170) — [from: ardupilotmega]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            DATA64 (171) — [from: ardupilotmega]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            DATA96 (172) — [from: ardupilotmega]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            RANGEFINDER (173) — [from: ardupilotmega]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            AIRSPEED_AUTOCAL (174) — [from: ardupilotmega]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            RALLY_POINT (175) — [from: ardupilotmega]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            RALLY_FETCH_POINT (176) — [from: ardupilotmega]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            COMPASSMOT_STATUS (177) — [from: ardupilotmega]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            AHRS2 (178) — [from: ardupilotmega]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            CAMERA_STATUS (179) — [from: ardupilotmega]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            CAMERA_FEEDBACK (180) — [from: ardupilotmega]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            BATTERY2 (181) — [from: ardupilotmega] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            AHRS3 (182) — [from: ardupilotmega]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            AUTOPILOT_VERSION_REQUEST (183) — [from: ardupilotmega]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            REMOTE_LOG_DATA_BLOCK (184) — [from: ardupilotmega]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            REMOTE_LOG_BLOCK_STATUS (185) — [from: ardupilotmega]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            LED_CONTROL (186) — [from: ardupilotmega]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAG_CAL_PROGRESS (191) — [from: ardupilotmega]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAG_CAL_REPORT (192) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            EKF_STATUS_REPORT (193) — [from: ardupilotmega]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            PID_TUNING (194) — [from: ardupilotmega]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            DEEPSTALL (195) — [from: ardupilotmega]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            GIMBAL_REPORT (200) — [from: ardupilotmega]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            GIMBAL_CONTROL (201) — [from: ardupilotmega]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            GIMBAL_TORQUE_CMD_REPORT (214) — [from: ardupilotmega]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            GOPRO_HEARTBEAT (215) — [from: ardupilotmega]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            GOPRO_GET_REQUEST (216) — [from: ardupilotmega]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            GOPRO_GET_RESPONSE (217) — [from: ardupilotmega]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            GOPRO_SET_REQUEST (218) — [from: ardupilotmega]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            GOPRO_SET_RESPONSE (219) — [from: ardupilotmega]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            RADIO_CALIBRATION (221) — [from: ualberta]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            UALBERTA_SYS_STATUS (222) — [from: ualberta]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            COMMAND_INT_STAMPED (223) — [from: ASLUAV]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            COMMAND_LONG_STAMPED (224) — [from: ASLUAV]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            EFI_STATUS (225) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            RPM (226) — [from: ardupilotmega]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ESTIMATOR_STATUS (230) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            WIND_COV (231) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            GPS_INPUT (232) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            GPS_RTCM_DATA (233) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            HIGH_LATENCY (234) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            HIGH_LATENCY2 (235) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            VIBRATION (241) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            HOME_POSITION (242) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            SET_HOME_POSITION (243) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MESSAGE_INTERVAL (244) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            EXTENDED_SYS_STATE (245) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ADSB_VEHICLE (246) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            COLLISION (247) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            V2_EXTENSION (248) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MEMORY_VECT (249) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            DEBUG_VECT (250) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            NAMED_VALUE_FLOAT (251) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            NAMED_VALUE_INT (252) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            STATUSTEXT (253) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            DEBUG (254) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            SETUP_SIGNING (256) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            BUTTON_CHANGE (257) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            PLAY_TUNE (258) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            CAMERA_INFORMATION (259) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            CAMERA_SETTINGS (260) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            STORAGE_INFORMATION (261) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            CAMERA_CAPTURE_STATUS (262) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            CAMERA_IMAGE_CAPTURED (263) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            FLIGHT_INFORMATION (264) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MOUNT_ORIENTATION (265) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            LOGGING_DATA (266) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            LOGGING_DATA_ACKED (267) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            LOGGING_ACK (268) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            VIDEO_STREAM_INFORMATION (269) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            VIDEO_STREAM_STATUS (270) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            CAMERA_FOV_STATUS (271) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            CAMERA_TRACKING_IMAGE_STATUS (275) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            CAMERA_TRACKING_GEO_STATUS (276) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            CAMERA_THERMAL_RANGE (277) — [from: common] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            GIMBAL_MANAGER_INFORMATION (280) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            GIMBAL_MANAGER_STATUS (281) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            GIMBAL_MANAGER_SET_ATTITUDE (282) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            GIMBAL_DEVICE_INFORMATION (283) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            GIMBAL_DEVICE_SET_ATTITUDE (284) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            GIMBAL_DEVICE_ATTITUDE_STATUS (285) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            AUTOPILOT_STATE_FOR_GIMBAL_DEVICE (286) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            GIMBAL_MANAGER_SET_PITCHYAW (287) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            GIMBAL_MANAGER_SET_MANUAL_CONTROL (288) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ESC_INFO (290) — [from: common] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ESC_STATUS (291) — [from: common] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            AIRSPEED (295) — [from: development] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            WIFI_NETWORK_INFO (298) — [from: development] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            WIFI_CONFIG_AP (299) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            PROTOCOL_VERSION (300) — [from: minimal] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            AIS_VESSEL (301) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            UAVCAN_NODE_STATUS (310) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            UAVCAN_NODE_INFO (311) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            PARAM_EXT_REQUEST_READ (320) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            PARAM_EXT_REQUEST_LIST (321) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            PARAM_EXT_VALUE (322) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            PARAM_EXT_SET (323) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            PARAM_EXT_ACK (324) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            OBSTACLE_DISTANCE (330) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ODOMETRY (331) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            TRAJECTORY_REPRESENTATION_WAYPOINTS (332) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            TRAJECTORY_REPRESENTATION_BEZIER (333) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            CELLULAR_STATUS (334) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            CELLULAR_CONFIG (336) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            RAW_RPM (339) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            UTM_GLOBAL_POSITION (340) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            DEBUG_FLOAT_ARRAY (350) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            SET_VELOCITY_LIMITS (354) — [from: development] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            VELOCITY_LIMITS (355) — [from: development] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ORBIT_EXECUTION_STATUS (360) — [from: common] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            FIGURE_EIGHT_EXECUTION_STATUS (361) — [from: development] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            BATTERY_STATUS_V2 (369) — [from: development] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            BATTERY_INFO (370) — [from: common] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            FUEL_STATUS (371) — [from: development] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            GENERATOR_STATUS (373) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ACTUATOR_OUTPUT_STATUS (375) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            TIME_ESTIMATE_TO_TARGET (380) — [from: common] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            TUNNEL (385) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            CAN_FRAME (386) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            CANFD_FRAME (387) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            CAN_FILTER_MODIFY (388) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ONBOARD_COMPUTER_STATUS (390) — [from: common] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            COMPONENT_INFORMATION (395) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            COMPONENT_INFORMATION_BASIC (396) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            COMPONENT_METADATA (397) — [from: common] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            PLAY_TUNE_V2 (400) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            SUPPORTED_TUNES (401) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            EVENT (410) — [from: common] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            CURRENT_EVENT_SEQUENCE (411) — [from: common] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            REQUEST_EVENT (412) — [from: common] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            RESPONSE_EVENT_ERROR (413) — [from: common] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            GROUP_START (414) — [from: development] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            GROUP_END (415) — [from: development] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            RADIO_RC_CHANNELS (420) — [from: development] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            AVAILABLE_MODES (435) — [from: development] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            CURRENT_MODE (436) — [from: development] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            AVAILABLE_MODES_MONITOR (437) — [from: development] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ILLUMINATOR_STATUS (440) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            GNSS_INTEGRITY (441) — [from: development] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            TARGET_ABSOLUTE (510) — [from: development] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            TARGET_RELATIVE (511) — [from: development] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            SENS_POWER (8002) — [from: ASLUAV]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            SENS_MPPT (8003) — [from: ASLUAV]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ASLCTRL_DATA (8004) — [from: ASLUAV]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ASLCTRL_DEBUG (8005) — [from: ASLUAV]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ASLUAV_STATUS (8006) — [from: ASLUAV]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            EKF_EXT (8007) — [from: ASLUAV]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ASL_OBCTRL (8008) — [from: ASLUAV]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            SENS_ATMOS (8009) — [from: ASLUAV]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            SENS_BATMON (8010) — [from: ASLUAV]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            FW_SOARING_DATA (8011) — [from: ASLUAV]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            SENSORPOD_STATUS (8012) — [from: ASLUAV]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            SENS_POWER_BOARD (8013) — [from: ASLUAV]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            SENSOR_AIRFLOW_ANGLES (8016) — [from: ASLUAV]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            WHEEL_DISTANCE (9000) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            WINCH_STATUS (9005) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            UAVIONIX_ADSB_OUT_CFG (10001) — [from: uAvionix]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            UAVIONIX_ADSB_OUT_DYNAMIC (10002) — [from: uAvionix]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            UAVIONIX_ADSB_TRANSCEIVER_HEALTH_REPORT (10003) — [from: uAvionix]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            DEVICE_OP_READ (11000) — [from: ardupilotmega]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            DEVICE_OP_READ_REPLY (11001) — [from: ardupilotmega]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            DEVICE_OP_WRITE (11002) — [from: ardupilotmega]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            DEVICE_OP_WRITE_REPLY (11003) — [from: ardupilotmega]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ADAP_TUNING (11010) — [from: ardupilotmega]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            VISION_POSITION_DELTA (11011) — [from: ardupilotmega]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            AOA_SSA (11020) — [from: ardupilotmega]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ESC_TELEMETRY_1_TO_4 (11030) — [from: ardupilotmega]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ESC_TELEMETRY_5_TO_8 (11031) — [from: ardupilotmega]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ESC_TELEMETRY_9_TO_12 (11032) — [from: ardupilotmega]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            OSD_PARAM_CONFIG (11033) — [from: ardupilotmega]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            OSD_PARAM_CONFIG_REPLY (11034) — [from: ardupilotmega]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            OSD_PARAM_SHOW_CONFIG (11035) — [from: ardupilotmega]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            OSD_PARAM_SHOW_CONFIG_REPLY (11036) — [from: ardupilotmega]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            OBSTACLE_DISTANCE_3D (11037) — [from: ardupilotmega] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            WATER_DEPTH (11038) — [from: ardupilotmega]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MCU_STATUS (11039) — [from: ardupilotmega]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            OPEN_DRONE_ID_BASIC_ID (12900) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            OPEN_DRONE_ID_LOCATION (12901) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            OPEN_DRONE_ID_AUTHENTICATION (12902) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            OPEN_DRONE_ID_SELF_ID (12903) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            OPEN_DRONE_ID_SYSTEM (12904) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            OPEN_DRONE_ID_OPERATOR_ID (12905) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            OPEN_DRONE_ID_MESSAGE_PACK (12915) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            OPEN_DRONE_ID_ARM_STATUS (12918) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            OPEN_DRONE_ID_SYSTEM_UPDATE (12919) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            HYGROMETER_SENSOR (12920) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            TEST_TYPES (17000) — [from: test]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ARRAY_TEST_0 (17150) — [from: python_array_test]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ARRAY_TEST_1 (17151) — [from: python_array_test]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ARRAY_TEST_3 (17153) — [from: python_array_test]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ARRAY_TEST_4 (17154) — [from: python_array_test]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ARRAY_TEST_5 (17155) — [from: python_array_test]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ARRAY_TEST_6 (17156) — [from: python_array_test]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ARRAY_TEST_7 (17157) — [from: python_array_test]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ARRAY_TEST_8 (17158) — [from: python_array_test]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ICAROUS_HEARTBEAT (42000) — [from: icarous]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ICAROUS_KINEMATIC_BANDS (42001) — [from: icarous]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            CUBEPILOT_RAW_RC (50001) — [from: cubepilot]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            CUBEPILOT_FIRMWARE_UPDATE_START (50004) — [from: cubepilot]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            CUBEPILOT_FIRMWARE_UPDATE_RESP (50005) — [from: cubepilot]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            STORM32_GIMBAL_MANAGER_INFORMATION (60010) — [from: storm32]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            STORM32_GIMBAL_MANAGER_STATUS (60011) — [from: storm32]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            STORM32_GIMBAL_MANAGER_CONTROL (60012) — [from: storm32]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            STORM32_GIMBAL_MANAGER_CONTROL_PITCHYAW (60013) — [from: storm32]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            STORM32_GIMBAL_MANAGER_CORRECT_ROLL (60014) — [from: storm32]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            QSHOT_STATUS (60020) — [from: storm32] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            FRSKY_PASSTHROUGH_ARRAY (60040) — [from: storm32]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            PARAM_VALUE_ARRAY (60041) — [from: storm32]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            AVSS_PRS_SYS_STATUS (60050) — [from: AVSSUAS]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            AVSS_DRONE_POSITION (60051) — [from: AVSSUAS]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            AVSS_DRONE_IMU (60052) — [from: AVSSUAS]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            AVSS_DRONE_OPERATION_MODE (60053) — [from: AVSSUAS]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Enumerated Types

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ACCELCAL_VEHICLE_POS — [from: ardupilotmega]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            HEADING_TYPE — [from: ardupilotmega]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            SCRIPTING_CMD — [from: ardupilotmega]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            LIMITS_STATE — [from: ardupilotmega]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            LIMIT_MODULE — [from: ardupilotmega]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            RALLY_FLAGS — [from: ardupilotmega]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            CAMERA_STATUS_TYPES — [from: ardupilotmega]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            CAMERA_FEEDBACK_FLAGS — [from: ardupilotmega]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_MODE_GIMBAL — [from: ardupilotmega]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            GIMBAL_AXIS — [from: ardupilotmega]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            GIMBAL_AXIS_CALIBRATION_STATUS — [from: ardupilotmega]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            GIMBAL_AXIS_CALIBRATION_REQUIRED — [from: ardupilotmega]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            GOPRO_HEARTBEAT_STATUS — [from: ardupilotmega]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            GOPRO_HEARTBEAT_FLAGS — [from: ardupilotmega]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            GOPRO_REQUEST_STATUS — [from: ardupilotmega]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            GOPRO_COMMAND — [from: ardupilotmega]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            GOPRO_CAPTURE_MODE — [from: ardupilotmega]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            GOPRO_RESOLUTION — [from: ardupilotmega]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            GOPRO_FRAME_RATE — [from: ardupilotmega]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            GOPRO_FIELD_OF_VIEW — [from: ardupilotmega]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            GOPRO_VIDEO_SETTINGS_FLAGS — [from: ardupilotmega]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            GOPRO_PHOTO_RESOLUTION — [from: ardupilotmega]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            GOPRO_PROTUNE_WHITE_BALANCE — [from: ardupilotmega]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            GOPRO_PROTUNE_COLOUR — [from: ardupilotmega]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            GOPRO_PROTUNE_GAIN — [from: ardupilotmega]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            GOPRO_PROTUNE_SHARPNESS — [from: ardupilotmega]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            GOPRO_PROTUNE_EXPOSURE — [from: ardupilotmega]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            GOPRO_CHARGING — [from: ardupilotmega]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            GOPRO_MODEL — [from: ardupilotmega]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            GOPRO_BURST_RATE — [from: ardupilotmega]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_DO_AUX_FUNCTION_SWITCH_LEVEL — [from: ardupilotmega]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            LED_CONTROL_PATTERN — [from: ardupilotmega]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            EKF_STATUS_FLAGS — [from: ardupilotmega]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            PID_TUNING_AXIS — [from: ardupilotmega]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_REMOTE_LOG_DATA_BLOCK_COMMANDS — [from: ardupilotmega]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_REMOTE_LOG_DATA_BLOCK_STATUSES — [from: ardupilotmega]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            DEVICE_OP_BUSTYPE — [from: ardupilotmega]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            DEEPSTALL_STAGE — [from: ardupilotmega]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            PLANE_MODE — [from: ardupilotmega]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            COPTER_MODE — [from: ardupilotmega]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            SUB_MODE — [from: ardupilotmega]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ROVER_MODE — [from: ardupilotmega]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            TRACKER_MODE — [from: ardupilotmega]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            OSD_PARAM_CONFIG_TYPE — [from: ardupilotmega]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            OSD_PARAM_CONFIG_ERROR — [from: ardupilotmega]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            FIRMWARE_VERSION_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            HL_FAILURE_FLAG — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_GOTO — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_MODE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_SYS_STATUS_SENSOR — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_SYS_STATUS_SENSOR_EXTENDED — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_FRAME — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            FENCE_ACTION — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            FENCE_BREACH — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            FENCE_MITIGATE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            FENCE_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_MOUNT_MODE — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            GIMBAL_DEVICE_CAP_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            GIMBAL_MANAGER_CAP_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            GIMBAL_DEVICE_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            GIMBAL_MANAGER_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            GIMBAL_DEVICE_ERROR_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            GRIPPER_ACTIONS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            WINCH_ACTIONS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            UAVCAN_NODE_HEALTH — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            UAVCAN_NODE_MODE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ESC_CONNECTION_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ESC_FAILURE_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            STORAGE_STATUS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            STORAGE_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            STORAGE_USAGE_FLAG — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ORBIT_YAW_BEHAVIOUR — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            WIFI_CONFIG_AP_RESPONSE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            CELLULAR_CONFIG_RESPONSE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            WIFI_CONFIG_AP_MODE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            COMP_METADATA_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ACTUATOR_CONFIGURATION — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ACTUATOR_OUTPUT_FUNCTION — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            AUTOTUNE_AXIS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            PREFLIGHT_STORAGE_PARAMETER_ACTION — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            PREFLIGHT_STORAGE_MISSION_ACTION — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_DATA_STREAM — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_ROI — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_PARAM_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_PARAM_EXT_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_RESULT — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_MISSION_RESULT — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_SEVERITY — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_POWER_STATUS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            SERIAL_CONTROL_DEV — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            SERIAL_CONTROL_FLAG — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_DISTANCE_SENSOR — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_SENSOR_ORIENTATION — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_PROTOCOL_CAPABILITY — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_MISSION_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_ESTIMATOR_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_BATTERY_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_BATTERY_FUNCTION — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_BATTERY_CHARGE_STATE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_BATTERY_MODE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_BATTERY_FAULT — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_GENERATOR_STATUS_FLAG — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_VTOL_STATE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_LANDED_STATE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ADSB_ALTITUDE_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ADSB_EMITTER_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ADSB_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_DO_REPOSITION_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            SPEED_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ESTIMATOR_STATUS_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MOTOR_TEST_ORDER — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MOTOR_TEST_THROTTLE_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            GPS_INPUT_IGNORE_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_COLLISION_ACTION — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_COLLISION_THREAT_LEVEL — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_COLLISION_SRC — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            GPS_FIX_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            RTK_BASELINE_COORDINATE_SYSTEM — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            LANDING_TARGET_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            VTOL_TRANSITION_HEADING — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            CAMERA_CAP_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            VIDEO_STREAM_STATUS_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            VIDEO_STREAM_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            VIDEO_STREAM_ENCODING — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            CAMERA_TRACKING_STATUS_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            CAMERA_TRACKING_MODE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            CAMERA_TRACKING_TARGET_DATA — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            CAMERA_ZOOM_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            SET_FOCUS_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            CAMERA_SOURCE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            PARAM_ACK — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            CAMERA_MODE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_ARM_AUTH_DENIED_REASON — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            RC_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            POSITION_TARGET_TYPEMASK — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ATTITUDE_TARGET_TYPEMASK — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            UTM_FLIGHT_STATE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            UTM_DATA_AVAIL_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            CELLULAR_STATUS_FLAG — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            CELLULAR_NETWORK_FAILED_REASON — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            CELLULAR_NETWORK_RADIO_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            PRECISION_LAND_MODE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            PARACHUTE_ACTION — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_TUNNEL_PAYLOAD_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_ODID_ID_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_ODID_UA_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_ODID_STATUS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_ODID_HEIGHT_REF — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_ODID_HOR_ACC — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_ODID_VER_ACC — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_ODID_SPEED_ACC — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_ODID_TIME_ACC — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_ODID_AUTH_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_ODID_DESC_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_ODID_OPERATOR_LOCATION_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_ODID_CLASSIFICATION_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_ODID_CATEGORY_EU — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_ODID_CLASS_EU — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_ODID_OPERATOR_ID_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_ODID_ARM_STATUS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            TUNE_FORMAT — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            AIS_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            AIS_NAV_STATUS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            AIS_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            FAILURE_UNIT — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            FAILURE_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_WINCH_STATUS_FLAG — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAG_CAL_STATUS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_EVENT_ERROR_REASON — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_EVENT_CURRENT_SEQUENCE_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            HIL_SENSOR_UPDATED_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            HIGHRES_IMU_UPDATED_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            CAN_FILTER_OP — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_FTP_ERR — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_FTP_OPCODE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MISSION_STATE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            SAFETY_SWITCH_STATE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ILLUMINATOR_MODE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ILLUMINATOR_ERROR_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_AUTOPILOT — [from: minimal]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_TYPE — [from: minimal]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_MODE_FLAG — [from: minimal]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_MODE_FLAG_DECODE_POSITION — [from: minimal]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_STATE — [from: minimal]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_COMPONENT — [from: minimal]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            UAVIONIX_ADSB_OUT_DYNAMIC_STATE — [from: uAvionix]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            UAVIONIX_ADSB_OUT_RF_SELECT — [from: uAvionix]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            UAVIONIX_ADSB_OUT_DYNAMIC_GPS_FIX — [from: uAvionix]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            UAVIONIX_ADSB_RF_HEALTH — [from: uAvionix]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            UAVIONIX_ADSB_OUT_CFG_AIRCRAFT_SIZE — [from: uAvionix]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            UAVIONIX_ADSB_OUT_CFG_GPS_OFFSET_LAT — [from: uAvionix]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            UAVIONIX_ADSB_OUT_CFG_GPS_OFFSET_LON — [from: uAvionix]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            UAVIONIX_ADSB_EMERGENCY_STATUS — [from: uAvionix]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ICAROUS_TRACK_BAND_TYPES — [from: icarous]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ICAROUS_FMS_STATE — [from: icarous]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            GSM_MODEM_TYPE — [from: ASLUAV]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            WIFI_NETWORK_SECURITY — [from: development] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            AIRSPEED_SENSOR_FLAGS — [from: development] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            PARAM_TRANSACTION_TRANSPORT — [from: development] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            PARAM_TRANSACTION_ACTION — [from: development] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_STANDARD_MODE — [from: development] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_MODE_PROPERTY — [from: development] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_BATTERY_STATUS_FLAGS — [from: development] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            TARGET_ABSOLUTE_SENSOR_CAPABILITY_FLAGS — [from: development] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            TARGET_OBS_FRAME — [from: development] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            RADIO_RC_CHANNELS_FLAGS — [from: development] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_FUEL_TYPE — [from: development] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            GPS_SYSTEM_ERROR_FLAGS — [from: development] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            GPS_AUTHENTICATION_STATE — [from: development] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            GPS_JAMMING_STATE — [from: development] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            GPS_SPOOFING_STATE — [from: development] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            GPS_RAIM_STATE — [from: development] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            UALBERTA_AUTOPILOT_MODE — [from: ualberta]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            UALBERTA_NAV_MODE — [from: ualberta]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            UALBERTA_PILOT_MODE — [from: ualberta]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_STORM32_TUNNEL_PAYLOAD_TYPE — [from: storm32]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_STORM32_GIMBAL_PREARM_FLAGS — [from: storm32]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_STORM32_CAMERA_PREARM_FLAGS — [from: storm32]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_STORM32_GIMBAL_MANAGER_CAP_FLAGS — [from: storm32]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_STORM32_GIMBAL_MANAGER_FLAGS — [from: storm32]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_STORM32_GIMBAL_MANAGER_CLIENT — [from: storm32]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_STORM32_GIMBAL_MANAGER_PROFILE — [from: storm32]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_QSHOT_MODE — [from: storm32]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_AVSS_COMMAND_FAILURE_REASON — [from: AVSSUAS]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            AVSS_M300_OPERATION_MODE — [from: AVSSUAS]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            AVSS_HORSEFLY_OPERATION_MODE — [from: AVSSUAS]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Commands (MAV_CMD)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_NAV_WAYPOINT (16) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_NAV_LOITER_UNLIM (17) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_NAV_LOITER_TURNS (18) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_NAV_LOITER_TIME (19) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_NAV_RETURN_TO_LAUNCH (20) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_NAV_LAND (21) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_NAV_TAKEOFF (22) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_NAV_LAND_LOCAL (23) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_NAV_TAKEOFF_LOCAL (24) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_NAV_FOLLOW (25) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_NAV_CONTINUE_AND_CHANGE_ALT (30) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_NAV_LOITER_TO_ALT (31) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_DO_FOLLOW (32) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_DO_FOLLOW_REPOSITION (33) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_DO_ORBIT (34) — [from: common] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_DO_FIGURE_EIGHT (35) — [from: development] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_NAV_ROI (80) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_NAV_PATHPLANNING (81) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_NAV_SPLINE_WAYPOINT (82) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_NAV_ALTITUDE_WAIT (83) — [from: ardupilotmega]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_NAV_VTOL_TAKEOFF (84) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_NAV_VTOL_LAND (85) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_NAV_GUIDED_ENABLE (92) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_NAV_DELAY (93) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_NAV_PAYLOAD_PLACE (94) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_NAV_LAST (95) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_CONDITION_DELAY (112) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_CONDITION_CHANGE_ALT (113) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_CONDITION_DISTANCE (114) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_CONDITION_YAW (115) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_CONDITION_LAST (159) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_DO_SET_MODE (176) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_DO_JUMP (177) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_DO_CHANGE_SPEED (178) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_DO_SET_HOME (179) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_DO_SET_PARAMETER (180) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_DO_SET_RELAY (181) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_DO_REPEAT_RELAY (182) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_DO_SET_SERVO (183) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_DO_REPEAT_SERVO (184) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_DO_FLIGHTTERMINATION (185) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_DO_CHANGE_ALTITUDE (186) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_DO_SET_ACTUATOR (187) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_DO_RETURN_PATH_START (188) — [from: common] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_DO_LAND_START (189) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_DO_RALLY_LAND (190) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_DO_GO_AROUND (191) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_DO_REPOSITION (192) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_DO_PAUSE_CONTINUE (193) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_DO_SET_REVERSE (194) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_DO_SET_ROI_LOCATION (195) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_DO_SET_ROI_WPNEXT_OFFSET (196) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_DO_SET_ROI_NONE (197) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_DO_SET_ROI_SYSID (198) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_DO_CONTROL_VIDEO (200) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_DO_SET_ROI (201) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_DO_DIGICAM_CONFIGURE (202) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_DO_DIGICAM_CONTROL (203) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_DO_MOUNT_CONFIGURE (204) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_DO_MOUNT_CONTROL (205) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_DO_SET_CAM_TRIGG_DIST (206) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_DO_FENCE_ENABLE (207) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_DO_PARACHUTE (208) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_DO_MOTOR_TEST (209) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_DO_INVERTED_FLIGHT (210) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_DO_GRIPPER (211) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_DO_AUTOTUNE_ENABLE (212) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_NAV_SET_YAW_SPEED (213) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_DO_SET_CAM_TRIGG_INTERVAL (214) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_DO_SET_RESUME_REPEAT_DIST (215) — [from: ardupilotmega]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_DO_SPRAYER (216) — [from: ardupilotmega]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_DO_SEND_SCRIPT_MESSAGE (217) — [from: ardupilotmega]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_DO_AUX_FUNCTION (218) — [from: ardupilotmega]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_DO_MOUNT_CONTROL_QUAT (220) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_DO_GUIDED_MASTER (221) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_DO_GUIDED_LIMITS (222) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_DO_ENGINE_CONTROL (223) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_DO_SET_MISSION_CURRENT (224) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_DO_LAST (240) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_PREFLIGHT_CALIBRATION (241) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_PREFLIGHT_SET_SENSOR_OFFSETS (242) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_PREFLIGHT_UAVCAN (243) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_PREFLIGHT_STORAGE (245) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN (246) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_DO_UPGRADE (247) — [from: development] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_OVERRIDE_GOTO (252) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_OBLIQUE_SURVEY (260) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_DO_SET_STANDARD_MODE (262) — [from: development] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_MISSION_START (300) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_GROUP_START (301) — [from: development] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_GROUP_END (302) — [from: development] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_ACTUATOR_TEST (310) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_CONFIGURE_ACTUATOR (311) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_COMPONENT_ARM_DISARM (400) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_RUN_PREARM_CHECKS (401) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_ILLUMINATOR_ON_OFF (405) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_DO_ILLUMINATOR_CONFIGURE (406) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_GET_HOME_POSITION (410) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_INJECT_FAILURE (420) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_START_RX_PAIR (500) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_GET_MESSAGE_INTERVAL (510) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_SET_MESSAGE_INTERVAL (511) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_REQUEST_MESSAGE (512) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_REQUEST_PROTOCOL_VERSION (519) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_REQUEST_AUTOPILOT_CAPABILITIES (520) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_REQUEST_CAMERA_INFORMATION (521) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_REQUEST_CAMERA_SETTINGS (522) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_REQUEST_STORAGE_INFORMATION (525) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_STORAGE_FORMAT (526) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_REQUEST_CAMERA_CAPTURE_STATUS (527) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_REQUEST_FLIGHT_INFORMATION (528) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_RESET_CAMERA_SETTINGS (529) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_SET_CAMERA_MODE (530) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_SET_CAMERA_ZOOM (531) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_SET_CAMERA_FOCUS (532) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_SET_STORAGE_USAGE (533) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_SET_CAMERA_SOURCE (534) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_SET_AT_S_PARAM (550) — [from: development] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_JUMP_TAG (600) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_DO_JUMP_TAG (601) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_DO_SET_SYS_CMP_ID (610) — [from: development] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_PARAM_TRANSACTION (900) — [from: development] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_DO_GIMBAL_MANAGER_PITCHYAW (1000) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_DO_GIMBAL_MANAGER_CONFIGURE (1001) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_IMAGE_START_CAPTURE (2000) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_IMAGE_STOP_CAPTURE (2001) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_REQUEST_CAMERA_IMAGE_CAPTURE (2002) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_DO_TRIGGER_CONTROL (2003) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_CAMERA_TRACK_POINT (2004) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_CAMERA_TRACK_RECTANGLE (2005) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_CAMERA_STOP_TRACKING (2010) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_VIDEO_START_CAPTURE (2500) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_VIDEO_STOP_CAPTURE (2501) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_VIDEO_START_STREAMING (2502) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_VIDEO_STOP_STREAMING (2503) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_REQUEST_VIDEO_STREAM_INFORMATION (2504) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_REQUEST_VIDEO_STREAM_STATUS (2505) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_LOGGING_START (2510) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_LOGGING_STOP (2511) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_AIRFRAME_CONFIGURATION (2520) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_CONTROL_HIGH_LATENCY (2600) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_PANORAMA_CREATE (2800) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_DO_VTOL_TRANSITION (3000) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_ARM_AUTHORIZATION_REQUEST (3001) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_SET_GUIDED_SUBMODE_STANDARD (4000) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_SET_GUIDED_SUBMODE_CIRCLE (4001) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_CONDITION_GATE (4501) — [from: common] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_NAV_FENCE_RETURN_POINT (5000) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_NAV_FENCE_POLYGON_VERTEX_INCLUSION (5001) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_NAV_FENCE_POLYGON_VERTEX_EXCLUSION (5002) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_NAV_FENCE_CIRCLE_INCLUSION (5003) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_NAV_FENCE_CIRCLE_EXCLUSION (5004) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_NAV_RALLY_POINT (5100) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_UAVCAN_GET_NODE_INFO (5200) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_DO_SET_SAFETY_SWITCH_STATE (5300) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_DO_ADSB_OUT_IDENT (10001) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_ODID_SET_EMERGENCY (12900) — [from: development] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_PAYLOAD_PREPARE_DEPLOY (30001) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_PAYLOAD_CONTROL_DEPLOY (30002) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_WAYPOINT_USER_1 (31000) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_WAYPOINT_USER_2 (31001) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_WAYPOINT_USER_3 (31002) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_WAYPOINT_USER_4 (31003) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_WAYPOINT_USER_5 (31004) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_SPATIAL_USER_1 (31005) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_SPATIAL_USER_2 (31006) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_SPATIAL_USER_3 (31007) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_SPATIAL_USER_4 (31008) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_SPATIAL_USER_5 (31009) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_USER_1 (31010) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_USER_2 (31011) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_USER_3 (31012) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_USER_4 (31013) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_USER_5 (31014) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_CAN_FORWARD (32000) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_RESET_MPPT (40001) — [from: ASLUAV]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_PAYLOAD_CONTROL (40002) — [from: ASLUAV]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_POWER_OFF_INITIATED (42000) — [from: ardupilotmega]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_SOLO_BTN_FLY_CLICK (42001) — [from: ardupilotmega]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_SOLO_BTN_FLY_HOLD (42002) — [from: ardupilotmega]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_SOLO_BTN_PAUSE_CLICK (42003) — [from: ardupilotmega]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_FIXED_MAG_CAL (42004) — [from: ardupilotmega]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_FIXED_MAG_CAL_FIELD (42005) — [from: ardupilotmega]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_FIXED_MAG_CAL_YAW (42006) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_SET_EKF_SOURCE_SET (42007) — [from: ardupilotmega]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_DO_START_MAG_CAL (42424) — [from: ardupilotmega]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_DO_ACCEPT_MAG_CAL (42425) — [from: ardupilotmega]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_DO_CANCEL_MAG_CAL (42426) — [from: ardupilotmega]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_SET_FACTORY_TEST_MODE (42427) — [from: ardupilotmega]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_DO_SEND_BANNER (42428) — [from: ardupilotmega]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_ACCELCAL_VEHICLE_POS (42429) — [from: ardupilotmega]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_GIMBAL_RESET (42501) — [from: ardupilotmega]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_GIMBAL_AXIS_CALIBRATION_STATUS (42502) — [from: ardupilotmega]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_GIMBAL_REQUEST_AXIS_CALIBRATION (42503) — [from: ardupilotmega]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_GIMBAL_FULL_RESET (42505) — [from: ardupilotmega]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_DO_WINCH (42600) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_FLASH_BOOTLOADER (42650) — [from: ardupilotmega]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_BATTERY_RESET (42651) — [from: ardupilotmega]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_DEBUG_TRAP (42700) — [from: ardupilotmega]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_SCRIPTING (42701) — [from: ardupilotmega]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_NAV_SCRIPT_TIME (42702) — [from: ardupilotmega]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_NAV_ATTITUDE_TIME (42703) — [from: ardupilotmega]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_GUIDED_CHANGE_SPEED (43000) — [from: ardupilotmega]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_GUIDED_CHANGE_ALTITUDE (43001) — [from: ardupilotmega]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_GUIDED_CHANGE_HEADING (43002) — [from: ardupilotmega]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_EXTERNAL_POSITION_ESTIMATE (43003) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_EXTERNAL_WIND_ESTIMATE (43004) — [from: development] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_STORM32_DO_GIMBAL_MANAGER_CONTROL_PITCHYAW (60002) — [from: storm32]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_STORM32_DO_GIMBAL_MANAGER_SETUP (60010) — [from: storm32] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_QSHOT_DO_CONFIGURE (60020) — [from: storm32] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_PRS_SET_ARM (60050) — [from: AVSSUAS]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_PRS_GET_ARM (60051) — [from: AVSSUAS]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_PRS_GET_BATTERY (60052) — [from: AVSSUAS]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_PRS_GET_ERR (60053) — [from: AVSSUAS]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_PRS_SET_ARM_ALTI (60070) — [from: AVSSUAS]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_PRS_GET_ARM_ALTI (60071) — [from: AVSSUAS]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_PRS_SHUTDOWN (60072) — [from: AVSSUAS]

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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              \ No newline at end of file +all.xml · MAVLink Developer Guide
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Examples
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Dialect: all

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              This dialect is intended to include all other dialects in the mavlink/mavlink repository (including external dialects).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Dialects that are in all.xml are guaranteed to not have clashes in messages, enums, enum ids, and MAV_CMDs. This ensure that: This ensure that:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • Systems based on these dialects can co-exist on the same MAVLink network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • A Ground Station might (optionally) use libraries generated from all.xml to communicate using any of the dialects.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • Warning New dialect files in the official repository must be added to all.xml and restrict themselves to using ids in their own allocated range. A few older dialects are not included because these operate in completely closed networks or because they are only used for tests.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • Dialects should push changes to mavlink/mavlink in order to avoid potential clashes from changes to other dialects.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              A few older dialects are not included because these operate in completely closed networks or because they are only used for tests.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              This topic is a human-readable form of the XML definition file: all.xml.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAVLink 2 extension fields that have been added to MAVLink 1 messages are displayed in blue. - Entities from dialects are displayed only as headings (with link to original)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Summary

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              TypeDefinedIncluded
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Messages0364
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Commands2180

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              The following sections list all entities in the dialect (both included and defined in this file).

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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Enumerated Types

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Commands (MAV_CMD)

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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                \ No newline at end of file diff --git a/zh/messages/ardupilotmega.html b/zh/messages/ardupilotmega.html index 69d2c49de..4b949e85f 100644 --- a/zh/messages/ardupilotmega.html +++ b/zh/messages/ardupilotmega.html @@ -1 +1 @@ -ardupilotmega.xml · MAVLink Developer Guide
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                方言：ArduPilotMega

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                ardupilotmega.xml 的ArduPilot MAVLink分支可能包含尚未合并到本文档中的消息。 The documentation below may not be accurate if the dialect owner has not pushed changes.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                这些消息定义了ArduPilot特定的消息集，该消息集是 http://ardupilot.org 的自定义消息。

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                这个话题是一种 XML 定义文件的可读形式： ardupilotmega.xml 。

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                已添加到 MAVLink 1 消息中的 MAVLink 2 扩展字段以蓝色显示。 - Entities from dialects are displayed only as headings (with link to original)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Protocol dialect: 2

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Summary

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                TypeDefinedIncluded
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Messages65240
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Enums45157
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Commands1950

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                The following sections list all entities in the dialect (both included and defined in this file).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Messages

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                HEARTBEAT (0) — [from: minimal]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                SYS_STATUS (1) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                SYSTEM_TIME (2) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                PING (4) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                CHANGE_OPERATOR_CONTROL (5) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                CHANGE_OPERATOR_CONTROL_ACK (6) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                AUTH_KEY (7) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                SET_MODE (11) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                PARAM_REQUEST_READ (20) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                PARAM_REQUEST_LIST (21) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                PARAM_VALUE (22) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                PARAM_SET (23) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                GPS_RAW_INT (24) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                GPS_STATUS (25) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                SCALED_IMU (26) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                RAW_IMU (27) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                RAW_PRESSURE (28) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                SCALED_PRESSURE (29) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                ATTITUDE (30) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                ATTITUDE_QUATERNION (31) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                LOCAL_POSITION_NED (32) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                GLOBAL_POSITION_INT (33) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                RC_CHANNELS_SCALED (34) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                RC_CHANNELS_RAW (35) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                SERVO_OUTPUT_RAW (36) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MISSION_REQUEST_PARTIAL_LIST (37) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MISSION_WRITE_PARTIAL_LIST (38) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MISSION_ITEM (39) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MISSION_REQUEST (40) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MISSION_SET_CURRENT (41) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MISSION_CURRENT (42) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MISSION_REQUEST_LIST (43) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MISSION_COUNT (44) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MISSION_CLEAR_ALL (45) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MISSION_ITEM_REACHED (46) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MISSION_ACK (47) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                SET_GPS_GLOBAL_ORIGIN (48) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                GPS_GLOBAL_ORIGIN (49) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                PARAM_MAP_RC (50) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MISSION_REQUEST_INT (51) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                SAFETY_SET_ALLOWED_AREA (54) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                SAFETY_ALLOWED_AREA (55) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                ATTITUDE_QUATERNION_COV (61) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                GLOBAL_POSITION_INT_COV (63) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                LOCAL_POSITION_NED_COV (64) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                RC_CHANNELS (65) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                REQUEST_DATA_STREAM (66) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                DATA_STREAM (67) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MANUAL_CONTROL (69) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                RC_CHANNELS_OVERRIDE (70) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MISSION_ITEM_INT (73) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                VFR_HUD (74) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                COMMAND_INT (75) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                COMMAND_LONG (76) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                COMMAND_ACK (77) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                COMMAND_CANCEL (80) — [from: common] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MANUAL_SETPOINT (81) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                SET_ATTITUDE_TARGET (82) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                ATTITUDE_TARGET (83) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                SET_POSITION_TARGET_LOCAL_NED (84) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                POSITION_TARGET_LOCAL_NED (85) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                SET_POSITION_TARGET_GLOBAL_INT (86) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                POSITION_TARGET_GLOBAL_INT (87) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                LOCAL_POSITION_NED_SYSTEM_GLOBAL_OFFSET (89) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                HIL_STATE (90) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                HIL_CONTROLS (91) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                HIL_RC_INPUTS_RAW (92) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                HIL_ACTUATOR_CONTROLS (93) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                OPTICAL_FLOW (100) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                GLOBAL_VISION_POSITION_ESTIMATE (101) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                VISION_POSITION_ESTIMATE (102) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                VISION_SPEED_ESTIMATE (103) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                VICON_POSITION_ESTIMATE (104) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                HIGHRES_IMU (105) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                OPTICAL_FLOW_RAD (106) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                HIL_SENSOR (107) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                SIM_STATE (108) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                RADIO_STATUS (109) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                FILE_TRANSFER_PROTOCOL (110) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                TIMESYNC (111) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                CAMERA_TRIGGER (112) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                HIL_GPS (113) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                HIL_OPTICAL_FLOW (114) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                HIL_STATE_QUATERNION (115) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                SCALED_IMU2 (116) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                LOG_REQUEST_LIST (117) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                LOG_ENTRY (118) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                LOG_REQUEST_DATA (119) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                LOG_DATA (120) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                LOG_ERASE (121) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                LOG_REQUEST_END (122) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                GPS_INJECT_DATA (123) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                GPS2_RAW (124) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                POWER_STATUS (125) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                SERIAL_CONTROL (126) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                GPS_RTK (127) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                GPS2_RTK (128) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                SCALED_IMU3 (129) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                DATA_TRANSMISSION_HANDSHAKE (130) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                ENCAPSULATED_DATA (131) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                DISTANCE_SENSOR (132) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                TERRAIN_REQUEST (133) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                TERRAIN_DATA (134) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                TERRAIN_CHECK (135) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                TERRAIN_REPORT (136) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                SCALED_PRESSURE2 (137) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                ATT_POS_MOCAP (138) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                SET_ACTUATOR_CONTROL_TARGET (139) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                ACTUATOR_CONTROL_TARGET (140) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                ALTITUDE (141) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                RESOURCE_REQUEST (142) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                SCALED_PRESSURE3 (143) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                FOLLOW_TARGET (144) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                CONTROL_SYSTEM_STATE (146) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                BATTERY_STATUS (147) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                AUTOPILOT_VERSION (148) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                LANDING_TARGET (149) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                SENSOR_OFFSETS (150)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Offsets and calibrations values for hardware sensors. This makes it easier to debug the calibration process.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                mag_ofs_xint16_tMagnetometer X offset.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                mag_ofs_yint16_tMagnetometer Y offset.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                mag_ofs_zint16_tMagnetometer Z offset.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                mag_declinationfloatradMagnetic declination.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                raw_pressint32_tRaw pressure from barometer.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                raw_tempint32_tRaw temperature from barometer.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                gyro_cal_xfloatGyro X calibration.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                gyro_cal_yfloatGyro Y calibration.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                gyro_cal_zfloatGyro Z calibration.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                accel_cal_xfloatAccel X calibration.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                accel_cal_yfloatAccel Y calibration.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                accel_cal_zfloatAccel Z calibration.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                SET_MAG_OFFSETS (151) — [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                DEPRECATED: Replaced By MAV_CMD_PREFLIGHT_SET_SENSOR_OFFSETS (2014-07)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Set the magnetometer offsets

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                target_systemuint8_tSystem ID.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                target_componentuint8_tComponent ID.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                mag_ofs_xint16_tMagnetometer X offset.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                mag_ofs_yint16_tMagnetometer Y offset.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                mag_ofs_zint16_tMagnetometer Z offset.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MEMINFO (152)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                State of autopilot RAM.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                brkvaluint16_tHeap top.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                freememuint16_tbytesFree memory.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                freemem32 ++uint32_tbytesFree memory (32 bit).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                AP_ADC (153)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Raw ADC output.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                adc1uint16_tADC output 1.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                adc2uint16_tADC output 2.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                adc3uint16_tADC output 3.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                adc4uint16_tADC output 4.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                adc5uint16_tADC output 5.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                adc6uint16_tADC output 6.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                DIGICAM_CONFIGURE (154)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Configure on-board Camera Control System.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                target_systemuint8_tSystem ID.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                target_componentuint8_tComponent ID.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                modeuint8_tMode enumeration from 1 to N //P, TV, AV, M, etc. (0 means ignore).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                shutter_speeduint16_tDivisor number //e.g. 1000 means 1/1000 (0 means ignore).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                apertureuint8_tF stop number x 10 //e.g. 28 means 2.8 (0 means ignore).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                isouint8_tISO enumeration from 1 to N //e.g. 80, 100, 200, Etc (0 means ignore).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                exposure_typeuint8_tExposure type enumeration from 1 to N (0 means ignore).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                command_iduint8_tCommand Identity (incremental loop: 0 to 255). //A command sent multiple times will be executed or pooled just once.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                engine_cut_offuint8_tdsMain engine cut-off time before camera trigger (0 means no cut-off).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                extra_paramuint8_tExtra parameters enumeration (0 means ignore).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                extra_valuefloatCorrespondent value to given extra_param.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                DIGICAM_CONTROL (155)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Control on-board Camera Control System to take shots.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                target_systemuint8_tSystem ID.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                target_componentuint8_tComponent ID.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                sessionuint8_t0: stop, 1: start or keep it up //Session control e.g. show/hide lens.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                zoom_posuint8_t1 to N //Zoom's absolute position (0 means ignore).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                zoom_stepint8_t-100 to 100 //Zooming step value to offset zoom from the current position.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                focus_lockuint8_t0: unlock focus or keep unlocked, 1: lock focus or keep locked, 3: re-lock focus.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                shotuint8_t0: ignore, 1: shot or start filming.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                command_iduint8_tCommand Identity (incremental loop: 0 to 255)//A command sent multiple times will be executed or pooled just once.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                extra_paramuint8_tExtra parameters enumeration (0 means ignore).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                extra_valuefloatCorrespondent value to given extra_param.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MOUNT_CONFIGURE (156)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Message to configure a camera mount, directional antenna, etc.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Field NameTypeValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                target_systemuint8_tSystem ID.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                target_componentuint8_tComponent ID.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                mount_modeuint8_tMAV_MOUNT_MODEMount operating mode.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                stab_rolluint8_t(1 = yes, 0 = no).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                stab_pitchuint8_t(1 = yes, 0 = no).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                stab_yawuint8_t(1 = yes, 0 = no).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MOUNT_CONTROL (157)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Message to control a camera mount, directional antenna, etc.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                target_systemuint8_tSystem ID.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                target_componentuint8_tComponent ID.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                input_aint32_tPitch (centi-degrees) or lat (degE7), depending on mount mode.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                input_bint32_tRoll (centi-degrees) or lon (degE7) depending on mount mode.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                input_cint32_tYaw (centi-degrees) or alt (cm) depending on mount mode.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                save_positionuint8_tIf "1" it will save current trimmed position on EEPROM (just valid for NEUTRAL and LANDING).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MOUNT_STATUS (158)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Message with some status from autopilot to GCS about camera or antenna mount.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                target_systemuint8_tSystem ID.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                target_componentuint8_tComponent ID.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                pointing_aint32_tcdegPitch.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                pointing_bint32_tcdegRoll.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                pointing_cint32_tcdegYaw.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                mount_mode ++uint8_tMAV_MOUNT_MODEMount operating mode.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                FENCE_POINT (160)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                A fence point. Used to set a point when from GCS -> MAV. Also used to return a point from MAV -> GCS.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                target_systemuint8_tSystem ID.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                target_componentuint8_tComponent ID.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                idxuint8_tPoint index (first point is 1, 0 is for return point).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                countuint8_tTotal number of points (for sanity checking).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                latfloatdegLatitude of point.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                lngfloatdegLongitude of point.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                FENCE_FETCH_POINT (161)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Request a current fence point from MAV.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                target_systemuint8_tSystem ID.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                target_componentuint8_tComponent ID.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                idxuint8_tPoint index (first point is 1, 0 is for return point).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                FENCE_STATUS (162) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                AHRS (163)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Status of DCM attitude estimator.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                omegaIxfloatrad/sX gyro drift estimate.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                omegaIyfloatrad/sY gyro drift estimate.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                omegaIzfloatrad/sZ gyro drift estimate.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                accel_weightfloatAverage accel_weight.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                renorm_valfloatAverage renormalisation value.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                error_rpfloatAverage error_roll_pitch value.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                error_yawfloatAverage error_yaw value.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                SIMSTATE (164)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Status of simulation environment, if used.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                rollfloatradRoll angle.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                pitchfloatradPitch angle.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                yawfloatradYaw angle.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                xaccfloatm/s/sX acceleration.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                yaccfloatm/s/sY acceleration.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                zaccfloatm/s/sZ acceleration.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                xgyrofloatrad/sAngular speed around X axis.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                ygyrofloatrad/sAngular speed around Y axis.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                zgyrofloatrad/sAngular speed around Z axis.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                latint32_tdegE7Latitude.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                lngint32_tdegE7Longitude.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                HWSTATUS (165)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Status of key hardware.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Vccuint16_tmVBoard voltage.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                I2Cerruint8_tI2C error count.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                RADIO (166)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Status generated by radio.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                rssiuint8_tLocal signal strength.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                remrssiuint8_tRemote signal strength.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                txbufuint8_t%How full the tx buffer is.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                noiseuint8_tBackground noise level.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                remnoiseuint8_tRemote background noise level.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                rxerrorsuint16_tReceive errors.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                fixeduint16_tCount of error corrected packets.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                LIMITS_STATUS (167)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Status of AP_Limits. Sent in extended status stream when AP_Limits is enabled.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                limits_stateuint8_tLIMITS_STATEState of AP_Limits.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                last_triggeruint32_tmsTime (since boot) of last breach.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                last_actionuint32_tmsTime (since boot) of last recovery action.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                last_recoveryuint32_tmsTime (since boot) of last successful recovery.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                last_clearuint32_tmsTime (since boot) of last all-clear.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                breach_countuint16_tNumber of fence breaches.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                mods_enableduint8_tLIMIT_MODULEAP_Limit_Module bitfield of enabled modules.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                mods_requireduint8_tLIMIT_MODULEAP_Limit_Module bitfield of required modules.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                mods_triggereduint8_tLIMIT_MODULEAP_Limit_Module bitfield of triggered modules.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                WIND (168)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Wind estimation.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                directionfloatdegWind direction (that wind is coming from).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                speedfloatm/sWind speed in ground plane.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                speed_zfloatm/sVertical wind speed.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                DATA16 (169)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Data packet, size 16.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                typeuint8_tData type.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                lenuint8_tbytesData length.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                datauint8_t[16]Raw data.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                DATA32 (170)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Data packet, size 32.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                typeuint8_tData type.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                lenuint8_tbytesData length.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                datauint8_t[32]Raw data.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                DATA64 (171)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Data packet, size 64.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                typeuint8_tData type.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                lenuint8_tbytesData length.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                datauint8_t[64]Raw data.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                DATA96 (172)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Data packet, size 96.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                typeuint8_tData type.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                lenuint8_tbytesData length.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                datauint8_t[96]Raw data.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                RANGEFINDER (173)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Rangefinder reporting.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                distancefloatmDistance.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                voltagefloatVRaw voltage if available, zero otherwise.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                AIRSPEED_AUTOCAL (174)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Airspeed auto-calibration.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                vxfloatm/sGPS velocity north.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                vyfloatm/sGPS velocity east.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                vzfloatm/sGPS velocity down.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                diff_pressurefloatPaDifferential pressure.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                EAS2TASfloatEstimated to true airspeed ratio.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                ratiofloatAirspeed ratio.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                state_xfloatEKF state x.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                state_yfloatEKF state y.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                state_zfloatEKF state z.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                PaxfloatEKF Pax.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                PbyfloatEKF Pby.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                PczfloatEKF Pcz.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                RALLY_POINT (175)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                A rally point. Used to set a point when from GCS -> MAV. Also used to return a point from MAV -> GCS.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                target_systemuint8_tSystem ID.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                target_componentuint8_tComponent ID.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                idxuint8_tPoint index (first point is 0).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                countuint8_tTotal number of points (for sanity checking).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                latint32_tdegE7Latitude of point.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                lngint32_tdegE7Longitude of point.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                altint16_tmTransit / loiter altitude relative to home.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                break_altint16_tmBreak altitude relative to home.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                land_diruint16_tcdegHeading to aim for when landing.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                flagsuint8_tRALLY_FLAGSConfiguration flags.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                RALLY_FETCH_POINT (176)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Request a current rally point from MAV. MAV should respond with a RALLY_POINT message. MAV should not respond if the request is invalid.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                target_systemuint8_tSystem ID.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                target_componentuint8_tComponent ID.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                idxuint8_tPoint index (first point is 0).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                COMPASSMOT_STATUS (177)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Status of compassmot calibration.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                throttleuint16_td%Throttle.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                currentfloatACurrent.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                interferenceuint16_t%Interference.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                CompensationXfloatMotor Compensation X.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                CompensationYfloatMotor Compensation Y.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                CompensationZfloatMotor Compensation Z.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                AHRS2 (178)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Status of secondary AHRS filter if available.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                rollfloatradRoll angle.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                pitchfloatradPitch angle.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                yawfloatradYaw angle.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                altitudefloatmAltitude (MSL).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                latint32_tdegE7Latitude.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                lngint32_tdegE7Longitude.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                CAMERA_STATUS (179)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Camera Event.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                time_usecuint64_tusImage timestamp (since UNIX epoch, according to camera clock).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                target_systemuint8_tSystem ID.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                cam_idxuint8_tCamera ID.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                img_idxuint16_tImage index.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                event_iduint8_tCAMERA_STATUS_TYPESEvent type.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                p1floatParameter 1 (meaning depends on event_id, see CAMERA_STATUS_TYPES enum).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                p2floatParameter 2 (meaning depends on event_id, see CAMERA_STATUS_TYPES enum).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                p3floatParameter 3 (meaning depends on event_id, see CAMERA_STATUS_TYPES enum).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                p4floatParameter 4 (meaning depends on event_id, see CAMERA_STATUS_TYPES enum).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                CAMERA_FEEDBACK (180)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Camera Capture Feedback.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                time_usecuint64_tusImage timestamp (since UNIX epoch), as passed in by CAMERA_STATUS message (or autopilot if no CCB).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                target_systemuint8_tSystem ID.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                cam_idxuint8_tCamera ID.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                img_idxuint16_tImage index.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                latint32_tdegE7Latitude.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                lngint32_tdegE7Longitude.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                alt_mslfloatmAltitude (MSL).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                alt_relfloatmAltitude (Relative to HOME location).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                rollfloatdegCamera Roll angle (earth frame, +-180).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                pitchfloatdegCamera Pitch angle (earth frame, +-180).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                yawfloatdegCamera Yaw (earth frame, 0-360, true).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                foc_lenfloatmmFocal Length.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                flagsuint8_tCAMERA_FEEDBACK_FLAGSFeedback flags.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                completed_captures ++uint16_tCompleted image captures.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                BATTERY2 (181) — [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                DEPRECATED: Replaced By BATTERY_STATUS (2017-04)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                2nd Battery status

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                voltageuint16_tmVVoltage.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                current_batteryint16_tcABattery current, -1: autopilot does not measure the current.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                AHRS3 (182)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Status of third AHRS filter if available. This is for ANU research group (Ali and Sean).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                rollfloatradRoll angle.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                pitchfloatradPitch angle.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                yawfloatradYaw angle.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                altitudefloatmAltitude (MSL).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                latint32_tdegE7Latitude.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                lngint32_tdegE7Longitude.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                v1floatTest variable1.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                v2floatTest variable2.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                v3floatTest variable3.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                v4floatTest variable4.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                AUTOPILOT_VERSION_REQUEST (183)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Request the autopilot version from the system/component.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                target_systemuint8_tSystem ID.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                target_componentuint8_tComponent ID.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                REMOTE_LOG_DATA_BLOCK (184)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Send a block of log data to remote location.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Field NameTypeValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                target_systemuint8_tSystem ID.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                target_componentuint8_tComponent ID.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                seqnouint32_tMAV_REMOTE_LOG_DATA_BLOCK_COMMANDSLog data block sequence number.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                datauint8_t[200]Log data block.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                REMOTE_LOG_BLOCK_STATUS (185)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Send Status of each log block that autopilot board might have sent.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Field NameTypeValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                target_systemuint8_tSystem ID.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                target_componentuint8_tComponent ID.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                seqnouint32_tLog data block sequence number.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                statusuint8_tMAV_REMOTE_LOG_DATA_BLOCK_STATUSESLog data block status.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                LED_CONTROL (186)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Control vehicle LEDs.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                target_systemuint8_tSystem ID.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                target_componentuint8_tComponent ID.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                instanceuint8_tInstance (LED instance to control or 255 for all LEDs).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                patternuint8_tPattern (see LED_PATTERN_ENUM).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                custom_lenuint8_tCustom Byte Length.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                custom_bytesuint8_t[24]Custom Bytes.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAG_CAL_PROGRESS (191)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Reports progress of compass calibration.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                compass_iduint8_tCompass being calibrated.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Messages with same value are from the same source (instance). | | cal_mask | uint8_t | | | Bitmask of compasses being calibrated. | | cal_status | uint8_t | | MAG_CAL_STATUS | Calibration Status. | | attempt | uint8_t | | | Attempt number. | | completion_pct | uint8_t | % | | Completion percentage. | | completion_mask | uint8_t[10] | | | Bitmask of sphere sections (see http://en.wikipedia.org/wiki/Geodesic_grid). | | direction_x | float | | | Body frame direction vector for display. | | direction_y | float | | | Body frame direction vector for display. | | direction_z | float | | | Body frame direction vector for display. |

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAG_CAL_REPORT (192) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                EKF_STATUS_REPORT (193)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                EKF Status message including flags and variances.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Field NameTypeValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                flagsuint16_tEKF_STATUS_FLAGSFlags.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                velocity_variancefloatVelocity variance.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                pos_horiz_variancefloatHorizontal Position variance.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                pos_vert_variancefloatVertical Position variance.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                compass_variancefloatCompass variance.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                terrain_alt_variancefloatTerrain Altitude variance.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                airspeed_variance ++floatAirspeed variance.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                PID_TUNING (194)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                PID tuning information.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Field NameTypeValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                axisuint8_tPID_TUNING_AXISAxis.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Messages with same value are from the same source (instance). | | desired | float | | Desired rate. | | achieved | float | | Achieved rate. | | FF | float | | FF component. | | P | float | | P component. | | I | float | | I component. | | D | float | | D component. | | SRate ++ | float | | Slew rate. | | PDmod ++ | float | | P/D oscillation modifier. |

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                DEEPSTALL (195)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Deepstall path planning.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                landing_latint32_tdegE7Landing latitude.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                landing_lonint32_tdegE7Landing longitude.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                path_latint32_tdegE7Final heading start point, latitude.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                path_lonint32_tdegE7Final heading start point, longitude.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                arc_entry_latint32_tdegE7Arc entry point, latitude.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                arc_entry_lonint32_tdegE7Arc entry point, longitude.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                altitudefloatmAltitude.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                expected_travel_distancefloatmDistance the aircraft expects to travel during the deepstall.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                cross_track_errorfloatmDeepstall cross track error (only valid when in DEEPSTALL_STAGE_LAND).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                stageuint8_tDEEPSTALL_STAGEDeepstall stage.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                GIMBAL_REPORT (200)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                3 axis gimbal measurements.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                target_systemuint8_tSystem ID.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                target_componentuint8_tComponent ID.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                delta_timefloatsTime since last update.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                delta_angle_xfloatradDelta angle X.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                delta_angle_yfloatradDelta angle Y.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                delta_angle_zfloatradDelta angle X.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                delta_velocity_xfloatm/sDelta velocity X.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                delta_velocity_yfloatm/sDelta velocity Y.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                delta_velocity_zfloatm/sDelta velocity Z.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                joint_rollfloatradJoint ROLL.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                joint_elfloatradJoint EL.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                joint_azfloatradJoint AZ.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                GIMBAL_CONTROL (201)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Control message for rate gimbal.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                target_systemuint8_tSystem ID.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                target_componentuint8_tComponent ID.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                demanded_rate_xfloatrad/sDemanded angular rate X.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                demanded_rate_yfloatrad/sDemanded angular rate Y.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                demanded_rate_zfloatrad/sDemanded angular rate Z.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                GIMBAL_TORQUE_CMD_REPORT (214)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                100 Hz gimbal torque command telemetry.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                target_systemuint8_tSystem ID.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                target_componentuint8_tComponent ID.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                rl_torque_cmdint16_tRoll Torque Command.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                el_torque_cmdint16_tElevation Torque Command.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                az_torque_cmdint16_tAzimuth Torque Command.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                GOPRO_HEARTBEAT (215)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Heartbeat from a HeroBus attached GoPro.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Field NameTypeValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                statusuint8_tGOPRO_HEARTBEAT_STATUSStatus.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                capture_modeuint8_tGOPRO_CAPTURE_MODECurrent capture mode.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                flagsuint8_tGOPRO_HEARTBEAT_FLAGSAdditional status bits.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                GOPRO_GET_REQUEST (216)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Request a GOPRO_COMMAND response from the GoPro.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Field NameTypeValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                target_systemuint8_tSystem ID.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                target_componentuint8_tComponent ID.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                cmd_iduint8_tGOPRO_COMMANDCommand ID.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                GOPRO_GET_RESPONSE (217)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Response from a GOPRO_COMMAND get request.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Field NameTypeValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                cmd_iduint8_tGOPRO_COMMANDCommand ID.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                statusuint8_tGOPRO_REQUEST_STATUSStatus.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                valueuint8_t[4]Value.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                GOPRO_SET_REQUEST (218)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Request to set a GOPRO_COMMAND with a desired.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Field NameTypeValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                target_systemuint8_tSystem ID.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                target_componentuint8_tComponent ID.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                cmd_iduint8_tGOPRO_COMMANDCommand ID.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                valueuint8_t[4]Value.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                GOPRO_SET_RESPONSE (219)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Response from a GOPRO_COMMAND set request.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Field NameTypeValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                cmd_iduint8_tGOPRO_COMMANDCommand ID.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                statusuint8_tGOPRO_REQUEST_STATUSStatus.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                EFI_STATUS (225) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                RPM (226)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                RPM sensor output.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                rpm1floatRPM Sensor1.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                rpm2floatRPM Sensor2.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                ESTIMATOR_STATUS (230) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                WIND_COV (231) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                GPS_INPUT (232) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                GPS_RTCM_DATA (233) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                HIGH_LATENCY (234) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                HIGH_LATENCY2 (235) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                VIBRATION (241) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                HOME_POSITION (242) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                SET_HOME_POSITION (243) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MESSAGE_INTERVAL (244) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                EXTENDED_SYS_STATE (245) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                ADSB_VEHICLE (246) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                COLLISION (247) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                V2_EXTENSION (248) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MEMORY_VECT (249) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                DEBUG_VECT (250) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                NAMED_VALUE_FLOAT (251) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                NAMED_VALUE_INT (252) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                STATUSTEXT (253) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                DEBUG (254) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                SETUP_SIGNING (256) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                BUTTON_CHANGE (257) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                PLAY_TUNE (258) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                CAMERA_INFORMATION (259) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                CAMERA_SETTINGS (260) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                STORAGE_INFORMATION (261) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                CAMERA_CAPTURE_STATUS (262) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                CAMERA_IMAGE_CAPTURED (263) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                FLIGHT_INFORMATION (264) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MOUNT_ORIENTATION (265) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                LOGGING_DATA (266) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                LOGGING_DATA_ACKED (267) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                LOGGING_ACK (268) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                VIDEO_STREAM_INFORMATION (269) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                VIDEO_STREAM_STATUS (270) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                CAMERA_FOV_STATUS (271) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                CAMERA_TRACKING_IMAGE_STATUS (275) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                CAMERA_TRACKING_GEO_STATUS (276) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                CAMERA_THERMAL_RANGE (277) — [from: common] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                GIMBAL_MANAGER_INFORMATION (280) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                GIMBAL_MANAGER_STATUS (281) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                GIMBAL_MANAGER_SET_ATTITUDE (282) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                GIMBAL_DEVICE_INFORMATION (283) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                GIMBAL_DEVICE_SET_ATTITUDE (284) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                GIMBAL_DEVICE_ATTITUDE_STATUS (285) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                AUTOPILOT_STATE_FOR_GIMBAL_DEVICE (286) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                GIMBAL_MANAGER_SET_PITCHYAW (287) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                GIMBAL_MANAGER_SET_MANUAL_CONTROL (288) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                ESC_INFO (290) — [from: common] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                ESC_STATUS (291) — [from: common] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                WIFI_CONFIG_AP (299) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                PROTOCOL_VERSION (300) — [from: minimal] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                AIS_VESSEL (301) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                UAVCAN_NODE_STATUS (310) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                UAVCAN_NODE_INFO (311) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                PARAM_EXT_REQUEST_READ (320) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                PARAM_EXT_REQUEST_LIST (321) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                PARAM_EXT_VALUE (322) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                PARAM_EXT_SET (323) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                PARAM_EXT_ACK (324) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                OBSTACLE_DISTANCE (330) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                ODOMETRY (331) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                TRAJECTORY_REPRESENTATION_WAYPOINTS (332) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                TRAJECTORY_REPRESENTATION_BEZIER (333) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                CELLULAR_STATUS (334) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                CELLULAR_CONFIG (336) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                RAW_RPM (339) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                UTM_GLOBAL_POSITION (340) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                DEBUG_FLOAT_ARRAY (350) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                ORBIT_EXECUTION_STATUS (360) — [from: common] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                BATTERY_INFO (370) — [from: common] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                GENERATOR_STATUS (373) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                ACTUATOR_OUTPUT_STATUS (375) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                TIME_ESTIMATE_TO_TARGET (380) — [from: common] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                TUNNEL (385) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                CAN_FRAME (386) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                CANFD_FRAME (387) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                CAN_FILTER_MODIFY (388) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                ONBOARD_COMPUTER_STATUS (390) — [from: common] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                COMPONENT_INFORMATION (395) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                COMPONENT_INFORMATION_BASIC (396) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                COMPONENT_METADATA (397) — [from: common] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                PLAY_TUNE_V2 (400) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                SUPPORTED_TUNES (401) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                EVENT (410) — [from: common] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                CURRENT_EVENT_SEQUENCE (411) — [from: common] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                REQUEST_EVENT (412) — [from: common] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                RESPONSE_EVENT_ERROR (413) — [from: common] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                ILLUMINATOR_STATUS (440) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                WHEEL_DISTANCE (9000) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                WINCH_STATUS (9005) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                UAVIONIX_ADSB_OUT_CFG (10001) — [from: uAvionix]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                UAVIONIX_ADSB_OUT_DYNAMIC (10002) — [from: uAvionix]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                UAVIONIX_ADSB_TRANSCEIVER_HEALTH_REPORT (10003) — [from: uAvionix]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                DEVICE_OP_READ (11000)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Read registers for a device.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Field NameTypeValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                target_systemuint8_tSystem ID.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                target_componentuint8_tComponent ID.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                request_iduint32_tRequest ID - copied to reply.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                bustypeuint8_tDEVICE_OP_BUSTYPEThe bus type.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                busuint8_tBus number.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                addressuint8_tBus address.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                busnamechar[40]Name of device on bus (for SPI).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                regstartuint8_tFirst register to read.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                countuint8_tCount of registers to read.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                bank ++uint8_tBank number.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                DEVICE_OP_READ_REPLY (11001)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Read registers reply.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                request_iduint32_tRequest ID - copied from request.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                resultuint8_t0 for success, anything else is failure code.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                regstartuint8_tStarting register.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                countuint8_tCount of bytes read.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                datauint8_t[128]Reply data.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                bank ++uint8_tBank number.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                DEVICE_OP_WRITE (11002)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Write registers for a device.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Field NameTypeValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                target_systemuint8_tSystem ID.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                target_componentuint8_tComponent ID.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                request_iduint32_tRequest ID - copied to reply.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                bustypeuint8_tDEVICE_OP_BUSTYPEThe bus type.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                busuint8_tBus number.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                addressuint8_tBus address.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                busnamechar[40]Name of device on bus (for SPI).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                regstartuint8_tFirst register to write.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                countuint8_tCount of registers to write.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                datauint8_t[128]Write data.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                bank ++uint8_tBank number.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                DEVICE_OP_WRITE_REPLY (11003)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Write registers reply.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                request_iduint32_tRequest ID - copied from request.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                resultuint8_t0 for success, anything else is failure code.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                ADAP_TUNING (11010)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Adaptive Controller tuning information.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                axisuint8_tPID_TUNING_AXISAxis.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Messages with same value are from the same source (instance). | | desired | float | deg/s | | Desired rate. | | achieved | float | deg/s | | Achieved rate. | | error | float | | | Error between model and vehicle. | | theta | float | | | Theta estimated state predictor. | | omega | float | | | Omega estimated state predictor. | | sigma | float | | | Sigma estimated state predictor. | | theta_dot | float | | | Theta derivative. | | omega_dot | float | | | Omega derivative. | | sigma_dot | float | | | Sigma derivative. | | f | float | | | Projection operator value. | | f_dot | float | | | Projection operator derivative. | | u | float | | | u adaptive controlled output command. |

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                VISION_POSITION_DELTA (11011)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Camera vision based attitude and position deltas.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                time_usecuint64_tusTimestamp (synced to UNIX time or since system boot).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                time_delta_usecuint64_tusTime since the last reported camera frame.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                angle_deltafloat[3]radDefines a rotation vector [roll, pitch, yaw] to the current MAV_FRAME_BODY_FRD from the previous MAV_FRAME_BODY_FRD.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                position_deltafloat[3]mChange in position to the current MAV_FRAME_BODY_FRD from the previous FRAME_BODY_FRD rotated to the current MAV_FRAME_BODY_FRD.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                confidencefloat%Normalised confidence value from 0 to 100.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                AOA_SSA (11020)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Angle of Attack and Side Slip Angle.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                time_usecuint64_tusTimestamp (since boot or Unix epoch).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                AOAfloatdegAngle of Attack.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                SSAfloatdegSide Slip Angle.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                ESC_TELEMETRY_1_TO_4 (11030)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                ESC Telemetry Data for ESCs 1 to 4, matching data sent by BLHeli ESCs.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                temperatureuint8_t[4]degCTemperature.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                voltageuint16_t[4]cVVoltage.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                currentuint16_t[4]cACurrent.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                totalcurrentuint16_t[4]mAhTotal current.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                rpmuint16_t[4]rpmRPM (eRPM).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                countuint16_t[4]count of telemetry packets received (wraps at 65535).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                ESC_TELEMETRY_5_TO_8 (11031)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                ESC Telemetry Data for ESCs 5 to 8, matching data sent by BLHeli ESCs.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                temperatureuint8_t[4]degCTemperature.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                voltageuint16_t[4]cVVoltage.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                currentuint16_t[4]cACurrent.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                totalcurrentuint16_t[4]mAhTotal current.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                rpmuint16_t[4]rpmRPM (eRPM).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                countuint16_t[4]count of telemetry packets received (wraps at 65535).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                ESC_TELEMETRY_9_TO_12 (11032)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                ESC Telemetry Data for ESCs 9 to 12, matching data sent by BLHeli ESCs.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                temperatureuint8_t[4]degCTemperature.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                voltageuint16_t[4]cVVoltage.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                currentuint16_t[4]cACurrent.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                totalcurrentuint16_t[4]mAhTotal current.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                rpmuint16_t[4]rpmRPM (eRPM).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                countuint16_t[4]count of telemetry packets received (wraps at 65535).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                OSD_PARAM_CONFIG (11033)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Configure an OSD parameter slot.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Field NameTypeValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                target_systemuint8_tSystem ID.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                target_componentuint8_tComponent ID.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                request_iduint32_tRequest ID - copied to reply.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                osd_screenuint8_tOSD parameter screen index.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                osd_indexuint8_tOSD parameter display index.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                param_idchar[16]Onboard parameter id, terminated by NULL if the length is less than 16 human-readable chars and WITHOUT null termination (NULL) byte if the length is exactly 16 chars - applications have to provide 16+1 bytes storage if the ID is stored as string
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                config_typeuint8_tOSD_PARAM_CONFIG_TYPEConfig type.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                min_valuefloatOSD parameter minimum value.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                max_valuefloatOSD parameter maximum value.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                incrementfloatOSD parameter increment.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                OSD_PARAM_CONFIG_REPLY (11034)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Configure OSD parameter reply.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Field NameTypeValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                request_iduint32_tRequest ID - copied from request.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                resultuint8_tOSD_PARAM_CONFIG_ERRORConfig error type.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                OSD_PARAM_SHOW_CONFIG (11035)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Read a configured an OSD parameter slot.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                target_systemuint8_tSystem ID.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                target_componentuint8_tComponent ID.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                request_iduint32_tRequest ID - copied to reply.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                osd_screenuint8_tOSD parameter screen index.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                osd_indexuint8_tOSD parameter display index.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                OSD_PARAM_SHOW_CONFIG_REPLY (11036)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Read configured OSD parameter reply.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Field NameTypeValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                request_iduint32_tRequest ID - copied from request.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                resultuint8_tOSD_PARAM_CONFIG_ERRORConfig error type.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                param_idchar[16]Onboard parameter id, terminated by NULL if the length is less than 16 human-readable chars and WITHOUT null termination (NULL) byte if the length is exactly 16 chars - applications have to provide 16+1 bytes storage if the ID is stored as string
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                config_typeuint8_tOSD_PARAM_CONFIG_TYPEConfig type.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                min_valuefloatOSD parameter minimum value.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                max_valuefloatOSD parameter maximum value.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                incrementfloatOSD parameter increment.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                OBSTACLE_DISTANCE_3D (11037) — [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Obstacle located as a 3D vector.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                time_boot_msuint32_tmsTimestamp (time since system boot).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                sensor_typeuint8_tMAV_DISTANCE_SENSORClass id of the distance sensor type.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                frameuint8_tMAV_FRAMECoordinate frame of reference.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                obstacle_iduint16_tUnique ID given to each obstacle so that its movement can be tracked. Use UINT16_MAX if object ID is unknown or cannot be determined.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Messages with same value are from the same source (instance). | | x | float | m | | X position of the obstacle. | | y | float | m | | Y position of the obstacle. | | z | float | m | | Z position of the obstacle. | | min_distance | float | m | | Minimum distance the sensor can measure. | | max_distance | float | m | | Maximum distance the sensor can measure. |

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                WATER_DEPTH (11038)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Water depth

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                time_boot_msuint32_tmsTimestamp (time since system boot)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                iduint8_tOnboard ID of the sensor

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Messages with same value are from the same source (instance). | | healthy | uint8_t | | Sensor data healthy (0=unhealthy, 1=healthy) | | lat | int32_t | degE7 | Latitude | | lng | int32_t | degE7 | Longitude | | alt | float | m | Altitude (MSL) of vehicle | | roll | float | rad | Roll angle | | pitch | float | rad | Pitch angle | | yaw | float | rad | Yaw angle | | distance | float | m | Distance (uncorrected) | | temperature | float | degC | Water temperature |

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MCU_STATUS (11039)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                The MCU status, giving MCU temperature and voltage. The min and max voltages are to allow for detecting power supply instability.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                iduint8_tMCU instance

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Messages with same value are from the same source (instance). | | MCU_temperature | int16_t | cdegC | MCU Internal temperature | | MCU_voltage | uint16_t | mV | MCU voltage | | MCU_voltage_min | uint16_t | mV | MCU voltage minimum | | MCU_voltage_max | uint16_t | mV | MCU voltage maximum |

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                OPEN_DRONE_ID_BASIC_ID (12900) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                OPEN_DRONE_ID_LOCATION (12901) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                OPEN_DRONE_ID_AUTHENTICATION (12902) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                OPEN_DRONE_ID_SELF_ID (12903) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                OPEN_DRONE_ID_SYSTEM (12904) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                OPEN_DRONE_ID_OPERATOR_ID (12905) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                OPEN_DRONE_ID_MESSAGE_PACK (12915) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                OPEN_DRONE_ID_ARM_STATUS (12918) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                OPEN_DRONE_ID_SYSTEM_UPDATE (12919) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                HYGROMETER_SENSOR (12920) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                ICAROUS_HEARTBEAT (42000) — [from: icarous]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                ICAROUS_KINEMATIC_BANDS (42001) — [from: icarous]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                CUBEPILOT_RAW_RC (50001) — [from: cubepilot]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                CUBEPILOT_FIRMWARE_UPDATE_START (50004) — [from: cubepilot]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                CUBEPILOT_FIRMWARE_UPDATE_RESP (50005) — [from: cubepilot]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Enumerated Types

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                ACCELCAL_VEHICLE_POS

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                1ACCELCAL_VEHICLE_POS_LEVEL
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                2ACCELCAL_VEHICLE_POS_LEFT
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                3ACCELCAL_VEHICLE_POS_RIGHT
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                4ACCELCAL_VEHICLE_POS_NOSEDOWN
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                5ACCELCAL_VEHICLE_POS_NOSEUP
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                6ACCELCAL_VEHICLE_POS_BACK
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                16777215ACCELCAL_VEHICLE_POS_SUCCESS
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                16777216ACCELCAL_VEHICLE_POS_FAILED

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                HEADING_TYPE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                0HEADING_TYPE_COURSE_OVER_GROUND
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                1HEADING_TYPE_HEADING

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                SCRIPTING_CMD

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                0SCRIPTING_CMD_REPL_STARTStart a REPL session.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                1SCRIPTING_CMD_REPL_STOPEnd a REPL session.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                2SCRIPTING_CMD_STOPStop execution of scripts.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                3SCRIPTING_CMD_STOP_AND_RESTARTStop execution of scripts and restart.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                LIMITS_STATE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                0LIMITS_INITPre-initialization.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                1LIMITS_DISABLEDDisabled.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                2LIMITS_ENABLEDChecking limits.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                3LIMITS_TRIGGEREDA limit has been breached.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                4LIMITS_RECOVERINGTaking action e.g. Return/RTL.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                5LIMITS_RECOVEREDWe're no longer in breach of a limit.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                LIMIT_MODULE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                (Bitmask)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                1LIMIT_GPSLOCKPre-initialization.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                2LIMIT_GEOFENCEDisabled.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                4LIMIT_ALTITUDEChecking limits.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                RALLY_FLAGS

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                (Bitmask) Flags in RALLY_POINT message.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                1FAVORABLE_WINDFlag set when requiring favorable winds for landing.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                2LAND_IMMEDIATELYFlag set when plane is to immediately descend to break altitude and land without GCS intervention. Flag not set when plane is to loiter at Rally point until commanded to land.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                CAMERA_STATUS_TYPES

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                0CAMERA_STATUS_TYPE_HEARTBEATCamera heartbeat, announce camera component ID at 1Hz.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                1CAMERA_STATUS_TYPE_TRIGGERCamera image triggered.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                2CAMERA_STATUS_TYPE_DISCONNECTCamera connection lost.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                3CAMERA_STATUS_TYPE_ERRORCamera unknown error.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                4CAMERA_STATUS_TYPE_LOWBATTCamera battery low. Parameter p1 shows reported voltage.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                5CAMERA_STATUS_TYPE_LOWSTORECamera storage low. Parameter p1 shows reported shots remaining.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                6CAMERA_STATUS_TYPE_LOWSTOREVCamera storage low. Parameter p1 shows reported video minutes remaining.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                CAMERA_FEEDBACK_FLAGS

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                0CAMERA_FEEDBACK_PHOTOShooting photos, not video.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                1CAMERA_FEEDBACK_VIDEOShooting video, not stills.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                2CAMERA_FEEDBACK_BADEXPOSUREUnable to achieve requested exposure (e.g. shutter speed too low).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                3CAMERA_FEEDBACK_CLOSEDLOOPClosed loop feedback from camera, we know for sure it has successfully taken a picture.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                4CAMERA_FEEDBACK_OPENLOOPOpen loop camera, an image trigger has been requested but we can't know for sure it has successfully taken a picture.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_MODE_GIMBAL

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                0MAV_MODE_GIMBAL_UNINITIALIZEDGimbal is powered on but has not started initializing yet.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                1MAV_MODE_GIMBAL_CALIBRATING_PITCHGimbal is currently running calibration on the pitch axis.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                2MAV_MODE_GIMBAL_CALIBRATING_ROLLGimbal is currently running calibration on the roll axis.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                3MAV_MODE_GIMBAL_CALIBRATING_YAWGimbal is currently running calibration on the yaw axis.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                4MAV_MODE_GIMBAL_INITIALIZEDGimbal has finished calibrating and initializing, but is relaxed pending reception of first rate command from copter.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                5MAV_MODE_GIMBAL_ACTIVEGimbal is actively stabilizing.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                6MAV_MODE_GIMBAL_RATE_CMD_TIMEOUTGimbal is relaxed because it missed more than 10 expected rate command messages in a row. Gimbal will move back to active mode when it receives a new rate command.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                GIMBAL_AXIS

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                0GIMBAL_AXIS_YAWGimbal yaw axis.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                1GIMBAL_AXIS_PITCHGimbal pitch axis.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                2GIMBAL_AXIS_ROLLGimbal roll axis.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                GIMBAL_AXIS_CALIBRATION_STATUS

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                0GIMBAL_AXIS_CALIBRATION_STATUS_IN_PROGRESSAxis calibration is in progress.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                1GIMBAL_AXIS_CALIBRATION_STATUS_SUCCEEDEDAxis calibration succeeded.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                2GIMBAL_AXIS_CALIBRATION_STATUS_FAILEDAxis calibration failed.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                GIMBAL_AXIS_CALIBRATION_REQUIRED

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                0GIMBAL_AXIS_CALIBRATION_REQUIRED_UNKNOWNWhether or not this axis requires calibration is unknown at this time.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                1GIMBAL_AXIS_CALIBRATION_REQUIRED_TRUEThis axis requires calibration.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                2GIMBAL_AXIS_CALIBRATION_REQUIRED_FALSEThis axis does not require calibration.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                GOPRO_HEARTBEAT_STATUS

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                0GOPRO_HEARTBEAT_STATUS_DISCONNECTEDNo GoPro connected.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                1GOPRO_HEARTBEAT_STATUS_INCOMPATIBLEThe detected GoPro is not HeroBus compatible.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                2GOPRO_HEARTBEAT_STATUS_CONNECTEDA HeroBus compatible GoPro is connected.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                3GOPRO_HEARTBEAT_STATUS_ERRORAn unrecoverable error was encountered with the connected GoPro, it may require a power cycle.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                GOPRO_HEARTBEAT_FLAGS

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                (Bitmask)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                1GOPRO_FLAG_RECORDINGGoPro is currently recording.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                GOPRO_REQUEST_STATUS

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                0GOPRO_REQUEST_SUCCESSThe write message with ID indicated succeeded.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                1GOPRO_REQUEST_FAILEDThe write message with ID indicated failed.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                GOPRO_COMMAND

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                0GOPRO_COMMAND_POWER(Get/Set).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                1GOPRO_COMMAND_CAPTURE_MODE(Get/Set).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                2GOPRO_COMMAND_SHUTTER(_/Set).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                3GOPRO_COMMAND_BATTERY(Get/_).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                4GOPRO_COMMAND_MODEL(Get/_).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                5GOPRO_COMMAND_VIDEO_SETTINGS(Get/Set).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                6GOPRO_COMMAND_LOW_LIGHT(Get/Set).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                7GOPRO_COMMAND_PHOTO_RESOLUTION(Get/Set).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                8GOPRO_COMMAND_PHOTO_BURST_RATE(Get/Set).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                9GOPRO_COMMAND_PROTUNE(Get/Set).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                10GOPRO_COMMAND_PROTUNE_WHITE_BALANCE(Get/Set) Hero 3+ Only.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                11GOPRO_COMMAND_PROTUNE_COLOUR(Get/Set) Hero 3+ Only.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                12GOPRO_COMMAND_PROTUNE_GAIN(Get/Set) Hero 3+ Only.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                13GOPRO_COMMAND_PROTUNE_SHARPNESS(Get/Set) Hero 3+ Only.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                14GOPRO_COMMAND_PROTUNE_EXPOSURE(Get/Set) Hero 3+ Only.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                15GOPRO_COMMAND_TIME(Get/Set).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                16GOPRO_COMMAND_CHARGING(Get/Set).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                GOPRO_CAPTURE_MODE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                0GOPRO_CAPTURE_MODE_VIDEOVideo mode.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                1GOPRO_CAPTURE_MODE_PHOTOPhoto mode.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                2GOPRO_CAPTURE_MODE_BURSTBurst mode, Hero 3+ only.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                3GOPRO_CAPTURE_MODE_TIME_LAPSETime lapse mode, Hero 3+ only.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                4GOPRO_CAPTURE_MODE_MULTI_SHOTMulti shot mode, Hero 4 only.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                5GOPRO_CAPTURE_MODE_PLAYBACKPlayback mode, Hero 4 only, silver only except when LCD or HDMI is connected to black.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                6GOPRO_CAPTURE_MODE_SETUPPlayback mode, Hero 4 only.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                255GOPRO_CAPTURE_MODE_UNKNOWNMode not yet known.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                GOPRO_RESOLUTION

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                0GOPRO_RESOLUTION_480p848 x 480 (480p).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                1GOPRO_RESOLUTION_720p1280 x 720 (720p).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                2GOPRO_RESOLUTION_960p1280 x 960 (960p).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                3GOPRO_RESOLUTION_1080p1920 x 1080 (1080p).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                4GOPRO_RESOLUTION_1440p1920 x 1440 (1440p).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                5GOPRO_RESOLUTION_2_7k_17_92704 x 1440 (2.7k-17:9).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                6GOPRO_RESOLUTION_2_7k_16_92704 x 1524 (2.7k-16:9).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                7GOPRO_RESOLUTION_2_7k_4_32704 x 2028 (2.7k-4:3).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                8GOPRO_RESOLUTION_4k_16_93840 x 2160 (4k-16:9).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                9GOPRO_RESOLUTION_4k_17_94096 x 2160 (4k-17:9).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                10GOPRO_RESOLUTION_720p_SUPERVIEW1280 x 720 (720p-SuperView).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                11GOPRO_RESOLUTION_1080p_SUPERVIEW1920 x 1080 (1080p-SuperView).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                12GOPRO_RESOLUTION_2_7k_SUPERVIEW2704 x 1520 (2.7k-SuperView).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                13GOPRO_RESOLUTION_4k_SUPERVIEW3840 x 2160 (4k-SuperView).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                GOPRO_FRAME_RATE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                0GOPRO_FRAME_RATE_1212 FPS.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                1GOPRO_FRAME_RATE_1515 FPS.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                2GOPRO_FRAME_RATE_2424 FPS.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                3GOPRO_FRAME_RATE_2525 FPS.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                4GOPRO_FRAME_RATE_3030 FPS.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                5GOPRO_FRAME_RATE_4848 FPS.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                6GOPRO_FRAME_RATE_5050 FPS.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                7GOPRO_FRAME_RATE_6060 FPS.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                8GOPRO_FRAME_RATE_8080 FPS.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                9GOPRO_FRAME_RATE_9090 FPS.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                10GOPRO_FRAME_RATE_100100 FPS.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                11GOPRO_FRAME_RATE_120120 FPS.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                12GOPRO_FRAME_RATE_240240 FPS.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                13GOPRO_FRAME_RATE_12_512.5 FPS.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                GOPRO_FIELD_OF_VIEW

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                0GOPRO_FIELD_OF_VIEW_WIDE0x00: Wide.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                1GOPRO_FIELD_OF_VIEW_MEDIUM0x01: Medium.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                2GOPRO_FIELD_OF_VIEW_NARROW0x02: Narrow.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                GOPRO_VIDEO_SETTINGS_FLAGS

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                (Bitmask)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                1GOPRO_VIDEO_SETTINGS_TV_MODE0=NTSC, 1=PAL.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                GOPRO_PHOTO_RESOLUTION

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                0GOPRO_PHOTO_RESOLUTION_5MP_MEDIUM5MP Medium.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                1GOPRO_PHOTO_RESOLUTION_7MP_MEDIUM7MP Medium.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                2GOPRO_PHOTO_RESOLUTION_7MP_WIDE7MP Wide.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                3GOPRO_PHOTO_RESOLUTION_10MP_WIDE10MP Wide.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                4GOPRO_PHOTO_RESOLUTION_12MP_WIDE12MP Wide.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                GOPRO_PROTUNE_WHITE_BALANCE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                0GOPRO_PROTUNE_WHITE_BALANCE_AUTOAuto.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                1GOPRO_PROTUNE_WHITE_BALANCE_3000K3000K.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                2GOPRO_PROTUNE_WHITE_BALANCE_5500K5500K.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                3GOPRO_PROTUNE_WHITE_BALANCE_6500K6500K.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                4GOPRO_PROTUNE_WHITE_BALANCE_RAWCamera Raw.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                GOPRO_PROTUNE_COLOUR

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                0GOPRO_PROTUNE_COLOUR_STANDARDAuto.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                1GOPRO_PROTUNE_COLOUR_NEUTRALNeutral.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                GOPRO_PROTUNE_GAIN

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                0GOPRO_PROTUNE_GAIN_400ISO 400.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                1GOPRO_PROTUNE_GAIN_800ISO 800 (Only Hero 4).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                2GOPRO_PROTUNE_GAIN_1600ISO 1600.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                3GOPRO_PROTUNE_GAIN_3200ISO 3200 (Only Hero 4).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                4GOPRO_PROTUNE_GAIN_6400ISO 6400.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                GOPRO_PROTUNE_SHARPNESS

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                0GOPRO_PROTUNE_SHARPNESS_LOWLow Sharpness.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                1GOPRO_PROTUNE_SHARPNESS_MEDIUMMedium Sharpness.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                2GOPRO_PROTUNE_SHARPNESS_HIGHHigh Sharpness.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                GOPRO_PROTUNE_EXPOSURE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                0GOPRO_PROTUNE_EXPOSURE_NEG_5_0-5.0 EV (Hero 3+ Only).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                1GOPRO_PROTUNE_EXPOSURE_NEG_4_5-4.5 EV (Hero 3+ Only).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                2GOPRO_PROTUNE_EXPOSURE_NEG_4_0-4.0 EV (Hero 3+ Only).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                3GOPRO_PROTUNE_EXPOSURE_NEG_3_5-3.5 EV (Hero 3+ Only).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                4GOPRO_PROTUNE_EXPOSURE_NEG_3_0-3.0 EV (Hero 3+ Only).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                5GOPRO_PROTUNE_EXPOSURE_NEG_2_5-2.5 EV (Hero 3+ Only).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                6GOPRO_PROTUNE_EXPOSURE_NEG_2_0-2.0 EV.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                7GOPRO_PROTUNE_EXPOSURE_NEG_1_5-1.5 EV.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                8GOPRO_PROTUNE_EXPOSURE_NEG_1_0-1.0 EV.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                9GOPRO_PROTUNE_EXPOSURE_NEG_0_5-0.5 EV.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                10GOPRO_PROTUNE_EXPOSURE_ZERO0.0 EV.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                11GOPRO_PROTUNE_EXPOSURE_POS_0_5+0.5 EV.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                12GOPRO_PROTUNE_EXPOSURE_POS_1_0+1.0 EV.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                13GOPRO_PROTUNE_EXPOSURE_POS_1_5+1.5 EV.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                14GOPRO_PROTUNE_EXPOSURE_POS_2_0+2.0 EV.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                15GOPRO_PROTUNE_EXPOSURE_POS_2_5+2.5 EV (Hero 3+ Only).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                16GOPRO_PROTUNE_EXPOSURE_POS_3_0+3.0 EV (Hero 3+ Only).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                17GOPRO_PROTUNE_EXPOSURE_POS_3_5+3.5 EV (Hero 3+ Only).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                18GOPRO_PROTUNE_EXPOSURE_POS_4_0+4.0 EV (Hero 3+ Only).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                19GOPRO_PROTUNE_EXPOSURE_POS_4_5+4.5 EV (Hero 3+ Only).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                20GOPRO_PROTUNE_EXPOSURE_POS_5_0+5.0 EV (Hero 3+ Only).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                GOPRO_CHARGING

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                0GOPRO_CHARGING_DISABLEDCharging disabled.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                1GOPRO_CHARGING_ENABLEDCharging enabled.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                GOPRO_MODEL

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                0GOPRO_MODEL_UNKNOWNUnknown gopro model.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                1GOPRO_MODEL_HERO_3_PLUS_SILVERHero 3+ Silver (HeroBus not supported by GoPro).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                2GOPRO_MODEL_HERO_3_PLUS_BLACKHero 3+ Black.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                3GOPRO_MODEL_HERO_4_SILVERHero 4 Silver.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                4GOPRO_MODEL_HERO_4_BLACKHero 4 Black.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                GOPRO_BURST_RATE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                0GOPRO_BURST_RATE_3_IN_1_SECOND3 Shots / 1 Second.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                1GOPRO_BURST_RATE_5_IN_1_SECOND5 Shots / 1 Second.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                2GOPRO_BURST_RATE_10_IN_1_SECOND10 Shots / 1 Second.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                3GOPRO_BURST_RATE_10_IN_2_SECOND10 Shots / 2 Second.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                4GOPRO_BURST_RATE_10_IN_3_SECOND10 Shots / 3 Second (Hero 4 Only).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                5GOPRO_BURST_RATE_30_IN_1_SECOND30 Shots / 1 Second.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                6GOPRO_BURST_RATE_30_IN_2_SECOND30 Shots / 2 Second.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                7GOPRO_BURST_RATE_30_IN_3_SECOND30 Shots / 3 Second.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                8GOPRO_BURST_RATE_30_IN_6_SECOND30 Shots / 6 Second.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_DO_AUX_FUNCTION_SWITCH_LEVEL

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                0MAV_CMD_DO_AUX_FUNCTION_SWITCH_LEVEL_LOWSwitch Low.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                1MAV_CMD_DO_AUX_FUNCTION_SWITCH_LEVEL_MIDDLESwitch Middle.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                2MAV_CMD_DO_AUX_FUNCTION_SWITCH_LEVEL_HIGHSwitch High.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                LED_CONTROL_PATTERN

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                0LED_CONTROL_PATTERN_OFFLED patterns off (return control to regular vehicle control).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                1LED_CONTROL_PATTERN_FIRMWAREUPDATELEDs show pattern during firmware update.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                255LED_CONTROL_PATTERN_CUSTOMCustom Pattern using custom bytes fields.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                EKF_STATUS_FLAGS

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                (Bitmask) Flags in EKF_STATUS message.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                1EKF_ATTITUDESet if EKF's attitude estimate is good.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                2EKF_VELOCITY_HORIZSet if EKF's horizontal velocity estimate is good.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                4EKF_VELOCITY_VERTSet if EKF's vertical velocity estimate is good.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                8EKF_POS_HORIZ_RELSet if EKF's horizontal position (relative) estimate is good.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                16EKF_POS_HORIZ_ABSSet if EKF's horizontal position (absolute) estimate is good.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                32EKF_POS_VERT_ABSSet if EKF's vertical position (absolute) estimate is good.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                64EKF_POS_VERT_AGLSet if EKF's vertical position (above ground) estimate is good.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                128EKF_CONST_POS_MODEEKF is in constant position mode and does not know it's absolute or relative position.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                256EKF_PRED_POS_HORIZ_RELSet if EKF's predicted horizontal position (relative) estimate is good.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                512EKF_PRED_POS_HORIZ_ABSSet if EKF's predicted horizontal position (absolute) estimate is good.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                1024EKF_UNINITIALIZEDSet if EKF has never been healthy.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                PID_TUNING_AXIS

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                1PID_TUNING_ROLL
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                2PID_TUNING_PITCH
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                3PID_TUNING_YAW
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                4PID_TUNING_ACCZ
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                5PID_TUNING_STEER
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                6PID_TUNING_LANDING

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_REMOTE_LOG_DATA_BLOCK_COMMANDS

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Special ACK block numbers control activation of dataflash log streaming.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                2147483645MAV_REMOTE_LOG_DATA_BLOCK_STOPUAV to stop sending DataFlash blocks.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                2147483646MAV_REMOTE_LOG_DATA_BLOCK_STARTUAV to start sending DataFlash blocks.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_REMOTE_LOG_DATA_BLOCK_STATUSES

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Possible remote log data block statuses.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                0MAV_REMOTE_LOG_DATA_BLOCK_NACKThis block has NOT been received.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                1MAV_REMOTE_LOG_DATA_BLOCK_ACKThis block has been received.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                DEVICE_OP_BUSTYPE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Bus types for device operations.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                0DEVICE_OP_BUSTYPE_I2CI2C Device operation.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                1DEVICE_OP_BUSTYPE_SPISPI Device operation.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                DEEPSTALL_STAGE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Deepstall flight stage.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                0DEEPSTALL_STAGE_FLY_TO_LANDINGFlying to the landing point.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                1DEEPSTALL_STAGE_ESTIMATE_WINDBuilding an estimate of the wind.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                2DEEPSTALL_STAGE_WAIT_FOR_BREAKOUTWaiting to breakout of the loiter to fly the approach.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                3DEEPSTALL_STAGE_FLY_TO_ARCFlying to the first arc point to turn around to the landing point.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                4DEEPSTALL_STAGE_ARCTurning around back to the deepstall landing point.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                5DEEPSTALL_STAGE_APPROACHApproaching the landing point.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                6DEEPSTALL_STAGE_LANDStalling and steering towards the land point.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                PLANE_MODE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                A mapping of plane flight modes for custom_mode field of heartbeat.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                0PLANE_MODE_MANUAL
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                1PLANE_MODE_CIRCLE
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                2PLANE_MODE_STABILIZE
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                3PLANE_MODE_TRAINING
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                4PLANE_MODE_ACRO
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                5PLANE_MODE_FLY_BY_WIRE_A
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                6PLANE_MODE_FLY_BY_WIRE_B
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                7PLANE_MODE_CRUISE
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                8PLANE_MODE_AUTOTUNE
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                10PLANE_MODE_AUTO
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                11PLANE_MODE_RTL
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                12PLANE_MODE_LOITER
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                13PLANE_MODE_TAKEOFF
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                14PLANE_MODE_AVOID_ADSB
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                15PLANE_MODE_GUIDED
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                16PLANE_MODE_INITIALIZING
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                17PLANE_MODE_QSTABILIZE
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                18PLANE_MODE_QHOVER
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                19PLANE_MODE_QLOITER
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                20PLANE_MODE_QLAND
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                21PLANE_MODE_QRTL
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                22PLANE_MODE_QAUTOTUNE
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                23PLANE_MODE_QACRO
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                24PLANE_MODE_THERMAL

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                COPTER_MODE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                A mapping of copter flight modes for custom_mode field of heartbeat.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                0COPTER_MODE_STABILIZE
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                1COPTER_MODE_ACRO
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                2COPTER_MODE_ALT_HOLD
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                3COPTER_MODE_AUTO
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                4COPTER_MODE_GUIDED
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                5COPTER_MODE_LOITER
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                6COPTER_MODE_RTL
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                7COPTER_MODE_CIRCLE
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                9COPTER_MODE_LAND
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                11COPTER_MODE_DRIFT
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                13COPTER_MODE_SPORT
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                14COPTER_MODE_FLIP
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                15COPTER_MODE_AUTOTUNE
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                16COPTER_MODE_POSHOLD
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                17COPTER_MODE_BRAKE
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                18COPTER_MODE_THROW
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                19COPTER_MODE_AVOID_ADSB
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                20COPTER_MODE_GUIDED_NOGPS
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                21COPTER_MODE_SMART_RTL
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                22COPTER_MODE_FLOWHOLD
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                23COPTER_MODE_FOLLOW
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                24COPTER_MODE_ZIGZAG
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                25COPTER_MODE_SYSTEMID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                26COPTER_MODE_AUTOROTATE
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                27COPTER_MODE_AUTO_RTL

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                SUB_MODE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                A mapping of sub flight modes for custom_mode field of heartbeat.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                0SUB_MODE_STABILIZE
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                1SUB_MODE_ACRO
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                2SUB_MODE_ALT_HOLD
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                3SUB_MODE_AUTO
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                4SUB_MODE_GUIDED
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                7SUB_MODE_CIRCLE
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                9SUB_MODE_SURFACE
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                16SUB_MODE_POSHOLD
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                19SUB_MODE_MANUAL

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                ROVER_MODE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                A mapping of rover flight modes for custom_mode field of heartbeat.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                0ROVER_MODE_MANUAL
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                1ROVER_MODE_ACRO
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                3ROVER_MODE_STEERING
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                4ROVER_MODE_HOLD
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                5ROVER_MODE_LOITER
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                6ROVER_MODE_FOLLOW
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                7ROVER_MODE_SIMPLE
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                10ROVER_MODE_AUTO
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                11ROVER_MODE_RTL
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                12ROVER_MODE_SMART_RTL
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                15ROVER_MODE_GUIDED
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                16ROVER_MODE_INITIALIZING

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                TRACKER_MODE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                A mapping of antenna tracker flight modes for custom_mode field of heartbeat.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                0TRACKER_MODE_MANUAL
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                1TRACKER_MODE_STOP
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                2TRACKER_MODE_SCAN
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                3TRACKER_MODE_SERVO_TEST
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                10TRACKER_MODE_AUTO
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                16TRACKER_MODE_INITIALIZING

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                OSD_PARAM_CONFIG_TYPE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                The type of parameter for the OSD parameter editor.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                0OSD_PARAM_NONE
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                1OSD_PARAM_SERIAL_PROTOCOL
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                2OSD_PARAM_SERVO_FUNCTION
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                3OSD_PARAM_AUX_FUNCTION
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                4OSD_PARAM_FLIGHT_MODE
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                5OSD_PARAM_FAILSAFE_ACTION
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                6OSD_PARAM_FAILSAFE_ACTION_1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                7OSD_PARAM_FAILSAFE_ACTION_2
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                8OSD_PARAM_NUM_TYPES

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                OSD_PARAM_CONFIG_ERROR

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                The error type for the OSD parameter editor.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                0OSD_PARAM_SUCCESS
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                1OSD_PARAM_INVALID_SCREEN
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                2OSD_PARAM_INVALID_PARAMETER_INDEX
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                3OSD_PARAM_INVALID_PARAMETER

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                FIRMWARE_VERSION_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                HL_FAILURE_FLAG — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_GOTO — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_MODE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_SYS_STATUS_SENSOR — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_SYS_STATUS_SENSOR_EXTENDED — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_FRAME — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                FENCE_ACTION — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                FENCE_BREACH — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                FENCE_MITIGATE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                FENCE_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_MOUNT_MODE — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                GIMBAL_DEVICE_CAP_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                GIMBAL_MANAGER_CAP_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                GIMBAL_DEVICE_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                GIMBAL_MANAGER_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                GIMBAL_DEVICE_ERROR_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                GRIPPER_ACTIONS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                WINCH_ACTIONS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                UAVCAN_NODE_HEALTH — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                UAVCAN_NODE_MODE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                ESC_CONNECTION_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                ESC_FAILURE_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                STORAGE_STATUS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                STORAGE_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                STORAGE_USAGE_FLAG — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                ORBIT_YAW_BEHAVIOUR — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                WIFI_CONFIG_AP_RESPONSE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                CELLULAR_CONFIG_RESPONSE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                WIFI_CONFIG_AP_MODE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                COMP_METADATA_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                ACTUATOR_CONFIGURATION — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                ACTUATOR_OUTPUT_FUNCTION — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                AUTOTUNE_AXIS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                PREFLIGHT_STORAGE_PARAMETER_ACTION — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                PREFLIGHT_STORAGE_MISSION_ACTION — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_DATA_STREAM — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_ROI — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_PARAM_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_PARAM_EXT_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_RESULT — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_MISSION_RESULT — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_SEVERITY — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_POWER_STATUS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                SERIAL_CONTROL_DEV — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                SERIAL_CONTROL_FLAG — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_DISTANCE_SENSOR — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_SENSOR_ORIENTATION — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_PROTOCOL_CAPABILITY — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_MISSION_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_ESTIMATOR_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_BATTERY_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_BATTERY_FUNCTION — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_BATTERY_CHARGE_STATE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_BATTERY_MODE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_BATTERY_FAULT — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_GENERATOR_STATUS_FLAG — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_VTOL_STATE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_LANDED_STATE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                ADSB_ALTITUDE_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                ADSB_EMITTER_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                ADSB_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_DO_REPOSITION_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                SPEED_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                ESTIMATOR_STATUS_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MOTOR_TEST_ORDER — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MOTOR_TEST_THROTTLE_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                GPS_INPUT_IGNORE_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_COLLISION_ACTION — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_COLLISION_THREAT_LEVEL — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_COLLISION_SRC — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                GPS_FIX_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                RTK_BASELINE_COORDINATE_SYSTEM — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                LANDING_TARGET_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                VTOL_TRANSITION_HEADING — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                CAMERA_CAP_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                VIDEO_STREAM_STATUS_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                VIDEO_STREAM_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                VIDEO_STREAM_ENCODING — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                CAMERA_TRACKING_STATUS_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                CAMERA_TRACKING_MODE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                CAMERA_TRACKING_TARGET_DATA — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                CAMERA_ZOOM_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                SET_FOCUS_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                CAMERA_SOURCE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                PARAM_ACK — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                CAMERA_MODE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_ARM_AUTH_DENIED_REASON — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                RC_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                POSITION_TARGET_TYPEMASK — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                ATTITUDE_TARGET_TYPEMASK — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                UTM_FLIGHT_STATE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                UTM_DATA_AVAIL_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                CELLULAR_STATUS_FLAG — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                CELLULAR_NETWORK_FAILED_REASON — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                CELLULAR_NETWORK_RADIO_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                PRECISION_LAND_MODE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                PARACHUTE_ACTION — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_TUNNEL_PAYLOAD_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_ODID_ID_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_ODID_UA_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_ODID_STATUS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_ODID_HEIGHT_REF — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_ODID_HOR_ACC — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_ODID_VER_ACC — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_ODID_SPEED_ACC — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_ODID_TIME_ACC — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_ODID_AUTH_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_ODID_DESC_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_ODID_OPERATOR_LOCATION_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_ODID_CLASSIFICATION_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_ODID_CATEGORY_EU — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_ODID_CLASS_EU — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_ODID_OPERATOR_ID_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_ODID_ARM_STATUS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                TUNE_FORMAT — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                AIS_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                AIS_NAV_STATUS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                AIS_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                FAILURE_UNIT — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                FAILURE_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_WINCH_STATUS_FLAG — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAG_CAL_STATUS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_EVENT_ERROR_REASON — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_EVENT_CURRENT_SEQUENCE_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                HIL_SENSOR_UPDATED_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                HIGHRES_IMU_UPDATED_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                CAN_FILTER_OP — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_FTP_ERR — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_FTP_OPCODE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MISSION_STATE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                SAFETY_SWITCH_STATE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                ILLUMINATOR_MODE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                ILLUMINATOR_ERROR_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_AUTOPILOT — [from: minimal]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_TYPE — [from: minimal]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_MODE_FLAG — [from: minimal]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_MODE_FLAG_DECODE_POSITION — [from: minimal]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_STATE — [from: minimal]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_COMPONENT — [from: minimal]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                UAVIONIX_ADSB_OUT_DYNAMIC_STATE — [from: uAvionix]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                UAVIONIX_ADSB_OUT_RF_SELECT — [from: uAvionix]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                UAVIONIX_ADSB_OUT_DYNAMIC_GPS_FIX — [from: uAvionix]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                UAVIONIX_ADSB_RF_HEALTH — [from: uAvionix]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                UAVIONIX_ADSB_OUT_CFG_AIRCRAFT_SIZE — [from: uAvionix]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                UAVIONIX_ADSB_OUT_CFG_GPS_OFFSET_LAT — [from: uAvionix]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                UAVIONIX_ADSB_OUT_CFG_GPS_OFFSET_LON — [from: uAvionix]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                UAVIONIX_ADSB_EMERGENCY_STATUS — [from: uAvionix]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                ICAROUS_TRACK_BAND_TYPES — [from: icarous]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                ICAROUS_FMS_STATE — [from: icarous]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Commands (MAV_CMD)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_NAV_WAYPOINT (16) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_NAV_LOITER_UNLIM (17) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_NAV_LOITER_TURNS (18) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_NAV_LOITER_TIME (19) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_NAV_RETURN_TO_LAUNCH (20) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_NAV_LAND (21) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_NAV_TAKEOFF (22) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_NAV_LAND_LOCAL (23) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_NAV_TAKEOFF_LOCAL (24) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_NAV_FOLLOW (25) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_NAV_CONTINUE_AND_CHANGE_ALT (30) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_NAV_LOITER_TO_ALT (31) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_DO_FOLLOW (32) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_DO_FOLLOW_REPOSITION (33) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_DO_ORBIT (34) — [from: common] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_NAV_ROI (80) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_NAV_PATHPLANNING (81) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_NAV_SPLINE_WAYPOINT (82) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_NAV_ALTITUDE_WAIT (83)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Mission command to wait for an altitude or downwards vertical speed. This is meant for high altitude balloon launches, allowing the aircraft to be idle until either an altitude is reached or a negative vertical speed is reached (indicating early balloon burst). The wiggle time is how often to wiggle the control surfaces to prevent them seizing up.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Param (Label)DescriptionUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                1 (Altitude)Altitude.m
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                2 (Descent Speed)Descent speed.m/s
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                3 (Wiggle Time)How long to wiggle the control surfaces to prevent them seizing up.s
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                4Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                5Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                6Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                7Empty.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_NAV_VTOL_TAKEOFF (84) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_NAV_VTOL_LAND (85) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_NAV_GUIDED_ENABLE (92) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_NAV_DELAY (93) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_NAV_PAYLOAD_PLACE (94) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_NAV_LAST (95) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_CONDITION_DELAY (112) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_CONDITION_CHANGE_ALT (113) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_CONDITION_DISTANCE (114) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_CONDITION_YAW (115) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_CONDITION_LAST (159) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_DO_SET_MODE (176) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_DO_JUMP (177) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_DO_CHANGE_SPEED (178) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_DO_SET_HOME (179) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_DO_SET_PARAMETER (180) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_DO_SET_RELAY (181) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_DO_REPEAT_RELAY (182) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_DO_SET_SERVO (183) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_DO_REPEAT_SERVO (184) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_DO_FLIGHTTERMINATION (185) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_DO_CHANGE_ALTITUDE (186) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_DO_SET_ACTUATOR (187) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_DO_RETURN_PATH_START (188) — [from: common] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_DO_LAND_START (189) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_DO_RALLY_LAND (190) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_DO_GO_AROUND (191) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_DO_REPOSITION (192) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_DO_PAUSE_CONTINUE (193) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_DO_SET_REVERSE (194) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_DO_SET_ROI_LOCATION (195) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_DO_SET_ROI_WPNEXT_OFFSET (196) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_DO_SET_ROI_NONE (197) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_DO_SET_ROI_SYSID (198) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_DO_CONTROL_VIDEO (200) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_DO_SET_ROI (201) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_DO_DIGICAM_CONFIGURE (202) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_DO_DIGICAM_CONTROL (203) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_DO_MOUNT_CONFIGURE (204) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_DO_MOUNT_CONTROL (205) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_DO_SET_CAM_TRIGG_DIST (206) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_DO_FENCE_ENABLE (207) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_DO_PARACHUTE (208) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_DO_MOTOR_TEST (209) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_DO_INVERTED_FLIGHT (210) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_DO_GRIPPER (211) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_DO_AUTOTUNE_ENABLE (212) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_NAV_SET_YAW_SPEED (213) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_DO_SET_CAM_TRIGG_INTERVAL (214) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_DO_SET_RESUME_REPEAT_DIST (215)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Set the distance to be repeated on mission resume

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Param (Label)DescriptionUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                1 (Distance)Distance.m
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                2Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                3Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                4Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                5Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                6Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                7Empty.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_DO_SPRAYER (216)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Control attached liquid sprayer

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                1 (Sprayer Enable)0: disable sprayer. 1: enable sprayer.min: 0 max: 1 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                2Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                3Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                4Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                5Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                6Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                7Empty.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_DO_SEND_SCRIPT_MESSAGE (217)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Pass instructions onto scripting, a script should be checking for a new command

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                1 (ID)uint16 ID value to be passed to scriptingmin: 0 max: 65535 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                2 (param 1)float value to be passed to scripting
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                3 (param 2)float value to be passed to scripting
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                4 (param 3)float value to be passed to scripting
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                5Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                6Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                7Empty.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_DO_AUX_FUNCTION (218)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Execute auxiliary function

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                1 (AuxiliaryFunction)Auxiliary Function.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                2 (SwitchPosition)Switch Level.MAV_CMD_DO_AUX_FUNCTION_SWITCH_LEVEL
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                3Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                4Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                5Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                6Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                7Empty.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_DO_MOUNT_CONTROL_QUAT (220) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_DO_GUIDED_MASTER (221) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_DO_GUIDED_LIMITS (222) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_DO_ENGINE_CONTROL (223) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_DO_SET_MISSION_CURRENT (224) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_DO_LAST (240) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_PREFLIGHT_CALIBRATION (241) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_PREFLIGHT_SET_SENSOR_OFFSETS (242) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_PREFLIGHT_UAVCAN (243) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_PREFLIGHT_STORAGE (245) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN (246) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_OVERRIDE_GOTO (252) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_OBLIQUE_SURVEY (260) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_MISSION_START (300) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_ACTUATOR_TEST (310) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_CONFIGURE_ACTUATOR (311) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_COMPONENT_ARM_DISARM (400) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_RUN_PREARM_CHECKS (401) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_ILLUMINATOR_ON_OFF (405) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_DO_ILLUMINATOR_CONFIGURE (406) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_GET_HOME_POSITION (410) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_INJECT_FAILURE (420) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_START_RX_PAIR (500) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_GET_MESSAGE_INTERVAL (510) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_SET_MESSAGE_INTERVAL (511) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_REQUEST_MESSAGE (512) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_REQUEST_PROTOCOL_VERSION (519) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_REQUEST_AUTOPILOT_CAPABILITIES (520) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_REQUEST_CAMERA_INFORMATION (521) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_REQUEST_CAMERA_SETTINGS (522) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_REQUEST_STORAGE_INFORMATION (525) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_STORAGE_FORMAT (526) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_REQUEST_CAMERA_CAPTURE_STATUS (527) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_REQUEST_FLIGHT_INFORMATION (528) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_RESET_CAMERA_SETTINGS (529) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_SET_CAMERA_MODE (530) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_SET_CAMERA_ZOOM (531) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_SET_CAMERA_FOCUS (532) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_SET_STORAGE_USAGE (533) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_SET_CAMERA_SOURCE (534) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_JUMP_TAG (600) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_DO_JUMP_TAG (601) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_DO_GIMBAL_MANAGER_PITCHYAW (1000) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_DO_GIMBAL_MANAGER_CONFIGURE (1001) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_IMAGE_START_CAPTURE (2000) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_IMAGE_STOP_CAPTURE (2001) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_REQUEST_CAMERA_IMAGE_CAPTURE (2002) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_DO_TRIGGER_CONTROL (2003) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_CAMERA_TRACK_POINT (2004) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_CAMERA_TRACK_RECTANGLE (2005) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_CAMERA_STOP_TRACKING (2010) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_VIDEO_START_CAPTURE (2500) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_VIDEO_STOP_CAPTURE (2501) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_VIDEO_START_STREAMING (2502) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_VIDEO_STOP_STREAMING (2503) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_REQUEST_VIDEO_STREAM_INFORMATION (2504) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_REQUEST_VIDEO_STREAM_STATUS (2505) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_LOGGING_START (2510) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_LOGGING_STOP (2511) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_AIRFRAME_CONFIGURATION (2520) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_CONTROL_HIGH_LATENCY (2600) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_PANORAMA_CREATE (2800) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_DO_VTOL_TRANSITION (3000) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_ARM_AUTHORIZATION_REQUEST (3001) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_SET_GUIDED_SUBMODE_STANDARD (4000) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_SET_GUIDED_SUBMODE_CIRCLE (4001) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_CONDITION_GATE (4501) — [from: common] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_NAV_FENCE_RETURN_POINT (5000) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_NAV_FENCE_POLYGON_VERTEX_INCLUSION (5001) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_NAV_FENCE_POLYGON_VERTEX_EXCLUSION (5002) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_NAV_FENCE_CIRCLE_INCLUSION (5003) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_NAV_FENCE_CIRCLE_EXCLUSION (5004) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_NAV_RALLY_POINT (5100) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_UAVCAN_GET_NODE_INFO (5200) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_DO_SET_SAFETY_SWITCH_STATE (5300) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_DO_ADSB_OUT_IDENT (10001) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_PAYLOAD_PREPARE_DEPLOY (30001) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_PAYLOAD_CONTROL_DEPLOY (30002) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_WAYPOINT_USER_1 (31000) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_WAYPOINT_USER_2 (31001) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_WAYPOINT_USER_3 (31002) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_WAYPOINT_USER_4 (31003) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_WAYPOINT_USER_5 (31004) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_SPATIAL_USER_1 (31005) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_SPATIAL_USER_2 (31006) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_SPATIAL_USER_3 (31007) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_SPATIAL_USER_4 (31008) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_SPATIAL_USER_5 (31009) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_USER_1 (31010) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_USER_2 (31011) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_USER_3 (31012) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_USER_4 (31013) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_USER_5 (31014) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_CAN_FORWARD (32000) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_POWER_OFF_INITIATED (42000)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                A system wide power-off event has been initiated.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Param (Label)Description
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                1Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                2Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                3Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                4Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                5Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                6Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                7Empty.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_SOLO_BTN_FLY_CLICK (42001)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                FLY button has been clicked.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Param (Label)Description
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                1Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                2Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                3Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                4Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                5Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                6Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                7Empty.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_SOLO_BTN_FLY_HOLD (42002)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                FLY button has been held for 1.5 seconds.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Param (Label)DescriptionUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                1 (Takeoff Altitude)Takeoff altitude.m
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                2Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                3Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                4Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                5Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                6Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                7Empty.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_SOLO_BTN_PAUSE_CLICK (42003)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                PAUSE button has been clicked.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                1 (Shot Mode)1 if Solo is in a shot mode, 0 otherwise.min: 0 max: 1 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                2Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                3Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                4Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                5Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                6Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                7Empty.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_FIXED_MAG_CAL (42004)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Magnetometer calibration based on fixed position

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                in earth field given by inclination, declination and intensity.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Param (Label)DescriptionUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                1 (Declination)Magnetic declination.deg
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                2 (Inclination)Magnetic inclination.deg
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                3 (Intensity)Magnetic intensity.mgauss
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                4 (Yaw)Yaw.deg
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                5Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                6Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                7Empty.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_FIXED_MAG_CAL_FIELD (42005)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Magnetometer calibration based on fixed expected field values.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Param (Label)DescriptionUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                1 (Field X)Field strength X.mgauss
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                2 (Field Y)Field strength Y.mgauss
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                3 (Field Z)Field strength Z.mgauss
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                4Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                5Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                6Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                7Empty.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_FIXED_MAG_CAL_YAW (42006) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_SET_EKF_SOURCE_SET (42007)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Set EKF sensor source set.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                1 (SourceSetId)Source Set Id.min: 1 max: 3 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                2Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                3Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                4Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                5Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                6Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                7Empty.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_DO_START_MAG_CAL (42424)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Initiate a magnetometer calibration.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Param (Label)DescriptionValuesUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                1 (Magnetometers Bitmask)Bitmask of magnetometers to calibrate. Use 0 to calibrate all sensors that can be started (sensors may not start if disabled, unhealthy, etc.). The command will NACK if calibration does not start for a sensor explicitly specified by the bitmask.min: 0 max: 255 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                2 (Retry on Failure)Automatically retry on failure (0=no retry, 1=retry).min: 0 max: 1 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                3 (Autosave)Save without user input (0=require input, 1=autosave).min: 0 max: 1 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                4 (Delay)Delay.s
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                5 (Autoreboot)Autoreboot (0=user reboot, 1=autoreboot).min: 0 max: 1 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                6Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                7Empty.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_DO_ACCEPT_MAG_CAL (42425)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Accept a magnetometer calibration.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                1 (Magnetometers Bitmask)Bitmask of magnetometers that calibration is accepted (0 means all).min: 0 max: 255 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                2Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                3Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                4Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                5Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                6Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                7Empty.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_DO_CANCEL_MAG_CAL (42426)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Cancel a running magnetometer calibration.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                1 (Magnetometers Bitmask)Bitmask of magnetometers to cancel a running calibration (0 means all).min: 0 max: 255 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                2Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                3Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                4Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                5Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                6Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                7Empty.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_SET_FACTORY_TEST_MODE (42427)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Command autopilot to get into factory test/diagnostic mode.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                1 (Test Mode)0: activate test mode, 1: exit test mode.min: 0 max: 1 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                2Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                3Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                4Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                5Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                6Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                7Empty.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_DO_SEND_BANNER (42428)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Reply with the version banner.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Param (Label)Description
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                1Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                2Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                3Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                4Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                5Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                6Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                7Empty.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_ACCELCAL_VEHICLE_POS (42429)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Used when doing accelerometer calibration. When sent to the GCS tells it what position to put the vehicle in. When sent to the vehicle says what position the vehicle is in.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                1 (Position)Position.ACCELCAL_VEHICLE_POS
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                2Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                3Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                4Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                5Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                6Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                7Empty.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_GIMBAL_RESET (42501)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Causes the gimbal to reset and boot as if it was just powered on.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Param (Label)Description
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                1Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                2Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                3Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                4Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                5Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                6Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                7Empty.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_GIMBAL_AXIS_CALIBRATION_STATUS (42502)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Reports progress and success or failure of gimbal axis calibration procedure.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Param (Label)DescriptionValuesUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                1 (Axis)Gimbal axis we're reporting calibration progress for.GIMBAL_AXIS
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                2 (Progress)Current calibration progress for this axis.min: 0 max: 100%
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                3 (Status)Status of the calibration.GIMBAL_AXIS_CALIBRATION_STATUS
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                4Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                5Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                6Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                7Empty.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_GIMBAL_REQUEST_AXIS_CALIBRATION (42503)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Starts commutation calibration on the gimbal.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Param (Label)Description
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                1Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                2Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                3Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                4Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                5Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                6Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                7Empty.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_GIMBAL_FULL_RESET (42505)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Erases gimbal application and parameters.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Param (Label)Description
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                1Magic number.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                2Magic number.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                3Magic number.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                4Magic number.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                5Magic number.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                6Magic number.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                7Magic number.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_DO_WINCH (42600) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_FLASH_BOOTLOADER (42650)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Update the bootloader

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                1Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                2Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                3Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                4Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                5 (Magic Number)Magic number - set to 290876 to actually flashinc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                6Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                7Empty

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_BATTERY_RESET (42651)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Reset battery capacity for batteries that accumulate consumed battery via integration.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                1 (battery mask)Bitmask of batteries to reset. Least significant bit is for the first battery.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                2 (percentage)Battery percentage remaining to set.min: 0 max: 100 inc: 1

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_DEBUG_TRAP (42700)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Issue a trap signal to the autopilot process, presumably to enter the debugger.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Param (Label)Description
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                1Magic number - set to 32451 to actually trap.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                2Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                3Empty.
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_SCRIPTING (42701)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Control onboard scripting.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                1Scripting command to executeSCRIPTING_CMD

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_NAV_SCRIPT_TIME (42702)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Scripting command as NAV command with wait for completion.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Param (Label)DescriptionUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                1 (command)integer command number (0 to 255)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                2 (timeout)timeout for operation in seconds. Zero means no timeout (0 to 255)s
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                3 (arg1)argument1.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                4 (arg2)argument2.
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_NAV_ATTITUDE_TIME (42703)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Maintain an attitude for a specified time.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Param (Label)DescriptionUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                1 (time)Time to maintain specified attitude and climb rates
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                2 (roll)Roll angle in degrees (positive is lean right, negative is lean left)deg
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                3 (pitch)Pitch angle in degrees (positive is lean back, negative is lean forward)deg
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                4 (yaw)Yaw angledeg
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                5 (climb_rate)Climb ratem/s
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_GUIDED_CHANGE_SPEED (43000)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Change flight speed at a given rate. This slews the vehicle at a controllable rate between it's previous speed and the new one. (affects GUIDED only. Outside GUIDED, aircraft ignores these commands. Designed for onboard companion-computer command-and-control, not normally operator/GCS control.)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Param (Label)DescriptionValuesUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                1 (speed type)Airspeed or groundspeed.SPEED_TYPE
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                2 (speed target)Target Speedm/s
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                3 (speed rate-of-change)Acceleration rate, 0 to take effect instantlym/s/s
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                4Empty
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_GUIDED_CHANGE_ALTITUDE (43001)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Change target altitude at a given rate. This slews the vehicle at a controllable rate between it's previous altitude and the new one. (affects GUIDED only. Outside GUIDED, aircraft ignores these commands. Designed for onboard companion-computer command-and-control, not normally operator/GCS control.)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Param (Label)DescriptionValuesUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                1Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                2Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                3 (alt rate-of-change)Rate of change, toward new altitude. 0 for maximum rate change. Positive numbers only, as negative numbers will not converge on the new target alt.min: 0m/s/s
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                4Empty
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                7 (target alt)Target Altitudem

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_GUIDED_CHANGE_HEADING (43002)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Change to target heading at a given rate, overriding previous heading/s. This slews the vehicle at a controllable rate between it's previous heading and the new one. (affects GUIDED only. Exiting GUIDED returns aircraft to normal behaviour defined elsewhere. Designed for onboard companion-computer command-and-control, not normally operator/GCS control.)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Param (Label)DescriptionValuesUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                1 (heading type)course-over-ground or raw vehicle heading.HEADING_TYPE
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                2 (heading target)Target heading.min: 0 max: 359.99deg
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                3 (heading rate-of-change)Maximum centripetal accelearation, ie rate of change, toward new heading.m/s/s
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_EXTERNAL_POSITION_ESTIMATE (43003) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                results matching ""

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  No results matching ""

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  \ No newline at end of file +ardupilotmega.xml · MAVLink Developer Guide
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Examples
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  方言：ArduPilotMega

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  ardupilotmega.xml 的ArduPilot MAVLink分支可能包含尚未合并到本文档中的消息。 The documentation below may not be accurate if the dialect owner has not pushed changes.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  这些消息定义了ArduPilot特定的消息集，该消息集是 http://ardupilot.org 的自定义消息。

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  这个话题是一种 XML 定义文件的可读形式： ardupilotmega.xml 。

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  已添加到 MAVLink 1 消息中的 MAVLink 2 扩展字段以蓝色显示。 - Entities from dialects are displayed only as headings (with link to original)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Protocol dialect: 2

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Summary

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  TypeDefinedIncluded
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Messages65240
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Enums45158
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Commands1950

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  The following sections list all entities in the dialect (both included and defined in this file).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Messages

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  SENSOR_OFFSETS (150)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Offsets and calibrations values for hardware sensors. This makes it easier to debug the calibration process.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  mag_ofs_xint16_tMagnetometer X offset.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  mag_ofs_yint16_tMagnetometer Y offset.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  mag_ofs_zint16_tMagnetometer Z offset.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  mag_declinationfloatradMagnetic declination.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  raw_pressint32_tRaw pressure from barometer.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  raw_tempint32_tRaw temperature from barometer.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  gyro_cal_xfloatGyro X calibration.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  gyro_cal_yfloatGyro Y calibration.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  gyro_cal_zfloatGyro Z calibration.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  accel_cal_xfloatAccel X calibration.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  accel_cal_yfloatAccel Y calibration.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  accel_cal_zfloatAccel Z calibration.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  SET_MAG_OFFSETS (151) — [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  DEPRECATED: Replaced By MAV_CMD_PREFLIGHT_SET_SENSOR_OFFSETS (2014-07)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Set the magnetometer offsets

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  target_systemuint8_tSystem ID.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  target_componentuint8_tComponent ID.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  mag_ofs_xint16_tMagnetometer X offset.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  mag_ofs_yint16_tMagnetometer Y offset.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  mag_ofs_zint16_tMagnetometer Z offset.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MEMINFO (152)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  State of autopilot RAM.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  brkvaluint16_tHeap top.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  freememuint16_tbytesFree memory.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  freemem32 ++uint32_tbytesFree memory (32 bit).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  AP_ADC (153)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Raw ADC output.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  adc1uint16_tADC output 1.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  adc2uint16_tADC output 2.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  adc3uint16_tADC output 3.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  adc4uint16_tADC output 4.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  adc5uint16_tADC output 5.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  adc6uint16_tADC output 6.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  DIGICAM_CONFIGURE (154)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Configure on-board Camera Control System.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  target_systemuint8_tSystem ID.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  target_componentuint8_tComponent ID.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  modeuint8_tMode enumeration from 1 to N //P, TV, AV, M, etc. (0 means ignore).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  shutter_speeduint16_tDivisor number //e.g. 1000 means 1/1000 (0 means ignore).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  apertureuint8_tF stop number x 10 //e.g. 28 means 2.8 (0 means ignore).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  isouint8_tISO enumeration from 1 to N //e.g. 80, 100, 200, Etc (0 means ignore).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  exposure_typeuint8_tExposure type enumeration from 1 to N (0 means ignore).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  command_iduint8_tCommand Identity (incremental loop: 0 to 255). //A command sent multiple times will be executed or pooled just once.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  engine_cut_offuint8_tdsMain engine cut-off time before camera trigger (0 means no cut-off).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  extra_paramuint8_tExtra parameters enumeration (0 means ignore).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  extra_valuefloatCorrespondent value to given extra_param.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  DIGICAM_CONTROL (155)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Control on-board Camera Control System to take shots.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  target_systemuint8_tSystem ID.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  target_componentuint8_tComponent ID.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  sessionuint8_t0: stop, 1: start or keep it up //Session control e.g. show/hide lens.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  zoom_posuint8_t1 to N //Zoom's absolute position (0 means ignore).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  zoom_stepint8_t-100 to 100 //Zooming step value to offset zoom from the current position.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  focus_lockuint8_t0: unlock focus or keep unlocked, 1: lock focus or keep locked, 3: re-lock focus.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  shotuint8_t0: ignore, 1: shot or start filming.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  command_iduint8_tCommand Identity (incremental loop: 0 to 255)//A command sent multiple times will be executed or pooled just once.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  extra_paramuint8_tExtra parameters enumeration (0 means ignore).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  extra_valuefloatCorrespondent value to given extra_param.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MOUNT_CONFIGURE (156)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Message to configure a camera mount, directional antenna, etc.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Field NameTypeValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  target_systemuint8_tSystem ID.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  target_componentuint8_tComponent ID.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  mount_modeuint8_tMAV_MOUNT_MODEMount operating mode.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  stab_rolluint8_t(1 = yes, 0 = no).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  stab_pitchuint8_t(1 = yes, 0 = no).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  stab_yawuint8_t(1 = yes, 0 = no).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MOUNT_CONTROL (157)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Message to control a camera mount, directional antenna, etc.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  target_systemuint8_tSystem ID.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  target_componentuint8_tComponent ID.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  input_aint32_tPitch (centi-degrees) or lat (degE7), depending on mount mode.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  input_bint32_tRoll (centi-degrees) or lon (degE7) depending on mount mode.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  input_cint32_tYaw (centi-degrees) or alt (cm) depending on mount mode.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  save_positionuint8_tIf "1" it will save current trimmed position on EEPROM (just valid for NEUTRAL and LANDING).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MOUNT_STATUS (158)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Message with some status from autopilot to GCS about camera or antenna mount.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  target_systemuint8_tSystem ID.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  target_componentuint8_tComponent ID.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  pointing_aint32_tcdegPitch.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  pointing_bint32_tcdegRoll.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  pointing_cint32_tcdegYaw.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  mount_mode ++uint8_tMAV_MOUNT_MODEMount operating mode.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  FENCE_POINT (160)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  A fence point. Used to set a point when from GCS -> MAV. Also used to return a point from MAV -> GCS.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  target_systemuint8_tSystem ID.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  target_componentuint8_tComponent ID.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  idxuint8_tPoint index (first point is 1, 0 is for return point).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  countuint8_tTotal number of points (for sanity checking).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  latfloatdegLatitude of point.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  lngfloatdegLongitude of point.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  FENCE_FETCH_POINT (161)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Request a current fence point from MAV.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  target_systemuint8_tSystem ID.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  target_componentuint8_tComponent ID.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  idxuint8_tPoint index (first point is 1, 0 is for return point).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  AHRS (163)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Status of DCM attitude estimator.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  omegaIxfloatrad/sX gyro drift estimate.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  omegaIyfloatrad/sY gyro drift estimate.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  omegaIzfloatrad/sZ gyro drift estimate.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  accel_weightfloatAverage accel_weight.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  renorm_valfloatAverage renormalisation value.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  error_rpfloatAverage error_roll_pitch value.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  error_yawfloatAverage error_yaw value.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  SIMSTATE (164)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Status of simulation environment, if used.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  rollfloatradRoll angle.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  pitchfloatradPitch angle.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  yawfloatradYaw angle.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  xaccfloatm/s/sX acceleration.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  yaccfloatm/s/sY acceleration.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  zaccfloatm/s/sZ acceleration.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  xgyrofloatrad/sAngular speed around X axis.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  ygyrofloatrad/sAngular speed around Y axis.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  zgyrofloatrad/sAngular speed around Z axis.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  latint32_tdegE7Latitude.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  lngint32_tdegE7Longitude.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  HWSTATUS (165)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Status of key hardware.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Vccuint16_tmVBoard voltage.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  I2Cerruint8_tI2C error count.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  RADIO (166)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Status generated by radio.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  rssiuint8_tLocal signal strength.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  remrssiuint8_tRemote signal strength.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  txbufuint8_t%How full the tx buffer is.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  noiseuint8_tBackground noise level.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  remnoiseuint8_tRemote background noise level.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  rxerrorsuint16_tReceive errors.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  fixeduint16_tCount of error corrected packets.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  LIMITS_STATUS (167)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Status of AP_Limits. Sent in extended status stream when AP_Limits is enabled.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  limits_stateuint8_tLIMITS_STATEState of AP_Limits.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  last_triggeruint32_tmsTime (since boot) of last breach.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  last_actionuint32_tmsTime (since boot) of last recovery action.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  last_recoveryuint32_tmsTime (since boot) of last successful recovery.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  last_clearuint32_tmsTime (since boot) of last all-clear.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  breach_countuint16_tNumber of fence breaches.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  mods_enableduint8_tLIMIT_MODULEAP_Limit_Module bitfield of enabled modules.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  mods_requireduint8_tLIMIT_MODULEAP_Limit_Module bitfield of required modules.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  mods_triggereduint8_tLIMIT_MODULEAP_Limit_Module bitfield of triggered modules.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  WIND (168)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Wind estimation.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  directionfloatdegWind direction (that wind is coming from).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  speedfloatm/sWind speed in ground plane.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  speed_zfloatm/sVertical wind speed.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  DATA16 (169)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Data packet, size 16.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  typeuint8_tData type.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  lenuint8_tbytesData length.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  datauint8_t[16]Raw data.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  DATA32 (170)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Data packet, size 32.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  typeuint8_tData type.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  lenuint8_tbytesData length.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  datauint8_t[32]Raw data.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  DATA64 (171)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Data packet, size 64.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  typeuint8_tData type.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  lenuint8_tbytesData length.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  datauint8_t[64]Raw data.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  DATA96 (172)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Data packet, size 96.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  typeuint8_tData type.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  lenuint8_tbytesData length.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  datauint8_t[96]Raw data.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  RANGEFINDER (173)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Rangefinder reporting.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  distancefloatmDistance.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  voltagefloatVRaw voltage if available, zero otherwise.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  AIRSPEED_AUTOCAL (174)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Airspeed auto-calibration.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  vxfloatm/sGPS velocity north.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  vyfloatm/sGPS velocity east.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  vzfloatm/sGPS velocity down.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  diff_pressurefloatPaDifferential pressure.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  EAS2TASfloatEstimated to true airspeed ratio.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  ratiofloatAirspeed ratio.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  state_xfloatEKF state x.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  state_yfloatEKF state y.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  state_zfloatEKF state z.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  PaxfloatEKF Pax.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  PbyfloatEKF Pby.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  PczfloatEKF Pcz.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  RALLY_POINT (175)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  A rally point. Used to set a point when from GCS -> MAV. Also used to return a point from MAV -> GCS.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  target_systemuint8_tSystem ID.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  target_componentuint8_tComponent ID.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  idxuint8_tPoint index (first point is 0).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  countuint8_tTotal number of points (for sanity checking).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  latint32_tdegE7Latitude of point.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  lngint32_tdegE7Longitude of point.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  altint16_tmTransit / loiter altitude relative to home.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  break_altint16_tmBreak altitude relative to home.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  land_diruint16_tcdegHeading to aim for when landing.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  flagsuint8_tRALLY_FLAGSConfiguration flags.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  RALLY_FETCH_POINT (176)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Request a current rally point from MAV. MAV should respond with a RALLY_POINT message. MAV should not respond if the request is invalid.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  target_systemuint8_tSystem ID.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  target_componentuint8_tComponent ID.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  idxuint8_tPoint index (first point is 0).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  COMPASSMOT_STATUS (177)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Status of compassmot calibration.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  throttleuint16_td%Throttle.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  currentfloatACurrent.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  interferenceuint16_t%Interference.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  CompensationXfloatMotor Compensation X.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  CompensationYfloatMotor Compensation Y.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  CompensationZfloatMotor Compensation Z.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  AHRS2 (178)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Status of secondary AHRS filter if available.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  rollfloatradRoll angle.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  pitchfloatradPitch angle.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  yawfloatradYaw angle.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  altitudefloatmAltitude (MSL).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  latint32_tdegE7Latitude.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  lngint32_tdegE7Longitude.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  CAMERA_STATUS (179)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Camera Event.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  time_usecuint64_tusImage timestamp (since UNIX epoch, according to camera clock).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  target_systemuint8_tSystem ID.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  cam_idxuint8_tCamera ID.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  img_idxuint16_tImage index.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  event_iduint8_tCAMERA_STATUS_TYPESEvent type.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  p1floatParameter 1 (meaning depends on event_id, see CAMERA_STATUS_TYPES enum).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  p2floatParameter 2 (meaning depends on event_id, see CAMERA_STATUS_TYPES enum).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  p3floatParameter 3 (meaning depends on event_id, see CAMERA_STATUS_TYPES enum).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  p4floatParameter 4 (meaning depends on event_id, see CAMERA_STATUS_TYPES enum).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  CAMERA_FEEDBACK (180)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Camera Capture Feedback.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  time_usecuint64_tusImage timestamp (since UNIX epoch), as passed in by CAMERA_STATUS message (or autopilot if no CCB).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  target_systemuint8_tSystem ID.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  cam_idxuint8_tCamera ID.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  img_idxuint16_tImage index.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  latint32_tdegE7Latitude.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  lngint32_tdegE7Longitude.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  alt_mslfloatmAltitude (MSL).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  alt_relfloatmAltitude (Relative to HOME location).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  rollfloatdegCamera Roll angle (earth frame, +-180).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  pitchfloatdegCamera Pitch angle (earth frame, +-180).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  yawfloatdegCamera Yaw (earth frame, 0-360, true).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  foc_lenfloatmmFocal Length.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  flagsuint8_tCAMERA_FEEDBACK_FLAGSFeedback flags.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  completed_captures ++uint16_tCompleted image captures.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  BATTERY2 (181) — [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  DEPRECATED: Replaced By BATTERY_STATUS (2017-04)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  2nd Battery status

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  voltageuint16_tmVVoltage.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  current_batteryint16_tcABattery current, -1: autopilot does not measure the current.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  AHRS3 (182)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Status of third AHRS filter if available. This is for ANU research group (Ali and Sean).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  rollfloatradRoll angle.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  pitchfloatradPitch angle.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  yawfloatradYaw angle.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  altitudefloatmAltitude (MSL).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  latint32_tdegE7Latitude.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  lngint32_tdegE7Longitude.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  v1floatTest variable1.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  v2floatTest variable2.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  v3floatTest variable3.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  v4floatTest variable4.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  AUTOPILOT_VERSION_REQUEST (183)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Request the autopilot version from the system/component.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  target_systemuint8_tSystem ID.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  target_componentuint8_tComponent ID.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  REMOTE_LOG_DATA_BLOCK (184)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Send a block of log data to remote location.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Field NameTypeValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  target_systemuint8_tSystem ID.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  target_componentuint8_tComponent ID.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  seqnouint32_tMAV_REMOTE_LOG_DATA_BLOCK_COMMANDSLog data block sequence number.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  datauint8_t[200]Log data block.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  REMOTE_LOG_BLOCK_STATUS (185)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Send Status of each log block that autopilot board might have sent.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Field NameTypeValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  target_systemuint8_tSystem ID.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  target_componentuint8_tComponent ID.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  seqnouint32_tLog data block sequence number.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  statusuint8_tMAV_REMOTE_LOG_DATA_BLOCK_STATUSESLog data block status.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  LED_CONTROL (186)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Control vehicle LEDs.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  target_systemuint8_tSystem ID.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  target_componentuint8_tComponent ID.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  instanceuint8_tInstance (LED instance to control or 255 for all LEDs).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  patternuint8_tPattern (see LED_PATTERN_ENUM).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  custom_lenuint8_tCustom Byte Length.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  custom_bytesuint8_t[24]Custom Bytes.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAG_CAL_PROGRESS (191)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Reports progress of compass calibration.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  compass_iduint8_tCompass being calibrated.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Messages with same value are from the same source (instance). | | cal_mask | uint8_t | | | Bitmask of compasses being calibrated. | | cal_status | uint8_t | | MAG_CAL_STATUS | Calibration Status. | | attempt | uint8_t | | | Attempt number. | | completion_pct | uint8_t | % | | Completion percentage. | | completion_mask | uint8_t[10] | | | Bitmask of sphere sections (see http://en.wikipedia.org/wiki/Geodesic_grid). | | direction_x | float | | | Body frame direction vector for display. | | direction_y | float | | | Body frame direction vector for display. | | direction_z | float | | | Body frame direction vector for display. |

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  EKF_STATUS_REPORT (193)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  EKF Status message including flags and variances.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Field NameTypeValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  flagsuint16_tEKF_STATUS_FLAGSFlags.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  velocity_variancefloatVelocity variance.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  pos_horiz_variancefloatHorizontal Position variance.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  pos_vert_variancefloatVertical Position variance.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  compass_variancefloatCompass variance.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  terrain_alt_variancefloatTerrain Altitude variance.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  airspeed_variance ++floatAirspeed variance.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  PID_TUNING (194)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  PID tuning information.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Field NameTypeValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  axisuint8_tPID_TUNING_AXISAxis.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Messages with same value are from the same source (instance). | | desired | float | | Desired rate. | | achieved | float | | Achieved rate. | | FF | float | | FF component. | | P | float | | P component. | | I | float | | I component. | | D | float | | D component. | | SRate ++ | float | | Slew rate. | | PDmod ++ | float | | P/D oscillation modifier. |

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  DEEPSTALL (195)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Deepstall path planning.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  landing_latint32_tdegE7Landing latitude.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  landing_lonint32_tdegE7Landing longitude.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  path_latint32_tdegE7Final heading start point, latitude.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  path_lonint32_tdegE7Final heading start point, longitude.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  arc_entry_latint32_tdegE7Arc entry point, latitude.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  arc_entry_lonint32_tdegE7Arc entry point, longitude.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  altitudefloatmAltitude.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  expected_travel_distancefloatmDistance the aircraft expects to travel during the deepstall.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  cross_track_errorfloatmDeepstall cross track error (only valid when in DEEPSTALL_STAGE_LAND).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  stageuint8_tDEEPSTALL_STAGEDeepstall stage.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  GIMBAL_REPORT (200)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  3 axis gimbal measurements.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  target_systemuint8_tSystem ID.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  target_componentuint8_tComponent ID.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  delta_timefloatsTime since last update.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  delta_angle_xfloatradDelta angle X.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  delta_angle_yfloatradDelta angle Y.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  delta_angle_zfloatradDelta angle X.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  delta_velocity_xfloatm/sDelta velocity X.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  delta_velocity_yfloatm/sDelta velocity Y.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  delta_velocity_zfloatm/sDelta velocity Z.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  joint_rollfloatradJoint ROLL.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  joint_elfloatradJoint EL.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  joint_azfloatradJoint AZ.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  GIMBAL_CONTROL (201)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Control message for rate gimbal.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  target_systemuint8_tSystem ID.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  target_componentuint8_tComponent ID.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  demanded_rate_xfloatrad/sDemanded angular rate X.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  demanded_rate_yfloatrad/sDemanded angular rate Y.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  demanded_rate_zfloatrad/sDemanded angular rate Z.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  GIMBAL_TORQUE_CMD_REPORT (214)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  100 Hz gimbal torque command telemetry.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  target_systemuint8_tSystem ID.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  target_componentuint8_tComponent ID.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  rl_torque_cmdint16_tRoll Torque Command.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  el_torque_cmdint16_tElevation Torque Command.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  az_torque_cmdint16_tAzimuth Torque Command.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  GOPRO_HEARTBEAT (215)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Heartbeat from a HeroBus attached GoPro.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Field NameTypeValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  statusuint8_tGOPRO_HEARTBEAT_STATUSStatus.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  capture_modeuint8_tGOPRO_CAPTURE_MODECurrent capture mode.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  flagsuint8_tGOPRO_HEARTBEAT_FLAGSAdditional status bits.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  GOPRO_GET_REQUEST (216)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Request a GOPRO_COMMAND response from the GoPro.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Field NameTypeValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  target_systemuint8_tSystem ID.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  target_componentuint8_tComponent ID.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  cmd_iduint8_tGOPRO_COMMANDCommand ID.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  GOPRO_GET_RESPONSE (217)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Response from a GOPRO_COMMAND get request.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Field NameTypeValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  cmd_iduint8_tGOPRO_COMMANDCommand ID.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  statusuint8_tGOPRO_REQUEST_STATUSStatus.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  valueuint8_t[4]Value.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  GOPRO_SET_REQUEST (218)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Request to set a GOPRO_COMMAND with a desired.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Field NameTypeValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  target_systemuint8_tSystem ID.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  target_componentuint8_tComponent ID.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  cmd_iduint8_tGOPRO_COMMANDCommand ID.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  valueuint8_t[4]Value.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  GOPRO_SET_RESPONSE (219)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Response from a GOPRO_COMMAND set request.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Field NameTypeValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  cmd_iduint8_tGOPRO_COMMANDCommand ID.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  statusuint8_tGOPRO_REQUEST_STATUSStatus.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  RPM (226)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  RPM sensor output.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  rpm1floatRPM Sensor1.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  rpm2floatRPM Sensor2.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  DEVICE_OP_READ (11000)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Read registers for a device.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Field NameTypeValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  target_systemuint8_tSystem ID.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  target_componentuint8_tComponent ID.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  request_iduint32_tRequest ID - copied to reply.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  bustypeuint8_tDEVICE_OP_BUSTYPEThe bus type.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  busuint8_tBus number.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  addressuint8_tBus address.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  busnamechar[40]Name of device on bus (for SPI).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  regstartuint8_tFirst register to read.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  countuint8_tCount of registers to read.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  bank ++uint8_tBank number.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  DEVICE_OP_READ_REPLY (11001)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Read registers reply.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  request_iduint32_tRequest ID - copied from request.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  resultuint8_t0 for success, anything else is failure code.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  regstartuint8_tStarting register.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  countuint8_tCount of bytes read.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  datauint8_t[128]Reply data.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  bank ++uint8_tBank number.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  DEVICE_OP_WRITE (11002)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Write registers for a device.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Field NameTypeValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  target_systemuint8_tSystem ID.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  target_componentuint8_tComponent ID.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  request_iduint32_tRequest ID - copied to reply.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  bustypeuint8_tDEVICE_OP_BUSTYPEThe bus type.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  busuint8_tBus number.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  addressuint8_tBus address.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  busnamechar[40]Name of device on bus (for SPI).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  regstartuint8_tFirst register to write.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  countuint8_tCount of registers to write.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  datauint8_t[128]Write data.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  bank ++uint8_tBank number.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  DEVICE_OP_WRITE_REPLY (11003)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Write registers reply.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  request_iduint32_tRequest ID - copied from request.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  resultuint8_t0 for success, anything else is failure code.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  ADAP_TUNING (11010)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Adaptive Controller tuning information.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  axisuint8_tPID_TUNING_AXISAxis.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Messages with same value are from the same source (instance). | | desired | float | deg/s | | Desired rate. | | achieved | float | deg/s | | Achieved rate. | | error | float | | | Error between model and vehicle. | | theta | float | | | Theta estimated state predictor. | | omega | float | | | Omega estimated state predictor. | | sigma | float | | | Sigma estimated state predictor. | | theta_dot | float | | | Theta derivative. | | omega_dot | float | | | Omega derivative. | | sigma_dot | float | | | Sigma derivative. | | f | float | | | Projection operator value. | | f_dot | float | | | Projection operator derivative. | | u | float | | | u adaptive controlled output command. |

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  VISION_POSITION_DELTA (11011)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Camera vision based attitude and position deltas.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  time_usecuint64_tusTimestamp (synced to UNIX time or since system boot).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  time_delta_usecuint64_tusTime since the last reported camera frame.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  angle_deltafloat[3]radDefines a rotation vector [roll, pitch, yaw] to the current MAV_FRAME_BODY_FRD from the previous MAV_FRAME_BODY_FRD.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  position_deltafloat[3]mChange in position to the current MAV_FRAME_BODY_FRD from the previous FRAME_BODY_FRD rotated to the current MAV_FRAME_BODY_FRD.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  confidencefloat%Normalised confidence value from 0 to 100.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  AOA_SSA (11020)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Angle of Attack and Side Slip Angle.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  time_usecuint64_tusTimestamp (since boot or Unix epoch).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  AOAfloatdegAngle of Attack.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  SSAfloatdegSide Slip Angle.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  ESC_TELEMETRY_1_TO_4 (11030)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  ESC Telemetry Data for ESCs 1 to 4, matching data sent by BLHeli ESCs.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  temperatureuint8_t[4]degCTemperature.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  voltageuint16_t[4]cVVoltage.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  currentuint16_t[4]cACurrent.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  totalcurrentuint16_t[4]mAhTotal current.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  rpmuint16_t[4]rpmRPM (eRPM).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  countuint16_t[4]count of telemetry packets received (wraps at 65535).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  ESC_TELEMETRY_5_TO_8 (11031)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  ESC Telemetry Data for ESCs 5 to 8, matching data sent by BLHeli ESCs.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  temperatureuint8_t[4]degCTemperature.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  voltageuint16_t[4]cVVoltage.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  currentuint16_t[4]cACurrent.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  totalcurrentuint16_t[4]mAhTotal current.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  rpmuint16_t[4]rpmRPM (eRPM).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  countuint16_t[4]count of telemetry packets received (wraps at 65535).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  ESC_TELEMETRY_9_TO_12 (11032)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  ESC Telemetry Data for ESCs 9 to 12, matching data sent by BLHeli ESCs.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  temperatureuint8_t[4]degCTemperature.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  voltageuint16_t[4]cVVoltage.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  currentuint16_t[4]cACurrent.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  totalcurrentuint16_t[4]mAhTotal current.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  rpmuint16_t[4]rpmRPM (eRPM).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  countuint16_t[4]count of telemetry packets received (wraps at 65535).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  OSD_PARAM_CONFIG (11033)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Configure an OSD parameter slot.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Field NameTypeValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  target_systemuint8_tSystem ID.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  target_componentuint8_tComponent ID.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  request_iduint32_tRequest ID - copied to reply.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  osd_screenuint8_tOSD parameter screen index.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  osd_indexuint8_tOSD parameter display index.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  param_idchar[16]Onboard parameter id, terminated by NULL if the length is less than 16 human-readable chars and WITHOUT null termination (NULL) byte if the length is exactly 16 chars - applications have to provide 16+1 bytes storage if the ID is stored as string
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  config_typeuint8_tOSD_PARAM_CONFIG_TYPEConfig type.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  min_valuefloatOSD parameter minimum value.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  max_valuefloatOSD parameter maximum value.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  incrementfloatOSD parameter increment.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  OSD_PARAM_CONFIG_REPLY (11034)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Configure OSD parameter reply.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Field NameTypeValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  request_iduint32_tRequest ID - copied from request.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  resultuint8_tOSD_PARAM_CONFIG_ERRORConfig error type.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  OSD_PARAM_SHOW_CONFIG (11035)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Read a configured an OSD parameter slot.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  target_systemuint8_tSystem ID.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  target_componentuint8_tComponent ID.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  request_iduint32_tRequest ID - copied to reply.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  osd_screenuint8_tOSD parameter screen index.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  osd_indexuint8_tOSD parameter display index.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  OSD_PARAM_SHOW_CONFIG_REPLY (11036)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Read configured OSD parameter reply.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Field NameTypeValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  request_iduint32_tRequest ID - copied from request.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  resultuint8_tOSD_PARAM_CONFIG_ERRORConfig error type.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  param_idchar[16]Onboard parameter id, terminated by NULL if the length is less than 16 human-readable chars and WITHOUT null termination (NULL) byte if the length is exactly 16 chars - applications have to provide 16+1 bytes storage if the ID is stored as string
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  config_typeuint8_tOSD_PARAM_CONFIG_TYPEConfig type.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  min_valuefloatOSD parameter minimum value.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  max_valuefloatOSD parameter maximum value.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  incrementfloatOSD parameter increment.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  OBSTACLE_DISTANCE_3D (11037) — [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Obstacle located as a 3D vector.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  time_boot_msuint32_tmsTimestamp (time since system boot).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  sensor_typeuint8_tMAV_DISTANCE_SENSORClass id of the distance sensor type.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  frameuint8_tMAV_FRAMECoordinate frame of reference.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  obstacle_iduint16_tUnique ID given to each obstacle so that its movement can be tracked. Use UINT16_MAX if object ID is unknown or cannot be determined.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Messages with same value are from the same source (instance). | | x | float | m | | X position of the obstacle. | | y | float | m | | Y position of the obstacle. | | z | float | m | | Z position of the obstacle. | | min_distance | float | m | | Minimum distance the sensor can measure. | | max_distance | float | m | | Maximum distance the sensor can measure. |

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  WATER_DEPTH (11038)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Water depth

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  time_boot_msuint32_tmsTimestamp (time since system boot)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  iduint8_tOnboard ID of the sensor

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Messages with same value are from the same source (instance). | | healthy | uint8_t | | Sensor data healthy (0=unhealthy, 1=healthy) | | lat | int32_t | degE7 | Latitude | | lng | int32_t | degE7 | Longitude | | alt | float | m | Altitude (MSL) of vehicle | | roll | float | rad | Roll angle | | pitch | float | rad | Pitch angle | | yaw | float | rad | Yaw angle | | distance | float | m | Distance (uncorrected) | | temperature | float | degC | Water temperature |

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MCU_STATUS (11039)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  The MCU status, giving MCU temperature and voltage. The min and max voltages are to allow for detecting power supply instability.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  iduint8_tMCU instance

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Messages with same value are from the same source (instance). | | MCU_temperature | int16_t | cdegC | MCU Internal temperature | | MCU_voltage | uint16_t | mV | MCU voltage | | MCU_voltage_min | uint16_t | mV | MCU voltage minimum | | MCU_voltage_max | uint16_t | mV | MCU voltage maximum |

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Enumerated Types

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  ACCELCAL_VEHICLE_POS

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  1ACCELCAL_VEHICLE_POS_LEVEL
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  2ACCELCAL_VEHICLE_POS_LEFT
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  3ACCELCAL_VEHICLE_POS_RIGHT
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  4ACCELCAL_VEHICLE_POS_NOSEDOWN
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  5ACCELCAL_VEHICLE_POS_NOSEUP
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  6ACCELCAL_VEHICLE_POS_BACK
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  16777215ACCELCAL_VEHICLE_POS_SUCCESS
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  16777216ACCELCAL_VEHICLE_POS_FAILED

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  HEADING_TYPE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  0HEADING_TYPE_COURSE_OVER_GROUND
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  1HEADING_TYPE_HEADING

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  SCRIPTING_CMD

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  0SCRIPTING_CMD_REPL_STARTStart a REPL session.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  1SCRIPTING_CMD_REPL_STOPEnd a REPL session.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  2SCRIPTING_CMD_STOPStop execution of scripts.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  3SCRIPTING_CMD_STOP_AND_RESTARTStop execution of scripts and restart.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  LIMITS_STATE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  0LIMITS_INITPre-initialization.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  1LIMITS_DISABLEDDisabled.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  2LIMITS_ENABLEDChecking limits.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  3LIMITS_TRIGGEREDA limit has been breached.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  4LIMITS_RECOVERINGTaking action e.g. Return/RTL.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  5LIMITS_RECOVEREDWe're no longer in breach of a limit.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  LIMIT_MODULE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  (Bitmask)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  1LIMIT_GPSLOCKPre-initialization.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  2LIMIT_GEOFENCEDisabled.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  4LIMIT_ALTITUDEChecking limits.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  RALLY_FLAGS

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  (Bitmask) Flags in RALLY_POINT message.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  1FAVORABLE_WINDFlag set when requiring favorable winds for landing.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  2LAND_IMMEDIATELYFlag set when plane is to immediately descend to break altitude and land without GCS intervention. Flag not set when plane is to loiter at Rally point until commanded to land.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  CAMERA_STATUS_TYPES

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  0CAMERA_STATUS_TYPE_HEARTBEATCamera heartbeat, announce camera component ID at 1Hz.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  1CAMERA_STATUS_TYPE_TRIGGERCamera image triggered.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  2CAMERA_STATUS_TYPE_DISCONNECTCamera connection lost.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  3CAMERA_STATUS_TYPE_ERRORCamera unknown error.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  4CAMERA_STATUS_TYPE_LOWBATTCamera battery low. Parameter p1 shows reported voltage.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  5CAMERA_STATUS_TYPE_LOWSTORECamera storage low. Parameter p1 shows reported shots remaining.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  6CAMERA_STATUS_TYPE_LOWSTOREVCamera storage low. Parameter p1 shows reported video minutes remaining.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  CAMERA_FEEDBACK_FLAGS

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  0CAMERA_FEEDBACK_PHOTOShooting photos, not video.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  1CAMERA_FEEDBACK_VIDEOShooting video, not stills.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  2CAMERA_FEEDBACK_BADEXPOSUREUnable to achieve requested exposure (e.g. shutter speed too low).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  3CAMERA_FEEDBACK_CLOSEDLOOPClosed loop feedback from camera, we know for sure it has successfully taken a picture.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  4CAMERA_FEEDBACK_OPENLOOPOpen loop camera, an image trigger has been requested but we can't know for sure it has successfully taken a picture.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_MODE_GIMBAL

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  0MAV_MODE_GIMBAL_UNINITIALIZEDGimbal is powered on but has not started initializing yet.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  1MAV_MODE_GIMBAL_CALIBRATING_PITCHGimbal is currently running calibration on the pitch axis.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  2MAV_MODE_GIMBAL_CALIBRATING_ROLLGimbal is currently running calibration on the roll axis.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  3MAV_MODE_GIMBAL_CALIBRATING_YAWGimbal is currently running calibration on the yaw axis.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  4MAV_MODE_GIMBAL_INITIALIZEDGimbal has finished calibrating and initializing, but is relaxed pending reception of first rate command from copter.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  5MAV_MODE_GIMBAL_ACTIVEGimbal is actively stabilizing.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  6MAV_MODE_GIMBAL_RATE_CMD_TIMEOUTGimbal is relaxed because it missed more than 10 expected rate command messages in a row. Gimbal will move back to active mode when it receives a new rate command.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  GIMBAL_AXIS

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  0GIMBAL_AXIS_YAWGimbal yaw axis.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  1GIMBAL_AXIS_PITCHGimbal pitch axis.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  2GIMBAL_AXIS_ROLLGimbal roll axis.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  GIMBAL_AXIS_CALIBRATION_STATUS

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  0GIMBAL_AXIS_CALIBRATION_STATUS_IN_PROGRESSAxis calibration is in progress.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  1GIMBAL_AXIS_CALIBRATION_STATUS_SUCCEEDEDAxis calibration succeeded.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  2GIMBAL_AXIS_CALIBRATION_STATUS_FAILEDAxis calibration failed.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  GIMBAL_AXIS_CALIBRATION_REQUIRED

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  0GIMBAL_AXIS_CALIBRATION_REQUIRED_UNKNOWNWhether or not this axis requires calibration is unknown at this time.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  1GIMBAL_AXIS_CALIBRATION_REQUIRED_TRUEThis axis requires calibration.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  2GIMBAL_AXIS_CALIBRATION_REQUIRED_FALSEThis axis does not require calibration.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  GOPRO_HEARTBEAT_STATUS

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  0GOPRO_HEARTBEAT_STATUS_DISCONNECTEDNo GoPro connected.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  1GOPRO_HEARTBEAT_STATUS_INCOMPATIBLEThe detected GoPro is not HeroBus compatible.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  2GOPRO_HEARTBEAT_STATUS_CONNECTEDA HeroBus compatible GoPro is connected.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  3GOPRO_HEARTBEAT_STATUS_ERRORAn unrecoverable error was encountered with the connected GoPro, it may require a power cycle.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  GOPRO_HEARTBEAT_FLAGS

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  (Bitmask)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  1GOPRO_FLAG_RECORDINGGoPro is currently recording.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  GOPRO_REQUEST_STATUS

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  0GOPRO_REQUEST_SUCCESSThe write message with ID indicated succeeded.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  1GOPRO_REQUEST_FAILEDThe write message with ID indicated failed.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  GOPRO_COMMAND

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  0GOPRO_COMMAND_POWER(Get/Set).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  1GOPRO_COMMAND_CAPTURE_MODE(Get/Set).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  2GOPRO_COMMAND_SHUTTER(_/Set).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  3GOPRO_COMMAND_BATTERY(Get/_).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  4GOPRO_COMMAND_MODEL(Get/_).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  5GOPRO_COMMAND_VIDEO_SETTINGS(Get/Set).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  6GOPRO_COMMAND_LOW_LIGHT(Get/Set).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  7GOPRO_COMMAND_PHOTO_RESOLUTION(Get/Set).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  8GOPRO_COMMAND_PHOTO_BURST_RATE(Get/Set).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  9GOPRO_COMMAND_PROTUNE(Get/Set).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  10GOPRO_COMMAND_PROTUNE_WHITE_BALANCE(Get/Set) Hero 3+ Only.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  11GOPRO_COMMAND_PROTUNE_COLOUR(Get/Set) Hero 3+ Only.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  12GOPRO_COMMAND_PROTUNE_GAIN(Get/Set) Hero 3+ Only.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  13GOPRO_COMMAND_PROTUNE_SHARPNESS(Get/Set) Hero 3+ Only.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  14GOPRO_COMMAND_PROTUNE_EXPOSURE(Get/Set) Hero 3+ Only.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  15GOPRO_COMMAND_TIME(Get/Set).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  16GOPRO_COMMAND_CHARGING(Get/Set).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  GOPRO_CAPTURE_MODE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  0GOPRO_CAPTURE_MODE_VIDEOVideo mode.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  1GOPRO_CAPTURE_MODE_PHOTOPhoto mode.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  2GOPRO_CAPTURE_MODE_BURSTBurst mode, Hero 3+ only.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  3GOPRO_CAPTURE_MODE_TIME_LAPSETime lapse mode, Hero 3+ only.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  4GOPRO_CAPTURE_MODE_MULTI_SHOTMulti shot mode, Hero 4 only.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  5GOPRO_CAPTURE_MODE_PLAYBACKPlayback mode, Hero 4 only, silver only except when LCD or HDMI is connected to black.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  6GOPRO_CAPTURE_MODE_SETUPPlayback mode, Hero 4 only.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  255GOPRO_CAPTURE_MODE_UNKNOWNMode not yet known.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  GOPRO_RESOLUTION

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  0GOPRO_RESOLUTION_480p848 x 480 (480p).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  1GOPRO_RESOLUTION_720p1280 x 720 (720p).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  2GOPRO_RESOLUTION_960p1280 x 960 (960p).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  3GOPRO_RESOLUTION_1080p1920 x 1080 (1080p).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  4GOPRO_RESOLUTION_1440p1920 x 1440 (1440p).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  5GOPRO_RESOLUTION_2_7k_17_92704 x 1440 (2.7k-17:9).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  6GOPRO_RESOLUTION_2_7k_16_92704 x 1524 (2.7k-16:9).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  7GOPRO_RESOLUTION_2_7k_4_32704 x 2028 (2.7k-4:3).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  8GOPRO_RESOLUTION_4k_16_93840 x 2160 (4k-16:9).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  9GOPRO_RESOLUTION_4k_17_94096 x 2160 (4k-17:9).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  10GOPRO_RESOLUTION_720p_SUPERVIEW1280 x 720 (720p-SuperView).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  11GOPRO_RESOLUTION_1080p_SUPERVIEW1920 x 1080 (1080p-SuperView).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  12GOPRO_RESOLUTION_2_7k_SUPERVIEW2704 x 1520 (2.7k-SuperView).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  13GOPRO_RESOLUTION_4k_SUPERVIEW3840 x 2160 (4k-SuperView).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  GOPRO_FRAME_RATE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  0GOPRO_FRAME_RATE_1212 FPS.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  1GOPRO_FRAME_RATE_1515 FPS.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  2GOPRO_FRAME_RATE_2424 FPS.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  3GOPRO_FRAME_RATE_2525 FPS.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  4GOPRO_FRAME_RATE_3030 FPS.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  5GOPRO_FRAME_RATE_4848 FPS.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  6GOPRO_FRAME_RATE_5050 FPS.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  7GOPRO_FRAME_RATE_6060 FPS.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  8GOPRO_FRAME_RATE_8080 FPS.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  9GOPRO_FRAME_RATE_9090 FPS.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  10GOPRO_FRAME_RATE_100100 FPS.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  11GOPRO_FRAME_RATE_120120 FPS.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  12GOPRO_FRAME_RATE_240240 FPS.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  13GOPRO_FRAME_RATE_12_512.5 FPS.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  GOPRO_FIELD_OF_VIEW

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  0GOPRO_FIELD_OF_VIEW_WIDE0x00: Wide.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  1GOPRO_FIELD_OF_VIEW_MEDIUM0x01: Medium.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  2GOPRO_FIELD_OF_VIEW_NARROW0x02: Narrow.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  GOPRO_VIDEO_SETTINGS_FLAGS

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  (Bitmask)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  1GOPRO_VIDEO_SETTINGS_TV_MODE0=NTSC, 1=PAL.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  GOPRO_PHOTO_RESOLUTION

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  0GOPRO_PHOTO_RESOLUTION_5MP_MEDIUM5MP Medium.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  1GOPRO_PHOTO_RESOLUTION_7MP_MEDIUM7MP Medium.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  2GOPRO_PHOTO_RESOLUTION_7MP_WIDE7MP Wide.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  3GOPRO_PHOTO_RESOLUTION_10MP_WIDE10MP Wide.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  4GOPRO_PHOTO_RESOLUTION_12MP_WIDE12MP Wide.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  GOPRO_PROTUNE_WHITE_BALANCE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  0GOPRO_PROTUNE_WHITE_BALANCE_AUTOAuto.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  1GOPRO_PROTUNE_WHITE_BALANCE_3000K3000K.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  2GOPRO_PROTUNE_WHITE_BALANCE_5500K5500K.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  3GOPRO_PROTUNE_WHITE_BALANCE_6500K6500K.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  4GOPRO_PROTUNE_WHITE_BALANCE_RAWCamera Raw.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  GOPRO_PROTUNE_COLOUR

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  0GOPRO_PROTUNE_COLOUR_STANDARDAuto.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  1GOPRO_PROTUNE_COLOUR_NEUTRALNeutral.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  GOPRO_PROTUNE_GAIN

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  0GOPRO_PROTUNE_GAIN_400ISO 400.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  1GOPRO_PROTUNE_GAIN_800ISO 800 (Only Hero 4).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  2GOPRO_PROTUNE_GAIN_1600ISO 1600.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  3GOPRO_PROTUNE_GAIN_3200ISO 3200 (Only Hero 4).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  4GOPRO_PROTUNE_GAIN_6400ISO 6400.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  GOPRO_PROTUNE_SHARPNESS

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  0GOPRO_PROTUNE_SHARPNESS_LOWLow Sharpness.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  1GOPRO_PROTUNE_SHARPNESS_MEDIUMMedium Sharpness.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  2GOPRO_PROTUNE_SHARPNESS_HIGHHigh Sharpness.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  GOPRO_PROTUNE_EXPOSURE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  0GOPRO_PROTUNE_EXPOSURE_NEG_5_0-5.0 EV (Hero 3+ Only).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  1GOPRO_PROTUNE_EXPOSURE_NEG_4_5-4.5 EV (Hero 3+ Only).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  2GOPRO_PROTUNE_EXPOSURE_NEG_4_0-4.0 EV (Hero 3+ Only).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  3GOPRO_PROTUNE_EXPOSURE_NEG_3_5-3.5 EV (Hero 3+ Only).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  4GOPRO_PROTUNE_EXPOSURE_NEG_3_0-3.0 EV (Hero 3+ Only).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  5GOPRO_PROTUNE_EXPOSURE_NEG_2_5-2.5 EV (Hero 3+ Only).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  6GOPRO_PROTUNE_EXPOSURE_NEG_2_0-2.0 EV.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  7GOPRO_PROTUNE_EXPOSURE_NEG_1_5-1.5 EV.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  8GOPRO_PROTUNE_EXPOSURE_NEG_1_0-1.0 EV.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  9GOPRO_PROTUNE_EXPOSURE_NEG_0_5-0.5 EV.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  10GOPRO_PROTUNE_EXPOSURE_ZERO0.0 EV.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  11GOPRO_PROTUNE_EXPOSURE_POS_0_5+0.5 EV.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  12GOPRO_PROTUNE_EXPOSURE_POS_1_0+1.0 EV.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  13GOPRO_PROTUNE_EXPOSURE_POS_1_5+1.5 EV.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  14GOPRO_PROTUNE_EXPOSURE_POS_2_0+2.0 EV.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  15GOPRO_PROTUNE_EXPOSURE_POS_2_5+2.5 EV (Hero 3+ Only).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  16GOPRO_PROTUNE_EXPOSURE_POS_3_0+3.0 EV (Hero 3+ Only).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  17GOPRO_PROTUNE_EXPOSURE_POS_3_5+3.5 EV (Hero 3+ Only).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  18GOPRO_PROTUNE_EXPOSURE_POS_4_0+4.0 EV (Hero 3+ Only).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  19GOPRO_PROTUNE_EXPOSURE_POS_4_5+4.5 EV (Hero 3+ Only).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  20GOPRO_PROTUNE_EXPOSURE_POS_5_0+5.0 EV (Hero 3+ Only).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  GOPRO_CHARGING

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  0GOPRO_CHARGING_DISABLEDCharging disabled.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  1GOPRO_CHARGING_ENABLEDCharging enabled.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  GOPRO_MODEL

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  0GOPRO_MODEL_UNKNOWNUnknown gopro model.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  1GOPRO_MODEL_HERO_3_PLUS_SILVERHero 3+ Silver (HeroBus not supported by GoPro).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  2GOPRO_MODEL_HERO_3_PLUS_BLACKHero 3+ Black.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  3GOPRO_MODEL_HERO_4_SILVERHero 4 Silver.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  4GOPRO_MODEL_HERO_4_BLACKHero 4 Black.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  GOPRO_BURST_RATE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  0GOPRO_BURST_RATE_3_IN_1_SECOND3 Shots / 1 Second.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  1GOPRO_BURST_RATE_5_IN_1_SECOND5 Shots / 1 Second.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  2GOPRO_BURST_RATE_10_IN_1_SECOND10 Shots / 1 Second.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  3GOPRO_BURST_RATE_10_IN_2_SECOND10 Shots / 2 Second.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  4GOPRO_BURST_RATE_10_IN_3_SECOND10 Shots / 3 Second (Hero 4 Only).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  5GOPRO_BURST_RATE_30_IN_1_SECOND30 Shots / 1 Second.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  6GOPRO_BURST_RATE_30_IN_2_SECOND30 Shots / 2 Second.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  7GOPRO_BURST_RATE_30_IN_3_SECOND30 Shots / 3 Second.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  8GOPRO_BURST_RATE_30_IN_6_SECOND30 Shots / 6 Second.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_DO_AUX_FUNCTION_SWITCH_LEVEL

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  0MAV_CMD_DO_AUX_FUNCTION_SWITCH_LEVEL_LOWSwitch Low.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  1MAV_CMD_DO_AUX_FUNCTION_SWITCH_LEVEL_MIDDLESwitch Middle.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  2MAV_CMD_DO_AUX_FUNCTION_SWITCH_LEVEL_HIGHSwitch High.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  LED_CONTROL_PATTERN

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  0LED_CONTROL_PATTERN_OFFLED patterns off (return control to regular vehicle control).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  1LED_CONTROL_PATTERN_FIRMWAREUPDATELEDs show pattern during firmware update.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  255LED_CONTROL_PATTERN_CUSTOMCustom Pattern using custom bytes fields.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  EKF_STATUS_FLAGS

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  (Bitmask) Flags in EKF_STATUS message.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  1EKF_ATTITUDESet if EKF's attitude estimate is good.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  2EKF_VELOCITY_HORIZSet if EKF's horizontal velocity estimate is good.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  4EKF_VELOCITY_VERTSet if EKF's vertical velocity estimate is good.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  8EKF_POS_HORIZ_RELSet if EKF's horizontal position (relative) estimate is good.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  16EKF_POS_HORIZ_ABSSet if EKF's horizontal position (absolute) estimate is good.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  32EKF_POS_VERT_ABSSet if EKF's vertical position (absolute) estimate is good.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  64EKF_POS_VERT_AGLSet if EKF's vertical position (above ground) estimate is good.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  128EKF_CONST_POS_MODEEKF is in constant position mode and does not know it's absolute or relative position.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  256EKF_PRED_POS_HORIZ_RELSet if EKF's predicted horizontal position (relative) estimate is good.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  512EKF_PRED_POS_HORIZ_ABSSet if EKF's predicted horizontal position (absolute) estimate is good.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  1024EKF_UNINITIALIZEDSet if EKF has never been healthy.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  PID_TUNING_AXIS

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  1PID_TUNING_ROLL
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  2PID_TUNING_PITCH
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  3PID_TUNING_YAW
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  4PID_TUNING_ACCZ
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  5PID_TUNING_STEER
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  6PID_TUNING_LANDING

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_REMOTE_LOG_DATA_BLOCK_COMMANDS

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Special ACK block numbers control activation of dataflash log streaming.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  2147483645MAV_REMOTE_LOG_DATA_BLOCK_STOPUAV to stop sending DataFlash blocks.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  2147483646MAV_REMOTE_LOG_DATA_BLOCK_STARTUAV to start sending DataFlash blocks.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_REMOTE_LOG_DATA_BLOCK_STATUSES

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Possible remote log data block statuses.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  0MAV_REMOTE_LOG_DATA_BLOCK_NACKThis block has NOT been received.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  1MAV_REMOTE_LOG_DATA_BLOCK_ACKThis block has been received.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  DEVICE_OP_BUSTYPE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Bus types for device operations.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  0DEVICE_OP_BUSTYPE_I2CI2C Device operation.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  1DEVICE_OP_BUSTYPE_SPISPI Device operation.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  DEEPSTALL_STAGE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Deepstall flight stage.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  0DEEPSTALL_STAGE_FLY_TO_LANDINGFlying to the landing point.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  1DEEPSTALL_STAGE_ESTIMATE_WINDBuilding an estimate of the wind.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  2DEEPSTALL_STAGE_WAIT_FOR_BREAKOUTWaiting to breakout of the loiter to fly the approach.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  3DEEPSTALL_STAGE_FLY_TO_ARCFlying to the first arc point to turn around to the landing point.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  4DEEPSTALL_STAGE_ARCTurning around back to the deepstall landing point.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  5DEEPSTALL_STAGE_APPROACHApproaching the landing point.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  6DEEPSTALL_STAGE_LANDStalling and steering towards the land point.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  PLANE_MODE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  A mapping of plane flight modes for custom_mode field of heartbeat.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  0PLANE_MODE_MANUAL
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  1PLANE_MODE_CIRCLE
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  2PLANE_MODE_STABILIZE
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  3PLANE_MODE_TRAINING
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  4PLANE_MODE_ACRO
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  5PLANE_MODE_FLY_BY_WIRE_A
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  6PLANE_MODE_FLY_BY_WIRE_B
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  7PLANE_MODE_CRUISE
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  8PLANE_MODE_AUTOTUNE
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  10PLANE_MODE_AUTO
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  11PLANE_MODE_RTL
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  12PLANE_MODE_LOITER
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  13PLANE_MODE_TAKEOFF
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  14PLANE_MODE_AVOID_ADSB
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  15PLANE_MODE_GUIDED
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  16PLANE_MODE_INITIALIZING
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  17PLANE_MODE_QSTABILIZE
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  18PLANE_MODE_QHOVER
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  19PLANE_MODE_QLOITER
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  20PLANE_MODE_QLAND
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  21PLANE_MODE_QRTL
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  22PLANE_MODE_QAUTOTUNE
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  23PLANE_MODE_QACRO
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  24PLANE_MODE_THERMAL

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  COPTER_MODE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  A mapping of copter flight modes for custom_mode field of heartbeat.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  0COPTER_MODE_STABILIZE
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  1COPTER_MODE_ACRO
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  2COPTER_MODE_ALT_HOLD
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  3COPTER_MODE_AUTO
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  4COPTER_MODE_GUIDED
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  5COPTER_MODE_LOITER
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  6COPTER_MODE_RTL
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  7COPTER_MODE_CIRCLE
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  9COPTER_MODE_LAND
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  11COPTER_MODE_DRIFT
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  13COPTER_MODE_SPORT
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  14COPTER_MODE_FLIP
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  15COPTER_MODE_AUTOTUNE
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  16COPTER_MODE_POSHOLD
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  17COPTER_MODE_BRAKE
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  18COPTER_MODE_THROW
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  19COPTER_MODE_AVOID_ADSB
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  20COPTER_MODE_GUIDED_NOGPS
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  21COPTER_MODE_SMART_RTL
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  22COPTER_MODE_FLOWHOLD
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  23COPTER_MODE_FOLLOW
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  24COPTER_MODE_ZIGZAG
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  25COPTER_MODE_SYSTEMID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  26COPTER_MODE_AUTOROTATE
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  27COPTER_MODE_AUTO_RTL

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  SUB_MODE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  A mapping of sub flight modes for custom_mode field of heartbeat.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  0SUB_MODE_STABILIZE
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  1SUB_MODE_ACRO
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  2SUB_MODE_ALT_HOLD
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  3SUB_MODE_AUTO
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  4SUB_MODE_GUIDED
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  7SUB_MODE_CIRCLE
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  9SUB_MODE_SURFACE
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  16SUB_MODE_POSHOLD
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  19SUB_MODE_MANUAL

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  ROVER_MODE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  A mapping of rover flight modes for custom_mode field of heartbeat.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  0ROVER_MODE_MANUAL
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  1ROVER_MODE_ACRO
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  3ROVER_MODE_STEERING
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  4ROVER_MODE_HOLD
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  5ROVER_MODE_LOITER
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  6ROVER_MODE_FOLLOW
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  7ROVER_MODE_SIMPLE
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  10ROVER_MODE_AUTO
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  11ROVER_MODE_RTL
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  12ROVER_MODE_SMART_RTL
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  15ROVER_MODE_GUIDED
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  16ROVER_MODE_INITIALIZING

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  TRACKER_MODE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  A mapping of antenna tracker flight modes for custom_mode field of heartbeat.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  0TRACKER_MODE_MANUAL
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  1TRACKER_MODE_STOP
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  2TRACKER_MODE_SCAN
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  3TRACKER_MODE_SERVO_TEST
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  10TRACKER_MODE_AUTO
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  16TRACKER_MODE_INITIALIZING

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  OSD_PARAM_CONFIG_TYPE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  The type of parameter for the OSD parameter editor.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  0OSD_PARAM_NONE
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  1OSD_PARAM_SERIAL_PROTOCOL
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  2OSD_PARAM_SERVO_FUNCTION
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  3OSD_PARAM_AUX_FUNCTION
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  4OSD_PARAM_FLIGHT_MODE
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  5OSD_PARAM_FAILSAFE_ACTION
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  6OSD_PARAM_FAILSAFE_ACTION_1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  7OSD_PARAM_FAILSAFE_ACTION_2
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  8OSD_PARAM_NUM_TYPES

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  OSD_PARAM_CONFIG_ERROR

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  The error type for the OSD parameter editor.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  0OSD_PARAM_SUCCESS
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  1OSD_PARAM_INVALID_SCREEN
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  2OSD_PARAM_INVALID_PARAMETER_INDEX
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  3OSD_PARAM_INVALID_PARAMETER

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Commands (MAV_CMD)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_NAV_ALTITUDE_WAIT (83)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Mission command to wait for an altitude or downwards vertical speed. This is meant for high altitude balloon launches, allowing the aircraft to be idle until either an altitude is reached or a negative vertical speed is reached (indicating early balloon burst). The wiggle time is how often to wiggle the control surfaces to prevent them seizing up.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Param (Label)DescriptionUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  1 (Altitude)Altitude.m
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  2 (Descent Speed)Descent speed.m/s
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  3 (Wiggle Time)How long to wiggle the control surfaces to prevent them seizing up.s
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  4Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  5Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  6Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  7Empty.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_DO_SET_RESUME_REPEAT_DIST (215)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Set the distance to be repeated on mission resume

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Param (Label)DescriptionUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  1 (Distance)Distance.m
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  2Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  3Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  4Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  5Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  6Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  7Empty.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_DO_SPRAYER (216)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Control attached liquid sprayer

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  1 (Sprayer Enable)0: disable sprayer. 1: enable sprayer.min: 0 max: 1 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  2Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  3Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  4Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  5Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  6Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  7Empty.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_DO_SEND_SCRIPT_MESSAGE (217)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Pass instructions onto scripting, a script should be checking for a new command

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  1 (ID)uint16 ID value to be passed to scriptingmin: 0 max: 65535 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  2 (param 1)float value to be passed to scripting
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  3 (param 2)float value to be passed to scripting
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  4 (param 3)float value to be passed to scripting
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  5Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  6Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  7Empty.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_DO_AUX_FUNCTION (218)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Execute auxiliary function

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  1 (AuxiliaryFunction)Auxiliary Function.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  2 (SwitchPosition)Switch Level.MAV_CMD_DO_AUX_FUNCTION_SWITCH_LEVEL
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  3Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  4Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  5Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  6Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  7Empty.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_POWER_OFF_INITIATED (42000)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  A system wide power-off event has been initiated.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Param (Label)Description
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  1Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  2Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  3Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  4Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  5Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  6Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  7Empty.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_SOLO_BTN_FLY_CLICK (42001)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  FLY button has been clicked.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Param (Label)Description
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  1Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  2Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  3Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  4Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  5Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  6Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  7Empty.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_SOLO_BTN_FLY_HOLD (42002)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  FLY button has been held for 1.5 seconds.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Param (Label)DescriptionUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  1 (Takeoff Altitude)Takeoff altitude.m
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  2Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  3Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  4Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  5Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  6Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  7Empty.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_SOLO_BTN_PAUSE_CLICK (42003)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  PAUSE button has been clicked.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  1 (Shot Mode)1 if Solo is in a shot mode, 0 otherwise.min: 0 max: 1 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  2Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  3Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  4Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  5Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  6Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  7Empty.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_FIXED_MAG_CAL (42004)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Magnetometer calibration based on fixed position

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  in earth field given by inclination, declination and intensity.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Param (Label)DescriptionUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  1 (Declination)Magnetic declination.deg
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  2 (Inclination)Magnetic inclination.deg
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  3 (Intensity)Magnetic intensity.mgauss
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  4 (Yaw)Yaw.deg
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  5Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  6Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  7Empty.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_FIXED_MAG_CAL_FIELD (42005)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Magnetometer calibration based on fixed expected field values.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Param (Label)DescriptionUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  1 (Field X)Field strength X.mgauss
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  2 (Field Y)Field strength Y.mgauss
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  3 (Field Z)Field strength Z.mgauss
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  4Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  5Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  6Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  7Empty.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_SET_EKF_SOURCE_SET (42007)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Set EKF sensor source set.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  1 (SourceSetId)Source Set Id.min: 1 max: 3 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  2Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  3Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  4Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  5Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  6Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  7Empty.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_DO_START_MAG_CAL (42424)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Initiate a magnetometer calibration.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Param (Label)DescriptionValuesUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  1 (Magnetometers Bitmask)Bitmask of magnetometers to calibrate. Use 0 to calibrate all sensors that can be started (sensors may not start if disabled, unhealthy, etc.). The command will NACK if calibration does not start for a sensor explicitly specified by the bitmask.min: 0 max: 255 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  2 (Retry on Failure)Automatically retry on failure (0=no retry, 1=retry).min: 0 max: 1 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  3 (Autosave)Save without user input (0=require input, 1=autosave).min: 0 max: 1 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  4 (Delay)Delay.s
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  5 (Autoreboot)Autoreboot (0=user reboot, 1=autoreboot).min: 0 max: 1 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  6Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  7Empty.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_DO_ACCEPT_MAG_CAL (42425)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Accept a magnetometer calibration.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  1 (Magnetometers Bitmask)Bitmask of magnetometers that calibration is accepted (0 means all).min: 0 max: 255 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  2Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  3Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  4Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  5Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  6Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  7Empty.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_DO_CANCEL_MAG_CAL (42426)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Cancel a running magnetometer calibration.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  1 (Magnetometers Bitmask)Bitmask of magnetometers to cancel a running calibration (0 means all).min: 0 max: 255 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  2Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  3Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  4Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  5Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  6Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  7Empty.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_SET_FACTORY_TEST_MODE (42427)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Command autopilot to get into factory test/diagnostic mode.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  1 (Test Mode)0: activate test mode, 1: exit test mode.min: 0 max: 1 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  2Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  3Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  4Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  5Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  6Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  7Empty.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_DO_SEND_BANNER (42428)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Reply with the version banner.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Param (Label)Description
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  1Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  2Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  3Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  4Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  5Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  6Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  7Empty.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_ACCELCAL_VEHICLE_POS (42429)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Used when doing accelerometer calibration. When sent to the GCS tells it what position to put the vehicle in. When sent to the vehicle says what position the vehicle is in.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  1 (Position)Position.ACCELCAL_VEHICLE_POS
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  2Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  3Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  4Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  5Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  6Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  7Empty.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_GIMBAL_RESET (42501)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Causes the gimbal to reset and boot as if it was just powered on.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Param (Label)Description
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  1Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  2Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  3Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  4Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  5Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  6Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  7Empty.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_GIMBAL_AXIS_CALIBRATION_STATUS (42502)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Reports progress and success or failure of gimbal axis calibration procedure.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Param (Label)DescriptionValuesUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  1 (Axis)Gimbal axis we're reporting calibration progress for.GIMBAL_AXIS
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  2 (Progress)Current calibration progress for this axis.min: 0 max: 100%
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  3 (Status)Status of the calibration.GIMBAL_AXIS_CALIBRATION_STATUS
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  4Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  5Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  6Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  7Empty.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_GIMBAL_REQUEST_AXIS_CALIBRATION (42503)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Starts commutation calibration on the gimbal.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Param (Label)Description
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  1Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  2Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  3Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  4Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  5Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  6Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  7Empty.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_GIMBAL_FULL_RESET (42505)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Erases gimbal application and parameters.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Param (Label)Description
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  1Magic number.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  2Magic number.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  3Magic number.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  4Magic number.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  5Magic number.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  6Magic number.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  7Magic number.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_FLASH_BOOTLOADER (42650)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Update the bootloader

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  1Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  2Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  3Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  4Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  5 (Magic Number)Magic number - set to 290876 to actually flashinc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  6Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  7Empty

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_BATTERY_RESET (42651)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Reset battery capacity for batteries that accumulate consumed battery via integration.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  1 (battery mask)Bitmask of batteries to reset. Least significant bit is for the first battery.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  2 (percentage)Battery percentage remaining to set.min: 0 max: 100 inc: 1

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_DEBUG_TRAP (42700)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Issue a trap signal to the autopilot process, presumably to enter the debugger.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Param (Label)Description
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  1Magic number - set to 32451 to actually trap.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  2Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  3Empty.
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  6Empty.
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_SCRIPTING (42701)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Control onboard scripting.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  1Scripting command to executeSCRIPTING_CMD

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_NAV_SCRIPT_TIME (42702)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Scripting command as NAV command with wait for completion.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Param (Label)DescriptionUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  1 (command)integer command number (0 to 255)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  2 (timeout)timeout for operation in seconds. Zero means no timeout (0 to 255)s
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  3 (arg1)argument1.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  4 (arg2)argument2.
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_NAV_ATTITUDE_TIME (42703)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Maintain an attitude for a specified time.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Param (Label)DescriptionUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  1 (time)Time to maintain specified attitude and climb rates
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  2 (roll)Roll angle in degrees (positive is lean right, negative is lean left)deg
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  3 (pitch)Pitch angle in degrees (positive is lean back, negative is lean forward)deg
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  4 (yaw)Yaw angledeg
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  5 (climb_rate)Climb ratem/s
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_GUIDED_CHANGE_SPEED (43000)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Change flight speed at a given rate. This slews the vehicle at a controllable rate between it's previous speed and the new one. (affects GUIDED only. Outside GUIDED, aircraft ignores these commands. Designed for onboard companion-computer command-and-control, not normally operator/GCS control.)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Param (Label)DescriptionValuesUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  1 (speed type)Airspeed or groundspeed.SPEED_TYPE
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  2 (speed target)Target Speedm/s
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  3 (speed rate-of-change)Acceleration rate, 0 to take effect instantlym/s/s
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_GUIDED_CHANGE_ALTITUDE (43001)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Change target altitude at a given rate. This slews the vehicle at a controllable rate between it's previous altitude and the new one. (affects GUIDED only. Outside GUIDED, aircraft ignores these commands. Designed for onboard companion-computer command-and-control, not normally operator/GCS control.)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Param (Label)DescriptionValuesUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  1Empty
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  3 (alt rate-of-change)Rate of change, toward new altitude. 0 for maximum rate change. Positive numbers only, as negative numbers will not converge on the new target alt.min: 0m/s/s
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  4Empty
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  7 (target alt)Target Altitudem

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_GUIDED_CHANGE_HEADING (43002)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Change to target heading at a given rate, overriding previous heading/s. This slews the vehicle at a controllable rate between it's previous heading and the new one. (affects GUIDED only. Exiting GUIDED returns aircraft to normal behaviour defined elsewhere. Designed for onboard companion-computer command-and-control, not normally operator/GCS control.)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Param (Label)DescriptionValuesUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  1 (heading type)course-over-ground or raw vehicle heading.HEADING_TYPE
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  2 (heading target)Target heading.min: 0 max: 359.99deg
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  3 (heading rate-of-change)Maximum centripetal accelearation, ie rate of change, toward new heading.m/s/s
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    \ No newline at end of file diff --git a/zh/messages/common.html b/zh/messages/common.html index d25aa83a0..4e8bd3297 100644 --- a/zh/messages/common.html +++ b/zh/messages/common.html @@ -1,3 +1,3 @@ -Messages (common) · MAVLink Developer Guide
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAVLINK通用消息集

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    The MAVLink common message set contains standard definitions that are managed by the MAVLink project. The definitions cover functionality that is considered useful to most ground control stations and autopilots. MAVLink-compatible systems are expected to use these definitions where possible (if an appropriate message exists) rather than rolling out variants in their own dialects.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    The original definitions are defined in common.xml.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAVLink 2 extension fields that have been added to MAVLink 1 messages are displayed in blue. - Entities from dialects are displayed only as headings (with link to original)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Protocol dialect: 0

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Protocol version: 3

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Summary

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    TypeDefinedIncluded
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Messages2222
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Enums1366
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Commands1640

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    The following sections list all entities in the dialect (both included and defined in this file).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Messages

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    HEARTBEAT (0) — [from: minimal]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    The heartbeat message shows that a system or component is present and responding. The type and autopilot fields (along with the message component id), allow the receiving system to treat further messages from this system appropriately (e.g. by laying out the user interface based on the autopilot). This microservice is documented at https://mavlink.io/en/services/heartbeat.html

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    typeuint8_tMAV_TYPEVehicle or component type. For a flight controller component the vehicle type (quadrotor, helicopter, etc.). For other components the component type (e.g. camera, gimbal, etc.). This should be used in preference to component id for identifying the component type.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    autopilotuint8_tMAV_AUTOPILOTAutopilot type / class. Use MAV_AUTOPILOT_INVALID for components that are not flight controllers.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    base_modeuint8_tMAV_MODE_FLAGSystem mode bitmap.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    custom_modeuint32_tA bitfield for use for autopilot-specific flags
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    system_statusuint8_tMAV_STATESystem status flag.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    mavlink_versionuint8_t_mavlink_versionMAVLink version, not writable by user, gets added by protocol because of magic data type: uint8_t_mavlink_version

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    SYS_STATUS (1)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    The general system state. If the system is following the MAVLink standard, the system state is mainly defined by three orthogonal states/modes: The system mode, which is either LOCKED (motors shut down and locked), MANUAL (system under RC control), GUIDED (system with autonomous position control, position setpoint controlled manually) or AUTO (system guided by path/waypoint planner). The NAV_MODE defined the current flight state: LIFTOFF (often an open-loop maneuver), LANDING, WAYPOINTS or VECTOR. This represents the internal navigation state machine. The system status shows whether the system is currently active or not and if an emergency occurred. During the CRITICAL and EMERGENCY states the MAV is still considered to be active, but should start emergency procedures autonomously. After a failure occurred it should first move from active to critical to allow manual intervention and then move to emergency after a certain timeout.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    onboard_control_sensors_presentuint32_tMAV_SYS_STATUS_SENSORBitmap showing which onboard controllers and sensors are present. Value of 0: not present. Value of 1: present.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    onboard_control_sensors_enableduint32_tMAV_SYS_STATUS_SENSORBitmap showing which onboard controllers and sensors are enabled: Value of 0: not enabled. Value of 1: enabled.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    onboard_control_sensors_healthuint32_tMAV_SYS_STATUS_SENSORBitmap showing which onboard controllers and sensors have an error (or are operational). Value of 0: error. Value of 1: healthy.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    loaduint16_td%Maximum usage in percent of the mainloop time. Values: [0-1000] - should always be below 1000
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    voltage_batteryuint16_tmVinvalid:UINT16_MAXBattery voltage, UINT16_MAX: Voltage not sent by autopilot
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    current_batteryint16_tcAinvalid:-1Battery current, -1: Current not sent by autopilot
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    battery_remainingint8_t%invalid:-1Battery energy remaining, -1: Battery remaining energy not sent by autopilot
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    drop_rate_commuint16_tc%Communication drop rate, (UART, I2C, SPI, CAN), dropped packets on all links (packets that were corrupted on reception on the MAV)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    errors_commuint16_tCommunication errors (UART, I2C, SPI, CAN), dropped packets on all links (packets that were corrupted on reception on the MAV)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    errors_count1uint16_tAutopilot-specific errors
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    errors_count2uint16_tAutopilot-specific errors
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    errors_count3uint16_tAutopilot-specific errors
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    errors_count4uint16_tAutopilot-specific errors
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    onboard_control_sensors_present_extended ++uint32_tMAV_SYS_STATUS_SENSOR_EXTENDEDBitmap showing which onboard controllers and sensors are present. Value of 0: not present. Value of 1: present.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    onboard_control_sensors_enabled_extended ++uint32_tMAV_SYS_STATUS_SENSOR_EXTENDEDBitmap showing which onboard controllers and sensors are enabled: Value of 0: not enabled. Value of 1: enabled.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    onboard_control_sensors_health_extended ++uint32_tMAV_SYS_STATUS_SENSOR_EXTENDEDBitmap showing which onboard controllers and sensors have an error (or are operational). Value of 0: error. Value of 1: healthy.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    SYSTEM_TIME (2)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    The system time is the time of the master clock, typically the computer clock of the main onboard computer.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    time_unix_usecuint64_tusTimestamp (UNIX epoch time).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    time_boot_msuint32_tmsTimestamp (time since system boot).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    PING (4) — [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    DEPRECATED: Replaced By SYSTEM_TIME (2011-08) — to be removed / merged with SYSTEM_TIME)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    A ping message either requesting or responding to a ping. This allows to measure the system latencies, including serial port, radio modem and UDP connections. The ping microservice is documented at https://mavlink.io/en/services/ping.html

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    sequint32_tPING sequence
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    target_systemuint8_t0: request ping from all receiving systems. If greater than 0: message is a ping response and number is the system id of the requesting system
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    target_componentuint8_t0: request ping from all receiving components. If greater than 0: message is a ping response and number is the component id of the requesting component.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    CHANGE_OPERATOR_CONTROL (5)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Request to control this MAV

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    target_systemuint8_tSystem the GCS requests control for
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    control_requestuint8_t0: request control of this MAV, 1: Release control of this MAV
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    versionuint8_trad0: key as plaintext, 1-255: future, different hashing/encryption variants. The GCS should in general use the safest mode possible initially and then gradually move down the encryption level if it gets a NACK message indicating an encryption mismatch.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    passkeychar[25]Password / Key, depending on version plaintext or encrypted. 25 or less characters, NULL terminated. The characters may involve A-Z, a-z, 0-9, and "!?,.-"

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    CHANGE_OPERATOR_CONTROL_ACK (6)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Accept / deny control of this MAV

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    gcs_system_iduint8_tID of the GCS this message
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    control_requestuint8_t0: request control of this MAV, 1: Release control of this MAV
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    ackuint8_t0: ACK, 1: NACK: Wrong passkey, 2: NACK: Unsupported passkey encryption method, 3: NACK: Already under control

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    AUTH_KEY (7)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Emit an encrypted signature / key identifying this system. PLEASE NOTE: This protocol has been kept simple, so transmitting the key requires an encrypted channel for true safety.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    keychar[32]key

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Status generated in each node in the communication chain and injected into MAVLink stream.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    timestampuint64_tmsTimestamp (time since system boot).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    tx_bufuint8_t%Remaining free transmit buffer space
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    rx_bufuint8_t%Remaining free receive buffer space
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    tx_rateuint32_tbytes/sTransmit rate
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    rx_rateuint32_tbytes/sReceive rate
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    rx_parse_erruint16_tbytesNumber of bytes that could not be parsed correctly.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    tx_overflowsuint16_tbytesTransmit buffer overflows. This number wraps around as it reaches UINT16_MAX
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    rx_overflowsuint16_tbytesReceive buffer overflows. This number wraps around as it reaches UINT16_MAX
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    messages_sentuint32_tMessages sent
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    messages_receiveduint32_tMessages received (estimated from counting seq)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    messages_lostuint32_tMessages lost (estimated from counting seq)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    SET_MODE (11) — [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    DEPRECATED: Replaced By MAV_CMD_DO_SET_MODE (2015-12) — Use COMMAND_LONG with MAV_CMD_DO_SET_MODE instead)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Set the system mode, as defined by enum MAV_MODE. There is no target component id as the mode is by definition for the overall aircraft, not only for one component.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    target_systemuint8_tThe system setting the mode
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    base_modeuint8_tMAV_MODEThe new base mode.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    custom_modeuint32_tThe new autopilot-specific mode. This field can be ignored by an autopilot.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    PARAM_REQUEST_READ (20)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Request to read the onboard parameter with the param_id string id. Onboard parameters are stored as key[const char*] -> value[float]. This allows to send a parameter to any other component (such as the GCS) without the need of previous knowledge of possible parameter names. Thus the same GCS can store different parameters for different autopilots. See also https://mavlink.io/en/services/parameter.html for a full documentation of QGroundControl and IMU code.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    target_systemuint8_tSystem ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    target_componentuint8_tComponent ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    param_idchar[16]Onboard parameter id, terminated by NULL if the length is less than 16 human-readable chars and WITHOUT null termination (NULL) byte if the length is exactly 16 chars - applications have to provide 16+1 bytes storage if the ID is stored as string
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    param_indexint16_tParameter index. Send -1 to use the param ID field as identifier (else the param id will be ignored)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    PARAM_REQUEST_LIST (21)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Request all parameters of this component. After this request, all parameters are emitted. The parameter microservice is documented at https://mavlink.io/en/services/parameter.html

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    target_systemuint8_tSystem ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    target_componentuint8_tComponent ID

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    PARAM_VALUE (22)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Emit the value of a onboard parameter. The inclusion of param_count and param_index in the message allows the recipient to keep track of received parameters and allows him to re-request missing parameters after a loss or timeout. The parameter microservice is documented at https://mavlink.io/en/services/parameter.html

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    param_idchar[16]Onboard parameter id, terminated by NULL if the length is less than 16 human-readable chars and WITHOUT null termination (NULL) byte if the length is exactly 16 chars - applications have to provide 16+1 bytes storage if the ID is stored as string
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    param_valuefloatOnboard parameter value
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    param_typeuint8_tMAV_PARAM_TYPEOnboard parameter type.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    param_countuint16_tTotal number of onboard parameters
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    param_indexuint16_tIndex of this onboard parameter

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    PARAM_SET (23)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Set a parameter value (write new value to permanent storage).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    The receiving component should acknowledge the new parameter value by broadcasting a PARAM_VALUE message (broadcasting ensures that multiple GCS all have an up-to-date list of all parameters). If the sending GCS did not receive a PARAM_VALUE within its timeout time, it should re-send the PARAM_SET message. The parameter microservice is documented at https://mavlink.io/en/services/parameter.html. PARAM_SET may also be called within the context of a transaction (started with MAV_CMD_PARAM_TRANSACTION). Within a transaction the receiving component should respond with PARAM_ACK_TRANSACTION to the setter component (instead of broadcasting PARAM_VALUE), and PARAM_SET should be re-sent if this is ACK not received.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    target_systemuint8_tSystem ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    target_componentuint8_tComponent ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    param_idchar[16]Onboard parameter id, terminated by NULL if the length is less than 16 human-readable chars and WITHOUT null termination (NULL) byte if the length is exactly 16 chars - applications have to provide 16+1 bytes storage if the ID is stored as string
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    param_valuefloatOnboard parameter value
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    param_typeuint8_tMAV_PARAM_TYPEOnboard parameter type.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    GPS_RAW_INT (24)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    The global position, as returned by the Global Positioning System (GPS). This is

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    NOT the global position estimate of the system, but rather a RAW sensor value. See message GLOBAL_POSITION_INT for the global position estimate.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeUnitsMultiplierValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    fix_typeuint8_tGPS_FIX_TYPEGPS fix type.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    latint32_tdegE7Latitude (WGS84, EGM96 ellipsoid)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    lonint32_tdegE7Longitude (WGS84, EGM96 ellipsoid)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    altint32_tmmAltitude (MSL). Positive for up. Note that virtually all GPS modules provide the MSL altitude in addition to the WGS84 altitude.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    ephuint16_t1E-2invalid:UINT16_MAXGPS HDOP horizontal dilution of position (unitless * 100). If unknown, set to: UINT16_MAX
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    epvuint16_t1E-2invalid:UINT16_MAXGPS VDOP vertical dilution of position (unitless * 100). If unknown, set to: UINT16_MAX
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    veluint16_tcm/sinvalid:UINT16_MAXGPS ground speed. If unknown, set to: UINT16_MAX
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    coguint16_tcdeginvalid:UINT16_MAXCourse over ground (NOT heading, but direction of movement) in degrees * 100, 0.0..359.99 degrees. If unknown, set to: UINT16_MAX
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    satellites_visibleuint8_tinvalid:UINT8_MAXNumber of satellites visible. If unknown, set to UINT8_MAX
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    alt_ellipsoid ++int32_tmmAltitude (above WGS84, EGM96 ellipsoid). Positive for up.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    h_acc ++uint32_tmmPosition uncertainty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    v_acc ++uint32_tmmAltitude uncertainty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    vel_acc ++uint32_tmmSpeed uncertainty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    hdg_acc ++uint32_tdegE5Heading / track uncertainty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    yaw ++uint16_tcdeginvalid:0Yaw in earth frame from north. Use 0 if this GPS does not provide yaw. Use UINT16_MAX if this GPS is configured to provide yaw and is currently unable to provide it. Use 36000 for north.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    GPS_STATUS (25)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    The positioning status, as reported by GPS. This message is intended to display status information about each satellite visible to the receiver. See message GLOBAL_POSITION_INT for the global position estimate. This message can contain information for up to 20 satellites.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeUnitsMultiplierDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    satellites_visibleuint8_tNumber of satellites visible
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    satellite_prnuint8_t[20]Global satellite ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    satellite_useduint8_t[20]0: Satellite not used, 1: used for localization
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    satellite_elevationuint8_t[20]degElevation (0: right on top of receiver, 90: on the horizon) of satellite
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    satellite_azimuthuint8_t[20]deg360/255Direction of satellite, 0: 0 deg, 255: 360 deg.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    satellite_snruint8_t[20]dBSignal to noise ratio of satellite

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    SCALED_IMU (26)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    The RAW IMU readings for the usual 9DOF sensor setup. This message should contain the scaled values to the described units

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    time_boot_msuint32_tmsTimestamp (time since system boot).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    xaccint16_tmGX acceleration
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    yaccint16_tmGY acceleration
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    zaccint16_tmGZ acceleration
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    xgyroint16_tmrad/sAngular speed around X axis
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    ygyroint16_tmrad/sAngular speed around Y axis
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    zgyroint16_tmrad/sAngular speed around Z axis
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    xmagint16_tmgaussX Magnetic field
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    ymagint16_tmgaussY Magnetic field
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    zmagint16_tmgaussZ Magnetic field
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    temperature ++int16_tcdegCTemperature, 0: IMU does not provide temperature values. If the IMU is at 0C it must send 1 (0.01C).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    RAW_IMU (27)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    The RAW IMU readings for a 9DOF sensor, which is identified by the id (default IMU1). This message should always contain the true raw values without any scaling to allow data capture and system debugging.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    xaccint16_tX acceleration (raw)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    yaccint16_tY acceleration (raw)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    zaccint16_tZ acceleration (raw)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    xgyroint16_tAngular speed around X axis (raw)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    ygyroint16_tAngular speed around Y axis (raw)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    zgyroint16_tAngular speed around Z axis (raw)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    xmagint16_tX Magnetic field (raw)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    ymagint16_tY Magnetic field (raw)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    zmagint16_tZ Magnetic field (raw)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    id ++uint8_tId. Ids are numbered from 0 and map to IMUs numbered from 1 (e.g. IMU1 will have a message with id=0)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Messages with same value are from the same source (instance). | | temperature ++ | int16_t | cdegC | Temperature, 0: IMU does not provide temperature values. If the IMU is at 0C it must send 1 (0.01C). |

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    RAW_PRESSURE (28)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    The RAW pressure readings for the typical setup of one absolute pressure and one differential pressure sensor. The sensor values should be the raw, UNSCALED ADC values.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    press_absint16_tAbsolute pressure (raw)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    press_diff1int16_tDifferential pressure 1 (raw, 0 if nonexistent)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    press_diff2int16_tDifferential pressure 2 (raw, 0 if nonexistent)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    temperatureint16_tRaw Temperature measurement (raw)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    SCALED_PRESSURE (29)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    The pressure readings for the typical setup of one absolute and differential pressure sensor. The units are as specified in each field.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    time_boot_msuint32_tmsTimestamp (time since system boot).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    press_absfloathPaAbsolute pressure
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    press_difffloathPaDifferential pressure 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    temperatureint16_tcdegCAbsolute pressure temperature
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    temperature_press_diff ++int16_tcdegCDifferential pressure temperature (0, if not available). Report values of 0 (or 1) as 1 cdegC.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    ATTITUDE (30)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    The attitude in the aeronautical frame (right-handed, Z-down, Y-right, X-front, ZYX, intrinsic).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    time_boot_msuint32_tmsTimestamp (time since system boot).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    rollfloatradRoll angle (-pi..+pi)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    pitchfloatradPitch angle (-pi..+pi)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    yawfloatradYaw angle (-pi..+pi)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    rollspeedfloatrad/sRoll angular speed
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    pitchspeedfloatrad/sPitch angular speed
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    yawspeedfloatrad/sYaw angular speed

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    ATTITUDE_QUATERNION (31)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    The attitude in the aeronautical frame (right-handed, Z-down, X-front, Y-right), expressed as quaternion. Quaternion order is w, x, y, z and a zero rotation would be expressed as (1 0 0 0).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    time_boot_msuint32_tmsTimestamp (time since system boot).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    q1floatQuaternion component 1, w (1 in null-rotation)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    q2floatQuaternion component 2, x (0 in null-rotation)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    q3floatQuaternion component 3, y (0 in null-rotation)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    q4floatQuaternion component 4, z (0 in null-rotation)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    rollspeedfloatrad/sRoll angular speed
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    pitchspeedfloatrad/sPitch angular speed
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    yawspeedfloatrad/sYaw angular speed
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    repr_offset_q ++float[4]Rotation offset by which the attitude quaternion and angular speed vector should be rotated for user display (quaternion with [w, x, y, z] order, zero-rotation is [1, 0, 0, 0], send [0, 0, 0, 0] if field not supported). This field is intended for systems in which the reference attitude may change during flight. For example, tailsitters VTOLs rotate their reference attitude by 90 degrees between hover mode and fixed wing mode, thus repr_offset_q is equal to [1, 0, 0, 0] in hover mode and equal to [0.7071, 0, 0.7071, 0] in fixed wing mode.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    LOCAL_POSITION_NED (32)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    The filtered local position (e.g. fused computer vision and accelerometers). Coordinate frame is right-handed, Z-axis down (aeronautical frame, NED / north-east-down convention)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    time_boot_msuint32_tmsTimestamp (time since system boot).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    xfloatmX Position
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    yfloatmY Position
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    zfloatmZ Position
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    vxfloatm/sX Speed
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    vyfloatm/sY Speed
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    vzfloatm/sZ Speed

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    GLOBAL_POSITION_INT (33)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    The filtered global position (e.g. fused GPS and accelerometers). The position is in GPS-frame (right-handed, Z-up). It

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    is designed as scaled integer message since the resolution of float is not sufficient.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    time_boot_msuint32_tmsTimestamp (time since system boot).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    latint32_tdegE7Latitude, expressed
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    lonint32_tdegE7Longitude, expressed
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    altint32_tmmAltitude (MSL). Note that virtually all GPS modules provide both WGS84 and MSL.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    relative_altint32_tmmAltitude above home
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    vxint16_tcm/sGround X Speed (Latitude, positive north)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    vyint16_tcm/sGround Y Speed (Longitude, positive east)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    vzint16_tcm/sGround Z Speed (Altitude, positive down)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    hdguint16_tcdegVehicle heading (yaw angle), 0.0..359.99 degrees. If unknown, set to: UINT16_MAX

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    RC_CHANNELS_SCALED (34)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    The scaled values of the RC channels received: (-100%) -10000, (0%) 0, (100%) 10000. Channels that are inactive should be set to INT16_MAX.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    time_boot_msuint32_tmsTimestamp (time since system boot).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    portuint8_tServo output port (set of 8 outputs = 1 port). Flight stacks running on Pixhawk should use: 0 = MAIN, 1 = AUX.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    chan1_scaledint16_tRC channel 1 value scaled.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    chan2_scaledint16_tRC channel 2 value scaled.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    chan3_scaledint16_tRC channel 3 value scaled.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    chan4_scaledint16_tRC channel 4 value scaled.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    chan5_scaledint16_tRC channel 5 value scaled.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    chan6_scaledint16_tRC channel 6 value scaled.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    chan7_scaledint16_tRC channel 7 value scaled.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    chan8_scaledint16_tRC channel 8 value scaled.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    rssiuint8_tReceive signal strength indicator in device-dependent units/scale. Values: [0-254], UINT8_MAX: invalid/unknown.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    RC_CHANNELS_RAW (35)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    The RAW values of the RC channels received. The standard PPM modulation is as follows: 1000 microseconds: 0%, 2000 microseconds: 100%. A value of UINT16_MAX implies the channel is unused. Individual receivers/transmitters might violate this specification.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    time_boot_msuint32_tmsTimestamp (time since system boot).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    portuint8_tServo output port (set of 8 outputs = 1 port). Flight stacks running on Pixhawk should use: 0 = MAIN, 1 = AUX.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    chan1_rawuint16_tusRC channel 1 value.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    chan2_rawuint16_tusRC channel 2 value.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    chan3_rawuint16_tusRC channel 3 value.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    chan4_rawuint16_tusRC channel 4 value.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    chan5_rawuint16_tusRC channel 5 value.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    chan6_rawuint16_tusRC channel 6 value.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    chan7_rawuint16_tusRC channel 7 value.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    chan8_rawuint16_tusRC channel 8 value.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    rssiuint8_tReceive signal strength indicator in device-dependent units/scale. Values: [0-254], UINT8_MAX: invalid/unknown.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    SERVO_OUTPUT_RAW (36)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Superseded by ACTUATOR_OUTPUT_STATUS. The RAW values of the servo outputs (for RC input from the remote, use the RC_CHANNELS messages). The standard PPM modulation is as follows: 1000 microseconds: 0%, 2000 microseconds: 100%.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    time_usecuint32_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    portuint8_tServo output port (set of 8 outputs = 1 port). Flight stacks running on Pixhawk should use: 0 = MAIN, 1 = AUX.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    servo1_rawuint16_tusServo output 1 value
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    servo2_rawuint16_tusServo output 2 value
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    servo3_rawuint16_tusServo output 3 value
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    servo4_rawuint16_tusServo output 4 value
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    servo5_rawuint16_tusServo output 5 value
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    servo6_rawuint16_tusServo output 6 value
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    servo7_rawuint16_tusServo output 7 value
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    servo8_rawuint16_tusServo output 8 value
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    servo9_raw ++uint16_tusServo output 9 value
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    servo10_raw ++uint16_tusServo output 10 value
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    servo11_raw ++uint16_tusServo output 11 value
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    servo12_raw ++uint16_tusServo output 12 value
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    servo13_raw ++uint16_tusServo output 13 value
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    servo14_raw ++uint16_tusServo output 14 value
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    servo15_raw ++uint16_tusServo output 15 value
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    servo16_raw ++uint16_tusServo output 16 value

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MISSION_REQUEST_PARTIAL_LIST (37)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Request a partial list of mission items from the system/component. https://mavlink.io/en/services/mission.html. If start and end index are the same, just send one waypoint.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    target_systemuint8_tSystem ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    target_componentuint8_tComponent ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    start_indexint16_tStart index
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    end_indexint16_tEnd index, -1 by default (-1: send list to end). Else a valid index of the list
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    mission_type ++uint8_tMAV_MISSION_TYPEMission type.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MISSION_WRITE_PARTIAL_LIST (38)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    This message is sent to the MAV to write a partial list. If start index == end index, only one item will be transmitted / updated. If the start index is NOT 0 and above the current list size, this request should be REJECTED!

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    target_systemuint8_tSystem ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    target_componentuint8_tComponent ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    start_indexint16_tStart index. Must be smaller / equal to the largest index of the current onboard list.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    end_indexint16_tEnd index, equal or greater than start index.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    mission_type ++uint8_tMAV_MISSION_TYPEMission type.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MISSION_ITEM (39) — [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    DEPRECATED: Replaced By MISSION_ITEM_INT (2020-06)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Message encoding a mission item. This message is emitted to announce

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    the presence of a mission item and to set a mission item on the system. The mission item can be either in x, y, z meters (type: LOCAL) or x:lat, y:lon, z:altitude. Local frame is Z-down, right handed (NED), global frame is Z-up, right handed (ENU). NaN may be used to indicate an optional/default value (e.g. to use the system's current latitude or yaw rather than a specific value). See also https://mavlink.io/en/services/mission.html.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    target_systemuint8_tSystem ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    target_componentuint8_tComponent ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    sequint16_tSequence
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    frameuint8_tMAV_FRAMEThe coordinate system of the waypoint.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    commanduint16_tMAV_CMDThe scheduled action for the waypoint.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    currentuint8_tfalse:0, true:1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    autocontinueuint8_tAutocontinue to next waypoint. 0: false, 1: true. Set false to pause mission after the item completes.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    param1floatPARAM1, see MAV_CMD enum
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    param2floatPARAM2, see MAV_CMD enum
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    param3floatPARAM3, see MAV_CMD enum
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    param4floatPARAM4, see MAV_CMD enum
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    xfloatPARAM5 / local: X coordinate, global: latitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    yfloatPARAM6 / local: Y coordinate, global: longitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    zfloatPARAM7 / local: Z coordinate, global: altitude (relative or absolute, depending on frame).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    mission_type ++uint8_tMAV_MISSION_TYPEMission type.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MISSION_REQUEST (40) — [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    DEPRECATED: Replaced By MISSION_REQUEST_INT (2020-06) — A system that gets this request should respond with MISSION_ITEM_INT (as though MISSION_REQUEST_INT was received).)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Request the information of the mission item with the sequence number seq. The response of the system to this message should be a MISSION_ITEM message. https://mavlink.io/en/services/mission.html

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    target_systemuint8_tSystem ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    target_componentuint8_tComponent ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    sequint16_tSequence
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    mission_type ++uint8_tMAV_MISSION_TYPEMission type.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MISSION_SET_CURRENT (41) — [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    DEPRECATED: Replaced By MAV_CMD_DO_SET_MISSION_CURRENT (2022-08)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Set the mission item with sequence number seq as the current item and emit MISSION_CURRENT (whether or not the mission number changed). If a mission is currently being executed, the system will continue to this new mission item on the shortest path, skipping any intermediate mission items. Note that mission jump repeat counters are not reset (see MAV_CMD_DO_JUMP param2).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    This message may trigger a mission state-machine change on some systems: for example from MISSION_STATE_NOT_STARTED or MISSION_STATE_PAUSED to MISSION_STATE_ACTIVE. If the system is in mission mode, on those systems this command might therefore start, restart or resume the mission. If the system is not in mission mode this message must not trigger a switch to mission mode.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    target_systemuint8_tSystem ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    target_componentuint8_tComponent ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    sequint16_tSequence

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MISSION_CURRENT (42)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Message that announces the sequence number of the current target mission item (that the system will fly towards/execute when the mission is running). This message should be streamed all the time (nominally at 1Hz). This message should be emitted following a call to MAV_CMD_DO_SET_MISSION_CURRENT or SET_MISSION_CURRENT.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    sequint16_tSequence
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    total ++uint16_tinvalid:UINT16_MAXTotal number of mission items on vehicle (on last item, sequence == total). If the autopilot stores its home location as part of the mission this will be excluded from the total. 0: Not supported, UINT16_MAX if no mission is present on the vehicle.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    mission_state ++uint8_tinvalid:0 MISSION_STATEMission state machine state. MISSION_STATE_UNKNOWN if state reporting not supported.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    mission_mode ++uint8_tinvalid:0Vehicle is in a mode that can execute mission items or suspended. 0: Unknown, 1: In mission mode, 2: Suspended (not in mission mode).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    mission_id ++uint32_tinvalid:0Id of current on-vehicle mission plan, or 0 if IDs are not supported or there is no mission loaded. GCS can use this to track changes to the mission plan type. The same value is returned on mission upload (in the MISSION_ACK).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    fence_id ++uint32_tinvalid:0Id of current on-vehicle fence plan, or 0 if IDs are not supported or there is no fence loaded. GCS can use this to track changes to the fence plan type. The same value is returned on fence upload (in the MISSION_ACK).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    rally_points_id ++uint32_tinvalid:0Id of current on-vehicle rally point plan, or 0 if IDs are not supported or there are no rally points loaded. GCS can use this to track changes to the rally point plan type. The same value is returned on rally point upload (in the MISSION_ACK).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MISSION_REQUEST_LIST (43)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Request the overall list of mission items from the system/component.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    target_systemuint8_tSystem ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    target_componentuint8_tComponent ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    mission_type ++uint8_tMAV_MISSION_TYPEMission type.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MISSION_COUNT (44)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    This message is emitted as response to MISSION_REQUEST_LIST by the MAV and to initiate a write transaction. The GCS can then request the individual mission item based on the knowledge of the total number of waypoints.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    target_systemuint8_tSystem ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    target_componentuint8_tComponent ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    countuint16_tNumber of mission items in the sequence
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    mission_type ++uint8_tMAV_MISSION_TYPEMission type.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    opaque_id ++uint32_tinvalid:0Id of current on-vehicle mission, fence, or rally point plan (on download from vehicle).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    This field is used when downloading a plan from a vehicle to a GCS.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    0 on upload to the vehicle from GCS.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    0 if plan ids are not supported.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    The current on-vehicle plan ids are streamed in [MISSION_CURRENT](#MISSION_CURRENT), allowing a GCS to determine if any part of the plan has changed and needs to be re-uploaded.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    The ids are recalculated by the vehicle when any part of the on-vehicle plan changes (when a new plan is uploaded, the vehicle returns the new id to the GCS in MISSION_ACK). |

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MISSION_CLEAR_ALL (45)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Delete all mission items at once.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    target_systemuint8_tSystem ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    target_componentuint8_tComponent ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    mission_type ++uint8_tMAV_MISSION_TYPEMission type.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MISSION_ITEM_REACHED (46)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    A certain mission item has been reached. The system will either hold this position (or circle on the orbit) or (if the autocontinue on the WP was set) continue to the next waypoint.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    sequint16_tSequence

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MISSION_ACK (47)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Acknowledgment message during waypoint handling. The type field states if this message is a positive ack (type=0) or if an error happened (type=non-zero).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    target_systemuint8_tSystem ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    target_componentuint8_tComponent ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    typeuint8_tMAV_MISSION_RESULTMission result.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    mission_type ++uint8_tMAV_MISSION_TYPEMission type.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    opaque_id ++uint32_tinvalid:0Id of new on-vehicle mission, fence, or rally point plan (on upload to vehicle).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    The id is calculated and returned by a vehicle when a new plan is uploaded by a GCS.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    The only requirement on the id is that it must change when there is any change to the on-vehicle plan type (there is no requirement that the id be globally unique).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    0 on download from the vehicle to the GCS (on download the ID is set in MISSION_COUNT).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    0 if plan ids are not supported.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    The current on-vehicle plan ids are streamed in [MISSION_CURRENT](#MISSION_CURRENT), allowing a GCS to determine if any part of the plan has changed and needs to be re-uploaded. |

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    SET_GPS_GLOBAL_ORIGIN (48)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Sets the GPS coordinates of the vehicle local origin (0,0,0) position. Vehicle should emit GPS_GLOBAL_ORIGIN irrespective of whether the origin is changed. This enables transform between the local coordinate frame and the global (GPS) coordinate frame, which may be necessary when (for example) indoor and outdoor settings are connected and the MAV should move from in- to outdoor.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    target_systemuint8_tSystem ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    latitudeint32_tdegE7Latitude (WGS84)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    longitudeint32_tdegE7Longitude (WGS84)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    altitudeint32_tmmAltitude (MSL). Positive for up.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    time_usec ++uint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    GPS_GLOBAL_ORIGIN (49)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Publishes the GPS coordinates of the vehicle local origin (0,0,0) position. Emitted whenever a new GPS-Local position mapping is requested or set - e.g. following SET_GPS_GLOBAL_ORIGIN message.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    latitudeint32_tdegE7Latitude (WGS84)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    longitudeint32_tdegE7Longitude (WGS84)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    altitudeint32_tmmAltitude (MSL). Positive for up.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    time_usec ++uint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    PARAM_MAP_RC (50)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Bind a RC channel to a parameter. The parameter should change according to the RC channel value.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    target_systemuint8_tSystem ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    target_componentuint8_tComponent ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    param_idchar[16]Onboard parameter id, terminated by NULL if the length is less than 16 human-readable chars and WITHOUT null termination (NULL) byte if the length is exactly 16 chars - applications have to provide 16+1 bytes storage if the ID is stored as string
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    param_indexint16_tParameter index. Send -1 to use the param ID field as identifier (else the param id will be ignored), send -2 to disable any existing map for this rc_channel_index.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    parameter_rc_channel_indexuint8_tIndex of parameter RC channel. Not equal to the RC channel id. Typically corresponds to a potentiometer-knob on the RC.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    param_value0floatInitial parameter value
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    scalefloatScale, maps the RC range [-1, 1] to a parameter value
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    param_value_minfloatMinimum param value. The protocol does not define if this overwrites an onboard minimum value. (Depends on implementation)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    param_value_maxfloatMaximum param value. The protocol does not define if this overwrites an onboard maximum value. (Depends on implementation)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MISSION_REQUEST_INT (51)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Request the information of the mission item with the sequence number seq. The response of the system to this message should be a MISSION_ITEM_INT message. https://mavlink.io/en/services/mission.html

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    target_systemuint8_tSystem ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    target_componentuint8_tComponent ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    sequint16_tSequence
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    mission_type ++uint8_tMAV_MISSION_TYPEMission type.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    SAFETY_SET_ALLOWED_AREA (54)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Set a safety zone (volume), which is defined by two corners of a cube. This message can be used to tell the MAV which setpoints/waypoints to accept and which to reject. Safety areas are often enforced by national or competition regulations.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    target_systemuint8_tSystem ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    target_componentuint8_tComponent ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    frameuint8_tMAV_FRAMECoordinate frame. Can be either global, GPS, right-handed with Z axis up or local, right handed, Z axis down.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    p1xfloatmx position 1 / Latitude 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    p1yfloatmy position 1 / Longitude 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    p1zfloatmz position 1 / Altitude 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    p2xfloatmx position 2 / Latitude 2
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    p2yfloatmy position 2 / Longitude 2
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    p2zfloatmz position 2 / Altitude 2

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    SAFETY_ALLOWED_AREA (55)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Read out the safety zone the MAV currently assumes.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    frameuint8_tMAV_FRAMECoordinate frame. Can be either global, GPS, right-handed with Z axis up or local, right handed, Z axis down.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    p1xfloatmx position 1 / Latitude 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    p1yfloatmy position 1 / Longitude 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    p1zfloatmz position 1 / Altitude 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    p2xfloatmx position 2 / Latitude 2
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    p2yfloatmy position 2 / Longitude 2
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    p2zfloatmz position 2 / Altitude 2

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    ATTITUDE_QUATERNION_COV (61)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    The attitude in the aeronautical frame (right-handed, Z-down, X-front, Y-right), expressed as quaternion. Quaternion order is w, x, y, z and a zero rotation would be expressed as (1 0 0 0).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    qfloat[4]Quaternion components, w, x, y, z (1 0 0 0 is the null-rotation)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    rollspeedfloatrad/sRoll angular speed
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    pitchspeedfloatrad/sPitch angular speed
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    yawspeedfloatrad/sYaw angular speed
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    covariancefloat[9]Row-major representation of a 3x3 attitude covariance matrix (states: roll, pitch, yaw; first three entries are the first ROW, next three entries are the second row, etc.). If unknown, assign NaN value to first element in the array.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    The state of the navigation and position controller.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    nav_rollfloatdegCurrent desired roll
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    nav_pitchfloatdegCurrent desired pitch
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    nav_bearingint16_tdegCurrent desired heading
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    target_bearingint16_tdegBearing to current waypoint/target
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    wp_distuint16_tmDistance to active waypoint
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    alt_errorfloatmCurrent altitude error
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    aspd_errorfloatm/sCurrent airspeed error
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    xtrack_errorfloatmCurrent crosstrack error on x-y plane

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    GLOBAL_POSITION_INT_COV (63)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    The filtered global position (e.g. fused GPS and accelerometers). The position is in GPS-frame (right-handed, Z-up). It is designed as scaled integer message since the resolution of float is not sufficient. NOTE: This message is intended for onboard networks / companion computers and higher-bandwidth links and optimized for accuracy and completeness. Please use the GLOBAL_POSITION_INT message for a minimal subset.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    estimator_typeuint8_tMAV_ESTIMATOR_TYPEClass id of the estimator this estimate originated from.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    latint32_tdegE7Latitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    lonint32_tdegE7Longitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    altint32_tmmAltitude in meters above MSL
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    relative_altint32_tmmAltitude above ground
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    vxfloatm/sGround X Speed (Latitude)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    vyfloatm/sGround Y Speed (Longitude)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    vzfloatm/sGround Z Speed (Altitude)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    covariancefloat[36]invalid:[NaN:]Row-major representation of a 6x6 position and velocity 6x6 cross-covariance matrix (states: lat, lon, alt, vx, vy, vz; first six entries are the first ROW, next six entries are the second row, etc.). If unknown, assign NaN value to first element in the array.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    LOCAL_POSITION_NED_COV (64)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    The filtered local position (e.g. fused computer vision and accelerometers). Coordinate frame is right-handed, Z-axis down (aeronautical frame, NED / north-east-down convention)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    estimator_typeuint8_tMAV_ESTIMATOR_TYPEClass id of the estimator this estimate originated from.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    xfloatmX Position
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    yfloatmY Position
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    zfloatmZ Position
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    vxfloatm/sX Speed
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    vyfloatm/sY Speed
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    vzfloatm/sZ Speed
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    axfloatm/s/sX Acceleration
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    ayfloatm/s/sY Acceleration
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    azfloatm/s/sZ Acceleration
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    covariancefloat[45]invalid:[NaN:]Row-major representation of position, velocity and acceleration 9x9 cross-covariance matrix upper right triangle (states: x, y, z, vx, vy, vz, ax, ay, az; first nine entries are the first ROW, next eight entries are the second row, etc.). If unknown, assign NaN value to first element in the array.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    RC_CHANNELS (65)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    The PPM values of the RC channels received. The standard PPM modulation is as follows: 1000 microseconds: 0%, 2000 microseconds: 100%. A value of UINT16_MAX implies the channel is unused. Individual receivers/transmitters might violate this specification.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    time_boot_msuint32_tmsTimestamp (time since system boot).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    chancountuint8_tTotal number of RC channels being received. This can be larger than 18, indicating that more channels are available but not given in this message. This value should be 0 when no RC channels are available.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    chan1_rawuint16_tusRC channel 1 value.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    chan2_rawuint16_tusRC channel 2 value.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    chan3_rawuint16_tusRC channel 3 value.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    chan4_rawuint16_tusRC channel 4 value.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    chan5_rawuint16_tusRC channel 5 value.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    chan6_rawuint16_tusRC channel 6 value.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    chan7_rawuint16_tusRC channel 7 value.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    chan8_rawuint16_tusRC channel 8 value.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    chan9_rawuint16_tusRC channel 9 value.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    chan10_rawuint16_tusRC channel 10 value.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    chan11_rawuint16_tusRC channel 11 value.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    chan12_rawuint16_tusRC channel 12 value.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    chan13_rawuint16_tusRC channel 13 value.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    chan14_rawuint16_tusRC channel 14 value.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    chan15_rawuint16_tusRC channel 15 value.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    chan16_rawuint16_tusRC channel 16 value.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    chan17_rawuint16_tusRC channel 17 value.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    chan18_rawuint16_tusRC channel 18 value.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    rssiuint8_tReceive signal strength indicator in device-dependent units/scale. Values: [0-254], UINT8_MAX: invalid/unknown.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    REQUEST_DATA_STREAM (66) — [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    DEPRECATED: Replaced By MAV_CMD_SET_MESSAGE_INTERVAL (2015-08)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Request a data stream.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    target_systemuint8_tThe target requested to send the message stream.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    target_componentuint8_tThe target requested to send the message stream.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    req_stream_iduint8_tThe ID of the requested data stream
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    req_message_rateuint16_tHzThe requested message rate
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    start_stopuint8_t1 to start sending, 0 to stop sending.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    DATA_STREAM (67) — [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    DEPRECATED: Replaced By MESSAGE_INTERVAL (2015-08)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Data stream status information.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    stream_iduint8_tThe ID of the requested data stream
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    message_rateuint16_tHzThe message rate
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    on_offuint8_t1 stream is enabled, 0 stream is stopped.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MANUAL_CONTROL (69)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    This message provides an API for manually controlling the vehicle using standard joystick axes nomenclature, along with a joystick-like input device. Unused axes can be disabled and buttons states are transmitted as individual on/off bits of a bitmask

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    targetuint8_tThe system to be controlled.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    xint16_tX-axis, normalized to the range [-1000,1000]. A value of INT16_MAX indicates that this axis is invalid. Generally corresponds to forward(1000)-backward(-1000) movement on a joystick and the pitch of a vehicle.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    yint16_tY-axis, normalized to the range [-1000,1000]. A value of INT16_MAX indicates that this axis is invalid. Generally corresponds to left(-1000)-right(1000) movement on a joystick and the roll of a vehicle.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    zint16_tZ-axis, normalized to the range [-1000,1000]. A value of INT16_MAX indicates that this axis is invalid. Generally corresponds to a separate slider movement with maximum being 1000 and minimum being -1000 on a joystick and the thrust of a vehicle. Positive values are positive thrust, negative values are negative thrust.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    rint16_tR-axis, normalized to the range [-1000,1000]. A value of INT16_MAX indicates that this axis is invalid. Generally corresponds to a twisting of the joystick, with counter-clockwise being 1000 and clockwise being -1000, and the yaw of a vehicle.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    buttonsuint16_tA bitfield corresponding to the joystick buttons' 0-15 current state, 1 for pressed, 0 for released. The lowest bit corresponds to Button 1.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    buttons2 ++uint16_tA bitfield corresponding to the joystick buttons' 16-31 current state, 1 for pressed, 0 for released. The lowest bit corresponds to Button 16.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    enabled_extensions ++uint8_tSet bits to 1 to indicate which of the following extension fields contain valid data: bit 0: pitch, bit 1: roll, bit 2: aux1, bit 3: aux2, bit 4: aux3, bit 5: aux4, bit 6: aux5, bit 7: aux6
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    s ++int16_tPitch-only-axis, normalized to the range [-1000,1000]. Generally corresponds to pitch on vehicles with additional degrees of freedom. Valid if bit 0 of enabled_extensions field is set. Set to 0 if invalid.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    t ++int16_tRoll-only-axis, normalized to the range [-1000,1000]. Generally corresponds to roll on vehicles with additional degrees of freedom. Valid if bit 1 of enabled_extensions field is set. Set to 0 if invalid.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    aux1 ++int16_tAux continuous input field 1. Normalized in the range [-1000,1000]. Purpose defined by recipient. Valid data if bit 2 of enabled_extensions field is set. 0 if bit 2 is unset.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    aux2 ++int16_tAux continuous input field 2. Normalized in the range [-1000,1000]. Purpose defined by recipient. Valid data if bit 3 of enabled_extensions field is set. 0 if bit 3 is unset.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    aux3 ++int16_tAux continuous input field 3. Normalized in the range [-1000,1000]. Purpose defined by recipient. Valid data if bit 4 of enabled_extensions field is set. 0 if bit 4 is unset.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    aux4 ++int16_tAux continuous input field 4. Normalized in the range [-1000,1000]. Purpose defined by recipient. Valid data if bit 5 of enabled_extensions field is set. 0 if bit 5 is unset.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    aux5 ++int16_tAux continuous input field 5. Normalized in the range [-1000,1000]. Purpose defined by recipient. Valid data if bit 6 of enabled_extensions field is set. 0 if bit 6 is unset.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    aux6 ++int16_tAux continuous input field 6. Normalized in the range [-1000,1000]. Purpose defined by recipient. Valid data if bit 7 of enabled_extensions field is set. 0 if bit 7 is unset.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    RC_CHANNELS_OVERRIDE (70)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    The RAW values of the RC channels sent to the MAV to override info received from the RC radio. The standard PPM modulation is as follows: 1000 microseconds: 0%, 2000 microseconds: 100%. Individual receivers/transmitters might violate this specification. Note carefully the semantic differences between the first 8 channels and the subsequent channels

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    target_systemuint8_tSystem ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    target_componentuint8_tComponent ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    chan1_rawuint16_tusRC channel 1 value. A value of UINT16_MAX means to ignore this field. A value of 0 means to release this channel back to the RC radio.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    chan2_rawuint16_tusRC channel 2 value. A value of UINT16_MAX means to ignore this field. A value of 0 means to release this channel back to the RC radio.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    chan3_rawuint16_tusRC channel 3 value. A value of UINT16_MAX means to ignore this field. A value of 0 means to release this channel back to the RC radio.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    chan4_rawuint16_tusRC channel 4 value. A value of UINT16_MAX means to ignore this field. A value of 0 means to release this channel back to the RC radio.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    chan5_rawuint16_tusRC channel 5 value. A value of UINT16_MAX means to ignore this field. A value of 0 means to release this channel back to the RC radio.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    chan6_rawuint16_tusRC channel 6 value. A value of UINT16_MAX means to ignore this field. A value of 0 means to release this channel back to the RC radio.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    chan7_rawuint16_tusRC channel 7 value. A value of UINT16_MAX means to ignore this field. A value of 0 means to release this channel back to the RC radio.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    chan8_rawuint16_tusRC channel 8 value. A value of UINT16_MAX means to ignore this field. A value of 0 means to release this channel back to the RC radio.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    chan9_raw ++uint16_tusRC channel 9 value. A value of 0 or UINT16_MAX means to ignore this field. A value of UINT16_MAX-1 means to release this channel back to the RC radio.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    chan10_raw ++uint16_tusRC channel 10 value. A value of 0 or UINT16_MAX means to ignore this field. A value of UINT16_MAX-1 means to release this channel back to the RC radio.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    chan11_raw ++uint16_tusRC channel 11 value. A value of 0 or UINT16_MAX means to ignore this field. A value of UINT16_MAX-1 means to release this channel back to the RC radio.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    chan12_raw ++uint16_tusRC channel 12 value. A value of 0 or UINT16_MAX means to ignore this field. A value of UINT16_MAX-1 means to release this channel back to the RC radio.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    chan13_raw ++uint16_tusRC channel 13 value. A value of 0 or UINT16_MAX means to ignore this field. A value of UINT16_MAX-1 means to release this channel back to the RC radio.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    chan14_raw ++uint16_tusRC channel 14 value. A value of 0 or UINT16_MAX means to ignore this field. A value of UINT16_MAX-1 means to release this channel back to the RC radio.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    chan15_raw ++uint16_tusRC channel 15 value. A value of 0 or UINT16_MAX means to ignore this field. A value of UINT16_MAX-1 means to release this channel back to the RC radio.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    chan16_raw ++uint16_tusRC channel 16 value. A value of 0 or UINT16_MAX means to ignore this field. A value of UINT16_MAX-1 means to release this channel back to the RC radio.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    chan17_raw ++uint16_tusRC channel 17 value. A value of 0 or UINT16_MAX means to ignore this field. A value of UINT16_MAX-1 means to release this channel back to the RC radio.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    chan18_raw ++uint16_tusRC channel 18 value. A value of 0 or UINT16_MAX means to ignore this field. A value of UINT16_MAX-1 means to release this channel back to the RC radio.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MISSION_ITEM_INT (73)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Message encoding a mission item. This message is emitted to announce

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    the presence of a mission item and to set a mission item on the system. The mission item can be either in x, y, z meters (type: LOCAL) or x:lat, y:lon, z:altitude. Local frame is Z-down, right handed (NED), global frame is Z-up, right handed (ENU). NaN or INT32_MAX may be used in float/integer params (respectively) to indicate optional/default values (e.g. to use the component's current latitude, yaw rather than a specific value). See also https://mavlink.io/en/services/mission.html.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    target_systemuint8_tSystem ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    target_componentuint8_tComponent ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    sequint16_tWaypoint ID (sequence number). Starts at zero. Increases monotonically for each waypoint, no gaps in the sequence (0,1,2,3,4).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    frameuint8_tMAV_FRAMEThe coordinate system of the waypoint.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    commanduint16_tMAV_CMDThe scheduled action for the waypoint.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    currentuint8_tfalse:0, true:1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    autocontinueuint8_tAutocontinue to next waypoint. 0: false, 1: true. Set false to pause mission after the item completes.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    param1floatPARAM1, see MAV_CMD enum
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    param2floatPARAM2, see MAV_CMD enum
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    param3floatPARAM3, see MAV_CMD enum
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    param4floatPARAM4, see MAV_CMD enum
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    xint32_tPARAM5 / local: x position in meters 1e4, global: latitude in degrees 10^7
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    yint32_tPARAM6 / y position: local: x position in meters 1e4, global: longitude in degrees 10^7
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    zfloatPARAM7 / z position: global: altitude in meters (relative or absolute, depending on frame.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    mission_type ++uint8_tMAV_MISSION_TYPEMission type.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    VFR_HUD (74)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Metrics typically displayed on a HUD for fixed wing aircraft.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    airspeedfloatm/sVehicle speed in form appropriate for vehicle type. For standard aircraft this is typically calibrated airspeed (CAS) or indicated airspeed (IAS) - either of which can be used by a pilot to estimate stall speed.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    groundspeedfloatm/sCurrent ground speed.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    headingint16_tdegCurrent heading in compass units (0-360, 0=north).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    throttleuint16_t%Current throttle setting (0 to 100).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    altfloatmCurrent altitude (MSL).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    climbfloatm/sCurrent climb rate.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    COMMAND_INT (75)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Send a command with up to seven parameters to the MAV, where params 5 and 6 are integers and the other values are floats. This is preferred over COMMAND_LONG as it allows the MAV_FRAME to be specified for interpreting positional information, such as altitude. COMMAND_INT is also preferred when sending latitude and longitude data in params 5 and 6, as it allows for greater precision. Param 5 and 6 encode positional data as scaled integers, where the scaling depends on the actual command value. NaN or INT32_MAX may be used in float/integer params (respectively) to indicate optional/default values (e.g. to use the component's current latitude, yaw rather than a specific value). The command microservice is documented at https://mavlink.io/en/services/command.html

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    target_systemuint8_tSystem ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    target_componentuint8_tComponent ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    frameuint8_tMAV_FRAMEThe coordinate system of the COMMAND.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    commanduint16_tMAV_CMDThe scheduled action for the mission item.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    currentuint8_tNot used.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    autocontinueuint8_tNot used (set 0).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    param1floatinvalid:NaNPARAM1, see MAV_CMD enum
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    param2floatinvalid:NaNPARAM2, see MAV_CMD enum
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    param3floatinvalid:NaNPARAM3, see MAV_CMD enum
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    param4floatinvalid:NaNPARAM4, see MAV_CMD enum
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    xint32_tinvalid:INT32_MAXPARAM5 / local: x position in meters 1e4, global: latitude in degrees 10^7
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    yint32_tinvalid:INT32_MAXPARAM6 / local: y position in meters 1e4, global: longitude in degrees 10^7
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    zfloatinvalid:NaNPARAM7 / z position: global: altitude in meters (relative or absolute, depending on frame).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    COMMAND_LONG (76)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Send a command with up to seven parameters to the MAV. COMMAND_INT is generally preferred when sending MAV_CMD commands that include positional information; it offers higher precision and allows the MAV_FRAME to be specified (which may otherwise be ambiguous, particularly for altitude). The command microservice is documented at https://mavlink.io/en/services/command.html

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    target_systemuint8_tSystem which should execute the command
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    target_componentuint8_tComponent which should execute the command, 0 for all components
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    commanduint16_tMAV_CMDCommand ID (of command to send).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    confirmationuint8_t0: First transmission of this command. 1-255: Confirmation transmissions (e.g. for kill command)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    param1floatinvalid:NaNParameter 1 (for the specific command).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    param2floatinvalid:NaNParameter 2 (for the specific command).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    param3floatinvalid:NaNParameter 3 (for the specific command).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    param4floatinvalid:NaNParameter 4 (for the specific command).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    param5floatinvalid:NaNParameter 5 (for the specific command).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    param6floatinvalid:NaNParameter 6 (for the specific command).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    param7floatinvalid:NaNParameter 7 (for the specific command).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    COMMAND_ACK (77)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Report status of a command. Includes feedback whether the command was executed. The command microservice is documented at https://mavlink.io/en/services/command.html

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    commanduint16_tMAV_CMDCommand ID (of acknowledged command).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    resultuint8_tMAV_RESULTResult of command.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    progress ++uint8_t%invalid:UINT8_MAXThe progress percentage when result is MAV_RESULT_IN_PROGRESS. Values: [0-100], or UINT8_MAX if the progress is unknown.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    result_param2 ++int32_tAdditional result information. Can be set with a command-specific enum containing command-specific error reasons for why the command might be denied. If used, the associated enum must be documented in the corresponding MAV_CMD (this enum should have a 0 value to indicate "unused" or "unknown").
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    target_system ++uint8_tSystem ID of the target recipient. This is the ID of the system that sent the command for which this COMMAND_ACK is an acknowledgement.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    target_component ++uint8_tComponent ID of the target recipient. This is the ID of the system that sent the command for which this COMMAND_ACK is an acknowledgement.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    COMMAND_CANCEL (80) — [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Cancel a long running command. The target system should respond with a COMMAND_ACK to the original command with result=MAV_RESULT_CANCELLED if the long running process was cancelled. If it has already completed, the cancel action can be ignored. The cancel action can be retried until some sort of acknowledgement to the original command has been received. The command microservice is documented at https://mavlink.io/en/services/command.html

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    target_systemuint8_tSystem executing long running command. Should not be broadcast (0).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    target_componentuint8_tComponent executing long running command.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    commanduint16_tMAV_CMDCommand ID (of command to cancel).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MANUAL_SETPOINT (81)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Setpoint in roll, pitch, yaw and thrust from the operator

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    time_boot_msuint32_tmsTimestamp (time since system boot).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    rollfloatrad/sDesired roll rate
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    pitchfloatrad/sDesired pitch rate
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    yawfloatrad/sDesired yaw rate
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    thrustfloatCollective thrust, normalized to 0 .. 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    mode_switchuint8_tFlight mode switch position, 0.. 255
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    manual_override_switchuint8_tOverride mode switch position, 0.. 255

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    SET_ATTITUDE_TARGET (82)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Sets a desired vehicle attitude. Used by an external controller to command the vehicle (manual controller or other system).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    time_boot_msuint32_tmsTimestamp (time since system boot).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    target_systemuint8_tSystem ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    target_componentuint8_tComponent ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    type_maskuint8_tATTITUDE_TARGET_TYPEMASKBitmap to indicate which dimensions should be ignored by the vehicle.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    qfloat[4]Attitude quaternion (w, x, y, z order, zero-rotation is 1, 0, 0, 0) from MAV_FRAME_LOCAL_NED to MAV_FRAME_BODY_FRD
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    body_roll_ratefloatrad/sBody roll rate
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    body_pitch_ratefloatrad/sBody pitch rate
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    body_yaw_ratefloatrad/sBody yaw rate
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    thrustfloatCollective thrust, normalized to 0 .. 1 (-1 .. 1 for vehicles capable of reverse trust)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    thrust_body ++float[3]3D thrust setpoint in the body NED frame, normalized to -1 .. 1

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    ATTITUDE_TARGET (83)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Reports the current commanded attitude of the vehicle as specified by the autopilot. This should match the commands sent in a SET_ATTITUDE_TARGET message if the vehicle is being controlled this way.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    time_boot_msuint32_tmsTimestamp (time since system boot).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    type_maskuint8_tATTITUDE_TARGET_TYPEMASKBitmap to indicate which dimensions should be ignored by the vehicle.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    qfloat[4]Attitude quaternion (w, x, y, z order, zero-rotation is 1, 0, 0, 0)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    body_roll_ratefloatrad/sBody roll rate
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    body_pitch_ratefloatrad/sBody pitch rate
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    body_yaw_ratefloatrad/sBody yaw rate
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    thrustfloatCollective thrust, normalized to 0 .. 1 (-1 .. 1 for vehicles capable of reverse trust)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    SET_POSITION_TARGET_LOCAL_NED (84)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Sets a desired vehicle position in a local north-east-down coordinate frame. Used by an external controller to command the vehicle (manual controller or other system).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    time_boot_msuint32_tmsTimestamp (time since system boot).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    target_systemuint8_tSystem ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    target_componentuint8_tComponent ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    coordinate_frameuint8_tMAV_FRAMEValid options are: MAV_FRAME_LOCAL_NED = 1, MAV_FRAME_LOCAL_OFFSET_NED = 7, MAV_FRAME_BODY_NED = 8, MAV_FRAME_BODY_OFFSET_NED = 9
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    type_maskuint16_tPOSITION_TARGET_TYPEMASKBitmap to indicate which dimensions should be ignored by the vehicle.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    xfloatmX Position in NED frame
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    yfloatmY Position in NED frame
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    zfloatmZ Position in NED frame (note, altitude is negative in NED)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    vxfloatm/sX velocity in NED frame
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    vyfloatm/sY velocity in NED frame
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    vzfloatm/sZ velocity in NED frame
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    afxfloatm/s/sX acceleration or force (if bit 10 of type_mask is set) in NED frame in meter / s^2 or N
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    afyfloatm/s/sY acceleration or force (if bit 10 of type_mask is set) in NED frame in meter / s^2 or N
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    afzfloatm/s/sZ acceleration or force (if bit 10 of type_mask is set) in NED frame in meter / s^2 or N
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    yawfloatradyaw setpoint
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    yaw_ratefloatrad/syaw rate setpoint

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    POSITION_TARGET_LOCAL_NED (85)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Reports the current commanded vehicle position, velocity, and acceleration as specified by the autopilot. This should match the commands sent in SET_POSITION_TARGET_LOCAL_NED if the vehicle is being controlled this way.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    time_boot_msuint32_tmsTimestamp (time since system boot).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    coordinate_frameuint8_tMAV_FRAMEValid options are: MAV_FRAME_LOCAL_NED = 1, MAV_FRAME_LOCAL_OFFSET_NED = 7, MAV_FRAME_BODY_NED = 8, MAV_FRAME_BODY_OFFSET_NED = 9
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    type_maskuint16_tPOSITION_TARGET_TYPEMASKBitmap to indicate which dimensions should be ignored by the vehicle.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    xfloatmX Position in NED frame
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    yfloatmY Position in NED frame
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    zfloatmZ Position in NED frame (note, altitude is negative in NED)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    vxfloatm/sX velocity in NED frame
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    vyfloatm/sY velocity in NED frame
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    vzfloatm/sZ velocity in NED frame
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    afxfloatm/s/sX acceleration or force (if bit 10 of type_mask is set) in NED frame in meter / s^2 or N
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    afyfloatm/s/sY acceleration or force (if bit 10 of type_mask is set) in NED frame in meter / s^2 or N
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    afzfloatm/s/sZ acceleration or force (if bit 10 of type_mask is set) in NED frame in meter / s^2 or N
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    yawfloatradyaw setpoint
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    yaw_ratefloatrad/syaw rate setpoint

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    SET_POSITION_TARGET_GLOBAL_INT (86)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Sets a desired vehicle position, velocity, and/or acceleration in a global coordinate system (WGS84). Used by an external controller to command the vehicle (manual controller or other system).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    time_boot_msuint32_tmsTimestamp (time since system boot). The rationale for the timestamp in the setpoint is to allow the system to compensate for the transport delay of the setpoint. This allows the system to compensate processing latency.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    target_systemuint8_tSystem ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    target_componentuint8_tComponent ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    coordinate_frameuint8_tMAV_FRAMEValid options are: MAV_FRAME_GLOBAL = 0, MAV_FRAME_GLOBAL_RELATIVE_ALT = 3, MAV_FRAME_GLOBAL_TERRAIN_ALT = 10 (MAV_FRAME_GLOBAL_INT, MAV_FRAME_GLOBAL_RELATIVE_ALT_INT, MAV_FRAME_GLOBAL_TERRAIN_ALT_INT are allowed synonyms, but have been deprecated)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    type_maskuint16_tPOSITION_TARGET_TYPEMASKBitmap to indicate which dimensions should be ignored by the vehicle.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    lat_intint32_tdegE7Latitude in WGS84 frame
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    lon_intint32_tdegE7Longitude in WGS84 frame
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    altfloatmAltitude (MSL, Relative to home, or AGL - depending on frame)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    vxfloatm/sX velocity in NED frame
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    vyfloatm/sY velocity in NED frame
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    vzfloatm/sZ velocity in NED frame
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    afxfloatm/s/sX acceleration or force (if bit 10 of type_mask is set) in NED frame in meter / s^2 or N
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    afyfloatm/s/sY acceleration or force (if bit 10 of type_mask is set) in NED frame in meter / s^2 or N
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    afzfloatm/s/sZ acceleration or force (if bit 10 of type_mask is set) in NED frame in meter / s^2 or N
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    yawfloatradyaw setpoint
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    yaw_ratefloatrad/syaw rate setpoint

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    POSITION_TARGET_GLOBAL_INT (87)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Reports the current commanded vehicle position, velocity, and acceleration as specified by the autopilot. This should match the commands sent in SET_POSITION_TARGET_GLOBAL_INT if the vehicle is being controlled this way.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    time_boot_msuint32_tmsTimestamp (time since system boot). The rationale for the timestamp in the setpoint is to allow the system to compensate for the transport delay of the setpoint. This allows the system to compensate processing latency.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    coordinate_frameuint8_tMAV_FRAMEValid options are: MAV_FRAME_GLOBAL = 0, MAV_FRAME_GLOBAL_RELATIVE_ALT = 3, MAV_FRAME_GLOBAL_TERRAIN_ALT = 10 (MAV_FRAME_GLOBAL_INT, MAV_FRAME_GLOBAL_RELATIVE_ALT_INT, MAV_FRAME_GLOBAL_TERRAIN_ALT_INT are allowed synonyms, but have been deprecated)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    type_maskuint16_tPOSITION_TARGET_TYPEMASKBitmap to indicate which dimensions should be ignored by the vehicle.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    lat_intint32_tdegE7Latitude in WGS84 frame
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    lon_intint32_tdegE7Longitude in WGS84 frame
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    altfloatmAltitude (MSL, AGL or relative to home altitude, depending on frame)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    vxfloatm/sX velocity in NED frame
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    vyfloatm/sY velocity in NED frame
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    vzfloatm/sZ velocity in NED frame
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    afxfloatm/s/sX acceleration or force (if bit 10 of type_mask is set) in NED frame in meter / s^2 or N
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    afyfloatm/s/sY acceleration or force (if bit 10 of type_mask is set) in NED frame in meter / s^2 or N
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    afzfloatm/s/sZ acceleration or force (if bit 10 of type_mask is set) in NED frame in meter / s^2 or N
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    yawfloatradyaw setpoint
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    yaw_ratefloatrad/syaw rate setpoint

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    LOCAL_POSITION_NED_SYSTEM_GLOBAL_OFFSET (89)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    The offset in X, Y, Z and yaw between the LOCAL_POSITION_NED messages of MAV X and the global coordinate frame in NED coordinates. Coordinate frame is right-handed, Z-axis down (aeronautical frame, NED / north-east-down convention)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    time_boot_msuint32_tmsTimestamp (time since system boot).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    xfloatmX Position
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    yfloatmY Position
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    zfloatmZ Position
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    rollfloatradRoll
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    pitchfloatradPitch
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    yawfloatradYaw

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    HIL_STATE (90) — [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    DEPRECATED: Replaced By HIL_STATE_QUATERNION (2013-07) — Suffers from missing airspeed fields and singularities due to Euler angles)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Sent from simulation to autopilot. This packet is useful for high throughput applications such as hardware in the loop simulations.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    rollfloatradRoll angle
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    pitchfloatradPitch angle
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    yawfloatradYaw angle
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    rollspeedfloatrad/sBody frame roll / phi angular speed
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    pitchspeedfloatrad/sBody frame pitch / theta angular speed
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    yawspeedfloatrad/sBody frame yaw / psi angular speed
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    latint32_tdegE7Latitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    lonint32_tdegE7Longitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    altint32_tmmAltitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    vxint16_tcm/sGround X Speed (Latitude)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    vyint16_tcm/sGround Y Speed (Longitude)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    vzint16_tcm/sGround Z Speed (Altitude)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    xaccint16_tmGX acceleration
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    yaccint16_tmGY acceleration
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    zaccint16_tmGZ acceleration

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    HIL_CONTROLS (91)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Sent from autopilot to simulation. Hardware in the loop control outputs

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    roll_aileronsfloatControl output -1 .. 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    pitch_elevatorfloatControl output -1 .. 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    yaw_rudderfloatControl output -1 .. 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    throttlefloatThrottle 0 .. 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    aux1floatAux 1, -1 .. 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    aux2floatAux 2, -1 .. 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    aux3floatAux 3, -1 .. 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    aux4floatAux 4, -1 .. 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    modeuint8_tMAV_MODESystem mode.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    nav_modeuint8_tNavigation mode (MAV_NAV_MODE)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    HIL_RC_INPUTS_RAW (92)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Sent from simulation to autopilot. The RAW values of the RC channels received. The standard PPM modulation is as follows: 1000 microseconds: 0%, 2000 microseconds: 100%. Individual receivers/transmitters might violate this specification.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    chan1_rawuint16_tusRC channel 1 value
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    chan2_rawuint16_tusRC channel 2 value
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    chan3_rawuint16_tusRC channel 3 value
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    chan4_rawuint16_tusRC channel 4 value
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    chan5_rawuint16_tusRC channel 5 value
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    chan6_rawuint16_tusRC channel 6 value
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    chan7_rawuint16_tusRC channel 7 value
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    chan8_rawuint16_tusRC channel 8 value
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    chan9_rawuint16_tusRC channel 9 value
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    chan10_rawuint16_tusRC channel 10 value
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    chan11_rawuint16_tusRC channel 11 value
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    chan12_rawuint16_tusRC channel 12 value
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    rssiuint8_tReceive signal strength indicator in device-dependent units/scale. Values: [0-254], UINT8_MAX: invalid/unknown.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    HIL_ACTUATOR_CONTROLS (93)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Sent from autopilot to simulation. Hardware in the loop control outputs (replacement for HIL_CONTROLS)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    controlsfloat[16]Control outputs -1 .. 1. Channel assignment depends on the simulated hardware.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    modeuint8_tMAV_MODE_FLAGSystem mode. Includes arming state.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    flagsuint64_tFlags as bitfield, 1: indicate simulation using lockstep.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    OPTICAL_FLOW (100)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Optical flow from a flow sensor (e.g. optical mouse sensor)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    sensor_iduint8_tSensor ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    flow_xint16_tdpixFlow in x-sensor direction
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    flow_yint16_tdpixFlow in y-sensor direction
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    flow_comp_m_xfloatm/sFlow in x-sensor direction, angular-speed compensated
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    flow_comp_m_yfloatm/sFlow in y-sensor direction, angular-speed compensated
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    qualityuint8_tOptical flow quality / confidence. 0: bad, 255: maximum quality
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    ground_distancefloatmGround distance. Positive value: distance known. Negative value: Unknown distance
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    flow_rate_x ++floatrad/sFlow rate about X axis
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    flow_rate_y ++floatrad/sFlow rate about Y axis

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    GLOBAL_VISION_POSITION_ESTIMATE (101)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Global position/attitude estimate from a vision source.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    usecuint64_tusTimestamp (UNIX time or since system boot)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    xfloatmGlobal X position
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    yfloatmGlobal Y position
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    zfloatmGlobal Z position
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    rollfloatradRoll angle
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    pitchfloatradPitch angle
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    yawfloatradYaw angle
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    covariance ++float[21]Row-major representation of pose 6x6 cross-covariance matrix upper right triangle (states: x_global, y_global, z_global, roll, pitch, yaw; first six entries are the first ROW, next five entries are the second ROW, etc.). If unknown, assign NaN value to first element in the array.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    reset_counter ++uint8_tEstimate reset counter. This should be incremented when the estimate resets in any of the dimensions (position, velocity, attitude, angular speed). This is designed to be used when e.g an external SLAM system detects a loop-closure and the estimate jumps.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    VISION_POSITION_ESTIMATE (102)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Local position/attitude estimate from a vision source.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    usecuint64_tusTimestamp (UNIX time or time since system boot)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    xfloatmLocal X position
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    yfloatmLocal Y position
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    zfloatmLocal Z position
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    rollfloatradRoll angle
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    pitchfloatradPitch angle
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    yawfloatradYaw angle
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    covariance ++float[21]Row-major representation of pose 6x6 cross-covariance matrix upper right triangle (states: x, y, z, roll, pitch, yaw; first six entries are the first ROW, next five entries are the second ROW, etc.). If unknown, assign NaN value to first element in the array.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    reset_counter ++uint8_tEstimate reset counter. This should be incremented when the estimate resets in any of the dimensions (position, velocity, attitude, angular speed). This is designed to be used when e.g an external SLAM system detects a loop-closure and the estimate jumps.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    VISION_SPEED_ESTIMATE (103)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Speed estimate from a vision source.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    usecuint64_tusTimestamp (UNIX time or time since system boot)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    xfloatm/sGlobal X speed
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    yfloatm/sGlobal Y speed
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    zfloatm/sGlobal Z speed
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    covariance ++float[9]Row-major representation of 3x3 linear velocity covariance matrix (states: vx, vy, vz; 1st three entries - 1st row, etc.). If unknown, assign NaN value to first element in the array.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    reset_counter ++uint8_tEstimate reset counter. This should be incremented when the estimate resets in any of the dimensions (position, velocity, attitude, angular speed). This is designed to be used when e.g an external SLAM system detects a loop-closure and the estimate jumps.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    VICON_POSITION_ESTIMATE (104)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Global position estimate from a Vicon motion system source.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    usecuint64_tusTimestamp (UNIX time or time since system boot)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    xfloatmGlobal X position
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    yfloatmGlobal Y position
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    zfloatmGlobal Z position
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    rollfloatradRoll angle
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    pitchfloatradPitch angle
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    yawfloatradYaw angle
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    covariance ++float[21]Row-major representation of 6x6 pose cross-covariance matrix upper right triangle (states: x, y, z, roll, pitch, yaw; first six entries are the first ROW, next five entries are the second ROW, etc.). If unknown, assign NaN value to first element in the array.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    HIGHRES_IMU (105)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    The IMU readings in SI units in NED body frame

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    xaccfloatm/s/sX acceleration
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    yaccfloatm/s/sY acceleration
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    zaccfloatm/s/sZ acceleration
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    xgyrofloatrad/sAngular speed around X axis
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    ygyrofloatrad/sAngular speed around Y axis
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    zgyrofloatrad/sAngular speed around Z axis
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    xmagfloatgaussX Magnetic field
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    ymagfloatgaussY Magnetic field
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    zmagfloatgaussZ Magnetic field
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    abs_pressurefloathPaAbsolute pressure
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    diff_pressurefloathPaDifferential pressure
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    pressure_altfloatAltitude calculated from pressure
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    temperaturefloatdegCTemperature
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    fields_updateduint16_tHIGHRES_IMU_UPDATED_FLAGSBitmap for fields that have updated since last message
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    id ++uint8_tId. Ids are numbered from 0 and map to IMUs numbered from 1 (e.g. IMU1 will have a message with id=0)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Messages with same value are from the same source (instance). |

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    OPTICAL_FLOW_RAD (106)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Optical flow from an angular rate flow sensor (e.g. PX4FLOW or mouse sensor)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    sensor_iduint8_tSensor ID

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Messages with same value are from the same source (instance). | | integration_time_us | uint32_t | us | Integration time. Divide integrated_x and integrated_y by the integration time to obtain average flow. The integration time also indicates the. | | integrated_x | float | rad | Flow around X axis (Sensor RH rotation about the X axis induces a positive flow. Sensor linear motion along the positive Y axis induces a negative flow.) | | integrated_y | float | rad | Flow around Y axis (Sensor RH rotation about the Y axis induces a positive flow. Sensor linear motion along the positive X axis induces a positive flow.) | | integrated_xgyro | float | rad | RH rotation around X axis | | integrated_ygyro | float | rad | RH rotation around Y axis | | integrated_zgyro | float | rad | RH rotation around Z axis | | temperature | int16_t | cdegC | Temperature | | quality | uint8_t | | Optical flow quality / confidence. 0: no valid flow, 255: maximum quality | | time_delta_distance_us | uint32_t | us | Time since the distance was sampled. | | distance | float | m | Distance to the center of the flow field. Positive value (including zero): distance known. Negative value: Unknown distance. |

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    HIL_SENSOR (107)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    The IMU readings in SI units in NED body frame

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    xaccfloatm/s/sX acceleration
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    yaccfloatm/s/sY acceleration
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    zaccfloatm/s/sZ acceleration
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    xgyrofloatrad/sAngular speed around X axis in body frame
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    ygyrofloatrad/sAngular speed around Y axis in body frame
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    zgyrofloatrad/sAngular speed around Z axis in body frame
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    xmagfloatgaussX Magnetic field
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    ymagfloatgaussY Magnetic field
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    zmagfloatgaussZ Magnetic field
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    abs_pressurefloathPaAbsolute pressure
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    diff_pressurefloathPaDifferential pressure (airspeed)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    pressure_altfloatAltitude calculated from pressure
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    temperaturefloatdegCTemperature
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    fields_updateduint32_tHIL_SENSOR_UPDATED_FLAGSBitmap for fields that have updated since last message
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    id ++uint8_tSensor ID (zero indexed). Used for multiple sensor inputs

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    SIM_STATE (108)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Status of simulation environment, if used

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    q1floatTrue attitude quaternion component 1, w (1 in null-rotation)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    q2floatTrue attitude quaternion component 2, x (0 in null-rotation)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    q3floatTrue attitude quaternion component 3, y (0 in null-rotation)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    q4floatTrue attitude quaternion component 4, z (0 in null-rotation)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    rollfloatradAttitude roll expressed as Euler angles, not recommended except for human-readable outputs
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    pitchfloatradAttitude pitch expressed as Euler angles, not recommended except for human-readable outputs
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    yawfloatradAttitude yaw expressed as Euler angles, not recommended except for human-readable outputs
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    xaccfloatm/s/sX acceleration
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    yaccfloatm/s/sY acceleration
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    zaccfloatm/s/sZ acceleration
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    xgyrofloatrad/sAngular speed around X axis
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    ygyrofloatrad/sAngular speed around Y axis
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    zgyrofloatrad/sAngular speed around Z axis
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    latfloatdegLatitude (lower precision). Both this and the lat_int field should be set.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    lonfloatdegLongitude (lower precision). Both this and the lon_int field should be set.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    altfloatmAltitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    std_dev_horzfloatHorizontal position standard deviation
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    std_dev_vertfloatVertical position standard deviation
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    vnfloatm/sTrue velocity in north direction in earth-fixed NED frame
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    vefloatm/sTrue velocity in east direction in earth-fixed NED frame
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    vdfloatm/sTrue velocity in down direction in earth-fixed NED frame
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    lat_int ++int32_tdegE7Latitude (higher precision). If 0, recipients should use the lat field value (otherwise this field is preferred).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    lon_int ++int32_tdegE7Longitude (higher precision). If 0, recipients should use the lon field value (otherwise this field is preferred).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    RADIO_STATUS (109)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Status generated by radio and injected into MAVLink stream.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    rssiuint8_tLocal (message sender) received signal strength indication in device-dependent units/scale. Values: [0-254], UINT8_MAX: invalid/unknown.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    remrssiuint8_tRemote (message receiver) signal strength indication in device-dependent units/scale. Values: [0-254], UINT8_MAX: invalid/unknown.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    txbufuint8_t%Remaining free transmitter buffer space.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    noiseuint8_tLocal background noise level. These are device dependent RSSI values (scale as approx 2x dB on SiK radios). Values: [0-254], UINT8_MAX: invalid/unknown.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    remnoiseuint8_tRemote background noise level. These are device dependent RSSI values (scale as approx 2x dB on SiK radios). Values: [0-254], UINT8_MAX: invalid/unknown.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    rxerrorsuint16_tCount of radio packet receive errors (since boot).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    fixeduint16_tCount of error corrected radio packets (since boot).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    FILE_TRANSFER_PROTOCOL (110)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    File transfer protocol message: https://mavlink.io/en/services/ftp.html.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    target_networkuint8_tNetwork ID (0 for broadcast)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    target_systemuint8_tSystem ID (0 for broadcast)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    target_componentuint8_tComponent ID (0 for broadcast)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    payloaduint8_t[251]Variable length payload. The length is defined by the remaining message length when subtracting the header and other fields. The content/format of this block is defined in https://mavlink.io/en/services/ftp.html.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    TIMESYNC (111)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Time synchronization message. The message is used for both timesync requests and responses. The request is sent with ts1=syncing component timestamp and tc1=0, and may be broadcast or targeted to a specific system/component. The response is sent with ts1=syncing component timestamp (mirror back unchanged), and tc1=responding component timestamp, with the target_system and target_component set to ids of the original request. Systems can determine if they are receiving a request or response based on the value of tc. If the response has target_system==target_component==0 the remote system has not been updated to use the component IDs and cannot reliably timesync; the requestor may report an error. Timestamps are UNIX Epoch time or time since system boot in nanoseconds (the timestamp format can be inferred by checking for the magnitude of the number; generally it doesn't matter as only the offset is used). The message sequence is repeated numerous times with results being filtered/averaged to estimate the offset.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    tc1int64_tnsTime sync timestamp 1. Syncing: 0. Responding: Timestamp of responding component.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    ts1int64_tnsTime sync timestamp 2. Timestamp of syncing component (mirrored in response).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    target_system ++uint8_tTarget system id. Request: 0 (broadcast) or id of specific system. Response must contain system id of the requesting component.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    target_component ++uint8_tTarget component id. Request: 0 (broadcast) or id of specific component. Response must contain component id of the requesting component.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    CAMERA_TRIGGER (112)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Camera-IMU triggering and synchronisation message.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    time_usecuint64_tusTimestamp for image frame (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    sequint32_tImage frame sequence

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    HIL_GPS (113)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    The global position, as returned by the Global Positioning System (GPS). This is

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    NOT the global position estimate of the system, but rather a RAW sensor value. See message GLOBAL_POSITION_INT for the global position estimate.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeUnitsMultiplierDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    fix_typeuint8_t0-1: no fix, 2: 2D fix, 3: 3D fix. Some applications will not use the value of this field unless it is at least two, so always correctly fill in the fix.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    latint32_tdegE7Latitude (WGS84)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    lonint32_tdegE7Longitude (WGS84)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    altint32_tmmAltitude (MSL). Positive for up.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    ephuint16_t1E-2GPS HDOP horizontal dilution of position (unitless * 100). If unknown, set to: UINT16_MAX
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    epvuint16_t1E-2GPS VDOP vertical dilution of position (unitless * 100). If unknown, set to: UINT16_MAX
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    veluint16_tcm/sGPS ground speed. If unknown, set to: UINT16_MAX
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    vnint16_tcm/sGPS velocity in north direction in earth-fixed NED frame
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    veint16_tcm/sGPS velocity in east direction in earth-fixed NED frame
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    vdint16_tcm/sGPS velocity in down direction in earth-fixed NED frame
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    coguint16_tcdegCourse over ground (NOT heading, but direction of movement), 0.0..359.99 degrees. If unknown, set to: UINT16_MAX
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    satellites_visibleuint8_tNumber of satellites visible. If unknown, set to UINT8_MAX
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    id ++uint8_tGPS ID (zero indexed). Used for multiple GPS inputs
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    yaw ++uint16_tcdegYaw of vehicle relative to Earth's North, zero means not available, use 36000 for north

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    HIL_OPTICAL_FLOW (114)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Simulated optical flow from a flow sensor (e.g. PX4FLOW or optical mouse sensor)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    sensor_iduint8_tSensor ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    integration_time_usuint32_tusIntegration time. Divide integrated_x and integrated_y by the integration time to obtain average flow. The integration time also indicates the.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    integrated_xfloatradFlow in radians around X axis (Sensor RH rotation about the X axis induces a positive flow. Sensor linear motion along the positive Y axis induces a negative flow.)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    integrated_yfloatradFlow in radians around Y axis (Sensor RH rotation about the Y axis induces a positive flow. Sensor linear motion along the positive X axis induces a positive flow.)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    integrated_xgyrofloatradRH rotation around X axis
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    integrated_ygyrofloatradRH rotation around Y axis
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    integrated_zgyrofloatradRH rotation around Z axis
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    temperatureint16_tcdegCTemperature
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    qualityuint8_tOptical flow quality / confidence. 0: no valid flow, 255: maximum quality
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    time_delta_distance_usuint32_tusTime since the distance was sampled.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    distancefloatmDistance to the center of the flow field. Positive value (including zero): distance known. Negative value: Unknown distance.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    HIL_STATE_QUATERNION (115)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Sent from simulation to autopilot, avoids in contrast to HIL_STATE singularities. This packet is useful for high throughput applications such as hardware in the loop simulations.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    attitude_quaternionfloat[4]Vehicle attitude expressed as normalized quaternion in w, x, y, z order (with 1 0 0 0 being the null-rotation)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    rollspeedfloatrad/sBody frame roll / phi angular speed
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    pitchspeedfloatrad/sBody frame pitch / theta angular speed
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    yawspeedfloatrad/sBody frame yaw / psi angular speed
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    latint32_tdegE7Latitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    lonint32_tdegE7Longitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    altint32_tmmAltitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    vxint16_tcm/sGround X Speed (Latitude)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    vyint16_tcm/sGround Y Speed (Longitude)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    vzint16_tcm/sGround Z Speed (Altitude)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    ind_airspeeduint16_tcm/sIndicated airspeed
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    true_airspeeduint16_tcm/sTrue airspeed
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    xaccint16_tmGX acceleration
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    yaccint16_tmGY acceleration
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    zaccint16_tmGZ acceleration

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    SCALED_IMU2 (116)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    The RAW IMU readings for secondary 9DOF sensor setup. This message should contain the scaled values to the described units

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    time_boot_msuint32_tmsTimestamp (time since system boot).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    xaccint16_tmGX acceleration
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    yaccint16_tmGY acceleration
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    zaccint16_tmGZ acceleration
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    xgyroint16_tmrad/sAngular speed around X axis
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    ygyroint16_tmrad/sAngular speed around Y axis
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    zgyroint16_tmrad/sAngular speed around Z axis
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    xmagint16_tmgaussX Magnetic field
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    ymagint16_tmgaussY Magnetic field
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    zmagint16_tmgaussZ Magnetic field
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    temperature ++int16_tcdegCTemperature, 0: IMU does not provide temperature values. If the IMU is at 0C it must send 1 (0.01C).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    LOG_REQUEST_LIST (117)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Request a list of available logs. On some systems calling this may stop on-board logging until LOG_REQUEST_END is called. If there are no log files available this request shall be answered with one LOG_ENTRY message with id = 0 and num_logs = 0.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    target_systemuint8_tSystem ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    target_componentuint8_tComponent ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    startuint16_tFirst log id (0 for first available)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    enduint16_tLast log id (0xffff for last available)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    LOG_ENTRY (118)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Reply to LOG_REQUEST_LIST

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    iduint16_tLog id
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    num_logsuint16_tTotal number of logs
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    last_log_numuint16_tHigh log number
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    time_utcuint32_tsUTC timestamp of log since 1970, or 0 if not available
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    sizeuint32_tbytesSize of the log (may be approximate)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    LOG_REQUEST_DATA (119)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Request a chunk of a log

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    target_systemuint8_tSystem ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    target_componentuint8_tComponent ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    iduint16_tLog id (from LOG_ENTRY reply)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    ofsuint32_tOffset into the log
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    countuint32_tbytesNumber of bytes

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    LOG_DATA (120)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Reply to LOG_REQUEST_DATA

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    iduint16_tLog id (from LOG_ENTRY reply)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    ofsuint32_tOffset into the log
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    countuint8_tbytesNumber of bytes (zero for end of log)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    datauint8_t[90]log data

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    LOG_ERASE (121)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Erase all logs

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    target_systemuint8_tSystem ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    target_componentuint8_tComponent ID

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    LOG_REQUEST_END (122)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Stop log transfer and resume normal logging

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    target_systemuint8_tSystem ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    target_componentuint8_tComponent ID

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    GPS_INJECT_DATA (123) — [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    DEPRECATED: Replaced By GPS_RTCM_DATA (2022-05)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Data for injecting into the onboard GPS (used for DGPS)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    target_systemuint8_tSystem ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    target_componentuint8_tComponent ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    lenuint8_tbytesData length
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    datauint8_t[110]Raw data (110 is enough for 12 satellites of RTCMv2)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    GPS2_RAW (124)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Second GPS data.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    fix_typeuint8_tGPS_FIX_TYPEGPS fix type.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    latint32_tdegE7Latitude (WGS84)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    lonint32_tdegE7Longitude (WGS84)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    altint32_tmmAltitude (MSL). Positive for up.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    ephuint16_tinvalid:UINT16_MAXGPS HDOP horizontal dilution of position (unitless * 100). If unknown, set to: UINT16_MAX
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    epvuint16_tinvalid:UINT16_MAXGPS VDOP vertical dilution of position (unitless * 100). If unknown, set to: UINT16_MAX
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    veluint16_tcm/sinvalid:UINT16_MAXGPS ground speed. If unknown, set to: UINT16_MAX
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    coguint16_tcdeginvalid:UINT16_MAXCourse over ground (NOT heading, but direction of movement): 0.0..359.99 degrees. If unknown, set to: UINT16_MAX
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    satellites_visibleuint8_tinvalid:UINT8_MAXNumber of satellites visible. If unknown, set to UINT8_MAX
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    dgps_numchuint8_tNumber of DGPS satellites
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    dgps_ageuint32_tmsAge of DGPS info
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    yaw ++uint16_tcdeginvalid:0Yaw in earth frame from north. Use 0 if this GPS does not provide yaw. Use UINT16_MAX if this GPS is configured to provide yaw and is currently unable to provide it. Use 36000 for north.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    alt_ellipsoid ++int32_tmmAltitude (above WGS84, EGM96 ellipsoid). Positive for up.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    h_acc ++uint32_tmmPosition uncertainty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    v_acc ++uint32_tmmAltitude uncertainty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    vel_acc ++uint32_tmmSpeed uncertainty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    hdg_acc ++uint32_tdegE5Heading / track uncertainty

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    POWER_STATUS (125)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Power supply status

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Vccuint16_tmV5V rail voltage.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Vservouint16_tmVServo rail voltage.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    flagsuint16_tMAV_POWER_STATUSBitmap of power supply status flags.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    SERIAL_CONTROL (126)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Control a serial port. This can be used for raw access to an onboard serial peripheral such as a GPS or telemetry radio. It is designed to make it possible to update the devices firmware via MAVLink messages or change the devices settings. A message with zero bytes can be used to change just the baudrate.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    deviceuint8_tSERIAL_CONTROL_DEVSerial control device type.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    flagsuint8_tSERIAL_CONTROL_FLAGBitmap of serial control flags.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    timeoutuint16_tmsTimeout for reply data
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    baudrateuint32_tbits/sBaudrate of transfer. Zero means no change.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    countuint8_tbyteshow many bytes in this transfer
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    datauint8_t[70]serial data
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    target_system ++uint8_tSystem ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    target_component ++uint8_tComponent ID

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    GPS_RTK (127)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    RTK GPS data. Gives information on the relative baseline calculation the GPS is reporting

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    time_last_baseline_msuint32_tmsTime since boot of last baseline message received.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    rtk_receiver_iduint8_tIdentification of connected RTK receiver.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    wnuint16_tGPS Week Number of last baseline
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    towuint32_tmsGPS Time of Week of last baseline
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    rtk_healthuint8_tGPS-specific health report for RTK data.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    rtk_rateuint8_tHzRate of baseline messages being received by GPS
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    nsatsuint8_tCurrent number of sats used for RTK calculation.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    baseline_coords_typeuint8_tRTK_BASELINE_COORDINATE_SYSTEMCoordinate system of baseline
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    baseline_a_mmint32_tmmCurrent baseline in ECEF x or NED north component.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    baseline_b_mmint32_tmmCurrent baseline in ECEF y or NED east component.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    baseline_c_mmint32_tmmCurrent baseline in ECEF z or NED down component.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    accuracyuint32_tCurrent estimate of baseline accuracy.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    iar_num_hypothesesint32_tCurrent number of integer ambiguity hypotheses.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    GPS2_RTK (128)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    RTK GPS data. Gives information on the relative baseline calculation the GPS is reporting

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    time_last_baseline_msuint32_tmsTime since boot of last baseline message received.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    rtk_receiver_iduint8_tIdentification of connected RTK receiver.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    wnuint16_tGPS Week Number of last baseline
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    towuint32_tmsGPS Time of Week of last baseline
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    rtk_healthuint8_tGPS-specific health report for RTK data.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    rtk_rateuint8_tHzRate of baseline messages being received by GPS
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    nsatsuint8_tCurrent number of sats used for RTK calculation.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    baseline_coords_typeuint8_tRTK_BASELINE_COORDINATE_SYSTEMCoordinate system of baseline
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    baseline_a_mmint32_tmmCurrent baseline in ECEF x or NED north component.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    baseline_b_mmint32_tmmCurrent baseline in ECEF y or NED east component.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    baseline_c_mmint32_tmmCurrent baseline in ECEF z or NED down component.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    accuracyuint32_tCurrent estimate of baseline accuracy.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    iar_num_hypothesesint32_tCurrent number of integer ambiguity hypotheses.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    SCALED_IMU3 (129)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    The RAW IMU readings for 3rd 9DOF sensor setup. This message should contain the scaled values to the described units

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    time_boot_msuint32_tmsTimestamp (time since system boot).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    xaccint16_tmGX acceleration
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    yaccint16_tmGY acceleration
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    zaccint16_tmGZ acceleration
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    xgyroint16_tmrad/sAngular speed around X axis
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    ygyroint16_tmrad/sAngular speed around Y axis
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    zgyroint16_tmrad/sAngular speed around Z axis
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    xmagint16_tmgaussX Magnetic field
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    ymagint16_tmgaussY Magnetic field
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    zmagint16_tmgaussZ Magnetic field
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    temperature ++int16_tcdegCTemperature, 0: IMU does not provide temperature values. If the IMU is at 0C it must send 1 (0.01C).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    DATA_TRANSMISSION_HANDSHAKE (130)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Handshake message to initiate, control and stop image streaming when using the Image Transmission Protocol: https://mavlink.io/en/services/image_transmission.html.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    typeuint8_tMAVLINK_DATA_STREAM_TYPEType of requested/acknowledged data.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    sizeuint32_tbytestotal data size (set on ACK only).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    widthuint16_tWidth of a matrix or image.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    heightuint16_tHeight of a matrix or image.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    packetsuint16_tNumber of packets being sent (set on ACK only).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    payloaduint8_tbytesPayload size per packet (normally 253 byte, see DATA field size in message ENCAPSULATED_DATA) (set on ACK only).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    jpg_qualityuint8_t%JPEG quality. Values: [1-100].

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    ENCAPSULATED_DATA (131)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Data packet for images sent using the Image Transmission Protocol: https://mavlink.io/en/services/image_transmission.html.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    seqnruint16_tsequence number (starting with 0 on every transmission)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    datauint8_t[253]image data bytes

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    DISTANCE_SENSOR (132)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Distance sensor information for an onboard rangefinder.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    time_boot_msuint32_tmsTimestamp (time since system boot).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    min_distanceuint16_tcmMinimum distance the sensor can measure
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    max_distanceuint16_tcmMaximum distance the sensor can measure
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    current_distanceuint16_tcmCurrent distance reading
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    typeuint8_tMAV_DISTANCE_SENSORType of distance sensor.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    iduint8_tOnboard ID of the sensor

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Messages with same value are from the same source (instance). | | orientation | uint8_t | | MAV_SENSOR_ORIENTATION | Direction the sensor faces. downward-facing: ROTATION_PITCH_270, upward-facing: ROTATION_PITCH_90, backward-facing: ROTATION_PITCH_180, forward-facing: ROTATION_NONE, left-facing: ROTATION_YAW_90, right-facing: ROTATION_YAW_270 | | covariance | uint8_t | cm^2 | invalid:UINT8_MAX | Measurement variance. Max standard deviation is 6cm. UINT8_MAX if unknown. | | horizontal_fov ++ | float | rad | invalid:0 | Horizontal Field of View (angle) where the distance measurement is valid and the field of view is known. Otherwise this is set to 0. | | vertical_fov ++ | float | rad | invalid:0 | Vertical Field of View (angle) where the distance measurement is valid and the field of view is known. Otherwise this is set to 0. | | quaternion ++ | float[4] | | invalid:[0] | Quaternion of the sensor orientation in vehicle body frame (w, x, y, z order, zero-rotation is 1, 0, 0, 0). Zero-rotation is along the vehicle body x-axis. This field is required if the orientation is set to MAV_SENSOR_ROTATION_CUSTOM. Set it to 0 if invalid." | | signal_quality ++ | uint8_t | % | invalid:0 | Signal quality of the sensor. Specific to each sensor type, representing the relation of the signal strength with the target reflectivity, distance, size or aspect, but normalised as a percentage. 0 = unknown/unset signal quality, 1 = invalid signal, 100 = perfect signal. |

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    TERRAIN_REQUEST (133)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Request for terrain data and terrain status. See terrain protocol docs: https://mavlink.io/en/services/terrain.html

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    latint32_tdegE7Latitude of SW corner of first grid
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    lonint32_tdegE7Longitude of SW corner of first grid
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    grid_spacinguint16_tmGrid spacing
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    maskuint64_tBitmask of requested 4x4 grids (row major 8x7 array of grids, 56 bits)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    TERRAIN_DATA (134)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Terrain data sent from GCS. The lat/lon and grid_spacing must be the same as a lat/lon from a TERRAIN_REQUEST. See terrain protocol docs: https://mavlink.io/en/services/terrain.html

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    latint32_tdegE7Latitude of SW corner of first grid
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    lonint32_tdegE7Longitude of SW corner of first grid
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    grid_spacinguint16_tmGrid spacing
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    gridbituint8_tbit within the terrain request mask
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    dataint16_t[16]mTerrain data MSL

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    TERRAIN_CHECK (135)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Request that the vehicle report terrain height at the given location (expected response is a TERRAIN_REPORT). Used by GCS to check if vehicle has all terrain data needed for a mission.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    latint32_tdegE7Latitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    lonint32_tdegE7Longitude

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    TERRAIN_REPORT (136)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Streamed from drone to report progress of terrain map download (initiated by TERRAIN_REQUEST), or sent as a response to a TERRAIN_CHECK request. See terrain protocol docs: https://mavlink.io/en/services/terrain.html

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    latint32_tdegE7Latitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    lonint32_tdegE7Longitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    spacinguint16_tgrid spacing (zero if terrain at this location unavailable)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    terrain_heightfloatmTerrain height MSL
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    current_heightfloatmCurrent vehicle height above lat/lon terrain height
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    pendinguint16_tNumber of 4x4 terrain blocks waiting to be received or read from disk
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    loadeduint16_tNumber of 4x4 terrain blocks in memory

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    SCALED_PRESSURE2 (137)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Barometer readings for 2nd barometer

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    time_boot_msuint32_tmsTimestamp (time since system boot).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    press_absfloathPaAbsolute pressure
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    press_difffloathPaDifferential pressure
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    temperatureint16_tcdegCAbsolute pressure temperature
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    temperature_press_diff ++int16_tcdegCDifferential pressure temperature (0, if not available). Report values of 0 (or 1) as 1 cdegC.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    ATT_POS_MOCAP (138)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Motion capture attitude and position

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    qfloat[4]Attitude quaternion (w, x, y, z order, zero-rotation is 1, 0, 0, 0)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    xfloatmX position (NED)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    yfloatmY position (NED)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    zfloatmZ position (NED)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    covariance ++float[21]Row-major representation of a pose 6x6 cross-covariance matrix upper right triangle (states: x, y, z, roll, pitch, yaw; first six entries are the first ROW, next five entries are the second ROW, etc.). If unknown, assign NaN value to first element in the array.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    SET_ACTUATOR_CONTROL_TARGET (139)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Set the vehicle attitude and body angular rates.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    group_mlxuint8_tActuator group. The "_mlx" indicates this is a multi-instance message and a MAVLink parser should use this field to difference between instances.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    target_systemuint8_tSystem ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    target_componentuint8_tComponent ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    controlsfloat[8]Actuator controls. Normed to -1..+1 where 0 is neutral position. Throttle for single rotation direction motors is 0..1, negative range for reverse direction. Standard mapping for attitude controls (group 0): (index 0-7): roll, pitch, yaw, throttle, flaps, spoilers, airbrakes, landing gear. Load a pass-through mixer to repurpose them as generic outputs.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    ACTUATOR_CONTROL_TARGET (140)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Set the vehicle attitude and body angular rates.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    group_mlxuint8_tActuator group. The "_mlx" indicates this is a multi-instance message and a MAVLink parser should use this field to difference between instances.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    controlsfloat[8]Actuator controls. Normed to -1..+1 where 0 is neutral position. Throttle for single rotation direction motors is 0..1, negative range for reverse direction. Standard mapping for attitude controls (group 0): (index 0-7): roll, pitch, yaw, throttle, flaps, spoilers, airbrakes, landing gear. Load a pass-through mixer to repurpose them as generic outputs.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    ALTITUDE (141)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    The current system altitude.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    altitude_monotonicfloatmThis altitude measure is initialized on system boot and monotonic (it is never reset, but represents the local altitude change). The only guarantee on this field is that it will never be reset and is consistent within a flight. The recommended value for this field is the uncorrected barometric altitude at boot time. This altitude will also drift and vary between flights.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    altitude_amslfloatmThis altitude measure is strictly above mean sea level and might be non-monotonic (it might reset on events like GPS lock or when a new QNH value is set). It should be the altitude to which global altitude waypoints are compared to. Note that it is not the GPS altitude, however, most GPS modules already output MSL by default and not the WGS84 altitude.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    altitude_localfloatmThis is the local altitude in the local coordinate frame. It is not the altitude above home, but in reference to the coordinate origin (0, 0, 0). It is up-positive.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    altitude_relativefloatmThis is the altitude above the home position. It resets on each change of the current home position.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    altitude_terrainfloatmThis is the altitude above terrain. It might be fed by a terrain database or an altimeter. Values smaller than -1000 should be interpreted as unknown.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    bottom_clearancefloatmThis is not the altitude, but the clear space below the system according to the fused clearance estimate. It generally should max out at the maximum range of e.g. the laser altimeter. It is generally a moving target. A negative value indicates no measurement available.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    RESOURCE_REQUEST (142)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    The autopilot is requesting a resource (file, binary, other type of data)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    request_iduint8_tRequest ID. This ID should be re-used when sending back URI contents
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    uri_typeuint8_tThe type of requested URI. 0 = a file via URL. 1 = a UAVCAN binary
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    uriuint8_t[120]The requested unique resource identifier (URI). It is not necessarily a straight domain name (depends on the URI type enum)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    transfer_typeuint8_tThe way the autopilot wants to receive the URI. 0 = MAVLink FTP. 1 = binary stream.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    storageuint8_t[120]The storage path the autopilot wants the URI to be stored in. Will only be valid if the transfer_type has a storage associated (e.g. MAVLink FTP).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    SCALED_PRESSURE3 (143)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Barometer readings for 3rd barometer

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    time_boot_msuint32_tmsTimestamp (time since system boot).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    press_absfloathPaAbsolute pressure
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    press_difffloathPaDifferential pressure
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    temperatureint16_tcdegCAbsolute pressure temperature
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    temperature_press_diff ++int16_tcdegCDifferential pressure temperature (0, if not available). Report values of 0 (or 1) as 1 cdegC.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    FOLLOW_TARGET (144)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Current motion information from a designated system

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    timestampuint64_tmsTimestamp (time since system boot).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    est_capabilitiesuint8_tbit positions for tracker reporting capabilities (POS = 0, VEL = 1, ACCEL = 2, ATT + RATES = 3)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    latint32_tdegE7Latitude (WGS84)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    lonint32_tdegE7Longitude (WGS84)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    altfloatmAltitude (MSL)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    velfloat[3]m/starget velocity (0,0,0) for unknown
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    accfloat[3]m/s/slinear target acceleration (0,0,0) for unknown
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    attitude_qfloat[4](0 0 0 0 for unknown)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    ratesfloat[3](0 0 0 for unknown)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    position_covfloat[3]eph epv
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    custom_stateuint64_tbutton states or switches of a tracker device

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    CONTROL_SYSTEM_STATE (146)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    The smoothed, monotonic system state used to feed the control loops of the system.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    x_accfloatm/s/sX acceleration in body frame
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    y_accfloatm/s/sY acceleration in body frame
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    z_accfloatm/s/sZ acceleration in body frame
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    x_velfloatm/sX velocity in body frame
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    y_velfloatm/sY velocity in body frame
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    z_velfloatm/sZ velocity in body frame
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    x_posfloatmX position in local frame
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    y_posfloatmY position in local frame
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    z_posfloatmZ position in local frame
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    airspeedfloatm/sAirspeed, set to -1 if unknown
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    vel_variancefloat[3]Variance of body velocity estimate
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    pos_variancefloat[3]Variance in local position
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    qfloat[4]The attitude, represented as Quaternion
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    roll_ratefloatrad/sAngular rate in roll axis
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    pitch_ratefloatrad/sAngular rate in pitch axis
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    yaw_ratefloatrad/sAngular rate in yaw axis

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    BATTERY_STATUS (147)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Battery information. Updates GCS with flight controller battery status. Smart batteries also use this message, but may additionally send BATTERY_INFO.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    iduint8_tBattery ID

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Messages with same value are from the same source (instance). | | battery_function | uint8_t | | MAV_BATTERY_FUNCTION | Function of the battery | | type | uint8_t | | MAV_BATTERY_TYPE | Type (chemistry) of the battery | | temperature | int16_t | cdegC | invalid:INT16_MAX | Temperature of the battery. INT16_MAX for unknown temperature. | | voltages | uint16_t[10] | mV | invalid:[UINT16_MAX] | Battery voltage of cells 1 to 10 (see voltages_ext for cells 11-14). Cells in this field above the valid cell count for this battery should have the UINT16_MAX value. If individual cell voltages are unknown or not measured for this battery, then the overall battery voltage should be filled in cell 0, with all others set to UINT16_MAX. If the voltage of the battery is greater than (UINT16_MAX - 1), then cell 0 should be set to (UINT16_MAX - 1), and cell 1 to the remaining voltage. This can be extended to multiple cells if the total voltage is greater than 2 * (UINT16_MAX - 1). | | current_battery | int16_t | cA | invalid:-1 | Battery current, -1: autopilot does not measure the current | | current_consumed | int32_t | mAh | invalid:-1 | Consumed charge, -1: autopilot does not provide consumption estimate | | energy_consumed | int32_t | hJ | invalid:-1 | Consumed energy, -1: autopilot does not provide energy consumption estimate | | battery_remaining | int8_t | % | invalid:-1 | Remaining battery energy. Values: [0-100], -1: autopilot does not estimate the remaining battery. | | time_remaining ++ | int32_t | s | invalid:0 | Remaining battery time, 0: autopilot does not provide remaining battery time estimate | | charge_state ++ | uint8_t | | MAV_BATTERY_CHARGE_STATE | State for extent of discharge, provided by autopilot for warning or external reactions | | voltages_ext ++ | uint16_t[4] | mV | invalid:[0] | Battery voltages for cells 11 to 14. Cells above the valid cell count for this battery should have a value of 0, where zero indicates not supported (note, this is different than for the voltages field and allows empty byte truncation). If the measured value is 0 then 1 should be sent instead. | | mode ++ | uint8_t | | MAV_BATTERY_MODE | Battery mode. Default (0) is that battery mode reporting is not supported or battery is in normal-use mode. | | fault_bitmask ++ | uint32_t | | MAV_BATTERY_FAULT | Fault/health indications. These should be set when charge_state is MAV_BATTERY_CHARGE_STATE_FAILED or MAV_BATTERY_CHARGE_STATE_UNHEALTHY (if not, fault reporting is not supported). |

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    AUTOPILOT_VERSION (148)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Version and capability of autopilot software. This should be emitted in response to a request with MAV_CMD_REQUEST_MESSAGE.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    capabilitiesuint64_tMAV_PROTOCOL_CAPABILITYBitmap of capabilities
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    flight_sw_versionuint32_tFirmware version number
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    middleware_sw_versionuint32_tMiddleware version number
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    os_sw_versionuint32_tOperating system version number
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    board_versionuint32_tHW / board version (last 8 bits should be silicon ID, if any). The first 16 bits of this field specify https://github.com/PX4/PX4-Bootloader/blob/master/board_types.txt
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    flight_custom_versionuint8_t[8]Custom version field, commonly the first 8 bytes of the git hash. This is not an unique identifier, but should allow to identify the commit using the main version number even for very large code bases.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    middleware_custom_versionuint8_t[8]Custom version field, commonly the first 8 bytes of the git hash. This is not an unique identifier, but should allow to identify the commit using the main version number even for very large code bases.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    os_custom_versionuint8_t[8]Custom version field, commonly the first 8 bytes of the git hash. This is not an unique identifier, but should allow to identify the commit using the main version number even for very large code bases.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    vendor_iduint16_tID of the board vendor
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    product_iduint16_tID of the product
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    uiduint64_tUID if provided by hardware (see uid2)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    uid2 ++uint8_t[18]UID if provided by hardware (supersedes the uid field. If this is non-zero, use this field, otherwise use uid)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    LANDING_TARGET (149)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    The location of a landing target. See: https://mavlink.io/en/services/landing_target.html

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    target_numuint8_tThe ID of the target if multiple targets are present
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    frameuint8_tMAV_FRAMECoordinate frame used for following fields.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    angle_xfloatradX-axis angular offset of the target from the center of the image
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    angle_yfloatradY-axis angular offset of the target from the center of the image
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    distancefloatmDistance to the target from the vehicle

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    当前的 MAVLink 版本是 2.3。 二级版本号（点后）的范围是 1-255 。

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAVLink 枚举类型

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_AUTOPILOT

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    [Enum] 微型飞行器/自动驾驶仪类。 这里标明了每个单个模型。

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    值字段名称参数描述
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    0MAV_AUTOPILOT_GENERIC通用自动驾驶仪，完全支持所有
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1MAV_AUTOPILOT_RESERVED保留以备将来使用。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2MAV_AUTOPILOT_SLUGSSLUGS 自动驾驶仪，http://slugsuav.soe.ucsc.edu
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    3MAV_AUTOPILOT_ARDUPILOTMEGAArduPilot - Plane/Copter/Rover/Sub/Tracker, https://ardupilot.org
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    4MAV_AUTOPILOT_OPENPILOTOpenPilot，http://openpilot.org
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    5MAV_AUTOPILOT_GENERIC_WAYPOINTS_ONLYGeneric autopilot only supporting simple waypoints
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    6MAV_AUTOPILOT_GENERIC_WAYPOINTS_AND_SIMPLE_NAVIGATION_ONLYGeneric autopilot supporting waypoints and other simple navigation commands
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    7MAV_AUTOPILOT_GENERIC_MISSION_FULL支持所有任务命令的通用自动驾驶仪
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    8MAV_AUTOPILOT_INVALID没有有效的自动驾驶仪，例如地面站或其他 MAVLink 组件
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    9MAV_AUTOPILOT_PPZPPZ 无人机 - http://nongnu.org/paparazzi
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    10MAV_AUTOPILOT_UDB无人机开发板
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    11MAV_AUTOPILOT_FPFlexiPilot
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    12MAV_AUTOPILOT_PX4PX4 自动驾驶仪 - http://px4.io/
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    13MAV_AUTOPILOT_SMACCMPILOTSMACCMPilot - http://smaccmpilot.org
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    14MAV_AUTOPILOT_AUTOQUADAutoQuad -- http://autoquad.org
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    15MAV_AUTOPILOT_ARMAZILAArmazila -- http://armazila.com
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    16MAV_AUTOPILOT_AEROBAerob -- http://aerob.ru
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    17MAV_AUTOPILOT_ASLUAVASLUAV 自动驾驶仪 -- http://www.asl.ethz.ch
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    18MAV_AUTOPILOT_SMARTAPSmartAP自动驾驶仪 - http://sky-drones.com
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    19MAV_AUTOPILOT_AIRRAILSAirRails - http://uaventure.com
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    20MAV_AUTOPILOT_REFLEXFusion Reflex - https://fusion.engineering

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_TYPE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    [Enum] 在 HEARTBEAT 消息中报告的 MAVLINK 组件类型。 Flight controllers must report the type of the vehicle on which they are mounted (e.g. MAV_TYPE_OCTOROTOR). All other components must report a value appropriate for their type (e.g. a camera must use MAV_TYPE_CAMERA).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    值字段名称参数描述
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    0MAV_TYPE_GENERIC通用微型飞行器
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1MAV_TYPE_FIXED_WING固定翼。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2MAV_TYPE_QUADROTOR四旋翼
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    3MAV_TYPE_COAXIAL共轴直升机
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    4MAV_TYPE_HELICOPTER带尾桨的普通直升机。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    5MAV_TYPE_ANTENNA_TRACKER地面安装
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    6MAV_TYPE_GCS操作员控制单元/地面站
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    7MAV_TYPE_AIRSHIP可控飞艇
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    8MAV_TYPE_FREE_BALLOON不可控的热气球
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    9MAV_TYPE_ROCKET火箭
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    10MAV_TYPE_GROUND_ROVER地面小车
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    11MAV_TYPE_SURFACE_BOAT水面舰艇，小船，轮船
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    12MAV_TYPE_SUBMARINE潜艇
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    13MAV_TYPE_HEXAROTOR六旋翼
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    14MAV_TYPE_OCTOROTOR八旋翼
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    15MAV_TYPE_TRICOPTERTricopter
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    16MAV_TYPE_FLAPPING_WINGFlapping wing
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    17MAV_TYPE_KITEKite
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    18MAV_TYPE_ONBOARD_CONTROLLEROnboard companion controller
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    19MAV_TYPE_VTOL_TAILSITTER_DUOROTORTwo-rotor Tailsitter VTOL that additionally uses control surfaces in vertical operation. Note, value previously named MAV_TYPE_VTOL_DUOROTOR.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    20MAV_TYPE_VTOL_TAILSITTER_QUADROTORQuad-rotor Tailsitter VTOL using a V-shaped quad config in vertical operation. Note: value previously named MAV_TYPE_VTOL_QUADROTOR.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    21MAV_TYPE_VTOL_TILTROTORTiltrotor VTOL. Fuselage and wings stay (nominally) horizontal in all flight phases. It able to tilt (some) rotors to provide thrust in cruise flight.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    22MAV_TYPE_VTOL_FIXEDROTORVTOL with separate fixed rotors for hover and cruise flight. Fuselage and wings stay (nominally) horizontal in all flight phases.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    23MAV_TYPE_VTOL_TAILSITTERTailsitter VTOL. Fuselage and wings orientation changes depending on flight phase: vertical for hover, horizontal for cruise. Use more specific VTOL MAV_TYPE_VTOL_DUOROTOR or MAV_TYPE_VTOL_QUADROTOR if appropriate.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    24MAV_TYPE_VTOL_RESERVED4VTOL reserved 4
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    25MAV_TYPE_VTOL_RESERVED5VTOL reserved 5
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    26MAV_TYPE_GIMBALGimbal
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    27MAV_TYPE_ADSBADSB system
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    28MAV_TYPE_PARAFOILSteerable, nonrigid airfoil
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    29MAV_TYPE_DODECAROTORDodecarotor
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    30MAV_TYPE_CAMERACamera
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    31MAV_TYPE_CHARGING_STATIONCharging station
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    32MAV_TYPE_FLARMFLARM collision avoidance system
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    33MAV_TYPE_SERVOServo
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    34MAV_TYPE_ODIDOpen Drone ID. See https://mavlink.io/en/services/opendroneid.html.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    35MAV_TYPE_DECAROTORDecarotor
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    36MAV_TYPE_BATTERYBattery
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    37MAV_TYPE_PARACHUTEParachute
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    38MAV_TYPE_LOGLog
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    39MAV_TYPE_OSDOSD
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    40MAV_TYPE_IMUIMU
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    41MAV_TYPE_GPSGPS
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    42MAV_TYPE_WINCHWinch

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_MODE_FLAG

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    [Enum] These flags encode the MAV mode.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    ValueField NameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    128MAV_MODE_FLAG_SAFETY_ARMED0b10000000 MAV safety set to armed. Motors are enabled / running / can start. Ready to fly. Additional note: this flag is to be ignore when sent in the command MAV_CMD_DO_SET_MODE and MAV_CMD_COMPONENT_ARM_DISARM shall be used instead. The flag can still be used to report the armed state.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    64MAV_MODE_FLAG_MANUAL_INPUT_ENABLED0b01000000 remote control input is enabled.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    32MAV_MODE_FLAG_HIL_ENABLED0b00100000 hardware in the loop simulation. All motors / actuators are blocked, but internal software is full operational.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    16MAV_MODE_FLAG_STABILIZE_ENABLED0b00010000 system stabilizes electronically its attitude (and optionally position). It needs however further control inputs to move around.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    8MAV_MODE_FLAG_GUIDED_ENABLED0b00001000 guided mode enabled, system flies waypoints / mission items.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    4MAV_MODE_FLAG_AUTO_ENABLED0b00000100 autonomous mode enabled, system finds its own goal positions. Guided flag can be set or not, depends on the actual implementation.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2MAV_MODE_FLAG_TEST_ENABLED0b00000010 system has a test mode enabled. This flag is intended for temporary system tests and should not be used for stable implementations.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1MAV_MODE_FLAG_CUSTOM_MODE_ENABLED0b00000001 Reserved for future use.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_MODE_FLAG_DECODE_POSITION

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    [Enum] These values encode the bit positions of the decode position. These values can be used to read the value of a flag bit by combining the base_mode variable with AND with the flag position value. The result will be either 0 or 1, depending on if the flag is set or not.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    ValueField NameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    128MAV_MODE_FLAG_DECODE_POSITION_SAFETYFirst bit: 10000000
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    64MAV_MODE_FLAG_DECODE_POSITION_MANUALSecond bit: 01000000
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    32MAV_MODE_FLAG_DECODE_POSITION_HILThird bit: 00100000
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    16MAV_MODE_FLAG_DECODE_POSITION_STABILIZEFourth bit: 00010000
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    8MAV_MODE_FLAG_DECODE_POSITION_GUIDEDFifth bit: 00001000
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    4MAV_MODE_FLAG_DECODE_POSITION_AUTOSixth bit: 00000100
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2MAV_MODE_FLAG_DECODE_POSITION_TESTSeventh bit: 00000010
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1MAV_MODE_FLAG_DECODE_POSITION_CUSTOM_MODEEighth bit: 00000001

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_STATE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    [Enum]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    ValueField NameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    0MAV_STATE_UNINITUninitialized system, state is unknown.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1MAV_STATE_BOOTSystem is booting up.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2MAV_STATE_CALIBRATINGSystem is calibrating and not flight-ready.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    3MAV_STATE_STANDBYSystem is grounded and on standby. It can be launched any time.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    4MAV_STATE_ACTIVESystem is active and might be already airborne. Motors are engaged.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    5MAV_STATE_CRITICALSystem is in a non-normal flight mode. It can however still navigate.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    6MAV_STATE_EMERGENCYSystem is in a non-normal flight mode. It lost control over parts or over the whole airframe. It is in mayday and going down.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    7MAV_STATE_POWEROFFSystem just initialized its power-down sequence, will shut down now.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    8MAV_STATE_FLIGHT_TERMINATIONSystem is terminating itself.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_COMPONENT

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    [Enum] Component ids (values) for the different types and instances of onboard hardware/software that might make up a MAVLink system (autopilot, cameras, servos, GPS systems, avoidance systems etc.). Components must use the appropriate ID in their source address when sending messages. Components can also use IDs to determine if they are the intended recipient of an incoming message. The MAV_COMP_ID_ALL value is used to indicate messages that must be processed by all components. When creating new entries, components that can have multiple instances (e.g. cameras, servos etc.) should be allocated sequential values. An appropriate number of values should be left free after these components to allow the number of instances to be expanded.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    </tr></tr> </tbody> </table>

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAVLink Commands (MAV_CMD)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAVLink commands (MAV_CMD) and messages are different! These commands define the values of up to 7 parameters that are packaged INSIDE specific messages used in the Mission Protocol and Command Protocol. Use commands for actions in missions or if you need acknowledgment and/or retry logic from a request. Otherwise use messages.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAVLink Messages

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    HEARTBEAT (

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    #0
+Messages (common) · MAVLink Developer Guide
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAVLINK通用消息集
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    The MAVLink common message set contains standard definitions that are managed by the MAVLink project. The definitions cover functionality that is considered useful to most ground control stations and autopilots. MAVLink-compatible systems are expected to use these definitions where possible (if an appropriate message exists) rather than rolling out variants in their own dialects.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    The original definitions are defined in common.xml.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAVLink 2 extension fields that have been added to MAVLink 1 messages are displayed in blue. - Entities from dialects are displayed only as headings (with link to original)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Protocol dialect: 0
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Protocol version: 3
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Summary
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    ValueField NameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    0MAV_COMP_ID_ALLTarget id (target_component) used to broadcast messages to all components of the receiving system. Components should attempt to process messages with this component ID and forward to components on any other interfaces. Note: This is not a valid *source* component id for a message.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1MAV_COMP_ID_AUTOPILOT1System flight controller component ("autopilot"). Only one autopilot is expected in a particular system.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    25MAV_COMP_ID_USER1Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    26MAV_COMP_ID_USER2Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    27MAV_COMP_ID_USER3Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    28MAV_COMP_ID_USER4Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    29MAV_COMP_ID_USER5Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    30MAV_COMP_ID_USER6Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    31MAV_COMP_ID_USER7Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    32MAV_COMP_ID_USER8Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    33MAV_COMP_ID_USER9Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    34MAV_COMP_ID_USER10Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    35MAV_COMP_ID_USER11Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    36MAV_COMP_ID_USER12Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    37MAV_COMP_ID_USER13Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    38MAV_COMP_ID_USER14Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    39MAV_COMP_ID_USER15Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    40MAV_COMP_ID_USER16Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    41MAV_COMP_ID_USER17Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    42MAV_COMP_ID_USER18Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    43MAV_COMP_ID_USER19Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    44MAV_COMP_ID_USER20Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    45MAV_COMP_ID_USER21Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    46MAV_COMP_ID_USER22Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    47MAV_COMP_ID_USER23Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    48MAV_COMP_ID_USER24Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    49MAV_COMP_ID_USER25Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    50MAV_COMP_ID_USER26Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    51MAV_COMP_ID_USER27Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    52MAV_COMP_ID_USER28Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    53MAV_COMP_ID_USER29Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    54MAV_COMP_ID_USER30Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    55MAV_COMP_ID_USER31Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    56MAV_COMP_ID_USER32Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    57MAV_COMP_ID_USER33Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    58MAV_COMP_ID_USER34Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    59MAV_COMP_ID_USER35Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    60MAV_COMP_ID_USER36Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    61MAV_COMP_ID_USER37Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    62MAV_COMP_ID_USER38Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    63MAV_COMP_ID_USER39Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    64MAV_COMP_ID_USER40Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    65MAV_COMP_ID_USER41Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    66MAV_COMP_ID_USER42Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    67MAV_COMP_ID_USER43Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    68MAV_COMP_ID_TELEMETRY_RADIOTelemetry radio (e.g. SiK radio, or other component that emits RADIO_STATUS messages).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    69MAV_COMP_ID_USER45Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    70MAV_COMP_ID_USER46Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    71MAV_COMP_ID_USER47Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    72MAV_COMP_ID_USER48Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    73MAV_COMP_ID_USER49Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    74MAV_COMP_ID_USER50Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    75MAV_COMP_ID_USER51Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    76MAV_COMP_ID_USER52Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    77MAV_COMP_ID_USER53Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    78MAV_COMP_ID_USER54Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    79MAV_COMP_ID_USER55Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    80MAV_COMP_ID_USER56Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    81MAV_COMP_ID_USER57Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    82MAV_COMP_ID_USER58Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    83MAV_COMP_ID_USER59Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    84MAV_COMP_ID_USER60Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    85MAV_COMP_ID_USER61Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    86MAV_COMP_ID_USER62Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    87MAV_COMP_ID_USER63Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    88MAV_COMP_ID_USER64Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    89MAV_COMP_ID_USER65Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    90MAV_COMP_ID_USER66Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    91MAV_COMP_ID_USER67Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    92MAV_COMP_ID_USER68Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    93MAV_COMP_ID_USER69Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    94MAV_COMP_ID_USER70Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    95MAV_COMP_ID_USER71Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    96MAV_COMP_ID_USER72Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    97MAV_COMP_ID_USER73Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    98MAV_COMP_ID_USER74Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    99MAV_COMP_ID_USER75Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    100MAV_COMP_ID_CAMERACamera #1.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    101MAV_COMP_ID_CAMERA2Camera #2.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    102MAV_COMP_ID_CAMERA3Camera #3.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    103MAV_COMP_ID_CAMERA4Camera #4.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    104MAV_COMP_ID_CAMERA5Camera #5.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    105MAV_COMP_ID_CAMERA6Camera #6.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    140MAV_COMP_ID_SERVO1Servo #1.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    141MAV_COMP_ID_SERVO2Servo #2.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    142MAV_COMP_ID_SERVO3Servo #3.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    143MAV_COMP_ID_SERVO4Servo #4.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    144MAV_COMP_ID_SERVO5Servo #5.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    145MAV_COMP_ID_SERVO6Servo #6.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    146MAV_COMP_ID_SERVO7Servo #7.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    147MAV_COMP_ID_SERVO8Servo #8.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    148MAV_COMP_ID_SERVO9Servo #9.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    149MAV_COMP_ID_SERVO10Servo #10.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    150MAV_COMP_ID_SERVO11Servo #11.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    151MAV_COMP_ID_SERVO12Servo #12.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    152MAV_COMP_ID_SERVO13Servo #13.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    153MAV_COMP_ID_SERVO14Servo #14.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    154MAV_COMP_ID_GIMBALGimbal #1.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    155MAV_COMP_ID_LOGLogging component.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    156MAV_COMP_ID_ADSBAutomatic Dependent Surveillance-Broadcast (ADS-B) component.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    157MAV_COMP_ID_OSDOn Screen Display (OSD) devices for video links.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    158MAV_COMP_ID_PERIPHERALGeneric autopilot peripheral component ID. Meant for devices that do not implement the parameter microservice.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    159MAV_COMP_ID_QX1_GIMBAL

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    DEPRECATED: Replaced by MAV_COMP_ID_GIMBAL (2018-11).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    All gimbals should use MAV_COMP_ID_GIMBAL.</p> </td>

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    		Gimbal ID for QX1.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    160MAV_COMP_ID_FLARMFLARM collision alert component.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    161MAV_COMP_ID_PARACHUTEParachute component.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    171MAV_COMP_ID_GIMBAL2Gimbal #2.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    172MAV_COMP_ID_GIMBAL3Gimbal #3.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    173MAV_COMP_ID_GIMBAL4Gimbal #4
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    174MAV_COMP_ID_GIMBAL5Gimbal #5.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    175MAV_COMP_ID_GIMBAL6Gimbal #6.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    180MAV_COMP_ID_BATTERYBattery #1.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    181MAV_COMP_ID_BATTERY2Battery #2.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    189MAV_COMP_ID_MAVCANCAN over MAVLink client.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    190MAV_COMP_ID_MISSIONPLANNERComponent that can generate/supply a mission flight plan (e.g. GCS or developer API).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    191MAV_COMP_ID_ONBOARD_COMPUTERComponent that lives on the onboard computer (companion computer) and has some generic functionalities, such as settings system parameters and monitoring the status of some processes that don't directly speak mavlink and so on.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    192MAV_COMP_ID_ONBOARD_COMPUTER2Component that lives on the onboard computer (companion computer) and has some generic functionalities, such as settings system parameters and monitoring the status of some processes that don't directly speak mavlink and so on.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    193MAV_COMP_ID_ONBOARD_COMPUTER3Component that lives on the onboard computer (companion computer) and has some generic functionalities, such as settings system parameters and monitoring the status of some processes that don't directly speak mavlink and so on.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    194MAV_COMP_ID_ONBOARD_COMPUTER4Component that lives on the onboard computer (companion computer) and has some generic functionalities, such as settings system parameters and monitoring the status of some processes that don't directly speak mavlink and so on.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    195MAV_COMP_ID_PATHPLANNERComponent that finds an optimal path between points based on a certain constraint (e.g. minimum snap, shortest path, cost, etc.).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    196MAV_COMP_ID_OBSTACLE_AVOIDANCEComponent that plans a collision free path between two points.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    197MAV_COMP_ID_VISUAL_INERTIAL_ODOMETRYComponent that provides position estimates using VIO techniques.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    198MAV_COMP_ID_PAIRING_MANAGERComponent that manages pairing of vehicle and GCS.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    200MAV_COMP_ID_IMUInertial Measurement Unit (IMU) #1.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    201MAV_COMP_ID_IMU_2Inertial Measurement Unit (IMU) #2.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    202MAV_COMP_ID_IMU_3Inertial Measurement Unit (IMU) #3.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    220MAV_COMP_ID_GPSGPS #1.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    221MAV_COMP_ID_GPS2GPS #2.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    236MAV_COMP_ID_ODID_TXRX_1Open Drone ID transmitter/receiver (Bluetooth/WiFi/Internet).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    237MAV_COMP_ID_ODID_TXRX_2Open Drone ID transmitter/receiver (Bluetooth/WiFi/Internet).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    238MAV_COMP_ID_ODID_TXRX_3Open Drone ID transmitter/receiver (Bluetooth/WiFi/Internet).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    240MAV_COMP_ID_UDP_BRIDGEComponent to bridge MAVLink to UDP (i.e. from a UART).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    241MAV_COMP_ID_UART_BRIDGEComponent to bridge to UART (i.e. from UDP).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    242MAV_COMP_ID_TUNNEL_NODEComponent handling TUNNEL messages (e.g. vendor specific GUI of a component).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    250MAV_COMP_ID_SYSTEM_CONTROL

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    DEPRECATED: Replaced by MAV_COMP_ID_ALL (2018-11).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    System control does not require a separate component ID. Instead, system commands should be sent with target_component=MAV_COMP_ID_ALL allowing the target component to use any appropriate component id.</p> </td>

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    		Deprecated, don't use. Component for handling system messages (e.g. to ARM, takeoff, etc.).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    TypeDefinedIncluded
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Messages2222
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Enums1376
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Commands1640

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    The following sections list all entities in the dialect (both included and defined in this file).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Messages

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    HEARTBEAT (0) — [from: minimal]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    The heartbeat message shows that a system or component is present and responding. The type and autopilot fields (along with the message component id), allow the receiving system to treat further messages from this system appropriately (e.g. by laying out the user interface based on the autopilot). This microservice is documented at https://mavlink.io/en/services/heartbeat.html

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    typeuint8_tMAV_TYPEVehicle or component type. For a flight controller component the vehicle type (quadrotor, helicopter, etc.). For other components the component type (e.g. camera, gimbal, etc.). This should be used in preference to component id for identifying the component type.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    autopilotuint8_tMAV_AUTOPILOTAutopilot type / class. Use MAV_AUTOPILOT_INVALID for components that are not flight controllers.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    base_modeuint8_tMAV_MODE_FLAGSystem mode bitmap.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    custom_modeuint32_tA bitfield for use for autopilot-specific flags
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    system_statusuint8_tMAV_STATESystem status flag.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    mavlink_versionuint8_t_mavlink_versionMAVLink version, not writable by user, gets added by protocol because of magic data type: uint8_t_mavlink_version

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    SYS_STATUS (1)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    The general system state. If the system is following the MAVLink standard, the system state is mainly defined by three orthogonal states/modes: The system mode, which is either LOCKED (motors shut down and locked), MANUAL (system under RC control), GUIDED (system with autonomous position control, position setpoint controlled manually) or AUTO (system guided by path/waypoint planner). The NAV_MODE defined the current flight state: LIFTOFF (often an open-loop maneuver), LANDING, WAYPOINTS or VECTOR. This represents the internal navigation state machine. The system status shows whether the system is currently active or not and if an emergency occurred. During the CRITICAL and EMERGENCY states the MAV is still considered to be active, but should start emergency procedures autonomously. After a failure occurred it should first move from active to critical to allow manual intervention and then move to emergency after a certain timeout.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    onboard_control_sensors_presentuint32_tMAV_SYS_STATUS_SENSORBitmap showing which onboard controllers and sensors are present. Value of 0: not present. Value of 1: present.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    onboard_control_sensors_enableduint32_tMAV_SYS_STATUS_SENSORBitmap showing which onboard controllers and sensors are enabled: Value of 0: not enabled. Value of 1: enabled.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    onboard_control_sensors_healthuint32_tMAV_SYS_STATUS_SENSORBitmap showing which onboard controllers and sensors have an error (or are operational). Value of 0: error. Value of 1: healthy.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    loaduint16_td%Maximum usage in percent of the mainloop time. Values: [0-1000] - should always be below 1000
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    voltage_batteryuint16_tmVinvalid:UINT16_MAXBattery voltage, UINT16_MAX: Voltage not sent by autopilot
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    current_batteryint16_tcAinvalid:-1Battery current, -1: Current not sent by autopilot
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    battery_remainingint8_t%invalid:-1Battery energy remaining, -1: Battery remaining energy not sent by autopilot
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    drop_rate_commuint16_tc%Communication drop rate, (UART, I2C, SPI, CAN), dropped packets on all links (packets that were corrupted on reception on the MAV)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    errors_commuint16_tCommunication errors (UART, I2C, SPI, CAN), dropped packets on all links (packets that were corrupted on reception on the MAV)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    errors_count1uint16_tAutopilot-specific errors
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    errors_count2uint16_tAutopilot-specific errors
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    errors_count3uint16_tAutopilot-specific errors
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    errors_count4uint16_tAutopilot-specific errors
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    onboard_control_sensors_present_extended ++uint32_tMAV_SYS_STATUS_SENSOR_EXTENDEDBitmap showing which onboard controllers and sensors are present. Value of 0: not present. Value of 1: present.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    onboard_control_sensors_enabled_extended ++uint32_tMAV_SYS_STATUS_SENSOR_EXTENDEDBitmap showing which onboard controllers and sensors are enabled: Value of 0: not enabled. Value of 1: enabled.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    onboard_control_sensors_health_extended ++uint32_tMAV_SYS_STATUS_SENSOR_EXTENDEDBitmap showing which onboard controllers and sensors have an error (or are operational). Value of 0: error. Value of 1: healthy.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    SYSTEM_TIME (2)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    The system time is the time of the master clock, typically the computer clock of the main onboard computer.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    time_unix_usecuint64_tusTimestamp (UNIX epoch time).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    time_boot_msuint32_tmsTimestamp (time since system boot).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    PING (4) — [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    DEPRECATED: Replaced By SYSTEM_TIME (2011-08) — to be removed / merged with SYSTEM_TIME)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    A ping message either requesting or responding to a ping. This allows to measure the system latencies, including serial port, radio modem and UDP connections. The ping microservice is documented at https://mavlink.io/en/services/ping.html

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    sequint32_tPING sequence
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    target_systemuint8_t0: request ping from all receiving systems. If greater than 0: message is a ping response and number is the system id of the requesting system
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    target_componentuint8_t0: request ping from all receiving components. If greater than 0: message is a ping response and number is the component id of the requesting component.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    CHANGE_OPERATOR_CONTROL (5)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Request to control this MAV

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    target_systemuint8_tSystem the GCS requests control for
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    control_requestuint8_t0: request control of this MAV, 1: Release control of this MAV
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    versionuint8_trad0: key as plaintext, 1-255: future, different hashing/encryption variants. The GCS should in general use the safest mode possible initially and then gradually move down the encryption level if it gets a NACK message indicating an encryption mismatch.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    passkeychar[25]Password / Key, depending on version plaintext or encrypted. 25 or less characters, NULL terminated. The characters may involve A-Z, a-z, 0-9, and "!?,.-"

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    CHANGE_OPERATOR_CONTROL_ACK (6)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Accept / deny control of this MAV

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    gcs_system_iduint8_tID of the GCS this message
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    control_requestuint8_t0: request control of this MAV, 1: Release control of this MAV
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    ackuint8_t0: ACK, 1: NACK: Wrong passkey, 2: NACK: Unsupported passkey encryption method, 3: NACK: Already under control

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    AUTH_KEY (7)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Emit an encrypted signature / key identifying this system. PLEASE NOTE: This protocol has been kept simple, so transmitting the key requires an encrypted channel for true safety.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    keychar[32]key

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Status generated in each node in the communication chain and injected into MAVLink stream.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    timestampuint64_tmsTimestamp (time since system boot).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    tx_bufuint8_t%Remaining free transmit buffer space
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    rx_bufuint8_t%Remaining free receive buffer space
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    tx_rateuint32_tbytes/sTransmit rate
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    rx_rateuint32_tbytes/sReceive rate
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    rx_parse_erruint16_tbytesNumber of bytes that could not be parsed correctly.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    tx_overflowsuint16_tbytesTransmit buffer overflows. This number wraps around as it reaches UINT16_MAX
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    rx_overflowsuint16_tbytesReceive buffer overflows. This number wraps around as it reaches UINT16_MAX
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    messages_sentuint32_tMessages sent
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    messages_receiveduint32_tMessages received (estimated from counting seq)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    messages_lostuint32_tMessages lost (estimated from counting seq)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    SET_MODE (11) — [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    DEPRECATED: Replaced By MAV_CMD_DO_SET_MODE (2015-12) — Use COMMAND_LONG with MAV_CMD_DO_SET_MODE instead)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Set the system mode, as defined by enum MAV_MODE. There is no target component id as the mode is by definition for the overall aircraft, not only for one component.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    target_systemuint8_tThe system setting the mode
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    base_modeuint8_tMAV_MODEThe new base mode.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    custom_modeuint32_tThe new autopilot-specific mode. This field can be ignored by an autopilot.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    PARAM_REQUEST_READ (20)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Request to read the onboard parameter with the param_id string id. Onboard parameters are stored as key[const char*] -> value[float]. This allows to send a parameter to any other component (such as the GCS) without the need of previous knowledge of possible parameter names. Thus the same GCS can store different parameters for different autopilots. See also https://mavlink.io/en/services/parameter.html for a full documentation of QGroundControl and IMU code.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    target_systemuint8_tSystem ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    target_componentuint8_tComponent ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    param_idchar[16]Onboard parameter id, terminated by NULL if the length is less than 16 human-readable chars and WITHOUT null termination (NULL) byte if the length is exactly 16 chars - applications have to provide 16+1 bytes storage if the ID is stored as string
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    param_indexint16_tParameter index. Send -1 to use the param ID field as identifier (else the param id will be ignored)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    PARAM_REQUEST_LIST (21)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Request all parameters of this component. After this request, all parameters are emitted. The parameter microservice is documented at https://mavlink.io/en/services/parameter.html

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    target_systemuint8_tSystem ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    target_componentuint8_tComponent ID

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    PARAM_VALUE (22)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Emit the value of a onboard parameter. The inclusion of param_count and param_index in the message allows the recipient to keep track of received parameters and allows him to re-request missing parameters after a loss or timeout. The parameter microservice is documented at https://mavlink.io/en/services/parameter.html

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    param_idchar[16]Onboard parameter id, terminated by NULL if the length is less than 16 human-readable chars and WITHOUT null termination (NULL) byte if the length is exactly 16 chars - applications have to provide 16+1 bytes storage if the ID is stored as string
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    param_valuefloatOnboard parameter value
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    param_typeuint8_tMAV_PARAM_TYPEOnboard parameter type.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    param_countuint16_tTotal number of onboard parameters
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    param_indexuint16_tIndex of this onboard parameter

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    PARAM_SET (23)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Set a parameter value (write new value to permanent storage).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    The receiving component should acknowledge the new parameter value by broadcasting a PARAM_VALUE message (broadcasting ensures that multiple GCS all have an up-to-date list of all parameters). If the sending GCS did not receive a PARAM_VALUE within its timeout time, it should re-send the PARAM_SET message. The parameter microservice is documented at https://mavlink.io/en/services/parameter.html. PARAM_SET may also be called within the context of a transaction (started with MAV_CMD_PARAM_TRANSACTION). Within a transaction the receiving component should respond with PARAM_ACK_TRANSACTION to the setter component (instead of broadcasting PARAM_VALUE), and PARAM_SET should be re-sent if this is ACK not received.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    target_systemuint8_tSystem ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    target_componentuint8_tComponent ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    param_idchar[16]Onboard parameter id, terminated by NULL if the length is less than 16 human-readable chars and WITHOUT null termination (NULL) byte if the length is exactly 16 chars - applications have to provide 16+1 bytes storage if the ID is stored as string
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    param_valuefloatOnboard parameter value
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    param_typeuint8_tMAV_PARAM_TYPEOnboard parameter type.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    GPS_RAW_INT (24)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    The global position, as returned by the Global Positioning System (GPS). This is

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    NOT the global position estimate of the system, but rather a RAW sensor value. See message GLOBAL_POSITION_INT for the global position estimate.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeUnitsMultiplierValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    fix_typeuint8_tGPS_FIX_TYPEGPS fix type.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    latint32_tdegE7Latitude (WGS84, EGM96 ellipsoid)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    lonint32_tdegE7Longitude (WGS84, EGM96 ellipsoid)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    altint32_tmmAltitude (MSL). Positive for up. Note that virtually all GPS modules provide the MSL altitude in addition to the WGS84 altitude.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    ephuint16_t1E-2invalid:UINT16_MAXGPS HDOP horizontal dilution of position (unitless * 100). If unknown, set to: UINT16_MAX
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    epvuint16_t1E-2invalid:UINT16_MAXGPS VDOP vertical dilution of position (unitless * 100). If unknown, set to: UINT16_MAX
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    veluint16_tcm/sinvalid:UINT16_MAXGPS ground speed. If unknown, set to: UINT16_MAX
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    coguint16_tcdeginvalid:UINT16_MAXCourse over ground (NOT heading, but direction of movement) in degrees * 100, 0.0..359.99 degrees. If unknown, set to: UINT16_MAX
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    satellites_visibleuint8_tinvalid:UINT8_MAXNumber of satellites visible. If unknown, set to UINT8_MAX
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    alt_ellipsoid ++int32_tmmAltitude (above WGS84, EGM96 ellipsoid). Positive for up.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    h_acc ++uint32_tmmPosition uncertainty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    v_acc ++uint32_tmmAltitude uncertainty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    vel_acc ++uint32_tmmSpeed uncertainty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    hdg_acc ++uint32_tdegE5Heading / track uncertainty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    yaw ++uint16_tcdeginvalid:0Yaw in earth frame from north. Use 0 if this GPS does not provide yaw. Use UINT16_MAX if this GPS is configured to provide yaw and is currently unable to provide it. Use 36000 for north.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    GPS_STATUS (25)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    The positioning status, as reported by GPS. This message is intended to display status information about each satellite visible to the receiver. See message GLOBAL_POSITION_INT for the global position estimate. This message can contain information for up to 20 satellites.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeUnitsMultiplierDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    satellites_visibleuint8_tNumber of satellites visible
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    satellite_prnuint8_t[20]Global satellite ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    satellite_useduint8_t[20]0: Satellite not used, 1: used for localization
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    satellite_elevationuint8_t[20]degElevation (0: right on top of receiver, 90: on the horizon) of satellite
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    satellite_azimuthuint8_t[20]deg360/255Direction of satellite, 0: 0 deg, 255: 360 deg.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    satellite_snruint8_t[20]dBSignal to noise ratio of satellite

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    SCALED_IMU (26)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    The RAW IMU readings for the usual 9DOF sensor setup. This message should contain the scaled values to the described units

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    time_boot_msuint32_tmsTimestamp (time since system boot).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    xaccint16_tmGX acceleration
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    yaccint16_tmGY acceleration
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    zaccint16_tmGZ acceleration
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    xgyroint16_tmrad/sAngular speed around X axis
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    ygyroint16_tmrad/sAngular speed around Y axis
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    zgyroint16_tmrad/sAngular speed around Z axis
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    xmagint16_tmgaussX Magnetic field
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    ymagint16_tmgaussY Magnetic field
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    zmagint16_tmgaussZ Magnetic field
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    temperature ++int16_tcdegCTemperature, 0: IMU does not provide temperature values. If the IMU is at 0C it must send 1 (0.01C).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    RAW_IMU (27)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    The RAW IMU readings for a 9DOF sensor, which is identified by the id (default IMU1). This message should always contain the true raw values without any scaling to allow data capture and system debugging.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    xaccint16_tX acceleration (raw)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    yaccint16_tY acceleration (raw)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    zaccint16_tZ acceleration (raw)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    xgyroint16_tAngular speed around X axis (raw)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    ygyroint16_tAngular speed around Y axis (raw)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    zgyroint16_tAngular speed around Z axis (raw)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    xmagint16_tX Magnetic field (raw)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    ymagint16_tY Magnetic field (raw)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    zmagint16_tZ Magnetic field (raw)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    id ++uint8_tId. Ids are numbered from 0 and map to IMUs numbered from 1 (e.g. IMU1 will have a message with id=0)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Messages with same value are from the same source (instance). | | temperature ++ | int16_t | cdegC | Temperature, 0: IMU does not provide temperature values. If the IMU is at 0C it must send 1 (0.01C). |

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    RAW_PRESSURE (28)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    The RAW pressure readings for the typical setup of one absolute pressure and one differential pressure sensor. The sensor values should be the raw, UNSCALED ADC values.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    press_absint16_tAbsolute pressure (raw)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    press_diff1int16_tDifferential pressure 1 (raw, 0 if nonexistent)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    press_diff2int16_tDifferential pressure 2 (raw, 0 if nonexistent)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    temperatureint16_tRaw Temperature measurement (raw)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    SCALED_PRESSURE (29)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    The pressure readings for the typical setup of one absolute and differential pressure sensor. The units are as specified in each field.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    time_boot_msuint32_tmsTimestamp (time since system boot).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    press_absfloathPaAbsolute pressure
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    press_difffloathPaDifferential pressure 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    temperatureint16_tcdegCAbsolute pressure temperature
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    temperature_press_diff ++int16_tcdegCDifferential pressure temperature (0, if not available). Report values of 0 (or 1) as 1 cdegC.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    ATTITUDE (30)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    The attitude in the aeronautical frame (right-handed, Z-down, Y-right, X-front, ZYX, intrinsic).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    time_boot_msuint32_tmsTimestamp (time since system boot).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    rollfloatradRoll angle (-pi..+pi)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    pitchfloatradPitch angle (-pi..+pi)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    yawfloatradYaw angle (-pi..+pi)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    rollspeedfloatrad/sRoll angular speed
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    pitchspeedfloatrad/sPitch angular speed
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    yawspeedfloatrad/sYaw angular speed

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    ATTITUDE_QUATERNION (31)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    The attitude in the aeronautical frame (right-handed, Z-down, X-front, Y-right), expressed as quaternion. Quaternion order is w, x, y, z and a zero rotation would be expressed as (1 0 0 0).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    time_boot_msuint32_tmsTimestamp (time since system boot).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    q1floatQuaternion component 1, w (1 in null-rotation)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    q2floatQuaternion component 2, x (0 in null-rotation)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    q3floatQuaternion component 3, y (0 in null-rotation)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    q4floatQuaternion component 4, z (0 in null-rotation)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    rollspeedfloatrad/sRoll angular speed
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    pitchspeedfloatrad/sPitch angular speed
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    yawspeedfloatrad/sYaw angular speed
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    repr_offset_q ++float[4]Rotation offset by which the attitude quaternion and angular speed vector should be rotated for user display (quaternion with [w, x, y, z] order, zero-rotation is [1, 0, 0, 0], send [0, 0, 0, 0] if field not supported). This field is intended for systems in which the reference attitude may change during flight. For example, tailsitters VTOLs rotate their reference attitude by 90 degrees between hover mode and fixed wing mode, thus repr_offset_q is equal to [1, 0, 0, 0] in hover mode and equal to [0.7071, 0, 0.7071, 0] in fixed wing mode.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    LOCAL_POSITION_NED (32)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    The filtered local position (e.g. fused computer vision and accelerometers). Coordinate frame is right-handed, Z-axis down (aeronautical frame, NED / north-east-down convention)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    time_boot_msuint32_tmsTimestamp (time since system boot).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    xfloatmX Position
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    yfloatmY Position
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    zfloatmZ Position
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    vxfloatm/sX Speed
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    vyfloatm/sY Speed
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    vzfloatm/sZ Speed

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    GLOBAL_POSITION_INT (33)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    The filtered global position (e.g. fused GPS and accelerometers). The position is in GPS-frame (right-handed, Z-up). It

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    is designed as scaled integer message since the resolution of float is not sufficient.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    time_boot_msuint32_tmsTimestamp (time since system boot).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    latint32_tdegE7Latitude, expressed
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    lonint32_tdegE7Longitude, expressed
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    altint32_tmmAltitude (MSL). Note that virtually all GPS modules provide both WGS84 and MSL.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    relative_altint32_tmmAltitude above home
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    vxint16_tcm/sGround X Speed (Latitude, positive north)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    vyint16_tcm/sGround Y Speed (Longitude, positive east)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    vzint16_tcm/sGround Z Speed (Altitude, positive down)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    hdguint16_tcdegVehicle heading (yaw angle), 0.0..359.99 degrees. If unknown, set to: UINT16_MAX

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    RC_CHANNELS_SCALED (34)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    The scaled values of the RC channels received: (-100%) -10000, (0%) 0, (100%) 10000. Channels that are inactive should be set to INT16_MAX.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    time_boot_msuint32_tmsTimestamp (time since system boot).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    portuint8_tServo output port (set of 8 outputs = 1 port). Flight stacks running on Pixhawk should use: 0 = MAIN, 1 = AUX.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    chan1_scaledint16_tRC channel 1 value scaled.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    chan2_scaledint16_tRC channel 2 value scaled.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    chan3_scaledint16_tRC channel 3 value scaled.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    chan4_scaledint16_tRC channel 4 value scaled.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    chan5_scaledint16_tRC channel 5 value scaled.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    chan6_scaledint16_tRC channel 6 value scaled.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    chan7_scaledint16_tRC channel 7 value scaled.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    chan8_scaledint16_tRC channel 8 value scaled.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    rssiuint8_tReceive signal strength indicator in device-dependent units/scale. Values: [0-254], UINT8_MAX: invalid/unknown.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    RC_CHANNELS_RAW (35)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    The RAW values of the RC channels received. The standard PPM modulation is as follows: 1000 microseconds: 0%, 2000 microseconds: 100%. A value of UINT16_MAX implies the channel is unused. Individual receivers/transmitters might violate this specification.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    time_boot_msuint32_tmsTimestamp (time since system boot).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    portuint8_tServo output port (set of 8 outputs = 1 port). Flight stacks running on Pixhawk should use: 0 = MAIN, 1 = AUX.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    chan1_rawuint16_tusRC channel 1 value.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    chan2_rawuint16_tusRC channel 2 value.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    chan3_rawuint16_tusRC channel 3 value.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    chan4_rawuint16_tusRC channel 4 value.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    chan5_rawuint16_tusRC channel 5 value.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    chan6_rawuint16_tusRC channel 6 value.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    chan7_rawuint16_tusRC channel 7 value.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    chan8_rawuint16_tusRC channel 8 value.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    rssiuint8_tReceive signal strength indicator in device-dependent units/scale. Values: [0-254], UINT8_MAX: invalid/unknown.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    SERVO_OUTPUT_RAW (36)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Superseded by ACTUATOR_OUTPUT_STATUS. The RAW values of the servo outputs (for RC input from the remote, use the RC_CHANNELS messages). The standard PPM modulation is as follows: 1000 microseconds: 0%, 2000 microseconds: 100%.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    time_usecuint32_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    portuint8_tServo output port (set of 8 outputs = 1 port). Flight stacks running on Pixhawk should use: 0 = MAIN, 1 = AUX.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    servo1_rawuint16_tusServo output 1 value
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    servo2_rawuint16_tusServo output 2 value
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    servo3_rawuint16_tusServo output 3 value
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    servo4_rawuint16_tusServo output 4 value
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    servo5_rawuint16_tusServo output 5 value
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    servo6_rawuint16_tusServo output 6 value
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    servo7_rawuint16_tusServo output 7 value
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    servo8_rawuint16_tusServo output 8 value
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    servo9_raw ++uint16_tusServo output 9 value
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    servo10_raw ++uint16_tusServo output 10 value
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    servo11_raw ++uint16_tusServo output 11 value
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    servo12_raw ++uint16_tusServo output 12 value
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    servo13_raw ++uint16_tusServo output 13 value
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    servo14_raw ++uint16_tusServo output 14 value
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    servo15_raw ++uint16_tusServo output 15 value
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    servo16_raw ++uint16_tusServo output 16 value

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MISSION_REQUEST_PARTIAL_LIST (37)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Request a partial list of mission items from the system/component. https://mavlink.io/en/services/mission.html. If start and end index are the same, just send one waypoint.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    target_systemuint8_tSystem ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    target_componentuint8_tComponent ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    start_indexint16_tStart index
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    end_indexint16_tEnd index, -1 by default (-1: send list to end). Else a valid index of the list
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    mission_type ++uint8_tMAV_MISSION_TYPEMission type.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MISSION_WRITE_PARTIAL_LIST (38)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    This message is sent to the MAV to write a partial list. If start index == end index, only one item will be transmitted / updated. If the start index is NOT 0 and above the current list size, this request should be REJECTED!

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    target_systemuint8_tSystem ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    target_componentuint8_tComponent ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    start_indexint16_tStart index. Must be smaller / equal to the largest index of the current onboard list.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    end_indexint16_tEnd index, equal or greater than start index.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    mission_type ++uint8_tMAV_MISSION_TYPEMission type.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MISSION_ITEM (39) — [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    DEPRECATED: Replaced By MISSION_ITEM_INT (2020-06)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Message encoding a mission item. This message is emitted to announce

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    the presence of a mission item and to set a mission item on the system. The mission item can be either in x, y, z meters (type: LOCAL) or x:lat, y:lon, z:altitude. Local frame is Z-down, right handed (NED), global frame is Z-up, right handed (ENU). NaN may be used to indicate an optional/default value (e.g. to use the system's current latitude or yaw rather than a specific value). See also https://mavlink.io/en/services/mission.html.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    target_systemuint8_tSystem ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    target_componentuint8_tComponent ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    sequint16_tSequence
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    frameuint8_tMAV_FRAMEThe coordinate system of the waypoint.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    commanduint16_tMAV_CMDThe scheduled action for the waypoint.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    currentuint8_tfalse:0, true:1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    autocontinueuint8_tAutocontinue to next waypoint. 0: false, 1: true. Set false to pause mission after the item completes.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    param1floatPARAM1, see MAV_CMD enum
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    param2floatPARAM2, see MAV_CMD enum
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    param3floatPARAM3, see MAV_CMD enum
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    param4floatPARAM4, see MAV_CMD enum
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    xfloatPARAM5 / local: X coordinate, global: latitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    yfloatPARAM6 / local: Y coordinate, global: longitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    zfloatPARAM7 / local: Z coordinate, global: altitude (relative or absolute, depending on frame).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    mission_type ++uint8_tMAV_MISSION_TYPEMission type.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MISSION_REQUEST (40) — [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    DEPRECATED: Replaced By MISSION_REQUEST_INT (2020-06) — A system that gets this request should respond with MISSION_ITEM_INT (as though MISSION_REQUEST_INT was received).)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Request the information of the mission item with the sequence number seq. The response of the system to this message should be a MISSION_ITEM message. https://mavlink.io/en/services/mission.html

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    target_systemuint8_tSystem ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    target_componentuint8_tComponent ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    sequint16_tSequence
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    mission_type ++uint8_tMAV_MISSION_TYPEMission type.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MISSION_SET_CURRENT (41) — [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    DEPRECATED: Replaced By MAV_CMD_DO_SET_MISSION_CURRENT (2022-08)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Set the mission item with sequence number seq as the current item and emit MISSION_CURRENT (whether or not the mission number changed). If a mission is currently being executed, the system will continue to this new mission item on the shortest path, skipping any intermediate mission items. Note that mission jump repeat counters are not reset (see MAV_CMD_DO_JUMP param2).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    This message may trigger a mission state-machine change on some systems: for example from MISSION_STATE_NOT_STARTED or MISSION_STATE_PAUSED to MISSION_STATE_ACTIVE. If the system is in mission mode, on those systems this command might therefore start, restart or resume the mission. If the system is not in mission mode this message must not trigger a switch to mission mode.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    target_systemuint8_tSystem ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    target_componentuint8_tComponent ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    sequint16_tSequence

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MISSION_CURRENT (42)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Message that announces the sequence number of the current target mission item (that the system will fly towards/execute when the mission is running). This message should be streamed all the time (nominally at 1Hz). This message should be emitted following a call to MAV_CMD_DO_SET_MISSION_CURRENT or SET_MISSION_CURRENT.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    sequint16_tSequence
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    total ++uint16_tinvalid:UINT16_MAXTotal number of mission items on vehicle (on last item, sequence == total). If the autopilot stores its home location as part of the mission this will be excluded from the total. 0: Not supported, UINT16_MAX if no mission is present on the vehicle.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    mission_state ++uint8_tinvalid:0 MISSION_STATEMission state machine state. MISSION_STATE_UNKNOWN if state reporting not supported.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    mission_mode ++uint8_tinvalid:0Vehicle is in a mode that can execute mission items or suspended. 0: Unknown, 1: In mission mode, 2: Suspended (not in mission mode).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    mission_id ++uint32_tinvalid:0Id of current on-vehicle mission plan, or 0 if IDs are not supported or there is no mission loaded. GCS can use this to track changes to the mission plan type. The same value is returned on mission upload (in the MISSION_ACK).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    fence_id ++uint32_tinvalid:0Id of current on-vehicle fence plan, or 0 if IDs are not supported or there is no fence loaded. GCS can use this to track changes to the fence plan type. The same value is returned on fence upload (in the MISSION_ACK).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    rally_points_id ++uint32_tinvalid:0Id of current on-vehicle rally point plan, or 0 if IDs are not supported or there are no rally points loaded. GCS can use this to track changes to the rally point plan type. The same value is returned on rally point upload (in the MISSION_ACK).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MISSION_REQUEST_LIST (43)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Request the overall list of mission items from the system/component.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    target_systemuint8_tSystem ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    target_componentuint8_tComponent ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    mission_type ++uint8_tMAV_MISSION_TYPEMission type.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MISSION_COUNT (44)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    This message is emitted as response to MISSION_REQUEST_LIST by the MAV and to initiate a write transaction. The GCS can then request the individual mission item based on the knowledge of the total number of waypoints.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    target_systemuint8_tSystem ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    target_componentuint8_tComponent ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    countuint16_tNumber of mission items in the sequence
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    mission_type ++uint8_tMAV_MISSION_TYPEMission type.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    opaque_id ++uint32_tinvalid:0Id of current on-vehicle mission, fence, or rally point plan (on download from vehicle).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    This field is used when downloading a plan from a vehicle to a GCS.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    0 on upload to the vehicle from GCS.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    0 if plan ids are not supported.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    The current on-vehicle plan ids are streamed in [MISSION_CURRENT](#MISSION_CURRENT), allowing a GCS to determine if any part of the plan has changed and needs to be re-uploaded.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    The ids are recalculated by the vehicle when any part of the on-vehicle plan changes (when a new plan is uploaded, the vehicle returns the new id to the GCS in MISSION_ACK). |

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MISSION_CLEAR_ALL (45)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Delete all mission items at once.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    target_systemuint8_tSystem ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    target_componentuint8_tComponent ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    mission_type ++uint8_tMAV_MISSION_TYPEMission type.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MISSION_ITEM_REACHED (46)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    A certain mission item has been reached. The system will either hold this position (or circle on the orbit) or (if the autocontinue on the WP was set) continue to the next waypoint.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    sequint16_tSequence

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MISSION_ACK (47)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Acknowledgment message during waypoint handling. The type field states if this message is a positive ack (type=0) or if an error happened (type=non-zero).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    target_systemuint8_tSystem ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    target_componentuint8_tComponent ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    typeuint8_tMAV_MISSION_RESULTMission result.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    mission_type ++uint8_tMAV_MISSION_TYPEMission type.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    opaque_id ++uint32_tinvalid:0Id of new on-vehicle mission, fence, or rally point plan (on upload to vehicle).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    The id is calculated and returned by a vehicle when a new plan is uploaded by a GCS.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    The only requirement on the id is that it must change when there is any change to the on-vehicle plan type (there is no requirement that the id be globally unique).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    0 on download from the vehicle to the GCS (on download the ID is set in MISSION_COUNT).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    0 if plan ids are not supported.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    The current on-vehicle plan ids are streamed in [MISSION_CURRENT](#MISSION_CURRENT), allowing a GCS to determine if any part of the plan has changed and needs to be re-uploaded. |

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    SET_GPS_GLOBAL_ORIGIN (48)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Sets the GPS coordinates of the vehicle local origin (0,0,0) position. Vehicle should emit GPS_GLOBAL_ORIGIN irrespective of whether the origin is changed. This enables transform between the local coordinate frame and the global (GPS) coordinate frame, which may be necessary when (for example) indoor and outdoor settings are connected and the MAV should move from in- to outdoor.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    target_systemuint8_tSystem ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    latitudeint32_tdegE7Latitude (WGS84)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    longitudeint32_tdegE7Longitude (WGS84)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    altitudeint32_tmmAltitude (MSL). Positive for up.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    time_usec ++uint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    GPS_GLOBAL_ORIGIN (49)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Publishes the GPS coordinates of the vehicle local origin (0,0,0) position. Emitted whenever a new GPS-Local position mapping is requested or set - e.g. following SET_GPS_GLOBAL_ORIGIN message.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    latitudeint32_tdegE7Latitude (WGS84)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    longitudeint32_tdegE7Longitude (WGS84)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    altitudeint32_tmmAltitude (MSL). Positive for up.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    time_usec ++uint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    PARAM_MAP_RC (50)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Bind a RC channel to a parameter. The parameter should change according to the RC channel value.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    target_systemuint8_tSystem ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    target_componentuint8_tComponent ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    param_idchar[16]Onboard parameter id, terminated by NULL if the length is less than 16 human-readable chars and WITHOUT null termination (NULL) byte if the length is exactly 16 chars - applications have to provide 16+1 bytes storage if the ID is stored as string
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    param_indexint16_tParameter index. Send -1 to use the param ID field as identifier (else the param id will be ignored), send -2 to disable any existing map for this rc_channel_index.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    parameter_rc_channel_indexuint8_tIndex of parameter RC channel. Not equal to the RC channel id. Typically corresponds to a potentiometer-knob on the RC.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    param_value0floatInitial parameter value
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    scalefloatScale, maps the RC range [-1, 1] to a parameter value
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    param_value_minfloatMinimum param value. The protocol does not define if this overwrites an onboard minimum value. (Depends on implementation)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    param_value_maxfloatMaximum param value. The protocol does not define if this overwrites an onboard maximum value. (Depends on implementation)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MISSION_REQUEST_INT (51)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Request the information of the mission item with the sequence number seq. The response of the system to this message should be a MISSION_ITEM_INT message. https://mavlink.io/en/services/mission.html

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    target_systemuint8_tSystem ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    target_componentuint8_tComponent ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    sequint16_tSequence
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    mission_type ++uint8_tMAV_MISSION_TYPEMission type.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    SAFETY_SET_ALLOWED_AREA (54)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Set a safety zone (volume), which is defined by two corners of a cube. This message can be used to tell the MAV which setpoints/waypoints to accept and which to reject. Safety areas are often enforced by national or competition regulations.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    target_systemuint8_tSystem ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    target_componentuint8_tComponent ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    frameuint8_tMAV_FRAMECoordinate frame. Can be either global, GPS, right-handed with Z axis up or local, right handed, Z axis down.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    p1xfloatmx position 1 / Latitude 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    p1yfloatmy position 1 / Longitude 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    p1zfloatmz position 1 / Altitude 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    p2xfloatmx position 2 / Latitude 2
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    p2yfloatmy position 2 / Longitude 2
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    p2zfloatmz position 2 / Altitude 2

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    SAFETY_ALLOWED_AREA (55)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Read out the safety zone the MAV currently assumes.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    frameuint8_tMAV_FRAMECoordinate frame. Can be either global, GPS, right-handed with Z axis up or local, right handed, Z axis down.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    p1xfloatmx position 1 / Latitude 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    p1yfloatmy position 1 / Longitude 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    p1zfloatmz position 1 / Altitude 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    p2xfloatmx position 2 / Latitude 2
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    p2yfloatmy position 2 / Longitude 2
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    p2zfloatmz position 2 / Altitude 2

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    ATTITUDE_QUATERNION_COV (61)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    The attitude in the aeronautical frame (right-handed, Z-down, X-front, Y-right), expressed as quaternion. Quaternion order is w, x, y, z and a zero rotation would be expressed as (1 0 0 0).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    qfloat[4]Quaternion components, w, x, y, z (1 0 0 0 is the null-rotation)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    rollspeedfloatrad/sRoll angular speed
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    pitchspeedfloatrad/sPitch angular speed
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    yawspeedfloatrad/sYaw angular speed
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    covariancefloat[9]Row-major representation of a 3x3 attitude covariance matrix (states: roll, pitch, yaw; first three entries are the first ROW, next three entries are the second row, etc.). If unknown, assign NaN value to first element in the array.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    The state of the navigation and position controller.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    nav_rollfloatdegCurrent desired roll
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    nav_pitchfloatdegCurrent desired pitch
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    nav_bearingint16_tdegCurrent desired heading
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    target_bearingint16_tdegBearing to current waypoint/target
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    wp_distuint16_tmDistance to active waypoint
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    alt_errorfloatmCurrent altitude error
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    aspd_errorfloatm/sCurrent airspeed error
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    xtrack_errorfloatmCurrent crosstrack error on x-y plane

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    GLOBAL_POSITION_INT_COV (63)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    The filtered global position (e.g. fused GPS and accelerometers). The position is in GPS-frame (right-handed, Z-up). It is designed as scaled integer message since the resolution of float is not sufficient. NOTE: This message is intended for onboard networks / companion computers and higher-bandwidth links and optimized for accuracy and completeness. Please use the GLOBAL_POSITION_INT message for a minimal subset.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    estimator_typeuint8_tMAV_ESTIMATOR_TYPEClass id of the estimator this estimate originated from.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    latint32_tdegE7Latitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    lonint32_tdegE7Longitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    altint32_tmmAltitude in meters above MSL
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    relative_altint32_tmmAltitude above ground
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    vxfloatm/sGround X Speed (Latitude)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    vyfloatm/sGround Y Speed (Longitude)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    vzfloatm/sGround Z Speed (Altitude)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    covariancefloat[36]invalid:[NaN:]Row-major representation of a 6x6 position and velocity 6x6 cross-covariance matrix (states: lat, lon, alt, vx, vy, vz; first six entries are the first ROW, next six entries are the second row, etc.). If unknown, assign NaN value to first element in the array.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    LOCAL_POSITION_NED_COV (64)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    The filtered local position (e.g. fused computer vision and accelerometers). Coordinate frame is right-handed, Z-axis down (aeronautical frame, NED / north-east-down convention)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    estimator_typeuint8_tMAV_ESTIMATOR_TYPEClass id of the estimator this estimate originated from.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    xfloatmX Position
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    yfloatmY Position
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    zfloatmZ Position
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    vxfloatm/sX Speed
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    vyfloatm/sY Speed
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    vzfloatm/sZ Speed
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    axfloatm/s/sX Acceleration
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    ayfloatm/s/sY Acceleration
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    azfloatm/s/sZ Acceleration
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    covariancefloat[45]invalid:[NaN:]Row-major representation of position, velocity and acceleration 9x9 cross-covariance matrix upper right triangle (states: x, y, z, vx, vy, vz, ax, ay, az; first nine entries are the first ROW, next eight entries are the second row, etc.). If unknown, assign NaN value to first element in the array.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    RC_CHANNELS (65)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    The PPM values of the RC channels received. The standard PPM modulation is as follows: 1000 microseconds: 0%, 2000 microseconds: 100%. A value of UINT16_MAX implies the channel is unused. Individual receivers/transmitters might violate this specification.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    time_boot_msuint32_tmsTimestamp (time since system boot).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    chancountuint8_tTotal number of RC channels being received. This can be larger than 18, indicating that more channels are available but not given in this message. This value should be 0 when no RC channels are available.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    chan1_rawuint16_tusRC channel 1 value.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    chan2_rawuint16_tusRC channel 2 value.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    chan3_rawuint16_tusRC channel 3 value.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    chan4_rawuint16_tusRC channel 4 value.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    chan5_rawuint16_tusRC channel 5 value.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    chan6_rawuint16_tusRC channel 6 value.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    chan7_rawuint16_tusRC channel 7 value.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    chan8_rawuint16_tusRC channel 8 value.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    chan9_rawuint16_tusRC channel 9 value.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    chan10_rawuint16_tusRC channel 10 value.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    chan11_rawuint16_tusRC channel 11 value.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    chan12_rawuint16_tusRC channel 12 value.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    chan13_rawuint16_tusRC channel 13 value.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    chan14_rawuint16_tusRC channel 14 value.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    chan15_rawuint16_tusRC channel 15 value.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    chan16_rawuint16_tusRC channel 16 value.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    chan17_rawuint16_tusRC channel 17 value.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    chan18_rawuint16_tusRC channel 18 value.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    rssiuint8_tReceive signal strength indicator in device-dependent units/scale. Values: [0-254], UINT8_MAX: invalid/unknown.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    REQUEST_DATA_STREAM (66) — [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    DEPRECATED: Replaced By MAV_CMD_SET_MESSAGE_INTERVAL (2015-08)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Request a data stream.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    target_systemuint8_tThe target requested to send the message stream.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    target_componentuint8_tThe target requested to send the message stream.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    req_stream_iduint8_tThe ID of the requested data stream
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    req_message_rateuint16_tHzThe requested message rate
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    start_stopuint8_t1 to start sending, 0 to stop sending.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    DATA_STREAM (67) — [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    DEPRECATED: Replaced By MESSAGE_INTERVAL (2015-08)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Data stream status information.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    stream_iduint8_tThe ID of the requested data stream
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    message_rateuint16_tHzThe message rate
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    on_offuint8_t1 stream is enabled, 0 stream is stopped.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MANUAL_CONTROL (69)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    This message provides an API for manually controlling the vehicle using standard joystick axes nomenclature, along with a joystick-like input device. Unused axes can be disabled and buttons states are transmitted as individual on/off bits of a bitmask

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    targetuint8_tThe system to be controlled.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    xint16_tX-axis, normalized to the range [-1000,1000]. A value of INT16_MAX indicates that this axis is invalid. Generally corresponds to forward(1000)-backward(-1000) movement on a joystick and the pitch of a vehicle.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    yint16_tY-axis, normalized to the range [-1000,1000]. A value of INT16_MAX indicates that this axis is invalid. Generally corresponds to left(-1000)-right(1000) movement on a joystick and the roll of a vehicle.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    zint16_tZ-axis, normalized to the range [-1000,1000]. A value of INT16_MAX indicates that this axis is invalid. Generally corresponds to a separate slider movement with maximum being 1000 and minimum being -1000 on a joystick and the thrust of a vehicle. Positive values are positive thrust, negative values are negative thrust.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    rint16_tR-axis, normalized to the range [-1000,1000]. A value of INT16_MAX indicates that this axis is invalid. Generally corresponds to a twisting of the joystick, with counter-clockwise being 1000 and clockwise being -1000, and the yaw of a vehicle.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    buttonsuint16_tA bitfield corresponding to the joystick buttons' 0-15 current state, 1 for pressed, 0 for released. The lowest bit corresponds to Button 1.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    buttons2 ++uint16_tA bitfield corresponding to the joystick buttons' 16-31 current state, 1 for pressed, 0 for released. The lowest bit corresponds to Button 16.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    enabled_extensions ++uint8_tSet bits to 1 to indicate which of the following extension fields contain valid data: bit 0: pitch, bit 1: roll, bit 2: aux1, bit 3: aux2, bit 4: aux3, bit 5: aux4, bit 6: aux5, bit 7: aux6
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    s ++int16_tPitch-only-axis, normalized to the range [-1000,1000]. Generally corresponds to pitch on vehicles with additional degrees of freedom. Valid if bit 0 of enabled_extensions field is set. Set to 0 if invalid.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    t ++int16_tRoll-only-axis, normalized to the range [-1000,1000]. Generally corresponds to roll on vehicles with additional degrees of freedom. Valid if bit 1 of enabled_extensions field is set. Set to 0 if invalid.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    aux1 ++int16_tAux continuous input field 1. Normalized in the range [-1000,1000]. Purpose defined by recipient. Valid data if bit 2 of enabled_extensions field is set. 0 if bit 2 is unset.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    aux2 ++int16_tAux continuous input field 2. Normalized in the range [-1000,1000]. Purpose defined by recipient. Valid data if bit 3 of enabled_extensions field is set. 0 if bit 3 is unset.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    aux3 ++int16_tAux continuous input field 3. Normalized in the range [-1000,1000]. Purpose defined by recipient. Valid data if bit 4 of enabled_extensions field is set. 0 if bit 4 is unset.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    aux4 ++int16_tAux continuous input field 4. Normalized in the range [-1000,1000]. Purpose defined by recipient. Valid data if bit 5 of enabled_extensions field is set. 0 if bit 5 is unset.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    aux5 ++int16_tAux continuous input field 5. Normalized in the range [-1000,1000]. Purpose defined by recipient. Valid data if bit 6 of enabled_extensions field is set. 0 if bit 6 is unset.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    aux6 ++int16_tAux continuous input field 6. Normalized in the range [-1000,1000]. Purpose defined by recipient. Valid data if bit 7 of enabled_extensions field is set. 0 if bit 7 is unset.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    RC_CHANNELS_OVERRIDE (70)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    The RAW values of the RC channels sent to the MAV to override info received from the RC radio. The standard PPM modulation is as follows: 1000 microseconds: 0%, 2000 microseconds: 100%. Individual receivers/transmitters might violate this specification. Note carefully the semantic differences between the first 8 channels and the subsequent channels

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    target_systemuint8_tSystem ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    target_componentuint8_tComponent ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    chan1_rawuint16_tusRC channel 1 value. A value of UINT16_MAX means to ignore this field. A value of 0 means to release this channel back to the RC radio.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    chan2_rawuint16_tusRC channel 2 value. A value of UINT16_MAX means to ignore this field. A value of 0 means to release this channel back to the RC radio.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    chan3_rawuint16_tusRC channel 3 value. A value of UINT16_MAX means to ignore this field. A value of 0 means to release this channel back to the RC radio.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    chan4_rawuint16_tusRC channel 4 value. A value of UINT16_MAX means to ignore this field. A value of 0 means to release this channel back to the RC radio.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    chan5_rawuint16_tusRC channel 5 value. A value of UINT16_MAX means to ignore this field. A value of 0 means to release this channel back to the RC radio.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    chan6_rawuint16_tusRC channel 6 value. A value of UINT16_MAX means to ignore this field. A value of 0 means to release this channel back to the RC radio.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    chan7_rawuint16_tusRC channel 7 value. A value of UINT16_MAX means to ignore this field. A value of 0 means to release this channel back to the RC radio.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    chan8_rawuint16_tusRC channel 8 value. A value of UINT16_MAX means to ignore this field. A value of 0 means to release this channel back to the RC radio.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    chan9_raw ++uint16_tusRC channel 9 value. A value of 0 or UINT16_MAX means to ignore this field. A value of UINT16_MAX-1 means to release this channel back to the RC radio.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    chan10_raw ++uint16_tusRC channel 10 value. A value of 0 or UINT16_MAX means to ignore this field. A value of UINT16_MAX-1 means to release this channel back to the RC radio.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    chan11_raw ++uint16_tusRC channel 11 value. A value of 0 or UINT16_MAX means to ignore this field. A value of UINT16_MAX-1 means to release this channel back to the RC radio.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    chan12_raw ++uint16_tusRC channel 12 value. A value of 0 or UINT16_MAX means to ignore this field. A value of UINT16_MAX-1 means to release this channel back to the RC radio.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    chan13_raw ++uint16_tusRC channel 13 value. A value of 0 or UINT16_MAX means to ignore this field. A value of UINT16_MAX-1 means to release this channel back to the RC radio.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    chan14_raw ++uint16_tusRC channel 14 value. A value of 0 or UINT16_MAX means to ignore this field. A value of UINT16_MAX-1 means to release this channel back to the RC radio.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    chan15_raw ++uint16_tusRC channel 15 value. A value of 0 or UINT16_MAX means to ignore this field. A value of UINT16_MAX-1 means to release this channel back to the RC radio.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    chan16_raw ++uint16_tusRC channel 16 value. A value of 0 or UINT16_MAX means to ignore this field. A value of UINT16_MAX-1 means to release this channel back to the RC radio.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    chan17_raw ++uint16_tusRC channel 17 value. A value of 0 or UINT16_MAX means to ignore this field. A value of UINT16_MAX-1 means to release this channel back to the RC radio.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    chan18_raw ++uint16_tusRC channel 18 value. A value of 0 or UINT16_MAX means to ignore this field. A value of UINT16_MAX-1 means to release this channel back to the RC radio.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MISSION_ITEM_INT (73)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Message encoding a mission item. This message is emitted to announce

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    the presence of a mission item and to set a mission item on the system. The mission item can be either in x, y, z meters (type: LOCAL) or x:lat, y:lon, z:altitude. Local frame is Z-down, right handed (NED), global frame is Z-up, right handed (ENU). NaN or INT32_MAX may be used in float/integer params (respectively) to indicate optional/default values (e.g. to use the component's current latitude, yaw rather than a specific value). See also https://mavlink.io/en/services/mission.html.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    target_systemuint8_tSystem ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    target_componentuint8_tComponent ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    sequint16_tWaypoint ID (sequence number). Starts at zero. Increases monotonically for each waypoint, no gaps in the sequence (0,1,2,3,4).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    frameuint8_tMAV_FRAMEThe coordinate system of the waypoint.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    commanduint16_tMAV_CMDThe scheduled action for the waypoint.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    currentuint8_tfalse:0, true:1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    autocontinueuint8_tAutocontinue to next waypoint. 0: false, 1: true. Set false to pause mission after the item completes.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    param1floatPARAM1, see MAV_CMD enum
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    param2floatPARAM2, see MAV_CMD enum
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    param3floatPARAM3, see MAV_CMD enum
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    param4floatPARAM4, see MAV_CMD enum
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    xint32_tPARAM5 / local: x position in meters 1e4, global: latitude in degrees 10^7
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    yint32_tPARAM6 / y position: local: x position in meters 1e4, global: longitude in degrees 10^7
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    zfloatPARAM7 / z position: global: altitude in meters (relative or absolute, depending on frame.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    mission_type ++uint8_tMAV_MISSION_TYPEMission type.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    VFR_HUD (74)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Metrics typically displayed on a HUD for fixed wing aircraft.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    airspeedfloatm/sVehicle speed in form appropriate for vehicle type. For standard aircraft this is typically calibrated airspeed (CAS) or indicated airspeed (IAS) - either of which can be used by a pilot to estimate stall speed.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    groundspeedfloatm/sCurrent ground speed.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    headingint16_tdegCurrent heading in compass units (0-360, 0=north).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    throttleuint16_t%Current throttle setting (0 to 100).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    altfloatmCurrent altitude (MSL).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    climbfloatm/sCurrent climb rate.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    COMMAND_INT (75)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Send a command with up to seven parameters to the MAV, where params 5 and 6 are integers and the other values are floats. This is preferred over COMMAND_LONG as it allows the MAV_FRAME to be specified for interpreting positional information, such as altitude. COMMAND_INT is also preferred when sending latitude and longitude data in params 5 and 6, as it allows for greater precision. Param 5 and 6 encode positional data as scaled integers, where the scaling depends on the actual command value. NaN or INT32_MAX may be used in float/integer params (respectively) to indicate optional/default values (e.g. to use the component's current latitude, yaw rather than a specific value). The command microservice is documented at https://mavlink.io/en/services/command.html

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    target_systemuint8_tSystem ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    target_componentuint8_tComponent ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    frameuint8_tMAV_FRAMEThe coordinate system of the COMMAND.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    commanduint16_tMAV_CMDThe scheduled action for the mission item.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    currentuint8_tNot used.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    autocontinueuint8_tNot used (set 0).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    param1floatinvalid:NaNPARAM1, see MAV_CMD enum
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    param2floatinvalid:NaNPARAM2, see MAV_CMD enum
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    param3floatinvalid:NaNPARAM3, see MAV_CMD enum
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    param4floatinvalid:NaNPARAM4, see MAV_CMD enum
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    xint32_tinvalid:INT32_MAXPARAM5 / local: x position in meters 1e4, global: latitude in degrees 10^7
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    yint32_tinvalid:INT32_MAXPARAM6 / local: y position in meters 1e4, global: longitude in degrees 10^7
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    zfloatinvalid:NaNPARAM7 / z position: global: altitude in meters (relative or absolute, depending on frame).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    COMMAND_LONG (76)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Send a command with up to seven parameters to the MAV. COMMAND_INT is generally preferred when sending MAV_CMD commands that include positional information; it offers higher precision and allows the MAV_FRAME to be specified (which may otherwise be ambiguous, particularly for altitude). The command microservice is documented at https://mavlink.io/en/services/command.html

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    target_systemuint8_tSystem which should execute the command
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    target_componentuint8_tComponent which should execute the command, 0 for all components
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    commanduint16_tMAV_CMDCommand ID (of command to send).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    confirmationuint8_t0: First transmission of this command. 1-255: Confirmation transmissions (e.g. for kill command)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    param1floatinvalid:NaNParameter 1 (for the specific command).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    param2floatinvalid:NaNParameter 2 (for the specific command).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    param3floatinvalid:NaNParameter 3 (for the specific command).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    param4floatinvalid:NaNParameter 4 (for the specific command).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    param5floatinvalid:NaNParameter 5 (for the specific command).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    param6floatinvalid:NaNParameter 6 (for the specific command).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    param7floatinvalid:NaNParameter 7 (for the specific command).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    COMMAND_ACK (77)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Report status of a command. Includes feedback whether the command was executed. The command microservice is documented at https://mavlink.io/en/services/command.html

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    commanduint16_tMAV_CMDCommand ID (of acknowledged command).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    resultuint8_tMAV_RESULTResult of command.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    progress ++uint8_t%invalid:UINT8_MAXThe progress percentage when result is MAV_RESULT_IN_PROGRESS. Values: [0-100], or UINT8_MAX if the progress is unknown.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    result_param2 ++int32_tAdditional result information. Can be set with a command-specific enum containing command-specific error reasons for why the command might be denied. If used, the associated enum must be documented in the corresponding MAV_CMD (this enum should have a 0 value to indicate "unused" or "unknown").
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    target_system ++uint8_tSystem ID of the target recipient. This is the ID of the system that sent the command for which this COMMAND_ACK is an acknowledgement.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    target_component ++uint8_tComponent ID of the target recipient. This is the ID of the system that sent the command for which this COMMAND_ACK is an acknowledgement.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    COMMAND_CANCEL (80) — [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Cancel a long running command. The target system should respond with a COMMAND_ACK to the original command with result=MAV_RESULT_CANCELLED if the long running process was cancelled. If it has already completed, the cancel action can be ignored. The cancel action can be retried until some sort of acknowledgement to the original command has been received. The command microservice is documented at https://mavlink.io/en/services/command.html

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    target_systemuint8_tSystem executing long running command. Should not be broadcast (0).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    target_componentuint8_tComponent executing long running command.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    commanduint16_tMAV_CMDCommand ID (of command to cancel).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MANUAL_SETPOINT (81)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Setpoint in roll, pitch, yaw and thrust from the operator

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    time_boot_msuint32_tmsTimestamp (time since system boot).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    rollfloatrad/sDesired roll rate
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    pitchfloatrad/sDesired pitch rate
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    yawfloatrad/sDesired yaw rate
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    thrustfloatCollective thrust, normalized to 0 .. 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    mode_switchuint8_tFlight mode switch position, 0.. 255
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    manual_override_switchuint8_tOverride mode switch position, 0.. 255

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    SET_ATTITUDE_TARGET (82)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Sets a desired vehicle attitude. Used by an external controller to command the vehicle (manual controller or other system).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    time_boot_msuint32_tmsTimestamp (time since system boot).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    target_systemuint8_tSystem ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    target_componentuint8_tComponent ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    type_maskuint8_tATTITUDE_TARGET_TYPEMASKBitmap to indicate which dimensions should be ignored by the vehicle.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    qfloat[4]Attitude quaternion (w, x, y, z order, zero-rotation is 1, 0, 0, 0) from MAV_FRAME_LOCAL_NED to MAV_FRAME_BODY_FRD
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    body_roll_ratefloatrad/sBody roll rate
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    body_pitch_ratefloatrad/sBody pitch rate
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    body_yaw_ratefloatrad/sBody yaw rate
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    thrustfloatCollective thrust, normalized to 0 .. 1 (-1 .. 1 for vehicles capable of reverse trust)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    thrust_body ++float[3]3D thrust setpoint in the body NED frame, normalized to -1 .. 1

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    ATTITUDE_TARGET (83)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Reports the current commanded attitude of the vehicle as specified by the autopilot. This should match the commands sent in a SET_ATTITUDE_TARGET message if the vehicle is being controlled this way.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    time_boot_msuint32_tmsTimestamp (time since system boot).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    type_maskuint8_tATTITUDE_TARGET_TYPEMASKBitmap to indicate which dimensions should be ignored by the vehicle.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    qfloat[4]Attitude quaternion (w, x, y, z order, zero-rotation is 1, 0, 0, 0)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    body_roll_ratefloatrad/sBody roll rate
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    body_pitch_ratefloatrad/sBody pitch rate
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    body_yaw_ratefloatrad/sBody yaw rate
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    thrustfloatCollective thrust, normalized to 0 .. 1 (-1 .. 1 for vehicles capable of reverse trust)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    SET_POSITION_TARGET_LOCAL_NED (84)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Sets a desired vehicle position in a local north-east-down coordinate frame. Used by an external controller to command the vehicle (manual controller or other system).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    time_boot_msuint32_tmsTimestamp (time since system boot).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    target_systemuint8_tSystem ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    target_componentuint8_tComponent ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    coordinate_frameuint8_tMAV_FRAMEValid options are: MAV_FRAME_LOCAL_NED = 1, MAV_FRAME_LOCAL_OFFSET_NED = 7, MAV_FRAME_BODY_NED = 8, MAV_FRAME_BODY_OFFSET_NED = 9
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    type_maskuint16_tPOSITION_TARGET_TYPEMASKBitmap to indicate which dimensions should be ignored by the vehicle.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    xfloatmX Position in NED frame
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    yfloatmY Position in NED frame
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    zfloatmZ Position in NED frame (note, altitude is negative in NED)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    vxfloatm/sX velocity in NED frame
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    vyfloatm/sY velocity in NED frame
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    vzfloatm/sZ velocity in NED frame
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    afxfloatm/s/sX acceleration or force (if bit 10 of type_mask is set) in NED frame in meter / s^2 or N
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    afyfloatm/s/sY acceleration or force (if bit 10 of type_mask is set) in NED frame in meter / s^2 or N
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    afzfloatm/s/sZ acceleration or force (if bit 10 of type_mask is set) in NED frame in meter / s^2 or N
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    yawfloatradyaw setpoint
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    yaw_ratefloatrad/syaw rate setpoint

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    POSITION_TARGET_LOCAL_NED (85)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Reports the current commanded vehicle position, velocity, and acceleration as specified by the autopilot. This should match the commands sent in SET_POSITION_TARGET_LOCAL_NED if the vehicle is being controlled this way.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    time_boot_msuint32_tmsTimestamp (time since system boot).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    coordinate_frameuint8_tMAV_FRAMEValid options are: MAV_FRAME_LOCAL_NED = 1, MAV_FRAME_LOCAL_OFFSET_NED = 7, MAV_FRAME_BODY_NED = 8, MAV_FRAME_BODY_OFFSET_NED = 9
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    type_maskuint16_tPOSITION_TARGET_TYPEMASKBitmap to indicate which dimensions should be ignored by the vehicle.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    xfloatmX Position in NED frame
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    yfloatmY Position in NED frame
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    zfloatmZ Position in NED frame (note, altitude is negative in NED)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    vxfloatm/sX velocity in NED frame
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    vyfloatm/sY velocity in NED frame
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    vzfloatm/sZ velocity in NED frame
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    afxfloatm/s/sX acceleration or force (if bit 10 of type_mask is set) in NED frame in meter / s^2 or N
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    afyfloatm/s/sY acceleration or force (if bit 10 of type_mask is set) in NED frame in meter / s^2 or N
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    afzfloatm/s/sZ acceleration or force (if bit 10 of type_mask is set) in NED frame in meter / s^2 or N
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    yawfloatradyaw setpoint
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    yaw_ratefloatrad/syaw rate setpoint

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    SET_POSITION_TARGET_GLOBAL_INT (86)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Sets a desired vehicle position, velocity, and/or acceleration in a global coordinate system (WGS84). Used by an external controller to command the vehicle (manual controller or other system).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    time_boot_msuint32_tmsTimestamp (time since system boot). The rationale for the timestamp in the setpoint is to allow the system to compensate for the transport delay of the setpoint. This allows the system to compensate processing latency.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    target_systemuint8_tSystem ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    target_componentuint8_tComponent ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    coordinate_frameuint8_tMAV_FRAMEValid options are: MAV_FRAME_GLOBAL = 0, MAV_FRAME_GLOBAL_RELATIVE_ALT = 3, MAV_FRAME_GLOBAL_TERRAIN_ALT = 10 (MAV_FRAME_GLOBAL_INT, MAV_FRAME_GLOBAL_RELATIVE_ALT_INT, MAV_FRAME_GLOBAL_TERRAIN_ALT_INT are allowed synonyms, but have been deprecated)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    type_maskuint16_tPOSITION_TARGET_TYPEMASKBitmap to indicate which dimensions should be ignored by the vehicle.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    lat_intint32_tdegE7Latitude in WGS84 frame
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    lon_intint32_tdegE7Longitude in WGS84 frame
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    altfloatmAltitude (MSL, Relative to home, or AGL - depending on frame)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    vxfloatm/sX velocity in NED frame
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    vyfloatm/sY velocity in NED frame
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    vzfloatm/sZ velocity in NED frame
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    afxfloatm/s/sX acceleration or force (if bit 10 of type_mask is set) in NED frame in meter / s^2 or N
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    afyfloatm/s/sY acceleration or force (if bit 10 of type_mask is set) in NED frame in meter / s^2 or N
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    afzfloatm/s/sZ acceleration or force (if bit 10 of type_mask is set) in NED frame in meter / s^2 or N
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    yawfloatradyaw setpoint
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    yaw_ratefloatrad/syaw rate setpoint

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    POSITION_TARGET_GLOBAL_INT (87)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Reports the current commanded vehicle position, velocity, and acceleration as specified by the autopilot. This should match the commands sent in SET_POSITION_TARGET_GLOBAL_INT if the vehicle is being controlled this way.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    time_boot_msuint32_tmsTimestamp (time since system boot). The rationale for the timestamp in the setpoint is to allow the system to compensate for the transport delay of the setpoint. This allows the system to compensate processing latency.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    coordinate_frameuint8_tMAV_FRAMEValid options are: MAV_FRAME_GLOBAL = 0, MAV_FRAME_GLOBAL_RELATIVE_ALT = 3, MAV_FRAME_GLOBAL_TERRAIN_ALT = 10 (MAV_FRAME_GLOBAL_INT, MAV_FRAME_GLOBAL_RELATIVE_ALT_INT, MAV_FRAME_GLOBAL_TERRAIN_ALT_INT are allowed synonyms, but have been deprecated)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    type_maskuint16_tPOSITION_TARGET_TYPEMASKBitmap to indicate which dimensions should be ignored by the vehicle.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    lat_intint32_tdegE7Latitude in WGS84 frame
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    lon_intint32_tdegE7Longitude in WGS84 frame
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    altfloatmAltitude (MSL, AGL or relative to home altitude, depending on frame)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    vxfloatm/sX velocity in NED frame
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    vyfloatm/sY velocity in NED frame
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    vzfloatm/sZ velocity in NED frame
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    afxfloatm/s/sX acceleration or force (if bit 10 of type_mask is set) in NED frame in meter / s^2 or N
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    afyfloatm/s/sY acceleration or force (if bit 10 of type_mask is set) in NED frame in meter / s^2 or N
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    afzfloatm/s/sZ acceleration or force (if bit 10 of type_mask is set) in NED frame in meter / s^2 or N
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    yawfloatradyaw setpoint
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    yaw_ratefloatrad/syaw rate setpoint

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    LOCAL_POSITION_NED_SYSTEM_GLOBAL_OFFSET (89)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    The offset in X, Y, Z and yaw between the LOCAL_POSITION_NED messages of MAV X and the global coordinate frame in NED coordinates. Coordinate frame is right-handed, Z-axis down (aeronautical frame, NED / north-east-down convention)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    time_boot_msuint32_tmsTimestamp (time since system boot).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    xfloatmX Position
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    yfloatmY Position
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    zfloatmZ Position
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    rollfloatradRoll
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    pitchfloatradPitch
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    yawfloatradYaw

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    HIL_STATE (90) — [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    DEPRECATED: Replaced By HIL_STATE_QUATERNION (2013-07) — Suffers from missing airspeed fields and singularities due to Euler angles)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Sent from simulation to autopilot. This packet is useful for high throughput applications such as hardware in the loop simulations.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    rollfloatradRoll angle
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    pitchfloatradPitch angle
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    yawfloatradYaw angle
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    rollspeedfloatrad/sBody frame roll / phi angular speed
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    pitchspeedfloatrad/sBody frame pitch / theta angular speed
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    yawspeedfloatrad/sBody frame yaw / psi angular speed
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    latint32_tdegE7Latitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    lonint32_tdegE7Longitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    altint32_tmmAltitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    vxint16_tcm/sGround X Speed (Latitude)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    vyint16_tcm/sGround Y Speed (Longitude)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    vzint16_tcm/sGround Z Speed (Altitude)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    xaccint16_tmGX acceleration
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    yaccint16_tmGY acceleration
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    zaccint16_tmGZ acceleration

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    HIL_CONTROLS (91)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Sent from autopilot to simulation. Hardware in the loop control outputs

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    roll_aileronsfloatControl output -1 .. 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    pitch_elevatorfloatControl output -1 .. 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    yaw_rudderfloatControl output -1 .. 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    throttlefloatThrottle 0 .. 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    aux1floatAux 1, -1 .. 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    aux2floatAux 2, -1 .. 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    aux3floatAux 3, -1 .. 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    aux4floatAux 4, -1 .. 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    modeuint8_tMAV_MODESystem mode.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    nav_modeuint8_tNavigation mode (MAV_NAV_MODE)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    HIL_RC_INPUTS_RAW (92)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Sent from simulation to autopilot. The RAW values of the RC channels received. The standard PPM modulation is as follows: 1000 microseconds: 0%, 2000 microseconds: 100%. Individual receivers/transmitters might violate this specification.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    chan1_rawuint16_tusRC channel 1 value
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    chan2_rawuint16_tusRC channel 2 value
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    chan3_rawuint16_tusRC channel 3 value
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    chan4_rawuint16_tusRC channel 4 value
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    chan5_rawuint16_tusRC channel 5 value
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    chan6_rawuint16_tusRC channel 6 value
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    chan7_rawuint16_tusRC channel 7 value
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    chan8_rawuint16_tusRC channel 8 value
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    chan9_rawuint16_tusRC channel 9 value
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    chan10_rawuint16_tusRC channel 10 value
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    chan11_rawuint16_tusRC channel 11 value
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    chan12_rawuint16_tusRC channel 12 value
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    rssiuint8_tReceive signal strength indicator in device-dependent units/scale. Values: [0-254], UINT8_MAX: invalid/unknown.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    HIL_ACTUATOR_CONTROLS (93)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Sent from autopilot to simulation. Hardware in the loop control outputs (replacement for HIL_CONTROLS)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    controlsfloat[16]Control outputs -1 .. 1. Channel assignment depends on the simulated hardware.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    modeuint8_tMAV_MODE_FLAGSystem mode. Includes arming state.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    flagsuint64_tFlags as bitfield, 1: indicate simulation using lockstep.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    OPTICAL_FLOW (100)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Optical flow from a flow sensor (e.g. optical mouse sensor)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    sensor_iduint8_tSensor ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    flow_xint16_tdpixFlow in x-sensor direction
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    flow_yint16_tdpixFlow in y-sensor direction
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    flow_comp_m_xfloatm/sFlow in x-sensor direction, angular-speed compensated
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    flow_comp_m_yfloatm/sFlow in y-sensor direction, angular-speed compensated
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    qualityuint8_tOptical flow quality / confidence. 0: bad, 255: maximum quality
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    ground_distancefloatmGround distance. Positive value: distance known. Negative value: Unknown distance
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    flow_rate_x ++floatrad/sFlow rate about X axis
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    flow_rate_y ++floatrad/sFlow rate about Y axis

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    GLOBAL_VISION_POSITION_ESTIMATE (101)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Global position/attitude estimate from a vision source.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    usecuint64_tusTimestamp (UNIX time or since system boot)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    xfloatmGlobal X position
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    yfloatmGlobal Y position
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    zfloatmGlobal Z position
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    rollfloatradRoll angle
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    pitchfloatradPitch angle
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    yawfloatradYaw angle
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    covariance ++float[21]Row-major representation of pose 6x6 cross-covariance matrix upper right triangle (states: x_global, y_global, z_global, roll, pitch, yaw; first six entries are the first ROW, next five entries are the second ROW, etc.). If unknown, assign NaN value to first element in the array.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    reset_counter ++uint8_tEstimate reset counter. This should be incremented when the estimate resets in any of the dimensions (position, velocity, attitude, angular speed). This is designed to be used when e.g an external SLAM system detects a loop-closure and the estimate jumps.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    VISION_POSITION_ESTIMATE (102)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Local position/attitude estimate from a vision source.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    usecuint64_tusTimestamp (UNIX time or time since system boot)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    xfloatmLocal X position
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    yfloatmLocal Y position
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    zfloatmLocal Z position
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    rollfloatradRoll angle
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    pitchfloatradPitch angle
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    yawfloatradYaw angle
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    covariance ++float[21]Row-major representation of pose 6x6 cross-covariance matrix upper right triangle (states: x, y, z, roll, pitch, yaw; first six entries are the first ROW, next five entries are the second ROW, etc.). If unknown, assign NaN value to first element in the array.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    reset_counter ++uint8_tEstimate reset counter. This should be incremented when the estimate resets in any of the dimensions (position, velocity, attitude, angular speed). This is designed to be used when e.g an external SLAM system detects a loop-closure and the estimate jumps.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    VISION_SPEED_ESTIMATE (103)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Speed estimate from a vision source.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    usecuint64_tusTimestamp (UNIX time or time since system boot)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    xfloatm/sGlobal X speed
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    yfloatm/sGlobal Y speed
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    zfloatm/sGlobal Z speed
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    covariance ++float[9]Row-major representation of 3x3 linear velocity covariance matrix (states: vx, vy, vz; 1st three entries - 1st row, etc.). If unknown, assign NaN value to first element in the array.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    reset_counter ++uint8_tEstimate reset counter. This should be incremented when the estimate resets in any of the dimensions (position, velocity, attitude, angular speed). This is designed to be used when e.g an external SLAM system detects a loop-closure and the estimate jumps.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    VICON_POSITION_ESTIMATE (104)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Global position estimate from a Vicon motion system source.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    usecuint64_tusTimestamp (UNIX time or time since system boot)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    xfloatmGlobal X position
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    yfloatmGlobal Y position
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    zfloatmGlobal Z position
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    rollfloatradRoll angle
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    pitchfloatradPitch angle
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    yawfloatradYaw angle
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    covariance ++float[21]Row-major representation of 6x6 pose cross-covariance matrix upper right triangle (states: x, y, z, roll, pitch, yaw; first six entries are the first ROW, next five entries are the second ROW, etc.). If unknown, assign NaN value to first element in the array.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    HIGHRES_IMU (105)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    The IMU readings in SI units in NED body frame

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    xaccfloatm/s/sX acceleration
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    yaccfloatm/s/sY acceleration
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    zaccfloatm/s/sZ acceleration
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    xgyrofloatrad/sAngular speed around X axis
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    ygyrofloatrad/sAngular speed around Y axis
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    zgyrofloatrad/sAngular speed around Z axis
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    xmagfloatgaussX Magnetic field
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    ymagfloatgaussY Magnetic field
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    zmagfloatgaussZ Magnetic field
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    abs_pressurefloathPaAbsolute pressure
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    diff_pressurefloathPaDifferential pressure
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    pressure_altfloatAltitude calculated from pressure
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    temperaturefloatdegCTemperature
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    fields_updateduint16_tHIGHRES_IMU_UPDATED_FLAGSBitmap for fields that have updated since last message
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    id ++uint8_tId. Ids are numbered from 0 and map to IMUs numbered from 1 (e.g. IMU1 will have a message with id=0)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Messages with same value are from the same source (instance). |

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    OPTICAL_FLOW_RAD (106)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Optical flow from an angular rate flow sensor (e.g. PX4FLOW or mouse sensor)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    sensor_iduint8_tSensor ID

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Messages with same value are from the same source (instance). | | integration_time_us | uint32_t | us | Integration time. Divide integrated_x and integrated_y by the integration time to obtain average flow. The integration time also indicates the. | | integrated_x | float | rad | Flow around X axis (Sensor RH rotation about the X axis induces a positive flow. Sensor linear motion along the positive Y axis induces a negative flow.) | | integrated_y | float | rad | Flow around Y axis (Sensor RH rotation about the Y axis induces a positive flow. Sensor linear motion along the positive X axis induces a positive flow.) | | integrated_xgyro | float | rad | RH rotation around X axis | | integrated_ygyro | float | rad | RH rotation around Y axis | | integrated_zgyro | float | rad | RH rotation around Z axis | | temperature | int16_t | cdegC | Temperature | | quality | uint8_t | | Optical flow quality / confidence. 0: no valid flow, 255: maximum quality | | time_delta_distance_us | uint32_t | us | Time since the distance was sampled. | | distance | float | m | Distance to the center of the flow field. Positive value (including zero): distance known. Negative value: Unknown distance. |

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    HIL_SENSOR (107)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    The IMU readings in SI units in NED body frame

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    xaccfloatm/s/sX acceleration
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    yaccfloatm/s/sY acceleration
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    zaccfloatm/s/sZ acceleration
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    xgyrofloatrad/sAngular speed around X axis in body frame
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    ygyrofloatrad/sAngular speed around Y axis in body frame
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    zgyrofloatrad/sAngular speed around Z axis in body frame
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    xmagfloatgaussX Magnetic field
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    ymagfloatgaussY Magnetic field
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    zmagfloatgaussZ Magnetic field
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    abs_pressurefloathPaAbsolute pressure
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    diff_pressurefloathPaDifferential pressure (airspeed)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    pressure_altfloatAltitude calculated from pressure
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    temperaturefloatdegCTemperature
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    fields_updateduint32_tHIL_SENSOR_UPDATED_FLAGSBitmap for fields that have updated since last message
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    id ++uint8_tSensor ID (zero indexed). Used for multiple sensor inputs

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    SIM_STATE (108)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Status of simulation environment, if used

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    q1floatTrue attitude quaternion component 1, w (1 in null-rotation)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    q2floatTrue attitude quaternion component 2, x (0 in null-rotation)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    q3floatTrue attitude quaternion component 3, y (0 in null-rotation)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    q4floatTrue attitude quaternion component 4, z (0 in null-rotation)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    rollfloatradAttitude roll expressed as Euler angles, not recommended except for human-readable outputs
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    pitchfloatradAttitude pitch expressed as Euler angles, not recommended except for human-readable outputs
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    yawfloatradAttitude yaw expressed as Euler angles, not recommended except for human-readable outputs
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    xaccfloatm/s/sX acceleration
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    yaccfloatm/s/sY acceleration
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    zaccfloatm/s/sZ acceleration
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    xgyrofloatrad/sAngular speed around X axis
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    ygyrofloatrad/sAngular speed around Y axis
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    zgyrofloatrad/sAngular speed around Z axis
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    latfloatdegLatitude (lower precision). Both this and the lat_int field should be set.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    lonfloatdegLongitude (lower precision). Both this and the lon_int field should be set.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    altfloatmAltitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    std_dev_horzfloatHorizontal position standard deviation
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    std_dev_vertfloatVertical position standard deviation
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    vnfloatm/sTrue velocity in north direction in earth-fixed NED frame
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    vefloatm/sTrue velocity in east direction in earth-fixed NED frame
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    vdfloatm/sTrue velocity in down direction in earth-fixed NED frame
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    lat_int ++int32_tdegE7Latitude (higher precision). If 0, recipients should use the lat field value (otherwise this field is preferred).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    lon_int ++int32_tdegE7Longitude (higher precision). If 0, recipients should use the lon field value (otherwise this field is preferred).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    RADIO_STATUS (109)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Status generated by radio and injected into MAVLink stream.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    rssiuint8_tLocal (message sender) received signal strength indication in device-dependent units/scale. Values: [0-254], UINT8_MAX: invalid/unknown.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    remrssiuint8_tRemote (message receiver) signal strength indication in device-dependent units/scale. Values: [0-254], UINT8_MAX: invalid/unknown.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    txbufuint8_t%Remaining free transmitter buffer space.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    noiseuint8_tLocal background noise level. These are device dependent RSSI values (scale as approx 2x dB on SiK radios). Values: [0-254], UINT8_MAX: invalid/unknown.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    remnoiseuint8_tRemote background noise level. These are device dependent RSSI values (scale as approx 2x dB on SiK radios). Values: [0-254], UINT8_MAX: invalid/unknown.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    rxerrorsuint16_tCount of radio packet receive errors (since boot).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    fixeduint16_tCount of error corrected radio packets (since boot).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    FILE_TRANSFER_PROTOCOL (110)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    File transfer protocol message: https://mavlink.io/en/services/ftp.html.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    target_networkuint8_tNetwork ID (0 for broadcast)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    target_systemuint8_tSystem ID (0 for broadcast)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    target_componentuint8_tComponent ID (0 for broadcast)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    payloaduint8_t[251]Variable length payload. The length is defined by the remaining message length when subtracting the header and other fields. The content/format of this block is defined in https://mavlink.io/en/services/ftp.html.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    TIMESYNC (111)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Time synchronization message. The message is used for both timesync requests and responses. The request is sent with ts1=syncing component timestamp and tc1=0, and may be broadcast or targeted to a specific system/component. The response is sent with ts1=syncing component timestamp (mirror back unchanged), and tc1=responding component timestamp, with the target_system and target_component set to ids of the original request. Systems can determine if they are receiving a request or response based on the value of tc. If the response has target_system==target_component==0 the remote system has not been updated to use the component IDs and cannot reliably timesync; the requestor may report an error. Timestamps are UNIX Epoch time or time since system boot in nanoseconds (the timestamp format can be inferred by checking for the magnitude of the number; generally it doesn't matter as only the offset is used). The message sequence is repeated numerous times with results being filtered/averaged to estimate the offset.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    tc1int64_tnsTime sync timestamp 1. Syncing: 0. Responding: Timestamp of responding component.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    ts1int64_tnsTime sync timestamp 2. Timestamp of syncing component (mirrored in response).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    target_system ++uint8_tTarget system id. Request: 0 (broadcast) or id of specific system. Response must contain system id of the requesting component.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    target_component ++uint8_tTarget component id. Request: 0 (broadcast) or id of specific component. Response must contain component id of the requesting component.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    CAMERA_TRIGGER (112)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Camera-IMU triggering and synchronisation message.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    time_usecuint64_tusTimestamp for image frame (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    sequint32_tImage frame sequence

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    HIL_GPS (113)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    The global position, as returned by the Global Positioning System (GPS). This is

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    NOT the global position estimate of the system, but rather a RAW sensor value. See message GLOBAL_POSITION_INT for the global position estimate.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeUnitsMultiplierDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    fix_typeuint8_t0-1: no fix, 2: 2D fix, 3: 3D fix. Some applications will not use the value of this field unless it is at least two, so always correctly fill in the fix.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    latint32_tdegE7Latitude (WGS84)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    lonint32_tdegE7Longitude (WGS84)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    altint32_tmmAltitude (MSL). Positive for up.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    ephuint16_t1E-2GPS HDOP horizontal dilution of position (unitless * 100). If unknown, set to: UINT16_MAX
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    epvuint16_t1E-2GPS VDOP vertical dilution of position (unitless * 100). If unknown, set to: UINT16_MAX
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    veluint16_tcm/sGPS ground speed. If unknown, set to: UINT16_MAX
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    vnint16_tcm/sGPS velocity in north direction in earth-fixed NED frame
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    veint16_tcm/sGPS velocity in east direction in earth-fixed NED frame
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    vdint16_tcm/sGPS velocity in down direction in earth-fixed NED frame
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    coguint16_tcdegCourse over ground (NOT heading, but direction of movement), 0.0..359.99 degrees. If unknown, set to: UINT16_MAX
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    satellites_visibleuint8_tNumber of satellites visible. If unknown, set to UINT8_MAX
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    id ++uint8_tGPS ID (zero indexed). Used for multiple GPS inputs
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    yaw ++uint16_tcdegYaw of vehicle relative to Earth's North, zero means not available, use 36000 for north

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    HIL_OPTICAL_FLOW (114)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Simulated optical flow from a flow sensor (e.g. PX4FLOW or optical mouse sensor)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    sensor_iduint8_tSensor ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    integration_time_usuint32_tusIntegration time. Divide integrated_x and integrated_y by the integration time to obtain average flow. The integration time also indicates the.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    integrated_xfloatradFlow in radians around X axis (Sensor RH rotation about the X axis induces a positive flow. Sensor linear motion along the positive Y axis induces a negative flow.)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    integrated_yfloatradFlow in radians around Y axis (Sensor RH rotation about the Y axis induces a positive flow. Sensor linear motion along the positive X axis induces a positive flow.)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    integrated_xgyrofloatradRH rotation around X axis
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    integrated_ygyrofloatradRH rotation around Y axis
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    integrated_zgyrofloatradRH rotation around Z axis
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    temperatureint16_tcdegCTemperature
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    qualityuint8_tOptical flow quality / confidence. 0: no valid flow, 255: maximum quality
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    time_delta_distance_usuint32_tusTime since the distance was sampled.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    distancefloatmDistance to the center of the flow field. Positive value (including zero): distance known. Negative value: Unknown distance.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    HIL_STATE_QUATERNION (115)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Sent from simulation to autopilot, avoids in contrast to HIL_STATE singularities. This packet is useful for high throughput applications such as hardware in the loop simulations.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    attitude_quaternionfloat[4]Vehicle attitude expressed as normalized quaternion in w, x, y, z order (with 1 0 0 0 being the null-rotation)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    rollspeedfloatrad/sBody frame roll / phi angular speed
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    pitchspeedfloatrad/sBody frame pitch / theta angular speed
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    yawspeedfloatrad/sBody frame yaw / psi angular speed
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    latint32_tdegE7Latitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    lonint32_tdegE7Longitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    altint32_tmmAltitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    vxint16_tcm/sGround X Speed (Latitude)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    vyint16_tcm/sGround Y Speed (Longitude)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    vzint16_tcm/sGround Z Speed (Altitude)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    ind_airspeeduint16_tcm/sIndicated airspeed
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    true_airspeeduint16_tcm/sTrue airspeed
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    xaccint16_tmGX acceleration
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    yaccint16_tmGY acceleration
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    zaccint16_tmGZ acceleration

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    SCALED_IMU2 (116)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    The RAW IMU readings for secondary 9DOF sensor setup. This message should contain the scaled values to the described units

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    time_boot_msuint32_tmsTimestamp (time since system boot).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    xaccint16_tmGX acceleration
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    yaccint16_tmGY acceleration
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    zaccint16_tmGZ acceleration
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    xgyroint16_tmrad/sAngular speed around X axis
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    ygyroint16_tmrad/sAngular speed around Y axis
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    zgyroint16_tmrad/sAngular speed around Z axis
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    xmagint16_tmgaussX Magnetic field
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    ymagint16_tmgaussY Magnetic field
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    zmagint16_tmgaussZ Magnetic field
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    temperature ++int16_tcdegCTemperature, 0: IMU does not provide temperature values. If the IMU is at 0C it must send 1 (0.01C).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    LOG_REQUEST_LIST (117)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Request a list of available logs. On some systems calling this may stop on-board logging until LOG_REQUEST_END is called. If there are no log files available this request shall be answered with one LOG_ENTRY message with id = 0 and num_logs = 0.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    target_systemuint8_tSystem ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    target_componentuint8_tComponent ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    startuint16_tFirst log id (0 for first available)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    enduint16_tLast log id (0xffff for last available)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    LOG_ENTRY (118)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Reply to LOG_REQUEST_LIST

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    iduint16_tLog id
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    num_logsuint16_tTotal number of logs
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    last_log_numuint16_tHigh log number
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    time_utcuint32_tsUTC timestamp of log since 1970, or 0 if not available
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    sizeuint32_tbytesSize of the log (may be approximate)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    LOG_REQUEST_DATA (119)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Request a chunk of a log

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    target_systemuint8_tSystem ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    target_componentuint8_tComponent ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    iduint16_tLog id (from LOG_ENTRY reply)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    ofsuint32_tOffset into the log
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    countuint32_tbytesNumber of bytes

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    LOG_DATA (120)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Reply to LOG_REQUEST_DATA

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    iduint16_tLog id (from LOG_ENTRY reply)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    ofsuint32_tOffset into the log
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    countuint8_tbytesNumber of bytes (zero for end of log)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    datauint8_t[90]log data

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    LOG_ERASE (121)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Erase all logs

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    target_systemuint8_tSystem ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    target_componentuint8_tComponent ID

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    LOG_REQUEST_END (122)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Stop log transfer and resume normal logging

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    target_systemuint8_tSystem ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    target_componentuint8_tComponent ID

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    GPS_INJECT_DATA (123) — [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    DEPRECATED: Replaced By GPS_RTCM_DATA (2022-05)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Data for injecting into the onboard GPS (used for DGPS)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    target_systemuint8_tSystem ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    target_componentuint8_tComponent ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    lenuint8_tbytesData length
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    datauint8_t[110]Raw data (110 is enough for 12 satellites of RTCMv2)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    GPS2_RAW (124)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Second GPS data.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    fix_typeuint8_tGPS_FIX_TYPEGPS fix type.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    latint32_tdegE7Latitude (WGS84)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    lonint32_tdegE7Longitude (WGS84)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    altint32_tmmAltitude (MSL). Positive for up.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    ephuint16_tinvalid:UINT16_MAXGPS HDOP horizontal dilution of position (unitless * 100). If unknown, set to: UINT16_MAX
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    epvuint16_tinvalid:UINT16_MAXGPS VDOP vertical dilution of position (unitless * 100). If unknown, set to: UINT16_MAX
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    veluint16_tcm/sinvalid:UINT16_MAXGPS ground speed. If unknown, set to: UINT16_MAX
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    coguint16_tcdeginvalid:UINT16_MAXCourse over ground (NOT heading, but direction of movement): 0.0..359.99 degrees. If unknown, set to: UINT16_MAX
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    satellites_visibleuint8_tinvalid:UINT8_MAXNumber of satellites visible. If unknown, set to UINT8_MAX
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    dgps_numchuint8_tNumber of DGPS satellites
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    dgps_ageuint32_tmsAge of DGPS info
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    yaw ++uint16_tcdeginvalid:0Yaw in earth frame from north. Use 0 if this GPS does not provide yaw. Use UINT16_MAX if this GPS is configured to provide yaw and is currently unable to provide it. Use 36000 for north.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    alt_ellipsoid ++int32_tmmAltitude (above WGS84, EGM96 ellipsoid). Positive for up.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    h_acc ++uint32_tmmPosition uncertainty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    v_acc ++uint32_tmmAltitude uncertainty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    vel_acc ++uint32_tmmSpeed uncertainty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    hdg_acc ++uint32_tdegE5Heading / track uncertainty

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    POWER_STATUS (125)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Power supply status

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Vccuint16_tmV5V rail voltage.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Vservouint16_tmVServo rail voltage.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    flagsuint16_tMAV_POWER_STATUSBitmap of power supply status flags.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    SERIAL_CONTROL (126)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Control a serial port. This can be used for raw access to an onboard serial peripheral such as a GPS or telemetry radio. It is designed to make it possible to update the devices firmware via MAVLink messages or change the devices settings. A message with zero bytes can be used to change just the baudrate.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    deviceuint8_tSERIAL_CONTROL_DEVSerial control device type.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    flagsuint8_tSERIAL_CONTROL_FLAGBitmap of serial control flags.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    timeoutuint16_tmsTimeout for reply data
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    baudrateuint32_tbits/sBaudrate of transfer. Zero means no change.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    countuint8_tbyteshow many bytes in this transfer
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    datauint8_t[70]serial data
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    target_system ++uint8_tSystem ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    target_component ++uint8_tComponent ID

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    GPS_RTK (127)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    RTK GPS data. Gives information on the relative baseline calculation the GPS is reporting

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    time_last_baseline_msuint32_tmsTime since boot of last baseline message received.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    rtk_receiver_iduint8_tIdentification of connected RTK receiver.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    wnuint16_tGPS Week Number of last baseline
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    towuint32_tmsGPS Time of Week of last baseline
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    rtk_healthuint8_tGPS-specific health report for RTK data.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    rtk_rateuint8_tHzRate of baseline messages being received by GPS
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    nsatsuint8_tCurrent number of sats used for RTK calculation.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    baseline_coords_typeuint8_tRTK_BASELINE_COORDINATE_SYSTEMCoordinate system of baseline
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    baseline_a_mmint32_tmmCurrent baseline in ECEF x or NED north component.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    baseline_b_mmint32_tmmCurrent baseline in ECEF y or NED east component.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    baseline_c_mmint32_tmmCurrent baseline in ECEF z or NED down component.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    accuracyuint32_tCurrent estimate of baseline accuracy.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    iar_num_hypothesesint32_tCurrent number of integer ambiguity hypotheses.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    GPS2_RTK (128)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    RTK GPS data. Gives information on the relative baseline calculation the GPS is reporting

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    time_last_baseline_msuint32_tmsTime since boot of last baseline message received.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    rtk_receiver_iduint8_tIdentification of connected RTK receiver.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    wnuint16_tGPS Week Number of last baseline
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    towuint32_tmsGPS Time of Week of last baseline
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    rtk_healthuint8_tGPS-specific health report for RTK data.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    rtk_rateuint8_tHzRate of baseline messages being received by GPS
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    nsatsuint8_tCurrent number of sats used for RTK calculation.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    baseline_coords_typeuint8_tRTK_BASELINE_COORDINATE_SYSTEMCoordinate system of baseline
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    baseline_a_mmint32_tmmCurrent baseline in ECEF x or NED north component.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    baseline_b_mmint32_tmmCurrent baseline in ECEF y or NED east component.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    baseline_c_mmint32_tmmCurrent baseline in ECEF z or NED down component.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    accuracyuint32_tCurrent estimate of baseline accuracy.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    iar_num_hypothesesint32_tCurrent number of integer ambiguity hypotheses.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    SCALED_IMU3 (129)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    The RAW IMU readings for 3rd 9DOF sensor setup. This message should contain the scaled values to the described units

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    time_boot_msuint32_tmsTimestamp (time since system boot).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    xaccint16_tmGX acceleration
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    yaccint16_tmGY acceleration
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    zaccint16_tmGZ acceleration
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    xgyroint16_tmrad/sAngular speed around X axis
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    ygyroint16_tmrad/sAngular speed around Y axis
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    zgyroint16_tmrad/sAngular speed around Z axis
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    xmagint16_tmgaussX Magnetic field
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    ymagint16_tmgaussY Magnetic field
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    zmagint16_tmgaussZ Magnetic field
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    temperature ++int16_tcdegCTemperature, 0: IMU does not provide temperature values. If the IMU is at 0C it must send 1 (0.01C).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    DATA_TRANSMISSION_HANDSHAKE (130)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Handshake message to initiate, control and stop image streaming when using the Image Transmission Protocol: https://mavlink.io/en/services/image_transmission.html.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    typeuint8_tMAVLINK_DATA_STREAM_TYPEType of requested/acknowledged data.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    sizeuint32_tbytestotal data size (set on ACK only).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    widthuint16_tWidth of a matrix or image.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    heightuint16_tHeight of a matrix or image.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    packetsuint16_tNumber of packets being sent (set on ACK only).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    payloaduint8_tbytesPayload size per packet (normally 253 byte, see DATA field size in message ENCAPSULATED_DATA) (set on ACK only).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    jpg_qualityuint8_t%JPEG quality. Values: [1-100].

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    ENCAPSULATED_DATA (131)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Data packet for images sent using the Image Transmission Protocol: https://mavlink.io/en/services/image_transmission.html.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    seqnruint16_tsequence number (starting with 0 on every transmission)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    datauint8_t[253]image data bytes

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    DISTANCE_SENSOR (132)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Distance sensor information for an onboard rangefinder.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    time_boot_msuint32_tmsTimestamp (time since system boot).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    min_distanceuint16_tcmMinimum distance the sensor can measure
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    max_distanceuint16_tcmMaximum distance the sensor can measure
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    current_distanceuint16_tcmCurrent distance reading
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    typeuint8_tMAV_DISTANCE_SENSORType of distance sensor.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    iduint8_tOnboard ID of the sensor

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Messages with same value are from the same source (instance). | | orientation | uint8_t | | MAV_SENSOR_ORIENTATION | Direction the sensor faces. downward-facing: ROTATION_PITCH_270, upward-facing: ROTATION_PITCH_90, backward-facing: ROTATION_PITCH_180, forward-facing: ROTATION_NONE, left-facing: ROTATION_YAW_90, right-facing: ROTATION_YAW_270 | | covariance | uint8_t | cm^2 | invalid:UINT8_MAX | Measurement variance. Max standard deviation is 6cm. UINT8_MAX if unknown. | | horizontal_fov ++ | float | rad | invalid:0 | Horizontal Field of View (angle) where the distance measurement is valid and the field of view is known. Otherwise this is set to 0. | | vertical_fov ++ | float | rad | invalid:0 | Vertical Field of View (angle) where the distance measurement is valid and the field of view is known. Otherwise this is set to 0. | | quaternion ++ | float[4] | | invalid:[0] | Quaternion of the sensor orientation in vehicle body frame (w, x, y, z order, zero-rotation is 1, 0, 0, 0). Zero-rotation is along the vehicle body x-axis. This field is required if the orientation is set to MAV_SENSOR_ROTATION_CUSTOM. Set it to 0 if invalid." | | signal_quality ++ | uint8_t | % | invalid:0 | Signal quality of the sensor. Specific to each sensor type, representing the relation of the signal strength with the target reflectivity, distance, size or aspect, but normalised as a percentage. 0 = unknown/unset signal quality, 1 = invalid signal, 100 = perfect signal. |

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    TERRAIN_REQUEST (133)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Request for terrain data and terrain status. See terrain protocol docs: https://mavlink.io/en/services/terrain.html

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    latint32_tdegE7Latitude of SW corner of first grid
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    lonint32_tdegE7Longitude of SW corner of first grid
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    grid_spacinguint16_tmGrid spacing
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    maskuint64_tBitmask of requested 4x4 grids (row major 8x7 array of grids, 56 bits)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    TERRAIN_DATA (134)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Terrain data sent from GCS. The lat/lon and grid_spacing must be the same as a lat/lon from a TERRAIN_REQUEST. See terrain protocol docs: https://mavlink.io/en/services/terrain.html

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    latint32_tdegE7Latitude of SW corner of first grid
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    lonint32_tdegE7Longitude of SW corner of first grid
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    grid_spacinguint16_tmGrid spacing
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    gridbituint8_tbit within the terrain request mask
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    dataint16_t[16]mTerrain data MSL

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    TERRAIN_CHECK (135)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Request that the vehicle report terrain height at the given location (expected response is a TERRAIN_REPORT). Used by GCS to check if vehicle has all terrain data needed for a mission.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    latint32_tdegE7Latitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    lonint32_tdegE7Longitude

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    TERRAIN_REPORT (136)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Streamed from drone to report progress of terrain map download (initiated by TERRAIN_REQUEST), or sent as a response to a TERRAIN_CHECK request. See terrain protocol docs: https://mavlink.io/en/services/terrain.html

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    latint32_tdegE7Latitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    lonint32_tdegE7Longitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    spacinguint16_tgrid spacing (zero if terrain at this location unavailable)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    terrain_heightfloatmTerrain height MSL
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    current_heightfloatmCurrent vehicle height above lat/lon terrain height
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    pendinguint16_tNumber of 4x4 terrain blocks waiting to be received or read from disk
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    loadeduint16_tNumber of 4x4 terrain blocks in memory

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    SCALED_PRESSURE2 (137)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Barometer readings for 2nd barometer

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    time_boot_msuint32_tmsTimestamp (time since system boot).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    press_absfloathPaAbsolute pressure
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    press_difffloathPaDifferential pressure
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    temperatureint16_tcdegCAbsolute pressure temperature
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    temperature_press_diff ++int16_tcdegCDifferential pressure temperature (0, if not available). Report values of 0 (or 1) as 1 cdegC.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    ATT_POS_MOCAP (138)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Motion capture attitude and position

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    qfloat[4]Attitude quaternion (w, x, y, z order, zero-rotation is 1, 0, 0, 0)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    xfloatmX position (NED)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    yfloatmY position (NED)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    zfloatmZ position (NED)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    covariance ++float[21]Row-major representation of a pose 6x6 cross-covariance matrix upper right triangle (states: x, y, z, roll, pitch, yaw; first six entries are the first ROW, next five entries are the second ROW, etc.). If unknown, assign NaN value to first element in the array.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    SET_ACTUATOR_CONTROL_TARGET (139)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Set the vehicle attitude and body angular rates.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    group_mlxuint8_tActuator group. The "_mlx" indicates this is a multi-instance message and a MAVLink parser should use this field to difference between instances.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    target_systemuint8_tSystem ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    target_componentuint8_tComponent ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    controlsfloat[8]Actuator controls. Normed to -1..+1 where 0 is neutral position. Throttle for single rotation direction motors is 0..1, negative range for reverse direction. Standard mapping for attitude controls (group 0): (index 0-7): roll, pitch, yaw, throttle, flaps, spoilers, airbrakes, landing gear. Load a pass-through mixer to repurpose them as generic outputs.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    ACTUATOR_CONTROL_TARGET (140)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Set the vehicle attitude and body angular rates.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    group_mlxuint8_tActuator group. The "_mlx" indicates this is a multi-instance message and a MAVLink parser should use this field to difference between instances.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    controlsfloat[8]Actuator controls. Normed to -1..+1 where 0 is neutral position. Throttle for single rotation direction motors is 0..1, negative range for reverse direction. Standard mapping for attitude controls (group 0): (index 0-7): roll, pitch, yaw, throttle, flaps, spoilers, airbrakes, landing gear. Load a pass-through mixer to repurpose them as generic outputs.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    ALTITUDE (141)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    The current system altitude.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    altitude_monotonicfloatmThis altitude measure is initialized on system boot and monotonic (it is never reset, but represents the local altitude change). The only guarantee on this field is that it will never be reset and is consistent within a flight. The recommended value for this field is the uncorrected barometric altitude at boot time. This altitude will also drift and vary between flights.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    altitude_amslfloatmThis altitude measure is strictly above mean sea level and might be non-monotonic (it might reset on events like GPS lock or when a new QNH value is set). It should be the altitude to which global altitude waypoints are compared to. Note that it is not the GPS altitude, however, most GPS modules already output MSL by default and not the WGS84 altitude.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    altitude_localfloatmThis is the local altitude in the local coordinate frame. It is not the altitude above home, but in reference to the coordinate origin (0, 0, 0). It is up-positive.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    altitude_relativefloatmThis is the altitude above the home position. It resets on each change of the current home position.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    altitude_terrainfloatmThis is the altitude above terrain. It might be fed by a terrain database or an altimeter. Values smaller than -1000 should be interpreted as unknown.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    bottom_clearancefloatmThis is not the altitude, but the clear space below the system according to the fused clearance estimate. It generally should max out at the maximum range of e.g. the laser altimeter. It is generally a moving target. A negative value indicates no measurement available.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    RESOURCE_REQUEST (142)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    The autopilot is requesting a resource (file, binary, other type of data)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    request_iduint8_tRequest ID. This ID should be re-used when sending back URI contents
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    uri_typeuint8_tThe type of requested URI. 0 = a file via URL. 1 = a UAVCAN binary
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    uriuint8_t[120]The requested unique resource identifier (URI). It is not necessarily a straight domain name (depends on the URI type enum)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    transfer_typeuint8_tThe way the autopilot wants to receive the URI. 0 = MAVLink FTP. 1 = binary stream.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    storageuint8_t[120]The storage path the autopilot wants the URI to be stored in. Will only be valid if the transfer_type has a storage associated (e.g. MAVLink FTP).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    SCALED_PRESSURE3 (143)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Barometer readings for 3rd barometer

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    time_boot_msuint32_tmsTimestamp (time since system boot).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    press_absfloathPaAbsolute pressure
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    press_difffloathPaDifferential pressure
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    temperatureint16_tcdegCAbsolute pressure temperature
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    temperature_press_diff ++int16_tcdegCDifferential pressure temperature (0, if not available). Report values of 0 (or 1) as 1 cdegC.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    FOLLOW_TARGET (144)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Current motion information from a designated system

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    timestampuint64_tmsTimestamp (time since system boot).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    est_capabilitiesuint8_tbit positions for tracker reporting capabilities (POS = 0, VEL = 1, ACCEL = 2, ATT + RATES = 3)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    latint32_tdegE7Latitude (WGS84)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    lonint32_tdegE7Longitude (WGS84)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    altfloatmAltitude (MSL)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    velfloat[3]m/starget velocity (0,0,0) for unknown
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    accfloat[3]m/s/slinear target acceleration (0,0,0) for unknown
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    attitude_qfloat[4](0 0 0 0 for unknown)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    ratesfloat[3](0 0 0 for unknown)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    position_covfloat[3]eph epv
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    custom_stateuint64_tbutton states or switches of a tracker device

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    CONTROL_SYSTEM_STATE (146)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    The smoothed, monotonic system state used to feed the control loops of the system.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    x_accfloatm/s/sX acceleration in body frame
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    y_accfloatm/s/sY acceleration in body frame
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    z_accfloatm/s/sZ acceleration in body frame
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    x_velfloatm/sX velocity in body frame
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    y_velfloatm/sY velocity in body frame
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    z_velfloatm/sZ velocity in body frame
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    x_posfloatmX position in local frame
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    y_posfloatmY position in local frame
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    z_posfloatmZ position in local frame
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    airspeedfloatm/sAirspeed, set to -1 if unknown
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    vel_variancefloat[3]Variance of body velocity estimate
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    pos_variancefloat[3]Variance in local position
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    qfloat[4]The attitude, represented as Quaternion
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    roll_ratefloatrad/sAngular rate in roll axis
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    pitch_ratefloatrad/sAngular rate in pitch axis
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    yaw_ratefloatrad/sAngular rate in yaw axis

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    BATTERY_STATUS (147)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Battery information. Updates GCS with flight controller battery status. Smart batteries also use this message, but may additionally send BATTERY_INFO.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    iduint8_tBattery ID

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Messages with same value are from the same source (instance). | | battery_function | uint8_t | | MAV_BATTERY_FUNCTION | Function of the battery | | type | uint8_t | | MAV_BATTERY_TYPE | Type (chemistry) of the battery | | temperature | int16_t | cdegC | invalid:INT16_MAX | Temperature of the battery. INT16_MAX for unknown temperature. | | voltages | uint16_t[10] | mV | invalid:[UINT16_MAX] | Battery voltage of cells 1 to 10 (see voltages_ext for cells 11-14). Cells in this field above the valid cell count for this battery should have the UINT16_MAX value. If individual cell voltages are unknown or not measured for this battery, then the overall battery voltage should be filled in cell 0, with all others set to UINT16_MAX. If the voltage of the battery is greater than (UINT16_MAX - 1), then cell 0 should be set to (UINT16_MAX - 1), and cell 1 to the remaining voltage. This can be extended to multiple cells if the total voltage is greater than 2 * (UINT16_MAX - 1). | | current_battery | int16_t | cA | invalid:-1 | Battery current, -1: autopilot does not measure the current | | current_consumed | int32_t | mAh | invalid:-1 | Consumed charge, -1: autopilot does not provide consumption estimate | | energy_consumed | int32_t | hJ | invalid:-1 | Consumed energy, -1: autopilot does not provide energy consumption estimate | | battery_remaining | int8_t | % | invalid:-1 | Remaining battery energy. Values: [0-100], -1: autopilot does not estimate the remaining battery. | | time_remaining ++ | int32_t | s | invalid:0 | Remaining battery time, 0: autopilot does not provide remaining battery time estimate | | charge_state ++ | uint8_t | | MAV_BATTERY_CHARGE_STATE | State for extent of discharge, provided by autopilot for warning or external reactions | | voltages_ext ++ | uint16_t[4] | mV | invalid:[0] | Battery voltages for cells 11 to 14. Cells above the valid cell count for this battery should have a value of 0, where zero indicates not supported (note, this is different than for the voltages field and allows empty byte truncation). If the measured value is 0 then 1 should be sent instead. | | mode ++ | uint8_t | | MAV_BATTERY_MODE | Battery mode. Default (0) is that battery mode reporting is not supported or battery is in normal-use mode. | | fault_bitmask ++ | uint32_t | | MAV_BATTERY_FAULT | Fault/health indications. These should be set when charge_state is MAV_BATTERY_CHARGE_STATE_FAILED or MAV_BATTERY_CHARGE_STATE_UNHEALTHY (if not, fault reporting is not supported). |

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    AUTOPILOT_VERSION (148)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Version and capability of autopilot software. This should be emitted in response to a request with MAV_CMD_REQUEST_MESSAGE.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    capabilitiesuint64_tMAV_PROTOCOL_CAPABILITYBitmap of capabilities
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    flight_sw_versionuint32_tFirmware version number
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    middleware_sw_versionuint32_tMiddleware version number
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    os_sw_versionuint32_tOperating system version number
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    board_versionuint32_tHW / board version (last 8 bits should be silicon ID, if any). The first 16 bits of this field specify https://github.com/PX4/PX4-Bootloader/blob/master/board_types.txt
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    flight_custom_versionuint8_t[8]Custom version field, commonly the first 8 bytes of the git hash. This is not an unique identifier, but should allow to identify the commit using the main version number even for very large code bases.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    middleware_custom_versionuint8_t[8]Custom version field, commonly the first 8 bytes of the git hash. This is not an unique identifier, but should allow to identify the commit using the main version number even for very large code bases.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    os_custom_versionuint8_t[8]Custom version field, commonly the first 8 bytes of the git hash. This is not an unique identifier, but should allow to identify the commit using the main version number even for very large code bases.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    vendor_iduint16_tID of the board vendor
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    product_iduint16_tID of the product
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    uiduint64_tUID if provided by hardware (see uid2)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    uid2 ++uint8_t[18]UID if provided by hardware (supersedes the uid field. If this is non-zero, use this field, otherwise use uid)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    LANDING_TARGET (149)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    The location of a landing target. See: https://mavlink.io/en/services/landing_target.html

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    target_numuint8_tThe ID of the target if multiple targets are present
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    frameuint8_tMAV_FRAMECoordinate frame used for following fields.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    angle_xfloatradX-axis angular offset of the target from the center of the image
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    angle_yfloatradY-axis angular offset of the target from the center of the image
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    distancefloatmDistance to the target from the vehicle

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    当前的 MAVLink 版本是 2.3。 二级版本号（点后）的范围是 1-255 。

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAVLink 枚举类型

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_AUTOPILOT

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    [Enum] 微型飞行器/自动驾驶仪类。 这里标明了每个单个模型。

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    值字段名称参数描述
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    0MAV_AUTOPILOT_GENERIC通用自动驾驶仪，完全支持所有
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1MAV_AUTOPILOT_RESERVED保留以备将来使用。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2MAV_AUTOPILOT_SLUGSSLUGS 自动驾驶仪，http://slugsuav.soe.ucsc.edu
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    3MAV_AUTOPILOT_ARDUPILOTMEGAArduPilot - Plane/Copter/Rover/Sub/Tracker, https://ardupilot.org
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    4MAV_AUTOPILOT_OPENPILOTOpenPilot，http://openpilot.org
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    5MAV_AUTOPILOT_GENERIC_WAYPOINTS_ONLYGeneric autopilot only supporting simple waypoints
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    6MAV_AUTOPILOT_GENERIC_WAYPOINTS_AND_SIMPLE_NAVIGATION_ONLYGeneric autopilot supporting waypoints and other simple navigation commands
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    7MAV_AUTOPILOT_GENERIC_MISSION_FULL支持所有任务命令的通用自动驾驶仪
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    8MAV_AUTOPILOT_INVALID没有有效的自动驾驶仪，例如地面站或其他 MAVLink 组件
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    9MAV_AUTOPILOT_PPZPPZ 无人机 - http://nongnu.org/paparazzi
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    10MAV_AUTOPILOT_UDB无人机开发板
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    11MAV_AUTOPILOT_FPFlexiPilot
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    12MAV_AUTOPILOT_PX4PX4 自动驾驶仪 - http://px4.io/
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    13MAV_AUTOPILOT_SMACCMPILOTSMACCMPilot - http://smaccmpilot.org
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    14MAV_AUTOPILOT_AUTOQUADAutoQuad -- http://autoquad.org
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    15MAV_AUTOPILOT_ARMAZILAArmazila -- http://armazila.com
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    16MAV_AUTOPILOT_AEROBAerob -- http://aerob.ru
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    17MAV_AUTOPILOT_ASLUAVASLUAV 自动驾驶仪 -- http://www.asl.ethz.ch
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    18MAV_AUTOPILOT_SMARTAPSmartAP自动驾驶仪 - http://sky-drones.com
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    19MAV_AUTOPILOT_AIRRAILSAirRails - http://uaventure.com
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    20MAV_AUTOPILOT_REFLEXFusion Reflex - https://fusion.engineering

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_TYPE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    [Enum] 在 HEARTBEAT 消息中报告的 MAVLINK 组件类型。 Flight controllers must report the type of the vehicle on which they are mounted (e.g. MAV_TYPE_OCTOROTOR). All other components must report a value appropriate for their type (e.g. a camera must use MAV_TYPE_CAMERA).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    值字段名称参数描述
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    0MAV_TYPE_GENERIC通用微型飞行器
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1MAV_TYPE_FIXED_WING固定翼。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2MAV_TYPE_QUADROTOR四旋翼
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    3MAV_TYPE_COAXIAL共轴直升机
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    4MAV_TYPE_HELICOPTER带尾桨的普通直升机。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    5MAV_TYPE_ANTENNA_TRACKER地面安装
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    6MAV_TYPE_GCS操作员控制单元/地面站
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    7MAV_TYPE_AIRSHIP可控飞艇
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    8MAV_TYPE_FREE_BALLOON不可控的热气球
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    9MAV_TYPE_ROCKET火箭
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    10MAV_TYPE_GROUND_ROVER地面小车
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    11MAV_TYPE_SURFACE_BOAT水面舰艇，小船，轮船
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    12MAV_TYPE_SUBMARINE潜艇
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    13MAV_TYPE_HEXAROTOR六旋翼
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    14MAV_TYPE_OCTOROTOR八旋翼
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    15MAV_TYPE_TRICOPTERTricopter
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    16MAV_TYPE_FLAPPING_WINGFlapping wing
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    17MAV_TYPE_KITEKite
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    18MAV_TYPE_ONBOARD_CONTROLLEROnboard companion controller
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    19MAV_TYPE_VTOL_TAILSITTER_DUOROTORTwo-rotor Tailsitter VTOL that additionally uses control surfaces in vertical operation. Note, value previously named MAV_TYPE_VTOL_DUOROTOR.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    20MAV_TYPE_VTOL_TAILSITTER_QUADROTORQuad-rotor Tailsitter VTOL using a V-shaped quad config in vertical operation. Note: value previously named MAV_TYPE_VTOL_QUADROTOR.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    21MAV_TYPE_VTOL_TILTROTORTiltrotor VTOL. Fuselage and wings stay (nominally) horizontal in all flight phases. It able to tilt (some) rotors to provide thrust in cruise flight.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    22MAV_TYPE_VTOL_FIXEDROTORVTOL with separate fixed rotors for hover and cruise flight. Fuselage and wings stay (nominally) horizontal in all flight phases.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    23MAV_TYPE_VTOL_TAILSITTERTailsitter VTOL. Fuselage and wings orientation changes depending on flight phase: vertical for hover, horizontal for cruise. Use more specific VTOL MAV_TYPE_VTOL_DUOROTOR or MAV_TYPE_VTOL_QUADROTOR if appropriate.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    24MAV_TYPE_VTOL_RESERVED4VTOL reserved 4
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    25MAV_TYPE_VTOL_RESERVED5VTOL reserved 5
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    26MAV_TYPE_GIMBALGimbal
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    27MAV_TYPE_ADSBADSB system
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    28MAV_TYPE_PARAFOILSteerable, nonrigid airfoil
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    29MAV_TYPE_DODECAROTORDodecarotor
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    30MAV_TYPE_CAMERACamera
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    31MAV_TYPE_CHARGING_STATIONCharging station
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    32MAV_TYPE_FLARMFLARM collision avoidance system
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    33MAV_TYPE_SERVOServo
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    34MAV_TYPE_ODIDOpen Drone ID. See https://mavlink.io/en/services/opendroneid.html.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    35MAV_TYPE_DECAROTORDecarotor
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    36MAV_TYPE_BATTERYBattery
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    37MAV_TYPE_PARACHUTEParachute
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    38MAV_TYPE_LOGLog
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    39MAV_TYPE_OSDOSD
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    40MAV_TYPE_IMUIMU
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    41MAV_TYPE_GPSGPS
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    42MAV_TYPE_WINCHWinch

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_MODE_FLAG

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    [Enum] These flags encode the MAV mode.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    ValueField NameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    128MAV_MODE_FLAG_SAFETY_ARMED0b10000000 MAV safety set to armed. Motors are enabled / running / can start. Ready to fly. Additional note: this flag is to be ignore when sent in the command MAV_CMD_DO_SET_MODE and MAV_CMD_COMPONENT_ARM_DISARM shall be used instead. The flag can still be used to report the armed state.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    64MAV_MODE_FLAG_MANUAL_INPUT_ENABLED0b01000000 remote control input is enabled.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    32MAV_MODE_FLAG_HIL_ENABLED0b00100000 hardware in the loop simulation. All motors / actuators are blocked, but internal software is full operational.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    16MAV_MODE_FLAG_STABILIZE_ENABLED0b00010000 system stabilizes electronically its attitude (and optionally position). It needs however further control inputs to move around.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    8MAV_MODE_FLAG_GUIDED_ENABLED0b00001000 guided mode enabled, system flies waypoints / mission items.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    4MAV_MODE_FLAG_AUTO_ENABLED0b00000100 autonomous mode enabled, system finds its own goal positions. Guided flag can be set or not, depends on the actual implementation.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2MAV_MODE_FLAG_TEST_ENABLED0b00000010 system has a test mode enabled. This flag is intended for temporary system tests and should not be used for stable implementations.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1MAV_MODE_FLAG_CUSTOM_MODE_ENABLED0b00000001 Reserved for future use.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_MODE_FLAG_DECODE_POSITION

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    [Enum] These values encode the bit positions of the decode position. These values can be used to read the value of a flag bit by combining the base_mode variable with AND with the flag position value. The result will be either 0 or 1, depending on if the flag is set or not.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    ValueField NameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    128MAV_MODE_FLAG_DECODE_POSITION_SAFETYFirst bit: 10000000
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    64MAV_MODE_FLAG_DECODE_POSITION_MANUALSecond bit: 01000000
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    32MAV_MODE_FLAG_DECODE_POSITION_HILThird bit: 00100000
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    16MAV_MODE_FLAG_DECODE_POSITION_STABILIZEFourth bit: 00010000
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    8MAV_MODE_FLAG_DECODE_POSITION_GUIDEDFifth bit: 00001000
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    4MAV_MODE_FLAG_DECODE_POSITION_AUTOSixth bit: 00000100
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2MAV_MODE_FLAG_DECODE_POSITION_TESTSeventh bit: 00000010
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1MAV_MODE_FLAG_DECODE_POSITION_CUSTOM_MODEEighth bit: 00000001

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_STATE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    [Enum]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    ValueField NameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    0MAV_STATE_UNINITUninitialized system, state is unknown.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1MAV_STATE_BOOTSystem is booting up.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2MAV_STATE_CALIBRATINGSystem is calibrating and not flight-ready.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    3MAV_STATE_STANDBYSystem is grounded and on standby. It can be launched any time.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    4MAV_STATE_ACTIVESystem is active and might be already airborne. Motors are engaged.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    5MAV_STATE_CRITICALSystem is in a non-normal flight mode. It can however still navigate.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    6MAV_STATE_EMERGENCYSystem is in a non-normal flight mode. It lost control over parts or over the whole airframe. It is in mayday and going down.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    7MAV_STATE_POWEROFFSystem just initialized its power-down sequence, will shut down now.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    8MAV_STATE_FLIGHT_TERMINATIONSystem is terminating itself.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_COMPONENT

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    [Enum] Component ids (values) for the different types and instances of onboard hardware/software that might make up a MAVLink system (autopilot, cameras, servos, GPS systems, avoidance systems etc.). Components must use the appropriate ID in their source address when sending messages. Components can also use IDs to determine if they are the intended recipient of an incoming message. The MAV_COMP_ID_ALL value is used to indicate messages that must be processed by all components. When creating new entries, components that can have multiple instances (e.g. cameras, servos etc.) should be allocated sequential values. An appropriate number of values should be left free after these components to allow the number of instances to be expanded.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    </tr></tr> </tbody> </table>

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAVLink Commands (MAV_CMD)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAVLink commands (MAV_CMD) and messages are different! These commands define the values of up to 7 parameters that are packaged INSIDE specific messages used in the Mission Protocol and Command Protocol. Use commands for actions in missions or if you need acknowledgment and/or retry logic from a request. Otherwise use messages.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAVLink Messages

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    HEARTBEAT (

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    #0

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    </a> ) </h3>

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    [Message] The heartbeat message shows that a system or component is present and responding. The type and autopilot fields (along with the message component id), allow the receiving system to treat further messages from this system appropriately (e.g. by laying out the user interface based on the autopilot). This microservice is documented at https://mavlink.io/en/services/heartbeat.html

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    ValueField NameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    0MAV_COMP_ID_ALLTarget id (target_component) used to broadcast messages to all components of the receiving system. Components should attempt to process messages with this component ID and forward to components on any other interfaces. Note: This is not a valid *source* component id for a message.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1MAV_COMP_ID_AUTOPILOT1System flight controller component ("autopilot"). Only one autopilot is expected in a particular system.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    25MAV_COMP_ID_USER1Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    26MAV_COMP_ID_USER2Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    27MAV_COMP_ID_USER3Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    28MAV_COMP_ID_USER4Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    29MAV_COMP_ID_USER5Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    30MAV_COMP_ID_USER6Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    31MAV_COMP_ID_USER7Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    32MAV_COMP_ID_USER8Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    33MAV_COMP_ID_USER9Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    34MAV_COMP_ID_USER10Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    35MAV_COMP_ID_USER11Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    36MAV_COMP_ID_USER12Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    37MAV_COMP_ID_USER13Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    38MAV_COMP_ID_USER14Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    39MAV_COMP_ID_USER15Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    40MAV_COMP_ID_USER16Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    41MAV_COMP_ID_USER17Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    42MAV_COMP_ID_USER18Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    43MAV_COMP_ID_USER19Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    44MAV_COMP_ID_USER20Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    45MAV_COMP_ID_USER21Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    46MAV_COMP_ID_USER22Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    47MAV_COMP_ID_USER23Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    48MAV_COMP_ID_USER24Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    49MAV_COMP_ID_USER25Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    50MAV_COMP_ID_USER26Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    51MAV_COMP_ID_USER27Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    52MAV_COMP_ID_USER28Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    53MAV_COMP_ID_USER29Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    54MAV_COMP_ID_USER30Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    55MAV_COMP_ID_USER31Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    56MAV_COMP_ID_USER32Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    57MAV_COMP_ID_USER33Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    58MAV_COMP_ID_USER34Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    59MAV_COMP_ID_USER35Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    60MAV_COMP_ID_USER36Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    61MAV_COMP_ID_USER37Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    62MAV_COMP_ID_USER38Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    63MAV_COMP_ID_USER39Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    64MAV_COMP_ID_USER40Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    65MAV_COMP_ID_USER41Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    66MAV_COMP_ID_USER42Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    67MAV_COMP_ID_USER43Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    68MAV_COMP_ID_TELEMETRY_RADIOTelemetry radio (e.g. SiK radio, or other component that emits RADIO_STATUS messages).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    69MAV_COMP_ID_USER45Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    70MAV_COMP_ID_USER46Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    71MAV_COMP_ID_USER47Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    72MAV_COMP_ID_USER48Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    73MAV_COMP_ID_USER49Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    74MAV_COMP_ID_USER50Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    75MAV_COMP_ID_USER51Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    76MAV_COMP_ID_USER52Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    77MAV_COMP_ID_USER53Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    78MAV_COMP_ID_USER54Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    79MAV_COMP_ID_USER55Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    80MAV_COMP_ID_USER56Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    81MAV_COMP_ID_USER57Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    82MAV_COMP_ID_USER58Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    83MAV_COMP_ID_USER59Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    84MAV_COMP_ID_USER60Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    85MAV_COMP_ID_USER61Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    86MAV_COMP_ID_USER62Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    87MAV_COMP_ID_USER63Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    88MAV_COMP_ID_USER64Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    89MAV_COMP_ID_USER65Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    90MAV_COMP_ID_USER66Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    91MAV_COMP_ID_USER67Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    92MAV_COMP_ID_USER68Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    93MAV_COMP_ID_USER69Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    94MAV_COMP_ID_USER70Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    95MAV_COMP_ID_USER71Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    96MAV_COMP_ID_USER72Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    97MAV_COMP_ID_USER73Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    98MAV_COMP_ID_USER74Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    99MAV_COMP_ID_USER75Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    100MAV_COMP_ID_CAMERACamera #1.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    101MAV_COMP_ID_CAMERA2Camera #2.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    102MAV_COMP_ID_CAMERA3Camera #3.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    103MAV_COMP_ID_CAMERA4Camera #4.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    104MAV_COMP_ID_CAMERA5Camera #5.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    105MAV_COMP_ID_CAMERA6Camera #6.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    140MAV_COMP_ID_SERVO1Servo #1.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    141MAV_COMP_ID_SERVO2Servo #2.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    142MAV_COMP_ID_SERVO3Servo #3.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    143MAV_COMP_ID_SERVO4Servo #4.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    144MAV_COMP_ID_SERVO5Servo #5.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    145MAV_COMP_ID_SERVO6Servo #6.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    146MAV_COMP_ID_SERVO7Servo #7.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    147MAV_COMP_ID_SERVO8Servo #8.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    148MAV_COMP_ID_SERVO9Servo #9.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    149MAV_COMP_ID_SERVO10Servo #10.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    150MAV_COMP_ID_SERVO11Servo #11.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    151MAV_COMP_ID_SERVO12Servo #12.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    152MAV_COMP_ID_SERVO13Servo #13.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    153MAV_COMP_ID_SERVO14Servo #14.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    154MAV_COMP_ID_GIMBALGimbal #1.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    155MAV_COMP_ID_LOGLogging component.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    156MAV_COMP_ID_ADSBAutomatic Dependent Surveillance-Broadcast (ADS-B) component.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    157MAV_COMP_ID_OSDOn Screen Display (OSD) devices for video links.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    158MAV_COMP_ID_PERIPHERALGeneric autopilot peripheral component ID. Meant for devices that do not implement the parameter microservice.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    159MAV_COMP_ID_QX1_GIMBAL

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    DEPRECATED: Replaced by MAV_COMP_ID_GIMBAL (2018-11).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    All gimbals should use MAV_COMP_ID_GIMBAL.</p> </td>

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    		Gimbal ID for QX1.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    160MAV_COMP_ID_FLARMFLARM collision alert component.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    161MAV_COMP_ID_PARACHUTEParachute component.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    171MAV_COMP_ID_GIMBAL2Gimbal #2.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    172MAV_COMP_ID_GIMBAL3Gimbal #3.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    173MAV_COMP_ID_GIMBAL4Gimbal #4
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    174MAV_COMP_ID_GIMBAL5Gimbal #5.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    175MAV_COMP_ID_GIMBAL6Gimbal #6.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    180MAV_COMP_ID_BATTERYBattery #1.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    181MAV_COMP_ID_BATTERY2Battery #2.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    189MAV_COMP_ID_MAVCANCAN over MAVLink client.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    190MAV_COMP_ID_MISSIONPLANNERComponent that can generate/supply a mission flight plan (e.g. GCS or developer API).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    191MAV_COMP_ID_ONBOARD_COMPUTERComponent that lives on the onboard computer (companion computer) and has some generic functionalities, such as settings system parameters and monitoring the status of some processes that don't directly speak mavlink and so on.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    192MAV_COMP_ID_ONBOARD_COMPUTER2Component that lives on the onboard computer (companion computer) and has some generic functionalities, such as settings system parameters and monitoring the status of some processes that don't directly speak mavlink and so on.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    193MAV_COMP_ID_ONBOARD_COMPUTER3Component that lives on the onboard computer (companion computer) and has some generic functionalities, such as settings system parameters and monitoring the status of some processes that don't directly speak mavlink and so on.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    194MAV_COMP_ID_ONBOARD_COMPUTER4Component that lives on the onboard computer (companion computer) and has some generic functionalities, such as settings system parameters and monitoring the status of some processes that don't directly speak mavlink and so on.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    195MAV_COMP_ID_PATHPLANNERComponent that finds an optimal path between points based on a certain constraint (e.g. minimum snap, shortest path, cost, etc.).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    196MAV_COMP_ID_OBSTACLE_AVOIDANCEComponent that plans a collision free path between two points.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    197MAV_COMP_ID_VISUAL_INERTIAL_ODOMETRYComponent that provides position estimates using VIO techniques.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    198MAV_COMP_ID_PAIRING_MANAGERComponent that manages pairing of vehicle and GCS.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    200MAV_COMP_ID_IMUInertial Measurement Unit (IMU) #1.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    201MAV_COMP_ID_IMU_2Inertial Measurement Unit (IMU) #2.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    202MAV_COMP_ID_IMU_3Inertial Measurement Unit (IMU) #3.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    220MAV_COMP_ID_GPSGPS #1.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    221MAV_COMP_ID_GPS2GPS #2.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    236MAV_COMP_ID_ODID_TXRX_1Open Drone ID transmitter/receiver (Bluetooth/WiFi/Internet).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    237MAV_COMP_ID_ODID_TXRX_2Open Drone ID transmitter/receiver (Bluetooth/WiFi/Internet).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    238MAV_COMP_ID_ODID_TXRX_3Open Drone ID transmitter/receiver (Bluetooth/WiFi/Internet).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    240MAV_COMP_ID_UDP_BRIDGEComponent to bridge MAVLink to UDP (i.e. from a UART).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    241MAV_COMP_ID_UART_BRIDGEComponent to bridge to UART (i.e. from UDP).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    242MAV_COMP_ID_TUNNEL_NODEComponent handling TUNNEL messages (e.g. vendor specific GUI of a component).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    250MAV_COMP_ID_SYSTEM_CONTROL

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    DEPRECATED: Replaced by MAV_COMP_ID_ALL (2018-11).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    System control does not require a separate component ID. Instead, system commands should be sent with target_component=MAV_COMP_ID_ALL allowing the target component to use any appropriate component id.</p> </td>

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    		Deprecated, don't use. Component for handling system messages (e.g. to ARM, takeoff, etc.).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    typeuint8_tMAV_TYPEVehicle or component type. For a flight controller component the vehicle type (quadrotor, helicopter, etc.). For other components the component type (e.g. camera, gimbal, etc.). This should be used in preference to component id for identifying the component type.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    autopilotuint8_tMAV_AUTOPILOTAutopilot type / class. Use MAV_AUTOPILOT_INVALID for components that are not flight controllers.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    base_modeuint8_tMAV_MODE_FLAGSystem mode bitmap.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    custom_modeuint32_tA bitfield for use for autopilot-specific flags
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    system_statusuint8_tMAV_STATESystem status flag.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    mavlink_versionuint8_t_mavlink_versionMAVLink version, not writable by user, gets added by protocol because of magic data type: uint8_t_mavlink_version

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    PROTOCOL_VERSION (

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    #300
-

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    </a> ) </h3>

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    [Message] (MAVLink 2) Version and capability of protocol version. This message can be requested with MAV_CMD_REQUEST_MESSAGE and is used as part of the handshaking to establish which MAVLink version should be used on the network. Every node should respond to a request for PROTOCOL_VERSION to enable the handshaking. Library implementers should consider adding this into the default decoding state machine to allow the protocol core to respond directly.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    versionuint16_tCurrently active MAVLink version number * 100: v1.0 is 100, v2.0 is 200, etc.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    min_versionuint16_tMinimum MAVLink version supported
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    max_versionuint16_tMaximum MAVLink version supported (set to the same value as version by default)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    spec_version_hashuint8_t[8]The first 8 bytes (not characters printed in hex!) of the git hash.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    library_version_hashuint8_t[8]The first 8 bytes (not characters printed in hex!) of the git hash.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    </body> </html> | float | rad | | Size of target along x-axis | | size_y | float | rad | | Size of target along y-axis | | x ++ | float | m | | X Position of the landing target in MAV_FRAME | | y ++ | float | m | | Y Position of the landing target in MAV_FRAME | | z ++ | float | m | | Z Position of the landing target in MAV_FRAME | | q ++ | float[4] | | | Quaternion of landing target orientation (w, x, y, z order, zero-rotation is 1, 0, 0, 0) | | type ++ | uint8_t | | LANDING_TARGET_TYPE | Type of landing target | | position_valid ++ | uint8_t | | invalid:0 | Boolean indicating whether the position fields (x, y, z, q, type) contain valid target position information (valid: 1, invalid: 0). Default is 0 (invalid). |

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    FENCE_STATUS (162)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Status of geo-fencing. Sent in extended status stream when fencing enabled.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    breach_statusuint8_tBreach status (0 if currently inside fence, 1 if outside).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    breach_countuint16_tNumber of fence breaches.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    breach_typeuint8_tFENCE_BREACHLast breach type.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    breach_timeuint32_tmsTime (since boot) of last breach.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    breach_mitigation ++uint8_tFENCE_MITIGATEActive action to prevent fence breach

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAG_CAL_REPORT (192)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Reports results of completed compass calibration. Sent until MAG_CAL_ACK received.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    compass_iduint8_tCompass being calibrated.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Messages with same value are from the same source (instance). | | cal_mask | uint8_t | | | Bitmask of compasses being calibrated. | | cal_status | uint8_t | | MAG_CAL_STATUS | Calibration Status. | | autosaved | uint8_t | | | 0=requires a MAV_CMD_DO_ACCEPT_MAG_CAL, 1=saved to parameters. | | fitness | float | mgauss | | RMS milligauss residuals. | | ofs_x | float | | | X offset. | | ofs_y | float | | | Y offset. | | ofs_z | float | | | Z offset. | | diag_x | float | | | X diagonal (matrix 11). | | diag_y | float | | | Y diagonal (matrix 22). | | diag_z | float | | | Z diagonal (matrix 33). | | offdiag_x | float | | | X off-diagonal (matrix 12 and 21). | | offdiag_y | float | | | Y off-diagonal (matrix 13 and 31). | | offdiag_z | float | | | Z off-diagonal (matrix 32 and 23). | | orientation_confidence ++ | float | | | Confidence in orientation (higher is better). | | old_orientation ++ | uint8_t | | MAV_SENSOR_ORIENTATION | orientation before calibration. | | new_orientation ++ | uint8_t | | MAV_SENSOR_ORIENTATION | orientation after calibration. | | scale_factor ++ | float | | | field radius correction factor |

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    EFI_STATUS (225)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    EFI status output

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    healthuint8_tEFI health status
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    ecu_indexfloatECU index
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    rpmfloatRPM
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    fuel_consumedfloatcm^3Fuel consumed
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    fuel_flowfloatcm^3/minFuel flow rate
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    engine_loadfloat%Engine load
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    throttle_positionfloat%Throttle position
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    spark_dwell_timefloatmsSpark dwell time
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    barometric_pressurefloatkPaBarometric pressure
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    intake_manifold_pressurefloatkPaIntake manifold pressure(
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    intake_manifold_temperaturefloatdegCIntake manifold temperature
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    cylinder_head_temperaturefloatdegCCylinder head temperature
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    ignition_timingfloatdegIgnition timing (Crank angle degrees)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    injection_timefloatmsInjection time
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    exhaust_gas_temperaturefloatdegCExhaust gas temperature
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    throttle_outfloat%Output throttle
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    pt_compensationfloatPressure/temperature compensation
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    ignition_voltage ++floatVSupply voltage to EFI sparking system. Zero in this value means "unknown", so if the supply voltage really is zero volts use 0.0001 instead.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    fuel_pressure ++floatkPaFuel pressure. Zero in this value means "unknown", so if the fuel pressure really is zero kPa use 0.0001 instead.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    ESTIMATOR_STATUS (230)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Estimator status message including flags, innovation test ratios and estimated accuracies. The flags message is an integer bitmask containing information on which EKF outputs are valid. See the ESTIMATOR_STATUS_FLAGS enum definition for further information. The innovation test ratios show the magnitude of the sensor innovation divided by the innovation check threshold. Under normal operation the innovation test ratios should be below 0.5 with occasional values up to 1.0. Values greater than 1.0 should be rare under normal operation and indicate that a measurement has been rejected by the filter. The user should be notified if an innovation test ratio greater than 1.0 is recorded. Notifications for values in the range between 0.5 and 1.0 should be optional and controllable by the user.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    flagsuint16_tESTIMATOR_STATUS_FLAGSBitmap indicating which EKF outputs are valid.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    vel_ratiofloatVelocity innovation test ratio
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    pos_horiz_ratiofloatHorizontal position innovation test ratio
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    pos_vert_ratiofloatVertical position innovation test ratio
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    mag_ratiofloatMagnetometer innovation test ratio
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    hagl_ratiofloatHeight above terrain innovation test ratio
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    tas_ratiofloatTrue airspeed innovation test ratio
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    pos_horiz_accuracyfloatmHorizontal position 1-STD accuracy relative to the EKF local origin
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    pos_vert_accuracyfloatmVertical position 1-STD accuracy relative to the EKF local origin

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    WIND_COV (231)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Wind estimate from vehicle. Note that despite the name, this message does not actually contain any covariances but instead variability and accuracy fields in terms of standard deviation (1-STD).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    wind_xfloatm/sWind in North (NED) direction (NAN if unknown)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    wind_yfloatm/sWind in East (NED) direction (NAN if unknown)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    wind_zfloatm/sWind in down (NED) direction (NAN if unknown)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    var_horizfloatm/sVariability of wind in XY, 1-STD estimated from a 1 Hz lowpassed wind estimate (NAN if unknown)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    var_vertfloatm/sVariability of wind in Z, 1-STD estimated from a 1 Hz lowpassed wind estimate (NAN if unknown)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    wind_altfloatmAltitude (MSL) that this measurement was taken at (NAN if unknown)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    horiz_accuracyfloatm/sHorizontal speed 1-STD accuracy (0 if unknown)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    vert_accuracyfloatm/sVertical speed 1-STD accuracy (0 if unknown)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    GPS_INPUT (232)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    GPS sensor input message. This is a raw sensor value sent by the GPS. This is NOT the global position estimate of the system.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    gps_iduint8_tID of the GPS for multiple GPS inputs

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Messages with same value are from the same source (instance). | | ignore_flags | uint16_t | | GPS_INPUT_IGNORE_FLAGS | Bitmap indicating which GPS input flags fields to ignore. All other fields must be provided. | | time_week_ms | uint32_t | ms | | GPS time (from start of GPS week) | | time_week | uint16_t | | | GPS week number | | fix_type | uint8_t | | | 0-1: no fix, 2: 2D fix, 3: 3D fix. 4: 3D with DGPS. 5: 3D with RTK | | lat | int32_t | degE7 | | Latitude (WGS84) | | lon | int32_t | degE7 | | Longitude (WGS84) | | alt | float | m | | Altitude (MSL). Positive for up. | | hdop | float | | invalid:UINT16_MAX | GPS HDOP horizontal dilution of position (unitless). If unknown, set to: UINT16_MAX | | vdop | float | | invalid:UINT16_MAX | GPS VDOP vertical dilution of position (unitless). If unknown, set to: UINT16_MAX | | vn | float | m/s | | GPS velocity in north direction in earth-fixed NED frame | | ve | float | m/s | | GPS velocity in east direction in earth-fixed NED frame | | vd | float | m/s | | GPS velocity in down direction in earth-fixed NED frame | | speed_accuracy | float | m/s | | GPS speed accuracy | | horiz_accuracy | float | m | | GPS horizontal accuracy | | vert_accuracy | float | m | | GPS vertical accuracy | | satellites_visible | uint8_t | | | Number of satellites visible. | | yaw ++ | uint16_t | cdeg | | Yaw of vehicle relative to Earth's North, zero means not available, use 36000 for north |

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    GPS_RTCM_DATA (233)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    RTCM message for injecting into the onboard GPS (used for DGPS)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    flagsuint8_tLSB: 1 means message is fragmented, next 2 bits are the fragment ID, the remaining 5 bits are used for the sequence ID. Messages are only to be flushed to the GPS when the entire message has been reconstructed on the autopilot. The fragment ID specifies which order the fragments should be assembled into a buffer, while the sequence ID is used to detect a mismatch between different buffers. The buffer is considered fully reconstructed when either all 4 fragments are present, or all the fragments before the first fragment with a non full payload is received. This management is used to ensure that normal GPS operation doesn't corrupt RTCM data, and to recover from a unreliable transport delivery order.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    lenuint8_tbytesdata length
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    datauint8_t[180]RTCM message (may be fragmented)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    HIGH_LATENCY (234) — [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    DEPRECATED: Replaced By HIGH_LATENCY2 (2020-10)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Message appropriate for high latency connections like Iridium

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    base_modeuint8_tMAV_MODE_FLAGBitmap of enabled system modes.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    custom_modeuint32_tA bitfield for use for autopilot-specific flags.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    landed_stateuint8_tMAV_LANDED_STATEThe landed state. Is set to MAV_LANDED_STATE_UNDEFINED if landed state is unknown.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    rollint16_tcdegroll
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    pitchint16_tcdegpitch
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    headinguint16_tcdegheading
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    throttleint8_t%throttle (percentage)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    heading_spint16_tcdegheading setpoint
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    latitudeint32_tdegE7Latitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    longitudeint32_tdegE7Longitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    altitude_amslint16_tmAltitude above mean sea level
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    altitude_spint16_tmAltitude setpoint relative to the home position
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    airspeeduint8_tm/sairspeed
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    airspeed_spuint8_tm/sairspeed setpoint
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    groundspeeduint8_tm/sgroundspeed
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    climb_rateint8_tm/sclimb rate
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    gps_nsatuint8_tinvalid:UINT8_MAXNumber of satellites visible. If unknown, set to UINT8_MAX
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    gps_fix_typeuint8_tGPS_FIX_TYPEGPS Fix type.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    battery_remaininguint8_t%Remaining battery (percentage)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    temperatureint8_tdegCAutopilot temperature (degrees C)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    temperature_airint8_tdegCAir temperature (degrees C) from airspeed sensor
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    failsafeuint8_tfailsafe (each bit represents a failsafe where 0=ok, 1=failsafe active (bit0:RC, bit1:batt, bit2:GPS, bit3:GCS, bit4:fence)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    wp_numuint8_tcurrent waypoint number
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    wp_distanceuint16_tmdistance to target

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    HIGH_LATENCY2 (235)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Message appropriate for high latency connections like Iridium (version 2)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    timestampuint32_tmsTimestamp (milliseconds since boot or Unix epoch)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    typeuint8_tMAV_TYPEType of the MAV (quadrotor, helicopter, etc.)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    autopilotuint8_tMAV_AUTOPILOTAutopilot type / class. Use MAV_AUTOPILOT_INVALID for components that are not flight controllers.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    custom_modeuint16_tA bitfield for use for autopilot-specific flags (2 byte version).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    latitudeint32_tdegE7Latitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    longitudeint32_tdegE7Longitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    altitudeint16_tmAltitude above mean sea level
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    target_altitudeint16_tmAltitude setpoint
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    headinguint8_tdeg/2Heading
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    target_headinguint8_tdeg/2Heading setpoint
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    target_distanceuint16_tdamDistance to target waypoint or position
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    throttleuint8_t%Throttle
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    airspeeduint8_tm/s*5Airspeed
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    airspeed_spuint8_tm/s*5Airspeed setpoint
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    groundspeeduint8_tm/s*5Groundspeed
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    windspeeduint8_tm/s*5Windspeed
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    wind_headinguint8_tdeg/2Wind heading
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    ephuint8_tdmMaximum error horizontal position since last message
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    epvuint8_tdmMaximum error vertical position since last message
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    temperature_airint8_tdegCAir temperature from airspeed sensor
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    climb_rateint8_tdm/sMaximum climb rate magnitude since last message
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    batteryint8_t%invalid:-1Battery level (-1 if field not provided).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    wp_numuint16_tCurrent waypoint number
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    failure_flagsuint16_tHL_FAILURE_FLAGBitmap of failure flags.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    custom0int8_tField for custom payload.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    custom1int8_tField for custom payload.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    custom2int8_tField for custom payload.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    VIBRATION (241)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Vibration levels and accelerometer clipping

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    vibration_xfloatVibration levels on X-axis
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    vibration_yfloatVibration levels on Y-axis
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    vibration_zfloatVibration levels on Z-axis
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    clipping_0uint32_tfirst accelerometer clipping count
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    clipping_1uint32_tsecond accelerometer clipping count
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    clipping_2uint32_tthird accelerometer clipping count

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    HOME_POSITION (242)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Contains the home position. The home position is the default position that the system will return to and land on. The position must be set automatically by the system during the takeoff, and may also be explicitly set using MAV_CMD_DO_SET_HOME. The global and local positions encode the position in the respective coordinate frames, while the q parameter encodes the orientation of the surface. Under normal conditions it describes the heading and terrain slope, which can be used by the aircraft to adjust the approach. The approach 3D vector describes the point to which the system should fly in normal flight mode and then perform a landing sequence along the vector. Note: this message can be requested by sending the MAV_CMD_REQUEST_MESSAGE with param1=242 (or the deprecated MAV_CMD_GET_HOME_POSITION command).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    latitudeint32_tdegE7Latitude (WGS84)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    longitudeint32_tdegE7Longitude (WGS84)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    altitudeint32_tmmAltitude (MSL). Positive for up.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    xfloatmLocal X position of this position in the local coordinate frame (NED)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    yfloatmLocal Y position of this position in the local coordinate frame (NED)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    zfloatmLocal Z position of this position in the local coordinate frame (NED: positive "down")
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    qfloat[4]Quaternion indicating world-to-surface-normal and heading transformation of the takeoff position.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Used to indicate the heading and slope of the ground.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    All fields should be set to NaN if an accurate quaternion for both heading and surface slope cannot be supplied. | | approach_x | float | m | Local X position of the end of the approach vector. Multicopters should set this position based on their takeoff path. Grass-landing fixed wing aircraft should set it the same way as multicopters. Runway-landing fixed wing aircraft should set it to the opposite direction of the takeoff, assuming the takeoff happened from the threshold / touchdown zone. | | approach_y | float | m | Local Y position of the end of the approach vector. Multicopters should set this position based on their takeoff path. Grass-landing fixed wing aircraft should set it the same way as multicopters. Runway-landing fixed wing aircraft should set it to the opposite direction of the takeoff, assuming the takeoff happened from the threshold / touchdown zone. | | approach_z | float | m | Local Z position of the end of the approach vector. Multicopters should set this position based on their takeoff path. Grass-landing fixed wing aircraft should set it the same way as multicopters. Runway-landing fixed wing aircraft should set it to the opposite direction of the takeoff, assuming the takeoff happened from the threshold / touchdown zone. | | time_usec ++ | uint64_t | us | Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number. |

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    SET_HOME_POSITION (243) — [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    DEPRECATED: Replaced By MAV_CMD_DO_SET_HOME (2022-02) — The command protocol version (MAV_CMD_DO_SET_HOME) allows a GCS to detect when setting the home position has failed.)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Sets the home position. The home position is the default position that the system will return to and land on. The position is set automatically by the system during the takeoff (and may also be set using this message). The global and local positions encode the position in the respective coordinate frames, while the q parameter encodes the orientation of the surface. Under normal conditions it describes the heading and terrain slope, which can be used by the aircraft to adjust the approach. The approach 3D vector describes the point to which the system should fly in normal flight mode and then perform a landing sequence along the vector. Note: the current home position may be emitted in a HOME_POSITION message on request (using MAV_CMD_REQUEST_MESSAGE with param1=242).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    target_systemuint8_tSystem ID.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    latitudeint32_tdegE7Latitude (WGS84)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    longitudeint32_tdegE7Longitude (WGS84)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    altitudeint32_tmmAltitude (MSL). Positive for up.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    xfloatmLocal X position of this position in the local coordinate frame (NED)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    yfloatmLocal Y position of this position in the local coordinate frame (NED)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    zfloatmLocal Z position of this position in the local coordinate frame (NED: positive "down")
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    qfloat[4]World to surface normal and heading transformation of the takeoff position. Used to indicate the heading and slope of the ground
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    approach_xfloatmLocal X position of the end of the approach vector. Multicopters should set this position based on their takeoff path. Grass-landing fixed wing aircraft should set it the same way as multicopters. Runway-landing fixed wing aircraft should set it to the opposite direction of the takeoff, assuming the takeoff happened from the threshold / touchdown zone.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    approach_yfloatmLocal Y position of the end of the approach vector. Multicopters should set this position based on their takeoff path. Grass-landing fixed wing aircraft should set it the same way as multicopters. Runway-landing fixed wing aircraft should set it to the opposite direction of the takeoff, assuming the takeoff happened from the threshold / touchdown zone.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    approach_zfloatmLocal Z position of the end of the approach vector. Multicopters should set this position based on their takeoff path. Grass-landing fixed wing aircraft should set it the same way as multicopters. Runway-landing fixed wing aircraft should set it to the opposite direction of the takeoff, assuming the takeoff happened from the threshold / touchdown zone.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    time_usec ++uint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MESSAGE_INTERVAL (244)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    The interval between messages for a particular MAVLink message ID. This message is sent in response to the MAV_CMD_REQUEST_MESSAGE command with param1=244 (this message) and param2=message_id (the id of the message for which the interval is required). It may also be sent in response to MAV_CMD_GET_MESSAGE_INTERVAL. This interface replaces DATA_STREAM.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    message_iduint16_tThe ID of the requested MAVLink message. v1.0 is limited to 254 messages.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    interval_usint32_tusThe interval between two messages. A value of -1 indicates this stream is disabled, 0 indicates it is not available, > 0 indicates the interval at which it is sent.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    EXTENDED_SYS_STATE (245)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Provides state for additional features

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    vtol_stateuint8_tMAV_VTOL_STATEThe VTOL state if applicable. Is set to MAV_VTOL_STATE_UNDEFINED if UAV is not in VTOL configuration.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    landed_stateuint8_tMAV_LANDED_STATEThe landed state. Is set to MAV_LANDED_STATE_UNDEFINED if landed state is unknown.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    ADSB_VEHICLE (246)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    The location and information of an ADSB vehicle

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    ICAO_addressuint32_tICAO address
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    latint32_tdegE7Latitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    lonint32_tdegE7Longitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    altitude_typeuint8_tADSB_ALTITUDE_TYPEADSB altitude type.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    altitudeint32_tmmAltitude(ASL)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    headinguint16_tcdegCourse over ground
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    hor_velocityuint16_tcm/sThe horizontal velocity
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    ver_velocityint16_tcm/sThe vertical velocity. Positive is up
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    callsignchar[9]The callsign, 8+null
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    emitter_typeuint8_tADSB_EMITTER_TYPEADSB emitter type.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    tslcuint8_tsTime since last communication in seconds
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    flagsuint16_tADSB_FLAGSBitmap to indicate various statuses including valid data fields
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    squawkuint16_tSquawk code. Note that the code is in decimal: e.g. 7700 (general emergency) is encoded as binary 0b0001_1110_0001_0100, not(!) as 0b0000_111_111_000_000

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    COLLISION (247)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Information about a potential collision

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    srcuint8_tMAV_COLLISION_SRCCollision data source
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    iduint32_tUnique identifier, domain based on src field
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    actionuint8_tMAV_COLLISION_ACTIONAction that is being taken to avoid this collision
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    threat_leveluint8_tMAV_COLLISION_THREAT_LEVELHow concerned the aircraft is about this collision
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    time_to_minimum_deltafloatsEstimated time until collision occurs
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    altitude_minimum_deltafloatmClosest vertical distance between vehicle and object
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    horizontal_minimum_deltafloatmClosest horizontal distance between vehicle and object

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    V2_EXTENSION (248)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Message implementing parts of the V2 payload specs in V1 frames for transitional support.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    target_networkuint8_tNetwork ID (0 for broadcast)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    target_systemuint8_tSystem ID (0 for broadcast)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    target_componentuint8_tComponent ID (0 for broadcast)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    message_typeuint16_tA code that identifies the software component that understands this message (analogous to USB device classes or mime type strings). If this code is less than 32768, it is considered a 'registered' protocol extension and the corresponding entry should be added to https://github.com/mavlink/mavlink/definition_files/extension_message_ids.xml. Software creators can register blocks of message IDs as needed (useful for GCS specific metadata, etc...). Message_types greater than 32767 are considered local experiments and should not be checked in to any widely distributed codebase.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    payloaduint8_t[249]Variable length payload. The length must be encoded in the payload as part of the message_type protocol, e.g. by including the length as payload data, or by terminating the payload data with a non-zero marker. This is required in order to reconstruct zero-terminated payloads that are (or otherwise would be) trimmed by MAVLink 2 empty-byte truncation. The entire content of the payload block is opaque unless you understand the encoding message_type. The particular encoding used can be extension specific and might not always be documented as part of the MAVLink specification.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MEMORY_VECT (249)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Send raw controller memory. The use of this message is discouraged for normal packets, but a quite efficient way for testing new messages and getting experimental debug output.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    addressuint16_tStarting address of the debug variables
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    veruint8_tVersion code of the type variable. 0=unknown, type ignored and assumed int16_t. 1=as below
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    typeuint8_tType code of the memory variables. for ver = 1: 0=16 x int16_t, 1=16 x uint16_t, 2=16 x Q15, 3=16 x 1Q14
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    valueint8_t[32]Memory contents at specified address

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    DEBUG_VECT (250)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    To debug something using a named 3D vector.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    namechar[10]Name

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Messages with same value are from the same source (instance). | | time_usec | uint64_t | us | Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number. | | x | float | | x | | y | float | | y | | z | float | | z |

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    NAMED_VALUE_FLOAT (251)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Send a key-value pair as float. The use of this message is discouraged for normal packets, but a quite efficient way for testing new messages and getting experimental debug output.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    time_boot_msuint32_tmsTimestamp (time since system boot).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    namechar[10]Name of the debug variable

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Messages with same value are from the same source (instance). | | value | float | | Floating point value |

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    NAMED_VALUE_INT (252)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Send a key-value pair as integer. The use of this message is discouraged for normal packets, but a quite efficient way for testing new messages and getting experimental debug output.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    time_boot_msuint32_tmsTimestamp (time since system boot).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    namechar[10]Name of the debug variable

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Messages with same value are from the same source (instance). | | value | int32_t | | Signed integer value |

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    STATUSTEXT (253)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Status text message. These messages are printed in yellow in the COMM console of QGroundControl. WARNING: They consume quite some bandwidth, so use only for important status and error messages. If implemented wisely, these messages are buffered on the MCU and sent only at a limited rate (e.g. 10 Hz).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    severityuint8_tMAV_SEVERITYSeverity of status. Relies on the definitions within RFC-5424.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    textchar[50]Status text message, without null termination character
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    id ++uint16_tUnique (opaque) identifier for this statustext message. May be used to reassemble a logical long-statustext message from a sequence of chunks. A value of zero indicates this is the only chunk in the sequence and the message can be emitted immediately.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    chunk_seq ++uint8_tThis chunk's sequence number; indexing is from zero. Any null character in the text field is taken to mean this was the last chunk.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    DEBUG (254)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Send a debug value. The index is used to discriminate between values. These values show up in the plot of QGroundControl as DEBUG N.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    time_boot_msuint32_tmsTimestamp (time since system boot).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    induint8_tindex of debug variable
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    valuefloatDEBUG value

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    SETUP_SIGNING (256)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Setup a MAVLink2 signing key. If called with secret_key of all zero and zero initial_timestamp will disable signing

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    target_systemuint8_tsystem id of the target
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    target_componentuint8_tcomponent ID of the target
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    secret_keyuint8_t[32]signing key
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    initial_timestampuint64_tinitial timestamp

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    BUTTON_CHANGE (257)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Report button state change.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    time_boot_msuint32_tmsTimestamp (time since system boot).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    last_change_msuint32_tmsTime of last change of button state.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    stateuint8_tBitmap for state of buttons.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    PLAY_TUNE (258) — [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    DEPRECATED: Replaced By PLAY_TUNE_V2 (2019-10) — New version explicitly defines format. More interoperable.)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Control vehicle tone generation (buzzer).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    target_systemuint8_tSystem ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    target_componentuint8_tComponent ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    tunechar[30]tune in board specific format
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    tune2 ++char[200]tune extension (appended to tune)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    CAMERA_INFORMATION (259)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Information about a camera. Can be requested with a MAV_CMD_REQUEST_MESSAGE command.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    time_boot_msuint32_tmsTimestamp (time since system boot).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    vendor_nameuint8_t[32]Name of the camera vendor
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    model_nameuint8_t[32]Name of the camera model
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    firmware_versionuint32_tinvalid:0Version of the camera firmware, encoded as: (Dev & 0xff) << 24(Patch & 0xff) << 16(Minor & 0xff) << 8(Major & 0xff). Use 0 if not known.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    focal_lengthfloatmminvalid:NaNFocal length. Use NaN if not known.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    sensor_size_hfloatmminvalid:NaNImage sensor size horizontal. Use NaN if not known.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    sensor_size_vfloatmminvalid:NaNImage sensor size vertical. Use NaN if not known.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    resolution_huint16_tpixinvalid:0Horizontal image resolution. Use 0 if not known.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    resolution_vuint16_tpixinvalid:0Vertical image resolution. Use 0 if not known.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    lens_iduint8_tinvalid:0Reserved for a lens ID. Use 0 if not known.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    flagsuint32_tCAMERA_CAP_FLAGSBitmap of camera capability flags.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    cam_definition_versionuint16_tCamera definition version (iteration). Use 0 if not known.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    cam_definition_urichar[140]Camera definition URI (if any, otherwise only basic functions will be available). HTTP- (http://) and MAVLink FTP- (mavlinkftp://) formatted URIs are allowed (and both must be supported by any GCS that implements the Camera Protocol). The definition file may be xz compressed, which will be indicated by the file extension .xml.xz (a GCS that implements the protocol must support decompressing the file). The string needs to be zero terminated. Use a zero-length string if not known.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    gimbal_device_id ++uint8_tinvalid:0Gimbal id of a gimbal associated with this camera. This is the component id of the gimbal device, or 1-6 for non mavlink gimbals. Use 0 if no gimbal is associated with the camera.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    camera_device_id ++uint8_tdefault:0 min:0 max:6Camera id of a non-MAVLink camera attached to an autopilot (1-6). 0 if the component is a MAVLink camera (with its own component id).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    CAMERA_SETTINGS (260)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Settings of a camera. Can be requested with a MAV_CMD_REQUEST_MESSAGE command.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    time_boot_msuint32_tmsTimestamp (time since system boot).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    mode_iduint8_tCAMERA_MODECamera mode
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    zoomLevel ++floatinvalid:NaNCurrent zoom level as a percentage of the full range (0.0 to 100.0, NaN if not known)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    focusLevel ++floatinvalid:NaNCurrent focus level as a percentage of the full range (0.0 to 100.0, NaN if not known)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    camera_device_id ++uint8_tdefault:0 min:0 max:6Camera id of a non-MAVLink camera attached to an autopilot (1-6). 0 if the component is a MAVLink camera (with its own component id).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    STORAGE_INFORMATION (261)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Information about a storage medium. This message is sent in response to a request with MAV_CMD_REQUEST_MESSAGE and whenever the status of the storage changes (STORAGE_STATUS). Use MAV_CMD_REQUEST_MESSAGE.param2 to indicate the index/id of requested storage: 0 for all, 1 for first, 2 for second, etc.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    time_boot_msuint32_tmsTimestamp (time since system boot).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    storage_iduint8_tStorage ID (1 for first, 2 for second, etc.)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Messages with same value are from the same source (instance). | | storage_count | uint8_t | | | Number of storage devices | | status | uint8_t | | STORAGE_STATUS | Status of storage | | total_capacity | float | MiB | | Total capacity. If storage is not ready (STORAGE_STATUS_READY) value will be ignored. | | used_capacity | float | MiB | | Used capacity. If storage is not ready (STORAGE_STATUS_READY) value will be ignored. | | available_capacity | float | MiB | | Available storage capacity. If storage is not ready (STORAGE_STATUS_READY) value will be ignored. | | read_speed | float | MiB/s | | Read speed. | | write_speed | float | MiB/s | | Write speed. | | type ++ | uint8_t | | STORAGE_TYPE | Type of storage | | name ++ | char[32] | | | Textual storage name to be used in UI (microSD 1, Internal Memory, etc.) This is a NULL terminated string. If it is exactly 32 characters long, add a terminating NULL. If this string is empty, the generic type is shown to the user. | | storage_usage ++ | uint8_t | | STORAGE_USAGE_FLAG | Flags indicating whether this instance is preferred storage for photos, videos, etc.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Note: Implementations should initially set the flags on the system-default storage id used for saving media (if possible/supported).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    This setting can then be overridden using MAV_CMD_SET_STORAGE_USAGE.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    If the media usage flags are not set, a GCS may assume storage ID 1 is the default storage for all media types. |

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    CAMERA_CAPTURE_STATUS (262)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Information about the status of a capture. Can be requested with a MAV_CMD_REQUEST_MESSAGE command.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    time_boot_msuint32_tmsTimestamp (time since system boot).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    image_statusuint8_tCurrent status of image capturing (0: idle, 1: capture in progress, 2: interval set but idle, 3: interval set and capture in progress)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    video_statusuint8_tCurrent status of video capturing (0: idle, 1: capture in progress)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    image_intervalfloatsImage capture interval
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    recording_time_msuint32_tmsElapsed time since recording started (0: Not supported/available). A GCS should compute recording time and use non-zero values of this field to correct any discrepancy.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    available_capacityfloatMiBAvailable storage capacity.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    image_count ++int32_tTotal number of images captured ('forever', or until reset using MAV_CMD_STORAGE_FORMAT).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    camera_device_id ++uint8_tCamera id of a non-MAVLink camera attached to an autopilot (1-6). 0 if the component is a MAVLink camera (with its own component id).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    CAMERA_IMAGE_CAPTURED (263)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Information about a captured image. This is emitted every time a message is captured.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_REQUEST_MESSAGE can be used to (re)request this message for a specific sequence number or range of sequence numbers: MAV_CMD_REQUEST_MESSAGE.param2 indicates the sequence number the first image to send, or set to -1 to send the message for all sequence numbers. MAV_CMD_REQUEST_MESSAGE.param3 is used to specify a range of messages to send: set to 0 (default) to send just the the message for the sequence number in param 2, set to -1 to send the message for the sequence number in param 2 and all the following sequence numbers, set to the sequence number of the final message in the range.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    time_boot_msuint32_tmsTimestamp (time since system boot).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    time_utcuint64_tusTimestamp (time since UNIX epoch) in UTC. 0 for unknown.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    camera_iduint8_tDeprecated/unused. Component IDs are used to differentiate multiple cameras.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    latint32_tdegE7Latitude where image was taken
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    lonint32_tdegE7Longitude where capture was taken
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    altint32_tmmAltitude (MSL) where image was taken
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    relative_altint32_tmmAltitude above ground
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    qfloat[4]Quaternion of camera orientation (w, x, y, z order, zero-rotation is 1, 0, 0, 0)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    image_indexint32_tZero based index of this image (i.e. a new image will have index CAMERA_CAPTURE_STATUS.image count -1)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    capture_resultint8_tBoolean indicating success (1) or failure (0) while capturing this image.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    file_urlchar[205]URL of image taken. Either local storage or http://foo.jpg if camera provides an HTTP interface.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    FLIGHT_INFORMATION (264)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Flight information.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    This includes time since boot for arm, takeoff, and land, and a flight number. Takeoff and landing values reset to zero on arm. This can be requested using MAV_CMD_REQUEST_MESSAGE. Note, some fields are misnamed - timestamps are from boot (not UTC) and the flight_uuid is a sequence number.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    time_boot_msuint32_tmsTimestamp (time since system boot).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    arming_time_utcuint64_tusTimestamp at arming (since system boot). Set to 0 on boot. Set value on arming. Note, field is misnamed UTC.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    takeoff_time_utcuint64_tusTimestamp at takeoff (since system boot). Set to 0 at boot and on arming. Note, field is misnamed UTC.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    flight_uuiduint64_tFlight number. Note, field is misnamed UUID.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    landing_time ++uint32_tmsTimestamp at landing (in ms since system boot). Set to 0 at boot and on arming.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MOUNT_ORIENTATION (265) — [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    DEPRECATED: Replaced By MAV_CMD_DO_GIMBAL_MANAGER_PITCHYAW (2020-01) — This message is being superseded by MAV_CMD_DO_GIMBAL_MANAGER_PITCHYAW. The message can still be used to communicate with legacy gimbals implementing it.)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Orientation of a mount

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    time_boot_msuint32_tmsTimestamp (time since system boot).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    rollfloatdegRoll in global frame (set to NaN for invalid).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    pitchfloatdegPitch in global frame (set to NaN for invalid).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    yawfloatdegYaw relative to vehicle (set to NaN for invalid).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    yaw_absolute ++floatdegYaw in absolute frame relative to Earth's North, north is 0 (set to NaN for invalid).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    LOGGING_DATA (266)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    A message containing logged data (see also MAV_CMD_LOGGING_START)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    target_systemuint8_tsystem ID of the target
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    target_componentuint8_tcomponent ID of the target
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    sequenceuint16_tsequence number (can wrap)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    lengthuint8_tbytesdata length
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    first_message_offsetuint8_tbytesoffset into data where first message starts. This can be used for recovery, when a previous message got lost (set to UINT8_MAX if no start exists).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    datauint8_t[249]logged data

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    LOGGING_DATA_ACKED (267)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    A message containing logged data which requires a LOGGING_ACK to be sent back

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    target_systemuint8_tsystem ID of the target
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    target_componentuint8_tcomponent ID of the target
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    sequenceuint16_tsequence number (can wrap)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    lengthuint8_tbytesdata length
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    first_message_offsetuint8_tbytesoffset into data where first message starts. This can be used for recovery, when a previous message got lost (set to UINT8_MAX if no start exists).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    datauint8_t[249]logged data

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    LOGGING_ACK (268)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    An ack for a LOGGING_DATA_ACKED message

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    target_systemuint8_tsystem ID of the target
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    target_componentuint8_tcomponent ID of the target
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    sequenceuint16_tsequence number (must match the one in LOGGING_DATA_ACKED)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    VIDEO_STREAM_INFORMATION (269)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Information about video stream. It may be requested using MAV_CMD_REQUEST_MESSAGE, where param2 indicates the video stream id: 0 for all streams, 1 for first, 2 for second, etc.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    stream_iduint8_tVideo Stream ID (1 for first, 2 for second, etc.)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Messages with same value are from the same source (instance). | | count | uint8_t | | | Number of streams available. | | type | uint8_t | | VIDEO_STREAM_TYPE | Type of stream. | | flags | uint16_t | | VIDEO_STREAM_STATUS_FLAGS | Bitmap of stream status flags. | | framerate | float | Hz | | Frame rate. | | resolution_h | uint16_t | pix | | Horizontal resolution. | | resolution_v | uint16_t | pix | | Vertical resolution. | | bitrate | uint32_t | bits/s | | Bit rate. | | rotation | uint16_t | deg | | Video image rotation clockwise. | | hfov | uint16_t | deg | | Horizontal Field of view. | | name | char[32] | | | Stream name. | | uri | char[160] | | | Video stream URI (TCP or RTSP URI ground station should connect to) or port number (UDP port ground station should listen to). | | encoding ++ | uint8_t | | VIDEO_STREAM_ENCODING | Encoding of stream. | | camera_device_id ++ | uint8_t | | default:0 min:0 max:6 | Camera id of a non-MAVLink camera attached to an autopilot (1-6). 0 if the component is a MAVLink camera (with its own component id). |

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    VIDEO_STREAM_STATUS (270)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Information about the status of a video stream. It may be requested using MAV_CMD_REQUEST_MESSAGE.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    stream_iduint8_tVideo Stream ID (1 for first, 2 for second, etc.)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Messages with same value are from the same source (instance). | | flags | uint16_t | | VIDEO_STREAM_STATUS_FLAGS | Bitmap of stream status flags | | framerate | float | Hz | | Frame rate | | resolution_h | uint16_t | pix | | Horizontal resolution | | resolution_v | uint16_t | pix | | Vertical resolution | | bitrate | uint32_t | bits/s | | Bit rate | | rotation | uint16_t | deg | | Video image rotation clockwise | | hfov | uint16_t | deg | | Horizontal Field of view | | camera_device_id ++ | uint8_t | | default:0 min:0 max:6 | Camera id of a non-MAVLink camera attached to an autopilot (1-6). 0 if the component is a MAVLink camera (with its own component id). |

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    CAMERA_FOV_STATUS (271)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Information about the field of view of a camera. Can be requested with a MAV_CMD_REQUEST_MESSAGE command.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    time_boot_msuint32_tmsTimestamp (time since system boot).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    lat_cameraint32_tdegE7Latitude of camera (INT32_MAX if unknown).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    lon_cameraint32_tdegE7Longitude of camera (INT32_MAX if unknown).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    alt_cameraint32_tmmAltitude (MSL) of camera (INT32_MAX if unknown).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    lat_imageint32_tdegE7Latitude of center of image (INT32_MAX if unknown, INT32_MIN if at infinity, not intersecting with horizon).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    lon_imageint32_tdegE7Longitude of center of image (INT32_MAX if unknown, INT32_MIN if at infinity, not intersecting with horizon).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    alt_imageint32_tmmAltitude (MSL) of center of image (INT32_MAX if unknown, INT32_MIN if at infinity, not intersecting with horizon).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    qfloat[4]Quaternion of camera orientation (w, x, y, z order, zero-rotation is 1, 0, 0, 0)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    hfovfloatdegHorizontal field of view (NaN if unknown).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    vfovfloatdegVertical field of view (NaN if unknown).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    camera_device_id ++uint8_tCamera id of a non-MAVLink camera attached to an autopilot (1-6). 0 if the component is a MAVLink camera (with its own component id).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    CAMERA_TRACKING_IMAGE_STATUS (275)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Camera tracking status, sent while in active tracking. Use MAV_CMD_SET_MESSAGE_INTERVAL to define message interval.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    tracking_statusuint8_tCAMERA_TRACKING_STATUS_FLAGSCurrent tracking status
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    tracking_modeuint8_tCAMERA_TRACKING_MODECurrent tracking mode
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    target_datauint8_tCAMERA_TRACKING_TARGET_DATADefines location of target data
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    point_xfloatinvalid:NaNCurrent tracked point x value if CAMERA_TRACKING_MODE_POINT (normalized 0..1, 0 is left, 1 is right), NAN if unknown
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    point_yfloatinvalid:NaNCurrent tracked point y value if CAMERA_TRACKING_MODE_POINT (normalized 0..1, 0 is top, 1 is bottom), NAN if unknown
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    radiusfloatinvalid:NaNCurrent tracked radius if CAMERA_TRACKING_MODE_POINT (normalized 0..1, 0 is image left, 1 is image right), NAN if unknown
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    rec_top_xfloatinvalid:NaNCurrent tracked rectangle top x value if CAMERA_TRACKING_MODE_RECTANGLE (normalized 0..1, 0 is left, 1 is right), NAN if unknown
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    rec_top_yfloatinvalid:NaNCurrent tracked rectangle top y value if CAMERA_TRACKING_MODE_RECTANGLE (normalized 0..1, 0 is top, 1 is bottom), NAN if unknown
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    rec_bottom_xfloatinvalid:NaNCurrent tracked rectangle bottom x value if CAMERA_TRACKING_MODE_RECTANGLE (normalized 0..1, 0 is left, 1 is right), NAN if unknown
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    rec_bottom_yfloatinvalid:NaNCurrent tracked rectangle bottom y value if CAMERA_TRACKING_MODE_RECTANGLE (normalized 0..1, 0 is top, 1 is bottom), NAN if unknown
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    camera_device_id ++uint8_tdefault:0 min:0 max:6Camera id of a non-MAVLink camera attached to an autopilot (1-6). 0 if the component is a MAVLink camera (with its own component id).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    CAMERA_TRACKING_GEO_STATUS (276)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Camera tracking status, sent while in active tracking. Use MAV_CMD_SET_MESSAGE_INTERVAL to define message interval.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    tracking_statusuint8_tCAMERA_TRACKING_STATUS_FLAGSCurrent tracking status
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    latint32_tdegE7Latitude of tracked object
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    lonint32_tdegE7Longitude of tracked object
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    altfloatmAltitude of tracked object(AMSL, WGS84)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    h_accfloatminvalid:NaNHorizontal accuracy. NAN if unknown
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    v_accfloatminvalid:NaNVertical accuracy. NAN if unknown
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    vel_nfloatm/sinvalid:NaNNorth velocity of tracked object. NAN if unknown
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    vel_efloatm/sinvalid:NaNEast velocity of tracked object. NAN if unknown
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    vel_dfloatm/sinvalid:NaNDown velocity of tracked object. NAN if unknown
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    vel_accfloatm/sinvalid:NaNVelocity accuracy. NAN if unknown
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    distfloatminvalid:NaNDistance between camera and tracked object. NAN if unknown
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    hdgfloatradinvalid:NaNHeading in radians, in NED. NAN if unknown
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    hdg_accfloatradinvalid:NaNAccuracy of heading, in NED. NAN if unknown
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    camera_device_id ++uint8_tdefault:0 min:0 max:6Camera id of a non-MAVLink camera attached to an autopilot (1-6). 0 if the component is a MAVLink camera (with its own component id).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    CAMERA_THERMAL_RANGE (277) — [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Camera absolute thermal range. This can be streamed when the associated VIDEO_STREAM_STATUS flag field bit VIDEO_STREAM_STATUS_FLAGS_THERMAL_RANGE_ENABLED is set, but a GCS may choose to only request it for the current active stream. Use MAV_CMD_SET_MESSAGE_INTERVAL to define message interval (param3 indicates the stream id of the current camera, or 0 for all streams, param4 indicates the target camera_device_id for autopilot-attached cameras or 0 for MAVLink cameras).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    time_boot_msuint32_tmsTimestamp (time since system boot).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    stream_iduint8_tVideo Stream ID (1 for first, 2 for second, etc.)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Messages with same value are from the same source (instance). | | camera_device_id | uint8_t | | Camera id of a non-MAVLink camera attached to an autopilot (1-6). 0 if the component is a MAVLink camera (with its own component id). | | max | float | degC | Temperature max. | | max_point_x | float | | Temperature max point x value (normalized 0..1, 0 is left, 1 is right), NAN if unknown. | | max_point_y | float | | Temperature max point y value (normalized 0..1, 0 is top, 1 is bottom), NAN if unknown. | | min | float | degC | Temperature min. | | min_point_x | float | | Temperature min point x value (normalized 0..1, 0 is left, 1 is right), NAN if unknown. | | min_point_y | float | | Temperature min point y value (normalized 0..1, 0 is top, 1 is bottom), NAN if unknown. |

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    GIMBAL_MANAGER_INFORMATION (280)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Information about a high level gimbal manager. This message should be requested by a ground station using MAV_CMD_REQUEST_MESSAGE.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    time_boot_msuint32_tmsTimestamp (time since system boot).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    cap_flagsuint32_tGIMBAL_MANAGER_CAP_FLAGSBitmap of gimbal capability flags.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    gimbal_device_iduint8_tGimbal device ID that this gimbal manager is responsible for. Component ID of gimbal device (or 1-6 for non-MAVLink gimbal).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Messages with same value are from the same source (instance). | | roll_min | float | rad | | Minimum hardware roll angle (positive: rolling to the right, negative: rolling to the left) | | roll_max | float | rad | | Maximum hardware roll angle (positive: rolling to the right, negative: rolling to the left) | | pitch_min | float | rad | | Minimum pitch angle (positive: up, negative: down) | | pitch_max | float | rad | | Maximum pitch angle (positive: up, negative: down) | | yaw_min | float | rad | | Minimum yaw angle (positive: to the right, negative: to the left) | | yaw_max | float | rad | | Maximum yaw angle (positive: to the right, negative: to the left) |

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    GIMBAL_MANAGER_STATUS (281)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Current status about a high level gimbal manager. This message should be broadcast at a low regular rate (e.g. 5Hz).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    time_boot_msuint32_tmsTimestamp (time since system boot).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    flagsuint32_tGIMBAL_MANAGER_FLAGSHigh level gimbal manager flags currently applied.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    gimbal_device_iduint8_tGimbal device ID that this gimbal manager is responsible for. Component ID of gimbal device (or 1-6 for non-MAVLink gimbal).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Messages with same value are from the same source (instance). | | primary_control_sysid | uint8_t | | | System ID of MAVLink component with primary control, 0 for none. | | primary_control_compid | uint8_t | | | Component ID of MAVLink component with primary control, 0 for none. | | secondary_control_sysid | uint8_t | | | System ID of MAVLink component with secondary control, 0 for none. | | secondary_control_compid | uint8_t | | | Component ID of MAVLink component with secondary control, 0 for none. |

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    GIMBAL_MANAGER_SET_ATTITUDE (282)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    High level message to control a gimbal's attitude. This message is to be sent to the gimbal manager (e.g. from a ground station). Angles and rates can be set to NaN according to use case.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    target_systemuint8_tSystem ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    target_componentuint8_tComponent ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    flagsuint32_tGIMBAL_MANAGER_FLAGSHigh level gimbal manager flags to use.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    gimbal_device_iduint8_tComponent ID of gimbal device to address (or 1-6 for non-MAVLink gimbal), 0 for all gimbal device components. Send command multiple times for more than one gimbal (but not all gimbals).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Messages with same value are from the same source (instance). | | q | float[4] | | | Quaternion components, w, x, y, z (1 0 0 0 is the null-rotation, the frame is depends on whether the flag GIMBAL_MANAGER_FLAGS_YAW_LOCK is set) | | angular_velocity_x | float | rad/s | invalid:NaN | X component of angular velocity, positive is rolling to the right, NaN to be ignored. | | angular_velocity_y | float | rad/s | invalid:NaN | Y component of angular velocity, positive is pitching up, NaN to be ignored. | | angular_velocity_z | float | rad/s | invalid:NaN | Z component of angular velocity, positive is yawing to the right, NaN to be ignored. |

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    GIMBAL_DEVICE_INFORMATION (283)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Information about a low level gimbal. This message should be requested by the gimbal manager or a ground station using MAV_CMD_REQUEST_MESSAGE. The maximum angles and rates are the limits by hardware. However, the limits by software used are likely different/smaller and dependent on mode/settings/etc..

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    time_boot_msuint32_tmsTimestamp (time since system boot).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    vendor_namechar[32]Name of the gimbal vendor.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    model_namechar[32]Name of the gimbal model.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    custom_namechar[32]Custom name of the gimbal given to it by the user.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    firmware_versionuint32_tVersion of the gimbal firmware, encoded as: (Dev & 0xff) << 24(Patch & 0xff) << 16(Minor & 0xff) << 8(Major & 0xff).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    hardware_versionuint32_tVersion of the gimbal hardware, encoded as: (Dev & 0xff) << 24(Patch & 0xff) << 16(Minor & 0xff) << 8(Major & 0xff).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    uiduint64_tinvalid:0UID of gimbal hardware (0 if unknown).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    cap_flagsuint16_tGIMBAL_DEVICE_CAP_FLAGSBitmap of gimbal capability flags.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    custom_cap_flagsuint16_tBitmap for use for gimbal-specific capability flags.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    roll_minfloatradinvalid:NaNMinimum hardware roll angle (positive: rolling to the right, negative: rolling to the left). NAN if unknown.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    roll_maxfloatradinvalid:NaNMaximum hardware roll angle (positive: rolling to the right, negative: rolling to the left). NAN if unknown.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    pitch_minfloatradinvalid:NaNMinimum hardware pitch angle (positive: up, negative: down). NAN if unknown.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    pitch_maxfloatradinvalid:NaNMaximum hardware pitch angle (positive: up, negative: down). NAN if unknown.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    yaw_minfloatradinvalid:NaNMinimum hardware yaw angle (positive: to the right, negative: to the left). NAN if unknown.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    yaw_maxfloatradinvalid:NaNMaximum hardware yaw angle (positive: to the right, negative: to the left). NAN if unknown.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    gimbal_device_id ++uint8_tinvalid:0This field is to be used if the gimbal manager and the gimbal device are the same component and hence have the same component ID. This field is then set to a number between 1-6. If the component ID is separate, this field is not required and must be set to 0.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    GIMBAL_DEVICE_SET_ATTITUDE (284)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Low level message to control a gimbal device's attitude.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    This message is to be sent from the gimbal manager to the gimbal device component. The quaternion and angular velocities can be set to NaN according to use case. For the angles encoded in the quaternion and the angular velocities holds: If the flag GIMBAL_DEVICE_FLAGS_YAW_IN_VEHICLE_FRAME is set, then they are relative to the vehicle heading (vehicle frame). If the flag GIMBAL_DEVICE_FLAGS_YAW_IN_EARTH_FRAME is set, then they are relative to absolute North (earth frame). If neither of these flags are set, then (for backwards compatibility) it holds: If the flag GIMBAL_DEVICE_FLAGS_YAW_LOCK is set, then they are relative to absolute North (earth frame), else they are relative to the vehicle heading (vehicle frame). Setting both GIMBAL_DEVICE_FLAGS_YAW_IN_VEHICLE_FRAME and GIMBAL_DEVICE_FLAGS_YAW_IN_EARTH_FRAME is not allowed. These rules are to ensure backwards compatibility. New implementations should always set either GIMBAL_DEVICE_FLAGS_YAW_IN_VEHICLE_FRAME or GIMBAL_DEVICE_FLAGS_YAW_IN_EARTH_FRAME.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    target_systemuint8_tSystem ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    target_componentuint8_tComponent ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    flagsuint16_tGIMBAL_DEVICE_FLAGSLow level gimbal flags.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    qfloat[4]invalid:[NaN]Quaternion components, w, x, y, z (1 0 0 0 is the null-rotation). The frame is described in the message description. Set fields to NaN to be ignored.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    angular_velocity_xfloatrad/sinvalid:NaNX component of angular velocity (positive: rolling to the right). The frame is described in the message description. NaN to be ignored.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    angular_velocity_yfloatrad/sinvalid:NaNY component of angular velocity (positive: pitching up). The frame is described in the message description. NaN to be ignored.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    angular_velocity_zfloatrad/sinvalid:NaNZ component of angular velocity (positive: yawing to the right). The frame is described in the message description. NaN to be ignored.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    GIMBAL_DEVICE_ATTITUDE_STATUS (285)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Message reporting the status of a gimbal device.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    This message should be broadcast by a gimbal device component at a low regular rate (e.g. 5 Hz). For the angles encoded in the quaternion and the angular velocities holds: If the flag GIMBAL_DEVICE_FLAGS_YAW_IN_VEHICLE_FRAME is set, then they are relative to the vehicle heading (vehicle frame). If the flag GIMBAL_DEVICE_FLAGS_YAW_IN_EARTH_FRAME is set, then they are relative to absolute North (earth frame). If neither of these flags are set, then (for backwards compatibility) it holds: If the flag GIMBAL_DEVICE_FLAGS_YAW_LOCK is set, then they are relative to absolute North (earth frame), else they are relative to the vehicle heading (vehicle frame). Other conditions of the flags are not allowed. The quaternion and angular velocities in the other frame can be calculated from delta_yaw and delta_yaw_velocity as q_earth = q_delta_yaw * q_vehicle and w_earth = w_delta_yaw_velocity + w_vehicle (if not NaN). If neither the GIMBAL_DEVICE_FLAGS_YAW_IN_VEHICLE_FRAME nor the GIMBAL_DEVICE_FLAGS_YAW_IN_EARTH_FRAME flag is set, then (for backwards compatibility) the data in the delta_yaw and delta_yaw_velocity fields are to be ignored. New implementations should always set either GIMBAL_DEVICE_FLAGS_YAW_IN_VEHICLE_FRAME or GIMBAL_DEVICE_FLAGS_YAW_IN_EARTH_FRAME, and always should set delta_yaw and delta_yaw_velocity either to the proper value or NaN.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    target_systemuint8_tSystem ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    target_componentuint8_tComponent ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    time_boot_msuint32_tmsTimestamp (time since system boot).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    flagsuint16_tGIMBAL_DEVICE_FLAGSCurrent gimbal flags set.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    qfloat[4]Quaternion components, w, x, y, z (1 0 0 0 is the null-rotation). The frame is described in the message description.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    angular_velocity_xfloatrad/sinvalid:NaNX component of angular velocity (positive: rolling to the right). The frame is described in the message description. NaN if unknown.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    angular_velocity_yfloatrad/sinvalid:NaNY component of angular velocity (positive: pitching up). The frame is described in the message description. NaN if unknown.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    angular_velocity_zfloatrad/sinvalid:NaNZ component of angular velocity (positive: yawing to the right). The frame is described in the message description. NaN if unknown.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    failure_flagsuint32_tGIMBAL_DEVICE_ERROR_FLAGSFailure flags (0 for no failure)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    delta_yaw ++floatradinvalid:NANYaw angle relating the quaternions in earth and body frames (see message description). NaN if unknown.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    delta_yaw_velocity ++floatrad/sinvalid:NANYaw angular velocity relating the angular velocities in earth and body frames (see message description). NaN if unknown.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    gimbal_device_id ++uint8_tinvalid:0This field is to be used if the gimbal manager and the gimbal device are the same component and hence have the same component ID. This field is then set a number between 1-6. If the component ID is separate, this field is not required and must be set to 0.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    AUTOPILOT_STATE_FOR_GIMBAL_DEVICE (286)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Low level message containing autopilot state relevant for a gimbal device. This message is to be sent from the autopilot to the gimbal device component. The data of this message are for the gimbal device's estimator corrections, in particular horizon compensation, as well as indicates autopilot control intentions, e.g. feed forward angular control in the z-axis.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    target_systemuint8_tSystem ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    target_componentuint8_tComponent ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    time_boot_usuint64_tusTimestamp (time since system boot).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    qfloat[4]Quaternion components of autopilot attitude: w, x, y, z (1 0 0 0 is the null-rotation, Hamilton convention).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    q_estimated_delay_usuint32_tusinvalid:0Estimated delay of the attitude data. 0 if unknown.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    vxfloatm/sinvalid:NaNX Speed in NED (North, East, Down). NAN if unknown.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    vyfloatm/sinvalid:NaNY Speed in NED (North, East, Down). NAN if unknown.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    vzfloatm/sinvalid:NaNZ Speed in NED (North, East, Down). NAN if unknown.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    v_estimated_delay_usuint32_tusinvalid:0Estimated delay of the speed data. 0 if unknown.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    feed_forward_angular_velocity_zfloatrad/sinvalid:NaNFeed forward Z component of angular velocity (positive: yawing to the right). NaN to be ignored. This is to indicate if the autopilot is actively yawing.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    estimator_statusuint16_tESTIMATOR_STATUS_FLAGSBitmap indicating which estimator outputs are valid.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    landed_stateuint8_tinvalid:MAV_LANDED_STATE_UNDEFINED MAV_LANDED_STATEThe landed state. Is set to MAV_LANDED_STATE_UNDEFINED if landed state is unknown.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    angular_velocity_z ++floatrad/sinvalid:NaNZ component of angular velocity in NED (North, East, Down). NaN if unknown.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    GIMBAL_MANAGER_SET_PITCHYAW (287)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Set gimbal manager pitch and yaw angles (high rate message). This message is to be sent to the gimbal manager (e.g. from a ground station) and will be ignored by gimbal devices. Angles and rates can be set to NaN according to use case. Use MAV_CMD_DO_GIMBAL_MANAGER_PITCHYAW for low-rate adjustments that require confirmation.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    target_systemuint8_tSystem ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    target_componentuint8_tComponent ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    flagsuint32_tGIMBAL_MANAGER_FLAGSHigh level gimbal manager flags to use.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    gimbal_device_iduint8_tComponent ID of gimbal device to address (or 1-6 for non-MAVLink gimbal), 0 for all gimbal device components. Send command multiple times for more than one gimbal (but not all gimbals).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Messages with same value are from the same source (instance). | | pitch | float | rad | invalid:NaN | Pitch angle (positive: up, negative: down, NaN to be ignored). | | yaw | float | rad | invalid:NaN | Yaw angle (positive: to the right, negative: to the left, NaN to be ignored). | | pitch_rate | float | rad/s | invalid:NaN | Pitch angular rate (positive: up, negative: down, NaN to be ignored). | | yaw_rate | float | rad/s | invalid:NaN | Yaw angular rate (positive: to the right, negative: to the left, NaN to be ignored). |

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    GIMBAL_MANAGER_SET_MANUAL_CONTROL (288)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    High level message to control a gimbal manually. The angles or angular rates are unitless; the actual rates will depend on internal gimbal manager settings/configuration (e.g. set by parameters). This message is to be sent to the gimbal manager (e.g. from a ground station). Angles and rates can be set to NaN according to use case.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    target_systemuint8_tSystem ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    target_componentuint8_tComponent ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    flagsuint32_tGIMBAL_MANAGER_FLAGSHigh level gimbal manager flags.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    gimbal_device_iduint8_tComponent ID of gimbal device to address (or 1-6 for non-MAVLink gimbal), 0 for all gimbal device components. Send command multiple times for more than one gimbal (but not all gimbals).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Messages with same value are from the same source (instance). | | pitch | float | invalid:NaN | Pitch angle unitless (-1..1, positive: up, negative: down, NaN to be ignored). | | yaw | float | invalid:NaN | Yaw angle unitless (-1..1, positive: to the right, negative: to the left, NaN to be ignored). | | pitch_rate | float | invalid:NaN | Pitch angular rate unitless (-1..1, positive: up, negative: down, NaN to be ignored). | | yaw_rate | float | invalid:NaN | Yaw angular rate unitless (-1..1, positive: to the right, negative: to the left, NaN to be ignored). |

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    ESC_INFO (290) — [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    ESC information for lower rate streaming. Recommended streaming rate 1Hz. See ESC_STATUS for higher-rate ESC data.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    indexuint8_tIndex of the first ESC in this message. minValue = 0, maxValue = 60, increment = 4.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Messages with same value are from the same source (instance). | | time_usec | uint64_t | us | | Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude the number. | | counter | uint16_t | | | Counter of data packets received. | | count | uint8_t | | | Total number of ESCs in all messages of this type. Message fields with an index higher than this should be ignored because they contain invalid data. | | connection_type | uint8_t | | ESC_CONNECTION_TYPE | Connection type protocol for all ESC. | | info | uint8_t | | | Information regarding online/offline status of each ESC. | | failure_flags | uint16_t[4] | | ESC_FAILURE_FLAGS | Bitmap of ESC failure flags. | | error_count | uint32_t[4] | | | Number of reported errors by each ESC since boot. | | temperature | int16_t[4] | cdegC | invalid:[INT16_MAX] | Temperature of each ESC. INT16_MAX: if data not supplied by ESC. |

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    ESC_STATUS (291) — [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    ESC information for higher rate streaming. Recommended streaming rate is ~10 Hz. Information that changes more slowly is sent in ESC_INFO. It should typically only be streamed on high-bandwidth links (i.e. to a companion computer).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    indexuint8_tIndex of the first ESC in this message. minValue = 0, maxValue = 60, increment = 4.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Messages with same value are from the same source (instance). | | time_usec | uint64_t | us | Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude the number. | | rpm | int32_t[4] | rpm | Reported motor RPM from each ESC (negative for reverse rotation). | | voltage | float[4] | V | Voltage measured from each ESC. | | current | float[4] | A | Current measured from each ESC. |

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    WIFI_CONFIG_AP (299)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Configure WiFi AP SSID, password, and mode. This message is re-emitted as an acknowledgement by the AP. The message may also be explicitly requested using MAV_CMD_REQUEST_MESSAGE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    ssidchar[32]Name of Wi-Fi network (SSID). Blank to leave it unchanged when setting. Current SSID when sent back as a response.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    passwordchar[64]Password. Blank for an open AP. MD5 hash when message is sent back as a response.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    mode ++int8_tWIFI_CONFIG_AP_MODEWiFi Mode.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    response ++int8_tWIFI_CONFIG_AP_RESPONSEMessage acceptance response (sent back to GS).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    PROTOCOL_VERSION (300) — [from: minimal] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Version and capability of protocol version. This message can be requested with MAV_CMD_REQUEST_MESSAGE and is used as part of the handshaking to establish which MAVLink version should be used on the network. Every node should respond to a request for PROTOCOL_VERSION to enable the handshaking. Library implementers should consider adding this into the default decoding state machine to allow the protocol core to respond directly.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    versionuint16_tCurrently active MAVLink version number * 100: v1.0 is 100, v2.0 is 200, etc.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    min_versionuint16_tMinimum MAVLink version supported
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    max_versionuint16_tMaximum MAVLink version supported (set to the same value as version by default)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    spec_version_hashuint8_t[8]The first 8 bytes (not characters printed in hex!) of the git hash.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    library_version_hashuint8_t[8]The first 8 bytes (not characters printed in hex!) of the git hash.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    AIS_VESSEL (301)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    The location and information of an AIS vessel

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MMSIuint32_tMobile Marine Service Identifier, 9 decimal digits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    latint32_tdegE7Latitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    lonint32_tdegE7Longitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    COGuint16_tcdegCourse over ground
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    headinguint16_tcdegTrue heading
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    velocityuint16_tcm/sSpeed over ground
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    turn_rateint8_tcdeg/sTurn rate
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    navigational_statusuint8_tAIS_NAV_STATUSNavigational status
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    typeuint8_tAIS_TYPEType of vessels
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    dimension_bowuint16_tmDistance from lat/lon location to bow
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    dimension_sternuint16_tmDistance from lat/lon location to stern
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    dimension_portuint8_tmDistance from lat/lon location to port side
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    dimension_starboarduint8_tmDistance from lat/lon location to starboard side
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    callsignchar[7]The vessel callsign
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    namechar[20]The vessel name
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    tslcuint16_tsTime since last communication in seconds
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    flagsuint16_tAIS_FLAGSBitmask to indicate various statuses including valid data fields

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    UAVCAN_NODE_STATUS (310)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    General status information of an UAVCAN node. Please refer to the definition of the UAVCAN message "uavcan.protocol.NodeStatus" for the background information. The UAVCAN specification is available at http://uavcan.org.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    uptime_secuint32_tsTime since the start-up of the node.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    healthuint8_tUAVCAN_NODE_HEALTHGeneralized node health status.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    modeuint8_tUAVCAN_NODE_MODEGeneralized operating mode.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    sub_modeuint8_tNot used currently.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    vendor_specific_status_codeuint16_tVendor-specific status information.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    UAVCAN_NODE_INFO (311)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    General information describing a particular UAVCAN node. Please refer to the definition of the UAVCAN service "uavcan.protocol.GetNodeInfo" for the background information. This message should be emitted by the system whenever a new node appears online, or an existing node reboots. Additionally, it can be emitted upon request from the other end of the MAVLink channel (see MAV_CMD_UAVCAN_GET_NODE_INFO). It is also not prohibited to emit this message unconditionally at a low frequency. The UAVCAN specification is available at http://uavcan.org.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    uptime_secuint32_tsTime since the start-up of the node.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    namechar[80]Node name string. For example, "sapog.px4.io".
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    hw_version_majoruint8_tHardware major version number.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    hw_version_minoruint8_tHardware minor version number.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    hw_unique_iduint8_t[16]Hardware unique 128-bit ID.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    sw_version_majoruint8_tSoftware major version number.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    sw_version_minoruint8_tSoftware minor version number.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    sw_vcs_commituint32_tVersion control system (VCS) revision identifier (e.g. git short commit hash). 0 if unknown.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    PARAM_EXT_REQUEST_READ (320)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Request to read the value of a parameter with either the param_id string id or param_index. PARAM_EXT_VALUE should be emitted in response.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    target_systemuint8_tSystem ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    target_componentuint8_tComponent ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    param_idchar[16]Parameter id, terminated by NULL if the length is less than 16 human-readable chars and WITHOUT null termination (NULL) byte if the length is exactly 16 chars - applications have to provide 16+1 bytes storage if the ID is stored as string
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    param_indexint16_tParameter index. Set to -1 to use the Parameter ID field as identifier (else param_id will be ignored)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    PARAM_EXT_REQUEST_LIST (321)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Request all parameters of this component. All parameters should be emitted in response as PARAM_EXT_VALUE.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    target_systemuint8_tSystem ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    target_componentuint8_tComponent ID

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    PARAM_EXT_VALUE (322)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Emit the value of a parameter. The inclusion of param_count and param_index in the message allows the recipient to keep track of received parameters and allows them to re-request missing parameters after a loss or timeout.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    param_idchar[16]Parameter id, terminated by NULL if the length is less than 16 human-readable chars and WITHOUT null termination (NULL) byte if the length is exactly 16 chars - applications have to provide 16+1 bytes storage if the ID is stored as string
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    param_valuechar[128]Parameter value
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    param_typeuint8_tMAV_PARAM_EXT_TYPEParameter type.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    param_countuint16_tTotal number of parameters
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    param_indexuint16_tIndex of this parameter

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    PARAM_EXT_SET (323)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Set a parameter value. In order to deal with message loss (and retransmission of PARAM_EXT_SET), when setting a parameter value and the new value is the same as the current value, you will immediately get a PARAM_ACK_ACCEPTED response. If the current state is PARAM_ACK_IN_PROGRESS, you will accordingly receive a PARAM_ACK_IN_PROGRESS in response.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    target_systemuint8_tSystem ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    target_componentuint8_tComponent ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    param_idchar[16]Parameter id, terminated by NULL if the length is less than 16 human-readable chars and WITHOUT null termination (NULL) byte if the length is exactly 16 chars - applications have to provide 16+1 bytes storage if the ID is stored as string
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    param_valuechar[128]Parameter value
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    param_typeuint8_tMAV_PARAM_EXT_TYPEParameter type.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    PARAM_EXT_ACK (324)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Response from a PARAM_EXT_SET message.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    param_idchar[16]Parameter id, terminated by NULL if the length is less than 16 human-readable chars and WITHOUT null termination (NULL) byte if the length is exactly 16 chars - applications have to provide 16+1 bytes storage if the ID is stored as string
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    param_valuechar[128]Parameter value (new value if PARAM_ACK_ACCEPTED, current value otherwise)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    param_typeuint8_tMAV_PARAM_EXT_TYPEParameter type.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    param_resultuint8_tPARAM_ACKResult code.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    OBSTACLE_DISTANCE (330)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Obstacle distances in front of the sensor, starting from the left in increment degrees to the right

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    sensor_typeuint8_tMAV_DISTANCE_SENSORClass id of the distance sensor type.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    distancesuint16_t[72]cminvalid:[UINT16_MAX]Distance of obstacles around the vehicle with index 0 corresponding to north + angle_offset, unless otherwise specified in the frame. A value of 0 is valid and means that the obstacle is practically touching the sensor. A value of max_distance +1 means no obstacle is present. A value of UINT16_MAX for unknown/not used. In a array element, one unit corresponds to 1cm.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    incrementuint8_tdegAngular width in degrees of each array element. Increment direction is clockwise. This field is ignored if increment_f is non-zero.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    min_distanceuint16_tcmMinimum distance the sensor can measure.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    max_distanceuint16_tcmMaximum distance the sensor can measure.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    increment_f ++floatdegAngular width in degrees of each array element as a float. If non-zero then this value is used instead of the uint8_t increment field. Positive is clockwise direction, negative is counter-clockwise.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    angle_offset ++floatdegRelative angle offset of the 0-index element in the distances array. Value of 0 corresponds to forward. Positive is clockwise direction, negative is counter-clockwise.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    frame ++uint8_tMAV_FRAMECoordinate frame of reference for the yaw rotation and offset of the sensor data. Defaults to MAV_FRAME_GLOBAL, which is north aligned. For body-mounted sensors use MAV_FRAME_BODY_FRD, which is vehicle front aligned.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    ODOMETRY (331)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Odometry message to communicate odometry information with an external interface. Fits ROS REP 147 standard for aerial vehicles (http://www.ros.org/reps/rep-0147.html).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    frame_iduint8_tMAV_FRAMECoordinate frame of reference for the pose data.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    child_frame_iduint8_tMAV_FRAMECoordinate frame of reference for the velocity in free space (twist) data.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    xfloatmX Position
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    yfloatmY Position
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    zfloatmZ Position
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    qfloat[4]Quaternion components, w, x, y, z (1 0 0 0 is the null-rotation)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    vxfloatm/sX linear speed
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    vyfloatm/sY linear speed
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    vzfloatm/sZ linear speed
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    rollspeedfloatrad/sRoll angular speed
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    pitchspeedfloatrad/sPitch angular speed
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    yawspeedfloatrad/sYaw angular speed
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    pose_covariancefloat[21]invalid:[NaN:]Row-major representation of a 6x6 pose cross-covariance matrix upper right triangle (states: x, y, z, roll, pitch, yaw; first six entries are the first ROW, next five entries are the second ROW, etc.). If unknown, assign NaN value to first element in the array.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    velocity_covariancefloat[21]invalid:[NaN:]Row-major representation of a 6x6 velocity cross-covariance matrix upper right triangle (states: vx, vy, vz, rollspeed, pitchspeed, yawspeed; first six entries are the first ROW, next five entries are the second ROW, etc.). If unknown, assign NaN value to first element in the array.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    reset_counter ++uint8_tEstimate reset counter. This should be incremented when the estimate resets in any of the dimensions (position, velocity, attitude, angular speed). This is designed to be used when e.g an external SLAM system detects a loop-closure and the estimate jumps.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    estimator_type ++uint8_tMAV_ESTIMATOR_TYPEType of estimator that is providing the odometry.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    quality ++int8_t%invalid:0Optional odometry quality metric as a percentage. -1 = odometry has failed, 0 = unknown/unset quality, 1 = worst quality, 100 = best quality

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    TRAJECTORY_REPRESENTATION_WAYPOINTS (332)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Describe a trajectory using an array of up-to 5 waypoints in the local frame (MAV_FRAME_LOCAL_NED).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    valid_pointsuint8_tNumber of valid points (up-to 5 waypoints are possible)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    pos_xfloat[5]minvalid:[NaN]X-coordinate of waypoint, set to NaN if not being used
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    pos_yfloat[5]minvalid:[NaN]Y-coordinate of waypoint, set to NaN if not being used
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    pos_zfloat[5]minvalid:[NaN]Z-coordinate of waypoint, set to NaN if not being used
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    vel_xfloat[5]m/sinvalid:[NaN]X-velocity of waypoint, set to NaN if not being used
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    vel_yfloat[5]m/sinvalid:[NaN]Y-velocity of waypoint, set to NaN if not being used
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    vel_zfloat[5]m/sinvalid:[NaN]Z-velocity of waypoint, set to NaN if not being used
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    acc_xfloat[5]m/s/sinvalid:[NaN]X-acceleration of waypoint, set to NaN if not being used
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    acc_yfloat[5]m/s/sinvalid:[NaN]Y-acceleration of waypoint, set to NaN if not being used
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    acc_zfloat[5]m/s/sinvalid:[NaN]Z-acceleration of waypoint, set to NaN if not being used
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    pos_yawfloat[5]radinvalid:[NaN]Yaw angle, set to NaN if not being used
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    vel_yawfloat[5]rad/sinvalid:[NaN]Yaw rate, set to NaN if not being used
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    commanduint16_t[5]invalid:[UINT16_MAX] MAV_CMDMAV_CMD command id of waypoint, set to UINT16_MAX if not being used.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    TRAJECTORY_REPRESENTATION_BEZIER (333)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Describe a trajectory using an array of up-to 5 bezier control points in the local frame (MAV_FRAME_LOCAL_NED).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    valid_pointsuint8_tNumber of valid control points (up-to 5 points are possible)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    pos_xfloat[5]mX-coordinate of bezier control points. Set to NaN if not being used
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    pos_yfloat[5]mY-coordinate of bezier control points. Set to NaN if not being used
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    pos_zfloat[5]mZ-coordinate of bezier control points. Set to NaN if not being used
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    deltafloat[5]sBezier time horizon. Set to NaN if velocity/acceleration should not be incorporated
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    pos_yawfloat[5]radYaw. Set to NaN for unchanged

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    CELLULAR_STATUS (334)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Report current used cellular network status

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    statusuint8_tCELLULAR_STATUS_FLAGCellular modem status
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    failure_reasonuint8_tCELLULAR_NETWORK_FAILED_REASONFailure reason when status in in CELLULAR_STATUS_FLAG_FAILED
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    typeuint8_tCELLULAR_NETWORK_RADIO_TYPECellular network radio type: gsm, cdma, lte...
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    qualityuint8_tinvalid:UINT8_MAXSignal quality in percent. If unknown, set to UINT8_MAX
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    mccuint16_tinvalid:UINT16_MAXMobile country code. If unknown, set to UINT16_MAX
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    mncuint16_tinvalid:UINT16_MAXMobile network code. If unknown, set to UINT16_MAX
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    lacuint16_tinvalid:0Location area code. If unknown, set to 0

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Status of the Iridium SBD link.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    timestampuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    last_heartbeatuint64_tusTimestamp of the last successful sbd session. The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    failed_sessionsuint16_tNumber of failed SBD sessions.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    successful_sessionsuint16_tNumber of successful SBD sessions.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    signal_qualityuint8_tSignal quality equal to the number of bars displayed on the ISU signal strength indicator. Range is 0 to 5, where 0 indicates no signal and 5 indicates maximum signal strength.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    ring_pendinguint8_t1: Ring call pending, 0: No call pending.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    tx_session_pendinguint8_t1: Transmission session pending, 0: No transmission session pending.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    rx_session_pendinguint8_t1: Receiving session pending, 0: No receiving session pending.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    CELLULAR_CONFIG (336)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Configure cellular modems.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    This message is re-emitted as an acknowledgement by the modem. The message may also be explicitly requested using MAV_CMD_REQUEST_MESSAGE.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    enable_lteuint8_tEnable/disable LTE. 0: setting unchanged, 1: disabled, 2: enabled. Current setting when sent back as a response.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    enable_pinuint8_tEnable/disable PIN on the SIM card. 0: setting unchanged, 1: disabled, 2: enabled. Current setting when sent back as a response.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    pinchar[16]PIN sent to the SIM card. Blank when PIN is disabled. Empty when message is sent back as a response.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    new_pinchar[16]New PIN when changing the PIN. Blank to leave it unchanged. Empty when message is sent back as a response.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    apnchar[32]Name of the cellular APN. Blank to leave it unchanged. Current APN when sent back as a response.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    pukchar[16]Required PUK code in case the user failed to authenticate 3 times with the PIN. Empty when message is sent back as a response.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    roaminguint8_tEnable/disable roaming. 0: setting unchanged, 1: disabled, 2: enabled. Current setting when sent back as a response.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    responseuint8_tCELLULAR_CONFIG_RESPONSEMessage acceptance response (sent back to GS).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    RAW_RPM (339)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    RPM sensor data message.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    indexuint8_tIndex of this RPM sensor (0-indexed)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    frequencyfloatrpmIndicated rate

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    UTM_GLOBAL_POSITION (340)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    The global position resulting from GPS and sensor fusion.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    timeuint64_tusTime of applicability of position (microseconds since UNIX epoch).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    uas_iduint8_t[18]Unique UAS ID.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    latint32_tdegE7Latitude (WGS84)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    lonint32_tdegE7Longitude (WGS84)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    altint32_tmmAltitude (WGS84)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    relative_altint32_tmmAltitude above ground
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    vxint16_tcm/sGround X speed (latitude, positive north)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    vyint16_tcm/sGround Y speed (longitude, positive east)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    vzint16_tcm/sGround Z speed (altitude, positive down)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    h_accuint16_tmmHorizontal position uncertainty (standard deviation)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    v_accuint16_tmmAltitude uncertainty (standard deviation)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    vel_accuint16_tcm/sSpeed uncertainty (standard deviation)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    next_latint32_tdegE7Next waypoint, latitude (WGS84)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    next_lonint32_tdegE7Next waypoint, longitude (WGS84)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    next_altint32_tmmNext waypoint, altitude (WGS84)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    update_rateuint16_tcsinvalid:0Time until next update. Set to 0 if unknown or in data driven mode.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    flight_stateuint8_tUTM_FLIGHT_STATEFlight state
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    flagsuint8_tUTM_DATA_AVAIL_FLAGSBitwise OR combination of the data available flags.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    DEBUG_FLOAT_ARRAY (350)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Large debug/prototyping array. The message uses the maximum available payload for data. The array_id and name fields are used to discriminate between messages in code and in user interfaces (respectively). Do not use in production code.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    namechar[10]Name, for human-friendly display in a Ground Control Station
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    array_iduint16_tUnique ID used to discriminate between arrays

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Messages with same value are from the same source (instance). | | data ++ | float[58] | | data |

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    ORBIT_EXECUTION_STATUS (360) — [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Vehicle status report that is sent out while orbit execution is in progress (see MAV_CMD_DO_ORBIT).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    radiusfloatmRadius of the orbit circle. Positive values orbit clockwise, negative values orbit counter-clockwise.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    frameuint8_tMAV_FRAMEThe coordinate system of the fields: x, y, z.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    xint32_tX coordinate of center point. Coordinate system depends on frame field: local = x position in meters 1e4, global = latitude in degrees 1e7.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    yint32_tY coordinate of center point. Coordinate system depends on frame field: local = x position in meters 1e4, global = latitude in degrees 1e7.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    zfloatmAltitude of center point. Coordinate system depends on frame field.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    BATTERY_INFO (370) — [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Battery information that is static, or requires infrequent update. This message should requested using MAV_CMD_REQUEST_MESSAGE and/or streamed at very low rate. BATTERY_STATUS_V2 is used for higher-rate battery status information.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    iduint8_tBattery ID

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Messages with same value are from the same source (instance). | | battery_function | uint8_t | | MAV_BATTERY_FUNCTION | Function of the battery. | | type | uint8_t | | MAV_BATTERY_TYPE | Type (chemistry) of the battery. | | state_of_health | uint8_t | % | invalid:UINT8_MAX | State of Health (SOH) estimate. Typically 100% at the time of manufacture and will decrease over time and use. -1: field not provided. | | cells_in_series | uint8_t | | invalid:0 | Number of battery cells in series. 0: field not provided. | | cycle_count | uint16_t | | invalid:UINT16_MAX | Lifetime count of the number of charge/discharge cycles (https://en.wikipedia.org/wiki/Charge_cycle). UINT16_MAX: field not provided. | | weight | uint16_t | g | invalid:0 | Battery weight. 0: field not provided. | | discharge_minimum_voltage | float | V | invalid:0 | Minimum per-cell voltage when discharging. 0: field not provided. | | charging_minimum_voltage | float | V | invalid:0 | Minimum per-cell voltage when charging. 0: field not provided. | | resting_minimum_voltage | float | V | invalid:0 | Minimum per-cell voltage when resting. 0: field not provided. | | charging_maximum_voltage | float | V | invalid:0 | Maximum per-cell voltage when charged. 0: field not provided. | | charging_maximum_current | float | A | invalid:0 | Maximum pack continuous charge current. 0: field not provided. | | nominal_voltage | float | V | invalid:0 | Battery nominal voltage. Used for conversion between Wh and Ah. 0: field not provided. | | discharge_maximum_current | float | A | invalid:0 | Maximum pack discharge current. 0: field not provided. | | discharge_maximum_burst_current | float | A | invalid:0 | Maximum pack discharge burst current. 0: field not provided. | | design_capacity | float | Ah | invalid:0 | Fully charged design capacity. 0: field not provided. | | full_charge_capacity | float | Ah | invalid:NaN | Predicted battery capacity when fully charged (accounting for battery degradation). NAN: field not provided. | | manufacture_date | char[9] | | invalid:[0] | Manufacture date (DDMMYYYY) in ASCII characters, 0 terminated. All 0: field not provided. | | serial_number | char[32] | | invalid:[0] | Serial number in ASCII characters, 0 terminated. All 0: field not provided. | | name | char[50] | | invalid:[0] | Battery device name. Formatted as manufacturer name then product name, separated with an underscore (in ASCII characters), 0 terminated. All 0: field not provided. |

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    GENERATOR_STATUS (373)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Telemetry of power generation system. Alternator or mechanical generator.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    statusuint64_tMAV_GENERATOR_STATUS_FLAGStatus flags.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    generator_speeduint16_trpminvalid:UINT16_MAXSpeed of electrical generator or alternator. UINT16_MAX: field not provided.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    battery_currentfloatAinvalid:NaNCurrent into/out of battery. Positive for out. Negative for in. NaN: field not provided.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    load_currentfloatAinvalid:NaNCurrent going to the UAV. If battery current not available this is the DC current from the generator. Positive for out. Negative for in. NaN: field not provided
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    power_generatedfloatWinvalid:NaNThe power being generated. NaN: field not provided
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    bus_voltagefloatVVoltage of the bus seen at the generator, or battery bus if battery bus is controlled by generator and at a different voltage to main bus.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    rectifier_temperatureint16_tdegCinvalid:INT16_MAXThe temperature of the rectifier or power converter. INT16_MAX: field not provided.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    bat_current_setpointfloatAinvalid:NaNThe target battery current. Positive for out. Negative for in. NaN: field not provided
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    generator_temperatureint16_tdegCinvalid:INT16_MAXThe temperature of the mechanical motor, fuel cell core or generator. INT16_MAX: field not provided.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    runtimeuint32_tsinvalid:UINT32_MAXSeconds this generator has run since it was rebooted. UINT32_MAX: field not provided.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    time_until_maintenanceint32_tsinvalid:INT32_MAXSeconds until this generator requires maintenance. A negative value indicates maintenance is past-due. INT32_MAX: field not provided.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    ACTUATOR_OUTPUT_STATUS (375)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    The raw values of the actuator outputs (e.g. on Pixhawk, from MAIN, AUX ports). This message supersedes SERVO_OUTPUT_RAW.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    time_usecuint64_tusTimestamp (since system boot).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    activeuint32_tActive outputs
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    actuatorfloat[32]Servo / motor output array values. Zero values indicate unused channels.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    TIME_ESTIMATE_TO_TARGET (380) — [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Time/duration estimates for various events and actions given the current vehicle state and position.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    safe_returnint32_tsEstimated time to complete the vehicle's configured "safe return" action from its current position (e.g. RTL, Smart RTL, etc.). -1 indicates that the vehicle is landed, or that no time estimate available.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    landint32_tsEstimated time for vehicle to complete the LAND action from its current position. -1 indicates that the vehicle is landed, or that no time estimate available.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    mission_next_itemint32_tsEstimated time for reaching/completing the currently active mission item. -1 means no time estimate available.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    mission_endint32_tsEstimated time for completing the current mission. -1 means no mission active and/or no estimate available.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    commanded_actionint32_tsEstimated time for completing the current commanded action (i.e. Go To, Takeoff, Land, etc.). -1 means no action active and/or no estimate available.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    TUNNEL (385)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Message for transporting "arbitrary" variable-length data from one component to another (broadcast is not forbidden, but discouraged). The encoding of the data is usually extension specific, i.e. determined by the source, and is usually not documented as part of the MAVLink specification.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    target_systemuint8_tSystem ID (can be 0 for broadcast, but this is discouraged)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    target_componentuint8_tComponent ID (can be 0 for broadcast, but this is discouraged)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    payload_typeuint16_tMAV_TUNNEL_PAYLOAD_TYPEA code that identifies the content of the payload (0 for unknown, which is the default). If this code is less than 32768, it is a 'registered' payload type and the corresponding code should be added to the MAV_TUNNEL_PAYLOAD_TYPE enum. Software creators can register blocks of types as needed. Codes greater than 32767 are considered local experiments and should not be checked in to any widely distributed codebase.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    payload_lengthuint8_tLength of the data transported in payload
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    payloaduint8_t[128]Variable length payload. The payload length is defined by payload_length. The entire content of this block is opaque unless you understand the encoding specified by payload_type.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    CAN_FRAME (386)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    A forwarded CAN frame as requested by MAV_CMD_CAN_FORWARD.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    target_systemuint8_tSystem ID.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    target_componentuint8_tComponent ID.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    busuint8_tBus number
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    lenuint8_tFrame length
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    iduint32_tFrame ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    datauint8_t[8]Frame data

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    CANFD_FRAME (387)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    A forwarded CANFD frame as requested by MAV_CMD_CAN_FORWARD. These are separated from CAN_FRAME as they need different handling (eg. TAO handling)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    target_systemuint8_tSystem ID.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    target_componentuint8_tComponent ID.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    busuint8_tbus number
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    lenuint8_tFrame length
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    iduint32_tFrame ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    datauint8_t[64]Frame data

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    CAN_FILTER_MODIFY (388)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Modify the filter of what CAN messages to forward over the mavlink. This can be used to make CAN forwarding work well on low bandwidth links. The filtering is applied on bits 8 to 24 of the CAN id (2nd and 3rd bytes) which corresponds to the DroneCAN message ID for DroneCAN. Filters with more than 16 IDs can be constructed by sending multiple CAN_FILTER_MODIFY messages.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    target_systemuint8_tSystem ID.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    target_componentuint8_tComponent ID.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    busuint8_tbus number
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    operationuint8_tCAN_FILTER_OPwhat operation to perform on the filter list. See CAN_FILTER_OP enum.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    num_idsuint8_tnumber of IDs in filter list
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    idsuint16_t[16]filter IDs, length num_ids

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    ONBOARD_COMPUTER_STATUS (390) — [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Hardware status sent by an onboard computer.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    uptimeuint32_tmsTime since system boot.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    typeuint8_tType of the onboard computer: 0: Mission computer primary, 1: Mission computer backup 1, 2: Mission computer backup 2, 3: Compute node, 4-5: Compute spares, 6-9: Payload computers.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    cpu_coresuint8_t[8]CPU usage on the component in percent (100 - idle). A value of UINT8_MAX implies the field is unused.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    cpu_combineduint8_t[10]Combined CPU usage as the last 10 slices of 100 MS (a histogram). This allows to identify spikes in load that max out the system, but only for a short amount of time. A value of UINT8_MAX implies the field is unused.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    gpu_coresuint8_t[4]GPU usage on the component in percent (100 - idle). A value of UINT8_MAX implies the field is unused.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    gpu_combineduint8_t[10]Combined GPU usage as the last 10 slices of 100 MS (a histogram). This allows to identify spikes in load that max out the system, but only for a short amount of time. A value of UINT8_MAX implies the field is unused.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    temperature_boardint8_tdegCTemperature of the board. A value of INT8_MAX implies the field is unused.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    temperature_coreint8_t[8]degCTemperature of the CPU core. A value of INT8_MAX implies the field is unused.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    fan_speedint16_t[4]rpmFan speeds. A value of INT16_MAX implies the field is unused.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    ram_usageuint32_tMiBAmount of used RAM on the component system. A value of UINT32_MAX implies the field is unused.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    ram_totaluint32_tMiBTotal amount of RAM on the component system. A value of UINT32_MAX implies the field is unused.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    storage_typeuint32_t[4]Storage type: 0: HDD, 1: SSD, 2: EMMC, 3: SD card (non-removable), 4: SD card (removable). A value of UINT32_MAX implies the field is unused.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    storage_usageuint32_t[4]MiBAmount of used storage space on the component system. A value of UINT32_MAX implies the field is unused.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    storage_totaluint32_t[4]MiBTotal amount of storage space on the component system. A value of UINT32_MAX implies the field is unused.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    link_typeuint32_t[6]Link type: 0-9: UART, 10-19: Wired network, 20-29: Wifi, 30-39: Point-to-point proprietary, 40-49: Mesh proprietary
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    link_tx_rateuint32_t[6]KiB/sNetwork traffic from the component system. A value of UINT32_MAX implies the field is unused.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    link_rx_rateuint32_t[6]KiB/sNetwork traffic to the component system. A value of UINT32_MAX implies the field is unused.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    link_tx_maxuint32_t[6]KiB/sNetwork capacity from the component system. A value of UINT32_MAX implies the field is unused.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    link_rx_maxuint32_t[6]KiB/sNetwork capacity to the component system. A value of UINT32_MAX implies the field is unused.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    COMPONENT_INFORMATION (395) — [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    DEPRECATED: Replaced By COMPONENT_METADATA (2022-04)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Component information message, which may be requested using MAV_CMD_REQUEST_MESSAGE.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    time_boot_msuint32_tmsTimestamp (time since system boot).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    general_metadata_file_crcuint32_tCRC32 of the general metadata file (general_metadata_uri).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    general_metadata_urichar[100]MAVLink FTP URI for the general metadata file (COMP_METADATA_TYPE_GENERAL), which may be compressed with xz. The file contains general component metadata, and may contain URI links for additional metadata (see COMP_METADATA_TYPE). The information is static from boot, and may be generated at compile time. The string needs to be zero terminated.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    peripherals_metadata_file_crcuint32_tCRC32 of peripherals metadata file (peripherals_metadata_uri).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    peripherals_metadata_urichar[100](Optional) MAVLink FTP URI for the peripherals metadata file (COMP_METADATA_TYPE_PERIPHERALS), which may be compressed with xz. This contains data about "attached components" such as UAVCAN nodes. The peripherals are in a separate file because the information must be generated dynamically at runtime. The string needs to be zero terminated.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    COMPONENT_INFORMATION_BASIC (396)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Basic component information data. Should be requested using MAV_CMD_REQUEST_MESSAGE on startup, or when required.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    time_boot_msuint32_tmsTimestamp (time since system boot).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    capabilitiesuint64_tMAV_PROTOCOL_CAPABILITYComponent capability flags
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    time_manufacture_suint32_tsinvalid:0Date of manufacture as a UNIX Epoch time (since 1.1.1970) in seconds.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    vendor_namechar[32]Name of the component vendor. Needs to be zero terminated. The field is optional and can be empty/all zeros.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    model_namechar[32]Name of the component model. Needs to be zero terminated. The field is optional and can be empty/all zeros.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    software_versionchar[24]Software version. The recommended format is SEMVER: 'major.minor.patch' (any format may be used). The field must be zero terminated if it has a value. The field is optional and can be empty/all zeros.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    hardware_versionchar[24]Hardware version. The recommended format is SEMVER: 'major.minor.patch' (any format may be used). The field must be zero terminated if it has a value. The field is optional and can be empty/all zeros.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    serial_numberchar[32]Hardware serial number. The field must be zero terminated if it has a value. The field is optional and can be empty/all zeros.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    COMPONENT_METADATA (397) — [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Component metadata message, which may be requested using MAV_CMD_REQUEST_MESSAGE.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    This contains the MAVLink FTP URI and CRC for the component's general metadata file. The file must be hosted on the component, and may be xz compressed. The file CRC can be used for file caching.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    The general metadata file can be read to get the locations of other metadata files (COMP_METADATA_TYPE) and translations, which may be hosted either on the vehicle or the internet. For more information see: https://mavlink.io/en/services/component_information.html.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Note: Camera components should use CAMERA_INFORMATION instead, and autopilots may use both this message and AUTOPILOT_VERSION.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    time_boot_msuint32_tmsTimestamp (time since system boot).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    file_crcuint32_tCRC32 of the general metadata file.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    urichar[100]MAVLink FTP URI for the general metadata file (COMP_METADATA_TYPE_GENERAL), which may be compressed with xz. The file contains general component metadata, and may contain URI links for additional metadata (see COMP_METADATA_TYPE). The information is static from boot, and may be generated at compile time. The string needs to be zero terminated.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    PLAY_TUNE_V2 (400)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Play vehicle tone/tune (buzzer). Supersedes message PLAY_TUNE.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    target_systemuint8_tSystem ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    target_componentuint8_tComponent ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    formatuint32_tTUNE_FORMATTune format
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    tunechar[248]Tune definition as a NULL-terminated string.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    SUPPORTED_TUNES (401)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Tune formats supported by vehicle. This should be emitted as response to MAV_CMD_REQUEST_MESSAGE.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    target_systemuint8_tSystem ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    target_componentuint8_tComponent ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    formatuint32_tTUNE_FORMATBitfield of supported tune formats.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    EVENT (410) — [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Event message. Each new event from a particular component gets a new sequence number. The same message might be sent multiple times if (re-)requested. Most events are broadcast, some can be specific to a target component (as receivers keep track of the sequence for missed events, all events need to be broadcast. Thus we use destination_component instead of target_component).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    destination_componentuint8_tComponent ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    destination_systemuint8_tSystem ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    iduint32_tEvent ID (as defined in the component metadata)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    event_time_boot_msuint32_tmsTimestamp (time since system boot when the event happened).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    sequenceuint16_tSequence number.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    log_levelsuint8_tLog levels: 4 bits MSB: internal (for logging purposes), 4 bits LSB: external. Levels: Emergency = 0, Alert = 1, Critical = 2, Error = 3, Warning = 4, Notice = 5, Info = 6, Debug = 7, Protocol = 8, Disabled = 9
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    argumentsuint8_t[40]Arguments (depend on event ID).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    CURRENT_EVENT_SEQUENCE (411) — [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Regular broadcast for the current latest event sequence number for a component. This is used to check for dropped events.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    sequenceuint16_tSequence number.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    flagsuint8_tMAV_EVENT_CURRENT_SEQUENCE_FLAGSFlag bitset.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    REQUEST_EVENT (412) — [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Request one or more events to be (re-)sent. If first_sequence==last_sequence, only a single event is requested. Note that first_sequence can be larger than last_sequence (because the sequence number can wrap). Each sequence will trigger an EVENT or EVENT_ERROR response.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    target_systemuint8_tSystem ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    target_componentuint8_tComponent ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    first_sequenceuint16_tFirst sequence number of the requested event.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    last_sequenceuint16_tLast sequence number of the requested event.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    RESPONSE_EVENT_ERROR (413) — [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Response to a REQUEST_EVENT in case of an error (e.g. the event is not available anymore).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    target_systemuint8_tSystem ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    target_componentuint8_tComponent ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    sequenceuint16_tSequence number.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    sequence_oldest_availableuint16_tOldest Sequence number that is still available after the sequence set in REQUEST_EVENT.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    reasonuint8_tMAV_EVENT_ERROR_REASONError reason.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    ILLUMINATOR_STATUS (440)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Illuminator status

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    uptime_msuint32_tmsTime since the start-up of the illuminator in ms
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    enableuint8_t0: Illuminators OFF, 1: Illuminators ON
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    mode_bitmaskuint8_tILLUMINATOR_MODESupported illuminator modes
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    error_statusuint32_tILLUMINATOR_ERROR_FLAGSErrors
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    modeuint8_tILLUMINATOR_MODEIlluminator mode
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    brightnessfloat%Illuminator brightness
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    strobe_periodfloatsIlluminator strobing period in seconds
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    strobe_duty_cyclefloat%Illuminator strobing duty cycle
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    temp_cfloatTemperature in Celsius
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    min_strobe_periodfloatsMinimum strobing period in seconds
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    max_strobe_periodfloatsMaximum strobing period in seconds

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    WHEEL_DISTANCE (9000)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Cumulative distance traveled for each reported wheel.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    time_usecuint64_tusTimestamp (synced to UNIX time or since system boot).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    countuint8_tNumber of wheels reported.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    distancedouble[16]mDistance reported by individual wheel encoders. Forward rotations increase values, reverse rotations decrease them. Not all wheels will necessarily have wheel encoders; the mapping of encoders to wheel positions must be agreed/understood by the endpoints.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    WINCH_STATUS (9005)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Winch status.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    time_usecuint64_tusTimestamp (synced to UNIX time or since system boot).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    line_lengthfloatminvalid:NaNLength of line released. NaN if unknown
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    speedfloatm/sinvalid:NaNSpeed line is being released or retracted. Positive values if being released, negative values if being retracted, NaN if unknown
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    tensionfloatkginvalid:NaNTension on the line. NaN if unknown
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    voltagefloatVinvalid:NaNVoltage of the battery supplying the winch. NaN if unknown
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    currentfloatAinvalid:NaNCurrent draw from the winch. NaN if unknown
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    temperatureint16_tdegCinvalid:INT16_MAXTemperature of the motor. INT16_MAX if unknown
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    statusuint32_tMAV_WINCH_STATUS_FLAGStatus flags

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    OPEN_DRONE_ID_BASIC_ID (12900)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Data for filling the OpenDroneID Basic ID message. This and the below messages are primarily meant for feeding data to/from an OpenDroneID implementation. E.g. https://github.com/opendroneid/opendroneid-core-c. These messages are compatible with the ASTM F3411 Remote ID standard and the ASD-STAN prEN 4709-002 Direct Remote ID standard. Additional information and usage of these messages is documented at https://mavlink.io/en/services/opendroneid.html.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    target_systemuint8_tSystem ID (0 for broadcast).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    target_componentuint8_tComponent ID (0 for broadcast).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    id_or_macuint8_t[20]Only used for drone ID data received from other UAs. See detailed description at https://mavlink.io/en/services/opendroneid.html.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    id_typeuint8_tMAV_ODID_ID_TYPEIndicates the format for the uas_id field of this message.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    ua_typeuint8_tMAV_ODID_UA_TYPEIndicates the type of UA (Unmanned Aircraft).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    uas_iduint8_t[20]UAS (Unmanned Aircraft System) ID following the format specified by id_type. Shall be filled with nulls in the unused portion of the field.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    OPEN_DRONE_ID_LOCATION (12901)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Data for filling the OpenDroneID Location message. The float data types are 32-bit IEEE 754. The Location message provides the location, altitude, direction and speed of the aircraft.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    target_systemuint8_tSystem ID (0 for broadcast).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    target_componentuint8_tComponent ID (0 for broadcast).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    id_or_macuint8_t[20]Only used for drone ID data received from other UAs. See detailed description at https://mavlink.io/en/services/opendroneid.html.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    statusuint8_tMAV_ODID_STATUSIndicates whether the unmanned aircraft is on the ground or in the air.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    directionuint16_tcdeginvalid:36100Direction over ground (not heading, but direction of movement) measured clockwise from true North: 0 - 35999 centi-degrees. If unknown: 36100 centi-degrees.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    speed_horizontaluint16_tcm/sGround speed. Positive only. If unknown: 25500 cm/s. If speed is larger than 25425 cm/s, use 25425 cm/s.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    speed_verticalint16_tcm/sThe vertical speed. Up is positive. If unknown: 6300 cm/s. If speed is larger than 6200 cm/s, use 6200 cm/s. If lower than -6200 cm/s, use -6200 cm/s.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    latitudeint32_tdegE7invalid:0Current latitude of the unmanned aircraft. If unknown: 0 (both Lat/Lon).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    longitudeint32_tdegE7invalid:0Current longitude of the unmanned aircraft. If unknown: 0 (both Lat/Lon).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    altitude_barometricfloatminvalid:-1000The altitude calculated from the barometric pressue. Reference is against 29.92inHg or 1013.2mb. If unknown: -1000 m.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    altitude_geodeticfloatminvalid:-1000The geodetic altitude as defined by WGS84. If unknown: -1000 m.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    height_referenceuint8_tMAV_ODID_HEIGHT_REFIndicates the reference point for the height field.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    heightfloatminvalid:-1000The current height of the unmanned aircraft above the take-off location or the ground as indicated by height_reference. If unknown: -1000 m.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    horizontal_accuracyuint8_tMAV_ODID_HOR_ACCThe accuracy of the horizontal position.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    vertical_accuracyuint8_tMAV_ODID_VER_ACCThe accuracy of the vertical position.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    barometer_accuracyuint8_tMAV_ODID_VER_ACCThe accuracy of the barometric altitude.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    speed_accuracyuint8_tMAV_ODID_SPEED_ACCThe accuracy of the horizontal and vertical speed.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    timestampfloatsinvalid:0xFFFFSeconds after the full hour with reference to UTC time. Typically the GPS outputs a time-of-week value in milliseconds. First convert that to UTC and then convert for this field using ((float) (time_week_ms % (60601000))) / 1000. If unknown: 0xFFFF.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    timestamp_accuracyuint8_tMAV_ODID_TIME_ACCThe accuracy of the timestamps.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    OPEN_DRONE_ID_AUTHENTICATION (12902)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Data for filling the OpenDroneID Authentication message. The Authentication Message defines a field that can provide a means of authenticity for the identity of the UAS (Unmanned Aircraft System). The Authentication message can have two different formats. For data page 0, the fields PageCount, Length and TimeStamp are present and AuthData is only 17 bytes. For data page 1 through 15, PageCount, Length and TimeStamp are not present and the size of AuthData is 23 bytes.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    target_systemuint8_tSystem ID (0 for broadcast).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    target_componentuint8_tComponent ID (0 for broadcast).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    id_or_macuint8_t[20]Only used for drone ID data received from other UAs. See detailed description at https://mavlink.io/en/services/opendroneid.html.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    authentication_typeuint8_tMAV_ODID_AUTH_TYPEIndicates the type of authentication.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    data_pageuint8_tAllowed range is 0 - 15.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    last_page_indexuint8_tThis field is only present for page 0. Allowed range is 0 - 15. See the description of struct ODID_Auth_data at https://github.com/opendroneid/opendroneid-core-c/blob/master/libopendroneid/opendroneid.h.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    lengthuint8_tbytesThis field is only present for page 0. Total bytes of authentication_data from all data pages. See the description of struct ODID_Auth_data at https://github.com/opendroneid/opendroneid-core-c/blob/master/libopendroneid/opendroneid.h.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    timestampuint32_tsThis field is only present for page 0. 32 bit Unix Timestamp in seconds since 00:00:00 01/01/2019.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    authentication_datauint8_t[23]Opaque authentication data. For page 0, the size is only 17 bytes. For other pages, the size is 23 bytes. Shall be filled with nulls in the unused portion of the field.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    OPEN_DRONE_ID_SELF_ID (12903)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Data for filling the OpenDroneID Self ID message. The Self ID Message is an opportunity for the operator to (optionally) declare their identity and purpose of the flight. This message can provide additional information that could reduce the threat profile of a UA (Unmanned Aircraft) flying in a particular area or manner. This message can also be used to provide optional additional clarification in an emergency/remote ID system failure situation.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    target_systemuint8_tSystem ID (0 for broadcast).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    target_componentuint8_tComponent ID (0 for broadcast).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    id_or_macuint8_t[20]Only used for drone ID data received from other UAs. See detailed description at https://mavlink.io/en/services/opendroneid.html.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    description_typeuint8_tMAV_ODID_DESC_TYPEIndicates the type of the description field.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    descriptionchar[23]Text description or numeric value expressed as ASCII characters. Shall be filled with nulls in the unused portion of the field.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    OPEN_DRONE_ID_SYSTEM (12904)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Data for filling the OpenDroneID System message. The System Message contains general system information including the operator location/altitude and possible aircraft group and/or category/class information.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    target_systemuint8_tSystem ID (0 for broadcast).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    target_componentuint8_tComponent ID (0 for broadcast).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    id_or_macuint8_t[20]Only used for drone ID data received from other UAs. See detailed description at https://mavlink.io/en/services/opendroneid.html.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    operator_location_typeuint8_tMAV_ODID_OPERATOR_LOCATION_TYPESpecifies the operator location type.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    classification_typeuint8_tMAV_ODID_CLASSIFICATION_TYPESpecifies the classification type of the UA.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    operator_latitudeint32_tdegE7invalid:0Latitude of the operator. If unknown: 0 (both Lat/Lon).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    operator_longitudeint32_tdegE7invalid:0Longitude of the operator. If unknown: 0 (both Lat/Lon).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    area_countuint16_tNumber of aircraft in the area, group or formation (default 1). Used only for swarms/multiple UA.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    area_radiusuint16_tmRadius of the cylindrical area of the group or formation (default 0). Used only for swarms/multiple UA.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    area_ceilingfloatminvalid:-1000Area Operations Ceiling relative to WGS84. If unknown: -1000 m. Used only for swarms/multiple UA.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    area_floorfloatminvalid:-1000Area Operations Floor relative to WGS84. If unknown: -1000 m. Used only for swarms/multiple UA.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    category_euuint8_tMAV_ODID_CATEGORY_EUWhen classification_type is MAV_ODID_CLASSIFICATION_TYPE_EU, specifies the category of the UA.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    class_euuint8_tMAV_ODID_CLASS_EUWhen classification_type is MAV_ODID_CLASSIFICATION_TYPE_EU, specifies the class of the UA.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    operator_altitude_geofloatminvalid:-1000Geodetic altitude of the operator relative to WGS84. If unknown: -1000 m.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    timestampuint32_ts32 bit Unix Timestamp in seconds since 00:00:00 01/01/2019.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    OPEN_DRONE_ID_OPERATOR_ID (12905)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Data for filling the OpenDroneID Operator ID message, which contains the CAA (Civil Aviation Authority) issued operator ID.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    target_systemuint8_tSystem ID (0 for broadcast).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    target_componentuint8_tComponent ID (0 for broadcast).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    id_or_macuint8_t[20]Only used for drone ID data received from other UAs. See detailed description at https://mavlink.io/en/services/opendroneid.html.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    operator_id_typeuint8_tMAV_ODID_OPERATOR_ID_TYPEIndicates the type of the operator_id field.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    operator_idchar[20]Text description or numeric value expressed as ASCII characters. Shall be filled with nulls in the unused portion of the field.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    OPEN_DRONE_ID_MESSAGE_PACK (12915)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    An OpenDroneID message pack is a container for multiple encoded OpenDroneID messages (i.e. not in the format given for the above message descriptions but after encoding into the compressed OpenDroneID byte format). Used e.g. when transmitting on Bluetooth 5.0 Long Range/Extended Advertising or on WiFi Neighbor Aware Networking or on WiFi Beacon.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    target_systemuint8_tSystem ID (0 for broadcast).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    target_componentuint8_tComponent ID (0 for broadcast).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    id_or_macuint8_t[20]Only used for drone ID data received from other UAs. See detailed description at https://mavlink.io/en/services/opendroneid.html.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    single_message_sizeuint8_tbytesThis field must currently always be equal to 25 (bytes), since all encoded OpenDroneID messages are specified to have this length.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    msg_pack_sizeuint8_tNumber of encoded messages in the pack (not the number of bytes). Allowed range is 1 - 9.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    messagesuint8_t[225]Concatenation of encoded OpenDroneID messages. Shall be filled with nulls in the unused portion of the field.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    OPEN_DRONE_ID_ARM_STATUS (12918)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Transmitter (remote ID system) is enabled and ready to start sending location and other required information. This is streamed by transmitter. A flight controller uses it as a condition to arm.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    statusuint8_tMAV_ODID_ARM_STATUSStatus level indicating if arming is allowed.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    errorchar[50]Text error message, should be empty if status is good to arm. Fill with nulls in unused portion.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    OPEN_DRONE_ID_SYSTEM_UPDATE (12919)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Update the data in the OPEN_DRONE_ID_SYSTEM message with new location information. This can be sent to update the location information for the operator when no other information in the SYSTEM message has changed. This message allows for efficient operation on radio links which have limited uplink bandwidth while meeting requirements for update frequency of the operator location.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    target_systemuint8_tSystem ID (0 for broadcast).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    target_componentuint8_tComponent ID (0 for broadcast).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    operator_latitudeint32_tdegE7Latitude of the operator. If unknown: 0 (both Lat/Lon).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    operator_longitudeint32_tdegE7Longitude of the operator. If unknown: 0 (both Lat/Lon).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    operator_altitude_geofloatmGeodetic altitude of the operator relative to WGS84. If unknown: -1000 m.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    timestampuint32_ts32 bit Unix Timestamp in seconds since 00:00:00 01/01/2019.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    HYGROMETER_SENSOR (12920)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Temperature and humidity from hygrometer.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    iduint8_tHygrometer ID

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Messages with same value are from the same source (instance). | | temperature | int16_t | cdegC | Temperature | | humidity | uint16_t | c% | Humidity |

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Enumerated Types

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    FIRMWARE_VERSION_TYPE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    These values define the type of firmware release. These values indicate the first version or release of this type. For example the first alpha release would be 64, the second would be 65.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    0FIRMWARE_VERSION_TYPE_DEVdevelopment release
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    64FIRMWARE_VERSION_TYPE_ALPHAalpha release
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    128FIRMWARE_VERSION_TYPE_BETAbeta release
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    192FIRMWARE_VERSION_TYPE_RCrelease candidate
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    255FIRMWARE_VERSION_TYPE_OFFICIALofficial stable release

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    HL_FAILURE_FLAG

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    (Bitmask) Flags to report failure cases over the high latency telemetry.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1HL_FAILURE_FLAG_GPSGPS failure.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2HL_FAILURE_FLAG_DIFFERENTIAL_PRESSUREDifferential pressure sensor failure.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    4HL_FAILURE_FLAG_ABSOLUTE_PRESSUREAbsolute pressure sensor failure.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    8HL_FAILURE_FLAG_3D_ACCELAccelerometer sensor failure.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    16HL_FAILURE_FLAG_3D_GYROGyroscope sensor failure.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    32HL_FAILURE_FLAG_3D_MAGMagnetometer sensor failure.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    64HL_FAILURE_FLAG_TERRAINTerrain subsystem failure.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    128HL_FAILURE_FLAG_BATTERYBattery failure/critical low battery.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    256HL_FAILURE_FLAG_RC_RECEIVERRC receiver failure/no RC connection.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    512HL_FAILURE_FLAG_OFFBOARD_LINKOffboard link failure.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1024HL_FAILURE_FLAG_ENGINEEngine failure.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2048HL_FAILURE_FLAG_GEOFENCEGeofence violation.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    4096HL_FAILURE_FLAG_ESTIMATOREstimator failure, for example measurement rejection or large variances.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    8192HL_FAILURE_FLAG_MISSIONMission failure.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_GOTO

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Actions that may be specified in MAV_CMD_OVERRIDE_GOTO to override mission execution.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    0MAV_GOTO_DO_HOLDHold at the current position.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1MAV_GOTO_DO_CONTINUEContinue with the next item in mission execution.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2MAV_GOTO_HOLD_AT_CURRENT_POSITIONHold at the current position of the system
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    3MAV_GOTO_HOLD_AT_SPECIFIED_POSITIONHold at the position specified in the parameters of the DO_HOLD action

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_MODE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    These defines are predefined OR-combined mode flags. There is no need to use values from this enum, but it

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    simplifies the use of the mode flags. Note that manual input is enabled in all modes as a safety override.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    0MAV_MODE_PREFLIGHTSystem is not ready to fly, booting, calibrating, etc. No flag is set.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    64MAV_MODE_MANUAL_DISARMEDSystem is allowed to be active, under manual (RC) control, no stabilization
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    66MAV_MODE_TEST_DISARMEDUNDEFINED mode. This solely depends on the autopilot - use with caution, intended for developers only.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    80MAV_MODE_STABILIZE_DISARMEDSystem is allowed to be active, under assisted RC control.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    88MAV_MODE_GUIDED_DISARMEDSystem is allowed to be active, under autonomous control, manual setpoint
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    92MAV_MODE_AUTO_DISARMEDSystem is allowed to be active, under autonomous control and navigation (the trajectory is decided onboard and not pre-programmed by waypoints)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    192MAV_MODE_MANUAL_ARMEDSystem is allowed to be active, under manual (RC) control, no stabilization
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    194MAV_MODE_TEST_ARMEDUNDEFINED mode. This solely depends on the autopilot - use with caution, intended for developers only.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    208MAV_MODE_STABILIZE_ARMEDSystem is allowed to be active, under assisted RC control.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    216MAV_MODE_GUIDED_ARMEDSystem is allowed to be active, under autonomous control, manual setpoint
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    220MAV_MODE_AUTO_ARMEDSystem is allowed to be active, under autonomous control and navigation (the trajectory is decided onboard and not pre-programmed by waypoints)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_SYS_STATUS_SENSOR

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    (Bitmask) These encode the sensors whose status is sent as part of the SYS_STATUS message.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1MAV_SYS_STATUS_SENSOR_3D_GYRO0x01 3D gyro
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2MAV_SYS_STATUS_SENSOR_3D_ACCEL0x02 3D accelerometer
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    4MAV_SYS_STATUS_SENSOR_3D_MAG0x04 3D magnetometer
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    8MAV_SYS_STATUS_SENSOR_ABSOLUTE_PRESSURE0x08 absolute pressure
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    16MAV_SYS_STATUS_SENSOR_DIFFERENTIAL_PRESSURE0x10 differential pressure
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    32MAV_SYS_STATUS_SENSOR_GPS0x20 GPS
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    64MAV_SYS_STATUS_SENSOR_OPTICAL_FLOW0x40 optical flow
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    128MAV_SYS_STATUS_SENSOR_VISION_POSITION0x80 computer vision position
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    256MAV_SYS_STATUS_SENSOR_LASER_POSITION0x100 laser based position
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    512MAV_SYS_STATUS_SENSOR_EXTERNAL_GROUND_TRUTH0x200 external ground truth (Vicon or Leica)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1024MAV_SYS_STATUS_SENSOR_ANGULAR_RATE_CONTROL0x400 3D angular rate control
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2048MAV_SYS_STATUS_SENSOR_ATTITUDE_STABILIZATION0x800 attitude stabilization
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    4096MAV_SYS_STATUS_SENSOR_YAW_POSITION0x1000 yaw position
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    8192MAV_SYS_STATUS_SENSOR_Z_ALTITUDE_CONTROL0x2000 z/altitude control
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    16384MAV_SYS_STATUS_SENSOR_XY_POSITION_CONTROL0x4000 x/y position control
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    32768MAV_SYS_STATUS_SENSOR_MOTOR_OUTPUTS0x8000 motor outputs / control
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    65536MAV_SYS_STATUS_SENSOR_RC_RECEIVER0x10000 RC receiver
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    131072MAV_SYS_STATUS_SENSOR_3D_GYRO20x20000 2nd 3D gyro
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    262144MAV_SYS_STATUS_SENSOR_3D_ACCEL20x40000 2nd 3D accelerometer
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    524288MAV_SYS_STATUS_SENSOR_3D_MAG20x80000 2nd 3D magnetometer
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1048576MAV_SYS_STATUS_GEOFENCE0x100000 geofence
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2097152MAV_SYS_STATUS_AHRS0x200000 AHRS subsystem health
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    4194304MAV_SYS_STATUS_TERRAIN0x400000 Terrain subsystem health
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    8388608MAV_SYS_STATUS_REVERSE_MOTOR0x800000 Motors are reversed
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    16777216MAV_SYS_STATUS_LOGGING0x1000000 Logging
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    33554432MAV_SYS_STATUS_SENSOR_BATTERY0x2000000 Battery
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    67108864MAV_SYS_STATUS_SENSOR_PROXIMITY0x4000000 Proximity
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    134217728MAV_SYS_STATUS_SENSOR_SATCOM0x8000000 Satellite Communication
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    268435456MAV_SYS_STATUS_PREARM_CHECK0x10000000 pre-arm check status. Always healthy when armed
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    536870912MAV_SYS_STATUS_OBSTACLE_AVOIDANCE0x20000000 Avoidance/collision prevention
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1073741824MAV_SYS_STATUS_SENSOR_PROPULSION0x40000000 propulsion (actuator, esc, motor or propellor)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2147483648MAV_SYS_STATUS_EXTENSION_USED0x80000000 Extended bit-field are used for further sensor status bits (needs to be set in onboard_control_sensors_present only)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_SYS_STATUS_SENSOR_EXTENDED

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    (Bitmask) These encode the sensors whose status is sent as part of the SYS_STATUS message in the extended fields.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1MAV_SYS_STATUS_RECOVERY_SYSTEM0x01 Recovery system (parachute, balloon, retracts etc)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_FRAME

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Coordinate frames used by MAVLink. Not all frames are supported by all commands, messages, or vehicles.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Global frames use the following naming conventions:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • "GLOBAL": Global coordinate frame with WGS84 latitude/longitude and altitude positive over mean sea level (MSL) by default. The following modifiers may be used with "GLOBAL":
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • "RELATIVE_ALT": Altitude is relative to the vehicle home position rather than MSL.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • "TERRAIN_ALT": Altitude is relative to ground level rather than MSL.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • "INT": Latitude/longitude (in degrees) are scaled by multiplying by 1E7.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Local frames use the following naming conventions:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • "LOCAL": Origin of local frame is fixed relative to earth. Unless otherwise specified this origin is the origin of the vehicle position-estimator ("EKF").
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • "BODY": Origin of local frame travels with the vehicle. NOTE, "BODY" does NOT indicate alignment of frame axis with vehicle attitude.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • "OFFSET": Deprecated synonym for "BODY" (origin travels with the vehicle). Not to be used for new frames.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Some deprecated frames do not follow these conventions (e.g. MAV_FRAME_BODY_NED and MAV_FRAME_BODY_OFFSET_NED).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    0MAV_FRAME_GLOBALGlobal (WGS84) coordinate frame + altitude relative to mean sea level (MSL).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1MAV_FRAME_LOCAL_NEDNED local tangent frame (x: North, y: East, z: Down) with origin fixed relative to earth.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2MAV_FRAME_MISSIONNOT a coordinate frame, indicates a mission command.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    3MAV_FRAME_GLOBAL_RELATIVE_ALTGlobal (WGS84) coordinate frame + altitude relative to the home position.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    4MAV_FRAME_LOCAL_ENUENU local tangent frame (x: East, y: North, z: Up) with origin fixed relative to earth.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    5MAV_FRAME_GLOBAL_INTGlobal (WGS84) coordinate frame (scaled) + altitude relative to mean sea level (MSL).DEPRECATED: Replaced By MAV_FRAME_GLOBAL (2024-03) — Use MAV_FRAME_GLOBAL in COMMAND_INT (and elsewhere) as a synonymous replacement.)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    6MAV_FRAME_GLOBAL_RELATIVE_ALT_INTGlobal (WGS84) coordinate frame (scaled) + altitude relative to the home position.DEPRECATED: Replaced By MAV_FRAME_GLOBAL_RELATIVE_ALT (2024-03) — Use MAV_FRAME_GLOBAL_RELATIVE_ALT in COMMAND_INT (and elsewhere) as a synonymous replacement.)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    7MAV_FRAME_LOCAL_OFFSET_NEDNED local tangent frame (x: North, y: East, z: Down) with origin that travels with the vehicle.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    8MAV_FRAME_BODY_NEDSame as MAV_FRAME_LOCAL_NED when used to represent position values. Same as MAV_FRAME_BODY_FRD when used with velocity/acceleration values.DEPRECATED: Replaced By MAV_FRAME_BODY_FRD (2019-08)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    9MAV_FRAME_BODY_OFFSET_NEDThis is the same as MAV_FRAME_BODY_FRD.DEPRECATED: Replaced By MAV_FRAME_BODY_FRD (2019-08)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    10MAV_FRAME_GLOBAL_TERRAIN_ALTGlobal (WGS84) coordinate frame with AGL altitude (altitude at ground level).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    11MAV_FRAME_GLOBAL_TERRAIN_ALT_INTGlobal (WGS84) coordinate frame (scaled) with AGL altitude (altitude at ground level).DEPRECATED: Replaced By MAV_FRAME_GLOBAL_TERRAIN_ALT (2024-03) — Use MAV_FRAME_GLOBAL_TERRAIN_ALT in COMMAND_INT (and elsewhere) as a synonymous replacement.)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    12MAV_FRAME_BODY_FRDFRD local frame aligned to the vehicle's attitude (x: Forward, y: Right, z: Down) with an origin that travels with vehicle.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    13MAV_FRAME_RESERVED_13MAV_FRAME_BODY_FLU - Body fixed frame of reference, Z-up (x: Forward, y: Left, z: Up).DEPRECATED:(2019-04)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    14MAV_FRAME_RESERVED_14MAV_FRAME_MOCAP_NED - Odometry local coordinate frame of data given by a motion capture system, Z-down (x: North, y: East, z: Down).DEPRECATED: Replaced By MAV_FRAME_LOCAL_FRD (2019-04)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    15MAV_FRAME_RESERVED_15MAV_FRAME_MOCAP_ENU - Odometry local coordinate frame of data given by a motion capture system, Z-up (x: East, y: North, z: Up).DEPRECATED: Replaced By MAV_FRAME_LOCAL_FLU (2019-04)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    16MAV_FRAME_RESERVED_16MAV_FRAME_VISION_NED - Odometry local coordinate frame of data given by a vision estimation system, Z-down (x: North, y: East, z: Down).DEPRECATED: Replaced By MAV_FRAME_LOCAL_FRD (2019-04)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    17MAV_FRAME_RESERVED_17MAV_FRAME_VISION_ENU - Odometry local coordinate frame of data given by a vision estimation system, Z-up (x: East, y: North, z: Up).DEPRECATED: Replaced By MAV_FRAME_LOCAL_FLU (2019-04)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    18MAV_FRAME_RESERVED_18MAV_FRAME_ESTIM_NED - Odometry local coordinate frame of data given by an estimator running onboard the vehicle, Z-down (x: North, y: East, z: Down).DEPRECATED: Replaced By MAV_FRAME_LOCAL_FRD (2019-04)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    19MAV_FRAME_RESERVED_19MAV_FRAME_ESTIM_ENU - Odometry local coordinate frame of data given by an estimator running onboard the vehicle, Z-up (x: East, y: North, z: Up).DEPRECATED: Replaced By MAV_FRAME_LOCAL_FLU (2019-04)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    20MAV_FRAME_LOCAL_FRDFRD local tangent frame (x: Forward, y: Right, z: Down) with origin fixed relative to earth. The forward axis is aligned to the front of the vehicle in the horizontal plane.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    21MAV_FRAME_LOCAL_FLUFLU local tangent frame (x: Forward, y: Left, z: Up) with origin fixed relative to earth. The forward axis is aligned to the front of the vehicle in the horizontal plane.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    0MAVLINK_DATA_STREAM_IMG_JPEG
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1MAVLINK_DATA_STREAM_IMG_BMP
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2MAVLINK_DATA_STREAM_IMG_RAW8U
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    3MAVLINK_DATA_STREAM_IMG_RAW32U
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    4MAVLINK_DATA_STREAM_IMG_PGM
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    5MAVLINK_DATA_STREAM_IMG_PNG

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    FENCE_ACTION

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Actions following geofence breach.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    0FENCE_ACTION_NONEDisable fenced mode. If used in a plan this would mean the next fence is disabled.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1FENCE_ACTION_GUIDEDFly to geofence MAV_CMD_NAV_FENCE_RETURN_POINT in GUIDED mode. Note: This action is only supported by ArduPlane, and may not be supported in all versions.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2FENCE_ACTION_REPORTReport fence breach, but don't take action
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    3FENCE_ACTION_GUIDED_THR_PASSFly to geofence MAV_CMD_NAV_FENCE_RETURN_POINT with manual throttle control in GUIDED mode. Note: This action is only supported by ArduPlane, and may not be supported in all versions.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    4FENCE_ACTION_RTLReturn/RTL mode.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    5FENCE_ACTION_HOLDHold at current location.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    6FENCE_ACTION_TERMINATETermination failsafe. Motors are shut down (some flight stacks may trigger other failsafe actions).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    7FENCE_ACTION_LANDLand at current location.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    FENCE_BREACH

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    0FENCE_BREACH_NONENo last fence breach
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1FENCE_BREACH_MINALTBreached minimum altitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2FENCE_BREACH_MAXALTBreached maximum altitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    3FENCE_BREACH_BOUNDARYBreached fence boundary

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    FENCE_MITIGATE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Actions being taken to mitigate/prevent fence breach

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    0FENCE_MITIGATE_UNKNOWNUnknown
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1FENCE_MITIGATE_NONENo actions being taken
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2FENCE_MITIGATE_VEL_LIMITVelocity limiting active to prevent breach

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    FENCE_TYPE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    (Bitmask)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    0FENCE_TYPE_ALLAll fence types
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1FENCE_TYPE_ALT_MAXMaximum altitude fence
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2FENCE_TYPE_CIRCLECircle fence
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    4FENCE_TYPE_POLYGONPolygon fence
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    8FENCE_TYPE_ALT_MINMinimum altitude fence

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_MOUNT_MODE — [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    DEPRECATED: Replaced By GIMBAL_MANAGER_FLAGS (2020-01)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Enumeration of possible mount operation modes. This message is used by obsolete/deprecated gimbal messages.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    0MAV_MOUNT_MODE_RETRACTLoad and keep safe position (Roll,Pitch,Yaw) from permanent memory and stop stabilization
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1MAV_MOUNT_MODE_NEUTRALLoad and keep neutral position (Roll,Pitch,Yaw) from permanent memory.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2MAV_MOUNT_MODE_MAVLINK_TARGETINGLoad neutral position and start MAVLink Roll,Pitch,Yaw control with stabilization
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    3MAV_MOUNT_MODE_RC_TARGETINGLoad neutral position and start RC Roll,Pitch,Yaw control with stabilization
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    4MAV_MOUNT_MODE_GPS_POINTLoad neutral position and start to point to Lat,Lon,Alt
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    5MAV_MOUNT_MODE_SYSID_TARGETGimbal tracks system with specified system ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    6MAV_MOUNT_MODE_HOME_LOCATIONGimbal tracks home position

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    GIMBAL_DEVICE_CAP_FLAGS

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    (Bitmask) Gimbal device (low level) capability flags (bitmap).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1GIMBAL_DEVICE_CAP_FLAGS_HAS_RETRACTGimbal device supports a retracted position.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2GIMBAL_DEVICE_CAP_FLAGS_HAS_NEUTRALGimbal device supports a horizontal, forward looking position, stabilized.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    4GIMBAL_DEVICE_CAP_FLAGS_HAS_ROLL_AXISGimbal device supports rotating around roll axis.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    8GIMBAL_DEVICE_CAP_FLAGS_HAS_ROLL_FOLLOWGimbal device supports to follow a roll angle relative to the vehicle.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    16GIMBAL_DEVICE_CAP_FLAGS_HAS_ROLL_LOCKGimbal device supports locking to a roll angle (generally that's the default with roll stabilized).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    32GIMBAL_DEVICE_CAP_FLAGS_HAS_PITCH_AXISGimbal device supports rotating around pitch axis.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    64GIMBAL_DEVICE_CAP_FLAGS_HAS_PITCH_FOLLOWGimbal device supports to follow a pitch angle relative to the vehicle.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    128GIMBAL_DEVICE_CAP_FLAGS_HAS_PITCH_LOCKGimbal device supports locking to a pitch angle (generally that's the default with pitch stabilized).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    256GIMBAL_DEVICE_CAP_FLAGS_HAS_YAW_AXISGimbal device supports rotating around yaw axis.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    512GIMBAL_DEVICE_CAP_FLAGS_HAS_YAW_FOLLOWGimbal device supports to follow a yaw angle relative to the vehicle (generally that's the default).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1024GIMBAL_DEVICE_CAP_FLAGS_HAS_YAW_LOCKGimbal device supports locking to an absolute heading, i.e., yaw angle relative to North (earth frame, often this is an option available).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2048GIMBAL_DEVICE_CAP_FLAGS_SUPPORTS_INFINITE_YAWGimbal device supports yawing/panning infinitely (e.g. using slip disk).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    4096GIMBAL_DEVICE_CAP_FLAGS_SUPPORTS_YAW_IN_EARTH_FRAMEGimbal device supports yaw angles and angular velocities relative to North (earth frame). This usually requires support by an autopilot via AUTOPILOT_STATE_FOR_GIMBAL_DEVICE. Support can go on and off during runtime, which is reported by the flag GIMBAL_DEVICE_FLAGS_CAN_ACCEPT_YAW_IN_EARTH_FRAME.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    8192GIMBAL_DEVICE_CAP_FLAGS_HAS_RC_INPUTSGimbal device supports radio control inputs as an alternative input for controlling the gimbal orientation.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    GIMBAL_MANAGER_CAP_FLAGS

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    (Bitmask) Gimbal manager high level capability flags (bitmap). The first 16 bits are identical to the GIMBAL_DEVICE_CAP_FLAGS. However, the gimbal manager does not need to copy the flags from the gimbal but can also enhance the capabilities and thus add flags.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1GIMBAL_MANAGER_CAP_FLAGS_HAS_RETRACTBased on GIMBAL_DEVICE_CAP_FLAGS_HAS_RETRACT.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2GIMBAL_MANAGER_CAP_FLAGS_HAS_NEUTRALBased on GIMBAL_DEVICE_CAP_FLAGS_HAS_NEUTRAL.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    4GIMBAL_MANAGER_CAP_FLAGS_HAS_ROLL_AXISBased on GIMBAL_DEVICE_CAP_FLAGS_HAS_ROLL_AXIS.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    8GIMBAL_MANAGER_CAP_FLAGS_HAS_ROLL_FOLLOWBased on GIMBAL_DEVICE_CAP_FLAGS_HAS_ROLL_FOLLOW.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    16GIMBAL_MANAGER_CAP_FLAGS_HAS_ROLL_LOCKBased on GIMBAL_DEVICE_CAP_FLAGS_HAS_ROLL_LOCK.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    32GIMBAL_MANAGER_CAP_FLAGS_HAS_PITCH_AXISBased on GIMBAL_DEVICE_CAP_FLAGS_HAS_PITCH_AXIS.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    64GIMBAL_MANAGER_CAP_FLAGS_HAS_PITCH_FOLLOWBased on GIMBAL_DEVICE_CAP_FLAGS_HAS_PITCH_FOLLOW.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    128GIMBAL_MANAGER_CAP_FLAGS_HAS_PITCH_LOCKBased on GIMBAL_DEVICE_CAP_FLAGS_HAS_PITCH_LOCK.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    256GIMBAL_MANAGER_CAP_FLAGS_HAS_YAW_AXISBased on GIMBAL_DEVICE_CAP_FLAGS_HAS_YAW_AXIS.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    512GIMBAL_MANAGER_CAP_FLAGS_HAS_YAW_FOLLOWBased on GIMBAL_DEVICE_CAP_FLAGS_HAS_YAW_FOLLOW.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1024GIMBAL_MANAGER_CAP_FLAGS_HAS_YAW_LOCKBased on GIMBAL_DEVICE_CAP_FLAGS_HAS_YAW_LOCK.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2048GIMBAL_MANAGER_CAP_FLAGS_SUPPORTS_INFINITE_YAWBased on GIMBAL_DEVICE_CAP_FLAGS_SUPPORTS_INFINITE_YAW.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    4096GIMBAL_MANAGER_CAP_FLAGS_SUPPORTS_YAW_IN_EARTH_FRAMEBased on GIMBAL_DEVICE_CAP_FLAGS_SUPPORTS_YAW_IN_EARTH_FRAME.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    8192GIMBAL_MANAGER_CAP_FLAGS_HAS_RC_INPUTSBased on GIMBAL_DEVICE_CAP_FLAGS_HAS_RC_INPUTS.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    65536GIMBAL_MANAGER_CAP_FLAGS_CAN_POINT_LOCATION_LOCALGimbal manager supports to point to a local position.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    131072GIMBAL_MANAGER_CAP_FLAGS_CAN_POINT_LOCATION_GLOBALGimbal manager supports to point to a global latitude, longitude, altitude position.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    GIMBAL_DEVICE_FLAGS

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    (Bitmask) Flags for gimbal device (lower level) operation.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1GIMBAL_DEVICE_FLAGS_RETRACTSet to retracted safe position (no stabilization), takes precedence over all other flags.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2GIMBAL_DEVICE_FLAGS_NEUTRALSet to neutral/default position, taking precedence over all other flags except RETRACT. Neutral is commonly forward-facing and horizontal (roll=pitch=yaw=0) but may be any orientation.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    4GIMBAL_DEVICE_FLAGS_ROLL_LOCKLock roll angle to absolute angle relative to horizon (not relative to vehicle). This is generally the default with a stabilizing gimbal.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    8GIMBAL_DEVICE_FLAGS_PITCH_LOCKLock pitch angle to absolute angle relative to horizon (not relative to vehicle). This is generally the default with a stabilizing gimbal.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    16GIMBAL_DEVICE_FLAGS_YAW_LOCKLock yaw angle to absolute angle relative to North (not relative to vehicle). If this flag is set, the yaw angle and z component of angular velocity are relative to North (earth frame, x-axis pointing North), else they are relative to the vehicle heading (vehicle frame, earth frame rotated so that the x-axis is pointing forward).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    32GIMBAL_DEVICE_FLAGS_YAW_IN_VEHICLE_FRAMEYaw angle and z component of angular velocity are relative to the vehicle heading (vehicle frame, earth frame rotated such that the x-axis is pointing forward).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    64GIMBAL_DEVICE_FLAGS_YAW_IN_EARTH_FRAMEYaw angle and z component of angular velocity are relative to North (earth frame, x-axis is pointing North).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    128GIMBAL_DEVICE_FLAGS_ACCEPTS_YAW_IN_EARTH_FRAMEGimbal device can accept yaw angle inputs relative to North (earth frame). This flag is only for reporting (attempts to set this flag are ignored).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    256GIMBAL_DEVICE_FLAGS_RC_EXCLUSIVEThe gimbal orientation is set exclusively by the RC signals feed to the gimbal's radio control inputs. MAVLink messages for setting the gimbal orientation (GIMBAL_DEVICE_SET_ATTITUDE) are ignored.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    512GIMBAL_DEVICE_FLAGS_RC_MIXEDThe gimbal orientation is determined by combining/mixing the RC signals feed to the gimbal's radio control inputs and the MAVLink messages for setting the gimbal orientation (GIMBAL_DEVICE_SET_ATTITUDE). How these two controls are combined or mixed is not defined by the protocol but is up to the implementation.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    GIMBAL_MANAGER_FLAGS

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    (Bitmask) Flags for high level gimbal manager operation The first 16 bits are identical to the GIMBAL_DEVICE_FLAGS.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1GIMBAL_MANAGER_FLAGS_RETRACTBased on GIMBAL_DEVICE_FLAGS_RETRACT.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2GIMBAL_MANAGER_FLAGS_NEUTRALBased on GIMBAL_DEVICE_FLAGS_NEUTRAL.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    4GIMBAL_MANAGER_FLAGS_ROLL_LOCKBased on GIMBAL_DEVICE_FLAGS_ROLL_LOCK.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    8GIMBAL_MANAGER_FLAGS_PITCH_LOCKBased on GIMBAL_DEVICE_FLAGS_PITCH_LOCK.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    16GIMBAL_MANAGER_FLAGS_YAW_LOCKBased on GIMBAL_DEVICE_FLAGS_YAW_LOCK.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    32GIMBAL_MANAGER_FLAGS_YAW_IN_VEHICLE_FRAMEBased on GIMBAL_DEVICE_FLAGS_YAW_IN_VEHICLE_FRAME.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    64GIMBAL_MANAGER_FLAGS_YAW_IN_EARTH_FRAMEBased on GIMBAL_DEVICE_FLAGS_YAW_IN_EARTH_FRAME.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    128GIMBAL_MANAGER_FLAGS_ACCEPTS_YAW_IN_EARTH_FRAMEBased on GIMBAL_DEVICE_FLAGS_ACCEPTS_YAW_IN_EARTH_FRAME.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    256GIMBAL_MANAGER_FLAGS_RC_EXCLUSIVEBased on GIMBAL_DEVICE_FLAGS_RC_EXCLUSIVE.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    512GIMBAL_MANAGER_FLAGS_RC_MIXEDBased on GIMBAL_DEVICE_FLAGS_RC_MIXED.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    GIMBAL_DEVICE_ERROR_FLAGS

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    (Bitmask) Gimbal device (low level) error flags (bitmap, 0 means no error)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1GIMBAL_DEVICE_ERROR_FLAGS_AT_ROLL_LIMITGimbal device is limited by hardware roll limit.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2GIMBAL_DEVICE_ERROR_FLAGS_AT_PITCH_LIMITGimbal device is limited by hardware pitch limit.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    4GIMBAL_DEVICE_ERROR_FLAGS_AT_YAW_LIMITGimbal device is limited by hardware yaw limit.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    8GIMBAL_DEVICE_ERROR_FLAGS_ENCODER_ERRORThere is an error with the gimbal encoders.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    16GIMBAL_DEVICE_ERROR_FLAGS_POWER_ERRORThere is an error with the gimbal power source.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    32GIMBAL_DEVICE_ERROR_FLAGS_MOTOR_ERRORThere is an error with the gimbal motors.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    64GIMBAL_DEVICE_ERROR_FLAGS_SOFTWARE_ERRORThere is an error with the gimbal's software.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    128GIMBAL_DEVICE_ERROR_FLAGS_COMMS_ERRORThere is an error with the gimbal's communication.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    256GIMBAL_DEVICE_ERROR_FLAGS_CALIBRATION_RUNNINGGimbal device is currently calibrating.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    512GIMBAL_DEVICE_ERROR_FLAGS_NO_MANAGERGimbal device is not assigned to a gimbal manager.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    GRIPPER_ACTIONS

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Gripper actions.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    0GRIPPER_ACTION_RELEASEGripper release cargo.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1GRIPPER_ACTION_GRABGripper grab onto cargo.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    WINCH_ACTIONS

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Winch actions.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    0WINCH_RELAXEDAllow motor to freewheel.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1WINCH_RELATIVE_LENGTH_CONTROLWind or unwind specified length of line, optionally using specified rate.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2WINCH_RATE_CONTROLWind or unwind line at specified rate.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    3WINCH_LOCKPerform the locking sequence to relieve motor while in the fully retracted position. Only action and instance command parameters are used, others are ignored.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    4WINCH_DELIVERSequence of drop, slow down, touch down, reel up, lock. Only action and instance command parameters are used, others are ignored.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    5WINCH_HOLDEngage motor and hold current position. Only action and instance command parameters are used, others are ignored.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    6WINCH_RETRACTReturn the reel to the fully retracted position. Only action and instance command parameters are used, others are ignored.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    7WINCH_LOAD_LINELoad the reel with line. The winch will calculate the total loaded length and stop when the tension exceeds a threshold. Only action and instance command parameters are used, others are ignored.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    8WINCH_ABANDON_LINESpool out the entire length of the line. Only action and instance command parameters are used, others are ignored.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    9WINCH_LOAD_PAYLOADSpools out just enough to present the hook to the user to load the payload. Only action and instance command parameters are used, others are ignored

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    UAVCAN_NODE_HEALTH

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Generalized UAVCAN node health

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    0UAVCAN_NODE_HEALTH_OKThe node is functioning properly.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1UAVCAN_NODE_HEALTH_WARNINGA critical parameter went out of range or the node has encountered a minor failure.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2UAVCAN_NODE_HEALTH_ERRORThe node has encountered a major failure.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    3UAVCAN_NODE_HEALTH_CRITICALThe node has suffered a fatal malfunction.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    UAVCAN_NODE_MODE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Generalized UAVCAN node mode

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    0UAVCAN_NODE_MODE_OPERATIONALThe node is performing its primary functions.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1UAVCAN_NODE_MODE_INITIALIZATIONThe node is initializing; this mode is entered immediately after startup.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2UAVCAN_NODE_MODE_MAINTENANCEThe node is under maintenance.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    3UAVCAN_NODE_MODE_SOFTWARE_UPDATEThe node is in the process of updating its software.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    7UAVCAN_NODE_MODE_OFFLINEThe node is no longer available online.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    ESC_CONNECTION_TYPE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Indicates the ESC connection type.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    0ESC_CONNECTION_TYPE_PPMTraditional PPM ESC.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1ESC_CONNECTION_TYPE_SERIALSerial Bus connected ESC.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2ESC_CONNECTION_TYPE_ONESHOTOne Shot PPM ESC.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    3ESC_CONNECTION_TYPE_I2CI2C ESC.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    4ESC_CONNECTION_TYPE_CANCAN-Bus ESC.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    5ESC_CONNECTION_TYPE_DSHOTDShot ESC.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    ESC_FAILURE_FLAGS

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    (Bitmask) Flags to report ESC failures.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    0ESC_FAILURE_NONENo ESC failure.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1ESC_FAILURE_OVER_CURRENTOver current failure.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2ESC_FAILURE_OVER_VOLTAGEOver voltage failure.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    4ESC_FAILURE_OVER_TEMPERATUREOver temperature failure.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    8ESC_FAILURE_OVER_RPMOver RPM failure.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    16ESC_FAILURE_INCONSISTENT_CMDInconsistent command failure i.e. out of bounds.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    32ESC_FAILURE_MOTOR_STUCKMotor stuck failure.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    64ESC_FAILURE_GENERICGeneric ESC failure.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    STORAGE_STATUS

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Flags to indicate the status of camera storage.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    0STORAGE_STATUS_EMPTYStorage is missing (no microSD card loaded for example.)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1STORAGE_STATUS_UNFORMATTEDStorage present but unformatted.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2STORAGE_STATUS_READYStorage present and ready.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    3STORAGE_STATUS_NOT_SUPPORTEDCamera does not supply storage status information. Capacity information in STORAGE_INFORMATION fields will be ignored.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    STORAGE_TYPE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Flags to indicate the type of storage.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    0STORAGE_TYPE_UNKNOWNStorage type is not known.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1STORAGE_TYPE_USB_STICKStorage type is USB device.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2STORAGE_TYPE_SDStorage type is SD card.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    3STORAGE_TYPE_MICROSDStorage type is microSD card.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    4STORAGE_TYPE_CFStorage type is CFast.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    5STORAGE_TYPE_CFEStorage type is CFexpress.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    6STORAGE_TYPE_XQDStorage type is XQD.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    7STORAGE_TYPE_HDStorage type is HD mass storage type.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    254STORAGE_TYPE_OTHERStorage type is other, not listed type.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    STORAGE_USAGE_FLAG

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Flags to indicate usage for a particular storage (see STORAGE_INFORMATION.storage_usage and MAV_CMD_SET_STORAGE_USAGE).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1STORAGE_USAGE_FLAG_SETAlways set to 1 (indicates STORAGE_INFORMATION.storage_usage is supported).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2STORAGE_USAGE_FLAG_PHOTOStorage for saving photos.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    4STORAGE_USAGE_FLAG_VIDEOStorage for saving videos.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    8STORAGE_USAGE_FLAG_LOGSStorage for saving logs.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    ORBIT_YAW_BEHAVIOUR

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Yaw behaviour during orbit flight.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    0ORBIT_YAW_BEHAVIOUR_HOLD_FRONT_TO_CIRCLE_CENTERVehicle front points to the center (default).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1ORBIT_YAW_BEHAVIOUR_HOLD_INITIAL_HEADINGVehicle front holds heading when message received.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2ORBIT_YAW_BEHAVIOUR_UNCONTROLLEDYaw uncontrolled.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    3ORBIT_YAW_BEHAVIOUR_HOLD_FRONT_TANGENT_TO_CIRCLEVehicle front follows flight path (tangential to circle).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    4ORBIT_YAW_BEHAVIOUR_RC_CONTROLLEDYaw controlled by RC input.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    5ORBIT_YAW_BEHAVIOUR_UNCHANGEDVehicle uses current yaw behaviour (unchanged). The vehicle-default yaw behaviour is used if this value is specified when orbit is first commanded.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    WIFI_CONFIG_AP_RESPONSE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Possible responses from a WIFI_CONFIG_AP message.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    0WIFI_CONFIG_AP_RESPONSE_UNDEFINEDUndefined response. Likely an indicative of a system that doesn't support this request.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1WIFI_CONFIG_AP_RESPONSE_ACCEPTEDChanges accepted.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2WIFI_CONFIG_AP_RESPONSE_REJECTEDChanges rejected.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    3WIFI_CONFIG_AP_RESPONSE_MODE_ERRORInvalid Mode.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    4WIFI_CONFIG_AP_RESPONSE_SSID_ERRORInvalid SSID.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    5WIFI_CONFIG_AP_RESPONSE_PASSWORD_ERRORInvalid Password.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    CELLULAR_CONFIG_RESPONSE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Possible responses from a CELLULAR_CONFIG message.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    0CELLULAR_CONFIG_RESPONSE_ACCEPTEDChanges accepted.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1CELLULAR_CONFIG_RESPONSE_APN_ERRORInvalid APN.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2CELLULAR_CONFIG_RESPONSE_PIN_ERRORInvalid PIN.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    3CELLULAR_CONFIG_RESPONSE_REJECTEDChanges rejected.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    4CELLULAR_CONFIG_BLOCKED_PUK_REQUIREDPUK is required to unblock SIM card.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    WIFI_CONFIG_AP_MODE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    WiFi Mode.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    0WIFI_CONFIG_AP_MODE_UNDEFINEDWiFi mode is undefined.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1WIFI_CONFIG_AP_MODE_APWiFi configured as an access point.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2WIFI_CONFIG_AP_MODE_STATIONWiFi configured as a station connected to an existing local WiFi network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    3WIFI_CONFIG_AP_MODE_DISABLEDWiFi disabled.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    COMP_METADATA_TYPE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Supported component metadata types. These are used in the "general" metadata file returned by COMPONENT_METADATA to provide information about supported metadata types. The types are not used directly in MAVLink messages.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    0COMP_METADATA_TYPE_GENERALGeneral information about the component. General metadata includes information about other metadata types supported by the component. Files of this type must be supported, and must be downloadable from vehicle using a MAVLink FTP URI.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1COMP_METADATA_TYPE_PARAMETERParameter meta data.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2COMP_METADATA_TYPE_COMMANDSMeta data that specifies which commands and command parameters the vehicle supports. (WIP)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    3COMP_METADATA_TYPE_PERIPHERALSMeta data that specifies external non-MAVLink peripherals.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    4COMP_METADATA_TYPE_EVENTSMeta data for the events interface.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    5COMP_METADATA_TYPE_ACTUATORSMeta data for actuator configuration (motors, servos and vehicle geometry) and testing.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    ACTUATOR_CONFIGURATION

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Actuator configuration, used to change a setting on an actuator. Component information metadata can be used to know which outputs support which commands.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    0ACTUATOR_CONFIGURATION_NONEDo nothing.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1ACTUATOR_CONFIGURATION_BEEPCommand the actuator to beep now.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2ACTUATOR_CONFIGURATION_3D_MODE_ONPermanently set the actuator (ESC) to 3D mode (reversible thrust).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    3ACTUATOR_CONFIGURATION_3D_MODE_OFFPermanently set the actuator (ESC) to non 3D mode (non-reversible thrust).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    4ACTUATOR_CONFIGURATION_SPIN_DIRECTION1Permanently set the actuator (ESC) to spin direction 1 (which can be clockwise or counter-clockwise).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    5ACTUATOR_CONFIGURATION_SPIN_DIRECTION2Permanently set the actuator (ESC) to spin direction 2 (opposite of direction 1).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    ACTUATOR_OUTPUT_FUNCTION

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Actuator output function. Values greater or equal to 1000 are autopilot-specific.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    0ACTUATOR_OUTPUT_FUNCTION_NONENo function (disabled).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1ACTUATOR_OUTPUT_FUNCTION_MOTOR1Motor 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2ACTUATOR_OUTPUT_FUNCTION_MOTOR2Motor 2
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    3ACTUATOR_OUTPUT_FUNCTION_MOTOR3Motor 3
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    4ACTUATOR_OUTPUT_FUNCTION_MOTOR4Motor 4
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    5ACTUATOR_OUTPUT_FUNCTION_MOTOR5Motor 5
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    6ACTUATOR_OUTPUT_FUNCTION_MOTOR6Motor 6
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    7ACTUATOR_OUTPUT_FUNCTION_MOTOR7Motor 7
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    8ACTUATOR_OUTPUT_FUNCTION_MOTOR8Motor 8
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    9ACTUATOR_OUTPUT_FUNCTION_MOTOR9Motor 9
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    10ACTUATOR_OUTPUT_FUNCTION_MOTOR10Motor 10
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    11ACTUATOR_OUTPUT_FUNCTION_MOTOR11Motor 11
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    12ACTUATOR_OUTPUT_FUNCTION_MOTOR12Motor 12
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    13ACTUATOR_OUTPUT_FUNCTION_MOTOR13Motor 13
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    14ACTUATOR_OUTPUT_FUNCTION_MOTOR14Motor 14
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    15ACTUATOR_OUTPUT_FUNCTION_MOTOR15Motor 15
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    16ACTUATOR_OUTPUT_FUNCTION_MOTOR16Motor 16
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    33ACTUATOR_OUTPUT_FUNCTION_SERVO1Servo 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    34ACTUATOR_OUTPUT_FUNCTION_SERVO2Servo 2
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    35ACTUATOR_OUTPUT_FUNCTION_SERVO3Servo 3
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    36ACTUATOR_OUTPUT_FUNCTION_SERVO4Servo 4
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    37ACTUATOR_OUTPUT_FUNCTION_SERVO5Servo 5
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    38ACTUATOR_OUTPUT_FUNCTION_SERVO6Servo 6
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    39ACTUATOR_OUTPUT_FUNCTION_SERVO7Servo 7
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    40ACTUATOR_OUTPUT_FUNCTION_SERVO8Servo 8
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    41ACTUATOR_OUTPUT_FUNCTION_SERVO9Servo 9
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    42ACTUATOR_OUTPUT_FUNCTION_SERVO10Servo 10
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    43ACTUATOR_OUTPUT_FUNCTION_SERVO11Servo 11
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    44ACTUATOR_OUTPUT_FUNCTION_SERVO12Servo 12
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    45ACTUATOR_OUTPUT_FUNCTION_SERVO13Servo 13
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    46ACTUATOR_OUTPUT_FUNCTION_SERVO14Servo 14
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    47ACTUATOR_OUTPUT_FUNCTION_SERVO15Servo 15
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    48ACTUATOR_OUTPUT_FUNCTION_SERVO16Servo 16

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    AUTOTUNE_AXIS

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    (Bitmask) Enable axes that will be tuned via autotuning. Used in MAV_CMD_DO_AUTOTUNE_ENABLE.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    0AUTOTUNE_AXIS_DEFAULTFlight stack tunes axis according to its default settings.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1AUTOTUNE_AXIS_ROLLAutotune roll axis.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2AUTOTUNE_AXIS_PITCHAutotune pitch axis.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    4AUTOTUNE_AXIS_YAWAutotune yaw axis.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    PREFLIGHT_STORAGE_PARAMETER_ACTION

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Actions for reading/writing parameters between persistent and volatile storage when using MAV_CMD_PREFLIGHT_STORAGE. (Commonly parameters are loaded from persistent storage (flash/EEPROM) into volatile storage (RAM) on startup and written back when they are changed.)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    0PARAM_READ_PERSISTENTRead all parameters from persistent storage. Replaces values in volatile storage.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1PARAM_WRITE_PERSISTENTWrite all parameter values to persistent storage (flash/EEPROM)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2PARAM_RESET_CONFIG_DEFAULTReset all user configurable parameters to their default value (including airframe selection, sensor calibration data, safety settings, and so on). Does not reset values that contain operation counters and vehicle computed statistics.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    3PARAM_RESET_SENSOR_DEFAULTReset only sensor calibration parameters to factory defaults (or firmware default if not available)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    4PARAM_RESET_ALL_DEFAULTReset all parameters, including operation counters, to default values

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    PREFLIGHT_STORAGE_MISSION_ACTION

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Actions for reading and writing plan information (mission, rally points, geofence) between persistent and volatile storage when using MAV_CMD_PREFLIGHT_STORAGE. (Commonly missions are loaded from persistent storage (flash/EEPROM) into volatile storage (RAM) on startup and written back when they are changed.)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    0MISSION_READ_PERSISTENTRead current mission data from persistent storage
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1MISSION_WRITE_PERSISTENTWrite current mission data to persistent storage
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2MISSION_RESET_DEFAULTErase all mission data stored on the vehicle (both persistent and volatile storage)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_DATA_STREAM — [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    DEPRECATED: Replaced By MESSAGE_INTERVAL (2015-06)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    A data stream is not a fixed set of messages, but rather a

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    recommendation to the autopilot software. Individual autopilots may or may not obey the recommended messages.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    0MAV_DATA_STREAM_ALLEnable all data streams
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1MAV_DATA_STREAM_RAW_SENSORSEnable IMU_RAW, GPS_RAW, GPS_STATUS packets.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2MAV_DATA_STREAM_EXTENDED_STATUSEnable GPS_STATUS, CONTROL_STATUS, AUX_STATUS
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    3MAV_DATA_STREAM_RC_CHANNELSEnable RC_CHANNELS_SCALED, RC_CHANNELS_RAW, SERVO_OUTPUT_RAW
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    4MAV_DATA_STREAM_RAW_CONTROLLEREnable ATTITUDE_CONTROLLER_OUTPUT, POSITION_CONTROLLER_OUTPUT, NAV_CONTROLLER_OUTPUT.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    6MAV_DATA_STREAM_POSITIONEnable LOCAL_POSITION, GLOBAL_POSITION_INT messages.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    10MAV_DATA_STREAM_EXTRA1Dependent on the autopilot
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    11MAV_DATA_STREAM_EXTRA2Dependent on the autopilot
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    12MAV_DATA_STREAM_EXTRA3Dependent on the autopilot

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_ROI — [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    DEPRECATED: Replaced By MAVCMD_DO_SET_ROI* (2018-01)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    The ROI (region of interest) for the vehicle. This can be

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    be used by the vehicle for camera/vehicle attitude alignment (see MAV_CMD_NAV_ROI).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    0MAV_ROI_NONENo region of interest.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1MAV_ROI_WPNEXTPoint toward next waypoint, with optional pitch/roll/yaw offset.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2MAV_ROI_WPINDEXPoint toward given waypoint.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    3MAV_ROI_LOCATIONPoint toward fixed location.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    4MAV_ROI_TARGETPoint toward of given id.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_PARAM_TYPE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Specifies the datatype of a MAVLink parameter.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1MAV_PARAM_TYPE_UINT88-bit unsigned integer
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2MAV_PARAM_TYPE_INT88-bit signed integer
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    3MAV_PARAM_TYPE_UINT1616-bit unsigned integer
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    4MAV_PARAM_TYPE_INT1616-bit signed integer
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    5MAV_PARAM_TYPE_UINT3232-bit unsigned integer
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    6MAV_PARAM_TYPE_INT3232-bit signed integer
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    7MAV_PARAM_TYPE_UINT6464-bit unsigned integer
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    8MAV_PARAM_TYPE_INT6464-bit signed integer
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    9MAV_PARAM_TYPE_REAL3232-bit floating-point
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    10MAV_PARAM_TYPE_REAL6464-bit floating-point

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_PARAM_EXT_TYPE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Specifies the datatype of a MAVLink extended parameter.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1MAV_PARAM_EXT_TYPE_UINT88-bit unsigned integer
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2MAV_PARAM_EXT_TYPE_INT88-bit signed integer
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    3MAV_PARAM_EXT_TYPE_UINT1616-bit unsigned integer
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    4MAV_PARAM_EXT_TYPE_INT1616-bit signed integer
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    5MAV_PARAM_EXT_TYPE_UINT3232-bit unsigned integer
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    6MAV_PARAM_EXT_TYPE_INT3232-bit signed integer
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    7MAV_PARAM_EXT_TYPE_UINT6464-bit unsigned integer
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    8MAV_PARAM_EXT_TYPE_INT6464-bit signed integer
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    9MAV_PARAM_EXT_TYPE_REAL3232-bit floating-point
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    10MAV_PARAM_EXT_TYPE_REAL6464-bit floating-point
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    11MAV_PARAM_EXT_TYPE_CUSTOMCustom Type

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_RESULT

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Result from a MAVLink command (MAV_CMD)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    0MAV_RESULT_ACCEPTEDCommand is valid (is supported and has valid parameters), and was executed.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1MAV_RESULT_TEMPORARILY_REJECTEDCommand is valid, but cannot be executed at this time. This is used to indicate a problem that should be fixed just by waiting (e.g. a state machine is busy, can't arm because have not got GPS lock, etc.). Retrying later should work.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2MAV_RESULT_DENIEDCommand is invalid (is supported but has invalid parameters). Retrying same command and parameters will not work.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    3MAV_RESULT_UNSUPPORTEDCommand is not supported (unknown).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    4MAV_RESULT_FAILEDCommand is valid, but execution has failed. This is used to indicate any non-temporary or unexpected problem, i.e. any problem that must be fixed before the command can succeed/be retried. For example, attempting to write a file when out of memory, attempting to arm when sensors are not calibrated, etc.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    5MAV_RESULT_IN_PROGRESSCommand is valid and is being executed. This will be followed by further progress updates, i.e. the component may send further COMMAND_ACK messages with result MAV_RESULT_IN_PROGRESS (at a rate decided by the implementation), and must terminate by sending a COMMAND_ACK message with final result of the operation. The COMMAND_ACK.progress field can be used to indicate the progress of the operation.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    6MAV_RESULT_CANCELLEDCommand has been cancelled (as a result of receiving a COMMAND_CANCEL message).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    7MAV_RESULT_COMMAND_LONG_ONLYCommand is only accepted when sent as a COMMAND_LONG.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    8MAV_RESULT_COMMAND_INT_ONLYCommand is only accepted when sent as a COMMAND_INT.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    9MAV_RESULT_COMMAND_UNSUPPORTED_MAV_FRAMECommand is invalid because a frame is required and the specified frame is not supported.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_MISSION_RESULT

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Result of mission operation (in a MISSION_ACK message).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    0MAV_MISSION_ACCEPTEDmission accepted OK
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1MAV_MISSION_ERRORGeneric error / not accepting mission commands at all right now.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2MAV_MISSION_UNSUPPORTED_FRAMECoordinate frame is not supported.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    3MAV_MISSION_UNSUPPORTEDCommand is not supported.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    4MAV_MISSION_NO_SPACEMission items exceed storage space.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    5MAV_MISSION_INVALIDOne of the parameters has an invalid value.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    6MAV_MISSION_INVALID_PARAM1param1 has an invalid value.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    7MAV_MISSION_INVALID_PARAM2param2 has an invalid value.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    8MAV_MISSION_INVALID_PARAM3param3 has an invalid value.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    9MAV_MISSION_INVALID_PARAM4param4 has an invalid value.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    10MAV_MISSION_INVALID_PARAM5_Xx / param5 has an invalid value.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    11MAV_MISSION_INVALID_PARAM6_Yy / param6 has an invalid value.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    12MAV_MISSION_INVALID_PARAM7z / param7 has an invalid value.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    13MAV_MISSION_INVALID_SEQUENCEMission item received out of sequence
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    14MAV_MISSION_DENIEDNot accepting any mission commands from this communication partner.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    15MAV_MISSION_OPERATION_CANCELLEDCurrent mission operation cancelled (e.g. mission upload, mission download).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_SEVERITY

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Indicates the severity level, generally used for status messages to indicate their relative urgency. Based on RFC-5424 using expanded definitions at: http://www.kiwisyslog.com/kb/info:-syslog-message-levels/.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    0MAV_SEVERITY_EMERGENCYSystem is unusable. This is a "panic" condition.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1MAV_SEVERITY_ALERTAction should be taken immediately. Indicates error in non-critical systems.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2MAV_SEVERITY_CRITICALAction must be taken immediately. Indicates failure in a primary system.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    3MAV_SEVERITY_ERRORIndicates an error in secondary/redundant systems.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    4MAV_SEVERITY_WARNINGIndicates about a possible future error if this is not resolved within a given timeframe. Example would be a low battery warning.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    5MAV_SEVERITY_NOTICEAn unusual event has occurred, though not an error condition. This should be investigated for the root cause.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    6MAV_SEVERITY_INFONormal operational messages. Useful for logging. No action is required for these messages.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    7MAV_SEVERITY_DEBUGUseful non-operational messages that can assist in debugging. These should not occur during normal operation.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_POWER_STATUS

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    (Bitmask) Power supply status flags (bitmask)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1MAV_POWER_STATUS_BRICK_VALIDmain brick power supply valid
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2MAV_POWER_STATUS_SERVO_VALIDmain servo power supply valid for FMU
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    4MAV_POWER_STATUS_USB_CONNECTEDUSB power is connected
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    8MAV_POWER_STATUS_PERIPH_OVERCURRENTperipheral supply is in over-current state
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    16MAV_POWER_STATUS_PERIPH_HIPOWER_OVERCURRENThi-power peripheral supply is in over-current state
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    32MAV_POWER_STATUS_CHANGEDPower status has changed since boot

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    SERIAL_CONTROL_DEV

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    SERIAL_CONTROL device types

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    0SERIAL_CONTROL_DEV_TELEM1First telemetry port
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1SERIAL_CONTROL_DEV_TELEM2Second telemetry port
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2SERIAL_CONTROL_DEV_GPS1First GPS port
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    3SERIAL_CONTROL_DEV_GPS2Second GPS port
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    10SERIAL_CONTROL_DEV_SHELLsystem shell
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    100SERIAL_CONTROL_SERIAL0SERIAL0
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    101SERIAL_CONTROL_SERIAL1SERIAL1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    102SERIAL_CONTROL_SERIAL2SERIAL2
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    103SERIAL_CONTROL_SERIAL3SERIAL3
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    104SERIAL_CONTROL_SERIAL4SERIAL4
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    105SERIAL_CONTROL_SERIAL5SERIAL5
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    106SERIAL_CONTROL_SERIAL6SERIAL6
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    107SERIAL_CONTROL_SERIAL7SERIAL7
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    108SERIAL_CONTROL_SERIAL8SERIAL8
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    109SERIAL_CONTROL_SERIAL9SERIAL9

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    SERIAL_CONTROL_FLAG

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    (Bitmask) SERIAL_CONTROL flags (bitmask)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1SERIAL_CONTROL_FLAG_REPLYSet if this is a reply
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2SERIAL_CONTROL_FLAG_RESPONDSet if the sender wants the receiver to send a response as another SERIAL_CONTROL message
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    4SERIAL_CONTROL_FLAG_EXCLUSIVESet if access to the serial port should be removed from whatever driver is currently using it, giving exclusive access to the SERIAL_CONTROL protocol. The port can be handed back by sending a request without this flag set
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    8SERIAL_CONTROL_FLAG_BLOCKINGBlock on writes to the serial port
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    16SERIAL_CONTROL_FLAG_MULTISend multiple replies until port is drained

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_DISTANCE_SENSOR

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Enumeration of distance sensor types

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    0MAV_DISTANCE_SENSOR_LASERLaser rangefinder, e.g. LightWare SF02/F or PulsedLight units
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1MAV_DISTANCE_SENSOR_ULTRASOUNDUltrasound rangefinder, e.g. MaxBotix units
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2MAV_DISTANCE_SENSOR_INFRAREDInfrared rangefinder, e.g. Sharp units
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    3MAV_DISTANCE_SENSOR_RADARRadar type, e.g. uLanding units
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    4MAV_DISTANCE_SENSOR_UNKNOWNBroken or unknown type, e.g. analog units

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_SENSOR_ORIENTATION

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Enumeration of sensor orientation, according to its rotations

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    0MAV_SENSOR_ROTATION_NONERoll: 0, Pitch: 0, Yaw: 0
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1MAV_SENSOR_ROTATION_YAW_45Roll: 0, Pitch: 0, Yaw: 45
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2MAV_SENSOR_ROTATION_YAW_90Roll: 0, Pitch: 0, Yaw: 90
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    3MAV_SENSOR_ROTATION_YAW_135Roll: 0, Pitch: 0, Yaw: 135
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    4MAV_SENSOR_ROTATION_YAW_180Roll: 0, Pitch: 0, Yaw: 180
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    5MAV_SENSOR_ROTATION_YAW_225Roll: 0, Pitch: 0, Yaw: 225
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    6MAV_SENSOR_ROTATION_YAW_270Roll: 0, Pitch: 0, Yaw: 270
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    7MAV_SENSOR_ROTATION_YAW_315Roll: 0, Pitch: 0, Yaw: 315
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    8MAV_SENSOR_ROTATION_ROLL_180Roll: 180, Pitch: 0, Yaw: 0
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    9MAV_SENSOR_ROTATION_ROLL_180_YAW_45Roll: 180, Pitch: 0, Yaw: 45
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    10MAV_SENSOR_ROTATION_ROLL_180_YAW_90Roll: 180, Pitch: 0, Yaw: 90
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    11MAV_SENSOR_ROTATION_ROLL_180_YAW_135Roll: 180, Pitch: 0, Yaw: 135
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    12MAV_SENSOR_ROTATION_PITCH_180Roll: 0, Pitch: 180, Yaw: 0
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    13MAV_SENSOR_ROTATION_ROLL_180_YAW_225Roll: 180, Pitch: 0, Yaw: 225
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    14MAV_SENSOR_ROTATION_ROLL_180_YAW_270Roll: 180, Pitch: 0, Yaw: 270
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    15MAV_SENSOR_ROTATION_ROLL_180_YAW_315Roll: 180, Pitch: 0, Yaw: 315
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    16MAV_SENSOR_ROTATION_ROLL_90Roll: 90, Pitch: 0, Yaw: 0
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    17MAV_SENSOR_ROTATION_ROLL_90_YAW_45Roll: 90, Pitch: 0, Yaw: 45
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    18MAV_SENSOR_ROTATION_ROLL_90_YAW_90Roll: 90, Pitch: 0, Yaw: 90
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    19MAV_SENSOR_ROTATION_ROLL_90_YAW_135Roll: 90, Pitch: 0, Yaw: 135
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    20MAV_SENSOR_ROTATION_ROLL_270Roll: 270, Pitch: 0, Yaw: 0
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    21MAV_SENSOR_ROTATION_ROLL_270_YAW_45Roll: 270, Pitch: 0, Yaw: 45
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    22MAV_SENSOR_ROTATION_ROLL_270_YAW_90Roll: 270, Pitch: 0, Yaw: 90
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    23MAV_SENSOR_ROTATION_ROLL_270_YAW_135Roll: 270, Pitch: 0, Yaw: 135
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    24MAV_SENSOR_ROTATION_PITCH_90Roll: 0, Pitch: 90, Yaw: 0
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    25MAV_SENSOR_ROTATION_PITCH_270Roll: 0, Pitch: 270, Yaw: 0
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    26MAV_SENSOR_ROTATION_PITCH_180_YAW_90Roll: 0, Pitch: 180, Yaw: 90
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    27MAV_SENSOR_ROTATION_PITCH_180_YAW_270Roll: 0, Pitch: 180, Yaw: 270
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    28MAV_SENSOR_ROTATION_ROLL_90_PITCH_90Roll: 90, Pitch: 90, Yaw: 0
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    29MAV_SENSOR_ROTATION_ROLL_180_PITCH_90Roll: 180, Pitch: 90, Yaw: 0
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    30MAV_SENSOR_ROTATION_ROLL_270_PITCH_90Roll: 270, Pitch: 90, Yaw: 0
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    31MAV_SENSOR_ROTATION_ROLL_90_PITCH_180Roll: 90, Pitch: 180, Yaw: 0
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    32MAV_SENSOR_ROTATION_ROLL_270_PITCH_180Roll: 270, Pitch: 180, Yaw: 0
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    33MAV_SENSOR_ROTATION_ROLL_90_PITCH_270Roll: 90, Pitch: 270, Yaw: 0
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    34MAV_SENSOR_ROTATION_ROLL_180_PITCH_270Roll: 180, Pitch: 270, Yaw: 0
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    35MAV_SENSOR_ROTATION_ROLL_270_PITCH_270Roll: 270, Pitch: 270, Yaw: 0
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    36MAV_SENSOR_ROTATION_ROLL_90_PITCH_180_YAW_90Roll: 90, Pitch: 180, Yaw: 90
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    37MAV_SENSOR_ROTATION_ROLL_90_YAW_270Roll: 90, Pitch: 0, Yaw: 270
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    38MAV_SENSOR_ROTATION_ROLL_90_PITCH_68_YAW_293Roll: 90, Pitch: 68, Yaw: 293
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    39MAV_SENSOR_ROTATION_PITCH_315Pitch: 315
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    40MAV_SENSOR_ROTATION_ROLL_90_PITCH_315Roll: 90, Pitch: 315
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    100MAV_SENSOR_ROTATION_CUSTOMCustom orientation

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_PROTOCOL_CAPABILITY

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    (Bitmask) Bitmask of (optional) autopilot capabilities (64 bit). If a bit is set, the autopilot supports this capability.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1MAV_PROTOCOL_CAPABILITY_MISSION_FLOATAutopilot supports the MISSION_ITEM float message type.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Note that MISSION_ITEM is deprecated, and autopilots should use MISSION_INT instead. | | </a>2 | MAV_PROTOCOL_CAPABILITY_PARAM_FLOAT | Autopilot supports the new param float message type.DEPRECATED: Replaced By MAV_PROTOCOL_CAPABILITY_PARAM_ENCODE_C_CAST (2022-03)</span> | | </a>4 | MAV_PROTOCOL_CAPABILITY_MISSION_INT | Autopilot supports MISSION_ITEM_INT scaled integer message type.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Note that this flag must always be set if missions are supported, because missions must always use MISSION_ITEM_INT (rather than MISSION_ITEM, which is deprecated). | | 8 | MAV_PROTOCOL_CAPABILITY_COMMAND_INT | Autopilot supports COMMAND_INT scaled integer message type. | | </a>16 | MAV_PROTOCOL_CAPABILITY_PARAM_ENCODE_BYTEWISE | Parameter protocol uses byte-wise encoding of parameter values into param_value (float) fields: https://mavlink.io/en/services/parameter.html#parameter-encoding.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Note that either this flag or MAV_PROTOCOL_CAPABILITY_PARAM_ENCODE_C_CAST should be set if the parameter protocol is supported. | | 32 | MAV_PROTOCOL_CAPABILITY_FTP | Autopilot supports the File Transfer Protocol v1: https://mavlink.io/en/services/ftp.html. | | </a>64 | MAV_PROTOCOL_CAPABILITY_SET_ATTITUDE_TARGET | Autopilot supports commanding attitude offboard. | | 128 | MAV_PROTOCOL_CAPABILITY_SET_POSITION_TARGET_LOCAL_NED | Autopilot supports commanding position and velocity targets in local NED frame. | | </a>256 | MAV_PROTOCOL_CAPABILITY_SET_POSITION_TARGET_GLOBAL_INT | Autopilot supports commanding position and velocity targets in global scaled integers. | | 512 | MAV_PROTOCOL_CAPABILITY_TERRAIN | Autopilot supports terrain protocol / data handling. | | </a>1024 | MAV_PROTOCOL_CAPABILITY_RESERVED3 | Reserved for future use. | | 2048 | MAV_PROTOCOL_CAPABILITY_FLIGHT_TERMINATION | Autopilot supports the MAV_CMD_DO_FLIGHTTERMINATION command (flight termination). | | </a>4096 | MAV_PROTOCOL_CAPABILITY_COMPASS_CALIBRATION | Autopilot supports onboard compass calibration. | | 8192 | MAV_PROTOCOL_CAPABILITY_MAVLINK2 | Autopilot supports MAVLink version 2. | | </a>16384 | MAV_PROTOCOL_CAPABILITY_MISSION_FENCE | Autopilot supports mission fence protocol. | | 32768 | MAV_PROTOCOL_CAPABILITY_MISSION_RALLY | Autopilot supports mission rally point protocol. | | </a>65536 | MAV_PROTOCOL_CAPABILITY_RESERVED2 | Reserved for future use. | | 131072 | MAV_PROTOCOL_CAPABILITY_PARAM_ENCODE_C_CAST | Parameter protocol uses C-cast of parameter values to set the param_value (float) fields: https://mavlink.io/en/services/parameter.html#parameter-encoding.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Note that either this flag or MAV_PROTOCOL_CAPABILITY_PARAM_ENCODE_BYTEWISE should be set if the parameter protocol is supported. | | 262144 | MAV_PROTOCOL_CAPABILITY_COMPONENT_IMPLEMENTS_GIMBAL_MANAGER | This component implements/is a gimbal manager. This means the GIMBAL_MANAGER_INFORMATION, and other messages can be requested. |

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_MISSION_TYPE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Type of mission items being requested/sent in mission protocol.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    0MAV_MISSION_TYPE_MISSIONItems are mission commands for main mission.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1MAV_MISSION_TYPE_FENCESpecifies GeoFence area(s). Items are MAVCMD_NAV_FENCE GeoFence items.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2MAV_MISSION_TYPE_RALLYSpecifies the rally points for the vehicle. Rally points are alternative RTL points. Items are MAV_CMD_NAV_RALLY_POINT rally point items.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    255MAV_MISSION_TYPE_ALLOnly used in MISSION_CLEAR_ALL to clear all mission types.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_ESTIMATOR_TYPE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Enumeration of estimator types

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    0MAV_ESTIMATOR_TYPE_UNKNOWNUnknown type of the estimator.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1MAV_ESTIMATOR_TYPE_NAIVEThis is a naive estimator without any real covariance feedback.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2MAV_ESTIMATOR_TYPE_VISIONComputer vision based estimate. Might be up to scale.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    3MAV_ESTIMATOR_TYPE_VIOVisual-inertial estimate.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    4MAV_ESTIMATOR_TYPE_GPSPlain GPS estimate.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    5MAV_ESTIMATOR_TYPE_GPS_INSEstimator integrating GPS and inertial sensing.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    6MAV_ESTIMATOR_TYPE_MOCAPEstimate from external motion capturing system.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    7MAV_ESTIMATOR_TYPE_LIDAREstimator based on lidar sensor input.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    8MAV_ESTIMATOR_TYPE_AUTOPILOTEstimator on autopilot.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_BATTERY_TYPE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Enumeration of battery types

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    0MAV_BATTERY_TYPE_UNKNOWNNot specified.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1MAV_BATTERY_TYPE_LIPOLithium polymer battery
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2MAV_BATTERY_TYPE_LIFELithium-iron-phosphate battery
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    3MAV_BATTERY_TYPE_LIONLithium-ION battery
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    4MAV_BATTERY_TYPE_NIMHNickel metal hydride battery

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_BATTERY_FUNCTION

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Enumeration of battery functions

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    0MAV_BATTERY_FUNCTION_UNKNOWNBattery function is unknown
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1MAV_BATTERY_FUNCTION_ALLBattery supports all flight systems
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2MAV_BATTERY_FUNCTION_PROPULSIONBattery for the propulsion system
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    3MAV_BATTERY_FUNCTION_AVIONICSAvionics battery
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    4MAV_BATTERY_FUNCTION_PAYLOADPayload battery

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_BATTERY_CHARGE_STATE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Enumeration for battery charge states.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    0MAV_BATTERY_CHARGE_STATE_UNDEFINEDLow battery state is not provided
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1MAV_BATTERY_CHARGE_STATE_OKBattery is not in low state. Normal operation.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2MAV_BATTERY_CHARGE_STATE_LOWBattery state is low, warn and monitor close.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    3MAV_BATTERY_CHARGE_STATE_CRITICALBattery state is critical, return or abort immediately.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    4MAV_BATTERY_CHARGE_STATE_EMERGENCYBattery state is too low for ordinary abort sequence. Perform fastest possible emergency stop to prevent damage.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    5MAV_BATTERY_CHARGE_STATE_FAILEDBattery failed, damage unavoidable. Possible causes (faults) are listed in MAV_BATTERY_FAULT.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    6MAV_BATTERY_CHARGE_STATE_UNHEALTHYBattery is diagnosed to be defective or an error occurred, usage is discouraged / prohibited. Possible causes (faults) are listed in MAV_BATTERY_FAULT.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    7MAV_BATTERY_CHARGE_STATE_CHARGINGBattery is charging.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_BATTERY_MODE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Battery mode. Note, the normal operation mode (i.e. when flying) should be reported as MAV_BATTERY_MODE_UNKNOWN to allow message trimming in normal flight.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    0MAV_BATTERY_MODE_UNKNOWNBattery mode not supported/unknown battery mode/normal operation.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1MAV_BATTERY_MODE_AUTO_DISCHARGINGBattery is auto discharging (towards storage level).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2MAV_BATTERY_MODE_HOT_SWAPBattery in hot-swap mode (current limited to prevent spikes that might damage sensitive electrical circuits).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_BATTERY_FAULT

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    (Bitmask) Smart battery supply status/fault flags (bitmask) for health indication. The battery must also report either MAV_BATTERY_CHARGE_STATE_FAILED or MAV_BATTERY_CHARGE_STATE_UNHEALTHY if any of these are set.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1MAV_BATTERY_FAULT_DEEP_DISCHARGEBattery has deep discharged.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2MAV_BATTERY_FAULT_SPIKESVoltage spikes.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    4MAV_BATTERY_FAULT_CELL_FAILOne or more cells have failed. Battery should also report MAV_BATTERY_CHARGE_STATE_FAILE (and should not be used).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    8MAV_BATTERY_FAULT_OVER_CURRENTOver-current fault.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    16MAV_BATTERY_FAULT_OVER_TEMPERATUREOver-temperature fault.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    32MAV_BATTERY_FAULT_UNDER_TEMPERATUREUnder-temperature fault.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    64MAV_BATTERY_FAULT_INCOMPATIBLE_VOLTAGEVehicle voltage is not compatible with this battery (batteries on same power rail should have similar voltage).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    128MAV_BATTERY_FAULT_INCOMPATIBLE_FIRMWAREBattery firmware is not compatible with current autopilot firmware.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    256BATTERY_FAULT_INCOMPATIBLE_CELLS_CONFIGURATIONBattery is not compatible due to cell configuration (e.g. 5s1p when vehicle requires 6s).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_GENERATOR_STATUS_FLAG

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    (Bitmask) Flags to report status/failure cases for a power generator (used in GENERATOR_STATUS). Note that FAULTS are conditions that cause the generator to fail. Warnings are conditions that require attention before the next use (they indicate the system is not operating properly).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1MAV_GENERATOR_STATUS_FLAG_OFFGenerator is off.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2MAV_GENERATOR_STATUS_FLAG_READYGenerator is ready to start generating power.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    4MAV_GENERATOR_STATUS_FLAG_GENERATINGGenerator is generating power.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    8MAV_GENERATOR_STATUS_FLAG_CHARGINGGenerator is charging the batteries (generating enough power to charge and provide the load).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    16MAV_GENERATOR_STATUS_FLAG_REDUCED_POWERGenerator is operating at a reduced maximum power.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    32MAV_GENERATOR_STATUS_FLAG_MAXPOWERGenerator is providing the maximum output.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    64MAV_GENERATOR_STATUS_FLAG_OVERTEMP_WARNINGGenerator is near the maximum operating temperature, cooling is insufficient.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    128MAV_GENERATOR_STATUS_FLAG_OVERTEMP_FAULTGenerator hit the maximum operating temperature and shutdown.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    256MAV_GENERATOR_STATUS_FLAG_ELECTRONICS_OVERTEMP_WARNINGPower electronics are near the maximum operating temperature, cooling is insufficient.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    512MAV_GENERATOR_STATUS_FLAG_ELECTRONICS_OVERTEMP_FAULTPower electronics hit the maximum operating temperature and shutdown.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1024MAV_GENERATOR_STATUS_FLAG_ELECTRONICS_FAULTPower electronics experienced a fault and shutdown.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2048MAV_GENERATOR_STATUS_FLAG_POWERSOURCE_FAULTThe power source supplying the generator failed e.g. mechanical generator stopped, tether is no longer providing power, solar cell is in shade, hydrogen reaction no longer happening.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    4096MAV_GENERATOR_STATUS_FLAG_COMMUNICATION_WARNINGGenerator controller having communication problems.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    8192MAV_GENERATOR_STATUS_FLAG_COOLING_WARNINGPower electronic or generator cooling system error.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    16384MAV_GENERATOR_STATUS_FLAG_POWER_RAIL_FAULTGenerator controller power rail experienced a fault.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    32768MAV_GENERATOR_STATUS_FLAG_OVERCURRENT_FAULTGenerator controller exceeded the overcurrent threshold and shutdown to prevent damage.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    65536MAV_GENERATOR_STATUS_FLAG_BATTERY_OVERCHARGE_CURRENT_FAULTGenerator controller detected a high current going into the batteries and shutdown to prevent battery damage.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    131072MAV_GENERATOR_STATUS_FLAG_OVERVOLTAGE_FAULTGenerator controller exceeded it's overvoltage threshold and shutdown to prevent it exceeding the voltage rating.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    262144MAV_GENERATOR_STATUS_FLAG_BATTERY_UNDERVOLT_FAULTBatteries are under voltage (generator will not start).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    524288MAV_GENERATOR_STATUS_FLAG_START_INHIBITEDGenerator start is inhibited by e.g. a safety switch.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1048576MAV_GENERATOR_STATUS_FLAG_MAINTENANCE_REQUIREDGenerator requires maintenance.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2097152MAV_GENERATOR_STATUS_FLAG_WARMING_UPGenerator is not ready to generate yet.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    4194304MAV_GENERATOR_STATUS_FLAG_IDLEGenerator is idle.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_VTOL_STATE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Enumeration of VTOL states

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    0MAV_VTOL_STATE_UNDEFINEDMAV is not configured as VTOL
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1MAV_VTOL_STATE_TRANSITION_TO_FWVTOL is in transition from multicopter to fixed-wing
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2MAV_VTOL_STATE_TRANSITION_TO_MCVTOL is in transition from fixed-wing to multicopter
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    3MAV_VTOL_STATE_MCVTOL is in multicopter state
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    4MAV_VTOL_STATE_FWVTOL is in fixed-wing state

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_LANDED_STATE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Enumeration of landed detector states

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    0MAV_LANDED_STATE_UNDEFINEDMAV landed state is unknown
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1MAV_LANDED_STATE_ON_GROUNDMAV is landed (on ground)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2MAV_LANDED_STATE_IN_AIRMAV is in air
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    3MAV_LANDED_STATE_TAKEOFFMAV currently taking off
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    4MAV_LANDED_STATE_LANDINGMAV currently landing

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    ADSB_ALTITUDE_TYPE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Enumeration of the ADSB altimeter types

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    0ADSB_ALTITUDE_TYPE_PRESSURE_QNHAltitude reported from a Baro source using QNH reference
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1ADSB_ALTITUDE_TYPE_GEOMETRICAltitude reported from a GNSS source

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    ADSB_EMITTER_TYPE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    ADSB classification for the type of vehicle emitting the transponder signal

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    0ADSB_EMITTER_TYPE_NO_INFO
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1ADSB_EMITTER_TYPE_LIGHT
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2ADSB_EMITTER_TYPE_SMALL
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    3ADSB_EMITTER_TYPE_LARGE
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    4ADSB_EMITTER_TYPE_HIGH_VORTEX_LARGE
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    5ADSB_EMITTER_TYPE_HEAVY
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    6ADSB_EMITTER_TYPE_HIGHLY_MANUV
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    7ADSB_EMITTER_TYPE_ROTOCRAFT
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    8ADSB_EMITTER_TYPE_UNASSIGNED
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    9ADSB_EMITTER_TYPE_GLIDER
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    10ADSB_EMITTER_TYPE_LIGHTER_AIR
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    11ADSB_EMITTER_TYPE_PARACHUTE
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    12ADSB_EMITTER_TYPE_ULTRA_LIGHT
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    13ADSB_EMITTER_TYPE_UNASSIGNED2
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    14ADSB_EMITTER_TYPE_UAV
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    15ADSB_EMITTER_TYPE_SPACE
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    16ADSB_EMITTER_TYPE_UNASSGINED3
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    17ADSB_EMITTER_TYPE_EMERGENCY_SURFACE
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    18ADSB_EMITTER_TYPE_SERVICE_SURFACE
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    19ADSB_EMITTER_TYPE_POINT_OBSTACLE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    ADSB_FLAGS

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    (Bitmask) These flags indicate status such as data validity of each data source. Set = data valid

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1ADSB_FLAGS_VALID_COORDS
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2ADSB_FLAGS_VALID_ALTITUDE
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    4ADSB_FLAGS_VALID_HEADING
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    8ADSB_FLAGS_VALID_VELOCITY
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    16ADSB_FLAGS_VALID_CALLSIGN
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    32ADSB_FLAGS_VALID_SQUAWK
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    64ADSB_FLAGS_SIMULATED
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    128ADSB_FLAGS_VERTICAL_VELOCITY_VALID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    256ADSB_FLAGS_BARO_VALID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    32768ADSB_FLAGS_SOURCE_UAT

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_DO_REPOSITION_FLAGS

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    (Bitmask) Bitmap of options for the MAV_CMD_DO_REPOSITION

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1MAV_DO_REPOSITION_FLAGS_CHANGE_MODEThe aircraft should immediately transition into guided. This should not be set for follow me applications

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    SPEED_TYPE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Speed setpoint types used in MAV_CMD_DO_CHANGE_SPEED

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    0SPEED_TYPE_AIRSPEEDAirspeed
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1SPEED_TYPE_GROUNDSPEEDGroundspeed
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2SPEED_TYPE_CLIMB_SPEEDClimb speed
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    3SPEED_TYPE_DESCENT_SPEEDDescent speed

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    ESTIMATOR_STATUS_FLAGS

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    (Bitmask) Flags in ESTIMATOR_STATUS message

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1ESTIMATOR_ATTITUDETrue if the attitude estimate is good
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2ESTIMATOR_VELOCITY_HORIZTrue if the horizontal velocity estimate is good
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    4ESTIMATOR_VELOCITY_VERTTrue if the vertical velocity estimate is good
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    8ESTIMATOR_POS_HORIZ_RELTrue if the horizontal position (relative) estimate is good
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    16ESTIMATOR_POS_HORIZ_ABSTrue if the horizontal position (absolute) estimate is good
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    32ESTIMATOR_POS_VERT_ABSTrue if the vertical position (absolute) estimate is good
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    64ESTIMATOR_POS_VERT_AGLTrue if the vertical position (above ground) estimate is good
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    128ESTIMATOR_CONST_POS_MODETrue if the EKF is in a constant position mode and is not using external measurements (eg GPS or optical flow)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    256ESTIMATOR_PRED_POS_HORIZ_RELTrue if the EKF has sufficient data to enter a mode that will provide a (relative) position estimate
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    512ESTIMATOR_PRED_POS_HORIZ_ABSTrue if the EKF has sufficient data to enter a mode that will provide a (absolute) position estimate
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1024ESTIMATOR_GPS_GLITCHTrue if the EKF has detected a GPS glitch
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2048ESTIMATOR_ACCEL_ERRORTrue if the EKF has detected bad accelerometer data

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MOTOR_TEST_ORDER

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Sequence that motors are tested when using MAV_CMD_DO_MOTOR_TEST.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    0MOTOR_TEST_ORDER_DEFAULTDefault autopilot motor test method.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1MOTOR_TEST_ORDER_SEQUENCEMotor numbers are specified as their index in a predefined vehicle-specific sequence.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2MOTOR_TEST_ORDER_BOARDMotor numbers are specified as the output as labeled on the board.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MOTOR_TEST_THROTTLE_TYPE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Defines how throttle value is represented in MAV_CMD_DO_MOTOR_TEST.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    0MOTOR_TEST_THROTTLE_PERCENTThrottle as a percentage (0 ~ 100)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1MOTOR_TEST_THROTTLE_PWMThrottle as an absolute PWM value (normally in range of 1000~2000).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2MOTOR_TEST_THROTTLE_PILOTThrottle pass-through from pilot's transmitter.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    3MOTOR_TEST_COMPASS_CALPer-motor compass calibration test.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    GPS_INPUT_IGNORE_FLAGS

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    (Bitmask)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1GPS_INPUT_IGNORE_FLAG_ALTignore altitude field
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2GPS_INPUT_IGNORE_FLAG_HDOPignore hdop field
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    4GPS_INPUT_IGNORE_FLAG_VDOPignore vdop field
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    8GPS_INPUT_IGNORE_FLAG_VEL_HORIZignore horizontal velocity field (vn and ve)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    16GPS_INPUT_IGNORE_FLAG_VEL_VERTignore vertical velocity field (vd)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    32GPS_INPUT_IGNORE_FLAG_SPEED_ACCURACYignore speed accuracy field
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    64GPS_INPUT_IGNORE_FLAG_HORIZONTAL_ACCURACYignore horizontal accuracy field
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    128GPS_INPUT_IGNORE_FLAG_VERTICAL_ACCURACYignore vertical accuracy field

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_COLLISION_ACTION

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Possible actions an aircraft can take to avoid a collision.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    0MAV_COLLISION_ACTION_NONEIgnore any potential collisions
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1MAV_COLLISION_ACTION_REPORTReport potential collision
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2MAV_COLLISION_ACTION_ASCEND_OR_DESCENDAscend or Descend to avoid threat
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    3MAV_COLLISION_ACTION_MOVE_HORIZONTALLYMove horizontally to avoid threat
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    4MAV_COLLISION_ACTION_MOVE_PERPENDICULARAircraft to move perpendicular to the collision's velocity vector
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    5MAV_COLLISION_ACTION_RTLAircraft to fly directly back to its launch point
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    6MAV_COLLISION_ACTION_HOVERAircraft to stop in place

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_COLLISION_THREAT_LEVEL

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Aircraft-rated danger from this threat.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    0MAV_COLLISION_THREAT_LEVEL_NONENot a threat
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1MAV_COLLISION_THREAT_LEVEL_LOWCraft is mildly concerned about this threat
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2MAV_COLLISION_THREAT_LEVEL_HIGHCraft is panicking, and may take actions to avoid threat

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_COLLISION_SRC

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Source of information about this collision.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    0MAV_COLLISION_SRC_ADSBID field references ADSB_VEHICLE packets
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1MAV_COLLISION_SRC_MAVLINK_GPS_GLOBAL_INTID field references MAVLink SRC ID

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    GPS_FIX_TYPE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Type of GPS fix

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    0GPS_FIX_TYPE_NO_GPSNo GPS connected
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1GPS_FIX_TYPE_NO_FIXNo position information, GPS is connected
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2GPS_FIX_TYPE_2D_FIX2D position
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    3GPS_FIX_TYPE_3D_FIX3D position
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    4GPS_FIX_TYPE_DGPSDGPS/SBAS aided 3D position
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    5GPS_FIX_TYPE_RTK_FLOATRTK float, 3D position
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    6GPS_FIX_TYPE_RTK_FIXEDRTK Fixed, 3D position
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    7GPS_FIX_TYPE_STATICStatic fixed, typically used for base stations
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    8GPS_FIX_TYPE_PPPPPP, 3D position.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    RTK_BASELINE_COORDINATE_SYSTEM

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    RTK GPS baseline coordinate system, used for RTK corrections

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    0RTK_BASELINE_COORDINATE_SYSTEM_ECEFEarth-centered, Earth-fixed
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1RTK_BASELINE_COORDINATE_SYSTEM_NEDRTK basestation centered, north, east, down

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    LANDING_TARGET_TYPE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Type of landing target

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    0LANDING_TARGET_TYPE_LIGHT_BEACONLanding target signaled by light beacon (ex: IR-LOCK)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1LANDING_TARGET_TYPE_RADIO_BEACONLanding target signaled by radio beacon (ex: ILS, NDB)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2LANDING_TARGET_TYPE_VISION_FIDUCIALLanding target represented by a fiducial marker (ex: ARTag)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    3LANDING_TARGET_TYPE_VISION_OTHERLanding target represented by a pre-defined visual shape/feature (ex: X-marker, H-marker, square)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    VTOL_TRANSITION_HEADING

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Direction of VTOL transition

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    0VTOL_TRANSITION_HEADING_VEHICLE_DEFAULTRespect the heading configuration of the vehicle.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1VTOL_TRANSITION_HEADING_NEXT_WAYPOINTUse the heading pointing towards the next waypoint.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2VTOL_TRANSITION_HEADING_TAKEOFFUse the heading on takeoff (while sitting on the ground).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    3VTOL_TRANSITION_HEADING_SPECIFIEDUse the specified heading in parameter 4.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    4VTOL_TRANSITION_HEADING_ANYUse the current heading when reaching takeoff altitude (potentially facing the wind when weather-vaning is active).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    CAMERA_CAP_FLAGS

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    (Bitmask) Camera capability flags (Bitmap)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1CAMERA_CAP_FLAGS_CAPTURE_VIDEOCamera is able to record video
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2CAMERA_CAP_FLAGS_CAPTURE_IMAGECamera is able to capture images
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    4CAMERA_CAP_FLAGS_HAS_MODESCamera has separate Video and Image/Photo modes (MAV_CMD_SET_CAMERA_MODE)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    8CAMERA_CAP_FLAGS_CAN_CAPTURE_IMAGE_IN_VIDEO_MODECamera can capture images while in video mode
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    16CAMERA_CAP_FLAGS_CAN_CAPTURE_VIDEO_IN_IMAGE_MODECamera can capture videos while in Photo/Image mode
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    32CAMERA_CAP_FLAGS_HAS_IMAGE_SURVEY_MODECamera has image survey mode (MAV_CMD_SET_CAMERA_MODE)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    64CAMERA_CAP_FLAGS_HAS_BASIC_ZOOMCamera has basic zoom control (MAV_CMD_SET_CAMERA_ZOOM)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    128CAMERA_CAP_FLAGS_HAS_BASIC_FOCUSCamera has basic focus control (MAV_CMD_SET_CAMERA_FOCUS)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    256CAMERA_CAP_FLAGS_HAS_VIDEO_STREAMCamera has video streaming capabilities (request VIDEO_STREAM_INFORMATION with MAV_CMD_REQUEST_MESSAGE for video streaming info)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    512CAMERA_CAP_FLAGS_HAS_TRACKING_POINTCamera supports tracking of a point on the camera view.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1024CAMERA_CAP_FLAGS_HAS_TRACKING_RECTANGLECamera supports tracking of a selection rectangle on the camera view.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2048CAMERA_CAP_FLAGS_HAS_TRACKING_GEO_STATUSCamera supports tracking geo status (CAMERA_TRACKING_GEO_STATUS).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    4096CAMERA_CAP_FLAGS_HAS_THERMAL_RANGECamera supports absolute thermal range (request CAMERA_THERMAL_RANGE with MAV_CMD_REQUEST_MESSAGE) (WIP).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    VIDEO_STREAM_STATUS_FLAGS

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    (Bitmask) Stream status flags (Bitmap)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1VIDEO_STREAM_STATUS_FLAGS_RUNNINGStream is active (running)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2VIDEO_STREAM_STATUS_FLAGS_THERMALStream is thermal imaging
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    4VIDEO_STREAM_STATUS_FLAGS_THERMAL_RANGE_ENABLEDStream can report absolute thermal range (see CAMERA_THERMAL_RANGE). (WIP).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    VIDEO_STREAM_TYPE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Video stream types

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    0VIDEO_STREAM_TYPE_RTSPStream is RTSP
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1VIDEO_STREAM_TYPE_RTPUDPStream is RTP UDP (URI gives the port number)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2VIDEO_STREAM_TYPE_TCP_MPEGStream is MPEG on TCP
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    3VIDEO_STREAM_TYPE_MPEG_TSStream is MPEG TS (URI gives the port number)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    VIDEO_STREAM_ENCODING

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Video stream encodings

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    0VIDEO_STREAM_ENCODING_UNKNOWNStream encoding is unknown
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1VIDEO_STREAM_ENCODING_H264Stream encoding is H.264
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2VIDEO_STREAM_ENCODING_H265Stream encoding is H.265

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    CAMERA_TRACKING_STATUS_FLAGS

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Camera tracking status flags

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    0CAMERA_TRACKING_STATUS_FLAGS_IDLECamera is not tracking
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1CAMERA_TRACKING_STATUS_FLAGS_ACTIVECamera is tracking
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2CAMERA_TRACKING_STATUS_FLAGS_ERRORCamera tracking in error state

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    CAMERA_TRACKING_MODE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Camera tracking modes

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    0CAMERA_TRACKING_MODE_NONENot tracking
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1CAMERA_TRACKING_MODE_POINTTarget is a point
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2CAMERA_TRACKING_MODE_RECTANGLETarget is a rectangle

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    CAMERA_TRACKING_TARGET_DATA

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    (Bitmask) Camera tracking target data (shows where tracked target is within image)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    0CAMERA_TRACKING_TARGET_DATA_NONENo target data
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1CAMERA_TRACKING_TARGET_DATA_EMBEDDEDTarget data embedded in image data (proprietary)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2CAMERA_TRACKING_TARGET_DATA_RENDEREDTarget data rendered in image
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    4CAMERA_TRACKING_TARGET_DATA_IN_STATUSTarget data within status message (Point or Rectangle)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    CAMERA_ZOOM_TYPE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Zoom types for MAV_CMD_SET_CAMERA_ZOOM

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    0ZOOM_TYPE_STEPZoom one step increment (-1 for wide, 1 for tele)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1ZOOM_TYPE_CONTINUOUSContinuous zoom up/down until stopped (-1 for wide, 1 for tele, 0 to stop zooming)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2ZOOM_TYPE_RANGEZoom value as proportion of full camera range (a percentage value between 0.0 and 100.0)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    3ZOOM_TYPE_FOCAL_LENGTHZoom value/variable focal length in millimetres. Note that there is no message to get the valid zoom range of the camera, so this can type can only be used for cameras where the zoom range is known (implying that this cannot reliably be used in a GCS for an arbitrary camera)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    4ZOOM_TYPE_HORIZONTAL_FOVZoom value as horizontal field of view in degrees.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    SET_FOCUS_TYPE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Focus types for MAV_CMD_SET_CAMERA_FOCUS

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    0FOCUS_TYPE_STEPFocus one step increment (-1 for focusing in, 1 for focusing out towards infinity).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1FOCUS_TYPE_CONTINUOUSContinuous focus up/down until stopped (-1 for focusing in, 1 for focusing out towards infinity, 0 to stop focusing)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2FOCUS_TYPE_RANGEFocus value as proportion of full camera focus range (a value between 0.0 and 100.0)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    3FOCUS_TYPE_METERSFocus value in metres. Note that there is no message to get the valid focus range of the camera, so this can type can only be used for cameras where the range is known (implying that this cannot reliably be used in a GCS for an arbitrary camera).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    4FOCUS_TYPE_AUTOFocus automatically.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    5FOCUS_TYPE_AUTO_SINGLESingle auto focus. Mainly used for still pictures. Usually abbreviated as AF-S.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    6FOCUS_TYPE_AUTO_CONTINUOUSContinuous auto focus. Mainly used for dynamic scenes. Abbreviated as AF-C.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    CAMERA_SOURCE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Camera sources for MAV_CMD_SET_CAMERA_SOURCE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    0CAMERA_SOURCE_DEFAULTDefault camera source.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1CAMERA_SOURCE_RGBRGB camera source.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2CAMERA_SOURCE_IRIR camera source.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    3CAMERA_SOURCE_NDVINDVI camera source.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    PARAM_ACK

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Result from PARAM_EXT_SET message (or a PARAM_SET within a transaction).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    0PARAM_ACK_ACCEPTEDParameter value ACCEPTED and SET
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1PARAM_ACK_VALUE_UNSUPPORTEDParameter value UNKNOWN/UNSUPPORTED
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2PARAM_ACK_FAILEDParameter failed to set
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    3PARAM_ACK_IN_PROGRESSParameter value received but not yet set/accepted. A subsequent PARAM_ACK_TRANSACTION or PARAM_EXT_ACK with the final result will follow once operation is completed. This is returned immediately for parameters that take longer to set, indicating that the the parameter was received and does not need to be resent.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    CAMERA_MODE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Camera Modes.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    0CAMERA_MODE_IMAGECamera is in image/photo capture mode.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1CAMERA_MODE_VIDEOCamera is in video capture mode.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2CAMERA_MODE_IMAGE_SURVEYCamera is in image survey capture mode. It allows for camera controller to do specific settings for surveys.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_ARM_AUTH_DENIED_REASON

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    0MAV_ARM_AUTH_DENIED_REASON_GENERICNot a specific reason
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1MAV_ARM_AUTH_DENIED_REASON_NONEAuthorizer will send the error as string to GCS
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2MAV_ARM_AUTH_DENIED_REASON_INVALID_WAYPOINTAt least one waypoint have a invalid value
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    3MAV_ARM_AUTH_DENIED_REASON_TIMEOUTTimeout in the authorizer process(in case it depends on network)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    4MAV_ARM_AUTH_DENIED_REASON_AIRSPACE_IN_USEAirspace of the mission in use by another vehicle, second result parameter can have the waypoint id that caused it to be denied.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    5MAV_ARM_AUTH_DENIED_REASON_BAD_WEATHERWeather is not good to fly

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    RC_TYPE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    RC type

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    0RC_TYPE_SPEKTRUM_DSM2Spektrum DSM2
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1RC_TYPE_SPEKTRUM_DSMXSpektrum DSMX

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    POSITION_TARGET_TYPEMASK

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    (Bitmask) Bitmap to indicate which dimensions should be ignored by the vehicle: a value of 0b0000000000000000 or 0b0000001000000000 indicates that none of the setpoint dimensions should be ignored. If bit 9 is set the floats afx afy afz should be interpreted as force instead of acceleration.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1POSITION_TARGET_TYPEMASK_X_IGNOREIgnore position x
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2POSITION_TARGET_TYPEMASK_Y_IGNOREIgnore position y
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    4POSITION_TARGET_TYPEMASK_Z_IGNOREIgnore position z
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    8POSITION_TARGET_TYPEMASK_VX_IGNOREIgnore velocity x
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    16POSITION_TARGET_TYPEMASK_VY_IGNOREIgnore velocity y
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    32POSITION_TARGET_TYPEMASK_VZ_IGNOREIgnore velocity z
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    64POSITION_TARGET_TYPEMASK_AX_IGNOREIgnore acceleration x
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    128POSITION_TARGET_TYPEMASK_AY_IGNOREIgnore acceleration y
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    256POSITION_TARGET_TYPEMASK_AZ_IGNOREIgnore acceleration z
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    512POSITION_TARGET_TYPEMASK_FORCE_SETUse force instead of acceleration
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1024POSITION_TARGET_TYPEMASK_YAW_IGNOREIgnore yaw
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2048POSITION_TARGET_TYPEMASK_YAW_RATE_IGNOREIgnore yaw rate

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    ATTITUDE_TARGET_TYPEMASK

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    (Bitmask) Bitmap to indicate which dimensions should be ignored by the vehicle: a value of 0b00000000 indicates that none of the setpoint dimensions should be ignored.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1ATTITUDE_TARGET_TYPEMASK_BODY_ROLL_RATE_IGNOREIgnore body roll rate
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2ATTITUDE_TARGET_TYPEMASK_BODY_PITCH_RATE_IGNOREIgnore body pitch rate
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    4ATTITUDE_TARGET_TYPEMASK_BODY_YAW_RATE_IGNOREIgnore body yaw rate
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    32ATTITUDE_TARGET_TYPEMASK_THRUST_BODY_SETUse 3D body thrust setpoint instead of throttle
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    64ATTITUDE_TARGET_TYPEMASK_THROTTLE_IGNOREIgnore throttle
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    128ATTITUDE_TARGET_TYPEMASK_ATTITUDE_IGNOREIgnore attitude

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    UTM_FLIGHT_STATE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Airborne status of UAS.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1UTM_FLIGHT_STATE_UNKNOWNThe flight state can't be determined.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2UTM_FLIGHT_STATE_GROUNDUAS on ground.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    3UTM_FLIGHT_STATE_AIRBORNEUAS airborne.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    16UTM_FLIGHT_STATE_EMERGENCYUAS is in an emergency flight state.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    32UTM_FLIGHT_STATE_NOCTRLUAS has no active controls.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    UTM_DATA_AVAIL_FLAGS

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    (Bitmask) Flags for the global position report.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1UTM_DATA_AVAIL_FLAGS_TIME_VALIDThe field time contains valid data.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2UTM_DATA_AVAIL_FLAGS_UAS_ID_AVAILABLEThe field uas_id contains valid data.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    4UTM_DATA_AVAIL_FLAGS_POSITION_AVAILABLEThe fields lat, lon and h_acc contain valid data.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    8UTM_DATA_AVAIL_FLAGS_ALTITUDE_AVAILABLEThe fields alt and v_acc contain valid data.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    16UTM_DATA_AVAIL_FLAGS_RELATIVE_ALTITUDE_AVAILABLEThe field relative_alt contains valid data.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    32UTM_DATA_AVAIL_FLAGS_HORIZONTAL_VELO_AVAILABLEThe fields vx and vy contain valid data.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    64UTM_DATA_AVAIL_FLAGS_VERTICAL_VELO_AVAILABLEThe field vz contains valid data.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    128UTM_DATA_AVAIL_FLAGS_NEXT_WAYPOINT_AVAILABLEThe fields next_lat, next_lon and next_alt contain valid data.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    CELLULAR_STATUS_FLAG

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    These flags encode the cellular network status

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    0CELLULAR_STATUS_FLAG_UNKNOWNState unknown or not reportable.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1CELLULAR_STATUS_FLAG_FAILEDModem is unusable
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2CELLULAR_STATUS_FLAG_INITIALIZINGModem is being initialized
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    3CELLULAR_STATUS_FLAG_LOCKEDModem is locked
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    4CELLULAR_STATUS_FLAG_DISABLEDModem is not enabled and is powered down
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    5CELLULAR_STATUS_FLAG_DISABLINGModem is currently transitioning to the CELLULAR_STATUS_FLAG_DISABLED state
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    6CELLULAR_STATUS_FLAG_ENABLINGModem is currently transitioning to the CELLULAR_STATUS_FLAG_ENABLED state
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    7CELLULAR_STATUS_FLAG_ENABLEDModem is enabled and powered on but not registered with a network provider and not available for data connections
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    8CELLULAR_STATUS_FLAG_SEARCHINGModem is searching for a network provider to register
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    9CELLULAR_STATUS_FLAG_REGISTEREDModem is registered with a network provider, and data connections and messaging may be available for use
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    10CELLULAR_STATUS_FLAG_DISCONNECTINGModem is disconnecting and deactivating the last active packet data bearer. This state will not be entered if more than one packet data bearer is active and one of the active bearers is deactivated
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    11CELLULAR_STATUS_FLAG_CONNECTINGModem is activating and connecting the first packet data bearer. Subsequent bearer activations when another bearer is already active do not cause this state to be entered
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    12CELLULAR_STATUS_FLAG_CONNECTEDOne or more packet data bearers is active and connected

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    CELLULAR_NETWORK_FAILED_REASON

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    These flags are used to diagnose the failure state of CELLULAR_STATUS

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    0CELLULAR_NETWORK_FAILED_REASON_NONENo error
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1CELLULAR_NETWORK_FAILED_REASON_UNKNOWNError state is unknown
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2CELLULAR_NETWORK_FAILED_REASON_SIM_MISSINGSIM is required for the modem but missing
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    3CELLULAR_NETWORK_FAILED_REASON_SIM_ERRORSIM is available, but not usable for connection

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    CELLULAR_NETWORK_RADIO_TYPE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Cellular network radio type

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    0CELLULAR_NETWORK_RADIO_TYPE_NONE
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1CELLULAR_NETWORK_RADIO_TYPE_GSM
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2CELLULAR_NETWORK_RADIO_TYPE_CDMA
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    3CELLULAR_NETWORK_RADIO_TYPE_WCDMA
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    4CELLULAR_NETWORK_RADIO_TYPE_LTE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    PRECISION_LAND_MODE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Precision land modes (used in MAV_CMD_NAV_LAND).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    0PRECISION_LAND_MODE_DISABLEDNormal (non-precision) landing.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1PRECISION_LAND_MODE_OPPORTUNISTICUse precision landing if beacon detected when land command accepted, otherwise land normally.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2PRECISION_LAND_MODE_REQUIREDUse precision landing, searching for beacon if not found when land command accepted (land normally if beacon cannot be found).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    PARACHUTE_ACTION

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Parachute actions. Trigger release and enable/disable auto-release.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    0PARACHUTE_DISABLEDisable auto-release of parachute (i.e. release triggered by crash detectors).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1PARACHUTE_ENABLEEnable auto-release of parachute.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2PARACHUTE_RELEASERelease parachute and kill motors.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_TUNNEL_PAYLOAD_TYPE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    0MAV_TUNNEL_PAYLOAD_TYPE_UNKNOWNEncoding of payload unknown.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    200MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED0Registered for STorM32 gimbal controller.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    201MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED1Registered for STorM32 gimbal controller.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    202MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED2Registered for STorM32 gimbal controller.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    203MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED3Registered for STorM32 gimbal controller.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    204MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED4Registered for STorM32 gimbal controller.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    205MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED5Registered for STorM32 gimbal controller.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    206MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED6Registered for STorM32 gimbal controller.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    207MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED7Registered for STorM32 gimbal controller.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    208MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED8Registered for STorM32 gimbal controller.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    209MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED9Registered for STorM32 gimbal controller.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_ODID_ID_TYPE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    0MAV_ODID_ID_TYPE_NONENo type defined.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1MAV_ODID_ID_TYPE_SERIAL_NUMBERManufacturer Serial Number (ANSI/CTA-2063 format).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2MAV_ODID_ID_TYPE_CAA_REGISTRATION_IDCAA (Civil Aviation Authority) registered ID. Format: [ICAO Country Code].[CAA Assigned ID].
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    3MAV_ODID_ID_TYPE_UTM_ASSIGNED_UUIDUTM (Unmanned Traffic Management) assigned UUID (RFC4122).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    4MAV_ODID_ID_TYPE_SPECIFIC_SESSION_IDA 20 byte ID for a specific flight/session. The exact ID type is indicated by the first byte of uas_id and these type values are managed by ICAO.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_ODID_UA_TYPE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    0MAV_ODID_UA_TYPE_NONENo UA (Unmanned Aircraft) type defined.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1MAV_ODID_UA_TYPE_AEROPLANEAeroplane/Airplane. Fixed wing.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2MAV_ODID_UA_TYPE_HELICOPTER_OR_MULTIROTORHelicopter or multirotor.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    3MAV_ODID_UA_TYPE_GYROPLANEGyroplane.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    4MAV_ODID_UA_TYPE_HYBRID_LIFTVTOL (Vertical Take-Off and Landing). Fixed wing aircraft that can take off vertically.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    5MAV_ODID_UA_TYPE_ORNITHOPTEROrnithopter.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    6MAV_ODID_UA_TYPE_GLIDERGlider.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    7MAV_ODID_UA_TYPE_KITEKite.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    8MAV_ODID_UA_TYPE_FREE_BALLOONFree Balloon.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    9MAV_ODID_UA_TYPE_CAPTIVE_BALLOONCaptive Balloon.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    10MAV_ODID_UA_TYPE_AIRSHIPAirship. E.g. a blimp.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    11MAV_ODID_UA_TYPE_FREE_FALL_PARACHUTEFree Fall/Parachute (unpowered).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    12MAV_ODID_UA_TYPE_ROCKETRocket.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    13MAV_ODID_UA_TYPE_TETHERED_POWERED_AIRCRAFTTethered powered aircraft.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    14MAV_ODID_UA_TYPE_GROUND_OBSTACLEGround Obstacle.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    15MAV_ODID_UA_TYPE_OTHEROther type of aircraft not listed earlier.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_ODID_STATUS

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    0MAV_ODID_STATUS_UNDECLAREDThe status of the (UA) Unmanned Aircraft is undefined.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1MAV_ODID_STATUS_GROUNDThe UA is on the ground.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2MAV_ODID_STATUS_AIRBORNEThe UA is in the air.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    3MAV_ODID_STATUS_EMERGENCYThe UA is having an emergency.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    4MAV_ODID_STATUS_REMOTE_ID_SYSTEM_FAILUREThe remote ID system is failing or unreliable in some way.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_ODID_HEIGHT_REF

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    0MAV_ODID_HEIGHT_REF_OVER_TAKEOFFThe height field is relative to the take-off location.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1MAV_ODID_HEIGHT_REF_OVER_GROUNDThe height field is relative to ground.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_ODID_HOR_ACC

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    0MAV_ODID_HOR_ACC_UNKNOWNThe horizontal accuracy is unknown.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1MAV_ODID_HOR_ACC_10NMThe horizontal accuracy is smaller than 10 Nautical Miles. 18.52 km.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2MAV_ODID_HOR_ACC_4NMThe horizontal accuracy is smaller than 4 Nautical Miles. 7.408 km.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    3MAV_ODID_HOR_ACC_2NMThe horizontal accuracy is smaller than 2 Nautical Miles. 3.704 km.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    4MAV_ODID_HOR_ACC_1NMThe horizontal accuracy is smaller than 1 Nautical Miles. 1.852 km.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    5MAV_ODID_HOR_ACC_0_5NMThe horizontal accuracy is smaller than 0.5 Nautical Miles. 926 m.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    6MAV_ODID_HOR_ACC_0_3NMThe horizontal accuracy is smaller than 0.3 Nautical Miles. 555.6 m.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    7MAV_ODID_HOR_ACC_0_1NMThe horizontal accuracy is smaller than 0.1 Nautical Miles. 185.2 m.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    8MAV_ODID_HOR_ACC_0_05NMThe horizontal accuracy is smaller than 0.05 Nautical Miles. 92.6 m.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    9MAV_ODID_HOR_ACC_30_METERThe horizontal accuracy is smaller than 30 meter.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    10MAV_ODID_HOR_ACC_10_METERThe horizontal accuracy is smaller than 10 meter.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    11MAV_ODID_HOR_ACC_3_METERThe horizontal accuracy is smaller than 3 meter.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    12MAV_ODID_HOR_ACC_1_METERThe horizontal accuracy is smaller than 1 meter.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_ODID_VER_ACC

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    0MAV_ODID_VER_ACC_UNKNOWNThe vertical accuracy is unknown.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1MAV_ODID_VER_ACC_150_METERThe vertical accuracy is smaller than 150 meter.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2MAV_ODID_VER_ACC_45_METERThe vertical accuracy is smaller than 45 meter.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    3MAV_ODID_VER_ACC_25_METERThe vertical accuracy is smaller than 25 meter.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    4MAV_ODID_VER_ACC_10_METERThe vertical accuracy is smaller than 10 meter.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    5MAV_ODID_VER_ACC_3_METERThe vertical accuracy is smaller than 3 meter.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    6MAV_ODID_VER_ACC_1_METERThe vertical accuracy is smaller than 1 meter.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_ODID_SPEED_ACC

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    0MAV_ODID_SPEED_ACC_UNKNOWNThe speed accuracy is unknown.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1MAV_ODID_SPEED_ACC_10_METERS_PER_SECONDThe speed accuracy is smaller than 10 meters per second.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2MAV_ODID_SPEED_ACC_3_METERS_PER_SECONDThe speed accuracy is smaller than 3 meters per second.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    3MAV_ODID_SPEED_ACC_1_METERS_PER_SECONDThe speed accuracy is smaller than 1 meters per second.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    4MAV_ODID_SPEED_ACC_0_3_METERS_PER_SECONDThe speed accuracy is smaller than 0.3 meters per second.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_ODID_TIME_ACC

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    0MAV_ODID_TIME_ACC_UNKNOWNThe timestamp accuracy is unknown.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1MAV_ODID_TIME_ACC_0_1_SECONDThe timestamp accuracy is smaller than or equal to 0.1 second.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2MAV_ODID_TIME_ACC_0_2_SECONDThe timestamp accuracy is smaller than or equal to 0.2 second.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    3MAV_ODID_TIME_ACC_0_3_SECONDThe timestamp accuracy is smaller than or equal to 0.3 second.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    4MAV_ODID_TIME_ACC_0_4_SECONDThe timestamp accuracy is smaller than or equal to 0.4 second.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    5MAV_ODID_TIME_ACC_0_5_SECONDThe timestamp accuracy is smaller than or equal to 0.5 second.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    6MAV_ODID_TIME_ACC_0_6_SECONDThe timestamp accuracy is smaller than or equal to 0.6 second.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    7MAV_ODID_TIME_ACC_0_7_SECONDThe timestamp accuracy is smaller than or equal to 0.7 second.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    8MAV_ODID_TIME_ACC_0_8_SECONDThe timestamp accuracy is smaller than or equal to 0.8 second.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    9MAV_ODID_TIME_ACC_0_9_SECONDThe timestamp accuracy is smaller than or equal to 0.9 second.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    10MAV_ODID_TIME_ACC_1_0_SECONDThe timestamp accuracy is smaller than or equal to 1.0 second.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    11MAV_ODID_TIME_ACC_1_1_SECONDThe timestamp accuracy is smaller than or equal to 1.1 second.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    12MAV_ODID_TIME_ACC_1_2_SECONDThe timestamp accuracy is smaller than or equal to 1.2 second.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    13MAV_ODID_TIME_ACC_1_3_SECONDThe timestamp accuracy is smaller than or equal to 1.3 second.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    14MAV_ODID_TIME_ACC_1_4_SECONDThe timestamp accuracy is smaller than or equal to 1.4 second.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    15MAV_ODID_TIME_ACC_1_5_SECONDThe timestamp accuracy is smaller than or equal to 1.5 second.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_ODID_AUTH_TYPE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    0MAV_ODID_AUTH_TYPE_NONENo authentication type is specified.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1MAV_ODID_AUTH_TYPE_UAS_ID_SIGNATURESignature for the UAS (Unmanned Aircraft System) ID.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2MAV_ODID_AUTH_TYPE_OPERATOR_ID_SIGNATURESignature for the Operator ID.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    3MAV_ODID_AUTH_TYPE_MESSAGE_SET_SIGNATURESignature for the entire message set.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    4MAV_ODID_AUTH_TYPE_NETWORK_REMOTE_IDAuthentication is provided by Network Remote ID.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    5MAV_ODID_AUTH_TYPE_SPECIFIC_AUTHENTICATIONThe exact authentication type is indicated by the first byte of authentication_data and these type values are managed by ICAO.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_ODID_DESC_TYPE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    0MAV_ODID_DESC_TYPE_TEXTOptional free-form text description of the purpose of the flight.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1MAV_ODID_DESC_TYPE_EMERGENCYOptional additional clarification when status == MAV_ODID_STATUS_EMERGENCY.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2MAV_ODID_DESC_TYPE_EXTENDED_STATUSOptional additional clarification when status != MAV_ODID_STATUS_EMERGENCY.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_ODID_OPERATOR_LOCATION_TYPE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    0MAV_ODID_OPERATOR_LOCATION_TYPE_TAKEOFFThe location/altitude of the operator is the same as the take-off location.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1MAV_ODID_OPERATOR_LOCATION_TYPE_LIVE_GNSSThe location/altitude of the operator is dynamic. E.g. based on live GNSS data.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2MAV_ODID_OPERATOR_LOCATION_TYPE_FIXEDThe location/altitude of the operator are fixed values.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_ODID_CLASSIFICATION_TYPE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    0MAV_ODID_CLASSIFICATION_TYPE_UNDECLAREDThe classification type for the UA is undeclared.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1MAV_ODID_CLASSIFICATION_TYPE_EUThe classification type for the UA follows EU (European Union) specifications.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_ODID_CATEGORY_EU

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    0MAV_ODID_CATEGORY_EU_UNDECLAREDThe category for the UA, according to the EU specification, is undeclared.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1MAV_ODID_CATEGORY_EU_OPENThe category for the UA, according to the EU specification, is the Open category.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2MAV_ODID_CATEGORY_EU_SPECIFICThe category for the UA, according to the EU specification, is the Specific category.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    3MAV_ODID_CATEGORY_EU_CERTIFIEDThe category for the UA, according to the EU specification, is the Certified category.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_ODID_CLASS_EU

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    0MAV_ODID_CLASS_EU_UNDECLAREDThe class for the UA, according to the EU specification, is undeclared.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1MAV_ODID_CLASS_EU_CLASS_0The class for the UA, according to the EU specification, is Class 0.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2MAV_ODID_CLASS_EU_CLASS_1The class for the UA, according to the EU specification, is Class 1.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    3MAV_ODID_CLASS_EU_CLASS_2The class for the UA, according to the EU specification, is Class 2.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    4MAV_ODID_CLASS_EU_CLASS_3The class for the UA, according to the EU specification, is Class 3.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    5MAV_ODID_CLASS_EU_CLASS_4The class for the UA, according to the EU specification, is Class 4.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    6MAV_ODID_CLASS_EU_CLASS_5The class for the UA, according to the EU specification, is Class 5.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    7MAV_ODID_CLASS_EU_CLASS_6The class for the UA, according to the EU specification, is Class 6.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_ODID_OPERATOR_ID_TYPE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    0MAV_ODID_OPERATOR_ID_TYPE_CAACAA (Civil Aviation Authority) registered operator ID.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_ODID_ARM_STATUS

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    0MAV_ODID_ARM_STATUS_GOOD_TO_ARMPassing arming checks.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1MAV_ODID_ARM_STATUS_PRE_ARM_FAIL_GENERICGeneric arming failure, see error string for details.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    TUNE_FORMAT

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Tune formats (used for vehicle buzzer/tone generation).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1TUNE_FORMAT_QBASIC1_1Format is QBasic 1.1 Play: https://www.qbasic.net/en/reference/qb11/Statement/PLAY-006.htm.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2TUNE_FORMAT_MML_MODERNFormat is Modern Music Markup Language (MML): https://en.wikipedia.org/wiki/Music_Macro_Language#Modern_MML.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    AIS_TYPE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Type of AIS vessel, enum duplicated from AIS standard, https://gpsd.gitlab.io/gpsd/AIVDM.html

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    0AIS_TYPE_UNKNOWNNot available (default).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1AIS_TYPE_RESERVED_1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2AIS_TYPE_RESERVED_2
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    3AIS_TYPE_RESERVED_3
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    4AIS_TYPE_RESERVED_4
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    5AIS_TYPE_RESERVED_5
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    6AIS_TYPE_RESERVED_6
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    7AIS_TYPE_RESERVED_7
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    8AIS_TYPE_RESERVED_8
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    9AIS_TYPE_RESERVED_9
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    10AIS_TYPE_RESERVED_10
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    11AIS_TYPE_RESERVED_11
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    12AIS_TYPE_RESERVED_12
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    13AIS_TYPE_RESERVED_13
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    14AIS_TYPE_RESERVED_14
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    15AIS_TYPE_RESERVED_15
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    16AIS_TYPE_RESERVED_16
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    17AIS_TYPE_RESERVED_17
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    18AIS_TYPE_RESERVED_18
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    19AIS_TYPE_RESERVED_19
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    20AIS_TYPE_WIGWing In Ground effect.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    21AIS_TYPE_WIG_HAZARDOUS_A
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    22AIS_TYPE_WIG_HAZARDOUS_B
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    23AIS_TYPE_WIG_HAZARDOUS_C
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    24AIS_TYPE_WIG_HAZARDOUS_D
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    25AIS_TYPE_WIG_RESERVED_1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    26AIS_TYPE_WIG_RESERVED_2
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    27AIS_TYPE_WIG_RESERVED_3
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    28AIS_TYPE_WIG_RESERVED_4
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    29AIS_TYPE_WIG_RESERVED_5
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    30AIS_TYPE_FISHING
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    31AIS_TYPE_TOWING
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    32AIS_TYPE_TOWING_LARGETowing: length exceeds 200m or breadth exceeds 25m.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    33AIS_TYPE_DREDGINGDredging or other underwater ops.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    34AIS_TYPE_DIVING
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    35AIS_TYPE_MILITARY
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    36AIS_TYPE_SAILING
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    37AIS_TYPE_PLEASURE
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    38AIS_TYPE_RESERVED_20
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    39AIS_TYPE_RESERVED_21
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    40AIS_TYPE_HSCHigh Speed Craft.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    41AIS_TYPE_HSC_HAZARDOUS_A
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    42AIS_TYPE_HSC_HAZARDOUS_B
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    43AIS_TYPE_HSC_HAZARDOUS_C
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    44AIS_TYPE_HSC_HAZARDOUS_D
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    45AIS_TYPE_HSC_RESERVED_1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    46AIS_TYPE_HSC_RESERVED_2
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    47AIS_TYPE_HSC_RESERVED_3
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    48AIS_TYPE_HSC_RESERVED_4
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    49AIS_TYPE_HSC_UNKNOWN
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    50AIS_TYPE_PILOT
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    51AIS_TYPE_SARSearch And Rescue vessel.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    52AIS_TYPE_TUG
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    53AIS_TYPE_PORT_TENDER
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    54AIS_TYPE_ANTI_POLLUTIONAnti-pollution equipment.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    55AIS_TYPE_LAW_ENFORCEMENT
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    56AIS_TYPE_SPARE_LOCAL_1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    57AIS_TYPE_SPARE_LOCAL_2
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    58AIS_TYPE_MEDICAL_TRANSPORT
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    59AIS_TYPE_NONECOMBATANTNoncombatant ship according to RR Resolution No. 18.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    60AIS_TYPE_PASSENGER
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    61AIS_TYPE_PASSENGER_HAZARDOUS_A
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    62AIS_TYPE_PASSENGER_HAZARDOUS_B
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    63AIS_TYPE_PASSENGER_HAZARDOUS_C
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    64AIS_TYPE_PASSENGER_HAZARDOUS_D
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    65AIS_TYPE_PASSENGER_RESERVED_1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    66AIS_TYPE_PASSENGER_RESERVED_2
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    67AIS_TYPE_PASSENGER_RESERVED_3
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    68AIS_TYPE_PASSENGER_RESERVED_4
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    69AIS_TYPE_PASSENGER_UNKNOWN
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    70AIS_TYPE_CARGO
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    71AIS_TYPE_CARGO_HAZARDOUS_A
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    72AIS_TYPE_CARGO_HAZARDOUS_B
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    73AIS_TYPE_CARGO_HAZARDOUS_C
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    74AIS_TYPE_CARGO_HAZARDOUS_D
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    75AIS_TYPE_CARGO_RESERVED_1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    76AIS_TYPE_CARGO_RESERVED_2
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    77AIS_TYPE_CARGO_RESERVED_3
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    78AIS_TYPE_CARGO_RESERVED_4
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    79AIS_TYPE_CARGO_UNKNOWN
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    80AIS_TYPE_TANKER
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    81AIS_TYPE_TANKER_HAZARDOUS_A
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    82AIS_TYPE_TANKER_HAZARDOUS_B
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    83AIS_TYPE_TANKER_HAZARDOUS_C
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    84AIS_TYPE_TANKER_HAZARDOUS_D
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    85AIS_TYPE_TANKER_RESERVED_1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    86AIS_TYPE_TANKER_RESERVED_2
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    87AIS_TYPE_TANKER_RESERVED_3
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    88AIS_TYPE_TANKER_RESERVED_4
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    89AIS_TYPE_TANKER_UNKNOWN
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    90AIS_TYPE_OTHER
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    91AIS_TYPE_OTHER_HAZARDOUS_A
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    92AIS_TYPE_OTHER_HAZARDOUS_B
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    93AIS_TYPE_OTHER_HAZARDOUS_C
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    94AIS_TYPE_OTHER_HAZARDOUS_D
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    95AIS_TYPE_OTHER_RESERVED_1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    96AIS_TYPE_OTHER_RESERVED_2
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    97AIS_TYPE_OTHER_RESERVED_3
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    98AIS_TYPE_OTHER_RESERVED_4
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    99AIS_TYPE_OTHER_UNKNOWN

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    AIS_NAV_STATUS

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Navigational status of AIS vessel, enum duplicated from AIS standard, https://gpsd.gitlab.io/gpsd/AIVDM.html

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    0UNDER_WAYUnder way using engine.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1AIS_NAV_ANCHORED
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2AIS_NAV_UN_COMMANDED
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    3AIS_NAV_RESTRICTED_MANOEUVERABILITY
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    4AIS_NAV_DRAUGHT_CONSTRAINED
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    5AIS_NAV_MOORED
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    6AIS_NAV_AGROUND
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    7AIS_NAV_FISHING
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    8AIS_NAV_SAILING
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    9AIS_NAV_RESERVED_HSC
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    10AIS_NAV_RESERVED_WIG
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    11AIS_NAV_RESERVED_1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    12AIS_NAV_RESERVED_2
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    13AIS_NAV_RESERVED_3
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    14AIS_NAV_AIS_SARTSearch And Rescue Transponder.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    15AIS_NAV_UNKNOWNNot available (default).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    AIS_FLAGS

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    (Bitmask) These flags are used in the AIS_VESSEL.fields bitmask to indicate validity of data in the other message fields. When set, the data is valid.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1AIS_FLAGS_POSITION_ACCURACY1 = Position accuracy less than 10m, 0 = position accuracy greater than 10m.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2AIS_FLAGS_VALID_COG
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    4AIS_FLAGS_VALID_VELOCITY
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    8AIS_FLAGS_HIGH_VELOCITY1 = Velocity over 52.5765m/s (102.2 knots)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    16AIS_FLAGS_VALID_TURN_RATE
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    32AIS_FLAGS_TURN_RATE_SIGN_ONLYOnly the sign of the returned turn rate value is valid, either greater than 5deg/30s or less than -5deg/30s
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    64AIS_FLAGS_VALID_DIMENSIONS
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    128AIS_FLAGS_LARGE_BOW_DIMENSIONDistance to bow is larger than 511m
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    256AIS_FLAGS_LARGE_STERN_DIMENSIONDistance to stern is larger than 511m
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    512AIS_FLAGS_LARGE_PORT_DIMENSIONDistance to port side is larger than 63m
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1024AIS_FLAGS_LARGE_STARBOARD_DIMENSIONDistance to starboard side is larger than 63m
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2048AIS_FLAGS_VALID_CALLSIGN
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    4096AIS_FLAGS_VALID_NAME

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    FAILURE_UNIT

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    List of possible units where failures can be injected.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    0FAILURE_UNIT_SENSOR_GYRO
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1FAILURE_UNIT_SENSOR_ACCEL
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2FAILURE_UNIT_SENSOR_MAG
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    3FAILURE_UNIT_SENSOR_BARO
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    4FAILURE_UNIT_SENSOR_GPS
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    5FAILURE_UNIT_SENSOR_OPTICAL_FLOW
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    6FAILURE_UNIT_SENSOR_VIO
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    7FAILURE_UNIT_SENSOR_DISTANCE_SENSOR
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    8FAILURE_UNIT_SENSOR_AIRSPEED
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    100FAILURE_UNIT_SYSTEM_BATTERY
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    101FAILURE_UNIT_SYSTEM_MOTOR
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    102FAILURE_UNIT_SYSTEM_SERVO
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    103FAILURE_UNIT_SYSTEM_AVOIDANCE
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    104FAILURE_UNIT_SYSTEM_RC_SIGNAL
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    105FAILURE_UNIT_SYSTEM_MAVLINK_SIGNAL

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    FAILURE_TYPE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    List of possible failure type to inject.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    0FAILURE_TYPE_OKNo failure injected, used to reset a previous failure.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1FAILURE_TYPE_OFFSets unit off, so completely non-responsive.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2FAILURE_TYPE_STUCKUnit is stuck e.g. keeps reporting the same value.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    3FAILURE_TYPE_GARBAGEUnit is reporting complete garbage.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    4FAILURE_TYPE_WRONGUnit is consistently wrong.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    5FAILURE_TYPE_SLOWUnit is slow, so e.g. reporting at slower than expected rate.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    6FAILURE_TYPE_DELAYEDData of unit is delayed in time.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    7FAILURE_TYPE_INTERMITTENTUnit is sometimes working, sometimes not.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    0NAV_VTOL_LAND_OPTIONS_DEFAULTDefault autopilot landing behaviour.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1NAV_VTOL_LAND_OPTIONS_FW_DESCENTDescend in fixed wing mode, transitioning to multicopter mode for vertical landing when close to the ground.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    The fixed wing descent pattern is at the discretion of the vehicle (e.g. transition altitude, loiter direction, radius, and speed, etc.). | | 2 | NAV_VTOL_LAND_OPTIONS_HOVER_DESCENT | Land in multicopter mode on reaching the landing coordinates (the whole landing is by "hover descent"). |

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_WINCH_STATUS_FLAG

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    (Bitmask) Winch status flags used in WINCH_STATUS

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1MAV_WINCH_STATUS_HEALTHYWinch is healthy
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2MAV_WINCH_STATUS_FULLY_RETRACTEDWinch line is fully retracted
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    4MAV_WINCH_STATUS_MOVINGWinch motor is moving
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    8MAV_WINCH_STATUS_CLUTCH_ENGAGEDWinch clutch is engaged allowing motor to move freely.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    16MAV_WINCH_STATUS_LOCKEDWinch is locked by locking mechanism.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    32MAV_WINCH_STATUS_DROPPINGWinch is gravity dropping payload.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    64MAV_WINCH_STATUS_ARRESTINGWinch is arresting payload descent.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    128MAV_WINCH_STATUS_GROUND_SENSEWinch is using torque measurements to sense the ground.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    256MAV_WINCH_STATUS_RETRACTINGWinch is returning to the fully retracted position.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    512MAV_WINCH_STATUS_REDELIVERWinch is redelivering the payload. This is a failover state if the line tension goes above a threshold during RETRACTING.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1024MAV_WINCH_STATUS_ABANDON_LINEWinch is abandoning the line and possibly payload. Winch unspools the entire calculated line length. This is a failover state from REDELIVER if the number of attempts exceeds a threshold.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2048MAV_WINCH_STATUS_LOCKINGWinch is engaging the locking mechanism.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    4096MAV_WINCH_STATUS_LOAD_LINEWinch is spooling on line.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    8192MAV_WINCH_STATUS_LOAD_PAYLOADWinch is loading a payload.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAG_CAL_STATUS

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    0MAG_CAL_NOT_STARTED
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1MAG_CAL_WAITING_TO_START
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2MAG_CAL_RUNNING_STEP_ONE
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    3MAG_CAL_RUNNING_STEP_TWO
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    4MAG_CAL_SUCCESS
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    5MAG_CAL_FAILED
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    6MAG_CAL_BAD_ORIENTATION
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    7MAG_CAL_BAD_RADIUS

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_EVENT_ERROR_REASON

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Reason for an event error response.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    0MAV_EVENT_ERROR_REASON_UNAVAILABLEThe requested event is not available (anymore).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_EVENT_CURRENT_SEQUENCE_FLAGS

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Flags for CURRENT_EVENT_SEQUENCE.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1MAV_EVENT_CURRENT_SEQUENCE_FLAGS_RESETA sequence reset has happened (e.g. vehicle reboot).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    HIL_SENSOR_UPDATED_FLAGS

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    (Bitmask) Flags in the HIL_SENSOR message indicate which fields have updated since the last message

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    0HIL_SENSOR_UPDATED_NONENone of the fields in HIL_SENSOR have been updated
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1HIL_SENSOR_UPDATED_XACCThe value in the xacc field has been updated
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2HIL_SENSOR_UPDATED_YACCThe value in the yacc field has been updated
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    4HIL_SENSOR_UPDATED_ZACCThe value in the zacc field has been updated
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    8HIL_SENSOR_UPDATED_XGYROThe value in the xgyro field has been updated
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    16HIL_SENSOR_UPDATED_YGYROThe value in the ygyro field has been updated
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    32HIL_SENSOR_UPDATED_ZGYROThe value in the zgyro field has been updated
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    64HIL_SENSOR_UPDATED_XMAGThe value in the xmag field has been updated
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    128HIL_SENSOR_UPDATED_YMAGThe value in the ymag field has been updated
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    256HIL_SENSOR_UPDATED_ZMAGThe value in the zmag field has been updated
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    512HIL_SENSOR_UPDATED_ABS_PRESSUREThe value in the abs_pressure field has been updated
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1024HIL_SENSOR_UPDATED_DIFF_PRESSUREThe value in the diff_pressure field has been updated
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2048HIL_SENSOR_UPDATED_PRESSURE_ALTThe value in the pressure_alt field has been updated
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    4096HIL_SENSOR_UPDATED_TEMPERATUREThe value in the temperature field has been updated
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2147483648HIL_SENSOR_UPDATED_RESETFull reset of attitude/position/velocities/etc was performed in sim (Bit 31).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    HIGHRES_IMU_UPDATED_FLAGS

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    (Bitmask) Flags in the HIGHRES_IMU message indicate which fields have updated since the last message

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    0HIGHRES_IMU_UPDATED_NONENone of the fields in HIGHRES_IMU have been updated
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1HIGHRES_IMU_UPDATED_XACCThe value in the xacc field has been updated
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2HIGHRES_IMU_UPDATED_YACCThe value in the yacc field has been updated
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    4HIGHRES_IMU_UPDATED_ZACCThe value in the zacc field has been updated since
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    8HIGHRES_IMU_UPDATED_XGYROThe value in the xgyro field has been updated
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    16HIGHRES_IMU_UPDATED_YGYROThe value in the ygyro field has been updated
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    32HIGHRES_IMU_UPDATED_ZGYROThe value in the zgyro field has been updated
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    64HIGHRES_IMU_UPDATED_XMAGThe value in the xmag field has been updated
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    128HIGHRES_IMU_UPDATED_YMAGThe value in the ymag field has been updated
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    256HIGHRES_IMU_UPDATED_ZMAGThe value in the zmag field has been updated
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    512HIGHRES_IMU_UPDATED_ABS_PRESSUREThe value in the abs_pressure field has been updated
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1024HIGHRES_IMU_UPDATED_DIFF_PRESSUREThe value in the diff_pressure field has been updated
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2048HIGHRES_IMU_UPDATED_PRESSURE_ALTThe value in the pressure_alt field has been updated
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    4096HIGHRES_IMU_UPDATED_TEMPERATUREThe value in the temperature field has been updated
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    65535HIGHRES_IMU_UPDATED_ALLAll fields in HIGHRES_IMU have been updated.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    CAN_FILTER_OP

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    0CAN_FILTER_REPLACE
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1CAN_FILTER_ADD
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2CAN_FILTER_REMOVE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_FTP_ERR

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV FTP error codes (https://mavlink.io/en/services/ftp.html)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    0MAV_FTP_ERR_NONENone: No error
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1MAV_FTP_ERR_FAILFail: Unknown failure
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2MAV_FTP_ERR_FAILERRNOFailErrno: Command failed, Err number sent back in PayloadHeader.data[1].

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    This is a file-system error number understood by the server operating system. | | </a>3 | MAV_FTP_ERR_INVALIDDATASIZE | InvalidDataSize: Payload size is invalid | | 4 | MAV_FTP_ERR_INVALIDSESSION | InvalidSession: Session is not currently open | | </a>5 | MAV_FTP_ERR_NOSESSIONSAVAILABLE | NoSessionsAvailable: All available sessions are already in use | | 6 | MAV_FTP_ERR_EOF | EOF: Offset past end of file for ListDirectory and ReadFile commands | | </a>7 | MAV_FTP_ERR_UNKNOWNCOMMAND | UnknownCommand: Unknown command / opcode | | 8 | MAV_FTP_ERR_FILEEXISTS | FileExists: File/directory already exists | | </a>9 | MAV_FTP_ERR_FILEPROTECTED | FileProtected: File/directory is write protected | | 10 | MAV_FTP_ERR_FILENOTFOUND | FileNotFound: File/directory not found |

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_FTP_OPCODE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV FTP opcodes: https://mavlink.io/en/services/ftp.html

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    0MAV_FTP_OPCODE_NONENone. Ignored, always ACKed
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1MAV_FTP_OPCODE_TERMINATESESSIONTerminateSession: Terminates open Read session
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2MAV_FTP_OPCODE_RESETSESSIONResetSessions: Terminates all open read sessions
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    3MAV_FTP_OPCODE_LISTDIRECTORYListDirectory. List files and directories in path from offset
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    4MAV_FTP_OPCODE_OPENFILEROOpenFileRO: Opens file at path for reading, returns session
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    5MAV_FTP_OPCODE_READFILEReadFile: Reads size bytes from offset in session
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    6MAV_FTP_OPCODE_CREATEFILECreateFile: Creates file at path for writing, returns session
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    7MAV_FTP_OPCODE_WRITEFILEWriteFile: Writes size bytes to offset in session
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    8MAV_FTP_OPCODE_REMOVEFILERemoveFile: Remove file at path
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    9MAV_FTP_OPCODE_CREATEDIRECTORYCreateDirectory: Creates directory at path
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    10MAV_FTP_OPCODE_REMOVEDIRECTORYRemoveDirectory: Removes directory at path. The directory must be empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    11MAV_FTP_OPCODE_OPENFILEWOOpenFileWO: Opens file at path for writing, returns session
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    12MAV_FTP_OPCODE_TRUNCATEFILETruncateFile: Truncate file at path to offset length
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    13MAV_FTP_OPCODE_RENAMERename: Rename path1 to path2
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    14MAV_FTP_OPCODE_CALCFILECRCCalcFileCRC32: Calculate CRC32 for file at path
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    15MAV_FTP_OPCODE_BURSTREADFILEBurstReadFile: Burst download session file
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    128MAV_FTP_OPCODE_ACKACK: ACK response
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    129MAV_FTP_OPCODE_NAKNAK: NAK response

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MISSION_STATE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    States of the mission state machine. Note that these states are independent of whether the mission is in a mode that can execute mission items or not (is suspended). They may not all be relevant on all vehicles.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    0MISSION_STATE_UNKNOWNThe mission status reporting is not supported.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1MISSION_STATE_NO_MISSIONNo mission on the vehicle.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2MISSION_STATE_NOT_STARTEDMission has not started. This is the case after a mission has uploaded but not yet started executing.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    3MISSION_STATE_ACTIVEMission is active, and will execute mission items when in auto mode.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    4MISSION_STATE_PAUSEDMission is paused when in auto mode.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    5MISSION_STATE_COMPLETEMission has executed all mission items.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    SAFETY_SWITCH_STATE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Possible safety switch states.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    0SAFETY_SWITCH_STATE_SAFESafety switch is engaged and vehicle should be safe to approach.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1SAFETY_SWITCH_STATE_DANGEROUSSafety switch is NOT engaged and motors, propellers and other actuators should be considered active.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    ILLUMINATOR_MODE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Modes of illuminator

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    0ILLUMINATOR_MODE_UNKNOWNIlluminator mode is not specified/unknown
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1ILLUMINATOR_MODE_INTERNAL_CONTROLIlluminator behavior is controlled by MAV_CMD_DO_ILLUMINATOR_CONFIGURE settings
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2ILLUMINATOR_MODE_EXTERNAL_SYNCIlluminator behavior is controlled by external factors: e.g. an external hardware signal

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    ILLUMINATOR_ERROR_FLAGS

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    (Bitmask) Illuminator module error flags (bitmap, 0 means no error)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1ILLUMINATOR_ERROR_FLAGS_THERMAL_THROTTLINGIlluminator thermal throttling error.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2ILLUMINATOR_ERROR_FLAGS_OVER_TEMPERATURE_SHUTDOWNIlluminator over temperature shutdown error.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    4ILLUMINATOR_ERROR_FLAGS_THERMISTOR_FAILUREIlluminator thermistor failure.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_AUTOPILOT — [from: minimal]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Micro air vehicle / autopilot classes. This identifies the individual model.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    0MAV_AUTOPILOT_GENERICGeneric autopilot, full support for everything
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1MAV_AUTOPILOT_RESERVEDReserved for future use.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2MAV_AUTOPILOT_SLUGSSLUGS autopilot, http://slugsuav.soe.ucsc.edu
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    3MAV_AUTOPILOT_ARDUPILOTMEGAArduPilot - Plane/Copter/Rover/Sub/Tracker, https://ardupilot.org
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    4MAV_AUTOPILOT_OPENPILOTOpenPilot, http://openpilot.org
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    5MAV_AUTOPILOT_GENERIC_WAYPOINTS_ONLYGeneric autopilot only supporting simple waypoints
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    6MAV_AUTOPILOT_GENERIC_WAYPOINTS_AND_SIMPLE_NAVIGATION_ONLYGeneric autopilot supporting waypoints and other simple navigation commands
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    7MAV_AUTOPILOT_GENERIC_MISSION_FULLGeneric autopilot supporting the full mission command set
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    8MAV_AUTOPILOT_INVALIDNo valid autopilot, e.g. a GCS or other MAVLink component
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    9MAV_AUTOPILOT_PPZPPZ UAV - http://nongnu.org/paparazzi
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    10MAV_AUTOPILOT_UDBUAV Dev Board
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    11MAV_AUTOPILOT_FPFlexiPilot
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    12MAV_AUTOPILOT_PX4PX4 Autopilot - http://px4.io/
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    13MAV_AUTOPILOT_SMACCMPILOTSMACCMPilot - http://smaccmpilot.org
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    14MAV_AUTOPILOT_AUTOQUADAutoQuad -- http://autoquad.org
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    15MAV_AUTOPILOT_ARMAZILAArmazila -- http://armazila.com
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    16MAV_AUTOPILOT_AEROBAerob -- http://aerob.ru
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    17MAV_AUTOPILOT_ASLUAVASLUAV autopilot -- http://www.asl.ethz.ch
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    18MAV_AUTOPILOT_SMARTAPSmartAP Autopilot - http://sky-drones.com
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    19MAV_AUTOPILOT_AIRRAILSAirRails - http://uaventure.com
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    20MAV_AUTOPILOT_REFLEXFusion Reflex - https://fusion.engineering

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_TYPE — [from: minimal]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAVLINK component type reported in HEARTBEAT message. Flight controllers must report the type of the vehicle on which they are mounted (e.g. MAV_TYPE_OCTOROTOR). All other components must report a value appropriate for their type (e.g. a camera must use MAV_TYPE_CAMERA).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    0MAV_TYPE_GENERICGeneric micro air vehicle
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1MAV_TYPE_FIXED_WINGFixed wing aircraft.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2MAV_TYPE_QUADROTORQuadrotor
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    3MAV_TYPE_COAXIALCoaxial helicopter
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    4MAV_TYPE_HELICOPTERNormal helicopter with tail rotor.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    5MAV_TYPE_ANTENNA_TRACKERGround installation
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    6MAV_TYPE_GCSOperator control unit / ground control station
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    7MAV_TYPE_AIRSHIPAirship, controlled
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    8MAV_TYPE_FREE_BALLOONFree balloon, uncontrolled
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    9MAV_TYPE_ROCKETRocket
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    10MAV_TYPE_GROUND_ROVERGround rover
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    11MAV_TYPE_SURFACE_BOATSurface vessel, boat, ship
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    12MAV_TYPE_SUBMARINESubmarine
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    13MAV_TYPE_HEXAROTORHexarotor
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    14MAV_TYPE_OCTOROTOROctorotor
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    15MAV_TYPE_TRICOPTERTricopter
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    16MAV_TYPE_FLAPPING_WINGFlapping wing
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    17MAV_TYPE_KITEKite
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    18MAV_TYPE_ONBOARD_CONTROLLEROnboard companion controller
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    19MAV_TYPE_VTOL_TAILSITTER_DUOROTORTwo-rotor Tailsitter VTOL that additionally uses control surfaces in vertical operation. Note, value previously named MAV_TYPE_VTOL_DUOROTOR.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    20MAV_TYPE_VTOL_TAILSITTER_QUADROTORQuad-rotor Tailsitter VTOL using a V-shaped quad config in vertical operation. Note: value previously named MAV_TYPE_VTOL_QUADROTOR.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    21MAV_TYPE_VTOL_TILTROTORTiltrotor VTOL. Fuselage and wings stay (nominally) horizontal in all flight phases. It able to tilt (some) rotors to provide thrust in cruise flight.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    22MAV_TYPE_VTOL_FIXEDROTORVTOL with separate fixed rotors for hover and cruise flight. Fuselage and wings stay (nominally) horizontal in all flight phases.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    23MAV_TYPE_VTOL_TAILSITTERTailsitter VTOL. Fuselage and wings orientation changes depending on flight phase: vertical for hover, horizontal for cruise. Use more specific VTOL MAV_TYPE_VTOL_TAILSITTER_DUOROTOR or MAV_TYPE_VTOL_TAILSITTER_QUADROTOR if appropriate.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    24MAV_TYPE_VTOL_TILTWINGTiltwing VTOL. Fuselage stays horizontal in all flight phases. The whole wing, along with any attached engine, can tilt between vertical and horizontal mode.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    25MAV_TYPE_VTOL_RESERVED5VTOL reserved 5
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    26MAV_TYPE_GIMBALGimbal
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    27MAV_TYPE_ADSBADSB system
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    28MAV_TYPE_PARAFOILSteerable, nonrigid airfoil
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    29MAV_TYPE_DODECAROTORDodecarotor
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    30MAV_TYPE_CAMERACamera
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    31MAV_TYPE_CHARGING_STATIONCharging station
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    32MAV_TYPE_FLARMFLARM collision avoidance system
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    33MAV_TYPE_SERVOServo
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    34MAV_TYPE_ODIDOpen Drone ID. See https://mavlink.io/en/services/opendroneid.html.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    35MAV_TYPE_DECAROTORDecarotor
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    36MAV_TYPE_BATTERYBattery
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    37MAV_TYPE_PARACHUTEParachute
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    38MAV_TYPE_LOGLog
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    39MAV_TYPE_OSDOSD
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    40MAV_TYPE_IMUIMU
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    41MAV_TYPE_GPSGPS
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    42MAV_TYPE_WINCHWinch
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    43MAV_TYPE_GENERIC_MULTIROTORGeneric multirotor that does not fit into a specific type or whose type is unknown
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    44MAV_TYPE_ILLUMINATORIlluminator. An illuminator is a light source that is used for lighting up dark areas external to the sytstem: e.g. a torch or searchlight (as opposed to a light source for illuminating the system itself, e.g. an indicator light).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_MODE_FLAG — [from: minimal]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    (Bitmask) These flags encode the MAV mode.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1MAV_MODE_FLAG_CUSTOM_MODE_ENABLED0b00000001 Reserved for future use.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2MAV_MODE_FLAG_TEST_ENABLED0b00000010 system has a test mode enabled. This flag is intended for temporary system tests and should not be used for stable implementations.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    4MAV_MODE_FLAG_AUTO_ENABLED0b00000100 autonomous mode enabled, system finds its own goal positions. Guided flag can be set or not, depends on the actual implementation.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    8MAV_MODE_FLAG_GUIDED_ENABLED0b00001000 guided mode enabled, system flies waypoints / mission items.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    16MAV_MODE_FLAG_STABILIZE_ENABLED0b00010000 system stabilizes electronically its attitude (and optionally position). It needs however further control inputs to move around.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    32MAV_MODE_FLAG_HIL_ENABLED0b00100000 hardware in the loop simulation. All motors / actuators are blocked, but internal software is full operational.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    64MAV_MODE_FLAG_MANUAL_INPUT_ENABLED0b01000000 remote control input is enabled.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    128MAV_MODE_FLAG_SAFETY_ARMED0b10000000 MAV safety set to armed. Motors are enabled / running / can start. Ready to fly. Additional note: this flag is to be ignore when sent in the command MAV_CMD_DO_SET_MODE and MAV_CMD_COMPONENT_ARM_DISARM shall be used instead. The flag can still be used to report the armed state.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_MODE_FLAG_DECODE_POSITION — [from: minimal]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    (Bitmask) These values encode the bit positions of the decode position. These values can be used to read the value of a flag bit by combining the base_mode variable with AND with the flag position value. The result will be either 0 or 1, depending on if the flag is set or not.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1MAV_MODE_FLAG_DECODE_POSITION_CUSTOM_MODEEighth bit: 00000001
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2MAV_MODE_FLAG_DECODE_POSITION_TESTSeventh bit: 00000010
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    4MAV_MODE_FLAG_DECODE_POSITION_AUTOSixth bit: 00000100
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    8MAV_MODE_FLAG_DECODE_POSITION_GUIDEDFifth bit: 00001000
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    16MAV_MODE_FLAG_DECODE_POSITION_STABILIZEFourth bit: 00010000
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    32MAV_MODE_FLAG_DECODE_POSITION_HILThird bit: 00100000
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    64MAV_MODE_FLAG_DECODE_POSITION_MANUALSecond bit: 01000000
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    128MAV_MODE_FLAG_DECODE_POSITION_SAFETYFirst bit: 10000000

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_STATE — [from: minimal]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    0MAV_STATE_UNINITUninitialized system, state is unknown.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1MAV_STATE_BOOTSystem is booting up.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2MAV_STATE_CALIBRATINGSystem is calibrating and not flight-ready.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    3MAV_STATE_STANDBYSystem is grounded and on standby. It can be launched any time.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    4MAV_STATE_ACTIVESystem is active and might be already airborne. Motors are engaged.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    5MAV_STATE_CRITICALSystem is in a non-normal flight mode (failsafe). It can however still navigate.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    6MAV_STATE_EMERGENCYSystem is in a non-normal flight mode (failsafe). It lost control over parts or over the whole airframe. It is in mayday and going down.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    7MAV_STATE_POWEROFFSystem just initialized its power-down sequence, will shut down now.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    8MAV_STATE_FLIGHT_TERMINATIONSystem is terminating itself (failsafe or commanded).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_COMPONENT — [from: minimal]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Component ids (values) for the different types and instances of onboard hardware/software that might make up a MAVLink system (autopilot, cameras, servos, GPS systems, avoidance systems etc.).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Components must use the appropriate ID in their source address when sending messages. Components can also use IDs to determine if they are the intended recipient of an incoming message. The MAV_COMP_ID_ALL value is used to indicate messages that must be processed by all components. When creating new entries, components that can have multiple instances (e.g. cameras, servos etc.) should be allocated sequential values. An appropriate number of values should be left free after these components to allow the number of instances to be expanded.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    0MAV_COMP_ID_ALLTarget id (target_component) used to broadcast messages to all components of the receiving system. Components should attempt to process messages with this component ID and forward to components on any other interfaces. Note: This is not a valid source component id for a message.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1MAV_COMP_ID_AUTOPILOT1System flight controller component ("autopilot"). Only one autopilot is expected in a particular system.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    25MAV_COMP_ID_USER1Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    26MAV_COMP_ID_USER2Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    27MAV_COMP_ID_USER3Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    28MAV_COMP_ID_USER4Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    29MAV_COMP_ID_USER5Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    30MAV_COMP_ID_USER6Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    31MAV_COMP_ID_USER7Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    32MAV_COMP_ID_USER8Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    33MAV_COMP_ID_USER9Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    34MAV_COMP_ID_USER10Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    35MAV_COMP_ID_USER11Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    36MAV_COMP_ID_USER12Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    37MAV_COMP_ID_USER13Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    38MAV_COMP_ID_USER14Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    39MAV_COMP_ID_USER15Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    40MAV_COMP_ID_USER16Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    41MAV_COMP_ID_USER17Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    42MAV_COMP_ID_USER18Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    43MAV_COMP_ID_USER19Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    44MAV_COMP_ID_USER20Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    45MAV_COMP_ID_USER21Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    46MAV_COMP_ID_USER22Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    47MAV_COMP_ID_USER23Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    48MAV_COMP_ID_USER24Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    49MAV_COMP_ID_USER25Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    50MAV_COMP_ID_USER26Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    51MAV_COMP_ID_USER27Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    52MAV_COMP_ID_USER28Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    53MAV_COMP_ID_USER29Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    54MAV_COMP_ID_USER30Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    55MAV_COMP_ID_USER31Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    56MAV_COMP_ID_USER32Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    57MAV_COMP_ID_USER33Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    58MAV_COMP_ID_USER34Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    59MAV_COMP_ID_USER35Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    60MAV_COMP_ID_USER36Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    61MAV_COMP_ID_USER37Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    62MAV_COMP_ID_USER38Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    63MAV_COMP_ID_USER39Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    64MAV_COMP_ID_USER40Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    65MAV_COMP_ID_USER41Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    66MAV_COMP_ID_USER42Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    67MAV_COMP_ID_USER43Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    68MAV_COMP_ID_TELEMETRY_RADIOTelemetry radio (e.g. SiK radio, or other component that emits RADIO_STATUS messages).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    69MAV_COMP_ID_USER45Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    70MAV_COMP_ID_USER46Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    71MAV_COMP_ID_USER47Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    72MAV_COMP_ID_USER48Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    73MAV_COMP_ID_USER49Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    74MAV_COMP_ID_USER50Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    75MAV_COMP_ID_USER51Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    76MAV_COMP_ID_USER52Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    77MAV_COMP_ID_USER53Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    78MAV_COMP_ID_USER54Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    79MAV_COMP_ID_USER55Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    80MAV_COMP_ID_USER56Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    81MAV_COMP_ID_USER57Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    82MAV_COMP_ID_USER58Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    83MAV_COMP_ID_USER59Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    84MAV_COMP_ID_USER60Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    85MAV_COMP_ID_USER61Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    86MAV_COMP_ID_USER62Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    87MAV_COMP_ID_USER63Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    88MAV_COMP_ID_USER64Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    89MAV_COMP_ID_USER65Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    90MAV_COMP_ID_USER66Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    91MAV_COMP_ID_USER67Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    92MAV_COMP_ID_USER68Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    93MAV_COMP_ID_USER69Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    94MAV_COMP_ID_USER70Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    95MAV_COMP_ID_USER71Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    96MAV_COMP_ID_USER72Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    97MAV_COMP_ID_USER73Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    98MAV_COMP_ID_USER74Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    99MAV_COMP_ID_USER75Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    100MAV_COMP_ID_CAMERACamera #1.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    101MAV_COMP_ID_CAMERA2Camera #2.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    102MAV_COMP_ID_CAMERA3Camera #3.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    103MAV_COMP_ID_CAMERA4Camera #4.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    104MAV_COMP_ID_CAMERA5Camera #5.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    105MAV_COMP_ID_CAMERA6Camera #6.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    140MAV_COMP_ID_SERVO1Servo #1.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    141MAV_COMP_ID_SERVO2Servo #2.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    142MAV_COMP_ID_SERVO3Servo #3.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    143MAV_COMP_ID_SERVO4Servo #4.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    144MAV_COMP_ID_SERVO5Servo #5.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    145MAV_COMP_ID_SERVO6Servo #6.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    146MAV_COMP_ID_SERVO7Servo #7.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    147MAV_COMP_ID_SERVO8Servo #8.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    148MAV_COMP_ID_SERVO9Servo #9.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    149MAV_COMP_ID_SERVO10Servo #10.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    150MAV_COMP_ID_SERVO11Servo #11.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    151MAV_COMP_ID_SERVO12Servo #12.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    152MAV_COMP_ID_SERVO13Servo #13.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    153MAV_COMP_ID_SERVO14Servo #14.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    154MAV_COMP_ID_GIMBALGimbal #1.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    155MAV_COMP_ID_LOGLogging component.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    156MAV_COMP_ID_ADSBAutomatic Dependent Surveillance-Broadcast (ADS-B) component.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    157MAV_COMP_ID_OSDOn Screen Display (OSD) devices for video links.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    158MAV_COMP_ID_PERIPHERALGeneric autopilot peripheral component ID. Meant for devices that do not implement the parameter microservice.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    159MAV_COMP_ID_QX1_GIMBALGimbal ID for QX1.DEPRECATED: Replaced By MAV_COMP_ID_GIMBAL (2018-11) — All gimbals should use MAV_COMP_ID_GIMBAL.)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    160MAV_COMP_ID_FLARMFLARM collision alert component.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    161MAV_COMP_ID_PARACHUTEParachute component.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    169MAV_COMP_ID_WINCHWinch component.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    171MAV_COMP_ID_GIMBAL2Gimbal #2.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    172MAV_COMP_ID_GIMBAL3Gimbal #3.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    173MAV_COMP_ID_GIMBAL4Gimbal #4
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    174MAV_COMP_ID_GIMBAL5Gimbal #5.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    175MAV_COMP_ID_GIMBAL6Gimbal #6.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    180MAV_COMP_ID_BATTERYBattery #1.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    181MAV_COMP_ID_BATTERY2Battery #2.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    189MAV_COMP_ID_MAVCANCAN over MAVLink client.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    190MAV_COMP_ID_MISSIONPLANNERComponent that can generate/supply a mission flight plan (e.g. GCS or developer API).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    191MAV_COMP_ID_ONBOARD_COMPUTERComponent that lives on the onboard computer (companion computer) and has some generic functionalities, such as settings system parameters and monitoring the status of some processes that don't directly speak mavlink and so on.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    192MAV_COMP_ID_ONBOARD_COMPUTER2Component that lives on the onboard computer (companion computer) and has some generic functionalities, such as settings system parameters and monitoring the status of some processes that don't directly speak mavlink and so on.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    193MAV_COMP_ID_ONBOARD_COMPUTER3Component that lives on the onboard computer (companion computer) and has some generic functionalities, such as settings system parameters and monitoring the status of some processes that don't directly speak mavlink and so on.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    194MAV_COMP_ID_ONBOARD_COMPUTER4Component that lives on the onboard computer (companion computer) and has some generic functionalities, such as settings system parameters and monitoring the status of some processes that don't directly speak mavlink and so on.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    195MAV_COMP_ID_PATHPLANNERComponent that finds an optimal path between points based on a certain constraint (e.g. minimum snap, shortest path, cost, etc.).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    196MAV_COMP_ID_OBSTACLE_AVOIDANCEComponent that plans a collision free path between two points.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    197MAV_COMP_ID_VISUAL_INERTIAL_ODOMETRYComponent that provides position estimates using VIO techniques.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    198MAV_COMP_ID_PAIRING_MANAGERComponent that manages pairing of vehicle and GCS.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    200MAV_COMP_ID_IMUInertial Measurement Unit (IMU) #1.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    201MAV_COMP_ID_IMU_2Inertial Measurement Unit (IMU) #2.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    202MAV_COMP_ID_IMU_3Inertial Measurement Unit (IMU) #3.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    220MAV_COMP_ID_GPSGPS #1.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    221MAV_COMP_ID_GPS2GPS #2.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    236MAV_COMP_ID_ODID_TXRX_1Open Drone ID transmitter/receiver (Bluetooth/WiFi/Internet).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    237MAV_COMP_ID_ODID_TXRX_2Open Drone ID transmitter/receiver (Bluetooth/WiFi/Internet).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    238MAV_COMP_ID_ODID_TXRX_3Open Drone ID transmitter/receiver (Bluetooth/WiFi/Internet).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    240MAV_COMP_ID_UDP_BRIDGEComponent to bridge MAVLink to UDP (i.e. from a UART).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    241MAV_COMP_ID_UART_BRIDGEComponent to bridge to UART (i.e. from UDP).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    242MAV_COMP_ID_TUNNEL_NODEComponent handling TUNNEL messages (e.g. vendor specific GUI of a component).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    243MAV_COMP_ID_ILLUMINATORIlluminator
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    250MAV_COMP_ID_SYSTEM_CONTROLDeprecated, don't use. Component for handling system messages (e.g. to ARM, takeoff, etc.).DEPRECATED: Replaced By MAV_COMP_ID_ALL (2018-11) — System control does not require a separate component ID. Instead, system commands should be sent with target_component=MAV_COMP_ID_ALL allowing the target component to use any appropriate component id.)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Commands (MAV_CMD)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_NAV_WAYPOINT (16)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Navigate to waypoint. This is intended for use in missions (for guided commands outside of missions use MAV_CMD_DO_REPOSITION).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Param (Label)DescriptionValuesUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1 (Hold)Hold time. (ignored by fixed wing, time to stay at waypoint for rotary wing)min: 0s
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2 (Accept Radius)Acceptance radius (if the sphere with this radius is hit, the waypoint counts as reached)min: 0m
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    3 (Pass Radius)0 to pass through the WP, if > 0 radius to pass by WP. Positive value for clockwise orbit, negative value for counter-clockwise orbit. Allows trajectory control.m
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    4 (Yaw)Desired yaw angle at waypoint (rotary wing). NaN to use the current system yaw heading mode (e.g. yaw towards next waypoint, yaw to home, etc.).deg
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    5 (Latitude)Latitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    6 (Longitude)Longitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    7 (Altitude)Altitudem

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_NAV_LOITER_UNLIM (17)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Loiter around this waypoint an unlimited amount of time

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Param (Label)DescriptionUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    3 (Radius)Loiter radius around waypoint for forward-only moving vehicles (not multicopters). If positive loiter clockwise, else counter-clockwisem
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    4 (Yaw)Desired yaw angle. NaN to use the current system yaw heading mode (e.g. yaw towards next waypoint, yaw to home, etc.).deg
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    5 (Latitude)Latitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    6 (Longitude)Longitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    7 (Altitude)Altitudem

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_NAV_LOITER_TURNS (18)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Loiter around this waypoint for X turns

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Param (Label)DescriptionValuesUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1 (Turns)Number of turns.min: 0
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2 (Heading Required)Leave loiter circle only once heading towards the next waypoint (0 = False)min: 0 max: 1 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    3 (Radius)Loiter radius around waypoint for forward-only moving vehicles (not multicopters). If positive loiter clockwise, else counter-clockwisem
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    4 (Xtrack Location)Loiter circle exit location and/or path to next waypoint ("xtrack") for forward-only moving vehicles (not multicopters). 0 for the vehicle to converge towards the center xtrack when it leaves the loiter (the line between the centers of the current and next waypoint), 1 to converge to the direct line between the location that the vehicle exits the loiter radius and the next waypoint. Otherwise the angle (in degrees) between the tangent of the loiter circle and the center xtrack at which the vehicle must leave the loiter (and converge to the center xtrack). NaN to use the current system default xtrack behaviour.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    5 (Latitude)Latitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    6 (Longitude)Longitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    7 (Altitude)Altitudem

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_NAV_LOITER_TIME (19)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Loiter at the specified latitude, longitude and altitude for a certain amount of time. Multicopter vehicles stop at the point (within a vehicle-specific acceptance radius). Forward-only moving vehicles (e.g. fixed-wing) circle the point with the specified radius/direction. If the Heading Required parameter (2) is non-zero forward moving aircraft will only leave the loiter circle once heading towards the next waypoint.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Param (Label)DescriptionValuesUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1 (Time)Loiter time (only starts once Lat, Lon and Alt is reached).min: 0s
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2 (Heading Required)Leave loiter circle only once heading towards the next waypoint (0 = False)min: 0 max: 1 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    3 (Radius)Loiter radius around waypoint for forward-only moving vehicles (not multicopters). If positive loiter clockwise, else counter-clockwise.m
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    4 (Xtrack Location)Loiter circle exit location and/or path to next waypoint ("xtrack") for forward-only moving vehicles (not multicopters). 0 for the vehicle to converge towards the center xtrack when it leaves the loiter (the line between the centers of the current and next waypoint), 1 to converge to the direct line between the location that the vehicle exits the loiter radius and the next waypoint. Otherwise the angle (in degrees) between the tangent of the loiter circle and the center xtrack at which the vehicle must leave the loiter (and converge to the center xtrack). NaN to use the current system default xtrack behaviour.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    5 (Latitude)Latitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    6 (Longitude)Longitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    7 (Altitude)Altitudem

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_NAV_RETURN_TO_LAUNCH (20)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Return to launch location

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Param (Label)Description
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    3Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    4Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    5Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    6Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    7Empty

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_NAV_LAND (21)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Land at location.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Param (Label)DescriptionValuesUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1 (Abort Alt)Minimum target altitude if landing is aborted (0 = undefined/use system default).m
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2 (Land Mode)Precision land mode.PRECISION_LAND_MODE
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    3Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    4 (Yaw Angle)Desired yaw angle. NaN to use the current system yaw heading mode (e.g. yaw towards next waypoint, yaw to home, etc.).deg
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    5 (Latitude)Latitude.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    6 (Longitude)Longitude.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    7 (Altitude)Landing altitude (ground level in current frame).m

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_NAV_TAKEOFF (22)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Takeoff from ground / hand. Vehicles that support multiple takeoff modes (e.g. VTOL quadplane) should take off using the currently configured mode.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Param (Label)DescriptionUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1 (Pitch)Minimum pitch (if airspeed sensor present), desired pitch without sensordeg
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    3Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    4 (Yaw)Yaw angle (if magnetometer present), ignored without magnetometer. NaN to use the current system yaw heading mode (e.g. yaw towards next waypoint, yaw to home, etc.).deg
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    5 (Latitude)Latitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    6 (Longitude)Longitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    7 (Altitude)Altitudem

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_NAV_LAND_LOCAL (23)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Land at local position (local frame only)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Param (Label)DescriptionValuesUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1 (Target)Landing target number (if available)min: 0 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2 (Offset)Maximum accepted offset from desired landing position - computed magnitude from spherical coordinates: d = sqrt(x^2 + y^2 + z^2), which gives the maximum accepted distance between the desired landing position and the position where the vehicle is about to landmin: 0m
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    3 (Descend Rate)Landing descend ratem/s
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    4 (Yaw)Desired yaw anglerad
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    5 (Y Position)Y-axis positionm
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    6 (X Position)X-axis positionm
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    7 (Z Position)Z-axis / ground level positionm

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_NAV_TAKEOFF_LOCAL (24)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Takeoff from local position (local frame only)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Param (Label)DescriptionUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1 (Pitch)Minimum pitch (if airspeed sensor present), desired pitch without sensorrad
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    3 (Ascend Rate)Takeoff ascend ratem/s
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    4 (Yaw)Yaw angle (if magnetometer or another yaw estimation source present), ignored without one of theserad
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    5 (Y Position)Y-axis positionm
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    6 (X Position)X-axis positionm
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    7 (Z Position)Z-axis positionm

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_NAV_FOLLOW (25)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Vehicle following, i.e. this waypoint represents the position of a moving vehicle

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Param (Label)DescriptionValuesUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1 (Following)Following logic to use (e.g. loitering or sinusoidal following) - depends on specific autopilot implementationinc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2 (Ground Speed)Ground speed of vehicle to be followedm/s
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    3 (Radius)Radius around waypoint. If positive loiter clockwise, else counter-clockwisem
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    4 (Yaw)Desired yaw angle.deg
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    5 (Latitude)Latitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    6 (Longitude)Longitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    7 (Altitude)Altitudem

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_NAV_CONTINUE_AND_CHANGE_ALT (30)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Continue on the current course and climb/descend to specified altitude. When the altitude is reached continue to the next command (i.e., don't proceed to the next command until the desired altitude is reached.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Param (Label)DescriptionValuesUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1 (Action)Climb or Descend (0 = Neutral, command completes when within 5m of this command's altitude, 1 = Climbing, command completes when at or above this command's altitude, 2 = Descending, command completes when at or below this command's altitude.min: 0 max: 2 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    3Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    4Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    5Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    6Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    7 (Altitude)Desired altitudem

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_NAV_LOITER_TO_ALT (31)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Begin loiter at the specified Latitude and Longitude. If Lat=Lon=0, then loiter at the current position. Don't consider the navigation command complete (don't leave loiter) until the altitude has been reached. Additionally, if the Heading Required parameter is non-zero the aircraft will not leave the loiter until heading toward the next waypoint.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Param (Label)DescriptionValuesUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1 (Heading Required)Leave loiter circle only once heading towards the next waypoint (0 = False)min: 0 max: 1 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2 (Radius)Loiter radius around waypoint for forward-only moving vehicles (not multicopters). If positive loiter clockwise, negative counter-clockwise, 0 means no change to standard loiter.m
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    3Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    4 (Xtrack Location)Loiter circle exit location and/or path to next waypoint ("xtrack") for forward-only moving vehicles (not multicopters). 0 for the vehicle to converge towards the center xtrack when it leaves the loiter (the line between the centers of the current and next waypoint), 1 to converge to the direct line between the location that the vehicle exits the loiter radius and the next waypoint. Otherwise the angle (in degrees) between the tangent of the loiter circle and the center xtrack at which the vehicle must leave the loiter (and converge to the center xtrack). NaN to use the current system default xtrack behaviour.min: 0 max: 1 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    5 (Latitude)Latitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    6 (Longitude)Longitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    7 (Altitude)Altitudem

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_DO_FOLLOW (32)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Begin following a target

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Param (Label)DescriptionValuesUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1 (System ID)System ID (of the FOLLOW_TARGET beacon). Send 0 to disable follow-me and return to the default position hold mode.min: 0 max: 255 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2Reserved
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    3Reserved
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    4 (Altitude Mode)Altitude mode: 0: Keep current altitude, 1: keep altitude difference to target, 2: go to a fixed altitude above home.min: 0 max: 2 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    5 (Altitude)Altitude above home. (used if mode=2)m
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    6Reserved
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    7 (Time to Land)Time to land in which the MAV should go to the default position hold mode after a message RX timeout.min: 0s

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_DO_FOLLOW_REPOSITION (33)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Reposition the MAV after a follow target command has been sent

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Param (Label)DescriptionUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1 (Camera Q1)Camera q1 (where 0 is on the ray from the camera to the tracking device)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2 (Camera Q2)Camera q2
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    3 (Camera Q3)Camera q3
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    4 (Camera Q4)Camera q4
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    5 (Altitude Offset)altitude offset from targetm
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    6 (X Offset)X offset from targetm
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    7 (Y Offset)Y offset from targetm

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_DO_ORBIT (34) — [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Start orbiting on the circumference of a circle defined by the parameters. Setting values to NaN/INT32_MAX (as appropriate) results in using defaults.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Param (Label)DescriptionValuesUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1 (Radius)Radius of the circle. Positive: orbit clockwise. Negative: orbit counter-clockwise. NaN: Use vehicle default radius, or current radius if already orbiting.m
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2 (Velocity)Tangential Velocity. NaN: Use vehicle default velocity, or current velocity if already orbiting.m/s
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    3 (Yaw Behavior)Yaw behavior of the vehicle.ORBIT_YAW_BEHAVIOUR
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    4 (Orbits)Orbit around the centre point for this many radians (i.e. for a three-quarter orbit set 270*Pi/180). 0: Orbit forever. NaN: Use vehicle default, or current value if already orbiting.min: 0rad
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    5 (Latitude/X)Center point latitude (if no MAV_FRAME specified) / X coordinate according to MAV_FRAME. INT32_MAX (or NaN if sent in COMMAND_LONG): Use current vehicle position, or current center if already orbiting.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    6 (Longitude/Y)Center point longitude (if no MAV_FRAME specified) / Y coordinate according to MAV_FRAME. INT32_MAX (or NaN if sent in COMMAND_LONG): Use current vehicle position, or current center if already orbiting.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    7 (Altitude/Z)Center point altitude (MSL) (if no MAV_FRAME specified) / Z coordinate according to MAV_FRAME. NaN: Use current vehicle altitude.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_NAV_ROI (80) — [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    DEPRECATED: Replaced By MAVCMD_DO_SET_ROI* (2018-01)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Sets the region of interest (ROI) for a sensor set or the vehicle itself. This can then be used by the vehicle's control system to control the vehicle attitude and the attitude of various sensors such as cameras.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1 (ROI Mode)Region of interest mode.MAV_ROI
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2 (WP Index)Waypoint index/ target ID. (see MAV_ROI enum)min: 0 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    3 (ROI Index)ROI index (allows a vehicle to manage multiple ROI's)min: 0 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    4Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    5 (X)x the location of the fixed ROI (see MAV_FRAME)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    6 (Y)y
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    7 (Z)z

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_NAV_PATHPLANNING (81)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Control autonomous path planning on the MAV.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Param (Label)DescriptionValuesUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1 (Local Ctrl)0: Disable local obstacle avoidance / local path planning (without resetting map), 1: Enable local path planning, 2: Enable and reset local path planningmin: 0 max: 2 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2 (Global Ctrl)0: Disable full path planning (without resetting map), 1: Enable, 2: Enable and reset map/occupancy grid, 3: Enable and reset planned route, but not occupancy gridmin: 0 max: 3 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    3Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    4 (Yaw)Yaw angle at goaldeg
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    5 (Latitude/X)Latitude/X of goal
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    6 (Longitude/Y)Longitude/Y of goal
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    7 (Altitude/Z)Altitude/Z of goal

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_NAV_SPLINE_WAYPOINT (82)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Navigate to waypoint using a spline path.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Param (Label)DescriptionValuesUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1 (Hold)Hold time. (ignored by fixed wing, time to stay at waypoint for rotary wing)min: 0s
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    3Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    4Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    5 (Latitude/X)Latitude/X of goal
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    6 (Longitude/Y)Longitude/Y of goal
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    7 (Altitude/Z)Altitude/Z of goal

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_NAV_VTOL_TAKEOFF (84)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Takeoff from ground using VTOL mode, and transition to forward flight with specified heading. The command should be ignored by vehicles that dont support both VTOL and fixed-wing flight (multicopters, boats,etc.).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Param (Label)DescriptionValuesUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2 (Transition Heading)Front transition heading.VTOL_TRANSITION_HEADING
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    3Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    4 (Yaw Angle)Yaw angle. NaN to use the current system yaw heading mode (e.g. yaw towards next waypoint, yaw to home, etc.).deg
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    5 (Latitude)Latitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    6 (Longitude)Longitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    7 (Altitude)Altitudem

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_NAV_VTOL_LAND (85)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Land using VTOL mode

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Param (Label)DescriptionValuesUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1 (Land Options)Landing behaviour.NAV_VTOL_LAND_OPTIONS
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    3 (Approach Altitude)Approach altitude (with the same reference as the Altitude field). NaN if unspecified.m
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    4 (Yaw)Yaw angle. NaN to use the current system yaw heading mode (e.g. yaw towards next waypoint, yaw to home, etc.).deg
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    5 (Latitude)Latitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    6 (Longitude)Longitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    7 (Ground Altitude)Altitude (ground level) relative to the current coordinate frame. NaN to use system default landing altitude (ignore value).m

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_NAV_GUIDED_ENABLE (92)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    hand control over to an external controller

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1 (Enable)On / Off (> 0.5f on)min: 0 max: 1 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    3Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    4Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    5Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    6Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    7Empty

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_NAV_DELAY (93)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Delay the next navigation command a number of seconds or until a specified time

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Param (Label)DescriptionValuesUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1 (Delay)Delay (-1 to enable time-of-day fields)min: -1 inc: 1s
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2 (Hour)hour (24h format, UTC, -1 to ignore)min: -1 max: 23 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    3 (Minute)minute (24h format, UTC, -1 to ignore)min: -1 max: 59 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    4 (Second)second (24h format, UTC, -1 to ignore)min: -1 max: 59 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    5Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    6Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    7Empty

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_NAV_PAYLOAD_PLACE (94)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Descend and place payload. Vehicle moves to specified location, descends until it detects a hanging payload has reached the ground, and then releases the payload. If ground is not detected before the reaching the maximum descent value (param1), the command will complete without releasing the payload.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Param (Label)DescriptionValuesUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1 (Max Descent)Maximum distance to descend.min: 0m
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    3Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    4Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    5 (Latitude)Latitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    6 (Longitude)Longitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    7 (Altitude)Altitudem

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_NAV_LAST (95)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    NOP - This command is only used to mark the upper limit of the NAV/ACTION commands in the enumeration

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Param (Label)Description
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2Empty
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    6Empty
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_CONDITION_DELAY (112)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Delay mission state machine.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Param (Label)DescriptionValuesUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1 (Delay)Delaymin: 0s
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2Empty
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_CONDITION_CHANGE_ALT (113)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Ascend/descend to target altitude at specified rate. Delay mission state machine until desired altitude reached.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Param (Label)DescriptionUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1 (Rate)Descent / Ascend rate.m/s
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    3Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    4Empty
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    7 (Altitude)Target Altitudem

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_CONDITION_DISTANCE (114)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Delay mission state machine until within desired distance of next NAV point.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Param (Label)DescriptionValuesUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1 (Distance)Distance.min: 0m
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_CONDITION_YAW (115)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Reach a certain target angle.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Param (Label)DescriptionValuesUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1 (Angle)target angle [0-360]. Absolute angles: 0 is north. Relative angle: 0 is initial yaw. Direction set by param3.min: 0 max: 360deg
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2 (Angular Speed)angular speedmin: 0deg/s
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    3 (Direction)direction: -1: counter clockwise, 0: shortest direction, 1: clockwisemin: -1 max: 1 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    4 (Relative)0: absolute angle, 1: relative offsetmin: 0 max: 1 inc: 1
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_CONDITION_LAST (159)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    NOP - This command is only used to mark the upper limit of the CONDITION commands in the enumeration

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Param (Label)Description
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1Empty
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_DO_SET_MODE (176)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Set system mode.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1 (Mode)ModeMAV_MODE
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2 (Custom Mode)Custom mode - this is system specific, please refer to the individual autopilot specifications for details.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    3 (Custom Submode)Custom sub mode - this is system specific, please refer to the individual autopilot specifications for details.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    4Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    5Empty
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_DO_JUMP (177)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Jump to the desired command in the mission list. Repeat this action only the specified number of times

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1 (Number)Sequence numbermin: 0 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2 (Repeat)Repeat countmin: 0 inc: 1
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_DO_CHANGE_SPEED (178)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Change speed and/or throttle set points. The value persists until it is overridden or there is a mode change

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Param (Label)DescriptionValuesUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1 (Speed Type)Speed type of value set in param2 (such as airspeed, ground speed, and so on)SPEED_TYPE
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2 (Speed)Speed (-1 indicates no change, -2 indicates return to default vehicle speed)min: -2m/s
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    3 (Throttle)Throttle (-1 indicates no change, -2 indicates return to default vehicle throttle value)min: -2%
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    4
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    5
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    6
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    7

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_DO_SET_HOME (179)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Sets the home position to either to the current position or a specified position. The home position is the default position that the system will return to and land on. The position is set automatically by the system during the takeoff (and may also be set using this command). Note: the current home position may be emitted in a HOME_POSITION message on request (using MAV_CMD_REQUEST_MESSAGE with param1=242).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Param (Label)DescriptionValuesUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1 (Use Current)Use current (1=use current location, 0=use specified location)min: 0 max: 1 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2 (Roll)Roll angle (of surface). Range: -180..180 degrees. NAN or 0 means value not set. 0.01 indicates zero roll.min: -180 max: 180deg
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    3 (Pitch)Pitch angle (of surface). Range: -90..90 degrees. NAN or 0 means value not set. 0.01 means zero pitch.min: -90 max: 90deg
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    4 (Yaw)Yaw angle. NaN to use default heading. Range: -180..180 degrees.min: -180 max: 180deg
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    5 (Latitude)Latitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    6 (Longitude)Longitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    7 (Altitude)Altitudem

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_DO_SET_PARAMETER (180) — [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    DEPRECATED: Replaced By PARAM_SET (2024-04)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Set a system parameter. Caution! Use of this command requires knowledge of the numeric enumeration value of the parameter.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1 (Number)Parameter numbermin: 0 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2 (Value)Parameter value
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_DO_SET_RELAY (181)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Set a relay to a condition.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1 (Instance)Relay instance number.min: 0 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2 (Setting)Setting. (1=on, 0=off, others possible depending on system hardware)min: 0 inc: 1
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_DO_REPEAT_RELAY (182)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Cycle a relay on and off for a desired number of cycles with a desired period.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Param (Label)DescriptionValuesUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1 (Instance)Relay instance number.min: 0 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2 (Count)Cycle count.min: 1 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    3 (Time)Cycle time.min: 0s
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_DO_SET_SERVO (183)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Set a servo to a desired PWM value.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Param (Label)DescriptionValuesUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1 (Instance)Servo instance number.min: 0 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2 (PWM)Pulse Width Modulation.min: 0 inc: 1us
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_DO_REPEAT_SERVO (184)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Cycle a between its nominal setting and a desired PWM for a desired number of cycles with a desired period.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Param (Label)DescriptionValuesUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1 (Instance)Servo instance number.min: 0 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2 (PWM)Pulse Width Modulation.min: 0 inc: 1us
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    3 (Count)Cycle count.min: 1 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    4 (Time)Cycle time.min: 0s
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_DO_FLIGHTTERMINATION (185)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Terminate flight immediately.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Flight termination immediately and irreversibly terminates the current flight, returning the vehicle to ground. The vehicle will ignore RC or other input until it has been power-cycled. Termination may trigger safety measures, including: disabling motors and deployment of parachute on multicopters, and setting flight surfaces to initiate a landing pattern on fixed-wing). On multicopters without a parachute it may trigger a crash landing. Support for this command can be tested using the protocol bit: MAV_PROTOCOL_CAPABILITY_FLIGHT_TERMINATION. Support for this command can also be tested by sending the command with param1=0 (< 0.5); the ACK should be either MAV_RESULT_FAILED or MAV_RESULT_UNSUPPORTED.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1 (Terminate)Flight termination activated if > 0.5. Otherwise not activated and ACK with MAV_RESULT_FAILED.min: 0 max: 1 inc: 1
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_DO_CHANGE_ALTITUDE (186)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Change altitude set point.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Param (Label)DescriptionValuesUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1 (Altitude)Altitude.m
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2 (Frame)Frame of new altitude.MAV_FRAME
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_DO_SET_ACTUATOR (187)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Sets actuators (e.g. servos) to a desired value. The actuator numbers are mapped to specific outputs (e.g. on any MAIN or AUX PWM or UAVCAN) using a flight-stack specific mechanism (i.e. a parameter).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1 (Actuator 1)Actuator 1 value, scaled from [-1 to 1]. NaN to ignore.min: -1 max: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2 (Actuator 2)Actuator 2 value, scaled from [-1 to 1]. NaN to ignore.min: -1 max: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    3 (Actuator 3)Actuator 3 value, scaled from [-1 to 1]. NaN to ignore.min: -1 max: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    4 (Actuator 4)Actuator 4 value, scaled from [-1 to 1]. NaN to ignore.min: -1 max: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    5 (Actuator 5)Actuator 5 value, scaled from [-1 to 1]. NaN to ignore.min: -1 max: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    6 (Actuator 6)Actuator 6 value, scaled from [-1 to 1]. NaN to ignore.min: -1 max: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    7 (Index)Index of actuator set (i.e if set to 1, Actuator 1 becomes Actuator 7)min: 0 inc: 1

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_DO_RETURN_PATH_START (188) — [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Mission item to specify the start of a failsafe/landing return-path segment (the end of the segment is the next MAV_CMD_DO_LAND_START item).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    A vehicle that is using missions for landing (e.g. in a return mode) will join the mission on the closest path of the return-path segment (instead of MAV_CMD_DO_LAND_START or the nearest waypoint). The main use case is to minimize the failsafe flight path in corridor missions, where the inbound/outbound paths are constrained (by geofences) to the same particular path. The MAV_CMD_NAV_RETURN_PATH_START would be placed at the start of the return path. If a failsafe occurs on the outbound path the vehicle will move to the nearest point on the return path (which is parallel for this kind of mission), effectively turning round and following the shortest path to landing. If a failsafe occurs on the inbound path the vehicle is already on the return segment and will continue to landing. The Latitude/Longitude/Altitude are optional, and may be set to 0 if not needed. If specified, the item defines the waypoint at which the return segment starts. If sent using as a command, the vehicle will perform a mission landing (using the land segment if defined) or reject the command if mission landings are not supported, or no mission landing is defined. When used as a command any position information in the command is ignored.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Param (Label)DescriptionUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    3Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    4Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    5 (Latitude)Latitudee. 0: not used.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    6 (Longitude)Longitudee. 0: not used.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    7 (Altitude)Altitudee. 0: not used.m

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_DO_LAND_START (189)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Mission command to perform a landing. This is used as a marker in a mission to tell the autopilot where a sequence of mission items that represents a landing starts.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    It may also be sent via a COMMAND_LONG to trigger a landing, in which case the nearest (geographically) landing sequence in the mission will be used. The Latitude/Longitude/Altitude is optional, and may be set to 0 if not needed. If specified then it will be used to help find the closest landing sequence.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Param (Label)DescriptionUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    3Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    4Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    5 (Latitude)Latitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    6 (Longitude)Longitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    7 (Altitude)Altitudem

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_DO_RALLY_LAND (190)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Mission command to perform a landing from a rally point.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Param (Label)DescriptionUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1 (Altitude)Break altitudem
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2 (Speed)Landing speedm/s
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    3Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    4Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    5Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    6Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    7Empty

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_DO_GO_AROUND (191)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Mission command to safely abort an autonomous landing.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Param (Label)DescriptionUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1 (Altitude)Altitudem
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    3Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    4Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    5Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    6Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    7Empty

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_DO_REPOSITION (192)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Reposition the vehicle to a specific WGS84 global position. This command is intended for guided commands (for missions use MAV_CMD_NAV_WAYPOINT instead).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Param (Label)DescriptionValuesUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1 (Speed)Ground speed, less than 0 (-1) for defaultmin: -1m/s
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2 (Bitmask)Bitmask of option flags.MAV_DO_REPOSITION_FLAGS
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    3 (Radius)Loiter radius for planes. Positive values only, direction is controlled by Yaw value. A value of zero or NaN is ignored.m
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    4 (Yaw)Yaw heading. NaN to use the current system yaw heading mode (e.g. yaw towards next waypoint, yaw to home, etc.). For planes indicates loiter direction (0: clockwise, 1: counter clockwise)deg
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    5 (Latitude)Latitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    6 (Longitude)Longitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    7 (Altitude)Altitudem

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_DO_PAUSE_CONTINUE (193)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    If in a GPS controlled position mode, hold the current position or continue.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1 (Continue)0: Pause current mission or reposition command, hold current position. 1: Continue mission. A VTOL capable vehicle should enter hover mode (multicopter and VTOL planes). A plane should loiter with the default loiter radius.min: 0 max: 1 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2Reserved
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    3Reserved
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    4Reserved
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    5Reserved
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    6Reserved
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    7Reserved

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_DO_SET_REVERSE (194)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Set moving direction to forward or reverse.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1 (Reverse)Direction (0=Forward, 1=Reverse)min: 0 max: 1 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    3Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    4Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    5Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    6Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    7Empty

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_DO_SET_ROI_LOCATION (195)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Sets the region of interest (ROI) to a location. This can then be used by the vehicle's control system to control the vehicle attitude and the attitude of various sensors such as cameras. This command can be sent to a gimbal manager but not to a gimbal device. A gimbal is not to react to this message.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Param (Label)DescriptionUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1 (Gimbal device ID)Component ID of gimbal device to address (or 1-6 for non-MAVLink gimbal), 0 for all gimbal device components. Send command multiple times for more than one gimbal (but not all gimbals).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    3Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    4Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    5 (Latitude)Latitude of ROI locationdegE7
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    6 (Longitude)Longitude of ROI locationdegE7
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    7 (Altitude)Altitude of ROI locationm

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_DO_SET_ROI_WPNEXT_OFFSET (196)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Sets the region of interest (ROI) to be toward next waypoint, with optional pitch/roll/yaw offset. This can then be used by the vehicle's control system to control the vehicle attitude and the attitude of various sensors such as cameras. This command can be sent to a gimbal manager but not to a gimbal device. A gimbal device is not to react to this message.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Param (Label)DescriptionUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1 (Gimbal device ID)Component ID of gimbal device to address (or 1-6 for non-MAVLink gimbal), 0 for all gimbal device components. Send command multiple times for more than one gimbal (but not all gimbals).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    3Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    4Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    5 (Pitch Offset)Pitch offset from next waypoint, positive pitching updeg
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    6 (Roll Offset)Roll offset from next waypoint, positive rolling to the rightdeg
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    7 (Yaw Offset)Yaw offset from next waypoint, positive yawing to the rightdeg

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_DO_SET_ROI_NONE (197)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Cancels any previous ROI command returning the vehicle/sensors to default flight characteristics. This can then be used by the vehicle's control system to control the vehicle attitude and the attitude of various sensors such as cameras. This command can be sent to a gimbal manager but not to a gimbal device. A gimbal device is not to react to this message. After this command the gimbal manager should go back to manual input if available, and otherwise assume a neutral position.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Param (Label)Description
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1 (Gimbal device ID)Component ID of gimbal device to address (or 1-6 for non-MAVLink gimbal), 0 for all gimbal device components. Send command multiple times for more than one gimbal (but not all gimbals).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    3Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    4Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    5Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    6Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    7Empty

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_DO_SET_ROI_SYSID (198)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Mount tracks system with specified system ID. Determination of target vehicle position may be done with GLOBAL_POSITION_INT or any other means. This command can be sent to a gimbal manager but not to a gimbal device. A gimbal device is not to react to this message.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1 (System ID)System IDmin: 1 max: 255 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2 (Gimbal device ID)Component ID of gimbal device to address (or 1-6 for non-MAVLink gimbal), 0 for all gimbal device components. Send command multiple times for more than one gimbal (but not all gimbals).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_DO_CONTROL_VIDEO (200)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Control onboard camera system.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Param (Label)DescriptionValuesUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1 (ID)Camera ID (-1 for all)min: -1 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2 (Transmission)Transmission: 0: disabled, 1: enabled compressed, 2: enabled rawmin: 0 max: 2 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    3 (Interval)Transmission mode: 0: video stream, >0: single images every n secondsmin: 0s
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    4 (Recording)Recording: 0: disabled, 1: enabled compressed, 2: enabled rawmin: 0 max: 2 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    5Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    6Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    7Empty

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_DO_SET_ROI (201) — [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    DEPRECATED: Replaced By MAVCMD_DO_SET_ROI* (2018-01)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Sets the region of interest (ROI) for a sensor set or the vehicle itself. This can then be used by the vehicle's control system to control the vehicle attitude and the attitude of various sensors such as cameras.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1 (ROI Mode)Region of interest mode.MAV_ROI
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2 (WP Index)Waypoint index/ target ID (depends on param 1).min: 0 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    3 (ROI Index)Region of interest index. (allows a vehicle to manage multiple ROI's)min: 0 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    4Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    5MAV_ROI_WPNEXT: pitch offset from next waypoint, MAV_ROI_LOCATION: latitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    6MAV_ROI_WPNEXT: roll offset from next waypoint, MAV_ROI_LOCATION: longitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    7MAV_ROI_WPNEXT: yaw offset from next waypoint, MAV_ROI_LOCATION: altitude

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_DO_DIGICAM_CONFIGURE (202)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Configure digital camera. This is a fallback message for systems that have not yet implemented PARAM_EXT_XXX messages and camera definition files (see https://mavlink.io/en/services/camera_def.html ).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Param (Label)DescriptionValuesUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1 (Mode)Modes: P, TV, AV, M, Etc.min: 0 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2 (Shutter Speed)Shutter speed: Divisor number for one second.min: 0 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    3 (Aperture)Aperture: F stop number.min: 0
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    4 (ISO)ISO number e.g. 80, 100, 200, Etc.min: 0 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    5 (Exposure)Exposure type enumerator.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    6 (Command Identity)Command Identity.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    7 (Engine Cut-off)Main engine cut-off time before camera trigger. (0 means no cut-off)min: 0 inc: 1ds

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_DO_DIGICAM_CONTROL (203)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Control digital camera. This is a fallback message for systems that have not yet implemented PARAM_EXT_XXX messages and camera definition files (see https://mavlink.io/en/services/camera_def.html ).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Param (Label)Description
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1 (Session Control)Session control e.g. show/hide lens
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2 (Zoom Absolute)Zoom's absolute position
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    3 (Zoom Relative)Zooming step value to offset zoom from the current position
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    4 (Focus)Focus Locking, Unlocking or Re-locking
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    5 (Shoot Command)Shooting Command
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    6 (Command Identity)Command Identity
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    7 (Shot ID)Test shot identifier. If set to 1, image will only be captured, but not counted towards internal frame count.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_DO_MOUNT_CONFIGURE (204) — [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    DEPRECATED: Replaced By MAV_CMD_DO_GIMBAL_MANAGER_CONFIGURE (2020-01) — This message has been superseded by MAV_CMD_DO_GIMBAL_MANAGER_CONFIGURE. The message can still be used to communicate with legacy gimbals implementing it.)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Mission command to configure a camera or antenna mount

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1 (Mode)Mount operation modeMAV_MOUNT_MODE
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2 (Stabilize Roll)stabilize roll? (1 = yes, 0 = no)min: 0 max: 1 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    3 (Stabilize Pitch)stabilize pitch? (1 = yes, 0 = no)min: 0 max: 1 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    4 (Stabilize Yaw)stabilize yaw? (1 = yes, 0 = no)min: 0 max: 1 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    5 (Roll Input Mode)roll input (0 = angle body frame, 1 = angular rate, 2 = angle absolute frame)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    6 (Pitch Input Mode)pitch input (0 = angle body frame, 1 = angular rate, 2 = angle absolute frame)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    7 (Yaw Input Mode)yaw input (0 = angle body frame, 1 = angular rate, 2 = angle absolute frame)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_DO_MOUNT_CONTROL (205) — [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    DEPRECATED: Replaced By MAV_CMD_DO_GIMBAL_MANAGER_PITCHYAW (2020-01) — This message is ambiguous and inconsistent. It has been superseded by MAV_CMD_DO_GIMBAL_MANAGER_PITCHYAW and MAVCMD_DO_SET_ROI* variants. The message can still be used to communicate with legacy gimbals implementing it.)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Mission command to control a camera or antenna mount

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Param (Label)DescriptionValuesUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1 (Pitch)pitch depending on mount mode (degrees or degrees/second depending on pitch input).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2 (Roll)roll depending on mount mode (degrees or degrees/second depending on roll input).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    3 (Yaw)yaw depending on mount mode (degrees or degrees/second depending on yaw input).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    4 (Altitude)altitude depending on mount mode.m
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    5 (Latitude)latitude, set if appropriate mount mode.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    6 (Longitude)longitude, set if appropriate mount mode.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    7 (Mode)Mount mode.MAV_MOUNT_MODE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_DO_SET_CAM_TRIGG_DIST (206)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Mission command to set camera trigger distance for this flight. The camera is triggered each time this distance is exceeded. This command can also be used to set the shutter integration time for the camera.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Param (Label)DescriptionValuesUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1 (Distance)Camera trigger distance. 0 to stop triggering.min: 0m
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2 (Shutter)Camera shutter integration time. -1 or 0 to ignoremin: -1 inc: 1ms
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    3 (Trigger)Trigger camera once immediately. (0 = no trigger, 1 = trigger)min: 0 max: 1 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    4 (Target Camera ID)Target camera ID. 7 to 255: MAVLink camera component id. 1 to 6 for cameras attached to the autopilot, which don't have a distinct component id. 0: all cameras. This is used to target specific autopilot-connected cameras. It is also used to target specific cameras when the MAV_CMD is used in a mission.min: 0 max: 255 inc: 1
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_DO_FENCE_ENABLE (207)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Enable the geofence. This can be used in a mission or via the command protocol. The persistence/lifetime of the setting is undefined. Depending on flight stack implementation it may persist until superseded, or it may revert to a system default at the end of a mission. Flight stacks typically reset the setting to system defaults on reboot.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1 (Enable)enable? (0=disable, 1=enable, 2=disable_floor_only)min: 0 max: 2 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2 (Types)Fence types to enable or disable as a bitmask. A value of 0 indicates that all fences should be enabled or disabled. This parameter is ignored if param 1 has the value 2FENCE_TYPE
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_DO_PARACHUTE (208)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Mission item/command to release a parachute or enable/disable auto release.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1 (Action)ActionPARACHUTE_ACTION
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_DO_MOTOR_TEST (209)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Command to perform motor test.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Param (Label)DescriptionValuesUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1 (Instance)Motor instance number (from 1 to max number of motors on the vehicle).min: 1 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2 (Throttle Type)Throttle type (whether the Throttle Value in param3 is a percentage, PWM value, etc.)MOTOR_TEST_THROTTLE_TYPE
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    3 (Throttle)Throttle value.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    4 (Timeout)Timeout between tests that are run in sequence.min: 0s
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    5 (Motor Count)Motor count. Number of motors to test in sequence: 0/1=one motor, 2= two motors, etc. The Timeout (param4) is used between tests.min: 0 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    6 (Test Order)Motor test order.MOTOR_TEST_ORDER
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_DO_INVERTED_FLIGHT (210)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Change to/from inverted flight.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1 (Inverted)Inverted flight. (0=normal, 1=inverted)min: 0 max: 1 inc: 1
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_DO_GRIPPER (211)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Mission command to operate a gripper.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1 (Instance)Gripper instance number.min: 1 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2 (Action)Gripper action to perform.GRIPPER_ACTIONS
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_DO_AUTOTUNE_ENABLE (212)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Enable/disable autotune.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1 (Enable)Enable (1: enable, 0:disable).min: 0 max: 1 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2 (Axis)Specify which axis are autotuned. 0 indicates autopilot default settings.AUTOTUNE_AXIS
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    3Empty.
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_NAV_SET_YAW_SPEED (213)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Sets a desired vehicle turn angle and speed change.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Param (Label)DescriptionValuesUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1 (Yaw)Yaw angle to adjust steering by.deg
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2 (Speed)Speed.m/s
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    3 (Angle)Final angle. (0=absolute, 1=relative)min: 0 max: 1 inc: 1
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_DO_SET_CAM_TRIGG_INTERVAL (214)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Mission command to set camera trigger interval for this flight. If triggering is enabled, the camera is triggered each time this interval expires. This command can also be used to set the shutter integration time for the camera.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Param (Label)DescriptionValuesUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1 (Trigger Cycle)Camera trigger cycle time. -1 or 0 to ignore.min: -1 inc: 1ms
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2 (Shutter Integration)Camera shutter integration time. Should be less than trigger cycle time. -1 or 0 to ignore.min: -1 inc: 1ms
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    3 (Target Camera ID)Target camera ID. 7 to 255: MAVLink camera component id. 1 to 6 for cameras attached to the autopilot, which don't have a distinct component id. 0: all cameras. This is used to target specific autopilot-connected cameras. It is also used to target specific cameras when the MAV_CMD is used in a mission.min: 0 max: 255 inc: 1
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_DO_MOUNT_CONTROL_QUAT (220) — [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    DEPRECATED: Replaced By MAV_CMD_DO_GIMBAL_MANAGER_PITCHYAW (2020-01)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Mission command to control a camera or antenna mount, using a quaternion as reference.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Param (Label)Description
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1 (Q1)quaternion param q1, w (1 in null-rotation)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2 (Q2)quaternion param q2, x (0 in null-rotation)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    3 (Q3)quaternion param q3, y (0 in null-rotation)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    4 (Q4)quaternion param q4, z (0 in null-rotation)
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_DO_GUIDED_MASTER (221)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    set id of master controller

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1 (System ID)System IDmin: 0 max: 255 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2 (Component ID)Component IDmin: 0 max: 255 inc: 1
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_DO_GUIDED_LIMITS (222)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Set limits for external control

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Param (Label)DescriptionValuesUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1 (Timeout)Timeout - maximum time that external controller will be allowed to control vehicle. 0 means no timeout.min: 0s
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2 (Min Altitude)Altitude (MSL) min - if vehicle moves below this alt, the command will be aborted and the mission will continue. 0 means no lower altitude limit.m
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    3 (Max Altitude)Altitude (MSL) max - if vehicle moves above this alt, the command will be aborted and the mission will continue. 0 means no upper altitude limit.m
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    4 (Horiz. Move Limit)Horizontal move limit - if vehicle moves more than this distance from its location at the moment the command was executed, the command will be aborted and the mission will continue. 0 means no horizontal move limit.min: 0m
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    5Empty
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_DO_ENGINE_CONTROL (223)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Control vehicle engine. This is interpreted by the vehicles engine controller to change the target engine state. It is intended for vehicles with internal combustion engines

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Param (Label)DescriptionValuesUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1 (Start Engine)0: Stop engine, 1:Start Enginemin: 0 max: 1 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2 (Cold Start)0: Warm start, 1:Cold start. Controls use of choke where applicablemin: 0 max: 1 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    3 (Height Delay)Height delay. This is for commanding engine start only after the vehicle has gained the specified height. Used in VTOL vehicles during takeoff to start engine after the aircraft is off the ground. Zero for no delay.min: 0m
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    4Empty
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_DO_SET_MISSION_CURRENT (224)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Set the mission item with sequence number seq as the current item and emit MISSION_CURRENT (whether or not the mission number changed). If a mission is currently being executed, the system will continue to this new mission item on the shortest path, skipping any intermediate mission items. Note that mission jump repeat counters are not reset unless param2 is set (see MAV_CMD_DO_JUMP param2).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    This command may trigger a mission state-machine change on some systems: for example from MISSION_STATE_NOT_STARTED or MISSION_STATE_PAUSED to MISSION_STATE_ACTIVE. If the system is in mission mode, on those systems this command might therefore start, restart or resume the mission. If the system is not in mission mode this command must not trigger a switch to mission mode.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    The mission may be "reset" using param2. Resetting sets jump counters to initial values (to reset counters without changing the current mission item set the param1 to -1). Resetting also explicitly changes a mission state of MISSION_STATE_COMPLETE to MISSION_STATE_PAUSED or MISSION_STATE_ACTIVE, potentially allowing it to resume when it is (next) in a mission mode.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    The command will ACK with MAV_RESULT_FAILED if the sequence number is out of range (including if there is no mission item).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1 (Number)Mission sequence value to set. -1 for the current mission item (use to reset mission without changing current mission item).min: -1 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2 (Reset Mission)Resets mission. 1: true, 0: false. Resets jump counters to initial values and changes mission state "completed" to be "active" or "paused".min: 0 max: 1 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    3Empty
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_DO_LAST (240)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    NOP - This command is only used to mark the upper limit of the DO commands in the enumeration

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Param (Label)Description
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2Empty
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_PREFLIGHT_CALIBRATION (241)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Trigger calibration. This command will be only accepted if in pre-flight mode. Except for Temperature Calibration, only one sensor should be set in a single message and all others should be zero.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1 (Gyro Temperature)1: gyro calibration, 3: gyro temperature calibrationmin: 0 max: 3 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2 (Magnetometer)1: magnetometer calibrationmin: 0 max: 1 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    3 (Ground Pressure)1: ground pressure calibrationmin: 0 max: 1 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    4 (Remote Control)1: radio RC calibration, 2: RC trim calibrationmin: 0 max: 1 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    5 (Accelerometer)1: accelerometer calibration, 2: board level calibration, 3: accelerometer temperature calibration, 4: simple accelerometer calibrationmin: 0 max: 4 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    6 (Compmot or Airspeed)1: APM: compass/motor interference calibration (PX4: airspeed calibration, deprecated), 2: airspeed calibrationmin: 0 max: 2 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    7 (ESC or Baro)1: ESC calibration, 3: barometer temperature calibrationmin: 0 max: 3 inc: 1

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_PREFLIGHT_SET_SENSOR_OFFSETS (242)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Set sensor offsets. This command will be only accepted if in pre-flight mode.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1 (Sensor Type)Sensor to adjust the offsets for: 0: gyros, 1: accelerometer, 2: magnetometer, 3: barometer, 4: optical flow, 5: second magnetometer, 6: third magnetometermin: 0 max: 6 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2 (X Offset)X axis offset (or generic dimension 1), in the sensor's raw units
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    3 (Y Offset)Y axis offset (or generic dimension 2), in the sensor's raw units
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    4 (Z Offset)Z axis offset (or generic dimension 3), in the sensor's raw units
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    5 (4th Dimension)Generic dimension 4, in the sensor's raw units
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    6 (5th Dimension)Generic dimension 5, in the sensor's raw units
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    7 (6th Dimension)Generic dimension 6, in the sensor's raw units

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_PREFLIGHT_UAVCAN (243)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Trigger UAVCAN configuration (actuator ID assignment and direction mapping). Note that this maps to the legacy UAVCAN v0 function UAVCAN_ENUMERATE, which is intended to be executed just once during initial vehicle configuration (it is not a normal pre-flight command and has been poorly named).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Param (Label)Description
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1 (Actuator ID)1: Trigger actuator ID assignment and direction mapping. 0: Cancel command.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2Reserved
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    3Reserved
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    4Reserved
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    5Reserved
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    6Reserved
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    7Reserved

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_PREFLIGHT_STORAGE (245)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Request storage of different parameter values and logs. This command will be only accepted if in pre-flight mode.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Param (Label)DescriptionValuesUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1 (Parameter Storage)Action to perform on the persistent parameter storagePREFLIGHT_STORAGE_PARAMETER_ACTION
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2 (Mission Storage)Action to perform on the persistent mission storagePREFLIGHT_STORAGE_MISSION_ACTION
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    3 (Logging Rate)Onboard logging: 0: Ignore, 1: Start default rate logging, -1: Stop logging, > 1: logging rate (e.g. set to 1000 for 1000 Hz logging)min: -1 inc: 1Hz
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    4Reserved
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    5Empty
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN (246)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Request the reboot or shutdown of system components.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1 (Autopilot)0: Do nothing for autopilot, 1: Reboot autopilot, 2: Shutdown autopilot, 3: Reboot autopilot and keep it in the bootloader until upgraded.min: 0 max: 3 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2 (Companion)0: Do nothing for onboard computer, 1: Reboot onboard computer, 2: Shutdown onboard computer, 3: Reboot onboard computer and keep it in the bootloader until upgraded.min: 0 max: 3 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    3 (Component action)0: Do nothing for component, 1: Reboot component, 2: Shutdown component, 3: Reboot component and keep it in the bootloader until upgradedmin: 0 max: 3 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    4 (Component ID)MAVLink Component ID targeted in param3 (0 for all components).min: 0 max: 255 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    5Reserved (set to 0)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    6Reserved (set to 0)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    7WIP: ID (e.g. camera ID -1 for all IDs)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_OVERRIDE_GOTO (252)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Override current mission with command to pause mission, pause mission and move to position, continue/resume mission. When param 1 indicates that the mission is paused (MAV_GOTO_DO_HOLD), param 2 defines whether it holds in place or moves to another position.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Param (Label)DescriptionValuesUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1 (Continue)MAV_GOTO_DO_HOLD: pause mission and either hold or move to specified position (depending on param2), MAV_GOTO_DO_CONTINUE: resume mission.MAV_GOTO
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2 (Position)MAV_GOTO_HOLD_AT_CURRENT_POSITION: hold at current position, MAV_GOTO_HOLD_AT_SPECIFIED_POSITION: hold at specified position.MAV_GOTO
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    3 (Frame)Coordinate frame of hold point.MAV_FRAME
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    4 (Yaw)Desired yaw angle.deg
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    5 (Latitude/X)Latitude/X position.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    6 (Longitude/Y)Longitude/Y position.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    7 (Altitude/Z)Altitude/Z position.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_OBLIQUE_SURVEY (260)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Mission command to set a Camera Auto Mount Pivoting Oblique Survey (Replaces CAM_TRIGG_DIST for this purpose). The camera is triggered each time this distance is exceeded, then the mount moves to the next position. Params 4~6 set-up the angle limits and number of positions for oblique survey, where mount-enabled vehicles automatically roll the camera between shots to emulate an oblique camera setup (providing an increased HFOV). This command can also be used to set the shutter integration time for the camera.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Param (Label)DescriptionValuesUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1 (Distance)Camera trigger distance. 0 to stop triggering.min: 0m
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2 (Shutter)Camera shutter integration time. 0 to ignoremin: 0 inc: 1ms
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    3 (Min Interval)The minimum interval in which the camera is capable of taking subsequent pictures repeatedly. 0 to ignore.min: 0 max: 10000 inc: 1ms
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    4 (Positions)Total number of roll positions at which the camera will capture photos (images captures spread evenly across the limits defined by param5).min: 2 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    5 (Roll Angle)Angle limits that the camera can be rolled to left and right of center.min: 0deg
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    6 (Pitch Angle)Fixed pitch angle that the camera will hold in oblique mode if the mount is actuated in the pitch axis.min: -180 max: 180deg
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_MISSION_START (300)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    start running a mission

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1 (First Item)first_item: the first mission item to runmin: 0 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2 (Last Item)last_item: the last mission item to run (after this item is run, the mission ends)min: 0 inc: 1

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_ACTUATOR_TEST (310)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Actuator testing command. This is similar to MAV_CMD_DO_MOTOR_TEST but operates on the level of output functions, i.e. it is possible to test Motor1 independent from which output it is configured on. Autopilots typically refuse this command while armed.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Param (Label)DescriptionValuesUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1 (Value)Output value: 1 means maximum positive output, 0 to center servos or minimum motor thrust (expected to spin), -1 for maximum negative (if not supported by the motors, i.e. motor is not reversible, smaller than 0 maps to NaN). And NaN maps to disarmed (stop the motors).min: -1 max: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2 (Timeout)Timeout after which the test command expires and the output is restored to the previous value. A timeout has to be set for safety reasons. A timeout of 0 means to restore the previous value immediately.min: 0 max: 3s
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    3
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    4
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    5 (Output Function)Actuator Output functionACTUATOR_OUTPUT_FUNCTION
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    6
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    7

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_CONFIGURE_ACTUATOR (311)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Actuator configuration command.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1 (Configuration)Actuator configuration actionACTUATOR_CONFIGURATION
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    3
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    4
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    5 (Output Function)Actuator Output functionACTUATOR_OUTPUT_FUNCTION
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    6
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    7

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_COMPONENT_ARM_DISARM (400)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Arms / Disarms a component

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1 (Arm)0: disarm, 1: armmin: 0 max: 1 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2 (Force)0: arm-disarm unless prevented by safety checks (i.e. when landed), 21196: force arming/disarming (e.g. allow arming to override preflight checks and disarming in flight)min: 0 max: 21196 inc: 21196

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_RUN_PREARM_CHECKS (401)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Instructs a target system to run pre-arm checks.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    This allows preflight checks to be run on demand, which may be useful on systems that normally run them at low rate, or which do not trigger checks when the armable state might have changed. This command should return MAV_RESULT_ACCEPTED if it will run the checks. The results of the checks are usually then reported in SYS_STATUS messages (this is system-specific). The command should return MAV_RESULT_TEMPORARILY_REJECTED if the system is already armed.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Param (Label)Description

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_ILLUMINATOR_ON_OFF (405)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Turns illuminators ON/OFF. An illuminator is a light source that is used for lighting up dark areas external to the system: e.g. a torch or searchlight (as opposed to a light source for illuminating the system itself, e.g. an indicator light).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1 (Enable)0: Illuminators OFF, 1: Illuminators ONmin: 0 max: 1 inc: 1

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_DO_ILLUMINATOR_CONFIGURE (406)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Configures illuminator settings. An illuminator is a light source that is used for lighting up dark areas external to the system: e.g. a torch or searchlight (as opposed to a light source for illuminating the system itself, e.g. an indicator light).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Param (Label)DescriptionValuesUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1 (Mode)ModeILLUMINATOR_MODE
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2 (Brightness)0%: Off, 100%: Max Brightnessmin: 0 max: 100%
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    3 (Strobe Period)Strobe period in seconds where 0 means strobing is not usedmin: 0s
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    4 (Strobe Duty)Strobe duty cycle where 100% means it is on constantly and 0 means strobing is not usedmin: 0 max: 100%

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_GET_HOME_POSITION (410) — [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    DEPRECATED: Replaced By MAV_CMD_REQUEST_MESSAGE (2022-04)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Request the home position from the vehicle.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    The vehicle will ACK the command and then emit the HOME_POSITION message.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Param (Label)Description
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1Reserved
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2Reserved
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    3Reserved
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    4Reserved
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    5Reserved
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    6Reserved
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    7Reserved

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_INJECT_FAILURE (420)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Inject artificial failure for testing purposes. Note that autopilots should implement an additional protection before accepting this command such as a specific param setting.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1 (Failure unit)The unit which is affected by the failure.FAILURE_UNIT
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2 (Failure type)The type how the failure manifests itself.FAILURE_TYPE
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    3 (Instance)Instance affected by failure (0 to signal all).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_START_RX_PAIR (500)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Starts receiver pairing.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1 (Spektrum)0:Spektrum.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2 (RC Type)RC type.RC_TYPE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_GET_MESSAGE_INTERVAL (510) — [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    DEPRECATED: Replaced By MAV_CMD_REQUEST_MESSAGE (2022-04)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Request the interval between messages for a particular MAVLink message ID. The receiver should ACK the command and then emit its response in a MESSAGE_INTERVAL message.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1 (Message ID)The MAVLink message IDmin: 0 max: 16777215 inc: 1

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_SET_MESSAGE_INTERVAL (511)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Set the interval between messages for a particular MAVLink message ID. This interface replaces REQUEST_DATA_STREAM.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Param (Label)DescriptionValuesUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1 (Message ID)The MAVLink message IDmin: 0 max: 16777215 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2 (Interval)The interval between two messages. -1: disable. 0: request default rate (which may be zero).min: -1 inc: 1us
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    3 (Req Param 3)Use for index ID, if required. Otherwise, the use of this parameter (if any) must be defined in the requested message. By default assumed not used (0).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    4 (Req Param 4)The use of this parameter (if any), must be defined in the requested message. By default assumed not used (0).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    5 (Req Param 5)The use of this parameter (if any), must be defined in the requested message. By default assumed not used (0).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    6 (Req Param 6)The use of this parameter (if any), must be defined in the requested message. By default assumed not used (0).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    7 (Response Target)Target address of message stream (if message has target address fields). 0: Flight-stack default (recommended), 1: address of requestor, 2: broadcast.min: 0 max: 2 inc: 1

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_REQUEST_MESSAGE (512)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Request the target system(s) emit a single instance of a specified message (i.e. a "one-shot" version of MAV_CMD_SET_MESSAGE_INTERVAL).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1 (Message ID)The MAVLink message ID of the requested message.min: 0 max: 16777215 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2 (Req Param 1)Use for index ID, if required. Otherwise, the use of this parameter (if any) must be defined in the requested message. By default assumed not used (0).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    3 (Req Param 2)The use of this parameter (if any), must be defined in the requested message. By default assumed not used (0).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    4 (Req Param 3)The use of this parameter (if any), must be defined in the requested message. By default assumed not used (0).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    5 (Req Param 4)The use of this parameter (if any), must be defined in the requested message. By default assumed not used (0).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    6 (Req Param 5)The use of this parameter (if any), must be defined in the requested message. By default assumed not used (0).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    7 (Response Target)Target address for requested message (if message has target address fields). 0: Flight-stack default, 1: address of requestor, 2: broadcast.min: 0 max: 2 inc: 1

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_REQUEST_PROTOCOL_VERSION (519) — [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    DEPRECATED: Replaced By MAV_CMD_REQUEST_MESSAGE (2019-08)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Request MAVLink protocol version compatibility. All receivers should ACK the command and then emit their capabilities in an PROTOCOL_VERSION message

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1 (Protocol)1: Request supported protocol versions by all nodes on the networkmin: 0 max: 1 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2Reserved (all remaining params)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_REQUEST_AUTOPILOT_CAPABILITIES (520) — [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    DEPRECATED: Replaced By MAV_CMD_REQUEST_MESSAGE (2019-08)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Request autopilot capabilities. The receiver should ACK the command and then emit its capabilities in an AUTOPILOT_VERSION message

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1 (Version)1: Request autopilot versionmin: 0 max: 1 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2Reserved (all remaining params)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_REQUEST_CAMERA_INFORMATION (521) — [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    DEPRECATED: Replaced By MAV_CMD_REQUEST_MESSAGE (2019-08)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Request camera information (CAMERA_INFORMATION).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1 (Capabilities)0: No action 1: Request camera capabilitiesmin: 0 max: 1 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2Reserved (all remaining params)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_REQUEST_CAMERA_SETTINGS (522) — [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    DEPRECATED: Replaced By MAV_CMD_REQUEST_MESSAGE (2019-08)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Request camera settings (CAMERA_SETTINGS).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1 (Settings)0: No Action 1: Request camera settingsmin: 0 max: 1 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2Reserved (all remaining params)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_REQUEST_STORAGE_INFORMATION (525) — [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    DEPRECATED: Replaced By MAV_CMD_REQUEST_MESSAGE (2019-08)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Request storage information (STORAGE_INFORMATION). Use the command's target_component to target a specific component's storage.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1 (Storage ID)Storage ID (0 for all, 1 for first, 2 for second, etc.)min: 0 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2 (Information)0: No Action 1: Request storage informationmin: 0 max: 1 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    3Reserved (all remaining params)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_STORAGE_FORMAT (526)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Format a storage medium. Once format is complete, a STORAGE_INFORMATION message is sent. Use the command's target_component to target a specific component's storage.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1 (Storage ID)Storage ID (1 for first, 2 for second, etc.)min: 0 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2 (Format)Format storage (and reset image log). 0: No action 1: Format storagemin: 0 max: 1 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    3 (Reset Image Log)Reset Image Log (without formatting storage medium). This will reset CAMERA_CAPTURE_STATUS.image_count and CAMERA_IMAGE_CAPTURED.image_index. 0: No action 1: Reset Image Logmin: 0 max: 1 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    4Reserved (all remaining params)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_REQUEST_CAMERA_CAPTURE_STATUS (527) — [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    DEPRECATED: Replaced By MAV_CMD_REQUEST_MESSAGE (2019-08)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Request camera capture status (CAMERA_CAPTURE_STATUS)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1 (Capture Status)0: No Action 1: Request camera capture statusmin: 0 max: 1 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2Reserved (all remaining params)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_REQUEST_FLIGHT_INFORMATION (528) — [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    DEPRECATED: Replaced By MAV_CMD_REQUEST_MESSAGE (2019-08)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Request flight information (FLIGHT_INFORMATION)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1 (Flight Information)1: Request flight informationmin: 0 max: 1 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2Reserved (all remaining params)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_RESET_CAMERA_SETTINGS (529)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Reset all camera settings to Factory Default

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1 (Reset)0: No Action 1: Reset all settingsmin: 0 max: 1 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2 (Target Camera ID)Target camera ID. 7 to 255: MAVLink camera component id. 1 to 6 for cameras attached to the autopilot, which don't have a distinct component id. 0: all cameras. This is used to target specific autopilot-connected cameras. It is also used to target specific cameras when the MAV_CMD is used in a mission.min: 0 max: 255 inc: 1

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_SET_CAMERA_MODE (530)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Set camera running mode. Use NaN for reserved values. GCS will send a MAV_CMD_REQUEST_VIDEO_STREAM_STATUS command after a mode change if the camera supports video streaming.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1 (id)Target camera ID. 7 to 255: MAVLink camera component id. 1 to 6 for cameras attached to the autopilot, which don't have a distinct component id. 0: all cameras. This is used to target specific autopilot-connected cameras. It is also used to target specific cameras when the MAV_CMD is used in a mission.min: 0 max: 255 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2 (Camera Mode)Camera modeCAMERA_MODE
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    3
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    4
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    7

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_SET_CAMERA_ZOOM (531)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Set camera zoom. Camera must respond with a CAMERA_SETTINGS message (on success).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1 (Zoom Type)Zoom typeCAMERA_ZOOM_TYPE
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2 (Zoom Value)Zoom value. The range of valid values depend on the zoom type.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    3 (Target Camera ID)Target camera ID. 7 to 255: MAVLink camera component id. 1 to 6 for cameras attached to the autopilot, which don't have a distinct component id. 0: all cameras. This is used to target specific autopilot-connected cameras. It is also used to target specific cameras when the MAV_CMD is used in a mission.min: 0 max: 255 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    4

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_SET_CAMERA_FOCUS (532)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Set camera focus. Camera must respond with a CAMERA_SETTINGS message (on success).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1 (Focus Type)Focus typeSET_FOCUS_TYPE
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2 (Focus Value)Focus value
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    3 (Target Camera ID)Target camera ID. 7 to 255: MAVLink camera component id. 1 to 6 for cameras attached to the autopilot, which don't have a distinct component id. 0: all cameras. This is used to target specific autopilot-connected cameras. It is also used to target specific cameras when the MAV_CMD is used in a mission.min: 0 max: 255 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    4

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_SET_STORAGE_USAGE (533)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Set that a particular storage is the preferred location for saving photos, videos, and/or other media (e.g. to set that an SD card is used for storing videos).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    There can only be one preferred save location for each particular media type: setting a media usage flag will clear/reset that same flag if set on any other storage. If no flag is set the system should use its default storage. A target system can choose to always use default storage, in which case it should ACK the command with MAV_RESULT_UNSUPPORTED. A target system can choose to not allow a particular storage to be set as preferred storage, in which case it should ACK the command with MAV_RESULT_DENIED.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1 (Storage ID)Storage ID (1 for first, 2 for second, etc.)min: 0 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2 (Usage)Usage flagsSTORAGE_USAGE_FLAG

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_SET_CAMERA_SOURCE (534)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Set camera source. Changes the camera's active sources on cameras with multiple image sensors.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1 (device id)Component Id of camera to address or 1-6 for non-MAVLink cameras, 0 for all cameras.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2 (primary source)Primary SourceCAMERA_SOURCE
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    3 (secondary source)Secondary Source. If non-zero the second source will be displayed as picture-in-picture.CAMERA_SOURCE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_JUMP_TAG (600)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Tagged jump target. Can be jumped to with MAV_CMD_DO_JUMP_TAG.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1 (Tag)Tag.min: 0 inc: 1

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_DO_JUMP_TAG (601)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Jump to the matching tag in the mission list. Repeat this action for the specified number of times. A mission should contain a single matching tag for each jump. If this is not the case then a jump to a missing tag should complete the mission, and a jump where there are multiple matching tags should always select the one with the lowest mission sequence number.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1 (Tag)Target tag to jump to.min: 0 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2 (Repeat)Repeat count.min: 0 inc: 1

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_DO_GIMBAL_MANAGER_PITCHYAW (1000)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Set gimbal manager pitch/yaw setpoints (low rate command). It is possible to set combinations of the values below. E.g. an angle as well as a desired angular rate can be used to get to this angle at a certain angular rate, or an angular rate only will result in continuous turning. NaN is to be used to signal unset. Note: only the gimbal manager will react to this command - it will be ignored by a gimbal device. Use GIMBAL_MANAGER_SET_PITCHYAW if you need to stream pitch/yaw setpoints at higher rate.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Param (Label)DescriptionValuesUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1 (Pitch angle)Pitch angle (positive to pitch up, relative to vehicle for FOLLOW mode, relative to world horizon for LOCK mode).min: -180 max: 180deg
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2 (Yaw angle)Yaw angle (positive to yaw to the right, relative to vehicle for FOLLOW mode, absolute to North for LOCK mode).min: -180 max: 180deg
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    3 (Pitch rate)Pitch rate (positive to pitch up).deg/s
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    4 (Yaw rate)Yaw rate (positive to yaw to the right).deg/s
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    5 (Gimbal manager flags)Gimbal manager flags to use.GIMBAL_MANAGER_FLAGS
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    7 (Gimbal device ID)Component ID of gimbal device to address (or 1-6 for non-MAVLink gimbal), 0 for all gimbal device components. Send command multiple times for more than one gimbal (but not all gimbals).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_DO_GIMBAL_MANAGER_CONFIGURE (1001)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Gimbal configuration to set which sysid/compid is in primary and secondary control.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Param (Label)Description
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1 (sysid primary control)Sysid for primary control (0: no one in control, -1: leave unchanged, -2: set itself in control (for missions where the own sysid is still unknown), -3: remove control if currently in control).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2 (compid primary control)Compid for primary control (0: no one in control, -1: leave unchanged, -2: set itself in control (for missions where the own sysid is still unknown), -3: remove control if currently in control).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    3 (sysid secondary control)Sysid for secondary control (0: no one in control, -1: leave unchanged, -2: set itself in control (for missions where the own sysid is still unknown), -3: remove control if currently in control).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    4 (compid secondary control)Compid for secondary control (0: no one in control, -1: leave unchanged, -2: set itself in control (for missions where the own sysid is still unknown), -3: remove control if currently in control).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    7 (Gimbal device ID)Component ID of gimbal device to address (or 1-6 for non-MAVLink gimbal), 0 for all gimbal device components. Send command multiple times for more than one gimbal (but not all gimbals).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_IMAGE_START_CAPTURE (2000)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Start image capture sequence. CAMERA_IMAGE_CAPTURED must be emitted after each capture.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Param1 (id) may be used to specify the target camera: 0: all cameras, 1 to 6: autopilot-connected cameras, 7-255: MAVLink camera component ID. It is needed in order to target specific cameras connected to the autopilot, or specific sensors in a multi-sensor camera (neither of which have a distinct MAVLink component ID). It is also needed to specify the target camera in missions.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    When used in a mission, an autopilot should execute the MAV_CMD for a specified local camera (param1 = 1-6), or resend it as a command if it is intended for a MAVLink camera (param1 = 7 - 255), setting the command's target_component as the param1 value (and setting param1 in the command to zero). If the param1 is 0 the autopilot should do both.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    When sent in a command the target MAVLink address is set using target_component. If addressed specifically to an autopilot: param1 should be used in the same way as it is for missions (though command should NACK with MAV_RESULT_DENIED if a specified local camera does not exist). If addressed to a MAVLink camera, param 1 can be used to address all cameras (0), or to separately address 1 to 7 individual sensors. Other values should be NACKed with MAV_RESULT_DENIED. If the command is broadcast (target_component is 0) then param 1 should be set to 0 (any other value should be NACKED with MAV_RESULT_DENIED). An autopilot would trigger any local cameras and forward the command to all channels.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Param (Label)DescriptionValuesUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1 (Target Camera ID)Target camera ID. 7 to 255: MAVLink camera component id. 1 to 6 for cameras attached to the autopilot, which don't have a distinct component id. 0: all cameras. This is used to target specific autopilot-connected cameras. It is also used to target specific cameras when the MAV_CMD is used in a mission.min: 0 max: 255 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2 (Interval)Desired elapsed time between two consecutive pictures (in seconds). Minimum values depend on hardware (typically greater than 2 seconds).min: 0s
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    3 (Total Images)Total number of images to capture. 0 to capture forever/until MAV_CMD_IMAGE_STOP_CAPTURE.min: 0 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    4 (Sequence Number)Capture sequence number starting from 1. This is only valid for single-capture (param3 == 1), otherwise set to 0. Increment the capture ID for each capture command to prevent double captures when a command is re-transmitted.min: 1 inc: 1
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_IMAGE_STOP_CAPTURE (2001)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Stop image capture sequence.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Param1 (id) may be used to specify the target camera: 0: all cameras, 1 to 6: autopilot-connected cameras, 7-255: MAVLink camera component ID. It is needed in order to target specific cameras connected to the autopilot, or specific sensors in a multi-sensor camera (neither of which have a distinct MAVLink component ID). It is also needed to specify the target camera in missions.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    When used in a mission, an autopilot should execute the MAV_CMD for a specified local camera (param1 = 1-6), or resend it as a command if it is intended for a MAVLink camera (param1 = 7 - 255), setting the command's target_component as the param1 value (and setting param1 in the command to zero). If the param1 is 0 the autopilot should do both.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    When sent in a command the target MAVLink address is set using target_component. If addressed specifically to an autopilot: param1 should be used in the same way as it is for missions (though command should NACK with MAV_RESULT_DENIED if a specified local camera does not exist). If addressed to a MAVLink camera, param1 can be used to address all cameras (0), or to separately address 1 to 7 individual sensors. Other values should be NACKed with MAV_RESULT_DENIED. If the command is broadcast (target_component is 0) then param 1 should be set to 0 (any other value should be NACKED with MAV_RESULT_DENIED). An autopilot would trigger any local cameras and forward the command to all channels.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1 (Target Camera ID)Target camera ID. 7 to 255: MAVLink camera component id. 1 to 6 for cameras attached to the autopilot, which don't have a distinct component id. 0: all cameras. This is used to target specific autopilot-connected cameras. It is also used to target specific cameras when the MAV_CMD is used in a mission.min: 0 max: 255 inc: 1
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_REQUEST_CAMERA_IMAGE_CAPTURE (2002) — [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    DEPRECATED: Replaced By MAV_CMD_REQUEST_MESSAGE (2019-08)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Re-request a CAMERA_IMAGE_CAPTURED message.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1 (Number)Sequence number for missing CAMERA_IMAGE_CAPTURED messagemin: 0 inc: 1
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_DO_TRIGGER_CONTROL (2003)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Enable or disable on-board camera triggering system.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1 (Enable)Trigger enable/disable (0 for disable, 1 for start), -1 to ignoremin: -1 max: 1 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2 (Reset)1 to reset the trigger sequence, -1 or 0 to ignoremin: -1 max: 1 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    3 (Pause)1 to pause triggering, but without switching the camera off or retracting it. -1 to ignoremin: -1 max: 1 inc: 2
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    4 (Target Camera ID)Target camera ID. 7 to 255: MAVLink camera component id. 1 to 6 for cameras attached to the autopilot, which don't have a distinct component id. 0: all cameras. This is used to target specific autopilot-connected cameras. It is also used to target specific cameras when the MAV_CMD is used in a mission.min: 0 max: 255 inc: 1

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_CAMERA_TRACK_POINT (2004)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    If the camera supports point visual tracking (CAMERA_CAP_FLAGS_HAS_TRACKING_POINT is set), this command allows to initiate the tracking.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1 (Point x)Point to track x value (normalized 0..1, 0 is left, 1 is right).min: 0 max: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2 (Point y)Point to track y value (normalized 0..1, 0 is top, 1 is bottom).min: 0 max: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    3 (Radius)Point radius (normalized 0..1, 0 is one pixel, 1 is full image width).min: 0 max: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    4 (Target Camera ID)Target camera ID. 7 to 255: MAVLink camera component id. 1 to 6 for cameras attached to the autopilot, which don't have a distinct component id. 0: all cameras. This is used to target specific autopilot-connected cameras. It is also used to target specific cameras when the MAV_CMD is used in a mission.min: 0 max: 255 inc: 1

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_CAMERA_TRACK_RECTANGLE (2005)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    If the camera supports rectangle visual tracking (CAMERA_CAP_FLAGS_HAS_TRACKING_RECTANGLE is set), this command allows to initiate the tracking.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1 (Top left corner x)Top left corner of rectangle x value (normalized 0..1, 0 is left, 1 is right).min: 0 max: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2 (Top left corner y)Top left corner of rectangle y value (normalized 0..1, 0 is top, 1 is bottom).min: 0 max: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    3 (Bottom right corner x)Bottom right corner of rectangle x value (normalized 0..1, 0 is left, 1 is right).min: 0 max: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    4 (Bottom right corner y)Bottom right corner of rectangle y value (normalized 0..1, 0 is top, 1 is bottom).min: 0 max: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    5 (Target Camera ID)Target camera ID. 7 to 255: MAVLink camera component id. 1 to 6 for cameras attached to the autopilot, which don't have a distinct component id. 0: all cameras. This is used to target specific autopilot-connected cameras. It is also used to target specific cameras when the MAV_CMD is used in a mission.min: 0 max: 255 inc: 1

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_CAMERA_STOP_TRACKING (2010)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Stops ongoing tracking.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1 (Target Camera ID)Target camera ID. 7 to 255: MAVLink camera component id. 1 to 6 for cameras attached to the autopilot, which don't have a distinct component id. 0: all cameras. This is used to target specific autopilot-connected cameras. It is also used to target specific cameras when the MAV_CMD is used in a mission.min: 0 max: 255 inc: 1

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_VIDEO_START_CAPTURE (2500)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Starts video capture (recording).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Param (Label)DescriptionValuesUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1 (Stream ID)Video Stream ID (0 for all streams)min: 0 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2 (Status Frequency)Frequency CAMERA_CAPTURE_STATUS messages should be sent while recording (0 for no messages, otherwise frequency)min: 0Hz
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    3 (Target Camera ID)Target camera ID. 7 to 255: MAVLink camera component id. 1 to 6 for cameras attached to the autopilot, which don't have a distinct component id. 0: all cameras. This is used to target specific autopilot-connected cameras. It is also used to target specific cameras when the MAV_CMD is used in a mission.min: 0 max: 255 inc: 1
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_VIDEO_STOP_CAPTURE (2501)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Stop the current video capture (recording).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1 (Stream ID)Video Stream ID (0 for all streams)min: 0 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2 (Target Camera ID)Target camera ID. 7 to 255: MAVLink camera component id. 1 to 6 for cameras attached to the autopilot, which don't have a distinct component id. 0: all cameras. This is used to target specific autopilot-connected cameras. It is also used to target specific cameras when the MAV_CMD is used in a mission.min: 0 max: 255 inc: 1
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_VIDEO_START_STREAMING (2502)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Start video streaming

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1 (Stream ID)Video Stream ID (0 for all streams, 1 for first, 2 for second, etc.)min: 0 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2 (Target Camera ID)Target camera ID. 7 to 255: MAVLink camera component id. 1 to 6 for cameras attached to the autopilot, which don't have a distinct component id. 0: all cameras. This is used to target specific autopilot-connected cameras. It is also used to target specific cameras when the MAV_CMD is used in a mission.min: 0 max: 255 inc: 1

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_VIDEO_STOP_STREAMING (2503)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Stop the given video stream

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1 (Stream ID)Video Stream ID (0 for all streams, 1 for first, 2 for second, etc.)min: 0 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2 (Target Camera ID)Target camera ID. 7 to 255: MAVLink camera component id. 1 to 6 for cameras attached to the autopilot, which don't have a distinct component id. 0: all cameras. This is used to target specific autopilot-connected cameras. It is also used to target specific cameras when the MAV_CMD is used in a mission.min: 0 max: 255 inc: 1

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_REQUEST_VIDEO_STREAM_INFORMATION (2504) — [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    DEPRECATED: Replaced By MAV_CMD_REQUEST_MESSAGE (2019-08)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Request video stream information (VIDEO_STREAM_INFORMATION)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1 (Stream ID)Video Stream ID (0 for all streams, 1 for first, 2 for second, etc.)min: 0 inc: 1

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_REQUEST_VIDEO_STREAM_STATUS (2505) — [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    DEPRECATED: Replaced By MAV_CMD_REQUEST_MESSAGE (2019-08)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Request video stream status (VIDEO_STREAM_STATUS)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1 (Stream ID)Video Stream ID (0 for all streams, 1 for first, 2 for second, etc.)min: 0 inc: 1

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_LOGGING_START (2510)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Request to start streaming logging data over MAVLink (see also LOGGING_DATA message)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1 (Format)Format: 0: ULogmin: 0 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2Reserved (set to 0)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    3Reserved (set to 0)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    4Reserved (set to 0)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    5Reserved (set to 0)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    6Reserved (set to 0)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    7Reserved (set to 0)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_LOGGING_STOP (2511)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Request to stop streaming log data over MAVLink

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Param (Label)Description
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1Reserved (set to 0)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2Reserved (set to 0)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    3Reserved (set to 0)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    4Reserved (set to 0)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    5Reserved (set to 0)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    6Reserved (set to 0)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    7Reserved (set to 0)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_AIRFRAME_CONFIGURATION (2520)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1 (Landing Gear ID)Landing gear ID (default: 0, -1 for all)min: -1 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2 (Landing Gear Position)Landing gear position (Down: 0, Up: 1, NaN for no change)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    3
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    4
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    5
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    6
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    7

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_CONTROL_HIGH_LATENCY (2600)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Request to start/stop transmitting over the high latency telemetry

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1 (Enable)Control transmission over high latency telemetry (0: stop, 1: start)min: 0 max: 1 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    3Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    4Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    5Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    6Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    7Empty

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_PANORAMA_CREATE (2800)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Create a panorama at the current position

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Param (Label)DescriptionUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1 (Horizontal Angle)Viewing angle horizontal of the panorama (+- 0.5 the total angle)deg
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2 (Vertical Angle)Viewing angle vertical of panorama.deg
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    3 (Horizontal Speed)Speed of the horizontal rotation.deg/s
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    4 (Vertical Speed)Speed of the vertical rotation.deg/s

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_DO_VTOL_TRANSITION (3000)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Request VTOL transition

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1 (State)The target VTOL state. For normal transitions, only MAV_VTOL_STATE_MC and MAV_VTOL_STATE_FW can be used.MAV_VTOL_STATE
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2 (Immediate)Force immediate transition to the specified MAV_VTOL_STATE. 1: Force immediate, 0: normal transition. Can be used, for example, to trigger an emergency "Quadchute". Caution: Can be dangerous/damage vehicle, depending on autopilot implementation of this command.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_ARM_AUTHORIZATION_REQUEST (3001)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Request authorization to arm the vehicle to a external entity, the arm authorizer is responsible to request all data that is needs from the vehicle before authorize or deny the request.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    If approved the COMMAND_ACK message progress field should be set with period of time that this authorization is valid in seconds. If the authorization is denied COMMAND_ACK.result_param2 should be set with one of the reasons in ARM_AUTH_DENIED_REASON.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1 (System ID)Vehicle system id, this way ground station can request arm authorization on behalf of any vehiclemin: 0 max: 255 inc: 1

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_SET_GUIDED_SUBMODE_STANDARD (4000)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    This command sets the submode to standard guided when vehicle is in guided mode. The vehicle holds position and altitude and the user can input the desired velocities along all three axes.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Param (Label)Description

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_SET_GUIDED_SUBMODE_CIRCLE (4001)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    This command sets submode circle when vehicle is in guided mode. Vehicle flies along a circle facing the center of the circle. The user can input the velocity along the circle and change the radius. If no input is given the vehicle will hold position.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Param (Label)DescriptionUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1 (Radius)Radius of desired circle in CIRCLE_MODEm
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2User defined
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    3User defined
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    4User defined
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    5 (Latitude)Target latitude of center of circle in CIRCLE_MODEdegE7
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    6 (Longitude)Target longitude of center of circle in CIRCLE_MODEdegE7

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_CONDITION_GATE (4501) — [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Delay mission state machine until gate has been reached.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Param (Label)DescriptionValuesUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1 (Geometry)Geometry: 0: orthogonal to path between previous and next waypoint.min: 0 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2 (UseAltitude)Altitude: 0: ignore altitudemin: 0 max: 1 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    3Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    4Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    5 (Latitude)Latitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    6 (Longitude)Longitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    7 (Altitude)Altitudem

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_NAV_FENCE_RETURN_POINT (5000)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Fence return point (there can only be one such point in a geofence definition). If rally points are supported they should be used instead.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Param (Label)DescriptionUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1Reserved
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2Reserved
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    3Reserved
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    4Reserved
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    5 (Latitude)Latitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    6 (Longitude)Longitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    7 (Altitude)Altitudem

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_NAV_FENCE_POLYGON_VERTEX_INCLUSION (5001)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Fence vertex for an inclusion polygon (the polygon must not be self-intersecting). The vehicle must stay within this area. Minimum of 3 vertices required.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1 (Vertex Count)Polygon vertex countmin: 3 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2 (Inclusion Group)Vehicle must be inside ALL inclusion zones in a single group, vehicle must be inside at least one group, must be the same for all points in each polygonmin: 0 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    3Reserved
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    4Reserved
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    5 (Latitude)Latitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    6 (Longitude)Longitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    7Reserved

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_NAV_FENCE_POLYGON_VERTEX_EXCLUSION (5002)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Fence vertex for an exclusion polygon (the polygon must not be self-intersecting). The vehicle must stay outside this area. Minimum of 3 vertices required.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1 (Vertex Count)Polygon vertex countmin: 3 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2Reserved
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    3Reserved
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    4Reserved
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    5 (Latitude)Latitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    6 (Longitude)Longitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    7Reserved

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_NAV_FENCE_CIRCLE_INCLUSION (5003)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Circular fence area. The vehicle must stay inside this area.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Param (Label)DescriptionValuesUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1 (Radius)Radius.m
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2 (Inclusion Group)Vehicle must be inside ALL inclusion zones in a single group, vehicle must be inside at least one groupmin: 0 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    3Reserved
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    4Reserved
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    5 (Latitude)Latitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    6 (Longitude)Longitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    7Reserved

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_NAV_FENCE_CIRCLE_EXCLUSION (5004)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Circular fence area. The vehicle must stay outside this area.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Param (Label)DescriptionUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1 (Radius)Radius.m
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2Reserved
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    3Reserved
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    4Reserved
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    5 (Latitude)Latitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    6 (Longitude)Longitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    7Reserved

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_NAV_RALLY_POINT (5100)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Rally point. You can have multiple rally points defined.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Param (Label)DescriptionUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1Reserved
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2Reserved
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    3Reserved
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    4Reserved
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    5 (Latitude)Latitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    6 (Longitude)Longitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    7 (Altitude)Altitudem

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_UAVCAN_GET_NODE_INFO (5200)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Commands the vehicle to respond with a sequence of messages UAVCAN_NODE_INFO, one message per every UAVCAN node that is online. Note that some of the response messages can be lost, which the receiver can detect easily by checking whether every received UAVCAN_NODE_STATUS has a matching message UAVCAN_NODE_INFO received earlier; if not, this command should be sent again in order to request re-transmission of the node information messages.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Param (Label)Description
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1Reserved (set to 0)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2Reserved (set to 0)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    3Reserved (set to 0)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    4Reserved (set to 0)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    5Reserved (set to 0)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    6Reserved (set to 0)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    7Reserved (set to 0)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_DO_SET_SAFETY_SWITCH_STATE (5300)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Change state of safety switch.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1 (Desired State)New safety switch state.SAFETY_SWITCH_STATE
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    3Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    4Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    5Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    6Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    7Empty.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_DO_ADSB_OUT_IDENT (10001)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Trigger the start of an ADSB-out IDENT. This should only be used when requested to do so by an Air Traffic Controller in controlled airspace. This starts the IDENT which is then typically held for 18 seconds by the hardware per the Mode A, C, and S transponder spec.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Param (Label)Description
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1Reserved (set to 0)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2Reserved (set to 0)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    3Reserved (set to 0)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    4Reserved (set to 0)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    5Reserved (set to 0)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    6Reserved (set to 0)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    7Reserved (set to 0)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_PAYLOAD_PREPARE_DEPLOY (30001) — [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    DEPRECATED:(2021-06)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Deploy payload on a Lat / Lon / Alt position. This includes the navigation to reach the required release position and velocity.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Param (Label)DescriptionValuesUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1 (Operation Mode)Operation mode. 0: prepare single payload deploy (overwriting previous requests), but do not execute it. 1: execute payload deploy immediately (rejecting further deploy commands during execution, but allowing abort). 2: add payload deploy to existing deployment list.min: 0 max: 2 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2 (Approach Vector)Desired approach vector in compass heading. A negative value indicates the system can define the approach vector at will.min: -1 max: 360deg
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    3 (Ground Speed)Desired ground speed at release time. This can be overridden by the airframe in case it needs to meet minimum airspeed. A negative value indicates the system can define the ground speed at will.min: -1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    4 (Altitude Clearance)Minimum altitude clearance to the release position. A negative value indicates the system can define the clearance at will.min: -1m
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    5 (Latitude)Latitude.degE7
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    6 (Longitude)Longitude.degE7
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    7 (Altitude)Altitude (MSL)m

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_PAYLOAD_CONTROL_DEPLOY (30002) — [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    DEPRECATED:(2021-06)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Control the payload deployment.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1 (Operation Mode)Operation mode. 0: Abort deployment, continue normal mission. 1: switch to payload deployment mode. 100: delete first payload deployment request. 101: delete all payload deployment requests.min: 0 max: 101 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2Reserved
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    3Reserved
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    4Reserved
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    5Reserved
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    6Reserved
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    7Reserved

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_WAYPOINT_USER_1 (31000)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    User defined waypoint item. Ground Station will show the Vehicle as flying through this item.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Param (Label)DescriptionUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1User defined
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2User defined
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    3User defined
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    4User defined
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    5 (Latitude)Latitude unscaled
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    6 (Longitude)Longitude unscaled
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    7 (Altitude)Altitude (MSL)m

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_WAYPOINT_USER_2 (31001)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    User defined waypoint item. Ground Station will show the Vehicle as flying through this item.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Param (Label)DescriptionUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1User defined
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2User defined
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    3User defined
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    4User defined
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    5 (Latitude)Latitude unscaled
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    6 (Longitude)Longitude unscaled
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    7 (Altitude)Altitude (MSL)m

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_WAYPOINT_USER_3 (31002)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    User defined waypoint item. Ground Station will show the Vehicle as flying through this item.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Param (Label)DescriptionUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1User defined
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2User defined
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    3User defined
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    4User defined
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    5 (Latitude)Latitude unscaled
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    6 (Longitude)Longitude unscaled
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    7 (Altitude)Altitude (MSL)m

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_WAYPOINT_USER_4 (31003)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    User defined waypoint item. Ground Station will show the Vehicle as flying through this item.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Param (Label)DescriptionUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1User defined
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2User defined
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    3User defined
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    4User defined
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    5 (Latitude)Latitude unscaled
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    6 (Longitude)Longitude unscaled
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    7 (Altitude)Altitude (MSL)m

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_WAYPOINT_USER_5 (31004)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    User defined waypoint item. Ground Station will show the Vehicle as flying through this item.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Param (Label)DescriptionUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1User defined
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2User defined
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    3User defined
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    4User defined
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    5 (Latitude)Latitude unscaled
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    6 (Longitude)Longitude unscaled
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    7 (Altitude)Altitude (MSL)m

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_SPATIAL_USER_1 (31005)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    User defined spatial item. Ground Station will not show the Vehicle as flying through this item. Example: ROI item.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Param (Label)DescriptionUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1User defined
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2User defined
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    3User defined
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    4User defined
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    5 (Latitude)Latitude unscaled
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    6 (Longitude)Longitude unscaled
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    7 (Altitude)Altitude (MSL)m

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_SPATIAL_USER_2 (31006)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    User defined spatial item. Ground Station will not show the Vehicle as flying through this item. Example: ROI item.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Param (Label)DescriptionUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1User defined
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2User defined
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    3User defined
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    4User defined
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    5 (Latitude)Latitude unscaled
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    6 (Longitude)Longitude unscaled
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    7 (Altitude)Altitude (MSL)m

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_SPATIAL_USER_3 (31007)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    User defined spatial item. Ground Station will not show the Vehicle as flying through this item. Example: ROI item.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Param (Label)DescriptionUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1User defined
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2User defined
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    3User defined
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    4User defined
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    5 (Latitude)Latitude unscaled
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    6 (Longitude)Longitude unscaled
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    7 (Altitude)Altitude (MSL)m

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_SPATIAL_USER_4 (31008)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    User defined spatial item. Ground Station will not show the Vehicle as flying through this item. Example: ROI item.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Param (Label)DescriptionUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1User defined
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2User defined
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    3User defined
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    4User defined
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    5 (Latitude)Latitude unscaled
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    6 (Longitude)Longitude unscaled
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    7 (Altitude)Altitude (MSL)m

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_SPATIAL_USER_5 (31009)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    User defined spatial item. Ground Station will not show the Vehicle as flying through this item. Example: ROI item.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Param (Label)DescriptionUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1User defined
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2User defined
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    3User defined
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    4User defined
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    5 (Latitude)Latitude unscaled
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    6 (Longitude)Longitude unscaled
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    7 (Altitude)Altitude (MSL)m

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_USER_1 (31010)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    User defined command. Ground Station will not show the Vehicle as flying through this item. Example: MAV_CMD_DO_SET_PARAMETER item.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Param (Label)Description
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1User defined
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2User defined
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    3User defined
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    4User defined
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    5User defined
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    6User defined
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    7User defined

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_USER_2 (31011)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    User defined command. Ground Station will not show the Vehicle as flying through this item. Example: MAV_CMD_DO_SET_PARAMETER item.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Param (Label)Description
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1User defined
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2User defined
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    3User defined
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    4User defined
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    5User defined
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    6User defined
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    7User defined

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_USER_3 (31012)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    User defined command. Ground Station will not show the Vehicle as flying through this item. Example: MAV_CMD_DO_SET_PARAMETER item.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Param (Label)Description
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1User defined
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2User defined
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    3User defined
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    4User defined
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    5User defined
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    6User defined
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    7User defined

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_USER_4 (31013)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    User defined command. Ground Station will not show the Vehicle as flying through this item. Example: MAV_CMD_DO_SET_PARAMETER item.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Param (Label)Description
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1User defined
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2User defined
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    3User defined
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    4User defined
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    5User defined
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    6User defined
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    7User defined

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_USER_5 (31014)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    User defined command. Ground Station will not show the Vehicle as flying through this item. Example: MAV_CMD_DO_SET_PARAMETER item.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Param (Label)Description
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1User defined
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2User defined
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    3User defined
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    4User defined
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    5User defined
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    6User defined
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    7User defined

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_CAN_FORWARD (32000)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Request forwarding of CAN packets from the given CAN bus to this component. CAN Frames are sent using CAN_FRAME and CANFD_FRAME messages

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Param (Label)Description
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1 (bus)Bus number (0 to disable forwarding, 1 for first bus, 2 for 2nd bus, 3 for 3rd bus).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    3Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    4Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    5Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    6Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    7Empty.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_FIXED_MAG_CAL_YAW (42006)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Magnetometer calibration based on provided known yaw. This allows for fast calibration using WMM field tables in the vehicle, given only the known yaw of the vehicle. If Latitude and longitude are both zero then use the current vehicle location.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Param (Label)DescriptionUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1 (Yaw)Yaw of vehicle in earth frame.deg
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2 (CompassMask)CompassMask, 0 for all.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    3 (Latitude)Latitude.deg
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    4 (Longitude)Longitude.deg
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    5Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    6Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    7Empty.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_DO_WINCH (42600)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Command to operate winch.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Param (Label)DescriptionValuesUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1 (Instance)Winch instance number.min: 1 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2 (Action)Action to perform.WINCH_ACTIONS
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    3 (Length)Length of line to release (negative to wind).m
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    4 (Rate)Release rate (negative to wind).m/s
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    5Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    6Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    7Empty.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_EXTERNAL_POSITION_ESTIMATE (43003)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Provide an external position estimate for use when dead-reckoning. This is meant to be used for occasional position resets that may be provided by a external system such as a remote pilot using landmarks over a video link.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Param (Label)DescriptionUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1 (transmission_time)Timestamp that this message was sent as a time in the transmitters time domain. The sender should wrap this time back to zero based on required timing accuracy for the application and the limitations of a 32 bit float. For example, wrapping at 10 hours would give approximately 1ms accuracy. Recipient must handle time wrap in any timing jitter correction applied to this field. Wrap rollover time should not be at not more than 250 seconds, which would give approximately 10 microsecond accuracy.s
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2 (processing_time)The time spent in processing the sensor data that is the basis for this position. The recipient can use this to improve time alignment of the data. Set to zero if not known.s
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    3 (accuracy)estimated one standard deviation accuracy of the measurement. Set to NaN if not known.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    4Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    5 (Latitude)Latitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    6 (Longitude)Longitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    7 (Altitude)Altitude, not used. Should be sent as NaN. May be supported in a future version of this message.m

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    results matching ""

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      No results matching ""

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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      </a> ) </h3>

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      [Message] (MAVLink 2) Version and capability of protocol version. This message can be requested with MAV_CMD_REQUEST_MESSAGE and is used as part of the handshaking to establish which MAVLink version should be used on the network. Every node should respond to a request for PROTOCOL_VERSION to enable the handshaking. Library implementers should consider adding this into the default decoding state machine to allow the protocol core to respond directly.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      versionuint16_tCurrently active MAVLink version number * 100: v1.0 is 100, v2.0 is 200, etc.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      min_versionuint16_tMinimum MAVLink version supported
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      max_versionuint16_tMaximum MAVLink version supported (set to the same value as version by default)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      spec_version_hashuint8_t[8]The first 8 bytes (not characters printed in hex!) of the git hash.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      library_version_hashuint8_t[8]The first 8 bytes (not characters printed in hex!) of the git hash.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      </body> </html> | float | rad | | Size of target along x-axis | | size_y | float | rad | | Size of target along y-axis | | x ++ | float | m | | X Position of the landing target in MAV_FRAME | | y ++ | float | m | | Y Position of the landing target in MAV_FRAME | | z ++ | float | m | | Z Position of the landing target in MAV_FRAME | | q ++ | float[4] | | | Quaternion of landing target orientation (w, x, y, z order, zero-rotation is 1, 0, 0, 0) | | type ++ | uint8_t | | LANDING_TARGET_TYPE | Type of landing target | | position_valid ++ | uint8_t | | invalid:0 | Boolean indicating whether the position fields (x, y, z, q, type) contain valid target position information (valid: 1, invalid: 0). Default is 0 (invalid). |

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      FENCE_STATUS (162)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Status of geo-fencing. Sent in extended status stream when fencing enabled.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      breach_statusuint8_tBreach status (0 if currently inside fence, 1 if outside).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      breach_countuint16_tNumber of fence breaches.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      breach_typeuint8_tFENCE_BREACHLast breach type.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      breach_timeuint32_tmsTime (since boot) of last breach.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      breach_mitigation ++uint8_tFENCE_MITIGATEActive action to prevent fence breach

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAG_CAL_REPORT (192)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Reports results of completed compass calibration. Sent until MAG_CAL_ACK received.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      compass_iduint8_tCompass being calibrated.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Messages with same value are from the same source (instance). | | cal_mask | uint8_t | | | Bitmask of compasses being calibrated. | | cal_status | uint8_t | | MAG_CAL_STATUS | Calibration Status. | | autosaved | uint8_t | | | 0=requires a MAV_CMD_DO_ACCEPT_MAG_CAL, 1=saved to parameters. | | fitness | float | mgauss | | RMS milligauss residuals. | | ofs_x | float | | | X offset. | | ofs_y | float | | | Y offset. | | ofs_z | float | | | Z offset. | | diag_x | float | | | X diagonal (matrix 11). | | diag_y | float | | | Y diagonal (matrix 22). | | diag_z | float | | | Z diagonal (matrix 33). | | offdiag_x | float | | | X off-diagonal (matrix 12 and 21). | | offdiag_y | float | | | Y off-diagonal (matrix 13 and 31). | | offdiag_z | float | | | Z off-diagonal (matrix 32 and 23). | | orientation_confidence ++ | float | | | Confidence in orientation (higher is better). | | old_orientation ++ | uint8_t | | MAV_SENSOR_ORIENTATION | orientation before calibration. | | new_orientation ++ | uint8_t | | MAV_SENSOR_ORIENTATION | orientation after calibration. | | scale_factor ++ | float | | | field radius correction factor |

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      EFI_STATUS (225)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      EFI status output

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      healthuint8_tEFI health status
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ecu_indexfloatECU index
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      rpmfloatRPM
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      fuel_consumedfloatcm^3Fuel consumed
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      fuel_flowfloatcm^3/minFuel flow rate
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      engine_loadfloat%Engine load
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      throttle_positionfloat%Throttle position
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      spark_dwell_timefloatmsSpark dwell time
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      barometric_pressurefloatkPaBarometric pressure
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      intake_manifold_pressurefloatkPaIntake manifold pressure(
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      intake_manifold_temperaturefloatdegCIntake manifold temperature
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      cylinder_head_temperaturefloatdegCCylinder head temperature
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ignition_timingfloatdegIgnition timing (Crank angle degrees)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      injection_timefloatmsInjection time
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      exhaust_gas_temperaturefloatdegCExhaust gas temperature
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      throttle_outfloat%Output throttle
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      pt_compensationfloatPressure/temperature compensation
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ignition_voltage ++floatVSupply voltage to EFI sparking system. Zero in this value means "unknown", so if the supply voltage really is zero volts use 0.0001 instead.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      fuel_pressure ++floatkPaFuel pressure. Zero in this value means "unknown", so if the fuel pressure really is zero kPa use 0.0001 instead.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ESTIMATOR_STATUS (230)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Estimator status message including flags, innovation test ratios and estimated accuracies. The flags message is an integer bitmask containing information on which EKF outputs are valid. See the ESTIMATOR_STATUS_FLAGS enum definition for further information. The innovation test ratios show the magnitude of the sensor innovation divided by the innovation check threshold. Under normal operation the innovation test ratios should be below 0.5 with occasional values up to 1.0. Values greater than 1.0 should be rare under normal operation and indicate that a measurement has been rejected by the filter. The user should be notified if an innovation test ratio greater than 1.0 is recorded. Notifications for values in the range between 0.5 and 1.0 should be optional and controllable by the user.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      flagsuint16_tESTIMATOR_STATUS_FLAGSBitmap indicating which EKF outputs are valid.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      vel_ratiofloatVelocity innovation test ratio
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      pos_horiz_ratiofloatHorizontal position innovation test ratio
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      pos_vert_ratiofloatVertical position innovation test ratio
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      mag_ratiofloatMagnetometer innovation test ratio
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      hagl_ratiofloatHeight above terrain innovation test ratio
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      tas_ratiofloatTrue airspeed innovation test ratio
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      pos_horiz_accuracyfloatmHorizontal position 1-STD accuracy relative to the EKF local origin
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      pos_vert_accuracyfloatmVertical position 1-STD accuracy relative to the EKF local origin

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      WIND_COV (231)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Wind estimate from vehicle. Note that despite the name, this message does not actually contain any covariances but instead variability and accuracy fields in terms of standard deviation (1-STD).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      wind_xfloatm/sWind in North (NED) direction (NAN if unknown)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      wind_yfloatm/sWind in East (NED) direction (NAN if unknown)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      wind_zfloatm/sWind in down (NED) direction (NAN if unknown)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      var_horizfloatm/sVariability of wind in XY, 1-STD estimated from a 1 Hz lowpassed wind estimate (NAN if unknown)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      var_vertfloatm/sVariability of wind in Z, 1-STD estimated from a 1 Hz lowpassed wind estimate (NAN if unknown)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      wind_altfloatmAltitude (MSL) that this measurement was taken at (NAN if unknown)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      horiz_accuracyfloatm/sHorizontal speed 1-STD accuracy (0 if unknown)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      vert_accuracyfloatm/sVertical speed 1-STD accuracy (0 if unknown)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      GPS_INPUT (232)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      GPS sensor input message. This is a raw sensor value sent by the GPS. This is NOT the global position estimate of the system.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      gps_iduint8_tID of the GPS for multiple GPS inputs

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Messages with same value are from the same source (instance). | | ignore_flags | uint16_t | | GPS_INPUT_IGNORE_FLAGS | Bitmap indicating which GPS input flags fields to ignore. All other fields must be provided. | | time_week_ms | uint32_t | ms | | GPS time (from start of GPS week) | | time_week | uint16_t | | | GPS week number | | fix_type | uint8_t | | | 0-1: no fix, 2: 2D fix, 3: 3D fix. 4: 3D with DGPS. 5: 3D with RTK | | lat | int32_t | degE7 | | Latitude (WGS84) | | lon | int32_t | degE7 | | Longitude (WGS84) | | alt | float | m | | Altitude (MSL). Positive for up. | | hdop | float | | invalid:UINT16_MAX | GPS HDOP horizontal dilution of position (unitless). If unknown, set to: UINT16_MAX | | vdop | float | | invalid:UINT16_MAX | GPS VDOP vertical dilution of position (unitless). If unknown, set to: UINT16_MAX | | vn | float | m/s | | GPS velocity in north direction in earth-fixed NED frame | | ve | float | m/s | | GPS velocity in east direction in earth-fixed NED frame | | vd | float | m/s | | GPS velocity in down direction in earth-fixed NED frame | | speed_accuracy | float | m/s | | GPS speed accuracy | | horiz_accuracy | float | m | | GPS horizontal accuracy | | vert_accuracy | float | m | | GPS vertical accuracy | | satellites_visible | uint8_t | | | Number of satellites visible. | | yaw ++ | uint16_t | cdeg | | Yaw of vehicle relative to Earth's North, zero means not available, use 36000 for north |

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      GPS_RTCM_DATA (233)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      RTCM message for injecting into the onboard GPS (used for DGPS)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      flagsuint8_tLSB: 1 means message is fragmented, next 2 bits are the fragment ID, the remaining 5 bits are used for the sequence ID. Messages are only to be flushed to the GPS when the entire message has been reconstructed on the autopilot. The fragment ID specifies which order the fragments should be assembled into a buffer, while the sequence ID is used to detect a mismatch between different buffers. The buffer is considered fully reconstructed when either all 4 fragments are present, or all the fragments before the first fragment with a non full payload is received. This management is used to ensure that normal GPS operation doesn't corrupt RTCM data, and to recover from a unreliable transport delivery order.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      lenuint8_tbytesdata length
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      datauint8_t[180]RTCM message (may be fragmented)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      HIGH_LATENCY (234) — [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      DEPRECATED: Replaced By HIGH_LATENCY2 (2020-10)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Message appropriate for high latency connections like Iridium

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      base_modeuint8_tMAV_MODE_FLAGBitmap of enabled system modes.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      custom_modeuint32_tA bitfield for use for autopilot-specific flags.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      landed_stateuint8_tMAV_LANDED_STATEThe landed state. Is set to MAV_LANDED_STATE_UNDEFINED if landed state is unknown.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      rollint16_tcdegroll
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      pitchint16_tcdegpitch
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      headinguint16_tcdegheading
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      throttleint8_t%throttle (percentage)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      heading_spint16_tcdegheading setpoint
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      latitudeint32_tdegE7Latitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      longitudeint32_tdegE7Longitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      altitude_amslint16_tmAltitude above mean sea level
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      altitude_spint16_tmAltitude setpoint relative to the home position
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      airspeeduint8_tm/sairspeed
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      airspeed_spuint8_tm/sairspeed setpoint
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      groundspeeduint8_tm/sgroundspeed
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      climb_rateint8_tm/sclimb rate
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      gps_nsatuint8_tinvalid:UINT8_MAXNumber of satellites visible. If unknown, set to UINT8_MAX
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      gps_fix_typeuint8_tGPS_FIX_TYPEGPS Fix type.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      battery_remaininguint8_t%Remaining battery (percentage)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      temperatureint8_tdegCAutopilot temperature (degrees C)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      temperature_airint8_tdegCAir temperature (degrees C) from airspeed sensor
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      failsafeuint8_tfailsafe (each bit represents a failsafe where 0=ok, 1=failsafe active (bit0:RC, bit1:batt, bit2:GPS, bit3:GCS, bit4:fence)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      wp_numuint8_tcurrent waypoint number
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      wp_distanceuint16_tmdistance to target

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      HIGH_LATENCY2 (235)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Message appropriate for high latency connections like Iridium (version 2)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      timestampuint32_tmsTimestamp (milliseconds since boot or Unix epoch)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      typeuint8_tMAV_TYPEType of the MAV (quadrotor, helicopter, etc.)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      autopilotuint8_tMAV_AUTOPILOTAutopilot type / class. Use MAV_AUTOPILOT_INVALID for components that are not flight controllers.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      custom_modeuint16_tA bitfield for use for autopilot-specific flags (2 byte version).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      latitudeint32_tdegE7Latitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      longitudeint32_tdegE7Longitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      altitudeint16_tmAltitude above mean sea level
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      target_altitudeint16_tmAltitude setpoint
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      headinguint8_tdeg/2Heading
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      target_headinguint8_tdeg/2Heading setpoint
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      target_distanceuint16_tdamDistance to target waypoint or position
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      throttleuint8_t%Throttle
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      airspeeduint8_tm/s*5Airspeed
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      airspeed_spuint8_tm/s*5Airspeed setpoint
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      groundspeeduint8_tm/s*5Groundspeed
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      windspeeduint8_tm/s*5Windspeed
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      wind_headinguint8_tdeg/2Wind heading
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ephuint8_tdmMaximum error horizontal position since last message
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      epvuint8_tdmMaximum error vertical position since last message
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      temperature_airint8_tdegCAir temperature from airspeed sensor
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      climb_rateint8_tdm/sMaximum climb rate magnitude since last message
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      batteryint8_t%invalid:-1Battery level (-1 if field not provided).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      wp_numuint16_tCurrent waypoint number
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      failure_flagsuint16_tHL_FAILURE_FLAGBitmap of failure flags.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      custom0int8_tField for custom payload.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      custom1int8_tField for custom payload.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      custom2int8_tField for custom payload.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      VIBRATION (241)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Vibration levels and accelerometer clipping

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      vibration_xfloatVibration levels on X-axis
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      vibration_yfloatVibration levels on Y-axis
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      vibration_zfloatVibration levels on Z-axis
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      clipping_0uint32_tfirst accelerometer clipping count
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      clipping_1uint32_tsecond accelerometer clipping count
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      clipping_2uint32_tthird accelerometer clipping count

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      HOME_POSITION (242)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Contains the home position. The home position is the default position that the system will return to and land on. The position must be set automatically by the system during the takeoff, and may also be explicitly set using MAV_CMD_DO_SET_HOME. The global and local positions encode the position in the respective coordinate frames, while the q parameter encodes the orientation of the surface. Under normal conditions it describes the heading and terrain slope, which can be used by the aircraft to adjust the approach. The approach 3D vector describes the point to which the system should fly in normal flight mode and then perform a landing sequence along the vector. Note: this message can be requested by sending the MAV_CMD_REQUEST_MESSAGE with param1=242 (or the deprecated MAV_CMD_GET_HOME_POSITION command).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      latitudeint32_tdegE7Latitude (WGS84)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      longitudeint32_tdegE7Longitude (WGS84)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      altitudeint32_tmmAltitude (MSL). Positive for up.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      xfloatmLocal X position of this position in the local coordinate frame (NED)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      yfloatmLocal Y position of this position in the local coordinate frame (NED)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      zfloatmLocal Z position of this position in the local coordinate frame (NED: positive "down")
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      qfloat[4]Quaternion indicating world-to-surface-normal and heading transformation of the takeoff position.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Used to indicate the heading and slope of the ground.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      All fields should be set to NaN if an accurate quaternion for both heading and surface slope cannot be supplied. | | approach_x | float | m | Local X position of the end of the approach vector. Multicopters should set this position based on their takeoff path. Grass-landing fixed wing aircraft should set it the same way as multicopters. Runway-landing fixed wing aircraft should set it to the opposite direction of the takeoff, assuming the takeoff happened from the threshold / touchdown zone. | | approach_y | float | m | Local Y position of the end of the approach vector. Multicopters should set this position based on their takeoff path. Grass-landing fixed wing aircraft should set it the same way as multicopters. Runway-landing fixed wing aircraft should set it to the opposite direction of the takeoff, assuming the takeoff happened from the threshold / touchdown zone. | | approach_z | float | m | Local Z position of the end of the approach vector. Multicopters should set this position based on their takeoff path. Grass-landing fixed wing aircraft should set it the same way as multicopters. Runway-landing fixed wing aircraft should set it to the opposite direction of the takeoff, assuming the takeoff happened from the threshold / touchdown zone. | | time_usec ++ | uint64_t | us | Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number. |

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      SET_HOME_POSITION (243) — [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      DEPRECATED: Replaced By MAV_CMD_DO_SET_HOME (2022-02) — The command protocol version (MAV_CMD_DO_SET_HOME) allows a GCS to detect when setting the home position has failed.)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Sets the home position. The home position is the default position that the system will return to and land on. The position is set automatically by the system during the takeoff (and may also be set using this message). The global and local positions encode the position in the respective coordinate frames, while the q parameter encodes the orientation of the surface. Under normal conditions it describes the heading and terrain slope, which can be used by the aircraft to adjust the approach. The approach 3D vector describes the point to which the system should fly in normal flight mode and then perform a landing sequence along the vector. Note: the current home position may be emitted in a HOME_POSITION message on request (using MAV_CMD_REQUEST_MESSAGE with param1=242).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      target_systemuint8_tSystem ID.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      latitudeint32_tdegE7Latitude (WGS84)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      longitudeint32_tdegE7Longitude (WGS84)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      altitudeint32_tmmAltitude (MSL). Positive for up.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      xfloatmLocal X position of this position in the local coordinate frame (NED)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      yfloatmLocal Y position of this position in the local coordinate frame (NED)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      zfloatmLocal Z position of this position in the local coordinate frame (NED: positive "down")
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      qfloat[4]World to surface normal and heading transformation of the takeoff position. Used to indicate the heading and slope of the ground
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      approach_xfloatmLocal X position of the end of the approach vector. Multicopters should set this position based on their takeoff path. Grass-landing fixed wing aircraft should set it the same way as multicopters. Runway-landing fixed wing aircraft should set it to the opposite direction of the takeoff, assuming the takeoff happened from the threshold / touchdown zone.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      approach_yfloatmLocal Y position of the end of the approach vector. Multicopters should set this position based on their takeoff path. Grass-landing fixed wing aircraft should set it the same way as multicopters. Runway-landing fixed wing aircraft should set it to the opposite direction of the takeoff, assuming the takeoff happened from the threshold / touchdown zone.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      approach_zfloatmLocal Z position of the end of the approach vector. Multicopters should set this position based on their takeoff path. Grass-landing fixed wing aircraft should set it the same way as multicopters. Runway-landing fixed wing aircraft should set it to the opposite direction of the takeoff, assuming the takeoff happened from the threshold / touchdown zone.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      time_usec ++uint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MESSAGE_INTERVAL (244)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      The interval between messages for a particular MAVLink message ID. This message is sent in response to the MAV_CMD_REQUEST_MESSAGE command with param1=244 (this message) and param2=message_id (the id of the message for which the interval is required). It may also be sent in response to MAV_CMD_GET_MESSAGE_INTERVAL. This interface replaces DATA_STREAM.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      message_iduint16_tThe ID of the requested MAVLink message. v1.0 is limited to 254 messages.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      interval_usint32_tusThe interval between two messages. A value of -1 indicates this stream is disabled, 0 indicates it is not available, > 0 indicates the interval at which it is sent.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      EXTENDED_SYS_STATE (245)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Provides state for additional features

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Field NameTypeValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      vtol_stateuint8_tMAV_VTOL_STATEThe VTOL state if applicable. Is set to MAV_VTOL_STATE_UNDEFINED if UAV is not in VTOL configuration.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      landed_stateuint8_tMAV_LANDED_STATEThe landed state. Is set to MAV_LANDED_STATE_UNDEFINED if landed state is unknown.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ADSB_VEHICLE (246)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      The location and information of an ADSB vehicle

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ICAO_addressuint32_tICAO address
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      latint32_tdegE7Latitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      lonint32_tdegE7Longitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      altitude_typeuint8_tADSB_ALTITUDE_TYPEADSB altitude type.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      altitudeint32_tmmAltitude(ASL)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      headinguint16_tcdegCourse over ground
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      hor_velocityuint16_tcm/sThe horizontal velocity
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ver_velocityint16_tcm/sThe vertical velocity. Positive is up
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      callsignchar[9]The callsign, 8+null
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      emitter_typeuint8_tADSB_EMITTER_TYPEADSB emitter type.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      tslcuint8_tsTime since last communication in seconds
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      flagsuint16_tADSB_FLAGSBitmap to indicate various statuses including valid data fields
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      squawkuint16_tSquawk code. Note that the code is in decimal: e.g. 7700 (general emergency) is encoded as binary 0b0001_1110_0001_0100, not(!) as 0b0000_111_111_000_000

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      COLLISION (247)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Information about a potential collision

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      srcuint8_tMAV_COLLISION_SRCCollision data source
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      iduint32_tUnique identifier, domain based on src field
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      actionuint8_tMAV_COLLISION_ACTIONAction that is being taken to avoid this collision
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      threat_leveluint8_tMAV_COLLISION_THREAT_LEVELHow concerned the aircraft is about this collision
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      time_to_minimum_deltafloatsEstimated time until collision occurs
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      altitude_minimum_deltafloatmClosest vertical distance between vehicle and object
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      horizontal_minimum_deltafloatmClosest horizontal distance between vehicle and object

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      V2_EXTENSION (248)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Message implementing parts of the V2 payload specs in V1 frames for transitional support.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      target_networkuint8_tNetwork ID (0 for broadcast)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      target_systemuint8_tSystem ID (0 for broadcast)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      target_componentuint8_tComponent ID (0 for broadcast)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      message_typeuint16_tA code that identifies the software component that understands this message (analogous to USB device classes or mime type strings). If this code is less than 32768, it is considered a 'registered' protocol extension and the corresponding entry should be added to https://github.com/mavlink/mavlink/definition_files/extension_message_ids.xml. Software creators can register blocks of message IDs as needed (useful for GCS specific metadata, etc...). Message_types greater than 32767 are considered local experiments and should not be checked in to any widely distributed codebase.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      payloaduint8_t[249]Variable length payload. The length must be encoded in the payload as part of the message_type protocol, e.g. by including the length as payload data, or by terminating the payload data with a non-zero marker. This is required in order to reconstruct zero-terminated payloads that are (or otherwise would be) trimmed by MAVLink 2 empty-byte truncation. The entire content of the payload block is opaque unless you understand the encoding message_type. The particular encoding used can be extension specific and might not always be documented as part of the MAVLink specification.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MEMORY_VECT (249)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Send raw controller memory. The use of this message is discouraged for normal packets, but a quite efficient way for testing new messages and getting experimental debug output.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      addressuint16_tStarting address of the debug variables
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      veruint8_tVersion code of the type variable. 0=unknown, type ignored and assumed int16_t. 1=as below
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      typeuint8_tType code of the memory variables. for ver = 1: 0=16 x int16_t, 1=16 x uint16_t, 2=16 x Q15, 3=16 x 1Q14
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      valueint8_t[32]Memory contents at specified address

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      DEBUG_VECT (250)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      To debug something using a named 3D vector.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      namechar[10]Name

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Messages with same value are from the same source (instance). | | time_usec | uint64_t | us | Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number. | | x | float | | x | | y | float | | y | | z | float | | z |

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      NAMED_VALUE_FLOAT (251)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Send a key-value pair as float. The use of this message is discouraged for normal packets, but a quite efficient way for testing new messages and getting experimental debug output.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      time_boot_msuint32_tmsTimestamp (time since system boot).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      namechar[10]Name of the debug variable

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Messages with same value are from the same source (instance). | | value | float | | Floating point value |

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      NAMED_VALUE_INT (252)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Send a key-value pair as integer. The use of this message is discouraged for normal packets, but a quite efficient way for testing new messages and getting experimental debug output.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      time_boot_msuint32_tmsTimestamp (time since system boot).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      namechar[10]Name of the debug variable

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Messages with same value are from the same source (instance). | | value | int32_t | | Signed integer value |

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      STATUSTEXT (253)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Status text message. These messages are printed in yellow in the COMM console of QGroundControl. WARNING: They consume quite some bandwidth, so use only for important status and error messages. If implemented wisely, these messages are buffered on the MCU and sent only at a limited rate (e.g. 10 Hz).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Field NameTypeValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      severityuint8_tMAV_SEVERITYSeverity of status. Relies on the definitions within RFC-5424.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      textchar[50]Status text message, without null termination character
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      id ++uint16_tUnique (opaque) identifier for this statustext message. May be used to reassemble a logical long-statustext message from a sequence of chunks. A value of zero indicates this is the only chunk in the sequence and the message can be emitted immediately.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      chunk_seq ++uint8_tThis chunk's sequence number; indexing is from zero. Any null character in the text field is taken to mean this was the last chunk.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      DEBUG (254)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Send a debug value. The index is used to discriminate between values. These values show up in the plot of QGroundControl as DEBUG N.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      time_boot_msuint32_tmsTimestamp (time since system boot).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      induint8_tindex of debug variable
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      valuefloatDEBUG value

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      SETUP_SIGNING (256)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Setup a MAVLink2 signing key. If called with secret_key of all zero and zero initial_timestamp will disable signing

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      target_systemuint8_tsystem id of the target
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      target_componentuint8_tcomponent ID of the target
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      secret_keyuint8_t[32]signing key
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      initial_timestampuint64_tinitial timestamp

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      BUTTON_CHANGE (257)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Report button state change.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      time_boot_msuint32_tmsTimestamp (time since system boot).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      last_change_msuint32_tmsTime of last change of button state.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      stateuint8_tBitmap for state of buttons.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      PLAY_TUNE (258) — [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      DEPRECATED: Replaced By PLAY_TUNE_V2 (2019-10) — New version explicitly defines format. More interoperable.)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Control vehicle tone generation (buzzer).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      target_systemuint8_tSystem ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      target_componentuint8_tComponent ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      tunechar[30]tune in board specific format
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      tune2 ++char[200]tune extension (appended to tune)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      CAMERA_INFORMATION (259)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Information about a camera. Can be requested with a MAV_CMD_REQUEST_MESSAGE command.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      time_boot_msuint32_tmsTimestamp (time since system boot).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      vendor_nameuint8_t[32]Name of the camera vendor
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      model_nameuint8_t[32]Name of the camera model
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      firmware_versionuint32_tinvalid:0Version of the camera firmware, encoded as: (Dev & 0xff) << 24(Patch & 0xff) << 16(Minor & 0xff) << 8(Major & 0xff). Use 0 if not known.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      focal_lengthfloatmminvalid:NaNFocal length. Use NaN if not known.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      sensor_size_hfloatmminvalid:NaNImage sensor size horizontal. Use NaN if not known.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      sensor_size_vfloatmminvalid:NaNImage sensor size vertical. Use NaN if not known.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      resolution_huint16_tpixinvalid:0Horizontal image resolution. Use 0 if not known.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      resolution_vuint16_tpixinvalid:0Vertical image resolution. Use 0 if not known.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      lens_iduint8_tinvalid:0Reserved for a lens ID. Use 0 if not known.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      flagsuint32_tCAMERA_CAP_FLAGSBitmap of camera capability flags.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      cam_definition_versionuint16_tCamera definition version (iteration). Use 0 if not known.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      cam_definition_urichar[140]Camera definition URI (if any, otherwise only basic functions will be available). HTTP- (http://) and MAVLink FTP- (mavlinkftp://) formatted URIs are allowed (and both must be supported by any GCS that implements the Camera Protocol). The definition file may be xz compressed, which will be indicated by the file extension .xml.xz (a GCS that implements the protocol must support decompressing the file). The string needs to be zero terminated. Use a zero-length string if not known.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      gimbal_device_id ++uint8_tinvalid:0Gimbal id of a gimbal associated with this camera. This is the component id of the gimbal device, or 1-6 for non mavlink gimbals. Use 0 if no gimbal is associated with the camera.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      camera_device_id ++uint8_tdefault:0 min:0 max:6Camera id of a non-MAVLink camera attached to an autopilot (1-6). 0 if the component is a MAVLink camera (with its own component id).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      CAMERA_SETTINGS (260)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Settings of a camera. Can be requested with a MAV_CMD_REQUEST_MESSAGE command.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      time_boot_msuint32_tmsTimestamp (time since system boot).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      mode_iduint8_tCAMERA_MODECamera mode
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      zoomLevel ++floatinvalid:NaNCurrent zoom level as a percentage of the full range (0.0 to 100.0, NaN if not known)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      focusLevel ++floatinvalid:NaNCurrent focus level as a percentage of the full range (0.0 to 100.0, NaN if not known)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      camera_device_id ++uint8_tdefault:0 min:0 max:6Camera id of a non-MAVLink camera attached to an autopilot (1-6). 0 if the component is a MAVLink camera (with its own component id).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      STORAGE_INFORMATION (261)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Information about a storage medium. This message is sent in response to a request with MAV_CMD_REQUEST_MESSAGE and whenever the status of the storage changes (STORAGE_STATUS). Use MAV_CMD_REQUEST_MESSAGE.param2 to indicate the index/id of requested storage: 0 for all, 1 for first, 2 for second, etc.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      time_boot_msuint32_tmsTimestamp (time since system boot).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      storage_iduint8_tStorage ID (1 for first, 2 for second, etc.)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Messages with same value are from the same source (instance). | | storage_count | uint8_t | | | Number of storage devices | | status | uint8_t | | STORAGE_STATUS | Status of storage | | total_capacity | float | MiB | | Total capacity. If storage is not ready (STORAGE_STATUS_READY) value will be ignored. | | used_capacity | float | MiB | | Used capacity. If storage is not ready (STORAGE_STATUS_READY) value will be ignored. | | available_capacity | float | MiB | | Available storage capacity. If storage is not ready (STORAGE_STATUS_READY) value will be ignored. | | read_speed | float | MiB/s | | Read speed. | | write_speed | float | MiB/s | | Write speed. | | type ++ | uint8_t | | STORAGE_TYPE | Type of storage | | name ++ | char[32] | | | Textual storage name to be used in UI (microSD 1, Internal Memory, etc.) This is a NULL terminated string. If it is exactly 32 characters long, add a terminating NULL. If this string is empty, the generic type is shown to the user. | | storage_usage ++ | uint8_t | | STORAGE_USAGE_FLAG | Flags indicating whether this instance is preferred storage for photos, videos, etc.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Note: Implementations should initially set the flags on the system-default storage id used for saving media (if possible/supported).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      This setting can then be overridden using MAV_CMD_SET_STORAGE_USAGE.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      If the media usage flags are not set, a GCS may assume storage ID 1 is the default storage for all media types. |

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      CAMERA_CAPTURE_STATUS (262)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Information about the status of a capture. Can be requested with a MAV_CMD_REQUEST_MESSAGE command.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      time_boot_msuint32_tmsTimestamp (time since system boot).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      image_statusuint8_tCurrent status of image capturing (0: idle, 1: capture in progress, 2: interval set but idle, 3: interval set and capture in progress)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      video_statusuint8_tCurrent status of video capturing (0: idle, 1: capture in progress)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      image_intervalfloatsImage capture interval
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      recording_time_msuint32_tmsElapsed time since recording started (0: Not supported/available). A GCS should compute recording time and use non-zero values of this field to correct any discrepancy.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      available_capacityfloatMiBAvailable storage capacity.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      image_count ++int32_tTotal number of images captured ('forever', or until reset using MAV_CMD_STORAGE_FORMAT).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      camera_device_id ++uint8_tCamera id of a non-MAVLink camera attached to an autopilot (1-6). 0 if the component is a MAVLink camera (with its own component id).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      CAMERA_IMAGE_CAPTURED (263)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Information about a captured image. This is emitted every time a message is captured.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_REQUEST_MESSAGE can be used to (re)request this message for a specific sequence number or range of sequence numbers: MAV_CMD_REQUEST_MESSAGE.param2 indicates the sequence number the first image to send, or set to -1 to send the message for all sequence numbers. MAV_CMD_REQUEST_MESSAGE.param3 is used to specify a range of messages to send: set to 0 (default) to send just the the message for the sequence number in param 2, set to -1 to send the message for the sequence number in param 2 and all the following sequence numbers, set to the sequence number of the final message in the range.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      time_boot_msuint32_tmsTimestamp (time since system boot).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      time_utcuint64_tusTimestamp (time since UNIX epoch) in UTC. 0 for unknown.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      camera_iduint8_tDeprecated/unused. Component IDs are used to differentiate multiple cameras.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      latint32_tdegE7Latitude where image was taken
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      lonint32_tdegE7Longitude where capture was taken
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      altint32_tmmAltitude (MSL) where image was taken
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      relative_altint32_tmmAltitude above ground
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      qfloat[4]Quaternion of camera orientation (w, x, y, z order, zero-rotation is 1, 0, 0, 0)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      image_indexint32_tZero based index of this image (i.e. a new image will have index CAMERA_CAPTURE_STATUS.image count -1)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      capture_resultint8_tBoolean indicating success (1) or failure (0) while capturing this image.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      file_urlchar[205]URL of image taken. Either local storage or http://foo.jpg if camera provides an HTTP interface.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      FLIGHT_INFORMATION (264)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Flight information.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      This includes time since boot for arm, takeoff, and land, and a flight number. Takeoff and landing values reset to zero on arm. This can be requested using MAV_CMD_REQUEST_MESSAGE. Note, some fields are misnamed - timestamps are from boot (not UTC) and the flight_uuid is a sequence number.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      time_boot_msuint32_tmsTimestamp (time since system boot).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      arming_time_utcuint64_tusTimestamp at arming (since system boot). Set to 0 on boot. Set value on arming. Note, field is misnamed UTC.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      takeoff_time_utcuint64_tusTimestamp at takeoff (since system boot). Set to 0 at boot and on arming. Note, field is misnamed UTC.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      flight_uuiduint64_tFlight number. Note, field is misnamed UUID.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      landing_time ++uint32_tmsTimestamp at landing (in ms since system boot). Set to 0 at boot and on arming.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MOUNT_ORIENTATION (265) — [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      DEPRECATED: Replaced By MAV_CMD_DO_GIMBAL_MANAGER_PITCHYAW (2020-01) — This message is being superseded by MAV_CMD_DO_GIMBAL_MANAGER_PITCHYAW. The message can still be used to communicate with legacy gimbals implementing it.)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Orientation of a mount

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      time_boot_msuint32_tmsTimestamp (time since system boot).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      rollfloatdegRoll in global frame (set to NaN for invalid).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      pitchfloatdegPitch in global frame (set to NaN for invalid).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      yawfloatdegYaw relative to vehicle (set to NaN for invalid).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      yaw_absolute ++floatdegYaw in absolute frame relative to Earth's North, north is 0 (set to NaN for invalid).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      LOGGING_DATA (266)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      A message containing logged data (see also MAV_CMD_LOGGING_START)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      target_systemuint8_tsystem ID of the target
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      target_componentuint8_tcomponent ID of the target
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      sequenceuint16_tsequence number (can wrap)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      lengthuint8_tbytesdata length
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      first_message_offsetuint8_tbytesoffset into data where first message starts. This can be used for recovery, when a previous message got lost (set to UINT8_MAX if no start exists).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      datauint8_t[249]logged data

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      LOGGING_DATA_ACKED (267)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      A message containing logged data which requires a LOGGING_ACK to be sent back

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      target_systemuint8_tsystem ID of the target
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      target_componentuint8_tcomponent ID of the target
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      sequenceuint16_tsequence number (can wrap)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      lengthuint8_tbytesdata length
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      first_message_offsetuint8_tbytesoffset into data where first message starts. This can be used for recovery, when a previous message got lost (set to UINT8_MAX if no start exists).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      datauint8_t[249]logged data

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      LOGGING_ACK (268)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      An ack for a LOGGING_DATA_ACKED message

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      target_systemuint8_tsystem ID of the target
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      target_componentuint8_tcomponent ID of the target
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      sequenceuint16_tsequence number (must match the one in LOGGING_DATA_ACKED)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      VIDEO_STREAM_INFORMATION (269)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Information about video stream. It may be requested using MAV_CMD_REQUEST_MESSAGE, where param2 indicates the video stream id: 0 for all streams, 1 for first, 2 for second, etc.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      stream_iduint8_tVideo Stream ID (1 for first, 2 for second, etc.)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Messages with same value are from the same source (instance). | | count | uint8_t | | | Number of streams available. | | type | uint8_t | | VIDEO_STREAM_TYPE | Type of stream. | | flags | uint16_t | | VIDEO_STREAM_STATUS_FLAGS | Bitmap of stream status flags. | | framerate | float | Hz | | Frame rate. | | resolution_h | uint16_t | pix | | Horizontal resolution. | | resolution_v | uint16_t | pix | | Vertical resolution. | | bitrate | uint32_t | bits/s | | Bit rate. | | rotation | uint16_t | deg | | Video image rotation clockwise. | | hfov | uint16_t | deg | | Horizontal Field of view. | | name | char[32] | | | Stream name. | | uri | char[160] | | | Video stream URI (TCP or RTSP URI ground station should connect to) or port number (UDP port ground station should listen to). | | encoding ++ | uint8_t | | VIDEO_STREAM_ENCODING | Encoding of stream. | | camera_device_id ++ | uint8_t | | default:0 min:0 max:6 | Camera id of a non-MAVLink camera attached to an autopilot (1-6). 0 if the component is a MAVLink camera (with its own component id). |

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      VIDEO_STREAM_STATUS (270)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Information about the status of a video stream. It may be requested using MAV_CMD_REQUEST_MESSAGE.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      stream_iduint8_tVideo Stream ID (1 for first, 2 for second, etc.)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Messages with same value are from the same source (instance). | | flags | uint16_t | | VIDEO_STREAM_STATUS_FLAGS | Bitmap of stream status flags | | framerate | float | Hz | | Frame rate | | resolution_h | uint16_t | pix | | Horizontal resolution | | resolution_v | uint16_t | pix | | Vertical resolution | | bitrate | uint32_t | bits/s | | Bit rate | | rotation | uint16_t | deg | | Video image rotation clockwise | | hfov | uint16_t | deg | | Horizontal Field of view | | camera_device_id ++ | uint8_t | | default:0 min:0 max:6 | Camera id of a non-MAVLink camera attached to an autopilot (1-6). 0 if the component is a MAVLink camera (with its own component id). |

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      CAMERA_FOV_STATUS (271)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Information about the field of view of a camera. Can be requested with a MAV_CMD_REQUEST_MESSAGE command.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      time_boot_msuint32_tmsTimestamp (time since system boot).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      lat_cameraint32_tdegE7Latitude of camera (INT32_MAX if unknown).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      lon_cameraint32_tdegE7Longitude of camera (INT32_MAX if unknown).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      alt_cameraint32_tmmAltitude (MSL) of camera (INT32_MAX if unknown).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      lat_imageint32_tdegE7Latitude of center of image (INT32_MAX if unknown, INT32_MIN if at infinity, not intersecting with horizon).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      lon_imageint32_tdegE7Longitude of center of image (INT32_MAX if unknown, INT32_MIN if at infinity, not intersecting with horizon).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      alt_imageint32_tmmAltitude (MSL) of center of image (INT32_MAX if unknown, INT32_MIN if at infinity, not intersecting with horizon).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      qfloat[4]Quaternion of camera orientation (w, x, y, z order, zero-rotation is 1, 0, 0, 0)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      hfovfloatdegHorizontal field of view (NaN if unknown).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      vfovfloatdegVertical field of view (NaN if unknown).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      camera_device_id ++uint8_tCamera id of a non-MAVLink camera attached to an autopilot (1-6). 0 if the component is a MAVLink camera (with its own component id).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      CAMERA_TRACKING_IMAGE_STATUS (275)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Camera tracking status, sent while in active tracking. Use MAV_CMD_SET_MESSAGE_INTERVAL to define message interval.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Field NameTypeValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      tracking_statusuint8_tCAMERA_TRACKING_STATUS_FLAGSCurrent tracking status
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      tracking_modeuint8_tCAMERA_TRACKING_MODECurrent tracking mode
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      target_datauint8_tCAMERA_TRACKING_TARGET_DATADefines location of target data
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      point_xfloatinvalid:NaNCurrent tracked point x value if CAMERA_TRACKING_MODE_POINT (normalized 0..1, 0 is left, 1 is right), NAN if unknown
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      point_yfloatinvalid:NaNCurrent tracked point y value if CAMERA_TRACKING_MODE_POINT (normalized 0..1, 0 is top, 1 is bottom), NAN if unknown
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      radiusfloatinvalid:NaNCurrent tracked radius if CAMERA_TRACKING_MODE_POINT (normalized 0..1, 0 is image left, 1 is image right), NAN if unknown
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      rec_top_xfloatinvalid:NaNCurrent tracked rectangle top x value if CAMERA_TRACKING_MODE_RECTANGLE (normalized 0..1, 0 is left, 1 is right), NAN if unknown
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      rec_top_yfloatinvalid:NaNCurrent tracked rectangle top y value if CAMERA_TRACKING_MODE_RECTANGLE (normalized 0..1, 0 is top, 1 is bottom), NAN if unknown
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      rec_bottom_xfloatinvalid:NaNCurrent tracked rectangle bottom x value if CAMERA_TRACKING_MODE_RECTANGLE (normalized 0..1, 0 is left, 1 is right), NAN if unknown
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      rec_bottom_yfloatinvalid:NaNCurrent tracked rectangle bottom y value if CAMERA_TRACKING_MODE_RECTANGLE (normalized 0..1, 0 is top, 1 is bottom), NAN if unknown
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      camera_device_id ++uint8_tdefault:0 min:0 max:6Camera id of a non-MAVLink camera attached to an autopilot (1-6). 0 if the component is a MAVLink camera (with its own component id).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      CAMERA_TRACKING_GEO_STATUS (276)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Camera tracking status, sent while in active tracking. Use MAV_CMD_SET_MESSAGE_INTERVAL to define message interval.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      tracking_statusuint8_tCAMERA_TRACKING_STATUS_FLAGSCurrent tracking status
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      latint32_tdegE7Latitude of tracked object
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      lonint32_tdegE7Longitude of tracked object
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      altfloatmAltitude of tracked object(AMSL, WGS84)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      h_accfloatminvalid:NaNHorizontal accuracy. NAN if unknown
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      v_accfloatminvalid:NaNVertical accuracy. NAN if unknown
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      vel_nfloatm/sinvalid:NaNNorth velocity of tracked object. NAN if unknown
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      vel_efloatm/sinvalid:NaNEast velocity of tracked object. NAN if unknown
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      vel_dfloatm/sinvalid:NaNDown velocity of tracked object. NAN if unknown
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      vel_accfloatm/sinvalid:NaNVelocity accuracy. NAN if unknown
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      distfloatminvalid:NaNDistance between camera and tracked object. NAN if unknown
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      hdgfloatradinvalid:NaNHeading in radians, in NED. NAN if unknown
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      hdg_accfloatradinvalid:NaNAccuracy of heading, in NED. NAN if unknown
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      camera_device_id ++uint8_tdefault:0 min:0 max:6Camera id of a non-MAVLink camera attached to an autopilot (1-6). 0 if the component is a MAVLink camera (with its own component id).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      CAMERA_THERMAL_RANGE (277) — [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Camera absolute thermal range. This can be streamed when the associated VIDEO_STREAM_STATUS flag field bit VIDEO_STREAM_STATUS_FLAGS_THERMAL_RANGE_ENABLED is set, but a GCS may choose to only request it for the current active stream. Use MAV_CMD_SET_MESSAGE_INTERVAL to define message interval (param3 indicates the stream id of the current camera, or 0 for all streams, param4 indicates the target camera_device_id for autopilot-attached cameras or 0 for MAVLink cameras).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      time_boot_msuint32_tmsTimestamp (time since system boot).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      stream_iduint8_tVideo Stream ID (1 for first, 2 for second, etc.)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Messages with same value are from the same source (instance). | | camera_device_id | uint8_t | | Camera id of a non-MAVLink camera attached to an autopilot (1-6). 0 if the component is a MAVLink camera (with its own component id). | | max | float | degC | Temperature max. | | max_point_x | float | | Temperature max point x value (normalized 0..1, 0 is left, 1 is right), NAN if unknown. | | max_point_y | float | | Temperature max point y value (normalized 0..1, 0 is top, 1 is bottom), NAN if unknown. | | min | float | degC | Temperature min. | | min_point_x | float | | Temperature min point x value (normalized 0..1, 0 is left, 1 is right), NAN if unknown. | | min_point_y | float | | Temperature min point y value (normalized 0..1, 0 is top, 1 is bottom), NAN if unknown. |

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      GIMBAL_MANAGER_INFORMATION (280)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Information about a high level gimbal manager. This message should be requested by a ground station using MAV_CMD_REQUEST_MESSAGE.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      time_boot_msuint32_tmsTimestamp (time since system boot).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      cap_flagsuint32_tGIMBAL_MANAGER_CAP_FLAGSBitmap of gimbal capability flags.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      gimbal_device_iduint8_tGimbal device ID that this gimbal manager is responsible for. Component ID of gimbal device (or 1-6 for non-MAVLink gimbal).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Messages with same value are from the same source (instance). | | roll_min | float | rad | | Minimum hardware roll angle (positive: rolling to the right, negative: rolling to the left) | | roll_max | float | rad | | Maximum hardware roll angle (positive: rolling to the right, negative: rolling to the left) | | pitch_min | float | rad | | Minimum pitch angle (positive: up, negative: down) | | pitch_max | float | rad | | Maximum pitch angle (positive: up, negative: down) | | yaw_min | float | rad | | Minimum yaw angle (positive: to the right, negative: to the left) | | yaw_max | float | rad | | Maximum yaw angle (positive: to the right, negative: to the left) |

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      GIMBAL_MANAGER_STATUS (281)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Current status about a high level gimbal manager. This message should be broadcast at a low regular rate (e.g. 5Hz).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      time_boot_msuint32_tmsTimestamp (time since system boot).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      flagsuint32_tGIMBAL_MANAGER_FLAGSHigh level gimbal manager flags currently applied.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      gimbal_device_iduint8_tGimbal device ID that this gimbal manager is responsible for. Component ID of gimbal device (or 1-6 for non-MAVLink gimbal).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Messages with same value are from the same source (instance). | | primary_control_sysid | uint8_t | | | System ID of MAVLink component with primary control, 0 for none. | | primary_control_compid | uint8_t | | | Component ID of MAVLink component with primary control, 0 for none. | | secondary_control_sysid | uint8_t | | | System ID of MAVLink component with secondary control, 0 for none. | | secondary_control_compid | uint8_t | | | Component ID of MAVLink component with secondary control, 0 for none. |

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      GIMBAL_MANAGER_SET_ATTITUDE (282)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      High level message to control a gimbal's attitude. This message is to be sent to the gimbal manager (e.g. from a ground station). Angles and rates can be set to NaN according to use case.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      target_systemuint8_tSystem ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      target_componentuint8_tComponent ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      flagsuint32_tGIMBAL_MANAGER_FLAGSHigh level gimbal manager flags to use.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      gimbal_device_iduint8_tComponent ID of gimbal device to address (or 1-6 for non-MAVLink gimbal), 0 for all gimbal device components. Send command multiple times for more than one gimbal (but not all gimbals).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Messages with same value are from the same source (instance). | | q | float[4] | | | Quaternion components, w, x, y, z (1 0 0 0 is the null-rotation, the frame is depends on whether the flag GIMBAL_MANAGER_FLAGS_YAW_LOCK is set) | | angular_velocity_x | float | rad/s | invalid:NaN | X component of angular velocity, positive is rolling to the right, NaN to be ignored. | | angular_velocity_y | float | rad/s | invalid:NaN | Y component of angular velocity, positive is pitching up, NaN to be ignored. | | angular_velocity_z | float | rad/s | invalid:NaN | Z component of angular velocity, positive is yawing to the right, NaN to be ignored. |

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      GIMBAL_DEVICE_INFORMATION (283)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Information about a low level gimbal. This message should be requested by the gimbal manager or a ground station using MAV_CMD_REQUEST_MESSAGE. The maximum angles and rates are the limits by hardware. However, the limits by software used are likely different/smaller and dependent on mode/settings/etc..

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      time_boot_msuint32_tmsTimestamp (time since system boot).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      vendor_namechar[32]Name of the gimbal vendor.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      model_namechar[32]Name of the gimbal model.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      custom_namechar[32]Custom name of the gimbal given to it by the user.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      firmware_versionuint32_tVersion of the gimbal firmware, encoded as: (Dev & 0xff) << 24(Patch & 0xff) << 16(Minor & 0xff) << 8(Major & 0xff).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      hardware_versionuint32_tVersion of the gimbal hardware, encoded as: (Dev & 0xff) << 24(Patch & 0xff) << 16(Minor & 0xff) << 8(Major & 0xff).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      uiduint64_tinvalid:0UID of gimbal hardware (0 if unknown).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      cap_flagsuint16_tGIMBAL_DEVICE_CAP_FLAGSBitmap of gimbal capability flags.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      custom_cap_flagsuint16_tBitmap for use for gimbal-specific capability flags.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      roll_minfloatradinvalid:NaNMinimum hardware roll angle (positive: rolling to the right, negative: rolling to the left). NAN if unknown.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      roll_maxfloatradinvalid:NaNMaximum hardware roll angle (positive: rolling to the right, negative: rolling to the left). NAN if unknown.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      pitch_minfloatradinvalid:NaNMinimum hardware pitch angle (positive: up, negative: down). NAN if unknown.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      pitch_maxfloatradinvalid:NaNMaximum hardware pitch angle (positive: up, negative: down). NAN if unknown.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      yaw_minfloatradinvalid:NaNMinimum hardware yaw angle (positive: to the right, negative: to the left). NAN if unknown.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      yaw_maxfloatradinvalid:NaNMaximum hardware yaw angle (positive: to the right, negative: to the left). NAN if unknown.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      gimbal_device_id ++uint8_tinvalid:0This field is to be used if the gimbal manager and the gimbal device are the same component and hence have the same component ID. This field is then set to a number between 1-6. If the component ID is separate, this field is not required and must be set to 0.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      GIMBAL_DEVICE_SET_ATTITUDE (284)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Low level message to control a gimbal device's attitude.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      This message is to be sent from the gimbal manager to the gimbal device component. The quaternion and angular velocities can be set to NaN according to use case. For the angles encoded in the quaternion and the angular velocities holds: If the flag GIMBAL_DEVICE_FLAGS_YAW_IN_VEHICLE_FRAME is set, then they are relative to the vehicle heading (vehicle frame). If the flag GIMBAL_DEVICE_FLAGS_YAW_IN_EARTH_FRAME is set, then they are relative to absolute North (earth frame). If neither of these flags are set, then (for backwards compatibility) it holds: If the flag GIMBAL_DEVICE_FLAGS_YAW_LOCK is set, then they are relative to absolute North (earth frame), else they are relative to the vehicle heading (vehicle frame). Setting both GIMBAL_DEVICE_FLAGS_YAW_IN_VEHICLE_FRAME and GIMBAL_DEVICE_FLAGS_YAW_IN_EARTH_FRAME is not allowed. These rules are to ensure backwards compatibility. New implementations should always set either GIMBAL_DEVICE_FLAGS_YAW_IN_VEHICLE_FRAME or GIMBAL_DEVICE_FLAGS_YAW_IN_EARTH_FRAME.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      target_systemuint8_tSystem ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      target_componentuint8_tComponent ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      flagsuint16_tGIMBAL_DEVICE_FLAGSLow level gimbal flags.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      qfloat[4]invalid:[NaN]Quaternion components, w, x, y, z (1 0 0 0 is the null-rotation). The frame is described in the message description. Set fields to NaN to be ignored.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      angular_velocity_xfloatrad/sinvalid:NaNX component of angular velocity (positive: rolling to the right). The frame is described in the message description. NaN to be ignored.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      angular_velocity_yfloatrad/sinvalid:NaNY component of angular velocity (positive: pitching up). The frame is described in the message description. NaN to be ignored.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      angular_velocity_zfloatrad/sinvalid:NaNZ component of angular velocity (positive: yawing to the right). The frame is described in the message description. NaN to be ignored.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      GIMBAL_DEVICE_ATTITUDE_STATUS (285)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Message reporting the status of a gimbal device.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      This message should be broadcast by a gimbal device component at a low regular rate (e.g. 5 Hz). For the angles encoded in the quaternion and the angular velocities holds: If the flag GIMBAL_DEVICE_FLAGS_YAW_IN_VEHICLE_FRAME is set, then they are relative to the vehicle heading (vehicle frame). If the flag GIMBAL_DEVICE_FLAGS_YAW_IN_EARTH_FRAME is set, then they are relative to absolute North (earth frame). If neither of these flags are set, then (for backwards compatibility) it holds: If the flag GIMBAL_DEVICE_FLAGS_YAW_LOCK is set, then they are relative to absolute North (earth frame), else they are relative to the vehicle heading (vehicle frame). Other conditions of the flags are not allowed. The quaternion and angular velocities in the other frame can be calculated from delta_yaw and delta_yaw_velocity as q_earth = q_delta_yaw * q_vehicle and w_earth = w_delta_yaw_velocity + w_vehicle (if not NaN). If neither the GIMBAL_DEVICE_FLAGS_YAW_IN_VEHICLE_FRAME nor the GIMBAL_DEVICE_FLAGS_YAW_IN_EARTH_FRAME flag is set, then (for backwards compatibility) the data in the delta_yaw and delta_yaw_velocity fields are to be ignored. New implementations should always set either GIMBAL_DEVICE_FLAGS_YAW_IN_VEHICLE_FRAME or GIMBAL_DEVICE_FLAGS_YAW_IN_EARTH_FRAME, and always should set delta_yaw and delta_yaw_velocity either to the proper value or NaN.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      target_systemuint8_tSystem ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      target_componentuint8_tComponent ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      time_boot_msuint32_tmsTimestamp (time since system boot).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      flagsuint16_tGIMBAL_DEVICE_FLAGSCurrent gimbal flags set.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      qfloat[4]Quaternion components, w, x, y, z (1 0 0 0 is the null-rotation). The frame is described in the message description.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      angular_velocity_xfloatrad/sinvalid:NaNX component of angular velocity (positive: rolling to the right). The frame is described in the message description. NaN if unknown.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      angular_velocity_yfloatrad/sinvalid:NaNY component of angular velocity (positive: pitching up). The frame is described in the message description. NaN if unknown.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      angular_velocity_zfloatrad/sinvalid:NaNZ component of angular velocity (positive: yawing to the right). The frame is described in the message description. NaN if unknown.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      failure_flagsuint32_tGIMBAL_DEVICE_ERROR_FLAGSFailure flags (0 for no failure)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      delta_yaw ++floatradinvalid:NANYaw angle relating the quaternions in earth and body frames (see message description). NaN if unknown.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      delta_yaw_velocity ++floatrad/sinvalid:NANYaw angular velocity relating the angular velocities in earth and body frames (see message description). NaN if unknown.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      gimbal_device_id ++uint8_tinvalid:0This field is to be used if the gimbal manager and the gimbal device are the same component and hence have the same component ID. This field is then set a number between 1-6. If the component ID is separate, this field is not required and must be set to 0.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      AUTOPILOT_STATE_FOR_GIMBAL_DEVICE (286)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Low level message containing autopilot state relevant for a gimbal device. This message is to be sent from the autopilot to the gimbal device component. The data of this message are for the gimbal device's estimator corrections, in particular horizon compensation, as well as indicates autopilot control intentions, e.g. feed forward angular control in the z-axis.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      target_systemuint8_tSystem ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      target_componentuint8_tComponent ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      time_boot_usuint64_tusTimestamp (time since system boot).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      qfloat[4]Quaternion components of autopilot attitude: w, x, y, z (1 0 0 0 is the null-rotation, Hamilton convention).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      q_estimated_delay_usuint32_tusinvalid:0Estimated delay of the attitude data. 0 if unknown.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      vxfloatm/sinvalid:NaNX Speed in NED (North, East, Down). NAN if unknown.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      vyfloatm/sinvalid:NaNY Speed in NED (North, East, Down). NAN if unknown.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      vzfloatm/sinvalid:NaNZ Speed in NED (North, East, Down). NAN if unknown.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      v_estimated_delay_usuint32_tusinvalid:0Estimated delay of the speed data. 0 if unknown.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      feed_forward_angular_velocity_zfloatrad/sinvalid:NaNFeed forward Z component of angular velocity (positive: yawing to the right). NaN to be ignored. This is to indicate if the autopilot is actively yawing.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      estimator_statusuint16_tESTIMATOR_STATUS_FLAGSBitmap indicating which estimator outputs are valid.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      landed_stateuint8_tinvalid:MAV_LANDED_STATE_UNDEFINED MAV_LANDED_STATEThe landed state. Is set to MAV_LANDED_STATE_UNDEFINED if landed state is unknown.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      angular_velocity_z ++floatrad/sinvalid:NaNZ component of angular velocity in NED (North, East, Down). NaN if unknown.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      GIMBAL_MANAGER_SET_PITCHYAW (287)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Set gimbal manager pitch and yaw angles (high rate message). This message is to be sent to the gimbal manager (e.g. from a ground station) and will be ignored by gimbal devices. Angles and rates can be set to NaN according to use case. Use MAV_CMD_DO_GIMBAL_MANAGER_PITCHYAW for low-rate adjustments that require confirmation.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      target_systemuint8_tSystem ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      target_componentuint8_tComponent ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      flagsuint32_tGIMBAL_MANAGER_FLAGSHigh level gimbal manager flags to use.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      gimbal_device_iduint8_tComponent ID of gimbal device to address (or 1-6 for non-MAVLink gimbal), 0 for all gimbal device components. Send command multiple times for more than one gimbal (but not all gimbals).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Messages with same value are from the same source (instance). | | pitch | float | rad | invalid:NaN | Pitch angle (positive: up, negative: down, NaN to be ignored). | | yaw | float | rad | invalid:NaN | Yaw angle (positive: to the right, negative: to the left, NaN to be ignored). | | pitch_rate | float | rad/s | invalid:NaN | Pitch angular rate (positive: up, negative: down, NaN to be ignored). | | yaw_rate | float | rad/s | invalid:NaN | Yaw angular rate (positive: to the right, negative: to the left, NaN to be ignored). |

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      GIMBAL_MANAGER_SET_MANUAL_CONTROL (288)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      High level message to control a gimbal manually. The angles or angular rates are unitless; the actual rates will depend on internal gimbal manager settings/configuration (e.g. set by parameters). This message is to be sent to the gimbal manager (e.g. from a ground station). Angles and rates can be set to NaN according to use case.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Field NameTypeValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      target_systemuint8_tSystem ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      target_componentuint8_tComponent ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      flagsuint32_tGIMBAL_MANAGER_FLAGSHigh level gimbal manager flags.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      gimbal_device_iduint8_tComponent ID of gimbal device to address (or 1-6 for non-MAVLink gimbal), 0 for all gimbal device components. Send command multiple times for more than one gimbal (but not all gimbals).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Messages with same value are from the same source (instance). | | pitch | float | invalid:NaN | Pitch angle unitless (-1..1, positive: up, negative: down, NaN to be ignored). | | yaw | float | invalid:NaN | Yaw angle unitless (-1..1, positive: to the right, negative: to the left, NaN to be ignored). | | pitch_rate | float | invalid:NaN | Pitch angular rate unitless (-1..1, positive: up, negative: down, NaN to be ignored). | | yaw_rate | float | invalid:NaN | Yaw angular rate unitless (-1..1, positive: to the right, negative: to the left, NaN to be ignored). |

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ESC_INFO (290) — [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ESC information for lower rate streaming. Recommended streaming rate 1Hz. See ESC_STATUS for higher-rate ESC data.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      indexuint8_tIndex of the first ESC in this message. minValue = 0, maxValue = 60, increment = 4.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Messages with same value are from the same source (instance). | | time_usec | uint64_t | us | | Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude the number. | | counter | uint16_t | | | Counter of data packets received. | | count | uint8_t | | | Total number of ESCs in all messages of this type. Message fields with an index higher than this should be ignored because they contain invalid data. | | connection_type | uint8_t | | ESC_CONNECTION_TYPE | Connection type protocol for all ESC. | | info | uint8_t | | | Information regarding online/offline status of each ESC. | | failure_flags | uint16_t[4] | | ESC_FAILURE_FLAGS | Bitmap of ESC failure flags. | | error_count | uint32_t[4] | | | Number of reported errors by each ESC since boot. | | temperature | int16_t[4] | cdegC | invalid:[INT16_MAX] | Temperature of each ESC. INT16_MAX: if data not supplied by ESC. |

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ESC_STATUS (291) — [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ESC information for higher rate streaming. Recommended streaming rate is ~10 Hz. Information that changes more slowly is sent in ESC_INFO. It should typically only be streamed on high-bandwidth links (i.e. to a companion computer).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      indexuint8_tIndex of the first ESC in this message. minValue = 0, maxValue = 60, increment = 4.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Messages with same value are from the same source (instance). | | time_usec | uint64_t | us | Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude the number. | | rpm | int32_t[4] | rpm | Reported motor RPM from each ESC (negative for reverse rotation). | | voltage | float[4] | V | Voltage measured from each ESC. | | current | float[4] | A | Current measured from each ESC. |

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      WIFI_CONFIG_AP (299)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Configure WiFi AP SSID, password, and mode. This message is re-emitted as an acknowledgement by the AP. The message may also be explicitly requested using MAV_CMD_REQUEST_MESSAGE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Field NameTypeValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ssidchar[32]Name of Wi-Fi network (SSID). Blank to leave it unchanged when setting. Current SSID when sent back as a response.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      passwordchar[64]Password. Blank for an open AP. MD5 hash when message is sent back as a response.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      mode ++int8_tWIFI_CONFIG_AP_MODEWiFi Mode.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      response ++int8_tWIFI_CONFIG_AP_RESPONSEMessage acceptance response (sent back to GS).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      PROTOCOL_VERSION (300) — [from: minimal] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Version and capability of protocol version. This message can be requested with MAV_CMD_REQUEST_MESSAGE and is used as part of the handshaking to establish which MAVLink version should be used on the network. Every node should respond to a request for PROTOCOL_VERSION to enable the handshaking. Library implementers should consider adding this into the default decoding state machine to allow the protocol core to respond directly.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      versionuint16_tCurrently active MAVLink version number * 100: v1.0 is 100, v2.0 is 200, etc.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      min_versionuint16_tMinimum MAVLink version supported
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      max_versionuint16_tMaximum MAVLink version supported (set to the same value as version by default)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      spec_version_hashuint8_t[8]The first 8 bytes (not characters printed in hex!) of the git hash.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      library_version_hashuint8_t[8]The first 8 bytes (not characters printed in hex!) of the git hash.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      AIS_VESSEL (301)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      The location and information of an AIS vessel

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MMSIuint32_tMobile Marine Service Identifier, 9 decimal digits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      latint32_tdegE7Latitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      lonint32_tdegE7Longitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      COGuint16_tcdegCourse over ground
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      headinguint16_tcdegTrue heading
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      velocityuint16_tcm/sSpeed over ground
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      turn_rateint8_tcdeg/sTurn rate
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      navigational_statusuint8_tAIS_NAV_STATUSNavigational status
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      typeuint8_tAIS_TYPEType of vessels
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      dimension_bowuint16_tmDistance from lat/lon location to bow
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      dimension_sternuint16_tmDistance from lat/lon location to stern
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      dimension_portuint8_tmDistance from lat/lon location to port side
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      dimension_starboarduint8_tmDistance from lat/lon location to starboard side
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      callsignchar[7]The vessel callsign
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      namechar[20]The vessel name
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      tslcuint16_tsTime since last communication in seconds
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      flagsuint16_tAIS_FLAGSBitmask to indicate various statuses including valid data fields

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      UAVCAN_NODE_STATUS (310)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      General status information of an UAVCAN node. Please refer to the definition of the UAVCAN message "uavcan.protocol.NodeStatus" for the background information. The UAVCAN specification is available at http://uavcan.org.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      uptime_secuint32_tsTime since the start-up of the node.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      healthuint8_tUAVCAN_NODE_HEALTHGeneralized node health status.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      modeuint8_tUAVCAN_NODE_MODEGeneralized operating mode.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      sub_modeuint8_tNot used currently.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      vendor_specific_status_codeuint16_tVendor-specific status information.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      UAVCAN_NODE_INFO (311)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      General information describing a particular UAVCAN node. Please refer to the definition of the UAVCAN service "uavcan.protocol.GetNodeInfo" for the background information. This message should be emitted by the system whenever a new node appears online, or an existing node reboots. Additionally, it can be emitted upon request from the other end of the MAVLink channel (see MAV_CMD_UAVCAN_GET_NODE_INFO). It is also not prohibited to emit this message unconditionally at a low frequency. The UAVCAN specification is available at http://uavcan.org.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      uptime_secuint32_tsTime since the start-up of the node.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      namechar[80]Node name string. For example, "sapog.px4.io".
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      hw_version_majoruint8_tHardware major version number.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      hw_version_minoruint8_tHardware minor version number.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      hw_unique_iduint8_t[16]Hardware unique 128-bit ID.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      sw_version_majoruint8_tSoftware major version number.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      sw_version_minoruint8_tSoftware minor version number.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      sw_vcs_commituint32_tVersion control system (VCS) revision identifier (e.g. git short commit hash). 0 if unknown.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      PARAM_EXT_REQUEST_READ (320)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Request to read the value of a parameter with either the param_id string id or param_index. PARAM_EXT_VALUE should be emitted in response.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      target_systemuint8_tSystem ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      target_componentuint8_tComponent ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      param_idchar[16]Parameter id, terminated by NULL if the length is less than 16 human-readable chars and WITHOUT null termination (NULL) byte if the length is exactly 16 chars - applications have to provide 16+1 bytes storage if the ID is stored as string
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      param_indexint16_tParameter index. Set to -1 to use the Parameter ID field as identifier (else param_id will be ignored)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      PARAM_EXT_REQUEST_LIST (321)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Request all parameters of this component. All parameters should be emitted in response as PARAM_EXT_VALUE.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      target_systemuint8_tSystem ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      target_componentuint8_tComponent ID

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      PARAM_EXT_VALUE (322)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Emit the value of a parameter. The inclusion of param_count and param_index in the message allows the recipient to keep track of received parameters and allows them to re-request missing parameters after a loss or timeout.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Field NameTypeValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      param_idchar[16]Parameter id, terminated by NULL if the length is less than 16 human-readable chars and WITHOUT null termination (NULL) byte if the length is exactly 16 chars - applications have to provide 16+1 bytes storage if the ID is stored as string
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      param_valuechar[128]Parameter value
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      param_typeuint8_tMAV_PARAM_EXT_TYPEParameter type.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      param_countuint16_tTotal number of parameters
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      param_indexuint16_tIndex of this parameter

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      PARAM_EXT_SET (323)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Set a parameter value. In order to deal with message loss (and retransmission of PARAM_EXT_SET), when setting a parameter value and the new value is the same as the current value, you will immediately get a PARAM_ACK_ACCEPTED response. If the current state is PARAM_ACK_IN_PROGRESS, you will accordingly receive a PARAM_ACK_IN_PROGRESS in response.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Field NameTypeValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      target_systemuint8_tSystem ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      target_componentuint8_tComponent ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      param_idchar[16]Parameter id, terminated by NULL if the length is less than 16 human-readable chars and WITHOUT null termination (NULL) byte if the length is exactly 16 chars - applications have to provide 16+1 bytes storage if the ID is stored as string
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      param_valuechar[128]Parameter value
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      param_typeuint8_tMAV_PARAM_EXT_TYPEParameter type.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      PARAM_EXT_ACK (324)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Response from a PARAM_EXT_SET message.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Field NameTypeValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      param_idchar[16]Parameter id, terminated by NULL if the length is less than 16 human-readable chars and WITHOUT null termination (NULL) byte if the length is exactly 16 chars - applications have to provide 16+1 bytes storage if the ID is stored as string
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      param_valuechar[128]Parameter value (new value if PARAM_ACK_ACCEPTED, current value otherwise)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      param_typeuint8_tMAV_PARAM_EXT_TYPEParameter type.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      param_resultuint8_tPARAM_ACKResult code.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      OBSTACLE_DISTANCE (330)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Obstacle distances in front of the sensor, starting from the left in increment degrees to the right

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      sensor_typeuint8_tMAV_DISTANCE_SENSORClass id of the distance sensor type.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      distancesuint16_t[72]cminvalid:[UINT16_MAX]Distance of obstacles around the vehicle with index 0 corresponding to north + angle_offset, unless otherwise specified in the frame. A value of 0 is valid and means that the obstacle is practically touching the sensor. A value of max_distance +1 means no obstacle is present. A value of UINT16_MAX for unknown/not used. In a array element, one unit corresponds to 1cm.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      incrementuint8_tdegAngular width in degrees of each array element. Increment direction is clockwise. This field is ignored if increment_f is non-zero.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      min_distanceuint16_tcmMinimum distance the sensor can measure.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      max_distanceuint16_tcmMaximum distance the sensor can measure.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      increment_f ++floatdegAngular width in degrees of each array element as a float. If non-zero then this value is used instead of the uint8_t increment field. Positive is clockwise direction, negative is counter-clockwise.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      angle_offset ++floatdegRelative angle offset of the 0-index element in the distances array. Value of 0 corresponds to forward. Positive is clockwise direction, negative is counter-clockwise.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      frame ++uint8_tMAV_FRAMECoordinate frame of reference for the yaw rotation and offset of the sensor data. Defaults to MAV_FRAME_GLOBAL, which is north aligned. For body-mounted sensors use MAV_FRAME_BODY_FRD, which is vehicle front aligned.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ODOMETRY (331)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Odometry message to communicate odometry information with an external interface. Fits ROS REP 147 standard for aerial vehicles (http://www.ros.org/reps/rep-0147.html).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      frame_iduint8_tMAV_FRAMECoordinate frame of reference for the pose data.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      child_frame_iduint8_tMAV_FRAMECoordinate frame of reference for the velocity in free space (twist) data.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      xfloatmX Position
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      yfloatmY Position
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      zfloatmZ Position
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      qfloat[4]Quaternion components, w, x, y, z (1 0 0 0 is the null-rotation)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      vxfloatm/sX linear speed
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      vyfloatm/sY linear speed
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      vzfloatm/sZ linear speed
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      rollspeedfloatrad/sRoll angular speed
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      pitchspeedfloatrad/sPitch angular speed
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      yawspeedfloatrad/sYaw angular speed
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      pose_covariancefloat[21]invalid:[NaN:]Row-major representation of a 6x6 pose cross-covariance matrix upper right triangle (states: x, y, z, roll, pitch, yaw; first six entries are the first ROW, next five entries are the second ROW, etc.). If unknown, assign NaN value to first element in the array.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      velocity_covariancefloat[21]invalid:[NaN:]Row-major representation of a 6x6 velocity cross-covariance matrix upper right triangle (states: vx, vy, vz, rollspeed, pitchspeed, yawspeed; first six entries are the first ROW, next five entries are the second ROW, etc.). If unknown, assign NaN value to first element in the array.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      reset_counter ++uint8_tEstimate reset counter. This should be incremented when the estimate resets in any of the dimensions (position, velocity, attitude, angular speed). This is designed to be used when e.g an external SLAM system detects a loop-closure and the estimate jumps.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      estimator_type ++uint8_tMAV_ESTIMATOR_TYPEType of estimator that is providing the odometry.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      quality ++int8_t%invalid:0Optional odometry quality metric as a percentage. -1 = odometry has failed, 0 = unknown/unset quality, 1 = worst quality, 100 = best quality

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      TRAJECTORY_REPRESENTATION_WAYPOINTS (332)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Describe a trajectory using an array of up-to 5 waypoints in the local frame (MAV_FRAME_LOCAL_NED).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      valid_pointsuint8_tNumber of valid points (up-to 5 waypoints are possible)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      pos_xfloat[5]minvalid:[NaN]X-coordinate of waypoint, set to NaN if not being used
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      pos_yfloat[5]minvalid:[NaN]Y-coordinate of waypoint, set to NaN if not being used
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      pos_zfloat[5]minvalid:[NaN]Z-coordinate of waypoint, set to NaN if not being used
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      vel_xfloat[5]m/sinvalid:[NaN]X-velocity of waypoint, set to NaN if not being used
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      vel_yfloat[5]m/sinvalid:[NaN]Y-velocity of waypoint, set to NaN if not being used
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      vel_zfloat[5]m/sinvalid:[NaN]Z-velocity of waypoint, set to NaN if not being used
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      acc_xfloat[5]m/s/sinvalid:[NaN]X-acceleration of waypoint, set to NaN if not being used
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      acc_yfloat[5]m/s/sinvalid:[NaN]Y-acceleration of waypoint, set to NaN if not being used
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      acc_zfloat[5]m/s/sinvalid:[NaN]Z-acceleration of waypoint, set to NaN if not being used
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      pos_yawfloat[5]radinvalid:[NaN]Yaw angle, set to NaN if not being used
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      vel_yawfloat[5]rad/sinvalid:[NaN]Yaw rate, set to NaN if not being used
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      commanduint16_t[5]invalid:[UINT16_MAX] MAV_CMDMAV_CMD command id of waypoint, set to UINT16_MAX if not being used.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      TRAJECTORY_REPRESENTATION_BEZIER (333)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Describe a trajectory using an array of up-to 5 bezier control points in the local frame (MAV_FRAME_LOCAL_NED).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      valid_pointsuint8_tNumber of valid control points (up-to 5 points are possible)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      pos_xfloat[5]mX-coordinate of bezier control points. Set to NaN if not being used
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      pos_yfloat[5]mY-coordinate of bezier control points. Set to NaN if not being used
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      pos_zfloat[5]mZ-coordinate of bezier control points. Set to NaN if not being used
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      deltafloat[5]sBezier time horizon. Set to NaN if velocity/acceleration should not be incorporated
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      pos_yawfloat[5]radYaw. Set to NaN for unchanged

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      CELLULAR_STATUS (334)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Report current used cellular network status

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Field NameTypeValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      statusuint8_tCELLULAR_STATUS_FLAGCellular modem status
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      failure_reasonuint8_tCELLULAR_NETWORK_FAILED_REASONFailure reason when status in in CELLULAR_STATUS_FLAG_FAILED
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      typeuint8_tCELLULAR_NETWORK_RADIO_TYPECellular network radio type: gsm, cdma, lte...
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      qualityuint8_tinvalid:UINT8_MAXSignal quality in percent. If unknown, set to UINT8_MAX
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      mccuint16_tinvalid:UINT16_MAXMobile country code. If unknown, set to UINT16_MAX
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      mncuint16_tinvalid:UINT16_MAXMobile network code. If unknown, set to UINT16_MAX
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      lacuint16_tinvalid:0Location area code. If unknown, set to 0

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Status of the Iridium SBD link.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      timestampuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      last_heartbeatuint64_tusTimestamp of the last successful sbd session. The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      failed_sessionsuint16_tNumber of failed SBD sessions.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      successful_sessionsuint16_tNumber of successful SBD sessions.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      signal_qualityuint8_tSignal quality equal to the number of bars displayed on the ISU signal strength indicator. Range is 0 to 5, where 0 indicates no signal and 5 indicates maximum signal strength.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ring_pendinguint8_t1: Ring call pending, 0: No call pending.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      tx_session_pendinguint8_t1: Transmission session pending, 0: No transmission session pending.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      rx_session_pendinguint8_t1: Receiving session pending, 0: No receiving session pending.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      CELLULAR_CONFIG (336)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Configure cellular modems.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      This message is re-emitted as an acknowledgement by the modem. The message may also be explicitly requested using MAV_CMD_REQUEST_MESSAGE.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Field NameTypeValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      enable_lteuint8_tEnable/disable LTE. 0: setting unchanged, 1: disabled, 2: enabled. Current setting when sent back as a response.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      enable_pinuint8_tEnable/disable PIN on the SIM card. 0: setting unchanged, 1: disabled, 2: enabled. Current setting when sent back as a response.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      pinchar[16]PIN sent to the SIM card. Blank when PIN is disabled. Empty when message is sent back as a response.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      new_pinchar[16]New PIN when changing the PIN. Blank to leave it unchanged. Empty when message is sent back as a response.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      apnchar[32]Name of the cellular APN. Blank to leave it unchanged. Current APN when sent back as a response.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      pukchar[16]Required PUK code in case the user failed to authenticate 3 times with the PIN. Empty when message is sent back as a response.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      roaminguint8_tEnable/disable roaming. 0: setting unchanged, 1: disabled, 2: enabled. Current setting when sent back as a response.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      responseuint8_tCELLULAR_CONFIG_RESPONSEMessage acceptance response (sent back to GS).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      RAW_RPM (339)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      RPM sensor data message.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      indexuint8_tIndex of this RPM sensor (0-indexed)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      frequencyfloatrpmIndicated rate

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      UTM_GLOBAL_POSITION (340)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      The global position resulting from GPS and sensor fusion.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      timeuint64_tusTime of applicability of position (microseconds since UNIX epoch).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      uas_iduint8_t[18]Unique UAS ID.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      latint32_tdegE7Latitude (WGS84)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      lonint32_tdegE7Longitude (WGS84)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      altint32_tmmAltitude (WGS84)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      relative_altint32_tmmAltitude above ground
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      vxint16_tcm/sGround X speed (latitude, positive north)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      vyint16_tcm/sGround Y speed (longitude, positive east)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      vzint16_tcm/sGround Z speed (altitude, positive down)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      h_accuint16_tmmHorizontal position uncertainty (standard deviation)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      v_accuint16_tmmAltitude uncertainty (standard deviation)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      vel_accuint16_tcm/sSpeed uncertainty (standard deviation)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      next_latint32_tdegE7Next waypoint, latitude (WGS84)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      next_lonint32_tdegE7Next waypoint, longitude (WGS84)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      next_altint32_tmmNext waypoint, altitude (WGS84)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      update_rateuint16_tcsinvalid:0Time until next update. Set to 0 if unknown or in data driven mode.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      flight_stateuint8_tUTM_FLIGHT_STATEFlight state
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      flagsuint8_tUTM_DATA_AVAIL_FLAGSBitwise OR combination of the data available flags.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      DEBUG_FLOAT_ARRAY (350)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Large debug/prototyping array. The message uses the maximum available payload for data. The array_id and name fields are used to discriminate between messages in code and in user interfaces (respectively). Do not use in production code.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      namechar[10]Name, for human-friendly display in a Ground Control Station
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      array_iduint16_tUnique ID used to discriminate between arrays

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Messages with same value are from the same source (instance). | | data ++ | float[58] | | data |

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ORBIT_EXECUTION_STATUS (360) — [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Vehicle status report that is sent out while orbit execution is in progress (see MAV_CMD_DO_ORBIT).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      radiusfloatmRadius of the orbit circle. Positive values orbit clockwise, negative values orbit counter-clockwise.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      frameuint8_tMAV_FRAMEThe coordinate system of the fields: x, y, z.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      xint32_tX coordinate of center point. Coordinate system depends on frame field: local = x position in meters 1e4, global = latitude in degrees 1e7.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      yint32_tY coordinate of center point. Coordinate system depends on frame field: local = x position in meters 1e4, global = latitude in degrees 1e7.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      zfloatmAltitude of center point. Coordinate system depends on frame field.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      BATTERY_INFO (370) — [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Battery information that is static, or requires infrequent update. This message should requested using MAV_CMD_REQUEST_MESSAGE and/or streamed at very low rate. BATTERY_STATUS_V2 is used for higher-rate battery status information.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      iduint8_tBattery ID

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Messages with same value are from the same source (instance). | | battery_function | uint8_t | | MAV_BATTERY_FUNCTION | Function of the battery. | | type | uint8_t | | MAV_BATTERY_TYPE | Type (chemistry) of the battery. | | state_of_health | uint8_t | % | invalid:UINT8_MAX | State of Health (SOH) estimate. Typically 100% at the time of manufacture and will decrease over time and use. -1: field not provided. | | cells_in_series | uint8_t | | invalid:0 | Number of battery cells in series. 0: field not provided. | | cycle_count | uint16_t | | invalid:UINT16_MAX | Lifetime count of the number of charge/discharge cycles (https://en.wikipedia.org/wiki/Charge_cycle). UINT16_MAX: field not provided. | | weight | uint16_t | g | invalid:0 | Battery weight. 0: field not provided. | | discharge_minimum_voltage | float | V | invalid:0 | Minimum per-cell voltage when discharging. 0: field not provided. | | charging_minimum_voltage | float | V | invalid:0 | Minimum per-cell voltage when charging. 0: field not provided. | | resting_minimum_voltage | float | V | invalid:0 | Minimum per-cell voltage when resting. 0: field not provided. | | charging_maximum_voltage | float | V | invalid:0 | Maximum per-cell voltage when charged. 0: field not provided. | | charging_maximum_current | float | A | invalid:0 | Maximum pack continuous charge current. 0: field not provided. | | nominal_voltage | float | V | invalid:0 | Battery nominal voltage. Used for conversion between Wh and Ah. 0: field not provided. | | discharge_maximum_current | float | A | invalid:0 | Maximum pack discharge current. 0: field not provided. | | discharge_maximum_burst_current | float | A | invalid:0 | Maximum pack discharge burst current. 0: field not provided. | | design_capacity | float | Ah | invalid:0 | Fully charged design capacity. 0: field not provided. | | full_charge_capacity | float | Ah | invalid:NaN | Predicted battery capacity when fully charged (accounting for battery degradation). NAN: field not provided. | | manufacture_date | char[9] | | invalid:[0] | Manufacture date (DDMMYYYY) in ASCII characters, 0 terminated. All 0: field not provided. | | serial_number | char[32] | | invalid:[0] | Serial number in ASCII characters, 0 terminated. All 0: field not provided. | | name | char[50] | | invalid:[0] | Battery device name. Formatted as manufacturer name then product name, separated with an underscore (in ASCII characters), 0 terminated. All 0: field not provided. |

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      GENERATOR_STATUS (373)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Telemetry of power generation system. Alternator or mechanical generator.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      statusuint64_tMAV_GENERATOR_STATUS_FLAGStatus flags.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      generator_speeduint16_trpminvalid:UINT16_MAXSpeed of electrical generator or alternator. UINT16_MAX: field not provided.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      battery_currentfloatAinvalid:NaNCurrent into/out of battery. Positive for out. Negative for in. NaN: field not provided.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      load_currentfloatAinvalid:NaNCurrent going to the UAV. If battery current not available this is the DC current from the generator. Positive for out. Negative for in. NaN: field not provided
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      power_generatedfloatWinvalid:NaNThe power being generated. NaN: field not provided
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      bus_voltagefloatVVoltage of the bus seen at the generator, or battery bus if battery bus is controlled by generator and at a different voltage to main bus.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      rectifier_temperatureint16_tdegCinvalid:INT16_MAXThe temperature of the rectifier or power converter. INT16_MAX: field not provided.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      bat_current_setpointfloatAinvalid:NaNThe target battery current. Positive for out. Negative for in. NaN: field not provided
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      generator_temperatureint16_tdegCinvalid:INT16_MAXThe temperature of the mechanical motor, fuel cell core or generator. INT16_MAX: field not provided.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      runtimeuint32_tsinvalid:UINT32_MAXSeconds this generator has run since it was rebooted. UINT32_MAX: field not provided.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      time_until_maintenanceint32_tsinvalid:INT32_MAXSeconds until this generator requires maintenance. A negative value indicates maintenance is past-due. INT32_MAX: field not provided.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ACTUATOR_OUTPUT_STATUS (375)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      The raw values of the actuator outputs (e.g. on Pixhawk, from MAIN, AUX ports). This message supersedes SERVO_OUTPUT_RAW.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      time_usecuint64_tusTimestamp (since system boot).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      activeuint32_tActive outputs
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      actuatorfloat[32]Servo / motor output array values. Zero values indicate unused channels.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      TIME_ESTIMATE_TO_TARGET (380) — [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Time/duration estimates for various events and actions given the current vehicle state and position.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      safe_returnint32_tsEstimated time to complete the vehicle's configured "safe return" action from its current position (e.g. RTL, Smart RTL, etc.). -1 indicates that the vehicle is landed, or that no time estimate available.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      landint32_tsEstimated time for vehicle to complete the LAND action from its current position. -1 indicates that the vehicle is landed, or that no time estimate available.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      mission_next_itemint32_tsEstimated time for reaching/completing the currently active mission item. -1 means no time estimate available.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      mission_endint32_tsEstimated time for completing the current mission. -1 means no mission active and/or no estimate available.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      commanded_actionint32_tsEstimated time for completing the current commanded action (i.e. Go To, Takeoff, Land, etc.). -1 means no action active and/or no estimate available.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      TUNNEL (385)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Message for transporting "arbitrary" variable-length data from one component to another (broadcast is not forbidden, but discouraged). The encoding of the data is usually extension specific, i.e. determined by the source, and is usually not documented as part of the MAVLink specification.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Field NameTypeValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      target_systemuint8_tSystem ID (can be 0 for broadcast, but this is discouraged)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      target_componentuint8_tComponent ID (can be 0 for broadcast, but this is discouraged)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      payload_typeuint16_tMAV_TUNNEL_PAYLOAD_TYPEA code that identifies the content of the payload (0 for unknown, which is the default). If this code is less than 32768, it is a 'registered' payload type and the corresponding code should be added to the MAV_TUNNEL_PAYLOAD_TYPE enum. Software creators can register blocks of types as needed. Codes greater than 32767 are considered local experiments and should not be checked in to any widely distributed codebase.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      payload_lengthuint8_tLength of the data transported in payload
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      payloaduint8_t[128]Variable length payload. The payload length is defined by payload_length. The entire content of this block is opaque unless you understand the encoding specified by payload_type.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      CAN_FRAME (386)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      A forwarded CAN frame as requested by MAV_CMD_CAN_FORWARD.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      target_systemuint8_tSystem ID.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      target_componentuint8_tComponent ID.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      busuint8_tBus number
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      lenuint8_tFrame length
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      iduint32_tFrame ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      datauint8_t[8]Frame data

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      CANFD_FRAME (387)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      A forwarded CANFD frame as requested by MAV_CMD_CAN_FORWARD. These are separated from CAN_FRAME as they need different handling (eg. TAO handling)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      target_systemuint8_tSystem ID.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      target_componentuint8_tComponent ID.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      busuint8_tbus number
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      lenuint8_tFrame length
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      iduint32_tFrame ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      datauint8_t[64]Frame data

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      CAN_FILTER_MODIFY (388)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Modify the filter of what CAN messages to forward over the mavlink. This can be used to make CAN forwarding work well on low bandwidth links. The filtering is applied on bits 8 to 24 of the CAN id (2nd and 3rd bytes) which corresponds to the DroneCAN message ID for DroneCAN. Filters with more than 16 IDs can be constructed by sending multiple CAN_FILTER_MODIFY messages.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Field NameTypeValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      target_systemuint8_tSystem ID.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      target_componentuint8_tComponent ID.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      busuint8_tbus number
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      operationuint8_tCAN_FILTER_OPwhat operation to perform on the filter list. See CAN_FILTER_OP enum.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      num_idsuint8_tnumber of IDs in filter list
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      idsuint16_t[16]filter IDs, length num_ids

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ONBOARD_COMPUTER_STATUS (390) — [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Hardware status sent by an onboard computer.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      uptimeuint32_tmsTime since system boot.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      typeuint8_tType of the onboard computer: 0: Mission computer primary, 1: Mission computer backup 1, 2: Mission computer backup 2, 3: Compute node, 4-5: Compute spares, 6-9: Payload computers.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      cpu_coresuint8_t[8]CPU usage on the component in percent (100 - idle). A value of UINT8_MAX implies the field is unused.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      cpu_combineduint8_t[10]Combined CPU usage as the last 10 slices of 100 MS (a histogram). This allows to identify spikes in load that max out the system, but only for a short amount of time. A value of UINT8_MAX implies the field is unused.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      gpu_coresuint8_t[4]GPU usage on the component in percent (100 - idle). A value of UINT8_MAX implies the field is unused.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      gpu_combineduint8_t[10]Combined GPU usage as the last 10 slices of 100 MS (a histogram). This allows to identify spikes in load that max out the system, but only for a short amount of time. A value of UINT8_MAX implies the field is unused.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      temperature_boardint8_tdegCTemperature of the board. A value of INT8_MAX implies the field is unused.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      temperature_coreint8_t[8]degCTemperature of the CPU core. A value of INT8_MAX implies the field is unused.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      fan_speedint16_t[4]rpmFan speeds. A value of INT16_MAX implies the field is unused.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ram_usageuint32_tMiBAmount of used RAM on the component system. A value of UINT32_MAX implies the field is unused.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ram_totaluint32_tMiBTotal amount of RAM on the component system. A value of UINT32_MAX implies the field is unused.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      storage_typeuint32_t[4]Storage type: 0: HDD, 1: SSD, 2: EMMC, 3: SD card (non-removable), 4: SD card (removable). A value of UINT32_MAX implies the field is unused.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      storage_usageuint32_t[4]MiBAmount of used storage space on the component system. A value of UINT32_MAX implies the field is unused.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      storage_totaluint32_t[4]MiBTotal amount of storage space on the component system. A value of UINT32_MAX implies the field is unused.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      link_typeuint32_t[6]Link type: 0-9: UART, 10-19: Wired network, 20-29: Wifi, 30-39: Point-to-point proprietary, 40-49: Mesh proprietary
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      link_tx_rateuint32_t[6]KiB/sNetwork traffic from the component system. A value of UINT32_MAX implies the field is unused.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      link_rx_rateuint32_t[6]KiB/sNetwork traffic to the component system. A value of UINT32_MAX implies the field is unused.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      link_tx_maxuint32_t[6]KiB/sNetwork capacity from the component system. A value of UINT32_MAX implies the field is unused.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      link_rx_maxuint32_t[6]KiB/sNetwork capacity to the component system. A value of UINT32_MAX implies the field is unused.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      COMPONENT_INFORMATION (395) — [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      DEPRECATED: Replaced By COMPONENT_METADATA (2022-04)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Component information message, which may be requested using MAV_CMD_REQUEST_MESSAGE.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      time_boot_msuint32_tmsTimestamp (time since system boot).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      general_metadata_file_crcuint32_tCRC32 of the general metadata file (general_metadata_uri).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      general_metadata_urichar[100]MAVLink FTP URI for the general metadata file (COMP_METADATA_TYPE_GENERAL), which may be compressed with xz. The file contains general component metadata, and may contain URI links for additional metadata (see COMP_METADATA_TYPE). The information is static from boot, and may be generated at compile time. The string needs to be zero terminated.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      peripherals_metadata_file_crcuint32_tCRC32 of peripherals metadata file (peripherals_metadata_uri).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      peripherals_metadata_urichar[100](Optional) MAVLink FTP URI for the peripherals metadata file (COMP_METADATA_TYPE_PERIPHERALS), which may be compressed with xz. This contains data about "attached components" such as UAVCAN nodes. The peripherals are in a separate file because the information must be generated dynamically at runtime. The string needs to be zero terminated.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      COMPONENT_INFORMATION_BASIC (396)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Basic component information data. Should be requested using MAV_CMD_REQUEST_MESSAGE on startup, or when required.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      time_boot_msuint32_tmsTimestamp (time since system boot).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      capabilitiesuint64_tMAV_PROTOCOL_CAPABILITYComponent capability flags
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      time_manufacture_suint32_tsinvalid:0Date of manufacture as a UNIX Epoch time (since 1.1.1970) in seconds.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      vendor_namechar[32]Name of the component vendor. Needs to be zero terminated. The field is optional and can be empty/all zeros.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      model_namechar[32]Name of the component model. Needs to be zero terminated. The field is optional and can be empty/all zeros.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      software_versionchar[24]Software version. The recommended format is SEMVER: 'major.minor.patch' (any format may be used). The field must be zero terminated if it has a value. The field is optional and can be empty/all zeros.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      hardware_versionchar[24]Hardware version. The recommended format is SEMVER: 'major.minor.patch' (any format may be used). The field must be zero terminated if it has a value. The field is optional and can be empty/all zeros.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      serial_numberchar[32]Hardware serial number. The field must be zero terminated if it has a value. The field is optional and can be empty/all zeros.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      COMPONENT_METADATA (397) — [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Component metadata message, which may be requested using MAV_CMD_REQUEST_MESSAGE.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      This contains the MAVLink FTP URI and CRC for the component's general metadata file. The file must be hosted on the component, and may be xz compressed. The file CRC can be used for file caching.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      The general metadata file can be read to get the locations of other metadata files (COMP_METADATA_TYPE) and translations, which may be hosted either on the vehicle or the internet. For more information see: https://mavlink.io/en/services/component_information.html.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Note: Camera components should use CAMERA_INFORMATION instead, and autopilots may use both this message and AUTOPILOT_VERSION.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      time_boot_msuint32_tmsTimestamp (time since system boot).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      file_crcuint32_tCRC32 of the general metadata file.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      urichar[100]MAVLink FTP URI for the general metadata file (COMP_METADATA_TYPE_GENERAL), which may be compressed with xz. The file contains general component metadata, and may contain URI links for additional metadata (see COMP_METADATA_TYPE). The information is static from boot, and may be generated at compile time. The string needs to be zero terminated.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      PLAY_TUNE_V2 (400)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Play vehicle tone/tune (buzzer). Supersedes message PLAY_TUNE.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Field NameTypeValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      target_systemuint8_tSystem ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      target_componentuint8_tComponent ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      formatuint32_tTUNE_FORMATTune format
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      tunechar[248]Tune definition as a NULL-terminated string.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      SUPPORTED_TUNES (401)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Tune formats supported by vehicle. This should be emitted as response to MAV_CMD_REQUEST_MESSAGE.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Field NameTypeValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      target_systemuint8_tSystem ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      target_componentuint8_tComponent ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      formatuint32_tTUNE_FORMATBitfield of supported tune formats.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      EVENT (410) — [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Event message. Each new event from a particular component gets a new sequence number. The same message might be sent multiple times if (re-)requested. Most events are broadcast, some can be specific to a target component (as receivers keep track of the sequence for missed events, all events need to be broadcast. Thus we use destination_component instead of target_component).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      destination_componentuint8_tComponent ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      destination_systemuint8_tSystem ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      iduint32_tEvent ID (as defined in the component metadata)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      event_time_boot_msuint32_tmsTimestamp (time since system boot when the event happened).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      sequenceuint16_tSequence number.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      log_levelsuint8_tLog levels: 4 bits MSB: internal (for logging purposes), 4 bits LSB: external. Levels: Emergency = 0, Alert = 1, Critical = 2, Error = 3, Warning = 4, Notice = 5, Info = 6, Debug = 7, Protocol = 8, Disabled = 9
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      argumentsuint8_t[40]Arguments (depend on event ID).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      CURRENT_EVENT_SEQUENCE (411) — [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Regular broadcast for the current latest event sequence number for a component. This is used to check for dropped events.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Field NameTypeValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      sequenceuint16_tSequence number.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      flagsuint8_tMAV_EVENT_CURRENT_SEQUENCE_FLAGSFlag bitset.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      REQUEST_EVENT (412) — [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Request one or more events to be (re-)sent. If first_sequence==last_sequence, only a single event is requested. Note that first_sequence can be larger than last_sequence (because the sequence number can wrap). Each sequence will trigger an EVENT or EVENT_ERROR response.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      target_systemuint8_tSystem ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      target_componentuint8_tComponent ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      first_sequenceuint16_tFirst sequence number of the requested event.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      last_sequenceuint16_tLast sequence number of the requested event.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      RESPONSE_EVENT_ERROR (413) — [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Response to a REQUEST_EVENT in case of an error (e.g. the event is not available anymore).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Field NameTypeValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      target_systemuint8_tSystem ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      target_componentuint8_tComponent ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      sequenceuint16_tSequence number.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      sequence_oldest_availableuint16_tOldest Sequence number that is still available after the sequence set in REQUEST_EVENT.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      reasonuint8_tMAV_EVENT_ERROR_REASONError reason.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ILLUMINATOR_STATUS (440)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Illuminator status

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      uptime_msuint32_tmsTime since the start-up of the illuminator in ms
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      enableuint8_t0: Illuminators OFF, 1: Illuminators ON
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      mode_bitmaskuint8_tILLUMINATOR_MODESupported illuminator modes
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      error_statusuint32_tILLUMINATOR_ERROR_FLAGSErrors
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      modeuint8_tILLUMINATOR_MODEIlluminator mode
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      brightnessfloat%Illuminator brightness
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      strobe_periodfloatsIlluminator strobing period in seconds
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      strobe_duty_cyclefloat%Illuminator strobing duty cycle
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      temp_cfloatTemperature in Celsius
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      min_strobe_periodfloatsMinimum strobing period in seconds
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      max_strobe_periodfloatsMaximum strobing period in seconds

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      WHEEL_DISTANCE (9000)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Cumulative distance traveled for each reported wheel.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      time_usecuint64_tusTimestamp (synced to UNIX time or since system boot).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      countuint8_tNumber of wheels reported.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      distancedouble[16]mDistance reported by individual wheel encoders. Forward rotations increase values, reverse rotations decrease them. Not all wheels will necessarily have wheel encoders; the mapping of encoders to wheel positions must be agreed/understood by the endpoints.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      WINCH_STATUS (9005)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Winch status.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      time_usecuint64_tusTimestamp (synced to UNIX time or since system boot).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      line_lengthfloatminvalid:NaNLength of line released. NaN if unknown
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      speedfloatm/sinvalid:NaNSpeed line is being released or retracted. Positive values if being released, negative values if being retracted, NaN if unknown
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      tensionfloatkginvalid:NaNTension on the line. NaN if unknown
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      voltagefloatVinvalid:NaNVoltage of the battery supplying the winch. NaN if unknown
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      currentfloatAinvalid:NaNCurrent draw from the winch. NaN if unknown
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      temperatureint16_tdegCinvalid:INT16_MAXTemperature of the motor. INT16_MAX if unknown
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      statusuint32_tMAV_WINCH_STATUS_FLAGStatus flags

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      OPEN_DRONE_ID_BASIC_ID (12900)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Data for filling the OpenDroneID Basic ID message. This and the below messages are primarily meant for feeding data to/from an OpenDroneID implementation. E.g. https://github.com/opendroneid/opendroneid-core-c. These messages are compatible with the ASTM F3411 Remote ID standard and the ASD-STAN prEN 4709-002 Direct Remote ID standard. Additional information and usage of these messages is documented at https://mavlink.io/en/services/opendroneid.html.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Field NameTypeValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      target_systemuint8_tSystem ID (0 for broadcast).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      target_componentuint8_tComponent ID (0 for broadcast).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      id_or_macuint8_t[20]Only used for drone ID data received from other UAs. See detailed description at https://mavlink.io/en/services/opendroneid.html.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      id_typeuint8_tMAV_ODID_ID_TYPEIndicates the format for the uas_id field of this message.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ua_typeuint8_tMAV_ODID_UA_TYPEIndicates the type of UA (Unmanned Aircraft).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      uas_iduint8_t[20]UAS (Unmanned Aircraft System) ID following the format specified by id_type. Shall be filled with nulls in the unused portion of the field.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      OPEN_DRONE_ID_LOCATION (12901)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Data for filling the OpenDroneID Location message. The float data types are 32-bit IEEE 754. The Location message provides the location, altitude, direction and speed of the aircraft.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      target_systemuint8_tSystem ID (0 for broadcast).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      target_componentuint8_tComponent ID (0 for broadcast).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      id_or_macuint8_t[20]Only used for drone ID data received from other UAs. See detailed description at https://mavlink.io/en/services/opendroneid.html.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      statusuint8_tMAV_ODID_STATUSIndicates whether the unmanned aircraft is on the ground or in the air.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      directionuint16_tcdeginvalid:36100Direction over ground (not heading, but direction of movement) measured clockwise from true North: 0 - 35999 centi-degrees. If unknown: 36100 centi-degrees.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      speed_horizontaluint16_tcm/sGround speed. Positive only. If unknown: 25500 cm/s. If speed is larger than 25425 cm/s, use 25425 cm/s.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      speed_verticalint16_tcm/sThe vertical speed. Up is positive. If unknown: 6300 cm/s. If speed is larger than 6200 cm/s, use 6200 cm/s. If lower than -6200 cm/s, use -6200 cm/s.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      latitudeint32_tdegE7invalid:0Current latitude of the unmanned aircraft. If unknown: 0 (both Lat/Lon).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      longitudeint32_tdegE7invalid:0Current longitude of the unmanned aircraft. If unknown: 0 (both Lat/Lon).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      altitude_barometricfloatminvalid:-1000The altitude calculated from the barometric pressue. Reference is against 29.92inHg or 1013.2mb. If unknown: -1000 m.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      altitude_geodeticfloatminvalid:-1000The geodetic altitude as defined by WGS84. If unknown: -1000 m.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      height_referenceuint8_tMAV_ODID_HEIGHT_REFIndicates the reference point for the height field.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      heightfloatminvalid:-1000The current height of the unmanned aircraft above the take-off location or the ground as indicated by height_reference. If unknown: -1000 m.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      horizontal_accuracyuint8_tMAV_ODID_HOR_ACCThe accuracy of the horizontal position.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      vertical_accuracyuint8_tMAV_ODID_VER_ACCThe accuracy of the vertical position.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      barometer_accuracyuint8_tMAV_ODID_VER_ACCThe accuracy of the barometric altitude.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      speed_accuracyuint8_tMAV_ODID_SPEED_ACCThe accuracy of the horizontal and vertical speed.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      timestampfloatsinvalid:0xFFFFSeconds after the full hour with reference to UTC time. Typically the GPS outputs a time-of-week value in milliseconds. First convert that to UTC and then convert for this field using ((float) (time_week_ms % (60601000))) / 1000. If unknown: 0xFFFF.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      timestamp_accuracyuint8_tMAV_ODID_TIME_ACCThe accuracy of the timestamps.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      OPEN_DRONE_ID_AUTHENTICATION (12902)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Data for filling the OpenDroneID Authentication message. The Authentication Message defines a field that can provide a means of authenticity for the identity of the UAS (Unmanned Aircraft System). The Authentication message can have two different formats. For data page 0, the fields PageCount, Length and TimeStamp are present and AuthData is only 17 bytes. For data page 1 through 15, PageCount, Length and TimeStamp are not present and the size of AuthData is 23 bytes.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      target_systemuint8_tSystem ID (0 for broadcast).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      target_componentuint8_tComponent ID (0 for broadcast).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      id_or_macuint8_t[20]Only used for drone ID data received from other UAs. See detailed description at https://mavlink.io/en/services/opendroneid.html.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      authentication_typeuint8_tMAV_ODID_AUTH_TYPEIndicates the type of authentication.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      data_pageuint8_tAllowed range is 0 - 15.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      last_page_indexuint8_tThis field is only present for page 0. Allowed range is 0 - 15. See the description of struct ODID_Auth_data at https://github.com/opendroneid/opendroneid-core-c/blob/master/libopendroneid/opendroneid.h.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      lengthuint8_tbytesThis field is only present for page 0. Total bytes of authentication_data from all data pages. See the description of struct ODID_Auth_data at https://github.com/opendroneid/opendroneid-core-c/blob/master/libopendroneid/opendroneid.h.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      timestampuint32_tsThis field is only present for page 0. 32 bit Unix Timestamp in seconds since 00:00:00 01/01/2019.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      authentication_datauint8_t[23]Opaque authentication data. For page 0, the size is only 17 bytes. For other pages, the size is 23 bytes. Shall be filled with nulls in the unused portion of the field.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      OPEN_DRONE_ID_SELF_ID (12903)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Data for filling the OpenDroneID Self ID message. The Self ID Message is an opportunity for the operator to (optionally) declare their identity and purpose of the flight. This message can provide additional information that could reduce the threat profile of a UA (Unmanned Aircraft) flying in a particular area or manner. This message can also be used to provide optional additional clarification in an emergency/remote ID system failure situation.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Field NameTypeValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      target_systemuint8_tSystem ID (0 for broadcast).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      target_componentuint8_tComponent ID (0 for broadcast).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      id_or_macuint8_t[20]Only used for drone ID data received from other UAs. See detailed description at https://mavlink.io/en/services/opendroneid.html.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      description_typeuint8_tMAV_ODID_DESC_TYPEIndicates the type of the description field.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      descriptionchar[23]Text description or numeric value expressed as ASCII characters. Shall be filled with nulls in the unused portion of the field.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      OPEN_DRONE_ID_SYSTEM (12904)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Data for filling the OpenDroneID System message. The System Message contains general system information including the operator location/altitude and possible aircraft group and/or category/class information.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      target_systemuint8_tSystem ID (0 for broadcast).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      target_componentuint8_tComponent ID (0 for broadcast).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      id_or_macuint8_t[20]Only used for drone ID data received from other UAs. See detailed description at https://mavlink.io/en/services/opendroneid.html.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      operator_location_typeuint8_tMAV_ODID_OPERATOR_LOCATION_TYPESpecifies the operator location type.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      classification_typeuint8_tMAV_ODID_CLASSIFICATION_TYPESpecifies the classification type of the UA.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      operator_latitudeint32_tdegE7invalid:0Latitude of the operator. If unknown: 0 (both Lat/Lon).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      operator_longitudeint32_tdegE7invalid:0Longitude of the operator. If unknown: 0 (both Lat/Lon).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      area_countuint16_tNumber of aircraft in the area, group or formation (default 1). Used only for swarms/multiple UA.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      area_radiusuint16_tmRadius of the cylindrical area of the group or formation (default 0). Used only for swarms/multiple UA.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      area_ceilingfloatminvalid:-1000Area Operations Ceiling relative to WGS84. If unknown: -1000 m. Used only for swarms/multiple UA.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      area_floorfloatminvalid:-1000Area Operations Floor relative to WGS84. If unknown: -1000 m. Used only for swarms/multiple UA.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      category_euuint8_tMAV_ODID_CATEGORY_EUWhen classification_type is MAV_ODID_CLASSIFICATION_TYPE_EU, specifies the category of the UA.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      class_euuint8_tMAV_ODID_CLASS_EUWhen classification_type is MAV_ODID_CLASSIFICATION_TYPE_EU, specifies the class of the UA.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      operator_altitude_geofloatminvalid:-1000Geodetic altitude of the operator relative to WGS84. If unknown: -1000 m.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      timestampuint32_ts32 bit Unix Timestamp in seconds since 00:00:00 01/01/2019.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      OPEN_DRONE_ID_OPERATOR_ID (12905)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Data for filling the OpenDroneID Operator ID message, which contains the CAA (Civil Aviation Authority) issued operator ID.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Field NameTypeValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      target_systemuint8_tSystem ID (0 for broadcast).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      target_componentuint8_tComponent ID (0 for broadcast).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      id_or_macuint8_t[20]Only used for drone ID data received from other UAs. See detailed description at https://mavlink.io/en/services/opendroneid.html.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      operator_id_typeuint8_tMAV_ODID_OPERATOR_ID_TYPEIndicates the type of the operator_id field.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      operator_idchar[20]Text description or numeric value expressed as ASCII characters. Shall be filled with nulls in the unused portion of the field.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      OPEN_DRONE_ID_MESSAGE_PACK (12915)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      An OpenDroneID message pack is a container for multiple encoded OpenDroneID messages (i.e. not in the format given for the above message descriptions but after encoding into the compressed OpenDroneID byte format). Used e.g. when transmitting on Bluetooth 5.0 Long Range/Extended Advertising or on WiFi Neighbor Aware Networking or on WiFi Beacon.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      target_systemuint8_tSystem ID (0 for broadcast).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      target_componentuint8_tComponent ID (0 for broadcast).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      id_or_macuint8_t[20]Only used for drone ID data received from other UAs. See detailed description at https://mavlink.io/en/services/opendroneid.html.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      single_message_sizeuint8_tbytesThis field must currently always be equal to 25 (bytes), since all encoded OpenDroneID messages are specified to have this length.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      msg_pack_sizeuint8_tNumber of encoded messages in the pack (not the number of bytes). Allowed range is 1 - 9.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      messagesuint8_t[225]Concatenation of encoded OpenDroneID messages. Shall be filled with nulls in the unused portion of the field.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      OPEN_DRONE_ID_ARM_STATUS (12918)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Transmitter (remote ID system) is enabled and ready to start sending location and other required information. This is streamed by transmitter. A flight controller uses it as a condition to arm.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Field NameTypeValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      statusuint8_tMAV_ODID_ARM_STATUSStatus level indicating if arming is allowed.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      errorchar[50]Text error message, should be empty if status is good to arm. Fill with nulls in unused portion.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      OPEN_DRONE_ID_SYSTEM_UPDATE (12919)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Update the data in the OPEN_DRONE_ID_SYSTEM message with new location information. This can be sent to update the location information for the operator when no other information in the SYSTEM message has changed. This message allows for efficient operation on radio links which have limited uplink bandwidth while meeting requirements for update frequency of the operator location.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      target_systemuint8_tSystem ID (0 for broadcast).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      target_componentuint8_tComponent ID (0 for broadcast).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      operator_latitudeint32_tdegE7Latitude of the operator. If unknown: 0 (both Lat/Lon).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      operator_longitudeint32_tdegE7Longitude of the operator. If unknown: 0 (both Lat/Lon).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      operator_altitude_geofloatmGeodetic altitude of the operator relative to WGS84. If unknown: -1000 m.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      timestampuint32_ts32 bit Unix Timestamp in seconds since 00:00:00 01/01/2019.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      HYGROMETER_SENSOR (12920)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Temperature and humidity from hygrometer.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      iduint8_tHygrometer ID

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Messages with same value are from the same source (instance). | | temperature | int16_t | cdegC | Temperature | | humidity | uint16_t | c% | Humidity |

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Enumerated Types

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      FIRMWARE_VERSION_TYPE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      These values define the type of firmware release. These values indicate the first version or release of this type. For example the first alpha release would be 64, the second would be 65.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      0FIRMWARE_VERSION_TYPE_DEVdevelopment release
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      64FIRMWARE_VERSION_TYPE_ALPHAalpha release
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      128FIRMWARE_VERSION_TYPE_BETAbeta release
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      192FIRMWARE_VERSION_TYPE_RCrelease candidate
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      255FIRMWARE_VERSION_TYPE_OFFICIALofficial stable release

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      HL_FAILURE_FLAG

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      (Bitmask) Flags to report failure cases over the high latency telemetry.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1HL_FAILURE_FLAG_GPSGPS failure.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2HL_FAILURE_FLAG_DIFFERENTIAL_PRESSUREDifferential pressure sensor failure.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      4HL_FAILURE_FLAG_ABSOLUTE_PRESSUREAbsolute pressure sensor failure.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      8HL_FAILURE_FLAG_3D_ACCELAccelerometer sensor failure.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      16HL_FAILURE_FLAG_3D_GYROGyroscope sensor failure.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      32HL_FAILURE_FLAG_3D_MAGMagnetometer sensor failure.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      64HL_FAILURE_FLAG_TERRAINTerrain subsystem failure.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      128HL_FAILURE_FLAG_BATTERYBattery failure/critical low battery.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      256HL_FAILURE_FLAG_RC_RECEIVERRC receiver failure/no RC connection.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      512HL_FAILURE_FLAG_OFFBOARD_LINKOffboard link failure.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1024HL_FAILURE_FLAG_ENGINEEngine failure.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2048HL_FAILURE_FLAG_GEOFENCEGeofence violation.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      4096HL_FAILURE_FLAG_ESTIMATOREstimator failure, for example measurement rejection or large variances.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      8192HL_FAILURE_FLAG_MISSIONMission failure.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_GOTO

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Actions that may be specified in MAV_CMD_OVERRIDE_GOTO to override mission execution.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      0MAV_GOTO_DO_HOLDHold at the current position.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1MAV_GOTO_DO_CONTINUEContinue with the next item in mission execution.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2MAV_GOTO_HOLD_AT_CURRENT_POSITIONHold at the current position of the system
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      3MAV_GOTO_HOLD_AT_SPECIFIED_POSITIONHold at the position specified in the parameters of the DO_HOLD action

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_MODE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      These defines are predefined OR-combined mode flags. There is no need to use values from this enum, but it

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      simplifies the use of the mode flags. Note that manual input is enabled in all modes as a safety override.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      0MAV_MODE_PREFLIGHTSystem is not ready to fly, booting, calibrating, etc. No flag is set.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      64MAV_MODE_MANUAL_DISARMEDSystem is allowed to be active, under manual (RC) control, no stabilization
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      66MAV_MODE_TEST_DISARMEDUNDEFINED mode. This solely depends on the autopilot - use with caution, intended for developers only.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      80MAV_MODE_STABILIZE_DISARMEDSystem is allowed to be active, under assisted RC control.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      88MAV_MODE_GUIDED_DISARMEDSystem is allowed to be active, under autonomous control, manual setpoint
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      92MAV_MODE_AUTO_DISARMEDSystem is allowed to be active, under autonomous control and navigation (the trajectory is decided onboard and not pre-programmed by waypoints)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      192MAV_MODE_MANUAL_ARMEDSystem is allowed to be active, under manual (RC) control, no stabilization
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      194MAV_MODE_TEST_ARMEDUNDEFINED mode. This solely depends on the autopilot - use with caution, intended for developers only.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      208MAV_MODE_STABILIZE_ARMEDSystem is allowed to be active, under assisted RC control.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      216MAV_MODE_GUIDED_ARMEDSystem is allowed to be active, under autonomous control, manual setpoint
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      220MAV_MODE_AUTO_ARMEDSystem is allowed to be active, under autonomous control and navigation (the trajectory is decided onboard and not pre-programmed by waypoints)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_SYS_STATUS_SENSOR

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      (Bitmask) These encode the sensors whose status is sent as part of the SYS_STATUS message.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1MAV_SYS_STATUS_SENSOR_3D_GYRO0x01 3D gyro
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2MAV_SYS_STATUS_SENSOR_3D_ACCEL0x02 3D accelerometer
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      4MAV_SYS_STATUS_SENSOR_3D_MAG0x04 3D magnetometer
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      8MAV_SYS_STATUS_SENSOR_ABSOLUTE_PRESSURE0x08 absolute pressure
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      16MAV_SYS_STATUS_SENSOR_DIFFERENTIAL_PRESSURE0x10 differential pressure
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      32MAV_SYS_STATUS_SENSOR_GPS0x20 GPS
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      64MAV_SYS_STATUS_SENSOR_OPTICAL_FLOW0x40 optical flow
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      128MAV_SYS_STATUS_SENSOR_VISION_POSITION0x80 computer vision position
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      256MAV_SYS_STATUS_SENSOR_LASER_POSITION0x100 laser based position
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      512MAV_SYS_STATUS_SENSOR_EXTERNAL_GROUND_TRUTH0x200 external ground truth (Vicon or Leica)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1024MAV_SYS_STATUS_SENSOR_ANGULAR_RATE_CONTROL0x400 3D angular rate control
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2048MAV_SYS_STATUS_SENSOR_ATTITUDE_STABILIZATION0x800 attitude stabilization
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      4096MAV_SYS_STATUS_SENSOR_YAW_POSITION0x1000 yaw position
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      8192MAV_SYS_STATUS_SENSOR_Z_ALTITUDE_CONTROL0x2000 z/altitude control
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      16384MAV_SYS_STATUS_SENSOR_XY_POSITION_CONTROL0x4000 x/y position control
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      32768MAV_SYS_STATUS_SENSOR_MOTOR_OUTPUTS0x8000 motor outputs / control
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      65536MAV_SYS_STATUS_SENSOR_RC_RECEIVER0x10000 RC receiver
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      131072MAV_SYS_STATUS_SENSOR_3D_GYRO20x20000 2nd 3D gyro
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      262144MAV_SYS_STATUS_SENSOR_3D_ACCEL20x40000 2nd 3D accelerometer
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      524288MAV_SYS_STATUS_SENSOR_3D_MAG20x80000 2nd 3D magnetometer
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1048576MAV_SYS_STATUS_GEOFENCE0x100000 geofence
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2097152MAV_SYS_STATUS_AHRS0x200000 AHRS subsystem health
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      4194304MAV_SYS_STATUS_TERRAIN0x400000 Terrain subsystem health
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      8388608MAV_SYS_STATUS_REVERSE_MOTOR0x800000 Motors are reversed
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      16777216MAV_SYS_STATUS_LOGGING0x1000000 Logging
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      33554432MAV_SYS_STATUS_SENSOR_BATTERY0x2000000 Battery
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      67108864MAV_SYS_STATUS_SENSOR_PROXIMITY0x4000000 Proximity
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      134217728MAV_SYS_STATUS_SENSOR_SATCOM0x8000000 Satellite Communication
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      268435456MAV_SYS_STATUS_PREARM_CHECK0x10000000 pre-arm check status. Always healthy when armed
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      536870912MAV_SYS_STATUS_OBSTACLE_AVOIDANCE0x20000000 Avoidance/collision prevention
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1073741824MAV_SYS_STATUS_SENSOR_PROPULSION0x40000000 propulsion (actuator, esc, motor or propellor)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2147483648MAV_SYS_STATUS_EXTENSION_USED0x80000000 Extended bit-field are used for further sensor status bits (needs to be set in onboard_control_sensors_present only)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_SYS_STATUS_SENSOR_EXTENDED

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      (Bitmask) These encode the sensors whose status is sent as part of the SYS_STATUS message in the extended fields.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1MAV_SYS_STATUS_RECOVERY_SYSTEM0x01 Recovery system (parachute, balloon, retracts etc)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_FRAME

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Coordinate frames used by MAVLink. Not all frames are supported by all commands, messages, or vehicles.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Global frames use the following naming conventions:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Local frames use the following naming conventions:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Some deprecated frames do not follow these conventions (e.g. MAV_FRAME_BODY_NED and MAV_FRAME_BODY_OFFSET_NED).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      0MAV_FRAME_GLOBALGlobal (WGS84) coordinate frame + altitude relative to mean sea level (MSL).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1MAV_FRAME_LOCAL_NEDNED local tangent frame (x: North, y: East, z: Down) with origin fixed relative to earth.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2MAV_FRAME_MISSIONNOT a coordinate frame, indicates a mission command.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      3MAV_FRAME_GLOBAL_RELATIVE_ALTGlobal (WGS84) coordinate frame + altitude relative to the home position.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      4MAV_FRAME_LOCAL_ENUENU local tangent frame (x: East, y: North, z: Up) with origin fixed relative to earth.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      5MAV_FRAME_GLOBAL_INTGlobal (WGS84) coordinate frame (scaled) + altitude relative to mean sea level (MSL).DEPRECATED: Replaced By MAV_FRAME_GLOBAL (2024-03) — Use MAV_FRAME_GLOBAL in COMMAND_INT (and elsewhere) as a synonymous replacement.)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      6MAV_FRAME_GLOBAL_RELATIVE_ALT_INTGlobal (WGS84) coordinate frame (scaled) + altitude relative to the home position.DEPRECATED: Replaced By MAV_FRAME_GLOBAL_RELATIVE_ALT (2024-03) — Use MAV_FRAME_GLOBAL_RELATIVE_ALT in COMMAND_INT (and elsewhere) as a synonymous replacement.)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      7MAV_FRAME_LOCAL_OFFSET_NEDNED local tangent frame (x: North, y: East, z: Down) with origin that travels with the vehicle.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      8MAV_FRAME_BODY_NEDSame as MAV_FRAME_LOCAL_NED when used to represent position values. Same as MAV_FRAME_BODY_FRD when used with velocity/acceleration values.DEPRECATED: Replaced By MAV_FRAME_BODY_FRD (2019-08)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      9MAV_FRAME_BODY_OFFSET_NEDThis is the same as MAV_FRAME_BODY_FRD.DEPRECATED: Replaced By MAV_FRAME_BODY_FRD (2019-08)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      10MAV_FRAME_GLOBAL_TERRAIN_ALTGlobal (WGS84) coordinate frame with AGL altitude (altitude at ground level).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      11MAV_FRAME_GLOBAL_TERRAIN_ALT_INTGlobal (WGS84) coordinate frame (scaled) with AGL altitude (altitude at ground level).DEPRECATED: Replaced By MAV_FRAME_GLOBAL_TERRAIN_ALT (2024-03) — Use MAV_FRAME_GLOBAL_TERRAIN_ALT in COMMAND_INT (and elsewhere) as a synonymous replacement.)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      12MAV_FRAME_BODY_FRDFRD local frame aligned to the vehicle's attitude (x: Forward, y: Right, z: Down) with an origin that travels with vehicle.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      13MAV_FRAME_RESERVED_13MAV_FRAME_BODY_FLU - Body fixed frame of reference, Z-up (x: Forward, y: Left, z: Up).DEPRECATED:(2019-04)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      14MAV_FRAME_RESERVED_14MAV_FRAME_MOCAP_NED - Odometry local coordinate frame of data given by a motion capture system, Z-down (x: North, y: East, z: Down).DEPRECATED: Replaced By MAV_FRAME_LOCAL_FRD (2019-04)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      15MAV_FRAME_RESERVED_15MAV_FRAME_MOCAP_ENU - Odometry local coordinate frame of data given by a motion capture system, Z-up (x: East, y: North, z: Up).DEPRECATED: Replaced By MAV_FRAME_LOCAL_FLU (2019-04)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      16MAV_FRAME_RESERVED_16MAV_FRAME_VISION_NED - Odometry local coordinate frame of data given by a vision estimation system, Z-down (x: North, y: East, z: Down).DEPRECATED: Replaced By MAV_FRAME_LOCAL_FRD (2019-04)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      17MAV_FRAME_RESERVED_17MAV_FRAME_VISION_ENU - Odometry local coordinate frame of data given by a vision estimation system, Z-up (x: East, y: North, z: Up).DEPRECATED: Replaced By MAV_FRAME_LOCAL_FLU (2019-04)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      18MAV_FRAME_RESERVED_18MAV_FRAME_ESTIM_NED - Odometry local coordinate frame of data given by an estimator running onboard the vehicle, Z-down (x: North, y: East, z: Down).DEPRECATED: Replaced By MAV_FRAME_LOCAL_FRD (2019-04)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      19MAV_FRAME_RESERVED_19MAV_FRAME_ESTIM_ENU - Odometry local coordinate frame of data given by an estimator running onboard the vehicle, Z-up (x: East, y: North, z: Up).DEPRECATED: Replaced By MAV_FRAME_LOCAL_FLU (2019-04)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      20MAV_FRAME_LOCAL_FRDFRD local tangent frame (x: Forward, y: Right, z: Down) with origin fixed relative to earth. The forward axis is aligned to the front of the vehicle in the horizontal plane.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      21MAV_FRAME_LOCAL_FLUFLU local tangent frame (x: Forward, y: Left, z: Up) with origin fixed relative to earth. The forward axis is aligned to the front of the vehicle in the horizontal plane.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      0MAVLINK_DATA_STREAM_IMG_JPEG
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1MAVLINK_DATA_STREAM_IMG_BMP
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2MAVLINK_DATA_STREAM_IMG_RAW8U
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      3MAVLINK_DATA_STREAM_IMG_RAW32U
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      4MAVLINK_DATA_STREAM_IMG_PGM
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      5MAVLINK_DATA_STREAM_IMG_PNG

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      FENCE_ACTION

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Actions following geofence breach.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      0FENCE_ACTION_NONEDisable fenced mode. If used in a plan this would mean the next fence is disabled.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1FENCE_ACTION_GUIDEDFly to geofence MAV_CMD_NAV_FENCE_RETURN_POINT in GUIDED mode. Note: This action is only supported by ArduPlane, and may not be supported in all versions.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2FENCE_ACTION_REPORTReport fence breach, but don't take action
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      3FENCE_ACTION_GUIDED_THR_PASSFly to geofence MAV_CMD_NAV_FENCE_RETURN_POINT with manual throttle control in GUIDED mode. Note: This action is only supported by ArduPlane, and may not be supported in all versions.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      4FENCE_ACTION_RTLReturn/RTL mode.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      5FENCE_ACTION_HOLDHold at current location.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      6FENCE_ACTION_TERMINATETermination failsafe. Motors are shut down (some flight stacks may trigger other failsafe actions).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      7FENCE_ACTION_LANDLand at current location.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      FENCE_BREACH

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      0FENCE_BREACH_NONENo last fence breach
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1FENCE_BREACH_MINALTBreached minimum altitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2FENCE_BREACH_MAXALTBreached maximum altitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      3FENCE_BREACH_BOUNDARYBreached fence boundary

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      FENCE_MITIGATE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Actions being taken to mitigate/prevent fence breach

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      0FENCE_MITIGATE_UNKNOWNUnknown
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1FENCE_MITIGATE_NONENo actions being taken
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2FENCE_MITIGATE_VEL_LIMITVelocity limiting active to prevent breach

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      FENCE_TYPE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      (Bitmask)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      0FENCE_TYPE_ALLAll fence types
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1FENCE_TYPE_ALT_MAXMaximum altitude fence
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2FENCE_TYPE_CIRCLECircle fence
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      4FENCE_TYPE_POLYGONPolygon fence
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      8FENCE_TYPE_ALT_MINMinimum altitude fence

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_MOUNT_MODE — [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      DEPRECATED: Replaced By GIMBAL_MANAGER_FLAGS (2020-01)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Enumeration of possible mount operation modes. This message is used by obsolete/deprecated gimbal messages.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      0MAV_MOUNT_MODE_RETRACTLoad and keep safe position (Roll,Pitch,Yaw) from permanent memory and stop stabilization
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1MAV_MOUNT_MODE_NEUTRALLoad and keep neutral position (Roll,Pitch,Yaw) from permanent memory.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2MAV_MOUNT_MODE_MAVLINK_TARGETINGLoad neutral position and start MAVLink Roll,Pitch,Yaw control with stabilization
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      3MAV_MOUNT_MODE_RC_TARGETINGLoad neutral position and start RC Roll,Pitch,Yaw control with stabilization
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      4MAV_MOUNT_MODE_GPS_POINTLoad neutral position and start to point to Lat,Lon,Alt
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      5MAV_MOUNT_MODE_SYSID_TARGETGimbal tracks system with specified system ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      6MAV_MOUNT_MODE_HOME_LOCATIONGimbal tracks home position

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      GIMBAL_DEVICE_CAP_FLAGS

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      (Bitmask) Gimbal device (low level) capability flags (bitmap).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1GIMBAL_DEVICE_CAP_FLAGS_HAS_RETRACTGimbal device supports a retracted position.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2GIMBAL_DEVICE_CAP_FLAGS_HAS_NEUTRALGimbal device supports a horizontal, forward looking position, stabilized.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      4GIMBAL_DEVICE_CAP_FLAGS_HAS_ROLL_AXISGimbal device supports rotating around roll axis.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      8GIMBAL_DEVICE_CAP_FLAGS_HAS_ROLL_FOLLOWGimbal device supports to follow a roll angle relative to the vehicle.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      16GIMBAL_DEVICE_CAP_FLAGS_HAS_ROLL_LOCKGimbal device supports locking to a roll angle (generally that's the default with roll stabilized).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      32GIMBAL_DEVICE_CAP_FLAGS_HAS_PITCH_AXISGimbal device supports rotating around pitch axis.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      64GIMBAL_DEVICE_CAP_FLAGS_HAS_PITCH_FOLLOWGimbal device supports to follow a pitch angle relative to the vehicle.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      128GIMBAL_DEVICE_CAP_FLAGS_HAS_PITCH_LOCKGimbal device supports locking to a pitch angle (generally that's the default with pitch stabilized).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      256GIMBAL_DEVICE_CAP_FLAGS_HAS_YAW_AXISGimbal device supports rotating around yaw axis.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      512GIMBAL_DEVICE_CAP_FLAGS_HAS_YAW_FOLLOWGimbal device supports to follow a yaw angle relative to the vehicle (generally that's the default).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1024GIMBAL_DEVICE_CAP_FLAGS_HAS_YAW_LOCKGimbal device supports locking to an absolute heading, i.e., yaw angle relative to North (earth frame, often this is an option available).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2048GIMBAL_DEVICE_CAP_FLAGS_SUPPORTS_INFINITE_YAWGimbal device supports yawing/panning infinitely (e.g. using slip disk).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      4096GIMBAL_DEVICE_CAP_FLAGS_SUPPORTS_YAW_IN_EARTH_FRAMEGimbal device supports yaw angles and angular velocities relative to North (earth frame). This usually requires support by an autopilot via AUTOPILOT_STATE_FOR_GIMBAL_DEVICE. Support can go on and off during runtime, which is reported by the flag GIMBAL_DEVICE_FLAGS_CAN_ACCEPT_YAW_IN_EARTH_FRAME.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      8192GIMBAL_DEVICE_CAP_FLAGS_HAS_RC_INPUTSGimbal device supports radio control inputs as an alternative input for controlling the gimbal orientation.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      GIMBAL_MANAGER_CAP_FLAGS

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      (Bitmask) Gimbal manager high level capability flags (bitmap). The first 16 bits are identical to the GIMBAL_DEVICE_CAP_FLAGS. However, the gimbal manager does not need to copy the flags from the gimbal but can also enhance the capabilities and thus add flags.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1GIMBAL_MANAGER_CAP_FLAGS_HAS_RETRACTBased on GIMBAL_DEVICE_CAP_FLAGS_HAS_RETRACT.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2GIMBAL_MANAGER_CAP_FLAGS_HAS_NEUTRALBased on GIMBAL_DEVICE_CAP_FLAGS_HAS_NEUTRAL.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      4GIMBAL_MANAGER_CAP_FLAGS_HAS_ROLL_AXISBased on GIMBAL_DEVICE_CAP_FLAGS_HAS_ROLL_AXIS.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      8GIMBAL_MANAGER_CAP_FLAGS_HAS_ROLL_FOLLOWBased on GIMBAL_DEVICE_CAP_FLAGS_HAS_ROLL_FOLLOW.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      16GIMBAL_MANAGER_CAP_FLAGS_HAS_ROLL_LOCKBased on GIMBAL_DEVICE_CAP_FLAGS_HAS_ROLL_LOCK.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      32GIMBAL_MANAGER_CAP_FLAGS_HAS_PITCH_AXISBased on GIMBAL_DEVICE_CAP_FLAGS_HAS_PITCH_AXIS.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      64GIMBAL_MANAGER_CAP_FLAGS_HAS_PITCH_FOLLOWBased on GIMBAL_DEVICE_CAP_FLAGS_HAS_PITCH_FOLLOW.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      128GIMBAL_MANAGER_CAP_FLAGS_HAS_PITCH_LOCKBased on GIMBAL_DEVICE_CAP_FLAGS_HAS_PITCH_LOCK.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      256GIMBAL_MANAGER_CAP_FLAGS_HAS_YAW_AXISBased on GIMBAL_DEVICE_CAP_FLAGS_HAS_YAW_AXIS.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      512GIMBAL_MANAGER_CAP_FLAGS_HAS_YAW_FOLLOWBased on GIMBAL_DEVICE_CAP_FLAGS_HAS_YAW_FOLLOW.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1024GIMBAL_MANAGER_CAP_FLAGS_HAS_YAW_LOCKBased on GIMBAL_DEVICE_CAP_FLAGS_HAS_YAW_LOCK.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2048GIMBAL_MANAGER_CAP_FLAGS_SUPPORTS_INFINITE_YAWBased on GIMBAL_DEVICE_CAP_FLAGS_SUPPORTS_INFINITE_YAW.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      4096GIMBAL_MANAGER_CAP_FLAGS_SUPPORTS_YAW_IN_EARTH_FRAMEBased on GIMBAL_DEVICE_CAP_FLAGS_SUPPORTS_YAW_IN_EARTH_FRAME.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      8192GIMBAL_MANAGER_CAP_FLAGS_HAS_RC_INPUTSBased on GIMBAL_DEVICE_CAP_FLAGS_HAS_RC_INPUTS.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      65536GIMBAL_MANAGER_CAP_FLAGS_CAN_POINT_LOCATION_LOCALGimbal manager supports to point to a local position.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      131072GIMBAL_MANAGER_CAP_FLAGS_CAN_POINT_LOCATION_GLOBALGimbal manager supports to point to a global latitude, longitude, altitude position.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      GIMBAL_DEVICE_FLAGS

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      (Bitmask) Flags for gimbal device (lower level) operation.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1GIMBAL_DEVICE_FLAGS_RETRACTSet to retracted safe position (no stabilization), takes precedence over all other flags.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2GIMBAL_DEVICE_FLAGS_NEUTRALSet to neutral/default position, taking precedence over all other flags except RETRACT. Neutral is commonly forward-facing and horizontal (roll=pitch=yaw=0) but may be any orientation.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      4GIMBAL_DEVICE_FLAGS_ROLL_LOCKLock roll angle to absolute angle relative to horizon (not relative to vehicle). This is generally the default with a stabilizing gimbal.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      8GIMBAL_DEVICE_FLAGS_PITCH_LOCKLock pitch angle to absolute angle relative to horizon (not relative to vehicle). This is generally the default with a stabilizing gimbal.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      16GIMBAL_DEVICE_FLAGS_YAW_LOCKLock yaw angle to absolute angle relative to North (not relative to vehicle). If this flag is set, the yaw angle and z component of angular velocity are relative to North (earth frame, x-axis pointing North), else they are relative to the vehicle heading (vehicle frame, earth frame rotated so that the x-axis is pointing forward).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      32GIMBAL_DEVICE_FLAGS_YAW_IN_VEHICLE_FRAMEYaw angle and z component of angular velocity are relative to the vehicle heading (vehicle frame, earth frame rotated such that the x-axis is pointing forward).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      64GIMBAL_DEVICE_FLAGS_YAW_IN_EARTH_FRAMEYaw angle and z component of angular velocity are relative to North (earth frame, x-axis is pointing North).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      128GIMBAL_DEVICE_FLAGS_ACCEPTS_YAW_IN_EARTH_FRAMEGimbal device can accept yaw angle inputs relative to North (earth frame). This flag is only for reporting (attempts to set this flag are ignored).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      256GIMBAL_DEVICE_FLAGS_RC_EXCLUSIVEThe gimbal orientation is set exclusively by the RC signals feed to the gimbal's radio control inputs. MAVLink messages for setting the gimbal orientation (GIMBAL_DEVICE_SET_ATTITUDE) are ignored.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      512GIMBAL_DEVICE_FLAGS_RC_MIXEDThe gimbal orientation is determined by combining/mixing the RC signals feed to the gimbal's radio control inputs and the MAVLink messages for setting the gimbal orientation (GIMBAL_DEVICE_SET_ATTITUDE). How these two controls are combined or mixed is not defined by the protocol but is up to the implementation.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      GIMBAL_MANAGER_FLAGS

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      (Bitmask) Flags for high level gimbal manager operation The first 16 bits are identical to the GIMBAL_DEVICE_FLAGS.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1GIMBAL_MANAGER_FLAGS_RETRACTBased on GIMBAL_DEVICE_FLAGS_RETRACT.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2GIMBAL_MANAGER_FLAGS_NEUTRALBased on GIMBAL_DEVICE_FLAGS_NEUTRAL.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      4GIMBAL_MANAGER_FLAGS_ROLL_LOCKBased on GIMBAL_DEVICE_FLAGS_ROLL_LOCK.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      8GIMBAL_MANAGER_FLAGS_PITCH_LOCKBased on GIMBAL_DEVICE_FLAGS_PITCH_LOCK.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      16GIMBAL_MANAGER_FLAGS_YAW_LOCKBased on GIMBAL_DEVICE_FLAGS_YAW_LOCK.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      32GIMBAL_MANAGER_FLAGS_YAW_IN_VEHICLE_FRAMEBased on GIMBAL_DEVICE_FLAGS_YAW_IN_VEHICLE_FRAME.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      64GIMBAL_MANAGER_FLAGS_YAW_IN_EARTH_FRAMEBased on GIMBAL_DEVICE_FLAGS_YAW_IN_EARTH_FRAME.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      128GIMBAL_MANAGER_FLAGS_ACCEPTS_YAW_IN_EARTH_FRAMEBased on GIMBAL_DEVICE_FLAGS_ACCEPTS_YAW_IN_EARTH_FRAME.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      256GIMBAL_MANAGER_FLAGS_RC_EXCLUSIVEBased on GIMBAL_DEVICE_FLAGS_RC_EXCLUSIVE.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      512GIMBAL_MANAGER_FLAGS_RC_MIXEDBased on GIMBAL_DEVICE_FLAGS_RC_MIXED.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      GIMBAL_DEVICE_ERROR_FLAGS

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      (Bitmask) Gimbal device (low level) error flags (bitmap, 0 means no error)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1GIMBAL_DEVICE_ERROR_FLAGS_AT_ROLL_LIMITGimbal device is limited by hardware roll limit.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2GIMBAL_DEVICE_ERROR_FLAGS_AT_PITCH_LIMITGimbal device is limited by hardware pitch limit.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      4GIMBAL_DEVICE_ERROR_FLAGS_AT_YAW_LIMITGimbal device is limited by hardware yaw limit.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      8GIMBAL_DEVICE_ERROR_FLAGS_ENCODER_ERRORThere is an error with the gimbal encoders.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      16GIMBAL_DEVICE_ERROR_FLAGS_POWER_ERRORThere is an error with the gimbal power source.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      32GIMBAL_DEVICE_ERROR_FLAGS_MOTOR_ERRORThere is an error with the gimbal motors.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      64GIMBAL_DEVICE_ERROR_FLAGS_SOFTWARE_ERRORThere is an error with the gimbal's software.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      128GIMBAL_DEVICE_ERROR_FLAGS_COMMS_ERRORThere is an error with the gimbal's communication.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      256GIMBAL_DEVICE_ERROR_FLAGS_CALIBRATION_RUNNINGGimbal device is currently calibrating.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      512GIMBAL_DEVICE_ERROR_FLAGS_NO_MANAGERGimbal device is not assigned to a gimbal manager.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      GRIPPER_ACTIONS

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Gripper actions.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      0GRIPPER_ACTION_RELEASEGripper release cargo.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1GRIPPER_ACTION_GRABGripper grab onto cargo.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      WINCH_ACTIONS

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Winch actions.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      0WINCH_RELAXEDAllow motor to freewheel.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1WINCH_RELATIVE_LENGTH_CONTROLWind or unwind specified length of line, optionally using specified rate.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2WINCH_RATE_CONTROLWind or unwind line at specified rate.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      3WINCH_LOCKPerform the locking sequence to relieve motor while in the fully retracted position. Only action and instance command parameters are used, others are ignored.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      4WINCH_DELIVERSequence of drop, slow down, touch down, reel up, lock. Only action and instance command parameters are used, others are ignored.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      5WINCH_HOLDEngage motor and hold current position. Only action and instance command parameters are used, others are ignored.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      6WINCH_RETRACTReturn the reel to the fully retracted position. Only action and instance command parameters are used, others are ignored.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      7WINCH_LOAD_LINELoad the reel with line. The winch will calculate the total loaded length and stop when the tension exceeds a threshold. Only action and instance command parameters are used, others are ignored.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      8WINCH_ABANDON_LINESpool out the entire length of the line. Only action and instance command parameters are used, others are ignored.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      9WINCH_LOAD_PAYLOADSpools out just enough to present the hook to the user to load the payload. Only action and instance command parameters are used, others are ignored

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      UAVCAN_NODE_HEALTH

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Generalized UAVCAN node health

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      0UAVCAN_NODE_HEALTH_OKThe node is functioning properly.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1UAVCAN_NODE_HEALTH_WARNINGA critical parameter went out of range or the node has encountered a minor failure.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2UAVCAN_NODE_HEALTH_ERRORThe node has encountered a major failure.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      3UAVCAN_NODE_HEALTH_CRITICALThe node has suffered a fatal malfunction.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      UAVCAN_NODE_MODE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Generalized UAVCAN node mode

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      0UAVCAN_NODE_MODE_OPERATIONALThe node is performing its primary functions.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1UAVCAN_NODE_MODE_INITIALIZATIONThe node is initializing; this mode is entered immediately after startup.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2UAVCAN_NODE_MODE_MAINTENANCEThe node is under maintenance.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      3UAVCAN_NODE_MODE_SOFTWARE_UPDATEThe node is in the process of updating its software.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      7UAVCAN_NODE_MODE_OFFLINEThe node is no longer available online.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ESC_CONNECTION_TYPE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Indicates the ESC connection type.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      0ESC_CONNECTION_TYPE_PPMTraditional PPM ESC.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1ESC_CONNECTION_TYPE_SERIALSerial Bus connected ESC.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2ESC_CONNECTION_TYPE_ONESHOTOne Shot PPM ESC.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      3ESC_CONNECTION_TYPE_I2CI2C ESC.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      4ESC_CONNECTION_TYPE_CANCAN-Bus ESC.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      5ESC_CONNECTION_TYPE_DSHOTDShot ESC.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ESC_FAILURE_FLAGS

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      (Bitmask) Flags to report ESC failures.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      0ESC_FAILURE_NONENo ESC failure.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1ESC_FAILURE_OVER_CURRENTOver current failure.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2ESC_FAILURE_OVER_VOLTAGEOver voltage failure.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      4ESC_FAILURE_OVER_TEMPERATUREOver temperature failure.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      8ESC_FAILURE_OVER_RPMOver RPM failure.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      16ESC_FAILURE_INCONSISTENT_CMDInconsistent command failure i.e. out of bounds.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      32ESC_FAILURE_MOTOR_STUCKMotor stuck failure.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      64ESC_FAILURE_GENERICGeneric ESC failure.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      STORAGE_STATUS

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Flags to indicate the status of camera storage.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      0STORAGE_STATUS_EMPTYStorage is missing (no microSD card loaded for example.)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1STORAGE_STATUS_UNFORMATTEDStorage present but unformatted.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2STORAGE_STATUS_READYStorage present and ready.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      3STORAGE_STATUS_NOT_SUPPORTEDCamera does not supply storage status information. Capacity information in STORAGE_INFORMATION fields will be ignored.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      STORAGE_TYPE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Flags to indicate the type of storage.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      0STORAGE_TYPE_UNKNOWNStorage type is not known.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1STORAGE_TYPE_USB_STICKStorage type is USB device.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2STORAGE_TYPE_SDStorage type is SD card.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      3STORAGE_TYPE_MICROSDStorage type is microSD card.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      4STORAGE_TYPE_CFStorage type is CFast.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      5STORAGE_TYPE_CFEStorage type is CFexpress.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      6STORAGE_TYPE_XQDStorage type is XQD.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      7STORAGE_TYPE_HDStorage type is HD mass storage type.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      254STORAGE_TYPE_OTHERStorage type is other, not listed type.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      STORAGE_USAGE_FLAG

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Flags to indicate usage for a particular storage (see STORAGE_INFORMATION.storage_usage and MAV_CMD_SET_STORAGE_USAGE).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1STORAGE_USAGE_FLAG_SETAlways set to 1 (indicates STORAGE_INFORMATION.storage_usage is supported).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2STORAGE_USAGE_FLAG_PHOTOStorage for saving photos.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      4STORAGE_USAGE_FLAG_VIDEOStorage for saving videos.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      8STORAGE_USAGE_FLAG_LOGSStorage for saving logs.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ORBIT_YAW_BEHAVIOUR

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Yaw behaviour during orbit flight.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      0ORBIT_YAW_BEHAVIOUR_HOLD_FRONT_TO_CIRCLE_CENTERVehicle front points to the center (default).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1ORBIT_YAW_BEHAVIOUR_HOLD_INITIAL_HEADINGVehicle front holds heading when message received.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2ORBIT_YAW_BEHAVIOUR_UNCONTROLLEDYaw uncontrolled.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      3ORBIT_YAW_BEHAVIOUR_HOLD_FRONT_TANGENT_TO_CIRCLEVehicle front follows flight path (tangential to circle).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      4ORBIT_YAW_BEHAVIOUR_RC_CONTROLLEDYaw controlled by RC input.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      5ORBIT_YAW_BEHAVIOUR_UNCHANGEDVehicle uses current yaw behaviour (unchanged). The vehicle-default yaw behaviour is used if this value is specified when orbit is first commanded.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      WIFI_CONFIG_AP_RESPONSE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Possible responses from a WIFI_CONFIG_AP message.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      0WIFI_CONFIG_AP_RESPONSE_UNDEFINEDUndefined response. Likely an indicative of a system that doesn't support this request.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1WIFI_CONFIG_AP_RESPONSE_ACCEPTEDChanges accepted.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2WIFI_CONFIG_AP_RESPONSE_REJECTEDChanges rejected.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      3WIFI_CONFIG_AP_RESPONSE_MODE_ERRORInvalid Mode.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      4WIFI_CONFIG_AP_RESPONSE_SSID_ERRORInvalid SSID.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      5WIFI_CONFIG_AP_RESPONSE_PASSWORD_ERRORInvalid Password.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      CELLULAR_CONFIG_RESPONSE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Possible responses from a CELLULAR_CONFIG message.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      0CELLULAR_CONFIG_RESPONSE_ACCEPTEDChanges accepted.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1CELLULAR_CONFIG_RESPONSE_APN_ERRORInvalid APN.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2CELLULAR_CONFIG_RESPONSE_PIN_ERRORInvalid PIN.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      3CELLULAR_CONFIG_RESPONSE_REJECTEDChanges rejected.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      4CELLULAR_CONFIG_BLOCKED_PUK_REQUIREDPUK is required to unblock SIM card.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      WIFI_CONFIG_AP_MODE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      WiFi Mode.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      0WIFI_CONFIG_AP_MODE_UNDEFINEDWiFi mode is undefined.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1WIFI_CONFIG_AP_MODE_APWiFi configured as an access point.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2WIFI_CONFIG_AP_MODE_STATIONWiFi configured as a station connected to an existing local WiFi network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      3WIFI_CONFIG_AP_MODE_DISABLEDWiFi disabled.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      COMP_METADATA_TYPE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Supported component metadata types. These are used in the "general" metadata file returned by COMPONENT_METADATA to provide information about supported metadata types. The types are not used directly in MAVLink messages.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      0COMP_METADATA_TYPE_GENERALGeneral information about the component. General metadata includes information about other metadata types supported by the component. Files of this type must be supported, and must be downloadable from vehicle using a MAVLink FTP URI.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1COMP_METADATA_TYPE_PARAMETERParameter meta data.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2COMP_METADATA_TYPE_COMMANDSMeta data that specifies which commands and command parameters the vehicle supports. (WIP)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      3COMP_METADATA_TYPE_PERIPHERALSMeta data that specifies external non-MAVLink peripherals.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      4COMP_METADATA_TYPE_EVENTSMeta data for the events interface.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      5COMP_METADATA_TYPE_ACTUATORSMeta data for actuator configuration (motors, servos and vehicle geometry) and testing.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ACTUATOR_CONFIGURATION

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Actuator configuration, used to change a setting on an actuator. Component information metadata can be used to know which outputs support which commands.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      0ACTUATOR_CONFIGURATION_NONEDo nothing.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1ACTUATOR_CONFIGURATION_BEEPCommand the actuator to beep now.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2ACTUATOR_CONFIGURATION_3D_MODE_ONPermanently set the actuator (ESC) to 3D mode (reversible thrust).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      3ACTUATOR_CONFIGURATION_3D_MODE_OFFPermanently set the actuator (ESC) to non 3D mode (non-reversible thrust).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      4ACTUATOR_CONFIGURATION_SPIN_DIRECTION1Permanently set the actuator (ESC) to spin direction 1 (which can be clockwise or counter-clockwise).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      5ACTUATOR_CONFIGURATION_SPIN_DIRECTION2Permanently set the actuator (ESC) to spin direction 2 (opposite of direction 1).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ACTUATOR_OUTPUT_FUNCTION

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Actuator output function. Values greater or equal to 1000 are autopilot-specific.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      0ACTUATOR_OUTPUT_FUNCTION_NONENo function (disabled).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1ACTUATOR_OUTPUT_FUNCTION_MOTOR1Motor 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2ACTUATOR_OUTPUT_FUNCTION_MOTOR2Motor 2
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      3ACTUATOR_OUTPUT_FUNCTION_MOTOR3Motor 3
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      4ACTUATOR_OUTPUT_FUNCTION_MOTOR4Motor 4
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      5ACTUATOR_OUTPUT_FUNCTION_MOTOR5Motor 5
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      6ACTUATOR_OUTPUT_FUNCTION_MOTOR6Motor 6
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      7ACTUATOR_OUTPUT_FUNCTION_MOTOR7Motor 7
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      8ACTUATOR_OUTPUT_FUNCTION_MOTOR8Motor 8
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      9ACTUATOR_OUTPUT_FUNCTION_MOTOR9Motor 9
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      10ACTUATOR_OUTPUT_FUNCTION_MOTOR10Motor 10
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      11ACTUATOR_OUTPUT_FUNCTION_MOTOR11Motor 11
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      12ACTUATOR_OUTPUT_FUNCTION_MOTOR12Motor 12
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      13ACTUATOR_OUTPUT_FUNCTION_MOTOR13Motor 13
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      14ACTUATOR_OUTPUT_FUNCTION_MOTOR14Motor 14
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      15ACTUATOR_OUTPUT_FUNCTION_MOTOR15Motor 15
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      16ACTUATOR_OUTPUT_FUNCTION_MOTOR16Motor 16
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      33ACTUATOR_OUTPUT_FUNCTION_SERVO1Servo 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      34ACTUATOR_OUTPUT_FUNCTION_SERVO2Servo 2
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      35ACTUATOR_OUTPUT_FUNCTION_SERVO3Servo 3
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      36ACTUATOR_OUTPUT_FUNCTION_SERVO4Servo 4
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      37ACTUATOR_OUTPUT_FUNCTION_SERVO5Servo 5
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      38ACTUATOR_OUTPUT_FUNCTION_SERVO6Servo 6
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      39ACTUATOR_OUTPUT_FUNCTION_SERVO7Servo 7
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      40ACTUATOR_OUTPUT_FUNCTION_SERVO8Servo 8
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      41ACTUATOR_OUTPUT_FUNCTION_SERVO9Servo 9
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      42ACTUATOR_OUTPUT_FUNCTION_SERVO10Servo 10
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      43ACTUATOR_OUTPUT_FUNCTION_SERVO11Servo 11
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      44ACTUATOR_OUTPUT_FUNCTION_SERVO12Servo 12
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      45ACTUATOR_OUTPUT_FUNCTION_SERVO13Servo 13
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      46ACTUATOR_OUTPUT_FUNCTION_SERVO14Servo 14
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      47ACTUATOR_OUTPUT_FUNCTION_SERVO15Servo 15
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      48ACTUATOR_OUTPUT_FUNCTION_SERVO16Servo 16

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      AUTOTUNE_AXIS

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      (Bitmask) Enable axes that will be tuned via autotuning. Used in MAV_CMD_DO_AUTOTUNE_ENABLE.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      0AUTOTUNE_AXIS_DEFAULTFlight stack tunes axis according to its default settings.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1AUTOTUNE_AXIS_ROLLAutotune roll axis.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2AUTOTUNE_AXIS_PITCHAutotune pitch axis.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      4AUTOTUNE_AXIS_YAWAutotune yaw axis.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      PREFLIGHT_STORAGE_PARAMETER_ACTION

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Actions for reading/writing parameters between persistent and volatile storage when using MAV_CMD_PREFLIGHT_STORAGE. (Commonly parameters are loaded from persistent storage (flash/EEPROM) into volatile storage (RAM) on startup and written back when they are changed.)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      0PARAM_READ_PERSISTENTRead all parameters from persistent storage. Replaces values in volatile storage.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1PARAM_WRITE_PERSISTENTWrite all parameter values to persistent storage (flash/EEPROM)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2PARAM_RESET_CONFIG_DEFAULTReset all user configurable parameters to their default value (including airframe selection, sensor calibration data, safety settings, and so on). Does not reset values that contain operation counters and vehicle computed statistics.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      3PARAM_RESET_SENSOR_DEFAULTReset only sensor calibration parameters to factory defaults (or firmware default if not available)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      4PARAM_RESET_ALL_DEFAULTReset all parameters, including operation counters, to default values

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      PREFLIGHT_STORAGE_MISSION_ACTION

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Actions for reading and writing plan information (mission, rally points, geofence) between persistent and volatile storage when using MAV_CMD_PREFLIGHT_STORAGE. (Commonly missions are loaded from persistent storage (flash/EEPROM) into volatile storage (RAM) on startup and written back when they are changed.)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      0MISSION_READ_PERSISTENTRead current mission data from persistent storage
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1MISSION_WRITE_PERSISTENTWrite current mission data to persistent storage
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2MISSION_RESET_DEFAULTErase all mission data stored on the vehicle (both persistent and volatile storage)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_DATA_STREAM — [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      DEPRECATED: Replaced By MESSAGE_INTERVAL (2015-06)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      A data stream is not a fixed set of messages, but rather a

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      recommendation to the autopilot software. Individual autopilots may or may not obey the recommended messages.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      0MAV_DATA_STREAM_ALLEnable all data streams
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1MAV_DATA_STREAM_RAW_SENSORSEnable IMU_RAW, GPS_RAW, GPS_STATUS packets.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2MAV_DATA_STREAM_EXTENDED_STATUSEnable GPS_STATUS, CONTROL_STATUS, AUX_STATUS
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      3MAV_DATA_STREAM_RC_CHANNELSEnable RC_CHANNELS_SCALED, RC_CHANNELS_RAW, SERVO_OUTPUT_RAW
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      4MAV_DATA_STREAM_RAW_CONTROLLEREnable ATTITUDE_CONTROLLER_OUTPUT, POSITION_CONTROLLER_OUTPUT, NAV_CONTROLLER_OUTPUT.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      6MAV_DATA_STREAM_POSITIONEnable LOCAL_POSITION, GLOBAL_POSITION_INT messages.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      10MAV_DATA_STREAM_EXTRA1Dependent on the autopilot
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      11MAV_DATA_STREAM_EXTRA2Dependent on the autopilot
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      12MAV_DATA_STREAM_EXTRA3Dependent on the autopilot

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_ROI — [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      DEPRECATED: Replaced By MAVCMD_DO_SET_ROI* (2018-01)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      The ROI (region of interest) for the vehicle. This can be

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      be used by the vehicle for camera/vehicle attitude alignment (see MAV_CMD_NAV_ROI).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      0MAV_ROI_NONENo region of interest.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1MAV_ROI_WPNEXTPoint toward next waypoint, with optional pitch/roll/yaw offset.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2MAV_ROI_WPINDEXPoint toward given waypoint.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      3MAV_ROI_LOCATIONPoint toward fixed location.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      4MAV_ROI_TARGETPoint toward of given id.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_PARAM_TYPE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Specifies the datatype of a MAVLink parameter.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1MAV_PARAM_TYPE_UINT88-bit unsigned integer
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2MAV_PARAM_TYPE_INT88-bit signed integer
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      3MAV_PARAM_TYPE_UINT1616-bit unsigned integer
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      4MAV_PARAM_TYPE_INT1616-bit signed integer
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      5MAV_PARAM_TYPE_UINT3232-bit unsigned integer
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      6MAV_PARAM_TYPE_INT3232-bit signed integer
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      7MAV_PARAM_TYPE_UINT6464-bit unsigned integer
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      8MAV_PARAM_TYPE_INT6464-bit signed integer
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      9MAV_PARAM_TYPE_REAL3232-bit floating-point
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      10MAV_PARAM_TYPE_REAL6464-bit floating-point

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_PARAM_EXT_TYPE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Specifies the datatype of a MAVLink extended parameter.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1MAV_PARAM_EXT_TYPE_UINT88-bit unsigned integer
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2MAV_PARAM_EXT_TYPE_INT88-bit signed integer
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      3MAV_PARAM_EXT_TYPE_UINT1616-bit unsigned integer
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      4MAV_PARAM_EXT_TYPE_INT1616-bit signed integer
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      5MAV_PARAM_EXT_TYPE_UINT3232-bit unsigned integer
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      6MAV_PARAM_EXT_TYPE_INT3232-bit signed integer
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      7MAV_PARAM_EXT_TYPE_UINT6464-bit unsigned integer
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      8MAV_PARAM_EXT_TYPE_INT6464-bit signed integer
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      9MAV_PARAM_EXT_TYPE_REAL3232-bit floating-point
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      10MAV_PARAM_EXT_TYPE_REAL6464-bit floating-point
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      11MAV_PARAM_EXT_TYPE_CUSTOMCustom Type

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_RESULT

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Result from a MAVLink command (MAV_CMD)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      0MAV_RESULT_ACCEPTEDCommand is valid (is supported and has valid parameters), and was executed.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1MAV_RESULT_TEMPORARILY_REJECTEDCommand is valid, but cannot be executed at this time. This is used to indicate a problem that should be fixed just by waiting (e.g. a state machine is busy, can't arm because have not got GPS lock, etc.). Retrying later should work.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2MAV_RESULT_DENIEDCommand is invalid (is supported but has invalid parameters). Retrying same command and parameters will not work.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      3MAV_RESULT_UNSUPPORTEDCommand is not supported (unknown).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      4MAV_RESULT_FAILEDCommand is valid, but execution has failed. This is used to indicate any non-temporary or unexpected problem, i.e. any problem that must be fixed before the command can succeed/be retried. For example, attempting to write a file when out of memory, attempting to arm when sensors are not calibrated, etc.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      5MAV_RESULT_IN_PROGRESSCommand is valid and is being executed. This will be followed by further progress updates, i.e. the component may send further COMMAND_ACK messages with result MAV_RESULT_IN_PROGRESS (at a rate decided by the implementation), and must terminate by sending a COMMAND_ACK message with final result of the operation. The COMMAND_ACK.progress field can be used to indicate the progress of the operation.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      6MAV_RESULT_CANCELLEDCommand has been cancelled (as a result of receiving a COMMAND_CANCEL message).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      7MAV_RESULT_COMMAND_LONG_ONLYCommand is only accepted when sent as a COMMAND_LONG.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      8MAV_RESULT_COMMAND_INT_ONLYCommand is only accepted when sent as a COMMAND_INT.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      9MAV_RESULT_COMMAND_UNSUPPORTED_MAV_FRAMECommand is invalid because a frame is required and the specified frame is not supported.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      10MAV_RESULT_PERMISSION_DENIEDSender is not authorized to control this MAV component. Control may be requested using MAV_CMD_REQUEST_OPERATOR_CONTROL.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_MISSION_RESULT

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Result of mission operation (in a MISSION_ACK message).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      0MAV_MISSION_ACCEPTEDmission accepted OK
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1MAV_MISSION_ERRORGeneric error / not accepting mission commands at all right now.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2MAV_MISSION_UNSUPPORTED_FRAMECoordinate frame is not supported.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      3MAV_MISSION_UNSUPPORTEDCommand is not supported.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      4MAV_MISSION_NO_SPACEMission items exceed storage space.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      5MAV_MISSION_INVALIDOne of the parameters has an invalid value.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      6MAV_MISSION_INVALID_PARAM1param1 has an invalid value.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      7MAV_MISSION_INVALID_PARAM2param2 has an invalid value.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      8MAV_MISSION_INVALID_PARAM3param3 has an invalid value.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      9MAV_MISSION_INVALID_PARAM4param4 has an invalid value.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      10MAV_MISSION_INVALID_PARAM5_Xx / param5 has an invalid value.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      11MAV_MISSION_INVALID_PARAM6_Yy / param6 has an invalid value.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      12MAV_MISSION_INVALID_PARAM7z / param7 has an invalid value.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      13MAV_MISSION_INVALID_SEQUENCEMission item received out of sequence
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      14MAV_MISSION_DENIEDNot accepting any mission commands from this communication partner.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      15MAV_MISSION_OPERATION_CANCELLEDCurrent mission operation cancelled (e.g. mission upload, mission download).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_SEVERITY

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Indicates the severity level, generally used for status messages to indicate their relative urgency. Based on RFC-5424 using expanded definitions at: http://www.kiwisyslog.com/kb/info:-syslog-message-levels/.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      0MAV_SEVERITY_EMERGENCYSystem is unusable. This is a "panic" condition.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1MAV_SEVERITY_ALERTAction should be taken immediately. Indicates error in non-critical systems.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2MAV_SEVERITY_CRITICALAction must be taken immediately. Indicates failure in a primary system.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      3MAV_SEVERITY_ERRORIndicates an error in secondary/redundant systems.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      4MAV_SEVERITY_WARNINGIndicates about a possible future error if this is not resolved within a given timeframe. Example would be a low battery warning.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      5MAV_SEVERITY_NOTICEAn unusual event has occurred, though not an error condition. This should be investigated for the root cause.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      6MAV_SEVERITY_INFONormal operational messages. Useful for logging. No action is required for these messages.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      7MAV_SEVERITY_DEBUGUseful non-operational messages that can assist in debugging. These should not occur during normal operation.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_POWER_STATUS

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      (Bitmask) Power supply status flags (bitmask)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1MAV_POWER_STATUS_BRICK_VALIDmain brick power supply valid
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2MAV_POWER_STATUS_SERVO_VALIDmain servo power supply valid for FMU
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      4MAV_POWER_STATUS_USB_CONNECTEDUSB power is connected
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      8MAV_POWER_STATUS_PERIPH_OVERCURRENTperipheral supply is in over-current state
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      16MAV_POWER_STATUS_PERIPH_HIPOWER_OVERCURRENThi-power peripheral supply is in over-current state
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      32MAV_POWER_STATUS_CHANGEDPower status has changed since boot

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      SERIAL_CONTROL_DEV

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      SERIAL_CONTROL device types

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      0SERIAL_CONTROL_DEV_TELEM1First telemetry port
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1SERIAL_CONTROL_DEV_TELEM2Second telemetry port
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2SERIAL_CONTROL_DEV_GPS1First GPS port
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      3SERIAL_CONTROL_DEV_GPS2Second GPS port
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      10SERIAL_CONTROL_DEV_SHELLsystem shell
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      100SERIAL_CONTROL_SERIAL0SERIAL0
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      101SERIAL_CONTROL_SERIAL1SERIAL1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      102SERIAL_CONTROL_SERIAL2SERIAL2
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      103SERIAL_CONTROL_SERIAL3SERIAL3
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      104SERIAL_CONTROL_SERIAL4SERIAL4
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      105SERIAL_CONTROL_SERIAL5SERIAL5
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      106SERIAL_CONTROL_SERIAL6SERIAL6
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      107SERIAL_CONTROL_SERIAL7SERIAL7
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      108SERIAL_CONTROL_SERIAL8SERIAL8
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      109SERIAL_CONTROL_SERIAL9SERIAL9

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      SERIAL_CONTROL_FLAG

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      (Bitmask) SERIAL_CONTROL flags (bitmask)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1SERIAL_CONTROL_FLAG_REPLYSet if this is a reply
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2SERIAL_CONTROL_FLAG_RESPONDSet if the sender wants the receiver to send a response as another SERIAL_CONTROL message
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      4SERIAL_CONTROL_FLAG_EXCLUSIVESet if access to the serial port should be removed from whatever driver is currently using it, giving exclusive access to the SERIAL_CONTROL protocol. The port can be handed back by sending a request without this flag set
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      8SERIAL_CONTROL_FLAG_BLOCKINGBlock on writes to the serial port
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      16SERIAL_CONTROL_FLAG_MULTISend multiple replies until port is drained

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_DISTANCE_SENSOR

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Enumeration of distance sensor types

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      0MAV_DISTANCE_SENSOR_LASERLaser rangefinder, e.g. LightWare SF02/F or PulsedLight units
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1MAV_DISTANCE_SENSOR_ULTRASOUNDUltrasound rangefinder, e.g. MaxBotix units
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2MAV_DISTANCE_SENSOR_INFRAREDInfrared rangefinder, e.g. Sharp units
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      3MAV_DISTANCE_SENSOR_RADARRadar type, e.g. uLanding units
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      4MAV_DISTANCE_SENSOR_UNKNOWNBroken or unknown type, e.g. analog units

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_SENSOR_ORIENTATION

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Enumeration of sensor orientation, according to its rotations

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      0MAV_SENSOR_ROTATION_NONERoll: 0, Pitch: 0, Yaw: 0
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1MAV_SENSOR_ROTATION_YAW_45Roll: 0, Pitch: 0, Yaw: 45
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2MAV_SENSOR_ROTATION_YAW_90Roll: 0, Pitch: 0, Yaw: 90
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      3MAV_SENSOR_ROTATION_YAW_135Roll: 0, Pitch: 0, Yaw: 135
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      4MAV_SENSOR_ROTATION_YAW_180Roll: 0, Pitch: 0, Yaw: 180
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      5MAV_SENSOR_ROTATION_YAW_225Roll: 0, Pitch: 0, Yaw: 225
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      6MAV_SENSOR_ROTATION_YAW_270Roll: 0, Pitch: 0, Yaw: 270
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      7MAV_SENSOR_ROTATION_YAW_315Roll: 0, Pitch: 0, Yaw: 315
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      8MAV_SENSOR_ROTATION_ROLL_180Roll: 180, Pitch: 0, Yaw: 0
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      9MAV_SENSOR_ROTATION_ROLL_180_YAW_45Roll: 180, Pitch: 0, Yaw: 45
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      10MAV_SENSOR_ROTATION_ROLL_180_YAW_90Roll: 180, Pitch: 0, Yaw: 90
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      11MAV_SENSOR_ROTATION_ROLL_180_YAW_135Roll: 180, Pitch: 0, Yaw: 135
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      12MAV_SENSOR_ROTATION_PITCH_180Roll: 0, Pitch: 180, Yaw: 0
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      13MAV_SENSOR_ROTATION_ROLL_180_YAW_225Roll: 180, Pitch: 0, Yaw: 225
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      14MAV_SENSOR_ROTATION_ROLL_180_YAW_270Roll: 180, Pitch: 0, Yaw: 270
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      15MAV_SENSOR_ROTATION_ROLL_180_YAW_315Roll: 180, Pitch: 0, Yaw: 315
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      16MAV_SENSOR_ROTATION_ROLL_90Roll: 90, Pitch: 0, Yaw: 0
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      17MAV_SENSOR_ROTATION_ROLL_90_YAW_45Roll: 90, Pitch: 0, Yaw: 45
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      18MAV_SENSOR_ROTATION_ROLL_90_YAW_90Roll: 90, Pitch: 0, Yaw: 90
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      19MAV_SENSOR_ROTATION_ROLL_90_YAW_135Roll: 90, Pitch: 0, Yaw: 135
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      20MAV_SENSOR_ROTATION_ROLL_270Roll: 270, Pitch: 0, Yaw: 0
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      21MAV_SENSOR_ROTATION_ROLL_270_YAW_45Roll: 270, Pitch: 0, Yaw: 45
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      22MAV_SENSOR_ROTATION_ROLL_270_YAW_90Roll: 270, Pitch: 0, Yaw: 90
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      23MAV_SENSOR_ROTATION_ROLL_270_YAW_135Roll: 270, Pitch: 0, Yaw: 135
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      24MAV_SENSOR_ROTATION_PITCH_90Roll: 0, Pitch: 90, Yaw: 0
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      25MAV_SENSOR_ROTATION_PITCH_270Roll: 0, Pitch: 270, Yaw: 0
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      26MAV_SENSOR_ROTATION_PITCH_180_YAW_90Roll: 0, Pitch: 180, Yaw: 90
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      27MAV_SENSOR_ROTATION_PITCH_180_YAW_270Roll: 0, Pitch: 180, Yaw: 270
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      28MAV_SENSOR_ROTATION_ROLL_90_PITCH_90Roll: 90, Pitch: 90, Yaw: 0
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      29MAV_SENSOR_ROTATION_ROLL_180_PITCH_90Roll: 180, Pitch: 90, Yaw: 0
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      30MAV_SENSOR_ROTATION_ROLL_270_PITCH_90Roll: 270, Pitch: 90, Yaw: 0
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      31MAV_SENSOR_ROTATION_ROLL_90_PITCH_180Roll: 90, Pitch: 180, Yaw: 0
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      32MAV_SENSOR_ROTATION_ROLL_270_PITCH_180Roll: 270, Pitch: 180, Yaw: 0
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      33MAV_SENSOR_ROTATION_ROLL_90_PITCH_270Roll: 90, Pitch: 270, Yaw: 0
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      34MAV_SENSOR_ROTATION_ROLL_180_PITCH_270Roll: 180, Pitch: 270, Yaw: 0
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      35MAV_SENSOR_ROTATION_ROLL_270_PITCH_270Roll: 270, Pitch: 270, Yaw: 0
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      36MAV_SENSOR_ROTATION_ROLL_90_PITCH_180_YAW_90Roll: 90, Pitch: 180, Yaw: 90
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      37MAV_SENSOR_ROTATION_ROLL_90_YAW_270Roll: 90, Pitch: 0, Yaw: 270
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      38MAV_SENSOR_ROTATION_ROLL_90_PITCH_68_YAW_293Roll: 90, Pitch: 68, Yaw: 293
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      39MAV_SENSOR_ROTATION_PITCH_315Pitch: 315
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      40MAV_SENSOR_ROTATION_ROLL_90_PITCH_315Roll: 90, Pitch: 315
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      100MAV_SENSOR_ROTATION_CUSTOMCustom orientation

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_PROTOCOL_CAPABILITY

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      (Bitmask) Bitmask of (optional) autopilot capabilities (64 bit). If a bit is set, the autopilot supports this capability.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1MAV_PROTOCOL_CAPABILITY_MISSION_FLOATAutopilot supports the MISSION_ITEM float message type.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Note that MISSION_ITEM is deprecated, and autopilots should use MISSION_INT instead. | | </a>2 | MAV_PROTOCOL_CAPABILITY_PARAM_FLOAT | Autopilot supports the new param float message type.DEPRECATED: Replaced By MAV_PROTOCOL_CAPABILITY_PARAM_ENCODE_C_CAST (2022-03)</span> | | </a>4 | MAV_PROTOCOL_CAPABILITY_MISSION_INT | Autopilot supports MISSION_ITEM_INT scaled integer message type.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Note that this flag must always be set if missions are supported, because missions must always use MISSION_ITEM_INT (rather than MISSION_ITEM, which is deprecated). | | 8 | MAV_PROTOCOL_CAPABILITY_COMMAND_INT | Autopilot supports COMMAND_INT scaled integer message type. | | </a>16 | MAV_PROTOCOL_CAPABILITY_PARAM_ENCODE_BYTEWISE | Parameter protocol uses byte-wise encoding of parameter values into param_value (float) fields: https://mavlink.io/en/services/parameter.html#parameter-encoding.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Note that either this flag or MAV_PROTOCOL_CAPABILITY_PARAM_ENCODE_C_CAST should be set if the parameter protocol is supported. | | 32 | MAV_PROTOCOL_CAPABILITY_FTP | Autopilot supports the File Transfer Protocol v1: https://mavlink.io/en/services/ftp.html. | | </a>64 | MAV_PROTOCOL_CAPABILITY_SET_ATTITUDE_TARGET | Autopilot supports commanding attitude offboard. | | 128 | MAV_PROTOCOL_CAPABILITY_SET_POSITION_TARGET_LOCAL_NED | Autopilot supports commanding position and velocity targets in local NED frame. | | </a>256 | MAV_PROTOCOL_CAPABILITY_SET_POSITION_TARGET_GLOBAL_INT | Autopilot supports commanding position and velocity targets in global scaled integers. | | 512 | MAV_PROTOCOL_CAPABILITY_TERRAIN | Autopilot supports terrain protocol / data handling. | | </a>1024 | MAV_PROTOCOL_CAPABILITY_RESERVED3 | Reserved for future use. | | 2048 | MAV_PROTOCOL_CAPABILITY_FLIGHT_TERMINATION | Autopilot supports the MAV_CMD_DO_FLIGHTTERMINATION command (flight termination). | | </a>4096 | MAV_PROTOCOL_CAPABILITY_COMPASS_CALIBRATION | Autopilot supports onboard compass calibration. | | 8192 | MAV_PROTOCOL_CAPABILITY_MAVLINK2 | Autopilot supports MAVLink version 2. | | </a>16384 | MAV_PROTOCOL_CAPABILITY_MISSION_FENCE | Autopilot supports mission fence protocol. | | 32768 | MAV_PROTOCOL_CAPABILITY_MISSION_RALLY | Autopilot supports mission rally point protocol. | | </a>65536 | MAV_PROTOCOL_CAPABILITY_RESERVED2 | Reserved for future use. | | 131072 | MAV_PROTOCOL_CAPABILITY_PARAM_ENCODE_C_CAST | Parameter protocol uses C-cast of parameter values to set the param_value (float) fields: https://mavlink.io/en/services/parameter.html#parameter-encoding.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Note that either this flag or MAV_PROTOCOL_CAPABILITY_PARAM_ENCODE_BYTEWISE should be set if the parameter protocol is supported. | | </a>262144 | MAV_PROTOCOL_CAPABILITY_COMPONENT_IMPLEMENTS_GIMBAL_MANAGER | This component implements/is a gimbal manager. This means the GIMBAL_MANAGER_INFORMATION, and other messages can be requested. | | 524288 | MAV_PROTOCOL_CAPABILITY_COMPONENT_ACCEPTS_GCS_CONTROL | Component supports locking control to a particular GCS independent of its system (via MAV_CMD_REQUEST_OPERATOR_CONTROL). |

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_MISSION_TYPE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Type of mission items being requested/sent in mission protocol.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      0MAV_MISSION_TYPE_MISSIONItems are mission commands for main mission.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1MAV_MISSION_TYPE_FENCESpecifies GeoFence area(s). Items are MAVCMD_NAV_FENCE GeoFence items.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2MAV_MISSION_TYPE_RALLYSpecifies the rally points for the vehicle. Rally points are alternative RTL points. Items are MAV_CMD_NAV_RALLY_POINT rally point items.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      255MAV_MISSION_TYPE_ALLOnly used in MISSION_CLEAR_ALL to clear all mission types.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_ESTIMATOR_TYPE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Enumeration of estimator types

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      0MAV_ESTIMATOR_TYPE_UNKNOWNUnknown type of the estimator.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1MAV_ESTIMATOR_TYPE_NAIVEThis is a naive estimator without any real covariance feedback.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2MAV_ESTIMATOR_TYPE_VISIONComputer vision based estimate. Might be up to scale.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      3MAV_ESTIMATOR_TYPE_VIOVisual-inertial estimate.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      4MAV_ESTIMATOR_TYPE_GPSPlain GPS estimate.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      5MAV_ESTIMATOR_TYPE_GPS_INSEstimator integrating GPS and inertial sensing.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      6MAV_ESTIMATOR_TYPE_MOCAPEstimate from external motion capturing system.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      7MAV_ESTIMATOR_TYPE_LIDAREstimator based on lidar sensor input.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      8MAV_ESTIMATOR_TYPE_AUTOPILOTEstimator on autopilot.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_BATTERY_TYPE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Enumeration of battery types

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      0MAV_BATTERY_TYPE_UNKNOWNNot specified.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1MAV_BATTERY_TYPE_LIPOLithium polymer battery
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2MAV_BATTERY_TYPE_LIFELithium-iron-phosphate battery
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      3MAV_BATTERY_TYPE_LIONLithium-ION battery
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      4MAV_BATTERY_TYPE_NIMHNickel metal hydride battery

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_BATTERY_FUNCTION

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Enumeration of battery functions

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      0MAV_BATTERY_FUNCTION_UNKNOWNBattery function is unknown
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1MAV_BATTERY_FUNCTION_ALLBattery supports all flight systems
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2MAV_BATTERY_FUNCTION_PROPULSIONBattery for the propulsion system
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      3MAV_BATTERY_FUNCTION_AVIONICSAvionics battery
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      4MAV_BATTERY_FUNCTION_PAYLOADPayload battery

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_BATTERY_CHARGE_STATE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Enumeration for battery charge states.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      0MAV_BATTERY_CHARGE_STATE_UNDEFINEDLow battery state is not provided
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1MAV_BATTERY_CHARGE_STATE_OKBattery is not in low state. Normal operation.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2MAV_BATTERY_CHARGE_STATE_LOWBattery state is low, warn and monitor close.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      3MAV_BATTERY_CHARGE_STATE_CRITICALBattery state is critical, return or abort immediately.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      4MAV_BATTERY_CHARGE_STATE_EMERGENCYBattery state is too low for ordinary abort sequence. Perform fastest possible emergency stop to prevent damage.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      5MAV_BATTERY_CHARGE_STATE_FAILEDBattery failed, damage unavoidable. Possible causes (faults) are listed in MAV_BATTERY_FAULT.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      6MAV_BATTERY_CHARGE_STATE_UNHEALTHYBattery is diagnosed to be defective or an error occurred, usage is discouraged / prohibited. Possible causes (faults) are listed in MAV_BATTERY_FAULT.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      7MAV_BATTERY_CHARGE_STATE_CHARGINGBattery is charging.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_BATTERY_MODE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Battery mode. Note, the normal operation mode (i.e. when flying) should be reported as MAV_BATTERY_MODE_UNKNOWN to allow message trimming in normal flight.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      0MAV_BATTERY_MODE_UNKNOWNBattery mode not supported/unknown battery mode/normal operation.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1MAV_BATTERY_MODE_AUTO_DISCHARGINGBattery is auto discharging (towards storage level).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2MAV_BATTERY_MODE_HOT_SWAPBattery in hot-swap mode (current limited to prevent spikes that might damage sensitive electrical circuits).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_BATTERY_FAULT

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      (Bitmask) Smart battery supply status/fault flags (bitmask) for health indication. The battery must also report either MAV_BATTERY_CHARGE_STATE_FAILED or MAV_BATTERY_CHARGE_STATE_UNHEALTHY if any of these are set.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1MAV_BATTERY_FAULT_DEEP_DISCHARGEBattery has deep discharged.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2MAV_BATTERY_FAULT_SPIKESVoltage spikes.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      4MAV_BATTERY_FAULT_CELL_FAILOne or more cells have failed. Battery should also report MAV_BATTERY_CHARGE_STATE_FAILE (and should not be used).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      8MAV_BATTERY_FAULT_OVER_CURRENTOver-current fault.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      16MAV_BATTERY_FAULT_OVER_TEMPERATUREOver-temperature fault.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      32MAV_BATTERY_FAULT_UNDER_TEMPERATUREUnder-temperature fault.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      64MAV_BATTERY_FAULT_INCOMPATIBLE_VOLTAGEVehicle voltage is not compatible with this battery (batteries on same power rail should have similar voltage).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      128MAV_BATTERY_FAULT_INCOMPATIBLE_FIRMWAREBattery firmware is not compatible with current autopilot firmware.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      256BATTERY_FAULT_INCOMPATIBLE_CELLS_CONFIGURATIONBattery is not compatible due to cell configuration (e.g. 5s1p when vehicle requires 6s).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_GENERATOR_STATUS_FLAG

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      (Bitmask) Flags to report status/failure cases for a power generator (used in GENERATOR_STATUS). Note that FAULTS are conditions that cause the generator to fail. Warnings are conditions that require attention before the next use (they indicate the system is not operating properly).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1MAV_GENERATOR_STATUS_FLAG_OFFGenerator is off.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2MAV_GENERATOR_STATUS_FLAG_READYGenerator is ready to start generating power.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      4MAV_GENERATOR_STATUS_FLAG_GENERATINGGenerator is generating power.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      8MAV_GENERATOR_STATUS_FLAG_CHARGINGGenerator is charging the batteries (generating enough power to charge and provide the load).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      16MAV_GENERATOR_STATUS_FLAG_REDUCED_POWERGenerator is operating at a reduced maximum power.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      32MAV_GENERATOR_STATUS_FLAG_MAXPOWERGenerator is providing the maximum output.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      64MAV_GENERATOR_STATUS_FLAG_OVERTEMP_WARNINGGenerator is near the maximum operating temperature, cooling is insufficient.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      128MAV_GENERATOR_STATUS_FLAG_OVERTEMP_FAULTGenerator hit the maximum operating temperature and shutdown.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      256MAV_GENERATOR_STATUS_FLAG_ELECTRONICS_OVERTEMP_WARNINGPower electronics are near the maximum operating temperature, cooling is insufficient.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      512MAV_GENERATOR_STATUS_FLAG_ELECTRONICS_OVERTEMP_FAULTPower electronics hit the maximum operating temperature and shutdown.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1024MAV_GENERATOR_STATUS_FLAG_ELECTRONICS_FAULTPower electronics experienced a fault and shutdown.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2048MAV_GENERATOR_STATUS_FLAG_POWERSOURCE_FAULTThe power source supplying the generator failed e.g. mechanical generator stopped, tether is no longer providing power, solar cell is in shade, hydrogen reaction no longer happening.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      4096MAV_GENERATOR_STATUS_FLAG_COMMUNICATION_WARNINGGenerator controller having communication problems.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      8192MAV_GENERATOR_STATUS_FLAG_COOLING_WARNINGPower electronic or generator cooling system error.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      16384MAV_GENERATOR_STATUS_FLAG_POWER_RAIL_FAULTGenerator controller power rail experienced a fault.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      32768MAV_GENERATOR_STATUS_FLAG_OVERCURRENT_FAULTGenerator controller exceeded the overcurrent threshold and shutdown to prevent damage.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      65536MAV_GENERATOR_STATUS_FLAG_BATTERY_OVERCHARGE_CURRENT_FAULTGenerator controller detected a high current going into the batteries and shutdown to prevent battery damage.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      131072MAV_GENERATOR_STATUS_FLAG_OVERVOLTAGE_FAULTGenerator controller exceeded it's overvoltage threshold and shutdown to prevent it exceeding the voltage rating.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      262144MAV_GENERATOR_STATUS_FLAG_BATTERY_UNDERVOLT_FAULTBatteries are under voltage (generator will not start).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      524288MAV_GENERATOR_STATUS_FLAG_START_INHIBITEDGenerator start is inhibited by e.g. a safety switch.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1048576MAV_GENERATOR_STATUS_FLAG_MAINTENANCE_REQUIREDGenerator requires maintenance.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2097152MAV_GENERATOR_STATUS_FLAG_WARMING_UPGenerator is not ready to generate yet.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      4194304MAV_GENERATOR_STATUS_FLAG_IDLEGenerator is idle.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_VTOL_STATE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Enumeration of VTOL states

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      0MAV_VTOL_STATE_UNDEFINEDMAV is not configured as VTOL
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1MAV_VTOL_STATE_TRANSITION_TO_FWVTOL is in transition from multicopter to fixed-wing
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2MAV_VTOL_STATE_TRANSITION_TO_MCVTOL is in transition from fixed-wing to multicopter
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      3MAV_VTOL_STATE_MCVTOL is in multicopter state
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      4MAV_VTOL_STATE_FWVTOL is in fixed-wing state

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_LANDED_STATE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Enumeration of landed detector states

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      0MAV_LANDED_STATE_UNDEFINEDMAV landed state is unknown
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1MAV_LANDED_STATE_ON_GROUNDMAV is landed (on ground)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2MAV_LANDED_STATE_IN_AIRMAV is in air
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      3MAV_LANDED_STATE_TAKEOFFMAV currently taking off
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      4MAV_LANDED_STATE_LANDINGMAV currently landing

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ADSB_ALTITUDE_TYPE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Enumeration of the ADSB altimeter types

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      0ADSB_ALTITUDE_TYPE_PRESSURE_QNHAltitude reported from a Baro source using QNH reference
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1ADSB_ALTITUDE_TYPE_GEOMETRICAltitude reported from a GNSS source

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ADSB_EMITTER_TYPE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ADSB classification for the type of vehicle emitting the transponder signal

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      0ADSB_EMITTER_TYPE_NO_INFO
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1ADSB_EMITTER_TYPE_LIGHT
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2ADSB_EMITTER_TYPE_SMALL
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      3ADSB_EMITTER_TYPE_LARGE
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      4ADSB_EMITTER_TYPE_HIGH_VORTEX_LARGE
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      5ADSB_EMITTER_TYPE_HEAVY
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      6ADSB_EMITTER_TYPE_HIGHLY_MANUV
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      7ADSB_EMITTER_TYPE_ROTOCRAFT
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      8ADSB_EMITTER_TYPE_UNASSIGNED
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      9ADSB_EMITTER_TYPE_GLIDER
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      10ADSB_EMITTER_TYPE_LIGHTER_AIR
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      11ADSB_EMITTER_TYPE_PARACHUTE
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      12ADSB_EMITTER_TYPE_ULTRA_LIGHT
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      13ADSB_EMITTER_TYPE_UNASSIGNED2
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      14ADSB_EMITTER_TYPE_UAV
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      15ADSB_EMITTER_TYPE_SPACE
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      16ADSB_EMITTER_TYPE_UNASSGINED3
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      17ADSB_EMITTER_TYPE_EMERGENCY_SURFACE
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      18ADSB_EMITTER_TYPE_SERVICE_SURFACE
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      19ADSB_EMITTER_TYPE_POINT_OBSTACLE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ADSB_FLAGS

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      (Bitmask) These flags indicate status such as data validity of each data source. Set = data valid

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1ADSB_FLAGS_VALID_COORDS
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2ADSB_FLAGS_VALID_ALTITUDE
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      4ADSB_FLAGS_VALID_HEADING
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      8ADSB_FLAGS_VALID_VELOCITY
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      16ADSB_FLAGS_VALID_CALLSIGN
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      32ADSB_FLAGS_VALID_SQUAWK
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      64ADSB_FLAGS_SIMULATED
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      128ADSB_FLAGS_VERTICAL_VELOCITY_VALID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      256ADSB_FLAGS_BARO_VALID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      32768ADSB_FLAGS_SOURCE_UAT

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_DO_REPOSITION_FLAGS

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      (Bitmask) Bitmap of options for the MAV_CMD_DO_REPOSITION

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1MAV_DO_REPOSITION_FLAGS_CHANGE_MODEThe aircraft should immediately transition into guided. This should not be set for follow me applications

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      SPEED_TYPE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Speed setpoint types used in MAV_CMD_DO_CHANGE_SPEED

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      0SPEED_TYPE_AIRSPEEDAirspeed
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1SPEED_TYPE_GROUNDSPEEDGroundspeed
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2SPEED_TYPE_CLIMB_SPEEDClimb speed
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      3SPEED_TYPE_DESCENT_SPEEDDescent speed

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ESTIMATOR_STATUS_FLAGS

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      (Bitmask) Flags in ESTIMATOR_STATUS message

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1ESTIMATOR_ATTITUDETrue if the attitude estimate is good
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2ESTIMATOR_VELOCITY_HORIZTrue if the horizontal velocity estimate is good
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      4ESTIMATOR_VELOCITY_VERTTrue if the vertical velocity estimate is good
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      8ESTIMATOR_POS_HORIZ_RELTrue if the horizontal position (relative) estimate is good
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      16ESTIMATOR_POS_HORIZ_ABSTrue if the horizontal position (absolute) estimate is good
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      32ESTIMATOR_POS_VERT_ABSTrue if the vertical position (absolute) estimate is good
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      64ESTIMATOR_POS_VERT_AGLTrue if the vertical position (above ground) estimate is good
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      128ESTIMATOR_CONST_POS_MODETrue if the EKF is in a constant position mode and is not using external measurements (eg GPS or optical flow)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      256ESTIMATOR_PRED_POS_HORIZ_RELTrue if the EKF has sufficient data to enter a mode that will provide a (relative) position estimate
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      512ESTIMATOR_PRED_POS_HORIZ_ABSTrue if the EKF has sufficient data to enter a mode that will provide a (absolute) position estimate
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1024ESTIMATOR_GPS_GLITCHTrue if the EKF has detected a GPS glitch
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2048ESTIMATOR_ACCEL_ERRORTrue if the EKF has detected bad accelerometer data

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MOTOR_TEST_ORDER

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Sequence that motors are tested when using MAV_CMD_DO_MOTOR_TEST.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      0MOTOR_TEST_ORDER_DEFAULTDefault autopilot motor test method.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1MOTOR_TEST_ORDER_SEQUENCEMotor numbers are specified as their index in a predefined vehicle-specific sequence.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2MOTOR_TEST_ORDER_BOARDMotor numbers are specified as the output as labeled on the board.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MOTOR_TEST_THROTTLE_TYPE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Defines how throttle value is represented in MAV_CMD_DO_MOTOR_TEST.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      0MOTOR_TEST_THROTTLE_PERCENTThrottle as a percentage (0 ~ 100)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1MOTOR_TEST_THROTTLE_PWMThrottle as an absolute PWM value (normally in range of 1000~2000).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2MOTOR_TEST_THROTTLE_PILOTThrottle pass-through from pilot's transmitter.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      3MOTOR_TEST_COMPASS_CALPer-motor compass calibration test.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      GPS_INPUT_IGNORE_FLAGS

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      (Bitmask)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1GPS_INPUT_IGNORE_FLAG_ALTignore altitude field
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2GPS_INPUT_IGNORE_FLAG_HDOPignore hdop field
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      4GPS_INPUT_IGNORE_FLAG_VDOPignore vdop field
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      8GPS_INPUT_IGNORE_FLAG_VEL_HORIZignore horizontal velocity field (vn and ve)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      16GPS_INPUT_IGNORE_FLAG_VEL_VERTignore vertical velocity field (vd)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      32GPS_INPUT_IGNORE_FLAG_SPEED_ACCURACYignore speed accuracy field
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      64GPS_INPUT_IGNORE_FLAG_HORIZONTAL_ACCURACYignore horizontal accuracy field
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      128GPS_INPUT_IGNORE_FLAG_VERTICAL_ACCURACYignore vertical accuracy field

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_COLLISION_ACTION

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Possible actions an aircraft can take to avoid a collision.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      0MAV_COLLISION_ACTION_NONEIgnore any potential collisions
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1MAV_COLLISION_ACTION_REPORTReport potential collision
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2MAV_COLLISION_ACTION_ASCEND_OR_DESCENDAscend or Descend to avoid threat
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      3MAV_COLLISION_ACTION_MOVE_HORIZONTALLYMove horizontally to avoid threat
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      4MAV_COLLISION_ACTION_MOVE_PERPENDICULARAircraft to move perpendicular to the collision's velocity vector
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      5MAV_COLLISION_ACTION_RTLAircraft to fly directly back to its launch point
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      6MAV_COLLISION_ACTION_HOVERAircraft to stop in place

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_COLLISION_THREAT_LEVEL

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Aircraft-rated danger from this threat.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      0MAV_COLLISION_THREAT_LEVEL_NONENot a threat
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1MAV_COLLISION_THREAT_LEVEL_LOWCraft is mildly concerned about this threat
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2MAV_COLLISION_THREAT_LEVEL_HIGHCraft is panicking, and may take actions to avoid threat

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_COLLISION_SRC

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Source of information about this collision.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      0MAV_COLLISION_SRC_ADSBID field references ADSB_VEHICLE packets
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1MAV_COLLISION_SRC_MAVLINK_GPS_GLOBAL_INTID field references MAVLink SRC ID

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      GPS_FIX_TYPE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Type of GPS fix

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      0GPS_FIX_TYPE_NO_GPSNo GPS connected
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1GPS_FIX_TYPE_NO_FIXNo position information, GPS is connected
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2GPS_FIX_TYPE_2D_FIX2D position
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      3GPS_FIX_TYPE_3D_FIX3D position
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      4GPS_FIX_TYPE_DGPSDGPS/SBAS aided 3D position
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      5GPS_FIX_TYPE_RTK_FLOATRTK float, 3D position
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      6GPS_FIX_TYPE_RTK_FIXEDRTK Fixed, 3D position
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      7GPS_FIX_TYPE_STATICStatic fixed, typically used for base stations
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      8GPS_FIX_TYPE_PPPPPP, 3D position.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      RTK_BASELINE_COORDINATE_SYSTEM

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      RTK GPS baseline coordinate system, used for RTK corrections

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      0RTK_BASELINE_COORDINATE_SYSTEM_ECEFEarth-centered, Earth-fixed
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1RTK_BASELINE_COORDINATE_SYSTEM_NEDRTK basestation centered, north, east, down

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      LANDING_TARGET_TYPE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Type of landing target

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      0LANDING_TARGET_TYPE_LIGHT_BEACONLanding target signaled by light beacon (ex: IR-LOCK)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1LANDING_TARGET_TYPE_RADIO_BEACONLanding target signaled by radio beacon (ex: ILS, NDB)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2LANDING_TARGET_TYPE_VISION_FIDUCIALLanding target represented by a fiducial marker (ex: ARTag)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      3LANDING_TARGET_TYPE_VISION_OTHERLanding target represented by a pre-defined visual shape/feature (ex: X-marker, H-marker, square)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      VTOL_TRANSITION_HEADING

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Direction of VTOL transition

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      0VTOL_TRANSITION_HEADING_VEHICLE_DEFAULTRespect the heading configuration of the vehicle.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1VTOL_TRANSITION_HEADING_NEXT_WAYPOINTUse the heading pointing towards the next waypoint.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2VTOL_TRANSITION_HEADING_TAKEOFFUse the heading on takeoff (while sitting on the ground).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      3VTOL_TRANSITION_HEADING_SPECIFIEDUse the specified heading in parameter 4.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      4VTOL_TRANSITION_HEADING_ANYUse the current heading when reaching takeoff altitude (potentially facing the wind when weather-vaning is active).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      CAMERA_CAP_FLAGS

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      (Bitmask) Camera capability flags (Bitmap)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1CAMERA_CAP_FLAGS_CAPTURE_VIDEOCamera is able to record video
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2CAMERA_CAP_FLAGS_CAPTURE_IMAGECamera is able to capture images
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      4CAMERA_CAP_FLAGS_HAS_MODESCamera has separate Video and Image/Photo modes (MAV_CMD_SET_CAMERA_MODE)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      8CAMERA_CAP_FLAGS_CAN_CAPTURE_IMAGE_IN_VIDEO_MODECamera can capture images while in video mode
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      16CAMERA_CAP_FLAGS_CAN_CAPTURE_VIDEO_IN_IMAGE_MODECamera can capture videos while in Photo/Image mode
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      32CAMERA_CAP_FLAGS_HAS_IMAGE_SURVEY_MODECamera has image survey mode (MAV_CMD_SET_CAMERA_MODE)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      64CAMERA_CAP_FLAGS_HAS_BASIC_ZOOMCamera has basic zoom control (MAV_CMD_SET_CAMERA_ZOOM)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      128CAMERA_CAP_FLAGS_HAS_BASIC_FOCUSCamera has basic focus control (MAV_CMD_SET_CAMERA_FOCUS)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      256CAMERA_CAP_FLAGS_HAS_VIDEO_STREAMCamera has video streaming capabilities (request VIDEO_STREAM_INFORMATION with MAV_CMD_REQUEST_MESSAGE for video streaming info)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      512CAMERA_CAP_FLAGS_HAS_TRACKING_POINTCamera supports tracking of a point on the camera view.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1024CAMERA_CAP_FLAGS_HAS_TRACKING_RECTANGLECamera supports tracking of a selection rectangle on the camera view.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2048CAMERA_CAP_FLAGS_HAS_TRACKING_GEO_STATUSCamera supports tracking geo status (CAMERA_TRACKING_GEO_STATUS).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      4096CAMERA_CAP_FLAGS_HAS_THERMAL_RANGECamera supports absolute thermal range (request CAMERA_THERMAL_RANGE with MAV_CMD_REQUEST_MESSAGE) (WIP).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      VIDEO_STREAM_STATUS_FLAGS

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      (Bitmask) Stream status flags (Bitmap)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1VIDEO_STREAM_STATUS_FLAGS_RUNNINGStream is active (running)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2VIDEO_STREAM_STATUS_FLAGS_THERMALStream is thermal imaging
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      4VIDEO_STREAM_STATUS_FLAGS_THERMAL_RANGE_ENABLEDStream can report absolute thermal range (see CAMERA_THERMAL_RANGE). (WIP).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      VIDEO_STREAM_TYPE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Video stream types

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      0VIDEO_STREAM_TYPE_RTSPStream is RTSP
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1VIDEO_STREAM_TYPE_RTPUDPStream is RTP UDP (URI gives the port number)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2VIDEO_STREAM_TYPE_TCP_MPEGStream is MPEG on TCP
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      3VIDEO_STREAM_TYPE_MPEG_TSStream is MPEG TS (URI gives the port number)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      VIDEO_STREAM_ENCODING

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Video stream encodings

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      0VIDEO_STREAM_ENCODING_UNKNOWNStream encoding is unknown
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1VIDEO_STREAM_ENCODING_H264Stream encoding is H.264
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2VIDEO_STREAM_ENCODING_H265Stream encoding is H.265

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      CAMERA_TRACKING_STATUS_FLAGS

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Camera tracking status flags

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      0CAMERA_TRACKING_STATUS_FLAGS_IDLECamera is not tracking
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1CAMERA_TRACKING_STATUS_FLAGS_ACTIVECamera is tracking
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2CAMERA_TRACKING_STATUS_FLAGS_ERRORCamera tracking in error state

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      CAMERA_TRACKING_MODE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Camera tracking modes

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      0CAMERA_TRACKING_MODE_NONENot tracking
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1CAMERA_TRACKING_MODE_POINTTarget is a point
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2CAMERA_TRACKING_MODE_RECTANGLETarget is a rectangle

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      CAMERA_TRACKING_TARGET_DATA

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      (Bitmask) Camera tracking target data (shows where tracked target is within image)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      0CAMERA_TRACKING_TARGET_DATA_NONENo target data
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1CAMERA_TRACKING_TARGET_DATA_EMBEDDEDTarget data embedded in image data (proprietary)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2CAMERA_TRACKING_TARGET_DATA_RENDEREDTarget data rendered in image
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      4CAMERA_TRACKING_TARGET_DATA_IN_STATUSTarget data within status message (Point or Rectangle)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      CAMERA_ZOOM_TYPE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Zoom types for MAV_CMD_SET_CAMERA_ZOOM

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      0ZOOM_TYPE_STEPZoom one step increment (-1 for wide, 1 for tele)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1ZOOM_TYPE_CONTINUOUSContinuous zoom up/down until stopped (-1 for wide, 1 for tele, 0 to stop zooming)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2ZOOM_TYPE_RANGEZoom value as proportion of full camera range (a percentage value between 0.0 and 100.0)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      3ZOOM_TYPE_FOCAL_LENGTHZoom value/variable focal length in millimetres. Note that there is no message to get the valid zoom range of the camera, so this can type can only be used for cameras where the zoom range is known (implying that this cannot reliably be used in a GCS for an arbitrary camera)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      4ZOOM_TYPE_HORIZONTAL_FOVZoom value as horizontal field of view in degrees.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      SET_FOCUS_TYPE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Focus types for MAV_CMD_SET_CAMERA_FOCUS

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      0FOCUS_TYPE_STEPFocus one step increment (-1 for focusing in, 1 for focusing out towards infinity).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1FOCUS_TYPE_CONTINUOUSContinuous focus up/down until stopped (-1 for focusing in, 1 for focusing out towards infinity, 0 to stop focusing)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2FOCUS_TYPE_RANGEFocus value as proportion of full camera focus range (a value between 0.0 and 100.0)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      3FOCUS_TYPE_METERSFocus value in metres. Note that there is no message to get the valid focus range of the camera, so this can type can only be used for cameras where the range is known (implying that this cannot reliably be used in a GCS for an arbitrary camera).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      4FOCUS_TYPE_AUTOFocus automatically.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      5FOCUS_TYPE_AUTO_SINGLESingle auto focus. Mainly used for still pictures. Usually abbreviated as AF-S.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      6FOCUS_TYPE_AUTO_CONTINUOUSContinuous auto focus. Mainly used for dynamic scenes. Abbreviated as AF-C.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      CAMERA_SOURCE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Camera sources for MAV_CMD_SET_CAMERA_SOURCE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      0CAMERA_SOURCE_DEFAULTDefault camera source.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1CAMERA_SOURCE_RGBRGB camera source.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2CAMERA_SOURCE_IRIR camera source.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      3CAMERA_SOURCE_NDVINDVI camera source.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      PARAM_ACK

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Result from PARAM_EXT_SET message (or a PARAM_SET within a transaction).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      0PARAM_ACK_ACCEPTEDParameter value ACCEPTED and SET
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1PARAM_ACK_VALUE_UNSUPPORTEDParameter value UNKNOWN/UNSUPPORTED
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2PARAM_ACK_FAILEDParameter failed to set
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      3PARAM_ACK_IN_PROGRESSParameter value received but not yet set/accepted. A subsequent PARAM_ACK_TRANSACTION or PARAM_EXT_ACK with the final result will follow once operation is completed. This is returned immediately for parameters that take longer to set, indicating that the the parameter was received and does not need to be resent.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      CAMERA_MODE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Camera Modes.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      0CAMERA_MODE_IMAGECamera is in image/photo capture mode.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1CAMERA_MODE_VIDEOCamera is in video capture mode.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2CAMERA_MODE_IMAGE_SURVEYCamera is in image survey capture mode. It allows for camera controller to do specific settings for surveys.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_ARM_AUTH_DENIED_REASON

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      0MAV_ARM_AUTH_DENIED_REASON_GENERICNot a specific reason
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1MAV_ARM_AUTH_DENIED_REASON_NONEAuthorizer will send the error as string to GCS
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2MAV_ARM_AUTH_DENIED_REASON_INVALID_WAYPOINTAt least one waypoint have a invalid value
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      3MAV_ARM_AUTH_DENIED_REASON_TIMEOUTTimeout in the authorizer process(in case it depends on network)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      4MAV_ARM_AUTH_DENIED_REASON_AIRSPACE_IN_USEAirspace of the mission in use by another vehicle, second result parameter can have the waypoint id that caused it to be denied.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      5MAV_ARM_AUTH_DENIED_REASON_BAD_WEATHERWeather is not good to fly

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      RC_TYPE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      RC type. Used in MAV_CMD_START_RX_PAIR.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      0RC_TYPE_SPEKTRUMSpektrum
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1RC_TYPE_CRSFCRSF

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      RC_SUB_TYPE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      RC sub-type of types defined in RC_TYPE. Used in MAV_CMD_START_RX_PAIR. Ignored if value does not correspond to the set RC_TYPE.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      0RC_SUB_TYPE_SPEKTRUM_DSM2Spektrum DSM2
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1RC_SUB_TYPE_SPEKTRUM_DSMXSpektrum DSMX
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2RC_SUB_TYPE_SPEKTRUM_DSMX8Spektrum DSMX8

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      POSITION_TARGET_TYPEMASK

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      (Bitmask) Bitmap to indicate which dimensions should be ignored by the vehicle: a value of 0b0000000000000000 or 0b0000001000000000 indicates that none of the setpoint dimensions should be ignored. If bit 9 is set the floats afx afy afz should be interpreted as force instead of acceleration.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1POSITION_TARGET_TYPEMASK_X_IGNOREIgnore position x
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2POSITION_TARGET_TYPEMASK_Y_IGNOREIgnore position y
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      4POSITION_TARGET_TYPEMASK_Z_IGNOREIgnore position z
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      8POSITION_TARGET_TYPEMASK_VX_IGNOREIgnore velocity x
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      16POSITION_TARGET_TYPEMASK_VY_IGNOREIgnore velocity y
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      32POSITION_TARGET_TYPEMASK_VZ_IGNOREIgnore velocity z
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      64POSITION_TARGET_TYPEMASK_AX_IGNOREIgnore acceleration x
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      128POSITION_TARGET_TYPEMASK_AY_IGNOREIgnore acceleration y
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      256POSITION_TARGET_TYPEMASK_AZ_IGNOREIgnore acceleration z
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      512POSITION_TARGET_TYPEMASK_FORCE_SETUse force instead of acceleration
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1024POSITION_TARGET_TYPEMASK_YAW_IGNOREIgnore yaw
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2048POSITION_TARGET_TYPEMASK_YAW_RATE_IGNOREIgnore yaw rate

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ATTITUDE_TARGET_TYPEMASK

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      (Bitmask) Bitmap to indicate which dimensions should be ignored by the vehicle: a value of 0b00000000 indicates that none of the setpoint dimensions should be ignored.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1ATTITUDE_TARGET_TYPEMASK_BODY_ROLL_RATE_IGNOREIgnore body roll rate
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2ATTITUDE_TARGET_TYPEMASK_BODY_PITCH_RATE_IGNOREIgnore body pitch rate
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      4ATTITUDE_TARGET_TYPEMASK_BODY_YAW_RATE_IGNOREIgnore body yaw rate
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      32ATTITUDE_TARGET_TYPEMASK_THRUST_BODY_SETUse 3D body thrust setpoint instead of throttle
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      64ATTITUDE_TARGET_TYPEMASK_THROTTLE_IGNOREIgnore throttle
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      128ATTITUDE_TARGET_TYPEMASK_ATTITUDE_IGNOREIgnore attitude

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      UTM_FLIGHT_STATE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Airborne status of UAS.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1UTM_FLIGHT_STATE_UNKNOWNThe flight state can't be determined.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2UTM_FLIGHT_STATE_GROUNDUAS on ground.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      3UTM_FLIGHT_STATE_AIRBORNEUAS airborne.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      16UTM_FLIGHT_STATE_EMERGENCYUAS is in an emergency flight state.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      32UTM_FLIGHT_STATE_NOCTRLUAS has no active controls.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      UTM_DATA_AVAIL_FLAGS

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      (Bitmask) Flags for the global position report.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1UTM_DATA_AVAIL_FLAGS_TIME_VALIDThe field time contains valid data.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2UTM_DATA_AVAIL_FLAGS_UAS_ID_AVAILABLEThe field uas_id contains valid data.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      4UTM_DATA_AVAIL_FLAGS_POSITION_AVAILABLEThe fields lat, lon and h_acc contain valid data.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      8UTM_DATA_AVAIL_FLAGS_ALTITUDE_AVAILABLEThe fields alt and v_acc contain valid data.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      16UTM_DATA_AVAIL_FLAGS_RELATIVE_ALTITUDE_AVAILABLEThe field relative_alt contains valid data.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      32UTM_DATA_AVAIL_FLAGS_HORIZONTAL_VELO_AVAILABLEThe fields vx and vy contain valid data.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      64UTM_DATA_AVAIL_FLAGS_VERTICAL_VELO_AVAILABLEThe field vz contains valid data.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      128UTM_DATA_AVAIL_FLAGS_NEXT_WAYPOINT_AVAILABLEThe fields next_lat, next_lon and next_alt contain valid data.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      CELLULAR_STATUS_FLAG

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      These flags encode the cellular network status

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      0CELLULAR_STATUS_FLAG_UNKNOWNState unknown or not reportable.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1CELLULAR_STATUS_FLAG_FAILEDModem is unusable
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2CELLULAR_STATUS_FLAG_INITIALIZINGModem is being initialized
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      3CELLULAR_STATUS_FLAG_LOCKEDModem is locked
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      4CELLULAR_STATUS_FLAG_DISABLEDModem is not enabled and is powered down
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      5CELLULAR_STATUS_FLAG_DISABLINGModem is currently transitioning to the CELLULAR_STATUS_FLAG_DISABLED state
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      6CELLULAR_STATUS_FLAG_ENABLINGModem is currently transitioning to the CELLULAR_STATUS_FLAG_ENABLED state
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      7CELLULAR_STATUS_FLAG_ENABLEDModem is enabled and powered on but not registered with a network provider and not available for data connections
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      8CELLULAR_STATUS_FLAG_SEARCHINGModem is searching for a network provider to register
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      9CELLULAR_STATUS_FLAG_REGISTEREDModem is registered with a network provider, and data connections and messaging may be available for use
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      10CELLULAR_STATUS_FLAG_DISCONNECTINGModem is disconnecting and deactivating the last active packet data bearer. This state will not be entered if more than one packet data bearer is active and one of the active bearers is deactivated
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      11CELLULAR_STATUS_FLAG_CONNECTINGModem is activating and connecting the first packet data bearer. Subsequent bearer activations when another bearer is already active do not cause this state to be entered
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      12CELLULAR_STATUS_FLAG_CONNECTEDOne or more packet data bearers is active and connected

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      CELLULAR_NETWORK_FAILED_REASON

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      These flags are used to diagnose the failure state of CELLULAR_STATUS

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      0CELLULAR_NETWORK_FAILED_REASON_NONENo error
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1CELLULAR_NETWORK_FAILED_REASON_UNKNOWNError state is unknown
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2CELLULAR_NETWORK_FAILED_REASON_SIM_MISSINGSIM is required for the modem but missing
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      3CELLULAR_NETWORK_FAILED_REASON_SIM_ERRORSIM is available, but not usable for connection

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      CELLULAR_NETWORK_RADIO_TYPE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Cellular network radio type

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      0CELLULAR_NETWORK_RADIO_TYPE_NONE
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1CELLULAR_NETWORK_RADIO_TYPE_GSM
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2CELLULAR_NETWORK_RADIO_TYPE_CDMA
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      3CELLULAR_NETWORK_RADIO_TYPE_WCDMA
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      4CELLULAR_NETWORK_RADIO_TYPE_LTE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      PRECISION_LAND_MODE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Precision land modes (used in MAV_CMD_NAV_LAND).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      0PRECISION_LAND_MODE_DISABLEDNormal (non-precision) landing.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1PRECISION_LAND_MODE_OPPORTUNISTICUse precision landing if beacon detected when land command accepted, otherwise land normally.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2PRECISION_LAND_MODE_REQUIREDUse precision landing, searching for beacon if not found when land command accepted (land normally if beacon cannot be found).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      PARACHUTE_ACTION

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Parachute actions. Trigger release and enable/disable auto-release.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      0PARACHUTE_DISABLEDisable auto-release of parachute (i.e. release triggered by crash detectors).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1PARACHUTE_ENABLEEnable auto-release of parachute.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2PARACHUTE_RELEASERelease parachute and kill motors.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_TUNNEL_PAYLOAD_TYPE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      0MAV_TUNNEL_PAYLOAD_TYPE_UNKNOWNEncoding of payload unknown.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      200MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED0Registered for STorM32 gimbal controller.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      201MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED1Registered for STorM32 gimbal controller.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      202MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED2Registered for STorM32 gimbal controller.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      203MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED3Registered for STorM32 gimbal controller.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      204MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED4Registered for STorM32 gimbal controller.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      205MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED5Registered for STorM32 gimbal controller.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      206MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED6Registered for STorM32 gimbal controller.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      207MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED7Registered for STorM32 gimbal controller.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      208MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED8Registered for STorM32 gimbal controller.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      209MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED9Registered for STorM32 gimbal controller.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_ODID_ID_TYPE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      0MAV_ODID_ID_TYPE_NONENo type defined.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1MAV_ODID_ID_TYPE_SERIAL_NUMBERManufacturer Serial Number (ANSI/CTA-2063 format).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2MAV_ODID_ID_TYPE_CAA_REGISTRATION_IDCAA (Civil Aviation Authority) registered ID. Format: [ICAO Country Code].[CAA Assigned ID].
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      3MAV_ODID_ID_TYPE_UTM_ASSIGNED_UUIDUTM (Unmanned Traffic Management) assigned UUID (RFC4122).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      4MAV_ODID_ID_TYPE_SPECIFIC_SESSION_IDA 20 byte ID for a specific flight/session. The exact ID type is indicated by the first byte of uas_id and these type values are managed by ICAO.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_ODID_UA_TYPE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      0MAV_ODID_UA_TYPE_NONENo UA (Unmanned Aircraft) type defined.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1MAV_ODID_UA_TYPE_AEROPLANEAeroplane/Airplane. Fixed wing.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2MAV_ODID_UA_TYPE_HELICOPTER_OR_MULTIROTORHelicopter or multirotor.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      3MAV_ODID_UA_TYPE_GYROPLANEGyroplane.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      4MAV_ODID_UA_TYPE_HYBRID_LIFTVTOL (Vertical Take-Off and Landing). Fixed wing aircraft that can take off vertically.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      5MAV_ODID_UA_TYPE_ORNITHOPTEROrnithopter.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      6MAV_ODID_UA_TYPE_GLIDERGlider.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      7MAV_ODID_UA_TYPE_KITEKite.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      8MAV_ODID_UA_TYPE_FREE_BALLOONFree Balloon.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      9MAV_ODID_UA_TYPE_CAPTIVE_BALLOONCaptive Balloon.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      10MAV_ODID_UA_TYPE_AIRSHIPAirship. E.g. a blimp.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      11MAV_ODID_UA_TYPE_FREE_FALL_PARACHUTEFree Fall/Parachute (unpowered).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      12MAV_ODID_UA_TYPE_ROCKETRocket.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      13MAV_ODID_UA_TYPE_TETHERED_POWERED_AIRCRAFTTethered powered aircraft.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      14MAV_ODID_UA_TYPE_GROUND_OBSTACLEGround Obstacle.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      15MAV_ODID_UA_TYPE_OTHEROther type of aircraft not listed earlier.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_ODID_STATUS

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      0MAV_ODID_STATUS_UNDECLAREDThe status of the (UA) Unmanned Aircraft is undefined.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1MAV_ODID_STATUS_GROUNDThe UA is on the ground.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2MAV_ODID_STATUS_AIRBORNEThe UA is in the air.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      3MAV_ODID_STATUS_EMERGENCYThe UA is having an emergency.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      4MAV_ODID_STATUS_REMOTE_ID_SYSTEM_FAILUREThe remote ID system is failing or unreliable in some way.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_ODID_HEIGHT_REF

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      0MAV_ODID_HEIGHT_REF_OVER_TAKEOFFThe height field is relative to the take-off location.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1MAV_ODID_HEIGHT_REF_OVER_GROUNDThe height field is relative to ground.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_ODID_HOR_ACC

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      0MAV_ODID_HOR_ACC_UNKNOWNThe horizontal accuracy is unknown.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1MAV_ODID_HOR_ACC_10NMThe horizontal accuracy is smaller than 10 Nautical Miles. 18.52 km.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2MAV_ODID_HOR_ACC_4NMThe horizontal accuracy is smaller than 4 Nautical Miles. 7.408 km.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      3MAV_ODID_HOR_ACC_2NMThe horizontal accuracy is smaller than 2 Nautical Miles. 3.704 km.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      4MAV_ODID_HOR_ACC_1NMThe horizontal accuracy is smaller than 1 Nautical Miles. 1.852 km.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      5MAV_ODID_HOR_ACC_0_5NMThe horizontal accuracy is smaller than 0.5 Nautical Miles. 926 m.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      6MAV_ODID_HOR_ACC_0_3NMThe horizontal accuracy is smaller than 0.3 Nautical Miles. 555.6 m.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      7MAV_ODID_HOR_ACC_0_1NMThe horizontal accuracy is smaller than 0.1 Nautical Miles. 185.2 m.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      8MAV_ODID_HOR_ACC_0_05NMThe horizontal accuracy is smaller than 0.05 Nautical Miles. 92.6 m.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      9MAV_ODID_HOR_ACC_30_METERThe horizontal accuracy is smaller than 30 meter.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      10MAV_ODID_HOR_ACC_10_METERThe horizontal accuracy is smaller than 10 meter.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      11MAV_ODID_HOR_ACC_3_METERThe horizontal accuracy is smaller than 3 meter.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      12MAV_ODID_HOR_ACC_1_METERThe horizontal accuracy is smaller than 1 meter.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_ODID_VER_ACC

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      0MAV_ODID_VER_ACC_UNKNOWNThe vertical accuracy is unknown.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1MAV_ODID_VER_ACC_150_METERThe vertical accuracy is smaller than 150 meter.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2MAV_ODID_VER_ACC_45_METERThe vertical accuracy is smaller than 45 meter.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      3MAV_ODID_VER_ACC_25_METERThe vertical accuracy is smaller than 25 meter.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      4MAV_ODID_VER_ACC_10_METERThe vertical accuracy is smaller than 10 meter.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      5MAV_ODID_VER_ACC_3_METERThe vertical accuracy is smaller than 3 meter.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      6MAV_ODID_VER_ACC_1_METERThe vertical accuracy is smaller than 1 meter.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_ODID_SPEED_ACC

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      0MAV_ODID_SPEED_ACC_UNKNOWNThe speed accuracy is unknown.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1MAV_ODID_SPEED_ACC_10_METERS_PER_SECONDThe speed accuracy is smaller than 10 meters per second.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2MAV_ODID_SPEED_ACC_3_METERS_PER_SECONDThe speed accuracy is smaller than 3 meters per second.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      3MAV_ODID_SPEED_ACC_1_METERS_PER_SECONDThe speed accuracy is smaller than 1 meters per second.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      4MAV_ODID_SPEED_ACC_0_3_METERS_PER_SECONDThe speed accuracy is smaller than 0.3 meters per second.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_ODID_TIME_ACC

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      0MAV_ODID_TIME_ACC_UNKNOWNThe timestamp accuracy is unknown.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1MAV_ODID_TIME_ACC_0_1_SECONDThe timestamp accuracy is smaller than or equal to 0.1 second.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2MAV_ODID_TIME_ACC_0_2_SECONDThe timestamp accuracy is smaller than or equal to 0.2 second.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      3MAV_ODID_TIME_ACC_0_3_SECONDThe timestamp accuracy is smaller than or equal to 0.3 second.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      4MAV_ODID_TIME_ACC_0_4_SECONDThe timestamp accuracy is smaller than or equal to 0.4 second.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      5MAV_ODID_TIME_ACC_0_5_SECONDThe timestamp accuracy is smaller than or equal to 0.5 second.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      6MAV_ODID_TIME_ACC_0_6_SECONDThe timestamp accuracy is smaller than or equal to 0.6 second.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      7MAV_ODID_TIME_ACC_0_7_SECONDThe timestamp accuracy is smaller than or equal to 0.7 second.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      8MAV_ODID_TIME_ACC_0_8_SECONDThe timestamp accuracy is smaller than or equal to 0.8 second.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      9MAV_ODID_TIME_ACC_0_9_SECONDThe timestamp accuracy is smaller than or equal to 0.9 second.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      10MAV_ODID_TIME_ACC_1_0_SECONDThe timestamp accuracy is smaller than or equal to 1.0 second.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      11MAV_ODID_TIME_ACC_1_1_SECONDThe timestamp accuracy is smaller than or equal to 1.1 second.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      12MAV_ODID_TIME_ACC_1_2_SECONDThe timestamp accuracy is smaller than or equal to 1.2 second.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      13MAV_ODID_TIME_ACC_1_3_SECONDThe timestamp accuracy is smaller than or equal to 1.3 second.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      14MAV_ODID_TIME_ACC_1_4_SECONDThe timestamp accuracy is smaller than or equal to 1.4 second.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      15MAV_ODID_TIME_ACC_1_5_SECONDThe timestamp accuracy is smaller than or equal to 1.5 second.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_ODID_AUTH_TYPE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      0MAV_ODID_AUTH_TYPE_NONENo authentication type is specified.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1MAV_ODID_AUTH_TYPE_UAS_ID_SIGNATURESignature for the UAS (Unmanned Aircraft System) ID.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2MAV_ODID_AUTH_TYPE_OPERATOR_ID_SIGNATURESignature for the Operator ID.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      3MAV_ODID_AUTH_TYPE_MESSAGE_SET_SIGNATURESignature for the entire message set.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      4MAV_ODID_AUTH_TYPE_NETWORK_REMOTE_IDAuthentication is provided by Network Remote ID.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      5MAV_ODID_AUTH_TYPE_SPECIFIC_AUTHENTICATIONThe exact authentication type is indicated by the first byte of authentication_data and these type values are managed by ICAO.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_ODID_DESC_TYPE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      0MAV_ODID_DESC_TYPE_TEXTOptional free-form text description of the purpose of the flight.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1MAV_ODID_DESC_TYPE_EMERGENCYOptional additional clarification when status == MAV_ODID_STATUS_EMERGENCY.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2MAV_ODID_DESC_TYPE_EXTENDED_STATUSOptional additional clarification when status != MAV_ODID_STATUS_EMERGENCY.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_ODID_OPERATOR_LOCATION_TYPE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      0MAV_ODID_OPERATOR_LOCATION_TYPE_TAKEOFFThe location/altitude of the operator is the same as the take-off location.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1MAV_ODID_OPERATOR_LOCATION_TYPE_LIVE_GNSSThe location/altitude of the operator is dynamic. E.g. based on live GNSS data.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2MAV_ODID_OPERATOR_LOCATION_TYPE_FIXEDThe location/altitude of the operator are fixed values.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_ODID_CLASSIFICATION_TYPE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      0MAV_ODID_CLASSIFICATION_TYPE_UNDECLAREDThe classification type for the UA is undeclared.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1MAV_ODID_CLASSIFICATION_TYPE_EUThe classification type for the UA follows EU (European Union) specifications.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_ODID_CATEGORY_EU

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      0MAV_ODID_CATEGORY_EU_UNDECLAREDThe category for the UA, according to the EU specification, is undeclared.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1MAV_ODID_CATEGORY_EU_OPENThe category for the UA, according to the EU specification, is the Open category.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2MAV_ODID_CATEGORY_EU_SPECIFICThe category for the UA, according to the EU specification, is the Specific category.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      3MAV_ODID_CATEGORY_EU_CERTIFIEDThe category for the UA, according to the EU specification, is the Certified category.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_ODID_CLASS_EU

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      0MAV_ODID_CLASS_EU_UNDECLAREDThe class for the UA, according to the EU specification, is undeclared.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1MAV_ODID_CLASS_EU_CLASS_0The class for the UA, according to the EU specification, is Class 0.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2MAV_ODID_CLASS_EU_CLASS_1The class for the UA, according to the EU specification, is Class 1.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      3MAV_ODID_CLASS_EU_CLASS_2The class for the UA, according to the EU specification, is Class 2.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      4MAV_ODID_CLASS_EU_CLASS_3The class for the UA, according to the EU specification, is Class 3.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      5MAV_ODID_CLASS_EU_CLASS_4The class for the UA, according to the EU specification, is Class 4.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      6MAV_ODID_CLASS_EU_CLASS_5The class for the UA, according to the EU specification, is Class 5.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      7MAV_ODID_CLASS_EU_CLASS_6The class for the UA, according to the EU specification, is Class 6.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_ODID_OPERATOR_ID_TYPE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      0MAV_ODID_OPERATOR_ID_TYPE_CAACAA (Civil Aviation Authority) registered operator ID.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_ODID_ARM_STATUS

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      0MAV_ODID_ARM_STATUS_GOOD_TO_ARMPassing arming checks.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1MAV_ODID_ARM_STATUS_PRE_ARM_FAIL_GENERICGeneric arming failure, see error string for details.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      TUNE_FORMAT

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Tune formats (used for vehicle buzzer/tone generation).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1TUNE_FORMAT_QBASIC1_1Format is QBasic 1.1 Play: https://www.qbasic.net/en/reference/qb11/Statement/PLAY-006.htm.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2TUNE_FORMAT_MML_MODERNFormat is Modern Music Markup Language (MML): https://en.wikipedia.org/wiki/Music_Macro_Language#Modern_MML.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      AIS_TYPE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Type of AIS vessel, enum duplicated from AIS standard, https://gpsd.gitlab.io/gpsd/AIVDM.html

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      0AIS_TYPE_UNKNOWNNot available (default).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1AIS_TYPE_RESERVED_1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2AIS_TYPE_RESERVED_2
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      3AIS_TYPE_RESERVED_3
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      4AIS_TYPE_RESERVED_4
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      5AIS_TYPE_RESERVED_5
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      6AIS_TYPE_RESERVED_6
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      7AIS_TYPE_RESERVED_7
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      8AIS_TYPE_RESERVED_8
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      9AIS_TYPE_RESERVED_9
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      10AIS_TYPE_RESERVED_10
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      11AIS_TYPE_RESERVED_11
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      12AIS_TYPE_RESERVED_12
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      13AIS_TYPE_RESERVED_13
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      14AIS_TYPE_RESERVED_14
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      15AIS_TYPE_RESERVED_15
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      16AIS_TYPE_RESERVED_16
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      17AIS_TYPE_RESERVED_17
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      18AIS_TYPE_RESERVED_18
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      19AIS_TYPE_RESERVED_19
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      20AIS_TYPE_WIGWing In Ground effect.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      21AIS_TYPE_WIG_HAZARDOUS_A
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      22AIS_TYPE_WIG_HAZARDOUS_B
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      23AIS_TYPE_WIG_HAZARDOUS_C
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      24AIS_TYPE_WIG_HAZARDOUS_D
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      25AIS_TYPE_WIG_RESERVED_1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      26AIS_TYPE_WIG_RESERVED_2
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      27AIS_TYPE_WIG_RESERVED_3
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      28AIS_TYPE_WIG_RESERVED_4
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      29AIS_TYPE_WIG_RESERVED_5
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      30AIS_TYPE_FISHING
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      31AIS_TYPE_TOWING
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      32AIS_TYPE_TOWING_LARGETowing: length exceeds 200m or breadth exceeds 25m.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      33AIS_TYPE_DREDGINGDredging or other underwater ops.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      34AIS_TYPE_DIVING
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      35AIS_TYPE_MILITARY
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      36AIS_TYPE_SAILING
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      37AIS_TYPE_PLEASURE
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      38AIS_TYPE_RESERVED_20
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      39AIS_TYPE_RESERVED_21
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      40AIS_TYPE_HSCHigh Speed Craft.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      41AIS_TYPE_HSC_HAZARDOUS_A
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      42AIS_TYPE_HSC_HAZARDOUS_B
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      43AIS_TYPE_HSC_HAZARDOUS_C
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      44AIS_TYPE_HSC_HAZARDOUS_D
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      45AIS_TYPE_HSC_RESERVED_1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      46AIS_TYPE_HSC_RESERVED_2
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      47AIS_TYPE_HSC_RESERVED_3
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      48AIS_TYPE_HSC_RESERVED_4
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      49AIS_TYPE_HSC_UNKNOWN
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      50AIS_TYPE_PILOT
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      51AIS_TYPE_SARSearch And Rescue vessel.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      52AIS_TYPE_TUG
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      53AIS_TYPE_PORT_TENDER
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      54AIS_TYPE_ANTI_POLLUTIONAnti-pollution equipment.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      55AIS_TYPE_LAW_ENFORCEMENT
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      56AIS_TYPE_SPARE_LOCAL_1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      57AIS_TYPE_SPARE_LOCAL_2
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      58AIS_TYPE_MEDICAL_TRANSPORT
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      59AIS_TYPE_NONECOMBATANTNoncombatant ship according to RR Resolution No. 18.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      60AIS_TYPE_PASSENGER
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      61AIS_TYPE_PASSENGER_HAZARDOUS_A
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      62AIS_TYPE_PASSENGER_HAZARDOUS_B
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      63AIS_TYPE_PASSENGER_HAZARDOUS_C
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      64AIS_TYPE_PASSENGER_HAZARDOUS_D
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      65AIS_TYPE_PASSENGER_RESERVED_1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      66AIS_TYPE_PASSENGER_RESERVED_2
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      67AIS_TYPE_PASSENGER_RESERVED_3
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      68AIS_TYPE_PASSENGER_RESERVED_4
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      69AIS_TYPE_PASSENGER_UNKNOWN
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      70AIS_TYPE_CARGO
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      71AIS_TYPE_CARGO_HAZARDOUS_A
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      72AIS_TYPE_CARGO_HAZARDOUS_B
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      73AIS_TYPE_CARGO_HAZARDOUS_C
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      74AIS_TYPE_CARGO_HAZARDOUS_D
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      75AIS_TYPE_CARGO_RESERVED_1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      76AIS_TYPE_CARGO_RESERVED_2
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      77AIS_TYPE_CARGO_RESERVED_3
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      78AIS_TYPE_CARGO_RESERVED_4
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      79AIS_TYPE_CARGO_UNKNOWN
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      80AIS_TYPE_TANKER
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      81AIS_TYPE_TANKER_HAZARDOUS_A
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      82AIS_TYPE_TANKER_HAZARDOUS_B
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      83AIS_TYPE_TANKER_HAZARDOUS_C
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      84AIS_TYPE_TANKER_HAZARDOUS_D
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      85AIS_TYPE_TANKER_RESERVED_1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      86AIS_TYPE_TANKER_RESERVED_2
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      87AIS_TYPE_TANKER_RESERVED_3
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      88AIS_TYPE_TANKER_RESERVED_4
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      89AIS_TYPE_TANKER_UNKNOWN
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      90AIS_TYPE_OTHER
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      91AIS_TYPE_OTHER_HAZARDOUS_A
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      92AIS_TYPE_OTHER_HAZARDOUS_B
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      93AIS_TYPE_OTHER_HAZARDOUS_C
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      94AIS_TYPE_OTHER_HAZARDOUS_D
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      95AIS_TYPE_OTHER_RESERVED_1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      96AIS_TYPE_OTHER_RESERVED_2
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      97AIS_TYPE_OTHER_RESERVED_3
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      98AIS_TYPE_OTHER_RESERVED_4
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      99AIS_TYPE_OTHER_UNKNOWN

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      AIS_NAV_STATUS

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Navigational status of AIS vessel, enum duplicated from AIS standard, https://gpsd.gitlab.io/gpsd/AIVDM.html

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      0UNDER_WAYUnder way using engine.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1AIS_NAV_ANCHORED
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2AIS_NAV_UN_COMMANDED
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      3AIS_NAV_RESTRICTED_MANOEUVERABILITY
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      4AIS_NAV_DRAUGHT_CONSTRAINED
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      5AIS_NAV_MOORED
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      6AIS_NAV_AGROUND
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      7AIS_NAV_FISHING
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      8AIS_NAV_SAILING
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      9AIS_NAV_RESERVED_HSC
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      10AIS_NAV_RESERVED_WIG
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      11AIS_NAV_RESERVED_1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      12AIS_NAV_RESERVED_2
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      13AIS_NAV_RESERVED_3
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      14AIS_NAV_AIS_SARTSearch And Rescue Transponder.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      15AIS_NAV_UNKNOWNNot available (default).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      AIS_FLAGS

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      (Bitmask) These flags are used in the AIS_VESSEL.fields bitmask to indicate validity of data in the other message fields. When set, the data is valid.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1AIS_FLAGS_POSITION_ACCURACY1 = Position accuracy less than 10m, 0 = position accuracy greater than 10m.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2AIS_FLAGS_VALID_COG
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      4AIS_FLAGS_VALID_VELOCITY
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      8AIS_FLAGS_HIGH_VELOCITY1 = Velocity over 52.5765m/s (102.2 knots)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      16AIS_FLAGS_VALID_TURN_RATE
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      32AIS_FLAGS_TURN_RATE_SIGN_ONLYOnly the sign of the returned turn rate value is valid, either greater than 5deg/30s or less than -5deg/30s
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      64AIS_FLAGS_VALID_DIMENSIONS
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      128AIS_FLAGS_LARGE_BOW_DIMENSIONDistance to bow is larger than 511m
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      256AIS_FLAGS_LARGE_STERN_DIMENSIONDistance to stern is larger than 511m
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      512AIS_FLAGS_LARGE_PORT_DIMENSIONDistance to port side is larger than 63m
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1024AIS_FLAGS_LARGE_STARBOARD_DIMENSIONDistance to starboard side is larger than 63m
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2048AIS_FLAGS_VALID_CALLSIGN
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      4096AIS_FLAGS_VALID_NAME

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      FAILURE_UNIT

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      List of possible units where failures can be injected.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      0FAILURE_UNIT_SENSOR_GYRO
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1FAILURE_UNIT_SENSOR_ACCEL
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2FAILURE_UNIT_SENSOR_MAG
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      3FAILURE_UNIT_SENSOR_BARO
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      4FAILURE_UNIT_SENSOR_GPS
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      5FAILURE_UNIT_SENSOR_OPTICAL_FLOW
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      6FAILURE_UNIT_SENSOR_VIO
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      7FAILURE_UNIT_SENSOR_DISTANCE_SENSOR
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      8FAILURE_UNIT_SENSOR_AIRSPEED
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      100FAILURE_UNIT_SYSTEM_BATTERY
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      101FAILURE_UNIT_SYSTEM_MOTOR
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      102FAILURE_UNIT_SYSTEM_SERVO
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      103FAILURE_UNIT_SYSTEM_AVOIDANCE
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      104FAILURE_UNIT_SYSTEM_RC_SIGNAL
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      105FAILURE_UNIT_SYSTEM_MAVLINK_SIGNAL

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      FAILURE_TYPE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      List of possible failure type to inject.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      0FAILURE_TYPE_OKNo failure injected, used to reset a previous failure.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1FAILURE_TYPE_OFFSets unit off, so completely non-responsive.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2FAILURE_TYPE_STUCKUnit is stuck e.g. keeps reporting the same value.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      3FAILURE_TYPE_GARBAGEUnit is reporting complete garbage.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      4FAILURE_TYPE_WRONGUnit is consistently wrong.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      5FAILURE_TYPE_SLOWUnit is slow, so e.g. reporting at slower than expected rate.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      6FAILURE_TYPE_DELAYEDData of unit is delayed in time.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      7FAILURE_TYPE_INTERMITTENTUnit is sometimes working, sometimes not.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      0NAV_VTOL_LAND_OPTIONS_DEFAULTDefault autopilot landing behaviour.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1NAV_VTOL_LAND_OPTIONS_FW_DESCENTDescend in fixed wing mode, transitioning to multicopter mode for vertical landing when close to the ground.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      The fixed wing descent pattern is at the discretion of the vehicle (e.g. transition altitude, loiter direction, radius, and speed, etc.). | | 2 | NAV_VTOL_LAND_OPTIONS_HOVER_DESCENT | Land in multicopter mode on reaching the landing coordinates (the whole landing is by "hover descent"). |

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_WINCH_STATUS_FLAG

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      (Bitmask) Winch status flags used in WINCH_STATUS

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1MAV_WINCH_STATUS_HEALTHYWinch is healthy
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2MAV_WINCH_STATUS_FULLY_RETRACTEDWinch line is fully retracted
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      4MAV_WINCH_STATUS_MOVINGWinch motor is moving
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      8MAV_WINCH_STATUS_CLUTCH_ENGAGEDWinch clutch is engaged allowing motor to move freely.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      16MAV_WINCH_STATUS_LOCKEDWinch is locked by locking mechanism.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      32MAV_WINCH_STATUS_DROPPINGWinch is gravity dropping payload.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      64MAV_WINCH_STATUS_ARRESTINGWinch is arresting payload descent.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      128MAV_WINCH_STATUS_GROUND_SENSEWinch is using torque measurements to sense the ground.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      256MAV_WINCH_STATUS_RETRACTINGWinch is returning to the fully retracted position.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      512MAV_WINCH_STATUS_REDELIVERWinch is redelivering the payload. This is a failover state if the line tension goes above a threshold during RETRACTING.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1024MAV_WINCH_STATUS_ABANDON_LINEWinch is abandoning the line and possibly payload. Winch unspools the entire calculated line length. This is a failover state from REDELIVER if the number of attempts exceeds a threshold.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2048MAV_WINCH_STATUS_LOCKINGWinch is engaging the locking mechanism.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      4096MAV_WINCH_STATUS_LOAD_LINEWinch is spooling on line.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      8192MAV_WINCH_STATUS_LOAD_PAYLOADWinch is loading a payload.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAG_CAL_STATUS

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      0MAG_CAL_NOT_STARTED
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1MAG_CAL_WAITING_TO_START
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2MAG_CAL_RUNNING_STEP_ONE
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      3MAG_CAL_RUNNING_STEP_TWO
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      4MAG_CAL_SUCCESS
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      5MAG_CAL_FAILED
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      6MAG_CAL_BAD_ORIENTATION
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      7MAG_CAL_BAD_RADIUS

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_EVENT_ERROR_REASON

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Reason for an event error response.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      0MAV_EVENT_ERROR_REASON_UNAVAILABLEThe requested event is not available (anymore).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_EVENT_CURRENT_SEQUENCE_FLAGS

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Flags for CURRENT_EVENT_SEQUENCE.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1MAV_EVENT_CURRENT_SEQUENCE_FLAGS_RESETA sequence reset has happened (e.g. vehicle reboot).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      HIL_SENSOR_UPDATED_FLAGS

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      (Bitmask) Flags in the HIL_SENSOR message indicate which fields have updated since the last message

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      0HIL_SENSOR_UPDATED_NONENone of the fields in HIL_SENSOR have been updated
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1HIL_SENSOR_UPDATED_XACCThe value in the xacc field has been updated
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2HIL_SENSOR_UPDATED_YACCThe value in the yacc field has been updated
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      4HIL_SENSOR_UPDATED_ZACCThe value in the zacc field has been updated
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      8HIL_SENSOR_UPDATED_XGYROThe value in the xgyro field has been updated
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      16HIL_SENSOR_UPDATED_YGYROThe value in the ygyro field has been updated
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      32HIL_SENSOR_UPDATED_ZGYROThe value in the zgyro field has been updated
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      64HIL_SENSOR_UPDATED_XMAGThe value in the xmag field has been updated
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      128HIL_SENSOR_UPDATED_YMAGThe value in the ymag field has been updated
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      256HIL_SENSOR_UPDATED_ZMAGThe value in the zmag field has been updated
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      512HIL_SENSOR_UPDATED_ABS_PRESSUREThe value in the abs_pressure field has been updated
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1024HIL_SENSOR_UPDATED_DIFF_PRESSUREThe value in the diff_pressure field has been updated
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2048HIL_SENSOR_UPDATED_PRESSURE_ALTThe value in the pressure_alt field has been updated
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      4096HIL_SENSOR_UPDATED_TEMPERATUREThe value in the temperature field has been updated
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2147483648HIL_SENSOR_UPDATED_RESETFull reset of attitude/position/velocities/etc was performed in sim (Bit 31).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      HIGHRES_IMU_UPDATED_FLAGS

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      (Bitmask) Flags in the HIGHRES_IMU message indicate which fields have updated since the last message

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      0HIGHRES_IMU_UPDATED_NONENone of the fields in HIGHRES_IMU have been updated
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1HIGHRES_IMU_UPDATED_XACCThe value in the xacc field has been updated
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2HIGHRES_IMU_UPDATED_YACCThe value in the yacc field has been updated
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      4HIGHRES_IMU_UPDATED_ZACCThe value in the zacc field has been updated since
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      8HIGHRES_IMU_UPDATED_XGYROThe value in the xgyro field has been updated
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      16HIGHRES_IMU_UPDATED_YGYROThe value in the ygyro field has been updated
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      32HIGHRES_IMU_UPDATED_ZGYROThe value in the zgyro field has been updated
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      64HIGHRES_IMU_UPDATED_XMAGThe value in the xmag field has been updated
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      128HIGHRES_IMU_UPDATED_YMAGThe value in the ymag field has been updated
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      256HIGHRES_IMU_UPDATED_ZMAGThe value in the zmag field has been updated
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      512HIGHRES_IMU_UPDATED_ABS_PRESSUREThe value in the abs_pressure field has been updated
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1024HIGHRES_IMU_UPDATED_DIFF_PRESSUREThe value in the diff_pressure field has been updated
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2048HIGHRES_IMU_UPDATED_PRESSURE_ALTThe value in the pressure_alt field has been updated
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      4096HIGHRES_IMU_UPDATED_TEMPERATUREThe value in the temperature field has been updated
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      65535HIGHRES_IMU_UPDATED_ALLAll fields in HIGHRES_IMU have been updated.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      CAN_FILTER_OP

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      0CAN_FILTER_REPLACE
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1CAN_FILTER_ADD
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2CAN_FILTER_REMOVE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_FTP_ERR

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV FTP error codes (https://mavlink.io/en/services/ftp.html)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      0MAV_FTP_ERR_NONENone: No error
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1MAV_FTP_ERR_FAILFail: Unknown failure
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2MAV_FTP_ERR_FAILERRNOFailErrno: Command failed, Err number sent back in PayloadHeader.data[1].

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      This is a file-system error number understood by the server operating system. | | </a>3 | MAV_FTP_ERR_INVALIDDATASIZE | InvalidDataSize: Payload size is invalid | | 4 | MAV_FTP_ERR_INVALIDSESSION | InvalidSession: Session is not currently open | | </a>5 | MAV_FTP_ERR_NOSESSIONSAVAILABLE | NoSessionsAvailable: All available sessions are already in use | | 6 | MAV_FTP_ERR_EOF | EOF: Offset past end of file for ListDirectory and ReadFile commands | | </a>7 | MAV_FTP_ERR_UNKNOWNCOMMAND | UnknownCommand: Unknown command / opcode | | 8 | MAV_FTP_ERR_FILEEXISTS | FileExists: File/directory already exists | | </a>9 | MAV_FTP_ERR_FILEPROTECTED | FileProtected: File/directory is write protected | | 10 | MAV_FTP_ERR_FILENOTFOUND | FileNotFound: File/directory not found |

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_FTP_OPCODE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV FTP opcodes: https://mavlink.io/en/services/ftp.html

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      0MAV_FTP_OPCODE_NONENone. Ignored, always ACKed
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1MAV_FTP_OPCODE_TERMINATESESSIONTerminateSession: Terminates open Read session
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2MAV_FTP_OPCODE_RESETSESSIONResetSessions: Terminates all open read sessions
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      3MAV_FTP_OPCODE_LISTDIRECTORYListDirectory. List files and directories in path from offset
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      4MAV_FTP_OPCODE_OPENFILEROOpenFileRO: Opens file at path for reading, returns session
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      5MAV_FTP_OPCODE_READFILEReadFile: Reads size bytes from offset in session
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      6MAV_FTP_OPCODE_CREATEFILECreateFile: Creates file at path for writing, returns session
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      7MAV_FTP_OPCODE_WRITEFILEWriteFile: Writes size bytes to offset in session
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      8MAV_FTP_OPCODE_REMOVEFILERemoveFile: Remove file at path
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      9MAV_FTP_OPCODE_CREATEDIRECTORYCreateDirectory: Creates directory at path
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      10MAV_FTP_OPCODE_REMOVEDIRECTORYRemoveDirectory: Removes directory at path. The directory must be empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      11MAV_FTP_OPCODE_OPENFILEWOOpenFileWO: Opens file at path for writing, returns session
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      12MAV_FTP_OPCODE_TRUNCATEFILETruncateFile: Truncate file at path to offset length
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      13MAV_FTP_OPCODE_RENAMERename: Rename path1 to path2
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      14MAV_FTP_OPCODE_CALCFILECRCCalcFileCRC32: Calculate CRC32 for file at path
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      15MAV_FTP_OPCODE_BURSTREADFILEBurstReadFile: Burst download session file
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      128MAV_FTP_OPCODE_ACKACK: ACK response
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      129MAV_FTP_OPCODE_NAKNAK: NAK response

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MISSION_STATE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      States of the mission state machine. Note that these states are independent of whether the mission is in a mode that can execute mission items or not (is suspended). They may not all be relevant on all vehicles.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      0MISSION_STATE_UNKNOWNThe mission status reporting is not supported.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1MISSION_STATE_NO_MISSIONNo mission on the vehicle.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2MISSION_STATE_NOT_STARTEDMission has not started. This is the case after a mission has uploaded but not yet started executing.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      3MISSION_STATE_ACTIVEMission is active, and will execute mission items when in auto mode.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      4MISSION_STATE_PAUSEDMission is paused when in auto mode.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      5MISSION_STATE_COMPLETEMission has executed all mission items.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      SAFETY_SWITCH_STATE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Possible safety switch states.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      0SAFETY_SWITCH_STATE_SAFESafety switch is engaged and vehicle should be safe to approach.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1SAFETY_SWITCH_STATE_DANGEROUSSafety switch is NOT engaged and motors, propellers and other actuators should be considered active.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ILLUMINATOR_MODE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Modes of illuminator

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      0ILLUMINATOR_MODE_UNKNOWNIlluminator mode is not specified/unknown
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1ILLUMINATOR_MODE_INTERNAL_CONTROLIlluminator behavior is controlled by MAV_CMD_DO_ILLUMINATOR_CONFIGURE settings
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2ILLUMINATOR_MODE_EXTERNAL_SYNCIlluminator behavior is controlled by external factors: e.g. an external hardware signal

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ILLUMINATOR_ERROR_FLAGS

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      (Bitmask) Illuminator module error flags (bitmap, 0 means no error)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1ILLUMINATOR_ERROR_FLAGS_THERMAL_THROTTLINGIlluminator thermal throttling error.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2ILLUMINATOR_ERROR_FLAGS_OVER_TEMPERATURE_SHUTDOWNIlluminator over temperature shutdown error.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      4ILLUMINATOR_ERROR_FLAGS_THERMISTOR_FAILUREIlluminator thermistor failure.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_AUTOPILOT — [from: minimal]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Micro air vehicle / autopilot classes. This identifies the individual model.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      0MAV_AUTOPILOT_GENERICGeneric autopilot, full support for everything
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1MAV_AUTOPILOT_RESERVEDReserved for future use.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2MAV_AUTOPILOT_SLUGSSLUGS autopilot, http://slugsuav.soe.ucsc.edu
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      3MAV_AUTOPILOT_ARDUPILOTMEGAArduPilot - Plane/Copter/Rover/Sub/Tracker, https://ardupilot.org
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      4MAV_AUTOPILOT_OPENPILOTOpenPilot, http://openpilot.org
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      5MAV_AUTOPILOT_GENERIC_WAYPOINTS_ONLYGeneric autopilot only supporting simple waypoints
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      6MAV_AUTOPILOT_GENERIC_WAYPOINTS_AND_SIMPLE_NAVIGATION_ONLYGeneric autopilot supporting waypoints and other simple navigation commands
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      7MAV_AUTOPILOT_GENERIC_MISSION_FULLGeneric autopilot supporting the full mission command set
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      8MAV_AUTOPILOT_INVALIDNo valid autopilot, e.g. a GCS or other MAVLink component
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      9MAV_AUTOPILOT_PPZPPZ UAV - http://nongnu.org/paparazzi
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      10MAV_AUTOPILOT_UDBUAV Dev Board
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      11MAV_AUTOPILOT_FPFlexiPilot
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      12MAV_AUTOPILOT_PX4PX4 Autopilot - http://px4.io/
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      13MAV_AUTOPILOT_SMACCMPILOTSMACCMPilot - http://smaccmpilot.org
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      14MAV_AUTOPILOT_AUTOQUADAutoQuad -- http://autoquad.org
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      15MAV_AUTOPILOT_ARMAZILAArmazila -- http://armazila.com
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      16MAV_AUTOPILOT_AEROBAerob -- http://aerob.ru
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      17MAV_AUTOPILOT_ASLUAVASLUAV autopilot -- http://www.asl.ethz.ch
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      18MAV_AUTOPILOT_SMARTAPSmartAP Autopilot - http://sky-drones.com
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      19MAV_AUTOPILOT_AIRRAILSAirRails - http://uaventure.com
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      20MAV_AUTOPILOT_REFLEXFusion Reflex - https://fusion.engineering

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_TYPE — [from: minimal]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAVLINK component type reported in HEARTBEAT message. Flight controllers must report the type of the vehicle on which they are mounted (e.g. MAV_TYPE_OCTOROTOR). All other components must report a value appropriate for their type (e.g. a camera must use MAV_TYPE_CAMERA).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      0MAV_TYPE_GENERICGeneric micro air vehicle
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1MAV_TYPE_FIXED_WINGFixed wing aircraft.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2MAV_TYPE_QUADROTORQuadrotor
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      3MAV_TYPE_COAXIALCoaxial helicopter
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      4MAV_TYPE_HELICOPTERNormal helicopter with tail rotor.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      5MAV_TYPE_ANTENNA_TRACKERGround installation
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      6MAV_TYPE_GCSOperator control unit / ground control station
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      7MAV_TYPE_AIRSHIPAirship, controlled
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      8MAV_TYPE_FREE_BALLOONFree balloon, uncontrolled
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      9MAV_TYPE_ROCKETRocket
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      10MAV_TYPE_GROUND_ROVERGround rover
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      11MAV_TYPE_SURFACE_BOATSurface vessel, boat, ship
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      12MAV_TYPE_SUBMARINESubmarine
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      13MAV_TYPE_HEXAROTORHexarotor
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      14MAV_TYPE_OCTOROTOROctorotor
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      15MAV_TYPE_TRICOPTERTricopter
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      16MAV_TYPE_FLAPPING_WINGFlapping wing
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      17MAV_TYPE_KITEKite
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      18MAV_TYPE_ONBOARD_CONTROLLEROnboard companion controller
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      19MAV_TYPE_VTOL_TAILSITTER_DUOROTORTwo-rotor Tailsitter VTOL that additionally uses control surfaces in vertical operation. Note, value previously named MAV_TYPE_VTOL_DUOROTOR.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      20MAV_TYPE_VTOL_TAILSITTER_QUADROTORQuad-rotor Tailsitter VTOL using a V-shaped quad config in vertical operation. Note: value previously named MAV_TYPE_VTOL_QUADROTOR.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      21MAV_TYPE_VTOL_TILTROTORTiltrotor VTOL. Fuselage and wings stay (nominally) horizontal in all flight phases. It able to tilt (some) rotors to provide thrust in cruise flight.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      22MAV_TYPE_VTOL_FIXEDROTORVTOL with separate fixed rotors for hover and cruise flight. Fuselage and wings stay (nominally) horizontal in all flight phases.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      23MAV_TYPE_VTOL_TAILSITTERTailsitter VTOL. Fuselage and wings orientation changes depending on flight phase: vertical for hover, horizontal for cruise. Use more specific VTOL MAV_TYPE_VTOL_TAILSITTER_DUOROTOR or MAV_TYPE_VTOL_TAILSITTER_QUADROTOR if appropriate.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      24MAV_TYPE_VTOL_TILTWINGTiltwing VTOL. Fuselage stays horizontal in all flight phases. The whole wing, along with any attached engine, can tilt between vertical and horizontal mode.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      25MAV_TYPE_VTOL_RESERVED5VTOL reserved 5
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      26MAV_TYPE_GIMBALGimbal
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      27MAV_TYPE_ADSBADSB system
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      28MAV_TYPE_PARAFOILSteerable, nonrigid airfoil
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      29MAV_TYPE_DODECAROTORDodecarotor
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      30MAV_TYPE_CAMERACamera
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      31MAV_TYPE_CHARGING_STATIONCharging station
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      32MAV_TYPE_FLARMFLARM collision avoidance system
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      33MAV_TYPE_SERVOServo
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      34MAV_TYPE_ODIDOpen Drone ID. See https://mavlink.io/en/services/opendroneid.html.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      35MAV_TYPE_DECAROTORDecarotor
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      36MAV_TYPE_BATTERYBattery
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      37MAV_TYPE_PARACHUTEParachute
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      38MAV_TYPE_LOGLog
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      39MAV_TYPE_OSDOSD
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      40MAV_TYPE_IMUIMU
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      41MAV_TYPE_GPSGPS
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      42MAV_TYPE_WINCHWinch
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      43MAV_TYPE_GENERIC_MULTIROTORGeneric multirotor that does not fit into a specific type or whose type is unknown
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      44MAV_TYPE_ILLUMINATORIlluminator. An illuminator is a light source that is used for lighting up dark areas external to the sytstem: e.g. a torch or searchlight (as opposed to a light source for illuminating the system itself, e.g. an indicator light).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_MODE_FLAG — [from: minimal]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      (Bitmask) These flags encode the MAV mode.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1MAV_MODE_FLAG_CUSTOM_MODE_ENABLED0b00000001 Reserved for future use.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2MAV_MODE_FLAG_TEST_ENABLED0b00000010 system has a test mode enabled. This flag is intended for temporary system tests and should not be used for stable implementations.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      4MAV_MODE_FLAG_AUTO_ENABLED0b00000100 autonomous mode enabled, system finds its own goal positions. Guided flag can be set or not, depends on the actual implementation.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      8MAV_MODE_FLAG_GUIDED_ENABLED0b00001000 guided mode enabled, system flies waypoints / mission items.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      16MAV_MODE_FLAG_STABILIZE_ENABLED0b00010000 system stabilizes electronically its attitude (and optionally position). It needs however further control inputs to move around.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      32MAV_MODE_FLAG_HIL_ENABLED0b00100000 hardware in the loop simulation. All motors / actuators are blocked, but internal software is full operational.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      64MAV_MODE_FLAG_MANUAL_INPUT_ENABLED0b01000000 remote control input is enabled.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      128MAV_MODE_FLAG_SAFETY_ARMED0b10000000 MAV safety set to armed. Motors are enabled / running / can start. Ready to fly. Additional note: this flag is to be ignore when sent in the command MAV_CMD_DO_SET_MODE and MAV_CMD_COMPONENT_ARM_DISARM shall be used instead. The flag can still be used to report the armed state.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_MODE_FLAG_DECODE_POSITION — [from: minimal]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      (Bitmask) These values encode the bit positions of the decode position. These values can be used to read the value of a flag bit by combining the base_mode variable with AND with the flag position value. The result will be either 0 or 1, depending on if the flag is set or not.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1MAV_MODE_FLAG_DECODE_POSITION_CUSTOM_MODEEighth bit: 00000001
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2MAV_MODE_FLAG_DECODE_POSITION_TESTSeventh bit: 00000010
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      4MAV_MODE_FLAG_DECODE_POSITION_AUTOSixth bit: 00000100
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      8MAV_MODE_FLAG_DECODE_POSITION_GUIDEDFifth bit: 00001000
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      16MAV_MODE_FLAG_DECODE_POSITION_STABILIZEFourth bit: 00010000
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      32MAV_MODE_FLAG_DECODE_POSITION_HILThird bit: 00100000
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      64MAV_MODE_FLAG_DECODE_POSITION_MANUALSecond bit: 01000000
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      128MAV_MODE_FLAG_DECODE_POSITION_SAFETYFirst bit: 10000000

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_STATE — [from: minimal]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      0MAV_STATE_UNINITUninitialized system, state is unknown.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1MAV_STATE_BOOTSystem is booting up.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2MAV_STATE_CALIBRATINGSystem is calibrating and not flight-ready.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      3MAV_STATE_STANDBYSystem is grounded and on standby. It can be launched any time.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      4MAV_STATE_ACTIVESystem is active and might be already airborne. Motors are engaged.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      5MAV_STATE_CRITICALSystem is in a non-normal flight mode (failsafe). It can however still navigate.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      6MAV_STATE_EMERGENCYSystem is in a non-normal flight mode (failsafe). It lost control over parts or over the whole airframe. It is in mayday and going down.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      7MAV_STATE_POWEROFFSystem just initialized its power-down sequence, will shut down now.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      8MAV_STATE_FLIGHT_TERMINATIONSystem is terminating itself (failsafe or commanded).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_COMPONENT — [from: minimal]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Component ids (values) for the different types and instances of onboard hardware/software that might make up a MAVLink system (autopilot, cameras, servos, GPS systems, avoidance systems etc.).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Components must use the appropriate ID in their source address when sending messages. Components can also use IDs to determine if they are the intended recipient of an incoming message. The MAV_COMP_ID_ALL value is used to indicate messages that must be processed by all components. When creating new entries, components that can have multiple instances (e.g. cameras, servos etc.) should be allocated sequential values. An appropriate number of values should be left free after these components to allow the number of instances to be expanded.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      0MAV_COMP_ID_ALLTarget id (target_component) used to broadcast messages to all components of the receiving system. Components should attempt to process messages with this component ID and forward to components on any other interfaces. Note: This is not a valid source component id for a message.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1MAV_COMP_ID_AUTOPILOT1System flight controller component ("autopilot"). Only one autopilot is expected in a particular system.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      25MAV_COMP_ID_USER1Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      26MAV_COMP_ID_USER2Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      27MAV_COMP_ID_USER3Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      28MAV_COMP_ID_USER4Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      29MAV_COMP_ID_USER5Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      30MAV_COMP_ID_USER6Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      31MAV_COMP_ID_USER7Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      32MAV_COMP_ID_USER8Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      33MAV_COMP_ID_USER9Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      34MAV_COMP_ID_USER10Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      35MAV_COMP_ID_USER11Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      36MAV_COMP_ID_USER12Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      37MAV_COMP_ID_USER13Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      38MAV_COMP_ID_USER14Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      39MAV_COMP_ID_USER15Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      40MAV_COMP_ID_USER16Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      41MAV_COMP_ID_USER17Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      42MAV_COMP_ID_USER18Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      43MAV_COMP_ID_USER19Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      44MAV_COMP_ID_USER20Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      45MAV_COMP_ID_USER21Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      46MAV_COMP_ID_USER22Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      47MAV_COMP_ID_USER23Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      48MAV_COMP_ID_USER24Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      49MAV_COMP_ID_USER25Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      50MAV_COMP_ID_USER26Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      51MAV_COMP_ID_USER27Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      52MAV_COMP_ID_USER28Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      53MAV_COMP_ID_USER29Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      54MAV_COMP_ID_USER30Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      55MAV_COMP_ID_USER31Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      56MAV_COMP_ID_USER32Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      57MAV_COMP_ID_USER33Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      58MAV_COMP_ID_USER34Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      59MAV_COMP_ID_USER35Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      60MAV_COMP_ID_USER36Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      61MAV_COMP_ID_USER37Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      62MAV_COMP_ID_USER38Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      63MAV_COMP_ID_USER39Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      64MAV_COMP_ID_USER40Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      65MAV_COMP_ID_USER41Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      66MAV_COMP_ID_USER42Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      67MAV_COMP_ID_USER43Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      68MAV_COMP_ID_TELEMETRY_RADIOTelemetry radio (e.g. SiK radio, or other component that emits RADIO_STATUS messages).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      69MAV_COMP_ID_USER45Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      70MAV_COMP_ID_USER46Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      71MAV_COMP_ID_USER47Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      72MAV_COMP_ID_USER48Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      73MAV_COMP_ID_USER49Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      74MAV_COMP_ID_USER50Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      75MAV_COMP_ID_USER51Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      76MAV_COMP_ID_USER52Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      77MAV_COMP_ID_USER53Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      78MAV_COMP_ID_USER54Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      79MAV_COMP_ID_USER55Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      80MAV_COMP_ID_USER56Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      81MAV_COMP_ID_USER57Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      82MAV_COMP_ID_USER58Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      83MAV_COMP_ID_USER59Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      84MAV_COMP_ID_USER60Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      85MAV_COMP_ID_USER61Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      86MAV_COMP_ID_USER62Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      87MAV_COMP_ID_USER63Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      88MAV_COMP_ID_USER64Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      89MAV_COMP_ID_USER65Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      90MAV_COMP_ID_USER66Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      91MAV_COMP_ID_USER67Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      92MAV_COMP_ID_USER68Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      93MAV_COMP_ID_USER69Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      94MAV_COMP_ID_USER70Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      95MAV_COMP_ID_USER71Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      96MAV_COMP_ID_USER72Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      97MAV_COMP_ID_USER73Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      98MAV_COMP_ID_USER74Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      99MAV_COMP_ID_USER75Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      100MAV_COMP_ID_CAMERACamera #1.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      101MAV_COMP_ID_CAMERA2Camera #2.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      102MAV_COMP_ID_CAMERA3Camera #3.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      103MAV_COMP_ID_CAMERA4Camera #4.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      104MAV_COMP_ID_CAMERA5Camera #5.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      105MAV_COMP_ID_CAMERA6Camera #6.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      140MAV_COMP_ID_SERVO1Servo #1.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      141MAV_COMP_ID_SERVO2Servo #2.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      142MAV_COMP_ID_SERVO3Servo #3.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      143MAV_COMP_ID_SERVO4Servo #4.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      144MAV_COMP_ID_SERVO5Servo #5.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      145MAV_COMP_ID_SERVO6Servo #6.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      146MAV_COMP_ID_SERVO7Servo #7.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      147MAV_COMP_ID_SERVO8Servo #8.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      148MAV_COMP_ID_SERVO9Servo #9.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      149MAV_COMP_ID_SERVO10Servo #10.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      150MAV_COMP_ID_SERVO11Servo #11.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      151MAV_COMP_ID_SERVO12Servo #12.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      152MAV_COMP_ID_SERVO13Servo #13.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      153MAV_COMP_ID_SERVO14Servo #14.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      154MAV_COMP_ID_GIMBALGimbal #1.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      155MAV_COMP_ID_LOGLogging component.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      156MAV_COMP_ID_ADSBAutomatic Dependent Surveillance-Broadcast (ADS-B) component.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      157MAV_COMP_ID_OSDOn Screen Display (OSD) devices for video links.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      158MAV_COMP_ID_PERIPHERALGeneric autopilot peripheral component ID. Meant for devices that do not implement the parameter microservice.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      159MAV_COMP_ID_QX1_GIMBALGimbal ID for QX1.DEPRECATED: Replaced By MAV_COMP_ID_GIMBAL (2018-11) — All gimbals should use MAV_COMP_ID_GIMBAL.)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      160MAV_COMP_ID_FLARMFLARM collision alert component.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      161MAV_COMP_ID_PARACHUTEParachute component.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      169MAV_COMP_ID_WINCHWinch component.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      171MAV_COMP_ID_GIMBAL2Gimbal #2.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      172MAV_COMP_ID_GIMBAL3Gimbal #3.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      173MAV_COMP_ID_GIMBAL4Gimbal #4
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      174MAV_COMP_ID_GIMBAL5Gimbal #5.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      175MAV_COMP_ID_GIMBAL6Gimbal #6.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      180MAV_COMP_ID_BATTERYBattery #1.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      181MAV_COMP_ID_BATTERY2Battery #2.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      189MAV_COMP_ID_MAVCANCAN over MAVLink client.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      190MAV_COMP_ID_MISSIONPLANNERComponent that can generate/supply a mission flight plan (e.g. GCS or developer API).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      191MAV_COMP_ID_ONBOARD_COMPUTERComponent that lives on the onboard computer (companion computer) and has some generic functionalities, such as settings system parameters and monitoring the status of some processes that don't directly speak mavlink and so on.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      192MAV_COMP_ID_ONBOARD_COMPUTER2Component that lives on the onboard computer (companion computer) and has some generic functionalities, such as settings system parameters and monitoring the status of some processes that don't directly speak mavlink and so on.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      193MAV_COMP_ID_ONBOARD_COMPUTER3Component that lives on the onboard computer (companion computer) and has some generic functionalities, such as settings system parameters and monitoring the status of some processes that don't directly speak mavlink and so on.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      194MAV_COMP_ID_ONBOARD_COMPUTER4Component that lives on the onboard computer (companion computer) and has some generic functionalities, such as settings system parameters and monitoring the status of some processes that don't directly speak mavlink and so on.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      195MAV_COMP_ID_PATHPLANNERComponent that finds an optimal path between points based on a certain constraint (e.g. minimum snap, shortest path, cost, etc.).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      196MAV_COMP_ID_OBSTACLE_AVOIDANCEComponent that plans a collision free path between two points.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      197MAV_COMP_ID_VISUAL_INERTIAL_ODOMETRYComponent that provides position estimates using VIO techniques.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      198MAV_COMP_ID_PAIRING_MANAGERComponent that manages pairing of vehicle and GCS.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      200MAV_COMP_ID_IMUInertial Measurement Unit (IMU) #1.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      201MAV_COMP_ID_IMU_2Inertial Measurement Unit (IMU) #2.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      202MAV_COMP_ID_IMU_3Inertial Measurement Unit (IMU) #3.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      220MAV_COMP_ID_GPSGPS #1.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      221MAV_COMP_ID_GPS2GPS #2.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      236MAV_COMP_ID_ODID_TXRX_1Open Drone ID transmitter/receiver (Bluetooth/WiFi/Internet).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      237MAV_COMP_ID_ODID_TXRX_2Open Drone ID transmitter/receiver (Bluetooth/WiFi/Internet).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      238MAV_COMP_ID_ODID_TXRX_3Open Drone ID transmitter/receiver (Bluetooth/WiFi/Internet).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      240MAV_COMP_ID_UDP_BRIDGEComponent to bridge MAVLink to UDP (i.e. from a UART).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      241MAV_COMP_ID_UART_BRIDGEComponent to bridge to UART (i.e. from UDP).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      242MAV_COMP_ID_TUNNEL_NODEComponent handling TUNNEL messages (e.g. vendor specific GUI of a component).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      243MAV_COMP_ID_ILLUMINATORIlluminator
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      250MAV_COMP_ID_SYSTEM_CONTROLDeprecated, don't use. Component for handling system messages (e.g. to ARM, takeoff, etc.).DEPRECATED: Replaced By MAV_COMP_ID_ALL (2018-11) — System control does not require a separate component ID. Instead, system commands should be sent with target_component=MAV_COMP_ID_ALL allowing the target component to use any appropriate component id.)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Commands (MAV_CMD)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_NAV_WAYPOINT (16)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Navigate to waypoint. This is intended for use in missions (for guided commands outside of missions use MAV_CMD_DO_REPOSITION).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Param (Label)DescriptionValuesUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1 (Hold)Hold time. (ignored by fixed wing, time to stay at waypoint for rotary wing)min: 0s
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2 (Accept Radius)Acceptance radius (if the sphere with this radius is hit, the waypoint counts as reached)min: 0m
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      3 (Pass Radius)0 to pass through the WP, if > 0 radius to pass by WP. Positive value for clockwise orbit, negative value for counter-clockwise orbit. Allows trajectory control.m
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      4 (Yaw)Desired yaw angle at waypoint (rotary wing). NaN to use the current system yaw heading mode (e.g. yaw towards next waypoint, yaw to home, etc.).deg
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      5 (Latitude)Latitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      6 (Longitude)Longitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      7 (Altitude)Altitudem

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_NAV_LOITER_UNLIM (17)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Loiter around this waypoint an unlimited amount of time

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Param (Label)DescriptionUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      3 (Radius)Loiter radius around waypoint for forward-only moving vehicles (not multicopters). If positive loiter clockwise, else counter-clockwisem
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      4 (Yaw)Desired yaw angle. NaN to use the current system yaw heading mode (e.g. yaw towards next waypoint, yaw to home, etc.).deg
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      5 (Latitude)Latitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      6 (Longitude)Longitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      7 (Altitude)Altitudem

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_NAV_LOITER_TURNS (18)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Loiter around this waypoint for X turns

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Param (Label)DescriptionValuesUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1 (Turns)Number of turns.min: 0
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2 (Heading Required)Leave loiter circle only once heading towards the next waypoint (0 = False)min: 0 max: 1 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      3 (Radius)Loiter radius around waypoint for forward-only moving vehicles (not multicopters). If positive loiter clockwise, else counter-clockwisem
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      4 (Xtrack Location)Loiter circle exit location and/or path to next waypoint ("xtrack") for forward-only moving vehicles (not multicopters). 0 for the vehicle to converge towards the center xtrack when it leaves the loiter (the line between the centers of the current and next waypoint), 1 to converge to the direct line between the location that the vehicle exits the loiter radius and the next waypoint. Otherwise the angle (in degrees) between the tangent of the loiter circle and the center xtrack at which the vehicle must leave the loiter (and converge to the center xtrack). NaN to use the current system default xtrack behaviour.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      5 (Latitude)Latitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      6 (Longitude)Longitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      7 (Altitude)Altitudem

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_NAV_LOITER_TIME (19)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Loiter at the specified latitude, longitude and altitude for a certain amount of time. Multicopter vehicles stop at the point (within a vehicle-specific acceptance radius). Forward-only moving vehicles (e.g. fixed-wing) circle the point with the specified radius/direction. If the Heading Required parameter (2) is non-zero forward moving aircraft will only leave the loiter circle once heading towards the next waypoint.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Param (Label)DescriptionValuesUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1 (Time)Loiter time (only starts once Lat, Lon and Alt is reached).min: 0s
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2 (Heading Required)Leave loiter circle only once heading towards the next waypoint (0 = False)min: 0 max: 1 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      3 (Radius)Loiter radius around waypoint for forward-only moving vehicles (not multicopters). If positive loiter clockwise, else counter-clockwise.m
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      4 (Xtrack Location)Loiter circle exit location and/or path to next waypoint ("xtrack") for forward-only moving vehicles (not multicopters). 0 for the vehicle to converge towards the center xtrack when it leaves the loiter (the line between the centers of the current and next waypoint), 1 to converge to the direct line between the location that the vehicle exits the loiter radius and the next waypoint. Otherwise the angle (in degrees) between the tangent of the loiter circle and the center xtrack at which the vehicle must leave the loiter (and converge to the center xtrack). NaN to use the current system default xtrack behaviour.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      5 (Latitude)Latitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      6 (Longitude)Longitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      7 (Altitude)Altitudem

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_NAV_RETURN_TO_LAUNCH (20)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Return to launch location

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Param (Label)Description
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      3Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      4Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      5Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      6Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      7Empty

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_NAV_LAND (21)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Land at location.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Param (Label)DescriptionValuesUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1 (Abort Alt)Minimum target altitude if landing is aborted (0 = undefined/use system default).m
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2 (Land Mode)Precision land mode.PRECISION_LAND_MODE
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      3Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      4 (Yaw Angle)Desired yaw angle. NaN to use the current system yaw heading mode (e.g. yaw towards next waypoint, yaw to home, etc.).deg
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      5 (Latitude)Latitude.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      6 (Longitude)Longitude.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      7 (Altitude)Landing altitude (ground level in current frame).m

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_NAV_TAKEOFF (22)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Takeoff from ground / hand. Vehicles that support multiple takeoff modes (e.g. VTOL quadplane) should take off using the currently configured mode.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Param (Label)DescriptionUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1 (Pitch)Minimum pitch (if airspeed sensor present), desired pitch without sensordeg
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      3Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      4 (Yaw)Yaw angle (if magnetometer present), ignored without magnetometer. NaN to use the current system yaw heading mode (e.g. yaw towards next waypoint, yaw to home, etc.).deg
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      5 (Latitude)Latitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      6 (Longitude)Longitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      7 (Altitude)Altitudem

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_NAV_LAND_LOCAL (23)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Land at local position (local frame only)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Param (Label)DescriptionValuesUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1 (Target)Landing target number (if available)min: 0 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2 (Offset)Maximum accepted offset from desired landing position - computed magnitude from spherical coordinates: d = sqrt(x^2 + y^2 + z^2), which gives the maximum accepted distance between the desired landing position and the position where the vehicle is about to landmin: 0m
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      3 (Descend Rate)Landing descend ratem/s
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      4 (Yaw)Desired yaw anglerad
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      5 (Y Position)Y-axis positionm
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      6 (X Position)X-axis positionm
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      7 (Z Position)Z-axis / ground level positionm

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_NAV_TAKEOFF_LOCAL (24)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Takeoff from local position (local frame only)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Param (Label)DescriptionUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1 (Pitch)Minimum pitch (if airspeed sensor present), desired pitch without sensorrad
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      3 (Ascend Rate)Takeoff ascend ratem/s
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      4 (Yaw)Yaw angle (if magnetometer or another yaw estimation source present), ignored without one of theserad
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      5 (Y Position)Y-axis positionm
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      6 (X Position)X-axis positionm
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      7 (Z Position)Z-axis positionm

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_NAV_FOLLOW (25)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Vehicle following, i.e. this waypoint represents the position of a moving vehicle

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Param (Label)DescriptionValuesUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1 (Following)Following logic to use (e.g. loitering or sinusoidal following) - depends on specific autopilot implementationinc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2 (Ground Speed)Ground speed of vehicle to be followedm/s
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      3 (Radius)Radius around waypoint. If positive loiter clockwise, else counter-clockwisem
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      4 (Yaw)Desired yaw angle.deg
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      5 (Latitude)Latitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      6 (Longitude)Longitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      7 (Altitude)Altitudem

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_NAV_CONTINUE_AND_CHANGE_ALT (30)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Continue on the current course and climb/descend to specified altitude. When the altitude is reached continue to the next command (i.e., don't proceed to the next command until the desired altitude is reached.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Param (Label)DescriptionValuesUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1 (Action)Climb or Descend (0 = Neutral, command completes when within 5m of this command's altitude, 1 = Climbing, command completes when at or above this command's altitude, 2 = Descending, command completes when at or below this command's altitude.min: 0 max: 2 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      3Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      4Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      5Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      6Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      7 (Altitude)Desired altitudem

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_NAV_LOITER_TO_ALT (31)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Begin loiter at the specified Latitude and Longitude. If Lat=Lon=0, then loiter at the current position. Don't consider the navigation command complete (don't leave loiter) until the altitude has been reached. Additionally, if the Heading Required parameter is non-zero the aircraft will not leave the loiter until heading toward the next waypoint.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Param (Label)DescriptionValuesUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1 (Heading Required)Leave loiter circle only once heading towards the next waypoint (0 = False)min: 0 max: 1 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2 (Radius)Loiter radius around waypoint for forward-only moving vehicles (not multicopters). If positive loiter clockwise, negative counter-clockwise, 0 means no change to standard loiter.m
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      3Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      4 (Xtrack Location)Loiter circle exit location and/or path to next waypoint ("xtrack") for forward-only moving vehicles (not multicopters). 0 for the vehicle to converge towards the center xtrack when it leaves the loiter (the line between the centers of the current and next waypoint), 1 to converge to the direct line between the location that the vehicle exits the loiter radius and the next waypoint. Otherwise the angle (in degrees) between the tangent of the loiter circle and the center xtrack at which the vehicle must leave the loiter (and converge to the center xtrack). NaN to use the current system default xtrack behaviour.min: 0 max: 1 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      5 (Latitude)Latitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      6 (Longitude)Longitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      7 (Altitude)Altitudem

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_DO_FOLLOW (32)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Begin following a target

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Param (Label)DescriptionValuesUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1 (System ID)System ID (of the FOLLOW_TARGET beacon). Send 0 to disable follow-me and return to the default position hold mode.min: 0 max: 255 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2Reserved
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      3Reserved
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      4 (Altitude Mode)Altitude mode: 0: Keep current altitude, 1: keep altitude difference to target, 2: go to a fixed altitude above home.min: 0 max: 2 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      5 (Altitude)Altitude above home. (used if mode=2)m
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      6Reserved
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      7 (Time to Land)Time to land in which the MAV should go to the default position hold mode after a message RX timeout.min: 0s

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_DO_FOLLOW_REPOSITION (33)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Reposition the MAV after a follow target command has been sent

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Param (Label)DescriptionUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1 (Camera Q1)Camera q1 (where 0 is on the ray from the camera to the tracking device)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2 (Camera Q2)Camera q2
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      3 (Camera Q3)Camera q3
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      4 (Camera Q4)Camera q4
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      5 (Altitude Offset)altitude offset from targetm
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      6 (X Offset)X offset from targetm
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      7 (Y Offset)Y offset from targetm

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_DO_ORBIT (34) — [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Start orbiting on the circumference of a circle defined by the parameters. Setting values to NaN/INT32_MAX (as appropriate) results in using defaults.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Param (Label)DescriptionValuesUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1 (Radius)Radius of the circle. Positive: orbit clockwise. Negative: orbit counter-clockwise. NaN: Use vehicle default radius, or current radius if already orbiting.m
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2 (Velocity)Tangential Velocity. NaN: Use vehicle default velocity, or current velocity if already orbiting.m/s
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      3 (Yaw Behavior)Yaw behavior of the vehicle.ORBIT_YAW_BEHAVIOUR
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      4 (Orbits)Orbit around the centre point for this many radians (i.e. for a three-quarter orbit set 270*Pi/180). 0: Orbit forever. NaN: Use vehicle default, or current value if already orbiting.min: 0rad
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      5 (Latitude/X)Center point latitude (if no MAV_FRAME specified) / X coordinate according to MAV_FRAME. INT32_MAX (or NaN if sent in COMMAND_LONG): Use current vehicle position, or current center if already orbiting.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      6 (Longitude/Y)Center point longitude (if no MAV_FRAME specified) / Y coordinate according to MAV_FRAME. INT32_MAX (or NaN if sent in COMMAND_LONG): Use current vehicle position, or current center if already orbiting.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      7 (Altitude/Z)Center point altitude (MSL) (if no MAV_FRAME specified) / Z coordinate according to MAV_FRAME. NaN: Use current vehicle altitude.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_NAV_ROI (80) — [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      DEPRECATED: Replaced By MAVCMD_DO_SET_ROI* (2018-01)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Sets the region of interest (ROI) for a sensor set or the vehicle itself. This can then be used by the vehicle's control system to control the vehicle attitude and the attitude of various sensors such as cameras.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1 (ROI Mode)Region of interest mode.MAV_ROI
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2 (WP Index)Waypoint index/ target ID. (see MAV_ROI enum)min: 0 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      3 (ROI Index)ROI index (allows a vehicle to manage multiple ROI's)min: 0 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      4Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      5 (X)x the location of the fixed ROI (see MAV_FRAME)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      6 (Y)y
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      7 (Z)z

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_NAV_PATHPLANNING (81)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Control autonomous path planning on the MAV.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Param (Label)DescriptionValuesUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1 (Local Ctrl)0: Disable local obstacle avoidance / local path planning (without resetting map), 1: Enable local path planning, 2: Enable and reset local path planningmin: 0 max: 2 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2 (Global Ctrl)0: Disable full path planning (without resetting map), 1: Enable, 2: Enable and reset map/occupancy grid, 3: Enable and reset planned route, but not occupancy gridmin: 0 max: 3 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      3Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      4 (Yaw)Yaw angle at goaldeg
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      5 (Latitude/X)Latitude/X of goal
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      6 (Longitude/Y)Longitude/Y of goal
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      7 (Altitude/Z)Altitude/Z of goal

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_NAV_SPLINE_WAYPOINT (82)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Navigate to waypoint using a spline path.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Param (Label)DescriptionValuesUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1 (Hold)Hold time. (ignored by fixed wing, time to stay at waypoint for rotary wing)min: 0s
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      3Empty
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      5 (Latitude/X)Latitude/X of goal
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      6 (Longitude/Y)Longitude/Y of goal
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      7 (Altitude/Z)Altitude/Z of goal

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_NAV_VTOL_TAKEOFF (84)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Takeoff from ground using VTOL mode, and transition to forward flight with specified heading. The command should be ignored by vehicles that dont support both VTOL and fixed-wing flight (multicopters, boats,etc.).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Param (Label)DescriptionValuesUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2 (Transition Heading)Front transition heading.VTOL_TRANSITION_HEADING
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      3Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      4 (Yaw Angle)Yaw angle. NaN to use the current system yaw heading mode (e.g. yaw towards next waypoint, yaw to home, etc.).deg
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      5 (Latitude)Latitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      6 (Longitude)Longitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      7 (Altitude)Altitudem

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_NAV_VTOL_LAND (85)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Land using VTOL mode

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Param (Label)DescriptionValuesUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1 (Land Options)Landing behaviour.NAV_VTOL_LAND_OPTIONS
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      3 (Approach Altitude)Approach altitude (with the same reference as the Altitude field). NaN if unspecified.m
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      4 (Yaw)Yaw angle. NaN to use the current system yaw heading mode (e.g. yaw towards next waypoint, yaw to home, etc.).deg
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      5 (Latitude)Latitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      6 (Longitude)Longitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      7 (Ground Altitude)Altitude (ground level) relative to the current coordinate frame. NaN to use system default landing altitude (ignore value).m

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_NAV_GUIDED_ENABLE (92)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      hand control over to an external controller

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1 (Enable)On / Off (> 0.5f on)min: 0 max: 1 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      3Empty
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_NAV_DELAY (93)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Delay the next navigation command a number of seconds or until a specified time

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Param (Label)DescriptionValuesUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1 (Delay)Delay (-1 to enable time-of-day fields)min: -1 inc: 1s
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2 (Hour)hour (24h format, UTC, -1 to ignore)min: -1 max: 23 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      3 (Minute)minute (24h format, UTC, -1 to ignore)min: -1 max: 59 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      4 (Second)second (24h format, UTC, -1 to ignore)min: -1 max: 59 inc: 1
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_NAV_PAYLOAD_PLACE (94)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Descend and place payload. Vehicle moves to specified location, descends until it detects a hanging payload has reached the ground, and then releases the payload. If ground is not detected before the reaching the maximum descent value (param1), the command will complete without releasing the payload.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Param (Label)DescriptionValuesUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1 (Max Descent)Maximum distance to descend.min: 0m
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      5 (Latitude)Latitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      6 (Longitude)Longitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      7 (Altitude)Altitudem

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_NAV_LAST (95)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      NOP - This command is only used to mark the upper limit of the NAV/ACTION commands in the enumeration

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Param (Label)Description
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2Empty
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_CONDITION_DELAY (112)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Delay mission state machine.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Param (Label)DescriptionValuesUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1 (Delay)Delaymin: 0s
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2Empty
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_CONDITION_CHANGE_ALT (113)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Ascend/descend to target altitude at specified rate. Delay mission state machine until desired altitude reached.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Param (Label)DescriptionUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1 (Rate)Descent / Ascend rate.m/s
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      7 (Altitude)Target Altitudem

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_CONDITION_DISTANCE (114)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Delay mission state machine until within desired distance of next NAV point.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Param (Label)DescriptionValuesUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1 (Distance)Distance.min: 0m
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_CONDITION_YAW (115)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Reach a certain target angle.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Param (Label)DescriptionValuesUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1 (Angle)target angle [0-360]. Absolute angles: 0 is north. Relative angle: 0 is initial yaw. Direction set by param3.min: 0 max: 360deg
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2 (Angular Speed)angular speedmin: 0deg/s
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      3 (Direction)direction: -1: counter clockwise, 0: shortest direction, 1: clockwisemin: -1 max: 1 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      4 (Relative)0: absolute angle, 1: relative offsetmin: 0 max: 1 inc: 1
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_CONDITION_LAST (159)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      NOP - This command is only used to mark the upper limit of the CONDITION commands in the enumeration

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Param (Label)Description
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_DO_SET_MODE (176)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Set system mode.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1 (Mode)ModeMAV_MODE
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2 (Custom Mode)Custom mode - this is system specific, please refer to the individual autopilot specifications for details.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      3 (Custom Submode)Custom sub mode - this is system specific, please refer to the individual autopilot specifications for details.
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_DO_JUMP (177)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Jump to the desired command in the mission list. Repeat this action only the specified number of times

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1 (Number)Sequence numbermin: 0 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2 (Repeat)Repeat countmin: 0 inc: 1
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_DO_CHANGE_SPEED (178)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Change speed and/or throttle set points. The value persists until it is overridden or there is a mode change

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Param (Label)DescriptionValuesUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1 (Speed Type)Speed type of value set in param2 (such as airspeed, ground speed, and so on)SPEED_TYPE
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2 (Speed)Speed (-1 indicates no change, -2 indicates return to default vehicle speed)min: -2m/s
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      3 (Throttle)Throttle (-1 indicates no change, -2 indicates return to default vehicle throttle value)min: -2%
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      4
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      5
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      6
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      7

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_DO_SET_HOME (179)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Sets the home position to either to the current position or a specified position. The home position is the default position that the system will return to and land on. The position is set automatically by the system during the takeoff (and may also be set using this command). Note: the current home position may be emitted in a HOME_POSITION message on request (using MAV_CMD_REQUEST_MESSAGE with param1=242).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Param (Label)DescriptionValuesUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1 (Use Current)Use current (1=use current location, 0=use specified location)min: 0 max: 1 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2 (Roll)Roll angle (of surface). Range: -180..180 degrees. NAN or 0 means value not set. 0.01 indicates zero roll.min: -180 max: 180deg
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      3 (Pitch)Pitch angle (of surface). Range: -90..90 degrees. NAN or 0 means value not set. 0.01 means zero pitch.min: -90 max: 90deg
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      4 (Yaw)Yaw angle. NaN to use default heading. Range: -180..180 degrees.min: -180 max: 180deg
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      5 (Latitude)Latitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      6 (Longitude)Longitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      7 (Altitude)Altitudem

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_DO_SET_PARAMETER (180) — [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      DEPRECATED: Replaced By PARAM_SET (2024-04)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Set a system parameter. Caution! Use of this command requires knowledge of the numeric enumeration value of the parameter.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1 (Number)Parameter numbermin: 0 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2 (Value)Parameter value
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_DO_SET_RELAY (181)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Set a relay to a condition.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1 (Instance)Relay instance number.min: 0 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2 (Setting)Setting. (1=on, 0=off, others possible depending on system hardware)min: 0 inc: 1
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_DO_REPEAT_RELAY (182)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Cycle a relay on and off for a desired number of cycles with a desired period.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Param (Label)DescriptionValuesUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1 (Instance)Relay instance number.min: 0 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2 (Count)Cycle count.min: 1 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      3 (Time)Cycle time.min: 0s
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_DO_SET_SERVO (183)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Set a servo to a desired PWM value.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Param (Label)DescriptionValuesUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1 (Instance)Servo instance number.min: 0 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2 (PWM)Pulse Width Modulation.min: 0 inc: 1us
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_DO_REPEAT_SERVO (184)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Cycle a between its nominal setting and a desired PWM for a desired number of cycles with a desired period.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Param (Label)DescriptionValuesUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1 (Instance)Servo instance number.min: 0 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2 (PWM)Pulse Width Modulation.min: 0 inc: 1us
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      3 (Count)Cycle count.min: 1 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      4 (Time)Cycle time.min: 0s
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_DO_FLIGHTTERMINATION (185)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Terminate flight immediately.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Flight termination immediately and irreversibly terminates the current flight, returning the vehicle to ground. The vehicle will ignore RC or other input until it has been power-cycled. Termination may trigger safety measures, including: disabling motors and deployment of parachute on multicopters, and setting flight surfaces to initiate a landing pattern on fixed-wing). On multicopters without a parachute it may trigger a crash landing. Support for this command can be tested using the protocol bit: MAV_PROTOCOL_CAPABILITY_FLIGHT_TERMINATION. Support for this command can also be tested by sending the command with param1=0 (< 0.5); the ACK should be either MAV_RESULT_FAILED or MAV_RESULT_UNSUPPORTED.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1 (Terminate)Flight termination activated if > 0.5. Otherwise not activated and ACK with MAV_RESULT_FAILED.min: 0 max: 1 inc: 1
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_DO_CHANGE_ALTITUDE (186)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Change altitude set point.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Param (Label)DescriptionValuesUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1 (Altitude)Altitude.m
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2 (Frame)Frame of new altitude.MAV_FRAME
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_DO_SET_ACTUATOR (187)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Sets actuators (e.g. servos) to a desired value. The actuator numbers are mapped to specific outputs (e.g. on any MAIN or AUX PWM or UAVCAN) using a flight-stack specific mechanism (i.e. a parameter).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1 (Actuator 1)Actuator 1 value, scaled from [-1 to 1]. NaN to ignore.min: -1 max: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2 (Actuator 2)Actuator 2 value, scaled from [-1 to 1]. NaN to ignore.min: -1 max: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      3 (Actuator 3)Actuator 3 value, scaled from [-1 to 1]. NaN to ignore.min: -1 max: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      4 (Actuator 4)Actuator 4 value, scaled from [-1 to 1]. NaN to ignore.min: -1 max: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      5 (Actuator 5)Actuator 5 value, scaled from [-1 to 1]. NaN to ignore.min: -1 max: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      6 (Actuator 6)Actuator 6 value, scaled from [-1 to 1]. NaN to ignore.min: -1 max: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      7 (Index)Index of actuator set (i.e if set to 1, Actuator 1 becomes Actuator 7)min: 0 inc: 1

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_DO_RETURN_PATH_START (188) — [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Mission item to specify the start of a failsafe/landing return-path segment (the end of the segment is the next MAV_CMD_DO_LAND_START item).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      A vehicle that is using missions for landing (e.g. in a return mode) will join the mission on the closest path of the return-path segment (instead of MAV_CMD_DO_LAND_START or the nearest waypoint). The main use case is to minimize the failsafe flight path in corridor missions, where the inbound/outbound paths are constrained (by geofences) to the same particular path. The MAV_CMD_NAV_RETURN_PATH_START would be placed at the start of the return path. If a failsafe occurs on the outbound path the vehicle will move to the nearest point on the return path (which is parallel for this kind of mission), effectively turning round and following the shortest path to landing. If a failsafe occurs on the inbound path the vehicle is already on the return segment and will continue to landing. The Latitude/Longitude/Altitude are optional, and may be set to 0 if not needed. If specified, the item defines the waypoint at which the return segment starts. If sent using as a command, the vehicle will perform a mission landing (using the land segment if defined) or reject the command if mission landings are not supported, or no mission landing is defined. When used as a command any position information in the command is ignored.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Param (Label)DescriptionUnits
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      4Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      5 (Latitude)Latitudee. 0: not used.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      6 (Longitude)Longitudee. 0: not used.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      7 (Altitude)Altitudee. 0: not used.m

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_DO_LAND_START (189)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Mission command to perform a landing. This is used as a marker in a mission to tell the autopilot where a sequence of mission items that represents a landing starts.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      It may also be sent via a COMMAND_LONG to trigger a landing, in which case the nearest (geographically) landing sequence in the mission will be used. The Latitude/Longitude/Altitude is optional, and may be set to 0 if not needed. If specified then it will be used to help find the closest landing sequence.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Param (Label)DescriptionUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      3Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      4Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      5 (Latitude)Latitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      6 (Longitude)Longitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      7 (Altitude)Altitudem

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_DO_RALLY_LAND (190)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Mission command to perform a landing from a rally point.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Param (Label)DescriptionUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1 (Altitude)Break altitudem
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2 (Speed)Landing speedm/s
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      3Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      4Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      5Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      6Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      7Empty

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_DO_GO_AROUND (191)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Mission command to safely abort an autonomous landing.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Param (Label)DescriptionUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1 (Altitude)Altitudem
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      3Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      4Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      5Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      6Empty
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_DO_REPOSITION (192)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Reposition the vehicle to a specific WGS84 global position. This command is intended for guided commands (for missions use MAV_CMD_NAV_WAYPOINT instead).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Param (Label)DescriptionValuesUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1 (Speed)Ground speed, less than 0 (-1) for defaultmin: -1m/s
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2 (Bitmask)Bitmask of option flags.MAV_DO_REPOSITION_FLAGS
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      3 (Radius)Loiter radius for planes. Positive values only, direction is controlled by Yaw value. A value of zero or NaN is ignored.m
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      4 (Yaw)Yaw heading. NaN to use the current system yaw heading mode (e.g. yaw towards next waypoint, yaw to home, etc.). For planes indicates loiter direction (0: clockwise, 1: counter clockwise)deg
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      5 (Latitude)Latitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      6 (Longitude)Longitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      7 (Altitude)Altitudem

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_DO_PAUSE_CONTINUE (193)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      If in a GPS controlled position mode, hold the current position or continue.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1 (Continue)0: Pause current mission or reposition command, hold current position. 1: Continue mission. A VTOL capable vehicle should enter hover mode (multicopter and VTOL planes). A plane should loiter with the default loiter radius.min: 0 max: 1 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2Reserved
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      3Reserved
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      4Reserved
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      5Reserved
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      6Reserved
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      7Reserved

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_DO_SET_REVERSE (194)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Set moving direction to forward or reverse.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1 (Reverse)Direction (0=Forward, 1=Reverse)min: 0 max: 1 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      3Empty
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_DO_SET_ROI_LOCATION (195)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Sets the region of interest (ROI) to a location. This can then be used by the vehicle's control system to control the vehicle attitude and the attitude of various sensors such as cameras. This command can be sent to a gimbal manager but not to a gimbal device. A gimbal is not to react to this message.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Param (Label)DescriptionUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1 (Gimbal device ID)Component ID of gimbal device to address (or 1-6 for non-MAVLink gimbal), 0 for all gimbal device components. Send command multiple times for more than one gimbal (but not all gimbals).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      3Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      4Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      5 (Latitude)Latitude of ROI locationdegE7
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      6 (Longitude)Longitude of ROI locationdegE7
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      7 (Altitude)Altitude of ROI locationm

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_DO_SET_ROI_WPNEXT_OFFSET (196)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Sets the region of interest (ROI) to be toward next waypoint, with optional pitch/roll/yaw offset. This can then be used by the vehicle's control system to control the vehicle attitude and the attitude of various sensors such as cameras. This command can be sent to a gimbal manager but not to a gimbal device. A gimbal device is not to react to this message.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Param (Label)DescriptionUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1 (Gimbal device ID)Component ID of gimbal device to address (or 1-6 for non-MAVLink gimbal), 0 for all gimbal device components. Send command multiple times for more than one gimbal (but not all gimbals).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      3Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      4Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      5 (Pitch Offset)Pitch offset from next waypoint, positive pitching updeg
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      6 (Roll Offset)Roll offset from next waypoint, positive rolling to the rightdeg
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      7 (Yaw Offset)Yaw offset from next waypoint, positive yawing to the rightdeg

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_DO_SET_ROI_NONE (197)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Cancels any previous ROI command returning the vehicle/sensors to default flight characteristics. This can then be used by the vehicle's control system to control the vehicle attitude and the attitude of various sensors such as cameras. This command can be sent to a gimbal manager but not to a gimbal device. A gimbal device is not to react to this message. After this command the gimbal manager should go back to manual input if available, and otherwise assume a neutral position.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Param (Label)Description
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1 (Gimbal device ID)Component ID of gimbal device to address (or 1-6 for non-MAVLink gimbal), 0 for all gimbal device components. Send command multiple times for more than one gimbal (but not all gimbals).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      3Empty
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      6Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      7Empty

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_DO_SET_ROI_SYSID (198)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Mount tracks system with specified system ID. Determination of target vehicle position may be done with GLOBAL_POSITION_INT or any other means. This command can be sent to a gimbal manager but not to a gimbal device. A gimbal device is not to react to this message.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1 (System ID)System IDmin: 1 max: 255 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2 (Gimbal device ID)Component ID of gimbal device to address (or 1-6 for non-MAVLink gimbal), 0 for all gimbal device components. Send command multiple times for more than one gimbal (but not all gimbals).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_DO_CONTROL_VIDEO (200)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Control onboard camera system.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Param (Label)DescriptionValuesUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1 (ID)Camera ID (-1 for all)min: -1 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2 (Transmission)Transmission: 0: disabled, 1: enabled compressed, 2: enabled rawmin: 0 max: 2 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      3 (Interval)Transmission mode: 0: video stream, >0: single images every n secondsmin: 0s
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      4 (Recording)Recording: 0: disabled, 1: enabled compressed, 2: enabled rawmin: 0 max: 2 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      5Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      6Empty
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_DO_SET_ROI (201) — [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      DEPRECATED: Replaced By MAVCMD_DO_SET_ROI* (2018-01)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Sets the region of interest (ROI) for a sensor set or the vehicle itself. This can then be used by the vehicle's control system to control the vehicle attitude and the attitude of various sensors such as cameras.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1 (ROI Mode)Region of interest mode.MAV_ROI
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2 (WP Index)Waypoint index/ target ID (depends on param 1).min: 0 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      3 (ROI Index)Region of interest index. (allows a vehicle to manage multiple ROI's)min: 0 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      4Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      5MAV_ROI_WPNEXT: pitch offset from next waypoint, MAV_ROI_LOCATION: latitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      6MAV_ROI_WPNEXT: roll offset from next waypoint, MAV_ROI_LOCATION: longitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      7MAV_ROI_WPNEXT: yaw offset from next waypoint, MAV_ROI_LOCATION: altitude

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_DO_DIGICAM_CONFIGURE (202)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Configure digital camera. This is a fallback message for systems that have not yet implemented PARAM_EXT_XXX messages and camera definition files (see https://mavlink.io/en/services/camera_def.html ).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Param (Label)DescriptionValuesUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1 (Mode)Modes: P, TV, AV, M, Etc.min: 0 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2 (Shutter Speed)Shutter speed: Divisor number for one second.min: 0 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      3 (Aperture)Aperture: F stop number.min: 0
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      4 (ISO)ISO number e.g. 80, 100, 200, Etc.min: 0 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      5 (Exposure)Exposure type enumerator.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      6 (Command Identity)Command Identity.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      7 (Engine Cut-off)Main engine cut-off time before camera trigger. (0 means no cut-off)min: 0 inc: 1ds

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_DO_DIGICAM_CONTROL (203)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Control digital camera. This is a fallback message for systems that have not yet implemented PARAM_EXT_XXX messages and camera definition files (see https://mavlink.io/en/services/camera_def.html ).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Param (Label)Description
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1 (Session Control)Session control e.g. show/hide lens
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2 (Zoom Absolute)Zoom's absolute position
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      3 (Zoom Relative)Zooming step value to offset zoom from the current position
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      4 (Focus)Focus Locking, Unlocking or Re-locking
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      5 (Shoot Command)Shooting Command
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      6 (Command Identity)Command Identity
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      7 (Shot ID)Test shot identifier. If set to 1, image will only be captured, but not counted towards internal frame count.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_DO_MOUNT_CONFIGURE (204) — [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      DEPRECATED: Replaced By MAV_CMD_DO_GIMBAL_MANAGER_CONFIGURE (2020-01) — This message has been superseded by MAV_CMD_DO_GIMBAL_MANAGER_CONFIGURE. The message can still be used to communicate with legacy gimbals implementing it.)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Mission command to configure a camera or antenna mount

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1 (Mode)Mount operation modeMAV_MOUNT_MODE
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2 (Stabilize Roll)stabilize roll? (1 = yes, 0 = no)min: 0 max: 1 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      3 (Stabilize Pitch)stabilize pitch? (1 = yes, 0 = no)min: 0 max: 1 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      4 (Stabilize Yaw)stabilize yaw? (1 = yes, 0 = no)min: 0 max: 1 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      5 (Roll Input Mode)roll input (0 = angle body frame, 1 = angular rate, 2 = angle absolute frame)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      6 (Pitch Input Mode)pitch input (0 = angle body frame, 1 = angular rate, 2 = angle absolute frame)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      7 (Yaw Input Mode)yaw input (0 = angle body frame, 1 = angular rate, 2 = angle absolute frame)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_DO_MOUNT_CONTROL (205) — [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      DEPRECATED: Replaced By MAV_CMD_DO_GIMBAL_MANAGER_PITCHYAW (2020-01) — This message is ambiguous and inconsistent. It has been superseded by MAV_CMD_DO_GIMBAL_MANAGER_PITCHYAW and MAVCMD_DO_SET_ROI* variants. The message can still be used to communicate with legacy gimbals implementing it.)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Mission command to control a camera or antenna mount

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Param (Label)DescriptionValuesUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1 (Pitch)pitch depending on mount mode (degrees or degrees/second depending on pitch input).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2 (Roll)roll depending on mount mode (degrees or degrees/second depending on roll input).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      3 (Yaw)yaw depending on mount mode (degrees or degrees/second depending on yaw input).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      4 (Altitude)altitude depending on mount mode.m
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      5 (Latitude)latitude, set if appropriate mount mode.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      6 (Longitude)longitude, set if appropriate mount mode.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      7 (Mode)Mount mode.MAV_MOUNT_MODE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_DO_SET_CAM_TRIGG_DIST (206)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Mission command to set camera trigger distance for this flight. The camera is triggered each time this distance is exceeded. This command can also be used to set the shutter integration time for the camera.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Param (Label)DescriptionValuesUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1 (Distance)Camera trigger distance. 0 to stop triggering.min: 0m
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2 (Shutter)Camera shutter integration time. -1 or 0 to ignoremin: -1 inc: 1ms
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      3 (Trigger)Trigger camera once immediately. (0 = no trigger, 1 = trigger)min: 0 max: 1 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      4 (Target Camera ID)Target camera ID. 7 to 255: MAVLink camera component id. 1 to 6 for cameras attached to the autopilot, which don't have a distinct component id. 0: all cameras. This is used to target specific autopilot-connected cameras. It is also used to target specific cameras when the MAV_CMD is used in a mission.min: 0 max: 255 inc: 1
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_DO_FENCE_ENABLE (207)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Enable the geofence. This can be used in a mission or via the command protocol. The persistence/lifetime of the setting is undefined. Depending on flight stack implementation it may persist until superseded, or it may revert to a system default at the end of a mission. Flight stacks typically reset the setting to system defaults on reboot.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1 (Enable)enable? (0=disable, 1=enable, 2=disable_floor_only)min: 0 max: 2 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2 (Types)Fence types to enable or disable as a bitmask. A value of 0 indicates that all fences should be enabled or disabled. This parameter is ignored if param 1 has the value 2FENCE_TYPE
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_DO_PARACHUTE (208)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Mission item/command to release a parachute or enable/disable auto release.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1 (Action)ActionPARACHUTE_ACTION
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_DO_MOTOR_TEST (209)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Command to perform motor test.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Param (Label)DescriptionValuesUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1 (Instance)Motor instance number (from 1 to max number of motors on the vehicle).min: 1 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2 (Throttle Type)Throttle type (whether the Throttle Value in param3 is a percentage, PWM value, etc.)MOTOR_TEST_THROTTLE_TYPE
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      3 (Throttle)Throttle value.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      4 (Timeout)Timeout between tests that are run in sequence.min: 0s
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      5 (Motor Count)Motor count. Number of motors to test in sequence: 0/1=one motor, 2= two motors, etc. The Timeout (param4) is used between tests.min: 0 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      6 (Test Order)Motor test order.MOTOR_TEST_ORDER
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_DO_INVERTED_FLIGHT (210)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Change to/from inverted flight.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1 (Inverted)Inverted flight. (0=normal, 1=inverted)min: 0 max: 1 inc: 1
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_DO_GRIPPER (211)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Mission command to operate a gripper.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1 (Instance)Gripper instance number.min: 1 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2 (Action)Gripper action to perform.GRIPPER_ACTIONS
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_DO_AUTOTUNE_ENABLE (212)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Enable/disable autotune.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1 (Enable)Enable (1: enable, 0:disable).min: 0 max: 1 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2 (Axis)Specify which axis are autotuned. 0 indicates autopilot default settings.AUTOTUNE_AXIS
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_NAV_SET_YAW_SPEED (213)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Sets a desired vehicle turn angle and speed change.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Param (Label)DescriptionValuesUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1 (Yaw)Yaw angle to adjust steering by.deg
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2 (Speed)Speed.m/s
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      3 (Angle)Final angle. (0=absolute, 1=relative)min: 0 max: 1 inc: 1
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_DO_SET_CAM_TRIGG_INTERVAL (214)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Mission command to set camera trigger interval for this flight. If triggering is enabled, the camera is triggered each time this interval expires. This command can also be used to set the shutter integration time for the camera.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Param (Label)DescriptionValuesUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1 (Trigger Cycle)Camera trigger cycle time. -1 or 0 to ignore.min: -1 inc: 1ms
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2 (Shutter Integration)Camera shutter integration time. Should be less than trigger cycle time. -1 or 0 to ignore.min: -1 inc: 1ms
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      3 (Target Camera ID)Target camera ID. 7 to 255: MAVLink camera component id. 1 to 6 for cameras attached to the autopilot, which don't have a distinct component id. 0: all cameras. This is used to target specific autopilot-connected cameras. It is also used to target specific cameras when the MAV_CMD is used in a mission.min: 0 max: 255 inc: 1
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_DO_MOUNT_CONTROL_QUAT (220) — [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      DEPRECATED: Replaced By MAV_CMD_DO_GIMBAL_MANAGER_PITCHYAW (2020-01)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Mission command to control a camera or antenna mount, using a quaternion as reference.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Param (Label)Description
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1 (Q1)quaternion param q1, w (1 in null-rotation)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2 (Q2)quaternion param q2, x (0 in null-rotation)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      3 (Q3)quaternion param q3, y (0 in null-rotation)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      4 (Q4)quaternion param q4, z (0 in null-rotation)
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_DO_GUIDED_MASTER (221)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      set id of master controller

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1 (System ID)System IDmin: 0 max: 255 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2 (Component ID)Component IDmin: 0 max: 255 inc: 1
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_DO_GUIDED_LIMITS (222)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Set limits for external control

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Param (Label)DescriptionValuesUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1 (Timeout)Timeout - maximum time that external controller will be allowed to control vehicle. 0 means no timeout.min: 0s
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2 (Min Altitude)Altitude (MSL) min - if vehicle moves below this alt, the command will be aborted and the mission will continue. 0 means no lower altitude limit.m
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      3 (Max Altitude)Altitude (MSL) max - if vehicle moves above this alt, the command will be aborted and the mission will continue. 0 means no upper altitude limit.m
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      4 (Horiz. Move Limit)Horizontal move limit - if vehicle moves more than this distance from its location at the moment the command was executed, the command will be aborted and the mission will continue. 0 means no horizontal move limit.min: 0m
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_DO_ENGINE_CONTROL (223)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Control vehicle engine. This is interpreted by the vehicles engine controller to change the target engine state. It is intended for vehicles with internal combustion engines

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Param (Label)DescriptionValuesUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1 (Start Engine)0: Stop engine, 1:Start Enginemin: 0 max: 1 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2 (Cold Start)0: Warm start, 1:Cold start. Controls use of choke where applicablemin: 0 max: 1 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      3 (Height Delay)Height delay. This is for commanding engine start only after the vehicle has gained the specified height. Used in VTOL vehicles during takeoff to start engine after the aircraft is off the ground. Zero for no delay.min: 0m
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_DO_SET_MISSION_CURRENT (224)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Set the mission item with sequence number seq as the current item and emit MISSION_CURRENT (whether or not the mission number changed). If a mission is currently being executed, the system will continue to this new mission item on the shortest path, skipping any intermediate mission items. Note that mission jump repeat counters are not reset unless param2 is set (see MAV_CMD_DO_JUMP param2).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      This command may trigger a mission state-machine change on some systems: for example from MISSION_STATE_NOT_STARTED or MISSION_STATE_PAUSED to MISSION_STATE_ACTIVE. If the system is in mission mode, on those systems this command might therefore start, restart or resume the mission. If the system is not in mission mode this command must not trigger a switch to mission mode.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      The mission may be "reset" using param2. Resetting sets jump counters to initial values (to reset counters without changing the current mission item set the param1 to -1). Resetting also explicitly changes a mission state of MISSION_STATE_COMPLETE to MISSION_STATE_PAUSED or MISSION_STATE_ACTIVE, potentially allowing it to resume when it is (next) in a mission mode.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      The command will ACK with MAV_RESULT_FAILED if the sequence number is out of range (including if there is no mission item).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1 (Number)Mission sequence value to set. -1 for the current mission item (use to reset mission without changing current mission item).min: -1 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2 (Reset Mission)Resets mission. 1: true, 0: false. Resets jump counters to initial values and changes mission state "completed" to be "active" or "paused".min: 0 max: 1 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      3Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      4Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      5Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      6Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      7Empty

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_DO_LAST (240)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      NOP - This command is only used to mark the upper limit of the DO commands in the enumeration

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Param (Label)Description
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      3Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      4Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      5Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      6Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      7Empty

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_PREFLIGHT_CALIBRATION (241)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Trigger calibration. This command will be only accepted if in pre-flight mode. Except for Temperature Calibration, only one sensor should be set in a single message and all others should be zero.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1 (Gyro Temperature)1: gyro calibration, 3: gyro temperature calibrationmin: 0 max: 3 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2 (Magnetometer)1: magnetometer calibrationmin: 0 max: 1 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      3 (Ground Pressure)1: ground pressure calibrationmin: 0 max: 1 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      4 (Remote Control)1: radio RC calibration, 2: RC trim calibrationmin: 0 max: 1 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      5 (Accelerometer)1: accelerometer calibration, 2: board level calibration, 3: accelerometer temperature calibration, 4: simple accelerometer calibrationmin: 0 max: 4 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      6 (Compmot or Airspeed)1: APM: compass/motor interference calibration (PX4: airspeed calibration, deprecated), 2: airspeed calibrationmin: 0 max: 2 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      7 (ESC or Baro)1: ESC calibration, 3: barometer temperature calibrationmin: 0 max: 3 inc: 1

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_PREFLIGHT_SET_SENSOR_OFFSETS (242)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Set sensor offsets. This command will be only accepted if in pre-flight mode.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1 (Sensor Type)Sensor to adjust the offsets for: 0: gyros, 1: accelerometer, 2: magnetometer, 3: barometer, 4: optical flow, 5: second magnetometer, 6: third magnetometermin: 0 max: 6 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2 (X Offset)X axis offset (or generic dimension 1), in the sensor's raw units
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      3 (Y Offset)Y axis offset (or generic dimension 2), in the sensor's raw units
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      4 (Z Offset)Z axis offset (or generic dimension 3), in the sensor's raw units
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      5 (4th Dimension)Generic dimension 4, in the sensor's raw units
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      6 (5th Dimension)Generic dimension 5, in the sensor's raw units
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      7 (6th Dimension)Generic dimension 6, in the sensor's raw units

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_PREFLIGHT_UAVCAN (243)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Trigger UAVCAN configuration (actuator ID assignment and direction mapping). Note that this maps to the legacy UAVCAN v0 function UAVCAN_ENUMERATE, which is intended to be executed just once during initial vehicle configuration (it is not a normal pre-flight command and has been poorly named).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Param (Label)Description
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1 (Actuator ID)1: Trigger actuator ID assignment and direction mapping. 0: Cancel command.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2Reserved
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      3Reserved
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      4Reserved
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      5Reserved
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      6Reserved
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      7Reserved

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_PREFLIGHT_STORAGE (245)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Request storage of different parameter values and logs. This command will be only accepted if in pre-flight mode.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Param (Label)DescriptionValuesUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1 (Parameter Storage)Action to perform on the persistent parameter storagePREFLIGHT_STORAGE_PARAMETER_ACTION
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2 (Mission Storage)Action to perform on the persistent mission storagePREFLIGHT_STORAGE_MISSION_ACTION
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      3 (Logging Rate)Onboard logging: 0: Ignore, 1: Start default rate logging, -1: Stop logging, > 1: logging rate (e.g. set to 1000 for 1000 Hz logging)min: -1 inc: 1Hz
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      4Reserved
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      5Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      6Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      7Empty

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN (246)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Request the reboot or shutdown of system components.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1 (Autopilot)0: Do nothing for autopilot, 1: Reboot autopilot, 2: Shutdown autopilot, 3: Reboot autopilot and keep it in the bootloader until upgraded.min: 0 max: 3 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2 (Companion)0: Do nothing for onboard computer, 1: Reboot onboard computer, 2: Shutdown onboard computer, 3: Reboot onboard computer and keep it in the bootloader until upgraded.min: 0 max: 3 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      3 (Component action)0: Do nothing for component, 1: Reboot component, 2: Shutdown component, 3: Reboot component and keep it in the bootloader until upgradedmin: 0 max: 3 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      4 (Component ID)MAVLink Component ID targeted in param3 (0 for all components).min: 0 max: 255 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      5Reserved (set to 0)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      6Reserved (set to 0)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      7WIP: ID (e.g. camera ID -1 for all IDs)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_OVERRIDE_GOTO (252)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Override current mission with command to pause mission, pause mission and move to position, continue/resume mission. When param 1 indicates that the mission is paused (MAV_GOTO_DO_HOLD), param 2 defines whether it holds in place or moves to another position.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Param (Label)DescriptionValuesUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1 (Continue)MAV_GOTO_DO_HOLD: pause mission and either hold or move to specified position (depending on param2), MAV_GOTO_DO_CONTINUE: resume mission.MAV_GOTO
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2 (Position)MAV_GOTO_HOLD_AT_CURRENT_POSITION: hold at current position, MAV_GOTO_HOLD_AT_SPECIFIED_POSITION: hold at specified position.MAV_GOTO
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      3 (Frame)Coordinate frame of hold point.MAV_FRAME
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      4 (Yaw)Desired yaw angle.deg
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      5 (Latitude/X)Latitude/X position.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      6 (Longitude/Y)Longitude/Y position.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      7 (Altitude/Z)Altitude/Z position.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_OBLIQUE_SURVEY (260)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Mission command to set a Camera Auto Mount Pivoting Oblique Survey (Replaces CAM_TRIGG_DIST for this purpose). The camera is triggered each time this distance is exceeded, then the mount moves to the next position. Params 4~6 set-up the angle limits and number of positions for oblique survey, where mount-enabled vehicles automatically roll the camera between shots to emulate an oblique camera setup (providing an increased HFOV). This command can also be used to set the shutter integration time for the camera.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Param (Label)DescriptionValuesUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1 (Distance)Camera trigger distance. 0 to stop triggering.min: 0m
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2 (Shutter)Camera shutter integration time. 0 to ignoremin: 0 inc: 1ms
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      3 (Min Interval)The minimum interval in which the camera is capable of taking subsequent pictures repeatedly. 0 to ignore.min: 0 max: 10000 inc: 1ms
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      4 (Positions)Total number of roll positions at which the camera will capture photos (images captures spread evenly across the limits defined by param5).min: 2 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      5 (Roll Angle)Angle limits that the camera can be rolled to left and right of center.min: 0deg
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      6 (Pitch Angle)Fixed pitch angle that the camera will hold in oblique mode if the mount is actuated in the pitch axis.min: -180 max: 180deg
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      7Empty

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_MISSION_START (300)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      start running a mission

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1 (First Item)first_item: the first mission item to runmin: 0 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2 (Last Item)last_item: the last mission item to run (after this item is run, the mission ends)min: 0 inc: 1

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_ACTUATOR_TEST (310)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Actuator testing command. This is similar to MAV_CMD_DO_MOTOR_TEST but operates on the level of output functions, i.e. it is possible to test Motor1 independent from which output it is configured on. Autopilots typically refuse this command while armed.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Param (Label)DescriptionValuesUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1 (Value)Output value: 1 means maximum positive output, 0 to center servos or minimum motor thrust (expected to spin), -1 for maximum negative (if not supported by the motors, i.e. motor is not reversible, smaller than 0 maps to NaN). And NaN maps to disarmed (stop the motors).min: -1 max: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2 (Timeout)Timeout after which the test command expires and the output is restored to the previous value. A timeout has to be set for safety reasons. A timeout of 0 means to restore the previous value immediately.min: 0 max: 3s
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      3
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      4
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      5 (Output Function)Actuator Output functionACTUATOR_OUTPUT_FUNCTION
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      6
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      7

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_CONFIGURE_ACTUATOR (311)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Actuator configuration command.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1 (Configuration)Actuator configuration actionACTUATOR_CONFIGURATION
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      3
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      4
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      5 (Output Function)Actuator Output functionACTUATOR_OUTPUT_FUNCTION
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      6
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      7

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_COMPONENT_ARM_DISARM (400)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Arms / Disarms a component

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1 (Arm)0: disarm, 1: armmin: 0 max: 1 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2 (Force)0: arm-disarm unless prevented by safety checks (i.e. when landed), 21196: force arming/disarming (e.g. allow arming to override preflight checks and disarming in flight)min: 0 max: 21196 inc: 21196

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_RUN_PREARM_CHECKS (401)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Instructs a target system to run pre-arm checks.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      This allows preflight checks to be run on demand, which may be useful on systems that normally run them at low rate, or which do not trigger checks when the armable state might have changed. This command should return MAV_RESULT_ACCEPTED if it will run the checks. The results of the checks are usually then reported in SYS_STATUS messages (this is system-specific). The command should return MAV_RESULT_TEMPORARILY_REJECTED if the system is already armed.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Param (Label)Description

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_ILLUMINATOR_ON_OFF (405)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Turns illuminators ON/OFF. An illuminator is a light source that is used for lighting up dark areas external to the system: e.g. a torch or searchlight (as opposed to a light source for illuminating the system itself, e.g. an indicator light).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1 (Enable)0: Illuminators OFF, 1: Illuminators ONmin: 0 max: 1 inc: 1

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_DO_ILLUMINATOR_CONFIGURE (406)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Configures illuminator settings. An illuminator is a light source that is used for lighting up dark areas external to the system: e.g. a torch or searchlight (as opposed to a light source for illuminating the system itself, e.g. an indicator light).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Param (Label)DescriptionValuesUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1 (Mode)ModeILLUMINATOR_MODE
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2 (Brightness)0%: Off, 100%: Max Brightnessmin: 0 max: 100%
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      3 (Strobe Period)Strobe period in seconds where 0 means strobing is not usedmin: 0s
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      4 (Strobe Duty)Strobe duty cycle where 100% means it is on constantly and 0 means strobing is not usedmin: 0 max: 100%

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_GET_HOME_POSITION (410) — [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      DEPRECATED: Replaced By MAV_CMD_REQUEST_MESSAGE (2022-04)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Request the home position from the vehicle.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      The vehicle will ACK the command and then emit the HOME_POSITION message.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Param (Label)Description
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1Reserved
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2Reserved
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      3Reserved
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      4Reserved
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      5Reserved
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      6Reserved
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      7Reserved

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_INJECT_FAILURE (420)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Inject artificial failure for testing purposes. Note that autopilots should implement an additional protection before accepting this command such as a specific param setting.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1 (Failure unit)The unit which is affected by the failure.FAILURE_UNIT
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2 (Failure type)The type how the failure manifests itself.FAILURE_TYPE
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      3 (Instance)Instance affected by failure (0 to signal all).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_START_RX_PAIR (500)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Starts receiver pairing.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1 (RC Type)RC type.RC_TYPE
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2 (RC Sub Type)RC sub type.RC_SUB_TYPE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_GET_MESSAGE_INTERVAL (510) — [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      DEPRECATED: Replaced By MAV_CMD_REQUEST_MESSAGE (2022-04)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Request the interval between messages for a particular MAVLink message ID. The receiver should ACK the command and then emit its response in a MESSAGE_INTERVAL message.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1 (Message ID)The MAVLink message IDmin: 0 max: 16777215 inc: 1

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_SET_MESSAGE_INTERVAL (511)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Set the interval between messages for a particular MAVLink message ID. This interface replaces REQUEST_DATA_STREAM.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Param (Label)DescriptionValuesUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1 (Message ID)The MAVLink message IDmin: 0 max: 16777215 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2 (Interval)The interval between two messages. -1: disable. 0: request default rate (which may be zero).min: -1 inc: 1us
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      3 (Req Param 3)Use for index ID, if required. Otherwise, the use of this parameter (if any) must be defined in the requested message. By default assumed not used (0).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      4 (Req Param 4)The use of this parameter (if any), must be defined in the requested message. By default assumed not used (0).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      5 (Req Param 5)The use of this parameter (if any), must be defined in the requested message. By default assumed not used (0).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      6 (Req Param 6)The use of this parameter (if any), must be defined in the requested message. By default assumed not used (0).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      7 (Response Target)Target address of message stream (if message has target address fields). 0: Flight-stack default (recommended), 1: address of requestor, 2: broadcast.min: 0 max: 2 inc: 1

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_REQUEST_MESSAGE (512)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Request the target system(s) emit a single instance of a specified message (i.e. a "one-shot" version of MAV_CMD_SET_MESSAGE_INTERVAL).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1 (Message ID)The MAVLink message ID of the requested message.min: 0 max: 16777215 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2 (Req Param 1)Use for index ID, if required. Otherwise, the use of this parameter (if any) must be defined in the requested message. By default assumed not used (0).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      3 (Req Param 2)The use of this parameter (if any), must be defined in the requested message. By default assumed not used (0).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      4 (Req Param 3)The use of this parameter (if any), must be defined in the requested message. By default assumed not used (0).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      5 (Req Param 4)The use of this parameter (if any), must be defined in the requested message. By default assumed not used (0).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      6 (Req Param 5)The use of this parameter (if any), must be defined in the requested message. By default assumed not used (0).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      7 (Response Target)Target address for requested message (if message has target address fields). 0: Flight-stack default, 1: address of requestor, 2: broadcast.min: 0 max: 2 inc: 1

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_REQUEST_PROTOCOL_VERSION (519) — [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      DEPRECATED: Replaced By MAV_CMD_REQUEST_MESSAGE (2019-08)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Request MAVLink protocol version compatibility. All receivers should ACK the command and then emit their capabilities in an PROTOCOL_VERSION message

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1 (Protocol)1: Request supported protocol versions by all nodes on the networkmin: 0 max: 1 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2Reserved (all remaining params)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_REQUEST_AUTOPILOT_CAPABILITIES (520) — [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      DEPRECATED: Replaced By MAV_CMD_REQUEST_MESSAGE (2019-08)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Request autopilot capabilities. The receiver should ACK the command and then emit its capabilities in an AUTOPILOT_VERSION message

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1 (Version)1: Request autopilot versionmin: 0 max: 1 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2Reserved (all remaining params)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_REQUEST_CAMERA_INFORMATION (521) — [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      DEPRECATED: Replaced By MAV_CMD_REQUEST_MESSAGE (2019-08)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Request camera information (CAMERA_INFORMATION).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1 (Capabilities)0: No action 1: Request camera capabilitiesmin: 0 max: 1 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2Reserved (all remaining params)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_REQUEST_CAMERA_SETTINGS (522) — [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      DEPRECATED: Replaced By MAV_CMD_REQUEST_MESSAGE (2019-08)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Request camera settings (CAMERA_SETTINGS).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1 (Settings)0: No Action 1: Request camera settingsmin: 0 max: 1 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2Reserved (all remaining params)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_REQUEST_STORAGE_INFORMATION (525) — [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      DEPRECATED: Replaced By MAV_CMD_REQUEST_MESSAGE (2019-08)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Request storage information (STORAGE_INFORMATION). Use the command's target_component to target a specific component's storage.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1 (Storage ID)Storage ID (0 for all, 1 for first, 2 for second, etc.)min: 0 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2 (Information)0: No Action 1: Request storage informationmin: 0 max: 1 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      3Reserved (all remaining params)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_STORAGE_FORMAT (526)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Format a storage medium. Once format is complete, a STORAGE_INFORMATION message is sent. Use the command's target_component to target a specific component's storage.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1 (Storage ID)Storage ID (1 for first, 2 for second, etc.)min: 0 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2 (Format)Format storage (and reset image log). 0: No action 1: Format storagemin: 0 max: 1 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      3 (Reset Image Log)Reset Image Log (without formatting storage medium). This will reset CAMERA_CAPTURE_STATUS.image_count and CAMERA_IMAGE_CAPTURED.image_index. 0: No action 1: Reset Image Logmin: 0 max: 1 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      4Reserved (all remaining params)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_REQUEST_CAMERA_CAPTURE_STATUS (527) — [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      DEPRECATED: Replaced By MAV_CMD_REQUEST_MESSAGE (2019-08)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Request camera capture status (CAMERA_CAPTURE_STATUS)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1 (Capture Status)0: No Action 1: Request camera capture statusmin: 0 max: 1 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2Reserved (all remaining params)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_REQUEST_FLIGHT_INFORMATION (528) — [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      DEPRECATED: Replaced By MAV_CMD_REQUEST_MESSAGE (2019-08)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Request flight information (FLIGHT_INFORMATION)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1 (Flight Information)1: Request flight informationmin: 0 max: 1 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2Reserved (all remaining params)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_RESET_CAMERA_SETTINGS (529)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Reset all camera settings to Factory Default

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1 (Reset)0: No Action 1: Reset all settingsmin: 0 max: 1 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2 (Target Camera ID)Target camera ID. 7 to 255: MAVLink camera component id. 1 to 6 for cameras attached to the autopilot, which don't have a distinct component id. 0: all cameras. This is used to target specific autopilot-connected cameras. It is also used to target specific cameras when the MAV_CMD is used in a mission.min: 0 max: 255 inc: 1

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_SET_CAMERA_MODE (530)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Set camera running mode. Use NaN for reserved values. GCS will send a MAV_CMD_REQUEST_VIDEO_STREAM_STATUS command after a mode change if the camera supports video streaming.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1 (id)Target camera ID. 7 to 255: MAVLink camera component id. 1 to 6 for cameras attached to the autopilot, which don't have a distinct component id. 0: all cameras. This is used to target specific autopilot-connected cameras. It is also used to target specific cameras when the MAV_CMD is used in a mission.min: 0 max: 255 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2 (Camera Mode)Camera modeCAMERA_MODE
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      3
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      4
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      7

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_SET_CAMERA_ZOOM (531)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Set camera zoom. Camera must respond with a CAMERA_SETTINGS message (on success).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1 (Zoom Type)Zoom typeCAMERA_ZOOM_TYPE
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2 (Zoom Value)Zoom value. The range of valid values depend on the zoom type.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      3 (Target Camera ID)Target camera ID. 7 to 255: MAVLink camera component id. 1 to 6 for cameras attached to the autopilot, which don't have a distinct component id. 0: all cameras. This is used to target specific autopilot-connected cameras. It is also used to target specific cameras when the MAV_CMD is used in a mission.min: 0 max: 255 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      4

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_SET_CAMERA_FOCUS (532)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Set camera focus. Camera must respond with a CAMERA_SETTINGS message (on success).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1 (Focus Type)Focus typeSET_FOCUS_TYPE
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2 (Focus Value)Focus value
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      3 (Target Camera ID)Target camera ID. 7 to 255: MAVLink camera component id. 1 to 6 for cameras attached to the autopilot, which don't have a distinct component id. 0: all cameras. This is used to target specific autopilot-connected cameras. It is also used to target specific cameras when the MAV_CMD is used in a mission.min: 0 max: 255 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      4

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_SET_STORAGE_USAGE (533)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Set that a particular storage is the preferred location for saving photos, videos, and/or other media (e.g. to set that an SD card is used for storing videos).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      There can only be one preferred save location for each particular media type: setting a media usage flag will clear/reset that same flag if set on any other storage. If no flag is set the system should use its default storage. A target system can choose to always use default storage, in which case it should ACK the command with MAV_RESULT_UNSUPPORTED. A target system can choose to not allow a particular storage to be set as preferred storage, in which case it should ACK the command with MAV_RESULT_DENIED.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1 (Storage ID)Storage ID (1 for first, 2 for second, etc.)min: 0 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2 (Usage)Usage flagsSTORAGE_USAGE_FLAG

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_SET_CAMERA_SOURCE (534)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Set camera source. Changes the camera's active sources on cameras with multiple image sensors.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1 (device id)Component Id of camera to address or 1-6 for non-MAVLink cameras, 0 for all cameras.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2 (primary source)Primary SourceCAMERA_SOURCE
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      3 (secondary source)Secondary Source. If non-zero the second source will be displayed as picture-in-picture.CAMERA_SOURCE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_JUMP_TAG (600)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Tagged jump target. Can be jumped to with MAV_CMD_DO_JUMP_TAG.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1 (Tag)Tag.min: 0 inc: 1

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_DO_JUMP_TAG (601)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Jump to the matching tag in the mission list. Repeat this action for the specified number of times. A mission should contain a single matching tag for each jump. If this is not the case then a jump to a missing tag should complete the mission, and a jump where there are multiple matching tags should always select the one with the lowest mission sequence number.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1 (Tag)Target tag to jump to.min: 0 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2 (Repeat)Repeat count.min: 0 inc: 1

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_DO_GIMBAL_MANAGER_PITCHYAW (1000)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Set gimbal manager pitch/yaw setpoints (low rate command). It is possible to set combinations of the values below. E.g. an angle as well as a desired angular rate can be used to get to this angle at a certain angular rate, or an angular rate only will result in continuous turning. NaN is to be used to signal unset. Note: only the gimbal manager will react to this command - it will be ignored by a gimbal device. Use GIMBAL_MANAGER_SET_PITCHYAW if you need to stream pitch/yaw setpoints at higher rate.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Param (Label)DescriptionValuesUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1 (Pitch angle)Pitch angle (positive to pitch up, relative to vehicle for FOLLOW mode, relative to world horizon for LOCK mode).min: -180 max: 180deg
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2 (Yaw angle)Yaw angle (positive to yaw to the right, relative to vehicle for FOLLOW mode, absolute to North for LOCK mode).min: -180 max: 180deg
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      3 (Pitch rate)Pitch rate (positive to pitch up).deg/s
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      4 (Yaw rate)Yaw rate (positive to yaw to the right).deg/s
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      5 (Gimbal manager flags)Gimbal manager flags to use.GIMBAL_MANAGER_FLAGS
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      7 (Gimbal device ID)Component ID of gimbal device to address (or 1-6 for non-MAVLink gimbal), 0 for all gimbal device components. Send command multiple times for more than one gimbal (but not all gimbals).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_DO_GIMBAL_MANAGER_CONFIGURE (1001)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Gimbal configuration to set which sysid/compid is in primary and secondary control.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Param (Label)Description
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1 (sysid primary control)Sysid for primary control (0: no one in control, -1: leave unchanged, -2: set itself in control (for missions where the own sysid is still unknown), -3: remove control if currently in control).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2 (compid primary control)Compid for primary control (0: no one in control, -1: leave unchanged, -2: set itself in control (for missions where the own sysid is still unknown), -3: remove control if currently in control).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      3 (sysid secondary control)Sysid for secondary control (0: no one in control, -1: leave unchanged, -2: set itself in control (for missions where the own sysid is still unknown), -3: remove control if currently in control).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      4 (compid secondary control)Compid for secondary control (0: no one in control, -1: leave unchanged, -2: set itself in control (for missions where the own sysid is still unknown), -3: remove control if currently in control).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      7 (Gimbal device ID)Component ID of gimbal device to address (or 1-6 for non-MAVLink gimbal), 0 for all gimbal device components. Send command multiple times for more than one gimbal (but not all gimbals).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_IMAGE_START_CAPTURE (2000)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Start image capture sequence. CAMERA_IMAGE_CAPTURED must be emitted after each capture.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Param1 (id) may be used to specify the target camera: 0: all cameras, 1 to 6: autopilot-connected cameras, 7-255: MAVLink camera component ID. It is needed in order to target specific cameras connected to the autopilot, or specific sensors in a multi-sensor camera (neither of which have a distinct MAVLink component ID). It is also needed to specify the target camera in missions.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      When used in a mission, an autopilot should execute the MAV_CMD for a specified local camera (param1 = 1-6), or resend it as a command if it is intended for a MAVLink camera (param1 = 7 - 255), setting the command's target_component as the param1 value (and setting param1 in the command to zero). If the param1 is 0 the autopilot should do both.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      When sent in a command the target MAVLink address is set using target_component. If addressed specifically to an autopilot: param1 should be used in the same way as it is for missions (though command should NACK with MAV_RESULT_DENIED if a specified local camera does not exist). If addressed to a MAVLink camera, param 1 can be used to address all cameras (0), or to separately address 1 to 7 individual sensors. Other values should be NACKed with MAV_RESULT_DENIED. If the command is broadcast (target_component is 0) then param 1 should be set to 0 (any other value should be NACKED with MAV_RESULT_DENIED). An autopilot would trigger any local cameras and forward the command to all channels.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Param (Label)DescriptionValuesUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1 (Target Camera ID)Target camera ID. 7 to 255: MAVLink camera component id. 1 to 6 for cameras attached to the autopilot, which don't have a distinct component id. 0: all cameras. This is used to target specific autopilot-connected cameras. It is also used to target specific cameras when the MAV_CMD is used in a mission.min: 0 max: 255 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2 (Interval)Desired elapsed time between two consecutive pictures (in seconds). Minimum values depend on hardware (typically greater than 2 seconds).min: 0s
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      3 (Total Images)Total number of images to capture. 0 to capture forever/until MAV_CMD_IMAGE_STOP_CAPTURE.min: 0 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      4 (Sequence Number)Capture sequence number starting from 1. This is only valid for single-capture (param3 == 1), otherwise set to 0. Increment the capture ID for each capture command to prevent double captures when a command is re-transmitted.min: 1 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      5
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_IMAGE_STOP_CAPTURE (2001)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Stop image capture sequence.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Param1 (id) may be used to specify the target camera: 0: all cameras, 1 to 6: autopilot-connected cameras, 7-255: MAVLink camera component ID. It is needed in order to target specific cameras connected to the autopilot, or specific sensors in a multi-sensor camera (neither of which have a distinct MAVLink component ID). It is also needed to specify the target camera in missions.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      When used in a mission, an autopilot should execute the MAV_CMD for a specified local camera (param1 = 1-6), or resend it as a command if it is intended for a MAVLink camera (param1 = 7 - 255), setting the command's target_component as the param1 value (and setting param1 in the command to zero). If the param1 is 0 the autopilot should do both.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      When sent in a command the target MAVLink address is set using target_component. If addressed specifically to an autopilot: param1 should be used in the same way as it is for missions (though command should NACK with MAV_RESULT_DENIED if a specified local camera does not exist). If addressed to a MAVLink camera, param1 can be used to address all cameras (0), or to separately address 1 to 7 individual sensors. Other values should be NACKed with MAV_RESULT_DENIED. If the command is broadcast (target_component is 0) then param 1 should be set to 0 (any other value should be NACKED with MAV_RESULT_DENIED). An autopilot would trigger any local cameras and forward the command to all channels.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1 (Target Camera ID)Target camera ID. 7 to 255: MAVLink camera component id. 1 to 6 for cameras attached to the autopilot, which don't have a distinct component id. 0: all cameras. This is used to target specific autopilot-connected cameras. It is also used to target specific cameras when the MAV_CMD is used in a mission.min: 0 max: 255 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_REQUEST_CAMERA_IMAGE_CAPTURE (2002) — [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      DEPRECATED: Replaced By MAV_CMD_REQUEST_MESSAGE (2019-08)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Re-request a CAMERA_IMAGE_CAPTURED message.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1 (Number)Sequence number for missing CAMERA_IMAGE_CAPTURED messagemin: 0 inc: 1
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_DO_TRIGGER_CONTROL (2003)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Enable or disable on-board camera triggering system.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1 (Enable)Trigger enable/disable (0 for disable, 1 for start), -1 to ignoremin: -1 max: 1 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2 (Reset)1 to reset the trigger sequence, -1 or 0 to ignoremin: -1 max: 1 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      3 (Pause)1 to pause triggering, but without switching the camera off or retracting it. -1 to ignoremin: -1 max: 1 inc: 2
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      4 (Target Camera ID)Target camera ID. 7 to 255: MAVLink camera component id. 1 to 6 for cameras attached to the autopilot, which don't have a distinct component id. 0: all cameras. This is used to target specific autopilot-connected cameras. It is also used to target specific cameras when the MAV_CMD is used in a mission.min: 0 max: 255 inc: 1

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_CAMERA_TRACK_POINT (2004)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      If the camera supports point visual tracking (CAMERA_CAP_FLAGS_HAS_TRACKING_POINT is set), this command allows to initiate the tracking.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1 (Point x)Point to track x value (normalized 0..1, 0 is left, 1 is right).min: 0 max: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2 (Point y)Point to track y value (normalized 0..1, 0 is top, 1 is bottom).min: 0 max: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      3 (Radius)Point radius (normalized 0..1, 0 is one pixel, 1 is full image width).min: 0 max: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      4 (Target Camera ID)Target camera ID. 7 to 255: MAVLink camera component id. 1 to 6 for cameras attached to the autopilot, which don't have a distinct component id. 0: all cameras. This is used to target specific autopilot-connected cameras. It is also used to target specific cameras when the MAV_CMD is used in a mission.min: 0 max: 255 inc: 1

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_CAMERA_TRACK_RECTANGLE (2005)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      If the camera supports rectangle visual tracking (CAMERA_CAP_FLAGS_HAS_TRACKING_RECTANGLE is set), this command allows to initiate the tracking.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1 (Top left corner x)Top left corner of rectangle x value (normalized 0..1, 0 is left, 1 is right).min: 0 max: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2 (Top left corner y)Top left corner of rectangle y value (normalized 0..1, 0 is top, 1 is bottom).min: 0 max: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      3 (Bottom right corner x)Bottom right corner of rectangle x value (normalized 0..1, 0 is left, 1 is right).min: 0 max: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      4 (Bottom right corner y)Bottom right corner of rectangle y value (normalized 0..1, 0 is top, 1 is bottom).min: 0 max: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      5 (Target Camera ID)Target camera ID. 7 to 255: MAVLink camera component id. 1 to 6 for cameras attached to the autopilot, which don't have a distinct component id. 0: all cameras. This is used to target specific autopilot-connected cameras. It is also used to target specific cameras when the MAV_CMD is used in a mission.min: 0 max: 255 inc: 1

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_CAMERA_STOP_TRACKING (2010)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Stops ongoing tracking.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1 (Target Camera ID)Target camera ID. 7 to 255: MAVLink camera component id. 1 to 6 for cameras attached to the autopilot, which don't have a distinct component id. 0: all cameras. This is used to target specific autopilot-connected cameras. It is also used to target specific cameras when the MAV_CMD is used in a mission.min: 0 max: 255 inc: 1

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_VIDEO_START_CAPTURE (2500)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Starts video capture (recording).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Param (Label)DescriptionValuesUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1 (Stream ID)Video Stream ID (0 for all streams)min: 0 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2 (Status Frequency)Frequency CAMERA_CAPTURE_STATUS messages should be sent while recording (0 for no messages, otherwise frequency)min: 0Hz
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      3 (Target Camera ID)Target camera ID. 7 to 255: MAVLink camera component id. 1 to 6 for cameras attached to the autopilot, which don't have a distinct component id. 0: all cameras. This is used to target specific autopilot-connected cameras. It is also used to target specific cameras when the MAV_CMD is used in a mission.min: 0 max: 255 inc: 1
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_VIDEO_STOP_CAPTURE (2501)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Stop the current video capture (recording).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1 (Stream ID)Video Stream ID (0 for all streams)min: 0 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2 (Target Camera ID)Target camera ID. 7 to 255: MAVLink camera component id. 1 to 6 for cameras attached to the autopilot, which don't have a distinct component id. 0: all cameras. This is used to target specific autopilot-connected cameras. It is also used to target specific cameras when the MAV_CMD is used in a mission.min: 0 max: 255 inc: 1
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_VIDEO_START_STREAMING (2502)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Start video streaming

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1 (Stream ID)Video Stream ID (0 for all streams, 1 for first, 2 for second, etc.)min: 0 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2 (Target Camera ID)Target camera ID. 7 to 255: MAVLink camera component id. 1 to 6 for cameras attached to the autopilot, which don't have a distinct component id. 0: all cameras. This is used to target specific autopilot-connected cameras. It is also used to target specific cameras when the MAV_CMD is used in a mission.min: 0 max: 255 inc: 1

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_VIDEO_STOP_STREAMING (2503)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Stop the given video stream

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1 (Stream ID)Video Stream ID (0 for all streams, 1 for first, 2 for second, etc.)min: 0 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2 (Target Camera ID)Target camera ID. 7 to 255: MAVLink camera component id. 1 to 6 for cameras attached to the autopilot, which don't have a distinct component id. 0: all cameras. This is used to target specific autopilot-connected cameras. It is also used to target specific cameras when the MAV_CMD is used in a mission.min: 0 max: 255 inc: 1

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_REQUEST_VIDEO_STREAM_INFORMATION (2504) — [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      DEPRECATED: Replaced By MAV_CMD_REQUEST_MESSAGE (2019-08)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Request video stream information (VIDEO_STREAM_INFORMATION)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1 (Stream ID)Video Stream ID (0 for all streams, 1 for first, 2 for second, etc.)min: 0 inc: 1

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_REQUEST_VIDEO_STREAM_STATUS (2505) — [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      DEPRECATED: Replaced By MAV_CMD_REQUEST_MESSAGE (2019-08)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Request video stream status (VIDEO_STREAM_STATUS)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1 (Stream ID)Video Stream ID (0 for all streams, 1 for first, 2 for second, etc.)min: 0 inc: 1

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_LOGGING_START (2510)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Request to start streaming logging data over MAVLink (see also LOGGING_DATA message)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1 (Format)Format: 0: ULogmin: 0 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2Reserved (set to 0)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      3Reserved (set to 0)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      4Reserved (set to 0)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      5Reserved (set to 0)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      6Reserved (set to 0)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      7Reserved (set to 0)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_LOGGING_STOP (2511)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Request to stop streaming log data over MAVLink

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Param (Label)Description
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1Reserved (set to 0)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2Reserved (set to 0)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      3Reserved (set to 0)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      4Reserved (set to 0)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      5Reserved (set to 0)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      6Reserved (set to 0)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      7Reserved (set to 0)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_AIRFRAME_CONFIGURATION (2520)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1 (Landing Gear ID)Landing gear ID (default: 0, -1 for all)min: -1 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2 (Landing Gear Position)Landing gear position (Down: 0, Up: 1, NaN for no change)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      3
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      4
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      5
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      6
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      7

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_CONTROL_HIGH_LATENCY (2600)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Request to start/stop transmitting over the high latency telemetry

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1 (Enable)Control transmission over high latency telemetry (0: stop, 1: start)min: 0 max: 1 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      3Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      4Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      5Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      6Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      7Empty

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_PANORAMA_CREATE (2800)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Create a panorama at the current position

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Param (Label)DescriptionUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1 (Horizontal Angle)Viewing angle horizontal of the panorama (+- 0.5 the total angle)deg
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2 (Vertical Angle)Viewing angle vertical of panorama.deg
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      3 (Horizontal Speed)Speed of the horizontal rotation.deg/s
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      4 (Vertical Speed)Speed of the vertical rotation.deg/s

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_DO_VTOL_TRANSITION (3000)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Request VTOL transition

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1 (State)The target VTOL state. For normal transitions, only MAV_VTOL_STATE_MC and MAV_VTOL_STATE_FW can be used.MAV_VTOL_STATE
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2 (Immediate)Force immediate transition to the specified MAV_VTOL_STATE. 1: Force immediate, 0: normal transition. Can be used, for example, to trigger an emergency "Quadchute". Caution: Can be dangerous/damage vehicle, depending on autopilot implementation of this command.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_ARM_AUTHORIZATION_REQUEST (3001)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Request authorization to arm the vehicle to a external entity, the arm authorizer is responsible to request all data that is needs from the vehicle before authorize or deny the request.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      If approved the COMMAND_ACK message progress field should be set with period of time that this authorization is valid in seconds. If the authorization is denied COMMAND_ACK.result_param2 should be set with one of the reasons in ARM_AUTH_DENIED_REASON.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1 (System ID)Vehicle system id, this way ground station can request arm authorization on behalf of any vehiclemin: 0 max: 255 inc: 1

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_SET_GUIDED_SUBMODE_STANDARD (4000)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      This command sets the submode to standard guided when vehicle is in guided mode. The vehicle holds position and altitude and the user can input the desired velocities along all three axes.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Param (Label)Description

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_SET_GUIDED_SUBMODE_CIRCLE (4001)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      This command sets submode circle when vehicle is in guided mode. Vehicle flies along a circle facing the center of the circle. The user can input the velocity along the circle and change the radius. If no input is given the vehicle will hold position.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Param (Label)DescriptionUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1 (Radius)Radius of desired circle in CIRCLE_MODEm
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2User defined
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      3User defined
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      4User defined
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      5 (Latitude)Target latitude of center of circle in CIRCLE_MODEdegE7
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      6 (Longitude)Target longitude of center of circle in CIRCLE_MODEdegE7

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_CONDITION_GATE (4501) — [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Delay mission state machine until gate has been reached.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Param (Label)DescriptionValuesUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1 (Geometry)Geometry: 0: orthogonal to path between previous and next waypoint.min: 0 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2 (UseAltitude)Altitude: 0: ignore altitudemin: 0 max: 1 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      3Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      4Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      5 (Latitude)Latitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      6 (Longitude)Longitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      7 (Altitude)Altitudem

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_NAV_FENCE_RETURN_POINT (5000)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Fence return point (there can only be one such point in a geofence definition). If rally points are supported they should be used instead.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Param (Label)DescriptionUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1Reserved
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2Reserved
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      3Reserved
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      4Reserved
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      5 (Latitude)Latitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      6 (Longitude)Longitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      7 (Altitude)Altitudem

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_NAV_FENCE_POLYGON_VERTEX_INCLUSION (5001)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Fence vertex for an inclusion polygon (the polygon must not be self-intersecting). The vehicle must stay within this area. Minimum of 3 vertices required.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1 (Vertex Count)Polygon vertex countmin: 3 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2 (Inclusion Group)Vehicle must be inside ALL inclusion zones in a single group, vehicle must be inside at least one group, must be the same for all points in each polygonmin: 0 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      3Reserved
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      4Reserved
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      5 (Latitude)Latitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      6 (Longitude)Longitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      7Reserved

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_NAV_FENCE_POLYGON_VERTEX_EXCLUSION (5002)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Fence vertex for an exclusion polygon (the polygon must not be self-intersecting). The vehicle must stay outside this area. Minimum of 3 vertices required.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1 (Vertex Count)Polygon vertex countmin: 3 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2Reserved
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      3Reserved
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      4Reserved
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      5 (Latitude)Latitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      6 (Longitude)Longitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      7Reserved

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_NAV_FENCE_CIRCLE_INCLUSION (5003)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Circular fence area. The vehicle must stay inside this area.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Param (Label)DescriptionValuesUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1 (Radius)Radius.m
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2 (Inclusion Group)Vehicle must be inside ALL inclusion zones in a single group, vehicle must be inside at least one groupmin: 0 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      3Reserved
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      4Reserved
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      5 (Latitude)Latitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      6 (Longitude)Longitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      7Reserved

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_NAV_FENCE_CIRCLE_EXCLUSION (5004)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Circular fence area. The vehicle must stay outside this area.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Param (Label)DescriptionUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1 (Radius)Radius.m
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2Reserved
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      3Reserved
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      4Reserved
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      5 (Latitude)Latitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      6 (Longitude)Longitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      7Reserved

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_NAV_RALLY_POINT (5100)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Rally point. You can have multiple rally points defined.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Param (Label)DescriptionUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1Reserved
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2Reserved
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      3Reserved
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      4Reserved
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      5 (Latitude)Latitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      6 (Longitude)Longitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      7 (Altitude)Altitudem

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_UAVCAN_GET_NODE_INFO (5200)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Commands the vehicle to respond with a sequence of messages UAVCAN_NODE_INFO, one message per every UAVCAN node that is online. Note that some of the response messages can be lost, which the receiver can detect easily by checking whether every received UAVCAN_NODE_STATUS has a matching message UAVCAN_NODE_INFO received earlier; if not, this command should be sent again in order to request re-transmission of the node information messages.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Param (Label)Description
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1Reserved (set to 0)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2Reserved (set to 0)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      3Reserved (set to 0)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      4Reserved (set to 0)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      5Reserved (set to 0)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      6Reserved (set to 0)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      7Reserved (set to 0)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_DO_SET_SAFETY_SWITCH_STATE (5300)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Change state of safety switch.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1 (Desired State)New safety switch state.SAFETY_SWITCH_STATE
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      3Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      4Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      5Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      6Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      7Empty.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_DO_ADSB_OUT_IDENT (10001)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Trigger the start of an ADSB-out IDENT. This should only be used when requested to do so by an Air Traffic Controller in controlled airspace. This starts the IDENT which is then typically held for 18 seconds by the hardware per the Mode A, C, and S transponder spec.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Param (Label)Description
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1Reserved (set to 0)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2Reserved (set to 0)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      3Reserved (set to 0)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      4Reserved (set to 0)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      5Reserved (set to 0)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      6Reserved (set to 0)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      7Reserved (set to 0)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_PAYLOAD_PREPARE_DEPLOY (30001) — [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      DEPRECATED:(2021-06)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Deploy payload on a Lat / Lon / Alt position. This includes the navigation to reach the required release position and velocity.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Param (Label)DescriptionValuesUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1 (Operation Mode)Operation mode. 0: prepare single payload deploy (overwriting previous requests), but do not execute it. 1: execute payload deploy immediately (rejecting further deploy commands during execution, but allowing abort). 2: add payload deploy to existing deployment list.min: 0 max: 2 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2 (Approach Vector)Desired approach vector in compass heading. A negative value indicates the system can define the approach vector at will.min: -1 max: 360deg
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      3 (Ground Speed)Desired ground speed at release time. This can be overridden by the airframe in case it needs to meet minimum airspeed. A negative value indicates the system can define the ground speed at will.min: -1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      4 (Altitude Clearance)Minimum altitude clearance to the release position. A negative value indicates the system can define the clearance at will.min: -1m
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      5 (Latitude)Latitude.degE7
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      6 (Longitude)Longitude.degE7
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      7 (Altitude)Altitude (MSL)m

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_PAYLOAD_CONTROL_DEPLOY (30002) — [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      DEPRECATED:(2021-06)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Control the payload deployment.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1 (Operation Mode)Operation mode. 0: Abort deployment, continue normal mission. 1: switch to payload deployment mode. 100: delete first payload deployment request. 101: delete all payload deployment requests.min: 0 max: 101 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2Reserved
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      3Reserved
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      4Reserved
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      5Reserved
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      6Reserved
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      7Reserved

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_WAYPOINT_USER_1 (31000)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      User defined waypoint item. Ground Station will show the Vehicle as flying through this item.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Param (Label)DescriptionUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1User defined
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2User defined
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      3User defined
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      4User defined
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      5 (Latitude)Latitude unscaled
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      6 (Longitude)Longitude unscaled
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      7 (Altitude)Altitude (MSL)m

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_WAYPOINT_USER_2 (31001)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      User defined waypoint item. Ground Station will show the Vehicle as flying through this item.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Param (Label)DescriptionUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1User defined
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2User defined
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      3User defined
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      4User defined
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      5 (Latitude)Latitude unscaled
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      6 (Longitude)Longitude unscaled
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      7 (Altitude)Altitude (MSL)m

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_WAYPOINT_USER_3 (31002)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      User defined waypoint item. Ground Station will show the Vehicle as flying through this item.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Param (Label)DescriptionUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1User defined
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2User defined
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      3User defined
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      4User defined
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      5 (Latitude)Latitude unscaled
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      6 (Longitude)Longitude unscaled
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      7 (Altitude)Altitude (MSL)m

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_WAYPOINT_USER_4 (31003)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      User defined waypoint item. Ground Station will show the Vehicle as flying through this item.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Param (Label)DescriptionUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1User defined
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2User defined
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      3User defined
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      4User defined
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      5 (Latitude)Latitude unscaled
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      6 (Longitude)Longitude unscaled
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      7 (Altitude)Altitude (MSL)m

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_WAYPOINT_USER_5 (31004)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      User defined waypoint item. Ground Station will show the Vehicle as flying through this item.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Param (Label)DescriptionUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1User defined
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2User defined
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      3User defined
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      4User defined
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      5 (Latitude)Latitude unscaled
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      6 (Longitude)Longitude unscaled
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      7 (Altitude)Altitude (MSL)m

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_SPATIAL_USER_1 (31005)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      User defined spatial item. Ground Station will not show the Vehicle as flying through this item. Example: ROI item.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Param (Label)DescriptionUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1User defined
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2User defined
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      3User defined
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      4User defined
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      5 (Latitude)Latitude unscaled
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      6 (Longitude)Longitude unscaled
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      7 (Altitude)Altitude (MSL)m

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_SPATIAL_USER_2 (31006)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      User defined spatial item. Ground Station will not show the Vehicle as flying through this item. Example: ROI item.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Param (Label)DescriptionUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1User defined
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2User defined
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      3User defined
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      4User defined
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      5 (Latitude)Latitude unscaled
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      6 (Longitude)Longitude unscaled
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      7 (Altitude)Altitude (MSL)m

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_SPATIAL_USER_3 (31007)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      User defined spatial item. Ground Station will not show the Vehicle as flying through this item. Example: ROI item.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Param (Label)DescriptionUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1User defined
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2User defined
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      3User defined
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      4User defined
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      5 (Latitude)Latitude unscaled
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      6 (Longitude)Longitude unscaled
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      7 (Altitude)Altitude (MSL)m

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_SPATIAL_USER_4 (31008)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      User defined spatial item. Ground Station will not show the Vehicle as flying through this item. Example: ROI item.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Param (Label)DescriptionUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1User defined
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2User defined
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      3User defined
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      4User defined
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      5 (Latitude)Latitude unscaled
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      6 (Longitude)Longitude unscaled
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      7 (Altitude)Altitude (MSL)m

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_SPATIAL_USER_5 (31009)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      User defined spatial item. Ground Station will not show the Vehicle as flying through this item. Example: ROI item.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Param (Label)DescriptionUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1User defined
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2User defined
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      3User defined
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      4User defined
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      5 (Latitude)Latitude unscaled
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      6 (Longitude)Longitude unscaled
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      7 (Altitude)Altitude (MSL)m

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_USER_1 (31010)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      User defined command. Ground Station will not show the Vehicle as flying through this item. Example: MAV_CMD_DO_SET_PARAMETER item.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Param (Label)Description
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1User defined
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2User defined
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      3User defined
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      4User defined
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      5User defined
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      6User defined
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      7User defined

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_USER_2 (31011)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      User defined command. Ground Station will not show the Vehicle as flying through this item. Example: MAV_CMD_DO_SET_PARAMETER item.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Param (Label)Description
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1User defined
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2User defined
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      3User defined
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      4User defined
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      5User defined
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      6User defined
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      7User defined

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_USER_3 (31012)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      User defined command. Ground Station will not show the Vehicle as flying through this item. Example: MAV_CMD_DO_SET_PARAMETER item.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Param (Label)Description
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1User defined
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2User defined
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      3User defined
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      4User defined
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      5User defined
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      6User defined
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      7User defined

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_USER_4 (31013)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      User defined command. Ground Station will not show the Vehicle as flying through this item. Example: MAV_CMD_DO_SET_PARAMETER item.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Param (Label)Description
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1User defined
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2User defined
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      3User defined
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      4User defined
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      5User defined
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      6User defined
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      7User defined

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_USER_5 (31014)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      User defined command. Ground Station will not show the Vehicle as flying through this item. Example: MAV_CMD_DO_SET_PARAMETER item.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Param (Label)Description
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1User defined
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2User defined
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      3User defined
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      4User defined
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      5User defined
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      6User defined
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      7User defined

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_CAN_FORWARD (32000)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Request forwarding of CAN packets from the given CAN bus to this component. CAN Frames are sent using CAN_FRAME and CANFD_FRAME messages

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Param (Label)Description
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1 (bus)Bus number (0 to disable forwarding, 1 for first bus, 2 for 2nd bus, 3 for 3rd bus).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      3Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      4Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      5Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      6Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      7Empty.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_FIXED_MAG_CAL_YAW (42006)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Magnetometer calibration based on provided known yaw. This allows for fast calibration using WMM field tables in the vehicle, given only the known yaw of the vehicle. If Latitude and longitude are both zero then use the current vehicle location.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Param (Label)DescriptionUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1 (Yaw)Yaw of vehicle in earth frame.deg
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2 (CompassMask)CompassMask, 0 for all.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      3 (Latitude)Latitude.deg
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      4 (Longitude)Longitude.deg
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      5Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      6Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      7Empty.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_DO_WINCH (42600)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Command to operate winch.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Param (Label)DescriptionValuesUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1 (Instance)Winch instance number.min: 1 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2 (Action)Action to perform.WINCH_ACTIONS
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      3 (Length)Length of line to release (negative to wind).m
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      4 (Rate)Release rate (negative to wind).m/s
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      5Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      6Empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      7Empty.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_EXTERNAL_POSITION_ESTIMATE (43003)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Provide an external position estimate for use when dead-reckoning. This is meant to be used for occasional position resets that may be provided by a external system such as a remote pilot using landmarks over a video link.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Param (Label)DescriptionUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1 (transmission_time)Timestamp that this message was sent as a time in the transmitters time domain. The sender should wrap this time back to zero based on required timing accuracy for the application and the limitations of a 32 bit float. For example, wrapping at 10 hours would give approximately 1ms accuracy. Recipient must handle time wrap in any timing jitter correction applied to this field. Wrap rollover time should not be at not more than 250 seconds, which would give approximately 10 microsecond accuracy.s
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2 (processing_time)The time spent in processing the sensor data that is the basis for this position. The recipient can use this to improve time alignment of the data. Set to zero if not known.s
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      3 (accuracy)estimated one standard deviation accuracy of the measurement. Set to NaN if not known.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      4Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      5 (Latitude)Latitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      6 (Longitude)Longitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      7 (Altitude)Altitude, not used. Should be sent as NaN. May be supported in a future version of this message.m

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      results matching ""

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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        \ No newline at end of file diff --git a/zh/messages/cubepilot.md b/zh/messages/cubepilot.md index 2a05e314a..43f6d580f 100644 --- a/zh/messages/cubepilot.md +++ b/zh/messages/cubepilot.md @@ -33,461 +33,13 @@ span.warning { | Type | Defined | Included | | -------------------------- | ------- | -------- | | [Messages](#messages) | 5 | 224 | -| [Enums](#enumerated-types) | 0 | 142 | +| [Enums](#enumerated-types) | 0 | 143 | | [Commands](#mav_commands) | 164 | 0 | The following sections list all entities in the dialect (both included and defined in this file). ## Messages -### HEARTBEAT (0) — \[from: [minimal](../messages/minimal.md#HEARTBEAT)\] {#HEARTBEAT} - -### SYS_STATUS (1) — \[from: [common](../messages/common.md#SYS_STATUS)\] {#SYS_STATUS} - -### SYSTEM_TIME (2) — \[from: [common](../messages/common.md#SYSTEM_TIME)\] {#SYSTEM_TIME} - -### PING (4) — \[from: [common](../messages/common.md#PING)\] [DEP] {#PING} - -### CHANGE_OPERATOR_CONTROL (5) — \[from: [common](../messages/common.md#CHANGE_OPERATOR_CONTROL)\] {#CHANGE_OPERATOR_CONTROL} - -### CHANGE_OPERATOR_CONTROL_ACK (6) — \[from: [common](../messages/common.md#CHANGE_OPERATOR_CONTROL_ACK)\] {#CHANGE_OPERATOR_CONTROL_ACK} - -### AUTH_KEY (7) — \[from: [common](../messages/common.md#AUTH_KEY)\] {#AUTH_KEY} - -### LINK_NODE_STATUS (8) — \[from: [common](../messages/common.md#LINK_NODE_STATUS)\] [WIP] {#LINK_NODE_STATUS} - -### SET_MODE (11) — \[from: [common](../messages/common.md#SET_MODE)\] [DEP] {#SET_MODE} - -### PARAM_REQUEST_READ (20) — \[from: [common](../messages/common.md#PARAM_REQUEST_READ)\] {#PARAM_REQUEST_READ} - -### PARAM_REQUEST_LIST (21) — \[from: [common](../messages/common.md#PARAM_REQUEST_LIST)\] {#PARAM_REQUEST_LIST} - -### PARAM_VALUE (22) — \[from: [common](../messages/common.md#PARAM_VALUE)\] {#PARAM_VALUE} - -### PARAM_SET (23) — \[from: [common](../messages/common.md#PARAM_SET)\] {#PARAM_SET} - -### GPS_RAW_INT (24) — \[from: [common](../messages/common.md#GPS_RAW_INT)\] {#GPS_RAW_INT} - -### GPS_STATUS (25) — \[from: [common](../messages/common.md#GPS_STATUS)\] {#GPS_STATUS} - -### SCALED_IMU (26) — \[from: [common](../messages/common.md#SCALED_IMU)\] {#SCALED_IMU} - -### RAW_IMU (27) — \[from: [common](../messages/common.md#RAW_IMU)\] {#RAW_IMU} - -### RAW_PRESSURE (28) — \[from: [common](../messages/common.md#RAW_PRESSURE)\] {#RAW_PRESSURE} - -### SCALED_PRESSURE (29) — \[from: [common](../messages/common.md#SCALED_PRESSURE)\] {#SCALED_PRESSURE} - -### ATTITUDE (30) — \[from: [common](../messages/common.md#ATTITUDE)\] {#ATTITUDE} - -### ATTITUDE_QUATERNION (31) — \[from: [common](../messages/common.md#ATTITUDE_QUATERNION)\] {#ATTITUDE_QUATERNION} - -### LOCAL_POSITION_NED (32) — \[from: [common](../messages/common.md#LOCAL_POSITION_NED)\] {#LOCAL_POSITION_NED} - -### GLOBAL_POSITION_INT (33) — \[from: [common](../messages/common.md#GLOBAL_POSITION_INT)\] {#GLOBAL_POSITION_INT} - -### RC_CHANNELS_SCALED (34) — \[from: [common](../messages/common.md#RC_CHANNELS_SCALED)\] {#RC_CHANNELS_SCALED} - -### RC_CHANNELS_RAW (35) — \[from: [common](../messages/common.md#RC_CHANNELS_RAW)\] {#RC_CHANNELS_RAW} - -### SERVO_OUTPUT_RAW (36) — \[from: [common](../messages/common.md#SERVO_OUTPUT_RAW)\] {#SERVO_OUTPUT_RAW} - -### MISSION_REQUEST_PARTIAL_LIST (37) — \[from: [common](../messages/common.md#MISSION_REQUEST_PARTIAL_LIST)\] {#MISSION_REQUEST_PARTIAL_LIST} - -### MISSION_WRITE_PARTIAL_LIST (38) — \[from: [common](../messages/common.md#MISSION_WRITE_PARTIAL_LIST)\] {#MISSION_WRITE_PARTIAL_LIST} - -### MISSION_ITEM (39) — \[from: [common](../messages/common.md#MISSION_ITEM)\] [DEP] {#MISSION_ITEM} - -### MISSION_REQUEST (40) — \[from: [common](../messages/common.md#MISSION_REQUEST)\] [DEP] {#MISSION_REQUEST} - -### MISSION_SET_CURRENT (41) — \[from: [common](../messages/common.md#MISSION_SET_CURRENT)\] [DEP] {#MISSION_SET_CURRENT} - -### MISSION_CURRENT (42) — \[from: [common](../messages/common.md#MISSION_CURRENT)\] {#MISSION_CURRENT} - -### MISSION_REQUEST_LIST (43) — \[from: [common](../messages/common.md#MISSION_REQUEST_LIST)\] {#MISSION_REQUEST_LIST} - -### MISSION_COUNT (44) — \[from: [common](../messages/common.md#MISSION_COUNT)\] {#MISSION_COUNT} - -### MISSION_CLEAR_ALL (45) — \[from: [common](../messages/common.md#MISSION_CLEAR_ALL)\] {#MISSION_CLEAR_ALL} - -### MISSION_ITEM_REACHED (46) — \[from: [common](../messages/common.md#MISSION_ITEM_REACHED)\] {#MISSION_ITEM_REACHED} - -### MISSION_ACK (47) — \[from: [common](../messages/common.md#MISSION_ACK)\] {#MISSION_ACK} - -### SET_GPS_GLOBAL_ORIGIN (48) — \[from: [common](../messages/common.md#SET_GPS_GLOBAL_ORIGIN)\] {#SET_GPS_GLOBAL_ORIGIN} - -### GPS_GLOBAL_ORIGIN (49) — \[from: [common](../messages/common.md#GPS_GLOBAL_ORIGIN)\] {#GPS_GLOBAL_ORIGIN} - -### PARAM_MAP_RC (50) — \[from: [common](../messages/common.md#PARAM_MAP_RC)\] {#PARAM_MAP_RC} - -### MISSION_REQUEST_INT (51) — \[from: [common](../messages/common.md#MISSION_REQUEST_INT)\] {#MISSION_REQUEST_INT} - -### SAFETY_SET_ALLOWED_AREA (54) — \[from: [common](../messages/common.md#SAFETY_SET_ALLOWED_AREA)\] {#SAFETY_SET_ALLOWED_AREA} - -### SAFETY_ALLOWED_AREA (55) — \[from: [common](../messages/common.md#SAFETY_ALLOWED_AREA)\] {#SAFETY_ALLOWED_AREA} - -### ATTITUDE_QUATERNION_COV (61) — \[from: [common](../messages/common.md#ATTITUDE_QUATERNION_COV)\] {#ATTITUDE_QUATERNION_COV} - -### NAV_CONTROLLER_OUTPUT (62) — \[from: [common](../messages/common.md#NAV_CONTROLLER_OUTPUT)\] {#NAV_CONTROLLER_OUTPUT} - -### GLOBAL_POSITION_INT_COV (63) — \[from: [common](../messages/common.md#GLOBAL_POSITION_INT_COV)\] {#GLOBAL_POSITION_INT_COV} - -### LOCAL_POSITION_NED_COV (64) — \[from: [common](../messages/common.md#LOCAL_POSITION_NED_COV)\] {#LOCAL_POSITION_NED_COV} - -### RC_CHANNELS (65) — \[from: [common](../messages/common.md#RC_CHANNELS)\] {#RC_CHANNELS} - -### REQUEST_DATA_STREAM (66) — \[from: [common](../messages/common.md#REQUEST_DATA_STREAM)\] [DEP] {#REQUEST_DATA_STREAM} - -### DATA_STREAM (67) — \[from: [common](../messages/common.md#DATA_STREAM)\] [DEP] {#DATA_STREAM} - -### MANUAL_CONTROL (69) — \[from: [common](../messages/common.md#MANUAL_CONTROL)\] {#MANUAL_CONTROL} - -### RC_CHANNELS_OVERRIDE (70) — \[from: [common](../messages/common.md#RC_CHANNELS_OVERRIDE)\] {#RC_CHANNELS_OVERRIDE} - -### MISSION_ITEM_INT (73) — \[from: [common](../messages/common.md#MISSION_ITEM_INT)\] {#MISSION_ITEM_INT} - -### VFR_HUD (74) — \[from: [common](../messages/common.md#VFR_HUD)\] {#VFR_HUD} - -### COMMAND_INT (75) — \[from: [common](../messages/common.md#COMMAND_INT)\] {#COMMAND_INT} - -### COMMAND_LONG (76) — \[from: [common](../messages/common.md#COMMAND_LONG)\] {#COMMAND_LONG} - -### COMMAND_ACK (77) — \[from: [common](../messages/common.md#COMMAND_ACK)\] {#COMMAND_ACK} - -### COMMAND_CANCEL (80) — \[from: [common](../messages/common.md#COMMAND_CANCEL)\] [WIP] {#COMMAND_CANCEL} - -### MANUAL_SETPOINT (81) — \[from: [common](../messages/common.md#MANUAL_SETPOINT)\] {#MANUAL_SETPOINT} - -### SET_ATTITUDE_TARGET (82) — \[from: [common](../messages/common.md#SET_ATTITUDE_TARGET)\] {#SET_ATTITUDE_TARGET} - -### ATTITUDE_TARGET (83) — \[from: [common](../messages/common.md#ATTITUDE_TARGET)\] {#ATTITUDE_TARGET} - -### SET_POSITION_TARGET_LOCAL_NED (84) — \[from: [common](../messages/common.md#SET_POSITION_TARGET_LOCAL_NED)\] {#SET_POSITION_TARGET_LOCAL_NED} - -### POSITION_TARGET_LOCAL_NED (85) — \[from: [common](../messages/common.md#POSITION_TARGET_LOCAL_NED)\] {#POSITION_TARGET_LOCAL_NED} - -### SET_POSITION_TARGET_GLOBAL_INT (86) — \[from: [common](../messages/common.md#SET_POSITION_TARGET_GLOBAL_INT)\] {#SET_POSITION_TARGET_GLOBAL_INT} - -### POSITION_TARGET_GLOBAL_INT (87) — \[from: [common](../messages/common.md#POSITION_TARGET_GLOBAL_INT)\] {#POSITION_TARGET_GLOBAL_INT} - -### LOCAL_POSITION_NED_SYSTEM_GLOBAL_OFFSET (89) — \[from: [common](../messages/common.md#LOCAL_POSITION_NED_SYSTEM_GLOBAL_OFFSET)\] {#LOCAL_POSITION_NED_SYSTEM_GLOBAL_OFFSET} - -### HIL_STATE (90) — \[from: [common](../messages/common.md#HIL_STATE)\] [DEP] {#HIL_STATE} - -### HIL_CONTROLS (91) — \[from: [common](../messages/common.md#HIL_CONTROLS)\] {#HIL_CONTROLS} - -### HIL_RC_INPUTS_RAW (92) — \[from: [common](../messages/common.md#HIL_RC_INPUTS_RAW)\] {#HIL_RC_INPUTS_RAW} - -### HIL_ACTUATOR_CONTROLS (93) — \[from: [common](../messages/common.md#HIL_ACTUATOR_CONTROLS)\] {#HIL_ACTUATOR_CONTROLS} - -### OPTICAL_FLOW (100) — \[from: [common](../messages/common.md#OPTICAL_FLOW)\] {#OPTICAL_FLOW} - -### GLOBAL_VISION_POSITION_ESTIMATE (101) — \[from: [common](../messages/common.md#GLOBAL_VISION_POSITION_ESTIMATE)\] {#GLOBAL_VISION_POSITION_ESTIMATE} - -### VISION_POSITION_ESTIMATE (102) — \[from: [common](../messages/common.md#VISION_POSITION_ESTIMATE)\] {#VISION_POSITION_ESTIMATE} - -### VISION_SPEED_ESTIMATE (103) — \[from: [common](../messages/common.md#VISION_SPEED_ESTIMATE)\] {#VISION_SPEED_ESTIMATE} - -### VICON_POSITION_ESTIMATE (104) — \[from: [common](../messages/common.md#VICON_POSITION_ESTIMATE)\] {#VICON_POSITION_ESTIMATE} - -### HIGHRES_IMU (105) — \[from: [common](../messages/common.md#HIGHRES_IMU)\] {#HIGHRES_IMU} - -### OPTICAL_FLOW_RAD (106) — \[from: [common](../messages/common.md#OPTICAL_FLOW_RAD)\] {#OPTICAL_FLOW_RAD} - -### HIL_SENSOR (107) — \[from: [common](../messages/common.md#HIL_SENSOR)\] {#HIL_SENSOR} - -### SIM_STATE (108) — \[from: [common](../messages/common.md#SIM_STATE)\] {#SIM_STATE} - -### RADIO_STATUS (109) — \[from: [common](../messages/common.md#RADIO_STATUS)\] {#RADIO_STATUS} - -### FILE_TRANSFER_PROTOCOL (110) — \[from: [common](../messages/common.md#FILE_TRANSFER_PROTOCOL)\] {#FILE_TRANSFER_PROTOCOL} - -### TIMESYNC (111) — \[from: [common](../messages/common.md#TIMESYNC)\] {#TIMESYNC} - -### CAMERA_TRIGGER (112) — \[from: [common](../messages/common.md#CAMERA_TRIGGER)\] {#CAMERA_TRIGGER} - -### HIL_GPS (113) — \[from: [common](../messages/common.md#HIL_GPS)\] {#HIL_GPS} - -### HIL_OPTICAL_FLOW (114) — \[from: [common](../messages/common.md#HIL_OPTICAL_FLOW)\] {#HIL_OPTICAL_FLOW} - -### HIL_STATE_QUATERNION (115) — \[from: [common](../messages/common.md#HIL_STATE_QUATERNION)\] {#HIL_STATE_QUATERNION} - -### SCALED_IMU2 (116) — \[from: [common](../messages/common.md#SCALED_IMU2)\] {#SCALED_IMU2} - -### LOG_REQUEST_LIST (117) — \[from: [common](../messages/common.md#LOG_REQUEST_LIST)\] {#LOG_REQUEST_LIST} - -### LOG_ENTRY (118) — \[from: [common](../messages/common.md#LOG_ENTRY)\] {#LOG_ENTRY} - -### LOG_REQUEST_DATA (119) — \[from: [common](../messages/common.md#LOG_REQUEST_DATA)\] {#LOG_REQUEST_DATA} - -### LOG_DATA (120) — \[from: [common](../messages/common.md#LOG_DATA)\] {#LOG_DATA} - -### LOG_ERASE (121) — \[from: [common](../messages/common.md#LOG_ERASE)\] {#LOG_ERASE} - -### LOG_REQUEST_END (122) — \[from: [common](../messages/common.md#LOG_REQUEST_END)\] {#LOG_REQUEST_END} - -### GPS_INJECT_DATA (123) — \[from: [common](../messages/common.md#GPS_INJECT_DATA)\] [DEP] {#GPS_INJECT_DATA} - -### GPS2_RAW (124) — \[from: [common](../messages/common.md#GPS2_RAW)\] {#GPS2_RAW} - -### POWER_STATUS (125) — \[from: [common](../messages/common.md#POWER_STATUS)\] {#POWER_STATUS} - -### SERIAL_CONTROL (126) — \[from: [common](../messages/common.md#SERIAL_CONTROL)\] {#SERIAL_CONTROL} - -### GPS_RTK (127) — \[from: [common](../messages/common.md#GPS_RTK)\] {#GPS_RTK} - -### GPS2_RTK (128) — \[from: [common](../messages/common.md#GPS2_RTK)\] {#GPS2_RTK} - -### SCALED_IMU3 (129) — \[from: [common](../messages/common.md#SCALED_IMU3)\] {#SCALED_IMU3} - -### DATA_TRANSMISSION_HANDSHAKE (130) — \[from: [common](../messages/common.md#DATA_TRANSMISSION_HANDSHAKE)\] {#DATA_TRANSMISSION_HANDSHAKE} - -### ENCAPSULATED_DATA (131) — \[from: [common](../messages/common.md#ENCAPSULATED_DATA)\] {#ENCAPSULATED_DATA} - -### DISTANCE_SENSOR (132) — \[from: [common](../messages/common.md#DISTANCE_SENSOR)\] {#DISTANCE_SENSOR} - -### TERRAIN_REQUEST (133) — \[from: [common](../messages/common.md#TERRAIN_REQUEST)\] {#TERRAIN_REQUEST} - -### TERRAIN_DATA (134) — \[from: [common](../messages/common.md#TERRAIN_DATA)\] {#TERRAIN_DATA} - -### TERRAIN_CHECK (135) — \[from: [common](../messages/common.md#TERRAIN_CHECK)\] {#TERRAIN_CHECK} - -### TERRAIN_REPORT (136) — \[from: [common](../messages/common.md#TERRAIN_REPORT)\] {#TERRAIN_REPORT} - -### SCALED_PRESSURE2 (137) — \[from: [common](../messages/common.md#SCALED_PRESSURE2)\] {#SCALED_PRESSURE2} - -### ATT_POS_MOCAP (138) — \[from: [common](../messages/common.md#ATT_POS_MOCAP)\] {#ATT_POS_MOCAP} - -### SET_ACTUATOR_CONTROL_TARGET (139) — \[from: [common](../messages/common.md#SET_ACTUATOR_CONTROL_TARGET)\] {#SET_ACTUATOR_CONTROL_TARGET} - -### ACTUATOR_CONTROL_TARGET (140) — \[from: [common](../messages/common.md#ACTUATOR_CONTROL_TARGET)\] {#ACTUATOR_CONTROL_TARGET} - -### ALTITUDE (141) — \[from: [common](../messages/common.md#ALTITUDE)\] {#ALTITUDE} - -### RESOURCE_REQUEST (142) — \[from: [common](../messages/common.md#RESOURCE_REQUEST)\] {#RESOURCE_REQUEST} - -### SCALED_PRESSURE3 (143) — \[from: [common](../messages/common.md#SCALED_PRESSURE3)\] {#SCALED_PRESSURE3} - -### FOLLOW_TARGET (144) — \[from: [common](../messages/common.md#FOLLOW_TARGET)\] {#FOLLOW_TARGET} - -### CONTROL_SYSTEM_STATE (146) — \[from: [common](../messages/common.md#CONTROL_SYSTEM_STATE)\] {#CONTROL_SYSTEM_STATE} - -### BATTERY_STATUS (147) — \[from: [common](../messages/common.md#BATTERY_STATUS)\] {#BATTERY_STATUS} - -### AUTOPILOT_VERSION (148) — \[from: [common](../messages/common.md#AUTOPILOT_VERSION)\] {#AUTOPILOT_VERSION} - -### LANDING_TARGET (149) — \[from: [common](../messages/common.md#LANDING_TARGET)\] {#LANDING_TARGET} - -### FENCE_STATUS (162) — \[from: [common](../messages/common.md#FENCE_STATUS)\] {#FENCE_STATUS} - -### MAG_CAL_REPORT (192) — \[from: [common](../messages/common.md#MAG_CAL_REPORT)\] {#MAG_CAL_REPORT} - -### EFI_STATUS (225) — \[from: [common](../messages/common.md#EFI_STATUS)\] {#EFI_STATUS} - -### ESTIMATOR_STATUS (230) — \[from: [common](../messages/common.md#ESTIMATOR_STATUS)\] {#ESTIMATOR_STATUS} - -### WIND_COV (231) — \[from: [common](../messages/common.md#WIND_COV)\] {#WIND_COV} - -### GPS_INPUT (232) — \[from: [common](../messages/common.md#GPS_INPUT)\] {#GPS_INPUT} - -### GPS_RTCM_DATA (233) — \[from: [common](../messages/common.md#GPS_RTCM_DATA)\] {#GPS_RTCM_DATA} - -### HIGH_LATENCY (234) — \[from: [common](../messages/common.md#HIGH_LATENCY)\] [DEP] {#HIGH_LATENCY} - -### HIGH_LATENCY2 (235) — \[from: [common](../messages/common.md#HIGH_LATENCY2)\] {#HIGH_LATENCY2} - -### VIBRATION (241) — \[from: [common](../messages/common.md#VIBRATION)\] {#VIBRATION} - -### HOME_POSITION (242) — \[from: [common](../messages/common.md#HOME_POSITION)\] {#HOME_POSITION} - -### SET_HOME_POSITION (243) — \[from: [common](../messages/common.md#SET_HOME_POSITION)\] [DEP] {#SET_HOME_POSITION} - -### MESSAGE_INTERVAL (244) — \[from: [common](../messages/common.md#MESSAGE_INTERVAL)\] {#MESSAGE_INTERVAL} - -### EXTENDED_SYS_STATE (245) — \[from: [common](../messages/common.md#EXTENDED_SYS_STATE)\] {#EXTENDED_SYS_STATE} - -### ADSB_VEHICLE (246) — \[from: [common](../messages/common.md#ADSB_VEHICLE)\] {#ADSB_VEHICLE} - -### COLLISION (247) — \[from: [common](../messages/common.md#COLLISION)\] {#COLLISION} - -### V2_EXTENSION (248) — \[from: [common](../messages/common.md#V2_EXTENSION)\] {#V2_EXTENSION} - -### MEMORY_VECT (249) — \[from: [common](../messages/common.md#MEMORY_VECT)\] {#MEMORY_VECT} - -### DEBUG_VECT (250) — \[from: [common](../messages/common.md#DEBUG_VECT)\] {#DEBUG_VECT} - -### NAMED_VALUE_FLOAT (251) — \[from: [common](../messages/common.md#NAMED_VALUE_FLOAT)\] {#NAMED_VALUE_FLOAT} - -### NAMED_VALUE_INT (252) — \[from: [common](../messages/common.md#NAMED_VALUE_INT)\] {#NAMED_VALUE_INT} - -### STATUSTEXT (253) — \[from: [common](../messages/common.md#STATUSTEXT)\] {#STATUSTEXT} - -### DEBUG (254) — \[from: [common](../messages/common.md#DEBUG)\] {#DEBUG} - -### SETUP_SIGNING (256) — \[from: [common](../messages/common.md#SETUP_SIGNING)\] {#SETUP_SIGNING} - -### BUTTON_CHANGE (257) — \[from: [common](../messages/common.md#BUTTON_CHANGE)\] {#BUTTON_CHANGE} - -### PLAY_TUNE (258) — \[from: [common](../messages/common.md#PLAY_TUNE)\] [DEP] {#PLAY_TUNE} - -### CAMERA_INFORMATION (259) — \[from: [common](../messages/common.md#CAMERA_INFORMATION)\] {#CAMERA_INFORMATION} - -### CAMERA_SETTINGS (260) — \[from: [common](../messages/common.md#CAMERA_SETTINGS)\] {#CAMERA_SETTINGS} - -### STORAGE_INFORMATION (261) — \[from: [common](../messages/common.md#STORAGE_INFORMATION)\] {#STORAGE_INFORMATION} - -### CAMERA_CAPTURE_STATUS (262) — \[from: [common](../messages/common.md#CAMERA_CAPTURE_STATUS)\] {#CAMERA_CAPTURE_STATUS} - -### CAMERA_IMAGE_CAPTURED (263) — \[from: [common](../messages/common.md#CAMERA_IMAGE_CAPTURED)\] {#CAMERA_IMAGE_CAPTURED} - -### FLIGHT_INFORMATION (264) — \[from: [common](../messages/common.md#FLIGHT_INFORMATION)\] {#FLIGHT_INFORMATION} - -### MOUNT_ORIENTATION (265) — \[from: [common](../messages/common.md#MOUNT_ORIENTATION)\] [DEP] {#MOUNT_ORIENTATION} - -### LOGGING_DATA (266) — \[from: [common](../messages/common.md#LOGGING_DATA)\] {#LOGGING_DATA} - -### LOGGING_DATA_ACKED (267) — \[from: [common](../messages/common.md#LOGGING_DATA_ACKED)\] {#LOGGING_DATA_ACKED} - -### LOGGING_ACK (268) — \[from: [common](../messages/common.md#LOGGING_ACK)\] {#LOGGING_ACK} - -### VIDEO_STREAM_INFORMATION (269) — \[from: [common](../messages/common.md#VIDEO_STREAM_INFORMATION)\] {#VIDEO_STREAM_INFORMATION} - -### VIDEO_STREAM_STATUS (270) — \[from: [common](../messages/common.md#VIDEO_STREAM_STATUS)\] {#VIDEO_STREAM_STATUS} - -### CAMERA_FOV_STATUS (271) — \[from: [common](../messages/common.md#CAMERA_FOV_STATUS)\] {#CAMERA_FOV_STATUS} - -### CAMERA_TRACKING_IMAGE_STATUS (275) — \[from: [common](../messages/common.md#CAMERA_TRACKING_IMAGE_STATUS)\] {#CAMERA_TRACKING_IMAGE_STATUS} - -### CAMERA_TRACKING_GEO_STATUS (276) — \[from: [common](../messages/common.md#CAMERA_TRACKING_GEO_STATUS)\] {#CAMERA_TRACKING_GEO_STATUS} - -### CAMERA_THERMAL_RANGE (277) — \[from: [common](../messages/common.md#CAMERA_THERMAL_RANGE)\] [WIP] {#CAMERA_THERMAL_RANGE} - -### GIMBAL_MANAGER_INFORMATION (280) — \[from: [common](../messages/common.md#GIMBAL_MANAGER_INFORMATION)\] {#GIMBAL_MANAGER_INFORMATION} - -### GIMBAL_MANAGER_STATUS (281) — \[from: [common](../messages/common.md#GIMBAL_MANAGER_STATUS)\] {#GIMBAL_MANAGER_STATUS} - -### GIMBAL_MANAGER_SET_ATTITUDE (282) — \[from: [common](../messages/common.md#GIMBAL_MANAGER_SET_ATTITUDE)\] {#GIMBAL_MANAGER_SET_ATTITUDE} - -### GIMBAL_DEVICE_INFORMATION (283) — \[from: [common](../messages/common.md#GIMBAL_DEVICE_INFORMATION)\] {#GIMBAL_DEVICE_INFORMATION} - -### GIMBAL_DEVICE_SET_ATTITUDE (284) — \[from: [common](../messages/common.md#GIMBAL_DEVICE_SET_ATTITUDE)\] {#GIMBAL_DEVICE_SET_ATTITUDE} - -### GIMBAL_DEVICE_ATTITUDE_STATUS (285) — \[from: [common](../messages/common.md#GIMBAL_DEVICE_ATTITUDE_STATUS)\] {#GIMBAL_DEVICE_ATTITUDE_STATUS} - -### AUTOPILOT_STATE_FOR_GIMBAL_DEVICE (286) — \[from: [common](../messages/common.md#AUTOPILOT_STATE_FOR_GIMBAL_DEVICE)\] {#AUTOPILOT_STATE_FOR_GIMBAL_DEVICE} - -### GIMBAL_MANAGER_SET_PITCHYAW (287) — \[from: [common](../messages/common.md#GIMBAL_MANAGER_SET_PITCHYAW)\] {#GIMBAL_MANAGER_SET_PITCHYAW} - -### GIMBAL_MANAGER_SET_MANUAL_CONTROL (288) — \[from: [common](../messages/common.md#GIMBAL_MANAGER_SET_MANUAL_CONTROL)\] {#GIMBAL_MANAGER_SET_MANUAL_CONTROL} - -### ESC_INFO (290) — \[from: [common](../messages/common.md#ESC_INFO)\] [WIP] {#ESC_INFO} - -### ESC_STATUS (291) — \[from: [common](../messages/common.md#ESC_STATUS)\] [WIP] {#ESC_STATUS} - -### WIFI_CONFIG_AP (299) — \[from: [common](../messages/common.md#WIFI_CONFIG_AP)\] {#WIFI_CONFIG_AP} - -### PROTOCOL_VERSION (300) — \[from: [minimal](../messages/minimal.md#PROTOCOL_VERSION)\] [WIP] {#PROTOCOL_VERSION} - -### AIS_VESSEL (301) — \[from: [common](../messages/common.md#AIS_VESSEL)\] {#AIS_VESSEL} - -### UAVCAN_NODE_STATUS (310) — \[from: [common](../messages/common.md#UAVCAN_NODE_STATUS)\] {#UAVCAN_NODE_STATUS} - -### UAVCAN_NODE_INFO (311) — \[from: [common](../messages/common.md#UAVCAN_NODE_INFO)\] {#UAVCAN_NODE_INFO} - -### PARAM_EXT_REQUEST_READ (320) — \[from: [common](../messages/common.md#PARAM_EXT_REQUEST_READ)\] {#PARAM_EXT_REQUEST_READ} - -### PARAM_EXT_REQUEST_LIST (321) — \[from: [common](../messages/common.md#PARAM_EXT_REQUEST_LIST)\] {#PARAM_EXT_REQUEST_LIST} - -### PARAM_EXT_VALUE (322) — \[from: [common](../messages/common.md#PARAM_EXT_VALUE)\] {#PARAM_EXT_VALUE} - -### PARAM_EXT_SET (323) — \[from: [common](../messages/common.md#PARAM_EXT_SET)\] {#PARAM_EXT_SET} - -### PARAM_EXT_ACK (324) — \[from: [common](../messages/common.md#PARAM_EXT_ACK)\] {#PARAM_EXT_ACK} - -### OBSTACLE_DISTANCE (330) — \[from: [common](../messages/common.md#OBSTACLE_DISTANCE)\] {#OBSTACLE_DISTANCE} - -### ODOMETRY (331) — \[from: [common](../messages/common.md#ODOMETRY)\] {#ODOMETRY} - -### TRAJECTORY_REPRESENTATION_WAYPOINTS (332) — \[from: [common](../messages/common.md#TRAJECTORY_REPRESENTATION_WAYPOINTS)\] {#TRAJECTORY_REPRESENTATION_WAYPOINTS} - -### TRAJECTORY_REPRESENTATION_BEZIER (333) — \[from: [common](../messages/common.md#TRAJECTORY_REPRESENTATION_BEZIER)\] {#TRAJECTORY_REPRESENTATION_BEZIER} - -### CELLULAR_STATUS (334) — \[from: [common](../messages/common.md#CELLULAR_STATUS)\] {#CELLULAR_STATUS} - -### ISBD_LINK_STATUS (335) — \[from: [common](../messages/common.md#ISBD_LINK_STATUS)\] {#ISBD_LINK_STATUS} - -### CELLULAR_CONFIG (336) — \[from: [common](../messages/common.md#CELLULAR_CONFIG)\] {#CELLULAR_CONFIG} - -### RAW_RPM (339) — \[from: [common](../messages/common.md#RAW_RPM)\] {#RAW_RPM} - -### UTM_GLOBAL_POSITION (340) — \[from: [common](../messages/common.md#UTM_GLOBAL_POSITION)\] {#UTM_GLOBAL_POSITION} - -### DEBUG_FLOAT_ARRAY (350) — \[from: [common](../messages/common.md#DEBUG_FLOAT_ARRAY)\] {#DEBUG_FLOAT_ARRAY} - -### ORBIT_EXECUTION_STATUS (360) — \[from: [common](../messages/common.md#ORBIT_EXECUTION_STATUS)\] [WIP] {#ORBIT_EXECUTION_STATUS} - -### BATTERY_INFO (370) — \[from: [common](../messages/common.md#BATTERY_INFO)\] [WIP] {#BATTERY_INFO} - -### GENERATOR_STATUS (373) — \[from: [common](../messages/common.md#GENERATOR_STATUS)\] {#GENERATOR_STATUS} - -### ACTUATOR_OUTPUT_STATUS (375) — \[from: [common](../messages/common.md#ACTUATOR_OUTPUT_STATUS)\] {#ACTUATOR_OUTPUT_STATUS} - -### TIME_ESTIMATE_TO_TARGET (380) — \[from: [common](../messages/common.md#TIME_ESTIMATE_TO_TARGET)\] [WIP] {#TIME_ESTIMATE_TO_TARGET} - -### TUNNEL (385) — \[from: [common](../messages/common.md#TUNNEL)\] {#TUNNEL} - -### CAN_FRAME (386) — \[from: [common](../messages/common.md#CAN_FRAME)\] {#CAN_FRAME} - -### CANFD_FRAME (387) — \[from: [common](../messages/common.md#CANFD_FRAME)\] {#CANFD_FRAME} - -### CAN_FILTER_MODIFY (388) — \[from: [common](../messages/common.md#CAN_FILTER_MODIFY)\] {#CAN_FILTER_MODIFY} - -### ONBOARD_COMPUTER_STATUS (390) — \[from: [common](../messages/common.md#ONBOARD_COMPUTER_STATUS)\] [WIP] {#ONBOARD_COMPUTER_STATUS} - -### COMPONENT_INFORMATION (395) — \[from: [common](../messages/common.md#COMPONENT_INFORMATION)\] [DEP] {#COMPONENT_INFORMATION} - -### COMPONENT_INFORMATION_BASIC (396) — \[from: [common](../messages/common.md#COMPONENT_INFORMATION_BASIC)\] {#COMPONENT_INFORMATION_BASIC} - -### COMPONENT_METADATA (397) — \[from: [common](../messages/common.md#COMPONENT_METADATA)\] [WIP] {#COMPONENT_METADATA} - -### PLAY_TUNE_V2 (400) — \[from: [common](../messages/common.md#PLAY_TUNE_V2)\] {#PLAY_TUNE_V2} - -### SUPPORTED_TUNES (401) — \[from: [common](../messages/common.md#SUPPORTED_TUNES)\] {#SUPPORTED_TUNES} - -### EVENT (410) — \[from: [common](../messages/common.md#EVENT)\] [WIP] {#EVENT} - -### CURRENT_EVENT_SEQUENCE (411) — \[from: [common](../messages/common.md#CURRENT_EVENT_SEQUENCE)\] [WIP] {#CURRENT_EVENT_SEQUENCE} - -### REQUEST_EVENT (412) — \[from: [common](../messages/common.md#REQUEST_EVENT)\] [WIP] {#REQUEST_EVENT} - -### RESPONSE_EVENT_ERROR (413) — \[from: [common](../messages/common.md#RESPONSE_EVENT_ERROR)\] [WIP] {#RESPONSE_EVENT_ERROR} - -### ILLUMINATOR_STATUS (440) — \[from: [common](../messages/common.md#ILLUMINATOR_STATUS)\] {#ILLUMINATOR_STATUS} - -### WHEEL_DISTANCE (9000) — \[from: [common](../messages/common.md#WHEEL_DISTANCE)\] {#WHEEL_DISTANCE} - -### WINCH_STATUS (9005) — \[from: [common](../messages/common.md#WINCH_STATUS)\] {#WINCH_STATUS} - -### OPEN_DRONE_ID_BASIC_ID (12900) — \[from: [common](../messages/common.md#OPEN_DRONE_ID_BASIC_ID)\] {#OPEN_DRONE_ID_BASIC_ID} - -### OPEN_DRONE_ID_LOCATION (12901) — \[from: [common](../messages/common.md#OPEN_DRONE_ID_LOCATION)\] {#OPEN_DRONE_ID_LOCATION} - -### OPEN_DRONE_ID_AUTHENTICATION (12902) — \[from: [common](../messages/common.md#OPEN_DRONE_ID_AUTHENTICATION)\] {#OPEN_DRONE_ID_AUTHENTICATION} - -### OPEN_DRONE_ID_SELF_ID (12903) — \[from: [common](../messages/common.md#OPEN_DRONE_ID_SELF_ID)\] {#OPEN_DRONE_ID_SELF_ID} - -### OPEN_DRONE_ID_SYSTEM (12904) — \[from: [common](../messages/common.md#OPEN_DRONE_ID_SYSTEM)\] {#OPEN_DRONE_ID_SYSTEM} - -### OPEN_DRONE_ID_OPERATOR_ID (12905) — \[from: [common](../messages/common.md#OPEN_DRONE_ID_OPERATOR_ID)\] {#OPEN_DRONE_ID_OPERATOR_ID} - -### OPEN_DRONE_ID_MESSAGE_PACK (12915) — \[from: [common](../messages/common.md#OPEN_DRONE_ID_MESSAGE_PACK)\] {#OPEN_DRONE_ID_MESSAGE_PACK} - -### OPEN_DRONE_ID_ARM_STATUS (12918) — \[from: [common](../messages/common.md#OPEN_DRONE_ID_ARM_STATUS)\] {#OPEN_DRONE_ID_ARM_STATUS} - -### OPEN_DRONE_ID_SYSTEM_UPDATE (12919) — \[from: [common](../messages/common.md#OPEN_DRONE_ID_SYSTEM_UPDATE)\] {#OPEN_DRONE_ID_SYSTEM_UPDATE} - -### HYGROMETER_SENSOR (12920) — \[from: [common](../messages/common.md#HYGROMETER_SENSOR)\] {#HYGROMETER_SENSOR} - ### CUBEPILOT_RAW_RC (50001) {#CUBEPILOT_RAW_RC} Raw RC Data @@ -553,617 +105,5 @@ offset response to encapsulated data. ## Enumerated Types -### FIRMWARE_VERSION_TYPE — \[from: [common](../messages/common.md#FIRMWARE_VERSION_TYPE)\] {#FIRMWARE_VERSION_TYPE} - -### HL_FAILURE_FLAG — \[from: [common](../messages/common.md#HL_FAILURE_FLAG)\] {#HL_FAILURE_FLAG} - -### MAV_GOTO — \[from: [common](../messages/common.md#MAV_GOTO)\] {#MAV_GOTO} - -### MAV_MODE — \[from: [common](../messages/common.md#MAV_MODE)\] {#MAV_MODE} - -### MAV_SYS_STATUS_SENSOR — \[from: [common](../messages/common.md#MAV_SYS_STATUS_SENSOR)\] {#MAV_SYS_STATUS_SENSOR} - -### MAV_SYS_STATUS_SENSOR_EXTENDED — \[from: [common](../messages/common.md#MAV_SYS_STATUS_SENSOR_EXTENDED)\] {#MAV_SYS_STATUS_SENSOR_EXTENDED} - -### MAV_FRAME — \[from: [common](../messages/common.md#MAV_FRAME)\] {#MAV_FRAME} - -### MAVLINK_DATA_STREAM_TYPE — \[from: [common](../messages/common.md#MAVLINK_DATA_STREAM_TYPE)\] {#MAVLINK_DATA_STREAM_TYPE} - -### FENCE_ACTION — \[from: [common](../messages/common.md#FENCE_ACTION)\] {#FENCE_ACTION} - -### FENCE_BREACH — \[from: [common](../messages/common.md#FENCE_BREACH)\] {#FENCE_BREACH} - -### FENCE_MITIGATE — \[from: [common](../messages/common.md#FENCE_MITIGATE)\] {#FENCE_MITIGATE} - -### FENCE_TYPE — \[from: [common](../messages/common.md#FENCE_TYPE)\] {#FENCE_TYPE} - -### MAV_MOUNT_MODE — \[from: [common](../messages/common.md#MAV_MOUNT_MODE)\] [DEP] {#MAV_MOUNT_MODE} - -### GIMBAL_DEVICE_CAP_FLAGS — \[from: [common](../messages/common.md#GIMBAL_DEVICE_CAP_FLAGS)\] {#GIMBAL_DEVICE_CAP_FLAGS} - -### GIMBAL_MANAGER_CAP_FLAGS — \[from: [common](../messages/common.md#GIMBAL_MANAGER_CAP_FLAGS)\] {#GIMBAL_MANAGER_CAP_FLAGS} - -### GIMBAL_DEVICE_FLAGS — \[from: [common](../messages/common.md#GIMBAL_DEVICE_FLAGS)\] {#GIMBAL_DEVICE_FLAGS} - -### GIMBAL_MANAGER_FLAGS — \[from: [common](../messages/common.md#GIMBAL_MANAGER_FLAGS)\] {#GIMBAL_MANAGER_FLAGS} - -### GIMBAL_DEVICE_ERROR_FLAGS — \[from: [common](../messages/common.md#GIMBAL_DEVICE_ERROR_FLAGS)\] {#GIMBAL_DEVICE_ERROR_FLAGS} - -### GRIPPER_ACTIONS — \[from: [common](../messages/common.md#GRIPPER_ACTIONS)\] {#GRIPPER_ACTIONS} - -### WINCH_ACTIONS — \[from: [common](../messages/common.md#WINCH_ACTIONS)\] {#WINCH_ACTIONS} - -### UAVCAN_NODE_HEALTH — \[from: [common](../messages/common.md#UAVCAN_NODE_HEALTH)\] {#UAVCAN_NODE_HEALTH} - -### UAVCAN_NODE_MODE — \[from: [common](../messages/common.md#UAVCAN_NODE_MODE)\] {#UAVCAN_NODE_MODE} - -### ESC_CONNECTION_TYPE — \[from: [common](../messages/common.md#ESC_CONNECTION_TYPE)\] {#ESC_CONNECTION_TYPE} - -### ESC_FAILURE_FLAGS — \[from: [common](../messages/common.md#ESC_FAILURE_FLAGS)\] {#ESC_FAILURE_FLAGS} - -### STORAGE_STATUS — \[from: [common](../messages/common.md#STORAGE_STATUS)\] {#STORAGE_STATUS} - -### STORAGE_TYPE — \[from: [common](../messages/common.md#STORAGE_TYPE)\] {#STORAGE_TYPE} - -### STORAGE_USAGE_FLAG — \[from: [common](../messages/common.md#STORAGE_USAGE_FLAG)\] {#STORAGE_USAGE_FLAG} - -### ORBIT_YAW_BEHAVIOUR — \[from: [common](../messages/common.md#ORBIT_YAW_BEHAVIOUR)\] {#ORBIT_YAW_BEHAVIOUR} - -### WIFI_CONFIG_AP_RESPONSE — \[from: [common](../messages/common.md#WIFI_CONFIG_AP_RESPONSE)\] {#WIFI_CONFIG_AP_RESPONSE} - -### CELLULAR_CONFIG_RESPONSE — \[from: [common](../messages/common.md#CELLULAR_CONFIG_RESPONSE)\] {#CELLULAR_CONFIG_RESPONSE} - -### WIFI_CONFIG_AP_MODE — \[from: [common](../messages/common.md#WIFI_CONFIG_AP_MODE)\] {#WIFI_CONFIG_AP_MODE} - -### COMP_METADATA_TYPE — \[from: [common](../messages/common.md#COMP_METADATA_TYPE)\] {#COMP_METADATA_TYPE} - -### ACTUATOR_CONFIGURATION — \[from: [common](../messages/common.md#ACTUATOR_CONFIGURATION)\] {#ACTUATOR_CONFIGURATION} - -### ACTUATOR_OUTPUT_FUNCTION — \[from: [common](../messages/common.md#ACTUATOR_OUTPUT_FUNCTION)\] {#ACTUATOR_OUTPUT_FUNCTION} - -### AUTOTUNE_AXIS — \[from: [common](../messages/common.md#AUTOTUNE_AXIS)\] {#AUTOTUNE_AXIS} - -### PREFLIGHT_STORAGE_PARAMETER_ACTION — \[from: [common](../messages/common.md#PREFLIGHT_STORAGE_PARAMETER_ACTION)\] {#PREFLIGHT_STORAGE_PARAMETER_ACTION} - -### PREFLIGHT_STORAGE_MISSION_ACTION — \[from: [common](../messages/common.md#PREFLIGHT_STORAGE_MISSION_ACTION)\] {#PREFLIGHT_STORAGE_MISSION_ACTION} - -### MAV_DATA_STREAM — \[from: [common](../messages/common.md#MAV_DATA_STREAM)\] [DEP] {#MAV_DATA_STREAM} - -### MAV_ROI — \[from: [common](../messages/common.md#MAV_ROI)\] [DEP] {#MAV_ROI} - -### MAV_PARAM_TYPE — \[from: [common](../messages/common.md#MAV_PARAM_TYPE)\] {#MAV_PARAM_TYPE} - -### MAV_PARAM_EXT_TYPE — \[from: [common](../messages/common.md#MAV_PARAM_EXT_TYPE)\] {#MAV_PARAM_EXT_TYPE} - -### MAV_RESULT — \[from: [common](../messages/common.md#MAV_RESULT)\] {#MAV_RESULT} - -### MAV_MISSION_RESULT — \[from: [common](../messages/common.md#MAV_MISSION_RESULT)\] {#MAV_MISSION_RESULT} - -### MAV_SEVERITY — \[from: [common](../messages/common.md#MAV_SEVERITY)\] {#MAV_SEVERITY} - -### MAV_POWER_STATUS — \[from: [common](../messages/common.md#MAV_POWER_STATUS)\] {#MAV_POWER_STATUS} - -### SERIAL_CONTROL_DEV — \[from: [common](../messages/common.md#SERIAL_CONTROL_DEV)\] {#SERIAL_CONTROL_DEV} - -### SERIAL_CONTROL_FLAG — \[from: [common](../messages/common.md#SERIAL_CONTROL_FLAG)\] {#SERIAL_CONTROL_FLAG} - -### MAV_DISTANCE_SENSOR — \[from: [common](../messages/common.md#MAV_DISTANCE_SENSOR)\] {#MAV_DISTANCE_SENSOR} - -### MAV_SENSOR_ORIENTATION — \[from: [common](../messages/common.md#MAV_SENSOR_ORIENTATION)\] {#MAV_SENSOR_ORIENTATION} - -### MAV_PROTOCOL_CAPABILITY — \[from: [common](../messages/common.md#MAV_PROTOCOL_CAPABILITY)\] {#MAV_PROTOCOL_CAPABILITY} - -### MAV_MISSION_TYPE — \[from: [common](../messages/common.md#MAV_MISSION_TYPE)\] {#MAV_MISSION_TYPE} - -### MAV_ESTIMATOR_TYPE — \[from: [common](../messages/common.md#MAV_ESTIMATOR_TYPE)\] {#MAV_ESTIMATOR_TYPE} - -### MAV_BATTERY_TYPE — \[from: [common](../messages/common.md#MAV_BATTERY_TYPE)\] {#MAV_BATTERY_TYPE} - -### MAV_BATTERY_FUNCTION — \[from: [common](../messages/common.md#MAV_BATTERY_FUNCTION)\] {#MAV_BATTERY_FUNCTION} - -### MAV_BATTERY_CHARGE_STATE — \[from: [common](../messages/common.md#MAV_BATTERY_CHARGE_STATE)\] {#MAV_BATTERY_CHARGE_STATE} - -### MAV_BATTERY_MODE — \[from: [common](../messages/common.md#MAV_BATTERY_MODE)\] {#MAV_BATTERY_MODE} - -### MAV_BATTERY_FAULT — \[from: [common](../messages/common.md#MAV_BATTERY_FAULT)\] {#MAV_BATTERY_FAULT} - -### MAV_GENERATOR_STATUS_FLAG — \[from: [common](../messages/common.md#MAV_GENERATOR_STATUS_FLAG)\] {#MAV_GENERATOR_STATUS_FLAG} - -### MAV_VTOL_STATE — \[from: [common](../messages/common.md#MAV_VTOL_STATE)\] {#MAV_VTOL_STATE} - -### MAV_LANDED_STATE — \[from: [common](../messages/common.md#MAV_LANDED_STATE)\] {#MAV_LANDED_STATE} - -### ADSB_ALTITUDE_TYPE — \[from: [common](../messages/common.md#ADSB_ALTITUDE_TYPE)\] {#ADSB_ALTITUDE_TYPE} - -### ADSB_EMITTER_TYPE — \[from: [common](../messages/common.md#ADSB_EMITTER_TYPE)\] {#ADSB_EMITTER_TYPE} - -### ADSB_FLAGS — \[from: [common](../messages/common.md#ADSB_FLAGS)\] {#ADSB_FLAGS} - -### MAV_DO_REPOSITION_FLAGS — \[from: [common](../messages/common.md#MAV_DO_REPOSITION_FLAGS)\] {#MAV_DO_REPOSITION_FLAGS} - -### SPEED_TYPE — \[from: [common](../messages/common.md#SPEED_TYPE)\] {#SPEED_TYPE} - -### ESTIMATOR_STATUS_FLAGS — \[from: [common](../messages/common.md#ESTIMATOR_STATUS_FLAGS)\] {#ESTIMATOR_STATUS_FLAGS} - -### MOTOR_TEST_ORDER — \[from: [common](../messages/common.md#MOTOR_TEST_ORDER)\] {#MOTOR_TEST_ORDER} - -### MOTOR_TEST_THROTTLE_TYPE — \[from: [common](../messages/common.md#MOTOR_TEST_THROTTLE_TYPE)\] {#MOTOR_TEST_THROTTLE_TYPE} - -### GPS_INPUT_IGNORE_FLAGS — \[from: [common](../messages/common.md#GPS_INPUT_IGNORE_FLAGS)\] {#GPS_INPUT_IGNORE_FLAGS} - -### MAV_COLLISION_ACTION — \[from: [common](../messages/common.md#MAV_COLLISION_ACTION)\] {#MAV_COLLISION_ACTION} - -### MAV_COLLISION_THREAT_LEVEL — \[from: [common](../messages/common.md#MAV_COLLISION_THREAT_LEVEL)\] {#MAV_COLLISION_THREAT_LEVEL} - -### MAV_COLLISION_SRC — \[from: [common](../messages/common.md#MAV_COLLISION_SRC)\] {#MAV_COLLISION_SRC} - -### GPS_FIX_TYPE — \[from: [common](../messages/common.md#GPS_FIX_TYPE)\] {#GPS_FIX_TYPE} - -### RTK_BASELINE_COORDINATE_SYSTEM — \[from: [common](../messages/common.md#RTK_BASELINE_COORDINATE_SYSTEM)\] {#RTK_BASELINE_COORDINATE_SYSTEM} - -### LANDING_TARGET_TYPE — \[from: [common](../messages/common.md#LANDING_TARGET_TYPE)\] {#LANDING_TARGET_TYPE} - -### VTOL_TRANSITION_HEADING — \[from: [common](../messages/common.md#VTOL_TRANSITION_HEADING)\] {#VTOL_TRANSITION_HEADING} - -### CAMERA_CAP_FLAGS — \[from: [common](../messages/common.md#CAMERA_CAP_FLAGS)\] {#CAMERA_CAP_FLAGS} - -### VIDEO_STREAM_STATUS_FLAGS — \[from: [common](../messages/common.md#VIDEO_STREAM_STATUS_FLAGS)\] {#VIDEO_STREAM_STATUS_FLAGS} - -### VIDEO_STREAM_TYPE — \[from: [common](../messages/common.md#VIDEO_STREAM_TYPE)\] {#VIDEO_STREAM_TYPE} - -### VIDEO_STREAM_ENCODING — \[from: [common](../messages/common.md#VIDEO_STREAM_ENCODING)\] {#VIDEO_STREAM_ENCODING} - -### CAMERA_TRACKING_STATUS_FLAGS — \[from: [common](../messages/common.md#CAMERA_TRACKING_STATUS_FLAGS)\] {#CAMERA_TRACKING_STATUS_FLAGS} - -### CAMERA_TRACKING_MODE — \[from: [common](../messages/common.md#CAMERA_TRACKING_MODE)\] {#CAMERA_TRACKING_MODE} - -### CAMERA_TRACKING_TARGET_DATA — \[from: [common](../messages/common.md#CAMERA_TRACKING_TARGET_DATA)\] {#CAMERA_TRACKING_TARGET_DATA} - -### CAMERA_ZOOM_TYPE — \[from: [common](../messages/common.md#CAMERA_ZOOM_TYPE)\] {#CAMERA_ZOOM_TYPE} - -### SET_FOCUS_TYPE — \[from: [common](../messages/common.md#SET_FOCUS_TYPE)\] {#SET_FOCUS_TYPE} - -### CAMERA_SOURCE — \[from: [common](../messages/common.md#CAMERA_SOURCE)\] {#CAMERA_SOURCE} - -### PARAM_ACK — \[from: [common](../messages/common.md#PARAM_ACK)\] {#PARAM_ACK} - -### CAMERA_MODE — \[from: [common](../messages/common.md#CAMERA_MODE)\] {#CAMERA_MODE} - -### MAV_ARM_AUTH_DENIED_REASON — \[from: [common](../messages/common.md#MAV_ARM_AUTH_DENIED_REASON)\] {#MAV_ARM_AUTH_DENIED_REASON} - -### RC_TYPE — \[from: [common](../messages/common.md#RC_TYPE)\] {#RC_TYPE} - -### POSITION_TARGET_TYPEMASK — \[from: [common](../messages/common.md#POSITION_TARGET_TYPEMASK)\] {#POSITION_TARGET_TYPEMASK} - -### ATTITUDE_TARGET_TYPEMASK — \[from: [common](../messages/common.md#ATTITUDE_TARGET_TYPEMASK)\] {#ATTITUDE_TARGET_TYPEMASK} - -### UTM_FLIGHT_STATE — \[from: [common](../messages/common.md#UTM_FLIGHT_STATE)\] {#UTM_FLIGHT_STATE} - -### UTM_DATA_AVAIL_FLAGS — \[from: [common](../messages/common.md#UTM_DATA_AVAIL_FLAGS)\] {#UTM_DATA_AVAIL_FLAGS} - -### CELLULAR_STATUS_FLAG — \[from: [common](../messages/common.md#CELLULAR_STATUS_FLAG)\] {#CELLULAR_STATUS_FLAG} - -### CELLULAR_NETWORK_FAILED_REASON — \[from: [common](../messages/common.md#CELLULAR_NETWORK_FAILED_REASON)\] {#CELLULAR_NETWORK_FAILED_REASON} - -### CELLULAR_NETWORK_RADIO_TYPE — \[from: [common](../messages/common.md#CELLULAR_NETWORK_RADIO_TYPE)\] {#CELLULAR_NETWORK_RADIO_TYPE} - -### PRECISION_LAND_MODE — \[from: [common](../messages/common.md#PRECISION_LAND_MODE)\] {#PRECISION_LAND_MODE} - -### PARACHUTE_ACTION — \[from: [common](../messages/common.md#PARACHUTE_ACTION)\] {#PARACHUTE_ACTION} - -### MAV_TUNNEL_PAYLOAD_TYPE — \[from: [common](../messages/common.md#MAV_TUNNEL_PAYLOAD_TYPE)\] {#MAV_TUNNEL_PAYLOAD_TYPE} - -### MAV_ODID_ID_TYPE — \[from: [common](../messages/common.md#MAV_ODID_ID_TYPE)\] {#MAV_ODID_ID_TYPE} - -### MAV_ODID_UA_TYPE — \[from: [common](../messages/common.md#MAV_ODID_UA_TYPE)\] {#MAV_ODID_UA_TYPE} - -### MAV_ODID_STATUS — \[from: [common](../messages/common.md#MAV_ODID_STATUS)\] {#MAV_ODID_STATUS} - -### MAV_ODID_HEIGHT_REF — \[from: [common](../messages/common.md#MAV_ODID_HEIGHT_REF)\] {#MAV_ODID_HEIGHT_REF} - -### MAV_ODID_HOR_ACC — \[from: [common](../messages/common.md#MAV_ODID_HOR_ACC)\] {#MAV_ODID_HOR_ACC} - -### MAV_ODID_VER_ACC — \[from: [common](../messages/common.md#MAV_ODID_VER_ACC)\] {#MAV_ODID_VER_ACC} - -### MAV_ODID_SPEED_ACC — \[from: [common](../messages/common.md#MAV_ODID_SPEED_ACC)\] {#MAV_ODID_SPEED_ACC} - -### MAV_ODID_TIME_ACC — \[from: [common](../messages/common.md#MAV_ODID_TIME_ACC)\] {#MAV_ODID_TIME_ACC} - -### MAV_ODID_AUTH_TYPE — \[from: [common](../messages/common.md#MAV_ODID_AUTH_TYPE)\] {#MAV_ODID_AUTH_TYPE} - -### MAV_ODID_DESC_TYPE — \[from: [common](../messages/common.md#MAV_ODID_DESC_TYPE)\] {#MAV_ODID_DESC_TYPE} - -### MAV_ODID_OPERATOR_LOCATION_TYPE — \[from: [common](../messages/common.md#MAV_ODID_OPERATOR_LOCATION_TYPE)\] {#MAV_ODID_OPERATOR_LOCATION_TYPE} - -### MAV_ODID_CLASSIFICATION_TYPE — \[from: [common](../messages/common.md#MAV_ODID_CLASSIFICATION_TYPE)\] {#MAV_ODID_CLASSIFICATION_TYPE} - -### MAV_ODID_CATEGORY_EU — \[from: [common](../messages/common.md#MAV_ODID_CATEGORY_EU)\] {#MAV_ODID_CATEGORY_EU} - -### MAV_ODID_CLASS_EU — \[from: [common](../messages/common.md#MAV_ODID_CLASS_EU)\] {#MAV_ODID_CLASS_EU} - -### MAV_ODID_OPERATOR_ID_TYPE — \[from: [common](../messages/common.md#MAV_ODID_OPERATOR_ID_TYPE)\] {#MAV_ODID_OPERATOR_ID_TYPE} - -### MAV_ODID_ARM_STATUS — \[from: [common](../messages/common.md#MAV_ODID_ARM_STATUS)\] {#MAV_ODID_ARM_STATUS} - -### TUNE_FORMAT — \[from: [common](../messages/common.md#TUNE_FORMAT)\] {#TUNE_FORMAT} - -### AIS_TYPE — \[from: [common](../messages/common.md#AIS_TYPE)\] {#AIS_TYPE} - -### AIS_NAV_STATUS — \[from: [common](../messages/common.md#AIS_NAV_STATUS)\] {#AIS_NAV_STATUS} - -### AIS_FLAGS — \[from: [common](../messages/common.md#AIS_FLAGS)\] {#AIS_FLAGS} - -### FAILURE_UNIT — \[from: [common](../messages/common.md#FAILURE_UNIT)\] {#FAILURE_UNIT} - -### FAILURE_TYPE — \[from: [common](../messages/common.md#FAILURE_TYPE)\] {#FAILURE_TYPE} - -### NAV_VTOL_LAND_OPTIONS — \[from: [common](../messages/common.md#NAV_VTOL_LAND_OPTIONS)\] {#NAV_VTOL_LAND_OPTIONS} - -### MAV_WINCH_STATUS_FLAG — \[from: [common](../messages/common.md#MAV_WINCH_STATUS_FLAG)\] {#MAV_WINCH_STATUS_FLAG} - -### MAG_CAL_STATUS — \[from: [common](../messages/common.md#MAG_CAL_STATUS)\] {#MAG_CAL_STATUS} - -### MAV_EVENT_ERROR_REASON — \[from: [common](../messages/common.md#MAV_EVENT_ERROR_REASON)\] {#MAV_EVENT_ERROR_REASON} - -### MAV_EVENT_CURRENT_SEQUENCE_FLAGS — \[from: [common](../messages/common.md#MAV_EVENT_CURRENT_SEQUENCE_FLAGS)\] {#MAV_EVENT_CURRENT_SEQUENCE_FLAGS} - -### HIL_SENSOR_UPDATED_FLAGS — \[from: [common](../messages/common.md#HIL_SENSOR_UPDATED_FLAGS)\] {#HIL_SENSOR_UPDATED_FLAGS} - -### HIGHRES_IMU_UPDATED_FLAGS — \[from: [common](../messages/common.md#HIGHRES_IMU_UPDATED_FLAGS)\] {#HIGHRES_IMU_UPDATED_FLAGS} - -### CAN_FILTER_OP — \[from: [common](../messages/common.md#CAN_FILTER_OP)\] {#CAN_FILTER_OP} - -### MAV_FTP_ERR — \[from: [common](../messages/common.md#MAV_FTP_ERR)\] {#MAV_FTP_ERR} - -### MAV_FTP_OPCODE — \[from: [common](../messages/common.md#MAV_FTP_OPCODE)\] {#MAV_FTP_OPCODE} - -### MISSION_STATE — \[from: [common](../messages/common.md#MISSION_STATE)\] {#MISSION_STATE} - -### SAFETY_SWITCH_STATE — \[from: [common](../messages/common.md#SAFETY_SWITCH_STATE)\] {#SAFETY_SWITCH_STATE} - -### ILLUMINATOR_MODE — \[from: [common](../messages/common.md#ILLUMINATOR_MODE)\] {#ILLUMINATOR_MODE} - -### ILLUMINATOR_ERROR_FLAGS — \[from: [common](../messages/common.md#ILLUMINATOR_ERROR_FLAGS)\] {#ILLUMINATOR_ERROR_FLAGS} - -### MAV_AUTOPILOT — \[from: [minimal](../messages/minimal.md#MAV_AUTOPILOT)\] {#MAV_AUTOPILOT} - -### MAV_TYPE — \[from: [minimal](../messages/minimal.md#MAV_TYPE)\] {#MAV_TYPE} - -### MAV_MODE_FLAG — \[from: [minimal](../messages/minimal.md#MAV_MODE_FLAG)\] {#MAV_MODE_FLAG} - -### MAV_MODE_FLAG_DECODE_POSITION — \[from: [minimal](../messages/minimal.md#MAV_MODE_FLAG_DECODE_POSITION)\] {#MAV_MODE_FLAG_DECODE_POSITION} - -### MAV_STATE — \[from: [minimal](../messages/minimal.md#MAV_STATE)\] {#MAV_STATE} - -### MAV_COMPONENT — \[from: [minimal](../messages/minimal.md#MAV_COMPONENT)\] {#MAV_COMPONENT} - ## Commands (MAV_CMD) {#mav_commands} -### MAV_CMD_NAV_WAYPOINT (16) — \[from: [common](../messages/common.md#MAV_CMD_NAV_WAYPOINT)\] {#MAV_CMD_NAV_WAYPOINT} - -### MAV_CMD_NAV_LOITER_UNLIM (17) — \[from: [common](../messages/common.md#MAV_CMD_NAV_LOITER_UNLIM)\] {#MAV_CMD_NAV_LOITER_UNLIM} - -### MAV_CMD_NAV_LOITER_TURNS (18) — \[from: [common](../messages/common.md#MAV_CMD_NAV_LOITER_TURNS)\] {#MAV_CMD_NAV_LOITER_TURNS} - -### MAV_CMD_NAV_LOITER_TIME (19) — \[from: [common](../messages/common.md#MAV_CMD_NAV_LOITER_TIME)\] {#MAV_CMD_NAV_LOITER_TIME} - -### MAV_CMD_NAV_RETURN_TO_LAUNCH (20) — \[from: [common](../messages/common.md#MAV_CMD_NAV_RETURN_TO_LAUNCH)\] {#MAV_CMD_NAV_RETURN_TO_LAUNCH} - -### MAV_CMD_NAV_LAND (21) — \[from: [common](../messages/common.md#MAV_CMD_NAV_LAND)\] {#MAV_CMD_NAV_LAND} - -### MAV_CMD_NAV_TAKEOFF (22) — \[from: [common](../messages/common.md#MAV_CMD_NAV_TAKEOFF)\] {#MAV_CMD_NAV_TAKEOFF} - -### MAV_CMD_NAV_LAND_LOCAL (23) — \[from: [common](../messages/common.md#MAV_CMD_NAV_LAND_LOCAL)\] {#MAV_CMD_NAV_LAND_LOCAL} - -### MAV_CMD_NAV_TAKEOFF_LOCAL (24) — \[from: [common](../messages/common.md#MAV_CMD_NAV_TAKEOFF_LOCAL)\] {#MAV_CMD_NAV_TAKEOFF_LOCAL} - -### MAV_CMD_NAV_FOLLOW (25) — \[from: [common](../messages/common.md#MAV_CMD_NAV_FOLLOW)\] {#MAV_CMD_NAV_FOLLOW} - -### MAV_CMD_NAV_CONTINUE_AND_CHANGE_ALT (30) — \[from: [common](../messages/common.md#MAV_CMD_NAV_CONTINUE_AND_CHANGE_ALT)\] {#MAV_CMD_NAV_CONTINUE_AND_CHANGE_ALT} - -### MAV_CMD_NAV_LOITER_TO_ALT (31) — \[from: [common](../messages/common.md#MAV_CMD_NAV_LOITER_TO_ALT)\] {#MAV_CMD_NAV_LOITER_TO_ALT} - -### MAV_CMD_DO_FOLLOW (32) — \[from: [common](../messages/common.md#MAV_CMD_DO_FOLLOW)\] {#MAV_CMD_DO_FOLLOW} - -### MAV_CMD_DO_FOLLOW_REPOSITION (33) — \[from: [common](../messages/common.md#MAV_CMD_DO_FOLLOW_REPOSITION)\] {#MAV_CMD_DO_FOLLOW_REPOSITION} - -### MAV_CMD_DO_ORBIT (34) — \[from: [common](../messages/common.md#MAV_CMD_DO_ORBIT)\] [WIP] {#MAV_CMD_DO_ORBIT} - -### MAV_CMD_NAV_ROI (80) — \[from: [common](../messages/common.md#MAV_CMD_NAV_ROI)\] [DEP] {#MAV_CMD_NAV_ROI} - -### MAV_CMD_NAV_PATHPLANNING (81) — \[from: [common](../messages/common.md#MAV_CMD_NAV_PATHPLANNING)\] {#MAV_CMD_NAV_PATHPLANNING} - -### MAV_CMD_NAV_SPLINE_WAYPOINT (82) — \[from: [common](../messages/common.md#MAV_CMD_NAV_SPLINE_WAYPOINT)\] {#MAV_CMD_NAV_SPLINE_WAYPOINT} - -### MAV_CMD_NAV_VTOL_TAKEOFF (84) — \[from: [common](../messages/common.md#MAV_CMD_NAV_VTOL_TAKEOFF)\] {#MAV_CMD_NAV_VTOL_TAKEOFF} - -### MAV_CMD_NAV_VTOL_LAND (85) — \[from: [common](../messages/common.md#MAV_CMD_NAV_VTOL_LAND)\] {#MAV_CMD_NAV_VTOL_LAND} - -### MAV_CMD_NAV_GUIDED_ENABLE (92) — \[from: [common](../messages/common.md#MAV_CMD_NAV_GUIDED_ENABLE)\] {#MAV_CMD_NAV_GUIDED_ENABLE} - -### MAV_CMD_NAV_DELAY (93) — \[from: [common](../messages/common.md#MAV_CMD_NAV_DELAY)\] {#MAV_CMD_NAV_DELAY} - -### MAV_CMD_NAV_PAYLOAD_PLACE (94) — \[from: [common](../messages/common.md#MAV_CMD_NAV_PAYLOAD_PLACE)\] {#MAV_CMD_NAV_PAYLOAD_PLACE} - -### MAV_CMD_NAV_LAST (95) — \[from: [common](../messages/common.md#MAV_CMD_NAV_LAST)\] {#MAV_CMD_NAV_LAST} - -### MAV_CMD_CONDITION_DELAY (112) — \[from: [common](../messages/common.md#MAV_CMD_CONDITION_DELAY)\] {#MAV_CMD_CONDITION_DELAY} - -### MAV_CMD_CONDITION_CHANGE_ALT (113) — \[from: [common](../messages/common.md#MAV_CMD_CONDITION_CHANGE_ALT)\] {#MAV_CMD_CONDITION_CHANGE_ALT} - -### MAV_CMD_CONDITION_DISTANCE (114) — \[from: [common](../messages/common.md#MAV_CMD_CONDITION_DISTANCE)\] {#MAV_CMD_CONDITION_DISTANCE} - -### MAV_CMD_CONDITION_YAW (115) — \[from: [common](../messages/common.md#MAV_CMD_CONDITION_YAW)\] {#MAV_CMD_CONDITION_YAW} - -### MAV_CMD_CONDITION_LAST (159) — \[from: [common](../messages/common.md#MAV_CMD_CONDITION_LAST)\] {#MAV_CMD_CONDITION_LAST} - -### MAV_CMD_DO_SET_MODE (176) — \[from: [common](../messages/common.md#MAV_CMD_DO_SET_MODE)\] {#MAV_CMD_DO_SET_MODE} - -### MAV_CMD_DO_JUMP (177) — \[from: [common](../messages/common.md#MAV_CMD_DO_JUMP)\] {#MAV_CMD_DO_JUMP} - -### MAV_CMD_DO_CHANGE_SPEED (178) — \[from: [common](../messages/common.md#MAV_CMD_DO_CHANGE_SPEED)\] {#MAV_CMD_DO_CHANGE_SPEED} - -### MAV_CMD_DO_SET_HOME (179) — \[from: [common](../messages/common.md#MAV_CMD_DO_SET_HOME)\] {#MAV_CMD_DO_SET_HOME} - -### MAV_CMD_DO_SET_PARAMETER (180) — \[from: [common](../messages/common.md#MAV_CMD_DO_SET_PARAMETER)\] [DEP] {#MAV_CMD_DO_SET_PARAMETER} - -### MAV_CMD_DO_SET_RELAY (181) — \[from: [common](../messages/common.md#MAV_CMD_DO_SET_RELAY)\] {#MAV_CMD_DO_SET_RELAY} - -### MAV_CMD_DO_REPEAT_RELAY (182) — \[from: [common](../messages/common.md#MAV_CMD_DO_REPEAT_RELAY)\] {#MAV_CMD_DO_REPEAT_RELAY} - -### MAV_CMD_DO_SET_SERVO (183) — \[from: [common](../messages/common.md#MAV_CMD_DO_SET_SERVO)\] {#MAV_CMD_DO_SET_SERVO} - -### MAV_CMD_DO_REPEAT_SERVO (184) — \[from: [common](../messages/common.md#MAV_CMD_DO_REPEAT_SERVO)\] {#MAV_CMD_DO_REPEAT_SERVO} - -### MAV_CMD_DO_FLIGHTTERMINATION (185) — \[from: [common](../messages/common.md#MAV_CMD_DO_FLIGHTTERMINATION)\] {#MAV_CMD_DO_FLIGHTTERMINATION} - -### MAV_CMD_DO_CHANGE_ALTITUDE (186) — \[from: [common](../messages/common.md#MAV_CMD_DO_CHANGE_ALTITUDE)\] {#MAV_CMD_DO_CHANGE_ALTITUDE} - -### MAV_CMD_DO_SET_ACTUATOR (187) — \[from: [common](../messages/common.md#MAV_CMD_DO_SET_ACTUATOR)\] {#MAV_CMD_DO_SET_ACTUATOR} - -### MAV_CMD_DO_RETURN_PATH_START (188) — \[from: [common](../messages/common.md#MAV_CMD_DO_RETURN_PATH_START)\] [WIP] {#MAV_CMD_DO_RETURN_PATH_START} - -### MAV_CMD_DO_LAND_START (189) — \[from: [common](../messages/common.md#MAV_CMD_DO_LAND_START)\] {#MAV_CMD_DO_LAND_START} - -### MAV_CMD_DO_RALLY_LAND (190) — \[from: [common](../messages/common.md#MAV_CMD_DO_RALLY_LAND)\] {#MAV_CMD_DO_RALLY_LAND} - -### MAV_CMD_DO_GO_AROUND (191) — \[from: [common](../messages/common.md#MAV_CMD_DO_GO_AROUND)\] {#MAV_CMD_DO_GO_AROUND} - -### MAV_CMD_DO_REPOSITION (192) — \[from: [common](../messages/common.md#MAV_CMD_DO_REPOSITION)\] {#MAV_CMD_DO_REPOSITION} - -### MAV_CMD_DO_PAUSE_CONTINUE (193) — \[from: [common](../messages/common.md#MAV_CMD_DO_PAUSE_CONTINUE)\] {#MAV_CMD_DO_PAUSE_CONTINUE} - -### MAV_CMD_DO_SET_REVERSE (194) — \[from: [common](../messages/common.md#MAV_CMD_DO_SET_REVERSE)\] {#MAV_CMD_DO_SET_REVERSE} - -### MAV_CMD_DO_SET_ROI_LOCATION (195) — \[from: [common](../messages/common.md#MAV_CMD_DO_SET_ROI_LOCATION)\] {#MAV_CMD_DO_SET_ROI_LOCATION} - -### MAV_CMD_DO_SET_ROI_WPNEXT_OFFSET (196) — \[from: [common](../messages/common.md#MAV_CMD_DO_SET_ROI_WPNEXT_OFFSET)\] {#MAV_CMD_DO_SET_ROI_WPNEXT_OFFSET} - -### MAV_CMD_DO_SET_ROI_NONE (197) — \[from: [common](../messages/common.md#MAV_CMD_DO_SET_ROI_NONE)\] {#MAV_CMD_DO_SET_ROI_NONE} - -### MAV_CMD_DO_SET_ROI_SYSID (198) — \[from: [common](../messages/common.md#MAV_CMD_DO_SET_ROI_SYSID)\] {#MAV_CMD_DO_SET_ROI_SYSID} - -### MAV_CMD_DO_CONTROL_VIDEO (200) — \[from: [common](../messages/common.md#MAV_CMD_DO_CONTROL_VIDEO)\] {#MAV_CMD_DO_CONTROL_VIDEO} - -### MAV_CMD_DO_SET_ROI (201) — \[from: [common](../messages/common.md#MAV_CMD_DO_SET_ROI)\] [DEP] {#MAV_CMD_DO_SET_ROI} - -### MAV_CMD_DO_DIGICAM_CONFIGURE (202) — \[from: [common](../messages/common.md#MAV_CMD_DO_DIGICAM_CONFIGURE)\] {#MAV_CMD_DO_DIGICAM_CONFIGURE} - -### MAV_CMD_DO_DIGICAM_CONTROL (203) — \[from: [common](../messages/common.md#MAV_CMD_DO_DIGICAM_CONTROL)\] {#MAV_CMD_DO_DIGICAM_CONTROL} - -### MAV_CMD_DO_MOUNT_CONFIGURE (204) — \[from: [common](../messages/common.md#MAV_CMD_DO_MOUNT_CONFIGURE)\] [DEP] {#MAV_CMD_DO_MOUNT_CONFIGURE} - -### MAV_CMD_DO_MOUNT_CONTROL (205) — \[from: [common](../messages/common.md#MAV_CMD_DO_MOUNT_CONTROL)\] [DEP] {#MAV_CMD_DO_MOUNT_CONTROL} - -### MAV_CMD_DO_SET_CAM_TRIGG_DIST (206) — \[from: [common](../messages/common.md#MAV_CMD_DO_SET_CAM_TRIGG_DIST)\] {#MAV_CMD_DO_SET_CAM_TRIGG_DIST} - -### MAV_CMD_DO_FENCE_ENABLE (207) — \[from: [common](../messages/common.md#MAV_CMD_DO_FENCE_ENABLE)\] {#MAV_CMD_DO_FENCE_ENABLE} - -### MAV_CMD_DO_PARACHUTE (208) — \[from: [common](../messages/common.md#MAV_CMD_DO_PARACHUTE)\] {#MAV_CMD_DO_PARACHUTE} - -### MAV_CMD_DO_MOTOR_TEST (209) — \[from: [common](../messages/common.md#MAV_CMD_DO_MOTOR_TEST)\] {#MAV_CMD_DO_MOTOR_TEST} - -### MAV_CMD_DO_INVERTED_FLIGHT (210) — \[from: [common](../messages/common.md#MAV_CMD_DO_INVERTED_FLIGHT)\] {#MAV_CMD_DO_INVERTED_FLIGHT} - -### MAV_CMD_DO_GRIPPER (211) — \[from: [common](../messages/common.md#MAV_CMD_DO_GRIPPER)\] {#MAV_CMD_DO_GRIPPER} - -### MAV_CMD_DO_AUTOTUNE_ENABLE (212) — \[from: [common](../messages/common.md#MAV_CMD_DO_AUTOTUNE_ENABLE)\] {#MAV_CMD_DO_AUTOTUNE_ENABLE} - -### MAV_CMD_NAV_SET_YAW_SPEED (213) — \[from: [common](../messages/common.md#MAV_CMD_NAV_SET_YAW_SPEED)\] {#MAV_CMD_NAV_SET_YAW_SPEED} - -### MAV_CMD_DO_SET_CAM_TRIGG_INTERVAL (214) — \[from: [common](../messages/common.md#MAV_CMD_DO_SET_CAM_TRIGG_INTERVAL)\] {#MAV_CMD_DO_SET_CAM_TRIGG_INTERVAL} - -### MAV_CMD_DO_MOUNT_CONTROL_QUAT (220) — \[from: [common](../messages/common.md#MAV_CMD_DO_MOUNT_CONTROL_QUAT)\] [DEP] {#MAV_CMD_DO_MOUNT_CONTROL_QUAT} - -### MAV_CMD_DO_GUIDED_MASTER (221) — \[from: [common](../messages/common.md#MAV_CMD_DO_GUIDED_MASTER)\] {#MAV_CMD_DO_GUIDED_MASTER} - -### MAV_CMD_DO_GUIDED_LIMITS (222) — \[from: [common](../messages/common.md#MAV_CMD_DO_GUIDED_LIMITS)\] {#MAV_CMD_DO_GUIDED_LIMITS} - -### MAV_CMD_DO_ENGINE_CONTROL (223) — \[from: [common](../messages/common.md#MAV_CMD_DO_ENGINE_CONTROL)\] {#MAV_CMD_DO_ENGINE_CONTROL} - -### MAV_CMD_DO_SET_MISSION_CURRENT (224) — \[from: [common](../messages/common.md#MAV_CMD_DO_SET_MISSION_CURRENT)\] {#MAV_CMD_DO_SET_MISSION_CURRENT} - -### MAV_CMD_DO_LAST (240) — \[from: [common](../messages/common.md#MAV_CMD_DO_LAST)\] {#MAV_CMD_DO_LAST} - -### MAV_CMD_PREFLIGHT_CALIBRATION (241) — \[from: [common](../messages/common.md#MAV_CMD_PREFLIGHT_CALIBRATION)\] {#MAV_CMD_PREFLIGHT_CALIBRATION} - -### MAV_CMD_PREFLIGHT_SET_SENSOR_OFFSETS (242) — \[from: [common](../messages/common.md#MAV_CMD_PREFLIGHT_SET_SENSOR_OFFSETS)\] {#MAV_CMD_PREFLIGHT_SET_SENSOR_OFFSETS} - -### MAV_CMD_PREFLIGHT_UAVCAN (243) — \[from: [common](../messages/common.md#MAV_CMD_PREFLIGHT_UAVCAN)\] {#MAV_CMD_PREFLIGHT_UAVCAN} - -### MAV_CMD_PREFLIGHT_STORAGE (245) — \[from: [common](../messages/common.md#MAV_CMD_PREFLIGHT_STORAGE)\] {#MAV_CMD_PREFLIGHT_STORAGE} - -### MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN (246) — \[from: [common](../messages/common.md#MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN)\] {#MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN} - -### MAV_CMD_OVERRIDE_GOTO (252) — \[from: [common](../messages/common.md#MAV_CMD_OVERRIDE_GOTO)\] {#MAV_CMD_OVERRIDE_GOTO} - -### MAV_CMD_OBLIQUE_SURVEY (260) — \[from: [common](../messages/common.md#MAV_CMD_OBLIQUE_SURVEY)\] {#MAV_CMD_OBLIQUE_SURVEY} - -### MAV_CMD_MISSION_START (300) — \[from: [common](../messages/common.md#MAV_CMD_MISSION_START)\] {#MAV_CMD_MISSION_START} - -### MAV_CMD_ACTUATOR_TEST (310) — \[from: [common](../messages/common.md#MAV_CMD_ACTUATOR_TEST)\] {#MAV_CMD_ACTUATOR_TEST} - -### MAV_CMD_CONFIGURE_ACTUATOR (311) — \[from: [common](../messages/common.md#MAV_CMD_CONFIGURE_ACTUATOR)\] {#MAV_CMD_CONFIGURE_ACTUATOR} - -### MAV_CMD_COMPONENT_ARM_DISARM (400) — \[from: [common](../messages/common.md#MAV_CMD_COMPONENT_ARM_DISARM)\] {#MAV_CMD_COMPONENT_ARM_DISARM} - -### MAV_CMD_RUN_PREARM_CHECKS (401) — \[from: [common](../messages/common.md#MAV_CMD_RUN_PREARM_CHECKS)\] {#MAV_CMD_RUN_PREARM_CHECKS} - -### MAV_CMD_ILLUMINATOR_ON_OFF (405) — \[from: [common](../messages/common.md#MAV_CMD_ILLUMINATOR_ON_OFF)\] {#MAV_CMD_ILLUMINATOR_ON_OFF} - -### MAV_CMD_DO_ILLUMINATOR_CONFIGURE (406) — \[from: [common](../messages/common.md#MAV_CMD_DO_ILLUMINATOR_CONFIGURE)\] {#MAV_CMD_DO_ILLUMINATOR_CONFIGURE} - -### MAV_CMD_GET_HOME_POSITION (410) — \[from: [common](../messages/common.md#MAV_CMD_GET_HOME_POSITION)\] [DEP] {#MAV_CMD_GET_HOME_POSITION} - -### MAV_CMD_INJECT_FAILURE (420) — \[from: [common](../messages/common.md#MAV_CMD_INJECT_FAILURE)\] {#MAV_CMD_INJECT_FAILURE} - -### MAV_CMD_START_RX_PAIR (500) — \[from: [common](../messages/common.md#MAV_CMD_START_RX_PAIR)\] {#MAV_CMD_START_RX_PAIR} - -### MAV_CMD_GET_MESSAGE_INTERVAL (510) — \[from: [common](../messages/common.md#MAV_CMD_GET_MESSAGE_INTERVAL)\] [DEP] {#MAV_CMD_GET_MESSAGE_INTERVAL} - -### MAV_CMD_SET_MESSAGE_INTERVAL (511) — \[from: [common](../messages/common.md#MAV_CMD_SET_MESSAGE_INTERVAL)\] {#MAV_CMD_SET_MESSAGE_INTERVAL} - -### MAV_CMD_REQUEST_MESSAGE (512) — \[from: [common](../messages/common.md#MAV_CMD_REQUEST_MESSAGE)\] {#MAV_CMD_REQUEST_MESSAGE} - -### MAV_CMD_REQUEST_PROTOCOL_VERSION (519) — \[from: [common](../messages/common.md#MAV_CMD_REQUEST_PROTOCOL_VERSION)\] [DEP] {#MAV_CMD_REQUEST_PROTOCOL_VERSION} - -### MAV_CMD_REQUEST_AUTOPILOT_CAPABILITIES (520) — \[from: [common](../messages/common.md#MAV_CMD_REQUEST_AUTOPILOT_CAPABILITIES)\] [DEP] {#MAV_CMD_REQUEST_AUTOPILOT_CAPABILITIES} - -### MAV_CMD_REQUEST_CAMERA_INFORMATION (521) — \[from: [common](../messages/common.md#MAV_CMD_REQUEST_CAMERA_INFORMATION)\] [DEP] {#MAV_CMD_REQUEST_CAMERA_INFORMATION} - -### MAV_CMD_REQUEST_CAMERA_SETTINGS (522) — \[from: [common](../messages/common.md#MAV_CMD_REQUEST_CAMERA_SETTINGS)\] [DEP] {#MAV_CMD_REQUEST_CAMERA_SETTINGS} - -### MAV_CMD_REQUEST_STORAGE_INFORMATION (525) — \[from: [common](../messages/common.md#MAV_CMD_REQUEST_STORAGE_INFORMATION)\] [DEP] {#MAV_CMD_REQUEST_STORAGE_INFORMATION} - -### MAV_CMD_STORAGE_FORMAT (526) — \[from: [common](../messages/common.md#MAV_CMD_STORAGE_FORMAT)\] {#MAV_CMD_STORAGE_FORMAT} - -### MAV_CMD_REQUEST_CAMERA_CAPTURE_STATUS (527) — \[from: [common](../messages/common.md#MAV_CMD_REQUEST_CAMERA_CAPTURE_STATUS)\] [DEP] {#MAV_CMD_REQUEST_CAMERA_CAPTURE_STATUS} - -### MAV_CMD_REQUEST_FLIGHT_INFORMATION (528) — \[from: [common](../messages/common.md#MAV_CMD_REQUEST_FLIGHT_INFORMATION)\] [DEP] {#MAV_CMD_REQUEST_FLIGHT_INFORMATION} - -### MAV_CMD_RESET_CAMERA_SETTINGS (529) — \[from: [common](../messages/common.md#MAV_CMD_RESET_CAMERA_SETTINGS)\] {#MAV_CMD_RESET_CAMERA_SETTINGS} - -### MAV_CMD_SET_CAMERA_MODE (530) — \[from: [common](../messages/common.md#MAV_CMD_SET_CAMERA_MODE)\] {#MAV_CMD_SET_CAMERA_MODE} - -### MAV_CMD_SET_CAMERA_ZOOM (531) — \[from: [common](../messages/common.md#MAV_CMD_SET_CAMERA_ZOOM)\] {#MAV_CMD_SET_CAMERA_ZOOM} - -### MAV_CMD_SET_CAMERA_FOCUS (532) — \[from: [common](../messages/common.md#MAV_CMD_SET_CAMERA_FOCUS)\] {#MAV_CMD_SET_CAMERA_FOCUS} - -### MAV_CMD_SET_STORAGE_USAGE (533) — \[from: [common](../messages/common.md#MAV_CMD_SET_STORAGE_USAGE)\] {#MAV_CMD_SET_STORAGE_USAGE} - -### MAV_CMD_SET_CAMERA_SOURCE (534) — \[from: [common](../messages/common.md#MAV_CMD_SET_CAMERA_SOURCE)\] {#MAV_CMD_SET_CAMERA_SOURCE} - -### MAV_CMD_JUMP_TAG (600) — \[from: [common](../messages/common.md#MAV_CMD_JUMP_TAG)\] {#MAV_CMD_JUMP_TAG} - -### MAV_CMD_DO_JUMP_TAG (601) — \[from: [common](../messages/common.md#MAV_CMD_DO_JUMP_TAG)\] {#MAV_CMD_DO_JUMP_TAG} - -### MAV_CMD_DO_GIMBAL_MANAGER_PITCHYAW (1000) — \[from: [common](../messages/common.md#MAV_CMD_DO_GIMBAL_MANAGER_PITCHYAW)\] {#MAV_CMD_DO_GIMBAL_MANAGER_PITCHYAW} - -### MAV_CMD_DO_GIMBAL_MANAGER_CONFIGURE (1001) — \[from: [common](../messages/common.md#MAV_CMD_DO_GIMBAL_MANAGER_CONFIGURE)\] {#MAV_CMD_DO_GIMBAL_MANAGER_CONFIGURE} - -### MAV_CMD_IMAGE_START_CAPTURE (2000) — \[from: [common](../messages/common.md#MAV_CMD_IMAGE_START_CAPTURE)\] {#MAV_CMD_IMAGE_START_CAPTURE} - -### MAV_CMD_IMAGE_STOP_CAPTURE (2001) — \[from: [common](../messages/common.md#MAV_CMD_IMAGE_STOP_CAPTURE)\] {#MAV_CMD_IMAGE_STOP_CAPTURE} - -### MAV_CMD_REQUEST_CAMERA_IMAGE_CAPTURE (2002) — \[from: [common](../messages/common.md#MAV_CMD_REQUEST_CAMERA_IMAGE_CAPTURE)\] [DEP] {#MAV_CMD_REQUEST_CAMERA_IMAGE_CAPTURE} - -### MAV_CMD_DO_TRIGGER_CONTROL (2003) — \[from: [common](../messages/common.md#MAV_CMD_DO_TRIGGER_CONTROL)\] {#MAV_CMD_DO_TRIGGER_CONTROL} - -### MAV_CMD_CAMERA_TRACK_POINT (2004) — \[from: [common](../messages/common.md#MAV_CMD_CAMERA_TRACK_POINT)\] {#MAV_CMD_CAMERA_TRACK_POINT} - -### MAV_CMD_CAMERA_TRACK_RECTANGLE (2005) — \[from: [common](../messages/common.md#MAV_CMD_CAMERA_TRACK_RECTANGLE)\] {#MAV_CMD_CAMERA_TRACK_RECTANGLE} - -### MAV_CMD_CAMERA_STOP_TRACKING (2010) — \[from: [common](../messages/common.md#MAV_CMD_CAMERA_STOP_TRACKING)\] {#MAV_CMD_CAMERA_STOP_TRACKING} - -### MAV_CMD_VIDEO_START_CAPTURE (2500) — \[from: [common](../messages/common.md#MAV_CMD_VIDEO_START_CAPTURE)\] {#MAV_CMD_VIDEO_START_CAPTURE} - -### MAV_CMD_VIDEO_STOP_CAPTURE (2501) — \[from: [common](../messages/common.md#MAV_CMD_VIDEO_STOP_CAPTURE)\] {#MAV_CMD_VIDEO_STOP_CAPTURE} - -### MAV_CMD_VIDEO_START_STREAMING (2502) — \[from: [common](../messages/common.md#MAV_CMD_VIDEO_START_STREAMING)\] {#MAV_CMD_VIDEO_START_STREAMING} - -### MAV_CMD_VIDEO_STOP_STREAMING (2503) — \[from: [common](../messages/common.md#MAV_CMD_VIDEO_STOP_STREAMING)\] {#MAV_CMD_VIDEO_STOP_STREAMING} - -### MAV_CMD_REQUEST_VIDEO_STREAM_INFORMATION (2504) — \[from: [common](../messages/common.md#MAV_CMD_REQUEST_VIDEO_STREAM_INFORMATION)\] [DEP] {#MAV_CMD_REQUEST_VIDEO_STREAM_INFORMATION} - -### MAV_CMD_REQUEST_VIDEO_STREAM_STATUS (2505) — \[from: [common](../messages/common.md#MAV_CMD_REQUEST_VIDEO_STREAM_STATUS)\] [DEP] {#MAV_CMD_REQUEST_VIDEO_STREAM_STATUS} - -### MAV_CMD_LOGGING_START (2510) — \[from: [common](../messages/common.md#MAV_CMD_LOGGING_START)\] {#MAV_CMD_LOGGING_START} - -### MAV_CMD_LOGGING_STOP (2511) — \[from: [common](../messages/common.md#MAV_CMD_LOGGING_STOP)\] {#MAV_CMD_LOGGING_STOP} - -### MAV_CMD_AIRFRAME_CONFIGURATION (2520) — \[from: [common](../messages/common.md#MAV_CMD_AIRFRAME_CONFIGURATION)\] {#MAV_CMD_AIRFRAME_CONFIGURATION} - -### MAV_CMD_CONTROL_HIGH_LATENCY (2600) — \[from: [common](../messages/common.md#MAV_CMD_CONTROL_HIGH_LATENCY)\] {#MAV_CMD_CONTROL_HIGH_LATENCY} - -### MAV_CMD_PANORAMA_CREATE (2800) — \[from: [common](../messages/common.md#MAV_CMD_PANORAMA_CREATE)\] {#MAV_CMD_PANORAMA_CREATE} - -### MAV_CMD_DO_VTOL_TRANSITION (3000) — \[from: [common](../messages/common.md#MAV_CMD_DO_VTOL_TRANSITION)\] {#MAV_CMD_DO_VTOL_TRANSITION} - -### MAV_CMD_ARM_AUTHORIZATION_REQUEST (3001) — \[from: [common](../messages/common.md#MAV_CMD_ARM_AUTHORIZATION_REQUEST)\] {#MAV_CMD_ARM_AUTHORIZATION_REQUEST} - -### MAV_CMD_SET_GUIDED_SUBMODE_STANDARD (4000) — \[from: [common](../messages/common.md#MAV_CMD_SET_GUIDED_SUBMODE_STANDARD)\] {#MAV_CMD_SET_GUIDED_SUBMODE_STANDARD} - -### MAV_CMD_SET_GUIDED_SUBMODE_CIRCLE (4001) — \[from: [common](../messages/common.md#MAV_CMD_SET_GUIDED_SUBMODE_CIRCLE)\] {#MAV_CMD_SET_GUIDED_SUBMODE_CIRCLE} - -### MAV_CMD_CONDITION_GATE (4501) — \[from: [common](../messages/common.md#MAV_CMD_CONDITION_GATE)\] [WIP] {#MAV_CMD_CONDITION_GATE} - -### MAV_CMD_NAV_FENCE_RETURN_POINT (5000) — \[from: [common](../messages/common.md#MAV_CMD_NAV_FENCE_RETURN_POINT)\] {#MAV_CMD_NAV_FENCE_RETURN_POINT} - -### MAV_CMD_NAV_FENCE_POLYGON_VERTEX_INCLUSION (5001) — \[from: [common](../messages/common.md#MAV_CMD_NAV_FENCE_POLYGON_VERTEX_INCLUSION)\] {#MAV_CMD_NAV_FENCE_POLYGON_VERTEX_INCLUSION} - -### MAV_CMD_NAV_FENCE_POLYGON_VERTEX_EXCLUSION (5002) — \[from: [common](../messages/common.md#MAV_CMD_NAV_FENCE_POLYGON_VERTEX_EXCLUSION)\] {#MAV_CMD_NAV_FENCE_POLYGON_VERTEX_EXCLUSION} - -### MAV_CMD_NAV_FENCE_CIRCLE_INCLUSION (5003) — \[from: [common](../messages/common.md#MAV_CMD_NAV_FENCE_CIRCLE_INCLUSION)\] {#MAV_CMD_NAV_FENCE_CIRCLE_INCLUSION} - -### MAV_CMD_NAV_FENCE_CIRCLE_EXCLUSION (5004) — \[from: [common](../messages/common.md#MAV_CMD_NAV_FENCE_CIRCLE_EXCLUSION)\] {#MAV_CMD_NAV_FENCE_CIRCLE_EXCLUSION} - -### MAV_CMD_NAV_RALLY_POINT (5100) — \[from: [common](../messages/common.md#MAV_CMD_NAV_RALLY_POINT)\] {#MAV_CMD_NAV_RALLY_POINT} - -### MAV_CMD_UAVCAN_GET_NODE_INFO (5200) — \[from: [common](../messages/common.md#MAV_CMD_UAVCAN_GET_NODE_INFO)\] {#MAV_CMD_UAVCAN_GET_NODE_INFO} - -### MAV_CMD_DO_SET_SAFETY_SWITCH_STATE (5300) — \[from: [common](../messages/common.md#MAV_CMD_DO_SET_SAFETY_SWITCH_STATE)\] {#MAV_CMD_DO_SET_SAFETY_SWITCH_STATE} - -### MAV_CMD_DO_ADSB_OUT_IDENT (10001) — \[from: [common](../messages/common.md#MAV_CMD_DO_ADSB_OUT_IDENT)\] {#MAV_CMD_DO_ADSB_OUT_IDENT} - -### MAV_CMD_PAYLOAD_PREPARE_DEPLOY (30001) — \[from: [common](../messages/common.md#MAV_CMD_PAYLOAD_PREPARE_DEPLOY)\] [DEP] {#MAV_CMD_PAYLOAD_PREPARE_DEPLOY} - -### MAV_CMD_PAYLOAD_CONTROL_DEPLOY (30002) — \[from: [common](../messages/common.md#MAV_CMD_PAYLOAD_CONTROL_DEPLOY)\] [DEP] {#MAV_CMD_PAYLOAD_CONTROL_DEPLOY} - -### MAV_CMD_WAYPOINT_USER_1 (31000) — \[from: [common](../messages/common.md#MAV_CMD_WAYPOINT_USER_1)\] {#MAV_CMD_WAYPOINT_USER_1} - -### MAV_CMD_WAYPOINT_USER_2 (31001) — \[from: [common](../messages/common.md#MAV_CMD_WAYPOINT_USER_2)\] {#MAV_CMD_WAYPOINT_USER_2} - -### MAV_CMD_WAYPOINT_USER_3 (31002) — \[from: [common](../messages/common.md#MAV_CMD_WAYPOINT_USER_3)\] {#MAV_CMD_WAYPOINT_USER_3} - -### MAV_CMD_WAYPOINT_USER_4 (31003) — \[from: [common](../messages/common.md#MAV_CMD_WAYPOINT_USER_4)\] {#MAV_CMD_WAYPOINT_USER_4} - -### MAV_CMD_WAYPOINT_USER_5 (31004) — \[from: [common](../messages/common.md#MAV_CMD_WAYPOINT_USER_5)\] {#MAV_CMD_WAYPOINT_USER_5} - -### MAV_CMD_SPATIAL_USER_1 (31005) — \[from: [common](../messages/common.md#MAV_CMD_SPATIAL_USER_1)\] {#MAV_CMD_SPATIAL_USER_1} - -### MAV_CMD_SPATIAL_USER_2 (31006) — \[from: [common](../messages/common.md#MAV_CMD_SPATIAL_USER_2)\] {#MAV_CMD_SPATIAL_USER_2} - -### MAV_CMD_SPATIAL_USER_3 (31007) — \[from: [common](../messages/common.md#MAV_CMD_SPATIAL_USER_3)\] {#MAV_CMD_SPATIAL_USER_3} - -### MAV_CMD_SPATIAL_USER_4 (31008) — \[from: [common](../messages/common.md#MAV_CMD_SPATIAL_USER_4)\] {#MAV_CMD_SPATIAL_USER_4} - -### MAV_CMD_SPATIAL_USER_5 (31009) — \[from: [common](../messages/common.md#MAV_CMD_SPATIAL_USER_5)\] {#MAV_CMD_SPATIAL_USER_5} - -### MAV_CMD_USER_1 (31010) — \[from: [common](../messages/common.md#MAV_CMD_USER_1)\] {#MAV_CMD_USER_1} - -### MAV_CMD_USER_2 (31011) — \[from: [common](../messages/common.md#MAV_CMD_USER_2)\] {#MAV_CMD_USER_2} - -### MAV_CMD_USER_3 (31012) — \[from: [common](../messages/common.md#MAV_CMD_USER_3)\] {#MAV_CMD_USER_3} - -### MAV_CMD_USER_4 (31013) — \[from: [common](../messages/common.md#MAV_CMD_USER_4)\] {#MAV_CMD_USER_4} - -### MAV_CMD_USER_5 (31014) — \[from: [common](../messages/common.md#MAV_CMD_USER_5)\] {#MAV_CMD_USER_5} - -### MAV_CMD_CAN_FORWARD (32000) — \[from: [common](../messages/common.md#MAV_CMD_CAN_FORWARD)\] {#MAV_CMD_CAN_FORWARD} - -### MAV_CMD_FIXED_MAG_CAL_YAW (42006) — \[from: [common](../messages/common.md#MAV_CMD_FIXED_MAG_CAL_YAW)\] {#MAV_CMD_FIXED_MAG_CAL_YAW} - -### MAV_CMD_DO_WINCH (42600) — \[from: [common](../messages/common.md#MAV_CMD_DO_WINCH)\] {#MAV_CMD_DO_WINCH} - -### MAV_CMD_EXTERNAL_POSITION_ESTIMATE (43003) — \[from: [common](../messages/common.md#MAV_CMD_EXTERNAL_POSITION_ESTIMATE)\] {#MAV_CMD_EXTERNAL_POSITION_ESTIMATE} - diff --git a/zh/messages/development.html b/zh/messages/development.html index e8efd8adf..7d21f0644 100644 --- a/zh/messages/development.html +++ b/zh/messages/development.html @@ -1 +1 @@ -development.xml · MAVLink Developer Guide
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Dialect: development

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        This dialect contains messages that are proposed for inclusion in the standard set, in order to ease development of prototype implementations. They should be considered a 'work in progress' and not included in production builds. They should be considered a 'work in progress' and not included in production builds.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        This topic is a human-readable form of the XML definition file: development.xml.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAVLink 2 extension fields that have been added to MAVLink 1 messages are displayed in blue. - Entities from dialects are displayed only as headings (with link to original)

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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Enums16142
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Commands1740

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        The following sections list all entities in the dialect (both included and defined in this file).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Messages

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        HEARTBEAT (0) — [from: minimal]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        SYS_STATUS (1) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        SYSTEM_TIME (2) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        PING (4) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        CHANGE_OPERATOR_CONTROL (5) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        CHANGE_OPERATOR_CONTROL_ACK (6) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        AUTH_KEY (7) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        SET_MODE (11) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        PARAM_ACK_TRANSACTION (19) — [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Response from a PARAM_SET message when it is used in a transaction.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Field NameTypeValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        target_systemuint8_tId of system that sent PARAM_SET message.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        target_componentuint8_tId of system that sent PARAM_SET message.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        param_idchar[16]Parameter id, terminated by NULL if the length is less than 16 human-readable chars and WITHOUT null termination (NULL) byte if the length is exactly 16 chars - applications have to provide 16+1 bytes storage if the ID is stored as string
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        param_valuefloatParameter value (new value if PARAM_ACCEPTED, current value otherwise)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        param_typeuint8_tMAV_PARAM_TYPEParameter type.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        param_resultuint8_tPARAM_ACKResult code.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        PARAM_REQUEST_READ (20) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        PARAM_REQUEST_LIST (21) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        PARAM_VALUE (22) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        PARAM_SET (23) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        GPS_RAW_INT (24) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        GPS_STATUS (25) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        SCALED_IMU (26) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        RAW_IMU (27) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        RAW_PRESSURE (28) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        SCALED_PRESSURE (29) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        ATTITUDE (30) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        ATTITUDE_QUATERNION (31) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        LOCAL_POSITION_NED (32) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        GLOBAL_POSITION_INT (33) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        RC_CHANNELS_SCALED (34) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        RC_CHANNELS_RAW (35) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        SERVO_OUTPUT_RAW (36) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MISSION_REQUEST_PARTIAL_LIST (37) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MISSION_WRITE_PARTIAL_LIST (38) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MISSION_ITEM (39) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MISSION_REQUEST (40) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MISSION_SET_CURRENT (41) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MISSION_CURRENT (42) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MISSION_REQUEST_LIST (43) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MISSION_COUNT (44) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MISSION_CLEAR_ALL (45) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MISSION_ITEM_REACHED (46) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MISSION_ACK (47) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        SET_GPS_GLOBAL_ORIGIN (48) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        GPS_GLOBAL_ORIGIN (49) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        PARAM_MAP_RC (50) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MISSION_REQUEST_INT (51) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        SAFETY_SET_ALLOWED_AREA (54) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        SAFETY_ALLOWED_AREA (55) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        ATTITUDE_QUATERNION_COV (61) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        GLOBAL_POSITION_INT_COV (63) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        LOCAL_POSITION_NED_COV (64) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        RC_CHANNELS (65) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        REQUEST_DATA_STREAM (66) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        DATA_STREAM (67) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MANUAL_CONTROL (69) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        RC_CHANNELS_OVERRIDE (70) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MISSION_ITEM_INT (73) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        VFR_HUD (74) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        COMMAND_INT (75) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        COMMAND_LONG (76) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        COMMAND_ACK (77) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        COMMAND_CANCEL (80) — [from: common] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MANUAL_SETPOINT (81) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        SET_ATTITUDE_TARGET (82) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        ATTITUDE_TARGET (83) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        SET_POSITION_TARGET_LOCAL_NED (84) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        POSITION_TARGET_LOCAL_NED (85) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        SET_POSITION_TARGET_GLOBAL_INT (86) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        POSITION_TARGET_GLOBAL_INT (87) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        LOCAL_POSITION_NED_SYSTEM_GLOBAL_OFFSET (89) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        HIL_STATE (90) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        HIL_CONTROLS (91) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        HIL_RC_INPUTS_RAW (92) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        HIL_ACTUATOR_CONTROLS (93) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        OPTICAL_FLOW (100) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        GLOBAL_VISION_POSITION_ESTIMATE (101) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        VISION_POSITION_ESTIMATE (102) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        VISION_SPEED_ESTIMATE (103) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        VICON_POSITION_ESTIMATE (104) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        HIGHRES_IMU (105) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        OPTICAL_FLOW_RAD (106) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        HIL_SENSOR (107) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        SIM_STATE (108) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        RADIO_STATUS (109) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        FILE_TRANSFER_PROTOCOL (110) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        TIMESYNC (111) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        CAMERA_TRIGGER (112) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        HIL_GPS (113) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        HIL_OPTICAL_FLOW (114) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        HIL_STATE_QUATERNION (115) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        SCALED_IMU2 (116) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        LOG_REQUEST_LIST (117) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        LOG_ENTRY (118) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        LOG_REQUEST_DATA (119) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        LOG_DATA (120) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        LOG_ERASE (121) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        LOG_REQUEST_END (122) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        GPS_INJECT_DATA (123) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        GPS2_RAW (124) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        POWER_STATUS (125) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        SERIAL_CONTROL (126) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        GPS_RTK (127) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        GPS2_RTK (128) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        SCALED_IMU3 (129) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        DATA_TRANSMISSION_HANDSHAKE (130) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        ENCAPSULATED_DATA (131) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        DISTANCE_SENSOR (132) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        TERRAIN_REQUEST (133) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        TERRAIN_DATA (134) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        TERRAIN_CHECK (135) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        TERRAIN_REPORT (136) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        SCALED_PRESSURE2 (137) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        ATT_POS_MOCAP (138) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        SET_ACTUATOR_CONTROL_TARGET (139) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        ACTUATOR_CONTROL_TARGET (140) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        ALTITUDE (141) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        RESOURCE_REQUEST (142) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        SCALED_PRESSURE3 (143) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        FOLLOW_TARGET (144) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        CONTROL_SYSTEM_STATE (146) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        BATTERY_STATUS (147) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        AUTOPILOT_VERSION (148) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        LANDING_TARGET (149) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        FENCE_STATUS (162) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAG_CAL_REPORT (192) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        EFI_STATUS (225) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        ESTIMATOR_STATUS (230) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        WIND_COV (231) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        GPS_INPUT (232) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        GPS_RTCM_DATA (233) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        HIGH_LATENCY (234) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        HIGH_LATENCY2 (235) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        VIBRATION (241) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        HOME_POSITION (242) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        SET_HOME_POSITION (243) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MESSAGE_INTERVAL (244) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        EXTENDED_SYS_STATE (245) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        ADSB_VEHICLE (246) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        COLLISION (247) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        V2_EXTENSION (248) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MEMORY_VECT (249) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        DEBUG_VECT (250) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        NAMED_VALUE_FLOAT (251) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        NAMED_VALUE_INT (252) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        STATUSTEXT (253) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        DEBUG (254) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        SETUP_SIGNING (256) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        BUTTON_CHANGE (257) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        PLAY_TUNE (258) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        CAMERA_INFORMATION (259) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        CAMERA_SETTINGS (260) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        STORAGE_INFORMATION (261) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        CAMERA_CAPTURE_STATUS (262) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        CAMERA_IMAGE_CAPTURED (263) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        FLIGHT_INFORMATION (264) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MOUNT_ORIENTATION (265) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        LOGGING_DATA (266) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        LOGGING_DATA_ACKED (267) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        LOGGING_ACK (268) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        VIDEO_STREAM_INFORMATION (269) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        VIDEO_STREAM_STATUS (270) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        CAMERA_FOV_STATUS (271) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        CAMERA_TRACKING_IMAGE_STATUS (275) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        CAMERA_TRACKING_GEO_STATUS (276) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        CAMERA_THERMAL_RANGE (277) — [from: common] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        GIMBAL_MANAGER_INFORMATION (280) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        GIMBAL_MANAGER_STATUS (281) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        GIMBAL_MANAGER_SET_ATTITUDE (282) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        GIMBAL_DEVICE_INFORMATION (283) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        GIMBAL_DEVICE_SET_ATTITUDE (284) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        GIMBAL_DEVICE_ATTITUDE_STATUS (285) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        AUTOPILOT_STATE_FOR_GIMBAL_DEVICE (286) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        GIMBAL_MANAGER_SET_PITCHYAW (287) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        GIMBAL_MANAGER_SET_MANUAL_CONTROL (288) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        ESC_INFO (290) — [from: common] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        ESC_STATUS (291) — [from: common] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        AIRSPEED (295) — [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Airspeed information from a sensor.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        iduint8_tSensor ID.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Messages with same value are from the same source (instance).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        airspeedfloatm/sCalibrated airspeed (CAS).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        temperatureint16_tcdegCTemperature. INT16_MAX for value unknown/not supplied.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        raw_pressfloathPaRaw differential pressure. NaN for value unknown/not supplied.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        flagsuint8_tAIRSPEED_SENSOR_FLAGSAirspeed sensor flags.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        WIFI_NETWORK_INFO (298) — [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Detected WiFi network status information. This message is sent per each WiFi network detected in range with known SSID and general status parameters.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        ssidchar[32]Name of Wi-Fi network (SSID).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        channel_iduint8_tWiFi network operating channel ID. Set to 0 if unknown or unidentified.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        signal_qualityuint8_t%WiFi network signal quality.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        data_rateuint16_tMiB/sWiFi network data rate. Set to UINT16_MAX if data_rate information is not supplied.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        securityuint8_tWIFI_NETWORK_SECURITYWiFi network security type.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        WIFI_CONFIG_AP (299) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        PROTOCOL_VERSION (300) — [from: minimal] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        AIS_VESSEL (301) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        UAVCAN_NODE_STATUS (310) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        UAVCAN_NODE_INFO (311) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        PARAM_EXT_REQUEST_READ (320) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        PARAM_EXT_REQUEST_LIST (321) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        PARAM_EXT_VALUE (322) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        PARAM_EXT_SET (323) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        PARAM_EXT_ACK (324) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        OBSTACLE_DISTANCE (330) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        ODOMETRY (331) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        TRAJECTORY_REPRESENTATION_WAYPOINTS (332) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        TRAJECTORY_REPRESENTATION_BEZIER (333) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        CELLULAR_STATUS (334) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        CELLULAR_CONFIG (336) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        RAW_RPM (339) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        UTM_GLOBAL_POSITION (340) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        DEBUG_FLOAT_ARRAY (350) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        SET_VELOCITY_LIMITS (354) — [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Set temporary maximum limits for horizontal speed, vertical speed and yaw rate.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        The consumer must stream the current limits in VELOCITY_LIMITS at 1 Hz or more (when limits are being set). The consumer should latch the limits until a new limit is received or the mode is changed.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        target_systemuint8_tSystem ID (0 for broadcast).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        target_componentuint8_tComponent ID (0 for broadcast).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        horizontal_speed_limitfloatm/sLimit for horizontal movement in MAV_FRAME_LOCAL_NED. NaN: Field not used (ignore)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        vertical_speed_limitfloatm/sLimit for vertical movement in MAV_FRAME_LOCAL_NED. NaN: Field not used (ignore)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        yaw_rate_limitfloatrad/sLimit for vehicle turn rate around its yaw axis. NaN: Field not used (ignore)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        VELOCITY_LIMITS (355) — [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Current limits for horizontal speed, vertical speed and yaw rate, as set by SET_VELOCITY_LIMITS.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        horizontal_speed_limitfloatm/sLimit for horizontal movement in MAV_FRAME_LOCAL_NED. NaN: No limit applied
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        vertical_speed_limitfloatm/sLimit for vertical movement in MAV_FRAME_LOCAL_NED. NaN: No limit applied
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        yaw_rate_limitfloatrad/sLimit for vehicle turn rate around its yaw axis. NaN: No limit applied

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        ORBIT_EXECUTION_STATUS (360) — [from: common] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        FIGURE_EIGHT_EXECUTION_STATUS (361) — [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Vehicle status report that is sent out while figure eight execution is in progress (see MAV_CMD_DO_FIGURE_EIGHT). This may typically send at low rates: of the order of 2Hz.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        major_radiusfloatmMajor axis radius of the figure eight. Positive: orbit the north circle clockwise. Negative: orbit the north circle counter-clockwise.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        minor_radiusfloatmMinor axis radius of the figure eight. Defines the radius of two circles that make up the figure.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        orientationfloatradOrientation of the figure eight major axis with respect to true north in [-pi,pi).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        frameuint8_tMAV_FRAMEThe coordinate system of the fields: x, y, z.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        xint32_tX coordinate of center point. Coordinate system depends on frame field.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        yint32_tY coordinate of center point. Coordinate system depends on frame field.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        zfloatmAltitude of center point. Coordinate system depends on frame field.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        BATTERY_STATUS_V2 (369) — [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Battery dynamic information.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        This should be streamed (nominally at 1Hz). Static/invariant battery information is sent in BATTERY_INFO. Note that smart batteries should set the MAV_BATTERY_STATUS_FLAGS_CAPACITY_RELATIVE_TO_FULL bit to indicate that supplied capacity values are relative to a battery that is known to be full. Power monitors would not set this bit, indicating that capacity_consumed is relative to drone power-on, and that other values are estimated based on the assumption that the battery was full on power-on.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        iduint8_tBattery ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Messages with same value are from the same source (instance).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        temperatureint16_tcdegCinvalid:INT16_MAXTemperature of the whole battery pack (not internal electronics). INT16_MAX field not provided.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        voltagefloatVinvalid:NaNBattery voltage (total). NaN: field not provided.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        currentfloatAinvalid:NaNBattery current (through all cells/loads). Positive value when discharging and negative if charging. NaN: field not provided.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        capacity_consumedfloatAhinvalid:NaNConsumed charge. NaN: field not provided. This is either the consumption since power-on or since the battery was full, depending on the value of MAV_BATTERY_STATUS_FLAGS_CAPACITY_RELATIVE_TO_FULL.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        capacity_remainingfloatAhinvalid:NaNRemaining charge (until empty). NaN: field not provided. Note: If MAV_BATTERY_STATUS_FLAGS_CAPACITY_RELATIVE_TO_FULL is unset, this value is based on the assumption the battery was full when the system was powered.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        percent_remaininguint8_t%invalid:UINT8_MAXRemaining battery energy. Values: [0-100], UINT8_MAX: field not provided.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        status_flagsuint32_tMAV_BATTERY_STATUS_FLAGSFault, health, readiness, and other status indications.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        BATTERY_INFO (370) — [from: common] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        FUEL_STATUS (371) — [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Fuel status.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        This message provides "generic" fuel level information for display in a GCS and for triggering failsafes in an autopilot. The fuel type and associated units for fields in this message are defined in the enum MAV_FUEL_TYPE.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        The reported consumed_fuel and remaining_fuel must only be supplied if measured: they must not be inferred from the maximum_fuel and the other value. A recipient can assume that if these fields are supplied they are accurate. If not provided, the recipient can infer remaining_fuel from maximum_fuel and consumed_fuel on the assumption that the fuel was initially at its maximum (this is what battery monitors assume). Note however that this is an assumption, and the UI should prompt the user appropriately (i.e. notify user that they should fill the tank before boot).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        This kind of information may also be sent in fuel-specific messages such as BATTERY_STATUS_V2. If both messages are sent for the same fuel system, the ids and corresponding information must match.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        This should be streamed (nominally at 0.1 Hz).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        iduint8_tFuel ID. Must match ID of other messages for same fuel system, such as BATTERY_STATUS_V2.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Messages with same value are from the same source (instance).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        maximum_fuelfloatCapacity when full. Must be provided.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        consumed_fuelfloatinvalid:NaNConsumed fuel (measured). This value should not be inferred: if not measured set to NaN. NaN: field not provided.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        remaining_fuelfloatinvalid:NaNRemaining fuel until empty (measured). The value should not be inferred: if not measured set to NaN. NaN: field not provided.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        percent_remaininguint8_t%invalid:UINT8_MAXPercentage of remaining fuel, relative to full. Values: [0-100], UINT8_MAX: field not provided.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        flow_ratefloatinvalid:NaNPositive value when emptying/using, and negative if filling/replacing. NaN: field not provided.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        temperaturefloatKinvalid:NaNFuel temperature. NaN: field not provided.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        fuel_typeuint32_tMAV_FUEL_TYPEFuel type. Defines units for fuel capacity and consumption fields above.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        GENERATOR_STATUS (373) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        ACTUATOR_OUTPUT_STATUS (375) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        TIME_ESTIMATE_TO_TARGET (380) — [from: common] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        TUNNEL (385) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        CAN_FRAME (386) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        CANFD_FRAME (387) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        CAN_FILTER_MODIFY (388) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        ONBOARD_COMPUTER_STATUS (390) — [from: common] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        COMPONENT_INFORMATION (395) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        COMPONENT_INFORMATION_BASIC (396) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        COMPONENT_METADATA (397) — [from: common] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        PLAY_TUNE_V2 (400) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        SUPPORTED_TUNES (401) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        EVENT (410) — [from: common] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        CURRENT_EVENT_SEQUENCE (411) — [from: common] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        REQUEST_EVENT (412) — [from: common] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        RESPONSE_EVENT_ERROR (413) — [from: common] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        GROUP_START (414) — [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Emitted during mission execution when control reaches MAV_CMD_GROUP_START.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        group_iduint32_tMission-unique group id (from MAV_CMD_GROUP_START).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        mission_checksumuint32_tCRC32 checksum of current plan for MAV_MISSION_TYPE_ALL. As defined in MISSION_CHECKSUM message.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        GROUP_END (415) — [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Emitted during mission execution when control reaches MAV_CMD_GROUP_END.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        group_iduint32_tMission-unique group id (from MAV_CMD_GROUP_END).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        mission_checksumuint32_tCRC32 checksum of current plan for MAV_MISSION_TYPE_ALL. As defined in MISSION_CHECKSUM message.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        RADIO_RC_CHANNELS (420) — [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        RC channel outputs from a MAVLink RC receiver for input to a flight controller or other components (allows an RC receiver to connect via MAVLink instead of some other protocol such as PPM-Sum or S.BUS).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Note that this is not intended to be an over-the-air format, and does not replace RC_CHANNELS and similar messages reported by the flight controller. The target_system field should normally be set to the system id of the system to control, typically the flight controller. The target_component field can normally be set to 0, so that all components of the system can receive the message. The channels array field can publish up to 32 channels; the number of channel items used in the array is specified in the count field. The time_last_update_ms field contains the timestamp of the last received valid channels data in the receiver's time domain. The count field indicates the first index of the channel array that is not used for channel data (this and later indexes are zero-filled). The RADIO_RC_CHANNELS_FLAGS_OUTDATED flag is set by the receiver if the channels data is not up-to-date (for example, if new data from the transmitter could not be validated so the last valid data is resent). The RADIO_RC_CHANNELS_FLAGS_FAILSAFE failsafe flag is set by the receiver if the receiver's failsafe condition is met (implementation dependent, e.g., connection to the RC radio is lost). In this case time_last_update_ms still contains the timestamp of the last valid channels data, but the content of the channels data is not defined by the protocol (it is up to the implementation of the receiver). For instance, the channels data could contain failsafe values configured in the receiver; the default is to carry the last valid data. Note: The RC channels fields are extensions to ensure that they are located at the end of the serialized payload and subject to MAVLink's trailing-zero trimming.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        target_systemuint8_tSystem ID (ID of target system, normally flight controller).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        target_componentuint8_tComponent ID (normally 0 for broadcast).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        time_last_update_msuint32_tmsTime when the data in the channels field were last updated (time since boot in the receiver's time domain).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        flagsuint16_tRADIO_RC_CHANNELS_FLAGSRadio RC channels status flags.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        countuint8_tTotal number of RC channels being received. This can be larger than 32, indicating that more channels are available but not given in this message.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        channels ++int16_t[32]min:-4096 max:4096RC channels.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Channel values are in centered 13 bit format. Range is -4096 to 4096, center is 0. Conversion to PWM is x * 5/32 + 1500.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Channels with indexes equal or above count should be set to 0, to benefit from MAVLink's trailing-zero trimming.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        AVAILABLE_MODES (435) — [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Get information about a particular flight modes.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        The message can be enumerated or requested for a particular mode using MAV_CMD_REQUEST_MESSAGE. Specify 0 in param2 to request that the message is emitted for all available modes or the specific index for just one mode. The modes must be available/settable for the current vehicle/frame type. Each modes should only be emitted once (even if it is both standard and custom).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Field NameTypeValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        number_modesuint8_tThe total number of available modes for the current vehicle type.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        mode_indexuint8_tThe current mode index within number_modes, indexed from 1.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        standard_modeuint8_tMAV_STANDARD_MODEStandard mode.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        custom_modeuint32_tA bitfield for use for autopilot-specific flags
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        propertiesuint32_tMAV_MODE_PROPERTYMode properties.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        mode_namechar[35]Name of custom mode, with null termination character. Should be omitted for standard modes.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        CURRENT_MODE (436) — [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Get the current mode.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        This should be emitted on any mode change, and broadcast at low rate (nominally 0.5 Hz). It may be requested using MAV_CMD_REQUEST_MESSAGE.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Field NameTypeValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        standard_modeuint8_tMAV_STANDARD_MODEStandard mode.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        custom_modeuint32_tA bitfield for use for autopilot-specific flags
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        intended_custom_modeuint32_tinvalid:0The custom_mode of the mode that was last commanded by the user (for example, with MAV_CMD_DO_SET_STANDARD_MODE, MAV_CMD_DO_SET_MODE or via RC). This should usually be the same as custom_mode. It will be different if the vehicle is unable to enter the intended mode, or has left that mode due to a failsafe condition. 0 indicates the intended custom mode is unknown/not supplied

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        AVAILABLE_MODES_MONITOR (437) — [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        A change to the sequence number indicates that the set of AVAILABLE_MODES has changed.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        A receiver must re-request all available modes whenever the sequence number changes. This is only emitted after the first change and should then be broadcast at low rate (nominally 0.3 Hz) and on change.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        sequint8_tSequence number. The value iterates sequentially whenever AVAILABLE_MODES changes (e.g. support for a new mode is added/removed dynamically).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        ILLUMINATOR_STATUS (440) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        GNSS_INTEGRITY (441) — [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Information about key components of GNSS receivers, like signal authentication, interference and system errors.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        iduint8_tGNSS receiver id. Must match instance ids of other messages from same receiver.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Messages with same value are from the same source (instance).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        system_errorsuint32_tGPS_SYSTEM_ERROR_FLAGSErrors in the GPS system.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        authentication_stateuint8_tGPS_AUTHENTICATION_STATESignal authentication state of the GPS system.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        jamming_stateuint8_tGPS_JAMMING_STATESignal jamming state of the GPS system.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        spoofing_stateuint8_tGPS_SPOOFING_STATESignal spoofing state of the GPS system.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        raim_stateuint8_tGPS_RAIM_STATEThe state of the RAIM processing.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        raim_hfomuint16_tcminvalid:UINT16_MAXHorizontal expected accuracy using satellites successfully validated using RAIM.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        raim_vfomuint16_tcminvalid:UINT16_MAXVertical expected accuracy using satellites successfully validated using RAIM.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        corrections_qualityuint8_tinvalid:UINT8_MAX min:0 max:10An abstract value representing the estimated quality of incoming corrections, or 255 if not available.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        system_status_summaryuint8_tinvalid:UINT8_MAX min:0 max:10An abstract value representing the overall status of the receiver, or 255 if not available.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        gnss_signal_qualityuint8_tinvalid:UINT8_MAX min:0 max:10An abstract value representing the quality of incoming GNSS signals, or 255 if not available.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        post_processing_qualityuint8_tinvalid:UINT8_MAX min:0 max:10An abstract value representing the estimated PPK quality, or 255 if not available.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        TARGET_ABSOLUTE (510) — [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Current motion information from sensors on a target

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        timestampuint64_tusTimestamp (UNIX epoch time).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        iduint8_tThe ID of the target if multiple targets are present
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        sensor_capabilitiesuint8_tTARGET_ABSOLUTE_SENSOR_CAPABILITY_FLAGSBitmap to indicate the sensor's reporting capabilities
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        latint32_tdegE7Target's latitude (WGS84)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        lonint32_tdegE7Target's longitude (WGS84)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        altfloatmTarget's altitude (AMSL)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        velfloat[3]m/sinvalid:[0]Target's velocity in its body frame
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        accfloat[3]m/s/sinvalid:[0]Linear target's acceleration in its body frame
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        q_targetfloat[4]invalid:[0]Quaternion of the target's orientation from its body frame to the vehicle's NED frame.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        ratesfloat[3]rad/sinvalid:[0]Target's roll, pitch and yaw rates
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        position_stdfloat[2]mStandard deviation of horizontal (eph) and vertical (epv) position errors
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        vel_stdfloat[3]m/sStandard deviation of the target's velocity in its body frame
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        acc_stdfloat[3]m/s/sStandard deviation of the target's acceleration in its body frame

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        TARGET_RELATIVE (511) — [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        The location of a target measured by MAV's onboard sensors.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        timestampuint64_tusTimestamp (UNIX epoch time)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        iduint8_tThe ID of the target if multiple targets are present
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Messages with same value are from the same source (instance).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        frameuint8_tTARGET_OBS_FRAMECoordinate frame used for following fields.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        xfloatmX Position of the target in TARGET_OBS_FRAME
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        yfloatmY Position of the target in TARGET_OBS_FRAME
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        zfloatmZ Position of the target in TARGET_OBS_FRAME
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        pos_stdfloat[3]mStandard deviation of the target's position in TARGET_OBS_FRAME
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        yaw_stdfloatradStandard deviation of the target's orientation in TARGET_OBS_FRAME
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        q_targetfloat[4]Quaternion of the target's orientation from the target's frame to the TARGET_OBS_FRAME (w, x, y, z order, zero-rotation is 1, 0, 0, 0)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        q_sensorfloat[4]Quaternion of the sensor's orientation from TARGET_OBS_FRAME to vehicle-carried NED. (Ignored if set to (0,0,0,0)) (w, x, y, z order, zero-rotation is 1, 0, 0, 0)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        typeuint8_tLANDING_TARGET_TYPEType of target

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        WHEEL_DISTANCE (9000) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        WINCH_STATUS (9005) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        OPEN_DRONE_ID_BASIC_ID (12900) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        OPEN_DRONE_ID_LOCATION (12901) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        OPEN_DRONE_ID_AUTHENTICATION (12902) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        OPEN_DRONE_ID_SELF_ID (12903) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        OPEN_DRONE_ID_SYSTEM (12904) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        OPEN_DRONE_ID_OPERATOR_ID (12905) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        OPEN_DRONE_ID_MESSAGE_PACK (12915) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        OPEN_DRONE_ID_ARM_STATUS (12918) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        OPEN_DRONE_ID_SYSTEM_UPDATE (12919) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        HYGROMETER_SENSOR (12920) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Enumerated Types

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        WIFI_NETWORK_SECURITY — [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        WiFi wireless security protocols.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        0WIFI_NETWORK_SECURITY_UNDEFINEDUndefined or unknown security protocol.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        1WIFI_NETWORK_SECURITY_OPENOpen network, no security.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        2WIFI_NETWORK_SECURITY_WEPWEP.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        3WIFI_NETWORK_SECURITY_WPA1WPA1.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        4WIFI_NETWORK_SECURITY_WPA2WPA2.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        5WIFI_NETWORK_SECURITY_WPA3WPA3.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        AIRSPEED_SENSOR_FLAGS — [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        (Bitmask) Airspeed sensor flags

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        0AIRSPEED_SENSOR_UNHEALTHYAirspeed sensor is unhealthy
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        1AIRSPEED_SENSOR_USINGTrue if the data from this sensor is being actively used by the flight controller for guidance, navigation or control.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        PARAM_TRANSACTION_TRANSPORT — [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Possible transport layers to set and get parameters via mavlink during a parameter transaction.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        0PARAM_TRANSACTION_TRANSPORT_PARAMTransaction over param transport.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        1PARAM_TRANSACTION_TRANSPORT_PARAM_EXTTransaction over param_ext transport.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        PARAM_TRANSACTION_ACTION — [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Possible parameter transaction actions.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        0PARAM_TRANSACTION_ACTION_STARTCommit the current parameter transaction.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        1PARAM_TRANSACTION_ACTION_COMMITCommit the current parameter transaction.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        2PARAM_TRANSACTION_ACTION_CANCELCancel the current parameter transaction.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_STANDARD_MODE — [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Standard modes with a well understood meaning across flight stacks and vehicle types.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        For example, most flight stack have the concept of a "return" or "RTL" mode that takes a vehicle to safety, even though the precise mechanics of this mode may differ. Modes may be set using MAV_CMD_DO_SET_STANDARD_MODE.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        0MAV_STANDARD_MODE_NON_STANDARDNon standard mode.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        This may be used when reporting the mode if the current flight mode is not a standard mode.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        1MAV_STANDARD_MODE_POSITION_HOLDPosition mode (manual).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Position-controlled and stabilized manual mode.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        When sticks are released vehicles return to their level-flight orientation and hold both position and altitude against wind and external forces.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        This mode can only be set by vehicles that can hold a fixed position.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Multicopter (MC) vehicles actively brake and hold both position and altitude against wind and external forces.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Hybrid MC/FW ("VTOL") vehicles first transition to multicopter mode (if needed) but otherwise behave in the same way as MC vehicles.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Fixed-wing (FW) vehicles must not support this mode.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Other vehicle types must not support this mode (this may be revisited through the PR process).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        2MAV_STANDARD_MODE_ORBITOrbit (manual).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Position-controlled and stabilized manual mode.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        The vehicle circles around a fixed setpoint in the horizontal plane at a particular radius, altitude, and direction.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Flight stacks may further allow manual control over the setpoint position, radius, direction, speed, and/or altitude of the circle, but this is not mandated.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Flight stacks may support the MAV_CMD_DO_ORBIT for changing the orbit parameters.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MC and FW vehicles may support this mode.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Hybrid MC/FW ("VTOL") vehicles may support this mode in MC/FW or both modes; if the mode is not supported by the current configuration the vehicle should transition to the supported configuration.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Other vehicle types must not support this mode (this may be revisited through the PR process).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        3MAV_STANDARD_MODE_CRUISECruise mode (manual).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Position-controlled and stabilized manual mode.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        When sticks are released vehicles return to their level-flight orientation and hold their original track against wind and external forces.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Fixed-wing (FW) vehicles level orientation and maintain current track and altitude against wind and external forces.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Hybrid MC/FW ("VTOL") vehicles first transition to FW mode (if needed) but otherwise behave in the same way as MC vehicles.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Multicopter (MC) vehicles must not support this mode.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Other vehicle types must not support this mode (this may be revisited through the PR process).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        4MAV_STANDARD_MODE_ALTITUDE_HOLDAltitude hold (manual).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Altitude-controlled and stabilized manual mode.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        When sticks are released vehicles return to their level-flight orientation and hold their altitude.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MC vehicles continue with existing momentum and may move with wind (or other external forces).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        FW vehicles continue with current heading, but may be moved off-track by wind.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Hybrid MC/FW ("VTOL") vehicles behave according to their current configuration/mode (FW or MC).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Other vehicle types must not support this mode (this may be revisited through the PR process).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        5MAV_STANDARD_MODE_RETURN_HOMEReturn home mode (auto).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Automatic mode that returns vehicle to home via a safe flight path.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        It may also automatically land the vehicle (i.e. RTL).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        The precise flight path and landing behaviour depend on vehicle configuration and type.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        6MAV_STANDARD_MODE_SAFE_RECOVERYSafe recovery mode (auto).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Automatic mode that takes vehicle to a predefined safe location via a safe flight path (rally point or mission defined landing) .
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        It may also automatically land the vehicle.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        The precise return location, flight path, and landing behaviour depend on vehicle configuration and type.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        7MAV_STANDARD_MODE_MISSIONMission mode (automatic).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Automatic mode that executes MAVLink missions.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Missions are executed from the current waypoint as soon as the mode is enabled.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        8MAV_STANDARD_MODE_LANDLand mode (auto).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Automatic mode that lands the vehicle at the current location.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        The precise landing behaviour depends on vehicle configuration and type.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        9MAV_STANDARD_MODE_TAKEOFFTakeoff mode (auto).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Automatic takeoff mode.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        The precise takeoff behaviour depends on vehicle configuration and type.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_MODE_PROPERTY — [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        (Bitmask) Mode properties.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        1MAV_MODE_PROPERTY_ADVANCEDIf set, this mode is an advanced mode.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        For example a rate-controlled manual mode might be advanced, whereas a position-controlled manual mode is not.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        A GCS can optionally use this flag to configure the UI for its intended users.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        2MAV_MODE_PROPERTY_NOT_USER_SELECTABLEIf set, this mode should not be added to the list of selectable modes.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        The mode might still be selected by the FC directly (for example as part of a failsafe).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_BATTERY_STATUS_FLAGS — [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        (Bitmask) Battery status flags for fault, health and state indication.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        1MAV_BATTERY_STATUS_FLAGS_NOT_READY_TO_USEThe battery is not ready to use (fly).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Set if the battery has faults or other conditions that make it unsafe to fly with.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Note: It will be the logical OR of other status bits (chosen by the manufacturer/integrator).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        2MAV_BATTERY_STATUS_FLAGS_CHARGINGBattery is charging.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        4MAV_BATTERY_STATUS_FLAGS_CELL_BALANCINGBattery is cell balancing (during charging).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Not ready to use (MAV_BATTERY_STATUS_FLAGS_NOT_READY_TO_USE may be set).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        8MAV_BATTERY_STATUS_FLAGS_FAULT_CELL_IMBALANCEBattery cells are not balanced.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Not ready to use.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        16MAV_BATTERY_STATUS_FLAGS_AUTO_DISCHARGINGBattery is auto discharging (towards storage level).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Not ready to use (MAV_BATTERY_STATUS_FLAGS_NOT_READY_TO_USE would be set).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        32MAV_BATTERY_STATUS_FLAGS_REQUIRES_SERVICEBattery requires service (not safe to fly).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        This is set at vendor discretion.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        It is likely to be set for most faults, and may also be set according to a maintenance schedule (such as age, or number of recharge cycles, etc.).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        64MAV_BATTERY_STATUS_FLAGS_BAD_BATTERYBattery is faulty and cannot be repaired (not safe to fly).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        This is set at vendor discretion.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        The battery should be disposed of safely.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        128MAV_BATTERY_STATUS_FLAGS_PROTECTIONS_ENABLEDAutomatic battery protection monitoring is enabled.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        When enabled, the system will monitor for certain kinds of faults, such as cells being over-voltage.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        If a fault is triggered then and protections are enabled then a safety fault (MAV_BATTERY_STATUS_FLAGS_FAULT_PROTECTION_SYSTEM) will be set and power from the battery will be stopped.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Note that battery protection monitoring should only be enabled when the vehicle is landed. Once the vehicle is armed, or starts moving, the protections should be disabled to prevent false positives from disabling the output.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        256MAV_BATTERY_STATUS_FLAGS_FAULT_PROTECTION_SYSTEMThe battery fault protection system had detected a fault and cut all power from the battery.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        This will only trigger if MAV_BATTERY_STATUS_FLAGS_PROTECTIONS_ENABLED is set.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Other faults like MAV_BATTERY_STATUS_FLAGS_FAULT_OVER_VOLT may also be set, indicating the cause of the protection fault.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        512MAV_BATTERY_STATUS_FLAGS_FAULT_OVER_VOLTOne or more cells are above their maximum voltage rating.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        1024MAV_BATTERY_STATUS_FLAGS_FAULT_UNDER_VOLTOne or more cells are below their minimum voltage rating.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        A battery that had deep-discharged might be irrepairably damaged, and set both MAV_BATTERY_STATUS_FLAGS_FAULT_UNDER_VOLT and MAV_BATTERY_STATUS_FLAGS_BAD_BATTERY.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        2048MAV_BATTERY_STATUS_FLAGS_FAULT_OVER_TEMPERATUREOver-temperature fault.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        4096MAV_BATTERY_STATUS_FLAGS_FAULT_UNDER_TEMPERATUREUnder-temperature fault.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        8192MAV_BATTERY_STATUS_FLAGS_FAULT_OVER_CURRENTOver-current fault.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        16384MAV_BATTERY_STATUS_FLAGS_FAULT_SHORT_CIRCUITShort circuit event detected.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        The battery may or may not be safe to use (check other flags).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        32768MAV_BATTERY_STATUS_FLAGS_FAULT_INCOMPATIBLE_VOLTAGEVoltage not compatible with power rail voltage (batteries on same power rail should have similar voltage).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        65536MAV_BATTERY_STATUS_FLAGS_FAULT_INCOMPATIBLE_FIRMWAREBattery firmware is not compatible with current autopilot firmware.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        131072MAV_BATTERY_STATUS_FLAGS_FAULT_INCOMPATIBLE_CELLS_CONFIGURATIONBattery is not compatible due to cell configuration (e.g. 5s1p when vehicle requires 6s).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        262144MAV_BATTERY_STATUS_FLAGS_CAPACITY_RELATIVE_TO_FULLBattery capacity_consumed and capacity_remaining values are relative to a full battery (they sum to the total capacity of the battery).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        This flag would be set for a smart battery that can accurately determine its remaining charge across vehicle reboots and discharge/recharge cycles.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        If unset the capacity_consumed indicates the consumption since vehicle power-on, as measured using a power monitor. The capacity_remaining, if provided, indicates the estimated remaining capacity on the assumption that the battery was full on vehicle boot.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        If unset a GCS is recommended to advise that users fully charge the battery on power on.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        4294967295MAV_BATTERY_STATUS_FLAGS_EXTENDEDReserved (not used). If set, this will indicate that an additional status field exists for higher status values.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        TARGET_ABSOLUTE_SENSOR_CAPABILITY_FLAGS — [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        (Bitmask) These flags indicate the sensor reporting capabilities for TARGET_ABSOLUTE.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        1TARGET_ABSOLUTE_SENSOR_CAPABILITY_POSITION
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        2TARGET_ABSOLUTE_SENSOR_CAPABILITY_VELOCITY
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        4TARGET_ABSOLUTE_SENSOR_CAPABILITY_ACCELERATION
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        8TARGET_ABSOLUTE_SENSOR_CAPABILITY_ATTITUDE
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        16TARGET_ABSOLUTE_SENSOR_CAPABILITY_RATES

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        TARGET_OBS_FRAME — [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        The frame of a target observation from an onboard sensor.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        0TARGET_OBS_FRAME_LOCAL_NEDNED local tangent frame (x: North, y: East, z: Down) with origin fixed relative to earth.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        1TARGET_OBS_FRAME_BODY_FRDFRD local frame aligned to the vehicle's attitude (x: Forward, y: Right, z: Down) with an origin that travels with vehicle.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        2TARGET_OBS_FRAME_LOCAL_OFFSET_NEDNED local tangent frame (x: North, y: East, z: Down) with an origin that travels with vehicle.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        3TARGET_OBS_FRAME_OTHEROther sensor frame for target observations neither in local NED nor in body FRD.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        RADIO_RC_CHANNELS_FLAGS — [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        (Bitmask) RADIO_RC_CHANNELS flags (bitmask).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        1RADIO_RC_CHANNELS_FLAGS_FAILSAFEFailsafe is active. The content of the RC channels data in the RADIO_RC_CHANNELS message is implementation dependent.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        2RADIO_RC_CHANNELS_FLAGS_OUTDATEDChannel data may be out of date. This is set when the receiver is unable to validate incoming data from the transmitter and has therefore resent the last valid data it received.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_FUEL_TYPE — [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Fuel types for use in FUEL_TYPE. Fuel types specify the units for the maximum, available and consumed fuel, and for the flow rates.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        0MAV_FUEL_TYPE_UNKNOWNNot specified. Fuel levels are normalized (i.e. maximum is 1, and other levels are relative to 1.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        1MAV_FUEL_TYPE_LIQUIDA generic liquid fuel. Fuel levels are in millilitres (ml). Fuel rates are in millilitres/second.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        2MAV_FUEL_TYPE_GASA gas tank. Fuel levels are in kilo-Pascal (kPa), and flow rates are in milliliters per second (ml/s).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        GPS_SYSTEM_ERROR_FLAGS — [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        (Bitmask) Flags indicating errors in a GPS receiver.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        1GPS_SYSTEM_ERROR_INCOMING_CORRECTIONSThere are problems with incoming correction streams.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        2GPS_SYSTEM_ERROR_CONFIGURATIONThere are problems with the configuration.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        4GPS_SYSTEM_ERROR_SOFTWAREThere are problems with the software on the GPS receiver.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        8GPS_SYSTEM_ERROR_ANTENNAThere are problems with an antenna connected to the GPS receiver.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        16GPS_SYSTEM_ERROR_EVENT_CONGESTIONThere are problems handling all incoming events.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        32GPS_SYSTEM_ERROR_CPU_OVERLOADThe GPS receiver CPU is overloaded.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        64GPS_SYSTEM_ERROR_OUTPUT_CONGESTIONThe GPS receiver is experiencing output congestion.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        GPS_AUTHENTICATION_STATE — [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Signal authentication state in a GPS receiver.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        0GPS_AUTHENTICATION_STATE_UNKNOWNThe GPS receiver does not provide GPS signal authentication info.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        1GPS_AUTHENTICATION_STATE_INITIALIZINGThe GPS receiver is initializing signal authentication.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        2GPS_AUTHENTICATION_STATE_ERRORThe GPS receiver encountered an error while initializing signal authentication.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        3GPS_AUTHENTICATION_STATE_OKThe GPS receiver has correctly authenticated all signals.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        4GPS_AUTHENTICATION_STATE_DISABLEDGPS signal authentication is disabled on the receiver.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        GPS_JAMMING_STATE — [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Signal jamming state in a GPS receiver.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        0GPS_JAMMING_STATE_UNKNOWNThe GPS receiver does not provide GPS signal jamming info.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        1GPS_JAMMING_STATE_OKThe GPS receiver detected no signal jamming.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        2GPS_JAMMING_STATE_MITIGATEDThe GPS receiver detected and mitigated signal jamming.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        3GPS_JAMMING_STATE_DETECTEDThe GPS receiver detected signal jamming.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        GPS_SPOOFING_STATE — [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Signal spoofing state in a GPS receiver.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        0GPS_SPOOFING_STATE_UNKNOWNThe GPS receiver does not provide GPS signal spoofing info.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        1GPS_SPOOFING_STATE_OKThe GPS receiver detected no signal spoofing.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        2GPS_SPOOFING_STATE_MITIGATEDThe GPS receiver detected and mitigated signal spoofing.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        3GPS_SPOOFING_STATE_DETECTEDThe GPS receiver detected signal spoofing but still has a fix.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        GPS_RAIM_STATE — [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        State of RAIM processing.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        0GPS_RAIM_STATE_UNKNOWNRAIM capability is unknown.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        1GPS_RAIM_STATE_DISABLEDRAIM is disabled.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        2GPS_RAIM_STATE_OKRAIM integrity check was successful.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        3GPS_RAIM_STATE_FAILEDRAIM integrity check failed.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        FIRMWARE_VERSION_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        HL_FAILURE_FLAG — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_GOTO — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_MODE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_SYS_STATUS_SENSOR — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_SYS_STATUS_SENSOR_EXTENDED — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_FRAME — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        FENCE_ACTION — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        FENCE_BREACH — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        FENCE_MITIGATE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        FENCE_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_MOUNT_MODE — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        GIMBAL_DEVICE_CAP_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        GIMBAL_MANAGER_CAP_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        GIMBAL_DEVICE_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        GIMBAL_MANAGER_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        GIMBAL_DEVICE_ERROR_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        GRIPPER_ACTIONS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        WINCH_ACTIONS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        UAVCAN_NODE_HEALTH — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        UAVCAN_NODE_MODE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        ESC_CONNECTION_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        ESC_FAILURE_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        STORAGE_STATUS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        STORAGE_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        STORAGE_USAGE_FLAG — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        ORBIT_YAW_BEHAVIOUR — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        WIFI_CONFIG_AP_RESPONSE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        CELLULAR_CONFIG_RESPONSE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        WIFI_CONFIG_AP_MODE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        COMP_METADATA_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        ACTUATOR_CONFIGURATION — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        ACTUATOR_OUTPUT_FUNCTION — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        AUTOTUNE_AXIS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        PREFLIGHT_STORAGE_PARAMETER_ACTION — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        PREFLIGHT_STORAGE_MISSION_ACTION — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_DATA_STREAM — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_ROI — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_PARAM_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_PARAM_EXT_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_RESULT — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_MISSION_RESULT — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_SEVERITY — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_POWER_STATUS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        SERIAL_CONTROL_DEV — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        SERIAL_CONTROL_FLAG — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_DISTANCE_SENSOR — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_SENSOR_ORIENTATION — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_PROTOCOL_CAPABILITY — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_MISSION_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_ESTIMATOR_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_BATTERY_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_BATTERY_FUNCTION — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_BATTERY_CHARGE_STATE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_BATTERY_MODE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_BATTERY_FAULT — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_GENERATOR_STATUS_FLAG — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_VTOL_STATE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_LANDED_STATE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        ADSB_ALTITUDE_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        ADSB_EMITTER_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        ADSB_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_DO_REPOSITION_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        SPEED_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        ESTIMATOR_STATUS_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MOTOR_TEST_ORDER — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MOTOR_TEST_THROTTLE_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        GPS_INPUT_IGNORE_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_COLLISION_ACTION — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_COLLISION_THREAT_LEVEL — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_COLLISION_SRC — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        GPS_FIX_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        RTK_BASELINE_COORDINATE_SYSTEM — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        LANDING_TARGET_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        VTOL_TRANSITION_HEADING — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        CAMERA_CAP_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        VIDEO_STREAM_STATUS_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        VIDEO_STREAM_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        VIDEO_STREAM_ENCODING — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        CAMERA_TRACKING_STATUS_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        CAMERA_TRACKING_MODE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        CAMERA_TRACKING_TARGET_DATA — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        CAMERA_ZOOM_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        SET_FOCUS_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        CAMERA_SOURCE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        PARAM_ACK — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        CAMERA_MODE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_ARM_AUTH_DENIED_REASON — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        RC_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        POSITION_TARGET_TYPEMASK — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        ATTITUDE_TARGET_TYPEMASK — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        UTM_FLIGHT_STATE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        UTM_DATA_AVAIL_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        CELLULAR_STATUS_FLAG — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        CELLULAR_NETWORK_FAILED_REASON — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        CELLULAR_NETWORK_RADIO_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        PRECISION_LAND_MODE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        PARACHUTE_ACTION — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_TUNNEL_PAYLOAD_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_ODID_ID_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_ODID_UA_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_ODID_STATUS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_ODID_HEIGHT_REF — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_ODID_HOR_ACC — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_ODID_VER_ACC — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_ODID_SPEED_ACC — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_ODID_TIME_ACC — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_ODID_AUTH_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_ODID_DESC_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_ODID_OPERATOR_LOCATION_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_ODID_CLASSIFICATION_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_ODID_CATEGORY_EU — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_ODID_CLASS_EU — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_ODID_OPERATOR_ID_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_ODID_ARM_STATUS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        TUNE_FORMAT — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        AIS_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        AIS_NAV_STATUS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        AIS_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        FAILURE_UNIT — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        FAILURE_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_WINCH_STATUS_FLAG — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAG_CAL_STATUS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_EVENT_ERROR_REASON — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_EVENT_CURRENT_SEQUENCE_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        HIL_SENSOR_UPDATED_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        HIGHRES_IMU_UPDATED_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        CAN_FILTER_OP — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_FTP_ERR — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_FTP_OPCODE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MISSION_STATE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        SAFETY_SWITCH_STATE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        ILLUMINATOR_MODE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        ILLUMINATOR_ERROR_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_AUTOPILOT — [from: minimal]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_TYPE — [from: minimal]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_MODE_FLAG — [from: minimal]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_MODE_FLAG_DECODE_POSITION — [from: minimal]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_STATE — [from: minimal]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_COMPONENT — [from: minimal]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Commands (MAV_CMD)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_NAV_WAYPOINT (16) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_NAV_LOITER_UNLIM (17) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_NAV_LOITER_TURNS (18) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_NAV_LOITER_TIME (19) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_NAV_RETURN_TO_LAUNCH (20) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_NAV_LAND (21) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_NAV_TAKEOFF (22) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_NAV_LAND_LOCAL (23) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_NAV_TAKEOFF_LOCAL (24) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_NAV_FOLLOW (25) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_NAV_CONTINUE_AND_CHANGE_ALT (30) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_NAV_LOITER_TO_ALT (31) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_DO_FOLLOW (32) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_DO_FOLLOW_REPOSITION (33) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_DO_ORBIT (34) — [from: common] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_DO_FIGURE_EIGHT (35) — [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Fly a figure eight path as defined by the parameters.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Set parameters to NaN/INT32_MAX (as appropriate) to use system-default values. The command is intended for fixed wing vehicles (and VTOL hybrids flying in fixed-wing mode), allowing POI tracking for gimbals that don't support infinite rotation. This command only defines the flight path. Speed should be set independently (use e.g. MAV_CMD_DO_CHANGE_SPEED). Yaw and other degrees of freedom are not specified, and will be flight-stack specific (on vehicles where they can be controlled independent of the heading).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Param (Label)DescriptionUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        1 (Major Radius)Major axis radius of the figure eight. Positive: orbit the north circle clockwise. Negative: orbit the north circle counter-clockwise.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        NaN: The radius will be set to 2.5 times the minor radius and direction is clockwise.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Must be greater or equal to two times the minor radius for feasible values.                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        		m
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        2 (Minor Radius)Minor axis radius of the figure eight. Defines the radius of the two circles that make up the figure. Negative value has no effect.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        NaN: The radius will be set to the default loiter radius.                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        		m
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        3
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        4 (Orientation)Orientation of the figure eight major axis with respect to true north (range: [-pi,pi]). NaN: use default orientation aligned to true north.rad
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        5 (Latitude/X)Center point latitude/X coordinate according to MAV_FRAME. If no MAV_FRAME specified, MAV_FRAME_GLOBAL is assumed.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        INT32_MAX or NaN: Use current vehicle position, or current center if already loitering.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        6 (Longitude/Y)Center point longitude/Y coordinate according to MAV_FRAME. If no MAV_FRAME specified, MAV_FRAME_GLOBAL is assumed.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        INT32_MAX or NaN: Use current vehicle position, or current center if already loitering.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        7 (Altitude/Z)Center point altitude MSL/Z coordinate according to MAV_FRAME. If no MAV_FRAME specified, MAV_FRAME_GLOBAL is assumed.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        INT32_MAX or NaN: Use current vehicle altitude.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_NAV_ROI (80) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_NAV_PATHPLANNING (81) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_NAV_SPLINE_WAYPOINT (82) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_NAV_VTOL_TAKEOFF (84) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_NAV_VTOL_LAND (85) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_NAV_GUIDED_ENABLE (92) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_NAV_DELAY (93) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_NAV_PAYLOAD_PLACE (94) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_NAV_LAST (95) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_CONDITION_DELAY (112) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_CONDITION_CHANGE_ALT (113) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_CONDITION_DISTANCE (114) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_CONDITION_YAW (115) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_CONDITION_LAST (159) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_DO_SET_MODE (176) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_DO_JUMP (177) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_DO_CHANGE_SPEED (178) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_DO_SET_HOME (179) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_DO_SET_PARAMETER (180) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_DO_SET_RELAY (181) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_DO_REPEAT_RELAY (182) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_DO_SET_SERVO (183) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_DO_REPEAT_SERVO (184) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_DO_FLIGHTTERMINATION (185) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_DO_CHANGE_ALTITUDE (186) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_DO_SET_ACTUATOR (187) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_DO_RETURN_PATH_START (188) — [from: common] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_DO_LAND_START (189) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_DO_RALLY_LAND (190) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_DO_GO_AROUND (191) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_DO_REPOSITION (192) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_DO_PAUSE_CONTINUE (193) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_DO_SET_REVERSE (194) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_DO_SET_ROI_LOCATION (195) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_DO_SET_ROI_WPNEXT_OFFSET (196) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_DO_SET_ROI_NONE (197) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_DO_SET_ROI_SYSID (198) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_DO_CONTROL_VIDEO (200) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_DO_SET_ROI (201) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_DO_DIGICAM_CONFIGURE (202) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_DO_DIGICAM_CONTROL (203) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_DO_MOUNT_CONFIGURE (204) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_DO_MOUNT_CONTROL (205) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_DO_SET_CAM_TRIGG_DIST (206) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_DO_FENCE_ENABLE (207) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_DO_PARACHUTE (208) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_DO_MOTOR_TEST (209) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_DO_INVERTED_FLIGHT (210) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_DO_GRIPPER (211) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_DO_AUTOTUNE_ENABLE (212) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_NAV_SET_YAW_SPEED (213) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_DO_SET_CAM_TRIGG_INTERVAL (214) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_DO_MOUNT_CONTROL_QUAT (220) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_DO_GUIDED_MASTER (221) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_DO_GUIDED_LIMITS (222) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_DO_ENGINE_CONTROL (223) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_DO_SET_MISSION_CURRENT (224) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_DO_LAST (240) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_PREFLIGHT_CALIBRATION (241) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_PREFLIGHT_SET_SENSOR_OFFSETS (242) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_PREFLIGHT_UAVCAN (243) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_PREFLIGHT_STORAGE (245) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN (246) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_DO_UPGRADE (247) — [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Request a target system to start an upgrade of one (or all) of its components.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        For example, the command might be sent to a companion computer to cause it to upgrade a connected flight controller. The system doing the upgrade will report progress using the normal command protocol sequence for a long running operation. Command protocol information: https://mavlink.io/en/services/command.html.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        1 (Component ID)Component id of the component to be upgraded. If set to 0, all components should be upgraded.MAV_COMPONENT
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        2 (Reboot)0: Do not reboot component after the action is executed, 1: Reboot component after the action is executed.min: 0 max: 1 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        3Reserved
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        4Reserved
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        5Reserved
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        6Reserved
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        7WIP: upgrade progress report rate (can be used for more granular control).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_OVERRIDE_GOTO (252) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_OBLIQUE_SURVEY (260) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_DO_SET_STANDARD_MODE (262) — [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Enable the specified standard MAVLink mode.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        If the mode is not supported the vehicle should ACK with MAV_RESULT_FAILED.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        1 (Standard Mode)The mode to set.MAV_STANDARD_MODE
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        2
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        3
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        4
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        5
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        6
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        7

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_MISSION_START (300) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_GROUP_START (301) — [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Define start of a group of mission items. When control reaches this command a GROUP_START message is emitted.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        The end of a group is marked using MAV_CMD_GROUP_END with the same group id. Group ids are expected, but not required, to iterate sequentially. Groups can be nested.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        1 (Group ID)Mission-unique group id.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Group id is limited because only 24 bit integer can be stored in 32 bit float.                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        		min: 0 max: 16777216 inc: 1

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_GROUP_END (302) — [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Define end of a group of mission items. When control reaches this command a GROUP_END message is emitted.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        The start of the group is marked is marked using MAV_CMD_GROUP_START with the same group id. Group ids are expected, but not required, to iterate sequentially. Groups can be nested.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        1 (Group ID)Mission-unique group id.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Group id is limited because only 24 bit integer can be stored in 32 bit float.                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        		min: 0 max: 16777216 inc: 1

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_ACTUATOR_TEST (310) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_CONFIGURE_ACTUATOR (311) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_COMPONENT_ARM_DISARM (400) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_RUN_PREARM_CHECKS (401) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_ILLUMINATOR_ON_OFF (405) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_DO_ILLUMINATOR_CONFIGURE (406) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_GET_HOME_POSITION (410) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_INJECT_FAILURE (420) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_START_RX_PAIR (500) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_GET_MESSAGE_INTERVAL (510) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_SET_MESSAGE_INTERVAL (511) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_REQUEST_MESSAGE (512) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_REQUEST_PROTOCOL_VERSION (519) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_REQUEST_AUTOPILOT_CAPABILITIES (520) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_REQUEST_CAMERA_INFORMATION (521) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_REQUEST_CAMERA_SETTINGS (522) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_REQUEST_STORAGE_INFORMATION (525) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_STORAGE_FORMAT (526) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_REQUEST_CAMERA_CAPTURE_STATUS (527) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_REQUEST_FLIGHT_INFORMATION (528) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_RESET_CAMERA_SETTINGS (529) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_SET_CAMERA_MODE (530) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_SET_CAMERA_ZOOM (531) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_SET_CAMERA_FOCUS (532) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_SET_STORAGE_USAGE (533) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_SET_CAMERA_SOURCE (534) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_SET_AT_S_PARAM (550) — [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Allows setting an AT S command of an SiK radio.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Param (Label)Description
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        1 (Radio instance)The radio instance, one-based, 0 for all.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        2 (Index)The Sx index, e.g. 3 for S3 which is NETID.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        3 (Value)The value to set it to, e.g. default 25 for NETID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        4
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        5
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        6
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        7

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_JUMP_TAG (600) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_DO_JUMP_TAG (601) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_DO_SET_SYS_CMP_ID (610) — [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Set system and component id. This allows moving of a system and all its components to a new system id, or moving a particular component to a new system/component id. Recipients must reject command addressed to broadcast system ID.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        1 (System ID)New system ID for target component(s). 0: ignore and reject command (broadcast system ID not allowed).min: 1 max: 255 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        2 (Component ID)New component ID for target component(s). 0: ignore (component IDs don't change).min: 0 max: 255 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        3 (Reboot)Reboot components after ID change. Any non-zero value triggers the reboot.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        4

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_PARAM_TRANSACTION (900) — [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Request to start or end a parameter transaction. Multiple kinds of transport layers can be used to exchange parameters in the transaction (param, param_ext and mavftp). The command response can either be a success/failure or an in progress in case the receiving side takes some time to apply the parameters.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        1 (Action)Action to be performed (start, commit, cancel, etc.)PARAM_TRANSACTION_ACTION
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        2 (Transport)Possible transport layers to set and get parameters via mavlink during a parameter transaction.PARAM_TRANSACTION_TRANSPORT
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        3 (Transaction ID)Identifier for a specific transaction.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_DO_GIMBAL_MANAGER_PITCHYAW (1000) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_DO_GIMBAL_MANAGER_CONFIGURE (1001) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_IMAGE_START_CAPTURE (2000) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_IMAGE_STOP_CAPTURE (2001) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_REQUEST_CAMERA_IMAGE_CAPTURE (2002) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_DO_TRIGGER_CONTROL (2003) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_CAMERA_TRACK_POINT (2004) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_CAMERA_TRACK_RECTANGLE (2005) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_CAMERA_STOP_TRACKING (2010) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_VIDEO_START_CAPTURE (2500) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_VIDEO_STOP_CAPTURE (2501) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_VIDEO_START_STREAMING (2502) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_VIDEO_STOP_STREAMING (2503) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_REQUEST_VIDEO_STREAM_INFORMATION (2504) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_REQUEST_VIDEO_STREAM_STATUS (2505) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_LOGGING_START (2510) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_LOGGING_STOP (2511) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_AIRFRAME_CONFIGURATION (2520) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_CONTROL_HIGH_LATENCY (2600) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_PANORAMA_CREATE (2800) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_DO_VTOL_TRANSITION (3000) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_ARM_AUTHORIZATION_REQUEST (3001) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_SET_GUIDED_SUBMODE_STANDARD (4000) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_SET_GUIDED_SUBMODE_CIRCLE (4001) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_CONDITION_GATE (4501) — [from: common] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_NAV_FENCE_RETURN_POINT (5000) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_NAV_FENCE_POLYGON_VERTEX_INCLUSION (5001) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_NAV_FENCE_POLYGON_VERTEX_EXCLUSION (5002) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_NAV_FENCE_CIRCLE_INCLUSION (5003) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_NAV_FENCE_CIRCLE_EXCLUSION (5004) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_NAV_RALLY_POINT (5100) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_UAVCAN_GET_NODE_INFO (5200) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_DO_SET_SAFETY_SWITCH_STATE (5300) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_DO_ADSB_OUT_IDENT (10001) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_ODID_SET_EMERGENCY (12900) — [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Used to manually set/unset emergency status for remote id.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        This is for compliance with MOC ASTM docs, specifically F358 section 7.7: "Emergency Status Indicator". The requirement can also be satisfied by automatic setting of the emergency status by flight stack, and that approach is preferred. See https://mavlink.io/en/services/opendroneid.html for more information.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        1 (Number)Set/unset emergency 0: unset, 1: setmin: 0 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        2
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        3
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_PAYLOAD_PREPARE_DEPLOY (30001) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_PAYLOAD_CONTROL_DEPLOY (30002) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_WAYPOINT_USER_1 (31000) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_WAYPOINT_USER_2 (31001) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_WAYPOINT_USER_3 (31002) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_WAYPOINT_USER_4 (31003) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_WAYPOINT_USER_5 (31004) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_SPATIAL_USER_1 (31005) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_SPATIAL_USER_2 (31006) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_SPATIAL_USER_3 (31007) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_SPATIAL_USER_4 (31008) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_SPATIAL_USER_5 (31009) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_USER_1 (31010) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_USER_2 (31011) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_USER_3 (31012) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_USER_4 (31013) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_USER_5 (31014) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_CAN_FORWARD (32000) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_FIXED_MAG_CAL_YAW (42006) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_DO_WINCH (42600) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_EXTERNAL_POSITION_ESTIMATE (43003) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_EXTERNAL_WIND_ESTIMATE (43004) — [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Set an external estimate of wind direction and speed.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        This might be used to provide an initial wind estimate to the estimator (EKF) in the case where the vehicle is wind dead-reckoning, extending the time when operating without GPS before before position drift builds to an unsafe level. For this use case the command might reasonably be sent every few minutes when operating at altitude, and the value is cleared if the estimator resets itself.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Param (Label)DescriptionValuesUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        1 (Wind speed)Horizontal wind speed.min: 0m/s
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        2 (Wind speed accuracy)Estimated 1 sigma accuracy of wind speed. Set to NaN if unknown.m/s
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        3 (Direction)Azimuth (relative to true north) from where the wind is blowing.min: 0 max: 360deg
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        4 (Direction accuracy)Estimated 1 sigma accuracy of wind direction. Set to NaN if unknown.deg
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          No results matching ""

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          \ No newline at end of file +development.xml · MAVLink Developer Guide
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Dialect: development

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          This dialect contains messages that are proposed for inclusion in the standard set, in order to ease development of prototype implementations. They should be considered a 'work in progress' and not included in production builds. They should be considered a 'work in progress' and not included in production builds.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          This topic is a human-readable form of the XML definition file: development.xml.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAVLink 2 extension fields that have been added to MAVLink 1 messages are displayed in blue. - Entities from dialects are displayed only as headings (with link to original)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Protocol dialect: 0

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Protocol version: 0

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Summary

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          TypeDefinedIncluded
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Messages18224
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Enums17143
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Commands1750

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          The following sections list all entities in the dialect (both included and defined in this file).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Messages

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          PARAM_ACK_TRANSACTION (19) — [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Response from a PARAM_SET message when it is used in a transaction.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          target_systemuint8_tId of system that sent PARAM_SET message.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          target_componentuint8_tId of system that sent PARAM_SET message.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          param_idchar[16]Parameter id, terminated by NULL if the length is less than 16 human-readable chars and WITHOUT null termination (NULL) byte if the length is exactly 16 chars - applications have to provide 16+1 bytes storage if the ID is stored as string
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          param_valuefloatParameter value (new value if PARAM_ACCEPTED, current value otherwise)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          param_typeuint8_tMAV_PARAM_TYPEParameter type.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          param_resultuint8_tPARAM_ACKResult code.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          AIRSPEED (295) — [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Airspeed information from a sensor.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          iduint8_tSensor ID.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Messages with same value are from the same source (instance).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          airspeedfloatm/sCalibrated airspeed (CAS).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          temperatureint16_tcdegCTemperature. INT16_MAX for value unknown/not supplied.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          raw_pressfloathPaRaw differential pressure. NaN for value unknown/not supplied.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          flagsuint8_tAIRSPEED_SENSOR_FLAGSAirspeed sensor flags.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          WIFI_NETWORK_INFO (298) — [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Detected WiFi network status information. This message is sent per each WiFi network detected in range with known SSID and general status parameters.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ssidchar[32]Name of Wi-Fi network (SSID).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          channel_iduint8_tWiFi network operating channel ID. Set to 0 if unknown or unidentified.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          signal_qualityuint8_t%WiFi network signal quality.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          data_rateuint16_tMiB/sWiFi network data rate. Set to UINT16_MAX if data_rate information is not supplied.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          securityuint8_tWIFI_NETWORK_SECURITYWiFi network security type.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          SET_VELOCITY_LIMITS (354) — [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Set temporary maximum limits for horizontal speed, vertical speed and yaw rate.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          The consumer must stream the current limits in VELOCITY_LIMITS at 1 Hz or more (when limits are being set). The consumer should latch the limits until a new limit is received or the mode is changed.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          target_systemuint8_tSystem ID (0 for broadcast).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          target_componentuint8_tComponent ID (0 for broadcast).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          horizontal_speed_limitfloatm/sLimit for horizontal movement in MAV_FRAME_LOCAL_NED. NaN: Field not used (ignore)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          vertical_speed_limitfloatm/sLimit for vertical movement in MAV_FRAME_LOCAL_NED. NaN: Field not used (ignore)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          yaw_rate_limitfloatrad/sLimit for vehicle turn rate around its yaw axis. NaN: Field not used (ignore)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          VELOCITY_LIMITS (355) — [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Current limits for horizontal speed, vertical speed and yaw rate, as set by SET_VELOCITY_LIMITS.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          horizontal_speed_limitfloatm/sLimit for horizontal movement in MAV_FRAME_LOCAL_NED. NaN: No limit applied
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          vertical_speed_limitfloatm/sLimit for vertical movement in MAV_FRAME_LOCAL_NED. NaN: No limit applied
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          yaw_rate_limitfloatrad/sLimit for vehicle turn rate around its yaw axis. NaN: No limit applied

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          FIGURE_EIGHT_EXECUTION_STATUS (361) — [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Vehicle status report that is sent out while figure eight execution is in progress (see MAV_CMD_DO_FIGURE_EIGHT). This may typically send at low rates: of the order of 2Hz.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          major_radiusfloatmMajor axis radius of the figure eight. Positive: orbit the north circle clockwise. Negative: orbit the north circle counter-clockwise.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          minor_radiusfloatmMinor axis radius of the figure eight. Defines the radius of two circles that make up the figure.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          orientationfloatradOrientation of the figure eight major axis with respect to true north in [-pi,pi).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          frameuint8_tMAV_FRAMEThe coordinate system of the fields: x, y, z.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          xint32_tX coordinate of center point. Coordinate system depends on frame field.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          yint32_tY coordinate of center point. Coordinate system depends on frame field.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          zfloatmAltitude of center point. Coordinate system depends on frame field.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          BATTERY_STATUS_V2 (369) — [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Battery dynamic information.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          This should be streamed (nominally at 1Hz). Static/invariant battery information is sent in BATTERY_INFO. Note that smart batteries should set the MAV_BATTERY_STATUS_FLAGS_CAPACITY_RELATIVE_TO_FULL bit to indicate that supplied capacity values are relative to a battery that is known to be full. Power monitors would not set this bit, indicating that capacity_consumed is relative to drone power-on, and that other values are estimated based on the assumption that the battery was full on power-on.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          iduint8_tBattery ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Messages with same value are from the same source (instance).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          temperatureint16_tcdegCinvalid:INT16_MAXTemperature of the whole battery pack (not internal electronics). INT16_MAX field not provided.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          voltagefloatVinvalid:NaNBattery voltage (total). NaN: field not provided.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          currentfloatAinvalid:NaNBattery current (through all cells/loads). Positive value when discharging and negative if charging. NaN: field not provided.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          capacity_consumedfloatAhinvalid:NaNConsumed charge. NaN: field not provided. This is either the consumption since power-on or since the battery was full, depending on the value of MAV_BATTERY_STATUS_FLAGS_CAPACITY_RELATIVE_TO_FULL.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          capacity_remainingfloatAhinvalid:NaNRemaining charge (until empty). NaN: field not provided. Note: If MAV_BATTERY_STATUS_FLAGS_CAPACITY_RELATIVE_TO_FULL is unset, this value is based on the assumption the battery was full when the system was powered.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          percent_remaininguint8_t%invalid:UINT8_MAXRemaining battery energy. Values: [0-100], UINT8_MAX: field not provided.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          status_flagsuint32_tMAV_BATTERY_STATUS_FLAGSFault, health, readiness, and other status indications.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          FUEL_STATUS (371) — [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Fuel status.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          This message provides "generic" fuel level information for display in a GCS and for triggering failsafes in an autopilot. The fuel type and associated units for fields in this message are defined in the enum MAV_FUEL_TYPE.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          The reported consumed_fuel and remaining_fuel must only be supplied if measured: they must not be inferred from the maximum_fuel and the other value. A recipient can assume that if these fields are supplied they are accurate. If not provided, the recipient can infer remaining_fuel from maximum_fuel and consumed_fuel on the assumption that the fuel was initially at its maximum (this is what battery monitors assume). Note however that this is an assumption, and the UI should prompt the user appropriately (i.e. notify user that they should fill the tank before boot).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          This kind of information may also be sent in fuel-specific messages such as BATTERY_STATUS_V2. If both messages are sent for the same fuel system, the ids and corresponding information must match.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          This should be streamed (nominally at 0.1 Hz).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          iduint8_tFuel ID. Must match ID of other messages for same fuel system, such as BATTERY_STATUS_V2.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Messages with same value are from the same source (instance).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          maximum_fuelfloatCapacity when full. Must be provided.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          consumed_fuelfloatinvalid:NaNConsumed fuel (measured). This value should not be inferred: if not measured set to NaN. NaN: field not provided.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          remaining_fuelfloatinvalid:NaNRemaining fuel until empty (measured). The value should not be inferred: if not measured set to NaN. NaN: field not provided.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          percent_remaininguint8_t%invalid:UINT8_MAXPercentage of remaining fuel, relative to full. Values: [0-100], UINT8_MAX: field not provided.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          flow_ratefloatinvalid:NaNPositive value when emptying/using, and negative if filling/replacing. NaN: field not provided.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          temperaturefloatKinvalid:NaNFuel temperature. NaN: field not provided.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          fuel_typeuint32_tMAV_FUEL_TYPEFuel type. Defines units for fuel capacity and consumption fields above.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          GROUP_START (414) — [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Emitted during mission execution when control reaches MAV_CMD_GROUP_START.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          group_iduint32_tMission-unique group id (from MAV_CMD_GROUP_START).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          mission_checksumuint32_tCRC32 checksum of current plan for MAV_MISSION_TYPE_ALL. As defined in MISSION_CHECKSUM message.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          GROUP_END (415) — [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Emitted during mission execution when control reaches MAV_CMD_GROUP_END.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeUnitsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          group_iduint32_tMission-unique group id (from MAV_CMD_GROUP_END).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          mission_checksumuint32_tCRC32 checksum of current plan for MAV_MISSION_TYPE_ALL. As defined in MISSION_CHECKSUM message.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          RADIO_RC_CHANNELS (420) — [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          RC channel outputs from a MAVLink RC receiver for input to a flight controller or other components (allows an RC receiver to connect via MAVLink instead of some other protocol such as PPM-Sum or S.BUS).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Note that this is not intended to be an over-the-air format, and does not replace RC_CHANNELS and similar messages reported by the flight controller. The target_system field should normally be set to the system id of the system to control, typically the flight controller. The target_component field can normally be set to 0, so that all components of the system can receive the message. The channels array field can publish up to 32 channels; the number of channel items used in the array is specified in the count field. The time_last_update_ms field contains the timestamp of the last received valid channels data in the receiver's time domain. The count field indicates the first index of the channel array that is not used for channel data (this and later indexes are zero-filled). The RADIO_RC_CHANNELS_FLAGS_OUTDATED flag is set by the receiver if the channels data is not up-to-date (for example, if new data from the transmitter could not be validated so the last valid data is resent). The RADIO_RC_CHANNELS_FLAGS_FAILSAFE failsafe flag is set by the receiver if the receiver's failsafe condition is met (implementation dependent, e.g., connection to the RC radio is lost). In this case time_last_update_ms still contains the timestamp of the last valid channels data, but the content of the channels data is not defined by the protocol (it is up to the implementation of the receiver). For instance, the channels data could contain failsafe values configured in the receiver; the default is to carry the last valid data. Note: The RC channels fields are extensions to ensure that they are located at the end of the serialized payload and subject to MAVLink's trailing-zero trimming.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          target_systemuint8_tSystem ID (ID of target system, normally flight controller).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          target_componentuint8_tComponent ID (normally 0 for broadcast).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          time_last_update_msuint32_tmsTime when the data in the channels field were last updated (time since boot in the receiver's time domain).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          flagsuint16_tRADIO_RC_CHANNELS_FLAGSRadio RC channels status flags.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          countuint8_tTotal number of RC channels being received. This can be larger than 32, indicating that more channels are available but not given in this message.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          channels ++int16_t[32]min:-4096 max:4096RC channels.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Channel values are in centered 13 bit format. Range is -4096 to 4096, center is 0. Conversion to PWM is x * 5/32 + 1500.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Channels with indexes equal or above count should be set to 0, to benefit from MAVLink's trailing-zero trimming.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          AVAILABLE_MODES (435) — [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Get information about a particular flight modes.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          The message can be enumerated or requested for a particular mode using MAV_CMD_REQUEST_MESSAGE. Specify 0 in param2 to request that the message is emitted for all available modes or the specific index for just one mode. The modes must be available/settable for the current vehicle/frame type. Each modes should only be emitted once (even if it is both standard and custom).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          number_modesuint8_tThe total number of available modes for the current vehicle type.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          mode_indexuint8_tThe current mode index within number_modes, indexed from 1.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          standard_modeuint8_tMAV_STANDARD_MODEStandard mode.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          custom_modeuint32_tA bitfield for use for autopilot-specific flags
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          propertiesuint32_tMAV_MODE_PROPERTYMode properties.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          mode_namechar[35]Name of custom mode, with null termination character. Should be omitted for standard modes.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          CURRENT_MODE (436) — [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Get the current mode.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          This should be emitted on any mode change, and broadcast at low rate (nominally 0.5 Hz). It may be requested using MAV_CMD_REQUEST_MESSAGE.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          standard_modeuint8_tMAV_STANDARD_MODEStandard mode.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          custom_modeuint32_tA bitfield for use for autopilot-specific flags
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          intended_custom_modeuint32_tinvalid:0The custom_mode of the mode that was last commanded by the user (for example, with MAV_CMD_DO_SET_STANDARD_MODE, MAV_CMD_DO_SET_MODE or via RC). This should usually be the same as custom_mode. It will be different if the vehicle is unable to enter the intended mode, or has left that mode due to a failsafe condition. 0 indicates the intended custom mode is unknown/not supplied

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          AVAILABLE_MODES_MONITOR (437) — [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          A change to the sequence number indicates that the set of AVAILABLE_MODES has changed.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          A receiver must re-request all available modes whenever the sequence number changes. This is only emitted after the first change and should then be broadcast at low rate (nominally 0.3 Hz) and on change.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          sequint8_tSequence number. The value iterates sequentially whenever AVAILABLE_MODES changes (e.g. support for a new mode is added/removed dynamically).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          GNSS_INTEGRITY (441) — [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Information about key components of GNSS receivers, like signal authentication, interference and system errors.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          iduint8_tGNSS receiver id. Must match instance ids of other messages from same receiver.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Messages with same value are from the same source (instance).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          system_errorsuint32_tGPS_SYSTEM_ERROR_FLAGSErrors in the GPS system.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          authentication_stateuint8_tGPS_AUTHENTICATION_STATESignal authentication state of the GPS system.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          jamming_stateuint8_tGPS_JAMMING_STATESignal jamming state of the GPS system.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          spoofing_stateuint8_tGPS_SPOOFING_STATESignal spoofing state of the GPS system.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          raim_stateuint8_tGPS_RAIM_STATEThe state of the RAIM processing.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          raim_hfomuint16_tcminvalid:UINT16_MAXHorizontal expected accuracy using satellites successfully validated using RAIM.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          raim_vfomuint16_tcminvalid:UINT16_MAXVertical expected accuracy using satellites successfully validated using RAIM.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          corrections_qualityuint8_tinvalid:UINT8_MAX min:0 max:10An abstract value representing the estimated quality of incoming corrections, or 255 if not available.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          system_status_summaryuint8_tinvalid:UINT8_MAX min:0 max:10An abstract value representing the overall status of the receiver, or 255 if not available.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          gnss_signal_qualityuint8_tinvalid:UINT8_MAX min:0 max:10An abstract value representing the quality of incoming GNSS signals, or 255 if not available.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          post_processing_qualityuint8_tinvalid:UINT8_MAX min:0 max:10An abstract value representing the estimated PPK quality, or 255 if not available.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          TARGET_ABSOLUTE (510) — [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Current motion information from sensors on a target

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          timestampuint64_tusTimestamp (UNIX epoch time).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          iduint8_tThe ID of the target if multiple targets are present
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          sensor_capabilitiesuint8_tTARGET_ABSOLUTE_SENSOR_CAPABILITY_FLAGSBitmap to indicate the sensor's reporting capabilities
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          latint32_tdegE7Target's latitude (WGS84)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          lonint32_tdegE7Target's longitude (WGS84)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          altfloatmTarget's altitude (AMSL)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          velfloat[3]m/sinvalid:[0]Target's velocity in its body frame
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          accfloat[3]m/s/sinvalid:[0]Linear target's acceleration in its body frame
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          q_targetfloat[4]invalid:[0]Quaternion of the target's orientation from its body frame to the vehicle's NED frame.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ratesfloat[3]rad/sinvalid:[0]Target's roll, pitch and yaw rates
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          position_stdfloat[2]mStandard deviation of horizontal (eph) and vertical (epv) position errors
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          vel_stdfloat[3]m/sStandard deviation of the target's velocity in its body frame
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          acc_stdfloat[3]m/s/sStandard deviation of the target's acceleration in its body frame

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          TARGET_RELATIVE (511) — [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          The location of a target measured by MAV's onboard sensors.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          timestampuint64_tusTimestamp (UNIX epoch time)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          iduint8_tThe ID of the target if multiple targets are present
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Messages with same value are from the same source (instance).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          frameuint8_tTARGET_OBS_FRAMECoordinate frame used for following fields.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          xfloatmX Position of the target in TARGET_OBS_FRAME
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          yfloatmY Position of the target in TARGET_OBS_FRAME
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          zfloatmZ Position of the target in TARGET_OBS_FRAME
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          pos_stdfloat[3]mStandard deviation of the target's position in TARGET_OBS_FRAME
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          yaw_stdfloatradStandard deviation of the target's orientation in TARGET_OBS_FRAME
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          q_targetfloat[4]Quaternion of the target's orientation from the target's frame to the TARGET_OBS_FRAME (w, x, y, z order, zero-rotation is 1, 0, 0, 0)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          q_sensorfloat[4]Quaternion of the sensor's orientation from TARGET_OBS_FRAME to vehicle-carried NED. (Ignored if set to (0,0,0,0)) (w, x, y, z order, zero-rotation is 1, 0, 0, 0)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          typeuint8_tLANDING_TARGET_TYPEType of target

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          CONTROL_STATUS (512) — [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Information about GCS in control of this MAV. This should be broadcast at low rate (nominally 1 Hz) and emitted when ownership or takeover status change. Control over MAV is requested using MAV_CMD_REQUEST_OPERATOR_CONTROL.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          sysid_in_controluint8_tSystem ID of GCS MAVLink component in control (0: no GCS in control).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          flagsuint8_tGCS_CONTROL_STATUS_FLAGSControl status. For example, whether takeover is allowed, and whether this message instance defines the default controlling GCS for the whole system.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Enumerated Types

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          WIFI_NETWORK_SECURITY — [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          WiFi wireless security protocols.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          0WIFI_NETWORK_SECURITY_UNDEFINEDUndefined or unknown security protocol.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1WIFI_NETWORK_SECURITY_OPENOpen network, no security.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2WIFI_NETWORK_SECURITY_WEPWEP.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          3WIFI_NETWORK_SECURITY_WPA1WPA1.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          4WIFI_NETWORK_SECURITY_WPA2WPA2.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          5WIFI_NETWORK_SECURITY_WPA3WPA3.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          AIRSPEED_SENSOR_FLAGS — [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          (Bitmask) Airspeed sensor flags

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          0AIRSPEED_SENSOR_UNHEALTHYAirspeed sensor is unhealthy
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1AIRSPEED_SENSOR_USINGTrue if the data from this sensor is being actively used by the flight controller for guidance, navigation or control.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          PARAM_TRANSACTION_TRANSPORT — [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Possible transport layers to set and get parameters via mavlink during a parameter transaction.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          0PARAM_TRANSACTION_TRANSPORT_PARAMTransaction over param transport.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1PARAM_TRANSACTION_TRANSPORT_PARAM_EXTTransaction over param_ext transport.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          PARAM_TRANSACTION_ACTION — [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Possible parameter transaction actions.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          0PARAM_TRANSACTION_ACTION_STARTCommit the current parameter transaction.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1PARAM_TRANSACTION_ACTION_COMMITCommit the current parameter transaction.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2PARAM_TRANSACTION_ACTION_CANCELCancel the current parameter transaction.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_STANDARD_MODE — [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Standard modes with a well understood meaning across flight stacks and vehicle types.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          For example, most flight stack have the concept of a "return" or "RTL" mode that takes a vehicle to safety, even though the precise mechanics of this mode may differ. Modes may be set using MAV_CMD_DO_SET_STANDARD_MODE.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          0MAV_STANDARD_MODE_NON_STANDARDNon standard mode.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          This may be used when reporting the mode if the current flight mode is not a standard mode.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1MAV_STANDARD_MODE_POSITION_HOLDPosition mode (manual).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Position-controlled and stabilized manual mode.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          When sticks are released vehicles return to their level-flight orientation and hold both position and altitude against wind and external forces.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          This mode can only be set by vehicles that can hold a fixed position.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Multicopter (MC) vehicles actively brake and hold both position and altitude against wind and external forces.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Hybrid MC/FW ("VTOL") vehicles first transition to multicopter mode (if needed) but otherwise behave in the same way as MC vehicles.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Fixed-wing (FW) vehicles must not support this mode.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Other vehicle types must not support this mode (this may be revisited through the PR process).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2MAV_STANDARD_MODE_ORBITOrbit (manual).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Position-controlled and stabilized manual mode.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          The vehicle circles around a fixed setpoint in the horizontal plane at a particular radius, altitude, and direction.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Flight stacks may further allow manual control over the setpoint position, radius, direction, speed, and/or altitude of the circle, but this is not mandated.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Flight stacks may support the MAV_CMD_DO_ORBIT for changing the orbit parameters.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MC and FW vehicles may support this mode.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Hybrid MC/FW ("VTOL") vehicles may support this mode in MC/FW or both modes; if the mode is not supported by the current configuration the vehicle should transition to the supported configuration.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Other vehicle types must not support this mode (this may be revisited through the PR process).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          3MAV_STANDARD_MODE_CRUISECruise mode (manual).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Position-controlled and stabilized manual mode.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          When sticks are released vehicles return to their level-flight orientation and hold their original track against wind and external forces.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Fixed-wing (FW) vehicles level orientation and maintain current track and altitude against wind and external forces.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Hybrid MC/FW ("VTOL") vehicles first transition to FW mode (if needed) but otherwise behave in the same way as MC vehicles.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Multicopter (MC) vehicles must not support this mode.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Other vehicle types must not support this mode (this may be revisited through the PR process).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          4MAV_STANDARD_MODE_ALTITUDE_HOLDAltitude hold (manual).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Altitude-controlled and stabilized manual mode.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          When sticks are released vehicles return to their level-flight orientation and hold their altitude.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MC vehicles continue with existing momentum and may move with wind (or other external forces).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          FW vehicles continue with current heading, but may be moved off-track by wind.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Hybrid MC/FW ("VTOL") vehicles behave according to their current configuration/mode (FW or MC).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Other vehicle types must not support this mode (this may be revisited through the PR process).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          5MAV_STANDARD_MODE_RETURN_HOMEReturn home mode (auto).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Automatic mode that returns vehicle to home via a safe flight path.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          It may also automatically land the vehicle (i.e. RTL).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          The precise flight path and landing behaviour depend on vehicle configuration and type.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          6MAV_STANDARD_MODE_SAFE_RECOVERYSafe recovery mode (auto).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Automatic mode that takes vehicle to a predefined safe location via a safe flight path (rally point or mission defined landing) .
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          It may also automatically land the vehicle.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          The precise return location, flight path, and landing behaviour depend on vehicle configuration and type.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          7MAV_STANDARD_MODE_MISSIONMission mode (automatic).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Automatic mode that executes MAVLink missions.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Missions are executed from the current waypoint as soon as the mode is enabled.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          8MAV_STANDARD_MODE_LANDLand mode (auto).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Automatic mode that lands the vehicle at the current location.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          The precise landing behaviour depends on vehicle configuration and type.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          9MAV_STANDARD_MODE_TAKEOFFTakeoff mode (auto).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Automatic takeoff mode.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          The precise takeoff behaviour depends on vehicle configuration and type.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_MODE_PROPERTY — [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          (Bitmask) Mode properties.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1MAV_MODE_PROPERTY_ADVANCEDIf set, this mode is an advanced mode.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          For example a rate-controlled manual mode might be advanced, whereas a position-controlled manual mode is not.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          A GCS can optionally use this flag to configure the UI for its intended users.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2MAV_MODE_PROPERTY_NOT_USER_SELECTABLEIf set, this mode should not be added to the list of selectable modes.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          The mode might still be selected by the FC directly (for example as part of a failsafe).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_BATTERY_STATUS_FLAGS — [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          (Bitmask) Battery status flags for fault, health and state indication.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1MAV_BATTERY_STATUS_FLAGS_NOT_READY_TO_USEThe battery is not ready to use (fly).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Set if the battery has faults or other conditions that make it unsafe to fly with.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Note: It will be the logical OR of other status bits (chosen by the manufacturer/integrator).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2MAV_BATTERY_STATUS_FLAGS_CHARGINGBattery is charging.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          4MAV_BATTERY_STATUS_FLAGS_CELL_BALANCINGBattery is cell balancing (during charging).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Not ready to use (MAV_BATTERY_STATUS_FLAGS_NOT_READY_TO_USE may be set).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          8MAV_BATTERY_STATUS_FLAGS_FAULT_CELL_IMBALANCEBattery cells are not balanced.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Not ready to use.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          16MAV_BATTERY_STATUS_FLAGS_AUTO_DISCHARGINGBattery is auto discharging (towards storage level).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Not ready to use (MAV_BATTERY_STATUS_FLAGS_NOT_READY_TO_USE would be set).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          32MAV_BATTERY_STATUS_FLAGS_REQUIRES_SERVICEBattery requires service (not safe to fly).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          This is set at vendor discretion.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          It is likely to be set for most faults, and may also be set according to a maintenance schedule (such as age, or number of recharge cycles, etc.).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          64MAV_BATTERY_STATUS_FLAGS_BAD_BATTERYBattery is faulty and cannot be repaired (not safe to fly).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          This is set at vendor discretion.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          The battery should be disposed of safely.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          128MAV_BATTERY_STATUS_FLAGS_PROTECTIONS_ENABLEDAutomatic battery protection monitoring is enabled.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          When enabled, the system will monitor for certain kinds of faults, such as cells being over-voltage.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          If a fault is triggered then and protections are enabled then a safety fault (MAV_BATTERY_STATUS_FLAGS_FAULT_PROTECTION_SYSTEM) will be set and power from the battery will be stopped.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Note that battery protection monitoring should only be enabled when the vehicle is landed. Once the vehicle is armed, or starts moving, the protections should be disabled to prevent false positives from disabling the output.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          256MAV_BATTERY_STATUS_FLAGS_FAULT_PROTECTION_SYSTEMThe battery fault protection system had detected a fault and cut all power from the battery.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          This will only trigger if MAV_BATTERY_STATUS_FLAGS_PROTECTIONS_ENABLED is set.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Other faults like MAV_BATTERY_STATUS_FLAGS_FAULT_OVER_VOLT may also be set, indicating the cause of the protection fault.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          512MAV_BATTERY_STATUS_FLAGS_FAULT_OVER_VOLTOne or more cells are above their maximum voltage rating.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1024MAV_BATTERY_STATUS_FLAGS_FAULT_UNDER_VOLTOne or more cells are below their minimum voltage rating.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          A battery that had deep-discharged might be irrepairably damaged, and set both MAV_BATTERY_STATUS_FLAGS_FAULT_UNDER_VOLT and MAV_BATTERY_STATUS_FLAGS_BAD_BATTERY.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2048MAV_BATTERY_STATUS_FLAGS_FAULT_OVER_TEMPERATUREOver-temperature fault.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          4096MAV_BATTERY_STATUS_FLAGS_FAULT_UNDER_TEMPERATUREUnder-temperature fault.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          8192MAV_BATTERY_STATUS_FLAGS_FAULT_OVER_CURRENTOver-current fault.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          16384MAV_BATTERY_STATUS_FLAGS_FAULT_SHORT_CIRCUITShort circuit event detected.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          The battery may or may not be safe to use (check other flags).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          32768MAV_BATTERY_STATUS_FLAGS_FAULT_INCOMPATIBLE_VOLTAGEVoltage not compatible with power rail voltage (batteries on same power rail should have similar voltage).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          65536MAV_BATTERY_STATUS_FLAGS_FAULT_INCOMPATIBLE_FIRMWAREBattery firmware is not compatible with current autopilot firmware.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          131072MAV_BATTERY_STATUS_FLAGS_FAULT_INCOMPATIBLE_CELLS_CONFIGURATIONBattery is not compatible due to cell configuration (e.g. 5s1p when vehicle requires 6s).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          262144MAV_BATTERY_STATUS_FLAGS_CAPACITY_RELATIVE_TO_FULLBattery capacity_consumed and capacity_remaining values are relative to a full battery (they sum to the total capacity of the battery).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          This flag would be set for a smart battery that can accurately determine its remaining charge across vehicle reboots and discharge/recharge cycles.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          If unset the capacity_consumed indicates the consumption since vehicle power-on, as measured using a power monitor. The capacity_remaining, if provided, indicates the estimated remaining capacity on the assumption that the battery was full on vehicle boot.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          If unset a GCS is recommended to advise that users fully charge the battery on power on.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          4294967295MAV_BATTERY_STATUS_FLAGS_EXTENDEDReserved (not used). If set, this will indicate that an additional status field exists for higher status values.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          GCS_CONTROL_STATUS_FLAGS — [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          (Bitmask) CONTROL_STATUS flags.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1GCS_CONTROL_STATUS_FLAGS_SYSTEM_MANAGERIf set, this CONTROL_STATUS publishes the controlling GCS for the whole system. If unset, the CONTROL_STATUS indicates the controlling GCS for just the component emitting the message. Note that to request control of the system a GCS should send MAV_CMD_REQUEST_OPERATOR_CONTROL to the component emitting CONTROL_STATUS with this flag set.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2GCS_CONTROL_STATUS_FLAGS_TAKEOVER_ALLOWEDTakeover allowed (requests for control will be granted). If not set requests for control will be rejected, but the controlling GCS will be notified (and may release control or allow takeover).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          TARGET_ABSOLUTE_SENSOR_CAPABILITY_FLAGS — [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          (Bitmask) These flags indicate the sensor reporting capabilities for TARGET_ABSOLUTE.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1TARGET_ABSOLUTE_SENSOR_CAPABILITY_POSITION
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2TARGET_ABSOLUTE_SENSOR_CAPABILITY_VELOCITY
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          4TARGET_ABSOLUTE_SENSOR_CAPABILITY_ACCELERATION
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          8TARGET_ABSOLUTE_SENSOR_CAPABILITY_ATTITUDE
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          16TARGET_ABSOLUTE_SENSOR_CAPABILITY_RATES

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          TARGET_OBS_FRAME — [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          The frame of a target observation from an onboard sensor.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          0TARGET_OBS_FRAME_LOCAL_NEDNED local tangent frame (x: North, y: East, z: Down) with origin fixed relative to earth.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1TARGET_OBS_FRAME_BODY_FRDFRD local frame aligned to the vehicle's attitude (x: Forward, y: Right, z: Down) with an origin that travels with vehicle.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2TARGET_OBS_FRAME_LOCAL_OFFSET_NEDNED local tangent frame (x: North, y: East, z: Down) with an origin that travels with vehicle.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          3TARGET_OBS_FRAME_OTHEROther sensor frame for target observations neither in local NED nor in body FRD.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          RADIO_RC_CHANNELS_FLAGS — [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          (Bitmask) RADIO_RC_CHANNELS flags (bitmask).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1RADIO_RC_CHANNELS_FLAGS_FAILSAFEFailsafe is active. The content of the RC channels data in the RADIO_RC_CHANNELS message is implementation dependent.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2RADIO_RC_CHANNELS_FLAGS_OUTDATEDChannel data may be out of date. This is set when the receiver is unable to validate incoming data from the transmitter and has therefore resent the last valid data it received.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_FUEL_TYPE — [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Fuel types for use in FUEL_TYPE. Fuel types specify the units for the maximum, available and consumed fuel, and for the flow rates.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          0MAV_FUEL_TYPE_UNKNOWNNot specified. Fuel levels are normalized (i.e. maximum is 1, and other levels are relative to 1.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1MAV_FUEL_TYPE_LIQUIDA generic liquid fuel. Fuel levels are in millilitres (ml). Fuel rates are in millilitres/second.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2MAV_FUEL_TYPE_GASA gas tank. Fuel levels are in kilo-Pascal (kPa), and flow rates are in milliliters per second (ml/s).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          GPS_SYSTEM_ERROR_FLAGS — [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          (Bitmask) Flags indicating errors in a GPS receiver.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1GPS_SYSTEM_ERROR_INCOMING_CORRECTIONSThere are problems with incoming correction streams.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2GPS_SYSTEM_ERROR_CONFIGURATIONThere are problems with the configuration.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          4GPS_SYSTEM_ERROR_SOFTWAREThere are problems with the software on the GPS receiver.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          8GPS_SYSTEM_ERROR_ANTENNAThere are problems with an antenna connected to the GPS receiver.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          16GPS_SYSTEM_ERROR_EVENT_CONGESTIONThere are problems handling all incoming events.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          32GPS_SYSTEM_ERROR_CPU_OVERLOADThe GPS receiver CPU is overloaded.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          64GPS_SYSTEM_ERROR_OUTPUT_CONGESTIONThe GPS receiver is experiencing output congestion.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          GPS_AUTHENTICATION_STATE — [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Signal authentication state in a GPS receiver.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          0GPS_AUTHENTICATION_STATE_UNKNOWNThe GPS receiver does not provide GPS signal authentication info.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1GPS_AUTHENTICATION_STATE_INITIALIZINGThe GPS receiver is initializing signal authentication.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2GPS_AUTHENTICATION_STATE_ERRORThe GPS receiver encountered an error while initializing signal authentication.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          3GPS_AUTHENTICATION_STATE_OKThe GPS receiver has correctly authenticated all signals.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          4GPS_AUTHENTICATION_STATE_DISABLEDGPS signal authentication is disabled on the receiver.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          GPS_JAMMING_STATE — [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Signal jamming state in a GPS receiver.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          0GPS_JAMMING_STATE_UNKNOWNThe GPS receiver does not provide GPS signal jamming info.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1GPS_JAMMING_STATE_OKThe GPS receiver detected no signal jamming.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2GPS_JAMMING_STATE_MITIGATEDThe GPS receiver detected and mitigated signal jamming.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          3GPS_JAMMING_STATE_DETECTEDThe GPS receiver detected signal jamming.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          GPS_SPOOFING_STATE — [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Signal spoofing state in a GPS receiver.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          0GPS_SPOOFING_STATE_UNKNOWNThe GPS receiver does not provide GPS signal spoofing info.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1GPS_SPOOFING_STATE_OKThe GPS receiver detected no signal spoofing.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2GPS_SPOOFING_STATE_MITIGATEDThe GPS receiver detected and mitigated signal spoofing.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          3GPS_SPOOFING_STATE_DETECTEDThe GPS receiver detected signal spoofing but still has a fix.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          GPS_RAIM_STATE — [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          State of RAIM processing.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          0GPS_RAIM_STATE_UNKNOWNRAIM capability is unknown.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1GPS_RAIM_STATE_DISABLEDRAIM is disabled.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2GPS_RAIM_STATE_OKRAIM integrity check was successful.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          3GPS_RAIM_STATE_FAILEDRAIM integrity check failed.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Commands (MAV_CMD)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_DO_FIGURE_EIGHT (35) — [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Fly a figure eight path as defined by the parameters.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Set parameters to NaN/INT32_MAX (as appropriate) to use system-default values. The command is intended for fixed wing vehicles (and VTOL hybrids flying in fixed-wing mode), allowing POI tracking for gimbals that don't support infinite rotation. This command only defines the flight path. Speed should be set independently (use e.g. MAV_CMD_DO_CHANGE_SPEED). Yaw and other degrees of freedom are not specified, and will be flight-stack specific (on vehicles where they can be controlled independent of the heading).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Param (Label)DescriptionUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1 (Major Radius)Major axis radius of the figure eight. Positive: orbit the north circle clockwise. Negative: orbit the north circle counter-clockwise.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          NaN: The radius will be set to 2.5 times the minor radius and direction is clockwise.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Must be greater or equal to two times the minor radius for feasible values.                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          		m
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2 (Minor Radius)Minor axis radius of the figure eight. Defines the radius of the two circles that make up the figure. Negative value has no effect.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          NaN: The radius will be set to the default loiter radius.                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          		m
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          3
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          4 (Orientation)Orientation of the figure eight major axis with respect to true north (range: [-pi,pi]). NaN: use default orientation aligned to true north.rad
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          5 (Latitude/X)Center point latitude/X coordinate according to MAV_FRAME. If no MAV_FRAME specified, MAV_FRAME_GLOBAL is assumed.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          INT32_MAX or NaN: Use current vehicle position, or current center if already loitering.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          6 (Longitude/Y)Center point longitude/Y coordinate according to MAV_FRAME. If no MAV_FRAME specified, MAV_FRAME_GLOBAL is assumed.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          INT32_MAX or NaN: Use current vehicle position, or current center if already loitering.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          7 (Altitude/Z)Center point altitude MSL/Z coordinate according to MAV_FRAME. If no MAV_FRAME specified, MAV_FRAME_GLOBAL is assumed.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          INT32_MAX or NaN: Use current vehicle altitude.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_DO_UPGRADE (247) — [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Request a target system to start an upgrade of one (or all) of its components.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          For example, the command might be sent to a companion computer to cause it to upgrade a connected flight controller. The system doing the upgrade will report progress using the normal command protocol sequence for a long running operation. Command protocol information: https://mavlink.io/en/services/command.html.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1 (Component ID)Component id of the component to be upgraded. If set to 0, all components should be upgraded.MAV_COMPONENT
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2 (Reboot)0: Do not reboot component after the action is executed, 1: Reboot component after the action is executed.min: 0 max: 1 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          3Reserved
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          4Reserved
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          5Reserved
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          6Reserved
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          7WIP: upgrade progress report rate (can be used for more granular control).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_DO_SET_STANDARD_MODE (262) — [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Enable the specified standard MAVLink mode.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          If the mode is not supported the vehicle should ACK with MAV_RESULT_FAILED.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1 (Standard Mode)The mode to set.MAV_STANDARD_MODE
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          3
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          4
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          5
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          6
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          7

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_GROUP_START (301) — [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Define start of a group of mission items. When control reaches this command a GROUP_START message is emitted.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          The end of a group is marked using MAV_CMD_GROUP_END with the same group id. Group ids are expected, but not required, to iterate sequentially. Groups can be nested.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1 (Group ID)Mission-unique group id.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Group id is limited because only 24 bit integer can be stored in 32 bit float.                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          		min: 0 max: 16777216 inc: 1

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_GROUP_END (302) — [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Define end of a group of mission items. When control reaches this command a GROUP_END message is emitted.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          The start of the group is marked is marked using MAV_CMD_GROUP_START with the same group id. Group ids are expected, but not required, to iterate sequentially. Groups can be nested.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1 (Group ID)Mission-unique group id.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Group id is limited because only 24 bit integer can be stored in 32 bit float.                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          		min: 0 max: 16777216 inc: 1

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_SET_AT_S_PARAM (550) — [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Allows setting an AT S command of an SiK radio.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Param (Label)Description
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1 (Radio instance)The radio instance, one-based, 0 for all.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2 (Index)The Sx index, e.g. 3 for S3 which is NETID.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          3 (Value)The value to set it to, e.g. default 25 for NETID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          4
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          5
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          6
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          7

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_DO_SET_SYS_CMP_ID (610) — [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Set system and component id. This allows moving of a system and all its components to a new system id, or moving a particular component to a new system/component id. Recipients must reject command addressed to broadcast system ID.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1 (System ID)New system ID for target component(s). 0: ignore and reject command (broadcast system ID not allowed).min: 1 max: 255 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2 (Component ID)New component ID for target component(s). 0: ignore (component IDs don't change).min: 0 max: 255 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          3 (Reboot)Reboot components after ID change. Any non-zero value triggers the reboot.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          4

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_PARAM_TRANSACTION (900) — [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Request to start or end a parameter transaction. Multiple kinds of transport layers can be used to exchange parameters in the transaction (param, param_ext and mavftp). The command response can either be a success/failure or an in progress in case the receiving side takes some time to apply the parameters.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1 (Action)Action to be performed (start, commit, cancel, etc.)PARAM_TRANSACTION_ACTION
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2 (Transport)Possible transport layers to set and get parameters via mavlink during a parameter transaction.PARAM_TRANSACTION_TRANSPORT
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          3 (Transaction ID)Identifier for a specific transaction.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_ODID_SET_EMERGENCY (12900) — [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Used to manually set/unset emergency status for remote id.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          This is for compliance with MOC ASTM docs, specifically F358 section 7.7: "Emergency Status Indicator". The requirement can also be satisfied by automatic setting of the emergency status by flight stack, and that approach is preferred. See https://mavlink.io/en/services/opendroneid.html for more information.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Param (Label)DescriptionValues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1 (Number)Set/unset emergency 0: unset, 1: setmin: 0 inc: 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_EXTERNAL_WIND_ESTIMATE (43004) — [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Set an external estimate of wind direction and speed.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          This might be used to provide an initial wind estimate to the estimator (EKF) in the case where the vehicle is wind dead-reckoning, extending the time when operating without GPS before before position drift builds to an unsafe level. For this use case the command might reasonably be sent every few minutes when operating at altitude, and the value is cleared if the estimator resets itself.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Param (Label)DescriptionValuesUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1 (Wind speed)Horizontal wind speed.min: 0m/s
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2 (Wind speed accuracy)Estimated 1 sigma accuracy of wind speed. Set to NaN if unknown.m/s
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          3 (Direction)Azimuth (relative to true north) from where the wind is blowing.min: 0 max: 360deg
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          4 (Direction accuracy)Estimated 1 sigma accuracy of wind direction. Set to NaN if unknown.deg
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_REQUEST_OPERATOR_CONTROL (43005) — [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Request GCS control of a system (or of a specific component in a system).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          A controlled system should only accept MAVLink commands and command-like messages that are sent by its controlling GCS, or from other components with the same system id. Commands from other systems should be rejected with MAV_RESULT_PERMISSION_DENIED (except for this command, which may be acknowledged with MAV_RESULT_ACCEPTED if control is granted). Command-like messages should be ignored (or rejected if that is supported by their associated protocol).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          GCS control of the whole system is managed via a single component that we will refer to here as the "system manager component". This component streams the CONTROL_STATUS message and sets the GCS_CONTROL_STATUS_FLAGS_SYSTEM_MANAGER flag. Other components in the system should monitor for the CONTROL_STATUS message with this flag, and set their controlling GCS to match its published system id. A GCS that wants to control the system should also monitor for the same message and flag, and address the MAV_CMD_REQUEST_OPERATOR_CONTROL to its component id. Note that integrators are required to ensure that there is only one system manager component in the system (i.e. one component emitting the message with GCS_CONTROL_STATUS_FLAGS_SYSTEM_MANAGER set).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          The MAV_CMD_REQUEST_OPERATOR_CONTROL command is sent by a GCS to the system manager component to request or release control of a system, specifying whether subsequent takeover requests from another GCS are automatically granted, or require permission.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          The system manager component should grant control to the GCS if the system does not require takeover permission (or is uncontrolled) and ACK the request with MAV_RESULT_ACCEPTED. The system manager component should then stream CONTROL_STATUS indicating its controlling system: all other components with the same system id should monitor this message and set their own controlling GCS to match that of the system manager component.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          If the system manager component cannot grant control (because takeover requires permission), the request should be rejected with MAV_RESULT_PERMISSION_DENIED. The system manager component should then send this same command to the current owning GCS in order to notify of the request. The owning GCS would ACK with MAV_RESULT_ACCEPTED, and might choose to release control of the vehicle, or re-request control with the takeover bit set to allow permission. Note that the pilots of both GCS should co-ordinate safe handover offline.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Note that in most systems the only controlled component will be the "system manager component", and that will be the autopilot. However separate GCS control of a particular component is also permitted, if supported by the component. In this case the GCS will address MAV_CMD_REQUEST_OPERATOR_CONTROL to the specific component it wants to control. The component will then stream CONTROL_STATUS for its controlling GCS (it must not set GCS_CONTROL_STATUS_FLAGS_SYSTEM_MANAGER). The component should fall back to the system GCS (if any) when it is not directly controlled, and may stop emitting CONTROL_STATUS. The flow is otherwise the same as for requesting control over the whole system.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Param (Label)Description
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1 (Sysid requesting control)System ID of GCS requesting control. 0 when command sent from GCS to autopilot (autopilot determines requesting GCS sysid from message header). Sysid of GCS requesting control when command sent by autopilot to controlling GCS.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2 (Action)0: Release control, 1: Request control.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          3 (Allow takeover)Enable automatic granting of ownership on request (by default reject request and notify current owner). 0: Ask current owner and reject request, 1: Allow automatic takeover.
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          results matching ""

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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            \ No newline at end of file diff --git a/zh/messages/icarous.html b/zh/messages/icarous.html index fdf360cab..c9258bf97 100644 --- a/zh/messages/icarous.html +++ b/zh/messages/icarous.html @@ -1 +1 @@ -icarous.xml · MAVLink Developer Guide
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Examples
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            方言：icarous

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            This topic documents the version of the dialect file in the mavlink/mavlink Github repository, which may not be up to date with the file in the source repository (it is up to the dialect owner to push changes when needed). The source repo should be listed in the comments at the top of the XML definition file listed below (but may not be).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            This is a human-readable form of the XML definition file: icarous.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            已添加到 MAVLink 1 消息中的 MAVLink 2 扩展字段以蓝色显示。 - Entities from dialects are displayed only as headings (with link to original)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            None

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Summary

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            TypeDefinedIncluded
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Messages20
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Enums20
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Commands00

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            The following sections list all entities in the dialect (both included and defined in this file).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Messages

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ICAROUS_HEARTBEAT (42000)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ICAROUS heartbeat

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Field NameTypeValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            statusuint8_tICAROUS_FMS_STATESee the FMS_STATE enum.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ICAROUS_KINEMATIC_BANDS (42001)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Kinematic multi bands (track) output from Daidalus

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            numBandsint8_tNumber of track bands
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            type1uint8_tICAROUS_TRACK_BAND_TYPESSee the TRACK_BAND_TYPES enum.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            min1floatdegmin angle (degrees)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            max1floatdegmax angle (degrees)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            type2uint8_tICAROUS_TRACK_BAND_TYPESSee the TRACK_BAND_TYPES enum.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            min2floatdegmin angle (degrees)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            max2floatdegmax angle (degrees)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            type3uint8_tICAROUS_TRACK_BAND_TYPESSee the TRACK_BAND_TYPES enum.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            min3floatdegmin angle (degrees)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            max3floatdegmax angle (degrees)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            type4uint8_tICAROUS_TRACK_BAND_TYPESSee the TRACK_BAND_TYPES enum.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            min4floatdegmin angle (degrees)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            max4floatdegmax angle (degrees)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            type5uint8_tICAROUS_TRACK_BAND_TYPESSee the TRACK_BAND_TYPES enum.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            min5floatdegmin angle (degrees)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            max5floatdegmax angle (degrees)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Enumerated Types

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ICAROUS_TRACK_BAND_TYPES

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            0ICAROUS_TRACK_BAND_TYPE_NONE
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1ICAROUS_TRACK_BAND_TYPE_NEAR
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            2ICAROUS_TRACK_BAND_TYPE_RECOVERY

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ICAROUS_FMS_STATE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            0ICAROUS_FMS_STATE_IDLE
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1ICAROUS_FMS_STATE_TAKEOFF
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            2ICAROUS_FMS_STATE_CLIMB
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            3ICAROUS_FMS_STATE_CRUISE
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            4ICAROUS_FMS_STATE_APPROACH
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            5ICAROUS_FMS_STATE_LAND

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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              \ No newline at end of file +icarous.xml · MAVLink Developer Guide
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Examples
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              方言：icarous

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              This topic documents the version of the dialect file in the mavlink/mavlink Github repository, which may not be up to date with the file in the source repository (it is up to the dialect owner to push changes when needed). The source repo should be listed in the comments at the top of the XML definition file listed below (but may not be).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              This is a human-readable form of the XML definition file: icarous.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              已添加到 MAVLink 1 消息中的 MAVLink 2 扩展字段以蓝色显示。 - Entities from dialects are displayed only as headings (with link to original)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              None

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Summary

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              TypeDefinedIncluded
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Messages20
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Enums20
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Commands00

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              The following sections list all entities in the dialect (both included and defined in this file).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Messages

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              ICAROUS_HEARTBEAT (42000)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              ICAROUS heartbeat

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Field NameTypeValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              statusuint8_tICAROUS_FMS_STATESee the FMS_STATE enum.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              ICAROUS_KINEMATIC_BANDS (42001)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Kinematic multi bands (track) output from Daidalus

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              numBandsint8_tNumber of track bands
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              type1uint8_tICAROUS_TRACK_BAND_TYPESSee the TRACK_BAND_TYPES enum.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              min1floatdegmin angle (degrees)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              max1floatdegmax angle (degrees)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              type2uint8_tICAROUS_TRACK_BAND_TYPESSee the TRACK_BAND_TYPES enum.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              min2floatdegmin angle (degrees)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              max2floatdegmax angle (degrees)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              type3uint8_tICAROUS_TRACK_BAND_TYPESSee the TRACK_BAND_TYPES enum.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              min3floatdegmin angle (degrees)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              max3floatdegmax angle (degrees)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              type4uint8_tICAROUS_TRACK_BAND_TYPESSee the TRACK_BAND_TYPES enum.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              min4floatdegmin angle (degrees)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              max4floatdegmax angle (degrees)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              type5uint8_tICAROUS_TRACK_BAND_TYPESSee the TRACK_BAND_TYPES enum.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              min5floatdegmin angle (degrees)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              max5floatdegmax angle (degrees)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Enumerated Types

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              ICAROUS_TRACK_BAND_TYPES

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              0ICAROUS_TRACK_BAND_TYPE_NONE
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              1ICAROUS_TRACK_BAND_TYPE_NEAR
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              2ICAROUS_TRACK_BAND_TYPE_RECOVERY

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              ICAROUS_FMS_STATE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              0ICAROUS_FMS_STATE_IDLE
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              1ICAROUS_FMS_STATE_TAKEOFF
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              2ICAROUS_FMS_STATE_CLIMB
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              3ICAROUS_FMS_STATE_CRUISE
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              4ICAROUS_FMS_STATE_APPROACH
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              5ICAROUS_FMS_STATE_LAND

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              results matching ""

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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                \ No newline at end of file diff --git a/zh/messages/index.html b/zh/messages/index.html index 009e20255..b0b299d8e 100644 --- a/zh/messages/index.html +++ b/zh/messages/index.html @@ -1 +1 @@ -Dialects · MAVLink Developer Guide
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Messages
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Messages
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                XML Definition Files & Dialects

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAVLink definitions files can be found in mavlink/message definitions. These can roughly be divided into:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Standard Definitions

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                The following XML definition files are considered standard/core (i.e. not dialects):

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • minimal.xml - the minimum set of entities (messages, enums, MAV_CMD) required to set up a MAVLink network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • standard.xml - the standard set of entities that are implemented by almost all flight stacks (at least 2, in a compatible way). This includes minimal.xml.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • common.xml - the set of entities that have been implemented in at least one core flight stack. This includes standard.xml

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                We are still working towards moving the truly standard entities from common.xml to standard.xml Currently you should include common.xml

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                In addition:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • development.xml - XML definitions that are proposed for inclusion in the standard definitions. These are work in progress.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Test Definitions

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                The following definitions are used for testing and dialect validation:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • all.xml - This includes all other XML files, and is used to verify that there are no ID clashes (and can potentially be used by GCS to communicate with any core dialect).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • test.xml - Test XML definition file.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Dialects

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAVLink dialects are XML definition files that define protocol- and vendor-specific messages, enums and commands.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Vendor forks of MAVLink may contain XML entities that have not yet been pushed into the main repository (and will not be documented).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Dialects may include other MAVLink XML files, which may in turn contain other XML files (up to 5 levels of XML file nesting are allowed - see MAXIMUM_INCLUDE_FILE_NESTING in mavgen.py). A typical pattern is for a dialect to include common.xml (containing the MAVLink standard definitions), extending it with vendor or protocol specific messages.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                The dialect definitions are:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                results matching ""

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  No results matching ""

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  \ No newline at end of file +Dialects · MAVLink Developer Guide
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  XML Definition Files & Dialects

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAVLink definitions files can be found in mavlink/message definitions. These can roughly be divided into:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Standard Definitions

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  The following XML definition files are considered standard/core (i.e. not dialects):

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • minimal.xml - the minimum set of entities (messages, enums, MAV_CMD) required to set up a MAVLink network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • standard.xml - the standard set of entities that are implemented by almost all flight stacks (at least 2, in a compatible way). This includes minimal.xml.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • common.xml - the set of entities that have been implemented in at least one core flight stack. This includes standard.xml

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  We are still working towards moving the truly standard entities from common.xml to standard.xml Currently you should include common.xml

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  In addition:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • development.xml - XML definitions that are proposed for inclusion in the standard definitions. These are work in progress.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Test Definitions

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  The following definitions are used for testing and dialect validation:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • all.xml - This includes all other XML files, and is used to verify that there are no ID clashes (and can potentially be used by GCS to communicate with any core dialect).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • test.xml - Test XML definition file.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Dialects

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAVLink dialects are XML definition files that define protocol- and vendor-specific messages, enums and commands.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Vendor forks of MAVLink may contain XML entities that have not yet been pushed into the main repository (and will not be documented).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Dialects may include other MAVLink XML files, which may in turn contain other XML files (up to 5 levels of XML file nesting are allowed - see MAXIMUM_INCLUDE_FILE_NESTING in mavgen.py). A typical pattern is for a dialect to include common.xml (containing the MAVLink standard definitions), extending it with vendor or protocol specific messages.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  The dialect definitions are:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  results matching ""

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    No results matching ""

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    \ No newline at end of file diff --git a/zh/messages/matrixpilot.html b/zh/messages/matrixpilot.html index 5c69747bf..c22a5e5af 100644 --- a/zh/messages/matrixpilot.html +++ b/zh/messages/matrixpilot.html @@ -1 +1 @@ -matrixpilot.xml · MAVLink Developer Guide
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    方言：matrixpilot

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    This topic documents the version of the dialect file in the mavlink/mavlink Github repository, which may not be up to date with the file in the source repository (it is up to the dialect owner to push changes when needed). The source repo should be listed in the comments at the top of the XML definition file listed below (but may not be).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    This is a human-readable form of the XML definition file: matrixpilot.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    已添加到 MAVLink 1 消息中的 MAVLink 2 扩展字段以蓝色显示。 - Entities from dialects are displayed only as headings (with link to original)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Summary

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    TypeDefinedIncluded
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Messages27224
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Enums1142
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Commands1650

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    The following sections list all entities in the dialect (both included and defined in this file).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Messages

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    HEARTBEAT (0) — [from: minimal]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    SYS_STATUS (1) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    SYSTEM_TIME (2) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    PING (4) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    CHANGE_OPERATOR_CONTROL (5) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    CHANGE_OPERATOR_CONTROL_ACK (6) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    AUTH_KEY (7) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    SET_MODE (11) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    PARAM_REQUEST_READ (20) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    PARAM_REQUEST_LIST (21) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    PARAM_VALUE (22) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    PARAM_SET (23) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    GPS_RAW_INT (24) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    GPS_STATUS (25) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    SCALED_IMU (26) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    RAW_IMU (27) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    RAW_PRESSURE (28) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    SCALED_PRESSURE (29) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    ATTITUDE (30) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    ATTITUDE_QUATERNION (31) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    LOCAL_POSITION_NED (32) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    GLOBAL_POSITION_INT (33) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    RC_CHANNELS_SCALED (34) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    RC_CHANNELS_RAW (35) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    SERVO_OUTPUT_RAW (36) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MISSION_REQUEST_PARTIAL_LIST (37) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MISSION_WRITE_PARTIAL_LIST (38) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MISSION_ITEM (39) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MISSION_REQUEST (40) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MISSION_SET_CURRENT (41) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MISSION_CURRENT (42) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MISSION_REQUEST_LIST (43) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MISSION_COUNT (44) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MISSION_CLEAR_ALL (45) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MISSION_ITEM_REACHED (46) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MISSION_ACK (47) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    SET_GPS_GLOBAL_ORIGIN (48) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    GPS_GLOBAL_ORIGIN (49) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    PARAM_MAP_RC (50) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MISSION_REQUEST_INT (51) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    SAFETY_SET_ALLOWED_AREA (54) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    SAFETY_ALLOWED_AREA (55) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    ATTITUDE_QUATERNION_COV (61) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    GLOBAL_POSITION_INT_COV (63) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    LOCAL_POSITION_NED_COV (64) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    RC_CHANNELS (65) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    REQUEST_DATA_STREAM (66) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    DATA_STREAM (67) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MANUAL_CONTROL (69) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    RC_CHANNELS_OVERRIDE (70) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MISSION_ITEM_INT (73) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    VFR_HUD (74) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    COMMAND_INT (75) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    COMMAND_LONG (76) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    COMMAND_ACK (77) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    COMMAND_CANCEL (80) — [from: common] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MANUAL_SETPOINT (81) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    SET_ATTITUDE_TARGET (82) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    ATTITUDE_TARGET (83) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    SET_POSITION_TARGET_LOCAL_NED (84) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    POSITION_TARGET_LOCAL_NED (85) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    SET_POSITION_TARGET_GLOBAL_INT (86) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    POSITION_TARGET_GLOBAL_INT (87) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    LOCAL_POSITION_NED_SYSTEM_GLOBAL_OFFSET (89) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    HIL_STATE (90) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    HIL_CONTROLS (91) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    HIL_RC_INPUTS_RAW (92) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    HIL_ACTUATOR_CONTROLS (93) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    OPTICAL_FLOW (100) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    GLOBAL_VISION_POSITION_ESTIMATE (101) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    VISION_POSITION_ESTIMATE (102) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    VISION_SPEED_ESTIMATE (103) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    VICON_POSITION_ESTIMATE (104) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    HIGHRES_IMU (105) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    OPTICAL_FLOW_RAD (106) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    HIL_SENSOR (107) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    SIM_STATE (108) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    RADIO_STATUS (109) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    FILE_TRANSFER_PROTOCOL (110) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    TIMESYNC (111) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    CAMERA_TRIGGER (112) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    HIL_GPS (113) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    HIL_OPTICAL_FLOW (114) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    HIL_STATE_QUATERNION (115) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    SCALED_IMU2 (116) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    LOG_REQUEST_LIST (117) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    LOG_ENTRY (118) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    LOG_REQUEST_DATA (119) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    LOG_DATA (120) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    LOG_ERASE (121) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    LOG_REQUEST_END (122) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    GPS_INJECT_DATA (123) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    GPS2_RAW (124) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    POWER_STATUS (125) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    SERIAL_CONTROL (126) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    GPS_RTK (127) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    GPS2_RTK (128) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    SCALED_IMU3 (129) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    DATA_TRANSMISSION_HANDSHAKE (130) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    ENCAPSULATED_DATA (131) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    DISTANCE_SENSOR (132) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    TERRAIN_REQUEST (133) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    TERRAIN_DATA (134) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    TERRAIN_CHECK (135) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    TERRAIN_REPORT (136) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    SCALED_PRESSURE2 (137) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    ATT_POS_MOCAP (138) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    SET_ACTUATOR_CONTROL_TARGET (139) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    ACTUATOR_CONTROL_TARGET (140) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    ALTITUDE (141) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    RESOURCE_REQUEST (142) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    SCALED_PRESSURE3 (143) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    FOLLOW_TARGET (144) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    CONTROL_SYSTEM_STATE (146) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    BATTERY_STATUS (147) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    AUTOPILOT_VERSION (148) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    LANDING_TARGET (149) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    FLEXIFUNCTION_SET (150)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Depreciated but used as a compiler flag. Do not remove

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    target_systemuint8_tSystem ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    target_componentuint8_tComponent ID

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    FLEXIFUNCTION_READ_REQ (151)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Request reading of flexifunction data

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    target_systemuint8_tSystem ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    target_componentuint8_tComponent ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    read_req_typeint16_tType of flexifunction data requested
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    data_indexint16_tindex into data where needed

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    FLEXIFUNCTION_BUFFER_FUNCTION (152)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Flexifunction type and parameters for component at function index from buffer

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    target_systemuint8_tSystem ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    target_componentuint8_tComponent ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    func_indexuint16_tFunction index
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    func_countuint16_tTotal count of functions
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    data_addressuint16_tAddress in the flexifunction data, Set to 0xFFFF to use address in target memory
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    data_sizeuint16_tSize of the
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    dataint8_t[48]Settings data

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    FLEXIFUNCTION_BUFFER_FUNCTION_ACK (153)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Flexifunction type and parameters for component at function index from buffer

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    target_systemuint8_tSystem ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    target_componentuint8_tComponent ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    func_indexuint16_tFunction index
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    resultuint16_tresult of acknowledge, 0=fail, 1=good

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    FLEXIFUNCTION_DIRECTORY (155)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Acknowldge success or failure of a flexifunction command

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    target_systemuint8_tSystem ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    target_componentuint8_tComponent ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    directory_typeuint8_t0=inputs, 1=outputs
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    start_indexuint8_tindex of first directory entry to write
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    countuint8_tcount of directory entries to write
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    directory_dataint8_t[48]Settings data

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    FLEXIFUNCTION_DIRECTORY_ACK (156)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Acknowldge success or failure of a flexifunction command

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    target_systemuint8_tSystem ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    target_componentuint8_tComponent ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    directory_typeuint8_t0=inputs, 1=outputs
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    start_indexuint8_tindex of first directory entry to write
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    countuint8_tcount of directory entries to write
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    resultuint16_tresult of acknowledge, 0=fail, 1=good

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    FLEXIFUNCTION_COMMAND (157)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Acknowldge success or failure of a flexifunction command

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    target_systemuint8_tSystem ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    target_componentuint8_tComponent ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    command_typeuint8_tFlexifunction command type

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    FLEXIFUNCTION_COMMAND_ACK (158)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Acknowldge success or failure of a flexifunction command

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    command_typeuint16_tCommand acknowledged
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    resultuint16_tresult of acknowledge

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    FENCE_STATUS (162) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    SERIAL_UDB_EXTRA_F2_A (170)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Backwards compatible MAVLink version of SERIAL_UDB_EXTRA - F2: Format Part A

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    sue_timeuint32_tSerial UDB Extra Time
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    sue_statusuint8_tSerial UDB Extra Status
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    sue_latitudeint32_tSerial UDB Extra Latitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    sue_longitudeint32_tSerial UDB Extra Longitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    sue_altitudeint32_tSerial UDB Extra Altitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    sue_waypoint_indexuint16_tSerial UDB Extra Waypoint Index
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    sue_rmat0int16_tSerial UDB Extra Rmat 0
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    sue_rmat1int16_tSerial UDB Extra Rmat 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    sue_rmat2int16_tSerial UDB Extra Rmat 2
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    sue_rmat3int16_tSerial UDB Extra Rmat 3
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    sue_rmat4int16_tSerial UDB Extra Rmat 4
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    sue_rmat5int16_tSerial UDB Extra Rmat 5
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    sue_rmat6int16_tSerial UDB Extra Rmat 6
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    sue_rmat7int16_tSerial UDB Extra Rmat 7
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    sue_rmat8int16_tSerial UDB Extra Rmat 8
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    sue_coguint16_tSerial UDB Extra GPS Course Over Ground
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    sue_sogint16_tSerial UDB Extra Speed Over Ground
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    sue_cpu_loaduint16_tSerial UDB Extra CPU Load
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    sue_air_speed_3DIMUuint16_tSerial UDB Extra 3D IMU Air Speed
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    sue_estimated_wind_0int16_tSerial UDB Extra Estimated Wind 0
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    sue_estimated_wind_1int16_tSerial UDB Extra Estimated Wind 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    sue_estimated_wind_2int16_tSerial UDB Extra Estimated Wind 2
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    sue_magFieldEarth0int16_tSerial UDB Extra Magnetic Field Earth 0
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    sue_magFieldEarth1int16_tSerial UDB Extra Magnetic Field Earth 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    sue_magFieldEarth2int16_tSerial UDB Extra Magnetic Field Earth 2
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    sue_svsint16_tSerial UDB Extra Number of Satellites in View
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    sue_hdopint16_tSerial UDB Extra GPS Horizontal Dilution of Precision

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    SERIAL_UDB_EXTRA_F2_B (171)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Backwards compatible version of SERIAL_UDB_EXTRA - F2: Part B

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    sue_timeuint32_tSerial UDB Extra Time
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    sue_pwm_input_1int16_tSerial UDB Extra PWM Input Channel 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    sue_pwm_input_2int16_tSerial UDB Extra PWM Input Channel 2
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    sue_pwm_input_3int16_tSerial UDB Extra PWM Input Channel 3
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    sue_pwm_input_4int16_tSerial UDB Extra PWM Input Channel 4
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    sue_pwm_input_5int16_tSerial UDB Extra PWM Input Channel 5
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    sue_pwm_input_6int16_tSerial UDB Extra PWM Input Channel 6
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    sue_pwm_input_7int16_tSerial UDB Extra PWM Input Channel 7
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    sue_pwm_input_8int16_tSerial UDB Extra PWM Input Channel 8
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    sue_pwm_input_9int16_tSerial UDB Extra PWM Input Channel 9
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    sue_pwm_input_10int16_tSerial UDB Extra PWM Input Channel 10
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    sue_pwm_input_11int16_tSerial UDB Extra PWM Input Channel 11
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    sue_pwm_input_12int16_tSerial UDB Extra PWM Input Channel 12
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    sue_pwm_output_1int16_tSerial UDB Extra PWM Output Channel 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    sue_pwm_output_2int16_tSerial UDB Extra PWM Output Channel 2
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    sue_pwm_output_3int16_tSerial UDB Extra PWM Output Channel 3
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    sue_pwm_output_4int16_tSerial UDB Extra PWM Output Channel 4
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    sue_pwm_output_5int16_tSerial UDB Extra PWM Output Channel 5
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    sue_pwm_output_6int16_tSerial UDB Extra PWM Output Channel 6
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    sue_pwm_output_7int16_tSerial UDB Extra PWM Output Channel 7
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    sue_pwm_output_8int16_tSerial UDB Extra PWM Output Channel 8
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    sue_pwm_output_9int16_tSerial UDB Extra PWM Output Channel 9
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    sue_pwm_output_10int16_tSerial UDB Extra PWM Output Channel 10
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    sue_pwm_output_11int16_tSerial UDB Extra PWM Output Channel 11
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    sue_pwm_output_12int16_tSerial UDB Extra PWM Output Channel 12
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    sue_imu_location_xint16_tSerial UDB Extra IMU Location X
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    sue_imu_location_yint16_tSerial UDB Extra IMU Location Y
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    sue_imu_location_zint16_tSerial UDB Extra IMU Location Z
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    sue_location_error_earth_xint16_tSerial UDB Location Error Earth X
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    sue_location_error_earth_yint16_tSerial UDB Location Error Earth Y
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    sue_location_error_earth_zint16_tSerial UDB Location Error Earth Z
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    sue_flagsuint32_tSerial UDB Extra Status Flags
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    sue_osc_failsint16_tSerial UDB Extra Oscillator Failure Count
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    sue_imu_velocity_xint16_tSerial UDB Extra IMU Velocity X
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    sue_imu_velocity_yint16_tSerial UDB Extra IMU Velocity Y
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    sue_imu_velocity_zint16_tSerial UDB Extra IMU Velocity Z
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    sue_waypoint_goal_xint16_tSerial UDB Extra Current Waypoint Goal X
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    sue_waypoint_goal_yint16_tSerial UDB Extra Current Waypoint Goal Y
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    sue_waypoint_goal_zint16_tSerial UDB Extra Current Waypoint Goal Z
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    sue_aero_xint16_tAeroforce in UDB X Axis
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    sue_aero_yint16_tAeroforce in UDB Y Axis
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    sue_aero_zint16_tAeroforce in UDB Z axis
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    sue_barom_tempint16_tSUE barometer temperature
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    sue_barom_pressint32_tSUE barometer pressure
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    sue_barom_altint32_tSUE barometer altitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    sue_bat_voltint16_tSUE battery voltage
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    sue_bat_ampint16_tSUE battery current
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    sue_bat_amp_hoursint16_tSUE battery milli amp hours used
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    sue_desired_heightint16_tSue autopilot desired height
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    sue_memory_stack_freeint16_tSerial UDB Extra Stack Memory Free

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    SERIAL_UDB_EXTRA_F4 (172)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Backwards compatible version of SERIAL_UDB_EXTRA F4: format

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    sue_ROLL_STABILIZATION_AILERONSuint8_tSerial UDB Extra Roll Stabilization with Ailerons Enabled
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    sue_ROLL_STABILIZATION_RUDDERuint8_tSerial UDB Extra Roll Stabilization with Rudder Enabled
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    sue_PITCH_STABILIZATIONuint8_tSerial UDB Extra Pitch Stabilization Enabled
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    sue_YAW_STABILIZATION_RUDDERuint8_tSerial UDB Extra Yaw Stabilization using Rudder Enabled
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    sue_YAW_STABILIZATION_AILERONuint8_tSerial UDB Extra Yaw Stabilization using Ailerons Enabled
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    sue_AILERON_NAVIGATIONuint8_tSerial UDB Extra Navigation with Ailerons Enabled
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    sue_RUDDER_NAVIGATIONuint8_tSerial UDB Extra Navigation with Rudder Enabled
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    sue_ALTITUDEHOLD_STABILIZEDuint8_tSerial UDB Extra Type of Alitude Hold when in Stabilized Mode
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    sue_ALTITUDEHOLD_WAYPOINTuint8_tSerial UDB Extra Type of Alitude Hold when in Waypoint Mode
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    sue_RACING_MODEuint8_tSerial UDB Extra Firmware racing mode enabled

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    SERIAL_UDB_EXTRA_F5 (173)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Backwards compatible version of SERIAL_UDB_EXTRA F5: format

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    sue_YAWKP_AILERONfloatSerial UDB YAWKP_AILERON Gain for Proporional control of navigation
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    sue_YAWKD_AILERONfloatSerial UDB YAWKD_AILERON Gain for Rate control of navigation
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    sue_ROLLKPfloatSerial UDB Extra ROLLKP Gain for Proportional control of roll stabilization
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    sue_ROLLKDfloatSerial UDB Extra ROLLKD Gain for Rate control of roll stabilization

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    SERIAL_UDB_EXTRA_F6 (174)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Backwards compatible version of SERIAL_UDB_EXTRA F6: format

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    sue_PITCHGAINfloatSerial UDB Extra PITCHGAIN Proportional Control
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    sue_PITCHKDfloatSerial UDB Extra Pitch Rate Control
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    sue_RUDDER_ELEV_MIXfloatSerial UDB Extra Rudder to Elevator Mix
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    sue_ROLL_ELEV_MIXfloatSerial UDB Extra Roll to Elevator Mix
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    sue_ELEVATOR_BOOSTfloatGain For Boosting Manual Elevator control When Plane Stabilized

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    SERIAL_UDB_EXTRA_F7 (175)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Backwards compatible version of SERIAL_UDB_EXTRA F7: format

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    sue_YAWKP_RUDDERfloatSerial UDB YAWKP_RUDDER Gain for Proporional control of navigation
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    sue_YAWKD_RUDDERfloatSerial UDB YAWKD_RUDDER Gain for Rate control of navigation
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    sue_ROLLKP_RUDDERfloatSerial UDB Extra ROLLKP_RUDDER Gain for Proportional control of roll stabilization
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    sue_ROLLKD_RUDDERfloatSerial UDB Extra ROLLKD_RUDDER Gain for Rate control of roll stabilization
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    sue_RUDDER_BOOSTfloatSERIAL UDB EXTRA Rudder Boost Gain to Manual Control when stabilized
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    sue_RTL_PITCH_DOWNfloatSerial UDB Extra Return To Landing - Angle to Pitch Plane Down

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    SERIAL_UDB_EXTRA_F8 (176)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Backwards compatible version of SERIAL_UDB_EXTRA F8: format

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    sue_HEIGHT_TARGET_MAXfloatSerial UDB Extra HEIGHT_TARGET_MAX
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    sue_HEIGHT_TARGET_MINfloatSerial UDB Extra HEIGHT_TARGET_MIN
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    sue_ALT_HOLD_THROTTLE_MINfloatSerial UDB Extra ALT_HOLD_THROTTLE_MIN
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    sue_ALT_HOLD_THROTTLE_MAXfloatSerial UDB Extra ALT_HOLD_THROTTLE_MAX
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    sue_ALT_HOLD_PITCH_MINfloatSerial UDB Extra ALT_HOLD_PITCH_MIN
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    sue_ALT_HOLD_PITCH_MAXfloatSerial UDB Extra ALT_HOLD_PITCH_MAX
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    sue_ALT_HOLD_PITCH_HIGHfloatSerial UDB Extra ALT_HOLD_PITCH_HIGH

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    SERIAL_UDB_EXTRA_F13 (177)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Backwards compatible version of SERIAL_UDB_EXTRA F13: format

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    sue_week_noint16_tSerial UDB Extra GPS Week Number
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    sue_lat_originint32_tSerial UDB Extra MP Origin Latitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    sue_lon_originint32_tSerial UDB Extra MP Origin Longitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    sue_alt_originint32_tSerial UDB Extra MP Origin Altitude Above Sea Level

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    SERIAL_UDB_EXTRA_F14 (178)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Backwards compatible version of SERIAL_UDB_EXTRA F14: format

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    sue_WIND_ESTIMATIONuint8_tSerial UDB Extra Wind Estimation Enabled
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    sue_GPS_TYPEuint8_tSerial UDB Extra Type of GPS Unit
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    sue_DRuint8_tSerial UDB Extra Dead Reckoning Enabled
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    sue_BOARD_TYPEuint8_tSerial UDB Extra Type of UDB Hardware
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    sue_AIRFRAMEuint8_tSerial UDB Extra Type of Airframe
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    sue_RCONint16_tSerial UDB Extra Reboot Register of DSPIC
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    sue_TRAP_FLAGSint16_tSerial UDB Extra Last dspic Trap Flags
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    sue_TRAP_SOURCEuint32_tSerial UDB Extra Type Program Address of Last Trap
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    sue_osc_fail_countint16_tSerial UDB Extra Number of Ocillator Failures
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    sue_CLOCK_CONFIGuint8_tSerial UDB Extra UDB Internal Clock Configuration
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    sue_FLIGHT_PLAN_TYPEuint8_tSerial UDB Extra Type of Flight Plan

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    SERIAL_UDB_EXTRA_F15 (179)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Backwards compatible version of SERIAL_UDB_EXTRA F15 format

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    sue_ID_VEHICLE_MODEL_NAMEuint8_t[40]Serial UDB Extra Model Name Of Vehicle
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    sue_ID_VEHICLE_REGISTRATIONuint8_t[20]Serial UDB Extra Registraton Number of Vehicle

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    SERIAL_UDB_EXTRA_F16 (180)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Backwards compatible version of SERIAL_UDB_EXTRA F16 format

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    sue_ID_LEAD_PILOTuint8_t[40]Serial UDB Extra Name of Expected Lead Pilot
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    sue_ID_DIY_DRONES_URLuint8_t[70]Serial UDB Extra URL of Lead Pilot or Team

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    ALTITUDES (181)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    The altitude measured by sensors and IMU

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    time_boot_msuint32_tTimestamp (milliseconds since system boot)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    alt_gpsint32_tGPS altitude (MSL) in meters, expressed as * 1000 (millimeters)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    alt_imuint32_tIMU altitude above ground in meters, expressed as * 1000 (millimeters)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    alt_barometricint32_tbarometeric altitude above ground in meters, expressed as * 1000 (millimeters)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    alt_optical_flowint32_tOptical flow altitude above ground in meters, expressed as * 1000 (millimeters)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    alt_range_finderint32_tRangefinder Altitude above ground in meters, expressed as * 1000 (millimeters)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    alt_extraint32_tExtra altitude above ground in meters, expressed as * 1000 (millimeters)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    AIRSPEEDS (182)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    The airspeed measured by sensors and IMU

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    time_boot_msuint32_tTimestamp (milliseconds since system boot)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    airspeed_imuint16_tAirspeed estimate from IMU, cm/s
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    airspeed_pitotint16_tPitot measured forward airpseed, cm/s
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    airspeed_hot_wireint16_tHot wire anenometer measured airspeed, cm/s
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    airspeed_ultrasonicint16_tUltrasonic measured airspeed, cm/s
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    aoaint16_tAngle of attack sensor, degrees * 10
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    aoyint16_tYaw angle sensor, degrees * 10

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    SERIAL_UDB_EXTRA_F17 (183)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Backwards compatible version of SERIAL_UDB_EXTRA F17 format

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    sue_feed_forwardfloatSUE Feed Forward Gain
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    sue_turn_rate_navfloatSUE Max Turn Rate when Navigating
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    sue_turn_rate_fbwfloatSUE Max Turn Rate in Fly By Wire Mode

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    SERIAL_UDB_EXTRA_F18 (184)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Backwards compatible version of SERIAL_UDB_EXTRA F18 format

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    angle_of_attack_normalfloatSUE Angle of Attack Normal
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    angle_of_attack_invertedfloatSUE Angle of Attack Inverted
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    elevator_trim_normalfloatSUE Elevator Trim Normal
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    elevator_trim_invertedfloatSUE Elevator Trim Inverted
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    reference_speedfloatSUE reference_speed

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    SERIAL_UDB_EXTRA_F19 (185)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Backwards compatible version of SERIAL_UDB_EXTRA F19 format

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    sue_aileron_output_channeluint8_tSUE aileron output channel
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    sue_aileron_reverseduint8_tSUE aileron reversed
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    sue_elevator_output_channeluint8_tSUE elevator output channel
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    sue_elevator_reverseduint8_tSUE elevator reversed
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    sue_throttle_output_channeluint8_tSUE throttle output channel
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    sue_throttle_reverseduint8_tSUE throttle reversed
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    sue_rudder_output_channeluint8_tSUE rudder output channel
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    sue_rudder_reverseduint8_tSUE rudder reversed

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    SERIAL_UDB_EXTRA_F20 (186)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Backwards compatible version of SERIAL_UDB_EXTRA F20 format

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    sue_number_of_inputsuint8_tSUE Number of Input Channels
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    sue_trim_value_input_1int16_tSUE UDB PWM Trim Value on Input 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    sue_trim_value_input_2int16_tSUE UDB PWM Trim Value on Input 2
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    sue_trim_value_input_3int16_tSUE UDB PWM Trim Value on Input 3
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    sue_trim_value_input_4int16_tSUE UDB PWM Trim Value on Input 4
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    sue_trim_value_input_5int16_tSUE UDB PWM Trim Value on Input 5
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    sue_trim_value_input_6int16_tSUE UDB PWM Trim Value on Input 6
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    sue_trim_value_input_7int16_tSUE UDB PWM Trim Value on Input 7
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    sue_trim_value_input_8int16_tSUE UDB PWM Trim Value on Input 8
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    sue_trim_value_input_9int16_tSUE UDB PWM Trim Value on Input 9
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    sue_trim_value_input_10int16_tSUE UDB PWM Trim Value on Input 10
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    sue_trim_value_input_11int16_tSUE UDB PWM Trim Value on Input 11
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    sue_trim_value_input_12int16_tSUE UDB PWM Trim Value on Input 12

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    SERIAL_UDB_EXTRA_F21 (187)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Backwards compatible version of SERIAL_UDB_EXTRA F21 format

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    sue_accel_x_offsetint16_tSUE X accelerometer offset
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    sue_accel_y_offsetint16_tSUE Y accelerometer offset
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    sue_accel_z_offsetint16_tSUE Z accelerometer offset
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    sue_gyro_x_offsetint16_tSUE X gyro offset
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    sue_gyro_y_offsetint16_tSUE Y gyro offset
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    sue_gyro_z_offsetint16_tSUE Z gyro offset

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    SERIAL_UDB_EXTRA_F22 (188)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Backwards compatible version of SERIAL_UDB_EXTRA F22 format

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    sue_accel_x_at_calibrationint16_tSUE X accelerometer at calibration time
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    sue_accel_y_at_calibrationint16_tSUE Y accelerometer at calibration time
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    sue_accel_z_at_calibrationint16_tSUE Z accelerometer at calibration time
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    sue_gyro_x_at_calibrationint16_tSUE X gyro at calibration time
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    sue_gyro_y_at_calibrationint16_tSUE Y gyro at calibration time
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    sue_gyro_z_at_calibrationint16_tSUE Z gyro at calibration time

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAG_CAL_REPORT (192) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    EFI_STATUS (225) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    ESTIMATOR_STATUS (230) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    WIND_COV (231) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    GPS_INPUT (232) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    GPS_RTCM_DATA (233) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    HIGH_LATENCY (234) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    HIGH_LATENCY2 (235) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    VIBRATION (241) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    HOME_POSITION (242) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    SET_HOME_POSITION (243) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MESSAGE_INTERVAL (244) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    EXTENDED_SYS_STATE (245) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    ADSB_VEHICLE (246) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    COLLISION (247) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    V2_EXTENSION (248) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MEMORY_VECT (249) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    DEBUG_VECT (250) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    NAMED_VALUE_FLOAT (251) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    NAMED_VALUE_INT (252) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    STATUSTEXT (253) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    DEBUG (254) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    SETUP_SIGNING (256) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    BUTTON_CHANGE (257) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    PLAY_TUNE (258) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    CAMERA_INFORMATION (259) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    CAMERA_SETTINGS (260) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    STORAGE_INFORMATION (261) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    CAMERA_CAPTURE_STATUS (262) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    CAMERA_IMAGE_CAPTURED (263) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    FLIGHT_INFORMATION (264) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MOUNT_ORIENTATION (265) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    LOGGING_DATA (266) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    LOGGING_DATA_ACKED (267) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    LOGGING_ACK (268) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    VIDEO_STREAM_INFORMATION (269) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    VIDEO_STREAM_STATUS (270) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    CAMERA_FOV_STATUS (271) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    CAMERA_TRACKING_IMAGE_STATUS (275) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    CAMERA_TRACKING_GEO_STATUS (276) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    CAMERA_THERMAL_RANGE (277) — [from: common] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    GIMBAL_MANAGER_INFORMATION (280) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    GIMBAL_MANAGER_STATUS (281) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    GIMBAL_MANAGER_SET_ATTITUDE (282) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    GIMBAL_DEVICE_INFORMATION (283) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    GIMBAL_DEVICE_SET_ATTITUDE (284) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    GIMBAL_DEVICE_ATTITUDE_STATUS (285) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    AUTOPILOT_STATE_FOR_GIMBAL_DEVICE (286) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    GIMBAL_MANAGER_SET_PITCHYAW (287) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    GIMBAL_MANAGER_SET_MANUAL_CONTROL (288) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    ESC_INFO (290) — [from: common] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    ESC_STATUS (291) — [from: common] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    WIFI_CONFIG_AP (299) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    PROTOCOL_VERSION (300) — [from: minimal] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    AIS_VESSEL (301) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    UAVCAN_NODE_STATUS (310) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    UAVCAN_NODE_INFO (311) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    PARAM_EXT_REQUEST_READ (320) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    PARAM_EXT_REQUEST_LIST (321) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    PARAM_EXT_VALUE (322) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    PARAM_EXT_SET (323) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    PARAM_EXT_ACK (324) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    OBSTACLE_DISTANCE (330) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    ODOMETRY (331) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    TRAJECTORY_REPRESENTATION_WAYPOINTS (332) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    TRAJECTORY_REPRESENTATION_BEZIER (333) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    CELLULAR_STATUS (334) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    CELLULAR_CONFIG (336) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    RAW_RPM (339) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    UTM_GLOBAL_POSITION (340) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    DEBUG_FLOAT_ARRAY (350) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    ORBIT_EXECUTION_STATUS (360) — [from: common] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    BATTERY_INFO (370) — [from: common] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    GENERATOR_STATUS (373) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    ACTUATOR_OUTPUT_STATUS (375) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    TIME_ESTIMATE_TO_TARGET (380) — [from: common] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    TUNNEL (385) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    CAN_FRAME (386) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    CANFD_FRAME (387) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    CAN_FILTER_MODIFY (388) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    ONBOARD_COMPUTER_STATUS (390) — [from: common] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    COMPONENT_INFORMATION (395) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    COMPONENT_INFORMATION_BASIC (396) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    COMPONENT_METADATA (397) — [from: common] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    PLAY_TUNE_V2 (400) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    SUPPORTED_TUNES (401) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    EVENT (410) — [from: common] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    CURRENT_EVENT_SEQUENCE (411) — [from: common] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    REQUEST_EVENT (412) — [from: common] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    RESPONSE_EVENT_ERROR (413) — [from: common] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    ILLUMINATOR_STATUS (440) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    WHEEL_DISTANCE (9000) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    WINCH_STATUS (9005) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    OPEN_DRONE_ID_BASIC_ID (12900) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    OPEN_DRONE_ID_LOCATION (12901) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    OPEN_DRONE_ID_AUTHENTICATION (12902) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    OPEN_DRONE_ID_SELF_ID (12903) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    OPEN_DRONE_ID_SYSTEM (12904) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    OPEN_DRONE_ID_OPERATOR_ID (12905) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    OPEN_DRONE_ID_MESSAGE_PACK (12915) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    OPEN_DRONE_ID_ARM_STATUS (12918) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    OPEN_DRONE_ID_SYSTEM_UPDATE (12919) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    HYGROMETER_SENSOR (12920) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Enumerated Types

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_PREFLIGHT_STORAGE_ACTION

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Action required when performing CMD_PREFLIGHT_STORAGE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    0MAV_PFS_CMD_READ_ALLRead all parameters from storage
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1MAV_PFS_CMD_WRITE_ALLWrite all parameters to storage
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2MAV_PFS_CMD_CLEAR_ALLClear all parameters in storage
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    3MAV_PFS_CMD_READ_SPECIFICRead specific parameters from storage
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    4MAV_PFS_CMD_WRITE_SPECIFICWrite specific parameters to storage
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    5MAV_PFS_CMD_CLEAR_SPECIFICClear specific parameters in storage
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    6MAV_PFS_CMD_DO_NOTHINGdo nothing

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    FIRMWARE_VERSION_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    HL_FAILURE_FLAG — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_GOTO — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_MODE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_SYS_STATUS_SENSOR — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_SYS_STATUS_SENSOR_EXTENDED — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_FRAME — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    FENCE_ACTION — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    FENCE_BREACH — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    FENCE_MITIGATE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    FENCE_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_MOUNT_MODE — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    GIMBAL_DEVICE_CAP_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    GIMBAL_MANAGER_CAP_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    GIMBAL_DEVICE_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    GIMBAL_MANAGER_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    GIMBAL_DEVICE_ERROR_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    GRIPPER_ACTIONS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    WINCH_ACTIONS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    UAVCAN_NODE_HEALTH — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    UAVCAN_NODE_MODE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    ESC_CONNECTION_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    ESC_FAILURE_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    STORAGE_STATUS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    STORAGE_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    STORAGE_USAGE_FLAG — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    ORBIT_YAW_BEHAVIOUR — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    WIFI_CONFIG_AP_RESPONSE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    CELLULAR_CONFIG_RESPONSE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    WIFI_CONFIG_AP_MODE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    COMP_METADATA_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    ACTUATOR_CONFIGURATION — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    ACTUATOR_OUTPUT_FUNCTION — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    AUTOTUNE_AXIS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    PREFLIGHT_STORAGE_PARAMETER_ACTION — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    PREFLIGHT_STORAGE_MISSION_ACTION — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_DATA_STREAM — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_ROI — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_PARAM_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_PARAM_EXT_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_RESULT — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_MISSION_RESULT — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_SEVERITY — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_POWER_STATUS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    SERIAL_CONTROL_DEV — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    SERIAL_CONTROL_FLAG — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_DISTANCE_SENSOR — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_SENSOR_ORIENTATION — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_PROTOCOL_CAPABILITY — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_MISSION_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_ESTIMATOR_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_BATTERY_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_BATTERY_FUNCTION — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_BATTERY_CHARGE_STATE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_BATTERY_MODE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_BATTERY_FAULT — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_GENERATOR_STATUS_FLAG — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_VTOL_STATE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_LANDED_STATE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    ADSB_ALTITUDE_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    ADSB_EMITTER_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    ADSB_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_DO_REPOSITION_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    SPEED_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    ESTIMATOR_STATUS_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MOTOR_TEST_ORDER — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MOTOR_TEST_THROTTLE_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    GPS_INPUT_IGNORE_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_COLLISION_ACTION — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_COLLISION_THREAT_LEVEL — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_COLLISION_SRC — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    GPS_FIX_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    RTK_BASELINE_COORDINATE_SYSTEM — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    LANDING_TARGET_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    VTOL_TRANSITION_HEADING — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    CAMERA_CAP_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    VIDEO_STREAM_STATUS_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    VIDEO_STREAM_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    VIDEO_STREAM_ENCODING — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    CAMERA_TRACKING_STATUS_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    CAMERA_TRACKING_MODE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    CAMERA_TRACKING_TARGET_DATA — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    CAMERA_ZOOM_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    SET_FOCUS_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    CAMERA_SOURCE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    PARAM_ACK — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    CAMERA_MODE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_ARM_AUTH_DENIED_REASON — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    RC_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    POSITION_TARGET_TYPEMASK — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    ATTITUDE_TARGET_TYPEMASK — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    UTM_FLIGHT_STATE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    UTM_DATA_AVAIL_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    CELLULAR_STATUS_FLAG — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    CELLULAR_NETWORK_FAILED_REASON — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    CELLULAR_NETWORK_RADIO_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    PRECISION_LAND_MODE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    PARACHUTE_ACTION — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_TUNNEL_PAYLOAD_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_ODID_ID_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_ODID_UA_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_ODID_STATUS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_ODID_HEIGHT_REF — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_ODID_HOR_ACC — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_ODID_VER_ACC — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_ODID_SPEED_ACC — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_ODID_TIME_ACC — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_ODID_AUTH_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_ODID_DESC_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_ODID_OPERATOR_LOCATION_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_ODID_CLASSIFICATION_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_ODID_CATEGORY_EU — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_ODID_CLASS_EU — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_ODID_OPERATOR_ID_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_ODID_ARM_STATUS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    TUNE_FORMAT — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    AIS_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    AIS_NAV_STATUS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    AIS_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    FAILURE_UNIT — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    FAILURE_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_WINCH_STATUS_FLAG — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAG_CAL_STATUS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_EVENT_ERROR_REASON — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_EVENT_CURRENT_SEQUENCE_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    HIL_SENSOR_UPDATED_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    HIGHRES_IMU_UPDATED_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    CAN_FILTER_OP — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_FTP_ERR — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_FTP_OPCODE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MISSION_STATE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    SAFETY_SWITCH_STATE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    ILLUMINATOR_MODE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    ILLUMINATOR_ERROR_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_AUTOPILOT — [from: minimal]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_TYPE — [from: minimal]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_MODE_FLAG — [from: minimal]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_MODE_FLAG_DECODE_POSITION — [from: minimal]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_STATE — [from: minimal]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_COMPONENT — [from: minimal]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Commands (MAV_CMD)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_PREFLIGHT_STORAGE_ADVANCED (0)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Request storage of different parameter values and logs. This command will be only accepted if in pre-flight mode.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Param (Label)Description
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1Storage action: Action defined by MAV_PREFLIGHT_STORAGE_ACTION_ADVANCED
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2Storage area as defined by parameter database
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    3Storage flags as defined by parameter database
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    4Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    5Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    6Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    7Empty

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_NAV_WAYPOINT (16) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_NAV_LOITER_UNLIM (17) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_NAV_LOITER_TURNS (18) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_NAV_LOITER_TIME (19) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_NAV_RETURN_TO_LAUNCH (20) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_NAV_LAND (21) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_NAV_TAKEOFF (22) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_NAV_LAND_LOCAL (23) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_NAV_TAKEOFF_LOCAL (24) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_NAV_FOLLOW (25) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_NAV_CONTINUE_AND_CHANGE_ALT (30) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_NAV_LOITER_TO_ALT (31) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_DO_FOLLOW (32) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_DO_FOLLOW_REPOSITION (33) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_DO_ORBIT (34) — [from: common] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_NAV_ROI (80) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_NAV_PATHPLANNING (81) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_NAV_SPLINE_WAYPOINT (82) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_NAV_VTOL_TAKEOFF (84) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_NAV_VTOL_LAND (85) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_NAV_GUIDED_ENABLE (92) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_NAV_DELAY (93) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_NAV_PAYLOAD_PLACE (94) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_NAV_LAST (95) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_CONDITION_DELAY (112) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_CONDITION_CHANGE_ALT (113) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_CONDITION_DISTANCE (114) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_CONDITION_YAW (115) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_CONDITION_LAST (159) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_DO_SET_MODE (176) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_DO_JUMP (177) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_DO_CHANGE_SPEED (178) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_DO_SET_HOME (179) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_DO_SET_PARAMETER (180) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_DO_SET_RELAY (181) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_DO_REPEAT_RELAY (182) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_DO_SET_SERVO (183) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_DO_REPEAT_SERVO (184) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_DO_FLIGHTTERMINATION (185) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_DO_CHANGE_ALTITUDE (186) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_DO_SET_ACTUATOR (187) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_DO_RETURN_PATH_START (188) — [from: common] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_DO_LAND_START (189) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_DO_RALLY_LAND (190) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_DO_GO_AROUND (191) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_DO_REPOSITION (192) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_DO_PAUSE_CONTINUE (193) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_DO_SET_REVERSE (194) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_DO_SET_ROI_LOCATION (195) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_DO_SET_ROI_WPNEXT_OFFSET (196) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_DO_SET_ROI_NONE (197) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_DO_SET_ROI_SYSID (198) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_DO_CONTROL_VIDEO (200) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_DO_SET_ROI (201) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_DO_DIGICAM_CONFIGURE (202) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_DO_DIGICAM_CONTROL (203) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_DO_MOUNT_CONFIGURE (204) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_DO_MOUNT_CONTROL (205) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_DO_SET_CAM_TRIGG_DIST (206) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_DO_FENCE_ENABLE (207) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_DO_PARACHUTE (208) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_DO_MOTOR_TEST (209) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_DO_INVERTED_FLIGHT (210) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_DO_GRIPPER (211) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_DO_AUTOTUNE_ENABLE (212) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_NAV_SET_YAW_SPEED (213) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_DO_SET_CAM_TRIGG_INTERVAL (214) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_DO_MOUNT_CONTROL_QUAT (220) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_DO_GUIDED_MASTER (221) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_DO_GUIDED_LIMITS (222) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_DO_ENGINE_CONTROL (223) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_DO_SET_MISSION_CURRENT (224) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_DO_LAST (240) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_PREFLIGHT_CALIBRATION (241) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_PREFLIGHT_SET_SENSOR_OFFSETS (242) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_PREFLIGHT_UAVCAN (243) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_PREFLIGHT_STORAGE (245) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN (246) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_OVERRIDE_GOTO (252) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_OBLIQUE_SURVEY (260) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_MISSION_START (300) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_ACTUATOR_TEST (310) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_CONFIGURE_ACTUATOR (311) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_COMPONENT_ARM_DISARM (400) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_RUN_PREARM_CHECKS (401) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_ILLUMINATOR_ON_OFF (405) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_DO_ILLUMINATOR_CONFIGURE (406) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_GET_HOME_POSITION (410) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_INJECT_FAILURE (420) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_START_RX_PAIR (500) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_GET_MESSAGE_INTERVAL (510) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_SET_MESSAGE_INTERVAL (511) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_REQUEST_MESSAGE (512) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_REQUEST_PROTOCOL_VERSION (519) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_REQUEST_AUTOPILOT_CAPABILITIES (520) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_REQUEST_CAMERA_INFORMATION (521) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_REQUEST_CAMERA_SETTINGS (522) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_REQUEST_STORAGE_INFORMATION (525) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_STORAGE_FORMAT (526) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_REQUEST_CAMERA_CAPTURE_STATUS (527) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_REQUEST_FLIGHT_INFORMATION (528) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_RESET_CAMERA_SETTINGS (529) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_SET_CAMERA_MODE (530) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_SET_CAMERA_ZOOM (531) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_SET_CAMERA_FOCUS (532) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_SET_STORAGE_USAGE (533) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_SET_CAMERA_SOURCE (534) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_JUMP_TAG (600) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_DO_JUMP_TAG (601) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_DO_GIMBAL_MANAGER_PITCHYAW (1000) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_DO_GIMBAL_MANAGER_CONFIGURE (1001) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_IMAGE_START_CAPTURE (2000) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_IMAGE_STOP_CAPTURE (2001) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_REQUEST_CAMERA_IMAGE_CAPTURE (2002) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_DO_TRIGGER_CONTROL (2003) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_CAMERA_TRACK_POINT (2004) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_CAMERA_TRACK_RECTANGLE (2005) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_CAMERA_STOP_TRACKING (2010) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_VIDEO_START_CAPTURE (2500) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_VIDEO_STOP_CAPTURE (2501) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_VIDEO_START_STREAMING (2502) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_VIDEO_STOP_STREAMING (2503) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_REQUEST_VIDEO_STREAM_INFORMATION (2504) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_REQUEST_VIDEO_STREAM_STATUS (2505) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_LOGGING_START (2510) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_LOGGING_STOP (2511) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_AIRFRAME_CONFIGURATION (2520) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_CONTROL_HIGH_LATENCY (2600) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_PANORAMA_CREATE (2800) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_DO_VTOL_TRANSITION (3000) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_ARM_AUTHORIZATION_REQUEST (3001) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_SET_GUIDED_SUBMODE_STANDARD (4000) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_SET_GUIDED_SUBMODE_CIRCLE (4001) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_CONDITION_GATE (4501) — [from: common] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_NAV_FENCE_RETURN_POINT (5000) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_NAV_FENCE_POLYGON_VERTEX_INCLUSION (5001) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_NAV_FENCE_POLYGON_VERTEX_EXCLUSION (5002) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_NAV_FENCE_CIRCLE_INCLUSION (5003) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_NAV_FENCE_CIRCLE_EXCLUSION (5004) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_NAV_RALLY_POINT (5100) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_UAVCAN_GET_NODE_INFO (5200) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_DO_SET_SAFETY_SWITCH_STATE (5300) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_DO_ADSB_OUT_IDENT (10001) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_PAYLOAD_PREPARE_DEPLOY (30001) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_PAYLOAD_CONTROL_DEPLOY (30002) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_WAYPOINT_USER_1 (31000) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_WAYPOINT_USER_2 (31001) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_WAYPOINT_USER_3 (31002) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_WAYPOINT_USER_4 (31003) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_WAYPOINT_USER_5 (31004) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_SPATIAL_USER_1 (31005) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_SPATIAL_USER_2 (31006) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_SPATIAL_USER_3 (31007) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_SPATIAL_USER_4 (31008) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_SPATIAL_USER_5 (31009) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_USER_1 (31010) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_USER_2 (31011) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_USER_3 (31012) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_USER_4 (31013) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_USER_5 (31014) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_CAN_FORWARD (32000) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_FIXED_MAG_CAL_YAW (42006) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_DO_WINCH (42600) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_EXTERNAL_POSITION_ESTIMATE (43003) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    results matching ""

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      No results matching ""

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      \ No newline at end of file +matrixpilot.xml · MAVLink Developer Guide
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      方言：matrixpilot

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      This topic documents the version of the dialect file in the mavlink/mavlink Github repository, which may not be up to date with the file in the source repository (it is up to the dialect owner to push changes when needed). The source repo should be listed in the comments at the top of the XML definition file listed below (but may not be).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      This is a human-readable form of the XML definition file: matrixpilot.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      已添加到 MAVLink 1 消息中的 MAVLink 2 扩展字段以蓝色显示。 - Entities from dialects are displayed only as headings (with link to original)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Summary

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      TypeDefinedIncluded
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Messages27224
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Enums1143
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Commands1650

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      The following sections list all entities in the dialect (both included and defined in this file).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Messages

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      FLEXIFUNCTION_SET (150)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Depreciated but used as a compiler flag. Do not remove

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      target_systemuint8_tSystem ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      target_componentuint8_tComponent ID

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      FLEXIFUNCTION_READ_REQ (151)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Request reading of flexifunction data

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      target_systemuint8_tSystem ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      target_componentuint8_tComponent ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      read_req_typeint16_tType of flexifunction data requested
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      data_indexint16_tindex into data where needed

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      FLEXIFUNCTION_BUFFER_FUNCTION (152)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Flexifunction type and parameters for component at function index from buffer

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      target_systemuint8_tSystem ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      target_componentuint8_tComponent ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      func_indexuint16_tFunction index
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      func_countuint16_tTotal count of functions
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      data_addressuint16_tAddress in the flexifunction data, Set to 0xFFFF to use address in target memory
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      data_sizeuint16_tSize of the
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      dataint8_t[48]Settings data

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      FLEXIFUNCTION_BUFFER_FUNCTION_ACK (153)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Flexifunction type and parameters for component at function index from buffer

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      target_systemuint8_tSystem ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      target_componentuint8_tComponent ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      func_indexuint16_tFunction index
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      resultuint16_tresult of acknowledge, 0=fail, 1=good

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      FLEXIFUNCTION_DIRECTORY (155)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Acknowldge success or failure of a flexifunction command

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      target_systemuint8_tSystem ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      target_componentuint8_tComponent ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      directory_typeuint8_t0=inputs, 1=outputs
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      start_indexuint8_tindex of first directory entry to write
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      countuint8_tcount of directory entries to write
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      directory_dataint8_t[48]Settings data

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      FLEXIFUNCTION_DIRECTORY_ACK (156)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Acknowldge success or failure of a flexifunction command

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      target_systemuint8_tSystem ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      target_componentuint8_tComponent ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      directory_typeuint8_t0=inputs, 1=outputs
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      start_indexuint8_tindex of first directory entry to write
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      countuint8_tcount of directory entries to write
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      resultuint16_tresult of acknowledge, 0=fail, 1=good

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      FLEXIFUNCTION_COMMAND (157)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Acknowldge success or failure of a flexifunction command

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      target_systemuint8_tSystem ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      target_componentuint8_tComponent ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      command_typeuint8_tFlexifunction command type

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      FLEXIFUNCTION_COMMAND_ACK (158)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Acknowldge success or failure of a flexifunction command

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      command_typeuint16_tCommand acknowledged
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      resultuint16_tresult of acknowledge

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      SERIAL_UDB_EXTRA_F2_A (170)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Backwards compatible MAVLink version of SERIAL_UDB_EXTRA - F2: Format Part A

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      sue_timeuint32_tSerial UDB Extra Time
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      sue_statusuint8_tSerial UDB Extra Status
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      sue_latitudeint32_tSerial UDB Extra Latitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      sue_longitudeint32_tSerial UDB Extra Longitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      sue_altitudeint32_tSerial UDB Extra Altitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      sue_waypoint_indexuint16_tSerial UDB Extra Waypoint Index
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      sue_rmat0int16_tSerial UDB Extra Rmat 0
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      sue_rmat1int16_tSerial UDB Extra Rmat 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      sue_rmat2int16_tSerial UDB Extra Rmat 2
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      sue_rmat3int16_tSerial UDB Extra Rmat 3
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      sue_rmat4int16_tSerial UDB Extra Rmat 4
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      sue_rmat5int16_tSerial UDB Extra Rmat 5
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      sue_rmat6int16_tSerial UDB Extra Rmat 6
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      sue_rmat7int16_tSerial UDB Extra Rmat 7
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      sue_rmat8int16_tSerial UDB Extra Rmat 8
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      sue_coguint16_tSerial UDB Extra GPS Course Over Ground
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      sue_sogint16_tSerial UDB Extra Speed Over Ground
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      sue_cpu_loaduint16_tSerial UDB Extra CPU Load
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      sue_air_speed_3DIMUuint16_tSerial UDB Extra 3D IMU Air Speed
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      sue_estimated_wind_0int16_tSerial UDB Extra Estimated Wind 0
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      sue_estimated_wind_1int16_tSerial UDB Extra Estimated Wind 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      sue_estimated_wind_2int16_tSerial UDB Extra Estimated Wind 2
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      sue_magFieldEarth0int16_tSerial UDB Extra Magnetic Field Earth 0
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      sue_magFieldEarth1int16_tSerial UDB Extra Magnetic Field Earth 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      sue_magFieldEarth2int16_tSerial UDB Extra Magnetic Field Earth 2
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      sue_svsint16_tSerial UDB Extra Number of Satellites in View
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      sue_hdopint16_tSerial UDB Extra GPS Horizontal Dilution of Precision

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      SERIAL_UDB_EXTRA_F2_B (171)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Backwards compatible version of SERIAL_UDB_EXTRA - F2: Part B

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      sue_timeuint32_tSerial UDB Extra Time
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      sue_pwm_input_1int16_tSerial UDB Extra PWM Input Channel 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      sue_pwm_input_2int16_tSerial UDB Extra PWM Input Channel 2
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      sue_pwm_input_3int16_tSerial UDB Extra PWM Input Channel 3
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      sue_pwm_input_4int16_tSerial UDB Extra PWM Input Channel 4
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      sue_pwm_input_5int16_tSerial UDB Extra PWM Input Channel 5
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      sue_pwm_input_6int16_tSerial UDB Extra PWM Input Channel 6
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      sue_pwm_input_7int16_tSerial UDB Extra PWM Input Channel 7
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      sue_pwm_input_8int16_tSerial UDB Extra PWM Input Channel 8
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      sue_pwm_input_9int16_tSerial UDB Extra PWM Input Channel 9
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      sue_pwm_input_10int16_tSerial UDB Extra PWM Input Channel 10
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      sue_pwm_input_11int16_tSerial UDB Extra PWM Input Channel 11
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      sue_pwm_input_12int16_tSerial UDB Extra PWM Input Channel 12
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      sue_pwm_output_1int16_tSerial UDB Extra PWM Output Channel 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      sue_pwm_output_2int16_tSerial UDB Extra PWM Output Channel 2
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      sue_pwm_output_3int16_tSerial UDB Extra PWM Output Channel 3
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      sue_pwm_output_4int16_tSerial UDB Extra PWM Output Channel 4
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      sue_pwm_output_5int16_tSerial UDB Extra PWM Output Channel 5
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      sue_pwm_output_6int16_tSerial UDB Extra PWM Output Channel 6
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      sue_pwm_output_7int16_tSerial UDB Extra PWM Output Channel 7
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      sue_pwm_output_8int16_tSerial UDB Extra PWM Output Channel 8
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      sue_pwm_output_9int16_tSerial UDB Extra PWM Output Channel 9
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      sue_pwm_output_10int16_tSerial UDB Extra PWM Output Channel 10
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      sue_pwm_output_11int16_tSerial UDB Extra PWM Output Channel 11
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      sue_pwm_output_12int16_tSerial UDB Extra PWM Output Channel 12
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      sue_imu_location_xint16_tSerial UDB Extra IMU Location X
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      sue_imu_location_yint16_tSerial UDB Extra IMU Location Y
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      sue_imu_location_zint16_tSerial UDB Extra IMU Location Z
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      sue_location_error_earth_xint16_tSerial UDB Location Error Earth X
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      sue_location_error_earth_yint16_tSerial UDB Location Error Earth Y
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      sue_location_error_earth_zint16_tSerial UDB Location Error Earth Z
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      sue_flagsuint32_tSerial UDB Extra Status Flags
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      sue_osc_failsint16_tSerial UDB Extra Oscillator Failure Count
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      sue_imu_velocity_xint16_tSerial UDB Extra IMU Velocity X
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      sue_imu_velocity_yint16_tSerial UDB Extra IMU Velocity Y
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      sue_imu_velocity_zint16_tSerial UDB Extra IMU Velocity Z
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      sue_waypoint_goal_xint16_tSerial UDB Extra Current Waypoint Goal X
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      sue_waypoint_goal_yint16_tSerial UDB Extra Current Waypoint Goal Y
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      sue_waypoint_goal_zint16_tSerial UDB Extra Current Waypoint Goal Z
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      sue_aero_xint16_tAeroforce in UDB X Axis
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      sue_aero_yint16_tAeroforce in UDB Y Axis
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      sue_aero_zint16_tAeroforce in UDB Z axis
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      sue_barom_tempint16_tSUE barometer temperature
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      sue_barom_pressint32_tSUE barometer pressure
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      sue_barom_altint32_tSUE barometer altitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      sue_bat_voltint16_tSUE battery voltage
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      sue_bat_ampint16_tSUE battery current
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      sue_bat_amp_hoursint16_tSUE battery milli amp hours used
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      sue_desired_heightint16_tSue autopilot desired height
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      sue_memory_stack_freeint16_tSerial UDB Extra Stack Memory Free

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      SERIAL_UDB_EXTRA_F4 (172)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Backwards compatible version of SERIAL_UDB_EXTRA F4: format

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      sue_ROLL_STABILIZATION_AILERONSuint8_tSerial UDB Extra Roll Stabilization with Ailerons Enabled
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      sue_ROLL_STABILIZATION_RUDDERuint8_tSerial UDB Extra Roll Stabilization with Rudder Enabled
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      sue_PITCH_STABILIZATIONuint8_tSerial UDB Extra Pitch Stabilization Enabled
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      sue_YAW_STABILIZATION_RUDDERuint8_tSerial UDB Extra Yaw Stabilization using Rudder Enabled
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      sue_YAW_STABILIZATION_AILERONuint8_tSerial UDB Extra Yaw Stabilization using Ailerons Enabled
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      sue_AILERON_NAVIGATIONuint8_tSerial UDB Extra Navigation with Ailerons Enabled
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      sue_RUDDER_NAVIGATIONuint8_tSerial UDB Extra Navigation with Rudder Enabled
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      sue_ALTITUDEHOLD_STABILIZEDuint8_tSerial UDB Extra Type of Alitude Hold when in Stabilized Mode
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      sue_ALTITUDEHOLD_WAYPOINTuint8_tSerial UDB Extra Type of Alitude Hold when in Waypoint Mode
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      sue_RACING_MODEuint8_tSerial UDB Extra Firmware racing mode enabled

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      SERIAL_UDB_EXTRA_F5 (173)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Backwards compatible version of SERIAL_UDB_EXTRA F5: format

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      sue_YAWKP_AILERONfloatSerial UDB YAWKP_AILERON Gain for Proporional control of navigation
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      sue_YAWKD_AILERONfloatSerial UDB YAWKD_AILERON Gain for Rate control of navigation
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      sue_ROLLKPfloatSerial UDB Extra ROLLKP Gain for Proportional control of roll stabilization
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      sue_ROLLKDfloatSerial UDB Extra ROLLKD Gain for Rate control of roll stabilization

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      SERIAL_UDB_EXTRA_F6 (174)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Backwards compatible version of SERIAL_UDB_EXTRA F6: format

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      sue_PITCHGAINfloatSerial UDB Extra PITCHGAIN Proportional Control
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      sue_PITCHKDfloatSerial UDB Extra Pitch Rate Control
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      sue_RUDDER_ELEV_MIXfloatSerial UDB Extra Rudder to Elevator Mix
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      sue_ROLL_ELEV_MIXfloatSerial UDB Extra Roll to Elevator Mix
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      sue_ELEVATOR_BOOSTfloatGain For Boosting Manual Elevator control When Plane Stabilized

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      SERIAL_UDB_EXTRA_F7 (175)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Backwards compatible version of SERIAL_UDB_EXTRA F7: format

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      sue_YAWKP_RUDDERfloatSerial UDB YAWKP_RUDDER Gain for Proporional control of navigation
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      sue_YAWKD_RUDDERfloatSerial UDB YAWKD_RUDDER Gain for Rate control of navigation
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      sue_ROLLKP_RUDDERfloatSerial UDB Extra ROLLKP_RUDDER Gain for Proportional control of roll stabilization
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      sue_ROLLKD_RUDDERfloatSerial UDB Extra ROLLKD_RUDDER Gain for Rate control of roll stabilization
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      sue_RUDDER_BOOSTfloatSERIAL UDB EXTRA Rudder Boost Gain to Manual Control when stabilized
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      sue_RTL_PITCH_DOWNfloatSerial UDB Extra Return To Landing - Angle to Pitch Plane Down

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      SERIAL_UDB_EXTRA_F8 (176)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Backwards compatible version of SERIAL_UDB_EXTRA F8: format

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      sue_HEIGHT_TARGET_MAXfloatSerial UDB Extra HEIGHT_TARGET_MAX
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      sue_HEIGHT_TARGET_MINfloatSerial UDB Extra HEIGHT_TARGET_MIN
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      sue_ALT_HOLD_THROTTLE_MINfloatSerial UDB Extra ALT_HOLD_THROTTLE_MIN
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      sue_ALT_HOLD_THROTTLE_MAXfloatSerial UDB Extra ALT_HOLD_THROTTLE_MAX
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      sue_ALT_HOLD_PITCH_MINfloatSerial UDB Extra ALT_HOLD_PITCH_MIN
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      sue_ALT_HOLD_PITCH_MAXfloatSerial UDB Extra ALT_HOLD_PITCH_MAX
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      sue_ALT_HOLD_PITCH_HIGHfloatSerial UDB Extra ALT_HOLD_PITCH_HIGH

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      SERIAL_UDB_EXTRA_F13 (177)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Backwards compatible version of SERIAL_UDB_EXTRA F13: format

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      sue_week_noint16_tSerial UDB Extra GPS Week Number
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      sue_lat_originint32_tSerial UDB Extra MP Origin Latitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      sue_lon_originint32_tSerial UDB Extra MP Origin Longitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      sue_alt_originint32_tSerial UDB Extra MP Origin Altitude Above Sea Level

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      SERIAL_UDB_EXTRA_F14 (178)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Backwards compatible version of SERIAL_UDB_EXTRA F14: format

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      sue_WIND_ESTIMATIONuint8_tSerial UDB Extra Wind Estimation Enabled
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      sue_GPS_TYPEuint8_tSerial UDB Extra Type of GPS Unit
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      sue_DRuint8_tSerial UDB Extra Dead Reckoning Enabled
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      sue_BOARD_TYPEuint8_tSerial UDB Extra Type of UDB Hardware
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      sue_AIRFRAMEuint8_tSerial UDB Extra Type of Airframe
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      sue_RCONint16_tSerial UDB Extra Reboot Register of DSPIC
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      sue_TRAP_FLAGSint16_tSerial UDB Extra Last dspic Trap Flags
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      sue_TRAP_SOURCEuint32_tSerial UDB Extra Type Program Address of Last Trap
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      sue_osc_fail_countint16_tSerial UDB Extra Number of Ocillator Failures
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      sue_CLOCK_CONFIGuint8_tSerial UDB Extra UDB Internal Clock Configuration
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      sue_FLIGHT_PLAN_TYPEuint8_tSerial UDB Extra Type of Flight Plan

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      SERIAL_UDB_EXTRA_F15 (179)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Backwards compatible version of SERIAL_UDB_EXTRA F15 format

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      sue_ID_VEHICLE_MODEL_NAMEuint8_t[40]Serial UDB Extra Model Name Of Vehicle
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      sue_ID_VEHICLE_REGISTRATIONuint8_t[20]Serial UDB Extra Registraton Number of Vehicle

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      SERIAL_UDB_EXTRA_F16 (180)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Backwards compatible version of SERIAL_UDB_EXTRA F16 format

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      sue_ID_LEAD_PILOTuint8_t[40]Serial UDB Extra Name of Expected Lead Pilot
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      sue_ID_DIY_DRONES_URLuint8_t[70]Serial UDB Extra URL of Lead Pilot or Team

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ALTITUDES (181)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      The altitude measured by sensors and IMU

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      time_boot_msuint32_tTimestamp (milliseconds since system boot)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      alt_gpsint32_tGPS altitude (MSL) in meters, expressed as * 1000 (millimeters)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      alt_imuint32_tIMU altitude above ground in meters, expressed as * 1000 (millimeters)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      alt_barometricint32_tbarometeric altitude above ground in meters, expressed as * 1000 (millimeters)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      alt_optical_flowint32_tOptical flow altitude above ground in meters, expressed as * 1000 (millimeters)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      alt_range_finderint32_tRangefinder Altitude above ground in meters, expressed as * 1000 (millimeters)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      alt_extraint32_tExtra altitude above ground in meters, expressed as * 1000 (millimeters)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      AIRSPEEDS (182)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      The airspeed measured by sensors and IMU

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      time_boot_msuint32_tTimestamp (milliseconds since system boot)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      airspeed_imuint16_tAirspeed estimate from IMU, cm/s
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      airspeed_pitotint16_tPitot measured forward airpseed, cm/s
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      airspeed_hot_wireint16_tHot wire anenometer measured airspeed, cm/s
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      airspeed_ultrasonicint16_tUltrasonic measured airspeed, cm/s
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      aoaint16_tAngle of attack sensor, degrees * 10
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      aoyint16_tYaw angle sensor, degrees * 10

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      SERIAL_UDB_EXTRA_F17 (183)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Backwards compatible version of SERIAL_UDB_EXTRA F17 format

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      sue_feed_forwardfloatSUE Feed Forward Gain
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      sue_turn_rate_navfloatSUE Max Turn Rate when Navigating
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      sue_turn_rate_fbwfloatSUE Max Turn Rate in Fly By Wire Mode

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      SERIAL_UDB_EXTRA_F18 (184)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Backwards compatible version of SERIAL_UDB_EXTRA F18 format

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      angle_of_attack_normalfloatSUE Angle of Attack Normal
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      angle_of_attack_invertedfloatSUE Angle of Attack Inverted
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      elevator_trim_normalfloatSUE Elevator Trim Normal
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      elevator_trim_invertedfloatSUE Elevator Trim Inverted
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      reference_speedfloatSUE reference_speed

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      SERIAL_UDB_EXTRA_F19 (185)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Backwards compatible version of SERIAL_UDB_EXTRA F19 format

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      sue_aileron_output_channeluint8_tSUE aileron output channel
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      sue_aileron_reverseduint8_tSUE aileron reversed
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      sue_elevator_output_channeluint8_tSUE elevator output channel
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      sue_elevator_reverseduint8_tSUE elevator reversed
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      sue_throttle_output_channeluint8_tSUE throttle output channel
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      sue_throttle_reverseduint8_tSUE throttle reversed
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      sue_rudder_output_channeluint8_tSUE rudder output channel
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      sue_rudder_reverseduint8_tSUE rudder reversed

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      SERIAL_UDB_EXTRA_F20 (186)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Backwards compatible version of SERIAL_UDB_EXTRA F20 format

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      sue_number_of_inputsuint8_tSUE Number of Input Channels
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      sue_trim_value_input_1int16_tSUE UDB PWM Trim Value on Input 1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      sue_trim_value_input_2int16_tSUE UDB PWM Trim Value on Input 2
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      sue_trim_value_input_3int16_tSUE UDB PWM Trim Value on Input 3
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      sue_trim_value_input_4int16_tSUE UDB PWM Trim Value on Input 4
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      sue_trim_value_input_5int16_tSUE UDB PWM Trim Value on Input 5
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      sue_trim_value_input_6int16_tSUE UDB PWM Trim Value on Input 6
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      sue_trim_value_input_7int16_tSUE UDB PWM Trim Value on Input 7
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      sue_trim_value_input_8int16_tSUE UDB PWM Trim Value on Input 8
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      sue_trim_value_input_9int16_tSUE UDB PWM Trim Value on Input 9
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      sue_trim_value_input_10int16_tSUE UDB PWM Trim Value on Input 10
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      sue_trim_value_input_11int16_tSUE UDB PWM Trim Value on Input 11
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      sue_trim_value_input_12int16_tSUE UDB PWM Trim Value on Input 12

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      SERIAL_UDB_EXTRA_F21 (187)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Backwards compatible version of SERIAL_UDB_EXTRA F21 format

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      sue_accel_x_offsetint16_tSUE X accelerometer offset
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      sue_accel_y_offsetint16_tSUE Y accelerometer offset
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      sue_accel_z_offsetint16_tSUE Z accelerometer offset
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      sue_gyro_x_offsetint16_tSUE X gyro offset
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      sue_gyro_y_offsetint16_tSUE Y gyro offset
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      sue_gyro_z_offsetint16_tSUE Z gyro offset

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      SERIAL_UDB_EXTRA_F22 (188)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Backwards compatible version of SERIAL_UDB_EXTRA F22 format

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      sue_accel_x_at_calibrationint16_tSUE X accelerometer at calibration time
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      sue_accel_y_at_calibrationint16_tSUE Y accelerometer at calibration time
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      sue_accel_z_at_calibrationint16_tSUE Z accelerometer at calibration time
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      sue_gyro_x_at_calibrationint16_tSUE X gyro at calibration time
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      sue_gyro_y_at_calibrationint16_tSUE Y gyro at calibration time
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      sue_gyro_z_at_calibrationint16_tSUE Z gyro at calibration time

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Enumerated Types

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_PREFLIGHT_STORAGE_ACTION

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Action required when performing CMD_PREFLIGHT_STORAGE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      0MAV_PFS_CMD_READ_ALLRead all parameters from storage
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1MAV_PFS_CMD_WRITE_ALLWrite all parameters to storage
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2MAV_PFS_CMD_CLEAR_ALLClear all parameters in storage
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      3MAV_PFS_CMD_READ_SPECIFICRead specific parameters from storage
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      4MAV_PFS_CMD_WRITE_SPECIFICWrite specific parameters to storage
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      5MAV_PFS_CMD_CLEAR_SPECIFICClear specific parameters in storage
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      6MAV_PFS_CMD_DO_NOTHINGdo nothing

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Commands (MAV_CMD)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_PREFLIGHT_STORAGE_ADVANCED (0)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Request storage of different parameter values and logs. This command will be only accepted if in pre-flight mode.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Param (Label)Description
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      1Storage action: Action defined by MAV_PREFLIGHT_STORAGE_ACTION_ADVANCED
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      2Storage area as defined by parameter database
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      3Storage flags as defined by parameter database
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      4Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      5Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      6Empty
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      7Empty

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      results matching ""

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        No results matching ""

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        \ No newline at end of file diff --git a/zh/messages/minimal.html b/zh/messages/minimal.html index 957515967..2de19052d 100644 --- a/zh/messages/minimal.html +++ b/zh/messages/minimal.html @@ -1 +1 @@ -minimal.xml · MAVLink Developer Guide
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Messages
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Messages
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Implementations
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Examples
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Examples
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAVLink Minimal Set

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        The MAVLink minimal set contains the minimal set of definitions for a viable MAVLink system.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        The message set is defined in minimal.xml and is managed by the MAVLink project.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        The minimal set is included (imported into) other xml definition files, including the MAVLink Common Message Set (common.xml).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAVLink 2 extension fields that have been added to MAVLink 1 messages are displayed in blue. - Entities from dialects are displayed only as headings (with link to original)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Protocol version: 3

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        None

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Summary

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        TypeDefinedIncluded
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Messages20
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Enums60
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Commands00

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        The following sections list all entities in the dialect (both included and defined in this file).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Messages

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        HEARTBEAT (0)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        The heartbeat message shows that a system or component is present and responding. The type and autopilot fields (along with the message component id), allow the receiving system to treat further messages from this system appropriately (e.g. by laying out the user interface based on the autopilot). This microservice is documented at https://mavlink.io/en/services/heartbeat.html

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Field NameTypeValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        typeuint8_tMAV_TYPEVehicle or component type. For a flight controller component the vehicle type (quadrotor, helicopter, etc.). For other components the component type (e.g. camera, gimbal, etc.). This should be used in preference to component id for identifying the component type.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        autopilotuint8_tMAV_AUTOPILOTAutopilot type / class. Use MAV_AUTOPILOT_INVALID for components that are not flight controllers.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        base_modeuint8_tMAV_MODE_FLAGSystem mode bitmap.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        custom_modeuint32_tA bitfield for use for autopilot-specific flags
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        system_statusuint8_tMAV_STATESystem status flag.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        mavlink_versionuint8_t_mavlink_versionMAVLink version, not writable by user, gets added by protocol because of magic data type: uint8_t_mavlink_version

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        PROTOCOL_VERSION (300) — [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Version and capability of protocol version. This message can be requested with MAV_CMD_REQUEST_MESSAGE and is used as part of the handshaking to establish which MAVLink version should be used on the network. Every node should respond to a request for PROTOCOL_VERSION to enable the handshaking. Library implementers should consider adding this into the default decoding state machine to allow the protocol core to respond directly.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        versionuint16_tCurrently active MAVLink version number * 100: v1.0 is 100, v2.0 is 200, etc.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        min_versionuint16_tMinimum MAVLink version supported
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        max_versionuint16_tMaximum MAVLink version supported (set to the same value as version by default)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        spec_version_hashuint8_t[8]The first 8 bytes (not characters printed in hex!) of the git hash.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        library_version_hashuint8_t[8]The first 8 bytes (not characters printed in hex!) of the git hash.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Enumerated Types

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_AUTOPILOT

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Micro air vehicle / autopilot classes. This identifies the individual model.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        0MAV_AUTOPILOT_GENERICGeneric autopilot, full support for everything
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        1MAV_AUTOPILOT_RESERVEDReserved for future use.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        2MAV_AUTOPILOT_SLUGSSLUGS autopilot, http://slugsuav.soe.ucsc.edu
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        3MAV_AUTOPILOT_ARDUPILOTMEGAArduPilot - Plane/Copter/Rover/Sub/Tracker, https://ardupilot.org
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        4MAV_AUTOPILOT_OPENPILOTOpenPilot, http://openpilot.org
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        5MAV_AUTOPILOT_GENERIC_WAYPOINTS_ONLYGeneric autopilot only supporting simple waypoints
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        6MAV_AUTOPILOT_GENERIC_WAYPOINTS_AND_SIMPLE_NAVIGATION_ONLYGeneric autopilot supporting waypoints and other simple navigation commands
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        7MAV_AUTOPILOT_GENERIC_MISSION_FULLGeneric autopilot supporting the full mission command set
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        8MAV_AUTOPILOT_INVALIDNo valid autopilot, e.g. a GCS or other MAVLink component
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        9MAV_AUTOPILOT_PPZPPZ UAV - http://nongnu.org/paparazzi
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        10MAV_AUTOPILOT_UDBUAV Dev Board
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        11MAV_AUTOPILOT_FPFlexiPilot
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        12MAV_AUTOPILOT_PX4PX4 Autopilot - http://px4.io/
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        13MAV_AUTOPILOT_SMACCMPILOTSMACCMPilot - http://smaccmpilot.org
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        14MAV_AUTOPILOT_AUTOQUADAutoQuad -- http://autoquad.org
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        15MAV_AUTOPILOT_ARMAZILAArmazila -- http://armazila.com
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        16MAV_AUTOPILOT_AEROBAerob -- http://aerob.ru
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        17MAV_AUTOPILOT_ASLUAVASLUAV autopilot -- http://www.asl.ethz.ch
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        18MAV_AUTOPILOT_SMARTAPSmartAP Autopilot - http://sky-drones.com
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        19MAV_AUTOPILOT_AIRRAILSAirRails - http://uaventure.com
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        20MAV_AUTOPILOT_REFLEXFusion Reflex - https://fusion.engineering

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_TYPE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAVLINK component type reported in HEARTBEAT message. Flight controllers must report the type of the vehicle on which they are mounted (e.g. MAV_TYPE_OCTOROTOR). All other components must report a value appropriate for their type (e.g. a camera must use MAV_TYPE_CAMERA).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        0MAV_TYPE_GENERICGeneric micro air vehicle
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        1MAV_TYPE_FIXED_WINGFixed wing aircraft.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        2MAV_TYPE_QUADROTORQuadrotor
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        3MAV_TYPE_COAXIALCoaxial helicopter
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        4MAV_TYPE_HELICOPTERNormal helicopter with tail rotor.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        5MAV_TYPE_ANTENNA_TRACKERGround installation
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        6MAV_TYPE_GCSOperator control unit / ground control station
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        7MAV_TYPE_AIRSHIPAirship, controlled
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        8MAV_TYPE_FREE_BALLOONFree balloon, uncontrolled
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        9MAV_TYPE_ROCKETRocket
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        10MAV_TYPE_GROUND_ROVERGround rover
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        11MAV_TYPE_SURFACE_BOATSurface vessel, boat, ship
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        12MAV_TYPE_SUBMARINESubmarine
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        13MAV_TYPE_HEXAROTORHexarotor
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        14MAV_TYPE_OCTOROTOROctorotor
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        15MAV_TYPE_TRICOPTERTricopter
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        16MAV_TYPE_FLAPPING_WINGFlapping wing
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        17MAV_TYPE_KITEKite
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        18MAV_TYPE_ONBOARD_CONTROLLEROnboard companion controller
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        19MAV_TYPE_VTOL_TAILSITTER_DUOROTORTwo-rotor Tailsitter VTOL that additionally uses control surfaces in vertical operation. Note, value previously named MAV_TYPE_VTOL_DUOROTOR.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        20MAV_TYPE_VTOL_TAILSITTER_QUADROTORQuad-rotor Tailsitter VTOL using a V-shaped quad config in vertical operation. Note: value previously named MAV_TYPE_VTOL_QUADROTOR.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        21MAV_TYPE_VTOL_TILTROTORTiltrotor VTOL. Fuselage and wings stay (nominally) horizontal in all flight phases. It able to tilt (some) rotors to provide thrust in cruise flight.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        22MAV_TYPE_VTOL_FIXEDROTORVTOL with separate fixed rotors for hover and cruise flight. Fuselage and wings stay (nominally) horizontal in all flight phases.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        23MAV_TYPE_VTOL_TAILSITTERTailsitter VTOL. Fuselage and wings orientation changes depending on flight phase: vertical for hover, horizontal for cruise. Use more specific VTOL MAV_TYPE_VTOL_TAILSITTER_DUOROTOR or MAV_TYPE_VTOL_TAILSITTER_QUADROTOR if appropriate.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        24MAV_TYPE_VTOL_TILTWINGTiltwing VTOL. Fuselage stays horizontal in all flight phases. The whole wing, along with any attached engine, can tilt between vertical and horizontal mode.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        25MAV_TYPE_VTOL_RESERVED5VTOL reserved 5
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        26MAV_TYPE_GIMBALGimbal
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        27MAV_TYPE_ADSBADSB system
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        28MAV_TYPE_PARAFOILSteerable, nonrigid airfoil
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        29MAV_TYPE_DODECAROTORDodecarotor
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        30MAV_TYPE_CAMERACamera
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        31MAV_TYPE_CHARGING_STATIONCharging station
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        32MAV_TYPE_FLARMFLARM collision avoidance system
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        33MAV_TYPE_SERVOServo
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        34MAV_TYPE_ODIDOpen Drone ID. See https://mavlink.io/en/services/opendroneid.html.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        35MAV_TYPE_DECAROTORDecarotor
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        36MAV_TYPE_BATTERYBattery
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        37MAV_TYPE_PARACHUTEParachute
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        38MAV_TYPE_LOGLog
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        39MAV_TYPE_OSDOSD
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        40MAV_TYPE_IMUIMU
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        41MAV_TYPE_GPSGPS
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        42MAV_TYPE_WINCHWinch
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        43MAV_TYPE_GENERIC_MULTIROTORGeneric multirotor that does not fit into a specific type or whose type is unknown
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        44MAV_TYPE_ILLUMINATORIlluminator. An illuminator is a light source that is used for lighting up dark areas external to the sytstem: e.g. a torch or searchlight (as opposed to a light source for illuminating the system itself, e.g. an indicator light).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_MODE_FLAG

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        (Bitmask) These flags encode the MAV mode.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        1MAV_MODE_FLAG_CUSTOM_MODE_ENABLED0b00000001 Reserved for future use.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        2MAV_MODE_FLAG_TEST_ENABLED0b00000010 system has a test mode enabled. This flag is intended for temporary system tests and should not be used for stable implementations.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        4MAV_MODE_FLAG_AUTO_ENABLED0b00000100 autonomous mode enabled, system finds its own goal positions. Guided flag can be set or not, depends on the actual implementation.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        8MAV_MODE_FLAG_GUIDED_ENABLED0b00001000 guided mode enabled, system flies waypoints / mission items.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        16MAV_MODE_FLAG_STABILIZE_ENABLED0b00010000 system stabilizes electronically its attitude (and optionally position). It needs however further control inputs to move around.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        32MAV_MODE_FLAG_HIL_ENABLED0b00100000 hardware in the loop simulation. All motors / actuators are blocked, but internal software is full operational.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        64MAV_MODE_FLAG_MANUAL_INPUT_ENABLED0b01000000 remote control input is enabled.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        128MAV_MODE_FLAG_SAFETY_ARMED0b10000000 MAV safety set to armed. Motors are enabled / running / can start. Ready to fly. Additional note: this flag is to be ignore when sent in the command MAV_CMD_DO_SET_MODE and MAV_CMD_COMPONENT_ARM_DISARM shall be used instead. The flag can still be used to report the armed state.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_MODE_FLAG_DECODE_POSITION

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        (Bitmask) These values encode the bit positions of the decode position. These values can be used to read the value of a flag bit by combining the base_mode variable with AND with the flag position value. The result will be either 0 or 1, depending on if the flag is set or not.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        1MAV_MODE_FLAG_DECODE_POSITION_CUSTOM_MODEEighth bit: 00000001
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        2MAV_MODE_FLAG_DECODE_POSITION_TESTSeventh bit: 00000010
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        4MAV_MODE_FLAG_DECODE_POSITION_AUTOSixth bit: 00000100
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        8MAV_MODE_FLAG_DECODE_POSITION_GUIDEDFifth bit: 00001000
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        16MAV_MODE_FLAG_DECODE_POSITION_STABILIZEFourth bit: 00010000
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        32MAV_MODE_FLAG_DECODE_POSITION_HILThird bit: 00100000
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        64MAV_MODE_FLAG_DECODE_POSITION_MANUALSecond bit: 01000000
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        128MAV_MODE_FLAG_DECODE_POSITION_SAFETYFirst bit: 10000000

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_STATE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        0MAV_STATE_UNINITUninitialized system, state is unknown.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        1MAV_STATE_BOOTSystem is booting up.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        2MAV_STATE_CALIBRATINGSystem is calibrating and not flight-ready.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        3MAV_STATE_STANDBYSystem is grounded and on standby. It can be launched any time.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        4MAV_STATE_ACTIVESystem is active and might be already airborne. Motors are engaged.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        5MAV_STATE_CRITICALSystem is in a non-normal flight mode (failsafe). It can however still navigate.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        6MAV_STATE_EMERGENCYSystem is in a non-normal flight mode (failsafe). It lost control over parts or over the whole airframe. It is in mayday and going down.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        7MAV_STATE_POWEROFFSystem just initialized its power-down sequence, will shut down now.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        8MAV_STATE_FLIGHT_TERMINATIONSystem is terminating itself (failsafe or commanded).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_COMPONENT

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Component ids (values) for the different types and instances of onboard hardware/software that might make up a MAVLink system (autopilot, cameras, servos, GPS systems, avoidance systems etc.).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Components must use the appropriate ID in their source address when sending messages. Components can also use IDs to determine if they are the intended recipient of an incoming message. The MAV_COMP_ID_ALL value is used to indicate messages that must be processed by all components. When creating new entries, components that can have multiple instances (e.g. cameras, servos etc.) should be allocated sequential values. An appropriate number of values should be left free after these components to allow the number of instances to be expanded.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        0MAV_COMP_ID_ALLTarget id (target_component) used to broadcast messages to all components of the receiving system. Components should attempt to process messages with this component ID and forward to components on any other interfaces. Note: This is not a valid source component id for a message.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        1MAV_COMP_ID_AUTOPILOT1System flight controller component ("autopilot"). Only one autopilot is expected in a particular system.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        25MAV_COMP_ID_USER1Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        26MAV_COMP_ID_USER2Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        27MAV_COMP_ID_USER3Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        28MAV_COMP_ID_USER4Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        29MAV_COMP_ID_USER5Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        30MAV_COMP_ID_USER6Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        31MAV_COMP_ID_USER7Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        32MAV_COMP_ID_USER8Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        33MAV_COMP_ID_USER9Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        34MAV_COMP_ID_USER10Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        35MAV_COMP_ID_USER11Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        36MAV_COMP_ID_USER12Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        37MAV_COMP_ID_USER13Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        38MAV_COMP_ID_USER14Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        39MAV_COMP_ID_USER15Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        40MAV_COMP_ID_USER16Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        41MAV_COMP_ID_USER17Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        42MAV_COMP_ID_USER18Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        43MAV_COMP_ID_USER19Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        44MAV_COMP_ID_USER20Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        45MAV_COMP_ID_USER21Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        46MAV_COMP_ID_USER22Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        47MAV_COMP_ID_USER23Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        48MAV_COMP_ID_USER24Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        49MAV_COMP_ID_USER25Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        50MAV_COMP_ID_USER26Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        51MAV_COMP_ID_USER27Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        52MAV_COMP_ID_USER28Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        53MAV_COMP_ID_USER29Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        54MAV_COMP_ID_USER30Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        55MAV_COMP_ID_USER31Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        56MAV_COMP_ID_USER32Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        57MAV_COMP_ID_USER33Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        58MAV_COMP_ID_USER34Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        59MAV_COMP_ID_USER35Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        60MAV_COMP_ID_USER36Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        61MAV_COMP_ID_USER37Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        62MAV_COMP_ID_USER38Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        63MAV_COMP_ID_USER39Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        64MAV_COMP_ID_USER40Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        65MAV_COMP_ID_USER41Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        66MAV_COMP_ID_USER42Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        67MAV_COMP_ID_USER43Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        68MAV_COMP_ID_TELEMETRY_RADIOTelemetry radio (e.g. SiK radio, or other component that emits RADIO_STATUS messages).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        69MAV_COMP_ID_USER45Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        70MAV_COMP_ID_USER46Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        71MAV_COMP_ID_USER47Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        72MAV_COMP_ID_USER48Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        73MAV_COMP_ID_USER49Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        74MAV_COMP_ID_USER50Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        75MAV_COMP_ID_USER51Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        76MAV_COMP_ID_USER52Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        77MAV_COMP_ID_USER53Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        78MAV_COMP_ID_USER54Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        79MAV_COMP_ID_USER55Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        80MAV_COMP_ID_USER56Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        81MAV_COMP_ID_USER57Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        82MAV_COMP_ID_USER58Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        83MAV_COMP_ID_USER59Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        84MAV_COMP_ID_USER60Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        85MAV_COMP_ID_USER61Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        86MAV_COMP_ID_USER62Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        87MAV_COMP_ID_USER63Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        88MAV_COMP_ID_USER64Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        89MAV_COMP_ID_USER65Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        90MAV_COMP_ID_USER66Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        91MAV_COMP_ID_USER67Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        92MAV_COMP_ID_USER68Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        93MAV_COMP_ID_USER69Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        94MAV_COMP_ID_USER70Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        95MAV_COMP_ID_USER71Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        96MAV_COMP_ID_USER72Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        97MAV_COMP_ID_USER73Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        98MAV_COMP_ID_USER74Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        99MAV_COMP_ID_USER75Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        100MAV_COMP_ID_CAMERACamera #1.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        101MAV_COMP_ID_CAMERA2Camera #2.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        102MAV_COMP_ID_CAMERA3Camera #3.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        103MAV_COMP_ID_CAMERA4Camera #4.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        104MAV_COMP_ID_CAMERA5Camera #5.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        105MAV_COMP_ID_CAMERA6Camera #6.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        140MAV_COMP_ID_SERVO1Servo #1.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        141MAV_COMP_ID_SERVO2Servo #2.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        142MAV_COMP_ID_SERVO3Servo #3.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        143MAV_COMP_ID_SERVO4Servo #4.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        144MAV_COMP_ID_SERVO5Servo #5.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        145MAV_COMP_ID_SERVO6Servo #6.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        146MAV_COMP_ID_SERVO7Servo #7.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        147MAV_COMP_ID_SERVO8Servo #8.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        148MAV_COMP_ID_SERVO9Servo #9.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        149MAV_COMP_ID_SERVO10Servo #10.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        150MAV_COMP_ID_SERVO11Servo #11.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        151MAV_COMP_ID_SERVO12Servo #12.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        152MAV_COMP_ID_SERVO13Servo #13.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        153MAV_COMP_ID_SERVO14Servo #14.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        154MAV_COMP_ID_GIMBALGimbal #1.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        155MAV_COMP_ID_LOGLogging component.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        156MAV_COMP_ID_ADSBAutomatic Dependent Surveillance-Broadcast (ADS-B) component.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        157MAV_COMP_ID_OSDOn Screen Display (OSD) devices for video links.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        158MAV_COMP_ID_PERIPHERALGeneric autopilot peripheral component ID. Meant for devices that do not implement the parameter microservice.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        159MAV_COMP_ID_QX1_GIMBALGimbal ID for QX1.DEPRECATED: Replaced By MAV_COMP_ID_GIMBAL (2018-11) — All gimbals should use MAV_COMP_ID_GIMBAL.)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        160MAV_COMP_ID_FLARMFLARM collision alert component.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        161MAV_COMP_ID_PARACHUTEParachute component.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        169MAV_COMP_ID_WINCHWinch component.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        171MAV_COMP_ID_GIMBAL2Gimbal #2.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        172MAV_COMP_ID_GIMBAL3Gimbal #3.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        173MAV_COMP_ID_GIMBAL4Gimbal #4
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        174MAV_COMP_ID_GIMBAL5Gimbal #5.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        175MAV_COMP_ID_GIMBAL6Gimbal #6.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        180MAV_COMP_ID_BATTERYBattery #1.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        181MAV_COMP_ID_BATTERY2Battery #2.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        189MAV_COMP_ID_MAVCANCAN over MAVLink client.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        190MAV_COMP_ID_MISSIONPLANNERComponent that can generate/supply a mission flight plan (e.g. GCS or developer API).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        191MAV_COMP_ID_ONBOARD_COMPUTERComponent that lives on the onboard computer (companion computer) and has some generic functionalities, such as settings system parameters and monitoring the status of some processes that don't directly speak mavlink and so on.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        192MAV_COMP_ID_ONBOARD_COMPUTER2Component that lives on the onboard computer (companion computer) and has some generic functionalities, such as settings system parameters and monitoring the status of some processes that don't directly speak mavlink and so on.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        193MAV_COMP_ID_ONBOARD_COMPUTER3Component that lives on the onboard computer (companion computer) and has some generic functionalities, such as settings system parameters and monitoring the status of some processes that don't directly speak mavlink and so on.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        194MAV_COMP_ID_ONBOARD_COMPUTER4Component that lives on the onboard computer (companion computer) and has some generic functionalities, such as settings system parameters and monitoring the status of some processes that don't directly speak mavlink and so on.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        195MAV_COMP_ID_PATHPLANNERComponent that finds an optimal path between points based on a certain constraint (e.g. minimum snap, shortest path, cost, etc.).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        196MAV_COMP_ID_OBSTACLE_AVOIDANCEComponent that plans a collision free path between two points.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        197MAV_COMP_ID_VISUAL_INERTIAL_ODOMETRYComponent that provides position estimates using VIO techniques.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        198MAV_COMP_ID_PAIRING_MANAGERComponent that manages pairing of vehicle and GCS.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        200MAV_COMP_ID_IMUInertial Measurement Unit (IMU) #1.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        201MAV_COMP_ID_IMU_2Inertial Measurement Unit (IMU) #2.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        202MAV_COMP_ID_IMU_3Inertial Measurement Unit (IMU) #3.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        220MAV_COMP_ID_GPSGPS #1.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        221MAV_COMP_ID_GPS2GPS #2.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        236MAV_COMP_ID_ODID_TXRX_1Open Drone ID transmitter/receiver (Bluetooth/WiFi/Internet).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        237MAV_COMP_ID_ODID_TXRX_2Open Drone ID transmitter/receiver (Bluetooth/WiFi/Internet).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        238MAV_COMP_ID_ODID_TXRX_3Open Drone ID transmitter/receiver (Bluetooth/WiFi/Internet).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        240MAV_COMP_ID_UDP_BRIDGEComponent to bridge MAVLink to UDP (i.e. from a UART).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        241MAV_COMP_ID_UART_BRIDGEComponent to bridge to UART (i.e. from UDP).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        242MAV_COMP_ID_TUNNEL_NODEComponent handling TUNNEL messages (e.g. vendor specific GUI of a component).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        243MAV_COMP_ID_ILLUMINATORIlluminator
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        250MAV_COMP_ID_SYSTEM_CONTROLDeprecated, don't use. Component for handling system messages (e.g. to ARM, takeoff, etc.).DEPRECATED: Replaced By MAV_COMP_ID_ALL (2018-11) — System control does not require a separate component ID. Instead, system commands should be sent with target_component=MAV_COMP_ID_ALL allowing the target component to use any appropriate component id.)

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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAVLink Minimal Set

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          The MAVLink minimal set contains the minimal set of definitions for a viable MAVLink system.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          The message set is defined in minimal.xml and is managed by the MAVLink project.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          The minimal set is included (imported into) other xml definition files, including the MAVLink Common Message Set (common.xml).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAVLink 2 extension fields that have been added to MAVLink 1 messages are displayed in blue. - Entities from dialects are displayed only as headings (with link to original)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Protocol version: 3

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          None

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Summary

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          TypeDefinedIncluded
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Messages20
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Enums60
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Commands00

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          The following sections list all entities in the dialect (both included and defined in this file).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Messages

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          HEARTBEAT (0)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          The heartbeat message shows that a system or component is present and responding. The type and autopilot fields (along with the message component id), allow the receiving system to treat further messages from this system appropriately (e.g. by laying out the user interface based on the autopilot). This microservice is documented at https://mavlink.io/en/services/heartbeat.html

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          typeuint8_tMAV_TYPEVehicle or component type. For a flight controller component the vehicle type (quadrotor, helicopter, etc.). For other components the component type (e.g. camera, gimbal, etc.). This should be used in preference to component id for identifying the component type.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          autopilotuint8_tMAV_AUTOPILOTAutopilot type / class. Use MAV_AUTOPILOT_INVALID for components that are not flight controllers.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          base_modeuint8_tMAV_MODE_FLAGSystem mode bitmap.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          custom_modeuint32_tA bitfield for use for autopilot-specific flags
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          system_statusuint8_tMAV_STATESystem status flag.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          mavlink_versionuint8_t_mavlink_versionMAVLink version, not writable by user, gets added by protocol because of magic data type: uint8_t_mavlink_version

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          PROTOCOL_VERSION (300) — [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          WORK IN PROGRESS: Do not use in stable production environments (it may change).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Version and capability of protocol version. This message can be requested with MAV_CMD_REQUEST_MESSAGE and is used as part of the handshaking to establish which MAVLink version should be used on the network. Every node should respond to a request for PROTOCOL_VERSION to enable the handshaking. Library implementers should consider adding this into the default decoding state machine to allow the protocol core to respond directly.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          versionuint16_tCurrently active MAVLink version number * 100: v1.0 is 100, v2.0 is 200, etc.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          min_versionuint16_tMinimum MAVLink version supported
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          max_versionuint16_tMaximum MAVLink version supported (set to the same value as version by default)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          spec_version_hashuint8_t[8]The first 8 bytes (not characters printed in hex!) of the git hash.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          library_version_hashuint8_t[8]The first 8 bytes (not characters printed in hex!) of the git hash.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Enumerated Types

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_AUTOPILOT

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Micro air vehicle / autopilot classes. This identifies the individual model.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          0MAV_AUTOPILOT_GENERICGeneric autopilot, full support for everything
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1MAV_AUTOPILOT_RESERVEDReserved for future use.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2MAV_AUTOPILOT_SLUGSSLUGS autopilot, http://slugsuav.soe.ucsc.edu
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          3MAV_AUTOPILOT_ARDUPILOTMEGAArduPilot - Plane/Copter/Rover/Sub/Tracker, https://ardupilot.org
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          4MAV_AUTOPILOT_OPENPILOTOpenPilot, http://openpilot.org
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          5MAV_AUTOPILOT_GENERIC_WAYPOINTS_ONLYGeneric autopilot only supporting simple waypoints
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          6MAV_AUTOPILOT_GENERIC_WAYPOINTS_AND_SIMPLE_NAVIGATION_ONLYGeneric autopilot supporting waypoints and other simple navigation commands
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          7MAV_AUTOPILOT_GENERIC_MISSION_FULLGeneric autopilot supporting the full mission command set
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          8MAV_AUTOPILOT_INVALIDNo valid autopilot, e.g. a GCS or other MAVLink component
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          9MAV_AUTOPILOT_PPZPPZ UAV - http://nongnu.org/paparazzi
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          10MAV_AUTOPILOT_UDBUAV Dev Board
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          11MAV_AUTOPILOT_FPFlexiPilot
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          12MAV_AUTOPILOT_PX4PX4 Autopilot - http://px4.io/
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          13MAV_AUTOPILOT_SMACCMPILOTSMACCMPilot - http://smaccmpilot.org
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          14MAV_AUTOPILOT_AUTOQUADAutoQuad -- http://autoquad.org
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          15MAV_AUTOPILOT_ARMAZILAArmazila -- http://armazila.com
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          16MAV_AUTOPILOT_AEROBAerob -- http://aerob.ru
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          17MAV_AUTOPILOT_ASLUAVASLUAV autopilot -- http://www.asl.ethz.ch
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          18MAV_AUTOPILOT_SMARTAPSmartAP Autopilot - http://sky-drones.com
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          19MAV_AUTOPILOT_AIRRAILSAirRails - http://uaventure.com
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          20MAV_AUTOPILOT_REFLEXFusion Reflex - https://fusion.engineering

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_TYPE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAVLINK component type reported in HEARTBEAT message. Flight controllers must report the type of the vehicle on which they are mounted (e.g. MAV_TYPE_OCTOROTOR). All other components must report a value appropriate for their type (e.g. a camera must use MAV_TYPE_CAMERA).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          0MAV_TYPE_GENERICGeneric micro air vehicle
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1MAV_TYPE_FIXED_WINGFixed wing aircraft.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2MAV_TYPE_QUADROTORQuadrotor
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          3MAV_TYPE_COAXIALCoaxial helicopter
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          4MAV_TYPE_HELICOPTERNormal helicopter with tail rotor.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          5MAV_TYPE_ANTENNA_TRACKERGround installation
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          6MAV_TYPE_GCSOperator control unit / ground control station
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          7MAV_TYPE_AIRSHIPAirship, controlled
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          8MAV_TYPE_FREE_BALLOONFree balloon, uncontrolled
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          9MAV_TYPE_ROCKETRocket
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          10MAV_TYPE_GROUND_ROVERGround rover
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          11MAV_TYPE_SURFACE_BOATSurface vessel, boat, ship
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          12MAV_TYPE_SUBMARINESubmarine
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          13MAV_TYPE_HEXAROTORHexarotor
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          14MAV_TYPE_OCTOROTOROctorotor
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          15MAV_TYPE_TRICOPTERTricopter
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          16MAV_TYPE_FLAPPING_WINGFlapping wing
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          17MAV_TYPE_KITEKite
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          18MAV_TYPE_ONBOARD_CONTROLLEROnboard companion controller
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          19MAV_TYPE_VTOL_TAILSITTER_DUOROTORTwo-rotor Tailsitter VTOL that additionally uses control surfaces in vertical operation. Note, value previously named MAV_TYPE_VTOL_DUOROTOR.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          20MAV_TYPE_VTOL_TAILSITTER_QUADROTORQuad-rotor Tailsitter VTOL using a V-shaped quad config in vertical operation. Note: value previously named MAV_TYPE_VTOL_QUADROTOR.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          21MAV_TYPE_VTOL_TILTROTORTiltrotor VTOL. Fuselage and wings stay (nominally) horizontal in all flight phases. It able to tilt (some) rotors to provide thrust in cruise flight.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          22MAV_TYPE_VTOL_FIXEDROTORVTOL with separate fixed rotors for hover and cruise flight. Fuselage and wings stay (nominally) horizontal in all flight phases.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          23MAV_TYPE_VTOL_TAILSITTERTailsitter VTOL. Fuselage and wings orientation changes depending on flight phase: vertical for hover, horizontal for cruise. Use more specific VTOL MAV_TYPE_VTOL_TAILSITTER_DUOROTOR or MAV_TYPE_VTOL_TAILSITTER_QUADROTOR if appropriate.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          24MAV_TYPE_VTOL_TILTWINGTiltwing VTOL. Fuselage stays horizontal in all flight phases. The whole wing, along with any attached engine, can tilt between vertical and horizontal mode.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          25MAV_TYPE_VTOL_RESERVED5VTOL reserved 5
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          26MAV_TYPE_GIMBALGimbal
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          27MAV_TYPE_ADSBADSB system
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          28MAV_TYPE_PARAFOILSteerable, nonrigid airfoil
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          29MAV_TYPE_DODECAROTORDodecarotor
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          30MAV_TYPE_CAMERACamera
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          31MAV_TYPE_CHARGING_STATIONCharging station
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          32MAV_TYPE_FLARMFLARM collision avoidance system
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          33MAV_TYPE_SERVOServo
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          34MAV_TYPE_ODIDOpen Drone ID. See https://mavlink.io/en/services/opendroneid.html.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          35MAV_TYPE_DECAROTORDecarotor
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          36MAV_TYPE_BATTERYBattery
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          37MAV_TYPE_PARACHUTEParachute
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          38MAV_TYPE_LOGLog
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          39MAV_TYPE_OSDOSD
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          40MAV_TYPE_IMUIMU
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          41MAV_TYPE_GPSGPS
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          42MAV_TYPE_WINCHWinch
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          43MAV_TYPE_GENERIC_MULTIROTORGeneric multirotor that does not fit into a specific type or whose type is unknown
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          44MAV_TYPE_ILLUMINATORIlluminator. An illuminator is a light source that is used for lighting up dark areas external to the sytstem: e.g. a torch or searchlight (as opposed to a light source for illuminating the system itself, e.g. an indicator light).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_MODE_FLAG

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          (Bitmask) These flags encode the MAV mode.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1MAV_MODE_FLAG_CUSTOM_MODE_ENABLED0b00000001 Reserved for future use.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2MAV_MODE_FLAG_TEST_ENABLED0b00000010 system has a test mode enabled. This flag is intended for temporary system tests and should not be used for stable implementations.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          4MAV_MODE_FLAG_AUTO_ENABLED0b00000100 autonomous mode enabled, system finds its own goal positions. Guided flag can be set or not, depends on the actual implementation.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          8MAV_MODE_FLAG_GUIDED_ENABLED0b00001000 guided mode enabled, system flies waypoints / mission items.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          16MAV_MODE_FLAG_STABILIZE_ENABLED0b00010000 system stabilizes electronically its attitude (and optionally position). It needs however further control inputs to move around.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          32MAV_MODE_FLAG_HIL_ENABLED0b00100000 hardware in the loop simulation. All motors / actuators are blocked, but internal software is full operational.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          64MAV_MODE_FLAG_MANUAL_INPUT_ENABLED0b01000000 remote control input is enabled.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          128MAV_MODE_FLAG_SAFETY_ARMED0b10000000 MAV safety set to armed. Motors are enabled / running / can start. Ready to fly. Additional note: this flag is to be ignore when sent in the command MAV_CMD_DO_SET_MODE and MAV_CMD_COMPONENT_ARM_DISARM shall be used instead. The flag can still be used to report the armed state.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_MODE_FLAG_DECODE_POSITION

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          (Bitmask) These values encode the bit positions of the decode position. These values can be used to read the value of a flag bit by combining the base_mode variable with AND with the flag position value. The result will be either 0 or 1, depending on if the flag is set or not.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1MAV_MODE_FLAG_DECODE_POSITION_CUSTOM_MODEEighth bit: 00000001
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2MAV_MODE_FLAG_DECODE_POSITION_TESTSeventh bit: 00000010
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          4MAV_MODE_FLAG_DECODE_POSITION_AUTOSixth bit: 00000100
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          8MAV_MODE_FLAG_DECODE_POSITION_GUIDEDFifth bit: 00001000
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          16MAV_MODE_FLAG_DECODE_POSITION_STABILIZEFourth bit: 00010000
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          32MAV_MODE_FLAG_DECODE_POSITION_HILThird bit: 00100000
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          64MAV_MODE_FLAG_DECODE_POSITION_MANUALSecond bit: 01000000
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          128MAV_MODE_FLAG_DECODE_POSITION_SAFETYFirst bit: 10000000

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_STATE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          0MAV_STATE_UNINITUninitialized system, state is unknown.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1MAV_STATE_BOOTSystem is booting up.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2MAV_STATE_CALIBRATINGSystem is calibrating and not flight-ready.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          3MAV_STATE_STANDBYSystem is grounded and on standby. It can be launched any time.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          4MAV_STATE_ACTIVESystem is active and might be already airborne. Motors are engaged.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          5MAV_STATE_CRITICALSystem is in a non-normal flight mode (failsafe). It can however still navigate.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          6MAV_STATE_EMERGENCYSystem is in a non-normal flight mode (failsafe). It lost control over parts or over the whole airframe. It is in mayday and going down.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          7MAV_STATE_POWEROFFSystem just initialized its power-down sequence, will shut down now.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          8MAV_STATE_FLIGHT_TERMINATIONSystem is terminating itself (failsafe or commanded).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_COMPONENT

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Component ids (values) for the different types and instances of onboard hardware/software that might make up a MAVLink system (autopilot, cameras, servos, GPS systems, avoidance systems etc.).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Components must use the appropriate ID in their source address when sending messages. Components can also use IDs to determine if they are the intended recipient of an incoming message. The MAV_COMP_ID_ALL value is used to indicate messages that must be processed by all components. When creating new entries, components that can have multiple instances (e.g. cameras, servos etc.) should be allocated sequential values. An appropriate number of values should be left free after these components to allow the number of instances to be expanded.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          0MAV_COMP_ID_ALLTarget id (target_component) used to broadcast messages to all components of the receiving system. Components should attempt to process messages with this component ID and forward to components on any other interfaces. Note: This is not a valid source component id for a message.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1MAV_COMP_ID_AUTOPILOT1System flight controller component ("autopilot"). Only one autopilot is expected in a particular system.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          25MAV_COMP_ID_USER1Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          26MAV_COMP_ID_USER2Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          27MAV_COMP_ID_USER3Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          28MAV_COMP_ID_USER4Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          29MAV_COMP_ID_USER5Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          30MAV_COMP_ID_USER6Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          31MAV_COMP_ID_USER7Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          32MAV_COMP_ID_USER8Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          33MAV_COMP_ID_USER9Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          34MAV_COMP_ID_USER10Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          35MAV_COMP_ID_USER11Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          36MAV_COMP_ID_USER12Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          37MAV_COMP_ID_USER13Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          38MAV_COMP_ID_USER14Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          39MAV_COMP_ID_USER15Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          40MAV_COMP_ID_USER16Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          41MAV_COMP_ID_USER17Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          42MAV_COMP_ID_USER18Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          43MAV_COMP_ID_USER19Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          44MAV_COMP_ID_USER20Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          45MAV_COMP_ID_USER21Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          46MAV_COMP_ID_USER22Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          47MAV_COMP_ID_USER23Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          48MAV_COMP_ID_USER24Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          49MAV_COMP_ID_USER25Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          50MAV_COMP_ID_USER26Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          51MAV_COMP_ID_USER27Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          52MAV_COMP_ID_USER28Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          53MAV_COMP_ID_USER29Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          54MAV_COMP_ID_USER30Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          55MAV_COMP_ID_USER31Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          56MAV_COMP_ID_USER32Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          57MAV_COMP_ID_USER33Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          58MAV_COMP_ID_USER34Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          59MAV_COMP_ID_USER35Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          60MAV_COMP_ID_USER36Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          61MAV_COMP_ID_USER37Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          62MAV_COMP_ID_USER38Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          63MAV_COMP_ID_USER39Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          64MAV_COMP_ID_USER40Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          65MAV_COMP_ID_USER41Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          66MAV_COMP_ID_USER42Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          67MAV_COMP_ID_USER43Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          68MAV_COMP_ID_TELEMETRY_RADIOTelemetry radio (e.g. SiK radio, or other component that emits RADIO_STATUS messages).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          69MAV_COMP_ID_USER45Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          70MAV_COMP_ID_USER46Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          71MAV_COMP_ID_USER47Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          72MAV_COMP_ID_USER48Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          73MAV_COMP_ID_USER49Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          74MAV_COMP_ID_USER50Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          75MAV_COMP_ID_USER51Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          76MAV_COMP_ID_USER52Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          77MAV_COMP_ID_USER53Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          78MAV_COMP_ID_USER54Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          79MAV_COMP_ID_USER55Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          80MAV_COMP_ID_USER56Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          81MAV_COMP_ID_USER57Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          82MAV_COMP_ID_USER58Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          83MAV_COMP_ID_USER59Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          84MAV_COMP_ID_USER60Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          85MAV_COMP_ID_USER61Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          86MAV_COMP_ID_USER62Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          87MAV_COMP_ID_USER63Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          88MAV_COMP_ID_USER64Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          89MAV_COMP_ID_USER65Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          90MAV_COMP_ID_USER66Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          91MAV_COMP_ID_USER67Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          92MAV_COMP_ID_USER68Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          93MAV_COMP_ID_USER69Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          94MAV_COMP_ID_USER70Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          95MAV_COMP_ID_USER71Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          96MAV_COMP_ID_USER72Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          97MAV_COMP_ID_USER73Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          98MAV_COMP_ID_USER74Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          99MAV_COMP_ID_USER75Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          100MAV_COMP_ID_CAMERACamera #1.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          101MAV_COMP_ID_CAMERA2Camera #2.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          102MAV_COMP_ID_CAMERA3Camera #3.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          103MAV_COMP_ID_CAMERA4Camera #4.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          104MAV_COMP_ID_CAMERA5Camera #5.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          105MAV_COMP_ID_CAMERA6Camera #6.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          140MAV_COMP_ID_SERVO1Servo #1.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          141MAV_COMP_ID_SERVO2Servo #2.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          142MAV_COMP_ID_SERVO3Servo #3.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          143MAV_COMP_ID_SERVO4Servo #4.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          144MAV_COMP_ID_SERVO5Servo #5.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          145MAV_COMP_ID_SERVO6Servo #6.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          146MAV_COMP_ID_SERVO7Servo #7.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          147MAV_COMP_ID_SERVO8Servo #8.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          148MAV_COMP_ID_SERVO9Servo #9.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          149MAV_COMP_ID_SERVO10Servo #10.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          150MAV_COMP_ID_SERVO11Servo #11.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          151MAV_COMP_ID_SERVO12Servo #12.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          152MAV_COMP_ID_SERVO13Servo #13.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          153MAV_COMP_ID_SERVO14Servo #14.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          154MAV_COMP_ID_GIMBALGimbal #1.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          155MAV_COMP_ID_LOGLogging component.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          156MAV_COMP_ID_ADSBAutomatic Dependent Surveillance-Broadcast (ADS-B) component.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          157MAV_COMP_ID_OSDOn Screen Display (OSD) devices for video links.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          158MAV_COMP_ID_PERIPHERALGeneric autopilot peripheral component ID. Meant for devices that do not implement the parameter microservice.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          159MAV_COMP_ID_QX1_GIMBALGimbal ID for QX1.DEPRECATED: Replaced By MAV_COMP_ID_GIMBAL (2018-11) — All gimbals should use MAV_COMP_ID_GIMBAL.)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          160MAV_COMP_ID_FLARMFLARM collision alert component.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          161MAV_COMP_ID_PARACHUTEParachute component.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          169MAV_COMP_ID_WINCHWinch component.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          171MAV_COMP_ID_GIMBAL2Gimbal #2.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          172MAV_COMP_ID_GIMBAL3Gimbal #3.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          173MAV_COMP_ID_GIMBAL4Gimbal #4
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          174MAV_COMP_ID_GIMBAL5Gimbal #5.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          175MAV_COMP_ID_GIMBAL6Gimbal #6.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          180MAV_COMP_ID_BATTERYBattery #1.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          181MAV_COMP_ID_BATTERY2Battery #2.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          189MAV_COMP_ID_MAVCANCAN over MAVLink client.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          190MAV_COMP_ID_MISSIONPLANNERComponent that can generate/supply a mission flight plan (e.g. GCS or developer API).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          191MAV_COMP_ID_ONBOARD_COMPUTERComponent that lives on the onboard computer (companion computer) and has some generic functionalities, such as settings system parameters and monitoring the status of some processes that don't directly speak mavlink and so on.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          192MAV_COMP_ID_ONBOARD_COMPUTER2Component that lives on the onboard computer (companion computer) and has some generic functionalities, such as settings system parameters and monitoring the status of some processes that don't directly speak mavlink and so on.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          193MAV_COMP_ID_ONBOARD_COMPUTER3Component that lives on the onboard computer (companion computer) and has some generic functionalities, such as settings system parameters and monitoring the status of some processes that don't directly speak mavlink and so on.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          194MAV_COMP_ID_ONBOARD_COMPUTER4Component that lives on the onboard computer (companion computer) and has some generic functionalities, such as settings system parameters and monitoring the status of some processes that don't directly speak mavlink and so on.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          195MAV_COMP_ID_PATHPLANNERComponent that finds an optimal path between points based on a certain constraint (e.g. minimum snap, shortest path, cost, etc.).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          196MAV_COMP_ID_OBSTACLE_AVOIDANCEComponent that plans a collision free path between two points.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          197MAV_COMP_ID_VISUAL_INERTIAL_ODOMETRYComponent that provides position estimates using VIO techniques.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          198MAV_COMP_ID_PAIRING_MANAGERComponent that manages pairing of vehicle and GCS.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          200MAV_COMP_ID_IMUInertial Measurement Unit (IMU) #1.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          201MAV_COMP_ID_IMU_2Inertial Measurement Unit (IMU) #2.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          202MAV_COMP_ID_IMU_3Inertial Measurement Unit (IMU) #3.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          220MAV_COMP_ID_GPSGPS #1.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          221MAV_COMP_ID_GPS2GPS #2.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          236MAV_COMP_ID_ODID_TXRX_1Open Drone ID transmitter/receiver (Bluetooth/WiFi/Internet).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          237MAV_COMP_ID_ODID_TXRX_2Open Drone ID transmitter/receiver (Bluetooth/WiFi/Internet).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          238MAV_COMP_ID_ODID_TXRX_3Open Drone ID transmitter/receiver (Bluetooth/WiFi/Internet).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          240MAV_COMP_ID_UDP_BRIDGEComponent to bridge MAVLink to UDP (i.e. from a UART).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          241MAV_COMP_ID_UART_BRIDGEComponent to bridge to UART (i.e. from UDP).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          242MAV_COMP_ID_TUNNEL_NODEComponent handling TUNNEL messages (e.g. vendor specific GUI of a component).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          243MAV_COMP_ID_ILLUMINATORIlluminator
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          250MAV_COMP_ID_SYSTEM_CONTROLDeprecated, don't use. Component for handling system messages (e.g. to ARM, takeoff, etc.).DEPRECATED: Replaced By MAV_COMP_ID_ALL (2018-11) — System control does not require a separate component ID. Instead, system commands should be sent with target_component=MAV_COMP_ID_ALL allowing the target component to use any appropriate component id.)

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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            \ No newline at end of file diff --git a/zh/messages/paparazzi.html b/zh/messages/paparazzi.html index 4a4fcb65f..b7a5bf5fe 100644 --- a/zh/messages/paparazzi.html +++ b/zh/messages/paparazzi.html @@ -1 +1 @@ -paparazzi.xml · MAVLink Developer Guide
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            方言：paparazzi

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            This topic documents the version of the dialect file in the mavlink/mavlink Github repository, which may not be up to date with the file in the source repository (it is up to the dialect owner to push changes when needed). The source repo should be listed in the comments at the top of the XML definition file listed below (but may not be).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            This is a human-readable form of the XML definition file: paparazzi.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            已添加到 MAVLink 1 消息中的 MAVLink 2 扩展字段以蓝色显示。 - Entities from dialects are displayed only as headings (with link to original)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Protocol version: 3

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Summary

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            TypeDefinedIncluded
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Messages5224
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Enums0142
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Commands1640

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            The following sections list all entities in the dialect (both included and defined in this file).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Messages

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            HEARTBEAT (0) — [from: minimal]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            SYS_STATUS (1) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            SYSTEM_TIME (2) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            PING (4) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            CHANGE_OPERATOR_CONTROL (5) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            CHANGE_OPERATOR_CONTROL_ACK (6) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            AUTH_KEY (7) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            SET_MODE (11) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            PARAM_REQUEST_READ (20) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            PARAM_REQUEST_LIST (21) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            PARAM_VALUE (22) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            PARAM_SET (23) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            GPS_RAW_INT (24) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            GPS_STATUS (25) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            SCALED_IMU (26) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            RAW_IMU (27) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            RAW_PRESSURE (28) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            SCALED_PRESSURE (29) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ATTITUDE (30) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ATTITUDE_QUATERNION (31) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            LOCAL_POSITION_NED (32) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            GLOBAL_POSITION_INT (33) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            RC_CHANNELS_SCALED (34) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            RC_CHANNELS_RAW (35) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            SERVO_OUTPUT_RAW (36) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MISSION_REQUEST_PARTIAL_LIST (37) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MISSION_WRITE_PARTIAL_LIST (38) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MISSION_ITEM (39) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MISSION_REQUEST (40) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MISSION_SET_CURRENT (41) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MISSION_CURRENT (42) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MISSION_REQUEST_LIST (43) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MISSION_COUNT (44) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MISSION_CLEAR_ALL (45) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MISSION_ITEM_REACHED (46) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MISSION_ACK (47) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            SET_GPS_GLOBAL_ORIGIN (48) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            GPS_GLOBAL_ORIGIN (49) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            PARAM_MAP_RC (50) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MISSION_REQUEST_INT (51) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            SAFETY_SET_ALLOWED_AREA (54) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            SAFETY_ALLOWED_AREA (55) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ATTITUDE_QUATERNION_COV (61) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            GLOBAL_POSITION_INT_COV (63) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            LOCAL_POSITION_NED_COV (64) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            RC_CHANNELS (65) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            REQUEST_DATA_STREAM (66) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            DATA_STREAM (67) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MANUAL_CONTROL (69) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            RC_CHANNELS_OVERRIDE (70) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MISSION_ITEM_INT (73) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            VFR_HUD (74) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            COMMAND_INT (75) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            COMMAND_LONG (76) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            COMMAND_ACK (77) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            COMMAND_CANCEL (80) — [from: common] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MANUAL_SETPOINT (81) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            SET_ATTITUDE_TARGET (82) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ATTITUDE_TARGET (83) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            SET_POSITION_TARGET_LOCAL_NED (84) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            POSITION_TARGET_LOCAL_NED (85) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            SET_POSITION_TARGET_GLOBAL_INT (86) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            POSITION_TARGET_GLOBAL_INT (87) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            LOCAL_POSITION_NED_SYSTEM_GLOBAL_OFFSET (89) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            HIL_STATE (90) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            HIL_CONTROLS (91) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            HIL_RC_INPUTS_RAW (92) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            HIL_ACTUATOR_CONTROLS (93) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            OPTICAL_FLOW (100) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            GLOBAL_VISION_POSITION_ESTIMATE (101) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            VISION_POSITION_ESTIMATE (102) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            VISION_SPEED_ESTIMATE (103) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            VICON_POSITION_ESTIMATE (104) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            HIGHRES_IMU (105) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            OPTICAL_FLOW_RAD (106) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            HIL_SENSOR (107) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            SIM_STATE (108) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            RADIO_STATUS (109) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            FILE_TRANSFER_PROTOCOL (110) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            TIMESYNC (111) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            CAMERA_TRIGGER (112) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            HIL_GPS (113) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            HIL_OPTICAL_FLOW (114) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            HIL_STATE_QUATERNION (115) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            SCALED_IMU2 (116) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            LOG_REQUEST_LIST (117) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            LOG_ENTRY (118) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            LOG_REQUEST_DATA (119) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            LOG_DATA (120) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            LOG_ERASE (121) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            LOG_REQUEST_END (122) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            GPS_INJECT_DATA (123) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            GPS2_RAW (124) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            POWER_STATUS (125) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            SERIAL_CONTROL (126) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            GPS_RTK (127) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            GPS2_RTK (128) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            SCALED_IMU3 (129) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            DATA_TRANSMISSION_HANDSHAKE (130) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ENCAPSULATED_DATA (131) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            DISTANCE_SENSOR (132) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            TERRAIN_REQUEST (133) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            TERRAIN_DATA (134) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            TERRAIN_CHECK (135) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            TERRAIN_REPORT (136) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            SCALED_PRESSURE2 (137) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ATT_POS_MOCAP (138) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            SET_ACTUATOR_CONTROL_TARGET (139) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ACTUATOR_CONTROL_TARGET (140) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ALTITUDE (141) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            RESOURCE_REQUEST (142) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            SCALED_PRESSURE3 (143) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            FOLLOW_TARGET (144) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            CONTROL_SYSTEM_STATE (146) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            BATTERY_STATUS (147) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            AUTOPILOT_VERSION (148) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            LANDING_TARGET (149) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            FENCE_STATUS (162) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            SCRIPT_ITEM (180)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Message encoding a mission script item. This message is emitted upon a request for the next script item.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            target_systemuint8_tSystem ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            target_componentuint8_tComponent ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            sequint16_tSequence
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            namechar[50]The name of the mission script, NULL terminated.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            SCRIPT_REQUEST (181)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Request script item with the sequence number seq. The response of the system to this message should be a SCRIPT_ITEM message.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            target_systemuint8_tSystem ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            target_componentuint8_tComponent ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            sequint16_tSequence

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            SCRIPT_REQUEST_LIST (182)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Request the overall list of mission items from the system/component.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            target_systemuint8_tSystem ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            target_componentuint8_tComponent ID

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            SCRIPT_COUNT (183)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            This message is emitted as response to SCRIPT_REQUEST_LIST by the MAV to get the number of mission scripts.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            target_systemuint8_tSystem ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            target_componentuint8_tComponent ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            countuint16_tNumber of script items in the sequence

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            SCRIPT_CURRENT (184)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            This message informs about the currently active SCRIPT.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            sequint16_tActive Sequence

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAG_CAL_REPORT (192) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            EFI_STATUS (225) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ESTIMATOR_STATUS (230) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            WIND_COV (231) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            GPS_INPUT (232) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            GPS_RTCM_DATA (233) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            HIGH_LATENCY (234) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            HIGH_LATENCY2 (235) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            VIBRATION (241) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            HOME_POSITION (242) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            SET_HOME_POSITION (243) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MESSAGE_INTERVAL (244) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            EXTENDED_SYS_STATE (245) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ADSB_VEHICLE (246) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            COLLISION (247) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            V2_EXTENSION (248) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MEMORY_VECT (249) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            DEBUG_VECT (250) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            NAMED_VALUE_FLOAT (251) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            NAMED_VALUE_INT (252) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            STATUSTEXT (253) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            DEBUG (254) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            SETUP_SIGNING (256) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            BUTTON_CHANGE (257) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            PLAY_TUNE (258) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            CAMERA_INFORMATION (259) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            CAMERA_SETTINGS (260) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            STORAGE_INFORMATION (261) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            CAMERA_CAPTURE_STATUS (262) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            CAMERA_IMAGE_CAPTURED (263) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            FLIGHT_INFORMATION (264) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MOUNT_ORIENTATION (265) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            LOGGING_DATA (266) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            LOGGING_DATA_ACKED (267) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            LOGGING_ACK (268) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            VIDEO_STREAM_INFORMATION (269) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            VIDEO_STREAM_STATUS (270) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            CAMERA_FOV_STATUS (271) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            CAMERA_TRACKING_IMAGE_STATUS (275) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            CAMERA_TRACKING_GEO_STATUS (276) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            CAMERA_THERMAL_RANGE (277) — [from: common] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            GIMBAL_MANAGER_INFORMATION (280) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            GIMBAL_MANAGER_STATUS (281) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            GIMBAL_MANAGER_SET_ATTITUDE (282) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            GIMBAL_DEVICE_INFORMATION (283) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            GIMBAL_DEVICE_SET_ATTITUDE (284) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            GIMBAL_DEVICE_ATTITUDE_STATUS (285) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            AUTOPILOT_STATE_FOR_GIMBAL_DEVICE (286) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            GIMBAL_MANAGER_SET_PITCHYAW (287) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            GIMBAL_MANAGER_SET_MANUAL_CONTROL (288) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ESC_INFO (290) — [from: common] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ESC_STATUS (291) — [from: common] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            WIFI_CONFIG_AP (299) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            PROTOCOL_VERSION (300) — [from: minimal] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            AIS_VESSEL (301) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            UAVCAN_NODE_STATUS (310) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            UAVCAN_NODE_INFO (311) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            PARAM_EXT_REQUEST_READ (320) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            PARAM_EXT_REQUEST_LIST (321) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            PARAM_EXT_VALUE (322) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            PARAM_EXT_SET (323) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            PARAM_EXT_ACK (324) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            OBSTACLE_DISTANCE (330) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ODOMETRY (331) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            TRAJECTORY_REPRESENTATION_WAYPOINTS (332) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            TRAJECTORY_REPRESENTATION_BEZIER (333) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            CELLULAR_STATUS (334) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            CELLULAR_CONFIG (336) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            RAW_RPM (339) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            UTM_GLOBAL_POSITION (340) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            DEBUG_FLOAT_ARRAY (350) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ORBIT_EXECUTION_STATUS (360) — [from: common] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            BATTERY_INFO (370) — [from: common] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            GENERATOR_STATUS (373) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ACTUATOR_OUTPUT_STATUS (375) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            TIME_ESTIMATE_TO_TARGET (380) — [from: common] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            TUNNEL (385) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            CAN_FRAME (386) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            CANFD_FRAME (387) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            CAN_FILTER_MODIFY (388) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ONBOARD_COMPUTER_STATUS (390) — [from: common] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            COMPONENT_INFORMATION (395) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            COMPONENT_INFORMATION_BASIC (396) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            COMPONENT_METADATA (397) — [from: common] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            PLAY_TUNE_V2 (400) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            SUPPORTED_TUNES (401) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            EVENT (410) — [from: common] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            CURRENT_EVENT_SEQUENCE (411) — [from: common] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            REQUEST_EVENT (412) — [from: common] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            RESPONSE_EVENT_ERROR (413) — [from: common] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ILLUMINATOR_STATUS (440) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            WHEEL_DISTANCE (9000) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            WINCH_STATUS (9005) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            OPEN_DRONE_ID_BASIC_ID (12900) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            OPEN_DRONE_ID_LOCATION (12901) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            OPEN_DRONE_ID_AUTHENTICATION (12902) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            OPEN_DRONE_ID_SELF_ID (12903) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            OPEN_DRONE_ID_SYSTEM (12904) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            OPEN_DRONE_ID_OPERATOR_ID (12905) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            OPEN_DRONE_ID_MESSAGE_PACK (12915) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            OPEN_DRONE_ID_ARM_STATUS (12918) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            OPEN_DRONE_ID_SYSTEM_UPDATE (12919) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            HYGROMETER_SENSOR (12920) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Enumerated Types

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            FIRMWARE_VERSION_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            HL_FAILURE_FLAG — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_GOTO — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_MODE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_SYS_STATUS_SENSOR — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_SYS_STATUS_SENSOR_EXTENDED — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_FRAME — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            FENCE_ACTION — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            FENCE_BREACH — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            FENCE_MITIGATE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            FENCE_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_MOUNT_MODE — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            GIMBAL_DEVICE_CAP_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            GIMBAL_MANAGER_CAP_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            GIMBAL_DEVICE_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            GIMBAL_MANAGER_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            GIMBAL_DEVICE_ERROR_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            GRIPPER_ACTIONS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            WINCH_ACTIONS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            UAVCAN_NODE_HEALTH — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            UAVCAN_NODE_MODE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ESC_CONNECTION_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ESC_FAILURE_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            STORAGE_STATUS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            STORAGE_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            STORAGE_USAGE_FLAG — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ORBIT_YAW_BEHAVIOUR — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            WIFI_CONFIG_AP_RESPONSE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            CELLULAR_CONFIG_RESPONSE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            WIFI_CONFIG_AP_MODE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            COMP_METADATA_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ACTUATOR_CONFIGURATION — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ACTUATOR_OUTPUT_FUNCTION — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            AUTOTUNE_AXIS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            PREFLIGHT_STORAGE_PARAMETER_ACTION — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            PREFLIGHT_STORAGE_MISSION_ACTION — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_DATA_STREAM — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_ROI — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_PARAM_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_PARAM_EXT_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_RESULT — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_MISSION_RESULT — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_SEVERITY — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_POWER_STATUS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            SERIAL_CONTROL_DEV — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            SERIAL_CONTROL_FLAG — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_DISTANCE_SENSOR — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_SENSOR_ORIENTATION — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_PROTOCOL_CAPABILITY — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_MISSION_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_ESTIMATOR_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_BATTERY_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_BATTERY_FUNCTION — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_BATTERY_CHARGE_STATE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_BATTERY_MODE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_BATTERY_FAULT — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_GENERATOR_STATUS_FLAG — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_VTOL_STATE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_LANDED_STATE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ADSB_ALTITUDE_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ADSB_EMITTER_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ADSB_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_DO_REPOSITION_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            SPEED_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ESTIMATOR_STATUS_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MOTOR_TEST_ORDER — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MOTOR_TEST_THROTTLE_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            GPS_INPUT_IGNORE_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_COLLISION_ACTION — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_COLLISION_THREAT_LEVEL — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_COLLISION_SRC — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            GPS_FIX_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            RTK_BASELINE_COORDINATE_SYSTEM — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            LANDING_TARGET_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            VTOL_TRANSITION_HEADING — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            CAMERA_CAP_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            VIDEO_STREAM_STATUS_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            VIDEO_STREAM_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            VIDEO_STREAM_ENCODING — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            CAMERA_TRACKING_STATUS_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            CAMERA_TRACKING_MODE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            CAMERA_TRACKING_TARGET_DATA — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            CAMERA_ZOOM_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            SET_FOCUS_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            CAMERA_SOURCE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            PARAM_ACK — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            CAMERA_MODE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_ARM_AUTH_DENIED_REASON — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            RC_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            POSITION_TARGET_TYPEMASK — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ATTITUDE_TARGET_TYPEMASK — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            UTM_FLIGHT_STATE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            UTM_DATA_AVAIL_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            CELLULAR_STATUS_FLAG — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            CELLULAR_NETWORK_FAILED_REASON — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            CELLULAR_NETWORK_RADIO_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            PRECISION_LAND_MODE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            PARACHUTE_ACTION — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_TUNNEL_PAYLOAD_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_ODID_ID_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_ODID_UA_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_ODID_STATUS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_ODID_HEIGHT_REF — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_ODID_HOR_ACC — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_ODID_VER_ACC — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_ODID_SPEED_ACC — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_ODID_TIME_ACC — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_ODID_AUTH_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_ODID_DESC_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_ODID_OPERATOR_LOCATION_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_ODID_CLASSIFICATION_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_ODID_CATEGORY_EU — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_ODID_CLASS_EU — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_ODID_OPERATOR_ID_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_ODID_ARM_STATUS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            TUNE_FORMAT — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            AIS_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            AIS_NAV_STATUS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            AIS_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            FAILURE_UNIT — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            FAILURE_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_WINCH_STATUS_FLAG — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAG_CAL_STATUS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_EVENT_ERROR_REASON — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_EVENT_CURRENT_SEQUENCE_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            HIL_SENSOR_UPDATED_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            HIGHRES_IMU_UPDATED_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            CAN_FILTER_OP — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_FTP_ERR — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_FTP_OPCODE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MISSION_STATE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            SAFETY_SWITCH_STATE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ILLUMINATOR_MODE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ILLUMINATOR_ERROR_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_AUTOPILOT — [from: minimal]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_TYPE — [from: minimal]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_MODE_FLAG — [from: minimal]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_MODE_FLAG_DECODE_POSITION — [from: minimal]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_STATE — [from: minimal]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_COMPONENT — [from: minimal]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Commands (MAV_CMD)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_NAV_WAYPOINT (16) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_NAV_LOITER_UNLIM (17) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_NAV_LOITER_TURNS (18) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_NAV_LOITER_TIME (19) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_NAV_RETURN_TO_LAUNCH (20) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_NAV_LAND (21) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_NAV_TAKEOFF (22) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_NAV_LAND_LOCAL (23) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_NAV_TAKEOFF_LOCAL (24) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_NAV_FOLLOW (25) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_NAV_CONTINUE_AND_CHANGE_ALT (30) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_NAV_LOITER_TO_ALT (31) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_DO_FOLLOW (32) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_DO_FOLLOW_REPOSITION (33) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_DO_ORBIT (34) — [from: common] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_NAV_ROI (80) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_NAV_PATHPLANNING (81) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_NAV_SPLINE_WAYPOINT (82) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_NAV_VTOL_TAKEOFF (84) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_NAV_VTOL_LAND (85) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_NAV_GUIDED_ENABLE (92) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_NAV_DELAY (93) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_NAV_PAYLOAD_PLACE (94) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_NAV_LAST (95) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_CONDITION_DELAY (112) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_CONDITION_CHANGE_ALT (113) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_CONDITION_DISTANCE (114) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_CONDITION_YAW (115) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_CONDITION_LAST (159) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_DO_SET_MODE (176) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_DO_JUMP (177) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_DO_CHANGE_SPEED (178) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_DO_SET_HOME (179) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_DO_SET_PARAMETER (180) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_DO_SET_RELAY (181) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_DO_REPEAT_RELAY (182) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_DO_SET_SERVO (183) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_DO_REPEAT_SERVO (184) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_DO_FLIGHTTERMINATION (185) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_DO_CHANGE_ALTITUDE (186) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_DO_SET_ACTUATOR (187) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_DO_RETURN_PATH_START (188) — [from: common] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_DO_LAND_START (189) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_DO_RALLY_LAND (190) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_DO_GO_AROUND (191) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_DO_REPOSITION (192) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_DO_PAUSE_CONTINUE (193) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_DO_SET_REVERSE (194) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_DO_SET_ROI_LOCATION (195) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_DO_SET_ROI_WPNEXT_OFFSET (196) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_DO_SET_ROI_NONE (197) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_DO_SET_ROI_SYSID (198) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_DO_CONTROL_VIDEO (200) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_DO_SET_ROI (201) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_DO_DIGICAM_CONFIGURE (202) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_DO_DIGICAM_CONTROL (203) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_DO_MOUNT_CONFIGURE (204) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_DO_MOUNT_CONTROL (205) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_DO_SET_CAM_TRIGG_DIST (206) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_DO_FENCE_ENABLE (207) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_DO_PARACHUTE (208) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_DO_MOTOR_TEST (209) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_DO_INVERTED_FLIGHT (210) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_DO_GRIPPER (211) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_DO_AUTOTUNE_ENABLE (212) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_NAV_SET_YAW_SPEED (213) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_DO_SET_CAM_TRIGG_INTERVAL (214) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_DO_MOUNT_CONTROL_QUAT (220) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_DO_GUIDED_MASTER (221) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_DO_GUIDED_LIMITS (222) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_DO_ENGINE_CONTROL (223) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_DO_SET_MISSION_CURRENT (224) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_DO_LAST (240) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_PREFLIGHT_CALIBRATION (241) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_PREFLIGHT_SET_SENSOR_OFFSETS (242) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_PREFLIGHT_UAVCAN (243) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_PREFLIGHT_STORAGE (245) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN (246) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_OVERRIDE_GOTO (252) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_OBLIQUE_SURVEY (260) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_MISSION_START (300) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_ACTUATOR_TEST (310) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_CONFIGURE_ACTUATOR (311) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_COMPONENT_ARM_DISARM (400) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_RUN_PREARM_CHECKS (401) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_ILLUMINATOR_ON_OFF (405) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_DO_ILLUMINATOR_CONFIGURE (406) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_GET_HOME_POSITION (410) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_INJECT_FAILURE (420) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_START_RX_PAIR (500) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_GET_MESSAGE_INTERVAL (510) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_SET_MESSAGE_INTERVAL (511) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_REQUEST_MESSAGE (512) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_REQUEST_PROTOCOL_VERSION (519) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_REQUEST_AUTOPILOT_CAPABILITIES (520) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_REQUEST_CAMERA_INFORMATION (521) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_REQUEST_CAMERA_SETTINGS (522) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_REQUEST_STORAGE_INFORMATION (525) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_STORAGE_FORMAT (526) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_REQUEST_CAMERA_CAPTURE_STATUS (527) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_REQUEST_FLIGHT_INFORMATION (528) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_RESET_CAMERA_SETTINGS (529) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_SET_CAMERA_MODE (530) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_SET_CAMERA_ZOOM (531) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_SET_CAMERA_FOCUS (532) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_SET_STORAGE_USAGE (533) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_SET_CAMERA_SOURCE (534) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_JUMP_TAG (600) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_DO_JUMP_TAG (601) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_DO_GIMBAL_MANAGER_PITCHYAW (1000) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_DO_GIMBAL_MANAGER_CONFIGURE (1001) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_IMAGE_START_CAPTURE (2000) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_IMAGE_STOP_CAPTURE (2001) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_REQUEST_CAMERA_IMAGE_CAPTURE (2002) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_DO_TRIGGER_CONTROL (2003) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_CAMERA_TRACK_POINT (2004) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_CAMERA_TRACK_RECTANGLE (2005) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_CAMERA_STOP_TRACKING (2010) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_VIDEO_START_CAPTURE (2500) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_VIDEO_STOP_CAPTURE (2501) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_VIDEO_START_STREAMING (2502) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_VIDEO_STOP_STREAMING (2503) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_REQUEST_VIDEO_STREAM_INFORMATION (2504) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_REQUEST_VIDEO_STREAM_STATUS (2505) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_LOGGING_START (2510) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_LOGGING_STOP (2511) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_AIRFRAME_CONFIGURATION (2520) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_CONTROL_HIGH_LATENCY (2600) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_PANORAMA_CREATE (2800) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_DO_VTOL_TRANSITION (3000) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_ARM_AUTHORIZATION_REQUEST (3001) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_SET_GUIDED_SUBMODE_STANDARD (4000) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_SET_GUIDED_SUBMODE_CIRCLE (4001) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_CONDITION_GATE (4501) — [from: common] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_NAV_FENCE_RETURN_POINT (5000) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_NAV_FENCE_POLYGON_VERTEX_INCLUSION (5001) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_NAV_FENCE_POLYGON_VERTEX_EXCLUSION (5002) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_NAV_FENCE_CIRCLE_INCLUSION (5003) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_NAV_FENCE_CIRCLE_EXCLUSION (5004) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_NAV_RALLY_POINT (5100) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_UAVCAN_GET_NODE_INFO (5200) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_DO_SET_SAFETY_SWITCH_STATE (5300) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_DO_ADSB_OUT_IDENT (10001) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_PAYLOAD_PREPARE_DEPLOY (30001) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_PAYLOAD_CONTROL_DEPLOY (30002) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_WAYPOINT_USER_1 (31000) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_WAYPOINT_USER_2 (31001) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_WAYPOINT_USER_3 (31002) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_WAYPOINT_USER_4 (31003) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_WAYPOINT_USER_5 (31004) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_SPATIAL_USER_1 (31005) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_SPATIAL_USER_2 (31006) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_SPATIAL_USER_3 (31007) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_SPATIAL_USER_4 (31008) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_SPATIAL_USER_5 (31009) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_USER_1 (31010) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_USER_2 (31011) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_USER_3 (31012) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_USER_4 (31013) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_USER_5 (31014) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_CAN_FORWARD (32000) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_FIXED_MAG_CAL_YAW (42006) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_DO_WINCH (42600) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_EXTERNAL_POSITION_ESTIMATE (43003) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            results matching ""

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              No results matching ""

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              \ No newline at end of file +paparazzi.xml · MAVLink Developer Guide
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Messages
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Messages
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              FAQ
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              FAQ
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Implementations
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Implementations
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Examples
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Examples
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Support
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Help

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              方言：paparazzi

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              This topic documents the version of the dialect file in the mavlink/mavlink Github repository, which may not be up to date with the file in the source repository (it is up to the dialect owner to push changes when needed). The source repo should be listed in the comments at the top of the XML definition file listed below (but may not be).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              This is a human-readable form of the XML definition file: paparazzi.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              已添加到 MAVLink 1 消息中的 MAVLink 2 扩展字段以蓝色显示。 - Entities from dialects are displayed only as headings (with link to original)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Protocol version: 3

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Summary

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              TypeDefinedIncluded
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Messages5224
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Enums0143
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Commands1640

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              The following sections list all entities in the dialect (both included and defined in this file).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Messages

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              SCRIPT_ITEM (180)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Message encoding a mission script item. This message is emitted upon a request for the next script item.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              target_systemuint8_tSystem ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              target_componentuint8_tComponent ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              sequint16_tSequence
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              namechar[50]The name of the mission script, NULL terminated.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              SCRIPT_REQUEST (181)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Request script item with the sequence number seq. The response of the system to this message should be a SCRIPT_ITEM message.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              target_systemuint8_tSystem ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              target_componentuint8_tComponent ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              sequint16_tSequence

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              SCRIPT_REQUEST_LIST (182)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Request the overall list of mission items from the system/component.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              target_systemuint8_tSystem ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              target_componentuint8_tComponent ID

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              SCRIPT_COUNT (183)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              This message is emitted as response to SCRIPT_REQUEST_LIST by the MAV to get the number of mission scripts.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              target_systemuint8_tSystem ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              target_componentuint8_tComponent ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              countuint16_tNumber of script items in the sequence

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              SCRIPT_CURRENT (184)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              This message informs about the currently active SCRIPT.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              sequint16_tActive Sequence

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Enumerated Types

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Commands (MAV_CMD)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              results matching ""

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                No results matching ""

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                \ No newline at end of file diff --git a/zh/messages/python_array_test.html b/zh/messages/python_array_test.html index 7d800ecc7..dda18ea2e 100644 --- a/zh/messages/python_array_test.html +++ b/zh/messages/python_array_test.html @@ -1 +1 @@ -python_array_test.xml · MAVLink Developer Guide
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Messages
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Messages
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                FAQ
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                FAQ
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Implementations
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Implementations
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Examples
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Examples
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Support
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Help

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                方言：python_array_test

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                This topic documents the version of the dialect file in the mavlink/mavlink Github repository, which may not be up to date with the file in the source repository (it is up to the dialect owner to push changes when needed). The source repo should be listed in the comments at the top of the XML definition file listed below (but may not be).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                This is a human-readable form of the XML definition file: python_array_test.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                已添加到 MAVLink 1 消息中的 MAVLink 2 扩展字段以蓝色显示。 - Entities from dialects are displayed only as headings (with link to original)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Summary

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                TypeDefinedIncluded
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Messages8224
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Enums0142
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Commands1640

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                The following sections list all entities in the dialect (both included and defined in this file).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Messages

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                HEARTBEAT (0) — [from: minimal]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                SYS_STATUS (1) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                SYSTEM_TIME (2) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                PING (4) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                CHANGE_OPERATOR_CONTROL (5) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                CHANGE_OPERATOR_CONTROL_ACK (6) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                AUTH_KEY (7) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                SET_MODE (11) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                PARAM_REQUEST_READ (20) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                PARAM_REQUEST_LIST (21) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                PARAM_VALUE (22) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                PARAM_SET (23) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                GPS_RAW_INT (24) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                GPS_STATUS (25) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                SCALED_IMU (26) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                RAW_IMU (27) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                RAW_PRESSURE (28) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                SCALED_PRESSURE (29) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                ATTITUDE (30) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                ATTITUDE_QUATERNION (31) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                LOCAL_POSITION_NED (32) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                GLOBAL_POSITION_INT (33) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                RC_CHANNELS_SCALED (34) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                RC_CHANNELS_RAW (35) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                SERVO_OUTPUT_RAW (36) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MISSION_REQUEST_PARTIAL_LIST (37) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MISSION_WRITE_PARTIAL_LIST (38) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MISSION_ITEM (39) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MISSION_REQUEST (40) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MISSION_SET_CURRENT (41) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MISSION_CURRENT (42) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MISSION_REQUEST_LIST (43) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MISSION_COUNT (44) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MISSION_CLEAR_ALL (45) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MISSION_ITEM_REACHED (46) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MISSION_ACK (47) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                SET_GPS_GLOBAL_ORIGIN (48) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                GPS_GLOBAL_ORIGIN (49) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                PARAM_MAP_RC (50) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MISSION_REQUEST_INT (51) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                SAFETY_SET_ALLOWED_AREA (54) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                SAFETY_ALLOWED_AREA (55) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                ATTITUDE_QUATERNION_COV (61) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                GLOBAL_POSITION_INT_COV (63) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                LOCAL_POSITION_NED_COV (64) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                RC_CHANNELS (65) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                REQUEST_DATA_STREAM (66) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                DATA_STREAM (67) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MANUAL_CONTROL (69) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                RC_CHANNELS_OVERRIDE (70) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MISSION_ITEM_INT (73) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                VFR_HUD (74) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                COMMAND_INT (75) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                COMMAND_LONG (76) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                COMMAND_ACK (77) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                COMMAND_CANCEL (80) — [from: common] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MANUAL_SETPOINT (81) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                SET_ATTITUDE_TARGET (82) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                ATTITUDE_TARGET (83) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                SET_POSITION_TARGET_LOCAL_NED (84) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                POSITION_TARGET_LOCAL_NED (85) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                SET_POSITION_TARGET_GLOBAL_INT (86) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                POSITION_TARGET_GLOBAL_INT (87) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                LOCAL_POSITION_NED_SYSTEM_GLOBAL_OFFSET (89) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                HIL_STATE (90) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                HIL_CONTROLS (91) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                HIL_RC_INPUTS_RAW (92) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                HIL_ACTUATOR_CONTROLS (93) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                OPTICAL_FLOW (100) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                GLOBAL_VISION_POSITION_ESTIMATE (101) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                VISION_POSITION_ESTIMATE (102) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                VISION_SPEED_ESTIMATE (103) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                VICON_POSITION_ESTIMATE (104) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                HIGHRES_IMU (105) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                OPTICAL_FLOW_RAD (106) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                HIL_SENSOR (107) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                SIM_STATE (108) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                RADIO_STATUS (109) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                FILE_TRANSFER_PROTOCOL (110) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                TIMESYNC (111) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                CAMERA_TRIGGER (112) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                HIL_GPS (113) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                HIL_OPTICAL_FLOW (114) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                HIL_STATE_QUATERNION (115) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                SCALED_IMU2 (116) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                LOG_REQUEST_LIST (117) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                LOG_ENTRY (118) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                LOG_REQUEST_DATA (119) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                LOG_DATA (120) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                LOG_ERASE (121) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                LOG_REQUEST_END (122) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                GPS_INJECT_DATA (123) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                GPS2_RAW (124) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                POWER_STATUS (125) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                SERIAL_CONTROL (126) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                GPS_RTK (127) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                GPS2_RTK (128) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                SCALED_IMU3 (129) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                DATA_TRANSMISSION_HANDSHAKE (130) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                ENCAPSULATED_DATA (131) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                DISTANCE_SENSOR (132) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                TERRAIN_REQUEST (133) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                TERRAIN_DATA (134) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                TERRAIN_CHECK (135) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                TERRAIN_REPORT (136) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                SCALED_PRESSURE2 (137) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                ATT_POS_MOCAP (138) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                SET_ACTUATOR_CONTROL_TARGET (139) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                ACTUATOR_CONTROL_TARGET (140) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                ALTITUDE (141) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                RESOURCE_REQUEST (142) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                SCALED_PRESSURE3 (143) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                FOLLOW_TARGET (144) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                CONTROL_SYSTEM_STATE (146) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                BATTERY_STATUS (147) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                AUTOPILOT_VERSION (148) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                LANDING_TARGET (149) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                FENCE_STATUS (162) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAG_CAL_REPORT (192) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                EFI_STATUS (225) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                ESTIMATOR_STATUS (230) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                WIND_COV (231) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                GPS_INPUT (232) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                GPS_RTCM_DATA (233) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                HIGH_LATENCY (234) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                HIGH_LATENCY2 (235) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                VIBRATION (241) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                HOME_POSITION (242) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                SET_HOME_POSITION (243) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MESSAGE_INTERVAL (244) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                EXTENDED_SYS_STATE (245) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                ADSB_VEHICLE (246) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                COLLISION (247) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                V2_EXTENSION (248) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MEMORY_VECT (249) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                DEBUG_VECT (250) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                NAMED_VALUE_FLOAT (251) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                NAMED_VALUE_INT (252) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                STATUSTEXT (253) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                DEBUG (254) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                SETUP_SIGNING (256) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                BUTTON_CHANGE (257) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                PLAY_TUNE (258) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                CAMERA_INFORMATION (259) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                CAMERA_SETTINGS (260) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                STORAGE_INFORMATION (261) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                CAMERA_CAPTURE_STATUS (262) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                CAMERA_IMAGE_CAPTURED (263) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                FLIGHT_INFORMATION (264) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MOUNT_ORIENTATION (265) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                LOGGING_DATA (266) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                LOGGING_DATA_ACKED (267) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                LOGGING_ACK (268) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                VIDEO_STREAM_INFORMATION (269) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                VIDEO_STREAM_STATUS (270) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                CAMERA_FOV_STATUS (271) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                CAMERA_TRACKING_IMAGE_STATUS (275) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                CAMERA_TRACKING_GEO_STATUS (276) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                CAMERA_THERMAL_RANGE (277) — [from: common] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                GIMBAL_MANAGER_INFORMATION (280) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                GIMBAL_MANAGER_STATUS (281) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                GIMBAL_MANAGER_SET_ATTITUDE (282) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                GIMBAL_DEVICE_INFORMATION (283) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                GIMBAL_DEVICE_SET_ATTITUDE (284) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                GIMBAL_DEVICE_ATTITUDE_STATUS (285) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                AUTOPILOT_STATE_FOR_GIMBAL_DEVICE (286) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                GIMBAL_MANAGER_SET_PITCHYAW (287) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                GIMBAL_MANAGER_SET_MANUAL_CONTROL (288) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                ESC_INFO (290) — [from: common] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                ESC_STATUS (291) — [from: common] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                WIFI_CONFIG_AP (299) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                PROTOCOL_VERSION (300) — [from: minimal] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                AIS_VESSEL (301) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                UAVCAN_NODE_STATUS (310) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                UAVCAN_NODE_INFO (311) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                PARAM_EXT_REQUEST_READ (320) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                PARAM_EXT_REQUEST_LIST (321) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                PARAM_EXT_VALUE (322) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                PARAM_EXT_SET (323) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                PARAM_EXT_ACK (324) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                OBSTACLE_DISTANCE (330) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                ODOMETRY (331) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                TRAJECTORY_REPRESENTATION_WAYPOINTS (332) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                TRAJECTORY_REPRESENTATION_BEZIER (333) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                CELLULAR_STATUS (334) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                CELLULAR_CONFIG (336) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                RAW_RPM (339) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                UTM_GLOBAL_POSITION (340) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                DEBUG_FLOAT_ARRAY (350) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                ORBIT_EXECUTION_STATUS (360) — [from: common] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                BATTERY_INFO (370) — [from: common] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                GENERATOR_STATUS (373) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                ACTUATOR_OUTPUT_STATUS (375) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                TIME_ESTIMATE_TO_TARGET (380) — [from: common] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                TUNNEL (385) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                CAN_FRAME (386) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                CANFD_FRAME (387) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                CAN_FILTER_MODIFY (388) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                ONBOARD_COMPUTER_STATUS (390) — [from: common] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                COMPONENT_INFORMATION (395) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                COMPONENT_INFORMATION_BASIC (396) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                COMPONENT_METADATA (397) — [from: common] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                PLAY_TUNE_V2 (400) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                SUPPORTED_TUNES (401) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                EVENT (410) — [from: common] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                CURRENT_EVENT_SEQUENCE (411) — [from: common] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                REQUEST_EVENT (412) — [from: common] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                RESPONSE_EVENT_ERROR (413) — [from: common] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                ILLUMINATOR_STATUS (440) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                WHEEL_DISTANCE (9000) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                WINCH_STATUS (9005) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                OPEN_DRONE_ID_BASIC_ID (12900) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                OPEN_DRONE_ID_LOCATION (12901) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                OPEN_DRONE_ID_AUTHENTICATION (12902) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                OPEN_DRONE_ID_SELF_ID (12903) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                OPEN_DRONE_ID_SYSTEM (12904) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                OPEN_DRONE_ID_OPERATOR_ID (12905) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                OPEN_DRONE_ID_MESSAGE_PACK (12915) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                OPEN_DRONE_ID_ARM_STATUS (12918) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                OPEN_DRONE_ID_SYSTEM_UPDATE (12919) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                HYGROMETER_SENSOR (12920) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                ARRAY_TEST_0 (17150)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Array test #0.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                v1uint8_tStub field
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                ar_i8int8_t[4]Value array
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                ar_u8uint8_t[4]Value array
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                ar_u16uint16_t[4]Value array
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                ar_u32uint32_t[4]Value array

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                ARRAY_TEST_1 (17151)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Array test #1.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                ar_u32uint32_t[4]Value array

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                ARRAY_TEST_3 (17153)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Array test #3.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                vuint8_tStub field
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                ar_u32uint32_t[4]Value array

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                ARRAY_TEST_4 (17154)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Array test #4.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                ar_u32uint32_t[4]Value array
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                vuint8_tStub field

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                ARRAY_TEST_5 (17155)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Array test #5.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                c1char[5]Value array
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                c2char[5]Value array

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                ARRAY_TEST_6 (17156)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Array test #6.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                v1uint8_tStub field
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                v2uint16_tStub field
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                v3uint32_tStub field
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                ar_u32uint32_t[2]Value array
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                ar_i32int32_t[2]Value array
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                ar_u16uint16_t[2]Value array
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                ar_i16int16_t[2]Value array
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                ar_u8uint8_t[2]Value array
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                ar_i8int8_t[2]Value array
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                ar_cchar[32]Value array
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                ar_ddouble[2]Value array
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                ar_ffloat[2]Value array

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                ARRAY_TEST_7 (17157)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Array test #7.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                ar_ddouble[2]Value array
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                ar_ffloat[2]Value array
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                ar_u32uint32_t[2]Value array
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                ar_i32int32_t[2]Value array
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                ar_u16uint16_t[2]Value array
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                ar_i16int16_t[2]Value array
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                ar_u8uint8_t[2]Value array
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                ar_i8int8_t[2]Value array
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                ar_cchar[32]Value array

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                ARRAY_TEST_8 (17158)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Array test #8.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                v3uint32_tStub field
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                ar_ddouble[2]Value array
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                ar_u16uint16_t[2]Value array

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Enumerated Types

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                FIRMWARE_VERSION_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                HL_FAILURE_FLAG — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_GOTO — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_MODE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_SYS_STATUS_SENSOR — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_SYS_STATUS_SENSOR_EXTENDED — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_FRAME — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                FENCE_ACTION — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                FENCE_BREACH — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                FENCE_MITIGATE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                FENCE_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_MOUNT_MODE — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                GIMBAL_DEVICE_CAP_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                GIMBAL_MANAGER_CAP_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                GIMBAL_DEVICE_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                GIMBAL_MANAGER_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                GIMBAL_DEVICE_ERROR_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                GRIPPER_ACTIONS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                WINCH_ACTIONS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                UAVCAN_NODE_HEALTH — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                UAVCAN_NODE_MODE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                ESC_CONNECTION_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                ESC_FAILURE_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                STORAGE_STATUS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                STORAGE_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                STORAGE_USAGE_FLAG — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                ORBIT_YAW_BEHAVIOUR — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                WIFI_CONFIG_AP_RESPONSE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                CELLULAR_CONFIG_RESPONSE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                WIFI_CONFIG_AP_MODE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                COMP_METADATA_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                ACTUATOR_CONFIGURATION — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                ACTUATOR_OUTPUT_FUNCTION — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                AUTOTUNE_AXIS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                PREFLIGHT_STORAGE_PARAMETER_ACTION — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                PREFLIGHT_STORAGE_MISSION_ACTION — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_DATA_STREAM — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_ROI — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_PARAM_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_PARAM_EXT_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_RESULT — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_MISSION_RESULT — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_SEVERITY — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_POWER_STATUS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                SERIAL_CONTROL_DEV — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                SERIAL_CONTROL_FLAG — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_DISTANCE_SENSOR — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_SENSOR_ORIENTATION — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_PROTOCOL_CAPABILITY — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_MISSION_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_ESTIMATOR_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_BATTERY_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_BATTERY_FUNCTION — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_BATTERY_CHARGE_STATE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_BATTERY_MODE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_BATTERY_FAULT — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_GENERATOR_STATUS_FLAG — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_VTOL_STATE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_LANDED_STATE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                ADSB_ALTITUDE_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                ADSB_EMITTER_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                ADSB_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_DO_REPOSITION_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                SPEED_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                ESTIMATOR_STATUS_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MOTOR_TEST_ORDER — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MOTOR_TEST_THROTTLE_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                GPS_INPUT_IGNORE_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_COLLISION_ACTION — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_COLLISION_THREAT_LEVEL — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_COLLISION_SRC — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                GPS_FIX_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                RTK_BASELINE_COORDINATE_SYSTEM — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                LANDING_TARGET_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                VTOL_TRANSITION_HEADING — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                CAMERA_CAP_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                VIDEO_STREAM_STATUS_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                VIDEO_STREAM_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                VIDEO_STREAM_ENCODING — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                CAMERA_TRACKING_STATUS_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                CAMERA_TRACKING_MODE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                CAMERA_TRACKING_TARGET_DATA — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                CAMERA_ZOOM_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                SET_FOCUS_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                CAMERA_SOURCE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                PARAM_ACK — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                CAMERA_MODE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_ARM_AUTH_DENIED_REASON — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                RC_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                POSITION_TARGET_TYPEMASK — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                ATTITUDE_TARGET_TYPEMASK — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                UTM_FLIGHT_STATE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                UTM_DATA_AVAIL_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                CELLULAR_STATUS_FLAG — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                CELLULAR_NETWORK_FAILED_REASON — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                CELLULAR_NETWORK_RADIO_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                PRECISION_LAND_MODE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                PARACHUTE_ACTION — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_TUNNEL_PAYLOAD_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_ODID_ID_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_ODID_UA_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_ODID_STATUS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_ODID_HEIGHT_REF — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_ODID_HOR_ACC — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_ODID_VER_ACC — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_ODID_SPEED_ACC — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_ODID_TIME_ACC — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_ODID_AUTH_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_ODID_DESC_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_ODID_OPERATOR_LOCATION_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_ODID_CLASSIFICATION_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_ODID_CATEGORY_EU — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_ODID_CLASS_EU — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_ODID_OPERATOR_ID_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_ODID_ARM_STATUS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                TUNE_FORMAT — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                AIS_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                AIS_NAV_STATUS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                AIS_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                FAILURE_UNIT — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                FAILURE_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_WINCH_STATUS_FLAG — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAG_CAL_STATUS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_EVENT_ERROR_REASON — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_EVENT_CURRENT_SEQUENCE_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                HIL_SENSOR_UPDATED_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                HIGHRES_IMU_UPDATED_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                CAN_FILTER_OP — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_FTP_ERR — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_FTP_OPCODE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MISSION_STATE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                SAFETY_SWITCH_STATE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                ILLUMINATOR_MODE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                ILLUMINATOR_ERROR_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_AUTOPILOT — [from: minimal]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_TYPE — [from: minimal]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_MODE_FLAG — [from: minimal]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_MODE_FLAG_DECODE_POSITION — [from: minimal]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_STATE — [from: minimal]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_COMPONENT — [from: minimal]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Commands (MAV_CMD)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_NAV_WAYPOINT (16) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_NAV_LOITER_UNLIM (17) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_NAV_LOITER_TURNS (18) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_NAV_LOITER_TIME (19) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_NAV_RETURN_TO_LAUNCH (20) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_NAV_LAND (21) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_NAV_TAKEOFF (22) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_NAV_LAND_LOCAL (23) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_NAV_TAKEOFF_LOCAL (24) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_NAV_FOLLOW (25) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_NAV_CONTINUE_AND_CHANGE_ALT (30) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_NAV_LOITER_TO_ALT (31) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_DO_FOLLOW (32) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_DO_FOLLOW_REPOSITION (33) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_DO_ORBIT (34) — [from: common] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_NAV_ROI (80) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_NAV_PATHPLANNING (81) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_NAV_SPLINE_WAYPOINT (82) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_NAV_VTOL_TAKEOFF (84) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_NAV_VTOL_LAND (85) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_NAV_GUIDED_ENABLE (92) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_NAV_DELAY (93) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_NAV_PAYLOAD_PLACE (94) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_NAV_LAST (95) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_CONDITION_DELAY (112) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_CONDITION_CHANGE_ALT (113) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_CONDITION_DISTANCE (114) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_CONDITION_YAW (115) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_CONDITION_LAST (159) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_DO_SET_MODE (176) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_DO_JUMP (177) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_DO_CHANGE_SPEED (178) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_DO_SET_HOME (179) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_DO_SET_PARAMETER (180) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_DO_SET_RELAY (181) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_DO_REPEAT_RELAY (182) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_DO_SET_SERVO (183) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_DO_REPEAT_SERVO (184) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_DO_FLIGHTTERMINATION (185) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_DO_CHANGE_ALTITUDE (186) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_DO_SET_ACTUATOR (187) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_DO_RETURN_PATH_START (188) — [from: common] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_DO_LAND_START (189) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_DO_RALLY_LAND (190) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_DO_GO_AROUND (191) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_DO_REPOSITION (192) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_DO_PAUSE_CONTINUE (193) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_DO_SET_REVERSE (194) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_DO_SET_ROI_LOCATION (195) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_DO_SET_ROI_WPNEXT_OFFSET (196) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_DO_SET_ROI_NONE (197) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_DO_SET_ROI_SYSID (198) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_DO_CONTROL_VIDEO (200) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_DO_SET_ROI (201) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_DO_DIGICAM_CONFIGURE (202) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_DO_DIGICAM_CONTROL (203) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_DO_MOUNT_CONFIGURE (204) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_DO_MOUNT_CONTROL (205) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_DO_SET_CAM_TRIGG_DIST (206) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_DO_FENCE_ENABLE (207) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_DO_PARACHUTE (208) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_DO_MOTOR_TEST (209) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_DO_INVERTED_FLIGHT (210) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_DO_GRIPPER (211) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_DO_AUTOTUNE_ENABLE (212) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_NAV_SET_YAW_SPEED (213) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_DO_SET_CAM_TRIGG_INTERVAL (214) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_DO_MOUNT_CONTROL_QUAT (220) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_DO_GUIDED_MASTER (221) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_DO_GUIDED_LIMITS (222) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_DO_ENGINE_CONTROL (223) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_DO_SET_MISSION_CURRENT (224) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_DO_LAST (240) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_PREFLIGHT_CALIBRATION (241) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_PREFLIGHT_SET_SENSOR_OFFSETS (242) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_PREFLIGHT_UAVCAN (243) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_PREFLIGHT_STORAGE (245) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN (246) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_OVERRIDE_GOTO (252) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_OBLIQUE_SURVEY (260) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_MISSION_START (300) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_ACTUATOR_TEST (310) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_CONFIGURE_ACTUATOR (311) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_COMPONENT_ARM_DISARM (400) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_RUN_PREARM_CHECKS (401) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_ILLUMINATOR_ON_OFF (405) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_DO_ILLUMINATOR_CONFIGURE (406) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_GET_HOME_POSITION (410) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_INJECT_FAILURE (420) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_START_RX_PAIR (500) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_GET_MESSAGE_INTERVAL (510) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_SET_MESSAGE_INTERVAL (511) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_REQUEST_MESSAGE (512) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_REQUEST_PROTOCOL_VERSION (519) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_REQUEST_AUTOPILOT_CAPABILITIES (520) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_REQUEST_CAMERA_INFORMATION (521) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_REQUEST_CAMERA_SETTINGS (522) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_REQUEST_STORAGE_INFORMATION (525) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_STORAGE_FORMAT (526) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_REQUEST_CAMERA_CAPTURE_STATUS (527) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_REQUEST_FLIGHT_INFORMATION (528) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_RESET_CAMERA_SETTINGS (529) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_SET_CAMERA_MODE (530) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_SET_CAMERA_ZOOM (531) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_SET_CAMERA_FOCUS (532) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_SET_STORAGE_USAGE (533) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_SET_CAMERA_SOURCE (534) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_JUMP_TAG (600) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_DO_JUMP_TAG (601) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_DO_GIMBAL_MANAGER_PITCHYAW (1000) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_DO_GIMBAL_MANAGER_CONFIGURE (1001) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_IMAGE_START_CAPTURE (2000) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_IMAGE_STOP_CAPTURE (2001) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_REQUEST_CAMERA_IMAGE_CAPTURE (2002) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_DO_TRIGGER_CONTROL (2003) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_CAMERA_TRACK_POINT (2004) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_CAMERA_TRACK_RECTANGLE (2005) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_CAMERA_STOP_TRACKING (2010) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_VIDEO_START_CAPTURE (2500) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_VIDEO_STOP_CAPTURE (2501) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_VIDEO_START_STREAMING (2502) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_VIDEO_STOP_STREAMING (2503) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_REQUEST_VIDEO_STREAM_INFORMATION (2504) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_REQUEST_VIDEO_STREAM_STATUS (2505) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_LOGGING_START (2510) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_LOGGING_STOP (2511) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_AIRFRAME_CONFIGURATION (2520) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_CONTROL_HIGH_LATENCY (2600) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_PANORAMA_CREATE (2800) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_DO_VTOL_TRANSITION (3000) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_ARM_AUTHORIZATION_REQUEST (3001) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_SET_GUIDED_SUBMODE_STANDARD (4000) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_SET_GUIDED_SUBMODE_CIRCLE (4001) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_CONDITION_GATE (4501) — [from: common] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_NAV_FENCE_RETURN_POINT (5000) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_NAV_FENCE_POLYGON_VERTEX_INCLUSION (5001) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_NAV_FENCE_POLYGON_VERTEX_EXCLUSION (5002) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_NAV_FENCE_CIRCLE_INCLUSION (5003) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_NAV_FENCE_CIRCLE_EXCLUSION (5004) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_NAV_RALLY_POINT (5100) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_UAVCAN_GET_NODE_INFO (5200) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_DO_SET_SAFETY_SWITCH_STATE (5300) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_DO_ADSB_OUT_IDENT (10001) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_PAYLOAD_PREPARE_DEPLOY (30001) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_PAYLOAD_CONTROL_DEPLOY (30002) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_WAYPOINT_USER_1 (31000) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_WAYPOINT_USER_2 (31001) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_WAYPOINT_USER_3 (31002) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_WAYPOINT_USER_4 (31003) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_WAYPOINT_USER_5 (31004) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_SPATIAL_USER_1 (31005) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_SPATIAL_USER_2 (31006) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_SPATIAL_USER_3 (31007) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_SPATIAL_USER_4 (31008) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_SPATIAL_USER_5 (31009) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_USER_1 (31010) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_USER_2 (31011) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_USER_3 (31012) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_USER_4 (31013) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_USER_5 (31014) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_CAN_FORWARD (32000) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_FIXED_MAG_CAL_YAW (42006) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_DO_WINCH (42600) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_EXTERNAL_POSITION_ESTIMATE (43003) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                results matching ""

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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  \ No newline at end of file +python_array_test.xml · MAVLink Developer Guide
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  方言：python_array_test

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  This topic documents the version of the dialect file in the mavlink/mavlink Github repository, which may not be up to date with the file in the source repository (it is up to the dialect owner to push changes when needed). The source repo should be listed in the comments at the top of the XML definition file listed below (but may not be).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  This is a human-readable form of the XML definition file: python_array_test.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  已添加到 MAVLink 1 消息中的 MAVLink 2 扩展字段以蓝色显示。 - Entities from dialects are displayed only as headings (with link to original)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Summary

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  TypeDefinedIncluded
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Messages8224
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Enums0143
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Commands1640

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  The following sections list all entities in the dialect (both included and defined in this file).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Messages

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  ARRAY_TEST_0 (17150)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Array test #0.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  v1uint8_tStub field
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  ar_i8int8_t[4]Value array
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  ar_u8uint8_t[4]Value array
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  ar_u16uint16_t[4]Value array
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  ar_u32uint32_t[4]Value array

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  ARRAY_TEST_1 (17151)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Array test #1.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  ar_u32uint32_t[4]Value array

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  ARRAY_TEST_3 (17153)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Array test #3.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  vuint8_tStub field
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  ar_u32uint32_t[4]Value array

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  ARRAY_TEST_4 (17154)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Array test #4.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  ar_u32uint32_t[4]Value array
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  vuint8_tStub field

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  ARRAY_TEST_5 (17155)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Array test #5.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  c1char[5]Value array
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  c2char[5]Value array

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  ARRAY_TEST_6 (17156)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Array test #6.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  v1uint8_tStub field
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  v2uint16_tStub field
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  v3uint32_tStub field
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  ar_u32uint32_t[2]Value array
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  ar_i32int32_t[2]Value array
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  ar_u16uint16_t[2]Value array
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  ar_i16int16_t[2]Value array
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  ar_u8uint8_t[2]Value array
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  ar_i8int8_t[2]Value array
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  ar_cchar[32]Value array
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  ar_ddouble[2]Value array
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  ar_ffloat[2]Value array

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  ARRAY_TEST_7 (17157)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Array test #7.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  ar_ddouble[2]Value array
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  ar_ffloat[2]Value array
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  ar_u32uint32_t[2]Value array
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  ar_i32int32_t[2]Value array
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  ar_u16uint16_t[2]Value array
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  ar_i16int16_t[2]Value array
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  ar_u8uint8_t[2]Value array
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  ar_i8int8_t[2]Value array
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  ar_cchar[32]Value array

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  ARRAY_TEST_8 (17158)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Array test #8.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  v3uint32_tStub field
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  ar_ddouble[2]Value array
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  ar_u16uint16_t[2]Value array

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Enumerated Types

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Commands (MAV_CMD)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  results matching ""

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    No results matching ""

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    \ No newline at end of file diff --git a/zh/messages/standard.html b/zh/messages/standard.html index 7cdc404de..ce92edea4 100644 --- a/zh/messages/standard.html +++ b/zh/messages/standard.html @@ -1 +1 @@ -standard.xml · MAVLink Developer Guide
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Messages
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Messages
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    FAQ
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    FAQ
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Implementations
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Implementations
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Examples
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Examples
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Support
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Help

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Dialect: MAVLINK Standard Message Set (standard.xml)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    The MAVLink standard message set contains standard definitions that are managed by the MAVLink project. The definitions are those that are expected to be implemented in all flight stacks/ground stations AND are likely to be implemented in a compatible way. This is a human-readable form of the XML definition file: standard.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    已添加到 MAVLink 1 消息中的 MAVLink 2 扩展字段以蓝色显示。 - Entities from dialects are displayed only as headings (with link to original)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Protocol dialect: 0

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Summary

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    TypeDefinedIncluded
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Messages02
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Enums06
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Commands00

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    The following sections list all entities in the dialect (both included and defined in this file).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Messages

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    HEARTBEAT (0) — [from: minimal]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    PROTOCOL_VERSION (300) — [from: minimal] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Enumerated Types

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_AUTOPILOT — [from: minimal]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_TYPE — [from: minimal]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_MODE_FLAG — [from: minimal]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_MODE_FLAG_DECODE_POSITION — [from: minimal]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_STATE — [from: minimal]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_COMPONENT — [from: minimal]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    results matching ""

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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      \ No newline at end of file +standard.xml · MAVLink Developer Guide
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Implementations
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Implementations
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Examples
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Examples
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Support
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Help

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Dialect: MAVLINK Standard Message Set (standard.xml)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      The MAVLink standard message set contains standard definitions that are managed by the MAVLink project. The definitions are those that are expected to be implemented in all flight stacks/ground stations AND are likely to be implemented in a compatible way. This is a human-readable form of the XML definition file: standard.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      已添加到 MAVLink 1 消息中的 MAVLink 2 扩展字段以蓝色显示。 - Entities from dialects are displayed only as headings (with link to original)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Protocol dialect: 0

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Summary

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      TypeDefinedIncluded
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Messages02
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Enums06
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Commands00

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      The following sections list all entities in the dialect (both included and defined in this file).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Messages

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Enumerated Types

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      results matching ""

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        No results matching ""

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        \ No newline at end of file diff --git a/zh/messages/storm32.md b/zh/messages/storm32.md index 0f32e19e5..800237d70 100644 --- a/zh/messages/storm32.md +++ b/zh/messages/storm32.md @@ -33,1647 +33,243 @@ span.warning { | Type | Defined | Included | | -------------------------- | ------- | -------- | | [Messages](#messages) | 8 | 305 | -| [Enums](#enumerated-types) | 8 | 202 | +| [Enums](#enumerated-types) | 8 | 203 | | [Commands](#mav_commands) | 198 | 0 | The following sections list all entities in the dialect (both included and defined in this file). ## Messages -### HEARTBEAT (0) — \[from: [minimal](../messages/minimal.md#HEARTBEAT)\] {#HEARTBEAT} - -### SYS_STATUS (1) — \[from: [common](../messages/common.md#SYS_STATUS)\] {#SYS_STATUS} - -### SYSTEM_TIME (2) — \[from: [common](../messages/common.md#SYSTEM_TIME)\] {#SYSTEM_TIME} - -### PING (4) — \[from: [common](../messages/common.md#PING)\] [DEP] {#PING} - -### CHANGE_OPERATOR_CONTROL (5) — \[from: [common](../messages/common.md#CHANGE_OPERATOR_CONTROL)\] {#CHANGE_OPERATOR_CONTROL} - -### CHANGE_OPERATOR_CONTROL_ACK (6) — \[from: [common](../messages/common.md#CHANGE_OPERATOR_CONTROL_ACK)\] {#CHANGE_OPERATOR_CONTROL_ACK} - -### AUTH_KEY (7) — \[from: [common](../messages/common.md#AUTH_KEY)\] {#AUTH_KEY} - -### LINK_NODE_STATUS (8) — \[from: [common](../messages/common.md#LINK_NODE_STATUS)\] [WIP] {#LINK_NODE_STATUS} - -### SET_MODE (11) — \[from: [common](../messages/common.md#SET_MODE)\] [DEP] {#SET_MODE} - -### PARAM_REQUEST_READ (20) — \[from: [common](../messages/common.md#PARAM_REQUEST_READ)\] {#PARAM_REQUEST_READ} - -### PARAM_REQUEST_LIST (21) — \[from: [common](../messages/common.md#PARAM_REQUEST_LIST)\] {#PARAM_REQUEST_LIST} - -### PARAM_VALUE (22) — \[from: [common](../messages/common.md#PARAM_VALUE)\] {#PARAM_VALUE} - -### PARAM_SET (23) — \[from: [common](../messages/common.md#PARAM_SET)\] {#PARAM_SET} - -### GPS_RAW_INT (24) — \[from: [common](../messages/common.md#GPS_RAW_INT)\] {#GPS_RAW_INT} - -### GPS_STATUS (25) — \[from: [common](../messages/common.md#GPS_STATUS)\] {#GPS_STATUS} - -### SCALED_IMU (26) — \[from: [common](../messages/common.md#SCALED_IMU)\] {#SCALED_IMU} - -### RAW_IMU (27) — \[from: [common](../messages/common.md#RAW_IMU)\] {#RAW_IMU} - -### RAW_PRESSURE (28) — \[from: [common](../messages/common.md#RAW_PRESSURE)\] {#RAW_PRESSURE} - -### SCALED_PRESSURE (29) — \[from: [common](../messages/common.md#SCALED_PRESSURE)\] {#SCALED_PRESSURE} - -### ATTITUDE (30) — \[from: [common](../messages/common.md#ATTITUDE)\] {#ATTITUDE} - -### ATTITUDE_QUATERNION (31) — \[from: [common](../messages/common.md#ATTITUDE_QUATERNION)\] {#ATTITUDE_QUATERNION} - -### LOCAL_POSITION_NED (32) — \[from: [common](../messages/common.md#LOCAL_POSITION_NED)\] {#LOCAL_POSITION_NED} - -### GLOBAL_POSITION_INT (33) — \[from: [common](../messages/common.md#GLOBAL_POSITION_INT)\] {#GLOBAL_POSITION_INT} - -### RC_CHANNELS_SCALED (34) — \[from: [common](../messages/common.md#RC_CHANNELS_SCALED)\] {#RC_CHANNELS_SCALED} - -### RC_CHANNELS_RAW (35) — \[from: [common](../messages/common.md#RC_CHANNELS_RAW)\] {#RC_CHANNELS_RAW} - -### SERVO_OUTPUT_RAW (36) — \[from: [common](../messages/common.md#SERVO_OUTPUT_RAW)\] {#SERVO_OUTPUT_RAW} - -### MISSION_REQUEST_PARTIAL_LIST (37) — \[from: [common](../messages/common.md#MISSION_REQUEST_PARTIAL_LIST)\] {#MISSION_REQUEST_PARTIAL_LIST} - -### MISSION_WRITE_PARTIAL_LIST (38) — \[from: [common](../messages/common.md#MISSION_WRITE_PARTIAL_LIST)\] {#MISSION_WRITE_PARTIAL_LIST} - -### MISSION_ITEM (39) — \[from: [common](../messages/common.md#MISSION_ITEM)\] [DEP] {#MISSION_ITEM} - -### MISSION_REQUEST (40) — \[from: [common](../messages/common.md#MISSION_REQUEST)\] [DEP] {#MISSION_REQUEST} - -### MISSION_SET_CURRENT (41) — \[from: [common](../messages/common.md#MISSION_SET_CURRENT)\] [DEP] {#MISSION_SET_CURRENT} - -### MISSION_CURRENT (42) — \[from: [common](../messages/common.md#MISSION_CURRENT)\] {#MISSION_CURRENT} - -### MISSION_REQUEST_LIST (43) — \[from: [common](../messages/common.md#MISSION_REQUEST_LIST)\] {#MISSION_REQUEST_LIST} - -### MISSION_COUNT (44) — \[from: [common](../messages/common.md#MISSION_COUNT)\] {#MISSION_COUNT} - -### MISSION_CLEAR_ALL (45) — \[from: [common](../messages/common.md#MISSION_CLEAR_ALL)\] {#MISSION_CLEAR_ALL} - -### MISSION_ITEM_REACHED (46) — \[from: [common](../messages/common.md#MISSION_ITEM_REACHED)\] {#MISSION_ITEM_REACHED} - -### MISSION_ACK (47) — \[from: [common](../messages/common.md#MISSION_ACK)\] {#MISSION_ACK} - -### SET_GPS_GLOBAL_ORIGIN (48) — \[from: [common](../messages/common.md#SET_GPS_GLOBAL_ORIGIN)\] {#SET_GPS_GLOBAL_ORIGIN} - -### GPS_GLOBAL_ORIGIN (49) — \[from: [common](../messages/common.md#GPS_GLOBAL_ORIGIN)\] {#GPS_GLOBAL_ORIGIN} - -### PARAM_MAP_RC (50) — \[from: [common](../messages/common.md#PARAM_MAP_RC)\] {#PARAM_MAP_RC} - -### MISSION_REQUEST_INT (51) — \[from: [common](../messages/common.md#MISSION_REQUEST_INT)\] {#MISSION_REQUEST_INT} - -### SAFETY_SET_ALLOWED_AREA (54) — \[from: [common](../messages/common.md#SAFETY_SET_ALLOWED_AREA)\] {#SAFETY_SET_ALLOWED_AREA} - -### SAFETY_ALLOWED_AREA (55) — \[from: [common](../messages/common.md#SAFETY_ALLOWED_AREA)\] {#SAFETY_ALLOWED_AREA} - -### ATTITUDE_QUATERNION_COV (61) — \[from: [common](../messages/common.md#ATTITUDE_QUATERNION_COV)\] {#ATTITUDE_QUATERNION_COV} - -### NAV_CONTROLLER_OUTPUT (62) — \[from: [common](../messages/common.md#NAV_CONTROLLER_OUTPUT)\] {#NAV_CONTROLLER_OUTPUT} - -### GLOBAL_POSITION_INT_COV (63) — \[from: [common](../messages/common.md#GLOBAL_POSITION_INT_COV)\] {#GLOBAL_POSITION_INT_COV} - -### LOCAL_POSITION_NED_COV (64) — \[from: [common](../messages/common.md#LOCAL_POSITION_NED_COV)\] {#LOCAL_POSITION_NED_COV} - -### RC_CHANNELS (65) — \[from: [common](../messages/common.md#RC_CHANNELS)\] {#RC_CHANNELS} - -### REQUEST_DATA_STREAM (66) — \[from: [common](../messages/common.md#REQUEST_DATA_STREAM)\] [DEP] {#REQUEST_DATA_STREAM} - -### DATA_STREAM (67) — \[from: [common](../messages/common.md#DATA_STREAM)\] [DEP] {#DATA_STREAM} - -### MANUAL_CONTROL (69) — \[from: [common](../messages/common.md#MANUAL_CONTROL)\] {#MANUAL_CONTROL} - -### RC_CHANNELS_OVERRIDE (70) — \[from: [common](../messages/common.md#RC_CHANNELS_OVERRIDE)\] {#RC_CHANNELS_OVERRIDE} - -### MISSION_ITEM_INT (73) — \[from: [common](../messages/common.md#MISSION_ITEM_INT)\] {#MISSION_ITEM_INT} - -### VFR_HUD (74) — \[from: [common](../messages/common.md#VFR_HUD)\] {#VFR_HUD} - -### COMMAND_INT (75) — \[from: [common](../messages/common.md#COMMAND_INT)\] {#COMMAND_INT} - -### COMMAND_LONG (76) — \[from: [common](../messages/common.md#COMMAND_LONG)\] {#COMMAND_LONG} - -### COMMAND_ACK (77) — \[from: [common](../messages/common.md#COMMAND_ACK)\] {#COMMAND_ACK} - -### COMMAND_CANCEL (80) — \[from: [common](../messages/common.md#COMMAND_CANCEL)\] [WIP] {#COMMAND_CANCEL} - -### MANUAL_SETPOINT (81) — \[from: [common](../messages/common.md#MANUAL_SETPOINT)\] {#MANUAL_SETPOINT} - -### SET_ATTITUDE_TARGET (82) — \[from: [common](../messages/common.md#SET_ATTITUDE_TARGET)\] {#SET_ATTITUDE_TARGET} - -### ATTITUDE_TARGET (83) — \[from: [common](../messages/common.md#ATTITUDE_TARGET)\] {#ATTITUDE_TARGET} - -### SET_POSITION_TARGET_LOCAL_NED (84) — \[from: [common](../messages/common.md#SET_POSITION_TARGET_LOCAL_NED)\] {#SET_POSITION_TARGET_LOCAL_NED} - -### POSITION_TARGET_LOCAL_NED (85) — \[from: [common](../messages/common.md#POSITION_TARGET_LOCAL_NED)\] {#POSITION_TARGET_LOCAL_NED} - -### SET_POSITION_TARGET_GLOBAL_INT (86) — \[from: [common](../messages/common.md#SET_POSITION_TARGET_GLOBAL_INT)\] {#SET_POSITION_TARGET_GLOBAL_INT} - -### POSITION_TARGET_GLOBAL_INT (87) — \[from: [common](../messages/common.md#POSITION_TARGET_GLOBAL_INT)\] {#POSITION_TARGET_GLOBAL_INT} - -### LOCAL_POSITION_NED_SYSTEM_GLOBAL_OFFSET (89) — \[from: [common](../messages/common.md#LOCAL_POSITION_NED_SYSTEM_GLOBAL_OFFSET)\] {#LOCAL_POSITION_NED_SYSTEM_GLOBAL_OFFSET} - -### HIL_STATE (90) — \[from: [common](../messages/common.md#HIL_STATE)\] [DEP] {#HIL_STATE} - -### HIL_CONTROLS (91) — \[from: [common](../messages/common.md#HIL_CONTROLS)\] {#HIL_CONTROLS} - -### HIL_RC_INPUTS_RAW (92) — \[from: [common](../messages/common.md#HIL_RC_INPUTS_RAW)\] {#HIL_RC_INPUTS_RAW} - -### HIL_ACTUATOR_CONTROLS (93) — \[from: [common](../messages/common.md#HIL_ACTUATOR_CONTROLS)\] {#HIL_ACTUATOR_CONTROLS} - -### OPTICAL_FLOW (100) — \[from: [common](../messages/common.md#OPTICAL_FLOW)\] {#OPTICAL_FLOW} - -### GLOBAL_VISION_POSITION_ESTIMATE (101) — \[from: [common](../messages/common.md#GLOBAL_VISION_POSITION_ESTIMATE)\] {#GLOBAL_VISION_POSITION_ESTIMATE} - -### VISION_POSITION_ESTIMATE (102) — \[from: [common](../messages/common.md#VISION_POSITION_ESTIMATE)\] {#VISION_POSITION_ESTIMATE} - -### VISION_SPEED_ESTIMATE (103) — \[from: [common](../messages/common.md#VISION_SPEED_ESTIMATE)\] {#VISION_SPEED_ESTIMATE} - -### VICON_POSITION_ESTIMATE (104) — \[from: [common](../messages/common.md#VICON_POSITION_ESTIMATE)\] {#VICON_POSITION_ESTIMATE} - -### HIGHRES_IMU (105) — \[from: [common](../messages/common.md#HIGHRES_IMU)\] {#HIGHRES_IMU} - -### OPTICAL_FLOW_RAD (106) — \[from: [common](../messages/common.md#OPTICAL_FLOW_RAD)\] {#OPTICAL_FLOW_RAD} - -### HIL_SENSOR (107) — \[from: [common](../messages/common.md#HIL_SENSOR)\] {#HIL_SENSOR} - -### SIM_STATE (108) — \[from: [common](../messages/common.md#SIM_STATE)\] {#SIM_STATE} - -### RADIO_STATUS (109) — \[from: [common](../messages/common.md#RADIO_STATUS)\] {#RADIO_STATUS} - -### FILE_TRANSFER_PROTOCOL (110) — \[from: [common](../messages/common.md#FILE_TRANSFER_PROTOCOL)\] {#FILE_TRANSFER_PROTOCOL} - -### TIMESYNC (111) — \[from: [common](../messages/common.md#TIMESYNC)\] {#TIMESYNC} - -### CAMERA_TRIGGER (112) — \[from: [common](../messages/common.md#CAMERA_TRIGGER)\] {#CAMERA_TRIGGER} - -### HIL_GPS (113) — \[from: [common](../messages/common.md#HIL_GPS)\] {#HIL_GPS} - -### HIL_OPTICAL_FLOW (114) — \[from: [common](../messages/common.md#HIL_OPTICAL_FLOW)\] {#HIL_OPTICAL_FLOW} - -### HIL_STATE_QUATERNION (115) — \[from: [common](../messages/common.md#HIL_STATE_QUATERNION)\] {#HIL_STATE_QUATERNION} - -### SCALED_IMU2 (116) — \[from: [common](../messages/common.md#SCALED_IMU2)\] {#SCALED_IMU2} - -### LOG_REQUEST_LIST (117) — \[from: [common](../messages/common.md#LOG_REQUEST_LIST)\] {#LOG_REQUEST_LIST} - -### LOG_ENTRY (118) — \[from: [common](../messages/common.md#LOG_ENTRY)\] {#LOG_ENTRY} - -### LOG_REQUEST_DATA (119) — \[from: [common](../messages/common.md#LOG_REQUEST_DATA)\] {#LOG_REQUEST_DATA} - -### LOG_DATA (120) — \[from: [common](../messages/common.md#LOG_DATA)\] {#LOG_DATA} - -### LOG_ERASE (121) — \[from: [common](../messages/common.md#LOG_ERASE)\] {#LOG_ERASE} - -### LOG_REQUEST_END (122) — \[from: [common](../messages/common.md#LOG_REQUEST_END)\] {#LOG_REQUEST_END} - -### GPS_INJECT_DATA (123) — \[from: [common](../messages/common.md#GPS_INJECT_DATA)\] [DEP] {#GPS_INJECT_DATA} - -### GPS2_RAW (124) — \[from: [common](../messages/common.md#GPS2_RAW)\] {#GPS2_RAW} - -### POWER_STATUS (125) — \[from: [common](../messages/common.md#POWER_STATUS)\] {#POWER_STATUS} - -### SERIAL_CONTROL (126) — \[from: [common](../messages/common.md#SERIAL_CONTROL)\] {#SERIAL_CONTROL} - -### GPS_RTK (127) — \[from: [common](../messages/common.md#GPS_RTK)\] {#GPS_RTK} - -### GPS2_RTK (128) — \[from: [common](../messages/common.md#GPS2_RTK)\] {#GPS2_RTK} - -### SCALED_IMU3 (129) — \[from: [common](../messages/common.md#SCALED_IMU3)\] {#SCALED_IMU3} - -### DATA_TRANSMISSION_HANDSHAKE (130) — \[from: [common](../messages/common.md#DATA_TRANSMISSION_HANDSHAKE)\] {#DATA_TRANSMISSION_HANDSHAKE} - -### ENCAPSULATED_DATA (131) — \[from: [common](../messages/common.md#ENCAPSULATED_DATA)\] {#ENCAPSULATED_DATA} - -### DISTANCE_SENSOR (132) — \[from: [common](../messages/common.md#DISTANCE_SENSOR)\] {#DISTANCE_SENSOR} - -### TERRAIN_REQUEST (133) — \[from: [common](../messages/common.md#TERRAIN_REQUEST)\] {#TERRAIN_REQUEST} - -### TERRAIN_DATA (134) — \[from: [common](../messages/common.md#TERRAIN_DATA)\] {#TERRAIN_DATA} - -### TERRAIN_CHECK (135) — \[from: [common](../messages/common.md#TERRAIN_CHECK)\] {#TERRAIN_CHECK} - -### TERRAIN_REPORT (136) — \[from: [common](../messages/common.md#TERRAIN_REPORT)\] {#TERRAIN_REPORT} - -### SCALED_PRESSURE2 (137) — \[from: [common](../messages/common.md#SCALED_PRESSURE2)\] {#SCALED_PRESSURE2} - -### ATT_POS_MOCAP (138) — \[from: [common](../messages/common.md#ATT_POS_MOCAP)\] {#ATT_POS_MOCAP} - -### SET_ACTUATOR_CONTROL_TARGET (139) — \[from: [common](../messages/common.md#SET_ACTUATOR_CONTROL_TARGET)\] {#SET_ACTUATOR_CONTROL_TARGET} - -### ACTUATOR_CONTROL_TARGET (140) — \[from: [common](../messages/common.md#ACTUATOR_CONTROL_TARGET)\] {#ACTUATOR_CONTROL_TARGET} - -### ALTITUDE (141) — \[from: [common](../messages/common.md#ALTITUDE)\] {#ALTITUDE} - -### RESOURCE_REQUEST (142) — \[from: [common](../messages/common.md#RESOURCE_REQUEST)\] {#RESOURCE_REQUEST} - -### SCALED_PRESSURE3 (143) — \[from: [common](../messages/common.md#SCALED_PRESSURE3)\] {#SCALED_PRESSURE3} - -### FOLLOW_TARGET (144) — \[from: [common](../messages/common.md#FOLLOW_TARGET)\] {#FOLLOW_TARGET} - -### CONTROL_SYSTEM_STATE (146) — \[from: [common](../messages/common.md#CONTROL_SYSTEM_STATE)\] {#CONTROL_SYSTEM_STATE} - -### BATTERY_STATUS (147) — \[from: [common](../messages/common.md#BATTERY_STATUS)\] {#BATTERY_STATUS} - -### AUTOPILOT_VERSION (148) — \[from: [common](../messages/common.md#AUTOPILOT_VERSION)\] {#AUTOPILOT_VERSION} - -### LANDING_TARGET (149) — \[from: [common](../messages/common.md#LANDING_TARGET)\] {#LANDING_TARGET} - -### SENSOR_OFFSETS (150) — \[from: [ardupilotmega](../messages/ardupilotmega.md#SENSOR_OFFSETS)\] {#SENSOR_OFFSETS} - -### SET_MAG_OFFSETS (151) — \[from: [ardupilotmega](../messages/ardupilotmega.md#SET_MAG_OFFSETS)\] [DEP] {#SET_MAG_OFFSETS} - -### MEMINFO (152) — \[from: [ardupilotmega](../messages/ardupilotmega.md#MEMINFO)\] {#MEMINFO} - -### AP_ADC (153) — \[from: [ardupilotmega](../messages/ardupilotmega.md#AP_ADC)\] {#AP_ADC} - -### DIGICAM_CONFIGURE (154) — \[from: [ardupilotmega](../messages/ardupilotmega.md#DIGICAM_CONFIGURE)\] {#DIGICAM_CONFIGURE} - -### DIGICAM_CONTROL (155) — \[from: [ardupilotmega](../messages/ardupilotmega.md#DIGICAM_CONTROL)\] {#DIGICAM_CONTROL} - -### MOUNT_CONFIGURE (156) — \[from: [ardupilotmega](../messages/ardupilotmega.md#MOUNT_CONFIGURE)\] {#MOUNT_CONFIGURE} - -### MOUNT_CONTROL (157) — \[from: [ardupilotmega](../messages/ardupilotmega.md#MOUNT_CONTROL)\] {#MOUNT_CONTROL} - -### MOUNT_STATUS (158) — \[from: [ardupilotmega](../messages/ardupilotmega.md#MOUNT_STATUS)\] {#MOUNT_STATUS} - -### FENCE_POINT (160) — \[from: [ardupilotmega](../messages/ardupilotmega.md#FENCE_POINT)\] {#FENCE_POINT} - -### FENCE_FETCH_POINT (161) — \[from: [ardupilotmega](../messages/ardupilotmega.md#FENCE_FETCH_POINT)\] {#FENCE_FETCH_POINT} - -### FENCE_STATUS (162) — \[from: [common](../messages/common.md#FENCE_STATUS)\] {#FENCE_STATUS} - -### AHRS (163) — \[from: [ardupilotmega](../messages/ardupilotmega.md#AHRS)\] {#AHRS} - -### SIMSTATE (164) — \[from: [ardupilotmega](../messages/ardupilotmega.md#SIMSTATE)\] {#SIMSTATE} - -### HWSTATUS (165) — \[from: [ardupilotmega](../messages/ardupilotmega.md#HWSTATUS)\] {#HWSTATUS} - -### RADIO (166) — \[from: [ardupilotmega](../messages/ardupilotmega.md#RADIO)\] {#RADIO} - -### LIMITS_STATUS (167) — \[from: [ardupilotmega](../messages/ardupilotmega.md#LIMITS_STATUS)\] {#LIMITS_STATUS} - -### WIND (168) — \[from: [ardupilotmega](../messages/ardupilotmega.md#WIND)\] {#WIND} - -### DATA16 (169) — \[from: [ardupilotmega](../messages/ardupilotmega.md#DATA16)\] {#DATA16} - -### DATA32 (170) — \[from: [ardupilotmega](../messages/ardupilotmega.md#DATA32)\] {#DATA32} - -### DATA64 (171) — \[from: [ardupilotmega](../messages/ardupilotmega.md#DATA64)\] {#DATA64} - -### DATA96 (172) — \[from: [ardupilotmega](../messages/ardupilotmega.md#DATA96)\] {#DATA96} - -### RANGEFINDER (173) — \[from: [ardupilotmega](../messages/ardupilotmega.md#RANGEFINDER)\] {#RANGEFINDER} - -### AIRSPEED_AUTOCAL (174) — \[from: [ardupilotmega](../messages/ardupilotmega.md#AIRSPEED_AUTOCAL)\] {#AIRSPEED_AUTOCAL} - -### RALLY_POINT (175) — \[from: [ardupilotmega](../messages/ardupilotmega.md#RALLY_POINT)\] {#RALLY_POINT} - -### RALLY_FETCH_POINT (176) — \[from: [ardupilotmega](../messages/ardupilotmega.md#RALLY_FETCH_POINT)\] {#RALLY_FETCH_POINT} - -### COMPASSMOT_STATUS (177) — \[from: [ardupilotmega](../messages/ardupilotmega.md#COMPASSMOT_STATUS)\] {#COMPASSMOT_STATUS} - -### AHRS2 (178) — \[from: [ardupilotmega](../messages/ardupilotmega.md#AHRS2)\] {#AHRS2} - -### CAMERA_STATUS (179) — \[from: [ardupilotmega](../messages/ardupilotmega.md#CAMERA_STATUS)\] {#CAMERA_STATUS} - -### CAMERA_FEEDBACK (180) — \[from: [ardupilotmega](../messages/ardupilotmega.md#CAMERA_FEEDBACK)\] {#CAMERA_FEEDBACK} - -### BATTERY2 (181) — \[from: [ardupilotmega](../messages/ardupilotmega.md#BATTERY2)\] [DEP] {#BATTERY2} - -### AHRS3 (182) — \[from: [ardupilotmega](../messages/ardupilotmega.md#AHRS3)\] {#AHRS3} - -### AUTOPILOT_VERSION_REQUEST (183) — \[from: [ardupilotmega](../messages/ardupilotmega.md#AUTOPILOT_VERSION_REQUEST)\] {#AUTOPILOT_VERSION_REQUEST} - -### REMOTE_LOG_DATA_BLOCK (184) — \[from: [ardupilotmega](../messages/ardupilotmega.md#REMOTE_LOG_DATA_BLOCK)\] {#REMOTE_LOG_DATA_BLOCK} - -### REMOTE_LOG_BLOCK_STATUS (185) — \[from: [ardupilotmega](../messages/ardupilotmega.md#REMOTE_LOG_BLOCK_STATUS)\] {#REMOTE_LOG_BLOCK_STATUS} - -### LED_CONTROL (186) — \[from: [ardupilotmega](../messages/ardupilotmega.md#LED_CONTROL)\] {#LED_CONTROL} - -### MAG_CAL_PROGRESS (191) — \[from: [ardupilotmega](../messages/ardupilotmega.md#MAG_CAL_PROGRESS)\] {#MAG_CAL_PROGRESS} - -### MAG_CAL_REPORT (192) — \[from: [common](../messages/common.md#MAG_CAL_REPORT)\] {#MAG_CAL_REPORT} - -### EKF_STATUS_REPORT (193) — \[from: [ardupilotmega](../messages/ardupilotmega.md#EKF_STATUS_REPORT)\] {#EKF_STATUS_REPORT} - -### PID_TUNING (194) — \[from: [ardupilotmega](../messages/ardupilotmega.md#PID_TUNING)\] {#PID_TUNING} - -### DEEPSTALL (195) — \[from: [ardupilotmega](../messages/ardupilotmega.md#DEEPSTALL)\] {#DEEPSTALL} - -### GIMBAL_REPORT (200) — \[from: [ardupilotmega](../messages/ardupilotmega.md#GIMBAL_REPORT)\] {#GIMBAL_REPORT} - -### GIMBAL_CONTROL (201) — \[from: [ardupilotmega](../messages/ardupilotmega.md#GIMBAL_CONTROL)\] {#GIMBAL_CONTROL} - -### GIMBAL_TORQUE_CMD_REPORT (214) — \[from: [ardupilotmega](../messages/ardupilotmega.md#GIMBAL_TORQUE_CMD_REPORT)\] {#GIMBAL_TORQUE_CMD_REPORT} - -### GOPRO_HEARTBEAT (215) — \[from: [ardupilotmega](../messages/ardupilotmega.md#GOPRO_HEARTBEAT)\] {#GOPRO_HEARTBEAT} - -### GOPRO_GET_REQUEST (216) — \[from: [ardupilotmega](../messages/ardupilotmega.md#GOPRO_GET_REQUEST)\] {#GOPRO_GET_REQUEST} - -### GOPRO_GET_RESPONSE (217) — \[from: [ardupilotmega](../messages/ardupilotmega.md#GOPRO_GET_RESPONSE)\] {#GOPRO_GET_RESPONSE} - -### GOPRO_SET_REQUEST (218) — \[from: [ardupilotmega](../messages/ardupilotmega.md#GOPRO_SET_REQUEST)\] {#GOPRO_SET_REQUEST} - -### GOPRO_SET_RESPONSE (219) — \[from: [ardupilotmega](../messages/ardupilotmega.md#GOPRO_SET_RESPONSE)\] {#GOPRO_SET_RESPONSE} - -### EFI_STATUS (225) — \[from: [common](../messages/common.md#EFI_STATUS)\] {#EFI_STATUS} - -### RPM (226) — \[from: [ardupilotmega](../messages/ardupilotmega.md#RPM)\] {#RPM} - -### ESTIMATOR_STATUS (230) — \[from: [common](../messages/common.md#ESTIMATOR_STATUS)\] {#ESTIMATOR_STATUS} - -### WIND_COV (231) — \[from: [common](../messages/common.md#WIND_COV)\] {#WIND_COV} - -### GPS_INPUT (232) — \[from: [common](../messages/common.md#GPS_INPUT)\] {#GPS_INPUT} - -### GPS_RTCM_DATA (233) — \[from: [common](../messages/common.md#GPS_RTCM_DATA)\] {#GPS_RTCM_DATA} - -### HIGH_LATENCY (234) — \[from: [common](../messages/common.md#HIGH_LATENCY)\] [DEP] {#HIGH_LATENCY} - -### HIGH_LATENCY2 (235) — \[from: [common](../messages/common.md#HIGH_LATENCY2)\] {#HIGH_LATENCY2} - -### VIBRATION (241) — \[from: [common](../messages/common.md#VIBRATION)\] {#VIBRATION} - -### HOME_POSITION (242) — \[from: [common](../messages/common.md#HOME_POSITION)\] {#HOME_POSITION} - -### SET_HOME_POSITION (243) — \[from: [common](../messages/common.md#SET_HOME_POSITION)\] [DEP] {#SET_HOME_POSITION} - -### MESSAGE_INTERVAL (244) — \[from: [common](../messages/common.md#MESSAGE_INTERVAL)\] {#MESSAGE_INTERVAL} - -### EXTENDED_SYS_STATE (245) — \[from: [common](../messages/common.md#EXTENDED_SYS_STATE)\] {#EXTENDED_SYS_STATE} - -### ADSB_VEHICLE (246) — \[from: [common](../messages/common.md#ADSB_VEHICLE)\] {#ADSB_VEHICLE} - -### COLLISION (247) — \[from: [common](../messages/common.md#COLLISION)\] {#COLLISION} - -### V2_EXTENSION (248) — \[from: [common](../messages/common.md#V2_EXTENSION)\] {#V2_EXTENSION} - -### MEMORY_VECT (249) — \[from: [common](../messages/common.md#MEMORY_VECT)\] {#MEMORY_VECT} - -### DEBUG_VECT (250) — \[from: [common](../messages/common.md#DEBUG_VECT)\] {#DEBUG_VECT} - -### NAMED_VALUE_FLOAT (251) — \[from: [common](../messages/common.md#NAMED_VALUE_FLOAT)\] {#NAMED_VALUE_FLOAT} - -### NAMED_VALUE_INT (252) — \[from: [common](../messages/common.md#NAMED_VALUE_INT)\] {#NAMED_VALUE_INT} - -### STATUSTEXT (253) — \[from: [common](../messages/common.md#STATUSTEXT)\] {#STATUSTEXT} - -### DEBUG (254) — \[from: [common](../messages/common.md#DEBUG)\] {#DEBUG} - -### SETUP_SIGNING (256) — \[from: [common](../messages/common.md#SETUP_SIGNING)\] {#SETUP_SIGNING} - -### BUTTON_CHANGE (257) — \[from: [common](../messages/common.md#BUTTON_CHANGE)\] {#BUTTON_CHANGE} - -### PLAY_TUNE (258) — \[from: [common](../messages/common.md#PLAY_TUNE)\] [DEP] {#PLAY_TUNE} - -### CAMERA_INFORMATION (259) — \[from: [common](../messages/common.md#CAMERA_INFORMATION)\] {#CAMERA_INFORMATION} - -### CAMERA_SETTINGS (260) — \[from: [common](../messages/common.md#CAMERA_SETTINGS)\] {#CAMERA_SETTINGS} - -### STORAGE_INFORMATION (261) — \[from: [common](../messages/common.md#STORAGE_INFORMATION)\] {#STORAGE_INFORMATION} - -### CAMERA_CAPTURE_STATUS (262) — \[from: [common](../messages/common.md#CAMERA_CAPTURE_STATUS)\] {#CAMERA_CAPTURE_STATUS} - -### CAMERA_IMAGE_CAPTURED (263) — \[from: [common](../messages/common.md#CAMERA_IMAGE_CAPTURED)\] {#CAMERA_IMAGE_CAPTURED} - -### FLIGHT_INFORMATION (264) — \[from: [common](../messages/common.md#FLIGHT_INFORMATION)\] {#FLIGHT_INFORMATION} - -### MOUNT_ORIENTATION (265) — \[from: [common](../messages/common.md#MOUNT_ORIENTATION)\] [DEP] {#MOUNT_ORIENTATION} - -### LOGGING_DATA (266) — \[from: [common](../messages/common.md#LOGGING_DATA)\] {#LOGGING_DATA} - -### LOGGING_DATA_ACKED (267) — \[from: [common](../messages/common.md#LOGGING_DATA_ACKED)\] {#LOGGING_DATA_ACKED} - -### LOGGING_ACK (268) — \[from: [common](../messages/common.md#LOGGING_ACK)\] {#LOGGING_ACK} - -### VIDEO_STREAM_INFORMATION (269) — \[from: [common](../messages/common.md#VIDEO_STREAM_INFORMATION)\] {#VIDEO_STREAM_INFORMATION} - -### VIDEO_STREAM_STATUS (270) — \[from: [common](../messages/common.md#VIDEO_STREAM_STATUS)\] {#VIDEO_STREAM_STATUS} - -### CAMERA_FOV_STATUS (271) — \[from: [common](../messages/common.md#CAMERA_FOV_STATUS)\] {#CAMERA_FOV_STATUS} - -### CAMERA_TRACKING_IMAGE_STATUS (275) — \[from: [common](../messages/common.md#CAMERA_TRACKING_IMAGE_STATUS)\] {#CAMERA_TRACKING_IMAGE_STATUS} - -### CAMERA_TRACKING_GEO_STATUS (276) — \[from: [common](../messages/common.md#CAMERA_TRACKING_GEO_STATUS)\] {#CAMERA_TRACKING_GEO_STATUS} - -### CAMERA_THERMAL_RANGE (277) — \[from: [common](../messages/common.md#CAMERA_THERMAL_RANGE)\] [WIP] {#CAMERA_THERMAL_RANGE} - -### GIMBAL_MANAGER_INFORMATION (280) — \[from: [common](../messages/common.md#GIMBAL_MANAGER_INFORMATION)\] {#GIMBAL_MANAGER_INFORMATION} - -### GIMBAL_MANAGER_STATUS (281) — \[from: [common](../messages/common.md#GIMBAL_MANAGER_STATUS)\] {#GIMBAL_MANAGER_STATUS} - -### GIMBAL_MANAGER_SET_ATTITUDE (282) — \[from: [common](../messages/common.md#GIMBAL_MANAGER_SET_ATTITUDE)\] {#GIMBAL_MANAGER_SET_ATTITUDE} - -### GIMBAL_DEVICE_INFORMATION (283) — \[from: [common](../messages/common.md#GIMBAL_DEVICE_INFORMATION)\] {#GIMBAL_DEVICE_INFORMATION} - -### GIMBAL_DEVICE_SET_ATTITUDE (284) — \[from: [common](../messages/common.md#GIMBAL_DEVICE_SET_ATTITUDE)\] {#GIMBAL_DEVICE_SET_ATTITUDE} - -### GIMBAL_DEVICE_ATTITUDE_STATUS (285) — \[from: [common](../messages/common.md#GIMBAL_DEVICE_ATTITUDE_STATUS)\] {#GIMBAL_DEVICE_ATTITUDE_STATUS} - -### AUTOPILOT_STATE_FOR_GIMBAL_DEVICE (286) — \[from: [common](../messages/common.md#AUTOPILOT_STATE_FOR_GIMBAL_DEVICE)\] {#AUTOPILOT_STATE_FOR_GIMBAL_DEVICE} - -### GIMBAL_MANAGER_SET_PITCHYAW (287) — \[from: [common](../messages/common.md#GIMBAL_MANAGER_SET_PITCHYAW)\] {#GIMBAL_MANAGER_SET_PITCHYAW} - -### GIMBAL_MANAGER_SET_MANUAL_CONTROL (288) — \[from: [common](../messages/common.md#GIMBAL_MANAGER_SET_MANUAL_CONTROL)\] {#GIMBAL_MANAGER_SET_MANUAL_CONTROL} - -### ESC_INFO (290) — \[from: [common](../messages/common.md#ESC_INFO)\] [WIP] {#ESC_INFO} - -### ESC_STATUS (291) — \[from: [common](../messages/common.md#ESC_STATUS)\] [WIP] {#ESC_STATUS} - -### WIFI_CONFIG_AP (299) — \[from: [common](../messages/common.md#WIFI_CONFIG_AP)\] {#WIFI_CONFIG_AP} - -### PROTOCOL_VERSION (300) — \[from: [minimal](../messages/minimal.md#PROTOCOL_VERSION)\] [WIP] {#PROTOCOL_VERSION} - -### AIS_VESSEL (301) — \[from: [common](../messages/common.md#AIS_VESSEL)\] {#AIS_VESSEL} - -### UAVCAN_NODE_STATUS (310) — \[from: [common](../messages/common.md#UAVCAN_NODE_STATUS)\] {#UAVCAN_NODE_STATUS} - -### UAVCAN_NODE_INFO (311) — \[from: [common](../messages/common.md#UAVCAN_NODE_INFO)\] {#UAVCAN_NODE_INFO} - -### PARAM_EXT_REQUEST_READ (320) — \[from: [common](../messages/common.md#PARAM_EXT_REQUEST_READ)\] {#PARAM_EXT_REQUEST_READ} - -### PARAM_EXT_REQUEST_LIST (321) — \[from: [common](../messages/common.md#PARAM_EXT_REQUEST_LIST)\] {#PARAM_EXT_REQUEST_LIST} - -### PARAM_EXT_VALUE (322) — \[from: [common](../messages/common.md#PARAM_EXT_VALUE)\] {#PARAM_EXT_VALUE} - -### PARAM_EXT_SET (323) — \[from: [common](../messages/common.md#PARAM_EXT_SET)\] {#PARAM_EXT_SET} - -### PARAM_EXT_ACK (324) — \[from: [common](../messages/common.md#PARAM_EXT_ACK)\] {#PARAM_EXT_ACK} - -### OBSTACLE_DISTANCE (330) — \[from: [common](../messages/common.md#OBSTACLE_DISTANCE)\] {#OBSTACLE_DISTANCE} - -### ODOMETRY (331) — \[from: [common](../messages/common.md#ODOMETRY)\] {#ODOMETRY} - -### TRAJECTORY_REPRESENTATION_WAYPOINTS (332) — \[from: [common](../messages/common.md#TRAJECTORY_REPRESENTATION_WAYPOINTS)\] {#TRAJECTORY_REPRESENTATION_WAYPOINTS} - -### TRAJECTORY_REPRESENTATION_BEZIER (333) — \[from: [common](../messages/common.md#TRAJECTORY_REPRESENTATION_BEZIER)\] {#TRAJECTORY_REPRESENTATION_BEZIER} - -### CELLULAR_STATUS (334) — \[from: [common](../messages/common.md#CELLULAR_STATUS)\] {#CELLULAR_STATUS} - -### ISBD_LINK_STATUS (335) — \[from: [common](../messages/common.md#ISBD_LINK_STATUS)\] {#ISBD_LINK_STATUS} - -### CELLULAR_CONFIG (336) — \[from: [common](../messages/common.md#CELLULAR_CONFIG)\] {#CELLULAR_CONFIG} - -### RAW_RPM (339) — \[from: [common](../messages/common.md#RAW_RPM)\] {#RAW_RPM} - -### UTM_GLOBAL_POSITION (340) — \[from: [common](../messages/common.md#UTM_GLOBAL_POSITION)\] {#UTM_GLOBAL_POSITION} - -### DEBUG_FLOAT_ARRAY (350) — \[from: [common](../messages/common.md#DEBUG_FLOAT_ARRAY)\] {#DEBUG_FLOAT_ARRAY} - -### ORBIT_EXECUTION_STATUS (360) — \[from: [common](../messages/common.md#ORBIT_EXECUTION_STATUS)\] [WIP] {#ORBIT_EXECUTION_STATUS} - -### BATTERY_INFO (370) — \[from: [common](../messages/common.md#BATTERY_INFO)\] [WIP] {#BATTERY_INFO} - -### GENERATOR_STATUS (373) — \[from: [common](../messages/common.md#GENERATOR_STATUS)\] {#GENERATOR_STATUS} - -### ACTUATOR_OUTPUT_STATUS (375) — \[from: [common](../messages/common.md#ACTUATOR_OUTPUT_STATUS)\] {#ACTUATOR_OUTPUT_STATUS} - -### TIME_ESTIMATE_TO_TARGET (380) — \[from: [common](../messages/common.md#TIME_ESTIMATE_TO_TARGET)\] [WIP] {#TIME_ESTIMATE_TO_TARGET} - -### TUNNEL (385) — \[from: [common](../messages/common.md#TUNNEL)\] {#TUNNEL} - -### CAN_FRAME (386) — \[from: [common](../messages/common.md#CAN_FRAME)\] {#CAN_FRAME} - -### CANFD_FRAME (387) — \[from: [common](../messages/common.md#CANFD_FRAME)\] {#CANFD_FRAME} - -### CAN_FILTER_MODIFY (388) — \[from: [common](../messages/common.md#CAN_FILTER_MODIFY)\] {#CAN_FILTER_MODIFY} - -### ONBOARD_COMPUTER_STATUS (390) — \[from: [common](../messages/common.md#ONBOARD_COMPUTER_STATUS)\] [WIP] {#ONBOARD_COMPUTER_STATUS} - -### COMPONENT_INFORMATION (395) — \[from: [common](../messages/common.md#COMPONENT_INFORMATION)\] [DEP] {#COMPONENT_INFORMATION} - -### COMPONENT_INFORMATION_BASIC (396) — \[from: [common](../messages/common.md#COMPONENT_INFORMATION_BASIC)\] {#COMPONENT_INFORMATION_BASIC} - -### COMPONENT_METADATA (397) — \[from: [common](../messages/common.md#COMPONENT_METADATA)\] [WIP] {#COMPONENT_METADATA} - -### PLAY_TUNE_V2 (400) — \[from: [common](../messages/common.md#PLAY_TUNE_V2)\] {#PLAY_TUNE_V2} - -### SUPPORTED_TUNES (401) — \[from: [common](../messages/common.md#SUPPORTED_TUNES)\] {#SUPPORTED_TUNES} - -### EVENT (410) — \[from: [common](../messages/common.md#EVENT)\] [WIP] {#EVENT} - -### CURRENT_EVENT_SEQUENCE (411) — \[from: [common](../messages/common.md#CURRENT_EVENT_SEQUENCE)\] [WIP] {#CURRENT_EVENT_SEQUENCE} - -### REQUEST_EVENT (412) — \[from: [common](../messages/common.md#REQUEST_EVENT)\] [WIP] {#REQUEST_EVENT} - -### RESPONSE_EVENT_ERROR (413) — \[from: [common](../messages/common.md#RESPONSE_EVENT_ERROR)\] [WIP] {#RESPONSE_EVENT_ERROR} - -### ILLUMINATOR_STATUS (440) — \[from: [common](../messages/common.md#ILLUMINATOR_STATUS)\] {#ILLUMINATOR_STATUS} - -### WHEEL_DISTANCE (9000) — \[from: [common](../messages/common.md#WHEEL_DISTANCE)\] {#WHEEL_DISTANCE} - -### WINCH_STATUS (9005) — \[from: [common](../messages/common.md#WINCH_STATUS)\] {#WINCH_STATUS} - -### UAVIONIX_ADSB_OUT_CFG (10001) — \[from: [uAvionix](../messages/uAvionix.md#UAVIONIX_ADSB_OUT_CFG)\] {#UAVIONIX_ADSB_OUT_CFG} - -### UAVIONIX_ADSB_OUT_DYNAMIC (10002) — \[from: [uAvionix](../messages/uAvionix.md#UAVIONIX_ADSB_OUT_DYNAMIC)\] {#UAVIONIX_ADSB_OUT_DYNAMIC} - -### UAVIONIX_ADSB_TRANSCEIVER_HEALTH_REPORT (10003) — \[from: [uAvionix](../messages/uAvionix.md#UAVIONIX_ADSB_TRANSCEIVER_HEALTH_REPORT)\] {#UAVIONIX_ADSB_TRANSCEIVER_HEALTH_REPORT} - -### DEVICE_OP_READ (11000) — \[from: [ardupilotmega](../messages/ardupilotmega.md#DEVICE_OP_READ)\] {#DEVICE_OP_READ} - -### DEVICE_OP_READ_REPLY (11001) — \[from: [ardupilotmega](../messages/ardupilotmega.md#DEVICE_OP_READ_REPLY)\] {#DEVICE_OP_READ_REPLY} - -### DEVICE_OP_WRITE (11002) — \[from: [ardupilotmega](../messages/ardupilotmega.md#DEVICE_OP_WRITE)\] {#DEVICE_OP_WRITE} - -### DEVICE_OP_WRITE_REPLY (11003) — \[from: [ardupilotmega](../messages/ardupilotmega.md#DEVICE_OP_WRITE_REPLY)\] {#DEVICE_OP_WRITE_REPLY} - -### ADAP_TUNING (11010) — \[from: [ardupilotmega](../messages/ardupilotmega.md#ADAP_TUNING)\] {#ADAP_TUNING} - -### VISION_POSITION_DELTA (11011) — \[from: [ardupilotmega](../messages/ardupilotmega.md#VISION_POSITION_DELTA)\] {#VISION_POSITION_DELTA} - -### AOA_SSA (11020) — \[from: [ardupilotmega](../messages/ardupilotmega.md#AOA_SSA)\] {#AOA_SSA} - -### ESC_TELEMETRY_1_TO_4 (11030) — \[from: [ardupilotmega](../messages/ardupilotmega.md#ESC_TELEMETRY_1_TO_4)\] {#ESC_TELEMETRY_1_TO_4} - -### ESC_TELEMETRY_5_TO_8 (11031) — \[from: [ardupilotmega](../messages/ardupilotmega.md#ESC_TELEMETRY_5_TO_8)\] {#ESC_TELEMETRY_5_TO_8} - -### ESC_TELEMETRY_9_TO_12 (11032) — \[from: [ardupilotmega](../messages/ardupilotmega.md#ESC_TELEMETRY_9_TO_12)\] {#ESC_TELEMETRY_9_TO_12} - -### OSD_PARAM_CONFIG (11033) — \[from: [ardupilotmega](../messages/ardupilotmega.md#OSD_PARAM_CONFIG)\] {#OSD_PARAM_CONFIG} - -### OSD_PARAM_CONFIG_REPLY (11034) — \[from: [ardupilotmega](../messages/ardupilotmega.md#OSD_PARAM_CONFIG_REPLY)\] {#OSD_PARAM_CONFIG_REPLY} - -### OSD_PARAM_SHOW_CONFIG (11035) — \[from: [ardupilotmega](../messages/ardupilotmega.md#OSD_PARAM_SHOW_CONFIG)\] {#OSD_PARAM_SHOW_CONFIG} - -### OSD_PARAM_SHOW_CONFIG_REPLY (11036) — \[from: [ardupilotmega](../messages/ardupilotmega.md#OSD_PARAM_SHOW_CONFIG_REPLY)\] {#OSD_PARAM_SHOW_CONFIG_REPLY} - -### OBSTACLE_DISTANCE_3D (11037) — \[from: [ardupilotmega](../messages/ardupilotmega.md#OBSTACLE_DISTANCE_3D)\] [WIP] {#OBSTACLE_DISTANCE_3D} - -### WATER_DEPTH (11038) — \[from: [ardupilotmega](../messages/ardupilotmega.md#WATER_DEPTH)\] {#WATER_DEPTH} - -### MCU_STATUS (11039) — \[from: [ardupilotmega](../messages/ardupilotmega.md#MCU_STATUS)\] {#MCU_STATUS} - -### OPEN_DRONE_ID_BASIC_ID (12900) — \[from: [common](../messages/common.md#OPEN_DRONE_ID_BASIC_ID)\] {#OPEN_DRONE_ID_BASIC_ID} - -### OPEN_DRONE_ID_LOCATION (12901) — \[from: [common](../messages/common.md#OPEN_DRONE_ID_LOCATION)\] {#OPEN_DRONE_ID_LOCATION} - -### OPEN_DRONE_ID_AUTHENTICATION (12902) — \[from: [common](../messages/common.md#OPEN_DRONE_ID_AUTHENTICATION)\] {#OPEN_DRONE_ID_AUTHENTICATION} - -### OPEN_DRONE_ID_SELF_ID (12903) — \[from: [common](../messages/common.md#OPEN_DRONE_ID_SELF_ID)\] {#OPEN_DRONE_ID_SELF_ID} - -### OPEN_DRONE_ID_SYSTEM (12904) — \[from: [common](../messages/common.md#OPEN_DRONE_ID_SYSTEM)\] {#OPEN_DRONE_ID_SYSTEM} - -### OPEN_DRONE_ID_OPERATOR_ID (12905) — \[from: [common](../messages/common.md#OPEN_DRONE_ID_OPERATOR_ID)\] {#OPEN_DRONE_ID_OPERATOR_ID} - -### OPEN_DRONE_ID_MESSAGE_PACK (12915) — \[from: [common](../messages/common.md#OPEN_DRONE_ID_MESSAGE_PACK)\] {#OPEN_DRONE_ID_MESSAGE_PACK} - -### OPEN_DRONE_ID_ARM_STATUS (12918) — \[from: [common](../messages/common.md#OPEN_DRONE_ID_ARM_STATUS)\] {#OPEN_DRONE_ID_ARM_STATUS} - -### OPEN_DRONE_ID_SYSTEM_UPDATE (12919) — \[from: [common](../messages/common.md#OPEN_DRONE_ID_SYSTEM_UPDATE)\] {#OPEN_DRONE_ID_SYSTEM_UPDATE} - -### HYGROMETER_SENSOR (12920) — \[from: [common](../messages/common.md#HYGROMETER_SENSOR)\] {#HYGROMETER_SENSOR} - -### ICAROUS_HEARTBEAT (42000) — \[from: [icarous](../messages/icarous.md#ICAROUS_HEARTBEAT)\] {#ICAROUS_HEARTBEAT} - -### ICAROUS_KINEMATIC_BANDS (42001) — \[from: [icarous](../messages/icarous.md#ICAROUS_KINEMATIC_BANDS)\] {#ICAROUS_KINEMATIC_BANDS} - -### CUBEPILOT_RAW_RC (50001) — \[from: [cubepilot](../messages/cubepilot.md#CUBEPILOT_RAW_RC)\] {#CUBEPILOT_RAW_RC} - -### HERELINK_VIDEO_STREAM_INFORMATION (50002) — \[from: [cubepilot](../messages/cubepilot.md#HERELINK_VIDEO_STREAM_INFORMATION)\] {#HERELINK_VIDEO_STREAM_INFORMATION} - -### HERELINK_TELEM (50003) — \[from: [cubepilot](../messages/cubepilot.md#HERELINK_TELEM)\] {#HERELINK_TELEM} - -### CUBEPILOT_FIRMWARE_UPDATE_START (50004) — \[from: [cubepilot](../messages/cubepilot.md#CUBEPILOT_FIRMWARE_UPDATE_START)\] {#CUBEPILOT_FIRMWARE_UPDATE_START} - -### CUBEPILOT_FIRMWARE_UPDATE_RESP (50005) — \[from: [cubepilot](../messages/cubepilot.md#CUBEPILOT_FIRMWARE_UPDATE_RESP)\] {#CUBEPILOT_FIRMWARE_UPDATE_RESP} - -### AIRLINK_AUTH (52000) — \[from: [csAirLink](../messages/csAirLink.md#AIRLINK_AUTH)\] {#AIRLINK_AUTH} - -### AIRLINK_AUTH_RESPONSE (52001) — \[from: [csAirLink](../messages/csAirLink.md#AIRLINK_AUTH_RESPONSE)\] {#AIRLINK_AUTH_RESPONSE} - -### AIRLINK_EYE_GS_HOLE_PUSH_REQUEST (52002) — \[from: [csAirLink](../messages/csAirLink.md#AIRLINK_EYE_GS_HOLE_PUSH_REQUEST)\] {#AIRLINK_EYE_GS_HOLE_PUSH_REQUEST} - -### AIRLINK_EYE_GS_HOLE_PUSH_RESPONSE (52003) — \[from: [csAirLink](../messages/csAirLink.md#AIRLINK_EYE_GS_HOLE_PUSH_RESPONSE)\] {#AIRLINK_EYE_GS_HOLE_PUSH_RESPONSE} - -### AIRLINK_EYE_HP (52004) — \[from: [csAirLink](../messages/csAirLink.md#AIRLINK_EYE_HP)\] {#AIRLINK_EYE_HP} - -### AIRLINK_EYE_TURN_INIT (52005) — \[from: [csAirLink](../messages/csAirLink.md#AIRLINK_EYE_TURN_INIT)\] {#AIRLINK_EYE_TURN_INIT} - -### STORM32_GIMBAL_MANAGER_INFORMATION (60010) {#STORM32_GIMBAL_MANAGER_INFORMATION} - -Information about a gimbal manager. This message should be requested by a ground station using [MAV_CMD_REQUEST_MESSAGE](#MAV_CMD_REQUEST_MESSAGE). It mirrors some fields of the [GIMBAL_DEVICE_INFORMATION](#GIMBAL_DEVICE_INFORMATION) message, but not all. If the additional information is desired, also [GIMBAL_DEVICE_INFORMATION](#GIMBAL_DEVICE_INFORMATION) should be requested. - -| Field Name | Type | Units | Values | Description | -| ------------------- | ---------- | ----- | --------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | -| gimbal_id | `uint8_t` | | | Gimbal ID (component ID or 1-6 for non-MAVLink gimbal) that this gimbal manager is responsible for.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Messages with same value are from the same source (instance). | -| device_cap_flags | `uint32_t` | | [GIMBAL_DEVICE_CAP_FLAGS](#GIMBAL_DEVICE_CAP_FLAGS) | Gimbal device capability flags. Same flags as reported by [GIMBAL_DEVICE_INFORMATION](#GIMBAL_DEVICE_INFORMATION). The flag is only 16 bit wide, but stored in 32 bit, for backwards compatibility (high word is zero). | -| manager_cap_flags | `uint32_t` | | [MAV_STORM32_GIMBAL_MANAGER_CAP_FLAGS](#MAV_STORM32_GIMBAL_MANAGER_CAP_FLAGS) | Gimbal manager capability flags. | -| roll_min | `float` | rad | invalid:NaN | Hardware minimum roll angle (positive: roll to the right). NaN if unknown. | -| roll_max | `float` | rad | invalid:NaN | Hardware maximum roll angle (positive: roll to the right). NaN if unknown. | -| pitch_min | `float` | rad | invalid:NaN | Hardware minimum pitch/tilt angle (positive: tilt up). NaN if unknown. | -| pitch_max | `float` | rad | invalid:NaN | Hardware maximum pitch/tilt angle (positive: tilt up). NaN if unknown. | -| yaw_min | `float` | rad | invalid:NaN | Hardware minimum yaw/pan angle (positive: pan to the right, relative to the vehicle/gimbal base). NaN if unknown. | -| yaw_max | `float` | rad | invalid:NaN | Hardware maximum yaw/pan angle (positive: pan to the right, relative to the vehicle/gimbal base). NaN if unknown. | - - -### STORM32_GIMBAL_MANAGER_STATUS (60011) {#STORM32_GIMBAL_MANAGER_STATUS} - -Message reporting the current status of a gimbal manager. This message should be broadcast at a low regular rate (e.g. 1 Hz, may be increase momentarily to e.g. 5 Hz for a period of 1 sec after a change). - -| Field Name | Type | Values | Description | -| ------------- | ---------- | ----------------------------------------------------------------------------- | -------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | -| gimbal_id | `uint8_t` | | Gimbal ID (component ID or 1-6 for non-MAVLink gimbal) that this gimbal manager is responsible for.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Messages with same value are from the same source (instance). | -| supervisor | `uint8_t` | [MAV_STORM32_GIMBAL_MANAGER_CLIENT](#MAV_STORM32_GIMBAL_MANAGER_CLIENT) | Client who is currently supervisor (0 = none). | -| device_flags | `uint16_t` | [GIMBAL_DEVICE_FLAGS](#GIMBAL_DEVICE_FLAGS) | Gimbal device flags currently applied. Same flags as reported by [GIMBAL_DEVICE_ATTITUDE_STATUS](#GIMBAL_DEVICE_ATTITUDE_STATUS). | -| manager_flags | `uint16_t` | [MAV_STORM32_GIMBAL_MANAGER_FLAGS](#MAV_STORM32_GIMBAL_MANAGER_FLAGS) | Gimbal manager flags currently applied. | -| profile | `uint8_t` | [MAV_STORM32_GIMBAL_MANAGER_PROFILE](#MAV_STORM32_GIMBAL_MANAGER_PROFILE) | Profile currently applied (0 = default). | - - -### STORM32_GIMBAL_MANAGER_CONTROL (60012) {#STORM32_GIMBAL_MANAGER_CONTROL} - -Message to a gimbal manager to control the gimbal attitude. Angles and rates can be set to NaN according to use case. A gimbal device is never to react to this message. - -| Field Name | Type | Units | Values | Description | -| -------------------- | ---------- | ----- | ----------------------------------------------------------------------------------- | ----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | -| target_system | `uint8_t` | | | System ID | -| target_component | `uint8_t` | | | Component ID | -| gimbal_id | `uint8_t` | | | Gimbal ID of the gimbal manager to address (component ID or 1-6 for non-MAVLink gimbal, 0 for all gimbals). Send command multiple times for more than one but not all gimbals.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Messages with same value are from the same source (instance). | -| client | `uint8_t` | | [MAV_STORM32_GIMBAL_MANAGER_CLIENT](#MAV_STORM32_GIMBAL_MANAGER_CLIENT) | Client which is contacting the gimbal manager (must be set). | -| device_flags | `uint16_t` | | invalid:UINT16_MAX [GIMBAL_DEVICE_FLAGS](#GIMBAL_DEVICE_FLAGS) | Gimbal device flags to be applied (UINT16_MAX to be ignored). Same flags as used in [GIMBAL_DEVICE_SET_ATTITUDE](#GIMBAL_DEVICE_SET_ATTITUDE). | -| manager_flags | `uint16_t` | | invalid:0 [MAV_STORM32_GIMBAL_MANAGER_FLAGS](#MAV_STORM32_GIMBAL_MANAGER_FLAGS) | Gimbal manager flags to be applied (0 to be ignored). | -| q | `float[4]` | | invalid:[NaN:] | Quaternion components, w, x, y, z (1 0 0 0 is the null-rotation). Set first element to NaN to be ignored. The frame is determined by the GIMBAL_DEVICE_FLAGS_YAW_IN_xxx_FRAME flags. | -| angular_velocity_x | `float` | rad/s | invalid:NaN | X component of angular velocity (positive: roll to the right). NaN to be ignored. | -| angular_velocity_y | `float` | rad/s | invalid:NaN | Y component of angular velocity (positive: tilt up). NaN to be ignored. | -| angular_velocity_z | `float` | rad/s | invalid:NaN | Z component of angular velocity (positive: pan to the right). NaN to be ignored. The frame is determined by the GIMBAL_DEVICE_FLAGS_YAW_IN_xxx_FRAME flags. | - - -### STORM32_GIMBAL_MANAGER_CONTROL_PITCHYAW (60013) {#STORM32_GIMBAL_MANAGER_CONTROL_PITCHYAW} - -Message to a gimbal manager to control the gimbal tilt and pan angles. Angles and rates can be set to NaN according to use case. A gimbal device is never to react to this message. - -| Field Name | Type | Units | Values | Description | -| ---------------- | ---------- | ----- | ----------------------------------------------------------------------------------- | ----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | -| target_system | `uint8_t` | | | System ID | -| target_component | `uint8_t` | | | Component ID | -| gimbal_id | `uint8_t` | | | Gimbal ID of the gimbal manager to address (component ID or 1-6 for non-MAVLink gimbal, 0 for all gimbals). Send command multiple times for more than one but not all gimbals.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Messages with same value are from the same source (instance). | -| client | `uint8_t` | | [MAV_STORM32_GIMBAL_MANAGER_CLIENT](#MAV_STORM32_GIMBAL_MANAGER_CLIENT) | Client which is contacting the gimbal manager (must be set). | -| device_flags | `uint16_t` | | invalid:UINT16_MAX [GIMBAL_DEVICE_FLAGS](#GIMBAL_DEVICE_FLAGS) | Gimbal device flags to be applied (UINT16_MAX to be ignored). Same flags as used in [GIMBAL_DEVICE_SET_ATTITUDE](#GIMBAL_DEVICE_SET_ATTITUDE). | -| manager_flags | `uint16_t` | | invalid:0 [MAV_STORM32_GIMBAL_MANAGER_FLAGS](#MAV_STORM32_GIMBAL_MANAGER_FLAGS) | Gimbal manager flags to be applied (0 to be ignored). | -| pitch | `float` | rad | invalid:NaN | Pitch/tilt angle (positive: tilt up). NaN to be ignored. | -| yaw | `float` | rad | invalid:NaN | Yaw/pan angle (positive: pan the right). NaN to be ignored. The frame is determined by the GIMBAL_DEVICE_FLAGS_YAW_IN_xxx_FRAME flags. | -| pitch_rate | `float` | rad/s | invalid:NaN | Pitch/tilt angular rate (positive: tilt up). NaN to be ignored. | -| yaw_rate | `float` | rad/s | invalid:NaN | Yaw/pan angular rate (positive: pan to the right). NaN to be ignored. The frame is determined by the GIMBAL_DEVICE_FLAGS_YAW_IN_xxx_FRAME flags. | - - -### STORM32_GIMBAL_MANAGER_CORRECT_ROLL (60014) {#STORM32_GIMBAL_MANAGER_CORRECT_ROLL} - -Message to a gimbal manager to correct the gimbal roll angle. This message is typically used to manually correct for a tilted horizon in operation. A gimbal device is never to react to this message. - -| Field Name | Type | Units | Values | Description | -| ---------------- | --------- | ----- | --------------------------------------------------------------------------- | ----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | -| target_system | `uint8_t` | | | System ID | -| target_component | `uint8_t` | | | Component ID | -| gimbal_id | `uint8_t` | | | Gimbal ID of the gimbal manager to address (component ID or 1-6 for non-MAVLink gimbal, 0 for all gimbals). Send command multiple times for more than one but not all gimbals.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Messages with same value are from the same source (instance). | -| client | `uint8_t` | | [MAV_STORM32_GIMBAL_MANAGER_CLIENT](#MAV_STORM32_GIMBAL_MANAGER_CLIENT) | Client which is contacting the gimbal manager (must be set). | -| roll | `float` | rad | | Roll angle (positive to roll to the right). | - - -### QSHOT_STATUS (60020) — [WIP] {#QSHOT_STATUS} - -**WORK IN PROGRESS**: Do not use in stable production environments (it may change). - -Information about the shot operation. - -| Field Name | Type | Values | Description | -| ---------- | ---------- | ----------------------------------- | ------------------------------------------------------------------------- | -| mode | `uint16_t` | [MAV_QSHOT_MODE](#MAV_QSHOT_MODE) | Current shot mode. | -| shot_state | `uint16_t` | | Current state in the shot. States are specific to the selected shot mode. | - - -### FRSKY_PASSTHROUGH_ARRAY (60040) {#FRSKY_PASSTHROUGH_ARRAY} - -Frsky SPort passthrough multi packet container. - -| Field Name | Type | Units | Description | -| -------------- | -------------- | ----- | ------------------------------------------------------------------------------------------------------------------- | -| time_boot_ms | `uint32_t` | ms | Timestamp (time since system boot). | -| count | `uint8_t` | | Number of passthrough packets in this message. | -| packet_buf | `uint8_t[240]` | | Passthrough packet buffer. A packet has 6 bytes: uint16_t id + uint32_t data. The array has space for 40 packets. | - - -### PARAM_VALUE_ARRAY (60041) {#PARAM_VALUE_ARRAY} - -Parameter multi param value container. - -| Field Name | Type | Description | -| ------------------- | -------------- | ------------------------------------------------------------------------------------------------------------------------------- | -| param_count | `uint16_t` | Total number of onboard parameters. | -| param_index_first | `uint16_t` | Index of the first onboard parameter in this array. | -| param_array_len | `uint8_t` | Number of onboard parameters in this array. | -| flags | `uint16_t` | Flags. | -| packet_buf | `uint8_t[248]` | Parameters buffer. Contains a series of variable length parameter blocks, one per parameter, with format as specifed elsewhere. | - - -## Enumerated Types - -### MAV_STORM32_TUNNEL_PAYLOAD_TYPE {#MAV_STORM32_TUNNEL_PAYLOAD_TYPE} - -| Value | Name | Description | -| ---------------------------- | --------------------------------------------------------------------------------------------------------- | ---------------------------------------------------------------------------------- | -| 200 | [MAV_STORM32_TUNNEL_PAYLOAD_TYPE_STORM32_CH1_IN](#MAV_STORM32_TUNNEL_PAYLOAD_TYPE_STORM32_CH1_IN) | Registered for STorM32 gimbal controller. For communication with gimbal or camera. | -| 201 | [MAV_STORM32_TUNNEL_PAYLOAD_TYPE_STORM32_CH1_OUT](#MAV_STORM32_TUNNEL_PAYLOAD_TYPE_STORM32_CH1_OUT) | Registered for STorM32 gimbal controller. For communication with gimbal or camera. | -| 202 | [MAV_STORM32_TUNNEL_PAYLOAD_TYPE_STORM32_CH2_IN](#MAV_STORM32_TUNNEL_PAYLOAD_TYPE_STORM32_CH2_IN) | Registered for STorM32 gimbal controller. For communication with gimbal. | -| 203 | [MAV_STORM32_TUNNEL_PAYLOAD_TYPE_STORM32_CH2_OUT](#MAV_STORM32_TUNNEL_PAYLOAD_TYPE_STORM32_CH2_OUT) | Registered for STorM32 gimbal controller. For communication with gimbal. | -| 204 | [MAV_STORM32_TUNNEL_PAYLOAD_TYPE_STORM32_CH3_IN](#MAV_STORM32_TUNNEL_PAYLOAD_TYPE_STORM32_CH3_IN) | Registered for STorM32 gimbal controller. For communication with camera. | -| 205 | [MAV_STORM32_TUNNEL_PAYLOAD_TYPE_STORM32_CH3_OUT](#MAV_STORM32_TUNNEL_PAYLOAD_TYPE_STORM32_CH3_OUT) | Registered for STorM32 gimbal controller. For communication with camera. | - -### MAV_STORM32_GIMBAL_PREARM_FLAGS {#MAV_STORM32_GIMBAL_PREARM_FLAGS} - -(Bitmask) STorM32 gimbal prearm check flags. - -| Value | Name | Description | -| ------------------------------ | ----------------------------------------------------------------------------------------------------------------------------- | ---------------------------------------------- | -| 1 | [MAV_STORM32_GIMBAL_PREARM_FLAGS_IS_NORMAL](#MAV_STORM32_GIMBAL_PREARM_FLAGS_IS_NORMAL) | STorM32 gimbal is in normal state. | -| 2 | [MAV_STORM32_GIMBAL_PREARM_FLAGS_IMUS_WORKING](#MAV_STORM32_GIMBAL_PREARM_FLAGS_IMUS_WORKING) | The IMUs are healthy and working normally. | -| 4 | [MAV_STORM32_GIMBAL_PREARM_FLAGS_MOTORS_WORKING](#MAV_STORM32_GIMBAL_PREARM_FLAGS_MOTORS_WORKING) | The motors are active and working normally. | -| 8 | [MAV_STORM32_GIMBAL_PREARM_FLAGS_ENCODERS_WORKING](#MAV_STORM32_GIMBAL_PREARM_FLAGS_ENCODERS_WORKING) | The encoders are healthy and working normally. | -| 16 | [MAV_STORM32_GIMBAL_PREARM_FLAGS_VOLTAGE_OK](#MAV_STORM32_GIMBAL_PREARM_FLAGS_VOLTAGE_OK) | A battery voltage is applied and is in range. | -| 32 | [MAV_STORM32_GIMBAL_PREARM_FLAGS_VIRTUALCHANNELS_RECEIVING](#MAV_STORM32_GIMBAL_PREARM_FLAGS_VIRTUALCHANNELS_RECEIVING) | Virtual input channels are receiving data. | -| 64 | [MAV_STORM32_GIMBAL_PREARM_FLAGS_MAVLINK_RECEIVING](#MAV_STORM32_GIMBAL_PREARM_FLAGS_MAVLINK_RECEIVING) | Mavlink messages are being received. | -| 128 | [MAV_STORM32_GIMBAL_PREARM_FLAGS_STORM32LINK_QFIX](#MAV_STORM32_GIMBAL_PREARM_FLAGS_STORM32LINK_QFIX) | The STorM32Link data indicates QFix. | -| 256 | [MAV_STORM32_GIMBAL_PREARM_FLAGS_STORM32LINK_WORKING](#MAV_STORM32_GIMBAL_PREARM_FLAGS_STORM32LINK_WORKING) | The STorM32Link is working. | -| 512 | [MAV_STORM32_GIMBAL_PREARM_FLAGS_CAMERA_CONNECTED](#MAV_STORM32_GIMBAL_PREARM_FLAGS_CAMERA_CONNECTED) | The camera has been found and is connected. | -| 1024 | [MAV_STORM32_GIMBAL_PREARM_FLAGS_AUX0_LOW](#MAV_STORM32_GIMBAL_PREARM_FLAGS_AUX0_LOW) | The signal on the AUX0 input pin is low. | -| 2048 | [MAV_STORM32_GIMBAL_PREARM_FLAGS_AUX1_LOW](#MAV_STORM32_GIMBAL_PREARM_FLAGS_AUX1_LOW) | The signal on the AUX1 input pin is low. | -| 4096 | [MAV_STORM32_GIMBAL_PREARM_FLAGS_NTLOGGER_WORKING](#MAV_STORM32_GIMBAL_PREARM_FLAGS_NTLOGGER_WORKING) | The NTLogger is working normally. | - -### MAV_STORM32_CAMERA_PREARM_FLAGS {#MAV_STORM32_CAMERA_PREARM_FLAGS} - -(Bitmask) STorM32 camera prearm check flags. - -| Value | Name | Description | -| --------------------------- | ------------------------------------------------------------------------------------------- | ------------------------------------------- | -| 1 | [MAV_STORM32_CAMERA_PREARM_FLAGS_CONNECTED](#MAV_STORM32_CAMERA_PREARM_FLAGS_CONNECTED) | The camera has been found and is connected. | - -### MAV_STORM32_GIMBAL_MANAGER_CAP_FLAGS {#MAV_STORM32_GIMBAL_MANAGER_CAP_FLAGS} - -(Bitmask) Gimbal manager capability flags. - -| Value | Name | Description | -| --------------------------- | ------------------------------------------------------------------------------------------------------------- | --------------------------------------------- | -| 1 | [MAV_STORM32_GIMBAL_MANAGER_CAP_FLAGS_HAS_PROFILES](#MAV_STORM32_GIMBAL_MANAGER_CAP_FLAGS_HAS_PROFILES) | The gimbal manager supports several profiles. | - -### MAV_STORM32_GIMBAL_MANAGER_FLAGS {#MAV_STORM32_GIMBAL_MANAGER_FLAGS} - -(Bitmask) Flags for gimbal manager operation. Used for setting and reporting, unless specified otherwise. If a setting has been accepted by the gimbal manager is reported in the STORM32_GIMBAL_MANAGER_STATUS message. - -| Value | Name | Description | -| ------------------------------ | --------------------------------------------------------------------------------------------------------------------------- | ----------------------------------------------------------------------------------------------------------------------------------------------- | -| 0 | [MAV_STORM32_GIMBAL_MANAGER_FLAGS_NONE](#MAV_STORM32_GIMBAL_MANAGER_FLAGS_NONE) | 0 = ignore. | -| 1 | [MAV_STORM32_GIMBAL_MANAGER_FLAGS_RC_ACTIVE](#MAV_STORM32_GIMBAL_MANAGER_FLAGS_RC_ACTIVE) | Request to set RC input to active, or report RC input is active. Implies RC mixed. RC exclusive is achieved by setting all clients to inactive. | -| 2 | [MAV_STORM32_GIMBAL_MANAGER_FLAGS_CLIENT_ONBOARD_ACTIVE](#MAV_STORM32_GIMBAL_MANAGER_FLAGS_CLIENT_ONBOARD_ACTIVE) | Request to set onboard/companion computer client to active, or report this client is active. | -| 4 | [MAV_STORM32_GIMBAL_MANAGER_FLAGS_CLIENT_AUTOPILOT_ACTIVE](#MAV_STORM32_GIMBAL_MANAGER_FLAGS_CLIENT_AUTOPILOT_ACTIVE) | Request to set autopliot client to active, or report this client is active. | -| 8 | [MAV_STORM32_GIMBAL_MANAGER_FLAGS_CLIENT_GCS_ACTIVE](#MAV_STORM32_GIMBAL_MANAGER_FLAGS_CLIENT_GCS_ACTIVE) | Request to set GCS client to active, or report this client is active. | -| 16 | [MAV_STORM32_GIMBAL_MANAGER_FLAGS_CLIENT_CAMERA_ACTIVE](#MAV_STORM32_GIMBAL_MANAGER_FLAGS_CLIENT_CAMERA_ACTIVE) | Request to set camera client to active, or report this client is active. | -| 32 | [MAV_STORM32_GIMBAL_MANAGER_FLAGS_CLIENT_GCS2_ACTIVE](#MAV_STORM32_GIMBAL_MANAGER_FLAGS_CLIENT_GCS2_ACTIVE) | Request to set GCS2 client to active, or report this client is active. | -| 64 | [MAV_STORM32_GIMBAL_MANAGER_FLAGS_CLIENT_CAMERA2_ACTIVE](#MAV_STORM32_GIMBAL_MANAGER_FLAGS_CLIENT_CAMERA2_ACTIVE) | Request to set camera2 client to active, or report this client is active. | -| 128 | [MAV_STORM32_GIMBAL_MANAGER_FLAGS_CLIENT_CUSTOM_ACTIVE](#MAV_STORM32_GIMBAL_MANAGER_FLAGS_CLIENT_CUSTOM_ACTIVE) | Request to set custom client to active, or report this client is active. | -| 256 | [MAV_STORM32_GIMBAL_MANAGER_FLAGS_CLIENT_CUSTOM2_ACTIVE](#MAV_STORM32_GIMBAL_MANAGER_FLAGS_CLIENT_CUSTOM2_ACTIVE) | Request to set custom2 client to active, or report this client is active. | -| 512 | [MAV_STORM32_GIMBAL_MANAGER_FLAGS_SET_SUPERVISON](#MAV_STORM32_GIMBAL_MANAGER_FLAGS_SET_SUPERVISON) | Request supervision. This flag is only for setting, it is not reported. | -| 1024 | [MAV_STORM32_GIMBAL_MANAGER_FLAGS_SET_RELEASE](#MAV_STORM32_GIMBAL_MANAGER_FLAGS_SET_RELEASE) | Release supervision. This flag is only for setting, it is not reported. | - -### MAV_STORM32_GIMBAL_MANAGER_CLIENT {#MAV_STORM32_GIMBAL_MANAGER_CLIENT} - -Gimbal manager client ID. In a prioritizing profile, the priorities are determined by the implementation; they could e.g. be custom1 > onboard > GCS > autopilot/camera > GCS2 > custom2. - -| Value | Name | Description | -| --------------------------- | ----------------------------------------------------------------------------------------------- | ---------------------------------------------- | -| 0 | [MAV_STORM32_GIMBAL_MANAGER_CLIENT_NONE](#MAV_STORM32_GIMBAL_MANAGER_CLIENT_NONE) | For convenience. | -| 1 | [MAV_STORM32_GIMBAL_MANAGER_CLIENT_ONBOARD](#MAV_STORM32_GIMBAL_MANAGER_CLIENT_ONBOARD) | This is the onboard/companion computer client. | -| 2 | [MAV_STORM32_GIMBAL_MANAGER_CLIENT_AUTOPILOT](#MAV_STORM32_GIMBAL_MANAGER_CLIENT_AUTOPILOT) | This is the autopilot client. | -| 3 | [MAV_STORM32_GIMBAL_MANAGER_CLIENT_GCS](#MAV_STORM32_GIMBAL_MANAGER_CLIENT_GCS) | This is the GCS client. | -| 4 | [MAV_STORM32_GIMBAL_MANAGER_CLIENT_CAMERA](#MAV_STORM32_GIMBAL_MANAGER_CLIENT_CAMERA) | This is the camera client. | -| 5 | [MAV_STORM32_GIMBAL_MANAGER_CLIENT_GCS2](#MAV_STORM32_GIMBAL_MANAGER_CLIENT_GCS2) | This is the GCS2 client. | -| 6 | [MAV_STORM32_GIMBAL_MANAGER_CLIENT_CAMERA2](#MAV_STORM32_GIMBAL_MANAGER_CLIENT_CAMERA2) | This is the camera2 client. | -| 7 | [MAV_STORM32_GIMBAL_MANAGER_CLIENT_CUSTOM](#MAV_STORM32_GIMBAL_MANAGER_CLIENT_CUSTOM) | This is the custom client. | -| 8 | [MAV_STORM32_GIMBAL_MANAGER_CLIENT_CUSTOM2](#MAV_STORM32_GIMBAL_MANAGER_CLIENT_CUSTOM2) | This is the custom2 client. | - -### MAV_STORM32_GIMBAL_MANAGER_PROFILE {#MAV_STORM32_GIMBAL_MANAGER_PROFILE} - -Gimbal manager profiles. Only standard profiles are defined. Any implementation can define its own profile(s) in addition, and should use enum values > 16. - -| Value | Name | Description | -| --------------------------- | ------------------------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------ | -| 0 | [MAV_STORM32_GIMBAL_MANAGER_PROFILE_DEFAULT](#MAV_STORM32_GIMBAL_MANAGER_PROFILE_DEFAULT) | Default profile. Implementation specific. | -| 1 | [MAV_STORM32_GIMBAL_MANAGER_PROFILE_CUSTOM](#MAV_STORM32_GIMBAL_MANAGER_PROFILE_CUSTOM) | Not supported/deprecated. | -| 2 | [MAV_STORM32_GIMBAL_MANAGER_PROFILE_COOPERATIVE](#MAV_STORM32_GIMBAL_MANAGER_PROFILE_COOPERATIVE) | Profile with cooperative behavior. | -| 3 | [MAV_STORM32_GIMBAL_MANAGER_PROFILE_EXCLUSIVE](#MAV_STORM32_GIMBAL_MANAGER_PROFILE_EXCLUSIVE) | Profile with exclusive behavior. | -| 4 | [MAV_STORM32_GIMBAL_MANAGER_PROFILE_PRIORITY_COOPERATIVE](#MAV_STORM32_GIMBAL_MANAGER_PROFILE_PRIORITY_COOPERATIVE) | Profile with priority and cooperative behavior for equal priority. | -| 5 | [MAV_STORM32_GIMBAL_MANAGER_PROFILE_PRIORITY_EXCLUSIVE](#MAV_STORM32_GIMBAL_MANAGER_PROFILE_PRIORITY_EXCLUSIVE) | Profile with priority and exclusive behavior for equal priority. | - -### MAV_QSHOT_MODE {#MAV_QSHOT_MODE} - -Enumeration of possible shot modes. - -| Value | Name | Description | -| --------------------------- | ------------------------------------------------------------------------- | ------------------------------------------------------------------------------ | -| 0 | [MAV_QSHOT_MODE_UNDEFINED](#MAV_QSHOT_MODE_UNDEFINED) | Undefined shot mode. Can be used to determine if qshots should be used or not. | -| 1 | [MAV_QSHOT_MODE_DEFAULT](#MAV_QSHOT_MODE_DEFAULT) | Start normal gimbal operation. Is usually used to return back from a shot. | -| 2 | [MAV_QSHOT_MODE_GIMBAL_RETRACT](#MAV_QSHOT_MODE_GIMBAL_RETRACT) | Load and keep safe gimbal position and stop stabilization. | -| 3 | [MAV_QSHOT_MODE_GIMBAL_NEUTRAL](#MAV_QSHOT_MODE_GIMBAL_NEUTRAL) | Load neutral gimbal position and keep it while stabilizing. | -| 4 | [MAV_QSHOT_MODE_GIMBAL_MISSION](#MAV_QSHOT_MODE_GIMBAL_MISSION) | Start mission with gimbal control. | -| 5 | [MAV_QSHOT_MODE_GIMBAL_RC_CONTROL](#MAV_QSHOT_MODE_GIMBAL_RC_CONTROL) | Start RC gimbal control. | -| 6 | [MAV_QSHOT_MODE_POI_TARGETING](#MAV_QSHOT_MODE_POI_TARGETING) | Start gimbal tracking the point specified by Lat, Lon, Alt. | -| 7 | [MAV_QSHOT_MODE_SYSID_TARGETING](#MAV_QSHOT_MODE_SYSID_TARGETING) | Start gimbal tracking the system with specified system ID. | -| 8 | [MAV_QSHOT_MODE_CABLECAM_2POINT](#MAV_QSHOT_MODE_CABLECAM_2POINT) | Start 2-point cable cam quick shot. | -| 9 | [MAV_QSHOT_MODE_HOME_TARGETING](#MAV_QSHOT_MODE_HOME_TARGETING) | Start gimbal tracking the home location. | - -### ACCELCAL_VEHICLE_POS — \[from: [ardupilotmega](../messages/ardupilotmega.md#ACCELCAL_VEHICLE_POS)\] {#ACCELCAL_VEHICLE_POS} - -### HEADING_TYPE — \[from: [ardupilotmega](../messages/ardupilotmega.md#HEADING_TYPE)\] {#HEADING_TYPE} - -### SCRIPTING_CMD — \[from: [ardupilotmega](../messages/ardupilotmega.md#SCRIPTING_CMD)\] {#SCRIPTING_CMD} - -### LIMITS_STATE — \[from: [ardupilotmega](../messages/ardupilotmega.md#LIMITS_STATE)\] {#LIMITS_STATE} - -### LIMIT_MODULE — \[from: [ardupilotmega](../messages/ardupilotmega.md#LIMIT_MODULE)\] {#LIMIT_MODULE} - -### RALLY_FLAGS — \[from: [ardupilotmega](../messages/ardupilotmega.md#RALLY_FLAGS)\] {#RALLY_FLAGS} - -### CAMERA_STATUS_TYPES — \[from: [ardupilotmega](../messages/ardupilotmega.md#CAMERA_STATUS_TYPES)\] {#CAMERA_STATUS_TYPES} - -### CAMERA_FEEDBACK_FLAGS — \[from: [ardupilotmega](../messages/ardupilotmega.md#CAMERA_FEEDBACK_FLAGS)\] {#CAMERA_FEEDBACK_FLAGS} - -### MAV_MODE_GIMBAL — \[from: [ardupilotmega](../messages/ardupilotmega.md#MAV_MODE_GIMBAL)\] {#MAV_MODE_GIMBAL} - -### GIMBAL_AXIS — \[from: [ardupilotmega](../messages/ardupilotmega.md#GIMBAL_AXIS)\] {#GIMBAL_AXIS} - -### GIMBAL_AXIS_CALIBRATION_STATUS — \[from: [ardupilotmega](../messages/ardupilotmega.md#GIMBAL_AXIS_CALIBRATION_STATUS)\] {#GIMBAL_AXIS_CALIBRATION_STATUS} - -### GIMBAL_AXIS_CALIBRATION_REQUIRED — \[from: [ardupilotmega](../messages/ardupilotmega.md#GIMBAL_AXIS_CALIBRATION_REQUIRED)\] {#GIMBAL_AXIS_CALIBRATION_REQUIRED} - -### GOPRO_HEARTBEAT_STATUS — \[from: [ardupilotmega](../messages/ardupilotmega.md#GOPRO_HEARTBEAT_STATUS)\] {#GOPRO_HEARTBEAT_STATUS} - -### GOPRO_HEARTBEAT_FLAGS — \[from: [ardupilotmega](../messages/ardupilotmega.md#GOPRO_HEARTBEAT_FLAGS)\] {#GOPRO_HEARTBEAT_FLAGS} - -### GOPRO_REQUEST_STATUS — \[from: [ardupilotmega](../messages/ardupilotmega.md#GOPRO_REQUEST_STATUS)\] {#GOPRO_REQUEST_STATUS} - -### GOPRO_COMMAND — \[from: [ardupilotmega](../messages/ardupilotmega.md#GOPRO_COMMAND)\] {#GOPRO_COMMAND} - -### GOPRO_CAPTURE_MODE — \[from: [ardupilotmega](../messages/ardupilotmega.md#GOPRO_CAPTURE_MODE)\] {#GOPRO_CAPTURE_MODE} - -### GOPRO_RESOLUTION — \[from: [ardupilotmega](../messages/ardupilotmega.md#GOPRO_RESOLUTION)\] {#GOPRO_RESOLUTION} - -### GOPRO_FRAME_RATE — \[from: [ardupilotmega](../messages/ardupilotmega.md#GOPRO_FRAME_RATE)\] {#GOPRO_FRAME_RATE} - -### GOPRO_FIELD_OF_VIEW — \[from: [ardupilotmega](../messages/ardupilotmega.md#GOPRO_FIELD_OF_VIEW)\] {#GOPRO_FIELD_OF_VIEW} - -### GOPRO_VIDEO_SETTINGS_FLAGS — \[from: [ardupilotmega](../messages/ardupilotmega.md#GOPRO_VIDEO_SETTINGS_FLAGS)\] {#GOPRO_VIDEO_SETTINGS_FLAGS} - -### GOPRO_PHOTO_RESOLUTION — \[from: [ardupilotmega](../messages/ardupilotmega.md#GOPRO_PHOTO_RESOLUTION)\] {#GOPRO_PHOTO_RESOLUTION} - -### GOPRO_PROTUNE_WHITE_BALANCE — \[from: [ardupilotmega](../messages/ardupilotmega.md#GOPRO_PROTUNE_WHITE_BALANCE)\] {#GOPRO_PROTUNE_WHITE_BALANCE} - -### GOPRO_PROTUNE_COLOUR — \[from: [ardupilotmega](../messages/ardupilotmega.md#GOPRO_PROTUNE_COLOUR)\] {#GOPRO_PROTUNE_COLOUR} - -### GOPRO_PROTUNE_GAIN — \[from: [ardupilotmega](../messages/ardupilotmega.md#GOPRO_PROTUNE_GAIN)\] {#GOPRO_PROTUNE_GAIN} - -### GOPRO_PROTUNE_SHARPNESS — \[from: [ardupilotmega](../messages/ardupilotmega.md#GOPRO_PROTUNE_SHARPNESS)\] {#GOPRO_PROTUNE_SHARPNESS} - -### GOPRO_PROTUNE_EXPOSURE — \[from: [ardupilotmega](../messages/ardupilotmega.md#GOPRO_PROTUNE_EXPOSURE)\] {#GOPRO_PROTUNE_EXPOSURE} - -### GOPRO_CHARGING — \[from: [ardupilotmega](../messages/ardupilotmega.md#GOPRO_CHARGING)\] {#GOPRO_CHARGING} - -### GOPRO_MODEL — \[from: [ardupilotmega](../messages/ardupilotmega.md#GOPRO_MODEL)\] {#GOPRO_MODEL} - -### GOPRO_BURST_RATE — \[from: [ardupilotmega](../messages/ardupilotmega.md#GOPRO_BURST_RATE)\] {#GOPRO_BURST_RATE} - -### MAV_CMD_DO_AUX_FUNCTION_SWITCH_LEVEL — \[from: [ardupilotmega](../messages/ardupilotmega.md#MAV_CMD_DO_AUX_FUNCTION_SWITCH_LEVEL)\] {#MAV_CMD_DO_AUX_FUNCTION_SWITCH_LEVEL} - -### LED_CONTROL_PATTERN — \[from: [ardupilotmega](../messages/ardupilotmega.md#LED_CONTROL_PATTERN)\] {#LED_CONTROL_PATTERN} - -### EKF_STATUS_FLAGS — \[from: [ardupilotmega](../messages/ardupilotmega.md#EKF_STATUS_FLAGS)\] {#EKF_STATUS_FLAGS} - -### PID_TUNING_AXIS — \[from: [ardupilotmega](../messages/ardupilotmega.md#PID_TUNING_AXIS)\] {#PID_TUNING_AXIS} - -### MAV_REMOTE_LOG_DATA_BLOCK_COMMANDS — \[from: [ardupilotmega](../messages/ardupilotmega.md#MAV_REMOTE_LOG_DATA_BLOCK_COMMANDS)\] {#MAV_REMOTE_LOG_DATA_BLOCK_COMMANDS} - -### MAV_REMOTE_LOG_DATA_BLOCK_STATUSES — \[from: [ardupilotmega](../messages/ardupilotmega.md#MAV_REMOTE_LOG_DATA_BLOCK_STATUSES)\] {#MAV_REMOTE_LOG_DATA_BLOCK_STATUSES} - -### DEVICE_OP_BUSTYPE — \[from: [ardupilotmega](../messages/ardupilotmega.md#DEVICE_OP_BUSTYPE)\] {#DEVICE_OP_BUSTYPE} - -### DEEPSTALL_STAGE — \[from: [ardupilotmega](../messages/ardupilotmega.md#DEEPSTALL_STAGE)\] {#DEEPSTALL_STAGE} - -### PLANE_MODE — \[from: [ardupilotmega](../messages/ardupilotmega.md#PLANE_MODE)\] {#PLANE_MODE} - -### COPTER_MODE — \[from: [ardupilotmega](../messages/ardupilotmega.md#COPTER_MODE)\] {#COPTER_MODE} - -### SUB_MODE — \[from: [ardupilotmega](../messages/ardupilotmega.md#SUB_MODE)\] {#SUB_MODE} - -### ROVER_MODE — \[from: [ardupilotmega](../messages/ardupilotmega.md#ROVER_MODE)\] {#ROVER_MODE} - -### TRACKER_MODE — \[from: [ardupilotmega](../messages/ardupilotmega.md#TRACKER_MODE)\] {#TRACKER_MODE} - -### OSD_PARAM_CONFIG_TYPE — \[from: [ardupilotmega](../messages/ardupilotmega.md#OSD_PARAM_CONFIG_TYPE)\] {#OSD_PARAM_CONFIG_TYPE} - -### OSD_PARAM_CONFIG_ERROR — \[from: [ardupilotmega](../messages/ardupilotmega.md#OSD_PARAM_CONFIG_ERROR)\] {#OSD_PARAM_CONFIG_ERROR} - -### FIRMWARE_VERSION_TYPE — \[from: [common](../messages/common.md#FIRMWARE_VERSION_TYPE)\] {#FIRMWARE_VERSION_TYPE} - -### HL_FAILURE_FLAG — \[from: [common](../messages/common.md#HL_FAILURE_FLAG)\] {#HL_FAILURE_FLAG} - -### MAV_GOTO — \[from: [common](../messages/common.md#MAV_GOTO)\] {#MAV_GOTO} - -### MAV_MODE — \[from: [common](../messages/common.md#MAV_MODE)\] {#MAV_MODE} - -### MAV_SYS_STATUS_SENSOR — \[from: [common](../messages/common.md#MAV_SYS_STATUS_SENSOR)\] {#MAV_SYS_STATUS_SENSOR} - -### MAV_SYS_STATUS_SENSOR_EXTENDED — \[from: [common](../messages/common.md#MAV_SYS_STATUS_SENSOR_EXTENDED)\] {#MAV_SYS_STATUS_SENSOR_EXTENDED} - -### MAV_FRAME — \[from: [common](../messages/common.md#MAV_FRAME)\] {#MAV_FRAME} - -### MAVLINK_DATA_STREAM_TYPE — \[from: [common](../messages/common.md#MAVLINK_DATA_STREAM_TYPE)\] {#MAVLINK_DATA_STREAM_TYPE} - -### FENCE_ACTION — \[from: [common](../messages/common.md#FENCE_ACTION)\] {#FENCE_ACTION} - -### FENCE_BREACH — \[from: [common](../messages/common.md#FENCE_BREACH)\] {#FENCE_BREACH} - -### FENCE_MITIGATE — \[from: [common](../messages/common.md#FENCE_MITIGATE)\] {#FENCE_MITIGATE} - -### FENCE_TYPE — \[from: [common](../messages/common.md#FENCE_TYPE)\] {#FENCE_TYPE} - -### MAV_MOUNT_MODE — \[from: [common](../messages/common.md#MAV_MOUNT_MODE)\] [DEP] {#MAV_MOUNT_MODE} - -### GIMBAL_DEVICE_CAP_FLAGS — \[from: [common](../messages/common.md#GIMBAL_DEVICE_CAP_FLAGS)\] {#GIMBAL_DEVICE_CAP_FLAGS} - -### GIMBAL_MANAGER_CAP_FLAGS — \[from: [common](../messages/common.md#GIMBAL_MANAGER_CAP_FLAGS)\] {#GIMBAL_MANAGER_CAP_FLAGS} - -### GIMBAL_DEVICE_FLAGS — \[from: [common](../messages/common.md#GIMBAL_DEVICE_FLAGS)\] {#GIMBAL_DEVICE_FLAGS} - -### GIMBAL_MANAGER_FLAGS — \[from: [common](../messages/common.md#GIMBAL_MANAGER_FLAGS)\] {#GIMBAL_MANAGER_FLAGS} - -### GIMBAL_DEVICE_ERROR_FLAGS — \[from: [common](../messages/common.md#GIMBAL_DEVICE_ERROR_FLAGS)\] {#GIMBAL_DEVICE_ERROR_FLAGS} - -### GRIPPER_ACTIONS — \[from: [common](../messages/common.md#GRIPPER_ACTIONS)\] {#GRIPPER_ACTIONS} - -### WINCH_ACTIONS — \[from: [common](../messages/common.md#WINCH_ACTIONS)\] {#WINCH_ACTIONS} - -### UAVCAN_NODE_HEALTH — \[from: [common](../messages/common.md#UAVCAN_NODE_HEALTH)\] {#UAVCAN_NODE_HEALTH} - -### UAVCAN_NODE_MODE — \[from: [common](../messages/common.md#UAVCAN_NODE_MODE)\] {#UAVCAN_NODE_MODE} - -### ESC_CONNECTION_TYPE — \[from: [common](../messages/common.md#ESC_CONNECTION_TYPE)\] {#ESC_CONNECTION_TYPE} - -### ESC_FAILURE_FLAGS — \[from: [common](../messages/common.md#ESC_FAILURE_FLAGS)\] {#ESC_FAILURE_FLAGS} - -### STORAGE_STATUS — \[from: [common](../messages/common.md#STORAGE_STATUS)\] {#STORAGE_STATUS} - -### STORAGE_TYPE — \[from: [common](../messages/common.md#STORAGE_TYPE)\] {#STORAGE_TYPE} - -### STORAGE_USAGE_FLAG — \[from: [common](../messages/common.md#STORAGE_USAGE_FLAG)\] {#STORAGE_USAGE_FLAG} - -### ORBIT_YAW_BEHAVIOUR — \[from: [common](../messages/common.md#ORBIT_YAW_BEHAVIOUR)\] {#ORBIT_YAW_BEHAVIOUR} - -### WIFI_CONFIG_AP_RESPONSE — \[from: [common](../messages/common.md#WIFI_CONFIG_AP_RESPONSE)\] {#WIFI_CONFIG_AP_RESPONSE} - -### CELLULAR_CONFIG_RESPONSE — \[from: [common](../messages/common.md#CELLULAR_CONFIG_RESPONSE)\] {#CELLULAR_CONFIG_RESPONSE} - -### WIFI_CONFIG_AP_MODE — \[from: [common](../messages/common.md#WIFI_CONFIG_AP_MODE)\] {#WIFI_CONFIG_AP_MODE} - -### COMP_METADATA_TYPE — \[from: [common](../messages/common.md#COMP_METADATA_TYPE)\] {#COMP_METADATA_TYPE} - -### ACTUATOR_CONFIGURATION — \[from: [common](../messages/common.md#ACTUATOR_CONFIGURATION)\] {#ACTUATOR_CONFIGURATION} - -### ACTUATOR_OUTPUT_FUNCTION — \[from: [common](../messages/common.md#ACTUATOR_OUTPUT_FUNCTION)\] {#ACTUATOR_OUTPUT_FUNCTION} - -### AUTOTUNE_AXIS — \[from: [common](../messages/common.md#AUTOTUNE_AXIS)\] {#AUTOTUNE_AXIS} - -### PREFLIGHT_STORAGE_PARAMETER_ACTION — \[from: [common](../messages/common.md#PREFLIGHT_STORAGE_PARAMETER_ACTION)\] {#PREFLIGHT_STORAGE_PARAMETER_ACTION} - -### PREFLIGHT_STORAGE_MISSION_ACTION — \[from: [common](../messages/common.md#PREFLIGHT_STORAGE_MISSION_ACTION)\] {#PREFLIGHT_STORAGE_MISSION_ACTION} - -### MAV_DATA_STREAM — \[from: [common](../messages/common.md#MAV_DATA_STREAM)\] [DEP] {#MAV_DATA_STREAM} - -### MAV_ROI — \[from: [common](../messages/common.md#MAV_ROI)\] [DEP] {#MAV_ROI} - -### MAV_PARAM_TYPE — \[from: [common](../messages/common.md#MAV_PARAM_TYPE)\] {#MAV_PARAM_TYPE} - -### MAV_PARAM_EXT_TYPE — \[from: [common](../messages/common.md#MAV_PARAM_EXT_TYPE)\] {#MAV_PARAM_EXT_TYPE} - -### MAV_RESULT — \[from: [common](../messages/common.md#MAV_RESULT)\] {#MAV_RESULT} - -### MAV_MISSION_RESULT — \[from: [common](../messages/common.md#MAV_MISSION_RESULT)\] {#MAV_MISSION_RESULT} - -### MAV_SEVERITY — \[from: [common](../messages/common.md#MAV_SEVERITY)\] {#MAV_SEVERITY} - -### MAV_POWER_STATUS — \[from: [common](../messages/common.md#MAV_POWER_STATUS)\] {#MAV_POWER_STATUS} - -### SERIAL_CONTROL_DEV — \[from: [common](../messages/common.md#SERIAL_CONTROL_DEV)\] {#SERIAL_CONTROL_DEV} - -### SERIAL_CONTROL_FLAG — \[from: [common](../messages/common.md#SERIAL_CONTROL_FLAG)\] {#SERIAL_CONTROL_FLAG} - -### MAV_DISTANCE_SENSOR — \[from: [common](../messages/common.md#MAV_DISTANCE_SENSOR)\] {#MAV_DISTANCE_SENSOR} - -### MAV_SENSOR_ORIENTATION — \[from: [common](../messages/common.md#MAV_SENSOR_ORIENTATION)\] {#MAV_SENSOR_ORIENTATION} - -### MAV_PROTOCOL_CAPABILITY — \[from: [common](../messages/common.md#MAV_PROTOCOL_CAPABILITY)\] {#MAV_PROTOCOL_CAPABILITY} - -### MAV_MISSION_TYPE — \[from: [common](../messages/common.md#MAV_MISSION_TYPE)\] {#MAV_MISSION_TYPE} - -### MAV_ESTIMATOR_TYPE — \[from: [common](../messages/common.md#MAV_ESTIMATOR_TYPE)\] {#MAV_ESTIMATOR_TYPE} - -### MAV_BATTERY_TYPE — \[from: [common](../messages/common.md#MAV_BATTERY_TYPE)\] {#MAV_BATTERY_TYPE} - -### MAV_BATTERY_FUNCTION — \[from: [common](../messages/common.md#MAV_BATTERY_FUNCTION)\] {#MAV_BATTERY_FUNCTION} - -### MAV_BATTERY_CHARGE_STATE — \[from: [common](../messages/common.md#MAV_BATTERY_CHARGE_STATE)\] {#MAV_BATTERY_CHARGE_STATE} - -### MAV_BATTERY_MODE — \[from: [common](../messages/common.md#MAV_BATTERY_MODE)\] {#MAV_BATTERY_MODE} - -### MAV_BATTERY_FAULT — \[from: [common](../messages/common.md#MAV_BATTERY_FAULT)\] {#MAV_BATTERY_FAULT} - -### MAV_GENERATOR_STATUS_FLAG — \[from: [common](../messages/common.md#MAV_GENERATOR_STATUS_FLAG)\] {#MAV_GENERATOR_STATUS_FLAG} - -### MAV_VTOL_STATE — \[from: [common](../messages/common.md#MAV_VTOL_STATE)\] {#MAV_VTOL_STATE} - -### MAV_LANDED_STATE — \[from: [common](../messages/common.md#MAV_LANDED_STATE)\] {#MAV_LANDED_STATE} - -### ADSB_ALTITUDE_TYPE — \[from: [common](../messages/common.md#ADSB_ALTITUDE_TYPE)\] {#ADSB_ALTITUDE_TYPE} - -### ADSB_EMITTER_TYPE — \[from: [common](../messages/common.md#ADSB_EMITTER_TYPE)\] {#ADSB_EMITTER_TYPE} - -### ADSB_FLAGS — \[from: [common](../messages/common.md#ADSB_FLAGS)\] {#ADSB_FLAGS} - -### MAV_DO_REPOSITION_FLAGS — \[from: [common](../messages/common.md#MAV_DO_REPOSITION_FLAGS)\] {#MAV_DO_REPOSITION_FLAGS} - -### SPEED_TYPE — \[from: [common](../messages/common.md#SPEED_TYPE)\] {#SPEED_TYPE} - -### ESTIMATOR_STATUS_FLAGS — \[from: [common](../messages/common.md#ESTIMATOR_STATUS_FLAGS)\] {#ESTIMATOR_STATUS_FLAGS} - -### MOTOR_TEST_ORDER — \[from: [common](../messages/common.md#MOTOR_TEST_ORDER)\] {#MOTOR_TEST_ORDER} - -### MOTOR_TEST_THROTTLE_TYPE — \[from: [common](../messages/common.md#MOTOR_TEST_THROTTLE_TYPE)\] {#MOTOR_TEST_THROTTLE_TYPE} - -### GPS_INPUT_IGNORE_FLAGS — \[from: [common](../messages/common.md#GPS_INPUT_IGNORE_FLAGS)\] {#GPS_INPUT_IGNORE_FLAGS} - -### MAV_COLLISION_ACTION — \[from: [common](../messages/common.md#MAV_COLLISION_ACTION)\] {#MAV_COLLISION_ACTION} - -### MAV_COLLISION_THREAT_LEVEL — \[from: [common](../messages/common.md#MAV_COLLISION_THREAT_LEVEL)\] {#MAV_COLLISION_THREAT_LEVEL} - -### MAV_COLLISION_SRC — \[from: [common](../messages/common.md#MAV_COLLISION_SRC)\] {#MAV_COLLISION_SRC} - -### GPS_FIX_TYPE — \[from: [common](../messages/common.md#GPS_FIX_TYPE)\] {#GPS_FIX_TYPE} - -### RTK_BASELINE_COORDINATE_SYSTEM — \[from: [common](../messages/common.md#RTK_BASELINE_COORDINATE_SYSTEM)\] {#RTK_BASELINE_COORDINATE_SYSTEM} - -### LANDING_TARGET_TYPE — \[from: [common](../messages/common.md#LANDING_TARGET_TYPE)\] {#LANDING_TARGET_TYPE} - -### VTOL_TRANSITION_HEADING — \[from: [common](../messages/common.md#VTOL_TRANSITION_HEADING)\] {#VTOL_TRANSITION_HEADING} - -### CAMERA_CAP_FLAGS — \[from: [common](../messages/common.md#CAMERA_CAP_FLAGS)\] {#CAMERA_CAP_FLAGS} - -### VIDEO_STREAM_STATUS_FLAGS — \[from: [common](../messages/common.md#VIDEO_STREAM_STATUS_FLAGS)\] {#VIDEO_STREAM_STATUS_FLAGS} - -### VIDEO_STREAM_TYPE — \[from: [common](../messages/common.md#VIDEO_STREAM_TYPE)\] {#VIDEO_STREAM_TYPE} - -### VIDEO_STREAM_ENCODING — \[from: [common](../messages/common.md#VIDEO_STREAM_ENCODING)\] {#VIDEO_STREAM_ENCODING} - -### CAMERA_TRACKING_STATUS_FLAGS — \[from: [common](../messages/common.md#CAMERA_TRACKING_STATUS_FLAGS)\] {#CAMERA_TRACKING_STATUS_FLAGS} - -### CAMERA_TRACKING_MODE — \[from: [common](../messages/common.md#CAMERA_TRACKING_MODE)\] {#CAMERA_TRACKING_MODE} - -### CAMERA_TRACKING_TARGET_DATA — \[from: [common](../messages/common.md#CAMERA_TRACKING_TARGET_DATA)\] {#CAMERA_TRACKING_TARGET_DATA} - -### CAMERA_ZOOM_TYPE — \[from: [common](../messages/common.md#CAMERA_ZOOM_TYPE)\] {#CAMERA_ZOOM_TYPE} - -### SET_FOCUS_TYPE — \[from: [common](../messages/common.md#SET_FOCUS_TYPE)\] {#SET_FOCUS_TYPE} - -### CAMERA_SOURCE — \[from: [common](../messages/common.md#CAMERA_SOURCE)\] {#CAMERA_SOURCE} - -### PARAM_ACK — \[from: [common](../messages/common.md#PARAM_ACK)\] {#PARAM_ACK} - -### CAMERA_MODE — \[from: [common](../messages/common.md#CAMERA_MODE)\] {#CAMERA_MODE} - -### MAV_ARM_AUTH_DENIED_REASON — \[from: [common](../messages/common.md#MAV_ARM_AUTH_DENIED_REASON)\] {#MAV_ARM_AUTH_DENIED_REASON} - -### RC_TYPE — \[from: [common](../messages/common.md#RC_TYPE)\] {#RC_TYPE} - -### POSITION_TARGET_TYPEMASK — \[from: [common](../messages/common.md#POSITION_TARGET_TYPEMASK)\] {#POSITION_TARGET_TYPEMASK} - -### ATTITUDE_TARGET_TYPEMASK — \[from: [common](../messages/common.md#ATTITUDE_TARGET_TYPEMASK)\] {#ATTITUDE_TARGET_TYPEMASK} - -### UTM_FLIGHT_STATE — \[from: [common](../messages/common.md#UTM_FLIGHT_STATE)\] {#UTM_FLIGHT_STATE} - -### UTM_DATA_AVAIL_FLAGS — \[from: [common](../messages/common.md#UTM_DATA_AVAIL_FLAGS)\] {#UTM_DATA_AVAIL_FLAGS} - -### CELLULAR_STATUS_FLAG — \[from: [common](../messages/common.md#CELLULAR_STATUS_FLAG)\] {#CELLULAR_STATUS_FLAG} - -### CELLULAR_NETWORK_FAILED_REASON — \[from: [common](../messages/common.md#CELLULAR_NETWORK_FAILED_REASON)\] {#CELLULAR_NETWORK_FAILED_REASON} - -### CELLULAR_NETWORK_RADIO_TYPE — \[from: [common](../messages/common.md#CELLULAR_NETWORK_RADIO_TYPE)\] {#CELLULAR_NETWORK_RADIO_TYPE} - -### PRECISION_LAND_MODE — \[from: [common](../messages/common.md#PRECISION_LAND_MODE)\] {#PRECISION_LAND_MODE} - -### PARACHUTE_ACTION — \[from: [common](../messages/common.md#PARACHUTE_ACTION)\] {#PARACHUTE_ACTION} - -### MAV_TUNNEL_PAYLOAD_TYPE — \[from: [common](../messages/common.md#MAV_TUNNEL_PAYLOAD_TYPE)\] {#MAV_TUNNEL_PAYLOAD_TYPE} - -### MAV_ODID_ID_TYPE — \[from: [common](../messages/common.md#MAV_ODID_ID_TYPE)\] {#MAV_ODID_ID_TYPE} - -### MAV_ODID_UA_TYPE — \[from: [common](../messages/common.md#MAV_ODID_UA_TYPE)\] {#MAV_ODID_UA_TYPE} - -### MAV_ODID_STATUS — \[from: [common](../messages/common.md#MAV_ODID_STATUS)\] {#MAV_ODID_STATUS} - -### MAV_ODID_HEIGHT_REF — \[from: [common](../messages/common.md#MAV_ODID_HEIGHT_REF)\] {#MAV_ODID_HEIGHT_REF} - -### MAV_ODID_HOR_ACC — \[from: [common](../messages/common.md#MAV_ODID_HOR_ACC)\] {#MAV_ODID_HOR_ACC} - -### MAV_ODID_VER_ACC — \[from: [common](../messages/common.md#MAV_ODID_VER_ACC)\] {#MAV_ODID_VER_ACC} - -### MAV_ODID_SPEED_ACC — \[from: [common](../messages/common.md#MAV_ODID_SPEED_ACC)\] {#MAV_ODID_SPEED_ACC} - -### MAV_ODID_TIME_ACC — \[from: [common](../messages/common.md#MAV_ODID_TIME_ACC)\] {#MAV_ODID_TIME_ACC} - -### MAV_ODID_AUTH_TYPE — \[from: [common](../messages/common.md#MAV_ODID_AUTH_TYPE)\] {#MAV_ODID_AUTH_TYPE} - -### MAV_ODID_DESC_TYPE — \[from: [common](../messages/common.md#MAV_ODID_DESC_TYPE)\] {#MAV_ODID_DESC_TYPE} - -### MAV_ODID_OPERATOR_LOCATION_TYPE — \[from: [common](../messages/common.md#MAV_ODID_OPERATOR_LOCATION_TYPE)\] {#MAV_ODID_OPERATOR_LOCATION_TYPE} - -### MAV_ODID_CLASSIFICATION_TYPE — \[from: [common](../messages/common.md#MAV_ODID_CLASSIFICATION_TYPE)\] {#MAV_ODID_CLASSIFICATION_TYPE} - -### MAV_ODID_CATEGORY_EU — \[from: [common](../messages/common.md#MAV_ODID_CATEGORY_EU)\] {#MAV_ODID_CATEGORY_EU} - -### MAV_ODID_CLASS_EU — \[from: [common](../messages/common.md#MAV_ODID_CLASS_EU)\] {#MAV_ODID_CLASS_EU} - -### MAV_ODID_OPERATOR_ID_TYPE — \[from: [common](../messages/common.md#MAV_ODID_OPERATOR_ID_TYPE)\] {#MAV_ODID_OPERATOR_ID_TYPE} - -### MAV_ODID_ARM_STATUS — \[from: [common](../messages/common.md#MAV_ODID_ARM_STATUS)\] {#MAV_ODID_ARM_STATUS} - -### TUNE_FORMAT — \[from: [common](../messages/common.md#TUNE_FORMAT)\] {#TUNE_FORMAT} - -### AIS_TYPE — \[from: [common](../messages/common.md#AIS_TYPE)\] {#AIS_TYPE} - -### AIS_NAV_STATUS — \[from: [common](../messages/common.md#AIS_NAV_STATUS)\] {#AIS_NAV_STATUS} - -### AIS_FLAGS — \[from: [common](../messages/common.md#AIS_FLAGS)\] {#AIS_FLAGS} - -### FAILURE_UNIT — \[from: [common](../messages/common.md#FAILURE_UNIT)\] {#FAILURE_UNIT} - -### FAILURE_TYPE — \[from: [common](../messages/common.md#FAILURE_TYPE)\] {#FAILURE_TYPE} - -### NAV_VTOL_LAND_OPTIONS — \[from: [common](../messages/common.md#NAV_VTOL_LAND_OPTIONS)\] {#NAV_VTOL_LAND_OPTIONS} - -### MAV_WINCH_STATUS_FLAG — \[from: [common](../messages/common.md#MAV_WINCH_STATUS_FLAG)\] {#MAV_WINCH_STATUS_FLAG} - -### MAG_CAL_STATUS — \[from: [common](../messages/common.md#MAG_CAL_STATUS)\] {#MAG_CAL_STATUS} - -### MAV_EVENT_ERROR_REASON — \[from: [common](../messages/common.md#MAV_EVENT_ERROR_REASON)\] {#MAV_EVENT_ERROR_REASON} - -### MAV_EVENT_CURRENT_SEQUENCE_FLAGS — \[from: [common](../messages/common.md#MAV_EVENT_CURRENT_SEQUENCE_FLAGS)\] {#MAV_EVENT_CURRENT_SEQUENCE_FLAGS} - -### HIL_SENSOR_UPDATED_FLAGS — \[from: [common](../messages/common.md#HIL_SENSOR_UPDATED_FLAGS)\] {#HIL_SENSOR_UPDATED_FLAGS} - -### HIGHRES_IMU_UPDATED_FLAGS — \[from: [common](../messages/common.md#HIGHRES_IMU_UPDATED_FLAGS)\] {#HIGHRES_IMU_UPDATED_FLAGS} - -### CAN_FILTER_OP — \[from: [common](../messages/common.md#CAN_FILTER_OP)\] {#CAN_FILTER_OP} - -### MAV_FTP_ERR — \[from: [common](../messages/common.md#MAV_FTP_ERR)\] {#MAV_FTP_ERR} - -### MAV_FTP_OPCODE — \[from: [common](../messages/common.md#MAV_FTP_OPCODE)\] {#MAV_FTP_OPCODE} - -### MISSION_STATE — \[from: [common](../messages/common.md#MISSION_STATE)\] {#MISSION_STATE} - -### SAFETY_SWITCH_STATE — \[from: [common](../messages/common.md#SAFETY_SWITCH_STATE)\] {#SAFETY_SWITCH_STATE} - -### ILLUMINATOR_MODE — \[from: [common](../messages/common.md#ILLUMINATOR_MODE)\] {#ILLUMINATOR_MODE} - -### ILLUMINATOR_ERROR_FLAGS — \[from: [common](../messages/common.md#ILLUMINATOR_ERROR_FLAGS)\] {#ILLUMINATOR_ERROR_FLAGS} - -### MAV_AUTOPILOT — \[from: [minimal](../messages/minimal.md#MAV_AUTOPILOT)\] {#MAV_AUTOPILOT} - -### MAV_TYPE — \[from: [minimal](../messages/minimal.md#MAV_TYPE)\] {#MAV_TYPE} - -### MAV_MODE_FLAG — \[from: [minimal](../messages/minimal.md#MAV_MODE_FLAG)\] {#MAV_MODE_FLAG} - -### MAV_MODE_FLAG_DECODE_POSITION — \[from: [minimal](../messages/minimal.md#MAV_MODE_FLAG_DECODE_POSITION)\] {#MAV_MODE_FLAG_DECODE_POSITION} - -### MAV_STATE — \[from: [minimal](../messages/minimal.md#MAV_STATE)\] {#MAV_STATE} - -### MAV_COMPONENT — \[from: [minimal](../messages/minimal.md#MAV_COMPONENT)\] {#MAV_COMPONENT} - -### UAVIONIX_ADSB_OUT_DYNAMIC_STATE — \[from: [uAvionix](../messages/uAvionix.md#UAVIONIX_ADSB_OUT_DYNAMIC_STATE)\] {#UAVIONIX_ADSB_OUT_DYNAMIC_STATE} - -### UAVIONIX_ADSB_OUT_RF_SELECT — \[from: [uAvionix](../messages/uAvionix.md#UAVIONIX_ADSB_OUT_RF_SELECT)\] {#UAVIONIX_ADSB_OUT_RF_SELECT} - -### UAVIONIX_ADSB_OUT_DYNAMIC_GPS_FIX — \[from: [uAvionix](../messages/uAvionix.md#UAVIONIX_ADSB_OUT_DYNAMIC_GPS_FIX)\] {#UAVIONIX_ADSB_OUT_DYNAMIC_GPS_FIX} - -### UAVIONIX_ADSB_RF_HEALTH — \[from: [uAvionix](../messages/uAvionix.md#UAVIONIX_ADSB_RF_HEALTH)\] {#UAVIONIX_ADSB_RF_HEALTH} - -### UAVIONIX_ADSB_OUT_CFG_AIRCRAFT_SIZE — \[from: [uAvionix](../messages/uAvionix.md#UAVIONIX_ADSB_OUT_CFG_AIRCRAFT_SIZE)\] {#UAVIONIX_ADSB_OUT_CFG_AIRCRAFT_SIZE} - -### UAVIONIX_ADSB_OUT_CFG_GPS_OFFSET_LAT — \[from: [uAvionix](../messages/uAvionix.md#UAVIONIX_ADSB_OUT_CFG_GPS_OFFSET_LAT)\] {#UAVIONIX_ADSB_OUT_CFG_GPS_OFFSET_LAT} - -### UAVIONIX_ADSB_OUT_CFG_GPS_OFFSET_LON — \[from: [uAvionix](../messages/uAvionix.md#UAVIONIX_ADSB_OUT_CFG_GPS_OFFSET_LON)\] {#UAVIONIX_ADSB_OUT_CFG_GPS_OFFSET_LON} - -### UAVIONIX_ADSB_EMERGENCY_STATUS — \[from: [uAvionix](../messages/uAvionix.md#UAVIONIX_ADSB_EMERGENCY_STATUS)\] {#UAVIONIX_ADSB_EMERGENCY_STATUS} - -### ICAROUS_TRACK_BAND_TYPES — \[from: [icarous](../messages/icarous.md#ICAROUS_TRACK_BAND_TYPES)\] {#ICAROUS_TRACK_BAND_TYPES} - -### ICAROUS_FMS_STATE — \[from: [icarous](../messages/icarous.md#ICAROUS_FMS_STATE)\] {#ICAROUS_FMS_STATE} - -### AIRLINK_AUTH_RESPONSE_TYPE — \[from: [csAirLink](../messages/csAirLink.md#AIRLINK_AUTH_RESPONSE_TYPE)\] {#AIRLINK_AUTH_RESPONSE_TYPE} - -### AIRLINK_EYE_GS_HOLE_PUSH_RESP_TYPE — \[from: [csAirLink](../messages/csAirLink.md#AIRLINK_EYE_GS_HOLE_PUSH_RESP_TYPE)\] {#AIRLINK_EYE_GS_HOLE_PUSH_RESP_TYPE} - -### AIRLINK_EYE_IP_VERSION — \[from: [csAirLink](../messages/csAirLink.md#AIRLINK_EYE_IP_VERSION)\] {#AIRLINK_EYE_IP_VERSION} - -### AIRLINK_EYE_HOLE_PUSH_TYPE — \[from: [csAirLink](../messages/csAirLink.md#AIRLINK_EYE_HOLE_PUSH_TYPE)\] {#AIRLINK_EYE_HOLE_PUSH_TYPE} - -### AIRLINK_EYE_TURN_INIT_TYPE — \[from: [csAirLink](../messages/csAirLink.md#AIRLINK_EYE_TURN_INIT_TYPE)\] {#AIRLINK_EYE_TURN_INIT_TYPE} - -## Commands (MAV_CMD) {#mav_commands} - -### MAV_CMD_NAV_WAYPOINT (16) — \[from: [common](../messages/common.md#MAV_CMD_NAV_WAYPOINT)\] {#MAV_CMD_NAV_WAYPOINT} - -### MAV_CMD_NAV_LOITER_UNLIM (17) — \[from: [common](../messages/common.md#MAV_CMD_NAV_LOITER_UNLIM)\] {#MAV_CMD_NAV_LOITER_UNLIM} - -### MAV_CMD_NAV_LOITER_TURNS (18) — \[from: [common](../messages/common.md#MAV_CMD_NAV_LOITER_TURNS)\] {#MAV_CMD_NAV_LOITER_TURNS} - -### MAV_CMD_NAV_LOITER_TIME (19) — \[from: [common](../messages/common.md#MAV_CMD_NAV_LOITER_TIME)\] {#MAV_CMD_NAV_LOITER_TIME} - -### MAV_CMD_NAV_RETURN_TO_LAUNCH (20) — \[from: [common](../messages/common.md#MAV_CMD_NAV_RETURN_TO_LAUNCH)\] {#MAV_CMD_NAV_RETURN_TO_LAUNCH} - -### MAV_CMD_NAV_LAND (21) — \[from: [common](../messages/common.md#MAV_CMD_NAV_LAND)\] {#MAV_CMD_NAV_LAND} - -### MAV_CMD_NAV_TAKEOFF (22) — \[from: [common](../messages/common.md#MAV_CMD_NAV_TAKEOFF)\] {#MAV_CMD_NAV_TAKEOFF} - -### MAV_CMD_NAV_LAND_LOCAL (23) — \[from: [common](../messages/common.md#MAV_CMD_NAV_LAND_LOCAL)\] {#MAV_CMD_NAV_LAND_LOCAL} - -### MAV_CMD_NAV_TAKEOFF_LOCAL (24) — \[from: [common](../messages/common.md#MAV_CMD_NAV_TAKEOFF_LOCAL)\] {#MAV_CMD_NAV_TAKEOFF_LOCAL} - -### MAV_CMD_NAV_FOLLOW (25) — \[from: [common](../messages/common.md#MAV_CMD_NAV_FOLLOW)\] {#MAV_CMD_NAV_FOLLOW} - -### MAV_CMD_NAV_CONTINUE_AND_CHANGE_ALT (30) — \[from: [common](../messages/common.md#MAV_CMD_NAV_CONTINUE_AND_CHANGE_ALT)\] {#MAV_CMD_NAV_CONTINUE_AND_CHANGE_ALT} - -### MAV_CMD_NAV_LOITER_TO_ALT (31) — \[from: [common](../messages/common.md#MAV_CMD_NAV_LOITER_TO_ALT)\] {#MAV_CMD_NAV_LOITER_TO_ALT} - -### MAV_CMD_DO_FOLLOW (32) — \[from: [common](../messages/common.md#MAV_CMD_DO_FOLLOW)\] {#MAV_CMD_DO_FOLLOW} - -### MAV_CMD_DO_FOLLOW_REPOSITION (33) — \[from: [common](../messages/common.md#MAV_CMD_DO_FOLLOW_REPOSITION)\] {#MAV_CMD_DO_FOLLOW_REPOSITION} - -### MAV_CMD_DO_ORBIT (34) — \[from: [common](../messages/common.md#MAV_CMD_DO_ORBIT)\] [WIP] {#MAV_CMD_DO_ORBIT} - -### MAV_CMD_NAV_ROI (80) — \[from: [common](../messages/common.md#MAV_CMD_NAV_ROI)\] [DEP] {#MAV_CMD_NAV_ROI} - -### MAV_CMD_NAV_PATHPLANNING (81) — \[from: [common](../messages/common.md#MAV_CMD_NAV_PATHPLANNING)\] {#MAV_CMD_NAV_PATHPLANNING} - -### MAV_CMD_NAV_SPLINE_WAYPOINT (82) — \[from: [common](../messages/common.md#MAV_CMD_NAV_SPLINE_WAYPOINT)\] {#MAV_CMD_NAV_SPLINE_WAYPOINT} - -### MAV_CMD_NAV_ALTITUDE_WAIT (83) — \[from: [ardupilotmega](../messages/ardupilotmega.md#MAV_CMD_NAV_ALTITUDE_WAIT)\] {#MAV_CMD_NAV_ALTITUDE_WAIT} - -### MAV_CMD_NAV_VTOL_TAKEOFF (84) — \[from: [common](../messages/common.md#MAV_CMD_NAV_VTOL_TAKEOFF)\] {#MAV_CMD_NAV_VTOL_TAKEOFF} - -### MAV_CMD_NAV_VTOL_LAND (85) — \[from: [common](../messages/common.md#MAV_CMD_NAV_VTOL_LAND)\] {#MAV_CMD_NAV_VTOL_LAND} - -### MAV_CMD_NAV_GUIDED_ENABLE (92) — \[from: [common](../messages/common.md#MAV_CMD_NAV_GUIDED_ENABLE)\] {#MAV_CMD_NAV_GUIDED_ENABLE} - -### MAV_CMD_NAV_DELAY (93) — \[from: [common](../messages/common.md#MAV_CMD_NAV_DELAY)\] {#MAV_CMD_NAV_DELAY} - -### MAV_CMD_NAV_PAYLOAD_PLACE (94) — \[from: [common](../messages/common.md#MAV_CMD_NAV_PAYLOAD_PLACE)\] {#MAV_CMD_NAV_PAYLOAD_PLACE} - -### MAV_CMD_NAV_LAST (95) — \[from: [common](../messages/common.md#MAV_CMD_NAV_LAST)\] {#MAV_CMD_NAV_LAST} - -### MAV_CMD_CONDITION_DELAY (112) — \[from: [common](../messages/common.md#MAV_CMD_CONDITION_DELAY)\] {#MAV_CMD_CONDITION_DELAY} - -### MAV_CMD_CONDITION_CHANGE_ALT (113) — \[from: [common](../messages/common.md#MAV_CMD_CONDITION_CHANGE_ALT)\] {#MAV_CMD_CONDITION_CHANGE_ALT} - -### MAV_CMD_CONDITION_DISTANCE (114) — \[from: [common](../messages/common.md#MAV_CMD_CONDITION_DISTANCE)\] {#MAV_CMD_CONDITION_DISTANCE} - -### MAV_CMD_CONDITION_YAW (115) — \[from: [common](../messages/common.md#MAV_CMD_CONDITION_YAW)\] {#MAV_CMD_CONDITION_YAW} - -### MAV_CMD_CONDITION_LAST (159) — \[from: [common](../messages/common.md#MAV_CMD_CONDITION_LAST)\] {#MAV_CMD_CONDITION_LAST} - -### MAV_CMD_DO_SET_MODE (176) — \[from: [common](../messages/common.md#MAV_CMD_DO_SET_MODE)\] {#MAV_CMD_DO_SET_MODE} - -### MAV_CMD_DO_JUMP (177) — \[from: [common](../messages/common.md#MAV_CMD_DO_JUMP)\] {#MAV_CMD_DO_JUMP} - -### MAV_CMD_DO_CHANGE_SPEED (178) — \[from: [common](../messages/common.md#MAV_CMD_DO_CHANGE_SPEED)\] {#MAV_CMD_DO_CHANGE_SPEED} - -### MAV_CMD_DO_SET_HOME (179) — \[from: [common](../messages/common.md#MAV_CMD_DO_SET_HOME)\] {#MAV_CMD_DO_SET_HOME} - -### MAV_CMD_DO_SET_PARAMETER (180) — \[from: [common](../messages/common.md#MAV_CMD_DO_SET_PARAMETER)\] [DEP] {#MAV_CMD_DO_SET_PARAMETER} - -### MAV_CMD_DO_SET_RELAY (181) — \[from: [common](../messages/common.md#MAV_CMD_DO_SET_RELAY)\] {#MAV_CMD_DO_SET_RELAY} - -### MAV_CMD_DO_REPEAT_RELAY (182) — \[from: [common](../messages/common.md#MAV_CMD_DO_REPEAT_RELAY)\] {#MAV_CMD_DO_REPEAT_RELAY} - -### MAV_CMD_DO_SET_SERVO (183) — \[from: [common](../messages/common.md#MAV_CMD_DO_SET_SERVO)\] {#MAV_CMD_DO_SET_SERVO} - -### MAV_CMD_DO_REPEAT_SERVO (184) — \[from: [common](../messages/common.md#MAV_CMD_DO_REPEAT_SERVO)\] {#MAV_CMD_DO_REPEAT_SERVO} - -### MAV_CMD_DO_FLIGHTTERMINATION (185) — \[from: [common](../messages/common.md#MAV_CMD_DO_FLIGHTTERMINATION)\] {#MAV_CMD_DO_FLIGHTTERMINATION} - -### MAV_CMD_DO_CHANGE_ALTITUDE (186) — \[from: [common](../messages/common.md#MAV_CMD_DO_CHANGE_ALTITUDE)\] {#MAV_CMD_DO_CHANGE_ALTITUDE} - -### MAV_CMD_DO_SET_ACTUATOR (187) — \[from: [common](../messages/common.md#MAV_CMD_DO_SET_ACTUATOR)\] {#MAV_CMD_DO_SET_ACTUATOR} - -### MAV_CMD_DO_RETURN_PATH_START (188) — \[from: [common](../messages/common.md#MAV_CMD_DO_RETURN_PATH_START)\] [WIP] {#MAV_CMD_DO_RETURN_PATH_START} - -### MAV_CMD_DO_LAND_START (189) — \[from: [common](../messages/common.md#MAV_CMD_DO_LAND_START)\] {#MAV_CMD_DO_LAND_START} - -### MAV_CMD_DO_RALLY_LAND (190) — \[from: [common](../messages/common.md#MAV_CMD_DO_RALLY_LAND)\] {#MAV_CMD_DO_RALLY_LAND} - -### MAV_CMD_DO_GO_AROUND (191) — \[from: [common](../messages/common.md#MAV_CMD_DO_GO_AROUND)\] {#MAV_CMD_DO_GO_AROUND} - -### MAV_CMD_DO_REPOSITION (192) — \[from: [common](../messages/common.md#MAV_CMD_DO_REPOSITION)\] {#MAV_CMD_DO_REPOSITION} - -### MAV_CMD_DO_PAUSE_CONTINUE (193) — \[from: [common](../messages/common.md#MAV_CMD_DO_PAUSE_CONTINUE)\] {#MAV_CMD_DO_PAUSE_CONTINUE} - -### MAV_CMD_DO_SET_REVERSE (194) — \[from: [common](../messages/common.md#MAV_CMD_DO_SET_REVERSE)\] {#MAV_CMD_DO_SET_REVERSE} - -### MAV_CMD_DO_SET_ROI_LOCATION (195) — \[from: [common](../messages/common.md#MAV_CMD_DO_SET_ROI_LOCATION)\] {#MAV_CMD_DO_SET_ROI_LOCATION} - -### MAV_CMD_DO_SET_ROI_WPNEXT_OFFSET (196) — \[from: [common](../messages/common.md#MAV_CMD_DO_SET_ROI_WPNEXT_OFFSET)\] {#MAV_CMD_DO_SET_ROI_WPNEXT_OFFSET} - -### MAV_CMD_DO_SET_ROI_NONE (197) — \[from: [common](../messages/common.md#MAV_CMD_DO_SET_ROI_NONE)\] {#MAV_CMD_DO_SET_ROI_NONE} - -### MAV_CMD_DO_SET_ROI_SYSID (198) — \[from: [common](../messages/common.md#MAV_CMD_DO_SET_ROI_SYSID)\] {#MAV_CMD_DO_SET_ROI_SYSID} - -### MAV_CMD_DO_CONTROL_VIDEO (200) — \[from: [common](../messages/common.md#MAV_CMD_DO_CONTROL_VIDEO)\] {#MAV_CMD_DO_CONTROL_VIDEO} - -### MAV_CMD_DO_SET_ROI (201) — \[from: [common](../messages/common.md#MAV_CMD_DO_SET_ROI)\] [DEP] {#MAV_CMD_DO_SET_ROI} - -### MAV_CMD_DO_DIGICAM_CONFIGURE (202) — \[from: [common](../messages/common.md#MAV_CMD_DO_DIGICAM_CONFIGURE)\] {#MAV_CMD_DO_DIGICAM_CONFIGURE} - -### MAV_CMD_DO_DIGICAM_CONTROL (203) — \[from: [common](../messages/common.md#MAV_CMD_DO_DIGICAM_CONTROL)\] {#MAV_CMD_DO_DIGICAM_CONTROL} - -### MAV_CMD_DO_MOUNT_CONFIGURE (204) — \[from: [common](../messages/common.md#MAV_CMD_DO_MOUNT_CONFIGURE)\] [DEP] {#MAV_CMD_DO_MOUNT_CONFIGURE} - -### MAV_CMD_DO_MOUNT_CONTROL (205) — \[from: [common](../messages/common.md#MAV_CMD_DO_MOUNT_CONTROL)\] [DEP] {#MAV_CMD_DO_MOUNT_CONTROL} - -### MAV_CMD_DO_SET_CAM_TRIGG_DIST (206) — \[from: [common](../messages/common.md#MAV_CMD_DO_SET_CAM_TRIGG_DIST)\] {#MAV_CMD_DO_SET_CAM_TRIGG_DIST} - -### MAV_CMD_DO_FENCE_ENABLE (207) — \[from: [common](../messages/common.md#MAV_CMD_DO_FENCE_ENABLE)\] {#MAV_CMD_DO_FENCE_ENABLE} - -### MAV_CMD_DO_PARACHUTE (208) — \[from: [common](../messages/common.md#MAV_CMD_DO_PARACHUTE)\] {#MAV_CMD_DO_PARACHUTE} - -### MAV_CMD_DO_MOTOR_TEST (209) — \[from: [common](../messages/common.md#MAV_CMD_DO_MOTOR_TEST)\] {#MAV_CMD_DO_MOTOR_TEST} - -### MAV_CMD_DO_INVERTED_FLIGHT (210) — \[from: [common](../messages/common.md#MAV_CMD_DO_INVERTED_FLIGHT)\] {#MAV_CMD_DO_INVERTED_FLIGHT} - -### MAV_CMD_DO_GRIPPER (211) — \[from: [common](../messages/common.md#MAV_CMD_DO_GRIPPER)\] {#MAV_CMD_DO_GRIPPER} - -### MAV_CMD_DO_AUTOTUNE_ENABLE (212) — \[from: [common](../messages/common.md#MAV_CMD_DO_AUTOTUNE_ENABLE)\] {#MAV_CMD_DO_AUTOTUNE_ENABLE} - -### MAV_CMD_NAV_SET_YAW_SPEED (213) — \[from: [common](../messages/common.md#MAV_CMD_NAV_SET_YAW_SPEED)\] {#MAV_CMD_NAV_SET_YAW_SPEED} - -### MAV_CMD_DO_SET_CAM_TRIGG_INTERVAL (214) — \[from: [common](../messages/common.md#MAV_CMD_DO_SET_CAM_TRIGG_INTERVAL)\] {#MAV_CMD_DO_SET_CAM_TRIGG_INTERVAL} - -### MAV_CMD_DO_SET_RESUME_REPEAT_DIST (215) — \[from: [ardupilotmega](../messages/ardupilotmega.md#MAV_CMD_DO_SET_RESUME_REPEAT_DIST)\] {#MAV_CMD_DO_SET_RESUME_REPEAT_DIST} - -### MAV_CMD_DO_SPRAYER (216) — \[from: [ardupilotmega](../messages/ardupilotmega.md#MAV_CMD_DO_SPRAYER)\] {#MAV_CMD_DO_SPRAYER} - -### MAV_CMD_DO_SEND_SCRIPT_MESSAGE (217) — \[from: [ardupilotmega](../messages/ardupilotmega.md#MAV_CMD_DO_SEND_SCRIPT_MESSAGE)\] {#MAV_CMD_DO_SEND_SCRIPT_MESSAGE} - -### MAV_CMD_DO_AUX_FUNCTION (218) — \[from: [ardupilotmega](../messages/ardupilotmega.md#MAV_CMD_DO_AUX_FUNCTION)\] {#MAV_CMD_DO_AUX_FUNCTION} - -### MAV_CMD_DO_MOUNT_CONTROL_QUAT (220) — \[from: [common](../messages/common.md#MAV_CMD_DO_MOUNT_CONTROL_QUAT)\] [DEP] {#MAV_CMD_DO_MOUNT_CONTROL_QUAT} - -### MAV_CMD_DO_GUIDED_MASTER (221) — \[from: [common](../messages/common.md#MAV_CMD_DO_GUIDED_MASTER)\] {#MAV_CMD_DO_GUIDED_MASTER} - -### MAV_CMD_DO_GUIDED_LIMITS (222) — \[from: [common](../messages/common.md#MAV_CMD_DO_GUIDED_LIMITS)\] {#MAV_CMD_DO_GUIDED_LIMITS} - -### MAV_CMD_DO_ENGINE_CONTROL (223) — \[from: [common](../messages/common.md#MAV_CMD_DO_ENGINE_CONTROL)\] {#MAV_CMD_DO_ENGINE_CONTROL} - -### MAV_CMD_DO_SET_MISSION_CURRENT (224) — \[from: [common](../messages/common.md#MAV_CMD_DO_SET_MISSION_CURRENT)\] {#MAV_CMD_DO_SET_MISSION_CURRENT} - -### MAV_CMD_DO_LAST (240) — \[from: [common](../messages/common.md#MAV_CMD_DO_LAST)\] {#MAV_CMD_DO_LAST} - -### MAV_CMD_PREFLIGHT_CALIBRATION (241) — \[from: [common](../messages/common.md#MAV_CMD_PREFLIGHT_CALIBRATION)\] {#MAV_CMD_PREFLIGHT_CALIBRATION} - -### MAV_CMD_PREFLIGHT_SET_SENSOR_OFFSETS (242) — \[from: [common](../messages/common.md#MAV_CMD_PREFLIGHT_SET_SENSOR_OFFSETS)\] {#MAV_CMD_PREFLIGHT_SET_SENSOR_OFFSETS} - -### MAV_CMD_PREFLIGHT_UAVCAN (243) — \[from: [common](../messages/common.md#MAV_CMD_PREFLIGHT_UAVCAN)\] {#MAV_CMD_PREFLIGHT_UAVCAN} - -### MAV_CMD_PREFLIGHT_STORAGE (245) — \[from: [common](../messages/common.md#MAV_CMD_PREFLIGHT_STORAGE)\] {#MAV_CMD_PREFLIGHT_STORAGE} - -### MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN (246) — \[from: [common](../messages/common.md#MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN)\] {#MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN} - -### MAV_CMD_OVERRIDE_GOTO (252) — \[from: [common](../messages/common.md#MAV_CMD_OVERRIDE_GOTO)\] {#MAV_CMD_OVERRIDE_GOTO} - -### MAV_CMD_OBLIQUE_SURVEY (260) — \[from: [common](../messages/common.md#MAV_CMD_OBLIQUE_SURVEY)\] {#MAV_CMD_OBLIQUE_SURVEY} - -### MAV_CMD_MISSION_START (300) — \[from: [common](../messages/common.md#MAV_CMD_MISSION_START)\] {#MAV_CMD_MISSION_START} - -### MAV_CMD_ACTUATOR_TEST (310) — \[from: [common](../messages/common.md#MAV_CMD_ACTUATOR_TEST)\] {#MAV_CMD_ACTUATOR_TEST} - -### MAV_CMD_CONFIGURE_ACTUATOR (311) — \[from: [common](../messages/common.md#MAV_CMD_CONFIGURE_ACTUATOR)\] {#MAV_CMD_CONFIGURE_ACTUATOR} - -### MAV_CMD_COMPONENT_ARM_DISARM (400) — \[from: [common](../messages/common.md#MAV_CMD_COMPONENT_ARM_DISARM)\] {#MAV_CMD_COMPONENT_ARM_DISARM} - -### MAV_CMD_RUN_PREARM_CHECKS (401) — \[from: [common](../messages/common.md#MAV_CMD_RUN_PREARM_CHECKS)\] {#MAV_CMD_RUN_PREARM_CHECKS} - -### MAV_CMD_ILLUMINATOR_ON_OFF (405) — \[from: [common](../messages/common.md#MAV_CMD_ILLUMINATOR_ON_OFF)\] {#MAV_CMD_ILLUMINATOR_ON_OFF} - -### MAV_CMD_DO_ILLUMINATOR_CONFIGURE (406) — \[from: [common](../messages/common.md#MAV_CMD_DO_ILLUMINATOR_CONFIGURE)\] {#MAV_CMD_DO_ILLUMINATOR_CONFIGURE} - -### MAV_CMD_GET_HOME_POSITION (410) — \[from: [common](../messages/common.md#MAV_CMD_GET_HOME_POSITION)\] [DEP] {#MAV_CMD_GET_HOME_POSITION} - -### MAV_CMD_INJECT_FAILURE (420) — \[from: [common](../messages/common.md#MAV_CMD_INJECT_FAILURE)\] {#MAV_CMD_INJECT_FAILURE} - -### MAV_CMD_START_RX_PAIR (500) — \[from: [common](../messages/common.md#MAV_CMD_START_RX_PAIR)\] {#MAV_CMD_START_RX_PAIR} - -### MAV_CMD_GET_MESSAGE_INTERVAL (510) — \[from: [common](../messages/common.md#MAV_CMD_GET_MESSAGE_INTERVAL)\] [DEP] {#MAV_CMD_GET_MESSAGE_INTERVAL} - -### MAV_CMD_SET_MESSAGE_INTERVAL (511) — \[from: [common](../messages/common.md#MAV_CMD_SET_MESSAGE_INTERVAL)\] {#MAV_CMD_SET_MESSAGE_INTERVAL} - -### MAV_CMD_REQUEST_MESSAGE (512) — \[from: [common](../messages/common.md#MAV_CMD_REQUEST_MESSAGE)\] {#MAV_CMD_REQUEST_MESSAGE} - -### MAV_CMD_REQUEST_PROTOCOL_VERSION (519) — \[from: [common](../messages/common.md#MAV_CMD_REQUEST_PROTOCOL_VERSION)\] [DEP] {#MAV_CMD_REQUEST_PROTOCOL_VERSION} - -### MAV_CMD_REQUEST_AUTOPILOT_CAPABILITIES (520) — \[from: [common](../messages/common.md#MAV_CMD_REQUEST_AUTOPILOT_CAPABILITIES)\] [DEP] {#MAV_CMD_REQUEST_AUTOPILOT_CAPABILITIES} - -### MAV_CMD_REQUEST_CAMERA_INFORMATION (521) — \[from: [common](../messages/common.md#MAV_CMD_REQUEST_CAMERA_INFORMATION)\] [DEP] {#MAV_CMD_REQUEST_CAMERA_INFORMATION} - -### MAV_CMD_REQUEST_CAMERA_SETTINGS (522) — \[from: [common](../messages/common.md#MAV_CMD_REQUEST_CAMERA_SETTINGS)\] [DEP] {#MAV_CMD_REQUEST_CAMERA_SETTINGS} - -### MAV_CMD_REQUEST_STORAGE_INFORMATION (525) — \[from: [common](../messages/common.md#MAV_CMD_REQUEST_STORAGE_INFORMATION)\] [DEP] {#MAV_CMD_REQUEST_STORAGE_INFORMATION} - -### MAV_CMD_STORAGE_FORMAT (526) — \[from: [common](../messages/common.md#MAV_CMD_STORAGE_FORMAT)\] {#MAV_CMD_STORAGE_FORMAT} - -### MAV_CMD_REQUEST_CAMERA_CAPTURE_STATUS (527) — \[from: [common](../messages/common.md#MAV_CMD_REQUEST_CAMERA_CAPTURE_STATUS)\] [DEP] {#MAV_CMD_REQUEST_CAMERA_CAPTURE_STATUS} - -### MAV_CMD_REQUEST_FLIGHT_INFORMATION (528) — \[from: [common](../messages/common.md#MAV_CMD_REQUEST_FLIGHT_INFORMATION)\] [DEP] {#MAV_CMD_REQUEST_FLIGHT_INFORMATION} - -### MAV_CMD_RESET_CAMERA_SETTINGS (529) — \[from: [common](../messages/common.md#MAV_CMD_RESET_CAMERA_SETTINGS)\] {#MAV_CMD_RESET_CAMERA_SETTINGS} - -### MAV_CMD_SET_CAMERA_MODE (530) — \[from: [common](../messages/common.md#MAV_CMD_SET_CAMERA_MODE)\] {#MAV_CMD_SET_CAMERA_MODE} - -### MAV_CMD_SET_CAMERA_ZOOM (531) — \[from: [common](../messages/common.md#MAV_CMD_SET_CAMERA_ZOOM)\] {#MAV_CMD_SET_CAMERA_ZOOM} - -### MAV_CMD_SET_CAMERA_FOCUS (532) — \[from: [common](../messages/common.md#MAV_CMD_SET_CAMERA_FOCUS)\] {#MAV_CMD_SET_CAMERA_FOCUS} - -### MAV_CMD_SET_STORAGE_USAGE (533) — \[from: [common](../messages/common.md#MAV_CMD_SET_STORAGE_USAGE)\] {#MAV_CMD_SET_STORAGE_USAGE} - -### MAV_CMD_SET_CAMERA_SOURCE (534) — \[from: [common](../messages/common.md#MAV_CMD_SET_CAMERA_SOURCE)\] {#MAV_CMD_SET_CAMERA_SOURCE} - -### MAV_CMD_JUMP_TAG (600) — \[from: [common](../messages/common.md#MAV_CMD_JUMP_TAG)\] {#MAV_CMD_JUMP_TAG} - -### MAV_CMD_DO_JUMP_TAG (601) — \[from: [common](../messages/common.md#MAV_CMD_DO_JUMP_TAG)\] {#MAV_CMD_DO_JUMP_TAG} - -### MAV_CMD_DO_GIMBAL_MANAGER_PITCHYAW (1000) — \[from: [common](../messages/common.md#MAV_CMD_DO_GIMBAL_MANAGER_PITCHYAW)\] {#MAV_CMD_DO_GIMBAL_MANAGER_PITCHYAW} - -### MAV_CMD_DO_GIMBAL_MANAGER_CONFIGURE (1001) — \[from: [common](../messages/common.md#MAV_CMD_DO_GIMBAL_MANAGER_CONFIGURE)\] {#MAV_CMD_DO_GIMBAL_MANAGER_CONFIGURE} - -### MAV_CMD_IMAGE_START_CAPTURE (2000) — \[from: [common](../messages/common.md#MAV_CMD_IMAGE_START_CAPTURE)\] {#MAV_CMD_IMAGE_START_CAPTURE} - -### MAV_CMD_IMAGE_STOP_CAPTURE (2001) — \[from: [common](../messages/common.md#MAV_CMD_IMAGE_STOP_CAPTURE)\] {#MAV_CMD_IMAGE_STOP_CAPTURE} - -### MAV_CMD_REQUEST_CAMERA_IMAGE_CAPTURE (2002) — \[from: [common](../messages/common.md#MAV_CMD_REQUEST_CAMERA_IMAGE_CAPTURE)\] [DEP] {#MAV_CMD_REQUEST_CAMERA_IMAGE_CAPTURE} - -### MAV_CMD_DO_TRIGGER_CONTROL (2003) — \[from: [common](../messages/common.md#MAV_CMD_DO_TRIGGER_CONTROL)\] {#MAV_CMD_DO_TRIGGER_CONTROL} - -### MAV_CMD_CAMERA_TRACK_POINT (2004) — \[from: [common](../messages/common.md#MAV_CMD_CAMERA_TRACK_POINT)\] {#MAV_CMD_CAMERA_TRACK_POINT} - -### MAV_CMD_CAMERA_TRACK_RECTANGLE (2005) — \[from: [common](../messages/common.md#MAV_CMD_CAMERA_TRACK_RECTANGLE)\] {#MAV_CMD_CAMERA_TRACK_RECTANGLE} - -### MAV_CMD_CAMERA_STOP_TRACKING (2010) — \[from: [common](../messages/common.md#MAV_CMD_CAMERA_STOP_TRACKING)\] {#MAV_CMD_CAMERA_STOP_TRACKING} - -### MAV_CMD_VIDEO_START_CAPTURE (2500) — \[from: [common](../messages/common.md#MAV_CMD_VIDEO_START_CAPTURE)\] {#MAV_CMD_VIDEO_START_CAPTURE} - -### MAV_CMD_VIDEO_STOP_CAPTURE (2501) — \[from: [common](../messages/common.md#MAV_CMD_VIDEO_STOP_CAPTURE)\] {#MAV_CMD_VIDEO_STOP_CAPTURE} - -### MAV_CMD_VIDEO_START_STREAMING (2502) — \[from: [common](../messages/common.md#MAV_CMD_VIDEO_START_STREAMING)\] {#MAV_CMD_VIDEO_START_STREAMING} - -### MAV_CMD_VIDEO_STOP_STREAMING (2503) — \[from: [common](../messages/common.md#MAV_CMD_VIDEO_STOP_STREAMING)\] {#MAV_CMD_VIDEO_STOP_STREAMING} - -### MAV_CMD_REQUEST_VIDEO_STREAM_INFORMATION (2504) — \[from: [common](../messages/common.md#MAV_CMD_REQUEST_VIDEO_STREAM_INFORMATION)\] [DEP] {#MAV_CMD_REQUEST_VIDEO_STREAM_INFORMATION} - -### MAV_CMD_REQUEST_VIDEO_STREAM_STATUS (2505) — \[from: [common](../messages/common.md#MAV_CMD_REQUEST_VIDEO_STREAM_STATUS)\] [DEP] {#MAV_CMD_REQUEST_VIDEO_STREAM_STATUS} - -### MAV_CMD_LOGGING_START (2510) — \[from: [common](../messages/common.md#MAV_CMD_LOGGING_START)\] {#MAV_CMD_LOGGING_START} - -### MAV_CMD_LOGGING_STOP (2511) — \[from: [common](../messages/common.md#MAV_CMD_LOGGING_STOP)\] {#MAV_CMD_LOGGING_STOP} - -### MAV_CMD_AIRFRAME_CONFIGURATION (2520) — \[from: [common](../messages/common.md#MAV_CMD_AIRFRAME_CONFIGURATION)\] {#MAV_CMD_AIRFRAME_CONFIGURATION} - -### MAV_CMD_CONTROL_HIGH_LATENCY (2600) — \[from: [common](../messages/common.md#MAV_CMD_CONTROL_HIGH_LATENCY)\] {#MAV_CMD_CONTROL_HIGH_LATENCY} - -### MAV_CMD_PANORAMA_CREATE (2800) — \[from: [common](../messages/common.md#MAV_CMD_PANORAMA_CREATE)\] {#MAV_CMD_PANORAMA_CREATE} - -### MAV_CMD_DO_VTOL_TRANSITION (3000) — \[from: [common](../messages/common.md#MAV_CMD_DO_VTOL_TRANSITION)\] {#MAV_CMD_DO_VTOL_TRANSITION} - -### MAV_CMD_ARM_AUTHORIZATION_REQUEST (3001) — \[from: [common](../messages/common.md#MAV_CMD_ARM_AUTHORIZATION_REQUEST)\] {#MAV_CMD_ARM_AUTHORIZATION_REQUEST} - -### MAV_CMD_SET_GUIDED_SUBMODE_STANDARD (4000) — \[from: [common](../messages/common.md#MAV_CMD_SET_GUIDED_SUBMODE_STANDARD)\] {#MAV_CMD_SET_GUIDED_SUBMODE_STANDARD} - -### MAV_CMD_SET_GUIDED_SUBMODE_CIRCLE (4001) — \[from: [common](../messages/common.md#MAV_CMD_SET_GUIDED_SUBMODE_CIRCLE)\] {#MAV_CMD_SET_GUIDED_SUBMODE_CIRCLE} +### STORM32_GIMBAL_MANAGER_INFORMATION (60010) {#STORM32_GIMBAL_MANAGER_INFORMATION} -### MAV_CMD_CONDITION_GATE (4501) — \[from: [common](../messages/common.md#MAV_CMD_CONDITION_GATE)\] [WIP] {#MAV_CMD_CONDITION_GATE} +Information about a gimbal manager. This message should be requested by a ground station using [MAV_CMD_REQUEST_MESSAGE](#MAV_CMD_REQUEST_MESSAGE). It mirrors some fields of the [GIMBAL_DEVICE_INFORMATION](#GIMBAL_DEVICE_INFORMATION) message, but not all. If the additional information is desired, also [GIMBAL_DEVICE_INFORMATION](#GIMBAL_DEVICE_INFORMATION) should be requested. -### MAV_CMD_NAV_FENCE_RETURN_POINT (5000) — \[from: [common](../messages/common.md#MAV_CMD_NAV_FENCE_RETURN_POINT)\] {#MAV_CMD_NAV_FENCE_RETURN_POINT} +| Field Name | Type | Units | Values | Description | +| ------------------- | ---------- | ----- | --------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | +| gimbal_id | `uint8_t` | | | Gimbal ID (component ID or 1-6 for non-MAVLink gimbal) that this gimbal manager is responsible for.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Messages with same value are from the same source (instance). | +| device_cap_flags | `uint32_t` | | [GIMBAL_DEVICE_CAP_FLAGS](#GIMBAL_DEVICE_CAP_FLAGS) | Gimbal device capability flags. Same flags as reported by [GIMBAL_DEVICE_INFORMATION](#GIMBAL_DEVICE_INFORMATION). The flag is only 16 bit wide, but stored in 32 bit, for backwards compatibility (high word is zero). | +| manager_cap_flags | `uint32_t` | | [MAV_STORM32_GIMBAL_MANAGER_CAP_FLAGS](#MAV_STORM32_GIMBAL_MANAGER_CAP_FLAGS) | Gimbal manager capability flags. | +| roll_min | `float` | rad | invalid:NaN | Hardware minimum roll angle (positive: roll to the right). NaN if unknown. | +| roll_max | `float` | rad | invalid:NaN | Hardware maximum roll angle (positive: roll to the right). NaN if unknown. | +| pitch_min | `float` | rad | invalid:NaN | Hardware minimum pitch/tilt angle (positive: tilt up). NaN if unknown. | +| pitch_max | `float` | rad | invalid:NaN | Hardware maximum pitch/tilt angle (positive: tilt up). NaN if unknown. | +| yaw_min | `float` | rad | invalid:NaN | Hardware minimum yaw/pan angle (positive: pan to the right, relative to the vehicle/gimbal base). NaN if unknown. | +| yaw_max | `float` | rad | invalid:NaN | Hardware maximum yaw/pan angle (positive: pan to the right, relative to the vehicle/gimbal base). NaN if unknown. | -### MAV_CMD_NAV_FENCE_POLYGON_VERTEX_INCLUSION (5001) — \[from: [common](../messages/common.md#MAV_CMD_NAV_FENCE_POLYGON_VERTEX_INCLUSION)\] {#MAV_CMD_NAV_FENCE_POLYGON_VERTEX_INCLUSION} -### MAV_CMD_NAV_FENCE_POLYGON_VERTEX_EXCLUSION (5002) — \[from: [common](../messages/common.md#MAV_CMD_NAV_FENCE_POLYGON_VERTEX_EXCLUSION)\] {#MAV_CMD_NAV_FENCE_POLYGON_VERTEX_EXCLUSION} +### STORM32_GIMBAL_MANAGER_STATUS (60011) {#STORM32_GIMBAL_MANAGER_STATUS} -### MAV_CMD_NAV_FENCE_CIRCLE_INCLUSION (5003) — \[from: [common](../messages/common.md#MAV_CMD_NAV_FENCE_CIRCLE_INCLUSION)\] {#MAV_CMD_NAV_FENCE_CIRCLE_INCLUSION} +Message reporting the current status of a gimbal manager. This message should be broadcast at a low regular rate (e.g. 1 Hz, may be increase momentarily to e.g. 5 Hz for a period of 1 sec after a change). -### MAV_CMD_NAV_FENCE_CIRCLE_EXCLUSION (5004) — \[from: [common](../messages/common.md#MAV_CMD_NAV_FENCE_CIRCLE_EXCLUSION)\] {#MAV_CMD_NAV_FENCE_CIRCLE_EXCLUSION} +| Field Name | Type | Values | Description | +| ------------- | ---------- | ----------------------------------------------------------------------------- | -------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | +| gimbal_id | `uint8_t` | | Gimbal ID (component ID or 1-6 for non-MAVLink gimbal) that this gimbal manager is responsible for.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Messages with same value are from the same source (instance). | +| supervisor | `uint8_t` | [MAV_STORM32_GIMBAL_MANAGER_CLIENT](#MAV_STORM32_GIMBAL_MANAGER_CLIENT) | Client who is currently supervisor (0 = none). | +| device_flags | `uint16_t` | [GIMBAL_DEVICE_FLAGS](#GIMBAL_DEVICE_FLAGS) | Gimbal device flags currently applied. Same flags as reported by [GIMBAL_DEVICE_ATTITUDE_STATUS](#GIMBAL_DEVICE_ATTITUDE_STATUS). | +| manager_flags | `uint16_t` | [MAV_STORM32_GIMBAL_MANAGER_FLAGS](#MAV_STORM32_GIMBAL_MANAGER_FLAGS) | Gimbal manager flags currently applied. | +| profile | `uint8_t` | [MAV_STORM32_GIMBAL_MANAGER_PROFILE](#MAV_STORM32_GIMBAL_MANAGER_PROFILE) | Profile currently applied (0 = default). | -### MAV_CMD_NAV_RALLY_POINT (5100) — \[from: [common](../messages/common.md#MAV_CMD_NAV_RALLY_POINT)\] {#MAV_CMD_NAV_RALLY_POINT} -### MAV_CMD_UAVCAN_GET_NODE_INFO (5200) — \[from: [common](../messages/common.md#MAV_CMD_UAVCAN_GET_NODE_INFO)\] {#MAV_CMD_UAVCAN_GET_NODE_INFO} +### STORM32_GIMBAL_MANAGER_CONTROL (60012) {#STORM32_GIMBAL_MANAGER_CONTROL} -### MAV_CMD_DO_SET_SAFETY_SWITCH_STATE (5300) — \[from: [common](../messages/common.md#MAV_CMD_DO_SET_SAFETY_SWITCH_STATE)\] {#MAV_CMD_DO_SET_SAFETY_SWITCH_STATE} +Message to a gimbal manager to control the gimbal attitude. Angles and rates can be set to NaN according to use case. A gimbal device is never to react to this message. -### MAV_CMD_DO_ADSB_OUT_IDENT (10001) — \[from: [common](../messages/common.md#MAV_CMD_DO_ADSB_OUT_IDENT)\] {#MAV_CMD_DO_ADSB_OUT_IDENT} +| Field Name | Type | Units | Values | Description | +| -------------------- | ---------- | ----- | ----------------------------------------------------------------------------------- | ----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | +| target_system | `uint8_t` | | | System ID | +| target_component | `uint8_t` | | | Component ID | +| gimbal_id | `uint8_t` | | | Gimbal ID of the gimbal manager to address (component ID or 1-6 for non-MAVLink gimbal, 0 for all gimbals). Send command multiple times for more than one but not all gimbals.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Messages with same value are from the same source (instance). | +| client | `uint8_t` | | [MAV_STORM32_GIMBAL_MANAGER_CLIENT](#MAV_STORM32_GIMBAL_MANAGER_CLIENT) | Client which is contacting the gimbal manager (must be set). | +| device_flags | `uint16_t` | | invalid:UINT16_MAX [GIMBAL_DEVICE_FLAGS](#GIMBAL_DEVICE_FLAGS) | Gimbal device flags to be applied (UINT16_MAX to be ignored). Same flags as used in [GIMBAL_DEVICE_SET_ATTITUDE](#GIMBAL_DEVICE_SET_ATTITUDE). | +| manager_flags | `uint16_t` | | invalid:0 [MAV_STORM32_GIMBAL_MANAGER_FLAGS](#MAV_STORM32_GIMBAL_MANAGER_FLAGS) | Gimbal manager flags to be applied (0 to be ignored). | +| q | `float[4]` | | invalid:[NaN:] | Quaternion components, w, x, y, z (1 0 0 0 is the null-rotation). Set first element to NaN to be ignored. The frame is determined by the GIMBAL_DEVICE_FLAGS_YAW_IN_xxx_FRAME flags. | +| angular_velocity_x | `float` | rad/s | invalid:NaN | X component of angular velocity (positive: roll to the right). NaN to be ignored. | +| angular_velocity_y | `float` | rad/s | invalid:NaN | Y component of angular velocity (positive: tilt up). NaN to be ignored. | +| angular_velocity_z | `float` | rad/s | invalid:NaN | Z component of angular velocity (positive: pan to the right). NaN to be ignored. The frame is determined by the GIMBAL_DEVICE_FLAGS_YAW_IN_xxx_FRAME flags. | -### MAV_CMD_PAYLOAD_PREPARE_DEPLOY (30001) — \[from: [common](../messages/common.md#MAV_CMD_PAYLOAD_PREPARE_DEPLOY)\] [DEP] {#MAV_CMD_PAYLOAD_PREPARE_DEPLOY} -### MAV_CMD_PAYLOAD_CONTROL_DEPLOY (30002) — \[from: [common](../messages/common.md#MAV_CMD_PAYLOAD_CONTROL_DEPLOY)\] [DEP] {#MAV_CMD_PAYLOAD_CONTROL_DEPLOY} +### STORM32_GIMBAL_MANAGER_CONTROL_PITCHYAW (60013) {#STORM32_GIMBAL_MANAGER_CONTROL_PITCHYAW} -### MAV_CMD_WAYPOINT_USER_1 (31000) — \[from: [common](../messages/common.md#MAV_CMD_WAYPOINT_USER_1)\] {#MAV_CMD_WAYPOINT_USER_1} +Message to a gimbal manager to control the gimbal tilt and pan angles. Angles and rates can be set to NaN according to use case. A gimbal device is never to react to this message. -### MAV_CMD_WAYPOINT_USER_2 (31001) — \[from: [common](../messages/common.md#MAV_CMD_WAYPOINT_USER_2)\] {#MAV_CMD_WAYPOINT_USER_2} +| Field Name | Type | Units | Values | Description | +| ---------------- | ---------- | ----- | ----------------------------------------------------------------------------------- | ----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | +| target_system | `uint8_t` | | | System ID | +| target_component | `uint8_t` | | | Component ID | +| gimbal_id | `uint8_t` | | | Gimbal ID of the gimbal manager to address (component ID or 1-6 for non-MAVLink gimbal, 0 for all gimbals). Send command multiple times for more than one but not all gimbals.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Messages with same value are from the same source (instance). | +| client | `uint8_t` | | [MAV_STORM32_GIMBAL_MANAGER_CLIENT](#MAV_STORM32_GIMBAL_MANAGER_CLIENT) | Client which is contacting the gimbal manager (must be set). | +| device_flags | `uint16_t` | | invalid:UINT16_MAX [GIMBAL_DEVICE_FLAGS](#GIMBAL_DEVICE_FLAGS) | Gimbal device flags to be applied (UINT16_MAX to be ignored). Same flags as used in [GIMBAL_DEVICE_SET_ATTITUDE](#GIMBAL_DEVICE_SET_ATTITUDE). | +| manager_flags | `uint16_t` | | invalid:0 [MAV_STORM32_GIMBAL_MANAGER_FLAGS](#MAV_STORM32_GIMBAL_MANAGER_FLAGS) | Gimbal manager flags to be applied (0 to be ignored). | +| pitch | `float` | rad | invalid:NaN | Pitch/tilt angle (positive: tilt up). NaN to be ignored. | +| yaw | `float` | rad | invalid:NaN | Yaw/pan angle (positive: pan the right). NaN to be ignored. The frame is determined by the GIMBAL_DEVICE_FLAGS_YAW_IN_xxx_FRAME flags. | +| pitch_rate | `float` | rad/s | invalid:NaN | Pitch/tilt angular rate (positive: tilt up). NaN to be ignored. | +| yaw_rate | `float` | rad/s | invalid:NaN | Yaw/pan angular rate (positive: pan to the right). NaN to be ignored. The frame is determined by the GIMBAL_DEVICE_FLAGS_YAW_IN_xxx_FRAME flags. | -### MAV_CMD_WAYPOINT_USER_3 (31002) — \[from: [common](../messages/common.md#MAV_CMD_WAYPOINT_USER_3)\] {#MAV_CMD_WAYPOINT_USER_3} -### MAV_CMD_WAYPOINT_USER_4 (31003) — \[from: [common](../messages/common.md#MAV_CMD_WAYPOINT_USER_4)\] {#MAV_CMD_WAYPOINT_USER_4} +### STORM32_GIMBAL_MANAGER_CORRECT_ROLL (60014) {#STORM32_GIMBAL_MANAGER_CORRECT_ROLL} -### MAV_CMD_WAYPOINT_USER_5 (31004) — \[from: [common](../messages/common.md#MAV_CMD_WAYPOINT_USER_5)\] {#MAV_CMD_WAYPOINT_USER_5} +Message to a gimbal manager to correct the gimbal roll angle. This message is typically used to manually correct for a tilted horizon in operation. A gimbal device is never to react to this message. -### MAV_CMD_SPATIAL_USER_1 (31005) — \[from: [common](../messages/common.md#MAV_CMD_SPATIAL_USER_1)\] {#MAV_CMD_SPATIAL_USER_1} +| Field Name | Type | Units | Values | Description | +| ---------------- | --------- | ----- | --------------------------------------------------------------------------- | ----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | +| target_system | `uint8_t` | | | System ID | +| target_component | `uint8_t` | | | Component ID | +| gimbal_id | `uint8_t` | | | Gimbal ID of the gimbal manager to address (component ID or 1-6 for non-MAVLink gimbal, 0 for all gimbals). Send command multiple times for more than one but not all gimbals.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Messages with same value are from the same source (instance). | +| client | `uint8_t` | | [MAV_STORM32_GIMBAL_MANAGER_CLIENT](#MAV_STORM32_GIMBAL_MANAGER_CLIENT) | Client which is contacting the gimbal manager (must be set). | +| roll | `float` | rad | | Roll angle (positive to roll to the right). | -### MAV_CMD_SPATIAL_USER_2 (31006) — \[from: [common](../messages/common.md#MAV_CMD_SPATIAL_USER_2)\] {#MAV_CMD_SPATIAL_USER_2} -### MAV_CMD_SPATIAL_USER_3 (31007) — \[from: [common](../messages/common.md#MAV_CMD_SPATIAL_USER_3)\] {#MAV_CMD_SPATIAL_USER_3} +### QSHOT_STATUS (60020) — [WIP] {#QSHOT_STATUS} -### MAV_CMD_SPATIAL_USER_4 (31008) — \[from: [common](../messages/common.md#MAV_CMD_SPATIAL_USER_4)\] {#MAV_CMD_SPATIAL_USER_4} +**WORK IN PROGRESS**: Do not use in stable production environments (it may change). -### MAV_CMD_SPATIAL_USER_5 (31009) — \[from: [common](../messages/common.md#MAV_CMD_SPATIAL_USER_5)\] {#MAV_CMD_SPATIAL_USER_5} +Information about the shot operation. -### MAV_CMD_USER_1 (31010) — \[from: [common](../messages/common.md#MAV_CMD_USER_1)\] {#MAV_CMD_USER_1} +| Field Name | Type | Values | Description | +| ---------- | ---------- | ----------------------------------- | ------------------------------------------------------------------------- | +| mode | `uint16_t` | [MAV_QSHOT_MODE](#MAV_QSHOT_MODE) | Current shot mode. | +| shot_state | `uint16_t` | | Current state in the shot. States are specific to the selected shot mode. | -### MAV_CMD_USER_2 (31011) — \[from: [common](../messages/common.md#MAV_CMD_USER_2)\] {#MAV_CMD_USER_2} -### MAV_CMD_USER_3 (31012) — \[from: [common](../messages/common.md#MAV_CMD_USER_3)\] {#MAV_CMD_USER_3} +### FRSKY_PASSTHROUGH_ARRAY (60040) {#FRSKY_PASSTHROUGH_ARRAY} -### MAV_CMD_USER_4 (31013) — \[from: [common](../messages/common.md#MAV_CMD_USER_4)\] {#MAV_CMD_USER_4} +Frsky SPort passthrough multi packet container. -### MAV_CMD_USER_5 (31014) — \[from: [common](../messages/common.md#MAV_CMD_USER_5)\] {#MAV_CMD_USER_5} +| Field Name | Type | Units | Description | +| -------------- | -------------- | ----- | ------------------------------------------------------------------------------------------------------------------- | +| time_boot_ms | `uint32_t` | ms | Timestamp (time since system boot). | +| count | `uint8_t` | | Number of passthrough packets in this message. | +| packet_buf | `uint8_t[240]` | | Passthrough packet buffer. A packet has 6 bytes: uint16_t id + uint32_t data. The array has space for 40 packets. | -### MAV_CMD_CAN_FORWARD (32000) — \[from: [common](../messages/common.md#MAV_CMD_CAN_FORWARD)\] {#MAV_CMD_CAN_FORWARD} -### MAV_CMD_POWER_OFF_INITIATED (42000) — \[from: [ardupilotmega](../messages/ardupilotmega.md#MAV_CMD_POWER_OFF_INITIATED)\] {#MAV_CMD_POWER_OFF_INITIATED} +### PARAM_VALUE_ARRAY (60041) {#PARAM_VALUE_ARRAY} -### MAV_CMD_SOLO_BTN_FLY_CLICK (42001) — \[from: [ardupilotmega](../messages/ardupilotmega.md#MAV_CMD_SOLO_BTN_FLY_CLICK)\] {#MAV_CMD_SOLO_BTN_FLY_CLICK} +Parameter multi param value container. -### MAV_CMD_SOLO_BTN_FLY_HOLD (42002) — \[from: [ardupilotmega](../messages/ardupilotmega.md#MAV_CMD_SOLO_BTN_FLY_HOLD)\] {#MAV_CMD_SOLO_BTN_FLY_HOLD} +| Field Name | Type | Description | +| ------------------- | -------------- | ------------------------------------------------------------------------------------------------------------------------------- | +| param_count | `uint16_t` | Total number of onboard parameters. | +| param_index_first | `uint16_t` | Index of the first onboard parameter in this array. | +| param_array_len | `uint8_t` | Number of onboard parameters in this array. | +| flags | `uint16_t` | Flags. | +| packet_buf | `uint8_t[248]` | Parameters buffer. Contains a series of variable length parameter blocks, one per parameter, with format as specifed elsewhere. | -### MAV_CMD_SOLO_BTN_PAUSE_CLICK (42003) — \[from: [ardupilotmega](../messages/ardupilotmega.md#MAV_CMD_SOLO_BTN_PAUSE_CLICK)\] {#MAV_CMD_SOLO_BTN_PAUSE_CLICK} -### MAV_CMD_FIXED_MAG_CAL (42004) — \[from: [ardupilotmega](../messages/ardupilotmega.md#MAV_CMD_FIXED_MAG_CAL)\] {#MAV_CMD_FIXED_MAG_CAL} +## Enumerated Types -### MAV_CMD_FIXED_MAG_CAL_FIELD (42005) — \[from: [ardupilotmega](../messages/ardupilotmega.md#MAV_CMD_FIXED_MAG_CAL_FIELD)\] {#MAV_CMD_FIXED_MAG_CAL_FIELD} +### MAV_STORM32_TUNNEL_PAYLOAD_TYPE {#MAV_STORM32_TUNNEL_PAYLOAD_TYPE} -### MAV_CMD_FIXED_MAG_CAL_YAW (42006) — \[from: [common](../messages/common.md#MAV_CMD_FIXED_MAG_CAL_YAW)\] {#MAV_CMD_FIXED_MAG_CAL_YAW} +| Value | Name | Description | +| ---------------------------- | --------------------------------------------------------------------------------------------------------- | ---------------------------------------------------------------------------------- | +| 200 | [MAV_STORM32_TUNNEL_PAYLOAD_TYPE_STORM32_CH1_IN](#MAV_STORM32_TUNNEL_PAYLOAD_TYPE_STORM32_CH1_IN) | Registered for STorM32 gimbal controller. For communication with gimbal or camera. | +| 201 | [MAV_STORM32_TUNNEL_PAYLOAD_TYPE_STORM32_CH1_OUT](#MAV_STORM32_TUNNEL_PAYLOAD_TYPE_STORM32_CH1_OUT) | Registered for STorM32 gimbal controller. For communication with gimbal or camera. | +| 202 | [MAV_STORM32_TUNNEL_PAYLOAD_TYPE_STORM32_CH2_IN](#MAV_STORM32_TUNNEL_PAYLOAD_TYPE_STORM32_CH2_IN) | Registered for STorM32 gimbal controller. For communication with gimbal. | +| 203 | [MAV_STORM32_TUNNEL_PAYLOAD_TYPE_STORM32_CH2_OUT](#MAV_STORM32_TUNNEL_PAYLOAD_TYPE_STORM32_CH2_OUT) | Registered for STorM32 gimbal controller. For communication with gimbal. | +| 204 | [MAV_STORM32_TUNNEL_PAYLOAD_TYPE_STORM32_CH3_IN](#MAV_STORM32_TUNNEL_PAYLOAD_TYPE_STORM32_CH3_IN) | Registered for STorM32 gimbal controller. For communication with camera. | +| 205 | [MAV_STORM32_TUNNEL_PAYLOAD_TYPE_STORM32_CH3_OUT](#MAV_STORM32_TUNNEL_PAYLOAD_TYPE_STORM32_CH3_OUT) | Registered for STorM32 gimbal controller. For communication with camera. | -### MAV_CMD_SET_EKF_SOURCE_SET (42007) — \[from: [ardupilotmega](../messages/ardupilotmega.md#MAV_CMD_SET_EKF_SOURCE_SET)\] {#MAV_CMD_SET_EKF_SOURCE_SET} +### MAV_STORM32_GIMBAL_PREARM_FLAGS {#MAV_STORM32_GIMBAL_PREARM_FLAGS} -### MAV_CMD_DO_START_MAG_CAL (42424) — \[from: [ardupilotmega](../messages/ardupilotmega.md#MAV_CMD_DO_START_MAG_CAL)\] {#MAV_CMD_DO_START_MAG_CAL} +(Bitmask) STorM32 gimbal prearm check flags. -### MAV_CMD_DO_ACCEPT_MAG_CAL (42425) — \[from: [ardupilotmega](../messages/ardupilotmega.md#MAV_CMD_DO_ACCEPT_MAG_CAL)\] {#MAV_CMD_DO_ACCEPT_MAG_CAL} +| Value | Name | Description | +| ------------------------------ | ----------------------------------------------------------------------------------------------------------------------------- | ---------------------------------------------- | +| 1 | [MAV_STORM32_GIMBAL_PREARM_FLAGS_IS_NORMAL](#MAV_STORM32_GIMBAL_PREARM_FLAGS_IS_NORMAL) | STorM32 gimbal is in normal state. | +| 2 | [MAV_STORM32_GIMBAL_PREARM_FLAGS_IMUS_WORKING](#MAV_STORM32_GIMBAL_PREARM_FLAGS_IMUS_WORKING) | The IMUs are healthy and working normally. | +| 4 | [MAV_STORM32_GIMBAL_PREARM_FLAGS_MOTORS_WORKING](#MAV_STORM32_GIMBAL_PREARM_FLAGS_MOTORS_WORKING) | The motors are active and working normally. | +| 8 | [MAV_STORM32_GIMBAL_PREARM_FLAGS_ENCODERS_WORKING](#MAV_STORM32_GIMBAL_PREARM_FLAGS_ENCODERS_WORKING) | The encoders are healthy and working normally. | +| 16 | [MAV_STORM32_GIMBAL_PREARM_FLAGS_VOLTAGE_OK](#MAV_STORM32_GIMBAL_PREARM_FLAGS_VOLTAGE_OK) | A battery voltage is applied and is in range. | +| 32 | [MAV_STORM32_GIMBAL_PREARM_FLAGS_VIRTUALCHANNELS_RECEIVING](#MAV_STORM32_GIMBAL_PREARM_FLAGS_VIRTUALCHANNELS_RECEIVING) | Virtual input channels are receiving data. | +| 64 | [MAV_STORM32_GIMBAL_PREARM_FLAGS_MAVLINK_RECEIVING](#MAV_STORM32_GIMBAL_PREARM_FLAGS_MAVLINK_RECEIVING) | Mavlink messages are being received. | +| 128 | [MAV_STORM32_GIMBAL_PREARM_FLAGS_STORM32LINK_QFIX](#MAV_STORM32_GIMBAL_PREARM_FLAGS_STORM32LINK_QFIX) | The STorM32Link data indicates QFix. | +| 256 | [MAV_STORM32_GIMBAL_PREARM_FLAGS_STORM32LINK_WORKING](#MAV_STORM32_GIMBAL_PREARM_FLAGS_STORM32LINK_WORKING) | The STorM32Link is working. | +| 512 | [MAV_STORM32_GIMBAL_PREARM_FLAGS_CAMERA_CONNECTED](#MAV_STORM32_GIMBAL_PREARM_FLAGS_CAMERA_CONNECTED) | The camera has been found and is connected. | +| 1024 | [MAV_STORM32_GIMBAL_PREARM_FLAGS_AUX0_LOW](#MAV_STORM32_GIMBAL_PREARM_FLAGS_AUX0_LOW) | The signal on the AUX0 input pin is low. | +| 2048 | [MAV_STORM32_GIMBAL_PREARM_FLAGS_AUX1_LOW](#MAV_STORM32_GIMBAL_PREARM_FLAGS_AUX1_LOW) | The signal on the AUX1 input pin is low. | +| 4096 | [MAV_STORM32_GIMBAL_PREARM_FLAGS_NTLOGGER_WORKING](#MAV_STORM32_GIMBAL_PREARM_FLAGS_NTLOGGER_WORKING) | The NTLogger is working normally. | -### MAV_CMD_DO_CANCEL_MAG_CAL (42426) — \[from: [ardupilotmega](../messages/ardupilotmega.md#MAV_CMD_DO_CANCEL_MAG_CAL)\] {#MAV_CMD_DO_CANCEL_MAG_CAL} +### MAV_STORM32_CAMERA_PREARM_FLAGS {#MAV_STORM32_CAMERA_PREARM_FLAGS} -### MAV_CMD_SET_FACTORY_TEST_MODE (42427) — \[from: [ardupilotmega](../messages/ardupilotmega.md#MAV_CMD_SET_FACTORY_TEST_MODE)\] {#MAV_CMD_SET_FACTORY_TEST_MODE} +(Bitmask) STorM32 camera prearm check flags. -### MAV_CMD_DO_SEND_BANNER (42428) — \[from: [ardupilotmega](../messages/ardupilotmega.md#MAV_CMD_DO_SEND_BANNER)\] {#MAV_CMD_DO_SEND_BANNER} +| Value | Name | Description | +| --------------------------- | ------------------------------------------------------------------------------------------- | ------------------------------------------- | +| 1 | [MAV_STORM32_CAMERA_PREARM_FLAGS_CONNECTED](#MAV_STORM32_CAMERA_PREARM_FLAGS_CONNECTED) | The camera has been found and is connected. | -### MAV_CMD_ACCELCAL_VEHICLE_POS (42429) — \[from: [ardupilotmega](../messages/ardupilotmega.md#MAV_CMD_ACCELCAL_VEHICLE_POS)\] {#MAV_CMD_ACCELCAL_VEHICLE_POS} +### MAV_STORM32_GIMBAL_MANAGER_CAP_FLAGS {#MAV_STORM32_GIMBAL_MANAGER_CAP_FLAGS} -### MAV_CMD_GIMBAL_RESET (42501) — \[from: [ardupilotmega](../messages/ardupilotmega.md#MAV_CMD_GIMBAL_RESET)\] {#MAV_CMD_GIMBAL_RESET} +(Bitmask) Gimbal manager capability flags. -### MAV_CMD_GIMBAL_AXIS_CALIBRATION_STATUS (42502) — \[from: [ardupilotmega](../messages/ardupilotmega.md#MAV_CMD_GIMBAL_AXIS_CALIBRATION_STATUS)\] {#MAV_CMD_GIMBAL_AXIS_CALIBRATION_STATUS} +| Value | Name | Description | +| --------------------------- | ------------------------------------------------------------------------------------------------------------- | --------------------------------------------- | +| 1 | [MAV_STORM32_GIMBAL_MANAGER_CAP_FLAGS_HAS_PROFILES](#MAV_STORM32_GIMBAL_MANAGER_CAP_FLAGS_HAS_PROFILES) | The gimbal manager supports several profiles. | -### MAV_CMD_GIMBAL_REQUEST_AXIS_CALIBRATION (42503) — \[from: [ardupilotmega](../messages/ardupilotmega.md#MAV_CMD_GIMBAL_REQUEST_AXIS_CALIBRATION)\] {#MAV_CMD_GIMBAL_REQUEST_AXIS_CALIBRATION} +### MAV_STORM32_GIMBAL_MANAGER_FLAGS {#MAV_STORM32_GIMBAL_MANAGER_FLAGS} -### MAV_CMD_GIMBAL_FULL_RESET (42505) — \[from: [ardupilotmega](../messages/ardupilotmega.md#MAV_CMD_GIMBAL_FULL_RESET)\] {#MAV_CMD_GIMBAL_FULL_RESET} +(Bitmask) Flags for gimbal manager operation. Used for setting and reporting, unless specified otherwise. If a setting has been accepted by the gimbal manager is reported in the STORM32_GIMBAL_MANAGER_STATUS message. -### MAV_CMD_DO_WINCH (42600) — \[from: [common](../messages/common.md#MAV_CMD_DO_WINCH)\] {#MAV_CMD_DO_WINCH} +| Value | Name | Description | +| ------------------------------ | --------------------------------------------------------------------------------------------------------------------------- | ----------------------------------------------------------------------------------------------------------------------------------------------- | +| 0 | [MAV_STORM32_GIMBAL_MANAGER_FLAGS_NONE](#MAV_STORM32_GIMBAL_MANAGER_FLAGS_NONE) | 0 = ignore. | +| 1 | [MAV_STORM32_GIMBAL_MANAGER_FLAGS_RC_ACTIVE](#MAV_STORM32_GIMBAL_MANAGER_FLAGS_RC_ACTIVE) | Request to set RC input to active, or report RC input is active. Implies RC mixed. RC exclusive is achieved by setting all clients to inactive. | +| 2 | [MAV_STORM32_GIMBAL_MANAGER_FLAGS_CLIENT_ONBOARD_ACTIVE](#MAV_STORM32_GIMBAL_MANAGER_FLAGS_CLIENT_ONBOARD_ACTIVE) | Request to set onboard/companion computer client to active, or report this client is active. | +| 4 | [MAV_STORM32_GIMBAL_MANAGER_FLAGS_CLIENT_AUTOPILOT_ACTIVE](#MAV_STORM32_GIMBAL_MANAGER_FLAGS_CLIENT_AUTOPILOT_ACTIVE) | Request to set autopliot client to active, or report this client is active. | +| 8 | [MAV_STORM32_GIMBAL_MANAGER_FLAGS_CLIENT_GCS_ACTIVE](#MAV_STORM32_GIMBAL_MANAGER_FLAGS_CLIENT_GCS_ACTIVE) | Request to set GCS client to active, or report this client is active. | +| 16 | [MAV_STORM32_GIMBAL_MANAGER_FLAGS_CLIENT_CAMERA_ACTIVE](#MAV_STORM32_GIMBAL_MANAGER_FLAGS_CLIENT_CAMERA_ACTIVE) | Request to set camera client to active, or report this client is active. | +| 32 | [MAV_STORM32_GIMBAL_MANAGER_FLAGS_CLIENT_GCS2_ACTIVE](#MAV_STORM32_GIMBAL_MANAGER_FLAGS_CLIENT_GCS2_ACTIVE) | Request to set GCS2 client to active, or report this client is active. | +| 64 | [MAV_STORM32_GIMBAL_MANAGER_FLAGS_CLIENT_CAMERA2_ACTIVE](#MAV_STORM32_GIMBAL_MANAGER_FLAGS_CLIENT_CAMERA2_ACTIVE) | Request to set camera2 client to active, or report this client is active. | +| 128 | [MAV_STORM32_GIMBAL_MANAGER_FLAGS_CLIENT_CUSTOM_ACTIVE](#MAV_STORM32_GIMBAL_MANAGER_FLAGS_CLIENT_CUSTOM_ACTIVE) | Request to set custom client to active, or report this client is active. | +| 256 | [MAV_STORM32_GIMBAL_MANAGER_FLAGS_CLIENT_CUSTOM2_ACTIVE](#MAV_STORM32_GIMBAL_MANAGER_FLAGS_CLIENT_CUSTOM2_ACTIVE) | Request to set custom2 client to active, or report this client is active. | +| 512 | [MAV_STORM32_GIMBAL_MANAGER_FLAGS_SET_SUPERVISON](#MAV_STORM32_GIMBAL_MANAGER_FLAGS_SET_SUPERVISON) | Request supervision. This flag is only for setting, it is not reported. | +| 1024 | [MAV_STORM32_GIMBAL_MANAGER_FLAGS_SET_RELEASE](#MAV_STORM32_GIMBAL_MANAGER_FLAGS_SET_RELEASE) | Release supervision. This flag is only for setting, it is not reported. | -### MAV_CMD_FLASH_BOOTLOADER (42650) — \[from: [ardupilotmega](../messages/ardupilotmega.md#MAV_CMD_FLASH_BOOTLOADER)\] {#MAV_CMD_FLASH_BOOTLOADER} +### MAV_STORM32_GIMBAL_MANAGER_CLIENT {#MAV_STORM32_GIMBAL_MANAGER_CLIENT} -### MAV_CMD_BATTERY_RESET (42651) — \[from: [ardupilotmega](../messages/ardupilotmega.md#MAV_CMD_BATTERY_RESET)\] {#MAV_CMD_BATTERY_RESET} +Gimbal manager client ID. In a prioritizing profile, the priorities are determined by the implementation; they could e.g. be custom1 > onboard > GCS > autopilot/camera > GCS2 > custom2. -### MAV_CMD_DEBUG_TRAP (42700) — \[from: [ardupilotmega](../messages/ardupilotmega.md#MAV_CMD_DEBUG_TRAP)\] {#MAV_CMD_DEBUG_TRAP} +| Value | Name | Description | +| --------------------------- | ----------------------------------------------------------------------------------------------- | ---------------------------------------------- | +| 0 | [MAV_STORM32_GIMBAL_MANAGER_CLIENT_NONE](#MAV_STORM32_GIMBAL_MANAGER_CLIENT_NONE) | For convenience. | +| 1 | [MAV_STORM32_GIMBAL_MANAGER_CLIENT_ONBOARD](#MAV_STORM32_GIMBAL_MANAGER_CLIENT_ONBOARD) | This is the onboard/companion computer client. | +| 2 | [MAV_STORM32_GIMBAL_MANAGER_CLIENT_AUTOPILOT](#MAV_STORM32_GIMBAL_MANAGER_CLIENT_AUTOPILOT) | This is the autopilot client. | +| 3 | [MAV_STORM32_GIMBAL_MANAGER_CLIENT_GCS](#MAV_STORM32_GIMBAL_MANAGER_CLIENT_GCS) | This is the GCS client. | +| 4 | [MAV_STORM32_GIMBAL_MANAGER_CLIENT_CAMERA](#MAV_STORM32_GIMBAL_MANAGER_CLIENT_CAMERA) | This is the camera client. | +| 5 | [MAV_STORM32_GIMBAL_MANAGER_CLIENT_GCS2](#MAV_STORM32_GIMBAL_MANAGER_CLIENT_GCS2) | This is the GCS2 client. | +| 6 | [MAV_STORM32_GIMBAL_MANAGER_CLIENT_CAMERA2](#MAV_STORM32_GIMBAL_MANAGER_CLIENT_CAMERA2) | This is the camera2 client. | +| 7 | [MAV_STORM32_GIMBAL_MANAGER_CLIENT_CUSTOM](#MAV_STORM32_GIMBAL_MANAGER_CLIENT_CUSTOM) | This is the custom client. | +| 8 | [MAV_STORM32_GIMBAL_MANAGER_CLIENT_CUSTOM2](#MAV_STORM32_GIMBAL_MANAGER_CLIENT_CUSTOM2) | This is the custom2 client. | -### MAV_CMD_SCRIPTING (42701) — \[from: [ardupilotmega](../messages/ardupilotmega.md#MAV_CMD_SCRIPTING)\] {#MAV_CMD_SCRIPTING} +### MAV_STORM32_GIMBAL_MANAGER_PROFILE {#MAV_STORM32_GIMBAL_MANAGER_PROFILE} -### MAV_CMD_NAV_SCRIPT_TIME (42702) — \[from: [ardupilotmega](../messages/ardupilotmega.md#MAV_CMD_NAV_SCRIPT_TIME)\] {#MAV_CMD_NAV_SCRIPT_TIME} +Gimbal manager profiles. Only standard profiles are defined. Any implementation can define its own profile(s) in addition, and should use enum values > 16. -### MAV_CMD_NAV_ATTITUDE_TIME (42703) — \[from: [ardupilotmega](../messages/ardupilotmega.md#MAV_CMD_NAV_ATTITUDE_TIME)\] {#MAV_CMD_NAV_ATTITUDE_TIME} +| Value | Name | Description | +| --------------------------- | ------------------------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------ | +| 0 | [MAV_STORM32_GIMBAL_MANAGER_PROFILE_DEFAULT](#MAV_STORM32_GIMBAL_MANAGER_PROFILE_DEFAULT) | Default profile. Implementation specific. | +| 1 | [MAV_STORM32_GIMBAL_MANAGER_PROFILE_CUSTOM](#MAV_STORM32_GIMBAL_MANAGER_PROFILE_CUSTOM) | Not supported/deprecated. | +| 2 | [MAV_STORM32_GIMBAL_MANAGER_PROFILE_COOPERATIVE](#MAV_STORM32_GIMBAL_MANAGER_PROFILE_COOPERATIVE) | Profile with cooperative behavior. | +| 3 | [MAV_STORM32_GIMBAL_MANAGER_PROFILE_EXCLUSIVE](#MAV_STORM32_GIMBAL_MANAGER_PROFILE_EXCLUSIVE) | Profile with exclusive behavior. | +| 4 | [MAV_STORM32_GIMBAL_MANAGER_PROFILE_PRIORITY_COOPERATIVE](#MAV_STORM32_GIMBAL_MANAGER_PROFILE_PRIORITY_COOPERATIVE) | Profile with priority and cooperative behavior for equal priority. | +| 5 | [MAV_STORM32_GIMBAL_MANAGER_PROFILE_PRIORITY_EXCLUSIVE](#MAV_STORM32_GIMBAL_MANAGER_PROFILE_PRIORITY_EXCLUSIVE) | Profile with priority and exclusive behavior for equal priority. | -### MAV_CMD_GUIDED_CHANGE_SPEED (43000) — \[from: [ardupilotmega](../messages/ardupilotmega.md#MAV_CMD_GUIDED_CHANGE_SPEED)\] {#MAV_CMD_GUIDED_CHANGE_SPEED} +### MAV_QSHOT_MODE {#MAV_QSHOT_MODE} -### MAV_CMD_GUIDED_CHANGE_ALTITUDE (43001) — \[from: [ardupilotmega](../messages/ardupilotmega.md#MAV_CMD_GUIDED_CHANGE_ALTITUDE)\] {#MAV_CMD_GUIDED_CHANGE_ALTITUDE} +Enumeration of possible shot modes. -### MAV_CMD_GUIDED_CHANGE_HEADING (43002) — \[from: [ardupilotmega](../messages/ardupilotmega.md#MAV_CMD_GUIDED_CHANGE_HEADING)\] {#MAV_CMD_GUIDED_CHANGE_HEADING} +| Value | Name | Description | +| --------------------------- | ------------------------------------------------------------------------- | ------------------------------------------------------------------------------ | +| 0 | [MAV_QSHOT_MODE_UNDEFINED](#MAV_QSHOT_MODE_UNDEFINED) | Undefined shot mode. Can be used to determine if qshots should be used or not. | +| 1 | [MAV_QSHOT_MODE_DEFAULT](#MAV_QSHOT_MODE_DEFAULT) | Start normal gimbal operation. Is usually used to return back from a shot. | +| 2 | [MAV_QSHOT_MODE_GIMBAL_RETRACT](#MAV_QSHOT_MODE_GIMBAL_RETRACT) | Load and keep safe gimbal position and stop stabilization. | +| 3 | [MAV_QSHOT_MODE_GIMBAL_NEUTRAL](#MAV_QSHOT_MODE_GIMBAL_NEUTRAL) | Load neutral gimbal position and keep it while stabilizing. | +| 4 | [MAV_QSHOT_MODE_GIMBAL_MISSION](#MAV_QSHOT_MODE_GIMBAL_MISSION) | Start mission with gimbal control. | +| 5 | [MAV_QSHOT_MODE_GIMBAL_RC_CONTROL](#MAV_QSHOT_MODE_GIMBAL_RC_CONTROL) | Start RC gimbal control. | +| 6 | [MAV_QSHOT_MODE_POI_TARGETING](#MAV_QSHOT_MODE_POI_TARGETING) | Start gimbal tracking the point specified by Lat, Lon, Alt. | +| 7 | [MAV_QSHOT_MODE_SYSID_TARGETING](#MAV_QSHOT_MODE_SYSID_TARGETING) | Start gimbal tracking the system with specified system ID. | +| 8 | [MAV_QSHOT_MODE_CABLECAM_2POINT](#MAV_QSHOT_MODE_CABLECAM_2POINT) | Start 2-point cable cam quick shot. | +| 9 | [MAV_QSHOT_MODE_HOME_TARGETING](#MAV_QSHOT_MODE_HOME_TARGETING) | Start gimbal tracking the home location. | -### MAV_CMD_EXTERNAL_POSITION_ESTIMATE (43003) — \[from: [common](../messages/common.md#MAV_CMD_EXTERNAL_POSITION_ESTIMATE)\] {#MAV_CMD_EXTERNAL_POSITION_ESTIMATE} +## Commands (MAV_CMD) {#mav_commands} ### MAV_CMD_STORM32_DO_GIMBAL_MANAGER_CONTROL_PITCHYAW (60002) {#MAV_CMD_STORM32_DO_GIMBAL_MANAGER_CONTROL_PITCHYAW} diff --git a/zh/messages/test.html b/zh/messages/test.html index 59db8a476..6142f2360 100644 --- a/zh/messages/test.html +++ b/zh/messages/test.html @@ -1 +1 @@ -test.xml · MAVLink Developer Guide
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        方言：测试

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        The test dialect is used for testing XML file parsing.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        This is a human-readable form of the XML definition file: test.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        已添加到 MAVLink 1 消息中的 MAVLink 2 扩展字段以蓝色显示。 - Entities from dialects are displayed only as headings (with link to original)

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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        TEST_TYPES (17000)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Test all field types

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        ccharchar
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        schar[10]string
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        u8uint8_tuint8_t
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        u16uint16_tuint16_t
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        u32uint32_tuint32_t
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        u64uint64_tuint64_t
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        s8int8_tint8_t
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        s16int16_tint16_t
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        s32int32_tint32_t
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        s64int64_tint64_t
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        ffloatfloat
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        ddoubledouble
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        u8_arrayuint8_t[3]uint8_t_array
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        u16_arrayuint16_t[3]uint16_t_array
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        u32_arrayuint32_t[3]uint32_t_array
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        u64_arrayuint64_t[3]uint64_t_array
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        s8_arrayint8_t[3]int8_t_array
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        s16_arrayint16_t[3]int16_t_array
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        s32_arrayint32_t[3]int32_t_array
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        s64_arrayint64_t[3]int64_t_array
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        f_arrayfloat[3]float_array
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        d_arraydouble[3]double_array

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        results matching ""

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          No results matching ""

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          \ No newline at end of file +test.xml · MAVLink Developer Guide
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Messages
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Messages
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          FAQ
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          FAQ
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Implementations
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Implementations
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Examples
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Examples
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Support
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Help

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          方言：测试

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          The test dialect is used for testing XML file parsing.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          This is a human-readable form of the XML definition file: test.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          已添加到 MAVLink 1 消息中的 MAVLink 2 扩展字段以蓝色显示。 - Entities from dialects are displayed only as headings (with link to original)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Protocol version: 3

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          None

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Summary

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          TypeDefinedIncluded
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Messages10
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Enums00
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Commands00

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          The following sections list all entities in the dialect (both included and defined in this file).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Messages

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          TEST_TYPES (17000)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Test all field types

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ccharchar
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          schar[10]string
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          u8uint8_tuint8_t
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          u16uint16_tuint16_t
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          u32uint32_tuint32_t
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          u64uint64_tuint64_t
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          s8int8_tint8_t
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          s16int16_tint16_t
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          s32int32_tint32_t
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          s64int64_tint64_t
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ffloatfloat
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ddoubledouble
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          u8_arrayuint8_t[3]uint8_t_array
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          u16_arrayuint16_t[3]uint16_t_array
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          u32_arrayuint32_t[3]uint32_t_array
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          u64_arrayuint64_t[3]uint64_t_array
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          s8_arrayint8_t[3]int8_t_array
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          s16_arrayint16_t[3]int16_t_array
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          s32_arrayint32_t[3]int32_t_array
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          s64_arrayint64_t[3]int64_t_array
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          f_arrayfloat[3]float_array
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          d_arraydouble[3]double_array

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          results matching ""

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            No results matching ""

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            \ No newline at end of file diff --git a/zh/messages/uAvionix.html b/zh/messages/uAvionix.html index a892b9e5b..c0603509c 100644 --- a/zh/messages/uAvionix.html +++ b/zh/messages/uAvionix.html @@ -1 +1 @@ -uAvionix.xml · MAVLink Developer Guide
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Messages
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Messages
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            FAQ
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            FAQ
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Implementations
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Implementations
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Examples
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Examples
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Support
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Help

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            方言：uAvionix

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            This topic documents the version of the dialect file in the mavlink/mavlink Github repository, which may not be up to date with the file in the source repository (it is up to the dialect owner to push changes when needed). The source repo should be listed in the comments at the top of the XML definition file listed below (but may not be).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            This is a human-readable form of the XML definition file: uAvionix.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            已添加到 MAVLink 1 消息中的 MAVLink 2 扩展字段以蓝色显示。 - Entities from dialects are displayed only as headings (with link to original)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Summary

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            TypeDefinedIncluded
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Messages3224
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Enums8142
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Commands1640

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            The following sections list all entities in the dialect (both included and defined in this file).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Messages

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            HEARTBEAT (0) — [from: minimal]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            SYS_STATUS (1) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            SYSTEM_TIME (2) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            PING (4) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            CHANGE_OPERATOR_CONTROL (5) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            CHANGE_OPERATOR_CONTROL_ACK (6) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            AUTH_KEY (7) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            SET_MODE (11) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            PARAM_REQUEST_READ (20) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            PARAM_REQUEST_LIST (21) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            PARAM_VALUE (22) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            PARAM_SET (23) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            GPS_RAW_INT (24) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            GPS_STATUS (25) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            SCALED_IMU (26) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            RAW_IMU (27) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            RAW_PRESSURE (28) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            SCALED_PRESSURE (29) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ATTITUDE (30) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ATTITUDE_QUATERNION (31) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            LOCAL_POSITION_NED (32) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            GLOBAL_POSITION_INT (33) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            RC_CHANNELS_SCALED (34) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            RC_CHANNELS_RAW (35) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            SERVO_OUTPUT_RAW (36) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MISSION_REQUEST_PARTIAL_LIST (37) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MISSION_WRITE_PARTIAL_LIST (38) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MISSION_ITEM (39) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MISSION_REQUEST (40) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MISSION_SET_CURRENT (41) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MISSION_CURRENT (42) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MISSION_REQUEST_LIST (43) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MISSION_COUNT (44) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MISSION_CLEAR_ALL (45) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MISSION_ITEM_REACHED (46) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MISSION_ACK (47) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            SET_GPS_GLOBAL_ORIGIN (48) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            GPS_GLOBAL_ORIGIN (49) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            PARAM_MAP_RC (50) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MISSION_REQUEST_INT (51) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            SAFETY_SET_ALLOWED_AREA (54) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            SAFETY_ALLOWED_AREA (55) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ATTITUDE_QUATERNION_COV (61) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            GLOBAL_POSITION_INT_COV (63) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            LOCAL_POSITION_NED_COV (64) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            RC_CHANNELS (65) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            REQUEST_DATA_STREAM (66) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            DATA_STREAM (67) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MANUAL_CONTROL (69) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            RC_CHANNELS_OVERRIDE (70) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MISSION_ITEM_INT (73) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            VFR_HUD (74) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            COMMAND_INT (75) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            COMMAND_LONG (76) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            COMMAND_ACK (77) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            COMMAND_CANCEL (80) — [from: common] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MANUAL_SETPOINT (81) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            SET_ATTITUDE_TARGET (82) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ATTITUDE_TARGET (83) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            SET_POSITION_TARGET_LOCAL_NED (84) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            POSITION_TARGET_LOCAL_NED (85) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            SET_POSITION_TARGET_GLOBAL_INT (86) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            POSITION_TARGET_GLOBAL_INT (87) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            LOCAL_POSITION_NED_SYSTEM_GLOBAL_OFFSET (89) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            HIL_STATE (90) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            HIL_CONTROLS (91) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            HIL_RC_INPUTS_RAW (92) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            HIL_ACTUATOR_CONTROLS (93) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            OPTICAL_FLOW (100) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            GLOBAL_VISION_POSITION_ESTIMATE (101) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            VISION_POSITION_ESTIMATE (102) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            VISION_SPEED_ESTIMATE (103) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            VICON_POSITION_ESTIMATE (104) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            HIGHRES_IMU (105) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            OPTICAL_FLOW_RAD (106) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            HIL_SENSOR (107) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            SIM_STATE (108) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            RADIO_STATUS (109) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            FILE_TRANSFER_PROTOCOL (110) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            TIMESYNC (111) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            CAMERA_TRIGGER (112) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            HIL_GPS (113) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            HIL_OPTICAL_FLOW (114) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            HIL_STATE_QUATERNION (115) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            SCALED_IMU2 (116) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            LOG_REQUEST_LIST (117) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            LOG_ENTRY (118) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            LOG_REQUEST_DATA (119) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            LOG_DATA (120) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            LOG_ERASE (121) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            LOG_REQUEST_END (122) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            GPS_INJECT_DATA (123) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            GPS2_RAW (124) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            POWER_STATUS (125) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            SERIAL_CONTROL (126) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            GPS_RTK (127) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            GPS2_RTK (128) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            SCALED_IMU3 (129) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            DATA_TRANSMISSION_HANDSHAKE (130) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ENCAPSULATED_DATA (131) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            DISTANCE_SENSOR (132) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            TERRAIN_REQUEST (133) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            TERRAIN_DATA (134) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            TERRAIN_CHECK (135) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            TERRAIN_REPORT (136) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            SCALED_PRESSURE2 (137) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ATT_POS_MOCAP (138) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            SET_ACTUATOR_CONTROL_TARGET (139) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ACTUATOR_CONTROL_TARGET (140) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ALTITUDE (141) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            RESOURCE_REQUEST (142) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            SCALED_PRESSURE3 (143) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            FOLLOW_TARGET (144) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            CONTROL_SYSTEM_STATE (146) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            BATTERY_STATUS (147) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            AUTOPILOT_VERSION (148) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            LANDING_TARGET (149) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            FENCE_STATUS (162) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAG_CAL_REPORT (192) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            EFI_STATUS (225) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ESTIMATOR_STATUS (230) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            WIND_COV (231) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            GPS_INPUT (232) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            GPS_RTCM_DATA (233) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            HIGH_LATENCY (234) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            HIGH_LATENCY2 (235) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            VIBRATION (241) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            HOME_POSITION (242) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            SET_HOME_POSITION (243) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MESSAGE_INTERVAL (244) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            EXTENDED_SYS_STATE (245) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ADSB_VEHICLE (246) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            COLLISION (247) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            V2_EXTENSION (248) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MEMORY_VECT (249) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            DEBUG_VECT (250) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            NAMED_VALUE_FLOAT (251) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            NAMED_VALUE_INT (252) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            STATUSTEXT (253) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            DEBUG (254) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            SETUP_SIGNING (256) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            BUTTON_CHANGE (257) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            PLAY_TUNE (258) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            CAMERA_INFORMATION (259) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            CAMERA_SETTINGS (260) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            STORAGE_INFORMATION (261) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            CAMERA_CAPTURE_STATUS (262) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            CAMERA_IMAGE_CAPTURED (263) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            FLIGHT_INFORMATION (264) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MOUNT_ORIENTATION (265) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            LOGGING_DATA (266) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            LOGGING_DATA_ACKED (267) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            LOGGING_ACK (268) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            VIDEO_STREAM_INFORMATION (269) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            VIDEO_STREAM_STATUS (270) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            CAMERA_FOV_STATUS (271) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            CAMERA_TRACKING_IMAGE_STATUS (275) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            CAMERA_TRACKING_GEO_STATUS (276) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            CAMERA_THERMAL_RANGE (277) — [from: common] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            GIMBAL_MANAGER_INFORMATION (280) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            GIMBAL_MANAGER_STATUS (281) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            GIMBAL_MANAGER_SET_ATTITUDE (282) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            GIMBAL_DEVICE_INFORMATION (283) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            GIMBAL_DEVICE_SET_ATTITUDE (284) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            GIMBAL_DEVICE_ATTITUDE_STATUS (285) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            AUTOPILOT_STATE_FOR_GIMBAL_DEVICE (286) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            GIMBAL_MANAGER_SET_PITCHYAW (287) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            GIMBAL_MANAGER_SET_MANUAL_CONTROL (288) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ESC_INFO (290) — [from: common] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ESC_STATUS (291) — [from: common] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            WIFI_CONFIG_AP (299) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            PROTOCOL_VERSION (300) — [from: minimal] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            AIS_VESSEL (301) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            UAVCAN_NODE_STATUS (310) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            UAVCAN_NODE_INFO (311) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            PARAM_EXT_REQUEST_READ (320) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            PARAM_EXT_REQUEST_LIST (321) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            PARAM_EXT_VALUE (322) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            PARAM_EXT_SET (323) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            PARAM_EXT_ACK (324) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            OBSTACLE_DISTANCE (330) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ODOMETRY (331) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            TRAJECTORY_REPRESENTATION_WAYPOINTS (332) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            TRAJECTORY_REPRESENTATION_BEZIER (333) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            CELLULAR_STATUS (334) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            CELLULAR_CONFIG (336) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            RAW_RPM (339) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            UTM_GLOBAL_POSITION (340) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            DEBUG_FLOAT_ARRAY (350) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ORBIT_EXECUTION_STATUS (360) — [from: common] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            BATTERY_INFO (370) — [from: common] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            GENERATOR_STATUS (373) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ACTUATOR_OUTPUT_STATUS (375) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            TIME_ESTIMATE_TO_TARGET (380) — [from: common] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            TUNNEL (385) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            CAN_FRAME (386) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            CANFD_FRAME (387) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            CAN_FILTER_MODIFY (388) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ONBOARD_COMPUTER_STATUS (390) — [from: common] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            COMPONENT_INFORMATION (395) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            COMPONENT_INFORMATION_BASIC (396) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            COMPONENT_METADATA (397) — [from: common] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            PLAY_TUNE_V2 (400) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            SUPPORTED_TUNES (401) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            EVENT (410) — [from: common] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            CURRENT_EVENT_SEQUENCE (411) — [from: common] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            REQUEST_EVENT (412) — [from: common] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            RESPONSE_EVENT_ERROR (413) — [from: common] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ILLUMINATOR_STATUS (440) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            WHEEL_DISTANCE (9000) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            WINCH_STATUS (9005) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            UAVIONIX_ADSB_OUT_CFG (10001)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Static data to configure the ADS-B transponder (send within 10 sec of a POR and every 10 sec thereafter)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ICAOuint32_tVehicle address (24 bit)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            callsignchar[9]Vehicle identifier (8 characters, null terminated, valid characters are A-Z, 0-9, " " only)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            emitterTypeuint8_tADSB_EMITTER_TYPETransmitting vehicle type. See ADSB_EMITTER_TYPE enum
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            aircraftSizeuint8_tUAVIONIX_ADSB_OUT_CFG_AIRCRAFT_SIZEAircraft length and width encoding (table 2-35 of DO-282B)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            gpsOffsetLatuint8_tUAVIONIX_ADSB_OUT_CFG_GPS_OFFSET_LATGPS antenna lateral offset (table 2-36 of DO-282B)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            gpsOffsetLonuint8_tUAVIONIX_ADSB_OUT_CFG_GPS_OFFSET_LONGPS antenna longitudinal offset from nose [if non-zero, take position (in meters) divide by 2 and add one] (table 2-37 DO-282B)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            stallSpeeduint16_tcm/sAircraft stall speed in cm/s
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            rfSelectuint8_tUAVIONIX_ADSB_OUT_RF_SELECTADS-B transponder receiver and transmit enable flags

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            UAVIONIX_ADSB_OUT_DYNAMIC (10002)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Dynamic data used to generate ADS-B out transponder data (send at 5Hz)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            utcTimeuint32_tsUTC time in seconds since GPS epoch (Jan 6, 1980). If unknown set to UINT32_MAX
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            gpsLatint32_tdegE7Latitude WGS84 (deg * 1E7). If unknown set to INT32_MAX
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            gpsLonint32_tdegE7Longitude WGS84 (deg * 1E7). If unknown set to INT32_MAX
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            gpsAltint32_tmmAltitude (WGS84). UP +ve. If unknown set to INT32_MAX
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            gpsFixuint8_tUAVIONIX_ADSB_OUT_DYNAMIC_GPS_FIX0-1: no fix, 2: 2D fix, 3: 3D fix, 4: DGPS, 5: RTK
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            numSatsuint8_tNumber of satellites visible. If unknown set to UINT8_MAX
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            baroAltMSLint32_tmbarBarometric pressure altitude (MSL) relative to a standard atmosphere of 1013.2 mBar and NOT bar corrected altitude (m * 1E-3). (up +ve). If unknown set to INT32_MAX
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            accuracyHoruint32_tmmHorizontal accuracy in mm (m * 1E-3). If unknown set to UINT32_MAX
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            accuracyVertuint16_tcmVertical accuracy in cm. If unknown set to UINT16_MAX
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            accuracyVeluint16_tmm/sVelocity accuracy in mm/s (m * 1E-3). If unknown set to UINT16_MAX
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            velVertint16_tcm/sGPS vertical speed in cm/s. If unknown set to INT16_MAX
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            velNSint16_tcm/sNorth-South velocity over ground in cm/s North +ve. If unknown set to INT16_MAX
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            VelEWint16_tcm/sEast-West velocity over ground in cm/s East +ve. If unknown set to INT16_MAX
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            emergencyStatusuint8_tUAVIONIX_ADSB_EMERGENCY_STATUSEmergency status
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            stateuint16_tUAVIONIX_ADSB_OUT_DYNAMIC_STATEADS-B transponder dynamic input state flags
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            squawkuint16_tMode A code (typically 1200 [0x04B0] for VFR)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            UAVIONIX_ADSB_TRANSCEIVER_HEALTH_REPORT (10003)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Transceiver heartbeat with health report (updated every 10s)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Field NameTypeValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            rfHealthuint8_tUAVIONIX_ADSB_RF_HEALTHADS-B transponder messages

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            OPEN_DRONE_ID_BASIC_ID (12900) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            OPEN_DRONE_ID_LOCATION (12901) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            OPEN_DRONE_ID_AUTHENTICATION (12902) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            OPEN_DRONE_ID_SELF_ID (12903) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            OPEN_DRONE_ID_SYSTEM (12904) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            OPEN_DRONE_ID_OPERATOR_ID (12905) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            OPEN_DRONE_ID_MESSAGE_PACK (12915) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            OPEN_DRONE_ID_ARM_STATUS (12918) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            OPEN_DRONE_ID_SYSTEM_UPDATE (12919) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            HYGROMETER_SENSOR (12920) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Enumerated Types

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            UAVIONIX_ADSB_OUT_DYNAMIC_STATE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            (Bitmask) State flags for ADS-B transponder dynamic report

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1UAVIONIX_ADSB_OUT_DYNAMIC_STATE_INTENT_CHANGE
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            2UAVIONIX_ADSB_OUT_DYNAMIC_STATE_AUTOPILOT_ENABLED
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            4UAVIONIX_ADSB_OUT_DYNAMIC_STATE_NICBARO_CROSSCHECKED
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            8UAVIONIX_ADSB_OUT_DYNAMIC_STATE_ON_GROUND
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            16UAVIONIX_ADSB_OUT_DYNAMIC_STATE_IDENT

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            UAVIONIX_ADSB_OUT_RF_SELECT

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            (Bitmask) Transceiver RF control flags for ADS-B transponder dynamic reports

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            0UAVIONIX_ADSB_OUT_RF_SELECT_STANDBY
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1UAVIONIX_ADSB_OUT_RF_SELECT_RX_ENABLED
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            2UAVIONIX_ADSB_OUT_RF_SELECT_TX_ENABLED

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            UAVIONIX_ADSB_OUT_DYNAMIC_GPS_FIX

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Status for ADS-B transponder dynamic input

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            0UAVIONIX_ADSB_OUT_DYNAMIC_GPS_FIX_NONE_0
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1UAVIONIX_ADSB_OUT_DYNAMIC_GPS_FIX_NONE_1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            2UAVIONIX_ADSB_OUT_DYNAMIC_GPS_FIX_2D
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            3UAVIONIX_ADSB_OUT_DYNAMIC_GPS_FIX_3D
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            4UAVIONIX_ADSB_OUT_DYNAMIC_GPS_FIX_DGPS
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            5UAVIONIX_ADSB_OUT_DYNAMIC_GPS_FIX_RTK

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            UAVIONIX_ADSB_RF_HEALTH

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            (Bitmask) Status flags for ADS-B transponder dynamic output

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            0UAVIONIX_ADSB_RF_HEALTH_INITIALIZING
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1UAVIONIX_ADSB_RF_HEALTH_OK
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            2UAVIONIX_ADSB_RF_HEALTH_FAIL_TX
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            16UAVIONIX_ADSB_RF_HEALTH_FAIL_RX

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            UAVIONIX_ADSB_OUT_CFG_AIRCRAFT_SIZE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Definitions for aircraft size

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            0UAVIONIX_ADSB_OUT_CFG_AIRCRAFT_SIZE_NO_DATA
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1UAVIONIX_ADSB_OUT_CFG_AIRCRAFT_SIZE_L15M_W23M
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            2UAVIONIX_ADSB_OUT_CFG_AIRCRAFT_SIZE_L25M_W28P5M
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            3UAVIONIX_ADSB_OUT_CFG_AIRCRAFT_SIZE_L25_34M
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            4UAVIONIX_ADSB_OUT_CFG_AIRCRAFT_SIZE_L35_33M
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            5UAVIONIX_ADSB_OUT_CFG_AIRCRAFT_SIZE_L35_38M
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            6UAVIONIX_ADSB_OUT_CFG_AIRCRAFT_SIZE_L45_39P5M
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            7UAVIONIX_ADSB_OUT_CFG_AIRCRAFT_SIZE_L45_45M
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            8UAVIONIX_ADSB_OUT_CFG_AIRCRAFT_SIZE_L55_45M
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            9UAVIONIX_ADSB_OUT_CFG_AIRCRAFT_SIZE_L55_52M
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            10UAVIONIX_ADSB_OUT_CFG_AIRCRAFT_SIZE_L65_59P5M
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            11UAVIONIX_ADSB_OUT_CFG_AIRCRAFT_SIZE_L65_67M
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            12UAVIONIX_ADSB_OUT_CFG_AIRCRAFT_SIZE_L75_W72P5M
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            13UAVIONIX_ADSB_OUT_CFG_AIRCRAFT_SIZE_L75_W80M
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            14UAVIONIX_ADSB_OUT_CFG_AIRCRAFT_SIZE_L85_W80M
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            15UAVIONIX_ADSB_OUT_CFG_AIRCRAFT_SIZE_L85_W90M

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            UAVIONIX_ADSB_OUT_CFG_GPS_OFFSET_LAT

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            GPS lataral offset encoding

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            0UAVIONIX_ADSB_OUT_CFG_GPS_OFFSET_LAT_NO_DATA
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1UAVIONIX_ADSB_OUT_CFG_GPS_OFFSET_LAT_LEFT_2M
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            2UAVIONIX_ADSB_OUT_CFG_GPS_OFFSET_LAT_LEFT_4M
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            3UAVIONIX_ADSB_OUT_CFG_GPS_OFFSET_LAT_LEFT_6M
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            4UAVIONIX_ADSB_OUT_CFG_GPS_OFFSET_LAT_RIGHT_0M
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            5UAVIONIX_ADSB_OUT_CFG_GPS_OFFSET_LAT_RIGHT_2M
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            6UAVIONIX_ADSB_OUT_CFG_GPS_OFFSET_LAT_RIGHT_4M
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            7UAVIONIX_ADSB_OUT_CFG_GPS_OFFSET_LAT_RIGHT_6M

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            UAVIONIX_ADSB_OUT_CFG_GPS_OFFSET_LON

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            GPS longitudinal offset encoding

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            0UAVIONIX_ADSB_OUT_CFG_GPS_OFFSET_LON_NO_DATA
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1UAVIONIX_ADSB_OUT_CFG_GPS_OFFSET_LON_APPLIED_BY_SENSOR

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            UAVIONIX_ADSB_EMERGENCY_STATUS

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Emergency status encoding

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            0UAVIONIX_ADSB_OUT_NO_EMERGENCY
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1UAVIONIX_ADSB_OUT_GENERAL_EMERGENCY
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            2UAVIONIX_ADSB_OUT_LIFEGUARD_EMERGENCY
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            3UAVIONIX_ADSB_OUT_MINIMUM_FUEL_EMERGENCY
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            4UAVIONIX_ADSB_OUT_NO_COMM_EMERGENCY
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            5UAVIONIX_ADSB_OUT_UNLAWFUL_INTERFERANCE_EMERGENCY
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            6UAVIONIX_ADSB_OUT_DOWNED_AIRCRAFT_EMERGENCY
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            7UAVIONIX_ADSB_OUT_RESERVED

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            FIRMWARE_VERSION_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            HL_FAILURE_FLAG — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_GOTO — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_MODE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_SYS_STATUS_SENSOR — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_SYS_STATUS_SENSOR_EXTENDED — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_FRAME — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            FENCE_ACTION — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            FENCE_BREACH — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            FENCE_MITIGATE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            FENCE_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_MOUNT_MODE — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            GIMBAL_DEVICE_CAP_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            GIMBAL_MANAGER_CAP_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            GIMBAL_DEVICE_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            GIMBAL_MANAGER_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            GIMBAL_DEVICE_ERROR_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            GRIPPER_ACTIONS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            WINCH_ACTIONS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            UAVCAN_NODE_HEALTH — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            UAVCAN_NODE_MODE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ESC_CONNECTION_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ESC_FAILURE_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            STORAGE_STATUS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            STORAGE_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            STORAGE_USAGE_FLAG — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ORBIT_YAW_BEHAVIOUR — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            WIFI_CONFIG_AP_RESPONSE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            CELLULAR_CONFIG_RESPONSE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            WIFI_CONFIG_AP_MODE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            COMP_METADATA_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ACTUATOR_CONFIGURATION — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ACTUATOR_OUTPUT_FUNCTION — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            AUTOTUNE_AXIS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            PREFLIGHT_STORAGE_PARAMETER_ACTION — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            PREFLIGHT_STORAGE_MISSION_ACTION — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_DATA_STREAM — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_ROI — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_PARAM_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_PARAM_EXT_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_RESULT — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_MISSION_RESULT — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_SEVERITY — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_POWER_STATUS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            SERIAL_CONTROL_DEV — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            SERIAL_CONTROL_FLAG — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_DISTANCE_SENSOR — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_SENSOR_ORIENTATION — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_PROTOCOL_CAPABILITY — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_MISSION_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_ESTIMATOR_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_BATTERY_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_BATTERY_FUNCTION — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_BATTERY_CHARGE_STATE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_BATTERY_MODE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_BATTERY_FAULT — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_GENERATOR_STATUS_FLAG — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_VTOL_STATE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_LANDED_STATE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ADSB_ALTITUDE_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ADSB_EMITTER_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ADSB_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_DO_REPOSITION_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            SPEED_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ESTIMATOR_STATUS_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MOTOR_TEST_ORDER — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MOTOR_TEST_THROTTLE_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            GPS_INPUT_IGNORE_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_COLLISION_ACTION — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_COLLISION_THREAT_LEVEL — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_COLLISION_SRC — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            GPS_FIX_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            RTK_BASELINE_COORDINATE_SYSTEM — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            LANDING_TARGET_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            VTOL_TRANSITION_HEADING — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            CAMERA_CAP_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            VIDEO_STREAM_STATUS_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            VIDEO_STREAM_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            VIDEO_STREAM_ENCODING — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            CAMERA_TRACKING_STATUS_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            CAMERA_TRACKING_MODE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            CAMERA_TRACKING_TARGET_DATA — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            CAMERA_ZOOM_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            SET_FOCUS_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            CAMERA_SOURCE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            PARAM_ACK — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            CAMERA_MODE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_ARM_AUTH_DENIED_REASON — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            RC_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            POSITION_TARGET_TYPEMASK — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ATTITUDE_TARGET_TYPEMASK — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            UTM_FLIGHT_STATE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            UTM_DATA_AVAIL_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            CELLULAR_STATUS_FLAG — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            CELLULAR_NETWORK_FAILED_REASON — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            CELLULAR_NETWORK_RADIO_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            PRECISION_LAND_MODE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            PARACHUTE_ACTION — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_TUNNEL_PAYLOAD_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_ODID_ID_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_ODID_UA_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_ODID_STATUS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_ODID_HEIGHT_REF — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_ODID_HOR_ACC — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_ODID_VER_ACC — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_ODID_SPEED_ACC — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_ODID_TIME_ACC — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_ODID_AUTH_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_ODID_DESC_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_ODID_OPERATOR_LOCATION_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_ODID_CLASSIFICATION_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_ODID_CATEGORY_EU — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_ODID_CLASS_EU — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_ODID_OPERATOR_ID_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_ODID_ARM_STATUS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            TUNE_FORMAT — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            AIS_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            AIS_NAV_STATUS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            AIS_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            FAILURE_UNIT — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            FAILURE_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_WINCH_STATUS_FLAG — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAG_CAL_STATUS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_EVENT_ERROR_REASON — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_EVENT_CURRENT_SEQUENCE_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            HIL_SENSOR_UPDATED_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            HIGHRES_IMU_UPDATED_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            CAN_FILTER_OP — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_FTP_ERR — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_FTP_OPCODE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MISSION_STATE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            SAFETY_SWITCH_STATE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ILLUMINATOR_MODE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ILLUMINATOR_ERROR_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_AUTOPILOT — [from: minimal]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_TYPE — [from: minimal]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_MODE_FLAG — [from: minimal]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_MODE_FLAG_DECODE_POSITION — [from: minimal]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_STATE — [from: minimal]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_COMPONENT — [from: minimal]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Commands (MAV_CMD)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_NAV_WAYPOINT (16) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_NAV_LOITER_UNLIM (17) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_NAV_LOITER_TURNS (18) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_NAV_LOITER_TIME (19) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_NAV_RETURN_TO_LAUNCH (20) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_NAV_LAND (21) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_NAV_TAKEOFF (22) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_NAV_LAND_LOCAL (23) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_NAV_TAKEOFF_LOCAL (24) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_NAV_FOLLOW (25) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_NAV_CONTINUE_AND_CHANGE_ALT (30) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_NAV_LOITER_TO_ALT (31) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_DO_FOLLOW (32) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_DO_FOLLOW_REPOSITION (33) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_DO_ORBIT (34) — [from: common] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_NAV_ROI (80) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_NAV_PATHPLANNING (81) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_NAV_SPLINE_WAYPOINT (82) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_NAV_VTOL_TAKEOFF (84) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_NAV_VTOL_LAND (85) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_NAV_GUIDED_ENABLE (92) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_NAV_DELAY (93) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_NAV_PAYLOAD_PLACE (94) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_NAV_LAST (95) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_CONDITION_DELAY (112) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_CONDITION_CHANGE_ALT (113) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_CONDITION_DISTANCE (114) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_CONDITION_YAW (115) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_CONDITION_LAST (159) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_DO_SET_MODE (176) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_DO_JUMP (177) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_DO_CHANGE_SPEED (178) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_DO_SET_HOME (179) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_DO_SET_PARAMETER (180) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_DO_SET_RELAY (181) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_DO_REPEAT_RELAY (182) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_DO_SET_SERVO (183) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_DO_REPEAT_SERVO (184) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_DO_FLIGHTTERMINATION (185) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_DO_CHANGE_ALTITUDE (186) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_DO_SET_ACTUATOR (187) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_DO_RETURN_PATH_START (188) — [from: common] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_DO_LAND_START (189) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_DO_RALLY_LAND (190) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_DO_GO_AROUND (191) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_DO_REPOSITION (192) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_DO_PAUSE_CONTINUE (193) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_DO_SET_REVERSE (194) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_DO_SET_ROI_LOCATION (195) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_DO_SET_ROI_WPNEXT_OFFSET (196) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_DO_SET_ROI_NONE (197) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_DO_SET_ROI_SYSID (198) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_DO_CONTROL_VIDEO (200) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_DO_SET_ROI (201) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_DO_DIGICAM_CONFIGURE (202) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_DO_DIGICAM_CONTROL (203) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_DO_MOUNT_CONFIGURE (204) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_DO_MOUNT_CONTROL (205) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_DO_SET_CAM_TRIGG_DIST (206) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_DO_FENCE_ENABLE (207) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_DO_PARACHUTE (208) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_DO_MOTOR_TEST (209) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_DO_INVERTED_FLIGHT (210) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_DO_GRIPPER (211) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_DO_AUTOTUNE_ENABLE (212) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_NAV_SET_YAW_SPEED (213) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_DO_SET_CAM_TRIGG_INTERVAL (214) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_DO_MOUNT_CONTROL_QUAT (220) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_DO_GUIDED_MASTER (221) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_DO_GUIDED_LIMITS (222) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_DO_ENGINE_CONTROL (223) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_DO_SET_MISSION_CURRENT (224) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_DO_LAST (240) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_PREFLIGHT_CALIBRATION (241) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_PREFLIGHT_SET_SENSOR_OFFSETS (242) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_PREFLIGHT_UAVCAN (243) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_PREFLIGHT_STORAGE (245) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN (246) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_OVERRIDE_GOTO (252) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_OBLIQUE_SURVEY (260) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_MISSION_START (300) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_ACTUATOR_TEST (310) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_CONFIGURE_ACTUATOR (311) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_COMPONENT_ARM_DISARM (400) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_RUN_PREARM_CHECKS (401) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_ILLUMINATOR_ON_OFF (405) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_DO_ILLUMINATOR_CONFIGURE (406) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_GET_HOME_POSITION (410) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_INJECT_FAILURE (420) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_START_RX_PAIR (500) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_GET_MESSAGE_INTERVAL (510) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_SET_MESSAGE_INTERVAL (511) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_REQUEST_MESSAGE (512) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_REQUEST_PROTOCOL_VERSION (519) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_REQUEST_AUTOPILOT_CAPABILITIES (520) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_REQUEST_CAMERA_INFORMATION (521) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_REQUEST_CAMERA_SETTINGS (522) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_REQUEST_STORAGE_INFORMATION (525) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_STORAGE_FORMAT (526) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_REQUEST_CAMERA_CAPTURE_STATUS (527) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_REQUEST_FLIGHT_INFORMATION (528) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_RESET_CAMERA_SETTINGS (529) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_SET_CAMERA_MODE (530) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_SET_CAMERA_ZOOM (531) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_SET_CAMERA_FOCUS (532) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_SET_STORAGE_USAGE (533) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_SET_CAMERA_SOURCE (534) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_JUMP_TAG (600) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_DO_JUMP_TAG (601) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_DO_GIMBAL_MANAGER_PITCHYAW (1000) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_DO_GIMBAL_MANAGER_CONFIGURE (1001) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_IMAGE_START_CAPTURE (2000) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_IMAGE_STOP_CAPTURE (2001) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_REQUEST_CAMERA_IMAGE_CAPTURE (2002) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_DO_TRIGGER_CONTROL (2003) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_CAMERA_TRACK_POINT (2004) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_CAMERA_TRACK_RECTANGLE (2005) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_CAMERA_STOP_TRACKING (2010) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_VIDEO_START_CAPTURE (2500) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_VIDEO_STOP_CAPTURE (2501) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_VIDEO_START_STREAMING (2502) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_VIDEO_STOP_STREAMING (2503) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_REQUEST_VIDEO_STREAM_INFORMATION (2504) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_REQUEST_VIDEO_STREAM_STATUS (2505) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_LOGGING_START (2510) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_LOGGING_STOP (2511) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_AIRFRAME_CONFIGURATION (2520) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_CONTROL_HIGH_LATENCY (2600) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_PANORAMA_CREATE (2800) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_DO_VTOL_TRANSITION (3000) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_ARM_AUTHORIZATION_REQUEST (3001) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_SET_GUIDED_SUBMODE_STANDARD (4000) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_SET_GUIDED_SUBMODE_CIRCLE (4001) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_CONDITION_GATE (4501) — [from: common] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_NAV_FENCE_RETURN_POINT (5000) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_NAV_FENCE_POLYGON_VERTEX_INCLUSION (5001) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_NAV_FENCE_POLYGON_VERTEX_EXCLUSION (5002) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_NAV_FENCE_CIRCLE_INCLUSION (5003) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_NAV_FENCE_CIRCLE_EXCLUSION (5004) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_NAV_RALLY_POINT (5100) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_UAVCAN_GET_NODE_INFO (5200) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_DO_SET_SAFETY_SWITCH_STATE (5300) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_DO_ADSB_OUT_IDENT (10001) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_PAYLOAD_PREPARE_DEPLOY (30001) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_PAYLOAD_CONTROL_DEPLOY (30002) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_WAYPOINT_USER_1 (31000) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_WAYPOINT_USER_2 (31001) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_WAYPOINT_USER_3 (31002) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_WAYPOINT_USER_4 (31003) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_WAYPOINT_USER_5 (31004) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_SPATIAL_USER_1 (31005) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_SPATIAL_USER_2 (31006) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_SPATIAL_USER_3 (31007) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_SPATIAL_USER_4 (31008) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_SPATIAL_USER_5 (31009) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_USER_1 (31010) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_USER_2 (31011) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_USER_3 (31012) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_USER_4 (31013) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_USER_5 (31014) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_CAN_FORWARD (32000) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_FIXED_MAG_CAL_YAW (42006) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_DO_WINCH (42600) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_EXTERNAL_POSITION_ESTIMATE (43003) — [from: common]

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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              方言：uAvionix

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              This topic documents the version of the dialect file in the mavlink/mavlink Github repository, which may not be up to date with the file in the source repository (it is up to the dialect owner to push changes when needed). The source repo should be listed in the comments at the top of the XML definition file listed below (but may not be).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              This is a human-readable form of the XML definition file: uAvionix.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              已添加到 MAVLink 1 消息中的 MAVLink 2 扩展字段以蓝色显示。 - Entities from dialects are displayed only as headings (with link to original)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Summary

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              TypeDefinedIncluded
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Messages3224
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Enums8143
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Commands1640

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              The following sections list all entities in the dialect (both included and defined in this file).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Messages

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              UAVIONIX_ADSB_OUT_CFG (10001)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Static data to configure the ADS-B transponder (send within 10 sec of a POR and every 10 sec thereafter)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              ICAOuint32_tVehicle address (24 bit)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              callsignchar[9]Vehicle identifier (8 characters, null terminated, valid characters are A-Z, 0-9, " " only)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              emitterTypeuint8_tADSB_EMITTER_TYPETransmitting vehicle type. See ADSB_EMITTER_TYPE enum
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              aircraftSizeuint8_tUAVIONIX_ADSB_OUT_CFG_AIRCRAFT_SIZEAircraft length and width encoding (table 2-35 of DO-282B)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              gpsOffsetLatuint8_tUAVIONIX_ADSB_OUT_CFG_GPS_OFFSET_LATGPS antenna lateral offset (table 2-36 of DO-282B)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              gpsOffsetLonuint8_tUAVIONIX_ADSB_OUT_CFG_GPS_OFFSET_LONGPS antenna longitudinal offset from nose [if non-zero, take position (in meters) divide by 2 and add one] (table 2-37 DO-282B)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              stallSpeeduint16_tcm/sAircraft stall speed in cm/s
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              rfSelectuint8_tUAVIONIX_ADSB_OUT_RF_SELECTADS-B transponder receiver and transmit enable flags

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              UAVIONIX_ADSB_OUT_DYNAMIC (10002)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Dynamic data used to generate ADS-B out transponder data (send at 5Hz)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              utcTimeuint32_tsUTC time in seconds since GPS epoch (Jan 6, 1980). If unknown set to UINT32_MAX
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              gpsLatint32_tdegE7Latitude WGS84 (deg * 1E7). If unknown set to INT32_MAX
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              gpsLonint32_tdegE7Longitude WGS84 (deg * 1E7). If unknown set to INT32_MAX
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              gpsAltint32_tmmAltitude (WGS84). UP +ve. If unknown set to INT32_MAX
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              gpsFixuint8_tUAVIONIX_ADSB_OUT_DYNAMIC_GPS_FIX0-1: no fix, 2: 2D fix, 3: 3D fix, 4: DGPS, 5: RTK
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              numSatsuint8_tNumber of satellites visible. If unknown set to UINT8_MAX
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              baroAltMSLint32_tmbarBarometric pressure altitude (MSL) relative to a standard atmosphere of 1013.2 mBar and NOT bar corrected altitude (m * 1E-3). (up +ve). If unknown set to INT32_MAX
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              accuracyHoruint32_tmmHorizontal accuracy in mm (m * 1E-3). If unknown set to UINT32_MAX
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              accuracyVertuint16_tcmVertical accuracy in cm. If unknown set to UINT16_MAX
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              accuracyVeluint16_tmm/sVelocity accuracy in mm/s (m * 1E-3). If unknown set to UINT16_MAX
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              velVertint16_tcm/sGPS vertical speed in cm/s. If unknown set to INT16_MAX
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              velNSint16_tcm/sNorth-South velocity over ground in cm/s North +ve. If unknown set to INT16_MAX
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              VelEWint16_tcm/sEast-West velocity over ground in cm/s East +ve. If unknown set to INT16_MAX
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              emergencyStatusuint8_tUAVIONIX_ADSB_EMERGENCY_STATUSEmergency status
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              stateuint16_tUAVIONIX_ADSB_OUT_DYNAMIC_STATEADS-B transponder dynamic input state flags
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              squawkuint16_tMode A code (typically 1200 [0x04B0] for VFR)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              UAVIONIX_ADSB_TRANSCEIVER_HEALTH_REPORT (10003)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Transceiver heartbeat with health report (updated every 10s)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Field NameTypeValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              rfHealthuint8_tUAVIONIX_ADSB_RF_HEALTHADS-B transponder messages

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Enumerated Types

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              UAVIONIX_ADSB_OUT_DYNAMIC_STATE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              (Bitmask) State flags for ADS-B transponder dynamic report

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              1UAVIONIX_ADSB_OUT_DYNAMIC_STATE_INTENT_CHANGE
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              2UAVIONIX_ADSB_OUT_DYNAMIC_STATE_AUTOPILOT_ENABLED
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              4UAVIONIX_ADSB_OUT_DYNAMIC_STATE_NICBARO_CROSSCHECKED
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              8UAVIONIX_ADSB_OUT_DYNAMIC_STATE_ON_GROUND
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              16UAVIONIX_ADSB_OUT_DYNAMIC_STATE_IDENT

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              UAVIONIX_ADSB_OUT_RF_SELECT

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              (Bitmask) Transceiver RF control flags for ADS-B transponder dynamic reports

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              0UAVIONIX_ADSB_OUT_RF_SELECT_STANDBY
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              1UAVIONIX_ADSB_OUT_RF_SELECT_RX_ENABLED
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              2UAVIONIX_ADSB_OUT_RF_SELECT_TX_ENABLED

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              UAVIONIX_ADSB_OUT_DYNAMIC_GPS_FIX

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Status for ADS-B transponder dynamic input

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              0UAVIONIX_ADSB_OUT_DYNAMIC_GPS_FIX_NONE_0
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              1UAVIONIX_ADSB_OUT_DYNAMIC_GPS_FIX_NONE_1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              2UAVIONIX_ADSB_OUT_DYNAMIC_GPS_FIX_2D
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              3UAVIONIX_ADSB_OUT_DYNAMIC_GPS_FIX_3D
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              4UAVIONIX_ADSB_OUT_DYNAMIC_GPS_FIX_DGPS
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              5UAVIONIX_ADSB_OUT_DYNAMIC_GPS_FIX_RTK

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              UAVIONIX_ADSB_RF_HEALTH

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              (Bitmask) Status flags for ADS-B transponder dynamic output

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              0UAVIONIX_ADSB_RF_HEALTH_INITIALIZING
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              1UAVIONIX_ADSB_RF_HEALTH_OK
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              2UAVIONIX_ADSB_RF_HEALTH_FAIL_TX
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              16UAVIONIX_ADSB_RF_HEALTH_FAIL_RX

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              UAVIONIX_ADSB_OUT_CFG_AIRCRAFT_SIZE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Definitions for aircraft size

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              0UAVIONIX_ADSB_OUT_CFG_AIRCRAFT_SIZE_NO_DATA
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              1UAVIONIX_ADSB_OUT_CFG_AIRCRAFT_SIZE_L15M_W23M
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              2UAVIONIX_ADSB_OUT_CFG_AIRCRAFT_SIZE_L25M_W28P5M
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              3UAVIONIX_ADSB_OUT_CFG_AIRCRAFT_SIZE_L25_34M
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              4UAVIONIX_ADSB_OUT_CFG_AIRCRAFT_SIZE_L35_33M
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              5UAVIONIX_ADSB_OUT_CFG_AIRCRAFT_SIZE_L35_38M
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              6UAVIONIX_ADSB_OUT_CFG_AIRCRAFT_SIZE_L45_39P5M
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              7UAVIONIX_ADSB_OUT_CFG_AIRCRAFT_SIZE_L45_45M
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              8UAVIONIX_ADSB_OUT_CFG_AIRCRAFT_SIZE_L55_45M
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              9UAVIONIX_ADSB_OUT_CFG_AIRCRAFT_SIZE_L55_52M
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              10UAVIONIX_ADSB_OUT_CFG_AIRCRAFT_SIZE_L65_59P5M
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              11UAVIONIX_ADSB_OUT_CFG_AIRCRAFT_SIZE_L65_67M
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              12UAVIONIX_ADSB_OUT_CFG_AIRCRAFT_SIZE_L75_W72P5M
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              13UAVIONIX_ADSB_OUT_CFG_AIRCRAFT_SIZE_L75_W80M
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              14UAVIONIX_ADSB_OUT_CFG_AIRCRAFT_SIZE_L85_W80M
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              15UAVIONIX_ADSB_OUT_CFG_AIRCRAFT_SIZE_L85_W90M

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              UAVIONIX_ADSB_OUT_CFG_GPS_OFFSET_LAT

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              GPS lataral offset encoding

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              0UAVIONIX_ADSB_OUT_CFG_GPS_OFFSET_LAT_NO_DATA
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              1UAVIONIX_ADSB_OUT_CFG_GPS_OFFSET_LAT_LEFT_2M
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              2UAVIONIX_ADSB_OUT_CFG_GPS_OFFSET_LAT_LEFT_4M
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              3UAVIONIX_ADSB_OUT_CFG_GPS_OFFSET_LAT_LEFT_6M
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              4UAVIONIX_ADSB_OUT_CFG_GPS_OFFSET_LAT_RIGHT_0M
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              5UAVIONIX_ADSB_OUT_CFG_GPS_OFFSET_LAT_RIGHT_2M
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              6UAVIONIX_ADSB_OUT_CFG_GPS_OFFSET_LAT_RIGHT_4M
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              7UAVIONIX_ADSB_OUT_CFG_GPS_OFFSET_LAT_RIGHT_6M

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              UAVIONIX_ADSB_OUT_CFG_GPS_OFFSET_LON

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              GPS longitudinal offset encoding

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              0UAVIONIX_ADSB_OUT_CFG_GPS_OFFSET_LON_NO_DATA
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              1UAVIONIX_ADSB_OUT_CFG_GPS_OFFSET_LON_APPLIED_BY_SENSOR

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              UAVIONIX_ADSB_EMERGENCY_STATUS

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Emergency status encoding

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              0UAVIONIX_ADSB_OUT_NO_EMERGENCY
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              1UAVIONIX_ADSB_OUT_GENERAL_EMERGENCY
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              2UAVIONIX_ADSB_OUT_LIFEGUARD_EMERGENCY
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              3UAVIONIX_ADSB_OUT_MINIMUM_FUEL_EMERGENCY
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              4UAVIONIX_ADSB_OUT_NO_COMM_EMERGENCY
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              5UAVIONIX_ADSB_OUT_UNLAWFUL_INTERFERANCE_EMERGENCY
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              6UAVIONIX_ADSB_OUT_DOWNED_AIRCRAFT_EMERGENCY
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              7UAVIONIX_ADSB_OUT_RESERVED

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Commands (MAV_CMD)

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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                方言：ualberta

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                This topic documents the version of the dialect file in the mavlink/mavlink Github repository, which may not be up to date with the file in the source repository (it is up to the dialect owner to push changes when needed). The source repo should be listed in the comments at the top of the XML definition file listed below (but may not be).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                This is a human-readable form of the XML definition file: ualberta.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                已添加到 MAVLink 1 消息中的 MAVLink 2 扩展字段以蓝色显示。 - Entities from dialects are displayed only as headings (with link to original)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Summary

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                TypeDefinedIncluded
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Messages3224
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Enums3142
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Commands1640

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                The following sections list all entities in the dialect (both included and defined in this file).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Messages

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                HEARTBEAT (0) — [from: minimal]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                SYS_STATUS (1) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                SYSTEM_TIME (2) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                PING (4) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                CHANGE_OPERATOR_CONTROL (5) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                CHANGE_OPERATOR_CONTROL_ACK (6) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                AUTH_KEY (7) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                SET_MODE (11) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                PARAM_REQUEST_READ (20) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                PARAM_REQUEST_LIST (21) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                PARAM_VALUE (22) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                PARAM_SET (23) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                GPS_RAW_INT (24) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                GPS_STATUS (25) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                SCALED_IMU (26) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                RAW_IMU (27) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                RAW_PRESSURE (28) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                SCALED_PRESSURE (29) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                ATTITUDE (30) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                ATTITUDE_QUATERNION (31) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                LOCAL_POSITION_NED (32) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                GLOBAL_POSITION_INT (33) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                RC_CHANNELS_SCALED (34) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                RC_CHANNELS_RAW (35) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                SERVO_OUTPUT_RAW (36) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MISSION_REQUEST_PARTIAL_LIST (37) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MISSION_WRITE_PARTIAL_LIST (38) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MISSION_ITEM (39) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MISSION_REQUEST (40) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MISSION_SET_CURRENT (41) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MISSION_CURRENT (42) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MISSION_REQUEST_LIST (43) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MISSION_COUNT (44) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MISSION_CLEAR_ALL (45) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MISSION_ITEM_REACHED (46) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MISSION_ACK (47) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                SET_GPS_GLOBAL_ORIGIN (48) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                GPS_GLOBAL_ORIGIN (49) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                PARAM_MAP_RC (50) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MISSION_REQUEST_INT (51) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                SAFETY_SET_ALLOWED_AREA (54) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                SAFETY_ALLOWED_AREA (55) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                ATTITUDE_QUATERNION_COV (61) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                GLOBAL_POSITION_INT_COV (63) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                LOCAL_POSITION_NED_COV (64) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                RC_CHANNELS (65) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                REQUEST_DATA_STREAM (66) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                DATA_STREAM (67) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MANUAL_CONTROL (69) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                RC_CHANNELS_OVERRIDE (70) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MISSION_ITEM_INT (73) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                VFR_HUD (74) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                COMMAND_INT (75) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                COMMAND_LONG (76) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                COMMAND_ACK (77) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                COMMAND_CANCEL (80) — [from: common] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MANUAL_SETPOINT (81) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                SET_ATTITUDE_TARGET (82) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                ATTITUDE_TARGET (83) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                SET_POSITION_TARGET_LOCAL_NED (84) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                POSITION_TARGET_LOCAL_NED (85) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                SET_POSITION_TARGET_GLOBAL_INT (86) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                POSITION_TARGET_GLOBAL_INT (87) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                LOCAL_POSITION_NED_SYSTEM_GLOBAL_OFFSET (89) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                HIL_STATE (90) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                HIL_CONTROLS (91) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                HIL_RC_INPUTS_RAW (92) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                HIL_ACTUATOR_CONTROLS (93) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                OPTICAL_FLOW (100) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                GLOBAL_VISION_POSITION_ESTIMATE (101) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                VISION_POSITION_ESTIMATE (102) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                VISION_SPEED_ESTIMATE (103) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                VICON_POSITION_ESTIMATE (104) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                HIGHRES_IMU (105) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                OPTICAL_FLOW_RAD (106) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                HIL_SENSOR (107) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                SIM_STATE (108) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                RADIO_STATUS (109) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                FILE_TRANSFER_PROTOCOL (110) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                TIMESYNC (111) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                CAMERA_TRIGGER (112) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                HIL_GPS (113) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                HIL_OPTICAL_FLOW (114) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                HIL_STATE_QUATERNION (115) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                SCALED_IMU2 (116) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                LOG_REQUEST_LIST (117) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                LOG_ENTRY (118) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                LOG_REQUEST_DATA (119) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                LOG_DATA (120) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                LOG_ERASE (121) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                LOG_REQUEST_END (122) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                GPS_INJECT_DATA (123) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                GPS2_RAW (124) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                POWER_STATUS (125) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                SERIAL_CONTROL (126) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                GPS_RTK (127) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                GPS2_RTK (128) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                SCALED_IMU3 (129) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                DATA_TRANSMISSION_HANDSHAKE (130) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                ENCAPSULATED_DATA (131) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                DISTANCE_SENSOR (132) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                TERRAIN_REQUEST (133) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                TERRAIN_DATA (134) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                TERRAIN_CHECK (135) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                TERRAIN_REPORT (136) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                SCALED_PRESSURE2 (137) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                ATT_POS_MOCAP (138) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                SET_ACTUATOR_CONTROL_TARGET (139) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                ACTUATOR_CONTROL_TARGET (140) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                ALTITUDE (141) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                RESOURCE_REQUEST (142) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                SCALED_PRESSURE3 (143) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                FOLLOW_TARGET (144) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                CONTROL_SYSTEM_STATE (146) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                BATTERY_STATUS (147) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                AUTOPILOT_VERSION (148) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                LANDING_TARGET (149) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                FENCE_STATUS (162) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAG_CAL_REPORT (192) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Accelerometer and Gyro biases from the navigation filter

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                usecuint64_tTimestamp (microseconds)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                accel_0floatb_f[0]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                accel_1floatb_f[1]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                accel_2floatb_f[2]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                gyro_0floatb_f[0]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                gyro_1floatb_f[1]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                gyro_2floatb_f[2]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                RADIO_CALIBRATION (221)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Complete set of calibration parameters for the radio

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                aileronuint16_t[3]Aileron setpoints: left, center, right
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                elevatoruint16_t[3]Elevator setpoints: nose down, center, nose up
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                rudderuint16_t[3]Rudder setpoints: nose left, center, nose right
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                gyrouint16_t[2]Tail gyro mode/gain setpoints: heading hold, rate mode
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                pitchuint16_t[5]Pitch curve setpoints (every 25%)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                throttleuint16_t[5]Throttle curve setpoints (every 25%)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                UALBERTA_SYS_STATUS (222)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                System status specific to ualberta uav

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                modeuint8_tSystem mode, see UALBERTA_AUTOPILOT_MODE ENUM
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                nav_modeuint8_tNavigation mode, see UALBERTA_NAV_MODE ENUM
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                pilotuint8_tPilot mode, see UALBERTA_PILOT_MODE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                EFI_STATUS (225) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                ESTIMATOR_STATUS (230) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                WIND_COV (231) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                GPS_INPUT (232) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                GPS_RTCM_DATA (233) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                HIGH_LATENCY (234) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                HIGH_LATENCY2 (235) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                VIBRATION (241) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                HOME_POSITION (242) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                SET_HOME_POSITION (243) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MESSAGE_INTERVAL (244) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                EXTENDED_SYS_STATE (245) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                ADSB_VEHICLE (246) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                COLLISION (247) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                V2_EXTENSION (248) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MEMORY_VECT (249) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                DEBUG_VECT (250) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                NAMED_VALUE_FLOAT (251) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                NAMED_VALUE_INT (252) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                STATUSTEXT (253) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                DEBUG (254) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                SETUP_SIGNING (256) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                BUTTON_CHANGE (257) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                PLAY_TUNE (258) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                CAMERA_INFORMATION (259) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                CAMERA_SETTINGS (260) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                STORAGE_INFORMATION (261) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                CAMERA_CAPTURE_STATUS (262) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                CAMERA_IMAGE_CAPTURED (263) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                FLIGHT_INFORMATION (264) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MOUNT_ORIENTATION (265) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                LOGGING_DATA (266) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                LOGGING_DATA_ACKED (267) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                LOGGING_ACK (268) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                VIDEO_STREAM_INFORMATION (269) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                VIDEO_STREAM_STATUS (270) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                CAMERA_FOV_STATUS (271) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                CAMERA_TRACKING_IMAGE_STATUS (275) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                CAMERA_TRACKING_GEO_STATUS (276) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                CAMERA_THERMAL_RANGE (277) — [from: common] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                GIMBAL_MANAGER_INFORMATION (280) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                GIMBAL_MANAGER_STATUS (281) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                GIMBAL_MANAGER_SET_ATTITUDE (282) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                GIMBAL_DEVICE_INFORMATION (283) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                GIMBAL_DEVICE_SET_ATTITUDE (284) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                GIMBAL_DEVICE_ATTITUDE_STATUS (285) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                AUTOPILOT_STATE_FOR_GIMBAL_DEVICE (286) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                GIMBAL_MANAGER_SET_PITCHYAW (287) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                GIMBAL_MANAGER_SET_MANUAL_CONTROL (288) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                ESC_INFO (290) — [from: common] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                ESC_STATUS (291) — [from: common] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                WIFI_CONFIG_AP (299) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                PROTOCOL_VERSION (300) — [from: minimal] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                AIS_VESSEL (301) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                UAVCAN_NODE_STATUS (310) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                UAVCAN_NODE_INFO (311) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                PARAM_EXT_REQUEST_READ (320) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                PARAM_EXT_REQUEST_LIST (321) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                PARAM_EXT_VALUE (322) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                PARAM_EXT_SET (323) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                PARAM_EXT_ACK (324) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                OBSTACLE_DISTANCE (330) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                ODOMETRY (331) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                TRAJECTORY_REPRESENTATION_WAYPOINTS (332) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                TRAJECTORY_REPRESENTATION_BEZIER (333) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                CELLULAR_STATUS (334) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                CELLULAR_CONFIG (336) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                RAW_RPM (339) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                UTM_GLOBAL_POSITION (340) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                DEBUG_FLOAT_ARRAY (350) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                ORBIT_EXECUTION_STATUS (360) — [from: common] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                BATTERY_INFO (370) — [from: common] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                GENERATOR_STATUS (373) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                ACTUATOR_OUTPUT_STATUS (375) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                TIME_ESTIMATE_TO_TARGET (380) — [from: common] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                TUNNEL (385) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                CAN_FRAME (386) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                CANFD_FRAME (387) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                CAN_FILTER_MODIFY (388) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                ONBOARD_COMPUTER_STATUS (390) — [from: common] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                COMPONENT_INFORMATION (395) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                COMPONENT_INFORMATION_BASIC (396) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                COMPONENT_METADATA (397) — [from: common] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                PLAY_TUNE_V2 (400) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                SUPPORTED_TUNES (401) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                EVENT (410) — [from: common] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                CURRENT_EVENT_SEQUENCE (411) — [from: common] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                REQUEST_EVENT (412) — [from: common] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                RESPONSE_EVENT_ERROR (413) — [from: common] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                ILLUMINATOR_STATUS (440) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                WHEEL_DISTANCE (9000) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                WINCH_STATUS (9005) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                OPEN_DRONE_ID_BASIC_ID (12900) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                OPEN_DRONE_ID_LOCATION (12901) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                OPEN_DRONE_ID_AUTHENTICATION (12902) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                OPEN_DRONE_ID_SELF_ID (12903) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                OPEN_DRONE_ID_SYSTEM (12904) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                OPEN_DRONE_ID_OPERATOR_ID (12905) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                OPEN_DRONE_ID_MESSAGE_PACK (12915) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                OPEN_DRONE_ID_ARM_STATUS (12918) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                OPEN_DRONE_ID_SYSTEM_UPDATE (12919) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                HYGROMETER_SENSOR (12920) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Enumerated Types

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                UALBERTA_AUTOPILOT_MODE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Available autopilot modes for ualberta uav

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                1MODE_MANUAL_DIRECTRaw input pulse widts sent to output
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                2MODE_MANUAL_SCALEDInputs are normalized using calibration, the converted back to raw pulse widths for output
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                3MODE_AUTO_PID_ATT
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                4MODE_AUTO_PID_VEL
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                5MODE_AUTO_PID_POS

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                UALBERTA_NAV_MODE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Navigation filter mode

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                1NAV_AHRS_INIT
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                2NAV_AHRSAHRS mode
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                3NAV_INS_GPS_INITINS/GPS initialization mode
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                4NAV_INS_GPSINS/GPS mode

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                UALBERTA_PILOT_MODE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Mode currently commanded by pilot

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                1PILOT_MANUAL
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                2PILOT_AUTO
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                3PILOT_ROTORotomotion mode

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                FIRMWARE_VERSION_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                HL_FAILURE_FLAG — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_GOTO — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_MODE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_SYS_STATUS_SENSOR — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_SYS_STATUS_SENSOR_EXTENDED — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_FRAME — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                FENCE_ACTION — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                FENCE_BREACH — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                FENCE_MITIGATE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                FENCE_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_MOUNT_MODE — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                GIMBAL_DEVICE_CAP_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                GIMBAL_MANAGER_CAP_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                GIMBAL_DEVICE_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                GIMBAL_MANAGER_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                GIMBAL_DEVICE_ERROR_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                GRIPPER_ACTIONS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                WINCH_ACTIONS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                UAVCAN_NODE_HEALTH — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                UAVCAN_NODE_MODE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                ESC_CONNECTION_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                ESC_FAILURE_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                STORAGE_STATUS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                STORAGE_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                STORAGE_USAGE_FLAG — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                ORBIT_YAW_BEHAVIOUR — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                WIFI_CONFIG_AP_RESPONSE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                CELLULAR_CONFIG_RESPONSE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                WIFI_CONFIG_AP_MODE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                COMP_METADATA_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                ACTUATOR_CONFIGURATION — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                ACTUATOR_OUTPUT_FUNCTION — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                AUTOTUNE_AXIS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                PREFLIGHT_STORAGE_PARAMETER_ACTION — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                PREFLIGHT_STORAGE_MISSION_ACTION — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_DATA_STREAM — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_ROI — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_PARAM_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_PARAM_EXT_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_RESULT — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_MISSION_RESULT — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_SEVERITY — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_POWER_STATUS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                SERIAL_CONTROL_DEV — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                SERIAL_CONTROL_FLAG — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_DISTANCE_SENSOR — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_SENSOR_ORIENTATION — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_PROTOCOL_CAPABILITY — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_MISSION_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_ESTIMATOR_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_BATTERY_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_BATTERY_FUNCTION — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_BATTERY_CHARGE_STATE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_BATTERY_MODE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_BATTERY_FAULT — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_GENERATOR_STATUS_FLAG — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_VTOL_STATE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_LANDED_STATE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                ADSB_ALTITUDE_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                ADSB_EMITTER_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                ADSB_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_DO_REPOSITION_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                SPEED_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                ESTIMATOR_STATUS_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MOTOR_TEST_ORDER — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MOTOR_TEST_THROTTLE_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                GPS_INPUT_IGNORE_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_COLLISION_ACTION — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_COLLISION_THREAT_LEVEL — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_COLLISION_SRC — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                GPS_FIX_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                RTK_BASELINE_COORDINATE_SYSTEM — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                LANDING_TARGET_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                VTOL_TRANSITION_HEADING — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                CAMERA_CAP_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                VIDEO_STREAM_STATUS_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                VIDEO_STREAM_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                VIDEO_STREAM_ENCODING — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                CAMERA_TRACKING_STATUS_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                CAMERA_TRACKING_MODE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                CAMERA_TRACKING_TARGET_DATA — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                CAMERA_ZOOM_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                SET_FOCUS_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                CAMERA_SOURCE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                PARAM_ACK — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                CAMERA_MODE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_ARM_AUTH_DENIED_REASON — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                RC_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                POSITION_TARGET_TYPEMASK — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                ATTITUDE_TARGET_TYPEMASK — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                UTM_FLIGHT_STATE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                UTM_DATA_AVAIL_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                CELLULAR_STATUS_FLAG — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                CELLULAR_NETWORK_FAILED_REASON — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                CELLULAR_NETWORK_RADIO_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                PRECISION_LAND_MODE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                PARACHUTE_ACTION — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_TUNNEL_PAYLOAD_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_ODID_ID_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_ODID_UA_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_ODID_STATUS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_ODID_HEIGHT_REF — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_ODID_HOR_ACC — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_ODID_VER_ACC — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_ODID_SPEED_ACC — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_ODID_TIME_ACC — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_ODID_AUTH_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_ODID_DESC_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_ODID_OPERATOR_LOCATION_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_ODID_CLASSIFICATION_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_ODID_CATEGORY_EU — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_ODID_CLASS_EU — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_ODID_OPERATOR_ID_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_ODID_ARM_STATUS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                TUNE_FORMAT — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                AIS_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                AIS_NAV_STATUS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                AIS_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                FAILURE_UNIT — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                FAILURE_TYPE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_WINCH_STATUS_FLAG — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAG_CAL_STATUS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_EVENT_ERROR_REASON — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_EVENT_CURRENT_SEQUENCE_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                HIL_SENSOR_UPDATED_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                HIGHRES_IMU_UPDATED_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                CAN_FILTER_OP — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_FTP_ERR — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_FTP_OPCODE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MISSION_STATE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                SAFETY_SWITCH_STATE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                ILLUMINATOR_MODE — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                ILLUMINATOR_ERROR_FLAGS — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_AUTOPILOT — [from: minimal]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_TYPE — [from: minimal]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_MODE_FLAG — [from: minimal]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_MODE_FLAG_DECODE_POSITION — [from: minimal]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_STATE — [from: minimal]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_COMPONENT — [from: minimal]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Commands (MAV_CMD)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_NAV_WAYPOINT (16) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_NAV_LOITER_UNLIM (17) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_NAV_LOITER_TURNS (18) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_NAV_LOITER_TIME (19) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_NAV_RETURN_TO_LAUNCH (20) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_NAV_LAND (21) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_NAV_TAKEOFF (22) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_NAV_LAND_LOCAL (23) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_NAV_TAKEOFF_LOCAL (24) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_NAV_FOLLOW (25) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_NAV_CONTINUE_AND_CHANGE_ALT (30) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_NAV_LOITER_TO_ALT (31) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_DO_FOLLOW (32) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_DO_FOLLOW_REPOSITION (33) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_DO_ORBIT (34) — [from: common] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_NAV_ROI (80) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_NAV_PATHPLANNING (81) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_NAV_SPLINE_WAYPOINT (82) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_NAV_VTOL_TAKEOFF (84) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_NAV_VTOL_LAND (85) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_NAV_GUIDED_ENABLE (92) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_NAV_DELAY (93) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_NAV_PAYLOAD_PLACE (94) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_NAV_LAST (95) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_CONDITION_DELAY (112) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_CONDITION_CHANGE_ALT (113) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_CONDITION_DISTANCE (114) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_CONDITION_YAW (115) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_CONDITION_LAST (159) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_DO_SET_MODE (176) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_DO_JUMP (177) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_DO_CHANGE_SPEED (178) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_DO_SET_HOME (179) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_DO_SET_PARAMETER (180) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_DO_SET_RELAY (181) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_DO_REPEAT_RELAY (182) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_DO_SET_SERVO (183) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_DO_REPEAT_SERVO (184) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_DO_FLIGHTTERMINATION (185) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_DO_CHANGE_ALTITUDE (186) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_DO_SET_ACTUATOR (187) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_DO_RETURN_PATH_START (188) — [from: common] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_DO_LAND_START (189) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_DO_RALLY_LAND (190) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_DO_GO_AROUND (191) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_DO_REPOSITION (192) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_DO_PAUSE_CONTINUE (193) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_DO_SET_REVERSE (194) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_DO_SET_ROI_LOCATION (195) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_DO_SET_ROI_WPNEXT_OFFSET (196) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_DO_SET_ROI_NONE (197) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_DO_SET_ROI_SYSID (198) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_DO_CONTROL_VIDEO (200) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_DO_SET_ROI (201) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_DO_DIGICAM_CONFIGURE (202) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_DO_DIGICAM_CONTROL (203) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_DO_MOUNT_CONFIGURE (204) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_DO_MOUNT_CONTROL (205) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_DO_SET_CAM_TRIGG_DIST (206) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_DO_FENCE_ENABLE (207) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_DO_PARACHUTE (208) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_DO_MOTOR_TEST (209) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_DO_INVERTED_FLIGHT (210) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_DO_GRIPPER (211) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_DO_AUTOTUNE_ENABLE (212) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_NAV_SET_YAW_SPEED (213) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_DO_SET_CAM_TRIGG_INTERVAL (214) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_DO_MOUNT_CONTROL_QUAT (220) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_DO_GUIDED_MASTER (221) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_DO_GUIDED_LIMITS (222) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_DO_ENGINE_CONTROL (223) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_DO_SET_MISSION_CURRENT (224) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_DO_LAST (240) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_PREFLIGHT_CALIBRATION (241) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_PREFLIGHT_SET_SENSOR_OFFSETS (242) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_PREFLIGHT_UAVCAN (243) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_PREFLIGHT_STORAGE (245) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN (246) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_OVERRIDE_GOTO (252) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_OBLIQUE_SURVEY (260) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_MISSION_START (300) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_ACTUATOR_TEST (310) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_CONFIGURE_ACTUATOR (311) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_COMPONENT_ARM_DISARM (400) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_RUN_PREARM_CHECKS (401) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_ILLUMINATOR_ON_OFF (405) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_DO_ILLUMINATOR_CONFIGURE (406) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_GET_HOME_POSITION (410) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_INJECT_FAILURE (420) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_START_RX_PAIR (500) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_GET_MESSAGE_INTERVAL (510) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_SET_MESSAGE_INTERVAL (511) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_REQUEST_MESSAGE (512) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_REQUEST_PROTOCOL_VERSION (519) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_REQUEST_AUTOPILOT_CAPABILITIES (520) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_REQUEST_CAMERA_INFORMATION (521) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_REQUEST_CAMERA_SETTINGS (522) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_REQUEST_STORAGE_INFORMATION (525) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_STORAGE_FORMAT (526) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_REQUEST_CAMERA_CAPTURE_STATUS (527) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_REQUEST_FLIGHT_INFORMATION (528) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_RESET_CAMERA_SETTINGS (529) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_SET_CAMERA_MODE (530) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_SET_CAMERA_ZOOM (531) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_SET_CAMERA_FOCUS (532) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_SET_STORAGE_USAGE (533) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_SET_CAMERA_SOURCE (534) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_JUMP_TAG (600) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_DO_JUMP_TAG (601) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_DO_GIMBAL_MANAGER_PITCHYAW (1000) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_DO_GIMBAL_MANAGER_CONFIGURE (1001) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_IMAGE_START_CAPTURE (2000) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_IMAGE_STOP_CAPTURE (2001) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_REQUEST_CAMERA_IMAGE_CAPTURE (2002) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_DO_TRIGGER_CONTROL (2003) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_CAMERA_TRACK_POINT (2004) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_CAMERA_TRACK_RECTANGLE (2005) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_CAMERA_STOP_TRACKING (2010) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_VIDEO_START_CAPTURE (2500) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_VIDEO_STOP_CAPTURE (2501) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_VIDEO_START_STREAMING (2502) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_VIDEO_STOP_STREAMING (2503) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_REQUEST_VIDEO_STREAM_INFORMATION (2504) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_REQUEST_VIDEO_STREAM_STATUS (2505) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_LOGGING_START (2510) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_LOGGING_STOP (2511) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_AIRFRAME_CONFIGURATION (2520) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_CONTROL_HIGH_LATENCY (2600) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_PANORAMA_CREATE (2800) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_DO_VTOL_TRANSITION (3000) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_ARM_AUTHORIZATION_REQUEST (3001) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_SET_GUIDED_SUBMODE_STANDARD (4000) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_SET_GUIDED_SUBMODE_CIRCLE (4001) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_CONDITION_GATE (4501) — [from: common] [WIP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_NAV_FENCE_RETURN_POINT (5000) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_NAV_FENCE_POLYGON_VERTEX_INCLUSION (5001) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_NAV_FENCE_POLYGON_VERTEX_EXCLUSION (5002) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_NAV_FENCE_CIRCLE_INCLUSION (5003) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_NAV_FENCE_CIRCLE_EXCLUSION (5004) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_NAV_RALLY_POINT (5100) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_UAVCAN_GET_NODE_INFO (5200) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_DO_SET_SAFETY_SWITCH_STATE (5300) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_DO_ADSB_OUT_IDENT (10001) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_PAYLOAD_PREPARE_DEPLOY (30001) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_PAYLOAD_CONTROL_DEPLOY (30002) — [from: common] [DEP]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_WAYPOINT_USER_1 (31000) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_WAYPOINT_USER_2 (31001) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_WAYPOINT_USER_3 (31002) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_WAYPOINT_USER_4 (31003) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_WAYPOINT_USER_5 (31004) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_SPATIAL_USER_1 (31005) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_SPATIAL_USER_2 (31006) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_SPATIAL_USER_3 (31007) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_SPATIAL_USER_4 (31008) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_SPATIAL_USER_5 (31009) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_USER_1 (31010) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_USER_2 (31011) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_USER_3 (31012) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_USER_4 (31013) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_USER_5 (31014) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_CAN_FORWARD (32000) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_FIXED_MAG_CAL_YAW (42006) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_DO_WINCH (42600) — [from: common]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_EXTERNAL_POSITION_ESTIMATE (43003) — [from: common]

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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  方言：ualberta

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  This topic documents the version of the dialect file in the mavlink/mavlink Github repository, which may not be up to date with the file in the source repository (it is up to the dialect owner to push changes when needed). The source repo should be listed in the comments at the top of the XML definition file listed below (but may not be).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  This is a human-readable form of the XML definition file: ualberta.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  已添加到 MAVLink 1 消息中的 MAVLink 2 扩展字段以蓝色显示。 - Entities from dialects are displayed only as headings (with link to original)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Summary

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  TypeDefinedIncluded
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Messages3224
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Enums3143
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Commands1640

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  The following sections list all entities in the dialect (both included and defined in this file).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Messages

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Accelerometer and Gyro biases from the navigation filter

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  usecuint64_tTimestamp (microseconds)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  accel_0floatb_f[0]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  accel_1floatb_f[1]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  accel_2floatb_f[2]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  gyro_0floatb_f[0]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  gyro_1floatb_f[1]
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  gyro_2floatb_f[2]

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  RADIO_CALIBRATION (221)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Complete set of calibration parameters for the radio

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  aileronuint16_t[3]Aileron setpoints: left, center, right
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  elevatoruint16_t[3]Elevator setpoints: nose down, center, nose up
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  rudderuint16_t[3]Rudder setpoints: nose left, center, nose right
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  gyrouint16_t[2]Tail gyro mode/gain setpoints: heading hold, rate mode
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  pitchuint16_t[5]Pitch curve setpoints (every 25%)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  throttleuint16_t[5]Throttle curve setpoints (every 25%)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  UALBERTA_SYS_STATUS (222)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  System status specific to ualberta uav

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Field NameTypeDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  modeuint8_tSystem mode, see UALBERTA_AUTOPILOT_MODE ENUM
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  nav_modeuint8_tNavigation mode, see UALBERTA_NAV_MODE ENUM
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  pilotuint8_tPilot mode, see UALBERTA_PILOT_MODE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Enumerated Types

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  UALBERTA_AUTOPILOT_MODE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Available autopilot modes for ualberta uav

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  1MODE_MANUAL_DIRECTRaw input pulse widts sent to output
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  2MODE_MANUAL_SCALEDInputs are normalized using calibration, the converted back to raw pulse widths for output
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  3MODE_AUTO_PID_ATT
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  4MODE_AUTO_PID_VEL
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  5MODE_AUTO_PID_POS

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  UALBERTA_NAV_MODE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Navigation filter mode

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  1NAV_AHRS_INIT
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  2NAV_AHRSAHRS mode
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  3NAV_INS_GPS_INITINS/GPS initialization mode
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  4NAV_INS_GPSINS/GPS mode

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  UALBERTA_PILOT_MODE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Mode currently commanded by pilot

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  ValueNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  1PILOT_MANUAL
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  2PILOT_AUTO
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  3PILOT_ROTORotomotion mode

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Commands (MAV_CMD)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  results matching ""

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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    \ No newline at end of file diff --git a/zh/services/arm_authorization.html b/zh/services/arm_authorization.html index 54d78cea5..ef44a0bdd 100644 --- a/zh/services/arm_authorization.html +++ b/zh/services/arm_authorization.html @@ -1,4 +1,4 @@ -Arm Authorization Protocol · MAVLink Developer Guide
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Arm Authorization

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    When enabled by setting a parameter on flight stack, the drone will only arm the motors if authorized by a external entity. This external entity is responsible for requesting any information that it needs from the drone and from other sources (example: weather) and whether (or not) to authorize the arming procedure.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    This is required to comply with NASA UTM, but may also be useful for private companies.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Authorization Flow

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Mermaid Squence: Authorization Flow

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    In case the authorizer need a lot of time to get and process the information is better have another authorization flow to avoid arm the drone at unexpected time.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Mermaid Sequence: Arm authorisation 2

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Message Parameters

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    COMMAND_LONG

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    command=MAV_CMD_ARM_AUTHORIZATION_REQUEST
+Arm Authorization Protocol · MAVLink Developer Guide
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Arm Authorization
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    When enabled by setting a parameter on flight stack, the drone will only arm the motors if authorized by a external entity. This external entity is responsible for requesting any information that it needs from the drone and from other sources (example: weather) and whether (or not) to authorize the arming procedure.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    This is required to comply with NASA UTM, but may also be useful for private companies.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Authorization Flow
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Mermaid Squence: Authorization Flow
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    In case the authorizer need a lot of time to get and process the information is better have another authorization flow to avoid arm the drone at unexpected time.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Mermaid Sequence: Arm authorisation 2
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Message Parameters
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    COMMAND_LONG
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    command=MAV_CMD_ARM_AUTHORIZATION_REQUEST
 target_system=system id of arm authorizer
 target_component=component id of arm authorizer
 
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    COMMAND_ACK
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    command=MAV_CMD_ARM_AUTHORIZATION_REQUEST
@@ -7,4 +7,4 @@
 result_param2=if result is ACCEPTED the it should be set with the time in seconds that this authorization is valid otherwise an aditional information about why it was denied should be set. example: for result_param1=MAV_ARM_AUTH_DENIED_REASON_INVALID_WAYPOINT or MAV_ARM_AUTH_DENIED_REASON_AIRSPACE_IN_USE it may have the index of the waypoint that caused it to be denied.
 target_system=system id of the drone
 target_component=component id of the drone
-
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+

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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        \ No newline at end of file diff --git a/zh/services/battery.html b/zh/services/battery.html index 3eb7ca085..b33a50c30 100644 --- a/zh/services/battery.html +++ b/zh/services/battery.html @@ -1 +1 @@ -Battery Protocol · MAVLink Developer Guide
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Battery Protocol

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAVLink provides a number of messages for providing battery information:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        The messages should be sent individually for each battery in the system (the messages have an instance id field that is used to identify the corresponding battery). It is up to the GCS to provide an appropriate mechanism that allows the user to assess the aggregate battery status on systems that have multiple batteries. It is up to the GCS to provide an appropriate mechanism that allows the user to assess the aggregate battery status on systems that have multiple batteries.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        There is no standardized mechanism to report the "aggregate" battery state on a multi-battery system. Note There is no standardized mechanism to report the "aggregate" battery state on a multi-battery system. A GCS is expected to provide enough information from the individual battery reports to allow a user to make a reasonable assessment of vehicle battery status.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Message/Enum Summary

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MessageDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        !!crwdBlockTags_10_sgaTkcolBdwrc!BATTERY_STATUSBattery message used for frequent status update - e.g. of current capacity, voltages, faults, etc.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        !!crwdBlockTags_11_sgaTkcolBdwrc!SMART_BATTERY_INFO (WIP)Smart battery message used for invariant or infrequently changing data - e.g. battery name, battery full/empty capacity and voltages etc.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        EnumDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        !!crwdBlockTags_13_sgaTkcolBdwrc!MAV_BATTERY_FAULTFault/health indications.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        !!crwdBlockTags_14_sgaTkcolBdwrc!MAV_BATTERY_MODESmart battery mode.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Battery Components

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Smart batteries that are connected to a flight controller via a non-MAVLink bus are treated as part of the flight controller component. Specifically, the battery messages are emitted with the autopilot system and component ids, and the MAV_TYPE for the type of vehicle. Specifically, the battery messages are emitted with the autopilot system and component ids, and the MAV_TYPE for the type of vehicle.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Smart batteries that are distinct components on the MAVLink network must:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Ground stations (and other components) that are interested in battery messages should differentiate batteries based on BATTERY_STATUS.id/SMART_BATTERY_INFO.id.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        A Note on SYS_STATUS

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        SYS_STATUS contains three battery information fields: voltage_battery, current_battery, battery_remaining.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        On a single-battery system these usually provide the same information as the BATTERY_STATUS message.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        On multi-battery systems the values are not standardised, and depend on the flight stack and/or flight stack configuration. On multi-battery systems the values are not standardised, and depend on the flight stack and/or flight stack configuration. For example, a system may report the same information as the first BATTERY_STATUS, allow the user to configure which battery is reported (i.e. with a parameter), report the battery with the lowest remaining capacity.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        GCS should not rely on the value of SYS_STATUS. However it cannot be removed because it is used for battery reporting on many legacy systems (e.g. On-screen displays). However it cannot be removed because it is used for battery reporting on many legacy systems (e.g. On-screen displays).

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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          \ No newline at end of file +Battery Protocol · MAVLink Developer Guide
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Battery Protocol

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAVLink provides a number of messages for providing battery information:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          The messages should be sent individually for each battery in the system (the messages have an instance id field that is used to identify the corresponding battery). It is up to the GCS to provide an appropriate mechanism that allows the user to assess the aggregate battery status on systems that have multiple batteries. It is up to the GCS to provide an appropriate mechanism that allows the user to assess the aggregate battery status on systems that have multiple batteries.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          There is no standardized mechanism to report the "aggregate" battery state on a multi-battery system. Note There is no standardized mechanism to report the "aggregate" battery state on a multi-battery system. A GCS is expected to provide enough information from the individual battery reports to allow a user to make a reasonable assessment of vehicle battery status.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Message/Enum Summary

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MessageDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          !!crwdBlockTags_10_sgaTkcolBdwrc!BATTERY_STATUSBattery message used for frequent status update - e.g. of current capacity, voltages, faults, etc.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          !!crwdBlockTags_11_sgaTkcolBdwrc!SMART_BATTERY_INFO (WIP)Smart battery message used for invariant or infrequently changing data - e.g. battery name, battery full/empty capacity and voltages etc.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          EnumDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          !!crwdBlockTags_13_sgaTkcolBdwrc!MAV_BATTERY_FAULTFault/health indications.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          !!crwdBlockTags_14_sgaTkcolBdwrc!MAV_BATTERY_MODESmart battery mode.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Battery Components

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Smart batteries that are connected to a flight controller via a non-MAVLink bus are treated as part of the flight controller component. Specifically, the battery messages are emitted with the autopilot system and component ids, and the MAV_TYPE for the type of vehicle. Specifically, the battery messages are emitted with the autopilot system and component ids, and the MAV_TYPE for the type of vehicle.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Smart batteries that are distinct components on the MAVLink network must:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Ground stations (and other components) that are interested in battery messages should differentiate batteries based on BATTERY_STATUS.id/SMART_BATTERY_INFO.id.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          A Note on SYS_STATUS

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          SYS_STATUS contains three battery information fields: voltage_battery, current_battery, battery_remaining.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          On a single-battery system these usually provide the same information as the BATTERY_STATUS message.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          On multi-battery systems the values are not standardised, and depend on the flight stack and/or flight stack configuration. On multi-battery systems the values are not standardised, and depend on the flight stack and/or flight stack configuration. For example, a system may report the same information as the first BATTERY_STATUS, allow the user to configure which battery is reported (i.e. with a parameter), report the battery with the lowest remaining capacity.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          GCS should not rely on the value of SYS_STATUS. However it cannot be removed because it is used for battery reporting on many legacy systems (e.g. On-screen displays). However it cannot be removed because it is used for battery reporting on many legacy systems (e.g. On-screen displays).

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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            \ No newline at end of file diff --git a/zh/services/camera.html b/zh/services/camera.html index a74b5d884..3d86c6a7c 100644 --- a/zh/services/camera.html +++ b/zh/services/camera.html @@ -1 +1 @@ -Camera Protocol · MAVLink Developer Guide
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            相机协议

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            The camera protocol v2 is used to configure camera payloads and request their status. It provides basic methods for photo capture, video capture and streaming, setting zoom and focus, querying and configuring camera storage, and selecting multiple cameras. It also defines a camera definition file format that allows a GCS to generate a configuration UI for setting any property of the camera using parameters.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            This protocol supersedes Camera Protocol v1 (Simple Trigger Protocol). The older protocol enables camera triggering, but does not support other features or querying camera capabilities.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            We are transitioning from specific request commands to a single generic requestor. GCS and MAVLink SDKs/apps should support both approaches as we migrate to exclusive use of the new method (documented here). For more information see Migration Notes for GCS & Camera Servers.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Camera Managers provide a MAVLink Camera protocol interface for cameras that don't directly implement MAVLink support. These generally run on a companion computer:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            These cameras have inbuilt support for MAVLink (but not necessarily camera protocol v2):

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            相机连接

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAVLink cameras are identified and addressed by their system and component id.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Components that have non-MAVLink cameras attached, such as companion computers, are expected expose each of them as a separate MAVLink camera component with its own HEARTBEAT.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            The exception is the autopilot component, which can "proxy" up to 6 attached non-MAVLink cameras: these are identified by a camera_device_id field in messages and Target Camera ID label in commands.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Camera Messages

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Camera components are expected to follow the Heartbeat/Connection Protocol and sent a constant flow of heartbeats (nominally at 1Hz). Each camera must use a different pre-defined camera component ID: MAV_COMP_ID_CAMERA to MAV_COMP_ID_CAMERA6.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            non-MAVLink cameras attached to the autopilot are identified first by the autopilot system/component id, and then by a camera_device_id field in the message payload (all camera messages should have an id field with this or a similar name). An autopilot should set this to the id of the associated camera device, and otherwise this should always be set to zero.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Camera Addressing in Commands

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAVLink cameras are sent commands addressed using their system and component ids (just as when addressing commands to any other component).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            To send commands to autopilot-attached cameras, the command should be send to the autopilot component. The device id of the target attached camera must further be set in the command's Target Camera ID parameter (the index and precise label of this parameter may vary). The autopilot is required to respond to the command with COMMAND_ACK, populating the COMMAND_ACK.result_param2 field with the id of the targeted autopilot connected camera, if any.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Note that the Target Camera ID parameter should be set to 0 in order to target all cameras, or if targeting a MAVLink camera.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Camera Addressing in Missions

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            When using a camera MAV_CMD in a mission, the id parameter (if present) indicates the target camera:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • 1 - 6 indicates a flight-stack connected camera
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • 7-255 is the component id of a MAVLink connected camera. Note that component ids 1-6 should never be used for MAVLink cameras!
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • 0 indicates "all connected cameras".

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            When processing a camera item in a mission the autopilot should:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • For Target Camera ID values of 1-6, perform the specified camera action on the connected camera if it exists, and otherwise log an error.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • For other Target Camera ID values, re-emit the MAV_CMD using the command protocol, setting the target component id to the id set in the camera mission item. It should also log any errors from the returned COMMAND_ACK.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Flight stacks that predate using a camera id typically re-emit the mission command addressed either to the broadcast component id (0) or to MAV_COMP_ID_CAMERA. The former triggers all cameras on the system, while the later provides better command handling because there is only one COMMAND_ACK.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            The camera identification operation identifies all the available cameras and determines their capabilities.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Connection

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAVLink Camera components are expected to follow the Heartbeat/Connection Protocol and sent a constant flow of heartbeats (nominally at 1Hz). Cameras must set a HEARTBEAT.type of MAV_TYPE_CAMERA. Each camera must use a different pre-defined camera component ID. Values of MAV_COMP_ID_CAMERA to MAV_COMP_ID_CAMERA6 are recommended, but in theory any camera ID may be used except for 0 to 6 (which are reserved for cameras proxied by another component, such as the autopilot).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            The first time a heartbeat is detected from a new camera, a GCS (or other receiving system) should start the Camera Identification process.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • MAVLink camera component.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • Autopilot, in order to detect autopilot-connected cameras.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            If a receiving system stops receiving heartbeats from the camera it is assumed to be disconnected, and should be removed from the list of available cameras. If heartbeats are again detected, the camera identification process below must be restarted from the beginning.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            If a vehicle has more than one camera, each camera will have a different component ID and send its own heartbeat. The vehicle autopilot might also have directly connected cameras, which are separately addressed by a camera device id. The GCS should create multiple instances of a camera controller based on the component ID of each camera. All commands are sent to a specific camera by addressing the command to a specific component ID.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            相机识别

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            The camera identification operation identifies all the available cameras associated with a system and determines their capabilities. It is used to discover both MAVLink cameras and non-MAVLink cameras attached to the autopilot.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            The camera will then respond with the a COMMAND_ACK message containing a result. On success (result is MAV_RESULT_ACCEPTED) the camera component must then send a CAMERA_INFORMATION message. The first time a heartbeat is received from a new camera component, the GCS will send it a MAV_CMD_REQUEST_MESSAGE message asking for CAMERA_INFORMATION (message id 259).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Camera identification must be carried out before all other operations!

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            The first time a heartbeat is received from a new camera component (HEARTBEAT.type=MAV_TYPE_CAMERA), the GCS should send it a MAV_CMD_REQUEST_MESSAGE message asking for CAMERA_INFORMATION (message id 259). The camera will then respond with the a COMMAND_ACK message containing a result. On success (result is MAV_RESULT_ACCEPTED) the camera component must then send a CAMERA_INFORMATION message.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Mermaid Sequence: Camera Id

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            The operation follows the normal Command Protocol rules for command/acknowledgment (if no COMMAND_ACK response is received for MAV_CMD_REQUEST_MESSAGE the command will be re-sent a number of times before failing). If CAMERA_INFORMATION is not received after receiving an ACK with MAV_RESULT_ACCEPTED, the protocol assumes the message was lost, and the cycle of sending MAV_CMD_REQUEST_MESSAGE is repeated. If CAMERA_INFORMATION is still not received after three cycle repeats, the GCS may assume that the camera is not supported.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            The first time a heartbeat is received from an autopilot, the GCS follow the same process to query for information about directly connected cameras. The only difference is that the autopilot should return a CAMERA_INFORMATION message for each connected camera, populated with its camera_device_id.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            deprecated

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Additional Camera Information

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            The CAMERA_INFORMATION response contains the bare minimum information about the camera and what it can or cannot do. This is sufficient for basic image and/or video capture.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            If a camera provides finer control over its settings CAMERA_INFORMATION.cam_definition_uri will include a URI to a Camera Definition File. If this URI exists, the GCS will request it, parse it and prepare the UI for the user to control the camera settings.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            The CAMERA_INFORMATION.cam_definition_version field should provide a version for the definition file, allowing the GCS to cache it. Once downloaded, it would only be requested again if the version number changes.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            A GCS that implements this protocol is expected to support both HTTP (http://) and MAVLink FTP (mftp://) URIs for download of the camera definition file. If the camera provides an HTTP or MAVLink FTP interface, the definition file can be hosted on the camera itself. Otherwise, it can be hosted anywhere (on any reachable server).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            相机基本操作

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            相机捕获状态

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Some cameras must be in a certain mode for still and/or video capture.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            The GCS can determine if it needs to make sure the camera is in the proper mode prior to sending a start capture (image or video) command by checking whether the CAMERA_CAP_FLAGS_HAS_MODES bit is set true in CAMERA_INFORMATION.flags.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            In addition, some cameras can capture images in any mode but with different resolutions. For example, a 20 megapixel camera would take a full resolution image when set to CAMERA_MODE_IMAGE but only at the current video resolution if it is set to CAMERA_MODE_VIDEO.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            To get the current mode, the GCS would send a MAV_CMD_REQUEST_MESSAGE command asking for CAMERA_SETTINGS. The current mode is the CAMERA_SETTINGS.mode_id field. The camera component will then respond with the COMMAND_ACK message containing a result. On success (COMMAND_ACK.result is MAV_RESULT_ACCEPTED) the camera must then send a CAMERA_SETTINGS message.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            The sequence is shown below:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Camera Settings

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Command acknowledgment and message resending is handled in the same way as for camera identification (if a successful ACK is received the camera will expect the CAMERA_SETTINGS message, and repeat the cycle - up to 3 times - until it is received).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            To set the camera to a specific mode, the GCS would send the MAV_CMD_SET_CAMERA_MODE command with the appropriate mode.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            The sequence is shown below:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            The operation follows the normal Command Protocol rules for command/acknowledgment.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            存储状态

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Before capturing images and/or videos, a GCS should query the storage status to determine if the camera has enough free space for these operations (and provide the user with feedback as to the current storage status). The GCS will send the MAV_CMD_REQUEST_MESSAGE command and it expects a COMMAND_ACK message back as well as a STORAGE_INFORMATION response. For formatting (or erasing depending on your implementation), the GCS will send a MAV_CMD_STORAGE_FORMAT command.

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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            In addition to querying about storage status, the GCS will also request the current Camera Capture Status in order to provide the user with proper UI indicators.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            The CAMERA_INFORMATION.flags provides information about camera capabilities. It contains a bitmap of CAMERA_CAP_FLAGS values that tell the GCS if the camera supports still image capture, video capture, or video streaming, and if it needs to be in a certain mode for capture, etc.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            静态图像捕获

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            A camera supports still image capture if the CAMERA_CAP_FLAGS_CAPTURE_IMAGE bit is set in CAMERA_INFORMATION.flags.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            A GCS/MAVLink app uses the MAV_CMD_IMAGE_START_CAPTURE command to request that the camera capture a specified number of images (or forever), and the duration between them. The camera immediately returns the normal command acknowledgment (MAV_RESULT).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Each time an image is captured, the camera broadcasts a CAMERA_IMAGE_CAPTURED message. This message not only tells the GCS the image was captured, it is also intended for geo-tagging.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            The camera must iterate CAMERA_IMAGE_CAPTURED.image_index and the counter used in CAMERA_CAPTURE_STATUS.image_count for every new image capture (these values iterate until explicitly cleared using MAV_CMD_STORAGE_FORMAT). The index and total image count can be used to re-request missing images (e.g. images captured when the vehicle was out of telemetry range).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            The MAV_CMD_IMAGE_STOP_CAPTURE command can optionally be sent to stop an image capture sequence (this is needed if image capture has been set to continue forever).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            The still image capture message sequence for missions (as described above) is shown below:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Mermaid Sequence: Image capture

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            The message sequence for interactive user-initiated image capture through a GUI is slightly different. In this case the GCS should:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            The sequence is as shown below:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Mermaid Sequence: Interactive user intiated image capture

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Request Lost CAMERA_IMAGE_CAPTURED Messages

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            The camera broadcasts a CAMERA_IMAGE_CAPTURED every time a new image is captured, iterating both the current image index (CAMERA_IMAGE_CAPTURED.image_index) and the total image count (CAMERA_CAPTURE_STATUS.image_count).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            These messages can be lost during transmission; for example if the vehicle is out of data-link range of the ground stations.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Lost image capture messages can be detected by comparing GCS and camera image counts. Individual entries can be requested using MAV_CMD_REQUEST_MESSAGE, where param1="MAVLINK_MSG_ID_CAMERA_IMAGE_CAPTURED" and param2="the index of the missing image".

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            The camera image log iterates "forever" (but may be explicitly reset using MAV_CMD_STORAGE_FORMAT.param3=1).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Video Capture

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            A camera supports video capture if the CAMERA_CAP_FLAGS_CAPTURE_VIDEO bit is set in CAMERA_INFORMATION.flags.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            To start recording videos, the GCS uses the MAV_CMD_VIDEO_START_CAPTURE command. If requested, the CAMERA_CAPTURE_STATUS message is sent to the GCS at a set interval.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            To stop recording, the GCS uses the MAV_CMD_VIDEO_STOP_CAPTURE command.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Video Streaming

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            The GCS should already have identified all connected cameras by their heartbeat and followed the Camera Identification steps to get CAMERA_INFORMATION for every camera.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            A camera is capable of streaming video if it sets the CAMERA_CAP_FLAGS_HAS_VIDEO_STREAM bit set in CAMERA_INFORMATION.flags.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            The sequence for requesting all video streams from a particular camera is shown below:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Mermaid Sequence: Video stream info

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            The steps are:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1. GCS follows the Camera Identification steps to get CAMERA_INFORMATION for every camera.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            2. GCS checks if CAMERA_INFORMATION.flags contains the CAMERA_CAP_FLAGS_HAS_VIDEO_STREAM flag.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            3. If so, the GCS sends the MAV_CMD_REQUEST_MESSAGE message to the camera requesting the video streaming configuration (param1=269) for all streams (param2=0). > Note A GCS can also request information for a particular stream by setting its id in param2.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            4. Camera returns a VIDEO_STREAM_INFORMATION message for the specified stream or all streams it supports.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            If your camera only provides video streaming and nothing else (no camera features), the CAMERA_CAP_FLAGS_HAS_VIDEO_STREAM flag is the only flag you need to set. The GCS will then provide video streaming support and skip camera control.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Video Metadata

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            The protocol provides some information about video streaming support in CAMERA_CAP_FLAGS, such as support for video streaming (CAMERA_CAP_FLAGS_HAS_VIDEO_STREAM) and thermal range information (CAMERA_CAP_FLAGS_HAS_THERMAL_RANGE), In addition the VIDEO_STREAM_INFORMATION and VIDEO_STREAM_STATUS provide broad information about each stream, including its transport mechanism, encoding, resolution, frame rate, and status (VIDEO_STREAM_STATUS_FLAGS).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAVLink does not specify any mechanism for getting frame-synchronized video metadata, such as absolute thermal values of thermal video streams, text-tracks, and so on. The following sections outline some MAVLink-centric methods for getting "approximate" video-synchronized metadata.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Camera absolute thermal range

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            A thermal video stream is often coloured as a heatmap in order to highlight hotter and colder sections. This heatmap is relative to the hottest and coldest points on the frame, so the hot sections are not necessarily hot, they are just hotter than their surroundings. If you're searching for things that have a specific temperature, it can be useful to know the absolute temperatures represented by the image.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            The CAMERA_THERMAL_RANGE message can be streamed alongside a video stream to provide this information. The message includes the associated stream and camera id, along with the position and value of the maximum and minimum temperature in the video frame. That is sufficient to overlay the hottest and coldest points on a video, and in theory to determine the absolute temperature of all pixels.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            The message is streamed alongside the video stream, but there is no precise mechanism to synchronize values to frames. The information is therefore an estimate/approximate.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            The message can be requested for a particular camera and stream using the MAV_CMD_SET_MESSAGE_INTERVAL, when the associated VIDEO_STREAM_STATUS.flag for the stream has bit VIDEO_STREAM_STATUS_FLAGS_THERMAL_RANGE_ENABLED set. Note that MAV_CMD_SET_MESSAGE_INTERVAL.param3 indicates the stream id of the current camera, or 0 for all streams, while param4 indicates the target camera_device_id for autopilot-attached cameras or 0 for MAVLink cameras.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            相机模式

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            A camera may support tracking a point and/or a rectangle. Information about the tracked point can be streamed during tracking, and may be passed to a gimbal in order to move the camera to track the target (or control vehicle attitude to track the target).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            相机通讯协议用于远程配置机载相机或查询相机的状态。 它支持照片拍摄、视频录制和视频流。 它还提供了查询并配置机载相机存储空间的消息。

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            To start camera tracking a GCS uses either the MAV_CMD_CAMERA_TRACK_POINT or MAV_CMD_CAMERA_TRACK_RECTANGLE command.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            After starting camera tracking you should call MAV_CMD_SET_MESSAGE_INTERVAL to start streaming the CAMERA_TRACKING_IMAGE_STATUS message at your desired rate. This message contains information about the tracked point/rectangle in an image, and may be used by the receiving system to determine the location of the target (alongside other information like the CAMERA_FOV_STATUS).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            If geo-tracking status information is supported (indicated by CAMERA_CAP_FLAGS_HAS_TRACKING_GEO_STATUS) you should also call MAV_CMD_SET_MESSAGE_INTERVAL to stream CAMERA_TRACKING_GEO_STATUS at your desired rate. This message provides the location of the target in physical co-ordinates that can be passed to a gimbal.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            To stop any kind of tracking, a GCS uses the MAV_CMD_CAMERA_STOP_TRACKING command. After stopping tracking you should call MAV_CMD_SET_MESSAGE_INTERVAL to stop streaming CAMERA_TRACKING_IMAGE_STATUS and CAMERA_TRACKING_GEO_STATUS (set their rates to 0).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Camera tracking message sequence

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            The GCS should already have identified all connected cameras by their heartbeat and followed the Camera Identification steps to get CAMERA_INFORMATION for every camera.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            The sequence for tracking a point is shown below (tracking a rectangle is the same sequence but a different tracking command).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Send command to request any message

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            The steps are:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1. GCS follows the Camera Identification steps to get CAMERA_INFORMATION for every camera.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            2. The GCS will send a MAV_CMD_REQUEST_MESSAGE command asking for [CAMERA_CAPTURE_STATUS] and it expects a COMMAND_ACK message back as well as a CAMERA_CAPTURE_STATUS response.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            3. If tracking is supported the GCS sends the command to start the type of tracking it wants to do: MAV_CMD_CAMERA_TRACK_POINT or MAV_CMD_CAMERA_TRACK_RECTANGLE. The sequence above just shows point tracking.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            4. Set the desired rates (intervals) for streaming the tracking status messages.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            5. Camera streams CAMERA_TRACKING_IMAGE_STATUS and/or CAMERA_TRACKING_GEO_STATUS. These are used to provide camera targetting information.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            6. To stop tracking, a GCS uses the MAV_CMD_CAMERA_STOP_TRACKING command. The streaming intervals must also be set to zero.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Battery Status

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Camera components that are powered from their own battery should publish BATTERY_STATUS messages.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Other components like a GCS will typically only use the camera BATTERY_STATUS.battery_remaining field (or possibly time_remaining); generally other fields can be set as "not supported".

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            消息/枚举值摘要

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Messages

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            消息描述
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            CAMERA_INFORMATION相机组件的基本信息，包括所支持的功能，以及扩展信息的URI链接 (cam_definition_uri 字段)。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            CAMERA_SETTINGSTimestamp and camera mode information.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            VIDEO_STREAM_INFORMATIONInformation defining a video stream configuration. If a camera has more than one video stream, it would send one of this for each video stream, with their specific configuration. Each stream must have its own, unique stream_id.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            VIDEO_STREAM_STATUSInformation updating a video stream configuration.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            STORAGE_INFORMATIONStorage information (e.g. number and type of storage devices, total/used/available capacity, read/write speeds).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            CAMERA_CAPTURE_STATUSCamera capture status, including current capture type (if any), capture interval, available capacity.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            CAMERA_IMAGE_CAPTUREDInformation about image captured (returned to GPS every time an image is captured).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_STORAGE_FORMATInformation about the field of view of a camera. Requested using MAV_CMD_REQUEST_MESSAGE.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            视频流状态的标志位- 比如缩放倍率，热力图等。 Received in VIDEO_STREAM_INFORMATION .Camera tracking status, sent while in active tracking. Use MAV_CMD_SET_MESSAGE_INTERVAL to define message interval.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            CAMERA_TRACKING_GEO_STATUSCamera tracking status, sent while in active tracking. Use MAV_CMD_SET_MESSAGE_INTERVAL to define message interval.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            CAMERA_THERMAL_RANGECamera absolute thermal range. This provides value and position of max/min temperature in a video stream, allowing thermal range of video to be calibrated to absolute rather than relative temperature. Use MAV_CMD_SET_MESSAGE_INTERVAL to define message interval for a particular camera and stream.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Commands

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Command描述
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_REQUEST_MESSAGESend command to request any message (used to request CAMERA_INFORMATION and the other messages above)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_SET_CAMERA_MODESend command to set CAMERA_MODE.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_IMAGE_START_CAPTURESend command to start image capture, specifying the duration between captures and total number of images to capture.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_IMAGE_STOP_CAPTURESend command to stop image capture.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_VIDEO_START_CAPTURESend command to start video capture, specifying the frequency that CAMERA_CAPTURE_STATUS messages should be sent while recording.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_VIDEO_STOP_CAPTURESend command to stop video capture.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_VIDEO_START_STREAMINGSend command to start video streaming for the given Stream ID (stream_id.) This is mostly for streaming protocols that push a stream. If your camera uses a connection based streaming configuration (RTSP, TCP, etc.), you may ignore it if you don't need it but note that you still must ACK the command, like all MAV_CMD_XXX commands. When using a connection based streaming configuration, the GCS will connect the stream from its side. When a camera offers more than one stream and the user switches from one stream to another, the GCS will send a MAV_CMD_VIDEO_STOP_STREAMING command targeting the current Stream ID followed by a MAV_CMD_VIDEO_START_STREAMING targeting the newly selected Stream ID.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_VIDEO_STOP_STREAMINGSend command to stop video streaming for the given Stream ID (stream_id.) This is mostly for streaming protocols that push a stream. If your camera uses a connection based streaming configuration (RTSP, TCP, etc.), you may ignore it if you don't need it but note that you still must ACK the command, like all MAV_CMD_XXX commands. When using a connection based streaming configuration, the GCS will disconnect the stream from its side. When a camera offers more than one stream and the user switches from one stream to another, the GCS will send a MAV_CMD_VIDEO_STOP_STREAMING command targeting the current Stream ID followed by a MAV_CMD_VIDEO_START_STREAMING targeting the newly selected Stream ID.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            描述相机能力的标志位(按位映射)。 例如：在视频模式下捕获图像的能力，是否支持测量模式等。 Received in CAMERA_INFORMATION.Initate visual point tracking, if supported by the camera (CAMERA_CAP_FLAGS_HAS_TRACKING_POINT is set).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Send command to format the specified storage device.Initiate visual rectangle tracking, if supported by the camera (CAMERA_CAP_FLAGS_HAS_TRACKING_RECTANGLE is set).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            视频流的类型 - 比如 RTSP、MPEG等。 Received in VIDEO_STREAM_INFORMATION .Stop camera tracking (as initiated using MAV_CMD_CAMERA_TRACK_POINT or MAV_CMD_CAMERA_TRACK_RECTANGLE).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Deprecated Commands

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            These commands have been deprecated, replaced by the generic requester command MAV_CMD_REQUEST_MESSAGE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            CommandDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_REQUEST_CAMERA_SETTINGSSend command to request CAMERA_SETTINGS.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_REQUEST_CAMERA_INFORMATIONSend command to request CAMERA_INFORMATION.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_REQUEST_VIDEO_STREAM_INFORMATIONSend command to request VIDEO_STREAM_INFORMATION. This is sent once for each camera when a camera is detected and it has set the CAMERA_CAP_FLAGS_HAS_VIDEO_STREAM flag within the CAMERA_INFORMATION message flags field.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_REQUEST_VIDEO_STREAM_STATUSSend command to request VIDEO_STREAM_STATUS. This is sent whenever there is a mode change (when MAV_CMD_SET_CAMERA_MODE is sent.) It allows the camera to update the stream configuration when a camera mode change occurs.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_REQUEST_STORAGE_INFORMATIONSend command to request STORAGE_INFORMATION.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_REQUEST_CAMERA_CAPTURE_STATUSSend command to request CAMERA_CAPTURE_STATUS.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            枚举值

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            EnumDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            CAMERA_CAP_FLAGS描述相机能力的标志位(按位映射)。 例如：在视频模式下捕获图像的能力，是否支持测量模式等。 Received in CAMERA_INFORMATION.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            CAMERA_MODE相机模式 (图像，视频，测量等)。 Received in CAMERA_SETTINGS.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            VIDEO_STREAM_TYPE视频流的类型 - 比如 RTSP、MPEG等。 Received in VIDEO_STREAM_INFORMATION.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            VIDEO_STREAM_STATUS_FLAGS视频流状态的标志位- 比如缩放倍率，热力图等。 Received in VIDEO_STREAM_INFORMATION.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            CAMERA_TRACKING_STATUS_FLAGSCurrent tracking status. Received in CAMERA_TRACKING_IMAGE_STATUS amd CAMERA_TRACKING_GEO_STATUS.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            相机模式 (图像，视频，测量等)。 Received in CAMERA_SETTINGS.Current tracking mode. Received in CAMERA_TRACKING_IMAGE_STATUS.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            CAMERA_TRACKING_TARGET_DATAIndicates how target data is encoded in image. Received in CAMERA_TRACKING_IMAGE_STATUS.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Migration Notes for GCS & MAVLink SDKs

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            The original definition of this protocol used specific commands to query for each type of information requested from the camera: MAV_CMD_REQUEST_CAMERA_INFORMATION (for CAMERA_INFORMATION), MAV_CMD_REQUEST_CAMERA_SETTINGS, MAV_CMD_REQUEST_CAMERA_CAPTURE_STATUS, MAV_CMD_REQUEST_VIDEO_STREAM_INFORMATION, MAV_CMD_REQUEST_STORAGE_INFORMATION.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            The latest version replaces all of these specific commands with the general requestor MAV_CMD_REQUEST_MESSAGE.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            The transition works like this:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1. Cameras need to handle both approaches for now (i.e. support both new generic and old specific commands).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            2. Ground stations will move from using the old specific commands to using both. They can try the new one and if they don't get an answer within a timeout they need to fall back to the previous command.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            3. After the new commands have been established in server and ground stations, the old specific commands may be removed from the implementations.

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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              相机协议

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              The camera protocol v2 is used to configure camera payloads and request their status. It provides basic methods for photo capture, video capture and streaming, setting zoom and focus, querying and configuring camera storage, and selecting multiple cameras. It also defines a camera definition file format that allows a GCS to generate a configuration UI for setting any property of the camera using parameters.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              This protocol supersedes Camera Protocol v1 (Simple Trigger Protocol). The older protocol enables camera triggering, but does not support other features or querying camera capabilities.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              We are transitioning from specific request commands to a single generic requestor. GCS and MAVLink SDKs/apps should support both approaches as we migrate to exclusive use of the new method (documented here). For more information see Migration Notes for GCS & Camera Servers.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Camera Managers provide a MAVLink Camera protocol interface for cameras that don't directly implement MAVLink support. These generally run on a companion computer:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              These cameras have inbuilt support for MAVLink (but not necessarily camera protocol v2):

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              相机连接

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAVLink cameras are identified and addressed by their system and component id.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Components that have non-MAVLink cameras attached, such as companion computers, are expected expose each of them as a separate MAVLink camera component with its own HEARTBEAT.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              The exception is the autopilot component, which can "proxy" up to 6 attached non-MAVLink cameras: these are identified by a camera_device_id field in messages and Target Camera ID label in commands.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Camera Messages

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Camera components are expected to follow the Heartbeat/Connection Protocol and sent a constant flow of heartbeats (nominally at 1Hz). Each camera must use a different pre-defined camera component ID: MAV_COMP_ID_CAMERA to MAV_COMP_ID_CAMERA6.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              non-MAVLink cameras attached to the autopilot are identified first by the autopilot system/component id, and then by a camera_device_id field in the message payload (all camera messages should have an id field with this or a similar name). An autopilot should set this to the id of the associated camera device, and otherwise this should always be set to zero.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Camera Addressing in Commands

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAVLink cameras are sent commands addressed using their system and component ids (just as when addressing commands to any other component).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              To send commands to autopilot-attached cameras, the command should be send to the autopilot component. The device id of the target attached camera must further be set in the command's Target Camera ID parameter (the index and precise label of this parameter may vary). The autopilot is required to respond to the command with COMMAND_ACK, populating the COMMAND_ACK.result_param2 field with the id of the targeted autopilot connected camera, if any.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Note that the Target Camera ID parameter should be set to 0 in order to target all cameras, or if targeting a MAVLink camera.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Camera Addressing in Missions

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              When using a camera MAV_CMD in a mission, the id parameter (if present) indicates the target camera:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • 1 - 6 indicates a flight-stack connected camera
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • 7-255 is the component id of a MAVLink connected camera. Note that component ids 1-6 should never be used for MAVLink cameras!
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • 0 indicates "all connected cameras".

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              When processing a camera item in a mission the autopilot should:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • For Target Camera ID values of 1-6, perform the specified camera action on the connected camera if it exists, and otherwise log an error.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • For other Target Camera ID values, re-emit the MAV_CMD using the command protocol, setting the target component id to the id set in the camera mission item. It should also log any errors from the returned COMMAND_ACK.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Flight stacks that predate using a camera id typically re-emit the mission command addressed either to the broadcast component id (0) or to MAV_COMP_ID_CAMERA. The former triggers all cameras on the system, while the later provides better command handling because there is only one COMMAND_ACK.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              The camera identification operation identifies all the available cameras and determines their capabilities.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Connection

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAVLink Camera components are expected to follow the Heartbeat/Connection Protocol and sent a constant flow of heartbeats (nominally at 1Hz). Cameras must set a HEARTBEAT.type of MAV_TYPE_CAMERA. Each camera must use a different pre-defined camera component ID. Values of MAV_COMP_ID_CAMERA to MAV_COMP_ID_CAMERA6 are recommended, but in theory any camera ID may be used except for 0 to 6 (which are reserved for cameras proxied by another component, such as the autopilot).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              The first time a heartbeat is detected from a new camera, a GCS (or other receiving system) should start the Camera Identification process.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • MAVLink camera component.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • Autopilot, in order to detect autopilot-connected cameras.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              If a receiving system stops receiving heartbeats from the camera it is assumed to be disconnected, and should be removed from the list of available cameras. If heartbeats are again detected, the camera identification process below must be restarted from the beginning.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              If a vehicle has more than one camera, each camera will have a different component ID and send its own heartbeat. The vehicle autopilot might also have directly connected cameras, which are separately addressed by a camera device id. The GCS should create multiple instances of a camera controller based on the component ID of each camera. All commands are sent to a specific camera by addressing the command to a specific component ID.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              相机识别

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              The camera identification operation identifies all the available cameras associated with a system and determines their capabilities. It is used to discover both MAVLink cameras and non-MAVLink cameras attached to the autopilot.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              The camera will then respond with the a COMMAND_ACK message containing a result. On success (result is MAV_RESULT_ACCEPTED) the camera component must then send a CAMERA_INFORMATION message. The first time a heartbeat is received from a new camera component, the GCS will send it a MAV_CMD_REQUEST_MESSAGE message asking for CAMERA_INFORMATION (message id 259).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Camera identification must be carried out before all other operations!

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              The first time a heartbeat is received from a new camera component (HEARTBEAT.type=MAV_TYPE_CAMERA), the GCS should send it a MAV_CMD_REQUEST_MESSAGE message asking for CAMERA_INFORMATION (message id 259). The camera will then respond with the a COMMAND_ACK message containing a result. On success (result is MAV_RESULT_ACCEPTED) the camera component must then send a CAMERA_INFORMATION message.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Mermaid Sequence: Camera Id

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              The operation follows the normal Command Protocol rules for command/acknowledgment (if no COMMAND_ACK response is received for MAV_CMD_REQUEST_MESSAGE the command will be re-sent a number of times before failing). If CAMERA_INFORMATION is not received after receiving an ACK with MAV_RESULT_ACCEPTED, the protocol assumes the message was lost, and the cycle of sending MAV_CMD_REQUEST_MESSAGE is repeated. If CAMERA_INFORMATION is still not received after three cycle repeats, the GCS may assume that the camera is not supported.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              The first time a heartbeat is received from an autopilot, the GCS follow the same process to query for information about directly connected cameras. The only difference is that the autopilot should return a CAMERA_INFORMATION message for each connected camera, populated with its camera_device_id.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              deprecated

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Additional Camera Information

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              The CAMERA_INFORMATION response contains the bare minimum information about the camera and what it can or cannot do. This is sufficient for basic image and/or video capture.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              If a camera provides finer control over its settings CAMERA_INFORMATION.cam_definition_uri will include a URI to a Camera Definition File. If this URI exists, the GCS will request it, parse it and prepare the UI for the user to control the camera settings.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              The CAMERA_INFORMATION.cam_definition_version field should provide a version for the definition file, allowing the GCS to cache it. Once downloaded, it would only be requested again if the version number changes.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              A GCS that implements this protocol is expected to support both HTTP (http://) and MAVLink FTP (mftp://) URIs for download of the camera definition file. If the camera provides an HTTP or MAVLink FTP interface, the definition file can be hosted on the camera itself. Otherwise, it can be hosted anywhere (on any reachable server).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              相机基本操作

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              相机捕获状态

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Some cameras must be in a certain mode for still and/or video capture.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              The GCS can determine if it needs to make sure the camera is in the proper mode prior to sending a start capture (image or video) command by checking whether the CAMERA_CAP_FLAGS_HAS_MODES bit is set true in CAMERA_INFORMATION.flags.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              In addition, some cameras can capture images in any mode but with different resolutions. For example, a 20 megapixel camera would take a full resolution image when set to CAMERA_MODE_IMAGE but only at the current video resolution if it is set to CAMERA_MODE_VIDEO.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              To get the current mode, the GCS would send a MAV_CMD_REQUEST_MESSAGE command asking for CAMERA_SETTINGS. The current mode is the CAMERA_SETTINGS.mode_id field. The camera component will then respond with the COMMAND_ACK message containing a result. On success (COMMAND_ACK.result is MAV_RESULT_ACCEPTED) the camera must then send a CAMERA_SETTINGS message.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              The sequence is shown below:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Camera Settings

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Command acknowledgment and message resending is handled in the same way as for camera identification (if a successful ACK is received the camera will expect the CAMERA_SETTINGS message, and repeat the cycle - up to 3 times - until it is received).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              To set the camera to a specific mode, the GCS would send the MAV_CMD_SET_CAMERA_MODE command with the appropriate mode.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              The sequence is shown below:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              The operation follows the normal Command Protocol rules for command/acknowledgment.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              存储状态

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Before capturing images and/or videos, a GCS should query the storage status to determine if the camera has enough free space for these operations (and provide the user with feedback as to the current storage status). The GCS will send the MAV_CMD_REQUEST_MESSAGE command and it expects a COMMAND_ACK message back as well as a STORAGE_INFORMATION response. For formatting (or erasing depending on your implementation), the GCS will send a MAV_CMD_STORAGE_FORMAT command.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Status

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              In addition to querying about storage status, the GCS will also request the current Camera Capture Status in order to provide the user with proper UI indicators.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              The CAMERA_INFORMATION.flags provides information about camera capabilities. It contains a bitmap of CAMERA_CAP_FLAGS values that tell the GCS if the camera supports still image capture, video capture, or video streaming, and if it needs to be in a certain mode for capture, etc.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              静态图像捕获

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              A camera supports still image capture if the CAMERA_CAP_FLAGS_CAPTURE_IMAGE bit is set in CAMERA_INFORMATION.flags.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              A GCS/MAVLink app uses the MAV_CMD_IMAGE_START_CAPTURE command to request that the camera capture a specified number of images (or forever), and the duration between them. The camera immediately returns the normal command acknowledgment (MAV_RESULT).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Each time an image is captured, the camera broadcasts a CAMERA_IMAGE_CAPTURED message. This message not only tells the GCS the image was captured, it is also intended for geo-tagging.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              The camera must iterate CAMERA_IMAGE_CAPTURED.image_index and the counter used in CAMERA_CAPTURE_STATUS.image_count for every new image capture (these values iterate until explicitly cleared using MAV_CMD_STORAGE_FORMAT). The index and total image count can be used to re-request missing images (e.g. images captured when the vehicle was out of telemetry range).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              The MAV_CMD_IMAGE_STOP_CAPTURE command can optionally be sent to stop an image capture sequence (this is needed if image capture has been set to continue forever).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              The still image capture message sequence for missions (as described above) is shown below:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Mermaid Sequence: Image capture

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              The message sequence for interactive user-initiated image capture through a GUI is slightly different. In this case the GCS should:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              The sequence is as shown below:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Mermaid Sequence: Interactive user intiated image capture

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Request Lost CAMERA_IMAGE_CAPTURED Messages

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              The camera broadcasts a CAMERA_IMAGE_CAPTURED every time a new image is captured, iterating both the current image index (CAMERA_IMAGE_CAPTURED.image_index) and the total image count (CAMERA_CAPTURE_STATUS.image_count).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              These messages can be lost during transmission; for example if the vehicle is out of data-link range of the ground stations.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Lost image capture messages can be detected by comparing GCS and camera image counts. Individual entries can be requested using MAV_CMD_REQUEST_MESSAGE, where param1="MAVLINK_MSG_ID_CAMERA_IMAGE_CAPTURED" and param2="the index of the missing image".

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              The camera image log iterates "forever" (but may be explicitly reset using MAV_CMD_STORAGE_FORMAT.param3=1).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Video Capture

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              A camera supports video capture if the CAMERA_CAP_FLAGS_CAPTURE_VIDEO bit is set in CAMERA_INFORMATION.flags.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              To start recording videos, the GCS uses the MAV_CMD_VIDEO_START_CAPTURE command. If requested, the CAMERA_CAPTURE_STATUS message is sent to the GCS at a set interval.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              To stop recording, the GCS uses the MAV_CMD_VIDEO_STOP_CAPTURE command.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Video Streaming

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              The GCS should already have identified all connected cameras by their heartbeat and followed the Camera Identification steps to get CAMERA_INFORMATION for every camera.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              A camera is capable of streaming video if it sets the CAMERA_CAP_FLAGS_HAS_VIDEO_STREAM bit set in CAMERA_INFORMATION.flags.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              The sequence for requesting all video streams from a particular camera is shown below:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Mermaid Sequence: Video stream info

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              The steps are:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              1. GCS follows the Camera Identification steps to get CAMERA_INFORMATION for every camera.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              2. GCS checks if CAMERA_INFORMATION.flags contains the CAMERA_CAP_FLAGS_HAS_VIDEO_STREAM flag.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              3. If so, the GCS sends the MAV_CMD_REQUEST_MESSAGE message to the camera requesting the video streaming configuration (param1=269) for all streams (param2=0). > Note A GCS can also request information for a particular stream by setting its id in param2.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              4. Camera returns a VIDEO_STREAM_INFORMATION message for the specified stream or all streams it supports.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              If your camera only provides video streaming and nothing else (no camera features), the CAMERA_CAP_FLAGS_HAS_VIDEO_STREAM flag is the only flag you need to set. The GCS will then provide video streaming support and skip camera control.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Video Metadata

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              The protocol provides some information about video streaming support in CAMERA_CAP_FLAGS, such as support for video streaming (CAMERA_CAP_FLAGS_HAS_VIDEO_STREAM) and thermal range information (CAMERA_CAP_FLAGS_HAS_THERMAL_RANGE), In addition the VIDEO_STREAM_INFORMATION and VIDEO_STREAM_STATUS provide broad information about each stream, including its transport mechanism, encoding, resolution, frame rate, and status (VIDEO_STREAM_STATUS_FLAGS).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAVLink does not specify any mechanism for getting frame-synchronized video metadata, such as absolute thermal values of thermal video streams, text-tracks, and so on. The following sections outline some MAVLink-centric methods for getting "approximate" video-synchronized metadata.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Camera absolute thermal range

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              A thermal video stream is often coloured as a heatmap in order to highlight hotter and colder sections. This heatmap is relative to the hottest and coldest points on the frame, so the hot sections are not necessarily hot, they are just hotter than their surroundings. If you're searching for things that have a specific temperature, it can be useful to know the absolute temperatures represented by the image.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              The CAMERA_THERMAL_RANGE message can be streamed alongside a video stream to provide this information. The message includes the associated stream and camera id, along with the position and value of the maximum and minimum temperature in the video frame. That is sufficient to overlay the hottest and coldest points on a video, and in theory to determine the absolute temperature of all pixels.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              The message is streamed alongside the video stream, but there is no precise mechanism to synchronize values to frames. The information is therefore an estimate/approximate.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              The message can be requested for a particular camera and stream using the MAV_CMD_SET_MESSAGE_INTERVAL, when the associated VIDEO_STREAM_STATUS.flag for the stream has bit VIDEO_STREAM_STATUS_FLAGS_THERMAL_RANGE_ENABLED set. Note that MAV_CMD_SET_MESSAGE_INTERVAL.param3 indicates the stream id of the current camera, or 0 for all streams, while param4 indicates the target camera_device_id for autopilot-attached cameras or 0 for MAVLink cameras.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              相机模式

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              A camera may support tracking a point and/or a rectangle. Information about the tracked point can be streamed during tracking, and may be passed to a gimbal in order to move the camera to track the target (or control vehicle attitude to track the target).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              相机通讯协议用于远程配置机载相机或查询相机的状态。 它支持照片拍摄、视频录制和视频流。 它还提供了查询并配置机载相机存储空间的消息。

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              To start camera tracking a GCS uses either the MAV_CMD_CAMERA_TRACK_POINT or MAV_CMD_CAMERA_TRACK_RECTANGLE command.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              After starting camera tracking you should call MAV_CMD_SET_MESSAGE_INTERVAL to start streaming the CAMERA_TRACKING_IMAGE_STATUS message at your desired rate. This message contains information about the tracked point/rectangle in an image, and may be used by the receiving system to determine the location of the target (alongside other information like the CAMERA_FOV_STATUS).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              If geo-tracking status information is supported (indicated by CAMERA_CAP_FLAGS_HAS_TRACKING_GEO_STATUS) you should also call MAV_CMD_SET_MESSAGE_INTERVAL to stream CAMERA_TRACKING_GEO_STATUS at your desired rate. This message provides the location of the target in physical co-ordinates that can be passed to a gimbal.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              To stop any kind of tracking, a GCS uses the MAV_CMD_CAMERA_STOP_TRACKING command. After stopping tracking you should call MAV_CMD_SET_MESSAGE_INTERVAL to stop streaming CAMERA_TRACKING_IMAGE_STATUS and CAMERA_TRACKING_GEO_STATUS (set their rates to 0).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Camera tracking message sequence

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              The GCS should already have identified all connected cameras by their heartbeat and followed the Camera Identification steps to get CAMERA_INFORMATION for every camera.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              The sequence for tracking a point is shown below (tracking a rectangle is the same sequence but a different tracking command).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Send command to request any message

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              The steps are:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              1. GCS follows the Camera Identification steps to get CAMERA_INFORMATION for every camera.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              2. The GCS will send a MAV_CMD_REQUEST_MESSAGE command asking for [CAMERA_CAPTURE_STATUS] and it expects a COMMAND_ACK message back as well as a CAMERA_CAPTURE_STATUS response.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              3. If tracking is supported the GCS sends the command to start the type of tracking it wants to do: MAV_CMD_CAMERA_TRACK_POINT or MAV_CMD_CAMERA_TRACK_RECTANGLE. The sequence above just shows point tracking.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              4. Set the desired rates (intervals) for streaming the tracking status messages.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              5. Camera streams CAMERA_TRACKING_IMAGE_STATUS and/or CAMERA_TRACKING_GEO_STATUS. These are used to provide camera targetting information.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              6. To stop tracking, a GCS uses the MAV_CMD_CAMERA_STOP_TRACKING command. The streaming intervals must also be set to zero.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Battery Status

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Camera components that are powered from their own battery should publish BATTERY_STATUS messages.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Other components like a GCS will typically only use the camera BATTERY_STATUS.battery_remaining field (or possibly time_remaining); generally other fields can be set as "not supported".

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              消息/枚举值摘要

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Messages

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              消息描述
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              CAMERA_INFORMATION相机组件的基本信息，包括所支持的功能，以及扩展信息的URI链接 (cam_definition_uri 字段)。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              CAMERA_SETTINGSTimestamp and camera mode information.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              VIDEO_STREAM_INFORMATIONInformation defining a video stream configuration. If a camera has more than one video stream, it would send one of this for each video stream, with their specific configuration. Each stream must have its own, unique stream_id.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              VIDEO_STREAM_STATUSInformation updating a video stream configuration.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              STORAGE_INFORMATIONStorage information (e.g. number and type of storage devices, total/used/available capacity, read/write speeds).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              CAMERA_CAPTURE_STATUSCamera capture status, including current capture type (if any), capture interval, available capacity.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              CAMERA_IMAGE_CAPTUREDInformation about image captured (returned to GPS every time an image is captured).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_STORAGE_FORMATInformation about the field of view of a camera. Requested using MAV_CMD_REQUEST_MESSAGE.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              视频流状态的标志位- 比如缩放倍率，热力图等。 Received in VIDEO_STREAM_INFORMATION .Camera tracking status, sent while in active tracking. Use MAV_CMD_SET_MESSAGE_INTERVAL to define message interval.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              CAMERA_TRACKING_GEO_STATUSCamera tracking status, sent while in active tracking. Use MAV_CMD_SET_MESSAGE_INTERVAL to define message interval.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              CAMERA_THERMAL_RANGECamera absolute thermal range. This provides value and position of max/min temperature in a video stream, allowing thermal range of video to be calibrated to absolute rather than relative temperature. Use MAV_CMD_SET_MESSAGE_INTERVAL to define message interval for a particular camera and stream.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Commands

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Command描述
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_REQUEST_MESSAGESend command to request any message (used to request CAMERA_INFORMATION and the other messages above)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_SET_CAMERA_MODESend command to set CAMERA_MODE.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_IMAGE_START_CAPTURESend command to start image capture, specifying the duration between captures and total number of images to capture.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_IMAGE_STOP_CAPTURESend command to stop image capture.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_VIDEO_START_CAPTURESend command to start video capture, specifying the frequency that CAMERA_CAPTURE_STATUS messages should be sent while recording.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_VIDEO_STOP_CAPTURESend command to stop video capture.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_VIDEO_START_STREAMINGSend command to start video streaming for the given Stream ID (stream_id.) This is mostly for streaming protocols that push a stream. If your camera uses a connection based streaming configuration (RTSP, TCP, etc.), you may ignore it if you don't need it but note that you still must ACK the command, like all MAV_CMD_XXX commands. When using a connection based streaming configuration, the GCS will connect the stream from its side. When a camera offers more than one stream and the user switches from one stream to another, the GCS will send a MAV_CMD_VIDEO_STOP_STREAMING command targeting the current Stream ID followed by a MAV_CMD_VIDEO_START_STREAMING targeting the newly selected Stream ID.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_VIDEO_STOP_STREAMINGSend command to stop video streaming for the given Stream ID (stream_id.) This is mostly for streaming protocols that push a stream. If your camera uses a connection based streaming configuration (RTSP, TCP, etc.), you may ignore it if you don't need it but note that you still must ACK the command, like all MAV_CMD_XXX commands. When using a connection based streaming configuration, the GCS will disconnect the stream from its side. When a camera offers more than one stream and the user switches from one stream to another, the GCS will send a MAV_CMD_VIDEO_STOP_STREAMING command targeting the current Stream ID followed by a MAV_CMD_VIDEO_START_STREAMING targeting the newly selected Stream ID.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              描述相机能力的标志位(按位映射)。 例如：在视频模式下捕获图像的能力，是否支持测量模式等。 Received in CAMERA_INFORMATION.Initate visual point tracking, if supported by the camera (CAMERA_CAP_FLAGS_HAS_TRACKING_POINT is set).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Send command to format the specified storage device.Initiate visual rectangle tracking, if supported by the camera (CAMERA_CAP_FLAGS_HAS_TRACKING_RECTANGLE is set).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              视频流的类型 - 比如 RTSP、MPEG等。 Received in VIDEO_STREAM_INFORMATION .Stop camera tracking (as initiated using MAV_CMD_CAMERA_TRACK_POINT or MAV_CMD_CAMERA_TRACK_RECTANGLE).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Deprecated Commands

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              These commands have been deprecated, replaced by the generic requester command MAV_CMD_REQUEST_MESSAGE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              CommandDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_REQUEST_CAMERA_SETTINGSSend command to request CAMERA_SETTINGS.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_REQUEST_CAMERA_INFORMATIONSend command to request CAMERA_INFORMATION.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_REQUEST_VIDEO_STREAM_INFORMATIONSend command to request VIDEO_STREAM_INFORMATION. This is sent once for each camera when a camera is detected and it has set the CAMERA_CAP_FLAGS_HAS_VIDEO_STREAM flag within the CAMERA_INFORMATION message flags field.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_REQUEST_VIDEO_STREAM_STATUSSend command to request VIDEO_STREAM_STATUS. This is sent whenever there is a mode change (when MAV_CMD_SET_CAMERA_MODE is sent.) It allows the camera to update the stream configuration when a camera mode change occurs.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_REQUEST_STORAGE_INFORMATIONSend command to request STORAGE_INFORMATION.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_REQUEST_CAMERA_CAPTURE_STATUSSend command to request CAMERA_CAPTURE_STATUS.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              枚举值

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              EnumDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              CAMERA_CAP_FLAGS描述相机能力的标志位(按位映射)。 例如：在视频模式下捕获图像的能力，是否支持测量模式等。 Received in CAMERA_INFORMATION.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              CAMERA_MODE相机模式 (图像，视频，测量等)。 Received in CAMERA_SETTINGS.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              VIDEO_STREAM_TYPE视频流的类型 - 比如 RTSP、MPEG等。 Received in VIDEO_STREAM_INFORMATION.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              VIDEO_STREAM_STATUS_FLAGS视频流状态的标志位- 比如缩放倍率，热力图等。 Received in VIDEO_STREAM_INFORMATION.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              CAMERA_TRACKING_STATUS_FLAGSCurrent tracking status. Received in CAMERA_TRACKING_IMAGE_STATUS amd CAMERA_TRACKING_GEO_STATUS.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              相机模式 (图像，视频，测量等)。 Received in CAMERA_SETTINGS.Current tracking mode. Received in CAMERA_TRACKING_IMAGE_STATUS.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              CAMERA_TRACKING_TARGET_DATAIndicates how target data is encoded in image. Received in CAMERA_TRACKING_IMAGE_STATUS.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Migration Notes for GCS & MAVLink SDKs

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              The original definition of this protocol used specific commands to query for each type of information requested from the camera: MAV_CMD_REQUEST_CAMERA_INFORMATION (for CAMERA_INFORMATION), MAV_CMD_REQUEST_CAMERA_SETTINGS, MAV_CMD_REQUEST_CAMERA_CAPTURE_STATUS, MAV_CMD_REQUEST_VIDEO_STREAM_INFORMATION, MAV_CMD_REQUEST_STORAGE_INFORMATION.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              The latest version replaces all of these specific commands with the general requestor MAV_CMD_REQUEST_MESSAGE.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              The transition works like this:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              1. Cameras need to handle both approaches for now (i.e. support both new generic and old specific commands).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              2. Ground stations will move from using the old specific commands to using both. They can try the new one and if they don't get an answer within a timeout they need to fall back to the previous command.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              3. After the new commands have been established in server and ground stations, the old specific commands may be removed from the implementations.

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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                相机定义文件

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                GCS会根据 CAMERA_INFORMATION 消息提供的信息，为相机组件生成用于图像捕获、视频捕获和视频流的控制UI界面。 对于那些简易相机组件，CAMERA_INFORMATION 消息中包含的信息已经足够用于构建UI界面了。 对于更高级的相机组件 (有很多可选的配置项) 用于构建UI的信息需要由一个 Camera Definition File 文件提供。该文件位于 cam_definition_uri 字段指向的链接地址。 For simple cameras, the information in the CAMERA_INFORMATION message itself is sufficient to construct the UI. For more advanced cameras (with settings and options) the information required to build the UI can be supplied in a Camera Definition File that is located at the URI specified in the message's cam_definition_uri field.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Camera Definition File 包含所有的相机配置项，每项配置的所有可选项，以及例外清单(已停用或者有前提条件要求的选项)。 另外，它可能还包含本土化的用户界面文字内容，用来展示给用户。 另外，它可能还包含本土化的用户界面文字内容，用来展示给用户。

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                在这一章的最后，我们给出了 Camera Definition File 的一份完整示例 full example 。

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                之所以需要 Camera Definition File 文件，是因为在不同型号的相机之间，其配置项大不相同。 要为每一种型号的相机、每一个可能的配置选项都单独创建MAVLink消息，是很不明智的。 要为每一种型号的相机、每一个可能的配置选项都单独创建MAVLink消息，是很不明智的。

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                File Compression

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Camera definition files may be .xz compressed (this is recommended for files that are hosted on the camera component/device).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Systems that request camera definition files must support extraction of .xz-compressed definition files.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                The Tukaani Project XZ Embedded library is an easy-to-use XZ compression library for embedded systems.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Schema

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                The XML file has 3 main sections (elements):

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • 定义
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • 参数
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • 本土化

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                定义

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                All fields are self explanatory:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                <definition version="1">
+Camera Definition · MAVLink Developer Guide
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                相机定义文件
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                GCS会根据 CAMERA_INFORMATION 消息提供的信息，为相机组件生成用于图像捕获、视频捕获和视频流的控制UI界面。 对于那些简易相机组件，CAMERA_INFORMATION 消息中包含的信息已经足够用于构建UI界面了。 对于更高级的相机组件 (有很多可选的配置项) 用于构建UI的信息需要由一个 Camera Definition File 文件提供。该文件位于 cam_definition_uri 字段指向的链接地址。 For simple cameras, the information in the CAMERA_INFORMATION message itself is sufficient to construct the UI. For more advanced cameras (with settings and options) the information required to build the UI can be supplied in a Camera Definition File that is located at the URI specified in the message's cam_definition_uri field.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Camera Definition File 包含所有的相机配置项，每项配置的所有可选项，以及例外清单(已停用或者有前提条件要求的选项)。 另外，它可能还包含本土化的用户界面文字内容，用来展示给用户。 另外，它可能还包含本土化的用户界面文字内容，用来展示给用户。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                在这一章的最后，我们给出了 Camera Definition File 的一份完整示例 full example 。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                之所以需要 Camera Definition File 文件，是因为在不同型号的相机之间，其配置项大不相同。 要为每一种型号的相机、每一个可能的配置选项都单独创建MAVLink消息，是很不明智的。 要为每一种型号的相机、每一个可能的配置选项都单独创建MAVLink消息，是很不明智的。
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                File Compression
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Camera definition files may be .xz compressed (this is recommended for files that are hosted on the camera component/device).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Systems that request camera definition files must support extraction of .xz-compressed definition files.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                The Tukaani Project XZ Embedded library is an easy-to-use XZ compression library for embedded systems.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Schema
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                The XML file has 3 main sections (elements):
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • 定义
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • 参数
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • 本土化
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                定义
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                All fields are self explanatory:
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                <definition version="1">
     <model>T100</model>
     <vendor>Foo Industries</vendor>
 </definition>
@@ -782,4 +782,4 @@
         </locale>
     </localization>
 </mavlinkcamera>
-
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+

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  results matching ""

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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    \ No newline at end of file diff --git a/zh/services/camera_v1.html b/zh/services/camera_v1.html index 1dbe38977..630440232 100644 --- a/zh/services/camera_v1.html +++ b/zh/services/camera_v1.html @@ -1 +1 @@ -Camera Protocol v1 (Simple Trigger Protocol) · MAVLink Developer Guide
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Messages
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Examples
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Camera Protocol v1: Camera Triggering

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    The MAVLink Camera Protocol v1 defines a set of commands for configuring a camera to capture images at a particular time or distance interval, and to start/stop/pause/reset triggering. It also includes commands to configure/control a video camera.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    This API has been superseded by Camera Protocol v2, which provides a more natural set of commands for using a camera, along with a comprehensive API for querying camera capabilities. This API is used by some older MAVLink cameras, and can be supported in parallel with the new protocol.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    The protocol can be used to control cameras attached to autopilot outputs or standalone MAVLink cameras that support this protocol

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    A standalone MAVLink camera that needs to interact with a ground station must be able to send and recieve MAVLink messages from the ground station. If the GCS and Camera are connected to the flight stack on different MAVLink channels then the flight stack will need to forward messages between them.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    If the MAVLink camera does not emit the CAMERA_TRIGGER message on image capture then the flight stack may need to do this on its behalf.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    When processing a mission, the flight stack should re-emit camera command items using the command protocol (in order to trigger a connected MAVLink camera). The commands should be addressed to the same system ID as the autopilot, and with MAV_COMP_ID_ALL as the component ID. This ensures that any and all MAVLink cameras associated with the system will be triggered.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Note that setting the component ID to MAV_COMP_ID_CAMERA is not recommended, as a camera does not have to use this component ID.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Flight Controller Connected Cameras

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    The commands can be used to control a camera attached to autopilot outputs.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    A GCS should address the commands to the autopilot component, which will need to trigger the connected camera appropriately. The flight stack will also need to trigger the camera when the commands are found in a mission.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Note that a flight stack implementation can generally trigger attached cameras and emit a MAVLink command in missions. If a connected camera and MAVLink camera are connected, both with be triggered.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Message/Command Summary

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Image Capture

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    CommandDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_DO_SET_CAM_TRIGG_INTERVALSet time interval between captures.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_DO_SET_CAM_TRIGG_DISTSet distance between image captures (or trigger once, immediately).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_DO_TRIGGER_CONTROLStart/stop capturing images (using distance or time, as defined using above messages).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_OBLIQUE_SURVEYStart/stop/configure an camera mount pivoting oblique survey.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MessageDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    CAMERA_TRIGGERCamera-IMU triggering and synchronisation message. Should be emitted when an image is captured. Depending on the camera integration this might be when the camera is commanded to capture an image and or when the camera provides feedback that it has been triggered.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Video Capture

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    CommandDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_DO_DIGICAM_CONFIGUREConfigure digital camera features such as ISO, aperture, etc. Replaced by Camera Definition Files in Camera Protocol v2.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_DO_DIGICAM_CONTROLControl digital camera features such as zoom, focus, shooting. Replaced by basic camera commands and Camera Definition Files in Camera Protocol v2.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    results matching ""

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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      \ No newline at end of file +Camera Protocol v1 (Simple Trigger Protocol) · MAVLink Developer Guide
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      FAQ
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Examples
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Examples
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Camera Protocol v1: Camera Triggering

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      The MAVLink Camera Protocol v1 defines a set of commands for configuring a camera to capture images at a particular time or distance interval, and to start/stop/pause/reset triggering. It also includes commands to configure/control a video camera.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      This API has been superseded by Camera Protocol v2, which provides a more natural set of commands for using a camera, along with a comprehensive API for querying camera capabilities. This API is used by some older MAVLink cameras, and can be supported in parallel with the new protocol.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      The protocol can be used to control cameras attached to autopilot outputs or standalone MAVLink cameras that support this protocol

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      A standalone MAVLink camera that needs to interact with a ground station must be able to send and recieve MAVLink messages from the ground station. If the GCS and Camera are connected to the flight stack on different MAVLink channels then the flight stack will need to forward messages between them.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      If the MAVLink camera does not emit the CAMERA_TRIGGER message on image capture then the flight stack may need to do this on its behalf.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      When processing a mission, the flight stack should re-emit camera command items using the command protocol (in order to trigger a connected MAVLink camera). The commands should be addressed to the same system ID as the autopilot, and with MAV_COMP_ID_ALL as the component ID. This ensures that any and all MAVLink cameras associated with the system will be triggered.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Note that setting the component ID to MAV_COMP_ID_CAMERA is not recommended, as a camera does not have to use this component ID.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Flight Controller Connected Cameras

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      The commands can be used to control a camera attached to autopilot outputs.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      A GCS should address the commands to the autopilot component, which will need to trigger the connected camera appropriately. The flight stack will also need to trigger the camera when the commands are found in a mission.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Note that a flight stack implementation can generally trigger attached cameras and emit a MAVLink command in missions. If a connected camera and MAVLink camera are connected, both with be triggered.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Message/Command Summary

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Image Capture

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      CommandDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_DO_SET_CAM_TRIGG_INTERVALSet time interval between captures.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_DO_SET_CAM_TRIGG_DISTSet distance between image captures (or trigger once, immediately).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_DO_TRIGGER_CONTROLStart/stop capturing images (using distance or time, as defined using above messages).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_OBLIQUE_SURVEYStart/stop/configure an camera mount pivoting oblique survey.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MessageDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      CAMERA_TRIGGERCamera-IMU triggering and synchronisation message. Should be emitted when an image is captured. Depending on the camera integration this might be when the camera is commanded to capture an image and or when the camera provides feedback that it has been triggered.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Video Capture

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      CommandDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_DO_DIGICAM_CONFIGUREConfigure digital camera features such as ISO, aperture, etc. Replaced by Camera Definition Files in Camera Protocol v2.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_DO_DIGICAM_CONTROLControl digital camera features such as zoom, focus, shooting. Replaced by basic camera commands and Camera Definition Files in Camera Protocol v2.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      results matching ""

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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        \ No newline at end of file diff --git a/zh/services/command.html b/zh/services/command.html index 293ae6456..ebec715c0 100644 --- a/zh/services/command.html +++ b/zh/services/command.html @@ -1 +1 @@ -Command Protocol · MAVLink Developer Guide
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        命令协议

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        The MAVLink command protocol allows guaranteed delivery of MAVLink commands.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Commands are values of MAV_CMD that define the values of up to 7 parameters. These parameters and the command id are encoded in COMMAND_INT or COMMAND_LONG for sending.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        The protocol provides reliable delivery by expecting a matching acknowledgement (COMMAND_ACK) from commands to indicate command arrival, and result. If no acknowledgement is received the command must be automatically re-sent.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Message/Enum Summary

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MessageDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        COMMAND_INTMessage for encoding a command (MAV_CMD). The message encodes commands into up to 7 parameters: parameters 1-4, 7 are floats, and parameters 5,6 are scaled integers. The scaled integers are used for positional information (scaling depends on the actual command value). The coordinate frame of positional parameters is explicitly specified in a frame field. Commands that require float-only properties in parameters 5, 6 cannot be sent in this message (e.g. commands where NaN has an explicit meaning).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        COMMAND_LONGMessage for encoding a command (MAV_CMD). The mesage encodes commands into up to 7 float parameters. The coordinate frame used for positional co-ordinates is implementation dependent. Any command may be packaged in this message, but there may be some loss of precision for positional co-ordinates (latitude, longitude).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        COMMAND_ACKCommand acknowledgement. Includes result (success, failure, still in progress) and may include progress information and additional detail about failure reasons.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        COMMAND_CANCELCancel a long running command.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        EnumDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMDCommands to be executed/sent in the command messages.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_FRAMECoordinate frame. Used in COMMAND_INT to specify the co-ordinate frame of any positional parameters.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_RESULTResult of command, included in COMMAND_ACK.result.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Use COMMAND_INT or COMMAND_LONG?

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        COMMAND_INT should be used when sending commands that contain positional or navigation information, if supported by the flight stack for the particular command. This is because it allows the co-ordinate frame to be specified for location and altitude values, which may otherwise be "unspecified". In addition latitudes/longitudes can be sent with greater precision in a COMMAND_INT as scaled integers in params 5 and 6 (than when sent in float values in COMMAND_LONG).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Commands that require float-only properties in parameters 5, 6 must be sent in COMMAND_LONG (e.g. commands where NaN has an explicit meaning).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Commands that are not positional or that specify integers in params 5 and 6 can be used in either message, if supported by the flight stack.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Flight stacks may support commands in either message COMMAND_INT or COMMAND_LONG or both, albeit with a loss of precision, rounding errors, and/or undefined frames of reference. However they are encouraged to only support positional commands in COMMAND_INT, and commands that have float values in param 5 and 6 in COMMAND_LONG. The flight stack can reject commands sent in the "wrong" message type using the COMMAND_ACK.result of MAV_RESULT_COMMAND_LONG_ONLY or MAV_RESULT_COMMAND_INT_ONLY, as appropriate. Flight stacks that only support a particular command in a particular message type can more generally use these result values to indicate the correct message type for a command.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Sequences

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        COMMAND_INT sequence

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Mermaid Sequence: Command INT

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        The request is sent by the ground station encoded within a COMMAND_INT. The drone processes the request and responds quickly with a COMMAND_ACK indicating the result. The result is that the command has been accepted (COMMAND_ACK.result=MAV_RESULT_ACCEPTED), has been accepted and is in progress (MAV_RESULT_IN_PROGRESS) or it has been rejected with some reason code. Note that "accepted" means that the command is valid and the flight stack will attempt to act on it, not that the command has completed. Most commands just return "accepted" (they are not implemented as long running commands).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        COMMAND_ACK.result_param2 may also include additional information about the reason for command rejection in a command-specific enum.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        If no ACK is received the GCS will resend COMMAND_INT for a flight-specific number of times before giving up.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        COMMAND_LONG sequence

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Mermaid Sequence: Command Long

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        If the command drops the sender should increase the confirmation field:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Mermaid Sequence: increase confirmation field

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Long Running Commands

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Some commands are long running, and cannot complete immediately. The drone reports its progress by sending COMMMAND_ACK messages with COMMAND_ACK.result=MAV_RESULT_IN_PROGRESS and the progress as a percentage in COMMMAND_ACK.progress ([0-100] percent complete, 255 if progress not supplied). When the operation completes, the drone must terminate with a COMMMAND_ACK containing the final result of the operation: MAV_RESULT_ACCEPTED, MAV_RESULT_FAILED, MAV_RESULT_CANCELLED).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Mermaid Sequence: MAV_RESULT_IN_PROGRESS

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Long running operations may be cancelled by sending the COMMAND_CANCEL message. The drone should cancel the operation and complete the sequence by sending COMMAND_ACK with COMMAND_ACK.result=MAV_RESULT_CANCELLED

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • If cancellation is not supported the drone can just continue to send progress updates until completion.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • If the sequence has already completed (or is idle) the cancel command should be ignored.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        The rate at which progress messages are emitted is system-dependent. Generally though, the GCS should have a much increased timeout after receiving an ACK with MAV_RESULT_IN_PROGRESS.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        If a timeout is triggered when waiting for a progress or completion update, the GCS should terminate the sequence (return to the idle state) and notify the user if appropriate.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Only one instance of a particular long running command can execute at a time; to restart a long running operation (i.e. with new parameters) it must first be cancelled! If the same command is recieved while the operation is in progress the new command should be ACKed with MAV_RESULT_TEMPORARILY_REJECTED (to indicate that the target is busy).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        The protocol allows for different long running commands to run in parallel, if supported by the state machine of the recieving flight stack. If a flight stack does not support multiple commands running in parallel it should ACK new commands with MAV_RESULT_TEMPORARILY_REJECTED (with the possible exception of the COMMAND_CANCEL, which might be used to cancel the first request).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Location Commands and Frame Types

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Commands that contain a location or altitude should be sent in COMMAND_INT so that the frame can be specified in the COMMAND_INT.frame field (as outlined above). If sent in COMMAND_LONG the frame is arbitrary, and cannot be predicted.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        A flight stack that does not support the frame specified in a command (if required by command) should reject it with the MAV_RESULT of MAV_RESULT_COMMAND_UNSUPPORTED_MAV_FRAME. This allows consumers to attempt the same command with other frames. Flight stacks that return MAV_RESULT_COMMAND_UNSUPPORTED for this case should be updated to use MAV_RESULT_COMMAND_UNSUPPORTED_MAV_FRAME.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Note that it is an error to ignore the specified frame and use some other arbitrary frame.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Designing Commands

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Guidance for designing commands can be found in Defining XML Elements > Command values.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        At high level:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • Commands that include location information should specify latitude in Param 5, Longitude in param 6, and Altitude in param 7. This allows them to be sent in COMMAND_INT with higher precision.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • Otherwise it is desirable to be able to send commands in either command message. Therefore use param 5 and 6 for integers rather than floats if possible. If reserving values, then consider choosing to reserve params 5 and 6, and reserve them with a default value of 0.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        results matching ""

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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          \ No newline at end of file +Command Protocol · MAVLink Developer Guide
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          命令协议

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          The MAVLink command protocol allows guaranteed delivery of MAVLink commands.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Commands are values of MAV_CMD that define the values of up to 7 parameters. These parameters and the command id are encoded in COMMAND_INT or COMMAND_LONG for sending.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          The protocol provides reliable delivery by expecting a matching acknowledgement (COMMAND_ACK) from commands to indicate command arrival, and result. If no acknowledgement is received the command must be automatically re-sent.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Message/Enum Summary

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MessageDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          COMMAND_INTMessage for encoding a command (MAV_CMD). The message encodes commands into up to 7 parameters: parameters 1-4, 7 are floats, and parameters 5,6 are scaled integers. The scaled integers are used for positional information (scaling depends on the actual command value). The coordinate frame of positional parameters is explicitly specified in a frame field. Commands that require float-only properties in parameters 5, 6 cannot be sent in this message (e.g. commands where NaN has an explicit meaning).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          COMMAND_LONGMessage for encoding a command (MAV_CMD). The mesage encodes commands into up to 7 float parameters. The coordinate frame used for positional co-ordinates is implementation dependent. Any command may be packaged in this message, but there may be some loss of precision for positional co-ordinates (latitude, longitude).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          COMMAND_ACKCommand acknowledgement. Includes result (success, failure, still in progress) and may include progress information and additional detail about failure reasons.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          COMMAND_CANCELCancel a long running command.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          EnumDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMDCommands to be executed/sent in the command messages.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_FRAMECoordinate frame. Used in COMMAND_INT to specify the co-ordinate frame of any positional parameters.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_RESULTResult of command, included in COMMAND_ACK.result.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Use COMMAND_INT or COMMAND_LONG?

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          COMMAND_INT should be used when sending commands that contain positional or navigation information, if supported by the flight stack for the particular command. This is because it allows the co-ordinate frame to be specified for location and altitude values, which may otherwise be "unspecified". In addition latitudes/longitudes can be sent with greater precision in a COMMAND_INT as scaled integers in params 5 and 6 (than when sent in float values in COMMAND_LONG).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Commands that require float-only properties in parameters 5, 6 must be sent in COMMAND_LONG (e.g. commands where NaN has an explicit meaning).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Commands that are not positional or that specify integers in params 5 and 6 can be used in either message, if supported by the flight stack.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Flight stacks may support commands in either message COMMAND_INT or COMMAND_LONG or both, albeit with a loss of precision, rounding errors, and/or undefined frames of reference. However they are encouraged to only support positional commands in COMMAND_INT, and commands that have float values in param 5 and 6 in COMMAND_LONG. The flight stack can reject commands sent in the "wrong" message type using the COMMAND_ACK.result of MAV_RESULT_COMMAND_LONG_ONLY or MAV_RESULT_COMMAND_INT_ONLY, as appropriate. Flight stacks that only support a particular command in a particular message type can more generally use these result values to indicate the correct message type for a command.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Sequences

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          COMMAND_INT sequence

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Mermaid Sequence: Command INT

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          The request is sent by the ground station encoded within a COMMAND_INT. The drone processes the request and responds quickly with a COMMAND_ACK indicating the result. The result is that the command has been accepted (COMMAND_ACK.result=MAV_RESULT_ACCEPTED), has been accepted and is in progress (MAV_RESULT_IN_PROGRESS) or it has been rejected with some reason code. Note that "accepted" means that the command is valid and the flight stack will attempt to act on it, not that the command has completed. Most commands just return "accepted" (they are not implemented as long running commands).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          COMMAND_ACK.result_param2 may also include additional information about the reason for command rejection in a command-specific enum.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          If no ACK is received the GCS will resend COMMAND_INT for a flight-specific number of times before giving up.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          COMMAND_LONG sequence

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Mermaid Sequence: Command Long

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          If the command drops the sender should increase the confirmation field:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Mermaid Sequence: increase confirmation field

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Long Running Commands

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Some commands are long running, and cannot complete immediately. The drone reports its progress by sending COMMMAND_ACK messages with COMMAND_ACK.result=MAV_RESULT_IN_PROGRESS and the progress as a percentage in COMMMAND_ACK.progress ([0-100] percent complete, 255 if progress not supplied). When the operation completes, the drone must terminate with a COMMMAND_ACK containing the final result of the operation: MAV_RESULT_ACCEPTED, MAV_RESULT_FAILED, MAV_RESULT_CANCELLED).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Mermaid Sequence: MAV_RESULT_IN_PROGRESS

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Long running operations may be cancelled by sending the COMMAND_CANCEL message. The drone should cancel the operation and complete the sequence by sending COMMAND_ACK with COMMAND_ACK.result=MAV_RESULT_CANCELLED

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • If cancellation is not supported the drone can just continue to send progress updates until completion.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • If the sequence has already completed (or is idle) the cancel command should be ignored.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          The rate at which progress messages are emitted is system-dependent. Generally though, the GCS should have a much increased timeout after receiving an ACK with MAV_RESULT_IN_PROGRESS.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          If a timeout is triggered when waiting for a progress or completion update, the GCS should terminate the sequence (return to the idle state) and notify the user if appropriate.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Only one instance of a particular long running command can execute at a time; to restart a long running operation (i.e. with new parameters) it must first be cancelled! If the same command is recieved while the operation is in progress the new command should be ACKed with MAV_RESULT_TEMPORARILY_REJECTED (to indicate that the target is busy).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          The protocol allows for different long running commands to run in parallel, if supported by the state machine of the recieving flight stack. If a flight stack does not support multiple commands running in parallel it should ACK new commands with MAV_RESULT_TEMPORARILY_REJECTED (with the possible exception of the COMMAND_CANCEL, which might be used to cancel the first request).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Location Commands and Frame Types

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Commands that contain a location or altitude should be sent in COMMAND_INT so that the frame can be specified in the COMMAND_INT.frame field (as outlined above). If sent in COMMAND_LONG the frame is arbitrary, and cannot be predicted.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          A flight stack that does not support the frame specified in a command (if required by command) should reject it with the MAV_RESULT of MAV_RESULT_COMMAND_UNSUPPORTED_MAV_FRAME. This allows consumers to attempt the same command with other frames. Flight stacks that return MAV_RESULT_COMMAND_UNSUPPORTED for this case should be updated to use MAV_RESULT_COMMAND_UNSUPPORTED_MAV_FRAME.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Note that it is an error to ignore the specified frame and use some other arbitrary frame.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Designing Commands

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Guidance for designing commands can be found in Defining XML Elements > Command values.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          At high level:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • Commands that include location information should specify latitude in Param 5, Longitude in param 6, and Altitude in param 7. This allows them to be sent in COMMAND_INT with higher precision.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • Otherwise it is desirable to be able to send commands in either command message. Therefore use param 5 and 6 for integers rather than floats if possible. If reserving values, then consider choosing to reserve params 5 and 6, and reserve them with a default value of 0.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          results matching ""

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            No results matching ""

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            \ No newline at end of file diff --git a/zh/services/component_information.html b/zh/services/component_information.html index 9ac401d21..5d15efae5 100644 --- a/zh/services/component_information.html +++ b/zh/services/component_information.html @@ -1,4 +1,4 @@ -Component Metadata Protocol (WIP) · MAVLink Developer Guide
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Component Metadata Protocol (WIP)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            This service is still marked as "work in progress", and should not be relied upon in production. It has also evolved since first created as the "Component Information Protocol". It has also evolved since first created as the "Component Information Protocol".

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            The Component Metadata Protocol is a MAVLink service for requesting metadata from (and about) MAVLink components. It is intended to provide autopilot- and version- independent feature discovery and configuration, allowing a GCS to configure its UI and/or a device without knowing anything about the connected system. It is intended to provide autopilot- and version- independent feature discovery and configuration, allowing a GCS to configure its UI and/or a device without knowing anything about the connected system.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Information shared using this service may include:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • What types of component information are supported (by this component).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • What MAVLink commands are supported (both in missions and in other modes).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • Parameter metadata for parameters supported by the vehicle.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • Metadata about events emitted by the system
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • Self-describing configuration UIs (i.e. similar to MAVLink camera configuration files).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • Translations of other metadata.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Component metadata is specified in appropriately formatted JSON files (which may be .xz compressed). The component metadata protocol is used to request the location of the general metadata file file, which is then parsed to get the location of other metadata files supported by the component. The component metadata protocol is used to request the location of the general metadata file file, which is then parsed to get the location of other metadata files supported by the component.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Information supplied by the service is assumed to be invariant after boot. Information supplied by the service is assumed to be invariant after boot. There is no mechanism, for example, to provide an update if the set of supported parameters was to change after boot.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Message/Enum Summary

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MessageDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            COMPONENT_METADATAMessage providing a download url and CRC for the general metadata component information file. The message is requested using MAV_CMD_REQUEST_MESSAGE. The message is requested using MAV_CMD_REQUEST_MESSAGE.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_REQUEST_MESSAGEUse this command to request that a component emit COMPONENT_METADATA. Use param1=397 (the message id of COMPONENT_METADATA). Use param1=397 (the message id of COMPONENT_METADATA).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            EnumDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            COMP_METADATA_TYPETypes of component metadata supported by the protocol - e.g. general information, parameter metadata, supported commands, events, peripherals, etc. The type identifiers are used in the "general" metadata file to identify the sections that provide information about each supported type of metadata. The type identifiers are used in the "general" metadata file to identify the sections that provide information about each supported type of metadata.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            COMPONENT_INFORMATION is not used by thie service (it is a deprecated legacy version of COMPONENT_METADATA).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Component Information File Format (Schema)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Component information files are written in JSON and must conform to the schema definitions found in the folder /component_metadata. The component information file types and schema are (at time of writing): The component information file types and schema are (at time of writing):

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            TypeType IdSchemaDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            General metadataCOMP_METADATA_TYPE_GENERALgeneral.schema.jsonGeneral information about the component including hardware/firmware vendor version. This metadata includes information about all the other metadata types are supported by the component and where their metadata files are located. General information about the component including hardware/firmware vendor version. This metadata includes information about all the other metadata types are supported by the component and where their metadata files are located. This metadata type must be supported if this protocol is supported and the file must be present on vehicle and delivered by MAVLink FTP. Note however that you never actually need to specify this type! Note however that you never actually need to specify this type!
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Parameter metadataCOMP_METADATA_TYPE_PARAMETERparameter.schema.jsonInformation about parameters supported by the vehicle (on boot).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Command protocol metadataCOMP_METADATA_TYPE_COMMANDSTBDInformation about which commands and command paramters are supported in via the command protocol.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Peripheral metadataCOMP_METADATA_TYPE_PERIPHERALSperipherals.schema.jsonInformation about non-MAVLink peripherals connected to vehicle (on boot).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Event metadataCOMP_METADATA_TYPE_EVENTSTBDInformation about events interface support by the vehicle.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Event metadataCOMP_METADATA_TYPE_ACTUATORSactuators.schema.jsonMetadata for actuator configuration (motors, servos and vehicle geometry) and testing.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            All schema files are versioned using a version integer.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Schema versions are backwards compatible - i.e. a ground station that was able to populate its UI from a file based on an older schema should be able to do so from a newer version (albeit losing information provided by the newer format).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Generally this means that new versions may add fields but should not delete them, and also that a recipient can ignore fields that it does not understand.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            The schema are currently a work in progress and can be modified as needed. The schema are currently a work in progress and can be modified as needed. Once accepted, they will be under change control (managed in a similar way to standard MAVLink messages).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            File Locations/URLs

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            General metadata files must be stored on the device, and will usually be .xz compressed. The location of these files is returned in the COMPONENT_METADATA uri field. The location of these files is returned in the COMPONENT_METADATA uri field.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Other component information files may be hosted on either the device or on the internet.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Where permitted by memory constraints you should host component information on the device (so that it is always available and cannot get out of sync).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Files on the device are downloaded using MAVLink FTP. The URI format is defined in MAVLink FTP URL Scheme. A typical parameter metadata URI might look like this: mftp:///component_metadata/parameters.json.xz. The URI format is defined in MAVLink FTP URL Scheme. A typical parameter metadata URI might look like this: mftp:///component_metadata/parameters.json.xz.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Files on the Internet are downloaded using HTTPS or HTTP via a normal web URL (e.g. https://some_domain/component_metadata/parameters.json).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Metadata Caching (CRC)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            The COMPONENT_METADATA message includes the file_crc field, which contain CRC32 values calculated for the file referenced in the uri field. A ground station should cache downloaded component metadata and only update it if the CRC value changes. A ground station should cache downloaded component metadata and only update it if the CRC value changes.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            The general metadata file similarly provides file locations for other metadata supported by a component. The general metadata file similarly provides file locations for other metadata supported by a component. It will also include CRC32 values any files that contain only static data (no CRC32 should be supplied for metadata files that might be updated dynamically).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            File Compression

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Component information files may be .xz compressed (this is recommended for files that are hosted on the device).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            The prototype implementation generates and compresses component information files at build time. No compression library is required within the flight stack itself. No compression library is required within the flight stack itself.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Systems that request component information must support extraction of .xz-compressed JSON files.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            The Tukaani Project XZ Embedded library is an easy-to-use XZ compression library for embedded systems and cross-platform C/C++ projects.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Sequences

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Component Discovery

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            A GCS can broadcast the MAV_CMD_REQUEST_MESSAGE specifying param1=397; all components that support the protocol should respond with COMPONENT_METADATA.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            A GCS can further discover all components in the system by monitoring the channel for HEARTBEAT ids, and then send the request to each of them to verify whether the protocol is supported. The broadcast approach is recommended for GCSes that don't track all components on the link. The broadcast approach is recommended for GCSes that don't track all components on the link.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Check if Protocol is Supported

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            A system can query whether another component supports the protocol by sending the command MAV_CMD_REQUEST_MESSAGE (specifying the COMPONENT_METADATA message).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            The component will respond with COMPONENT_METADATA.uri containing a valid URI if the protocol is supported. If the protocol is not supported the component will ACK that the message with MAV_RESULT_UNSUPPORTED, MAV_RESULT_DENIED or MAV_RESULT_FAILED, or return a null value in uri. If the protocol is not supported the component will ACK that the message with MAV_RESULT_UNSUPPORTED, MAV_RESULT_DENIED or MAV_RESULT_FAILED, or return a null value in uri.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            A component that supports this service must return a general metadata file URI that is hosted on the vehicle (accessed using MAVLink FTP).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Get MetaData

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            The basic sequence is shown below.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            In summary:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1. GCS (client) sends MAV_CMD_REQUEST_MESSAGE to component (server) specifying param1=397.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • This is a normal command protocol request with timeouts and resends based on the ACK.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            2. The component will ACK the command and immediately send the requested COMPONENT_METADATA message (populated with URI and CRC for the general metadata file).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • A CMD_ACK of anything other than MAV_RESULT_ACCEPTED indicates the protocol is not supported (sequence completes).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            3. GCS waits for the COMPONENT_METADATA message
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • If not recieved the GCS should resend the request (typically in the application level).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • Once information is received:
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • the GCS checks if COMPONENT_METADATA.file_crc matches its cached CRC value. If so, there is no need to download the general metadata file (or other files it references) as it has not changed since the last download. If the cached values do not match the associated files should be downloaded and parsed (vehicle firmware has updated). If so, there is no need to download the general metadata file (or other files it references) as it has not changed since the last download. If the cached values do not match the associated files should be downloaded and parsed (vehicle firmware has updated).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            4. GCS downloads the file specified in the uri using MAVLink FTP.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            5. GCS parses the general metadata for other supported metadata locations, and then downloads the files via MAVFTP or HTTP(s). This may be done immediately, or as needed. This may be done immediately, or as needed.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Metadata Types

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Actuators (COMP_METADATA_TYPE_ACTUATORS)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            The actuators metadata allows a GCS to create a UI to configure and test actuators, and configure vehicle geometries, without having to understand anything about the underlying flight stack.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            The mechanism works similarly to camera definition files. It can be used for flight stacks that allow outputs and geometry definition to be configured using parameters. If flight stack outputs or geometries cannot be configured using parameters, the mechanism can still be used to display the current geometry and output mappings, and to test outputs. It can be used for flight stacks that allow outputs and geometry definition to be configured using parameters. If flight stack outputs or geometries cannot be configured using parameters, the mechanism can still be used to display the current geometry and output mappings, and to test outputs.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            The definition contains information about actuator output drivers (e.g. PWM MAIN or UAVCAN), the functions that can be assigned to each output channel, supported geometries, and their configuration parameters. Detailed information can be found in the schema file, and there's also an example. Detailed information can be found in the schema file, and there's also an example.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Specifically, the following information is provided:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • A list of actuator output drivers (e.g. PWM MAIN or UAVCAN): outputs_v1. This can be hardware-specific. Each output driver contains one or more groups of output channels. A group contains a common set of configuration parameters, indexed for each channel. A parameter may be assigned a specific meaning, e.g. disarmed. A GCS can use this information to provide specific actions for these (without having to know all disarmed parameters a priori). This can be hardware-specific. Each output driver contains one or more groups of output channels. A group contains a common set of configuration parameters, indexed for each channel. A parameter may be assigned a specific meaning, e.g. disarmed. A GCS can use this information to provide specific actions for these (without having to know all disarmed parameters a priori).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • Actuator output functions: functions_v1. Actuator output functions: functions_v1. A list of the output functions (hardware) that can be connected to a particular output channel, for example: Motor 1, Landing Gear, Camera capture. Each actuator output channel is expected to provide a parameter that can be used to configure its output function. Each actuator output channel is expected to provide a parameter that can be used to configure its output function.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • A geometry/mixer section: mixer_v1. A list of frame geometries, where at most one geometry is selected (via parameter), and a list of actuator types. An actuator type (e.g. servo or motor) contains limits and defaults for actuator testing, and a set of output function values that can be assigned to this type. A GCS may use the type to render the geometry, so it can display different images depending on the type.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Each mixer contains one or more groups of actuators, where each group belongs to an actuator type. The group can contain a fixed or configurable number of actuators and a set of indexed configuration parameters. If the size is fixed, the actuator group can contain lists of fixed values, e.g. to provide position information for non-configurable actuators. As with the actuator outputs, parameters may be assigned a specific meaning, e.g. posx, which hints to the GCS that this parameter/value defines the x position of the actuator. This can be used to dynamically render a vehicle's geometry.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Additionally there is an optional list of rules. Rules are used to constrain or hide/disable geometry parameters depending on the value of a selection parameter. For example there could be a parameter to select the control surface type, and three parameters to configure the roll, pitch and yaw torque. Additionally there is an optional list of rules. Rules are used to constrain or hide/disable geometry parameters depending on the value of a selection parameter. For example there could be a parameter to select the control surface type, and three parameters to configure the roll, pitch and yaw torque. When the user sets the type to 'Left Aileron', certain restrictions to roll and pitch torque are applied, and the yaw torque is hidden.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            A GCS can provide a UI for testing outputs based on the configured output functions, by iterating over all output channels and collecting the configured actuator output functions, and then utilizing the MAV_CMD_ACTUATOR_TEST command.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Translations

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            At high-level, metadata translation works as follows:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • The metadata provider sets the translationUri in general metadata file for each metadata type that supports translation. Note that the URL has no associated CRC as the translation data can change independently of metadata (for example, adding or changing translations).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • The translationUri URL points to a summary JSON file that contains links to the separate files that contain each translation of the particular metadata type. The translation summary JSON file also contains modification timestamps for each linked translation file so that a GCS can determine whether a particular file has been updated. The translation files are in TS file format, and may optionally be compressed in .xz format.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • A client (GCS) downloads the summary file then uses it to locate and download the translation file(s) it is interested in.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • The client can then apply the downloaded translations to the metadata json file(s) (which contains annotations for which tags to translate).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Caching

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            The following caching strategy is recommended for clients:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • Locally cache the downloaded translation files. These should be used until successfully replaced with a newer version.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • After 3 days attempt to download the summary JSON file again.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • Translation files can either be downloaded whenever the summary is downloaded or only when needed (because a modification timestamp has changed in the summary).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            File Formats

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            The metadata json contains a translation section, such as this one. The translation section follows this schema, which is used to extract the translation strings into a TS file (see below for a script), and by the client to know which strings to translate. The TS file may be xz compressed.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            This allows to add new metadata without having to change the translation implementation in the client.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            The summary json has the following form:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            {
+Component Metadata Protocol (WIP) · MAVLink Developer Guide
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Component Metadata Protocol (WIP)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            This service is still marked as "work in progress", and should not be relied upon in production. It has also evolved since first created as the "Component Information Protocol". It has also evolved since first created as the "Component Information Protocol".
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            The Component Metadata Protocol is a MAVLink service for requesting metadata from (and about) MAVLink components. It is intended to provide autopilot- and version- independent feature discovery and configuration, allowing a GCS to configure its UI and/or a device without knowing anything about the connected system. It is intended to provide autopilot- and version- independent feature discovery and configuration, allowing a GCS to configure its UI and/or a device without knowing anything about the connected system.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Information shared using this service may include:
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • What types of component information are supported (by this component).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • What MAVLink commands are supported (both in missions and in other modes).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • Parameter metadata for parameters supported by the vehicle.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • Metadata about events emitted by the system
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • Self-describing configuration UIs (i.e. similar to MAVLink camera configuration files).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • Translations of other metadata.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Component metadata is specified in appropriately formatted JSON files (which may be .xz compressed). The component metadata protocol is used to request the location of the general metadata file file, which is then parsed to get the location of other metadata files supported by the component. The component metadata protocol is used to request the location of the general metadata file file, which is then parsed to get the location of other metadata files supported by the component.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Information supplied by the service is assumed to be invariant after boot. Information supplied by the service is assumed to be invariant after boot. There is no mechanism, for example, to provide an update if the set of supported parameters was to change after boot.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Message/Enum Summary
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MessageDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            COMPONENT_METADATAMessage providing a download url and CRC for the general metadata component information file. The message is requested using MAV_CMD_REQUEST_MESSAGE. The message is requested using MAV_CMD_REQUEST_MESSAGE.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_REQUEST_MESSAGEUse this command to request that a component emit COMPONENT_METADATA. Use param1=397 (the message id of COMPONENT_METADATA). Use param1=397 (the message id of COMPONENT_METADATA).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            EnumDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            COMP_METADATA_TYPETypes of component metadata supported by the protocol - e.g. general information, parameter metadata, supported commands, events, peripherals, etc. The type identifiers are used in the "general" metadata file to identify the sections that provide information about each supported type of metadata. The type identifiers are used in the "general" metadata file to identify the sections that provide information about each supported type of metadata.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            COMPONENT_INFORMATION is not used by thie service (it is a deprecated legacy version of COMPONENT_METADATA).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Component Information File Format (Schema)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Component information files are written in JSON and must conform to the schema definitions found in the folder /component_metadata. The component information file types and schema are (at time of writing): The component information file types and schema are (at time of writing):
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            TypeType IdSchemaDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            General metadataCOMP_METADATA_TYPE_GENERALgeneral.schema.jsonGeneral information about the component including hardware/firmware vendor version. This metadata includes information about all the other metadata types are supported by the component and where their metadata files are located. General information about the component including hardware/firmware vendor version. This metadata includes information about all the other metadata types are supported by the component and where their metadata files are located. This metadata type must be supported if this protocol is supported and the file must be present on vehicle and delivered by MAVLink FTP. Note however that you never actually need to specify this type! Note however that you never actually need to specify this type!
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Parameter metadataCOMP_METADATA_TYPE_PARAMETERparameter.schema.jsonInformation about parameters supported by the vehicle (on boot).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                             Command protocol metadataCOMP_METADATA_TYPE_COMMANDSTBDInformation about which commands and command paramters are supported in via the command protocol.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                             Peripheral metadataCOMP_METADATA_TYPE_PERIPHERALSperipherals.schema.jsonInformation about non-MAVLink peripherals connected to vehicle (on boot).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                             Event metadataCOMP_METADATA_TYPE_EVENTSTBDInformation about events interface support by the vehicle.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                             Event metadataCOMP_METADATA_TYPE_ACTUATORSactuators.schema.jsonMetadata for actuator configuration (motors, servos and vehicle geometry) and testing.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            All schema files are versioned using a version integer.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Schema versions are backwards compatible - i.e. a ground station that was able to populate its UI from a file based on an older schema should be able to do so from a newer version (albeit losing information provided by the newer format).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Generally this means that new versions may add fields but should not delete them, and also that a recipient can ignore fields that it does not understand.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            The schema are currently a work in progress and can be modified as needed. The schema are currently a work in progress and can be modified as needed. Once accepted, they will be under change control (managed in a similar way to standard MAVLink messages).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            File Locations/URLs
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            General metadata files must be stored on the device, and will usually be .xz compressed. The location of these files is returned in the COMPONENT_METADATA uri field. The location of these files is returned in the COMPONENT_METADATA uri field.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Other component information files may be hosted on either the device or on the internet.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Where permitted by memory constraints you should host component information on the device (so that it is always available and cannot get out of sync).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Files on the device are downloaded using MAVLink FTP. The URI format is defined in MAVLink FTP URL Scheme. A typical parameter metadata URI might look like this: mftp:///component_metadata/parameters.json.xz. The URI format is defined in MAVLink FTP URL Scheme. A typical parameter metadata URI might look like this: mftp:///component_metadata/parameters.json.xz.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Files on the Internet are downloaded using HTTPS or HTTP via a normal web URL (e.g. https://some_domain/component_metadata/parameters.json).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Metadata Caching (CRC)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            The COMPONENT_METADATA message includes the file_crc field, which contain CRC32 values calculated for the file referenced in the uri field. A ground station should cache downloaded component metadata and only update it if the CRC value changes. A ground station should cache downloaded component metadata and only update it if the CRC value changes.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            The general metadata file similarly provides file locations for other metadata supported by a component. The general metadata file similarly provides file locations for other metadata supported by a component. It will also include CRC32 values any files that contain only static data (no CRC32 should be supplied for metadata files that might be updated dynamically).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            File Compression
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Component information files may be .xz compressed (this is recommended for files that are hosted on the device).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            The prototype implementation generates and compresses component information files at build time. No compression library is required within the flight stack itself. No compression library is required within the flight stack itself.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Systems that request component information must support extraction of .xz-compressed JSON files.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            The Tukaani Project XZ Embedded library is an easy-to-use XZ compression library for embedded systems and cross-platform C/C++ projects.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Sequences
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Component Discovery
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            A GCS can broadcast the MAV_CMD_REQUEST_MESSAGE specifying param1=397; all components that support the protocol should respond with COMPONENT_METADATA.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            A GCS can further discover all components in the system by monitoring the channel for HEARTBEAT ids, and then send the request to each of them to verify whether the protocol is supported. The broadcast approach is recommended for GCSes that don't track all components on the link. The broadcast approach is recommended for GCSes that don't track all components on the link.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Check if Protocol is Supported
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            A system can query whether another component supports the protocol by sending the command MAV_CMD_REQUEST_MESSAGE (specifying the COMPONENT_METADATA message).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            The component will respond with COMPONENT_METADATA.uri containing a valid URI if the protocol is supported. If the protocol is not supported the component will ACK that the message with MAV_RESULT_UNSUPPORTED, MAV_RESULT_DENIED or MAV_RESULT_FAILED, or return a null value in uri. If the protocol is not supported the component will ACK that the message with MAV_RESULT_UNSUPPORTED, MAV_RESULT_DENIED or MAV_RESULT_FAILED, or return a null value in uri.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            A component that supports this service must return a general metadata file URI that is hosted on the vehicle (accessed using MAVLink FTP).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Get MetaData
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            The basic sequence is shown below.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            In summary:
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1. GCS (client) sends MAV_CMD_REQUEST_MESSAGE to component (server) specifying param1=397.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • This is a normal command protocol request with timeouts and resends based on the ACK.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            2. The component will ACK the command and immediately send the requested COMPONENT_METADATA message (populated with URI and CRC for the general metadata file).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • A CMD_ACK of anything other than MAV_RESULT_ACCEPTED indicates the protocol is not supported (sequence completes).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            3. GCS waits for the COMPONENT_METADATA message
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • If not recieved the GCS should resend the request (typically in the application level).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • Once information is received:
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • the GCS checks if COMPONENT_METADATA.file_crc matches its cached CRC value. If so, there is no need to download the general metadata file (or other files it references) as it has not changed since the last download. If the cached values do not match the associated files should be downloaded and parsed (vehicle firmware has updated). If so, there is no need to download the general metadata file (or other files it references) as it has not changed since the last download. If the cached values do not match the associated files should be downloaded and parsed (vehicle firmware has updated).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            4. GCS downloads the file specified in the uri using MAVLink FTP.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            5. GCS parses the general metadata for other supported metadata locations, and then downloads the files via MAVFTP or HTTP(s). This may be done immediately, or as needed. This may be done immediately, or as needed.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Metadata Types
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Actuators (COMP_METADATA_TYPE_ACTUATORS)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            The actuators metadata allows a GCS to create a UI to configure and test actuators, and configure vehicle geometries, without having to understand anything about the underlying flight stack.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            The mechanism works similarly to camera definition files. It can be used for flight stacks that allow outputs and geometry definition to be configured using parameters. If flight stack outputs or geometries cannot be configured using parameters, the mechanism can still be used to display the current geometry and output mappings, and to test outputs. It can be used for flight stacks that allow outputs and geometry definition to be configured using parameters. If flight stack outputs or geometries cannot be configured using parameters, the mechanism can still be used to display the current geometry and output mappings, and to test outputs.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            The definition contains information about actuator output drivers (e.g. PWM MAIN or UAVCAN), the functions that can be assigned to each output channel, supported geometries, and their configuration parameters. Detailed information can be found in the schema file, and there's also an example. Detailed information can be found in the schema file, and there's also an example.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Specifically, the following information is provided:
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • A list of actuator output drivers (e.g. PWM MAIN or UAVCAN): outputs_v1. This can be hardware-specific. Each output driver contains one or more groups of output channels. A group contains a common set of configuration parameters, indexed for each channel. A parameter may be assigned a specific meaning, e.g. disarmed. A GCS can use this information to provide specific actions for these (without having to know all disarmed parameters a priori). This can be hardware-specific. Each output driver contains one or more groups of output channels. A group contains a common set of configuration parameters, indexed for each channel. A parameter may be assigned a specific meaning, e.g. disarmed. A GCS can use this information to provide specific actions for these (without having to know all disarmed parameters a priori).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • Actuator output functions: functions_v1. Actuator output functions: functions_v1. A list of the output functions (hardware) that can be connected to a particular output channel, for example: Motor 1, Landing Gear, Camera capture. Each actuator output channel is expected to provide a parameter that can be used to configure its output function. Each actuator output channel is expected to provide a parameter that can be used to configure its output function.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • A geometry/mixer section: mixer_v1. A list of frame geometries, where at most one geometry is selected (via parameter), and a list of actuator types. An actuator type (e.g. servo or motor) contains limits and defaults for actuator testing, and a set of output function values that can be assigned to this type. A GCS may use the type to render the geometry, so it can display different images depending on the type.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Each mixer contains one or more groups of actuators, where each group belongs to an actuator type. The group can contain a fixed or configurable number of actuators and a set of indexed configuration parameters. If the size is fixed, the actuator group can contain lists of fixed values, e.g. to provide position information for non-configurable actuators. As with the actuator outputs, parameters may be assigned a specific meaning, e.g. posx, which hints to the GCS that this parameter/value defines the x position of the actuator. This can be used to dynamically render a vehicle's geometry.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Additionally there is an optional list of rules. Rules are used to constrain or hide/disable geometry parameters depending on the value of a selection parameter. For example there could be a parameter to select the control surface type, and three parameters to configure the roll, pitch and yaw torque. Additionally there is an optional list of rules. Rules are used to constrain or hide/disable geometry parameters depending on the value of a selection parameter. For example there could be a parameter to select the control surface type, and three parameters to configure the roll, pitch and yaw torque. When the user sets the type to 'Left Aileron', certain restrictions to roll and pitch torque are applied, and the yaw torque is hidden.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            A GCS can provide a UI for testing outputs based on the configured output functions, by iterating over all output channels and collecting the configured actuator output functions, and then utilizing the MAV_CMD_ACTUATOR_TEST command.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Translations
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            At high-level, metadata translation works as follows:
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • The metadata provider sets the translationUri in general metadata file for each metadata type that supports translation. Note that the URL has no associated CRC as the translation data can change independently of metadata (for example, adding or changing translations).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • The translationUri URL points to a summary JSON file that contains links to the separate files that contain each translation of the particular metadata type. The translation summary JSON file also contains modification timestamps for each linked translation file so that a GCS can determine whether a particular file has been updated. The translation files are in TS file format, and may optionally be compressed in .xz format.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • A client (GCS) downloads the summary file then uses it to locate and download the translation file(s) it is interested in.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • The client can then apply the downloaded translations to the metadata json file(s) (which contains annotations for which tags to translate).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Caching
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            The following caching strategy is recommended for clients:
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • Locally cache the downloaded translation files. These should be used until successfully replaced with a newer version.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • After 3 days attempt to download the summary JSON file again.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • Translation files can either be downloaded whenever the summary is downloaded or only when needed (because a modification timestamp has changed in the summary).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            File Formats
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            The metadata json contains a translation section, such as this one. The translation section follows this schema, which is used to extract the translation strings into a TS file (see below for a script), and by the client to know which strings to translate. The TS file may be xz compressed.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            This allows to add new metadata without having to change the translation implementation in the client.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            The summary json has the following form:
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            {
   "<locale>": {
     "url": "<file url>.ts.xz",
     "last-modified": "<ISO 8601 timestamp>"
@@ -15,4 +15,4 @@
     "last-modified": "2023-03-22T06:15:59.199476+00:00"
   }
 }
-
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            General metadata will contain the location of translation file URIs, but not their CRC.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Any server can be used to host translations. The following example uses github.com, as it is easy to set up, automate, and download files.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            The example repository is https://github.com/PX4/PX4-Metadata-Translations:
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • metadata/ contains the untranslated metadata JSON files.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • to_translate contains the TS files to translate. This is generated from the files in metadata/ using scripts/prepare_ts.py.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • A translation service, such as crowdin can be used to translate the files
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • translated/ contains translated metadata TS files (in this case synced back from Crowdin)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • scripts/update_summary.py is executed to update the summary JSON file with translation file locations and modification dates.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Open Issues
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Schema Management
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Schema management has not yet been signed off.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Guaranteed Availablility of Component Information
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            There is a concern that vehicles reliant on internet-hosted component information files may stop working if the hosting ceases.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            This can generally be avoided by hosting the files compressed on-vehicle.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            We propose that manufacturers that use autopilots with limited flash (1MB or below) and do custom firmware development should host the files in github.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                             results matching ""
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              No results matching ""
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              
\ No newline at end of file
+

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              General metadata will contain the location of translation file URIs, but not their CRC.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Any server can be used to host translations. The following example uses github.com, as it is easy to set up, automate, and download files.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              The example repository is https://github.com/PX4/PX4-Metadata-Translations:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • metadata/ contains the untranslated metadata JSON files.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • to_translate contains the TS files to translate. This is generated from the files in metadata/ using scripts/prepare_ts.py.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • A translation service, such as crowdin can be used to translate the files
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • translated/ contains translated metadata TS files (in this case synced back from Crowdin)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • scripts/update_summary.py is executed to update the summary JSON file with translation file locations and modification dates.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Open Issues

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Schema Management

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Schema management has not yet been signed off.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Guaranteed Availablility of Component Information

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              There is a concern that vehicles reliant on internet-hosted component information files may stop working if the hosting ceases.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              This can generally be avoided by hosting the files compressed on-vehicle.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              We propose that manufacturers that use autopilots with limited flash (1MB or below) and do custom firmware development should host the files in github.

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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                \ No newline at end of file diff --git a/zh/services/events.html b/zh/services/events.html index f6de9882d..b1380ea2d 100644 --- a/zh/services/events.html +++ b/zh/services/events.html @@ -1 +1 @@ -Events Interface (WIP) · MAVLink Developer Guide
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Events Interface (WIP)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                The Events Interface is a work in progress and may change. It has an initial implementation in PX4 and QGroundControl and is planned for ArduPilot. It has an initial implementation in PX4 and QGroundControl and is planned for ArduPilot.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                The information below is just an overview. The information below is just an overview. Full details of the interface are provided in the: Events Interface Proposal

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                The Events Interface is a generic and flexible mechanism that allows one component to reliably notify a GCS (or any other component) of sporadic events and state changes. For example, the interface might be used notifying of arming readiness, calibration completion, and reaching the target takeoff height. For example, the interface might be used notifying of arming readiness, calibration completion, and reaching the target takeoff height.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                The interface provides for both common events that are shared by flight stacks or other components, and events that are specific to an implementation. The interface provides for both common events that are shared by flight stacks or other components, and events that are specific to an implementation. MAVLink "common" events are defined in mavlink/libevents/events/common.json.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                The events interface is intended to replace the widespread use of STATUSTEXT messages, which are not really fit for purpose.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Key features

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                The following key features are provided by the interface:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • Reliable delivery with retransmission
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • Consistent interface to report system health and arming checks.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • Minimized buffer requirements on the autopilot side.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • Minimized binary message length
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • Generic: autopilot- and GCS-agnostic.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • Long-term stable and extensible
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • Allows arguments to be attached to an event.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • Possible types: uint8, int8, uint16, int16, uint32, int32, int64, uint64, float
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • Enums and bit fields can be built on top of these types
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • Enable automated processing (for example from a flight log containing events).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • Minimize amount of auto-generated code for embedded implementations.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • Events volume of <1 Hz on average (may scale with protocol parameters adjustments, like retransmission timeouts).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • Events can be targeted or broadcast
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • Any component can send events, including cameras, companion computers, ground stations, etc.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • Events have metadata, like a log level. They can also have a detailed, more extensive description, possibly with URLs. They can also have a detailed, more extensive description, possibly with URLs.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • Support for message text and message translation.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Message/Enum Summary

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MessageDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                EVENTEvent message. Each new event from a particular component gets a new sequence number. The same message might be sent multiple times if (re-)requested. Event message. Each new event from a particular component gets a new sequence number. The same message might be sent multiple times if (re-)requested. Most events are broadcast, some can be specific to a target component (as receivers keep track of the sequence for missed events, all events need to be broadcast. Thus we use destination_component instead of target_component). Thus we use destination_component instead of target_component).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                CURRENT_EVENT_SEQUENCERegular broadcast for the current latest event sequence number for a component. This is used to check for dropped events. This is used to check for dropped events.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                REQUEST_EVENTRequest one or more events to be (re-)sent. Request one or more events to be (re-)sent. If first_sequence==last_sequence, only a single event is requested. Note that first_sequence can be larger than last_sequence (because the sequence number can wrap). Each sequence will trigger an EVENT or EVENT_ERROR response. Note that first_sequence can be larger than last_sequence (because the sequence number can wrap). Each sequence will trigger an EVENT or EVENT_ERROR response.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                RESPONSE_EVENT_ERRORResponse to a REQUEST_EVENT if there is an error requesting an event, including the reason. The most common reason would be that the event is not longer available (has been discarded). The most common reason would be that the event is not longer available (has been discarded).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                EnumDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_EVENT_CURRENT_SEQUENCE_FLAGSFlags for CURRENT_EVENT_SEQUENCE. Flags for CURRENT_EVENT_SEQUENCE. For exmaple, to indicate when the sequence has reset.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_EVENT_ERROR_REASONReasons for an error, as provided in RESPONSE_EVENT_ERROR. For example, common error would be that the event is not available (i.e. it has been discarded). For example, common error would be that the event is not available (i.e. it has been discarded).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Implementations

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Implementation PRs and other information is listed below. All of these should be considered prototypes/WIP. All of these should be considered prototypes/WIP.

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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  \ No newline at end of file +Events Interface (WIP) · MAVLink Developer Guide
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Events Interface (WIP)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  The Events Interface is a work in progress and may change. It has an initial implementation in PX4 and QGroundControl and is planned for ArduPilot. It has an initial implementation in PX4 and QGroundControl and is planned for ArduPilot.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  The information below is just an overview. The information below is just an overview. Full details of the interface are provided in the: Events Interface Proposal

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  The Events Interface is a generic and flexible mechanism that allows one component to reliably notify a GCS (or any other component) of sporadic events and state changes. For example, the interface might be used notifying of arming readiness, calibration completion, and reaching the target takeoff height. For example, the interface might be used notifying of arming readiness, calibration completion, and reaching the target takeoff height.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  The interface provides for both common events that are shared by flight stacks or other components, and events that are specific to an implementation. The interface provides for both common events that are shared by flight stacks or other components, and events that are specific to an implementation. MAVLink "common" events are defined in mavlink/libevents/events/common.json.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  The events interface is intended to replace the widespread use of STATUSTEXT messages, which are not really fit for purpose.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Key features

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  The following key features are provided by the interface:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • Reliable delivery with retransmission
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • Consistent interface to report system health and arming checks.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • Minimized buffer requirements on the autopilot side.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • Minimized binary message length
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • Generic: autopilot- and GCS-agnostic.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • Long-term stable and extensible
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • Allows arguments to be attached to an event.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • Possible types: uint8, int8, uint16, int16, uint32, int32, int64, uint64, float
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • Enums and bit fields can be built on top of these types
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • Enable automated processing (for example from a flight log containing events).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • Minimize amount of auto-generated code for embedded implementations.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • Events volume of <1 Hz on average (may scale with protocol parameters adjustments, like retransmission timeouts).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • Events can be targeted or broadcast
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • Any component can send events, including cameras, companion computers, ground stations, etc.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • Events have metadata, like a log level. They can also have a detailed, more extensive description, possibly with URLs. They can also have a detailed, more extensive description, possibly with URLs.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • Support for message text and message translation.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Message/Enum Summary

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MessageDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  EVENTEvent message. Each new event from a particular component gets a new sequence number. The same message might be sent multiple times if (re-)requested. Event message. Each new event from a particular component gets a new sequence number. The same message might be sent multiple times if (re-)requested. Most events are broadcast, some can be specific to a target component (as receivers keep track of the sequence for missed events, all events need to be broadcast. Thus we use destination_component instead of target_component). Thus we use destination_component instead of target_component).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  CURRENT_EVENT_SEQUENCERegular broadcast for the current latest event sequence number for a component. This is used to check for dropped events. This is used to check for dropped events.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  REQUEST_EVENTRequest one or more events to be (re-)sent. Request one or more events to be (re-)sent. If first_sequence==last_sequence, only a single event is requested. Note that first_sequence can be larger than last_sequence (because the sequence number can wrap). Each sequence will trigger an EVENT or EVENT_ERROR response. Note that first_sequence can be larger than last_sequence (because the sequence number can wrap). Each sequence will trigger an EVENT or EVENT_ERROR response.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  RESPONSE_EVENT_ERRORResponse to a REQUEST_EVENT if there is an error requesting an event, including the reason. The most common reason would be that the event is not longer available (has been discarded). The most common reason would be that the event is not longer available (has been discarded).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  EnumDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_EVENT_CURRENT_SEQUENCE_FLAGSFlags for CURRENT_EVENT_SEQUENCE. Flags for CURRENT_EVENT_SEQUENCE. For exmaple, to indicate when the sequence has reset.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_EVENT_ERROR_REASONReasons for an error, as provided in RESPONSE_EVENT_ERROR. For example, common error would be that the event is not available (i.e. it has been discarded). For example, common error would be that the event is not available (i.e. it has been discarded).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Implementations

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Implementation PRs and other information is listed below. All of these should be considered prototypes/WIP. All of these should be considered prototypes/WIP.

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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    File Transfer Protocol (FTP)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Developers can read the Internet protocol RFCs to understand MAVLink FTP. Note MAVLink FTP implementation closely follows the design of the original internet FTP protocol in terms of the message structure, sequences, and the supported opcodes/operations.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAVLink FTP implementation closely follows the design of the original internet FTP protocol in terms of the message structure, sequences, and the supported opcodes/operations. The File Transfer Protocol (FTP) enables file transfer over MAVLink.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    The protocol follows a client-server pattern, where all commands are sent by the GCS (client), and the Drone (server) responds either with an ACK containing the requested information, or a NAK containing an error. The GCS sets a timeout after most commands, and may resend the command if it is triggered. The drone must re-send its response if a request with the same sequence number is received.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    All messages (commands, ACK, NAK) are exchanged inside FILE_TRANSFER_PROTOCOL messages. This message type definition is minimal, with fields for specifying the target network, system and component, and for an "arbitrary" variable-length payload.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    The different commands and other information required to implement the protocol are encoded within in the FILE_TRANSFER_PROTOCOL payload. This topic explains the encoding, packing format, commands and errors, and the order in which the commands are sent to implement the core FTP functionality.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Protocol Discovery

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    FTP (v1) is supported if the AUTOPILOT_VERSION.capability field has the MAV_PROTOCOL_CAPABILITY_FTP flag set.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    This flag should only be set by a MAVLink component that supports the specific version of the protocol defined in this document.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    The encoding and content of the FILE_TRANSFER_PROTOCOL payload field are not mandated by the specification, and other encoding schemes might be used, for example, in private networks. If you have implemented a private encoding or different version you must not set the MAV_PROTOCOL_CAPABILITY_FTP flag.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Payload Format

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    The FILE_TRANSFER_PROTOCOL payload is encoded with the information required for the various FTP messages. This includes fields for holding the command that is being sent, the sequence number of the current FTP message (for multi-message data transfers), the size of information in the data part of the message etc.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Readers will note that the FTP payload format is very similar to the packet format used for serializing MAVLink itself.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Below is the over-the-wire format for the payload part of the FILE_TRANSFER_PROTOCOL message on PX4/QGroundControl.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    FILE_TRANSFER_PROTOCOL Payload format - QGC

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Byte IndexC versionContentValueExplanation
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    0 to 1uint16_t seq_numberSequence number for message0 - 65535All new messages between the GCS and drone iterate this number. Re-sent commands/ACK/NAK should use the previous response's sequence number.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2uint8_t sessionSession id0 - 255Session id for read/write operations (the server may use this to reference the file handle and information about the progress of read/write operations).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    3uint8_t opcodeOpCode (id)0 - 255Ids for particular commands and ACK/NAK messages.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    4uint8_t sizeSize0 - 255Depends on OpCode. For Reads/Writes this is the size of the data transported. For NAK it is the number of bytes used for error information (1 or 2).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    5uint8_t req_opcodeRequest OpCode0 - 255OpCode (of original message) returned in an ACK or NAK response.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    6uint8_t burst_completeBurst complete0, 1Code to indicate if a burst is complete. 1: set of burst packets complete, 0: More burst packets coming.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    7uint8_t paddingPadding32 bit alignment padding.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    8 to 11uint32_t offsetContent offset8 to 11uint32_t offsetContent offsetOffsets into data to be sent for ListDirectory and ReadFile commands.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    12 to (max) 251uint8_t data[]DataCommand/response data. Varies by OpCode. This contains the path for operations that act on a file or directory. For an ACK for a read or write this is the requested information. For an ACK for a OpenFileRO operation this is the size of the file that was opened. For a NAK the first byte is the error code and the (optional) second byte may be an error number.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    OpCodes/Command

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    The opcodes that may be sent by the GCS (client) to the drone (server) are listed below.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    OpcodeNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    0NoneIgnored, always ACKed
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1TerminateSessionTerminates open Read session.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2ResetSessionsClears all state held by the drone (server); closes all open files, etc.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    3ListDirectorySends an ACK reply with no data.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    </a> 3 | ListDirectory | List directory entry information (files, folders etc.) in <path>, starting from a specified entry index (<offset>). | | 4 | OpenFileRO | Opens file at <path> for reading, returns <session>

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    The drone (server) will respond with/send the following opcodes for any of the above messages (ACK response on success or a NAK in the event of an error).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    OpcodeNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    128ACKACK response.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    129NAKNAK response.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Notes:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • An ACK response may additionally return requested data in the payload (e.g. OpenFileRO returns the session and file size, ReadFile returns the requested file data, etc.).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • The NAK response includes error information in the payload data.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    NAK Error Information

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    NAK responses must include one of the errors codes listed below in the payload data[0] field.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    An appropriate error code must be used if one is defined. If no appropriate error code exists, the Drone (server) may respond with Fail or FailErrno.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    If the error code is FailErrno, then data[1] must additionally contain an error number. This error number is a file-system specific error code (understood by the server).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    The payload size field must be set to either 1 or 2, depending on whether or not FailErrno is specified.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    These are errors. Normally if the GCS receives an error it should not attempt to continue the FTP operation, but instead return to an idle state.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    ErrorNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    0NoneNo error
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1FailUnknown failure
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2FailErrnoCommand failed, Err number sent back in PayloadHeader.data[1]. This is a file-system error number understood by the server operating system.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    3InvalidDataSizePayload size is invalid
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    4InvalidSessionSession is not currently open
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    5NoSessionsAvailableAll available sessions are already in use.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    6EOFOffset past end of file for ListDirectory and ReadFile commands.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    7UnknownCommandUnknown command / opcode
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    8FileExistsFile/directory already exists
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    9FileProtectedFile/directory is write protected
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    10FileNotFoundFile/directory not found

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Timeouts/Resending

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    The GCS (client) starts a timeout after most commands are sent (these are cleared if an ACK/NAK is received).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Timeouts may not be set for some messages. For example, a timeout need not set for ResetSessions as the message should always succeed.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    If a timeout activates either the command or its response is assumed to have been lost, and the command should be re-sent with the same sequence number etc. A number of retries are allowed, after which the GCS should fail the whole download and reset to an idle state.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    If the drone (client) receives a message with the same sequence number then it assumes that its ACK/NAK response was lost. In this case it should resend the response (the sequence number is not iterated, because it is as though the previous response was not sent).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    The drone has no timeout mechanism; it only ever responds to commands and does not expect any responses.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    GCS recommended settings:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • ACK/NAK timeout: 50 milliseconds
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • Command retries: 6

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    FTP Operations

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Reading a File (ReadFile)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    After opening a file session, ReadFile is called to request a message sized chunk of the file, which is then returned to the client in an ACK message. The process is repeated at different offsets until the whole file has been retrieved. The file session is then closed.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Burst reading a file is a (generally) faster alternative to this approach.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    The sequence of operations for downloading (reading) a file using [ReadFile] is shown below. This assumes that there are no timeouts and all operations/requests succeed.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Mermaid Sequence: Reading a File

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    The sequence of operations is:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1. GCS (client) sends OpenFileRO command specifying the file path to open.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • The payload must specify: data[0]= file path string, size=length of file path string.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2. Drone (server) responds with either
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • ACK on success. The payload must specify fields: session = file session id, size = 4, data = length of file that has been opened.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • NAK with error information, e.g. NoSessionsAvailable, FileExists. The GCS may cancel the operation, depending on the error.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    3. GCS sends ReadFile commands to download a chunk of data from the file.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • The payload must specify: session=current session, size=size of data to read, offset= position in data to start reading
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    4. Drone responds to each message with either
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • ACK on success. The payload fields are: data = data chunk requested, size = size of data in the data field.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • NAK on failure with error information.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    5. The ReadFile/ACK sequence above is repeated at different offsets to download the whole file.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • Eventually the GCS will (must) request an offset past the end of the file.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • The Drone will return a NAK with error code EOF. The GCS uses this message to recognise the download is complete.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    6. GCS sends TerminateSession to close the file. The drone should send an ACK/NAK, but this may (generally speaking) be ignored by the GCS.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    The GSC should create a timeout after OpenFileRO and ReadFile commands are sent and resend the messages as needed (and described above). A timeout is not set for TerminateSession (the server may ignore failure of the command or the ACK).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Reading a File (BurstReadFile)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    After opening a file for reading, it is read in "bursts". Each burst delivers a part of the file as a stream of messages. The last message in the burst is indicated by setting burst_complete=1 (without any ACKs).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    The client tracks the recieved chunks. On completion of the burst (or the file), if there are any missing parts of the file it can request them using either another burst or using ReadFile.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Burst read is a (generally) faster alternative to using ReadFile to read a file. This is because fewer messages are sent and need to be waited on.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    The sequence of operations for a burst read is shown below (assuming there are no timeouts and all operations/requests succeed).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Mermaid Sequence: Burst read directory

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    The sequence of operations is:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1. GCS (client) sends OpenFileRO command specifying the file path to open.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • The payload must specify: data[0]= file path string, size=length of file path string.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2. Drone (server) responds with either
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • ACK on success. The payload must specify fields: session = file session id, size = 4, data = length of file that has been opened.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • NAK with error information, e.g. NoSessionsAvailable, FileExists. The GCS may cancel the operation, depending on the error.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    3. Client (i.e. GCS) sends BurstReadFile command specifying the part of the file that it wants to get.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • The payload must specify: session: the current session id, offset = offset in file of start of burst, data= length of burst, size=4.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    4. Server (drone) responds with either
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • ACK on success. The payload must specify fields: session = file session id, size = 4, data = lenght of file in burst.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • NAK with error information. The client may cancel the operation, depending on the error.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    5. Server sends stream of BurstReadFile data to client (without ACK) until the whole burst is sent, or a server-defined burst size limit is reached.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • The payload must specify: session=current session, size=size of data to read, offset= position in original data of current chunk.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • The payload must specify burst_complete=0 for all chunks, except the last one, which must set burst_complete=1.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    6. The client must maintain its own record of the received (and missing) chunks. It may request any missing chunks at either the end of a burst or at the end of the file. Missing chunks can be requested using either BurstReadFile or ReadFile.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    7. Client sends TerminateSession to close the file once all the chunks have been downloaded The server should send an ACK/NAK, but this may (generally speaking) be ignored by the client.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    The client should create a timeout while waiting for a new BurstReadFile, and on expiry may request missing parts of the file using either BurstReadFile or ReadFile A timeout is not set for TerminateSession (the server may ignore failure of the command or the ACK).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Uploading a File

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    The sequence of operations for uploading a file to the drone, assuming there are no timeouts and all operations/requests succeed, is shown below.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Mermaid Sequence: Uploading a file

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    The sequence of operations is:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1. GCS (client) sends CreateFile command specifying the file path where the file is to be uploaded.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • The payload must specify: data[0]= target file path string, size=length of file path string.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2. Drone (server) attempts to create the file, and responds with either
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • ACK on success. The payload must specify fields: session = new file session id, size = 0.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • NAK with error information.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • The GCS should cancel the whole operation on error.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • If there is a sequence error at this stage the GCS should send a command to ResetSessions
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    3. GCS sends WriteFile commands to upload a chunk of data to the Drone.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • The payload must specify: session=current session id, data=file chunk,size=length of data, offset= offset of data to write
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    4. Drone responds to each message with either
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • ACK on success. The payload fields are: size = 0.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • NAK on failure with error information.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • The GCS should cancel the whole upload operation by sending a command to ResetSessions if there is an NAK.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    5. The WriteFile/ACK sequence above is repeated at different offsets to upload the whole file. Once the GCS determines that the upload is complete it moves to the next step.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    6. GCS sends TerminateSession to close the file. The drone should send an ACK/NAK, but this may (generally speaking) be ignored by the GCS.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    The GSC should create a timeout after CreateFile and WriteFile commands are sent, and resend the messages as needed (and described above). A timeout is not set for TerminateSession (the server may ignore failure of the command or the ACK).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    PX4 and QGroundControl implement this slightly differently than outlined above. The implementation only has a single session (id=0) so only a single operation can be active at a time. As a result, this operation should only be started if no other operation is active. The drone expects that the session id will be set to zero by the sender of CreateFile. Last of all, the GCS sends ResetSessions rather than TerminateSession. While you can send either if talking to PX4, if the protocol is implemented elsewhere calling ResetSessions may break other communications.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Remove File

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    RemoveFile handling is implemented in PX4 but not in QGroundControl. GCS behaviour is therefore not fully defined/tested.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    The sequence of operations for removing a file is shown below (assuming there are no timeouts and all operations/requests succeed).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Mermaid Sequence: Removing a file

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    The sequence of operations is:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1. GCS sends RemoveFile command specifying the full path of the file to be deleted.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • The payload must specify: data[0]= file path string, size=length of file path string.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2. Drone attempts to delete file, and responds to the message with either:
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • ACK on success, containing payload size=0 (i.e. no data).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • NAK on failure, with error information.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • The drone must clean up any resources associated with the request after sending the response.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    The GSC should create a timeout after the RemoveFile command is sent and resend the message as needed (and described above).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Truncate File

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    The sequence of operations for truncating a file is shown below (assuming there are no timeouts and all operations/requests succeed).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    TruncateFile handling is implemented in PX4 but not in QGroundControl. GCS behaviour is therefore not fully defined/tested.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Mermaid Sequence: Truncate file

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    The sequence of operations is:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1. GCS sends TruncateFile command specifying file to truncate and the offset for truncation.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • The payload must specify: data[0]= file path string, size = length of file path string, offset = truncation point in file (amount of data to keep).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2. Drone attempts to truncate file, and responds to the message with either:
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • ACK on success, containing payload size=0 (i.e. no data).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • The request should succeed if the offset is the same as the file size, and may be attempted if the offset is zero (i.e. truncate whole file).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • NAK on failure, with error information.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • The request should fail if the offset is 0 (truncate whole file) and for normal file system errors.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • The drone must clean up any resources associated with the request after sending the response.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    The GSC should create a timeout after the TruncateFile command is sent and resend the message as needed (and described above).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    List Directory

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    The sequence of operations for getting a directory listing is shown below (assuming there are no timeouts and all operations/requests succeed).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Mermaid Sequence: List Directory

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    The sequence of operations is:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1. GCS sends ListDirectory command specifying a directory path and the index of an entry.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • The payload must specify:
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • data[0] = file path
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • size = length of path string
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • offset = The index of the first entry to get (0 for first entry, 1 for second, etc.).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2. Drone responds with an ACK containing one or more entries (the first entry is the one specified in request offset field).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • The payload must specify:
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • data[0] = Information for one or more (sequential) entries, starting at the requested entry index (offset). Each entry is separated with a null terminator (\0), and has the following format (where type is one of the letters F(ile), D(irectory), S(skip)) <type><file_or_folder_name>\t<file_size_in_bytes>\0 For example, given five files named TestFile1.xml to TestFile5.xml, the entries returned at offset 2 might look like: FTestFile3.xml\t223\0FTestFile4.xml\t755568\0FTestFile5.xml\t11111\0
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • size = The size of the data.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    3. The operation is then repeated at different offsets to download the whole directory listing. > Note The offset for each request will depend on how many entries were returned by the previous request(s).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    4. The operation completes when the GCS requests an entry index (offset) greater than or equal to the number of entries. In this case the drone responds with a NAK containing EOF (end of file).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    The GSC should create a timeout after the ListDirectory command is sent and resend the message as needed (and described above).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    The drone may also NAK with an unexpected error. Generally errors are unrecoverable, and the drone must clean up all resources (i.e. close file handles) associated with the request after sending the NAK.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Create Directory

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    The sequence of operations for creating a directory is shown below (assuming there are no timeouts and all operations/requests succeed). Note that this operation will fail if the directory is not empty.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Mermaid Sequence: Create Directory

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    The sequence of operations is:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1. GCS sends CreateDirectory command specifying the full path of the directory to be created.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • The payload must specify: data[0]= directory path string, size=length of directory path string.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2. Drone attempts to create directory, and responds to the message with either:
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • ACK on success, containing payload size=0 (i.e. no data).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • NAK on failure, with error information.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • The drone must clean up any resources associated with the request after sending the response.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    The GSC should not create timeouts or handle the NAK case (other than to report an error to the user).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Remove Directory

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    RemoveDirectory handling is implemented in PX4 but not in QGroundControl. GCS behaviour is therefore not fully defined/tested.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    The sequence of operations for removing a directory is shown below (assuming there are no timeouts and all operations/requests succeed). Note that this operation will fail if the directory is not empty.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Mermaid Sequence: Remove directory

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    The sequence of operations is:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1. GCS sends RemoveDirectory command specifying the full path of the directory to be deleted.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • The payload must specify: data[0]= directory path string, size=length of directory path string.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2. Drone attempts to delete directory, and responds to the message with either:
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • ACK on success, containing payload size=0 (i.e. no data).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • NAK on failure, with error information.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • The drone must clean up any resources associated with the request after sending the response.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    The GSC should create a timeout after the RemoveDirectory command is sent and resend the message as needed (and described above).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Implementations

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    The FTP v1 Protocol has been implemented (at least) in PX4, ArduPilot, QGroundControl and MAVSDK. Those implementations can be used in your own code within the terms of their software licenses.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    PX4 Implementation:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    QGroundControl implementation:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Everything is run by the master (QGC in this case); the slave simply responds to packets in order as they arrive. There’s buffering in the server for a little overlap (two packets in the queue at a time). This is a tradeoff between memory and link latency which may need to be reconsidered at some point.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    The MAVLink receiver thread copies an incoming request verbatim from the MAVLink buffer into a request queue, and queues a low-priority work item to handle the packet. This avoids trying to do file I/O on the MAVLink receiver thread, as well as avoiding yet another worker thread. The worker is responsible for directly queuing replies, which are sent with the same sequence number as the request.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    The implementation on PX4 only supports a single session.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    CRC32 Implementation

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    The CRC32 algorithm used by MAVLink FTP is described in MAVLink CRCs.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Resources to be downloaded using MAVLink FTP can be referenced using the following URL-like format:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    mftp://[;comp=<id>]<path>
+File Transfer Protocol (FTP) · MAVLink Developer Guide
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    File Transfer Protocol (FTP)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Developers can read the Internet protocol RFCs to understand MAVLink FTP. Note MAVLink FTP implementation closely follows the design of the original internet FTP protocol in terms of the message structure, sequences, and the supported opcodes/operations.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAVLink FTP implementation closely follows the design of the original internet FTP protocol in terms of the message structure, sequences, and the supported opcodes/operations. The File Transfer Protocol (FTP) enables file transfer over MAVLink.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    The protocol follows a client-server pattern, where all commands are sent by the GCS (client), and the Drone (server) responds either with an ACK containing the requested information, or a NAK containing an error. The GCS sets a timeout after most commands, and may resend the command if it is triggered. The drone must re-send its response if a request with the same sequence number is received.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    All messages (commands, ACK, NAK) are exchanged inside FILE_TRANSFER_PROTOCOL messages. This message type definition is minimal, with fields for specifying the target network, system and component, and for an "arbitrary" variable-length payload.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    The different commands and other information required to implement the protocol are encoded within in the FILE_TRANSFER_PROTOCOL payload. This topic explains the encoding, packing format, commands and errors, and the order in which the commands are sent to implement the core FTP functionality.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Protocol Discovery
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    FTP (v1) is supported if the AUTOPILOT_VERSION.capability field has the MAV_PROTOCOL_CAPABILITY_FTP flag set.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    This flag should only be set by a MAVLink component that supports the specific version of the protocol defined in this document.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    The encoding and content of the FILE_TRANSFER_PROTOCOL payload field are not mandated by the specification, and other encoding schemes might be used, for example, in private networks. If you have implemented a private encoding or different version you must not set the MAV_PROTOCOL_CAPABILITY_FTP flag.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Payload Format
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    The FILE_TRANSFER_PROTOCOL payload is encoded with the information required for the various FTP messages. This includes fields for holding the command that is being sent, the sequence number of the current FTP message (for multi-message data transfers), the size of information in the data part of the message etc.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Readers will note that the FTP payload format is very similar to the packet format used for serializing MAVLink itself.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Below is the over-the-wire format for the payload part of the FILE_TRANSFER_PROTOCOL message on PX4/QGroundControl.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    FILE_TRANSFER_PROTOCOL Payload format - QGC
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Byte IndexC versionContentValueExplanation
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    0 to 1uint16_t seq_numberSequence number for message0 - 65535All new messages between the GCS and drone iterate this number. Re-sent commands/ACK/NAK should use the previous response's sequence number.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2uint8_t sessionSession id0 - 255Session id for read/write operations (the server may use this to reference the file handle and information about the progress of read/write operations).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    3uint8_t opcodeOpCode (id)0 - 255Ids for particular commands and ACK/NAK messages.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    4uint8_t sizeSize0 - 255Depends on OpCode. For Reads/Writes this is the size of the data transported. For NAK it is the number of bytes used for error information (1 or 2).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    5uint8_t req_opcodeRequest OpCode0 - 255OpCode (of original message) returned in an ACK or NAK response.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    6uint8_t burst_completeBurst complete0, 1Code to indicate if a burst is complete. 1: set of burst packets complete, 0: More burst packets coming.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    7uint8_t paddingPadding32 bit alignment padding.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    8 to 11uint32_t offsetContent offset8 to 11uint32_t offsetContent offsetOffsets into data to be sent for ListDirectory and ReadFile commands.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    12 to (max) 251uint8_t data[]DataCommand/response data. Varies by OpCode. This contains the path for operations that act on a file or directory. For an ACK for a read or write this is the requested information. For an ACK for a OpenFileRO operation this is the size of the file that was opened. For a NAK the first byte is the error code and the (optional) second byte may be an error number.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    OpCodes/Command
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    The opcodes that may be sent by the GCS (client) to the drone (server) are listed below.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    OpcodeNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    0NoneIgnored, always ACKed
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                     1TerminateSessionTerminates open Read session.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                     2ResetSessionsClears all state held by the drone (server); closes all open files, etc.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                     3ListDirectorySends an ACK reply with no data.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    </a> 3 | ListDirectory | List directory entry information (files, folders etc.) in <path>, starting from a specified entry index (<offset>). | |  4 | OpenFileRO | Opens file at <path> for reading, returns <session>
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    The drone (server) will respond with/send the following opcodes for any of the above messages (ACK response on success or a NAK in the event of an error).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    OpcodeNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    128ACKACK response.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    129NAKNAK response.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Notes:
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • An ACK response may additionally return requested data in the payload (e.g. OpenFileRO returns the session and file size, ReadFile returns the requested file data, etc.).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • The NAK response includes error information in the payload data.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    NAK Error Information
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    NAK responses must include one of the errors codes listed below in the payload data[0] field.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    An appropriate error code must be used if one is defined. If no appropriate error code exists, the Drone (server) may respond with Fail or FailErrno.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    If the error code is FailErrno, then data[1] must additionally contain an error number. This error number is a file-system specific error code (understood by the server).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    The payload size field must be set to either 1 or 2, depending on whether or not FailErrno is specified.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    These are errors. Normally if the GCS receives an error it should not attempt to continue the FTP operation, but instead return to an idle state.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    ErrorNameDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    0NoneNo error
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1FailUnknown failure
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2FailErrnoCommand failed, Err number sent back in PayloadHeader.data[1]. This is a file-system error number understood by the server operating system.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    3InvalidDataSizePayload size is invalid
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    4InvalidSessionSession is not currently open
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    5NoSessionsAvailableAll available sessions are already in use.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    6EOFOffset past end of file for ListDirectory and ReadFile commands.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    7UnknownCommandUnknown command / opcode
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    8FileExistsFile/directory already exists
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    9FileProtectedFile/directory is write protected
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    10FileNotFoundFile/directory not found
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Timeouts/Resending
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    The GCS (client) starts a timeout after most commands are sent (these are cleared if an ACK/NAK is received).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Timeouts may not be set for some messages. For example, a timeout need not set for ResetSessions as the message should always succeed.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    If a timeout activates either the command or its response is assumed to have been lost, and the command should be re-sent with the same sequence number etc. A number of retries are allowed, after which the GCS should fail the whole download and reset to an idle state.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    If the drone (client) receives a message with the same sequence number then it assumes that its ACK/NAK response was lost. In this case it should resend the response (the sequence number is not iterated, because it is as though the previous response was not sent).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    The drone has no timeout mechanism; it only ever responds to commands and does not expect any responses.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    GCS recommended settings:
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • ACK/NAK timeout: 50 milliseconds
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • Command retries: 6
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    FTP Operations
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Reading a File (ReadFile)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    After opening a file session, ReadFile is called to request a message sized chunk of the file, which is then returned to the client in an ACK message. The process is repeated at different offsets until the whole file has been retrieved. The file session is then closed.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Burst reading a file is a (generally) faster alternative to this approach.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    The sequence of operations for downloading (reading) a file using [ReadFile] is shown below. This assumes that there are no timeouts and all operations/requests succeed.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Mermaid Sequence: Reading a File
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    The sequence of operations is:
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1. GCS (client) sends OpenFileRO command specifying the file path to open.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • The payload must specify: data[0]= file path string, size=length of file path string.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2. Drone (server) responds with either
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • ACK on success. The payload must specify fields: session = file session id, size = 4, data = length of file that has been opened.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • NAK with error information, e.g. NoSessionsAvailable, FileExists. The GCS may cancel the operation, depending on the error.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    3. GCS sends ReadFile commands to download a chunk of data from the file.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • The payload must specify: session=current session, size=size of data to read, offset= position in data to start reading
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    4. Drone responds to each message with either
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • ACK on success. The payload fields are: data = data chunk requested, size = size of data in the data field.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • NAK on failure with error information.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    5. The ReadFile/ACK sequence above is repeated at different offsets to download the whole file.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • Eventually the GCS will (must) request an offset past the end of the file.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • The Drone will return a NAK with error code EOF. The GCS uses this message to recognise the download is complete.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    6. GCS sends TerminateSession to close the file. The drone should send an ACK/NAK, but this may (generally speaking) be ignored by the GCS.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    The GSC should create a timeout after OpenFileRO and ReadFile commands are sent and resend the messages as needed (and described above). A timeout is not set for TerminateSession (the server may ignore failure of the command or the ACK).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Reading a File (BurstReadFile)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    After opening a file for reading, it is read in "bursts". Each burst delivers a part of the file as a stream of messages. The last message in the burst is indicated by setting burst_complete=1 (without any ACKs).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    The client tracks the recieved chunks. On completion of the burst (or the file), if there are any missing parts of the file it can request them using either another burst or using ReadFile.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Burst read is a (generally) faster alternative to using ReadFile to read a file. This is because fewer messages are sent and need to be waited on.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    The sequence of operations for a burst read is shown below (assuming there are no timeouts and all operations/requests succeed).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Mermaid Sequence: Burst read directory
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    The sequence of operations is:
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1. GCS (client) sends OpenFileRO command specifying the file path to open.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • The payload must specify: data[0]= file path string, size=length of file path string.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2. Drone (server) responds with either
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • ACK on success. The payload must specify fields: session = file session id, size = 4, data = length of file that has been opened.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • NAK with error information, e.g. NoSessionsAvailable, FileExists. The GCS may cancel the operation, depending on the error.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    3. Client (i.e. GCS) sends BurstReadFile command specifying the part of the file that it wants to get.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • The payload must specify: session: the current session id, offset = offset in file of start of burst, data= length of burst, size=4.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    4. Server (drone) responds with either
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • ACK on success. The payload must specify fields: session = file session id, size = 4, data = lenght of file in burst.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • NAK with error information. The client may cancel the operation, depending on the error.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    5. Server sends stream of BurstReadFile data to client (without ACK) until the whole burst is sent, or a server-defined burst size limit is reached.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • The payload must specify: session=current session, size=size of data to read, offset= position in original data of current chunk.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • The payload must specify burst_complete=0 for all chunks, except the last one, which must set burst_complete=1.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    6. The client must maintain its own record of the received (and missing) chunks. It may request any missing chunks at either the end of a burst or at the end of the file. Missing chunks can be requested using either BurstReadFile or ReadFile.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    7. Client sends TerminateSession to close the file once all the chunks have been downloaded The server should send an ACK/NAK, but this may (generally speaking) be ignored by the client.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    The client should create a timeout while waiting for a new BurstReadFile, and on expiry may request missing parts of the file using either BurstReadFile or ReadFile A timeout is not set for TerminateSession (the server may ignore failure of the command or the ACK).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Uploading a File
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    The sequence of operations for uploading a file to the drone, assuming there are no timeouts and all operations/requests succeed, is shown below.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Mermaid Sequence: Uploading a file
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    The sequence of operations is:
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1. GCS (client) sends CreateFile command specifying the file path where the file is to be uploaded.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • The payload must specify: data[0]= target file path string, size=length of file path string.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2. Drone (server) attempts to create the file, and responds with either
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • ACK on success. The payload must specify fields: session = new file session id, size = 0.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • NAK with error information.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • The GCS should cancel the whole operation on error.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • If there is a sequence error at this stage the GCS should send a command to ResetSessions
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    3. GCS sends WriteFile commands to upload a chunk of data to the Drone.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • The payload must specify: session=current session id, data=file chunk,size=length of data, offset= offset of data to write
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    4. Drone responds to each message with either
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • ACK on success. The payload fields are: size = 0.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • NAK on failure with error information.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • The GCS should cancel the whole upload operation by sending a command to ResetSessions if there is an NAK.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    5. The WriteFile/ACK sequence above is repeated at different offsets to upload the whole file. Once the GCS determines that the upload is complete it moves to the next step.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    6. GCS sends TerminateSession to close the file. The drone should send an ACK/NAK, but this may (generally speaking) be ignored by the GCS.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    The GSC should create a timeout after CreateFile and WriteFile commands are sent, and resend the messages as needed (and described above). A timeout is not set for TerminateSession (the server may ignore failure of the command or the ACK).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    PX4 and QGroundControl implement this slightly differently than outlined above. The implementation only has a single session (id=0) so only a single operation can be active at a time. As a result, this operation should only be started if no other operation is active. The drone expects that the session id will be set to zero by the sender of CreateFile. Last of all, the GCS sends ResetSessions rather than TerminateSession. While you can send either if talking to PX4, if the protocol is implemented elsewhere calling ResetSessions may break other communications.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Remove File
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    RemoveFile handling is implemented in PX4 but not in QGroundControl. GCS behaviour is therefore not fully defined/tested.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    The sequence of operations for removing a file is shown below (assuming there are no timeouts and all operations/requests succeed).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Mermaid Sequence: Removing a file
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    The sequence of operations is:
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1. GCS sends RemoveFile command specifying the full path of the file to be deleted.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • The payload must specify: data[0]= file path string, size=length of file path string.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2. Drone attempts to delete file, and responds to the message with either:
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • ACK on success, containing payload size=0 (i.e. no data).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • NAK on failure, with error information.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • The drone must clean up any resources associated with the request after sending the response.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    The GSC should create a timeout after the RemoveFile command is sent and resend the message as needed (and described above).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Truncate File
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    The sequence of operations for truncating a file is shown below (assuming there are no timeouts and all operations/requests succeed).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    TruncateFile handling is implemented in PX4 but not in QGroundControl. GCS behaviour is therefore not fully defined/tested.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Mermaid Sequence: Truncate file
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    The sequence of operations is:
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1. GCS sends TruncateFile command specifying file to truncate and the offset for truncation.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • The payload must specify: data[0]= file path string, size = length of file path string, offset = truncation point in file (amount of data to keep).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2. Drone attempts to truncate file, and responds to the message with either:
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • ACK on success, containing payload size=0 (i.e. no data).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • The request should succeed if the offset is the same as the file size, and may be attempted if the offset is zero (i.e. truncate whole file).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • NAK on failure, with error information.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • The request should fail if the offset is 0 (truncate whole file) and for normal file system errors.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • The drone must clean up any resources associated with the request after sending the response.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    The GSC should create a timeout after the TruncateFile command is sent and resend the message as needed (and described above).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    List Directory
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    The sequence of operations for getting a directory listing is shown below (assuming there are no timeouts and all operations/requests succeed).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Mermaid Sequence: List Directory
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    The sequence of operations is:
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1. GCS sends ListDirectory command specifying a directory path and the index of an entry.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • The payload must specify:
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • data[0] = file path
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • size = length of path string
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • offset = The index of the first entry to get (0 for first entry, 1 for second, etc.).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2. Drone responds with an ACK containing one or more entries (the first entry is the one specified in request offset field).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • The payload must specify:
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • data[0] = Information for one or more (sequential) entries, starting at the requested entry index (offset). Each entry is separated with a null terminator (\0), and has the following format (where type is one of the letters F(ile), D(irectory), S(skip)) <type><file_or_folder_name>\t<file_size_in_bytes>\0 For example, given five files named TestFile1.xml to TestFile5.xml, the entries returned at offset 2 might look like: FTestFile3.xml\t223\0FTestFile4.xml\t755568\0FTestFile5.xml\t11111\0
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • size = The size of the data.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    3. The operation is then repeated at different offsets to download the whole directory listing. > Note The offset for each request will depend on how many entries were returned by the previous request(s).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    4. The operation completes when the GCS requests an entry index (offset) greater than or equal to the number of entries. In this case the drone responds with a NAK containing EOF (end of file).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    The GSC should create a timeout after the ListDirectory command is sent and resend the message as needed (and described above).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    The drone may also NAK with an unexpected error. Generally errors are unrecoverable, and the drone must clean up all resources (i.e. close file handles) associated with the request after sending the NAK.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Create Directory
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    The sequence of operations for creating a directory is shown below (assuming there are no timeouts and all operations/requests succeed). Note that this operation will fail if the directory is not empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Mermaid Sequence: Create Directory
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    The sequence of operations is:
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1. GCS sends CreateDirectory command specifying the full path of the directory to be created.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • The payload must specify: data[0]= directory path string, size=length of directory path string.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2. Drone attempts to create directory, and responds to the message with either:
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • ACK on success, containing payload size=0 (i.e. no data).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • NAK on failure, with error information.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • The drone must clean up any resources associated with the request after sending the response.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    The GSC should not create timeouts or handle the NAK case (other than to report an error to the user).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Remove Directory
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    RemoveDirectory handling is implemented in PX4 but not in QGroundControl. GCS behaviour is therefore not fully defined/tested.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    The sequence of operations for removing a directory is shown below (assuming there are no timeouts and all operations/requests succeed). Note that this operation will fail if the directory is not empty.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Mermaid Sequence: Remove directory
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    The sequence of operations is:
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1. GCS sends RemoveDirectory command specifying the full path of the directory to be deleted.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • The payload must specify: data[0]= directory path string, size=length of directory path string.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2. Drone attempts to delete directory, and responds to the message with either:
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • ACK on success, containing payload size=0 (i.e. no data).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • NAK on failure, with error information.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • The drone must clean up any resources associated with the request after sending the response.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    The GSC should create a timeout after the RemoveDirectory command is sent and resend the message as needed (and described above).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Implementations
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    The FTP v1 Protocol has been implemented (at least) in PX4, ArduPilot, QGroundControl and MAVSDK. Those implementations can be used in your own code within the terms of their software licenses.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    PX4 Implementation:
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    QGroundControl implementation:
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Everything is run by the master (QGC in this case); the slave simply responds to packets in order as they arrive. There’s buffering in the server for a little overlap (two packets in the queue at a time). This is a tradeoff between memory and link latency which may need to be reconsidered at some point.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    The MAVLink receiver thread copies an incoming request verbatim from the MAVLink buffer into a request queue, and queues a low-priority work item to handle the packet. This avoids trying to do file I/O on the MAVLink receiver thread, as well as avoiding yet another worker thread. The worker is responsible for directly queuing replies, which are sent with the same sequence number as the request.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    The implementation on PX4 only supports a single session.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    CRC32 Implementation
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    The CRC32 algorithm used by MAVLink FTP is described in MAVLink CRCs.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Resources to be downloaded using MAVLink FTP can be referenced using the following URL-like format:
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    mftp://[;comp=<id>]<path>
 
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Where:
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • path: the location of the resource on the target component.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • id: target component ID of the component hosting the resource. The [;comp=<id>] part is optional (if omitted, the resource is downloaded from the current component). It should be specified if the request must be redirected
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    For example:
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • A GCS connected to an autopilot might download a file using the following URL: ## FTP resource 'camera.xml' from current component mftp://camera.xml https://mermaid-js.github.io/mermaid-live-editor/edit/#pako:eNqtVE2P0zAQ_Ssjn1Ipu-pKnAKtBIW9ILFSy42iyE0mjYVjB3tCtaz2vzOOk34stKxYemgSz7x58549fhCFLVFkwuP3Dk2B75XcOtm8XhvgXysdqUK10hAstEJDv6-v0P1AF9c_WUKw_DlkpzGYwV2LBiqlEZLKOth0zhM4lKUy28kR1qltTWCrAZ_BMvTFuXYsEJNj-Go-Hwl6hluOL-8SKCXJL9Ovs1ZSnYJXP3Gm0SThcwIDXQRecYmR6u3iYwIevVfWDKhXaV-rRwfyPfqs0CVrAqoxilUmSvWQOGxREow-wwa13QGvGNyx4Moj-Wc5cfCu34aQsudLmJBq5aGQHkPxWHg2nZyz7V2oFpoO3h3JH4FH9gUncmXyvoF_9_GkDJw6qrHqBY3txSd4YrmN72sET4u6M9980KdMwSHPp2j0EHaK6mhSXtim1Ug4m57r9VT-vumn8D_6semqCt0k3R-3YeF_cb0pOucYmfM30vwFzNfX1xdMvuWB1JL3ouGW5PZwankT6Wl7Ny9Td3NQF58sLg_k-ZAYdvb5Ui-PoTT30Cjfn44wKh66_v2kVUj2Iyk3XGoCbMcY_AvLQlses0Er7GoMf1YPw1hYrbEgLM_N3md0jTKScBUrjK5dnCwOilQ0DJWq5Iv7ISSvBV8BDa5Fxq8lVrLTtBZr88ipXcvW4YdSkXUiq6T2mArZkV3dm0Jk5Dock4bLf8h6_AUnGRvv
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • A GCS connected to an autopilot through a companion computer might host the metadata on the companion (e.g. due to lack of flash space, faster download or if there's a central MAVFTP server on the vehicle), so it would need to specify the component ID of the component running on the companion (e.g. 100 for the camera), so that the request is redirected: ## FTP resource '/info/version.json' from component with id 100 mftp://[;comp=100]/info/version.json
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        ## FTP resource '/info/version.json' from component with id 100
   mftp://[;comp=100]/info/version.json
-
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        \ No newline at end of file diff --git a/zh/services/gimbal.html b/zh/services/gimbal.html index d7a477063..67e60849e 100644 --- a/zh/services/gimbal.html +++ b/zh/services/gimbal.html @@ -1 +1 @@ -Gimbal Protocol v1 (superseded) · MAVLink Developer Guide
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Gimbal Configuration Protocol (v1)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        This service defintion has been superseded by Gimbal Protocol v2 (gimbal manufacturers/GCSs/autopilots are expected to use the new API, but the old API is still in broad use, and there is no plan to for it to be removed).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        The gimbal configuration message set uses a number of commands and few special-purpose messages to configure a payload mount.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        By default the gimbal should be communicating with the component ID MAV_COMP_ID_GIMBAL.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Commands to Configure and Control Gimbal

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        The commands to use mavlink gimbals are MAV_CMD_DO_MOUNT_CONFIGURE and MAV_CMD_DO_MOUNT_CONTROL. MAV_CMD_DO_MOUNT_CONTROL_QUAT is also defined but does not seem to be implemented by any systems at time of writing.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        CommandDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_DO_MOUNT_CONFIGUREConfigure a camera or antenna mount
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_DO_MOUNT_CONTROLControl mount
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_DO_MOUNT_CONTROL_QUATControl a camera or antenna mount, using a quaternion as reference.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        EnumDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_MOUNT_MODEEnumeration of possible mount operation modes.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Command to Reboot or Shutdown Gimbal

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        To reboot or shut down a gimbal send the command MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN. The options to be set for the gimbal are found in param4.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        This is the same message/process as for autopilot systems.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Telemetry from Gimbal

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        A gimbal (or mount) should send a HEARTBEAT (e.g. every second) just like any other MAVLink component. Additionally, it can send feedback about the angles it's pointing using the message MOUNT_ORIENTATION.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Known Issues

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        This version of the gimbal protocol (v1) has a number of known issues:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • Unspecified signs in DO_MOUNT_CONTROL.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • Confusing order of axes in DO_MOUNT_CONTROL.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • Unclear “stabilize” flags in DO_MOUNT_CONFIGURE.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • Confusing and unimplemented “absolute” flags in DO_MOUNT_CONFIGURE.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • Unclear when to use DO_MOUNT_CONTROL or DO_MOUNT_CONFIGURE.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • Too many overloaded params in DO_MOUNT_CONTROL depending on GPS or targetting.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • Unusual param number for DO_MOUNT_CONTROL.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • The GPS mode in DO_MOUNT_CONTROL conflicts with DO_SET_ROI_* commands.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • MOUNT naming makes discovery hard.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • Unused DO_MOUNT_CONTROL_QUAT.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • Confusion and conflicts between gimbal commands used between ground station and gimbal messages between autopilot and gimbal.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • Commands require acknowledgements back and are therefore not suitable for higher rate setpoint streams for manual control.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • Control conflicts between different sources. It is not clear what takes precedence and how the deconfliction between different sources and commands should be implemented.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        If possible migrate to Gimbal Protocol v2 which addresses these issues.

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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Gimbal Configuration Protocol (v1)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          This service defintion has been superseded by Gimbal Protocol v2 (gimbal manufacturers/GCSs/autopilots are expected to use the new API, but the old API is still in broad use, and there is no plan to for it to be removed).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          The gimbal configuration message set uses a number of commands and few special-purpose messages to configure a payload mount.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          By default the gimbal should be communicating with the component ID MAV_COMP_ID_GIMBAL.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Commands to Configure and Control Gimbal

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          The commands to use mavlink gimbals are MAV_CMD_DO_MOUNT_CONFIGURE and MAV_CMD_DO_MOUNT_CONTROL. MAV_CMD_DO_MOUNT_CONTROL_QUAT is also defined but does not seem to be implemented by any systems at time of writing.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          CommandDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_DO_MOUNT_CONFIGUREConfigure a camera or antenna mount
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_DO_MOUNT_CONTROLControl mount
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_DO_MOUNT_CONTROL_QUATControl a camera or antenna mount, using a quaternion as reference.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          EnumDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_MOUNT_MODEEnumeration of possible mount operation modes.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Command to Reboot or Shutdown Gimbal

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          To reboot or shut down a gimbal send the command MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN. The options to be set for the gimbal are found in param4.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          This is the same message/process as for autopilot systems.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Telemetry from Gimbal

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          A gimbal (or mount) should send a HEARTBEAT (e.g. every second) just like any other MAVLink component. Additionally, it can send feedback about the angles it's pointing using the message MOUNT_ORIENTATION.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Known Issues

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          This version of the gimbal protocol (v1) has a number of known issues:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • Unspecified signs in DO_MOUNT_CONTROL.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • Confusing order of axes in DO_MOUNT_CONTROL.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • Unclear “stabilize” flags in DO_MOUNT_CONFIGURE.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • Confusing and unimplemented “absolute” flags in DO_MOUNT_CONFIGURE.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • Unclear when to use DO_MOUNT_CONTROL or DO_MOUNT_CONFIGURE.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • Too many overloaded params in DO_MOUNT_CONTROL depending on GPS or targetting.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • Unusual param number for DO_MOUNT_CONTROL.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • The GPS mode in DO_MOUNT_CONTROL conflicts with DO_SET_ROI_* commands.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • MOUNT naming makes discovery hard.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • Unused DO_MOUNT_CONTROL_QUAT.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • Confusion and conflicts between gimbal commands used between ground station and gimbal messages between autopilot and gimbal.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • Commands require acknowledgements back and are therefore not suitable for higher rate setpoint streams for manual control.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • Control conflicts between different sources. It is not clear what takes precedence and how the deconfliction between different sources and commands should be implemented.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          If possible migrate to Gimbal Protocol v2 which addresses these issues.

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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            \ No newline at end of file diff --git a/zh/services/gimbal_v2.html b/zh/services/gimbal_v2.html index eb4efabbc..fb85b650c 100644 --- a/zh/services/gimbal_v2.html +++ b/zh/services/gimbal_v2.html @@ -1 +1 @@ -Gimbal Protocol v2 · MAVLink Developer Guide
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Gimbal Protocol (v2)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            This version supersedes Gimbal Protocol v1 Existing functionality is now fixed, but compatible changes may still be added.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Introduction

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            The gimbal protocol allows MAVLink control over the attitude/orientation of cameras (or other sensors) mounted on the drone. The orientation can be: controlled by the pilot in real time (e.g. using a joystick from a ground station), set as part of a mission, or moved based on camera tracking.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            The protocol also defines what status information is published for developers, configurators, as well as users of the drone. It additionally provides ways to assign control to different sources.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            The protocol supports a number of hardware setups, and enables gimbals with varying capabilities.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            The original protocol design document can be found here.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Concepts

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Gimbal Manager and Gimbal Device

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            To accommodate gimbals with varying capabilities, and various hardware setups, "a gimbal" is conceptually split into two parts:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • Gimbal Device: the actual gimbal device, hardware and software.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • Gimbal Manager: software to deconflict gimbal messages and commands from different sources, and to abstract the capabilities of the Gimbal Device from gimbal users.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            The Gimbal Manager and Gimbal Device expose respective message sets that can be used for: gimbal manager/device discovery, querying capabilities, publishing status, and various types of orientation/attitude control.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            The key concept to understand is that a Gimbal Manager has a 1:1 relationship with a particular Gimbal Device, and is the only party on the MAVLink network that is allowed to directly command that device - it does so using the Gimbal Device message set.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            The Gimbal Device must act only upon messages that come from the associated Gimbal Manager! The device will however broadcast its status to all parties on the network (not just its manager).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAVLink applications (ground stations, developer APIs like the MAVSDK, etc.), and any other software that wants to control a particular gimbal, must do so via its Gimbal Manager, using the Gimbal Manager message set.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Note that the gimbal manager is (by default) implemented on the autopilot.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Common Set-ups

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            This section outlines the three most common hardware set-ups.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Simple Gimbal Directly Connected to Autopilot

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            In this (default) set-up the autopilot takes the role of the gimbal manager.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Standalone Integrated Camera/Gimbal

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            In this set-up the integrated camera/gimbal itself can be the Gimbal Manager.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Therefore, the gimbal device interface is internal (no implementation is required).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Onboard Computer with Camera and Gimbal Connected to Autopilot

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            In this set-up the Gimbal Manager can be on the onboard computer.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Commands from the GCS (etc.) are sent to the Gimbal Manager on the companion computer. Messages from the Gimbal Manager to the Gimbal Device need to be sent to/routed through the autopilot.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Multiple Gimbals

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Multiple gimbals per drone are supported.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Component IDs

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Multiple component IDs are reserved for MAVLink gimbal devices: MAV_COMP_ID_GIMBAL, MAV_COMP_ID_GIMBAL2, MAV_COMP_ID_GIMBAL3, MAV_COMP_ID_GIMBAL4, MAV_COMP_ID_GIMBAL5, MAV_COMP_ID_GIMBAL6.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            The listed component IDs should be used where possible. Ids 0-6 may not be used. Other ids may be used as long as the MAV_TYPE is correctly set to MAV_TYPE_GIMBAL.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Mapping from Gimbal Managers to Gimbal Devices

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Every Gimbal Manager has a single associated Gimbal Device that it controls (there is a 1:1 relationship). A particular MAVLink component, such as an autopilot, can implement multiple gimbal managers in order to control two or more gimbal devices. The identity of a gimbal device and its associated manager, are represented by a "gimbal device id". This id is used to differentiate messages from different gimbal managers, and also to target a particular gimbal in commands/messages sent to the component that is hosting its gimbal manager.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            A Gimbal Manager publishes the id of its associated device in the gimbal_device_id field of the GIMBAL_MANAGER_INFORMATION message (this same field name is present in all gimbal manager messages so you can identify the source). Similarly, commands that can be sent to a gimbal manager include a parameter with label Gimbal device ID that indicates the particular gimbal manager (and device).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • A system that wants to control a particular gimbal device will send messages to the component that has the manager(s), such as an autopilot, specifying the device id of the gimbal to be controlled.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • A system that wants to control all gimbal devices managed by gimbal managers on a particular component, would send the command/message to that component and set the device id to 0.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Addressing of Gimbal Devices

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            For MAVLink gimbal devices the gimbal device id (gimbal_device_id) is the MAVLink component ID of the gimbal device controlled by the gimbal manager.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            The gimbal manager processes commands for its associated device, sending appropriate/corresponding gimbal device commands to the MAVLink gimbal device.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Non-MAVLink gimbal devices are gimbals that don't expose a MAVLink Gimbal Device (or manager) API, but instead are connected to the gimbal manager using some other protocol. For instance, this could be a PWM gimbal connected to an autopilot. Since the gimbal device is not a MAVLink component, it does not have a unique MAVLink component ID that can be used for the gimbal device id. Therefore you either have to make it into a MAVLink component (so it has an id) or assign it a particular non-MAVLink id.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Autopilots are expected to implement gimbal managers for each attached gimbal and assign each a unique gimbal device id between 1 and 6 (which is why these values can't be used as MAVLink component IDs for gimbal devices). This id would then be used in gimbal manager messages sent by the autopilot, and for addressing the particular gimbal in commands. The autopilot would directly control attached gimbals in response to gimbal manager commands. In addition to sending gimbal manager messages when appropriate, it should also send/stream required gimbal device messages, such as GIMBAL_DEVICE_ATTITUDE_STATUS.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            All other hardware with attached gimbal devices, such as a companion computers, are expected to implement them as separate MAVLink components, with their own MAVLink component ID that can be used for addressing. For example, a companion computer with an attached gimbal would appear as two MAVLink components: a companion computer and a gimbal. The gimbal component would identify as a type MAV_TYPE_GIMBAL and assert that it implements the gimbal manager protocol. As with autopilot-attached cameras it would need to respond as a gimbal manager, and also stream required gimbal device messages.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Implementing each attached camera as a separate MAVLink component allows cameras attached to a companion computer to be separately addressed in missions executed on the autopilot.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Implementation and Messages

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Messages between Ground Station and Gimbal Manager

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Discovery of Gimbal Manager

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            A ground station should monitor for HEARTBEAT messages from all new components and check their capabilities by requesting AUTOPILOT_VERSION for autopilots and COMPONENT_INFORMATION_BASIC for other components (see HEARTBEAT/Connection protocol).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            If the capabilities field of the above message(s) has the flag MAV_PROTOCOL_CAPABILITY_COMPONENT_IMPLEMENTS_GIMBAL_MANAGER set:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            The GIMBAL_MANAGER_INFORMATION contains important information a particular gimbal, such as its capabilities (GIMBAL_MANAGER_CAP_FLAGS), maximum angles and angle rates, as well as the gimbal_device_id which identifies the specific gimbal device controlled by a particular Gimbal Manager.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            A GCS should always request GIMBAL_MANAGER_INFORMATION from autopilot components prior to: PX4 v1.16, ArduPilot-4.5 (when the protocol bit was added).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Gimbal Manager Status

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            A Gimbal Manager should send out GIMBAL_MANAGER_STATUS at a low regular rate (e.g. 5 Hz) to inform the ground station about its status.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Starting / Configuring Gimbal Control

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            It is possible for multiple components to want to control a gimbal at the same time, e.g.: a ground station, a companion computer, or the autopilot running a mission.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            In order to start controlling a gimbal, a component first needs to send the MAV_CMD_DO_GIMBAL_MANAGER_CONFIGURE command. This allows setting which MAVLink component (set by system ID and component ID) is in primary control and which one is in secondary control. The gimbal manager is to ignore any gimbal controls which come from MAVLink components that are not explicity set to "in control". This should prevent conflicts between various inputs as long as all components are fair/co-operative when using the configure command.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            To be co-operative entails the following rules:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • Don't send the configure manager configure command continuously but only once to initiate and once to stop control again.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • Check the GIMBAL_MANAGER_STATUS about who is in control first and - if possible - warn user about planned action. For example, if the autopilot is in control of the gimbal as part of a mission, the ground station should ask the user first (i.e. via a pop-up) if they really want to take over manual control.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • Don't forget to release control when an action/task is finished and set the sysid/compid to 0.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            It is possible to assign control to another component too, not just to itself. For example, a smart shot running on a companion computer can set itself to be in primary control but assign a ground station for secondary control to e.g. nudge during the smart shot.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Note The implementation of how primary and secondary control are combined or mixed is not defined by the protocol but up to the implementation. This allows flexibility for different use cases.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            A ground station can manually control a gimbal by sending GIMBAL_MANAGER_SET_MANUAL_CONTROL. This allows controlling the gimbal with either angles, or angular rates, using a normalized unit (-1..1). The gimbal device is responsible for translating the input based on angle, speed, and "smoothness" settings.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            This input can additionally be scaled by the gimbal manager depending on its state. For example, if the gimbal manager is on a camera and knows the current zoom level / focal length of the camera, it can scale the angular rate down to support smooth paning and tilting.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            A ground station, companion computer, or other MAVLink component can set the gimbal angle and/or angular rates using the messages GIMBAL_MANAGER_SET_ATTITUDE or GIMBAL_MANAGER_SET_PITCHYAW.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Messages between Gimbal Manager and Gimbal Device

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Discovery of Gimbal Device

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            The MAVlink node where the Gimbal Manager is implemented needs to discover Gimbal Devices by sending a broadcast MAV_CMD_REQUEST_MESSAGE for GIMBAL_DEVICE_INFORMATION. Every gimbal device should respond with GIMBAL_DEVICE_INFORMATION.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            The MAVLink node should then create as many Gimbal Manager instances as Gimbal Devices found.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Control of a Gimbal Device

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            To control the angle and/or angular rate of the Gimbal Device, use the message GIMBAL_DEVICE_SET_ATTITUDE. If the gimbal manager has multiple gimbal control inputs available it should deconflict them as explained below.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Autopilot State for Gimbal Device

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            The autopilot should also send the message AUTOPILOT_STATE_FOR_GIMBAL_DEVICE to the gimbal device. This data is required by the Gimbal Device attitude estimator (horizon compensation), as well as to anticipate the vehicle's movements (e.g. the feed forward angular velocity in z-axis, so the current yaw intention).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Gimbal Device Broadcast/Status Messages

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            The gimbal device should send out its attitude and status in GIMBAL_DEVICE_ATTITUDE_STATUS at a regular rate, e.g. 10 Hz.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            This message is a meant as broadcast, so it's set to the GCS, Gimbal Manager, and all parties on the network (not just Gimbal Manager, like all other messages).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Custom Gimbal Device Settings

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Custom gimbal settings can be accomplished using the component information microservice which is based on a component information file (this is similar to the camera definition file).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            FAQ

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            How to set the System ID of a gimbal device?

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            The system ID of all components (e.g. autopilot, companion computer, camera, gimbal) on a drone/system must be the same. This needs to be either done manually by configuration, or alternatively, the components need to listen to the heartbeat of the autopilot and then adjust their system ID accordingly.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            When is Gimbal Device also a Gimbal Manager?

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            The default case should be to use the Gimbal Manager in the autopilot. The only exception to this are integrated solutions containing a camera and gimbal for functionality like visual tracking.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            How to test Gimbal Device?

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            A Gimbal Device can be tested by connecting it to an autopilot with a Gimbal Manager. To avoid having to do a full setup including autopilot, a direct test using MAVSDK is available.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Gimbals that use the (old) Gimbal Protocol v1 should still be supported by autopilot software. Basically, the Gimbal Manager needs to translate the commands to the old protocol.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Gimbals controlled using a protocol like PPM, PWM, SBUS or something proprietary can still be supported. The autopilot will have to act as the Gimbal Manager and provide the driver and translation to the respective protocol.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            The autopilot needs to be configured to either accept MAVLink input (so GIMBAL_MANAGER_SET_MANUAL_CONTROL) or RC control. In both cases, the autopilot can then calculate a gimbal angle or angular rate from the manual control input and send the resulting setpoint to the gimbal device.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            For RC control, the channels will have to be manually mapped/configured to control the gimbal. This is the same approach as is used for managing the input source for flying; it is up to the implementation to select either RC or MAVLink. The recommendation is to make it configurable using (for instance) a parameter.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            A non-MAVLink gimbal needs to be connected to a gimbal manager, which then takes care of sending the gimbal device messages. Since a non-MAVLink gimbal can't be addressed with a MAVLink component ID, the gimbal_device_id needs to be set to one of the magic values (1 to 6). This signals that the gimbal manager also is also acting as the gimbal device.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Also see how to address non-MAVLink gimbal devices.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            How to interpret GIMBAL_DEVICE_ATTITUDE_STATUS yaw gimbal angle

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            The GIMBAL_DEVICE_ATTITUDE_STATUS.flags field must report the frame used for reported yaw values as either:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • GIMBAL_DEVICE_FLAGS_YAW_IN_VEHICLE_FRAME: Yaw is relative to vehicle.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • GIMBAL_DEVICE_FLAGS_YAW_IN_EARTH_FRAME: Yaw is relative to north.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            For older devices, if neither of the flags above are set, the yaw frame must be inferred from the GIMBAL_DEVICE_FLAGS_YAW_LOCK. If it is set, the yaw is relative to North, otherwise to the front of the vehicle.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Manufacturers working on new gimbal devices should set either GIMBAL_DEVICE_FLAGS_YAW_IN_VEHICLE_FRAME or GIMBAL_DEVICE_FLAGS_YAW_IN_EARTH_FRAME. Components recieving the message should also handle GIMBAL_DEVICE_FLAGS_YAW_LOCK for backwards compatibility with older devices.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Message/Command/Enum Summary

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Gimbal Manager Messages

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            This is the set of messages/enums for communicating with the gimbal manager (by ground station, autopilot, etc.).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MessageDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            !!crwdBlockTags_43_sgaTkcolBdwrc!GIMBAL_MANAGER_INFORMATIONInformation about a high level gimbal manager. This message should be requested by a ground station using MAV_CMD_REQUEST_MESSAGE.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            !!crwdBlockTags_44_sgaTkcolBdwrc!GIMBAL_MANAGER_STATUSCurrent status about a high level gimbal manager. This message should be broadcast at a low regular rate (e.g. 5Hz).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            !!crwdBlockTags_45_sgaTkcolBdwrc!GIMBAL_MANAGER_SET_ATTITUDEHigh level message to control a gimbal's attitude. This message is to be sent to the gimbal manager (e.g. from a ground station).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            !!crwdBlockTags_46_sgaTkcolBdwrc!GIMBAL_MANAGER_SET_MANUAL_CONTROLHigh level message to control a gimbal manually, so without units. The actual angles or angular rates will be produced by the gimbal manager based on settings. This message is to be sent to the gimbal manager (e.g. from a ground station). Angles and rates can be set to NaN according to use case.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            !!crwdBlockTags_47_sgaTkcolBdwrc!GIMBAL_MANAGER_SET_PITCHYAWHigh level message to control a gimbal's pitch and yaw angles. This message is to be sent to the gimbal manager (e.g. from a ground station). Angles and rates can be set to NaN according to use case.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            CommandDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            !!crwdBlockTags_35_sgaTkcolBdwrc!MAV_CMD_REQUEST_MESSAGERequest the target system(s) emit a single instance of a specified message. This is used to request GIMBAL_MANAGER_INFORMATION.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            !!crwdBlockTags_51_sgaTkcolBdwrc!MAV_CMD_DO_GIMBAL_MANAGER_CONFIGUREGimbal configuration to set which sysid/compid is in primary and secondary control.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            !!crwdBlockTags_52_sgaTkcolBdwrc!MAV_CMD_DO_GIMBAL_MANAGER_PITCHYAWHigh level setpoint to be sent to a gimbal manager to set a gimbal attitude. Note: a gimbal is never to react to this command but only the gimbal manager.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            !!crwdBlockTags_53_sgaTkcolBdwrc!MAV_CMD_DO_SET_ROI_LOCATIONSets the region of interest (ROI) to a location. This can then be used by the vehicle's control system to control the vehicle attitude and the attitude of various sensors such as cameras. This command can be sent to a gimbal manager but not to a gimbal device. A gimbal is not to react to this message.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            !!crwdBlockTags_54_sgaTkcolBdwrc!MAV_CMD_DO_SET_ROI_WPNEXT_OFFSETSets the region of interest (ROI) to be toward next waypoint, with optional pitch/roll/yaw offset. This can then be used by the vehicle's control system to control the vehicle attitude and the attitude of various sensors such as cameras. This command can be sent to a gimbal manager but not to a gimbal device. A gimbal device is not to react to this message.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            !!crwdBlockTags_25_sgaTkcolBdwrc!MAV_CMD_DO_SET_ROI_SYSIDMount tracks system with specified system ID. Determination of target vehicle position may be done with GLOBAL_POSITION_INT or any other means. This command can be sent to a gimbal manager but not to a gimbal device. A gimbal device is not to react to this message.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            !!crwdBlockTags_34_sgaTkcolBdwrc!MAV_CMD_DO_SET_ROI_NONECancels any previous ROI command returning the vehicle/sensors to default flight characteristics. This can then be used by the vehicle's control system to control the vehicle attitude and the attitude of various sensors such as cameras. This command can be sent to a gimbal manager but not to a gimbal device. A gimbal device is not to react to this message. After this command the gimbal manager should go back to manual input if available, and otherwise assume a neutral position.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            !!crwdBlockTags_57_sgaTkcolBdwrc!MAV_CMD_DO_GIMBAL_MANAGER_TRACK_POINTIf the gimbal manager supports visual tracking (GIMBAL_MANAGER_CAP_FLAGS_HAS_TRACKING_POINT is set), this command allows to initiate the tracking. Such a tracking gimbal manager would usually be an integrated camera/gimbal, or alternatively a companion computer connected to a camera.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            !!crwdBlockTags_58_sgaTkcolBdwrc!MAV_CMD_DO_GIMBAL_MANAGER_TRACK_RECTANGLEIf the gimbal supports visual tracking (GIMBAL_MANAGER_CAP_FLAGS_HAS_TRACKING_RECTANGLE is set), this command allows to initiate the tracking. Such a tracking gimbal manager would usually be an integrated camera/gimbal, or alternatively a companion computer connected to a camera.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            EnumDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            !!crwdBlockTags_30_sgaTkcolBdwrc!GIMBAL_MANAGER_FLAGSFlags for high level gimbal manager operation.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            The first 16 bytes are identical to the GIMBAL_DEVICE_FLAGS. Used in MAV_CMD_DO_GIMBAL_MANAGER_PITCHYAW, GIMBAL_MANAGER_STATUS , GIMBAL_MANAGER_SET_ATTITUDE.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            !!crwdBlockTags_31_sgaTkcolBdwrc!GIMBAL_MANAGER_CAP_FLAGSGimbal manager high level capability flags (bitmap).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            The first 16 bits are identical to the GIMBAL_DEVICE_CAP_FLAGS which are identical with GIMBAL_DEVICE_FLAGS. However, the gimbal manager does not need to copy the flags from the gimbal but can also enhance the capabilities and thus add flags. Used in GIMBAL_MANAGER_INFORMATION

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Gimbal Device Messages

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            This is the set of messages/enums for communication between gimbal manager and gimbal device.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MessageDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            !!crwdBlockTags_64_sgaTkcolBdwrc!GIMBAL_DEVICE_INFORMATIONInformation about a low level gimbal. This message should be requested by the gimbal manager or a ground station using MAV_CMD_REQUEST_MESSAGE.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            !!crwdBlockTags_32_sgaTkcolBdwrc!GIMBAL_DEVICE_SET_ATTITUDELow level message to control a gimbal device's attitude. This message is to be sent from the gimbal manager to the gimbal device component. Angles and rates can be set to NaN according to use case.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            !!crwdBlockTags_24_sgaTkcolBdwrc!GIMBAL_DEVICE_ATTITUDE_STATUSMessage reporting the status of a gimbal device. This message should be broadcasted by a gimbal device component.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            CommandDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            !!crwdBlockTags_68_sgaTkcolBdwrc!MAV_CMD_REQUEST_MESSAGERequest the target system(s) emit a single instance of a specified message. This is used to request GIMBAL_DEVICE_INFORMATION.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            EnumDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            !!crwdBlockTags_70_sgaTkcolBdwrc!GIMBAL_DEVICE_CAP_FLAGSGimbal device (low level) capability flags (bitmap).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Used in GIMBAL_DEVICE_INFORMATION.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            !!crwdBlockTags_71_sgaTkcolBdwrc!GIMBAL_DEVICE_FLAGSFlags for gimbal device (lower level) operation.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Used in GIMBAL_DEVICE_ATTITUDE_STATUS and GIMBAL_DEVICE_SET_ATTITUDE.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            !!crwdBlockTags_72_sgaTkcolBdwrc!GIMBAL_DEVICE_ERROR_FLAGSGimbal device (low level) error flags (bitmap, 0 means no error).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Used in GIMBAL_DEVICE_ATTITUDE_STATUS.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Sequences

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Depicted below are message sequences for some common scenarious.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Discovery

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            This shows a possible sequence on startup. Note that the gimbal manager could already discover the gimbal device before the ground station asks for the information.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Normal Manual Control

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            During the normal manual control, all messages are streamed at a regular rate. Note that GIMBAL_DEVICE_ATTITUDE_STATUS is broadcast to anyone, so to the gimbal manager and also the ground station.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ROI Initiated from Ground Station

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ROI can be started using a command and should also be stopped again with a command. The ROI command is translated to a gimbal attitude in the the gimbal manager.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Attitude Set During Mission

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            In this case the gimbal manager is implemented by the autopilot which "sends" the attitude command (for instance for a survey).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            How to Implement the Gimbal Device Interface

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Below is a short summary of all messages that a gimbal device should implement.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            A Gimbal Device can be tested by connecting it to an autopilot with a Gimbal Manager. To avoid having to do a full setup including autopilot, a direct test using MAVSDK is available.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Messages to Send

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            The messages listed should be broadcast on the network/on all connections (sent to everyone).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            HEARTBEAT

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Heartbeats should always be sent (usually at 1 Hz).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Gimbals that set their sysid from the autopilot will need to wait for the autopilot's heartbeat before emitting their own (note that if the gimbal can receive heartbeats from multiple autopilots then the sysid must be explicitly/statically configured).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • sysid: the same sysid as the autopilot (this can either be done by configuration, or by listening to the autopilot's heartbeat first and then copying the sysid, default: 1)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • compid: MAV_COMP_ID_GIMBAL
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • type: MAV_TYPE_GIMBAL
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • autopilot: MAV_AUTOPILOT_INVALID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • base_mode: 0
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • custom_mode: 0
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • system_status: MAV_STATE_UNINIT

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            GIMBAL_DEVICE_ATTITUDE_STATUS

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            The gimbal device should send out its attitude status at a regular rate, e.g. 10 Hz. The fields target_system and target_component can be set to 0 (broadcast) by default.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            GIMBAL_DEVICE_INFORMATION

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            The static information about the gimbal device needs to be sent out when requested using MAV_CMD_REQUEST_MESSAGE.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Messages to Listen To/Handle

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            GIMBAL_DEVICE_SET_ATTITUDE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            This is the actual attitude setpoint that the gimbal device should follow. Note that the frame of the quaternion setpoint depends on the GIMBAL_DEVICE_FLAGS.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            AUTOPILOT_STATE_FOR_GIMBAL_DEVICE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            The gimbal device should be able to get all the information from the autopilot that it requires in this one message. If something is missing that should be streamed at a high rate, it should be added to this message.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            If this message is not sent by default by the autopilot, or the rate is not ok, the command MAV_CMD_SET_MESSAGE_INTERVAL can be used to request it at a certain rate.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            COMMAND_LONG

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            The gimbal device needs to check for commands. See below which commands should get answered.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Commands to Answer

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_REQUEST_MESSAGE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            The gimbal device should send out messages when they get requested, e.g. GIMBAL_DEVICE_INFORMATION.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_SET_MESSAGE_INTERVAL

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            The gimbal device should stream messages at the rate requested.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            results matching ""

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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Gimbal Protocol (v2)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              This version supersedes Gimbal Protocol v1 Existing functionality is now fixed, but compatible changes may still be added.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Introduction

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              The gimbal protocol allows MAVLink control over the attitude/orientation of cameras (or other sensors) mounted on the drone. The orientation can be: controlled by the pilot in real time (e.g. using a joystick from a ground station), set as part of a mission, or moved based on camera tracking.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              The protocol also defines what status information is published for developers, configurators, as well as users of the drone. It additionally provides ways to assign control to different sources.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              The protocol supports a number of hardware setups, and enables gimbals with varying capabilities.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              The original protocol design document can be found here.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Concepts

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Gimbal Manager and Gimbal Device

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              To accommodate gimbals with varying capabilities, and various hardware setups, "a gimbal" is conceptually split into two parts:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • Gimbal Device: the actual gimbal device, hardware and software.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • Gimbal Manager: software to deconflict gimbal messages and commands from different sources, and to abstract the capabilities of the Gimbal Device from gimbal users.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              The Gimbal Manager and Gimbal Device expose respective message sets that can be used for: gimbal manager/device discovery, querying capabilities, publishing status, and various types of orientation/attitude control.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              The key concept to understand is that a Gimbal Manager has a 1:1 relationship with a particular Gimbal Device, and is the only party on the MAVLink network that is allowed to directly command that device - it does so using the Gimbal Device message set.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              The Gimbal Device must act only upon messages that come from the associated Gimbal Manager! The device will however broadcast its status to all parties on the network (not just its manager).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAVLink applications (ground stations, developer APIs like the MAVSDK, etc.), and any other software that wants to control a particular gimbal, must do so via its Gimbal Manager, using the Gimbal Manager message set.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Note that the gimbal manager is (by default) implemented on the autopilot.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Common Set-ups

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              This section outlines the three most common hardware set-ups.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Simple Gimbal Directly Connected to Autopilot

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              In this (default) set-up the autopilot takes the role of the gimbal manager.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Standalone Integrated Camera/Gimbal

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              In this set-up the integrated camera/gimbal itself can be the Gimbal Manager.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Therefore, the gimbal device interface is internal (no implementation is required).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Onboard Computer with Camera and Gimbal Connected to Autopilot

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              In this set-up the Gimbal Manager can be on the onboard computer.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Commands from the GCS (etc.) are sent to the Gimbal Manager on the companion computer. Messages from the Gimbal Manager to the Gimbal Device need to be sent to/routed through the autopilot.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Multiple Gimbals

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Multiple gimbals per drone are supported.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Component IDs

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Multiple component IDs are reserved for MAVLink gimbal devices: MAV_COMP_ID_GIMBAL, MAV_COMP_ID_GIMBAL2, MAV_COMP_ID_GIMBAL3, MAV_COMP_ID_GIMBAL4, MAV_COMP_ID_GIMBAL5, MAV_COMP_ID_GIMBAL6.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              The listed component IDs should be used where possible. Ids 0-6 may not be used. Other ids may be used as long as the MAV_TYPE is correctly set to MAV_TYPE_GIMBAL.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Mapping from Gimbal Managers to Gimbal Devices

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Every Gimbal Manager has a single associated Gimbal Device that it controls (there is a 1:1 relationship). A particular MAVLink component, such as an autopilot, can implement multiple gimbal managers in order to control two or more gimbal devices. The identity of a gimbal device and its associated manager, are represented by a "gimbal device id". This id is used to differentiate messages from different gimbal managers, and also to target a particular gimbal in commands/messages sent to the component that is hosting its gimbal manager.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              A Gimbal Manager publishes the id of its associated device in the gimbal_device_id field of the GIMBAL_MANAGER_INFORMATION message (this same field name is present in all gimbal manager messages so you can identify the source). Similarly, commands that can be sent to a gimbal manager include a parameter with label Gimbal device ID that indicates the particular gimbal manager (and device).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • A system that wants to control a particular gimbal device will send messages to the component that has the manager(s), such as an autopilot, specifying the device id of the gimbal to be controlled.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • A system that wants to control all gimbal devices managed by gimbal managers on a particular component, would send the command/message to that component and set the device id to 0.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Addressing of Gimbal Devices

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              For MAVLink gimbal devices the gimbal device id (gimbal_device_id) is the MAVLink component ID of the gimbal device controlled by the gimbal manager.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              The gimbal manager processes commands for its associated device, sending appropriate/corresponding gimbal device commands to the MAVLink gimbal device.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Non-MAVLink gimbal devices are gimbals that don't expose a MAVLink Gimbal Device (or manager) API, but instead are connected to the gimbal manager using some other protocol. For instance, this could be a PWM gimbal connected to an autopilot. Since the gimbal device is not a MAVLink component, it does not have a unique MAVLink component ID that can be used for the gimbal device id. Therefore you either have to make it into a MAVLink component (so it has an id) or assign it a particular non-MAVLink id.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Autopilots are expected to implement gimbal managers for each attached gimbal and assign each a unique gimbal device id between 1 and 6 (which is why these values can't be used as MAVLink component IDs for gimbal devices). This id would then be used in gimbal manager messages sent by the autopilot, and for addressing the particular gimbal in commands. The autopilot would directly control attached gimbals in response to gimbal manager commands. In addition to sending gimbal manager messages when appropriate, it should also send/stream required gimbal device messages, such as GIMBAL_DEVICE_ATTITUDE_STATUS.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              All other hardware with attached gimbal devices, such as a companion computers, are expected to implement them as separate MAVLink components, with their own MAVLink component ID that can be used for addressing. For example, a companion computer with an attached gimbal would appear as two MAVLink components: a companion computer and a gimbal. The gimbal component would identify as a type MAV_TYPE_GIMBAL and assert that it implements the gimbal manager protocol. As with autopilot-attached cameras it would need to respond as a gimbal manager, and also stream required gimbal device messages.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Implementing each attached camera as a separate MAVLink component allows cameras attached to a companion computer to be separately addressed in missions executed on the autopilot.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Implementation and Messages

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Messages between Ground Station and Gimbal Manager

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Discovery of Gimbal Manager

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              A ground station should monitor for HEARTBEAT messages from all new components and check their capabilities by requesting AUTOPILOT_VERSION for autopilots and COMPONENT_INFORMATION_BASIC for other components (see HEARTBEAT/Connection protocol).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              If the capabilities field of the above message(s) has the flag MAV_PROTOCOL_CAPABILITY_COMPONENT_IMPLEMENTS_GIMBAL_MANAGER set:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              The GIMBAL_MANAGER_INFORMATION contains important information a particular gimbal, such as its capabilities (GIMBAL_MANAGER_CAP_FLAGS), maximum angles and angle rates, as well as the gimbal_device_id which identifies the specific gimbal device controlled by a particular Gimbal Manager.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              A GCS should always request GIMBAL_MANAGER_INFORMATION from autopilot components prior to: PX4 v1.16, ArduPilot-4.5 (when the protocol bit was added).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Gimbal Manager Status

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              A Gimbal Manager should send out GIMBAL_MANAGER_STATUS at a low regular rate (e.g. 5 Hz) to inform the ground station about its status.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Starting / Configuring Gimbal Control

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              It is possible for multiple components to want to control a gimbal at the same time, e.g.: a ground station, a companion computer, or the autopilot running a mission.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              In order to start controlling a gimbal, a component first needs to send the MAV_CMD_DO_GIMBAL_MANAGER_CONFIGURE command. This allows setting which MAVLink component (set by system ID and component ID) is in primary control and which one is in secondary control. The gimbal manager is to ignore any gimbal controls which come from MAVLink components that are not explicity set to "in control". This should prevent conflicts between various inputs as long as all components are fair/co-operative when using the configure command.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              To be co-operative entails the following rules:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • Don't send the configure manager configure command continuously but only once to initiate and once to stop control again.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • Check the GIMBAL_MANAGER_STATUS about who is in control first and - if possible - warn user about planned action. For example, if the autopilot is in control of the gimbal as part of a mission, the ground station should ask the user first (i.e. via a pop-up) if they really want to take over manual control.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • Don't forget to release control when an action/task is finished and set the sysid/compid to 0.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              It is possible to assign control to another component too, not just to itself. For example, a smart shot running on a companion computer can set itself to be in primary control but assign a ground station for secondary control to e.g. nudge during the smart shot.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Note The implementation of how primary and secondary control are combined or mixed is not defined by the protocol but up to the implementation. This allows flexibility for different use cases.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              A ground station can manually control a gimbal by sending GIMBAL_MANAGER_SET_MANUAL_CONTROL. This allows controlling the gimbal with either angles, or angular rates, using a normalized unit (-1..1). The gimbal device is responsible for translating the input based on angle, speed, and "smoothness" settings.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              This input can additionally be scaled by the gimbal manager depending on its state. For example, if the gimbal manager is on a camera and knows the current zoom level / focal length of the camera, it can scale the angular rate down to support smooth paning and tilting.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              A ground station, companion computer, or other MAVLink component can set the gimbal angle and/or angular rates using the messages GIMBAL_MANAGER_SET_ATTITUDE or GIMBAL_MANAGER_SET_PITCHYAW.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Messages between Gimbal Manager and Gimbal Device

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Discovery of Gimbal Device

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              The MAVlink node where the Gimbal Manager is implemented needs to discover Gimbal Devices by sending a broadcast MAV_CMD_REQUEST_MESSAGE for GIMBAL_DEVICE_INFORMATION. Every gimbal device should respond with GIMBAL_DEVICE_INFORMATION.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              The MAVLink node should then create as many Gimbal Manager instances as Gimbal Devices found.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Control of a Gimbal Device

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              To control the angle and/or angular rate of the Gimbal Device, use the message GIMBAL_DEVICE_SET_ATTITUDE. If the gimbal manager has multiple gimbal control inputs available it should deconflict them as explained below.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Autopilot State for Gimbal Device

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              The autopilot should also send the message AUTOPILOT_STATE_FOR_GIMBAL_DEVICE to the gimbal device. This data is required by the Gimbal Device attitude estimator (horizon compensation), as well as to anticipate the vehicle's movements (e.g. the feed forward angular velocity in z-axis, so the current yaw intention).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Gimbal Device Broadcast/Status Messages

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              The gimbal device should send out its attitude and status in GIMBAL_DEVICE_ATTITUDE_STATUS at a regular rate, e.g. 10 Hz.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              This message is a meant as broadcast, so it's set to the GCS, Gimbal Manager, and all parties on the network (not just Gimbal Manager, like all other messages).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Custom Gimbal Device Settings

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Custom gimbal settings can be accomplished using the component information microservice which is based on a component information file (this is similar to the camera definition file).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              FAQ

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              How to set the System ID of a gimbal device?

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              The system ID of all components (e.g. autopilot, companion computer, camera, gimbal) on a drone/system must be the same. This needs to be either done manually by configuration, or alternatively, the components need to listen to the heartbeat of the autopilot and then adjust their system ID accordingly.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              When is Gimbal Device also a Gimbal Manager?

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              The default case should be to use the Gimbal Manager in the autopilot. The only exception to this are integrated solutions containing a camera and gimbal for functionality like visual tracking.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              How to test Gimbal Device?

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              A Gimbal Device can be tested by connecting it to an autopilot with a Gimbal Manager. To avoid having to do a full setup including autopilot, a direct test using MAVSDK is available.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Gimbals that use the (old) Gimbal Protocol v1 should still be supported by autopilot software. Basically, the Gimbal Manager needs to translate the commands to the old protocol.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Gimbals controlled using a protocol like PPM, PWM, SBUS or something proprietary can still be supported. The autopilot will have to act as the Gimbal Manager and provide the driver and translation to the respective protocol.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              The autopilot needs to be configured to either accept MAVLink input (so GIMBAL_MANAGER_SET_MANUAL_CONTROL) or RC control. In both cases, the autopilot can then calculate a gimbal angle or angular rate from the manual control input and send the resulting setpoint to the gimbal device.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              For RC control, the channels will have to be manually mapped/configured to control the gimbal. This is the same approach as is used for managing the input source for flying; it is up to the implementation to select either RC or MAVLink. The recommendation is to make it configurable using (for instance) a parameter.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              A non-MAVLink gimbal needs to be connected to a gimbal manager, which then takes care of sending the gimbal device messages. Since a non-MAVLink gimbal can't be addressed with a MAVLink component ID, the gimbal_device_id needs to be set to one of the magic values (1 to 6). This signals that the gimbal manager also is also acting as the gimbal device.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Also see how to address non-MAVLink gimbal devices.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              How to interpret GIMBAL_DEVICE_ATTITUDE_STATUS yaw gimbal angle

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              The GIMBAL_DEVICE_ATTITUDE_STATUS.flags field must report the frame used for reported yaw values as either:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • GIMBAL_DEVICE_FLAGS_YAW_IN_VEHICLE_FRAME: Yaw is relative to vehicle.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • GIMBAL_DEVICE_FLAGS_YAW_IN_EARTH_FRAME: Yaw is relative to north.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              For older devices, if neither of the flags above are set, the yaw frame must be inferred from the GIMBAL_DEVICE_FLAGS_YAW_LOCK. If it is set, the yaw is relative to North, otherwise to the front of the vehicle.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Manufacturers working on new gimbal devices should set either GIMBAL_DEVICE_FLAGS_YAW_IN_VEHICLE_FRAME or GIMBAL_DEVICE_FLAGS_YAW_IN_EARTH_FRAME. Components recieving the message should also handle GIMBAL_DEVICE_FLAGS_YAW_LOCK for backwards compatibility with older devices.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Message/Command/Enum Summary

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Gimbal Manager Messages

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              This is the set of messages/enums for communicating with the gimbal manager (by ground station, autopilot, etc.).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MessageDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              !!crwdBlockTags_43_sgaTkcolBdwrc!GIMBAL_MANAGER_INFORMATIONInformation about a high level gimbal manager. This message should be requested by a ground station using MAV_CMD_REQUEST_MESSAGE.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              !!crwdBlockTags_44_sgaTkcolBdwrc!GIMBAL_MANAGER_STATUSCurrent status about a high level gimbal manager. This message should be broadcast at a low regular rate (e.g. 5Hz).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              !!crwdBlockTags_45_sgaTkcolBdwrc!GIMBAL_MANAGER_SET_ATTITUDEHigh level message to control a gimbal's attitude. This message is to be sent to the gimbal manager (e.g. from a ground station).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              !!crwdBlockTags_46_sgaTkcolBdwrc!GIMBAL_MANAGER_SET_MANUAL_CONTROLHigh level message to control a gimbal manually, so without units. The actual angles or angular rates will be produced by the gimbal manager based on settings. This message is to be sent to the gimbal manager (e.g. from a ground station). Angles and rates can be set to NaN according to use case.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              !!crwdBlockTags_47_sgaTkcolBdwrc!GIMBAL_MANAGER_SET_PITCHYAWHigh level message to control a gimbal's pitch and yaw angles. This message is to be sent to the gimbal manager (e.g. from a ground station). Angles and rates can be set to NaN according to use case.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              CommandDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              !!crwdBlockTags_35_sgaTkcolBdwrc!MAV_CMD_REQUEST_MESSAGERequest the target system(s) emit a single instance of a specified message. This is used to request GIMBAL_MANAGER_INFORMATION.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              !!crwdBlockTags_51_sgaTkcolBdwrc!MAV_CMD_DO_GIMBAL_MANAGER_CONFIGUREGimbal configuration to set which sysid/compid is in primary and secondary control.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              !!crwdBlockTags_52_sgaTkcolBdwrc!MAV_CMD_DO_GIMBAL_MANAGER_PITCHYAWHigh level setpoint to be sent to a gimbal manager to set a gimbal attitude. Note: a gimbal is never to react to this command but only the gimbal manager.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              !!crwdBlockTags_53_sgaTkcolBdwrc!MAV_CMD_DO_SET_ROI_LOCATIONSets the region of interest (ROI) to a location. This can then be used by the vehicle's control system to control the vehicle attitude and the attitude of various sensors such as cameras. This command can be sent to a gimbal manager but not to a gimbal device. A gimbal is not to react to this message.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              !!crwdBlockTags_54_sgaTkcolBdwrc!MAV_CMD_DO_SET_ROI_WPNEXT_OFFSETSets the region of interest (ROI) to be toward next waypoint, with optional pitch/roll/yaw offset. This can then be used by the vehicle's control system to control the vehicle attitude and the attitude of various sensors such as cameras. This command can be sent to a gimbal manager but not to a gimbal device. A gimbal device is not to react to this message.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              !!crwdBlockTags_25_sgaTkcolBdwrc!MAV_CMD_DO_SET_ROI_SYSIDMount tracks system with specified system ID. Determination of target vehicle position may be done with GLOBAL_POSITION_INT or any other means. This command can be sent to a gimbal manager but not to a gimbal device. A gimbal device is not to react to this message.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              !!crwdBlockTags_34_sgaTkcolBdwrc!MAV_CMD_DO_SET_ROI_NONECancels any previous ROI command returning the vehicle/sensors to default flight characteristics. This can then be used by the vehicle's control system to control the vehicle attitude and the attitude of various sensors such as cameras. This command can be sent to a gimbal manager but not to a gimbal device. A gimbal device is not to react to this message. After this command the gimbal manager should go back to manual input if available, and otherwise assume a neutral position.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              !!crwdBlockTags_57_sgaTkcolBdwrc!MAV_CMD_DO_GIMBAL_MANAGER_TRACK_POINTIf the gimbal manager supports visual tracking (GIMBAL_MANAGER_CAP_FLAGS_HAS_TRACKING_POINT is set), this command allows to initiate the tracking. Such a tracking gimbal manager would usually be an integrated camera/gimbal, or alternatively a companion computer connected to a camera.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              !!crwdBlockTags_58_sgaTkcolBdwrc!MAV_CMD_DO_GIMBAL_MANAGER_TRACK_RECTANGLEIf the gimbal supports visual tracking (GIMBAL_MANAGER_CAP_FLAGS_HAS_TRACKING_RECTANGLE is set), this command allows to initiate the tracking. Such a tracking gimbal manager would usually be an integrated camera/gimbal, or alternatively a companion computer connected to a camera.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              EnumDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              !!crwdBlockTags_30_sgaTkcolBdwrc!GIMBAL_MANAGER_FLAGSFlags for high level gimbal manager operation.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              The first 16 bytes are identical to the GIMBAL_DEVICE_FLAGS. Used in MAV_CMD_DO_GIMBAL_MANAGER_PITCHYAW, GIMBAL_MANAGER_STATUS , GIMBAL_MANAGER_SET_ATTITUDE.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              !!crwdBlockTags_31_sgaTkcolBdwrc!GIMBAL_MANAGER_CAP_FLAGSGimbal manager high level capability flags (bitmap).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              The first 16 bits are identical to the GIMBAL_DEVICE_CAP_FLAGS which are identical with GIMBAL_DEVICE_FLAGS. However, the gimbal manager does not need to copy the flags from the gimbal but can also enhance the capabilities and thus add flags. Used in GIMBAL_MANAGER_INFORMATION

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Gimbal Device Messages

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              This is the set of messages/enums for communication between gimbal manager and gimbal device.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MessageDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              !!crwdBlockTags_64_sgaTkcolBdwrc!GIMBAL_DEVICE_INFORMATIONInformation about a low level gimbal. This message should be requested by the gimbal manager or a ground station using MAV_CMD_REQUEST_MESSAGE.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              !!crwdBlockTags_32_sgaTkcolBdwrc!GIMBAL_DEVICE_SET_ATTITUDELow level message to control a gimbal device's attitude. This message is to be sent from the gimbal manager to the gimbal device component. Angles and rates can be set to NaN according to use case.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              !!crwdBlockTags_24_sgaTkcolBdwrc!GIMBAL_DEVICE_ATTITUDE_STATUSMessage reporting the status of a gimbal device. This message should be broadcasted by a gimbal device component.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              CommandDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              !!crwdBlockTags_68_sgaTkcolBdwrc!MAV_CMD_REQUEST_MESSAGERequest the target system(s) emit a single instance of a specified message. This is used to request GIMBAL_DEVICE_INFORMATION.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              EnumDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              !!crwdBlockTags_70_sgaTkcolBdwrc!GIMBAL_DEVICE_CAP_FLAGSGimbal device (low level) capability flags (bitmap).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Used in GIMBAL_DEVICE_INFORMATION.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              !!crwdBlockTags_71_sgaTkcolBdwrc!GIMBAL_DEVICE_FLAGSFlags for gimbal device (lower level) operation.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Used in GIMBAL_DEVICE_ATTITUDE_STATUS and GIMBAL_DEVICE_SET_ATTITUDE.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              !!crwdBlockTags_72_sgaTkcolBdwrc!GIMBAL_DEVICE_ERROR_FLAGSGimbal device (low level) error flags (bitmap, 0 means no error).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Used in GIMBAL_DEVICE_ATTITUDE_STATUS.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Sequences

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Depicted below are message sequences for some common scenarious.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Discovery

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              This shows a possible sequence on startup. Note that the gimbal manager could already discover the gimbal device before the ground station asks for the information.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Normal Manual Control

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              During the normal manual control, all messages are streamed at a regular rate. Note that GIMBAL_DEVICE_ATTITUDE_STATUS is broadcast to anyone, so to the gimbal manager and also the ground station.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              ROI Initiated from Ground Station

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              ROI can be started using a command and should also be stopped again with a command. The ROI command is translated to a gimbal attitude in the the gimbal manager.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Attitude Set During Mission

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              In this case the gimbal manager is implemented by the autopilot which "sends" the attitude command (for instance for a survey).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              How to Implement the Gimbal Device Interface

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Below is a short summary of all messages that a gimbal device should implement.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              A Gimbal Device can be tested by connecting it to an autopilot with a Gimbal Manager. To avoid having to do a full setup including autopilot, a direct test using MAVSDK is available.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Messages to Send

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              The messages listed should be broadcast on the network/on all connections (sent to everyone).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              HEARTBEAT

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Heartbeats should always be sent (usually at 1 Hz).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Gimbals that set their sysid from the autopilot will need to wait for the autopilot's heartbeat before emitting their own (note that if the gimbal can receive heartbeats from multiple autopilots then the sysid must be explicitly/statically configured).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • sysid: the same sysid as the autopilot (this can either be done by configuration, or by listening to the autopilot's heartbeat first and then copying the sysid, default: 1)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • compid: MAV_COMP_ID_GIMBAL
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • type: MAV_TYPE_GIMBAL
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • autopilot: MAV_AUTOPILOT_INVALID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • base_mode: 0
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • custom_mode: 0
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • system_status: MAV_STATE_UNINIT

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              GIMBAL_DEVICE_ATTITUDE_STATUS

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              The gimbal device should send out its attitude status at a regular rate, e.g. 10 Hz. The fields target_system and target_component can be set to 0 (broadcast) by default.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              GIMBAL_DEVICE_INFORMATION

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              The static information about the gimbal device needs to be sent out when requested using MAV_CMD_REQUEST_MESSAGE.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Messages to Listen To/Handle

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              GIMBAL_DEVICE_SET_ATTITUDE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              This is the actual attitude setpoint that the gimbal device should follow. Note that the frame of the quaternion setpoint depends on the GIMBAL_DEVICE_FLAGS.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              AUTOPILOT_STATE_FOR_GIMBAL_DEVICE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              The gimbal device should be able to get all the information from the autopilot that it requires in this one message. If something is missing that should be streamed at a high rate, it should be added to this message.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              If this message is not sent by default by the autopilot, or the rate is not ok, the command MAV_CMD_SET_MESSAGE_INTERVAL can be used to request it at a certain rate.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              COMMAND_LONG

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              The gimbal device needs to check for commands. See below which commands should get answered.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Commands to Answer

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_REQUEST_MESSAGE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              The gimbal device should send out messages when they get requested, e.g. GIMBAL_DEVICE_INFORMATION.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_SET_MESSAGE_INTERVAL

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              The gimbal device should stream messages at the rate requested.

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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Heartbeat/Connection Protocol

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                The heartbeat protocol is used to advertise the existence of a system on the MAVLink network, along with its system and component id, vehicle type, flight stack, component type, and flight mode.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                The heartbeat allows other components to:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • discover systems that are connected to the network and infer when they have disconnected. A component is considered to be connected to the network if its HEARTBEAT message is regularly received, and disconnected if a number of expected messages are not received.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • handle other messages from the component appropriately, based on component type and other properties (e.g. layout a GCS interface based on vehicle type).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • route messages to systems on different interfaces.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Message/Enum Summary

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MessageDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                HEARTBEATBroadcast that a MAVLink component is present and responding, along with its type (MAV_TYPE) and other properties.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                EnumDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_TYPEType of the component. Flight controllers must report the type of the vehicle on which they are mounted (e.g. MAV_TYPE_OCTOROTOR). All other components must report a value appropriate for their type (e.g. a camera must use MAV_TYPE_CAMERA).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_AUTOPILOTAutopilot type / class. Set to MAV_AUTOPILOT_INVALID for components that are not flight controllers (e.g. ground stations, gimbals, etc.).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_MODE_FLAGSystem mode bitmap.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_STATESystem status flag.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                HEARTBEAT Broadcast Frequency

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Components must regularly broadcast their HEARTBEAT and monitor for heartbeats from other components/systems.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                The rate at which the HEARTBEAT message must be broadcast, and how many messages may be "missed" before a system is considered to have timed out/disconnected from the network, depends on the channel (it is not defined by MAVLink). On RF telemetry links, components typically publish their heartbeat at 1 Hz and consider another system to have disconnected if four or five messages are not received.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                A component may choose not to send or broadcast information on a channel (other than the HEARTBEAT) if it does not detect another system, and it will continue to send messages to a system while it is receiving heartbeats. Therefore it is important that systems:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • broadcast a heartbeat even when not commanding the remote system.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • do not broadcast a heartbeat when they are in a faulted state (i.e. do not publish a heartbeat from a separate thread that is unaware of the state of the rest of the component).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Connecting to a GCS or MAVLink API

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                The HEARTBEAT may also used by GCS (or Developer API) to determine if it can connect to a vehicle in order to collect telemetry and send missions/commands.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                For example, QGroundControl will only connect to a vehicle system (i.e. not another GCS, gimbal, or onboard controller), and also checks that it has a non-zero system ID before displaying the vehicle connected message. QGC also uses the specific type of vehicle and other heartbeat information to control layout of the GUI.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                The specific code for connecting to QGroundControl can be found in MultiVehicleManager.cc (see void MultiVehicleManager::_vehicleHeartbeatInfo).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Component Identity

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                The type of a component is obtained from its HEARTBEAT.type (MAV_TYPE) and HEARTBEAT.autopilot (MAV_AUTOPILOT) fields:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • A flight controller component must use a MAV_TYPE corresponding to a particular vehicle (e.g. MAV_TYPE_FIXED_WING, MAV_TYPE_QUADROTOR etc.), and set HEARTBEAT.autopilot to a valid flight stack.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • All other components must use a MAV_TYPE corresponding to the actual type (e.g.: MAV_TYPE_GIMBAL, MAV_TYPE_BATTERY, etc.), and should set HEARTBEAT.autopilot to MAV_AUTOPILOT_INVALID.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                The recommended way to recognise an autopilot component is to check that HEARTBEAT.type is not MAV_AUTOPILOT_INVALID.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Every component must have a system-unique component id, which is used for routing and for identifying multiple instances of a particular component type.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Historically the component id was also used to determine the component type. New code must not make any assumption about the type from the id used (type is determined from HEARTBEAT.type).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAVLink recommends that by default components use a type-appropriate component id from MAV_COMPONENT, and provide an interface to change the component id if needed. For example, a camera component might use any of the MAV_COMP_ID_CAMERAn ids, and should not use MAV_COMP_ID_GPS2.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Using type-specific component ids:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • Tip Using type-specific component ids: - makes id clashes less likely "out of the box" (unless two components of the same type are present on the same system).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • reduces the impact on legacy code that determines component type from the id.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Component Capabilities

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                The basic properties and capabilities of an autopilot can be determined by requesting the AUTOPILOT_VERSION message using MAV_CMD_REQUEST_MESSAGE, and for other components by requesting COMPONENT_INFORMATION_BASIC. This should normally be done on discovery of a new component, and the results cached.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                The information includes hardware and software versioning information, and also the capabilities, a bitmap of the MAVLink services/protocols (MAV_PROTOCOL_CAPABILITY) supported by the component.

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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Heartbeat/Connection Protocol

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  The heartbeat protocol is used to advertise the existence of a system on the MAVLink network, along with its system and component id, vehicle type, flight stack, component type, and flight mode.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  The heartbeat allows other components to:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • discover systems that are connected to the network and infer when they have disconnected. A component is considered to be connected to the network if its HEARTBEAT message is regularly received, and disconnected if a number of expected messages are not received.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • handle other messages from the component appropriately, based on component type and other properties (e.g. layout a GCS interface based on vehicle type).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • route messages to systems on different interfaces.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Message/Enum Summary

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MessageDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  HEARTBEATBroadcast that a MAVLink component is present and responding, along with its type (MAV_TYPE) and other properties.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  EnumDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_TYPEType of the component. Flight controllers must report the type of the vehicle on which they are mounted (e.g. MAV_TYPE_OCTOROTOR). All other components must report a value appropriate for their type (e.g. a camera must use MAV_TYPE_CAMERA).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_AUTOPILOTAutopilot type / class. Set to MAV_AUTOPILOT_INVALID for components that are not flight controllers (e.g. ground stations, gimbals, etc.).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_MODE_FLAGSystem mode bitmap.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_STATESystem status flag.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  HEARTBEAT Broadcast Frequency

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Components must regularly broadcast their HEARTBEAT and monitor for heartbeats from other components/systems.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  The rate at which the HEARTBEAT message must be broadcast, and how many messages may be "missed" before a system is considered to have timed out/disconnected from the network, depends on the channel (it is not defined by MAVLink). On RF telemetry links, components typically publish their heartbeat at 1 Hz and consider another system to have disconnected if four or five messages are not received.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  A component may choose not to send or broadcast information on a channel (other than the HEARTBEAT) if it does not detect another system, and it will continue to send messages to a system while it is receiving heartbeats. Therefore it is important that systems:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • broadcast a heartbeat even when not commanding the remote system.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • do not broadcast a heartbeat when they are in a faulted state (i.e. do not publish a heartbeat from a separate thread that is unaware of the state of the rest of the component).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Connecting to a GCS or MAVLink API

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  The HEARTBEAT may also used by GCS (or Developer API) to determine if it can connect to a vehicle in order to collect telemetry and send missions/commands.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  For example, QGroundControl will only connect to a vehicle system (i.e. not another GCS, gimbal, or onboard controller), and also checks that it has a non-zero system ID before displaying the vehicle connected message. QGC also uses the specific type of vehicle and other heartbeat information to control layout of the GUI.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  The specific code for connecting to QGroundControl can be found in MultiVehicleManager.cc (see void MultiVehicleManager::_vehicleHeartbeatInfo).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Component Identity

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  The type of a component is obtained from its HEARTBEAT.type (MAV_TYPE) and HEARTBEAT.autopilot (MAV_AUTOPILOT) fields:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • A flight controller component must use a MAV_TYPE corresponding to a particular vehicle (e.g. MAV_TYPE_FIXED_WING, MAV_TYPE_QUADROTOR etc.), and set HEARTBEAT.autopilot to a valid flight stack.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • All other components must use a MAV_TYPE corresponding to the actual type (e.g.: MAV_TYPE_GIMBAL, MAV_TYPE_BATTERY, etc.), and should set HEARTBEAT.autopilot to MAV_AUTOPILOT_INVALID.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  The recommended way to recognise an autopilot component is to check that HEARTBEAT.type is not MAV_AUTOPILOT_INVALID.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Every component must have a system-unique component id, which is used for routing and for identifying multiple instances of a particular component type.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Historically the component id was also used to determine the component type. New code must not make any assumption about the type from the id used (type is determined from HEARTBEAT.type).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAVLink recommends that by default components use a type-appropriate component id from MAV_COMPONENT, and provide an interface to change the component id if needed. For example, a camera component might use any of the MAV_COMP_ID_CAMERAn ids, and should not use MAV_COMP_ID_GPS2.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Using type-specific component ids:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • Tip Using type-specific component ids: - makes id clashes less likely "out of the box" (unless two components of the same type are present on the same system).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • reduces the impact on legacy code that determines component type from the id.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Component Capabilities

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  The basic properties and capabilities of an autopilot can be determined by requesting the AUTOPILOT_VERSION message using MAV_CMD_REQUEST_MESSAGE, and for other components by requesting COMPONENT_INFORMATION_BASIC. This should normally be done on discovery of a new component, and the results cached.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  The information includes hardware and software versioning information, and also the capabilities, a bitmap of the MAVLink services/protocols (MAV_PROTOCOL_CAPABILITY) supported by the component.

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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    \ No newline at end of file diff --git a/zh/services/high_latency.html b/zh/services/high_latency.html index 09fc991b5..e5df993df 100644 --- a/zh/services/high_latency.html +++ b/zh/services/high_latency.html @@ -1 +1 @@ -High Latency Protocol · MAVLink Developer Guide
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    High Latency Protocol

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    High Latency (HL) links, for example made using the Iridium Satellite network, provide global connectivity, albeit with significant message latency (> 1 second) and high cost-per-message. Generally the cost and latency means that high-latency links are only used when there is no lower-latency alternative, and should only send essential information or commands. Generally the cost and latency means that high-latency links are only used when there is no lower-latency alternative, and should only send essential information or commands.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    The protocol provides a heartbeat-like message (HIGH_LATENCY2) for transmitting just the most important telemetry at low rate, and a command (MAV_CMD_CONTROL_HIGH_LATENCY) for enabling/disabling the HL link when needed (i.e. when no lower-latency link is available).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    The GCS should carefully manage what data is sent to/requested from the autopilot on the HL link, in order to avoid congestion and minimize the cost of using the channel:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • Ground stations should not upload or download missions, waypoints or geofences on the HL link (i.e. should not use the mission protocol).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • Ground stations should not update or synchronise parameters over the HL channel (i.e. using the parameter protocol).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • HEARTBEAT messages should not be sent over the HL channel (see the section below for more information).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Typically the initial connection with a GCS is made over a low latency link (often before takeoff), so that the above data can be transferred before switching to the HL link.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Heartbeat/Routing

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    In order to reduce traffic to the bare minimum, some of the fundamental assumptions of MAVLink are explicitly broken:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • HEARTBEAT messages are not emitted on the channel (either by the autopilot or GCS). > Note The heartbeat is used to build MAVLink routing tables between channels. Commands addressed specifically to the high latency component may not be routed from another channel (i.e. you can connect to the component from a GCS directly, but not via a MAVLink router).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      The heartbeat is used to build MAVLink routing tables between channels. Commands addressed specifically to the high latency component may not be routed from another channel (i.e. you can connect to the component from a GCS directly, but not via a MAVLink router).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • Only the command protocol service messages and HIGH_LATENCY2 message should be sent over the high latency channel.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    The other rules are essentially the same but there are some implications of the above changes:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • Messages from the high latency channel should be routed to other nodes on the network as usual. Messages from the high latency channel should be routed to other nodes on the network as usual. Note that this in reality most systems on a high latency network only send HIGH_LATENCY2.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • Addressed messages should be sent over the high latency channel (in both directions) in accordance with the normal routing rules. In practice the lack of HEARTBEAT means that addressed messages are unlikely to arrive, and hence be sent. In practice the lack of HEARTBEAT means that addressed messages are unlikely to arrive, and hence be sent.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    The implication is that while all components on a MAVLink network will get HIGH_LATENCY2 updates, only the directly connected GCS (or other component) will be able send command protocol messages to the vehicle.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Message/Enum Summary

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MessageDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    HIGH_LATENCY2A heartbeat-like message that contains all the most important (but not time-sensitive) telemetry for sending over high latency links.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    CommandDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_CONTROL_HIGH_LATENCYCommand to start/stop transmitting high latency telemetry (HIGH_LATENCY2).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    EnumDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    HL_FAILURE_FLAGFlags to report failure cases over the high latency telemetry.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Sequences

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    A GCS should only upload/download missions, geofences, rally points, and parameters when connected over a low latency link. Generally a vehicle is connected to the GCS via a low latency link for initial synchronisation of parameters etc., and will reconnect whenever the low latency vehicle is available. When the link is not available it will switch to the high latency link and primarily just monitor the high latency telemetry. Generally a vehicle is connected to the GCS via a low latency link for initial synchronisation of parameters etc., and will reconnect whenever the low latency vehicle is available. When the link is not available it will switch to the high latency link and primarily just monitor the high latency telemetry.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    A typical flight sequence might therefore look like:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • Vehicle is started and connects to ground station over low latency link (e.g. USB cable, Telemetry radio).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • Ground station(s) download, check and sync all mission protocol items and parameter protocol items over the low latency link
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • Vehicle starts mission.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • Ground station detects when low latency link is lost/available and enables/disables the high latency link appropriately.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • While low latency link is active the mission and parameter protocols can be used.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • While high latency link is active the vehicle provide telemetry updates but parameters and missions should not be updated.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    When the low latency link is lost, the GCS sends MAV_CMD_CONTROL_HIGH_LATENCY to the vehicle over the high latency channel to turn the high latency link on on (causing the vehicle to start emitting HIGH_LATENCY2 messages). When the low latency link is regained the GCS sends MAV_CMD_CONTROL_HIGH_LATENCY to stop the vehicle from broadcasting HIGH_LATENCY2 messages (usually this would be sent over the low latency link). When the low latency link is regained the GCS sends MAV_CMD_CONTROL_HIGH_LATENCY to stop the vehicle from broadcasting HIGH_LATENCY2 messages (usually this would be sent over the low latency link).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    The diagram below shows a GCS switching from a higher-latency primary link to a lower latency secondary link when one becomes available, and then back to the higher latency link when the primary link drops out.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Explicit Handover

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    A ground station may also support a handover model, where the high latency link is established before the low latency link is dropped (i.e. the high latency link may be enabled by sending MAV_CMD_CONTROL_HIGH_LATENCY over the low latency link prior to loss of coverage).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    This approach allows the GCS to verify that the high latency link is available before losing the low latency connection.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    If using this model the GCS and autopilot should be able to work with a mixed regime of low and high latency links. Specifically, this means that they should be able to handle the case where the same message is sent over different both channels. Specifically, this means that they should be able to handle the case where the same message is sent over different both channels.

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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      High Latency Protocol

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      High Latency (HL) links, for example made using the Iridium Satellite network, provide global connectivity, albeit with significant message latency (> 1 second) and high cost-per-message. Generally the cost and latency means that high-latency links are only used when there is no lower-latency alternative, and should only send essential information or commands. Generally the cost and latency means that high-latency links are only used when there is no lower-latency alternative, and should only send essential information or commands.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      The protocol provides a heartbeat-like message (HIGH_LATENCY2) for transmitting just the most important telemetry at low rate, and a command (MAV_CMD_CONTROL_HIGH_LATENCY) for enabling/disabling the HL link when needed (i.e. when no lower-latency link is available).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      The GCS should carefully manage what data is sent to/requested from the autopilot on the HL link, in order to avoid congestion and minimize the cost of using the channel:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • Ground stations should not upload or download missions, waypoints or geofences on the HL link (i.e. should not use the mission protocol).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • Ground stations should not update or synchronise parameters over the HL channel (i.e. using the parameter protocol).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • HEARTBEAT messages should not be sent over the HL channel (see the section below for more information).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Typically the initial connection with a GCS is made over a low latency link (often before takeoff), so that the above data can be transferred before switching to the HL link.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Heartbeat/Routing

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      In order to reduce traffic to the bare minimum, some of the fundamental assumptions of MAVLink are explicitly broken:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • HEARTBEAT messages are not emitted on the channel (either by the autopilot or GCS). > Note The heartbeat is used to build MAVLink routing tables between channels. Commands addressed specifically to the high latency component may not be routed from another channel (i.e. you can connect to the component from a GCS directly, but not via a MAVLink router).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        The heartbeat is used to build MAVLink routing tables between channels. Commands addressed specifically to the high latency component may not be routed from another channel (i.e. you can connect to the component from a GCS directly, but not via a MAVLink router).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • Only the command protocol service messages and HIGH_LATENCY2 message should be sent over the high latency channel.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      The other rules are essentially the same but there are some implications of the above changes:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • Messages from the high latency channel should be routed to other nodes on the network as usual. Messages from the high latency channel should be routed to other nodes on the network as usual. Note that this in reality most systems on a high latency network only send HIGH_LATENCY2.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • Addressed messages should be sent over the high latency channel (in both directions) in accordance with the normal routing rules. In practice the lack of HEARTBEAT means that addressed messages are unlikely to arrive, and hence be sent. In practice the lack of HEARTBEAT means that addressed messages are unlikely to arrive, and hence be sent.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      The implication is that while all components on a MAVLink network will get HIGH_LATENCY2 updates, only the directly connected GCS (or other component) will be able send command protocol messages to the vehicle.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Message/Enum Summary

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MessageDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      HIGH_LATENCY2A heartbeat-like message that contains all the most important (but not time-sensitive) telemetry for sending over high latency links.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      CommandDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_CONTROL_HIGH_LATENCYCommand to start/stop transmitting high latency telemetry (HIGH_LATENCY2).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      EnumDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      HL_FAILURE_FLAGFlags to report failure cases over the high latency telemetry.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Sequences

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      A GCS should only upload/download missions, geofences, rally points, and parameters when connected over a low latency link. Generally a vehicle is connected to the GCS via a low latency link for initial synchronisation of parameters etc., and will reconnect whenever the low latency vehicle is available. When the link is not available it will switch to the high latency link and primarily just monitor the high latency telemetry. Generally a vehicle is connected to the GCS via a low latency link for initial synchronisation of parameters etc., and will reconnect whenever the low latency vehicle is available. When the link is not available it will switch to the high latency link and primarily just monitor the high latency telemetry.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      A typical flight sequence might therefore look like:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • Vehicle is started and connects to ground station over low latency link (e.g. USB cable, Telemetry radio).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • Ground station(s) download, check and sync all mission protocol items and parameter protocol items over the low latency link
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • Vehicle starts mission.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • Ground station detects when low latency link is lost/available and enables/disables the high latency link appropriately.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • While low latency link is active the mission and parameter protocols can be used.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • While high latency link is active the vehicle provide telemetry updates but parameters and missions should not be updated.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      When the low latency link is lost, the GCS sends MAV_CMD_CONTROL_HIGH_LATENCY to the vehicle over the high latency channel to turn the high latency link on on (causing the vehicle to start emitting HIGH_LATENCY2 messages). When the low latency link is regained the GCS sends MAV_CMD_CONTROL_HIGH_LATENCY to stop the vehicle from broadcasting HIGH_LATENCY2 messages (usually this would be sent over the low latency link). When the low latency link is regained the GCS sends MAV_CMD_CONTROL_HIGH_LATENCY to stop the vehicle from broadcasting HIGH_LATENCY2 messages (usually this would be sent over the low latency link).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      The diagram below shows a GCS switching from a higher-latency primary link to a lower latency secondary link when one becomes available, and then back to the higher latency link when the primary link drops out.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Explicit Handover

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      A ground station may also support a handover model, where the high latency link is established before the low latency link is dropped (i.e. the high latency link may be enabled by sending MAV_CMD_CONTROL_HIGH_LATENCY over the low latency link prior to loss of coverage).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      This approach allows the GCS to verify that the high latency link is available before losing the low latency connection.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      If using this model the GCS and autopilot should be able to work with a mixed regime of low and high latency links. Specifically, this means that they should be able to handle the case where the same message is sent over different both channels. Specifically, this means that they should be able to handle the case where the same message is sent over different both channels.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      results matching ""

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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        \ No newline at end of file diff --git a/zh/services/illuminator.html b/zh/services/illuminator.html index 7cdb22996..25594e76a 100644 --- a/zh/services/illuminator.html +++ b/zh/services/illuminator.html @@ -1 +1 @@ -Illuminator Protocol · MAVLink Developer Guide
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Illuminator Protocol

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        The illuminator protocol allows MAVLink control over the behaviour of lights, LEDs, and/or emitters mounted or integrated on the drone. The protocol currently allows for the following control: brightness, on/off, and a strobe feature.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Along with this, the illuminator protocol also publishes status information for developers or users. The status messaging encompasses the current configuration of the illuminator and the health of the illuminator device.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        These illuminators have built-in MAVLink support:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • Skydio Spotlight for X10

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Message/Command/Enum Summary

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MessageDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        COMPONENT_INFORMATION_BASICBasic illuminator information data. Should be requested using MAV_CMD_REQUEST_MESSAGE on startup, or when required.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        ILLUMINATOR_STATUSCurrent status of the illuminator. Recommended to publish this at a regular rate.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        CommandDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_ILLUMINATOR_ON_OFFTurns illuminators ON/OFF.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_CMD_DO_ILLUMINATOR_CONFIGUREConfigures illuminator settings.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Enum ValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_TYPE_ILLUMINATORType of the component (illuminator).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_COMP_ID_ILLUMINATORID of the component (illuminator).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        EnumDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        ILLUMINATOR_MODEIlluminator modes.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        ILLUMINATOR_ERROR_FLAGSFault/health indications.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Implementation and Messages

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Illuminator Connection

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Illuminators are expected to follow the Heartbeat/Connection Protocol and send a constant flow of heartbeats (nominally at 1Hz). Illuminators are identified via their type MAV_TYPE_ILLUMINATOR. Individual illuminators are distinguished via their unique component ID, which by default should be MAV_COMP_ID_ILLUMINATOR (though this is not mandated and any ID may be used). Once a heartbeat is received, the drone can then send a MAV_CMD_REQUEST_MESSAGE command to the illuminator to receive information, set settings, or control the illuminator. An example below illustrates how a drone can request the status of the illuminator.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        COMPONENT_INFORMATION_BASIC

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        While the MAV_TYPE and Component ID help identify the system and component, the COMPONENT_INFORMATION_BASIC command can be requested to retrieve component information data, which can help further identify the component being communicated with. This data includes time_boot_ms, MAV_PROTOCOL_CAPABILITY, vendor_name, model_name, software_version, hardware_version, and serial_number.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        ParameterDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        time_boot_msTime since system boot up in milliseconds.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_PROTOCOL_CAPABILITYBitmask detailing the component capability flags.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        vendor_nameName of the component vendor (optional).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        model_nameName of the component's model (optional).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        software_versionSoftware version on the module, recommended format is SEMVER: 'major.minor.patch' but any format can be used (24-character string) (optional).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        hardware_versionHardware version on the module, recommended format is SEMVER: 'major.minor.patch' but any format can be used (24-character string) (optional).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        serial_numberHardware's serial number (optional).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Optional parameters can be left empty or set to zero.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        ON/OFF

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        The MAV_CMD_ILLUMINATOR_ON_OFF command is used to enable/disable the illuminator. It's usage can be seen below:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        CONFIGURE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        The MAV_CMD_DO_ILLUMINATOR_CONFIGURE command controls the illuminator's settings. This will adjust how the illuminator behaves when enabled. The operation follows the normal Command Protocol rules for command/acknowledgment. The four parameters for this command are: Mode, Brightness, Strobe Period, Strobe Duty.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Illuminators can be set in different modes which can change the behavior of the illuminator (described in a separate section, Modes). The brightness can be set via "Brightness" as a percentage value (0-100%). Illuminators may also have the functionality to strobe the light source. This behavior is configured via "Strobe Period" and "Strobe Duty". These parameters can be set to 0 when not used. "Strobe Period" is in seconds and "Strobe Duty" is a percentage value (indicating the % of time in the "Strobe Period" the illuminator is enabled).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MODES

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        If the mode is unknown, the mode parameter value will be set to 0.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        A mode value of 1 is ILLUMINATOR_MODE_INTERNAL_CONTROL, where the illuminator behavior is controlled by MAV_CMD_DO_ILLUMINATOR_CONFIGURE settings.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        When the value is set to 2, it indicates that the illuminator mode is ILLUMINATOR_MODE_EXTERNAL_SYNC. This mode is for instances where the illuminator behavior is controlled by external factors: e.g. an external hardware signal.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        STATUS

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        The ILLUMINATOR_STATUS message can be requested to receive information about the status of the illuminator. This includes information such as uptime, errors, whether the illuminator is enabled via MAV_CMD_ILLUMINATOR_ON_OFF, current settings from the MAV_CMD_DO_ILLUMINATOR_CONFIGURE command, and the temperature of the illuminator.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        ILLUMINATOR_ERROR_FLAGS

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        The ILLUMINATOR_ERROR_FLAGS can be used to indicate if there is any issue with the illuminator. At this time, there are three flags. If there is no error and the illuminator is behaving as normal, the ILLUMINATOR_ERROR_FLAGS bitmap will be 0. If ILLUMINATOR_ERROR_FLAGS is set to 1 or 2, this indicates an error related to the temperature of the illuminator.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        1 indicates ILLUMINATOR_ERROR_FLAGS_THERMAL_THROTTLING as in the illuminator is throttling its output due to a thermal issue. 2 indicates ILLUMINATOR_ERROR_FLAGS_OVER_TEMPERATURE_SHUTDOWN which means that the illuminator is shutting off due to passing some temperature threshold.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        The status message utilization can be seen below:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Test Script

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Description

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        The test suite included in assets/services/illuminators allows for testing both sides of the illuminator interaction.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • illuminator.py emulates a standard illuminator module.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • test_illuminator.py runs a standard test suite against the emulator, testing all commands listed in this document.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Instructions

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        1. Run simple illuminator emulator python3 illuminator.py
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        2. Run test python3 -m unittest -v test_illuminator.py

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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Illuminator Protocol

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          The illuminator protocol allows MAVLink control over the behaviour of lights, LEDs, and/or emitters mounted or integrated on the drone. The protocol currently allows for the following control: brightness, on/off, and a strobe feature.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Along with this, the illuminator protocol also publishes status information for developers or users. The status messaging encompasses the current configuration of the illuminator and the health of the illuminator device.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          These illuminators have built-in MAVLink support:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • Skydio Spotlight for X10

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Message/Command/Enum Summary

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MessageDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          COMPONENT_INFORMATION_BASICBasic illuminator information data. Should be requested using MAV_CMD_REQUEST_MESSAGE on startup, or when required.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ILLUMINATOR_STATUSCurrent status of the illuminator. Recommended to publish this at a regular rate.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          CommandDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_ILLUMINATOR_ON_OFFTurns illuminators ON/OFF.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_CMD_DO_ILLUMINATOR_CONFIGUREConfigures illuminator settings.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Enum ValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_TYPE_ILLUMINATORType of the component (illuminator).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_COMP_ID_ILLUMINATORID of the component (illuminator).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          EnumDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ILLUMINATOR_MODEIlluminator modes.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ILLUMINATOR_ERROR_FLAGSFault/health indications.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Implementation and Messages

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Illuminator Connection

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Illuminators are expected to follow the Heartbeat/Connection Protocol and send a constant flow of heartbeats (nominally at 1Hz). Illuminators are identified via their type MAV_TYPE_ILLUMINATOR. Individual illuminators are distinguished via their unique component ID, which by default should be MAV_COMP_ID_ILLUMINATOR (though this is not mandated and any ID may be used). Once a heartbeat is received, the drone can then send a MAV_CMD_REQUEST_MESSAGE command to the illuminator to receive information, set settings, or control the illuminator. An example below illustrates how a drone can request the status of the illuminator.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          COMPONENT_INFORMATION_BASIC

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          While the MAV_TYPE and Component ID help identify the system and component, the COMPONENT_INFORMATION_BASIC command can be requested to retrieve component information data, which can help further identify the component being communicated with. This data includes time_boot_ms, MAV_PROTOCOL_CAPABILITY, vendor_name, model_name, software_version, hardware_version, and serial_number.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ParameterDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          time_boot_msTime since system boot up in milliseconds.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_PROTOCOL_CAPABILITYBitmask detailing the component capability flags.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          vendor_nameName of the component vendor (optional).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          model_nameName of the component's model (optional).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          software_versionSoftware version on the module, recommended format is SEMVER: 'major.minor.patch' but any format can be used (24-character string) (optional).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          hardware_versionHardware version on the module, recommended format is SEMVER: 'major.minor.patch' but any format can be used (24-character string) (optional).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          serial_numberHardware's serial number (optional).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Optional parameters can be left empty or set to zero.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ON/OFF

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          The MAV_CMD_ILLUMINATOR_ON_OFF command is used to enable/disable the illuminator. It's usage can be seen below:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          CONFIGURE

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          The MAV_CMD_DO_ILLUMINATOR_CONFIGURE command controls the illuminator's settings. This will adjust how the illuminator behaves when enabled. The operation follows the normal Command Protocol rules for command/acknowledgment. The four parameters for this command are: Mode, Brightness, Strobe Period, Strobe Duty.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Illuminators can be set in different modes which can change the behavior of the illuminator (described in a separate section, Modes). The brightness can be set via "Brightness" as a percentage value (0-100%). Illuminators may also have the functionality to strobe the light source. This behavior is configured via "Strobe Period" and "Strobe Duty". These parameters can be set to 0 when not used. "Strobe Period" is in seconds and "Strobe Duty" is a percentage value (indicating the % of time in the "Strobe Period" the illuminator is enabled).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MODES

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          If the mode is unknown, the mode parameter value will be set to 0.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          A mode value of 1 is ILLUMINATOR_MODE_INTERNAL_CONTROL, where the illuminator behavior is controlled by MAV_CMD_DO_ILLUMINATOR_CONFIGURE settings.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          When the value is set to 2, it indicates that the illuminator mode is ILLUMINATOR_MODE_EXTERNAL_SYNC. This mode is for instances where the illuminator behavior is controlled by external factors: e.g. an external hardware signal.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          STATUS

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          The ILLUMINATOR_STATUS message can be requested to receive information about the status of the illuminator. This includes information such as uptime, errors, whether the illuminator is enabled via MAV_CMD_ILLUMINATOR_ON_OFF, current settings from the MAV_CMD_DO_ILLUMINATOR_CONFIGURE command, and the temperature of the illuminator.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ILLUMINATOR_ERROR_FLAGS

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          The ILLUMINATOR_ERROR_FLAGS can be used to indicate if there is any issue with the illuminator. At this time, there are three flags. If there is no error and the illuminator is behaving as normal, the ILLUMINATOR_ERROR_FLAGS bitmap will be 0. If ILLUMINATOR_ERROR_FLAGS is set to 1 or 2, this indicates an error related to the temperature of the illuminator.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1 indicates ILLUMINATOR_ERROR_FLAGS_THERMAL_THROTTLING as in the illuminator is throttling its output due to a thermal issue. 2 indicates ILLUMINATOR_ERROR_FLAGS_OVER_TEMPERATURE_SHUTDOWN which means that the illuminator is shutting off due to passing some temperature threshold.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          The status message utilization can be seen below:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Test Script

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Description

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          The test suite included in assets/services/illuminators allows for testing both sides of the illuminator interaction.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • illuminator.py emulates a standard illuminator module.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • test_illuminator.py runs a standard test suite against the emulator, testing all commands listed in this document.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Instructions

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          1. Run simple illuminator emulator python3 illuminator.py
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          2. Run test python3 -m unittest -v test_illuminator.py

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          results matching ""

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            No results matching ""

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            \ No newline at end of file diff --git a/zh/services/image_transmission.html b/zh/services/image_transmission.html index 2f27758cc..68e4c9bed 100644 --- a/zh/services/image_transmission.html +++ b/zh/services/image_transmission.html @@ -1,5 +1,5 @@ -Image Transmission Protocol · MAVLink Developer Guide
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Messages
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Image Transmission Protocol

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            The Camera Protocol and MAVLink FTP are recommended for sending images, video and files.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            This protocol is not intended for general image transmission use (it was originally designed as a simple protocol for transfering small images over a low bandwidth channel from an optical flow sensor to a GCS).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            The image transmission protocol uses MAVLink as the communication channel to transport any kind of image (raw images, Kinect data, etc.) from one MAVLink node to another. It basically takes a live camera image, splits it into small chunks and sends it over MAVLink.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            This topic describes how the image streaming functionality works and covers both the communication protocol and implementation details (for a vehicle and QGroundControl).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Communication

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            The image streaming component uses two MAVLink messages: a handshake message, DATA_TRANSMISSION_HANDSHAKE, to initiate image streaming and describe the image to be sent, and a data container message, ENCAPSULATED_DATA, to transport the image data.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1. The communication is initiated by the QGroundControl with a DATA_TRANSMISSION_HANDSHAKE request to start the stream. The messages should specify:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            2. type: any of the types in the enum MAVLINK_DATA_STREAM_TYPE in mavlink.h,

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            3. jpg_quality: Desired image quality (for lossy formats like JPEG).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            4. All other fields must be zero in the initial request.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            5. When the targeted MAV receives the handshake request, it sends back a DATA_TRANSMISSION_HANDSHAKE. This acts provides acknowledgment of the request and information about the image that is about to be streamed:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            6. type: Type of image to be streamed (same as requested type)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            7. size: Image size in bytes.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            8. width: Image width in pixels.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            9. height: Image height in pixels.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            10. packets: number of MAVLink ENCAPSULATED_DATA packets to be sent
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            11. payload: Size of the payload of each data packet (normally 252 bytes)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            12. jpg_quality: Image quality (same as requested)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            13. The image data is then split into chunks to fit into ENCAPSULATED_DATA message and sent over MAVLink. Every packet contains a sequence number as well as the ID of the image stream it belongs to.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            14. The image streamer periodically sends new images without further interaction. Every new image comes with a new DATA_TRANSMISSION_HANDSHAKE ACK packet with updated image size, packets and payload fields. After this ACK packet, the new image arrives as a series of ENCAPSULATED_DATA packets.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              The sequence number starts at 0 for every new image of the stream.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            15. To stop an image stream a GSC must send a new DATA_TRANSMISSION_HANDSHAKE request packet, with all 0 values. The MAVLink node will acknowledge this by sending back DATA_TRANSMISSION_HANDSHAKE also containing 0 values.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Usage / Configuration

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            To use the two modules on your MAV, you have to do the following steps:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • Compile the mavconn middleware for your MAV: Guide, Github.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • Start at least these components on the MAV:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Start at least these components on the MAV: 
+Image Transmission Protocol · MAVLink Developer Guide
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Image Transmission Protocol
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              The Camera Protocol and MAVLink FTP are recommended for sending images, video and files.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              This protocol is not intended for general image transmission use (it was originally designed as a simple protocol for transfering small images over a low bandwidth channel from an optical flow sensor to a GCS).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              The image transmission protocol uses MAVLink as the communication channel to transport any kind of image (raw images, Kinect data, etc.) from one MAVLink node to another. It basically takes a live camera image, splits it into small chunks and sends it over MAVLink.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              This topic describes how the image streaming functionality works and covers both the communication protocol and implementation details (for a vehicle and QGroundControl).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Communication
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              The image streaming component uses two MAVLink messages: a handshake message, DATA_TRANSMISSION_HANDSHAKE, to initiate image streaming and describe the image to be sent, and a data container message, ENCAPSULATED_DATA, to transport the image data.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              1. The communication is initiated by the QGroundControl with a DATA_TRANSMISSION_HANDSHAKE request to start the stream. The messages should specify:
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              2. type: any of the types in the enum MAVLINK_DATA_STREAM_TYPE in mavlink.h,
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              3. jpg_quality: Desired image quality (for lossy formats like JPEG).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              4. All other fields must be zero in the initial request.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              5. When the targeted MAV receives the handshake request, it sends back a DATA_TRANSMISSION_HANDSHAKE. This acts provides acknowledgment of the request and information about the image that is about to be streamed:
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              6. type: Type of image to be streamed (same as requested type)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              7. size: Image size in bytes.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              8. width: Image width in pixels.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              9. height: Image height in pixels.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              10. packets: number of MAVLink ENCAPSULATED_DATA packets to be sent
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              11. payload: Size of the payload of each data packet (normally 252 bytes)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              12. jpg_quality: Image quality (same as requested)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              13. The image data is then split into chunks to fit into ENCAPSULATED_DATA message and sent over MAVLink. Every packet contains a sequence number as well as the ID of the image stream it belongs to.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              14. The image streamer periodically sends new images without further interaction. Every new image comes with a new DATA_TRANSMISSION_HANDSHAKE ACK packet with updated image size, packets and payload fields. After this ACK packet, the new image arrives as a series of ENCAPSULATED_DATA packets.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                The sequence number starts at 0 for every new image of the stream.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              15. To stop an image stream a GSC must send a new DATA_TRANSMISSION_HANDSHAKE request packet, with all 0 values. The MAVLink node will acknowledge this by sending back DATA_TRANSMISSION_HANDSHAKE also containing 0 values.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Usage / Configuration
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              To use the two modules on your MAV, you have to do the following steps:
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • Compile the mavconn middleware for your MAV: Guide, Github.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • Start at least these components on the MAV:
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Start at least these components on the MAV: 
       px_mavlink_bridge_udp &
       px_system_control --heartbeat &
       px_camera -o lcm &
-
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • Compile and start QGroundControl.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • Start the image streaming component (you can add the -v flag to see some more output): px_imagestreamer.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • Initiate the image stream: Open the HUD widget, right-click into the widget and choose Enable live Image Streaming.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              You should now be able to see the live video feed with one image per second (default, hardcoded at the moment).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Developer
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Out-of-the-box, the image streaming component only implements JPEG streaming of the camera image. To implement your own image stream, you have to do the following:
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • Write a MAVLink handler, which handles requests to start image streams of your type of choice.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • Write a data handler, which takes your desired data (i.e. a stereo camera image), encodes it into the format of your choice (i.e. rawimage, JPEG, BMP) and splits/sends the data over MAVLink.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • Extend the data/message handler in the UAS component of QGroundControl to correctly handle your data (i.e. unpacking of the chosen format).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • Write or extend a widget to display your data according to your wishes.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                               results matching ""
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+

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • Compile and start QGroundControl.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • Start the image streaming component (you can add the -v flag to see some more output): px_imagestreamer.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • Initiate the image stream: Open the HUD widget, right-click into the widget and choose Enable live Image Streaming.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              You should now be able to see the live video feed with one image per second (default, hardcoded at the moment).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Developer

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Out-of-the-box, the image streaming component only implements JPEG streaming of the camera image. To implement your own image stream, you have to do the following:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • Write a MAVLink handler, which handles requests to start image streams of your type of choice.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • Write a data handler, which takes your desired data (i.e. a stereo camera image), encodes it into the format of your choice (i.e. rawimage, JPEG, BMP) and splits/sends the data over MAVLink.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • Extend the data/message handler in the UAS component of QGroundControl to correctly handle your data (i.e. unpacking of the chosen format).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • Write or extend a widget to display your data according to your wishes.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              results matching ""

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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                \ No newline at end of file diff --git a/zh/services/index.html b/zh/services/index.html index 0bf3b58b1..350834b49 100644 --- a/zh/services/index.html +++ b/zh/services/index.html @@ -1 +1 @@ -Microservices · MAVLink Developer Guide
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Microservices

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                The MAVLink "microservices" define higher-level protocols that MAVLink systems can adopt in order to better inter-operate. For example, QGroundControl, ArduPilot and PX4 autopilots all share a common Command Protocol for sending point-to-point messages that require an acknowledgment.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                The microservices are used to exchange many types of data, including: parameters, missions, trajectories, images, other files. If the data can be far larger than can be fit into a single message, services will define how the data is split and re-assembled, and how to ensure that any lost data is re-transmitted. Other services provide command acknowledgment and/or error reporting.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Most services use the client-server pattern, such that the GCS (client) initiates a request and the vehicle (server) responds with data.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                The main microservices are shown in the sidebar (most are listed below):

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                results matching ""

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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  \ No newline at end of file +Microservices · MAVLink Developer Guide
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Microservices

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  The MAVLink "microservices" define higher-level protocols that MAVLink systems can adopt in order to better inter-operate. For example, QGroundControl, ArduPilot and PX4 autopilots all share a common Command Protocol for sending point-to-point messages that require an acknowledgment.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  The microservices are used to exchange many types of data, including: parameters, missions, trajectories, images, other files. If the data can be far larger than can be fit into a single message, services will define how the data is split and re-assembled, and how to ensure that any lost data is re-transmitted. Other services provide command acknowledgment and/or error reporting.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Most services use the client-server pattern, such that the GCS (client) initiates a request and the vehicle (server) responds with data.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  The main microservices are shown in the sidebar (most are listed below):

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  results matching ""

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    No results matching ""

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    \ No newline at end of file diff --git a/zh/services/landing_target.html b/zh/services/landing_target.html index 8bfbe7fec..efced43a7 100644 --- a/zh/services/landing_target.html +++ b/zh/services/landing_target.html @@ -1 +1 @@ -Landing Target Protocol · MAVLink Developer Guide
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Landing Target Protocol

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    着陆目标服务/信息从MAVLink定位系统向自动驾驶仪传达一个或多个目标的位置。 着陆目标服务/信息从MAVLink定位系统向自动驾驶仪传达一个或多个目标的位置。 一个多旋翼机或VTOL系统可以使用该信息来着陆，其定位精度远远高于传统GPS提供的定位精度(GPS提供几米内的位置，而着陆目标系统可能合理地提供厘米级的精确着陆)。

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    定位系统通常由机载另一台计算机和视觉系统组成，能够探测到光信标或目标图像。 还支持无线电信标和不同类型的可视标记和标记。

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Protocol Messages

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    本协议使用的信息是 LANDING_TARGET。 这是通过定位系统广播来指示特定目标在特定时间的位置。 这是通过定位系统广播来指示特定目标在特定时间的位置。

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    The required broadcast rate depends on the landing speed and desired accuracy; start with rates between 10 Hz and 50 Hz and tune performance as needed.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    The original MAVLink 1 message was designed with the assumption that the target is captured from a downward facing camera, and provides fields that are relative to the captured image. MAVLink 2 extended the message to provide positional information in terms of standard frames (MAV_FRAME), a quaternion and the type of landing targets (LANDING_TARGET_TYPE). This allows more flexibility for the types of target that can be supported, simplifies the code required by the autopilot, and allows the autopilot to control both landing position and orientation on (some) targets.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Different systems may support either (or presumably both) sets of fields. These are discussed below.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Target Relative to Captured Image

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    The LANDING_TARGET fields that are relative to a captured image are shown below:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    angle_xfloatradX-axis angular offset of the target from the center of the image
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    angle_yfloatradY-axis angular offset of the target from the center of the image
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    distancefloatmDistance to the target from the vehicle
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    size_xfloatradSize of target along x-axis
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    size_yfloatradSize of target along y-axis

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    The positional information can be interpreted as described below.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Imagine a ray pointing from the camera's principal point to the target. The x angle (angle_x) is the angle spanned by that ray and the x-axis of the image plane. The same holds for the y angle (angle_y). Otherwise the receiver of the message would need to know the camera field of view etc. In other words, the x angle is a function of the x pixel coordinate of the target (denoted by u̅ in the image below), the y angle is a function of the y pixel coordinate (denoted v in the image below). Using the angle rather than u̅/v̅ pixel coordinates has the advantage that the effect of the camera lens is already accounted for.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Landing Target Fields

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    The sizes in x and y direction are analogous (size_x/size_y). They describe the angle between the smallest and biggest pixel in x/y direction respectively of the target as seen in the image.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    ArduPilot supports messages with these fields if position_valid is 0.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Target as Position/Quaternion (MAVLink 2 and later)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    The message fields that are used to provide target information as a position/quaternion are shown below. Field meaning and use is clear from the description.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    frameuint8_tMAV_FRAMECoordinate frame used for following fields.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    xfloatmX Position of the landing target in MAV_FRAME
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    yfloatmY Position of the landing target in MAV_FRAME
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    zfloatmZ Position of the landing target in MAV_FRAME
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    qfloat[4]Quaternion of landing target orientation (w, x, y, z order, zero-rotation is 1, 0, 0, 0)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    typeuint8_tLANDING_TARGET_TYPEType of landing target
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    position_validuint8_tBoolean indicating whether these position field values are populated with valid position target information (1: valid, 0: invalid). The default is '0', so that if the fields are not populated the default-zero values are not interpreted as a valid target position.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • Tip - PX4 supports this form of positioning in MAV_FRAME_LOCAL_NED (only). The original (MAVLink 1) fields are ignored.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • ArduPilot supports this form of positioning in MAV_FRAME_BODY_FRD (only). position_valid must be 1 and distance must be filled.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    results matching ""

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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      \ No newline at end of file +Landing Target Protocol · MAVLink Developer Guide
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Landing Target Protocol

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      着陆目标服务/信息从MAVLink定位系统向自动驾驶仪传达一个或多个目标的位置。 着陆目标服务/信息从MAVLink定位系统向自动驾驶仪传达一个或多个目标的位置。 一个多旋翼机或VTOL系统可以使用该信息来着陆，其定位精度远远高于传统GPS提供的定位精度(GPS提供几米内的位置，而着陆目标系统可能合理地提供厘米级的精确着陆)。

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      定位系统通常由机载另一台计算机和视觉系统组成，能够探测到光信标或目标图像。 还支持无线电信标和不同类型的可视标记和标记。

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Protocol Messages

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      本协议使用的信息是 LANDING_TARGET。 这是通过定位系统广播来指示特定目标在特定时间的位置。 这是通过定位系统广播来指示特定目标在特定时间的位置。

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      The required broadcast rate depends on the landing speed and desired accuracy; start with rates between 10 Hz and 50 Hz and tune performance as needed.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      The original MAVLink 1 message was designed with the assumption that the target is captured from a downward facing camera, and provides fields that are relative to the captured image. MAVLink 2 extended the message to provide positional information in terms of standard frames (MAV_FRAME), a quaternion and the type of landing targets (LANDING_TARGET_TYPE). This allows more flexibility for the types of target that can be supported, simplifies the code required by the autopilot, and allows the autopilot to control both landing position and orientation on (some) targets.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Different systems may support either (or presumably both) sets of fields. These are discussed below.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Target Relative to Captured Image

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      The LANDING_TARGET fields that are relative to a captured image are shown below:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      angle_xfloatradX-axis angular offset of the target from the center of the image
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      angle_yfloatradY-axis angular offset of the target from the center of the image
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      distancefloatmDistance to the target from the vehicle
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      size_xfloatradSize of target along x-axis
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      size_yfloatradSize of target along y-axis

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      The positional information can be interpreted as described below.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Imagine a ray pointing from the camera's principal point to the target. The x angle (angle_x) is the angle spanned by that ray and the x-axis of the image plane. The same holds for the y angle (angle_y). Otherwise the receiver of the message would need to know the camera field of view etc. In other words, the x angle is a function of the x pixel coordinate of the target (denoted by u̅ in the image below), the y angle is a function of the y pixel coordinate (denoted v in the image below). Using the angle rather than u̅/v̅ pixel coordinates has the advantage that the effect of the camera lens is already accounted for.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Landing Target Fields

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      The sizes in x and y direction are analogous (size_x/size_y). They describe the angle between the smallest and biggest pixel in x/y direction respectively of the target as seen in the image.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ArduPilot supports messages with these fields if position_valid is 0.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Target as Position/Quaternion (MAVLink 2 and later)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      The message fields that are used to provide target information as a position/quaternion are shown below. Field meaning and use is clear from the description.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Field NameTypeUnitsValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      frameuint8_tMAV_FRAMECoordinate frame used for following fields.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      xfloatmX Position of the landing target in MAV_FRAME
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      yfloatmY Position of the landing target in MAV_FRAME
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      zfloatmZ Position of the landing target in MAV_FRAME
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      qfloat[4]Quaternion of landing target orientation (w, x, y, z order, zero-rotation is 1, 0, 0, 0)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      typeuint8_tLANDING_TARGET_TYPEType of landing target
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      position_validuint8_tBoolean indicating whether these position field values are populated with valid position target information (1: valid, 0: invalid). The default is '0', so that if the fields are not populated the default-zero values are not interpreted as a valid target position.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • Tip - PX4 supports this form of positioning in MAV_FRAME_LOCAL_NED (only). The original (MAVLink 1) fields are ignored.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • ArduPilot supports this form of positioning in MAV_FRAME_BODY_FRD (only). position_valid must be 1 and distance must be filled.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      results matching ""

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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Manual Control Protocol (Joystick)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        The Manual Control Protocol enables controlling a system using a "standard joystick" (or joystick-like input device that supports the same axes nomenclature).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        The protocol is implemented with just the MANUAL_CONTROL message. The protocol is implemented with just the MANUAL_CONTROL message. It defines the target system to be controlled, the movement in four primary axes (x, y, z, r) and two extension axes (s, t), and two 16-bit fields to represent the states of up to 32 buttons (buttons, buttons2). Unused axes can be disabled, and the extension axes must be explicitly enabled using bits 0 and 1 of the enabled_extensions field. Unused axes can be disabled, and the extension axes must be explicitly enabled using bits 0 and 1 of the enabled_extensions field.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        The protocol is by intent relatively simple and abstract, and provides a simple way of controlling the main motion of a vehicle, along with several arbitrary features that can be triggered using buttons.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        This allows GCS software to provide a simple level of control for many types of vehicles, and allows new vehicle types with unusual functions to operate with minimal (if any) changes to the MAVLink protocol or existing ground control station (GCS) software.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Mapping Axes

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Manual control is performed in the vehicle-frame. Manual control is performed in the vehicle-frame. All axis values are normalised to the range -1000 to 1000.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Rotation-Focused Control

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        The typical axis assignments for a thrust- and rotation-controlled vehicle (e.g. planes, multicopters) are listed below.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        fieldmotion axis+ve direction-ve direction
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        xpitchforward/nose-downbackward/nose-up
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        yrollright-downleft-down
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        zthrustpositivenegative
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        ryawcounter-clockwiseclockwise

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Directional Control

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Vehicles with direct control over vehicle translation directions (multicopters) typically use the following mappings.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        fieldmotion axis+ve direction-ve direction
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        xforwardforwardbackward
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        ylateralrightleft
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        zverticalupdown
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        ryawcounter-clockwiseclockwise
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        spitchforward/nose-downbackward/nose-up
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        trollright-downleft-down

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Mapping Buttons

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Button functions are vehicle/flight-stack dependent:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • ArduPilot treats button values as user-configurable using firmware parameters (e.g. ArduCopter's BTN_FUNCn or ArduSub's BTNn_FUNCTION), through the Parameter or Extended Parameter protocols.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • PX4 defines fixed meanings to some of the buttons values, and these are mapped to user-selected functions by the ground station.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        The buttons field is required, and corresponds to the first 16 buttons.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        buttons2 is an extension, and corresponds to the optional second set of 16 buttons.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Alternatives

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Vehicles may alternatively be controlled by sending information as a set of up to 18 channel values using RC_CHANNELS_OVERRIDE. Vehicles may alternatively be controlled by sending information as a set of up to 18 channel values using RC_CHANNELS_OVERRIDE. Channels can be mapped to firmware parameters using PARAM_MAP_RC, and the autopilot can use the current parameter values at each point in time to determine control actions.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        It's worth noting that the generality of RC channels control is a double-edged sword. It's worth noting that the generality of RC channels control is a double-edged sword. It is incredibly versatile, and can be used to provide support for several arbitrary control axes, but the user-defined in-vehicle nature of the mapped parameters means additional setup is frequently required for compatibility with GCSs, and there are no guarantees that multiple vehicles running the same firmware will have the same channel-parameter mapping. This is a similar issue to the MANUAL_CONTROL buttons, so to minimise firmware complexity and maximise interoperability between a vehicle type and GCSs it's recommended to use targetted MAVLink commands where possible. This is a similar issue to the MANUAL_CONTROL buttons, so to minimise firmware complexity and maximise interoperability between a vehicle type and GCSs it's recommended to use targetted MAVLink commands where possible.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Implementations

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        The protocol has been implemented in various GCSs and vehicle firmwares. The protocol has been implemented in various GCSs and vehicle firmwares. These implementations can be used in your own code within the terms of their software licenses.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Ground Control Stations

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        The protocol has been implemented in QGroundControl and Mission Planner.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        QGroundControl implementation:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MissionPlanner implementation:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Vehicle Firmwares

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        The protocol has been implemented in PX4, and in the Copter, Plane, Rover, and Sub vehicle firmwares in ArduPilot.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        PX4 Implementation:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        ArduPilot Implementations:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Future Extensions

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Future extensions are likely to be handled with additional targetted MAVLink commands rather than mapping functionality in the flight controller (i.e. handling more complex inputs in the GCS to reduce vehicle firmware complexity).

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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          \ No newline at end of file +Manual Control (Joystick) Protocol · MAVLink Developer Guide
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Manual Control Protocol (Joystick)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          The Manual Control Protocol enables controlling a system using a "standard joystick" (or joystick-like input device that supports the same axes nomenclature).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          The protocol is implemented with just the MANUAL_CONTROL message. The protocol is implemented with just the MANUAL_CONTROL message. It defines the target system to be controlled, the movement in four primary axes (x, y, z, r) and two extension axes (s, t), and two 16-bit fields to represent the states of up to 32 buttons (buttons, buttons2). Unused axes can be disabled, and the extension axes must be explicitly enabled using bits 0 and 1 of the enabled_extensions field. Unused axes can be disabled, and the extension axes must be explicitly enabled using bits 0 and 1 of the enabled_extensions field.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          The protocol is by intent relatively simple and abstract, and provides a simple way of controlling the main motion of a vehicle, along with several arbitrary features that can be triggered using buttons.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          This allows GCS software to provide a simple level of control for many types of vehicles, and allows new vehicle types with unusual functions to operate with minimal (if any) changes to the MAVLink protocol or existing ground control station (GCS) software.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Mapping Axes

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Manual control is performed in the vehicle-frame. Manual control is performed in the vehicle-frame. All axis values are normalised to the range -1000 to 1000.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Rotation-Focused Control

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          The typical axis assignments for a thrust- and rotation-controlled vehicle (e.g. planes, multicopters) are listed below.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          fieldmotion axis+ve direction-ve direction
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          xpitchforward/nose-downbackward/nose-up
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          yrollright-downleft-down
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          zthrustpositivenegative
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ryawcounter-clockwiseclockwise

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Directional Control

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Vehicles with direct control over vehicle translation directions (multicopters) typically use the following mappings.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          fieldmotion axis+ve direction-ve direction
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          xforwardforwardbackward
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ylateralrightleft
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          zverticalupdown
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ryawcounter-clockwiseclockwise
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          spitchforward/nose-downbackward/nose-up
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          trollright-downleft-down

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Mapping Buttons

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Button functions are vehicle/flight-stack dependent:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • ArduPilot treats button values as user-configurable using firmware parameters (e.g. ArduCopter's BTN_FUNCn or ArduSub's BTNn_FUNCTION), through the Parameter or Extended Parameter protocols.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • PX4 defines fixed meanings to some of the buttons values, and these are mapped to user-selected functions by the ground station.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          The buttons field is required, and corresponds to the first 16 buttons.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          buttons2 is an extension, and corresponds to the optional second set of 16 buttons.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Alternatives

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Vehicles may alternatively be controlled by sending information as a set of up to 18 channel values using RC_CHANNELS_OVERRIDE. Vehicles may alternatively be controlled by sending information as a set of up to 18 channel values using RC_CHANNELS_OVERRIDE. Channels can be mapped to firmware parameters using PARAM_MAP_RC, and the autopilot can use the current parameter values at each point in time to determine control actions.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          It's worth noting that the generality of RC channels control is a double-edged sword. It's worth noting that the generality of RC channels control is a double-edged sword. It is incredibly versatile, and can be used to provide support for several arbitrary control axes, but the user-defined in-vehicle nature of the mapped parameters means additional setup is frequently required for compatibility with GCSs, and there are no guarantees that multiple vehicles running the same firmware will have the same channel-parameter mapping. This is a similar issue to the MANUAL_CONTROL buttons, so to minimise firmware complexity and maximise interoperability between a vehicle type and GCSs it's recommended to use targetted MAVLink commands where possible. This is a similar issue to the MANUAL_CONTROL buttons, so to minimise firmware complexity and maximise interoperability between a vehicle type and GCSs it's recommended to use targetted MAVLink commands where possible.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Implementations

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          The protocol has been implemented in various GCSs and vehicle firmwares. The protocol has been implemented in various GCSs and vehicle firmwares. These implementations can be used in your own code within the terms of their software licenses.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Ground Control Stations

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          The protocol has been implemented in QGroundControl and Mission Planner.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          QGroundControl implementation:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MissionPlanner implementation:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Vehicle Firmwares

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          The protocol has been implemented in PX4, and in the Copter, Plane, Rover, and Sub vehicle firmwares in ArduPilot.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          PX4 Implementation:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ArduPilot Implementations:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Future Extensions

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Future extensions are likely to be handled with additional targetted MAVLink commands rather than mapping functionality in the flight controller (i.e. handling more complex inputs in the GCS to reduce vehicle firmware complexity).

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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAVLink Id Assignment

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            A MAVLink system consists of one or more MAVLink components that all share the same system id, and that must each have a system-unique component id. This topic explains how you can ensure that your components are updated appropriately when the system id of the autopilot is changed, and how to ensure that they each have a unique component id.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Overview

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Generally MAVLink flight stacks give the autopilot component a default system id of 1 and a component id of MAV_COMP_ID_AUTOPILOT1 (also 1).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Other MAVLink components typically also have a default system id of 1, and a component id that is the default for the component's type (such as MAV_COMP_ID_CAMERA for a MAVLink camera). This ensures that they will often work with autopilots "out of the box" when setting up a system for the first time.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            In a more complex MAVLink system you will have multiple vehicles, so you will need to assign each vehicle a unique system id, and have a mechanism to change the associated components to that same id.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            In a single system you may also have multiple components of the same type. In this case you will need to ensure that each has a unique component id.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            The following section suggests a process to allow MAVLink components to automatically update themselves with the correct ids.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            System Id Assignment

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            First change the system ID of the autopilot component. This is usually done with a flight-stack specific parameter such as MAV_SYS_ID (PX4) or SYSID_THISMAV (ArduCopter).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_DO_SET_SYS_CMP_ID is a work-in-progress command for setting and changing system and command ids.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Then reboot the vehicle off-network, so that the only autopilot visible to components should be the one on the vehicle (you can disconnect your telemetry radio, for example).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            On boot, components should look for autopilot HEARTBEAT messages.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            If HEARTBEAT messages are detected from:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • Only one autopilot within 3 seconds of the first autopilot heartbeat being detected, the component should set its system id to match that of the autopilot.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • Multiple autopilots within the first 3 seconds then the autopilot should keep its current system id. Note that this is true even if autopilot heartbeats from corresponding autopilot are not seen.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • No autopilots then components should keep their current system id.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            This ensures that components will latch to an unambiguous system id if available, and otherwise keep their current system id.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Component Id Assignment

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Component IDs should be manually assigned by the system integrator.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            In practise most components are factory-shipped using the first "allocated" component ID for their type from the MAV_COMPONENT enum, such as MAV_COMP_ID_CAMERA for cameras, and MAV_COMP_ID_GIMBAL for gimbals. If the vehicle has only one component of a particular type, then this is usually sufficient to avoid clashes.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            When there are multiple instances of a particular component, each will need a unique id. The easiest way to do this is to sequentially allocate component IDs from the allocated ranges, such as MAV_COMP_ID_CAMERA2. The mechanisms to set and change component ids are component-dependent (and some components may not allow the component id to be changed).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Note that in theory any component can have any id. However associating components with their well-known component ids makes it easier to, for example, associate a gimbal with a camera, or capture an image using a particular camera.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            results matching ""

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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              \ No newline at end of file +MAVLink Id Assignment (sysid, compid) · MAVLink Developer Guide
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAVLink Id Assignment

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              A MAVLink system consists of one or more MAVLink components that all share the same system id, and that must each have a system-unique component id. This topic explains how you can ensure that your components are updated appropriately when the system id of the autopilot is changed, and how to ensure that they each have a unique component id.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Overview

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Generally MAVLink flight stacks give the autopilot component a default system id of 1 and a component id of MAV_COMP_ID_AUTOPILOT1 (also 1).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Other MAVLink components typically also have a default system id of 1, and a component id that is the default for the component's type (such as MAV_COMP_ID_CAMERA for a MAVLink camera). This ensures that they will often work with autopilots "out of the box" when setting up a system for the first time.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              In a more complex MAVLink system you will have multiple vehicles, so you will need to assign each vehicle a unique system id, and have a mechanism to change the associated components to that same id.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              In a single system you may also have multiple components of the same type. In this case you will need to ensure that each has a unique component id.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              The following section suggests a process to allow MAVLink components to automatically update themselves with the correct ids.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              System Id Assignment

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              First change the system ID of the autopilot component. This is usually done with a flight-stack specific parameter such as MAV_SYS_ID (PX4) or SYSID_THISMAV (ArduCopter).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_CMD_DO_SET_SYS_CMP_ID is a work-in-progress command for setting and changing system and command ids.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Then reboot the vehicle off-network, so that the only autopilot visible to components should be the one on the vehicle (you can disconnect your telemetry radio, for example).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              On boot, components should look for autopilot HEARTBEAT messages.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              If HEARTBEAT messages are detected from:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • Only one autopilot within 3 seconds of the first autopilot heartbeat being detected, the component should set its system id to match that of the autopilot.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • Multiple autopilots within the first 3 seconds then the autopilot should keep its current system id. Note that this is true even if autopilot heartbeats from corresponding autopilot are not seen.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • No autopilots then components should keep their current system id.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              This ensures that components will latch to an unambiguous system id if available, and otherwise keep their current system id.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Component Id Assignment

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Component IDs should be manually assigned by the system integrator.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              In practise most components are factory-shipped using the first "allocated" component ID for their type from the MAV_COMPONENT enum, such as MAV_COMP_ID_CAMERA for cameras, and MAV_COMP_ID_GIMBAL for gimbals. If the vehicle has only one component of a particular type, then this is usually sufficient to avoid clashes.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              When there are multiple instances of a particular component, each will need a unique id. The easiest way to do this is to sequentially allocate component IDs from the allocated ranges, such as MAV_COMP_ID_CAMERA2. The mechanisms to set and change component ids are component-dependent (and some components may not allow the component id to be changed).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Note that in theory any component can have any id. However associating components with their well-known component ids makes it easier to, for example, associate a gimbal with a camera, or capture an image using a particular camera.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              results matching ""

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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                \ No newline at end of file diff --git a/zh/services/mission.html b/zh/services/mission.html index 905f2bdf4..86f97c6bc 100644 --- a/zh/services/mission.html +++ b/zh/services/mission.html @@ -1 +1 @@ -Mission Protocol · MAVLink Developer Guide
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Mission Protocol

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                The mission sub-protocol allows a GCS or developer API to exchange mission (flight plan), geofence and safe point information with a drone/component.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                The protocol covers:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • Operations to upload, download and clear missions, set/get the current mission item number, and get notification when the current mission item has changed.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • Message type(s) and enumerations for exchanging mission items.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • Mission Items ("MAVLink commands") that are common to most systems.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                The protocol supports re-request of messages that have not arrived, which allows missions to be reliably transferred over a lossy link.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Mission Types

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAVLink 2 supports three types of "missions": flight plans, geofences and rally/safe points. The protocol uses the same sequence of operations for all types (albeit with different types of Mission Items). The mission types must be stored and handled separately/independently.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Mission protocol messages include the type of associated mission in the mission_type field (a MAVLink 2 message extension). The field takes one of the MAV_MISSION_TYPE enum values: MAV_MISSION_TYPE_MISSION, MAV_MISSION_TYPE_FENCE, MAV_MISSION_TYPE_RALLY.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAVLink 1 supports only "regular" flight-plan missions (this is implied/not explicitly set).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Mission items for all the mission types are defined in the MAV_CMD enum.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD is used to define commands that can be used in missions ("mission items") and commands that can be sent outside of a mission context (using the Command Protocol). Some MAV_CMD can be used with both mission and command protocols. Not all commands/mission items are supported on all systems (or for all flight modes).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                The items for the different types of mission are identified using a simple name prefix convention:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Mission items (MAV_CMD) are transmitted/encoded in MISSION_ITEM_INT messages. This message includes fields to identify the particular mission item (command id) and up to 7 command-specific optional parameters.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Field NameTypeValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                commanduint16_tMAV_CMDCommand id, as defined in MAV_CMD.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                param1floatParam #1.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                param2floatParam #2.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                param3floatParam #3.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                param4floatParam #4.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                param5 (x)int32_tX coordinate (local frame) or latitude (global frame) for navigation commands (otherwise Param #5).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                param6 (y)int32_tY coordinate (local frame) or longitude (global frame) for navigation commands (otherwise Param #6).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                param7 (z)floatZ coordinate (local frame) or altitude (global - relative or absolute, depending on frame) (otherwise Param #7).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                The first four parameters (shown above) can be used for any purpose - this depends on the particular command. The last three parameters (x, y, z) are used for positional information in MAV_CMD_NAV_* commands, but can be used for any purpose in other commands.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                The remaining message fields are used for addressing, defining the mission type, specifying the reference frame used for x, y, z in MAV_CMD_NAV_* messages, etc.:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Field NameTypeValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                target_systemuint8_tSystem ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                target_componentuint8_tComponent ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                sequint16_tSequence number for item within mission (indexed from 0).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                frameuint8_tMAV_FRAMEframeuint8_tMAV_FRAMEThe coordinate system of the waypoint.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                ArduPilot and PX4 both only support global frames in MAVLink commands (local frames may be supported if the same command is sent via the command protocol). | | mission_type | uint8_t | MAV_MISSION_TYPE | Mission type. | | current | uint8_t | false:0, true:1 | When downloading, whether the item is the current mission item. | | autocontinue | uint8_t | | Autocontinue to next waypoint when the command completes. |

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Message/Enum Summary

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                The following messages and enums are used by the service.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MessageDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MISSION_REQUEST_LISTInitiate mission download from a system by requesting the list of mission items.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MISSION_COUNTSend the number of items in a mission. This is used to initiate mission upload or as a response to MISSION_REQUEST_LIST when downloading a mission.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MISSION_REQUEST_INTRequest mission item data for a specific sequence number be sent by the recipient using a MISSION_ITEM_INT message. Used for mission upload and download.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MISSION_ITEM_INTMessage encoding a mission item/command (defined in a MAV_CMD). Used for mission upload and download.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MISSION_ACKAcknowledgment message when a system completes a mission operation (e.g. sent by autopilot after it has uploaded all mission items). The message includes a MAV_MISSION_RESULT indicating either success or the type of failure.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MISSION_CURRENTMessage containing the current mission item sequence number. This is emitted when the current mission item is set/changed.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MISSION_SET_CURRENTSet the current mission item by sequence number (continue to this item on the shortest path).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                STATUSTEXTSent to notify systems when a request to set the current mission item fails.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MISSION_CLEAR_ALLMessage sent to clear/delete all mission items stored on a system.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MISSION_ITEM_REACHEDMessage emitted by system whenever it reaches a new waypoint. Used to monitor progress.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                CommandDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMD_DO_SET_MISSION_CURRENTSet current mission item and optionally reset mission counter. Supersedes MISSION_SET_CURRENT.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                EnumDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_MISSION_TYPEMission type for message (mission, geofence, rallypoints).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_MISSION_RESULTUsed to indicate the success or failure reason for an operation (e.g. to upload or download a mission). This is carried in a MISSION_ACK.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_FRAMECo-ordinate frame for position/velocity/acceleration data in the message.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_CMDMission Items (and MAVLink commands) sent in MISSION_ITEM_INT.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Deprecated Types: MISSION_ITEM

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                The legacy version of the protocol also supported MISSION_REQUEST for requesting that a mission be sent as a sequence of MISSION_ITEM messages.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Both MISSION_REQUEST and MISSION_ITEM messages are now deprecated, and should no longer be sent. If MISSION_REQUEST is recieved the system should instead respond with MISSION_ITEM_INT items (as though it received MISSION_REQUEST_INT).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Frames & Positional Information

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                By convention, mission items use param5, param6, param7 for positional information when needed (and otherwise as "free use" parameters). The table below shows that the positional parameters can be local (x, y, z), global (latitude, longitude, altitude), and also the data type used to store the parameters in the MISSION_ITEM_INT message.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                paramtypeLocalGlobal
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                param5int32_txLatitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                param6int32_tyLongitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                param7floatzAltitude (global - relative or absolute)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                The co-ordinate frame of positional parameters is defined in the MISSION_ITEM_INT.frame field using a MAV_FRAME value.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                The global frames are prefixed with MAV_FRAME_GLOBAL_*. Mission items should use frame variants that have the suffix _INT: e.g. MAV_FRAME_GLOBAL_RELATIVE_ALT_INT, MAV_FRAME_GLOBAL_INT, MAV_FRAME_GLOBAL_TERRAIN_ALT_INT. When using these frames, latitude and longitude values must be encoded by multiplying the degrees by 1E7 (e.g. the latitude 69.69000000 would be sent as 69.69000000x1E7 = 696900000). Using int32 of degrees * 10^7 has higher resolution than could be achieved with single floating point.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                A number of local frames are also specified. Local frame position values that are sent in integer field parameters must be encoded as position in meters x 1E4 (e.g. 5m would be encoded and sent as 50000). If sent in messages float parameter fields the value should be sent as-is.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Don't use the non-INT global frames in mission items (e.g. MAV_FRAME_GLOBAL_RELATIVE_ALT). These are intended to be used with messages that have float fields for positional information, e.g.: MISSION_ITEM (deprecated), COMMAND_LONG. If these frames are used, position values should be sent unencoded (i.e. no need to multiply by 1E7).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                As above, in theory if a global non-INT frame variant is set for a MISSION_ITEM_INT the position value should be sent as-is (not encoded). This will result in the value being rounded when it is sent in the integer value, which will make the value unusable. In practice, many systems will assume you have encoded the value, but you should test this for your particular flight stack. Better just to use the correct frames!

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Don't use MAV_FRAME_MISSION for mission items that contain positional data; this does not correspond to any particular real frame, and so will be ambiguous. MAV_FRAME_MISSION should be used for mission items that use params5 and param6 for other purposes.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Param 5, 6 For Non-Positional Data

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Param5, param6, param7 may also be used for non-positional information. In this case the MISSION_ITEM_INT.frame should be set to MAV_FRAME_MISSION (this is equivalent to say "the frame data is irrelevant").

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                As param5 and param6 are sent in integer fields, generally you should design mission items/MAV_CMDs such that these only include integer data (and are sent as-is/unscaled). If these must be used for real numbers and scaling is required, then this must be noted in the mission item itself.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Operations

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                This section defines all the protocol operations.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Detecting Mission/Plan Changes

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Mission upload and download can be expensive operations, in particular for large missions. A GCS can avoid unnecessary uploads and downloads by first checking whether it has a matching id(s) for the corresponding plan on the vehicle.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                The current id for different parts of the plan are streamed in MISSION_CURRENT message, using the appropriately named fields: mission_id, fence_id, rally_points_id. These values are 0 if there is no plan uploaded, or if detecting plan changes is not supported by the flight stack.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                The IDs are generated by the flight stack when a new mission, rally point, or geofence, is uploaded to the vehicle (at which point it also starts publishing the value in MISSION_CURRENT). MAVLink puts no particular requirements on how the "opaque_id" values are calculated by the flight stack (this is why they are named "opaque"). The only expectation is that the scheme used makes it unlikely that the GCS will incorrectly determine that it has a matching plan (a flight stack might use file hashes, plan checksums, pseudo-random numbers, or some other technique).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                On upload, the generated ID is sent to the GCS in the final part of the upload sequence in the MISSION_ACK.opaque_id field. On download, the stored ID is sent to the GCS in the MISSION_COUNT.opaque_id field.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                The GCS should store the value of the ID from the flight stack as the "current id" for whatever part of the plan was uploaded/download. It can then monitor MISSION_CURRENT, and check its cached values against the current plan ids to determine whether it has a matching mission, or needs to download the mission from the vehicle.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Upload a Mission to the Vehicle

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                The diagram below shows the communication sequence to upload a mission to a drone (assuming all operations succeed).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Mission update must be robust! A new mission should be fully uploaded and accepted before the old mission is replaced/removed.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Mission upload/download can be bandwidth intensive and time consuming Check for plan changes before uploading (or downloading) a mission.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Mission Upload Sequence

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                In more detail, the sequence of operations is:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                1. GCS sends MISSION_COUNT including the number of mission items to be uploaded (count).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • A timeout must be started for the GCS to wait on the response from Drone (MISSION_REQUEST_INT).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                2. Drone receives message and responds with MISSION_REQUEST_INT requesting the first mission item (seq==0).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • A timeout must be started for the Drone to wait on the MISSION_ITEM_INT response from GCS.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                3. GCS receives MISSION_REQUEST_INT and responds with the requested mission item in a MISSION_ITEM_INT message.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                4. Drone and GCS repeat the MISSION_REQUEST_INT/MISSION_ITEM_INT cycle, iterating seq until all items are uploaded (seq==count-1).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                5. After receiving the last mission item the drone responds with MISSION_ACK with the type of MAV_MISSION_ACCEPTED indicating mission upload completion/success.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • The drone should set the new mission to be the current mission, discarding the original data.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • The drone considers the upload complete.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                6. GCS receives MISSION_ACK containing MAV_MISSION_ACCEPTED to indicate the operation is complete.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • The GCS should store MISSION_ACK.opaque_id (the current id of the uploaded plan) and can use it later to check for plan changes.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Notes:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • A timeout is set for every message that requires a response (e.g. MISSION_REQUEST_INT). If the timeout expires without a response being received then the request must be resent.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • Mission items must be received in order. If an item is received out-of-sequence the expected item should be re-requested by the vehicle (the out-of-sequence item is dropped).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • An error can be signaled in response to any request using a MISSION_ACK message containing an error code. This must cancel the operation and restore the mission to its previous state. For example, the drone might respond to the MISSION_COUNT request with a MAV_MISSION_NO_SPACE if there isn't enough space to upload the mission.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • The sequence above shows the mission items packaged in MISSION_ITEM_INT messages. Protocol implementations must also support MISSION_ITEM and MISSION_REQUEST in the same way.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • Uploading an empty mission (MISSION_COUNT is 0) has the same effect as clearing the mission.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Download a Mission from the Vehicle

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Mission upload/download can also be bandwidth intensive and time consuming. Check for plan changes before downloading (or uploading) a mission.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                The diagram below shows the communication sequence to download a mission from a drone (assuming all operations succeed).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Sequence: Download mission

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                The sequence is similar to that for uploading a mission. This starts a cycle where the GCS requests mission items, and the drone supplies them. The main difference is that the client (e.g. GCS) sends MISSION_REQUEST_LIST, which triggers the autopilot to respond with the current count of items.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Note:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • The MISSION_COUNT.opaque_id is the stored ID of the part of the plan that is being uploaded from the vehicle. This should be stored by the GCS so that it can later check that its plan matches that on the vehicle.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • A timeout is set for every message that requires a response (e.g. MISSION_REQUEST_INT). If the timeout expires without a response being received then the request must be resent.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • Mission items must be received in order. If an item is received out-of-sequence the expected item should be re-requested by the GCS (the out-of-sequence item is dropped).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • An error can be signaled in response to any request using a MISSION_ACK message containing an error code. This must cancel the operation.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • The sequence above shows the mission items packaged in MISSION_ITEM_INT messages. Protocol implementations must also support MISSION_ITEM and MISSION_REQUEST in the same way.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Set Current Mission Item

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                The diagram below shows the communication sequence to set the current mission item.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Mermaid Diagram: Set mission item

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                In more detail, the sequence of operations is:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                1. GCS/App sends MISSION_SET_CURRENT, specifying the new sequence number (seq).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                2. Drone receives message and attempts to update the current mission sequence number.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • On success, the Drone must broadcast a MISSION_CURRENT message containing the current sequence number (seq).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • On failure, the Drone must broadcast a STATUSTEXT with a MAV_SEVERITY and a string stating the problem. This may be displayed in the UI of receiving systems.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Notes:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • There is no specific timeout on the MISSION_SET_CURRENT message.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • The acknowledgment of the message is via broadcast of mission/system status, which is not associated with the original message. This differs from error handling in other operations. This approach is used because the success/failure is relevant to all mission-handling clients.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Monitor Mission Progress

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                GCS/developer API can monitor progress by handling the appropriate messages sent by the drone:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Clear Missions

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                The diagram below shows the communication sequence to clear the mission from a drone (assuming all operations succeed).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Mermaid Diagram: Clear Missions

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                In more detail, the sequence of operations is:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                1. GCS/API sends MISSION_CLEAR_ALL
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • A timeout is started for the GCS to wait on MISSION_ACK from Drone.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                2. Drone receives the message, and clears the mission from storage.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                3. Drone responds with MISSION_ACK with result type of MAV_MISSION_ACCEPTEDMAV_MISSION_RESULT.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                4. GCS receives MISSION_ACK and clears its own stored information about the mission. The operation is now complete.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Note:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • A timeout is set for every message that requires a response (e.g. MISSION_CLEAR_ALL). If the timeout expires without a response being received then the request must be resent.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • An error can be signaled in response to any request (in this case, just MISSION_CLEAR_ALL) using a MISSION_ACK message containing an error code. This must cancel the operation. The GCS record of the mission (if any) should be retained.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Canceling Operations

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                The above mission operations may be canceled by responding to any request (e.g. MISSION_REQUEST_INT) with a MISSION_ACK message containing the MAV_MISSION_OPERATION_CANCELLED error.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Both systems should then return themselves to the idle state (if the system does not receive the cancellation message it will resend the request; the recipient will then be in the idle state and may respond with an appropriate error for that state).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Operation Exceptions

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Timeouts and Retries

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                A timeout should be set for all messages that require a response. If the expected response is not received before the timeout then the message must be resent. If no response is received after a number of retries then the client must cancel the operation and return to an idle state.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                The recommended timeout values before resending, and the number of retries are:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • Timeout (default): 1500 ms
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • Timeout (mission items): 250 ms.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • Retries (max): 5

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Errors/Completion

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                All operations complete with a MISSION_ACK message containing the result of the operation (MAV_MISSION_RESULT) in the type field.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                On successful completion, the message must contain type of MAV_MISSION_ACCEPTED; this is sent by the system that is receiving the command/data (e.g. the drone for mission upload or the GCS for mission download).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                An operation may also complete with an error - MISSION_ACK.type set to MAV_MISSION_ERROR or some other error code in MAV_MISSION_RESULT. This can occur in response to any message/anywhere in the sequence.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Errors are considered unrecoverable. In an error is sent, both ends of the system should reset themselves to the idle state and the current state of the mission on the vehicle should be unaltered.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Note:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • timeouts are not considered errors.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • Out-of-sequence messages in mission upload/download are recoverable, and are not treated as errors.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Mission File Formats

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                The defacto standard file format for exchanging missions/plans is discussed in: File Formats > Mission Plain-Text File Format.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Mission Command Detail

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                This section is for clarifications and additional information about common mission items. In particular it is intended for cases that are difficult to document in the specification XML, or when images will much better describe expected behaviour.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Loiter Commands (MAV_CMD_NAV_LOITER_*)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Loiter commands are provided to allow a vehicle to hold at a location for a specified time or number of turns, until it reaches the specified altitude, or indefinitely. Multicopter vehicles stop at the specified point (within a vehicle-specific acceptance radius that is not set by the mission item). Forward-moving vehicles (e.g. fixed-wing) circle the point with the specified radius/direction.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                The commands are:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                The location and fixed-wing loiter radius parameters are common to all commands:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Param (:Label)DescriptionUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                3: RadiusRadius around waypoint. If positive loiter clockwise, else counter-clockwisem
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                5: LatitudeLatitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                6: LongitudeLongitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                7: AltitudeAltitudem

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                The loiter time and turns are set in param 1 for the respective messages. The direction of loiter for MAV_CMD_NAV_LOITER_UNLIM can be set using param4 (Yaw).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                The remaining parameters (xtrack and heading) apply only to forward flying aircraft (not multicopters!)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Xtrack and heading define the location at which a forward flying (fixed wing) vehicle will exit the loiter circle, and its path to the next waypoint (these apply only to apply to only MAV_CMD_NAV_LOITER_TIME and MAV_CMD_NAV_LOITER_TURNS).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Param (:Label)DescriptionUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                2: Heading RequiredLeave loiter circle only once heading towards the next waypoint (0 = False)min:0 max:1 increment:1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                4: Xtrack LocationSets xtrack path or exit location: 0 for the vehicle to converge towards the center xtrack when it leaves the loiter (the line between the centers of the current and next waypoint), 1 to converge to the direct line between the location that the vehicle exits the loiter radius and the next waypoint. Otherwise the angle (in degrees) between the tangent of the loiter circle and the center xtrack at which the vehicle must leave the loiter (and converge to the center xtrack). NaN to use the current system default xtrack behaviour.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                The recommended values (and resulting paths) are those shown below.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Loiter heading

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                The vehicle leaves the loiter after it reaches the desired number of turns or time and based on both the heading required and xtrack params.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                A heading required of 1 prevents the vehicle from exiting the loiter unless it is heading towards the next waypoint (if 0 it can leave at any point provided the other conditions are met). With this setting the vehicle can leave at any point in the arc shown, provided it meets the other conditions (e.g. xtrack). If necessary (i.e. it is not in the arc when the other conditions are met), the vehicle will loop back around the loiter before it evaluates the xtrack condition.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Loiter heading

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                The Xtrack parameter independently defines the path and exit location:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • xtrack=0: Exit the loiter circle and converge to the centre xtrack between this and the next waypoint.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • If the heading required parameter is not set it will exit the loiter immediately.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • Otherwise it will leave as soon as it is heading towards the next waypoint (which may also be immediately!)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • xtrack=1: Exit the loiter circle and fly/converge to the straight line between the exit point and the centre of the next waypoint (i.e. don't converge to the centre xtrack).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • If the heading required parameter is set it will exit the loiter as soon as it is heading towards the next waypoint (which may be immediately!).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • If the heading required parameter is not set it will exit the loiter immediately (note that this exit path does not make much sense unless the heading parameter is set).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • xtrack=NaN``xtrack=NaN: Exit the loiter using "system specific default behaviour".

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • The vehicle must still respect the heading required param.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • Usually this is synonymous with xtrack=0

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • xtrack=any other value: Exit the loiter when the vehicle heading (tangent) makes the specified angle in degrees to the center xtrack. Converge to the center xtrack. The vehicle must still respect the heading required param (some xtrack values may not be possible with this condition true). This allows callers to specify how quickly the vehicle converges to the center xtrack. For example, the image below shows the vehicle exiting the loiter at 30 degrees.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Loiter angle

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Implementations

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                PX4

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                The protocol has been implemented in C.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Source code:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                The implementation status is (at time of writing):

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • Flight plan missions:
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • upload, download, clearing missions, and monitoring progress are supported as defined in this specification.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • Geofence missions" are supported as defined in this specification.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • Rally point "missions" are not supported on PX4.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Mission operation cancellation works for mission download (sets system to idle). Mission operation cancellation does not work for mission uploading; PX4 resends MISSION_REQUEST_INT until the operation times out.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Source code:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                QGroundControl

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                The protocol has been implemented in C++.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Source code:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                ArduPilot

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                ArduPilot implements the mission protocol in C++.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                ArduPilot uses the same messages and message flow described in this specification. There are (anecdotally) some implementation differences that affect compatibility. These are documented below.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Source:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Flight Plan Missions

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Mission upload, download, clearing missions, and monitoring progress are supported.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                ArduPilot implements also partial mission upload using MISSION_WRITE_PARTIAL_LIST, but not partial mission download (MISSION_REQUEST_PARTIAL_LIST). Partial mission upload/download is not an official/standardised part of the mission service.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                ArduPilot's implementation differs from this specification (non-exhaustively):

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • The first mission sequence number (seq==0) is populated with the home position of the vehicle instead of the first mission item.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • Mission uploads are not "atomic". An upload that fails (or is canceled) part-way through will not match the pre-update state. Instead it may be a mix of the original and new mission.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • Even if upload is successful, the vehicle mission may not match the version on the uploading system (and if the mission is then downloaded it will differ from the original).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • There is rounding on some fields (and in some cases internal maximum possible values due to available storage space). Failures can occur if you do a straight comparison of the float params before/after upload.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • A MISSION_ACK returning an error value (NACK) does not terminate the upload (i.e. it is not considered an unrecoverable error). As long as ArduPilot has not yet timed-out a system can retry the current mission item upload.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • A mission cannot be cleared while it is being executed (i.e. while in Auto mode). Note that a new mission can be uploaded (even a zero-size mission - which is equivalent to clearing).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • Explicit cancellation of operations is not supported. If one end stops communicating the other end will eventually timeout and reset itself to an idle/ready state.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                The following behaviour is not defined by the specification (but is still of interest):

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • ArduPilot performs some validation of fields when mission items are submitted. The validation code is common to all vehicles; mission items that are not understood by the vehicle type are accepted on upload but skipped during mission execution.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • ArduPilot preforms some vehicle-specific validation at mission runtime (e.g. of jump targets).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • A new mission can be uploaded while a mission is being executed. In this case the current waypoint will be executed to completion even if the waypoint sequence is different in the new mission (to get the new item you would need to reset the sequence or switch in/out of auto mode).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • ArduPilot missions are not stored in an SD card and therefore have a vehicle/board-specific maximum mission size (as a benefit, on ArduPilot, missions can survive SD card failure in flight).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Geofence & Rally Point Plans

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                QGroundControl is the reference implementation for mission / rally point plans.

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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Mission Protocol

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  The mission sub-protocol allows a GCS or developer API to exchange mission (flight plan), geofence and safe point information with a drone/component.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  The protocol covers:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • Operations to upload, download and clear missions, set/get the current mission item number, and get notification when the current mission item has changed.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • Message type(s) and enumerations for exchanging mission items.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • Mission Items ("MAVLink commands") that are common to most systems.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  The protocol supports re-request of messages that have not arrived, which allows missions to be reliably transferred over a lossy link.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Mission Types

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAVLink 2 supports three types of "missions": flight plans, geofences and rally/safe points. The protocol uses the same sequence of operations for all types (albeit with different types of Mission Items). The mission types must be stored and handled separately/independently.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Mission protocol messages include the type of associated mission in the mission_type field (a MAVLink 2 message extension). The field takes one of the MAV_MISSION_TYPE enum values: MAV_MISSION_TYPE_MISSION, MAV_MISSION_TYPE_FENCE, MAV_MISSION_TYPE_RALLY.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAVLink 1 supports only "regular" flight-plan missions (this is implied/not explicitly set).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Mission items for all the mission types are defined in the MAV_CMD enum.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD is used to define commands that can be used in missions ("mission items") and commands that can be sent outside of a mission context (using the Command Protocol). Some MAV_CMD can be used with both mission and command protocols. Not all commands/mission items are supported on all systems (or for all flight modes).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  The items for the different types of mission are identified using a simple name prefix convention:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Mission items (MAV_CMD) are transmitted/encoded in MISSION_ITEM_INT messages. This message includes fields to identify the particular mission item (command id) and up to 7 command-specific optional parameters.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Field NameTypeValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  commanduint16_tMAV_CMDCommand id, as defined in MAV_CMD.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  param1floatParam #1.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  param2floatParam #2.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  param3floatParam #3.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  param4floatParam #4.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  param5 (x)int32_tX coordinate (local frame) or latitude (global frame) for navigation commands (otherwise Param #5).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  param6 (y)int32_tY coordinate (local frame) or longitude (global frame) for navigation commands (otherwise Param #6).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  param7 (z)floatZ coordinate (local frame) or altitude (global - relative or absolute, depending on frame) (otherwise Param #7).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  The first four parameters (shown above) can be used for any purpose - this depends on the particular command. The last three parameters (x, y, z) are used for positional information in MAV_CMD_NAV_* commands, but can be used for any purpose in other commands.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  The remaining message fields are used for addressing, defining the mission type, specifying the reference frame used for x, y, z in MAV_CMD_NAV_* messages, etc.:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Field NameTypeValuesDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  target_systemuint8_tSystem ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  target_componentuint8_tComponent ID
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  sequint16_tSequence number for item within mission (indexed from 0).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  frameuint8_tMAV_FRAMEframeuint8_tMAV_FRAMEThe coordinate system of the waypoint.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  ArduPilot and PX4 both only support global frames in MAVLink commands (local frames may be supported if the same command is sent via the command protocol). | | mission_type | uint8_t | MAV_MISSION_TYPE | Mission type. | | current | uint8_t | false:0, true:1 | When downloading, whether the item is the current mission item. | | autocontinue | uint8_t | | Autocontinue to next waypoint when the command completes. |

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Message/Enum Summary

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  The following messages and enums are used by the service.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MessageDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MISSION_REQUEST_LISTInitiate mission download from a system by requesting the list of mission items.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MISSION_COUNTSend the number of items in a mission. This is used to initiate mission upload or as a response to MISSION_REQUEST_LIST when downloading a mission.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MISSION_REQUEST_INTRequest mission item data for a specific sequence number be sent by the recipient using a MISSION_ITEM_INT message. Used for mission upload and download.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MISSION_ITEM_INTMessage encoding a mission item/command (defined in a MAV_CMD). Used for mission upload and download.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MISSION_ACKAcknowledgment message when a system completes a mission operation (e.g. sent by autopilot after it has uploaded all mission items). The message includes a MAV_MISSION_RESULT indicating either success or the type of failure.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MISSION_CURRENTMessage containing the current mission item sequence number. This is emitted when the current mission item is set/changed.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MISSION_SET_CURRENTSet the current mission item by sequence number (continue to this item on the shortest path).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  STATUSTEXTSent to notify systems when a request to set the current mission item fails.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MISSION_CLEAR_ALLMessage sent to clear/delete all mission items stored on a system.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MISSION_ITEM_REACHEDMessage emitted by system whenever it reaches a new waypoint. Used to monitor progress.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  CommandDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMD_DO_SET_MISSION_CURRENTSet current mission item and optionally reset mission counter. Supersedes MISSION_SET_CURRENT.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  EnumDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_MISSION_TYPEMission type for message (mission, geofence, rallypoints).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_MISSION_RESULTUsed to indicate the success or failure reason for an operation (e.g. to upload or download a mission). This is carried in a MISSION_ACK.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_FRAMECo-ordinate frame for position/velocity/acceleration data in the message.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MAV_CMDMission Items (and MAVLink commands) sent in MISSION_ITEM_INT.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Deprecated Types: MISSION_ITEM

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  The legacy version of the protocol also supported MISSION_REQUEST for requesting that a mission be sent as a sequence of MISSION_ITEM messages.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Both MISSION_REQUEST and MISSION_ITEM messages are now deprecated, and should no longer be sent. If MISSION_REQUEST is recieved the system should instead respond with MISSION_ITEM_INT items (as though it received MISSION_REQUEST_INT).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Frames & Positional Information

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  By convention, mission items use param5, param6, param7 for positional information when needed (and otherwise as "free use" parameters). The table below shows that the positional parameters can be local (x, y, z), global (latitude, longitude, altitude), and also the data type used to store the parameters in the MISSION_ITEM_INT message.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  paramtypeLocalGlobal
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  param5int32_txLatitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  param6int32_tyLongitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  param7floatzAltitude (global - relative or absolute)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  The co-ordinate frame of positional parameters is defined in the MISSION_ITEM_INT.frame field using a MAV_FRAME value.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  The global frames are prefixed with MAV_FRAME_GLOBAL_*. Mission items should use frame variants that have the suffix _INT: e.g. MAV_FRAME_GLOBAL_RELATIVE_ALT_INT, MAV_FRAME_GLOBAL_INT, MAV_FRAME_GLOBAL_TERRAIN_ALT_INT. When using these frames, latitude and longitude values must be encoded by multiplying the degrees by 1E7 (e.g. the latitude 69.69000000 would be sent as 69.69000000x1E7 = 696900000). Using int32 of degrees * 10^7 has higher resolution than could be achieved with single floating point.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  A number of local frames are also specified. Local frame position values that are sent in integer field parameters must be encoded as position in meters x 1E4 (e.g. 5m would be encoded and sent as 50000). If sent in messages float parameter fields the value should be sent as-is.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Don't use the non-INT global frames in mission items (e.g. MAV_FRAME_GLOBAL_RELATIVE_ALT). These are intended to be used with messages that have float fields for positional information, e.g.: MISSION_ITEM (deprecated), COMMAND_LONG. If these frames are used, position values should be sent unencoded (i.e. no need to multiply by 1E7).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  As above, in theory if a global non-INT frame variant is set for a MISSION_ITEM_INT the position value should be sent as-is (not encoded). This will result in the value being rounded when it is sent in the integer value, which will make the value unusable. In practice, many systems will assume you have encoded the value, but you should test this for your particular flight stack. Better just to use the correct frames!

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Don't use MAV_FRAME_MISSION for mission items that contain positional data; this does not correspond to any particular real frame, and so will be ambiguous. MAV_FRAME_MISSION should be used for mission items that use params5 and param6 for other purposes.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Param 5, 6 For Non-Positional Data

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Param5, param6, param7 may also be used for non-positional information. In this case the MISSION_ITEM_INT.frame should be set to MAV_FRAME_MISSION (this is equivalent to say "the frame data is irrelevant").

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  As param5 and param6 are sent in integer fields, generally you should design mission items/MAV_CMDs such that these only include integer data (and are sent as-is/unscaled). If these must be used for real numbers and scaling is required, then this must be noted in the mission item itself.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Operations

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  This section defines all the protocol operations.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Detecting Mission/Plan Changes

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Mission upload and download can be expensive operations, in particular for large missions. A GCS can avoid unnecessary uploads and downloads by first checking whether it has a matching id(s) for the corresponding plan on the vehicle.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  The current id for different parts of the plan are streamed in MISSION_CURRENT message, using the appropriately named fields: mission_id, fence_id, rally_points_id. These values are 0 if there is no plan uploaded, or if detecting plan changes is not supported by the flight stack.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  The IDs are generated by the flight stack when a new mission, rally point, or geofence, is uploaded to the vehicle (at which point it also starts publishing the value in MISSION_CURRENT). MAVLink puts no particular requirements on how the "opaque_id" values are calculated by the flight stack (this is why they are named "opaque"). The only expectation is that the scheme used makes it unlikely that the GCS will incorrectly determine that it has a matching plan (a flight stack might use file hashes, plan checksums, pseudo-random numbers, or some other technique).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  On upload, the generated ID is sent to the GCS in the final part of the upload sequence in the MISSION_ACK.opaque_id field. On download, the stored ID is sent to the GCS in the MISSION_COUNT.opaque_id field.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  The GCS should store the value of the ID from the flight stack as the "current id" for whatever part of the plan was uploaded/download. It can then monitor MISSION_CURRENT, and check its cached values against the current plan ids to determine whether it has a matching mission, or needs to download the mission from the vehicle.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Upload a Mission to the Vehicle

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  The diagram below shows the communication sequence to upload a mission to a drone (assuming all operations succeed).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Mission update must be robust! A new mission should be fully uploaded and accepted before the old mission is replaced/removed.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Mission upload/download can be bandwidth intensive and time consuming Check for plan changes before uploading (or downloading) a mission.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Mission Upload Sequence

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  In more detail, the sequence of operations is:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  1. GCS sends MISSION_COUNT including the number of mission items to be uploaded (count).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • A timeout must be started for the GCS to wait on the response from Drone (MISSION_REQUEST_INT).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  2. Drone receives message and responds with MISSION_REQUEST_INT requesting the first mission item (seq==0).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • A timeout must be started for the Drone to wait on the MISSION_ITEM_INT response from GCS.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  3. GCS receives MISSION_REQUEST_INT and responds with the requested mission item in a MISSION_ITEM_INT message.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  4. Drone and GCS repeat the MISSION_REQUEST_INT/MISSION_ITEM_INT cycle, iterating seq until all items are uploaded (seq==count-1).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  5. After receiving the last mission item the drone responds with MISSION_ACK with the type of MAV_MISSION_ACCEPTED indicating mission upload completion/success.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • The drone should set the new mission to be the current mission, discarding the original data.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • The drone considers the upload complete.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  6. GCS receives MISSION_ACK containing MAV_MISSION_ACCEPTED to indicate the operation is complete.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • The GCS should store MISSION_ACK.opaque_id (the current id of the uploaded plan) and can use it later to check for plan changes.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Notes:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • A timeout is set for every message that requires a response (e.g. MISSION_REQUEST_INT). If the timeout expires without a response being received then the request must be resent.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • Mission items must be received in order. If an item is received out-of-sequence the expected item should be re-requested by the vehicle (the out-of-sequence item is dropped).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • An error can be signaled in response to any request using a MISSION_ACK message containing an error code. This must cancel the operation and restore the mission to its previous state. For example, the drone might respond to the MISSION_COUNT request with a MAV_MISSION_NO_SPACE if there isn't enough space to upload the mission.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • The sequence above shows the mission items packaged in MISSION_ITEM_INT messages. Protocol implementations must also support MISSION_ITEM and MISSION_REQUEST in the same way.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • Uploading an empty mission (MISSION_COUNT is 0) has the same effect as clearing the mission.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Download a Mission from the Vehicle

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Mission upload/download can also be bandwidth intensive and time consuming. Check for plan changes before downloading (or uploading) a mission.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  The diagram below shows the communication sequence to download a mission from a drone (assuming all operations succeed).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Sequence: Download mission

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  The sequence is similar to that for uploading a mission. This starts a cycle where the GCS requests mission items, and the drone supplies them. The main difference is that the client (e.g. GCS) sends MISSION_REQUEST_LIST, which triggers the autopilot to respond with the current count of items.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Note:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • The MISSION_COUNT.opaque_id is the stored ID of the part of the plan that is being uploaded from the vehicle. This should be stored by the GCS so that it can later check that its plan matches that on the vehicle.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • A timeout is set for every message that requires a response (e.g. MISSION_REQUEST_INT). If the timeout expires without a response being received then the request must be resent.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • Mission items must be received in order. If an item is received out-of-sequence the expected item should be re-requested by the GCS (the out-of-sequence item is dropped).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • An error can be signaled in response to any request using a MISSION_ACK message containing an error code. This must cancel the operation.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • The sequence above shows the mission items packaged in MISSION_ITEM_INT messages. Protocol implementations must also support MISSION_ITEM and MISSION_REQUEST in the same way.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Set Current Mission Item

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  The diagram below shows the communication sequence to set the current mission item.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Mermaid Diagram: Set mission item

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  In more detail, the sequence of operations is:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  1. GCS/App sends MISSION_SET_CURRENT, specifying the new sequence number (seq).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  2. Drone receives message and attempts to update the current mission sequence number.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • On success, the Drone must broadcast a MISSION_CURRENT message containing the current sequence number (seq).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • On failure, the Drone must broadcast a STATUSTEXT with a MAV_SEVERITY and a string stating the problem. This may be displayed in the UI of receiving systems.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Notes:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • There is no specific timeout on the MISSION_SET_CURRENT message.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • The acknowledgment of the message is via broadcast of mission/system status, which is not associated with the original message. This differs from error handling in other operations. This approach is used because the success/failure is relevant to all mission-handling clients.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Monitor Mission Progress

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  GCS/developer API can monitor progress by handling the appropriate messages sent by the drone:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Clear Missions

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  The diagram below shows the communication sequence to clear the mission from a drone (assuming all operations succeed).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Mermaid Diagram: Clear Missions

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  In more detail, the sequence of operations is:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  1. GCS/API sends MISSION_CLEAR_ALL
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • A timeout is started for the GCS to wait on MISSION_ACK from Drone.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  2. Drone receives the message, and clears the mission from storage.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  3. Drone responds with MISSION_ACK with result type of MAV_MISSION_ACCEPTEDMAV_MISSION_RESULT.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  4. GCS receives MISSION_ACK and clears its own stored information about the mission. The operation is now complete.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Note:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • A timeout is set for every message that requires a response (e.g. MISSION_CLEAR_ALL). If the timeout expires without a response being received then the request must be resent.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • An error can be signaled in response to any request (in this case, just MISSION_CLEAR_ALL) using a MISSION_ACK message containing an error code. This must cancel the operation. The GCS record of the mission (if any) should be retained.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Canceling Operations

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  The above mission operations may be canceled by responding to any request (e.g. MISSION_REQUEST_INT) with a MISSION_ACK message containing the MAV_MISSION_OPERATION_CANCELLED error.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Both systems should then return themselves to the idle state (if the system does not receive the cancellation message it will resend the request; the recipient will then be in the idle state and may respond with an appropriate error for that state).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Operation Exceptions

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Timeouts and Retries

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  A timeout should be set for all messages that require a response. If the expected response is not received before the timeout then the message must be resent. If no response is received after a number of retries then the client must cancel the operation and return to an idle state.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  The recommended timeout values before resending, and the number of retries are:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • Timeout (default): 1500 ms
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • Timeout (mission items): 250 ms.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • Retries (max): 5

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Errors/Completion

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  All operations complete with a MISSION_ACK message containing the result of the operation (MAV_MISSION_RESULT) in the type field.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  On successful completion, the message must contain type of MAV_MISSION_ACCEPTED; this is sent by the system that is receiving the command/data (e.g. the drone for mission upload or the GCS for mission download).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  An operation may also complete with an error - MISSION_ACK.type set to MAV_MISSION_ERROR or some other error code in MAV_MISSION_RESULT. This can occur in response to any message/anywhere in the sequence.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Errors are considered unrecoverable. In an error is sent, both ends of the system should reset themselves to the idle state and the current state of the mission on the vehicle should be unaltered.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Note:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • timeouts are not considered errors.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • Out-of-sequence messages in mission upload/download are recoverable, and are not treated as errors.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Mission File Formats

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  The defacto standard file format for exchanging missions/plans is discussed in: File Formats > Mission Plain-Text File Format.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Mission Command Detail

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  This section is for clarifications and additional information about common mission items. In particular it is intended for cases that are difficult to document in the specification XML, or when images will much better describe expected behaviour.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Loiter Commands (MAV_CMD_NAV_LOITER_*)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Loiter commands are provided to allow a vehicle to hold at a location for a specified time or number of turns, until it reaches the specified altitude, or indefinitely. Multicopter vehicles stop at the specified point (within a vehicle-specific acceptance radius that is not set by the mission item). Forward-moving vehicles (e.g. fixed-wing) circle the point with the specified radius/direction.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  The commands are:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  The location and fixed-wing loiter radius parameters are common to all commands:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Param (:Label)DescriptionUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  3: RadiusRadius around waypoint. If positive loiter clockwise, else counter-clockwisem
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  5: LatitudeLatitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  6: LongitudeLongitude
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  7: AltitudeAltitudem

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  The loiter time and turns are set in param 1 for the respective messages. The direction of loiter for MAV_CMD_NAV_LOITER_UNLIM can be set using param4 (Yaw).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  The remaining parameters (xtrack and heading) apply only to forward flying aircraft (not multicopters!)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Xtrack and heading define the location at which a forward flying (fixed wing) vehicle will exit the loiter circle, and its path to the next waypoint (these apply only to apply to only MAV_CMD_NAV_LOITER_TIME and MAV_CMD_NAV_LOITER_TURNS).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Param (:Label)DescriptionUnits
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  2: Heading RequiredLeave loiter circle only once heading towards the next waypoint (0 = False)min:0 max:1 increment:1
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  4: Xtrack LocationSets xtrack path or exit location: 0 for the vehicle to converge towards the center xtrack when it leaves the loiter (the line between the centers of the current and next waypoint), 1 to converge to the direct line between the location that the vehicle exits the loiter radius and the next waypoint. Otherwise the angle (in degrees) between the tangent of the loiter circle and the center xtrack at which the vehicle must leave the loiter (and converge to the center xtrack). NaN to use the current system default xtrack behaviour.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  The recommended values (and resulting paths) are those shown below.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Loiter heading

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  The vehicle leaves the loiter after it reaches the desired number of turns or time and based on both the heading required and xtrack params.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  A heading required of 1 prevents the vehicle from exiting the loiter unless it is heading towards the next waypoint (if 0 it can leave at any point provided the other conditions are met). With this setting the vehicle can leave at any point in the arc shown, provided it meets the other conditions (e.g. xtrack). If necessary (i.e. it is not in the arc when the other conditions are met), the vehicle will loop back around the loiter before it evaluates the xtrack condition.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Loiter heading

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  The Xtrack parameter independently defines the path and exit location:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • xtrack=0: Exit the loiter circle and converge to the centre xtrack between this and the next waypoint.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • If the heading required parameter is not set it will exit the loiter immediately.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • Otherwise it will leave as soon as it is heading towards the next waypoint (which may also be immediately!)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • xtrack=1: Exit the loiter circle and fly/converge to the straight line between the exit point and the centre of the next waypoint (i.e. don't converge to the centre xtrack).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • If the heading required parameter is set it will exit the loiter as soon as it is heading towards the next waypoint (which may be immediately!).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • If the heading required parameter is not set it will exit the loiter immediately (note that this exit path does not make much sense unless the heading parameter is set).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • xtrack=NaN``xtrack=NaN: Exit the loiter using "system specific default behaviour".

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • The vehicle must still respect the heading required param.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • Usually this is synonymous with xtrack=0

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • xtrack=any other value: Exit the loiter when the vehicle heading (tangent) makes the specified angle in degrees to the center xtrack. Converge to the center xtrack. The vehicle must still respect the heading required param (some xtrack values may not be possible with this condition true). This allows callers to specify how quickly the vehicle converges to the center xtrack. For example, the image below shows the vehicle exiting the loiter at 30 degrees.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Loiter angle

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Implementations

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  PX4

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  The protocol has been implemented in C.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Source code:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  The implementation status is (at time of writing):

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • Flight plan missions:
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • upload, download, clearing missions, and monitoring progress are supported as defined in this specification.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • Geofence missions" are supported as defined in this specification.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • Rally point "missions" are not supported on PX4.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Mission operation cancellation works for mission download (sets system to idle). Mission operation cancellation does not work for mission uploading; PX4 resends MISSION_REQUEST_INT until the operation times out.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Source code:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  QGroundControl

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  The protocol has been implemented in C++.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Source code:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  ArduPilot

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  ArduPilot implements the mission protocol in C++.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  ArduPilot uses the same messages and message flow described in this specification. There are (anecdotally) some implementation differences that affect compatibility. These are documented below.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Source:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Flight Plan Missions

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Mission upload, download, clearing missions, and monitoring progress are supported.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  ArduPilot implements also partial mission upload using MISSION_WRITE_PARTIAL_LIST, but not partial mission download (MISSION_REQUEST_PARTIAL_LIST). Partial mission upload/download is not an official/standardised part of the mission service.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  ArduPilot's implementation differs from this specification (non-exhaustively):

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • The first mission sequence number (seq==0) is populated with the home position of the vehicle instead of the first mission item.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • Mission uploads are not "atomic". An upload that fails (or is canceled) part-way through will not match the pre-update state. Instead it may be a mix of the original and new mission.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • Even if upload is successful, the vehicle mission may not match the version on the uploading system (and if the mission is then downloaded it will differ from the original).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • There is rounding on some fields (and in some cases internal maximum possible values due to available storage space). Failures can occur if you do a straight comparison of the float params before/after upload.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • A MISSION_ACK returning an error value (NACK) does not terminate the upload (i.e. it is not considered an unrecoverable error). As long as ArduPilot has not yet timed-out a system can retry the current mission item upload.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • A mission cannot be cleared while it is being executed (i.e. while in Auto mode). Note that a new mission can be uploaded (even a zero-size mission - which is equivalent to clearing).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • Explicit cancellation of operations is not supported. If one end stops communicating the other end will eventually timeout and reset itself to an idle/ready state.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  The following behaviour is not defined by the specification (but is still of interest):

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • ArduPilot performs some validation of fields when mission items are submitted. The validation code is common to all vehicles; mission items that are not understood by the vehicle type are accepted on upload but skipped during mission execution.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • ArduPilot preforms some vehicle-specific validation at mission runtime (e.g. of jump targets).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • A new mission can be uploaded while a mission is being executed. In this case the current waypoint will be executed to completion even if the waypoint sequence is different in the new mission (to get the new item you would need to reset the sequence or switch in/out of auto mode).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • ArduPilot missions are not stored in an SD card and therefore have a vehicle/board-specific maximum mission size (as a benefit, on ArduPilot, missions can survive SD card failure in flight).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Geofence & Rally Point Plans

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  QGroundControl is the reference implementation for mission / rally point plans.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  results matching ""

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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Offboard Control Interface

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    The offboard control interface allows an external controller to send low-level attitude, position, velocity, and/or acceleration setpoints to the vehicle.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    This is commonly used to provide external control of a real-time flight stack from a companion/mission computer, for example, in order to implement features such as obstacle avoidance or collision prevention.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Generally setpoints are only obeyed in a specific flight-stack mode. The flight stack requires the setpoints to be recieved for some time before it will allow the mode to be enabled, and will switch out of the mode if setpoints are no longer received.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    The particular types of setpoints that are supported, if any, depend on the vehicle type and flight stack.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Message/Enum Summary

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MessageDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    SET_POSITION_TARGET_LOCAL_NEDSets a desired vehicle position, velocity, and/or accelaration setpoint in a local north-east-down coordinate frame.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    SET_POSITION_TARGET_GLOBAL_INTSets a desired vehicle position, velocity, and/or acceleration in a global coordinate system (WGS84)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    SET_ATTITUDE_TARGETSets a desired vehicle attitude.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    POSITION_TARGET_LOCAL_NEDPublishes current local NED target (set by SET_POSITION_TARGET_LOCAL_NED).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    POSITION_TARGET_GLOBAL_INTPublishes current global target (set by SET_POSITION_TARGET_GLOBAL_INT).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    ATTITUDE_TARGETPublishes current attitude target (set by SET_ATTITUDE_TARGET).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    EnumDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_PROTOCOL_CAPABILITY_SET_POSITION_TARGET_LOCAL_NEDFlight stack supports SET_POSITION_TARGET_LOCAL_NED.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_PROTOCOL_CAPABILITY_SET_POSITION_TARGET_GLOBAL_INTFlight stack supports SET_POSITION_TARGET_LOCAL_NED.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_PROTOCOL_CAPABILITY_SET_ATTITUDE_TARGETFlight stack supports SET_ATTITUDE_TARGET.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Feature support

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Test for setter message support by checking AUTOPILOT_VERSION.capabilities for the associated protocol bit: MAV_PROTOCOL_CAPABILITY_SET_POSITION_TARGET_LOCAL_NED, MAV_PROTOCOL_CAPABILITY_SET_POSITION_TARGET_GLOBAL_INT, MAV_PROTOCOL_CAPABILITY_SET_ATTITUDE_TARGET.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Note that support for the protocol/message does not imply that every vehicle will support every possible combination of parameters. This can only be inferred from the flight stack documentation.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Implementations

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    PX4 supports this protocol in Offboard mode. The allowed setpoints are documented at that link, and depend on the vehicle type.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    ArduPilot supports this protocol in Guided mode. The supported messages for each vehicle type are covered in:

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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Offboard Control Interface

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      The offboard control interface allows an external controller to send low-level attitude, position, velocity, and/or acceleration setpoints to the vehicle.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      This is commonly used to provide external control of a real-time flight stack from a companion/mission computer, for example, in order to implement features such as obstacle avoidance or collision prevention.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Generally setpoints are only obeyed in a specific flight-stack mode. The flight stack requires the setpoints to be recieved for some time before it will allow the mode to be enabled, and will switch out of the mode if setpoints are no longer received.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      The particular types of setpoints that are supported, if any, depend on the vehicle type and flight stack.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Message/Enum Summary

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MessageDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      SET_POSITION_TARGET_LOCAL_NEDSets a desired vehicle position, velocity, and/or accelaration setpoint in a local north-east-down coordinate frame.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      SET_POSITION_TARGET_GLOBAL_INTSets a desired vehicle position, velocity, and/or acceleration in a global coordinate system (WGS84)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      SET_ATTITUDE_TARGETSets a desired vehicle attitude.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      POSITION_TARGET_LOCAL_NEDPublishes current local NED target (set by SET_POSITION_TARGET_LOCAL_NED).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      POSITION_TARGET_GLOBAL_INTPublishes current global target (set by SET_POSITION_TARGET_GLOBAL_INT).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ATTITUDE_TARGETPublishes current attitude target (set by SET_ATTITUDE_TARGET).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      EnumDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_PROTOCOL_CAPABILITY_SET_POSITION_TARGET_LOCAL_NEDFlight stack supports SET_POSITION_TARGET_LOCAL_NED.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_PROTOCOL_CAPABILITY_SET_POSITION_TARGET_GLOBAL_INTFlight stack supports SET_POSITION_TARGET_LOCAL_NED.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_PROTOCOL_CAPABILITY_SET_ATTITUDE_TARGETFlight stack supports SET_ATTITUDE_TARGET.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Feature support

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Test for setter message support by checking AUTOPILOT_VERSION.capabilities for the associated protocol bit: MAV_PROTOCOL_CAPABILITY_SET_POSITION_TARGET_LOCAL_NED, MAV_PROTOCOL_CAPABILITY_SET_POSITION_TARGET_GLOBAL_INT, MAV_PROTOCOL_CAPABILITY_SET_ATTITUDE_TARGET.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Note that support for the protocol/message does not imply that every vehicle will support every possible combination of parameters. This can only be inferred from the flight stack documentation.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Implementations

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      PX4 supports this protocol in Offboard mode. The allowed setpoints are documented at that link, and depend on the vehicle type.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ArduPilot supports this protocol in Guided mode. The supported messages for each vehicle type are covered in:

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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Open Drone ID

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Direct Remote Identification (DRI) or Remote ID (RID) is/will be a mandatory technology for Unmanned Aircraft (UA) in Japan, the United States of America and the European Union. Data such as the UA real-time location/altitude, UA serial number, operator ID/location etc. are broadcast via either Wi-Fi or Bluetooth from the UA. Open Drone ID is an open source implementation of RID.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        The terms Remote ID and drone ID are used interchangeably in the text below.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Relevant specifications

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        The MAVLink messages defined for usage with Open Drone ID are compliant with the following standards:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • ASTM F3411 Specification for Remote ID and Tracking
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • ASD-STAN prEN 4709-002 Direct Remote Identification

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        For additional details, please see here. In general, the front page of the opendroneid core-c repository has lots of pointers to additional information and SW projects related to drone ID.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Broadcast methods and impact on the message design

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Four different broadcast methods are defined:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • Bluetooth Legacy Advertising (Bluetooth 4.x)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • Bluetooth Long Range with Extended Advertising (Bluetooth 5.x)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • Wi-Fi Neighbor-aware Network (Wi-Fi NaN)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • Wi-Fi Beacon (vendor specific information element in the SSID beacon frame)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        The broadcast method used with Bluetooth Legacy Advertising signals impose a strict size limitation on the amount of data that can be transmitted in each radio burst. Therefore the relevant data is divided into different categories and each category is transmitted via its own message.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        The standards defines 6 such messages and an additional 7th message type for packing multiple messages together into a message pack (used when transmitting on Wi-Fi NaN, Wi-Fi Beacon or Bluetooth Long Range with Extended Advertising). To support easy data transfers to/from a Remote ID (RID) transmitter/receiver component, MAVLink messages supporting all the fields of the drone ID messages have been made available. See Messages below.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Use case examples

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        There are multiple possible use cases for the MAVLink drone ID messages:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • A flight controller sends ID, location etc. data to an onboard Bluetooth/Wi-Fi RID transmitter component.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • An onboard Bluetooth/Wi-Fi receiver picks up drone ID messages from surrounding aircraft, relays this information using MAVLink drone ID messages to the flight controller, which then uses the information e.g. for Detect And Avoid (DAA) calculations.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • A drone sends MAVLink drone ID messages via its control link to the Ground Control Station (GCS). The GCS is connected via the Internet to a Remote ID server, which stores and publishes the drone's ID, location etc.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • As above but in the other direction for DAA calculations.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • A Remote ID Display application (RID) on the GCS listens to all drone ID data received from surrounding UAs and displays their position to the operator.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Messages

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        The ASTM, ASD-STAN and MAVLink messages are listed below.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        ASTMASD-STANMAVLinkPurpose
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Basic IDBasic IDOPEN_DRONE_ID_BASIC_IDProvides an ID for the UA, characterizes the type of ID and identifies the type of UA.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        LocationLocationOPEN_DRONE_ID_LOCATIONProvides location, altitude, direction, and speed of the UA.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        AuthenticationNot specified (reserved)OPEN_DRONE_ID_AUTHENTICATIONProvides authentication data for the UA.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Self-IDSelf-IDOPEN_DRONE_ID_SELF_IDOptional plain text message that can be used by operators to identify themselves and the purpose of an operation. Can also be used to provide optional additional clarification in an emergency/remote ID system failure situation.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        SystemSystemOPEN_DRONE_ID_SYSTEMIncludes the operator location/altitude, multiple aircraft information (group/swarm, if applicable), full timestamp and possible category/class information.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Operator IDOperator IDOPEN_DRONE_ID_OPERATOR_IDProvides the operator ID.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Message PackMessage PackOPEN_DRONE_ID_MESSAGE_PACKA payload mechanism for combining the messages above into a single message pack. Used with Bluetooth Extended Advertising, Wi-Fi NaN and Wi-Fi Beacon.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        __OPEN_DRONE_ID_ARM_STATUSSent by RID transmitter/receiver components to indicate that the RID system is "ready to use". This should be used as an arming condition for the flight stack. Note that this differs from the HEARTBEAT which indicates that the component is "alive" but not necessarily ready to use.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        __OPEN_DRONE_ID_SYSTEM_UPDATEA subset of the OPEN_DRONE_ID_SYSTEM message, containing only the fields that must be updated at a high rate. Typically sent from the GCS to provide data to the RID transmitter component. If both OPEN_DRONE_ID_SYSTEM and OPEN_DRONE_ID_SYSTEM_UPDATE are used, the more efficient OPEN_DRONE_ID_SYSTEM_UPDATE will be used at a high rate and the full OPEN_DRONE_ID_SYSTEM at a low rate, to reduce the traffic on the control link.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        The raw byte layout of the MAVLink messages is not exactly the same as what a RID Bluetooth/Wi-Fi transmitter component will broadcast over the air. Slight compression is applied. Example code for this conversion can be found in the project: Open Drone ID Core C Library.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        The Open Drone ID Core C Library contains code for decoding the MAVLink messages and "compressing" the data into data structures for broadcast over Bluetooth or Wi-Fi (or vice-versa for reception).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        The standards do not impose any requirements for a drone to be capable of receiving drone ID messages, nor any requirements for reacting to their content (requirements from local legislation might be different).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        An example Android receiver implementation for Bluetooth/Wi-Fi drone ID is available here (source codes).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Code related to (Internet) Network Remote ID can be found in the InterUSS Project and https://github.com/uastech/standards (Unofficial reference for UAS-related APIs).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Message update rates

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        ASTM F3411 and ASD-STAN prEN 4709-002 (and possibly other standards) require that the LOCATION message is broadcast/published from the RID transmitter component at least once per second. The rest of the messages must be broadcast/published once per 3 seconds (the rules in some regions have tightened this requirement to 1 second for also the BASIC ID and the SYSTEM message. Please see here).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Not all message types or fields within a message type are mandatory to broadcast/publish. The mandatory message set vary from region to region. Please see the summary.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        The standards require that the data contained in the LOCATION and the SYSTEM messages (on the air/internet) is not older than 1 second (the location data, timestamps etc.).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        To be compliant in different regions and receive certification acceptance, the UAS as a complete entity must obey the above timing restrictions. Although popular autopilot SW stacks will be verified to be capable of this, the compliance testing will have been done using a certain set of HW/SW components. Any deviation from this set, will require the integrator of the UAS to consider the combination of the above requirements when deciding the internal update rates for each component, in the MAVLink network, generating data for the RID transmitter component.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        It must be expected that there will be some delays from e.g. the GCS sending a SYSTEM message via the flight controller to the RID transmitter component. The RID transmitter component will gather this data plus data from other messages together and generate the final message data set, which is broadcast over the air. Each of these components will be running on their own update and forward/relay cycle and can thus introduce delays. I.e. running everything at exactly one second cycles, probably will lead to violations of the data "freshness" requirement. But going to the other extreme of forcing all messages to be at 10+ Hz would likely lead to unnecessary airwave noise on the (Command and Control) C2 link/Wi-Fi/Bluetooth spectrum. Components are expected to tune refresh rates to ensure compliance, without saturating internal communication links.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        RID broadcasting using Bluetooth 4 Legacy Advertising introduces additional complexity to this. For Bluetooth 5 or Wi-Fi Beacon/NaN, all messages are packed together and broadcast in a single advertisement by the RID transmitter component. Bluetooth 4 advertisements can only contain 25 bytes and thus can fit only a single message. Since typically at least three messages must be broadcast on the air per second, the BT4 RID transmitter component must advertise at least every 333 ms.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Routing drone ID MAVLink messages inside the UAS

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        There can be multiple MAVLink components in an UAS involved in the handling of drone ID data. An example is shown in the figure below. Certainly not all UAS will contain all of these components and the placement of some of them can be different from one system to another.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        drone ID conceptual overview

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        All senders of MAVLink drone ID messages must fill the sysid field with the MAVLink system ID value that the MAVLink sender component belongs to and fill the compid field with the MAVLink component ID value of the sender.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        The MAVLink components or systems that will typically generate drone ID MAVLink messages are listed in the table below:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Component/SystemDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_COMP_ID_AUTOPILOT1The flight controller/autopilot. Knows the ID of the UA, the current location, altitude, speed etc.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Ground Control StationGCS with a human user interface for inputting the operator ID, text description of the flight purpose, method for obtaining the operator location etc.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_COMP_ID_ODID_TXRX_1A Remote ID transmitter/receiver component (Bluetooth/Wi-Fi/Internet).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_COMP_ID_ODID_TXRX_2A Remote ID transmitter/receiver component (Bluetooth/Wi-Fi/Internet).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_COMP_ID_ODID_TXRX_3A Remote ID transmitter/receiver component (Bluetooth/Wi-Fi/Internet).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        The autopilot/flight controller is typically the component that knows about the data needed for the BASIC ID and the LOCATION messages. It must stream MAVLink messages with this information to the RID transmitter component.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        The Ground Control Station system is the interface for the operator of the UAS. The operator must enter the data needed for the SELF_ID, the SYSTEM and the OPERATOR_ID, messages before the flight. The GCS must send this data via MAVLink messages to the RID transmitter component (possibly via the autopilot component). If the GCS is capable of regularly obtaining its own location, these updates are sent in the SYSTEM message together with a full timestamp.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        The UAS has one or more RID transmitter components for publishing the drone ID data to the rest of the world, either via Bluetooth or Wi-Fi broadcasts, or via an internet connection to an internet Remote ID server. The RID transmitter components will listen to the MAVLink messages from the flight controller and the GCS but must ignore MAVLink messages where the compid field is set to MAV_COMP_ID_ODID_TXRX_1, MAV_COMP_ID_ODID_TXRX_2 or MAV_COMP_ID_ODID_TXRX_3 (those MAVLink messages would have originated from a RID receiver component and would be the drone ID information from other UAs). The method for the RID transmitter components to identify MAVLink messages from the GCS, is described in the Heartbeat section below.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        The MAVLink components in the UAS involved in the drone ID MAVLink message exchange, must keep track of the HEARTBEAT MAVLink messages from the other MAVLink components. If the HEARTBEAT messages are not received within a required time interval, they must declare a malfunction of the Remote ID system and indicate this in the status field of the LOCATION message. This must also be indicated to the operator of the UAS.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Similarly, the autopilot and GCS components must listen to the ARM_STATUS from the RID transmitter component(s) and not allow the UA to be airborne before the RID transmitter component(s) is ready. During flight, if the arm status indicates a failure, similar action must be taken as for a lack of HEARTBEAT messages. The ARM_STATUS message must also be routed to a GCS, if present, allowing it to provide more detailed information about RemoteID arming failures.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        In addition to the above, there are multiple additional different scenarios that must result in the Location status field being set to Emergency or Remote ID System Failure. The exact strategy on how to avoid having multiple MAVLink components overwriting each-others emergency declarations is not yet fully defined. Some preliminary discussion can be found here.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Optionally, further restrictions on which RID transmitter/receiver component must process a MAVLink message can be enforced if the sender fills the target_system and target_component fields of the MAVLink message. RID transmitter/receiver components must only listen to MAVLink messages that have these fields set to either zero (broadcast) or the component's own MAVLink system ID and component ID. This can be useful if e.g. there are two UA connected to a single GCS. The GCS can then direct information to specific MAV_COMP_ID_ODID_TXRX_x components on a specific UA. By default, all senders of drone ID MAVLink messages must fill the target_system and target_component fields with zero, to indicate a broadcast to all MAVLink components.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Open Drone ID data from other UA(s)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        It is possible that the RID transmitter components also work as receivers, for obtaining drone ID data from surrounding UAs. When publishing the received drone ID data as internal MAVLink messages, they must set the compid field to their own MAV_COMP_ID_ODID_TXRX_n ID to make it possible to distinguish this data from the drone ID data of the UA itself. Also the systemid field must be set with the MAVLink system ID value that the RID receiver component belongs to.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        At least two possible consumers of drone ID data from surrounding aircraft are possible:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • A Detect And Avoid (DAA) system that tracks the current and estimated future positions of other UAs and takes that into account when setting the flight path of the UA itself.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • A Remote ID Display (RID) application that visually shows the surrounding UA's locations (and possibly past and estimated future flight paths) to the operator of the UA, in order for him/her to utilize this information when controlling the UA.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        See below on how to combine remote ID data from other UAs.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Heartbeat

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Each component involved in the MAVLink message exchange, is required to regularly send out MAVLink HEARTBEAT messages in order to facilitate discovery and monitoring of the component in the UAS. Please see further details in the HEARTBEAT documentation.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        For RID transmitter/receiver components (with compids MAV_COMP_ID_ODID_TXRX_1, MAV_COMP_ID_ODID_TXRX_2 or MAV_COMP_ID_ODID_TXRX_3), the type field in the HEARTBEAT message must be filled with MAV_TYPE_ODID.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        The MAVLink HEARTBEAT message serves as the way for RID transmitter/receiver components to identify the sysid of the GCS. The GCS will send out MAVLink HEARTBEAT messages with its sysid field set to the GCS's MAVLink system ID and the type set to MAV_TYPE_GCS. The RID transmitter/receiver components must interpret all MAVLink Open Drone ID messages from that system ID, as coming from the GCS. There is no dedicated MAVLink component ID for GCSs, hence the MAVLink system ID must be used instead for identifying the GCS.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Possible future improvements

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        The current set of MAVLink drone ID messages do not provide any means for controlling some of the RID transmitter/receiver component details. The RID transmitter/receiver component must be hard-coded by the manufacturer to a certain configuration. Some discussion and proposal for this type of messages can be found here. It would be useful to control e.g. the following items:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • Starting/stopping broadcast
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • Configure the broadcast method (BT4, BT5, Beacon, NaN)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • Wi-Fi channel configuration for Beacon
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • Message update rates on the air

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        No regions currently require drone ID publication via the internet (Network Remote ID). However, it is possible that in the future this will change from being optional to mandatory for some use cases/regions as a part of the UTM/USpace efforts. Currently there are no suitable MAVLink messages defined to configure a Network Remote ID transceiver. Messages to specify the server(s) to connect to, credentials etc. would be needed.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Security of drone ID data is partly under definition. The Japan rule requires a signature of the drone ID data to be broadcasted in the AUTHENTICATION message. The details are in Japanese. No such requirement currently exists for the US and EU. It is possible that some use cases in the future might require more security related activities for drone ID data. Some additional protocol specification work is being drafted by the IETF in the DRIP working group.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        UAS with multiple RID transmitters and/or receiver components

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Since three different technologies for broadcasting/publishing drone ID data have been defined (Bluetooth, Wi-Fi and internet), it is quite possible for a UAS to support more than just a single type.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        For UASs that desire to listen to other UA's information, it would be desirable to include receivers for all three methods, in order to maximize the possibility of detecting all other surrounding UAs.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Combining data from other UAs when receiving drone ID data

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        For Drone ID data that is received from other UAs, the data of the message itself does not always identify exactly which UA the data originated from. E.g. for data received via Bluetooth Legacy Advertising (Bluetooth 4.x), many of the received messages will not contain the unique serial number/ID of the UA that broadcasted the data, due to the severe size limitation imposed by Legacy Advertising where only one 25 byte message can be broadcasted in one advertisement radio burst. The MAC address (possibly randomized) of the Bluetooth HW is the only way to associate these messages to the same UA. For Bluetooth 5.x and Wi-Fi, it is possible that the same can happen in certain specific situations (e.g. sending large amount of authentication data), although for the majority of normal usage this is unlikely, since the use of MESSAGE_PACKs is mandated. For data received via internet, the data packet will always contain the unique serial number/ID of the originating UA but no associated MAC address.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        In order to allow e.g. a DAA component to sort and identify which UA each data message has originated from, the RID receiver components must add, to the MAVLink message, either the MAC address or the ID number associated with the UA that originated the data message, before sending it on the internal UAS MAVLink network. This information must be added in the id_or_mac field of each MAVLink message.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        The serial/ID is copied directly from the uas_id field with NULLs in the unused portion. The MAC address must be entered in ASCII format with NULLs in the unused portion. Any separation characters must be removed. E.g. "30-65-EC-6F-C4-58" or "30:65:EC:6F:C4:58" must be represented as the ASCII string "3065EC6FC458". When not used for the above purpose, the id_or_mac field must be filled with NULLs.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        The MAVLink system/component listening to the MAVLink messages must be aware that it is possible to receive drone ID data from the same UA via multiple receive paths (e.g. Wi-Fi and internet). Filtering and merging of the data (and possible deletion of duplicates) will be needed and it must keep track of both a possible MAC address and the serial/ID of the other UAs. Additional filtering and sorting based on the timestamp in the LOCATION or SYSTEM messages can also be needed in order to generate a consistent flight path for the other UAs.

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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Open Drone ID

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Direct Remote Identification (DRI) or Remote ID (RID) is/will be a mandatory technology for Unmanned Aircraft (UA) in Japan, the United States of America and the European Union. Data such as the UA real-time location/altitude, UA serial number, operator ID/location etc. are broadcast via either Wi-Fi or Bluetooth from the UA. Open Drone ID is an open source implementation of RID.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          The terms Remote ID and drone ID are used interchangeably in the text below.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Relevant specifications

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          The MAVLink messages defined for usage with Open Drone ID are compliant with the following standards:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • ASTM F3411 Specification for Remote ID and Tracking
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • ASD-STAN prEN 4709-002 Direct Remote Identification

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          For additional details, please see here. In general, the front page of the opendroneid core-c repository has lots of pointers to additional information and SW projects related to drone ID.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Broadcast methods and impact on the message design

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Four different broadcast methods are defined:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • Bluetooth Legacy Advertising (Bluetooth 4.x)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • Bluetooth Long Range with Extended Advertising (Bluetooth 5.x)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • Wi-Fi Neighbor-aware Network (Wi-Fi NaN)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • Wi-Fi Beacon (vendor specific information element in the SSID beacon frame)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          The broadcast method used with Bluetooth Legacy Advertising signals impose a strict size limitation on the amount of data that can be transmitted in each radio burst. Therefore the relevant data is divided into different categories and each category is transmitted via its own message.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          The standards defines 6 such messages and an additional 7th message type for packing multiple messages together into a message pack (used when transmitting on Wi-Fi NaN, Wi-Fi Beacon or Bluetooth Long Range with Extended Advertising). To support easy data transfers to/from a Remote ID (RID) transmitter/receiver component, MAVLink messages supporting all the fields of the drone ID messages have been made available. See Messages below.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Use case examples

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          There are multiple possible use cases for the MAVLink drone ID messages:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • A flight controller sends ID, location etc. data to an onboard Bluetooth/Wi-Fi RID transmitter component.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • An onboard Bluetooth/Wi-Fi receiver picks up drone ID messages from surrounding aircraft, relays this information using MAVLink drone ID messages to the flight controller, which then uses the information e.g. for Detect And Avoid (DAA) calculations.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • A drone sends MAVLink drone ID messages via its control link to the Ground Control Station (GCS). The GCS is connected via the Internet to a Remote ID server, which stores and publishes the drone's ID, location etc.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • As above but in the other direction for DAA calculations.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • A Remote ID Display application (RID) on the GCS listens to all drone ID data received from surrounding UAs and displays their position to the operator.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Messages

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          The ASTM, ASD-STAN and MAVLink messages are listed below.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ASTMASD-STANMAVLinkPurpose
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Basic IDBasic IDOPEN_DRONE_ID_BASIC_IDProvides an ID for the UA, characterizes the type of ID and identifies the type of UA.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          LocationLocationOPEN_DRONE_ID_LOCATIONProvides location, altitude, direction, and speed of the UA.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          AuthenticationNot specified (reserved)OPEN_DRONE_ID_AUTHENTICATIONProvides authentication data for the UA.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Self-IDSelf-IDOPEN_DRONE_ID_SELF_IDOptional plain text message that can be used by operators to identify themselves and the purpose of an operation. Can also be used to provide optional additional clarification in an emergency/remote ID system failure situation.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          SystemSystemOPEN_DRONE_ID_SYSTEMIncludes the operator location/altitude, multiple aircraft information (group/swarm, if applicable), full timestamp and possible category/class information.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Operator IDOperator IDOPEN_DRONE_ID_OPERATOR_IDProvides the operator ID.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Message PackMessage PackOPEN_DRONE_ID_MESSAGE_PACKA payload mechanism for combining the messages above into a single message pack. Used with Bluetooth Extended Advertising, Wi-Fi NaN and Wi-Fi Beacon.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          __OPEN_DRONE_ID_ARM_STATUSSent by RID transmitter/receiver components to indicate that the RID system is "ready to use". This should be used as an arming condition for the flight stack. Note that this differs from the HEARTBEAT which indicates that the component is "alive" but not necessarily ready to use.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          __OPEN_DRONE_ID_SYSTEM_UPDATEA subset of the OPEN_DRONE_ID_SYSTEM message, containing only the fields that must be updated at a high rate. Typically sent from the GCS to provide data to the RID transmitter component. If both OPEN_DRONE_ID_SYSTEM and OPEN_DRONE_ID_SYSTEM_UPDATE are used, the more efficient OPEN_DRONE_ID_SYSTEM_UPDATE will be used at a high rate and the full OPEN_DRONE_ID_SYSTEM at a low rate, to reduce the traffic on the control link.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          The raw byte layout of the MAVLink messages is not exactly the same as what a RID Bluetooth/Wi-Fi transmitter component will broadcast over the air. Slight compression is applied. Example code for this conversion can be found in the project: Open Drone ID Core C Library.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          The Open Drone ID Core C Library contains code for decoding the MAVLink messages and "compressing" the data into data structures for broadcast over Bluetooth or Wi-Fi (or vice-versa for reception).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          The standards do not impose any requirements for a drone to be capable of receiving drone ID messages, nor any requirements for reacting to their content (requirements from local legislation might be different).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          An example Android receiver implementation for Bluetooth/Wi-Fi drone ID is available here (source codes).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Code related to (Internet) Network Remote ID can be found in the InterUSS Project and https://github.com/uastech/standards (Unofficial reference for UAS-related APIs).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Message update rates

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          ASTM F3411 and ASD-STAN prEN 4709-002 (and possibly other standards) require that the LOCATION message is broadcast/published from the RID transmitter component at least once per second. The rest of the messages must be broadcast/published once per 3 seconds (the rules in some regions have tightened this requirement to 1 second for also the BASIC ID and the SYSTEM message. Please see here).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Not all message types or fields within a message type are mandatory to broadcast/publish. The mandatory message set vary from region to region. Please see the summary.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          The standards require that the data contained in the LOCATION and the SYSTEM messages (on the air/internet) is not older than 1 second (the location data, timestamps etc.).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          To be compliant in different regions and receive certification acceptance, the UAS as a complete entity must obey the above timing restrictions. Although popular autopilot SW stacks will be verified to be capable of this, the compliance testing will have been done using a certain set of HW/SW components. Any deviation from this set, will require the integrator of the UAS to consider the combination of the above requirements when deciding the internal update rates for each component, in the MAVLink network, generating data for the RID transmitter component.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          It must be expected that there will be some delays from e.g. the GCS sending a SYSTEM message via the flight controller to the RID transmitter component. The RID transmitter component will gather this data plus data from other messages together and generate the final message data set, which is broadcast over the air. Each of these components will be running on their own update and forward/relay cycle and can thus introduce delays. I.e. running everything at exactly one second cycles, probably will lead to violations of the data "freshness" requirement. But going to the other extreme of forcing all messages to be at 10+ Hz would likely lead to unnecessary airwave noise on the (Command and Control) C2 link/Wi-Fi/Bluetooth spectrum. Components are expected to tune refresh rates to ensure compliance, without saturating internal communication links.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          RID broadcasting using Bluetooth 4 Legacy Advertising introduces additional complexity to this. For Bluetooth 5 or Wi-Fi Beacon/NaN, all messages are packed together and broadcast in a single advertisement by the RID transmitter component. Bluetooth 4 advertisements can only contain 25 bytes and thus can fit only a single message. Since typically at least three messages must be broadcast on the air per second, the BT4 RID transmitter component must advertise at least every 333 ms.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Routing drone ID MAVLink messages inside the UAS

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          There can be multiple MAVLink components in an UAS involved in the handling of drone ID data. An example is shown in the figure below. Certainly not all UAS will contain all of these components and the placement of some of them can be different from one system to another.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          drone ID conceptual overview

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          All senders of MAVLink drone ID messages must fill the sysid field with the MAVLink system ID value that the MAVLink sender component belongs to and fill the compid field with the MAVLink component ID value of the sender.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          The MAVLink components or systems that will typically generate drone ID MAVLink messages are listed in the table below:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Component/SystemDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_COMP_ID_AUTOPILOT1The flight controller/autopilot. Knows the ID of the UA, the current location, altitude, speed etc.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Ground Control StationGCS with a human user interface for inputting the operator ID, text description of the flight purpose, method for obtaining the operator location etc.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_COMP_ID_ODID_TXRX_1A Remote ID transmitter/receiver component (Bluetooth/Wi-Fi/Internet).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_COMP_ID_ODID_TXRX_2A Remote ID transmitter/receiver component (Bluetooth/Wi-Fi/Internet).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          MAV_COMP_ID_ODID_TXRX_3A Remote ID transmitter/receiver component (Bluetooth/Wi-Fi/Internet).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          The autopilot/flight controller is typically the component that knows about the data needed for the BASIC ID and the LOCATION messages. It must stream MAVLink messages with this information to the RID transmitter component.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          The Ground Control Station system is the interface for the operator of the UAS. The operator must enter the data needed for the SELF_ID, the SYSTEM and the OPERATOR_ID, messages before the flight. The GCS must send this data via MAVLink messages to the RID transmitter component (possibly via the autopilot component). If the GCS is capable of regularly obtaining its own location, these updates are sent in the SYSTEM message together with a full timestamp.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          The UAS has one or more RID transmitter components for publishing the drone ID data to the rest of the world, either via Bluetooth or Wi-Fi broadcasts, or via an internet connection to an internet Remote ID server. The RID transmitter components will listen to the MAVLink messages from the flight controller and the GCS but must ignore MAVLink messages where the compid field is set to MAV_COMP_ID_ODID_TXRX_1, MAV_COMP_ID_ODID_TXRX_2 or MAV_COMP_ID_ODID_TXRX_3 (those MAVLink messages would have originated from a RID receiver component and would be the drone ID information from other UAs). The method for the RID transmitter components to identify MAVLink messages from the GCS, is described in the Heartbeat section below.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          The MAVLink components in the UAS involved in the drone ID MAVLink message exchange, must keep track of the HEARTBEAT MAVLink messages from the other MAVLink components. If the HEARTBEAT messages are not received within a required time interval, they must declare a malfunction of the Remote ID system and indicate this in the status field of the LOCATION message. This must also be indicated to the operator of the UAS.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Similarly, the autopilot and GCS components must listen to the ARM_STATUS from the RID transmitter component(s) and not allow the UA to be airborne before the RID transmitter component(s) is ready. During flight, if the arm status indicates a failure, similar action must be taken as for a lack of HEARTBEAT messages. The ARM_STATUS message must also be routed to a GCS, if present, allowing it to provide more detailed information about RemoteID arming failures.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          In addition to the above, there are multiple additional different scenarios that must result in the Location status field being set to Emergency or Remote ID System Failure. The exact strategy on how to avoid having multiple MAVLink components overwriting each-others emergency declarations is not yet fully defined. Some preliminary discussion can be found here.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Optionally, further restrictions on which RID transmitter/receiver component must process a MAVLink message can be enforced if the sender fills the target_system and target_component fields of the MAVLink message. RID transmitter/receiver components must only listen to MAVLink messages that have these fields set to either zero (broadcast) or the component's own MAVLink system ID and component ID. This can be useful if e.g. there are two UA connected to a single GCS. The GCS can then direct information to specific MAV_COMP_ID_ODID_TXRX_x components on a specific UA. By default, all senders of drone ID MAVLink messages must fill the target_system and target_component fields with zero, to indicate a broadcast to all MAVLink components.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Open Drone ID data from other UA(s)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          It is possible that the RID transmitter components also work as receivers, for obtaining drone ID data from surrounding UAs. When publishing the received drone ID data as internal MAVLink messages, they must set the compid field to their own MAV_COMP_ID_ODID_TXRX_n ID to make it possible to distinguish this data from the drone ID data of the UA itself. Also the systemid field must be set with the MAVLink system ID value that the RID receiver component belongs to.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          At least two possible consumers of drone ID data from surrounding aircraft are possible:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • A Detect And Avoid (DAA) system that tracks the current and estimated future positions of other UAs and takes that into account when setting the flight path of the UA itself.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • A Remote ID Display (RID) application that visually shows the surrounding UA's locations (and possibly past and estimated future flight paths) to the operator of the UA, in order for him/her to utilize this information when controlling the UA.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          See below on how to combine remote ID data from other UAs.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Heartbeat

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Each component involved in the MAVLink message exchange, is required to regularly send out MAVLink HEARTBEAT messages in order to facilitate discovery and monitoring of the component in the UAS. Please see further details in the HEARTBEAT documentation.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          For RID transmitter/receiver components (with compids MAV_COMP_ID_ODID_TXRX_1, MAV_COMP_ID_ODID_TXRX_2 or MAV_COMP_ID_ODID_TXRX_3), the type field in the HEARTBEAT message must be filled with MAV_TYPE_ODID.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          The MAVLink HEARTBEAT message serves as the way for RID transmitter/receiver components to identify the sysid of the GCS. The GCS will send out MAVLink HEARTBEAT messages with its sysid field set to the GCS's MAVLink system ID and the type set to MAV_TYPE_GCS. The RID transmitter/receiver components must interpret all MAVLink Open Drone ID messages from that system ID, as coming from the GCS. There is no dedicated MAVLink component ID for GCSs, hence the MAVLink system ID must be used instead for identifying the GCS.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Possible future improvements

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          The current set of MAVLink drone ID messages do not provide any means for controlling some of the RID transmitter/receiver component details. The RID transmitter/receiver component must be hard-coded by the manufacturer to a certain configuration. Some discussion and proposal for this type of messages can be found here. It would be useful to control e.g. the following items:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • Starting/stopping broadcast
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • Configure the broadcast method (BT4, BT5, Beacon, NaN)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • Wi-Fi channel configuration for Beacon
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • Message update rates on the air

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          No regions currently require drone ID publication via the internet (Network Remote ID). However, it is possible that in the future this will change from being optional to mandatory for some use cases/regions as a part of the UTM/USpace efforts. Currently there are no suitable MAVLink messages defined to configure a Network Remote ID transceiver. Messages to specify the server(s) to connect to, credentials etc. would be needed.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Security of drone ID data is partly under definition. The Japan rule requires a signature of the drone ID data to be broadcasted in the AUTHENTICATION message. The details are in Japanese. No such requirement currently exists for the US and EU. It is possible that some use cases in the future might require more security related activities for drone ID data. Some additional protocol specification work is being drafted by the IETF in the DRIP working group.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          UAS with multiple RID transmitters and/or receiver components

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Since three different technologies for broadcasting/publishing drone ID data have been defined (Bluetooth, Wi-Fi and internet), it is quite possible for a UAS to support more than just a single type.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          For UASs that desire to listen to other UA's information, it would be desirable to include receivers for all three methods, in order to maximize the possibility of detecting all other surrounding UAs.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Combining data from other UAs when receiving drone ID data

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          For Drone ID data that is received from other UAs, the data of the message itself does not always identify exactly which UA the data originated from. E.g. for data received via Bluetooth Legacy Advertising (Bluetooth 4.x), many of the received messages will not contain the unique serial number/ID of the UA that broadcasted the data, due to the severe size limitation imposed by Legacy Advertising where only one 25 byte message can be broadcasted in one advertisement radio burst. The MAC address (possibly randomized) of the Bluetooth HW is the only way to associate these messages to the same UA. For Bluetooth 5.x and Wi-Fi, it is possible that the same can happen in certain specific situations (e.g. sending large amount of authentication data), although for the majority of normal usage this is unlikely, since the use of MESSAGE_PACKs is mandated. For data received via internet, the data packet will always contain the unique serial number/ID of the originating UA but no associated MAC address.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          In order to allow e.g. a DAA component to sort and identify which UA each data message has originated from, the RID receiver components must add, to the MAVLink message, either the MAC address or the ID number associated with the UA that originated the data message, before sending it on the internal UAS MAVLink network. This information must be added in the id_or_mac field of each MAVLink message.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          The serial/ID is copied directly from the uas_id field with NULLs in the unused portion. The MAC address must be entered in ASCII format with NULLs in the unused portion. Any separation characters must be removed. E.g. "30-65-EC-6F-C4-58" or "30:65:EC:6F:C4:58" must be represented as the ASCII string "3065EC6FC458". When not used for the above purpose, the id_or_mac field must be filled with NULLs.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          The MAVLink system/component listening to the MAVLink messages must be aware that it is possible to receive drone ID data from the same UA via multiple receive paths (e.g. Wi-Fi and internet). Filtering and merging of the data (and possible deletion of duplicates) will be needed and it must keep track of both a possible MAC address and the serial/ID of the other UAs. Additional filtering and sorting based on the timestamp in the LOCATION or SYSTEM messages can also be needed in order to generate a consistent flight path for the other UAs.

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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            \ No newline at end of file diff --git a/zh/services/parameter.html b/zh/services/parameter.html index dbfe3c5c0..b44e11c3b 100644 --- a/zh/services/parameter.html +++ b/zh/services/parameter.html @@ -1,8 +1,8 @@ -Parameter Protocol · MAVLink Developer Guide
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Parameter Protocol

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            The parameter microservice is used to exchange configuration settings between MAVLink components.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Each parameter is represented as a key/value pair. The key is usually the human-readable name of the parameter (maximum of 16 characters) and a value - which can be one of a number of types.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            The key/value pair has a number of important properties:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • The human-readable name is small but useful (it can encode parameter names from which users can infer the purpose of the parameter).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • Unknown autopilots that implement the protocol can be supported "out of the box".
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • A GCS does not have to know in advance what parameters exist on a remote system (although in practice a GCS can provide a better user experience with additional parameter metadata like maximum and minimum values, default values, etc.).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • Adding a parameter only requires changes to the system with parameters. A GCS that loads the parameters, and the MAVLink communication libraries, should not require any changes.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Message/Enum Summary

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MessageDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            PARAM_REQUEST_LISTRequest all parameters. The recipient broadcast all parameter values using PARAM_VALUE.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            PARAM_REQUEST_READRequest a single parameter. The recipient broadcasts the specified parameter value using PARAM_VALUE.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            PARAM_SETSend command to set a specified parameter to a value. After the value has been set (whether successful or not), the recipient should broadcast the current value using PARAM_VALUE.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            PARAM_VALUEThe current value of a parameter, broadcast in response to a request to get one or more parameters (PARAM_REQUEST_READ, PARAM_REQUEST_LIST) or whenever a parameter is set (PARAM_SET) or changes.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            EnumDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_PARAM_TYPEPARAM_SET and PARAM_VALUE store/encode parameter values within a float field. This type conveys the real type of the encoded parameter value, e.g. MAV_PARAM_TYPE_UINT16, MAV_PARAM_TYPE_INT32, etc.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            FlagsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_PROTOCOL_CAPABILITY_PARAM_ENCODE_BYTEWISEParameter values are byte-wise encoded in the PARAM_SET.param_value and PARAM_VALUE.param_value fields (float).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_PROTOCOL_CAPABILITY_PARAM_ENCODE_C_CASTParameter values are encoded using C casts into the PARAM_SET.param_value and PARAM_VALUE.param_value fields (float).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Protocol Discovery

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Support for the parameter protocol is indicated if either MAV_PROTOCOL_CAPABILITY_PARAM_ENCODE_BYTEWISE or MAV_PROTOCOL_CAPABILITY_PARAM_ENCODE_C_CAST protocol bits are set in AUTOPILOT_VERSION.capabilities.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            These protocol bits indicate different bytewise and C-style parameter value encoding respectively.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            The protocol may still be supported even if neither protocol bit is set. To use the protocol in this case, a connected system would need to have prior knowledge of connected component.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Parameter Names

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Parameters names/ids are set in the param_id field of messages where they are used. The param_id string can store up to 16 characters. The string is terminated with a NULL (\0) character if there are less than 16 human-readable chars, and without a null termination byte if the length is exactly 16 chars.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Parameter Encoding

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Parameter values are encoded in the param_value field, an IEE754 single-precision, 4 byte, floating point value (see PARAM_SET and PARAM_VALUE). The param_type (MAV_PARAM_TYPE) is used to indicate the actual type of the data, so that it can be decoded by the recipient. Supported types are: 8, 16, 32 and 64-bit signed and unsigned integers, and 32 and 64-bit floating point numbers.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Two encoding approaches are supported:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • Byte-wise encoding: The parameter's bytes are copied directly into the bytes used for the field. A 32-bit integer is sent as 32 bits of data.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • C-style cast: The parameter value is converted to a float. This may result in some loss of precision as a float can represent an integer with up to 24 bits of pecision.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Byte wise encoding is recommended as it allows very large integers to be exchanged (e.g. 1E7 scaled integers can be useful for encoding some types of data, but lose precision if cast directly to floats).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            A component should support only one type, and indicate that type by setting the MAV_PROTOCOL_CAPABILITY_PARAM_ENCODE_BYTEWISE (byte-wise encoding) or MAV_PROTOCOL_CAPABILITY_PARAM_ENCODE_C_CAST (C-style encoding) protocol bits in AUTOPILOT_VERSION.capabilities. A GCS may support both types and use the type that is indicated by the target component.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Bytewise Encoding: Mavgen C API

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            The C API provides a convenient union that allows you to bytewise convert between any of the supported types: mavlink_param_union_t (mavlink_types.h). For example, below we shown how you can set the union integer field, and then pass the float value to the sending function:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            mavlink_param_union_t param;
+Parameter Protocol · MAVLink Developer Guide
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Parameter Protocol
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            The parameter microservice is used to exchange configuration settings between MAVLink components.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Each parameter is represented as a key/value pair. The key is usually the human-readable name of the parameter (maximum of 16 characters) and a value - which can be one of a number of types.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            The key/value pair has a number of important properties:
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • The human-readable name is small but useful (it can encode parameter names from which users can infer the purpose of the parameter).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • Unknown autopilots that implement the protocol can be supported "out of the box".
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • A GCS does not have to know in advance what parameters exist on a remote system (although in practice a GCS can provide a better user experience with additional parameter metadata like maximum and minimum values, default values, etc.).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • Adding a parameter only requires changes to the system with parameters. A GCS that loads the parameters, and the MAVLink communication libraries, should not require any changes.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Message/Enum Summary
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MessageDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            PARAM_REQUEST_LISTRequest all parameters. The recipient broadcast all parameter values using PARAM_VALUE.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            PARAM_REQUEST_READRequest a single parameter. The recipient broadcasts the specified parameter value using PARAM_VALUE.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            PARAM_SETSend command to set a specified parameter to a value. After the value has been set (whether successful or not), the recipient should broadcast the current value using PARAM_VALUE.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            PARAM_VALUEThe current value of a parameter, broadcast in response to a request to get one or more parameters (PARAM_REQUEST_READ, PARAM_REQUEST_LIST) or whenever a parameter is set (PARAM_SET) or changes.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            EnumDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_PARAM_TYPEPARAM_SET and PARAM_VALUE store/encode parameter values within a float field. This type conveys the real type of the encoded parameter value, e.g. MAV_PARAM_TYPE_UINT16, MAV_PARAM_TYPE_INT32, etc.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            FlagsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_PROTOCOL_CAPABILITY_PARAM_ENCODE_BYTEWISEParameter values are byte-wise encoded in the PARAM_SET.param_value and PARAM_VALUE.param_value fields (float).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_PROTOCOL_CAPABILITY_PARAM_ENCODE_C_CASTParameter values are encoded using C casts into the PARAM_SET.param_value and PARAM_VALUE.param_value fields (float).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Protocol Discovery
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Support for the parameter protocol is indicated if either MAV_PROTOCOL_CAPABILITY_PARAM_ENCODE_BYTEWISE or MAV_PROTOCOL_CAPABILITY_PARAM_ENCODE_C_CAST protocol bits are set in AUTOPILOT_VERSION.capabilities.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            These protocol bits indicate different bytewise and C-style parameter value encoding respectively.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            The protocol may still be supported even if neither protocol bit is set. To use the protocol in this case, a connected system would need to have prior knowledge of connected component.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Parameter Names
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Parameters names/ids are set in the param_id field of messages where they are used. The param_id string can store up to 16 characters. The string is terminated with a NULL (\0) character if there are less than 16 human-readable chars, and without a null termination byte if the length is exactly 16 chars.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Parameter Encoding
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Parameter values are encoded in the param_value field, an IEE754 single-precision, 4 byte, floating point value (see PARAM_SET and PARAM_VALUE). The param_type (MAV_PARAM_TYPE) is used to indicate the actual type of the data, so that it can be decoded by the recipient. Supported types are: 8, 16, 32 and 64-bit signed and unsigned integers, and 32 and 64-bit floating point numbers.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Two encoding approaches are supported:
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • Byte-wise encoding: The parameter's bytes are copied directly into the bytes used for the field. A 32-bit integer is sent as 32 bits of data.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • C-style cast: The parameter value is converted to a float. This may result in some loss of precision as a float can represent an integer with up to 24 bits of pecision.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Byte wise encoding is recommended as it allows very large integers to be exchanged (e.g. 1E7 scaled integers can be useful for encoding some types of data, but lose precision if cast directly to floats).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            A component should support only one type, and indicate that type by setting the MAV_PROTOCOL_CAPABILITY_PARAM_ENCODE_BYTEWISE (byte-wise encoding) or MAV_PROTOCOL_CAPABILITY_PARAM_ENCODE_C_CAST (C-style encoding) protocol bits in AUTOPILOT_VERSION.capabilities. A GCS may support both types and use the type that is indicated by the target component.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Bytewise Encoding: Mavgen C API
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            The C API provides a convenient union that allows you to bytewise convert between any of the supported types: mavlink_param_union_t (mavlink_types.h). For example, below we shown how you can set the union integer field, and then pass the float value to the sending function:
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            mavlink_param_union_t param;
 int32_t integer = 20000;
 param.param_int32 = integer;
 param.type = MAV_PARAM_TYPE_INT32;
 
 // Then send the param by providing the float bytes to the send function
 mavlink_msg_param_set_send(xxx, xxx, param.param_float, param.type, xxx);
-
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Bytewise Encoding: Mavgen Python API
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Pymavlink does not include special support to byte-wise encode the non-float data types (unsurprisingly, because Python effectively "hides" low level data types from users). When working with a system that supports non-float parameters (e.g. PX4) you will need to do the encoding/decoding yourself when sending and receiving messages.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            There is a good example of how to do this in the Pymavlink mavparm.py module (see MAVParmDict.mavset()).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Parameter Types
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            The allowed parameter types are given in MAV_PARAM_TYPE.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Note that not all types are supported: for example PX4 supports only INT32 and FLOAT. A GCS can infer the supported types from the parameters it is sent.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Parameter Metadata
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Parameter metadata is additional information about a parameters that allow them to be safely used in a ground station. This might include a description and listing of possible values.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            The Component Information Protocol has been proposed as a mechanism for getting this information directly from a vehicle.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Parameter Caching
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            A GCS or other component may choose to maintain a cache of parameter values for connected components/systems, in order to reduce the time required to display values and reduce MAVLink traffic.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            The cache can be populated initially by first reading the full parameter list at least once, and then updated by monitoring for PARAM_VALUE messages (which are emitted whenever a parameter is written or otherwise changed).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Cache synchronisation is not guaranteed; a component may miss update messages due to parameter changes by other components.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Multi-System and Multi-Component Support
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAVLink supports multiple systems in parallel on the same link, and multiple MAVLink enabled components within a system.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Requests to get and set parameters can be sent to individual systems or components. To get a complete parameter list from a system, send the request parameter message with target_component set to MAV_COMP_ID_ALL.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            All components must respond to parameter request messages addressed to their ID or the ID MAV_COMP_ID_ALL.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            QGroundControl by default queries all components of the currently connected system (it sends ID MAV_COMP_ID_ALL).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Limitations
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Parameters Table is Invariant
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            The protocol requires that the parameter set does not change during normal operation/after parameters have been read.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            If a component can add parameters during (or after) initial synchronization the protocol cannot guarantee reliable/robust synchronization, because there is no way to notify that the parameter set has changed and a new sync is required.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            If working with a non-compliant component, the risk of problems when working with parameters can be reduced (but not removed) if:
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • The param_id is used to read parameters where possible (the mapping of param_index to a particular parameter might change on systems where parameters can be added/removed).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • PARAM_VALUE.param_count is monitored and the parameter set re-sychronised on change.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Parameter Synchronisation Can Fail
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            A GCS (or other component) that wants to cache parameters with a component and keep them synchronised, should first get all parameters, and then track any new parameter changes by monitoring for PARAM_VALUE messages (updating their internal list appropriately).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            This works for the originator of a parameter change, which can resend the request if an expected PARAM_VALUE is not recieved. This approach may fail for components that did not originate the change, as they will not know about updates they do not receive (i.e. if messages are dropped).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            A component may mitigate this risk by, for example, sending the PARAM_VALUE multiple times after a parameter is changed.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Parameter Operations
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            This section defines the state machine/message sequences for all parameter operations.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Read All Parameters
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            The read-all operation is started by sending the PARAM_REQUEST_LIST message. The target component must start to broadcast the parameters individually in PARAM_VALUE messages after receiving this message. The drone should allow a pause after sending each parameter to ensure that the operation doesn't consume all of the available link bandwidth (30 - 50 percent of the bandwidth is reasonable).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Mermaid sequence: Read all parameters
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            The sequence of operations is:
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1. GCS (client) sends PARAM_REQUEST_LIST specifying a target system/component.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • Broadcast addresses may be used. All targeted components should respond with parameters (or ignore the request if they have none).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • The GCS is expected to accumulate parameters from all responding systems.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • The timeout/retry behaviour is GSC dependent.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            2. The targeted component(s) should respond, sending all parameters individually in PARAM_VALUE messages.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • Allow breaks between each message in order to avoid saturating the link.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • Components with no parameters should ignore the request.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            3. GCS starts timeout after each PARAM_VALUE message in order to detect when parameters are no longer being sent (that the operation has completed).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Notes:
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • The GCS/API may accumulate the received parameters for each component and can determine if any are missing/not received (PARAM_VALUE contains the total number of params and index of current param).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • Handling of missing params is GCS-dependent. QGroundControl, for example, individually requests each missing parameter by index.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • If a component does not any parameters then it will ignore a PARAM_REQUEST_LIST request. The sender should simply timeout (after resends) if no PARAM_VALUE is received.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Read Single Parameter
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            A single parameter can be read by sending the PARAM_REQUEST_READ message, as shown below:
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Mermaid sequence: Read single parameter
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            The sequence of operations is:
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1. GCS (client) sends PARAM_REQUEST_READ specifying either the parameter id (name) or parameter index.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            2. GCS starts timeout waiting for acknowledgment (in the form of a PARAM_VALUE message).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            3. Drone responds with PARAM_VALUE containing the parameter value. This is a broadcast message (sent to all systems).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            The drone may restart the sequence if the PARAM_VALUE acknowledgment is not received within the timeout.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            There is no formal way for the drone to signal when an invalid parameter is requested (i.e. for a parameter name or id that does not exist). In this case the drone should emit STATUS_TEXT. The GCS may monitor for the specific notification, but will otherwise fail the request after any timeout/resend cycle completes.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Write Parameters
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Parameters can be written individually by sending the parameter name and value pair to the GCS, as shown:
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Mermaid Sequence: Write parameters
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            The sequence of operations is:
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1. GCS (client) sends PARAM_SET specifying the param name to update and its new value (also target system/component and the param type).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            2. GCS starts timout waiting for acknowledgment (in the form of a PARAM_VALUE message).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            3. Drone writes parameter and responds by broadcasting a PARAM_VALUE containing the updated parameter value to all components/systems. > Note The Drone must acknowledge the PARAM_SET by broadcasting a PARAM_VALUE even if the write operation fails. In this case the PARAM_VALUE will be the current/unchanged parameter value.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            4. GCS should update the parameter cache (if used) with the new value.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            5. The GCS may restart the sequence if the expected PARAM_VALUE is not received within the timeout, or if the write operation fails (the value returned in PARAM_VALUE does not match the value set).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            The command MAV_CMD_DO_SET_PARAMETER is not part of the parameter protocol. If implemented it can be used to set the value of a parameter using the enumeration of the parameter within the remote system is known (rather than the id). This has no particular advantage over the parameter protocol methods.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Implementations
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            PX4
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            PX4 is compatible with the specification:
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • Byte-wise encoding of parameters is supported. Note however that PX4 does not set MAV_PROTOCOL_CAPABILITY_PARAM_ENCODE_BYTEWISE (at time of writing - PX4 v1.12). See PX4-Autopilot/issues/19275
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • Only float and Int32 parameters are used.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            PX4 provides an addition off-spec mechanism that allows a GCS to cache parameters. This significantly reduces ready-to-use time for the GCS if parameters have not been changed since the previous parameter sync. The way that this mechanism works is that when the list of parameters is requested, PX4 first sends a PARAM_VALUE with the param_index of INT16_MAX (in code, referred to as PARAM_HASH) containing a hash of the parameter set.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            This hash is calculated by computing the MAVLink CRC32 over all param names and values (see the param_hash_check() in source here). If the GCS has a matching hash value it can immediately start using its cached parameters (rather than having to wait while all the rest of the parameters upload).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Source files:
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ArduPilot
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            ArduPilot implements a largely compatible version of this protocol.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • C-style encoding of parameters is supported. Note however that ArduPilot does not set MAV_PROTOCOL_CAPABILITY_PARAM_ENCODE_C_CAST.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Off spec-behaviour:
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • PARAM_VALUE is not emitted after the parameter update with the new value (or the old value if update failed).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Compatible differences:
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • Parameter sets can be enabled/disabled during operation. This can invalidate the set of synchronized parameters and make access to parameters by index unreliable.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • PARAM_SET
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • param_type in the message is ignored. The data type is obtained by checking stored type info (via name lookup).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • The data type is used to constrain and round the received value before it is stored (as a float).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Source files:
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            QGroundControl
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            QGroundControl implements this protocol, and works with both ArduPilot and PX4.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Source files:
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Bytewise Encoding: Mavgen Python API

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Pymavlink does not include special support to byte-wise encode the non-float data types (unsurprisingly, because Python effectively "hides" low level data types from users). When working with a system that supports non-float parameters (e.g. PX4) you will need to do the encoding/decoding yourself when sending and receiving messages.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              There is a good example of how to do this in the Pymavlink mavparm.py module (see MAVParmDict.mavset()).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Parameter Types

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              The allowed parameter types are given in MAV_PARAM_TYPE.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Note that not all types are supported: for example PX4 supports only INT32 and FLOAT. A GCS can infer the supported types from the parameters it is sent.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Parameter Metadata

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Parameter metadata is additional information about a parameters that allow them to be safely used in a ground station. This might include a description and listing of possible values.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              The Component Information Protocol has been proposed as a mechanism for getting this information directly from a vehicle.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Parameter Caching

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              A GCS or other component may choose to maintain a cache of parameter values for connected components/systems, in order to reduce the time required to display values and reduce MAVLink traffic.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              The cache can be populated initially by first reading the full parameter list at least once, and then updated by monitoring for PARAM_VALUE messages (which are emitted whenever a parameter is written or otherwise changed).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Cache synchronisation is not guaranteed; a component may miss update messages due to parameter changes by other components.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Multi-System and Multi-Component Support

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAVLink supports multiple systems in parallel on the same link, and multiple MAVLink enabled components within a system.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Requests to get and set parameters can be sent to individual systems or components. To get a complete parameter list from a system, send the request parameter message with target_component set to MAV_COMP_ID_ALL.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              All components must respond to parameter request messages addressed to their ID or the ID MAV_COMP_ID_ALL.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              QGroundControl by default queries all components of the currently connected system (it sends ID MAV_COMP_ID_ALL).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Limitations

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Parameters Table is Invariant

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              The protocol requires that the parameter set does not change during normal operation/after parameters have been read.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              If a component can add parameters during (or after) initial synchronization the protocol cannot guarantee reliable/robust synchronization, because there is no way to notify that the parameter set has changed and a new sync is required.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              If working with a non-compliant component, the risk of problems when working with parameters can be reduced (but not removed) if:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • The param_id is used to read parameters where possible (the mapping of param_index to a particular parameter might change on systems where parameters can be added/removed).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • PARAM_VALUE.param_count is monitored and the parameter set re-sychronised on change.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Parameter Synchronisation Can Fail

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              A GCS (or other component) that wants to cache parameters with a component and keep them synchronised, should first get all parameters, and then track any new parameter changes by monitoring for PARAM_VALUE messages (updating their internal list appropriately).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              This works for the originator of a parameter change, which can resend the request if an expected PARAM_VALUE is not recieved. This approach may fail for components that did not originate the change, as they will not know about updates they do not receive (i.e. if messages are dropped).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              A component may mitigate this risk by, for example, sending the PARAM_VALUE multiple times after a parameter is changed.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Parameter Operations

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              This section defines the state machine/message sequences for all parameter operations.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Read All Parameters

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              The read-all operation is started by sending the PARAM_REQUEST_LIST message. The target component must start to broadcast the parameters individually in PARAM_VALUE messages after receiving this message. The drone should allow a pause after sending each parameter to ensure that the operation doesn't consume all of the available link bandwidth (30 - 50 percent of the bandwidth is reasonable).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Mermaid sequence: Read all parameters

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              The sequence of operations is:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              1. GCS (client) sends PARAM_REQUEST_LIST specifying a target system/component.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • Broadcast addresses may be used. All targeted components should respond with parameters (or ignore the request if they have none).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • The GCS is expected to accumulate parameters from all responding systems.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • The timeout/retry behaviour is GSC dependent.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              2. The targeted component(s) should respond, sending all parameters individually in PARAM_VALUE messages.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • Allow breaks between each message in order to avoid saturating the link.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • Components with no parameters should ignore the request.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              3. GCS starts timeout after each PARAM_VALUE message in order to detect when parameters are no longer being sent (that the operation has completed).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Notes:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • The GCS/API may accumulate the received parameters for each component and can determine if any are missing/not received (PARAM_VALUE contains the total number of params and index of current param).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • Handling of missing params is GCS-dependent. QGroundControl, for example, individually requests each missing parameter by index.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • If a component does not any parameters then it will ignore a PARAM_REQUEST_LIST request. The sender should simply timeout (after resends) if no PARAM_VALUE is received.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Read Single Parameter

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              A single parameter can be read by sending the PARAM_REQUEST_READ message, as shown below:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Mermaid sequence: Read single parameter

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              The sequence of operations is:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              1. GCS (client) sends PARAM_REQUEST_READ specifying either the parameter id (name) or parameter index.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              2. GCS starts timeout waiting for acknowledgment (in the form of a PARAM_VALUE message).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              3. Drone responds with PARAM_VALUE containing the parameter value. This is a broadcast message (sent to all systems).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              The drone may restart the sequence if the PARAM_VALUE acknowledgment is not received within the timeout.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              There is no formal way for the drone to signal when an invalid parameter is requested (i.e. for a parameter name or id that does not exist). In this case the drone should emit STATUS_TEXT. The GCS may monitor for the specific notification, but will otherwise fail the request after any timeout/resend cycle completes.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Write Parameters

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Parameters can be written individually by sending the parameter name and value pair to the GCS, as shown:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Mermaid Sequence: Write parameters

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              The sequence of operations is:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              1. GCS (client) sends PARAM_SET specifying the param name to update and its new value (also target system/component and the param type).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              2. GCS starts timout waiting for acknowledgment (in the form of a PARAM_VALUE message).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              3. Drone writes parameter and responds by broadcasting a PARAM_VALUE containing the updated parameter value to all components/systems. > Note The Drone must acknowledge the PARAM_SET by broadcasting a PARAM_VALUE even if the write operation fails. In this case the PARAM_VALUE will be the current/unchanged parameter value.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              4. GCS should update the parameter cache (if used) with the new value.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              5. The GCS may restart the sequence if the expected PARAM_VALUE is not received within the timeout, or if the write operation fails (the value returned in PARAM_VALUE does not match the value set).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              The command MAV_CMD_DO_SET_PARAMETER is not part of the parameter protocol. If implemented it can be used to set the value of a parameter using the enumeration of the parameter within the remote system is known (rather than the id). This has no particular advantage over the parameter protocol methods.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Implementations

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              PX4

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              PX4 is compatible with the specification:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • Byte-wise encoding of parameters is supported. Note however that PX4 does not set MAV_PROTOCOL_CAPABILITY_PARAM_ENCODE_BYTEWISE (at time of writing - PX4 v1.12). See PX4-Autopilot/issues/19275
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • Only float and Int32 parameters are used.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              PX4 provides an addition off-spec mechanism that allows a GCS to cache parameters. This significantly reduces ready-to-use time for the GCS if parameters have not been changed since the previous parameter sync. The way that this mechanism works is that when the list of parameters is requested, PX4 first sends a PARAM_VALUE with the param_index of INT16_MAX (in code, referred to as PARAM_HASH) containing a hash of the parameter set.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              This hash is calculated by computing the MAVLink CRC32 over all param names and values (see the param_hash_check() in source here). If the GCS has a matching hash value it can immediately start using its cached parameters (rather than having to wait while all the rest of the parameters upload).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Source files:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              ArduPilot

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              ArduPilot implements a largely compatible version of this protocol.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • C-style encoding of parameters is supported. Note however that ArduPilot does not set MAV_PROTOCOL_CAPABILITY_PARAM_ENCODE_C_CAST.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Off spec-behaviour:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • PARAM_VALUE is not emitted after the parameter update with the new value (or the old value if update failed).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Compatible differences:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • Parameter sets can be enabled/disabled during operation. This can invalidate the set of synchronized parameters and make access to parameters by index unreliable.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • PARAM_SET
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • param_type in the message is ignored. The data type is obtained by checking stored type info (via name lookup).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • The data type is used to constrain and round the received value before it is stored (as a float).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Source files:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              QGroundControl

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              QGroundControl implements this protocol, and works with both ArduPilot and PX4.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Source files:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              results matching ""

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                No results matching ""

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                \ No newline at end of file diff --git a/zh/services/parameter_ext.html b/zh/services/parameter_ext.html index 3cede4779..6f477e8b4 100644 --- a/zh/services/parameter_ext.html +++ b/zh/services/parameter_ext.html @@ -1,4 +1,4 @@ -Extended Parameter Protocol · MAVLink Developer Guide
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Messages
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Messages
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Implementations
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Examples
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Examples
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Support
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Help

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Extended Parameter Protocol

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                The Extended Parameter Protocol is an extended version of the Parameter Protocol that adds support for larger custom parameter types e.g. strings. It can be used to exchange configuration settings between MAVLink components, and in particular configuration settings that may be more than just numeric values. It can be used to exchange configuration settings between MAVLink components, and in particular configuration settings that may be more than just numeric values.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                The protocol shares most of the same benefits and limitations of the original protocol, and similar (but not identical) operation sequences. The protocol shares most of the same benefits and limitations of the original protocol, and similar (but not identical) operation sequences. The main difference is that when writing a parameter the system emits one or more PARAM_EXT_ACK messages (rather than PARAM_EXT_VALUE, as you would expect from the original protocol). This allows the Extended Parameter Protocol to differentiate between the case where a write fails (or is in progress) and the case where the value update simply went missing. This allows the Extended Parameter Protocol to differentiate between the case where a write fails (or is in progress) and the case where the value update simply went missing.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                The extensions were invented for the Camera Protocol, which uses them to request/set parameter values specified in a Camera Definition File. At time of writing the protocol is supported by QGroundControl for this purpose, but is not otherwise supported by flight stacks. At time of writing the protocol is supported by QGroundControl for this purpose, but is not otherwise supported by flight stacks.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Message/Enum Summary

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MessageDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                PARAM_EXT_REQUEST_LISTRequest all parameters of this component. Request all parameters of this component. On receiving this request, the requested component will emit all parameter values using PARAM_EXT_VALUE.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                PARAM_EXT_VALUEEmit the value of a parameter, following a PARAM_EXT_REQUEST_LIST or PARAM_EXT_REQUEST_READ. The message includes param_count and param_index which the recipient can use to track received parameters and re-request missing parameters after a timeout. The message includes param_count and param_index which the recipient can use to track received parameters and re-request missing parameters after a timeout.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                PARAM_EXT_REQUEST_READRequest the value of a specific parameter using either its param_id or param_index. Expects a response in a PARAM_EXT_VALUE. Expects a response in a PARAM_EXT_VALUE.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                PARAM_EXT_SETSet a parameter value. Set a parameter value. Expects immediate response PARAM_EXT_ACK with result indicating success, failure, or that the request is still in progress (PARAM_ACK_IN_PROGRESS). If in progress, additional update PARAM_EXT_ACK messages are expected. If in progress, additional update PARAM_EXT_ACK messages are expected.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                PARAM_EXT_ACKResponse from a PARAM_EXT_SET message, which indicates whether the value was accepted (set), failed, setting is still in progress, or that the specified parameter is invalid/unsupported.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                EnumDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_PARAM_EXT_TYPESpecifies the datatype of a MAVLink extended parameter (parameter values are encoded within the a char[128] array in the messages). This type conveys the real type of the encoded parameter value, e.g. MAV_PARAM_EXT_TYPE_REAL32. This type conveys the real type of the encoded parameter value, e.g. MAV_PARAM_EXT_TYPE_REAL32.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                PARAM_ACKRequest acknowledgment status value, sent in an PARAM_EXT_ACK as a response to a PARAM_EXT_SET message. A request can be accepted, fail, in-progress, or unsupported (indicating the specified parameter does not exist or has an invalid value or value type). A request can be accepted, fail, in-progress, or unsupported (indicating the specified parameter does not exist or has an invalid value or value type).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Parameter Encoding

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Parameters names/ids are set in the param_id field of messages where they are used. Parameters names/ids are set in the param_id field of messages where they are used. The param_id string can store up to 16 characters. The string is terminated with a NULL (\0) character if there are less than 16 human-readable chars, and without a null termination byte if the length is exactly 16 chars. The string is terminated with a NULL (\0) character if there are less than 16 human-readable chars, and without a null termination byte if the length is exactly 16 chars.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Names (as above) are the same as for the Parameter Protocol.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Values are byte-wise encoded within the param_value field, which is a char[128]. The param_type (MAV_PARAM_EXT_TYPE) is used to indicate the actual type of the data so that it can be decoded by the recipient. Supported types are: 8, 16, 32 and 64-bit signed and unsigned integers, 32 and 64-bit floating point numbers, and a "custom type" which may used for e.g. strings. The param_type (MAV_PARAM_EXT_TYPE) is used to indicate the actual type of the data so that it can be decoded by the recipient. Supported types are: 8, 16, 32 and 64-bit signed and unsigned integers, 32 and 64-bit floating point numbers, and a "custom type" which may used for e.g. strings.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                The encoding is best described by example as shown below.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                C Encoding/Decoding

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                To send the parameter, the data is written into a union structure then memcpy used to copy the data into the message char[128] field.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                The union structure might look like this:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAVPACKED(
+Extended Parameter Protocol · MAVLink Developer Guide
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Extended Parameter Protocol
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                The Extended Parameter Protocol is an extended version of the Parameter Protocol that adds support for larger custom parameter types e.g. strings. It can be used to exchange configuration settings between MAVLink components, and in particular configuration settings that may be more than just numeric values. It can be used to exchange configuration settings between MAVLink components, and in particular configuration settings that may be more than just numeric values.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                The protocol shares most of the same benefits and limitations of the original protocol, and similar (but not identical) operation sequences. The protocol shares most of the same benefits and limitations of the original protocol, and similar (but not identical) operation sequences. The main difference is that when writing a parameter the system emits one or more PARAM_EXT_ACK messages (rather than PARAM_EXT_VALUE, as you would expect from the original protocol). This allows the Extended Parameter Protocol to differentiate between the case where a write fails (or is in progress) and the case where the value update simply went missing. This allows the Extended Parameter Protocol to differentiate between the case where a write fails (or is in progress) and the case where the value update simply went missing.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                The extensions were invented for the Camera Protocol, which uses them to request/set parameter values specified in a Camera Definition File. At time of writing the protocol is supported by QGroundControl for this purpose, but is not otherwise supported by flight stacks. At time of writing the protocol is supported by QGroundControl for this purpose, but is not otherwise supported by flight stacks.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Message/Enum Summary
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MessageDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                PARAM_EXT_REQUEST_LISTRequest all parameters of this component. Request all parameters of this component. On receiving this request, the requested component will emit all parameter values using PARAM_EXT_VALUE.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                PARAM_EXT_VALUEEmit the value of a parameter, following a PARAM_EXT_REQUEST_LIST or PARAM_EXT_REQUEST_READ. The message includes param_count and param_index which the recipient can use to track received parameters and re-request missing parameters after a timeout. The message includes param_count and param_index which the recipient can use to track received parameters and re-request missing parameters after a timeout.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                PARAM_EXT_REQUEST_READRequest the value of a specific parameter using either its param_id or param_index. Expects a response in a PARAM_EXT_VALUE. Expects a response in a PARAM_EXT_VALUE.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                PARAM_EXT_SETSet a parameter value. Set a parameter value. Expects immediate response PARAM_EXT_ACK with result indicating success, failure, or that the request is still in progress (PARAM_ACK_IN_PROGRESS). If in progress, additional update PARAM_EXT_ACK messages are expected. If in progress, additional update PARAM_EXT_ACK messages are expected.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                PARAM_EXT_ACKResponse from a PARAM_EXT_SET message, which indicates whether the value was accepted (set), failed, setting is still in progress, or that the specified parameter is invalid/unsupported.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                EnumDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_PARAM_EXT_TYPESpecifies the datatype of a MAVLink extended parameter (parameter values are encoded within the a char[128] array in the messages). This type conveys the real type of the encoded parameter value, e.g. MAV_PARAM_EXT_TYPE_REAL32. This type conveys the real type of the encoded parameter value, e.g. MAV_PARAM_EXT_TYPE_REAL32.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                PARAM_ACKRequest acknowledgment status value, sent in an PARAM_EXT_ACK as a response to a PARAM_EXT_SET message. A request can be accepted, fail, in-progress, or unsupported (indicating the specified parameter does not exist or has an invalid value or value type). A request can be accepted, fail, in-progress, or unsupported (indicating the specified parameter does not exist or has an invalid value or value type).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Parameter Encoding
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Parameters names/ids are set in the param_id field of messages where they are used. Parameters names/ids are set in the param_id field of messages where they are used. The param_id string can store up to 16 characters. The string is terminated with a NULL (\0) character if there are less than 16 human-readable chars, and without a null termination byte if the length is exactly 16 chars. The string is terminated with a NULL (\0) character if there are less than 16 human-readable chars, and without a null termination byte if the length is exactly 16 chars.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Names (as above) are the same as for the Parameter Protocol.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Values are byte-wise encoded within the param_value field, which is a char[128]. The param_type (MAV_PARAM_EXT_TYPE) is used to indicate the actual type of the data so that it can be decoded by the recipient. Supported types are: 8, 16, 32 and 64-bit signed and unsigned integers, 32 and 64-bit floating point numbers, and a "custom type" which may used for e.g. strings. The param_type (MAV_PARAM_EXT_TYPE) is used to indicate the actual type of the data so that it can be decoded by the recipient. Supported types are: 8, 16, 32 and 64-bit signed and unsigned integers, 32 and 64-bit floating point numbers, and a "custom type" which may used for e.g. strings.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                The encoding is best described by example as shown below.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                C Encoding/Decoding
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                To send the parameter, the data is written into a union structure then memcpy used to copy the data into the message char[128] field.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                The union structure might look like this:
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAVPACKED(
 typedef struct {
     union {
         float       param_float;
@@ -61,4 +61,4 @@
         break;
     ...
 }
-
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                QGroundControl provides real code examples here:
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Parameter Caching
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                A GCS or other component may choose to maintain a cache of parameter values for connected components/systems, in order to reduce the time required to display values and reduce MAVLink traffic.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                The cache can be populated initially by first reading the full parameter list at least once, and then updated by monitoring for PARAM_EXT_ACK messages with PARAM_ACK_ACCEPTED (which are emitted whenever a parameter is successfully written/changed).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                A system may also monitor for PARAM_EXT_VALUE originating from other components/systems requesting parameter values.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Cache synchronisation is not guaranteed; a component may miss parameter update messages due to changes by other components.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Limitations
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Parameters Table is Invariant
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                The protocol requires that the parameter set does not change during normal operation/after parameters have been read.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                If a component can add parameters during (or after) initial synchronization the protocol cannot guarantee reliable/robust synchronization, because there is no way to notify that the parameter set has changed and a new sync is required.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                When requesting parameters from such a components, the risk of problems can be reduced (but not removed) if:
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • The param_id is used to read parameters where possible (the mapping of param_index to a particular parameter may change on systems where parameters can be added/removed).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • PARAM_EXT_VALUE.param_count may be monitored. If this changes the parameter set should be re-sychronised. If this changes the parameter set should be re-sychronised.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Parameter Synchronisation Can Fail
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                A GCS (or other system) that wants to cache parameters from a component and keep them synchronised should first get all parameters, and then track changes by monitoring for PARAM_EXT_ACK messages (updating their internal list appropriately).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                This works for the originator of a parameter change, which can resend the request if an expected PARAM_EXT_ACK is not received. This approach may fail for components that did not originate the change, as they will not know about updates they do not receive (i.e. if messages are dropped). This approach may fail for components that did not originate the change, as they will not know about updates they do not receive (i.e. if messages are dropped).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                A component may mitigate this risk by, for example, sending the PARAM_EXT_ACK multiple times after a parameter is changed.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Parameter Operations
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                This section defines the state machine/message sequences for all parameter operations.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Read All Parameters
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                The read-all operation is started by sending the PARAM_EXT_REQUEST_LIST message. The target component must start to broadcast the parameters individually in PARAM_EXT_VALUE messages after receiving this message. The drone should allow a pause after sending each parameter to ensure that the operation doesn't consume all of the available link bandwidth (30 - 50 percent of the bandwidth is reasonable). The target component must start to broadcast the parameters individually in PARAM_EXT_VALUE messages after receiving this message. The drone should allow a pause after sending each parameter to ensure that the operation doesn't consume all of the available link bandwidth (30 - 50 percent of the bandwidth is reasonable).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                The sequence of operations is:
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                1. GCS (client) sends PARAM_EXT_REQUEST_LIST specifying a target system/component.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • Broadcast addresses may be used. Broadcast addresses may be used. All targeted components should respond with parameters (or ignore the request if they have none).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • The GCS is expected to accumulate parameters from all responding systems.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • The timeout/retry behaviour is GSC dependent.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                2. The targeted component(s) should respond, sending all parameters individually in PARAM_EXT_VALUE messages.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • Allow breaks between each message in order to avoid saturating the link.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • Components with no parameters should ignore the request.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                3. GCS starts timeout after each PARAM_EXT_VALUE message in order to detect when parameters are no longer being sent (that the operation has completed).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Notes:
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • The GCS/API may accumulate the received parameters for each component and can determine if any are missing/not received (PARAM_EXT_VALUE contains the total number of params and index of current param).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • Handling of missing params is GCS-dependent. Handling of missing params is GCS-dependent. QGroundControl, for example, individually requests each missing parameter by index.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • If a component does not any parameters then it will ignore a PARAM_EXT_REQUEST_LIST request. The sender should simply timeout (after resends) if no PARAM_EXT_VALUE is received. The sender should simply timeout (after resends) if no PARAM_EXT_VALUE is received.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Read Single Parameter
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                A single parameter can be read by sending the PARAM_EXT_REQUEST_READ message, as shown below:
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                The sequence of operations is:
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                1. GCS (client) sends PARAM_EXT_REQUEST_READ specifying either the parameter id (name) or parameter index.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                2. GCS starts timeout waiting for acknowledgment (in the form of a PARAM_EXT_VALUE message).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                3. Drone responds with PARAM_EXT_VALUE containing the parameter value. This is a broadcast message (sent to all systems). This is a broadcast message (sent to all systems).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                The drone may restart the sequence if the PARAM_EXT_VALUE acknowledgment is not received within the timeout.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Write Parameters
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Parameters are written individually using PARAM_EXT_SET. The recipient will respond with PARAM_EXT_ACK indicating success, failure, or that the write is still in progress (PARAM_ACK_IN_PROGRESS). On receipt of PARAM_ACK_IN_PROGRESS the component setting the parameter will extend its timeout (PARAM_EXT_ACK will be re-sent when the write completes) The recipient will respond with PARAM_EXT_ACK indicating success, failure, or that the write is still in progress (PARAM_ACK_IN_PROGRESS). On receipt of PARAM_ACK_IN_PROGRESS the component setting the parameter will extend its timeout (PARAM_EXT_ACK will be re-sent when the write completes)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Parameters can be written individually by sending the parameter name and value pair to the GCS, as shown:
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                For long-running write operations drone may initially respond with PARAM_ACK_IN_PROGRESS:
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                The sequence of operations is:
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                1. GCS (client) sends PARAM_EXT_SET specifying the param name to update and its new value (also target system/component and the param type).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                2. GCS starts timout waiting for acknowledgment (in the form of a PARAM_EXT_ACK message).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                3. Drone (starts to) write parameter and responds by broadcasting a PARAM_EXT_ACK.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • If the write succeeded the PARAM_EXT_ACK will contain a result of PARAM_ACK_ACCEPTED and the updated parameter value.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • If the parameter was unknown or of an unsupported type PARAM_EXT_ACK will contain a result of PARAM_ACK_VALUE_UNSUPPORTED and the current parameter value will be XXXXX.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • If the write failed for another reason then PARAM_EXT_ACK will contain a result of PARAM_ACK_FAILED and the current parameter value.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • If the write operation is long-running the PARAM_EXT_ACK will contain a result of PARAM_ACK_IN_PROGRESS and the XXXX parameter value. In this case the recipient should increase their timeout and way for another PARAM_EXT_ACK. PARAM_EXT_ACK should be resent when the operation completes. In this case the recipient should increase their timeout and way for another PARAM_EXT_ACK. PARAM_EXT_ACK should be resent when the operation completes.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                4. GCS should update the parameter cache (if used) with the new value.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                5. The GCS may restart the sequence if an expected PARAM_EXT_ACK is not received within the timeout, or if the write operation fails.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Implementations
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                QGroundControl: QGCCameraIO.h, QGCCameraIO.cc
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  QGroundControl provides real code examples here:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Parameter Caching

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  A GCS or other component may choose to maintain a cache of parameter values for connected components/systems, in order to reduce the time required to display values and reduce MAVLink traffic.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  The cache can be populated initially by first reading the full parameter list at least once, and then updated by monitoring for PARAM_EXT_ACK messages with PARAM_ACK_ACCEPTED (which are emitted whenever a parameter is successfully written/changed).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  A system may also monitor for PARAM_EXT_VALUE originating from other components/systems requesting parameter values.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Cache synchronisation is not guaranteed; a component may miss parameter update messages due to changes by other components.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Limitations

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Parameters Table is Invariant

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  The protocol requires that the parameter set does not change during normal operation/after parameters have been read.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  If a component can add parameters during (or after) initial synchronization the protocol cannot guarantee reliable/robust synchronization, because there is no way to notify that the parameter set has changed and a new sync is required.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  When requesting parameters from such a components, the risk of problems can be reduced (but not removed) if:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • The param_id is used to read parameters where possible (the mapping of param_index to a particular parameter may change on systems where parameters can be added/removed).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • PARAM_EXT_VALUE.param_count may be monitored. If this changes the parameter set should be re-sychronised. If this changes the parameter set should be re-sychronised.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Parameter Synchronisation Can Fail

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  A GCS (or other system) that wants to cache parameters from a component and keep them synchronised should first get all parameters, and then track changes by monitoring for PARAM_EXT_ACK messages (updating their internal list appropriately).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  This works for the originator of a parameter change, which can resend the request if an expected PARAM_EXT_ACK is not received. This approach may fail for components that did not originate the change, as they will not know about updates they do not receive (i.e. if messages are dropped). This approach may fail for components that did not originate the change, as they will not know about updates they do not receive (i.e. if messages are dropped).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  A component may mitigate this risk by, for example, sending the PARAM_EXT_ACK multiple times after a parameter is changed.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Parameter Operations

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  This section defines the state machine/message sequences for all parameter operations.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Read All Parameters

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  The read-all operation is started by sending the PARAM_EXT_REQUEST_LIST message. The target component must start to broadcast the parameters individually in PARAM_EXT_VALUE messages after receiving this message. The drone should allow a pause after sending each parameter to ensure that the operation doesn't consume all of the available link bandwidth (30 - 50 percent of the bandwidth is reasonable). The target component must start to broadcast the parameters individually in PARAM_EXT_VALUE messages after receiving this message. The drone should allow a pause after sending each parameter to ensure that the operation doesn't consume all of the available link bandwidth (30 - 50 percent of the bandwidth is reasonable).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  The sequence of operations is:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  1. GCS (client) sends PARAM_EXT_REQUEST_LIST specifying a target system/component.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • Broadcast addresses may be used. Broadcast addresses may be used. All targeted components should respond with parameters (or ignore the request if they have none).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • The GCS is expected to accumulate parameters from all responding systems.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • The timeout/retry behaviour is GSC dependent.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  2. The targeted component(s) should respond, sending all parameters individually in PARAM_EXT_VALUE messages.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • Allow breaks between each message in order to avoid saturating the link.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • Components with no parameters should ignore the request.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  3. GCS starts timeout after each PARAM_EXT_VALUE message in order to detect when parameters are no longer being sent (that the operation has completed).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Notes:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • The GCS/API may accumulate the received parameters for each component and can determine if any are missing/not received (PARAM_EXT_VALUE contains the total number of params and index of current param).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • Handling of missing params is GCS-dependent. Handling of missing params is GCS-dependent. QGroundControl, for example, individually requests each missing parameter by index.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • If a component does not any parameters then it will ignore a PARAM_EXT_REQUEST_LIST request. The sender should simply timeout (after resends) if no PARAM_EXT_VALUE is received. The sender should simply timeout (after resends) if no PARAM_EXT_VALUE is received.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Read Single Parameter

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  A single parameter can be read by sending the PARAM_EXT_REQUEST_READ message, as shown below:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  The sequence of operations is:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  1. GCS (client) sends PARAM_EXT_REQUEST_READ specifying either the parameter id (name) or parameter index.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  2. GCS starts timeout waiting for acknowledgment (in the form of a PARAM_EXT_VALUE message).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  3. Drone responds with PARAM_EXT_VALUE containing the parameter value. This is a broadcast message (sent to all systems). This is a broadcast message (sent to all systems).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  The drone may restart the sequence if the PARAM_EXT_VALUE acknowledgment is not received within the timeout.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Write Parameters

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Parameters are written individually using PARAM_EXT_SET. The recipient will respond with PARAM_EXT_ACK indicating success, failure, or that the write is still in progress (PARAM_ACK_IN_PROGRESS). On receipt of PARAM_ACK_IN_PROGRESS the component setting the parameter will extend its timeout (PARAM_EXT_ACK will be re-sent when the write completes) The recipient will respond with PARAM_EXT_ACK indicating success, failure, or that the write is still in progress (PARAM_ACK_IN_PROGRESS). On receipt of PARAM_ACK_IN_PROGRESS the component setting the parameter will extend its timeout (PARAM_EXT_ACK will be re-sent when the write completes)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Parameters can be written individually by sending the parameter name and value pair to the GCS, as shown:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  For long-running write operations drone may initially respond with PARAM_ACK_IN_PROGRESS:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  The sequence of operations is:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  1. GCS (client) sends PARAM_EXT_SET specifying the param name to update and its new value (also target system/component and the param type).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  2. GCS starts timout waiting for acknowledgment (in the form of a PARAM_EXT_ACK message).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  3. Drone (starts to) write parameter and responds by broadcasting a PARAM_EXT_ACK.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • If the write succeeded the PARAM_EXT_ACK will contain a result of PARAM_ACK_ACCEPTED and the updated parameter value.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • If the parameter was unknown or of an unsupported type PARAM_EXT_ACK will contain a result of PARAM_ACK_VALUE_UNSUPPORTED and the current parameter value will be XXXXX.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • If the write failed for another reason then PARAM_EXT_ACK will contain a result of PARAM_ACK_FAILED and the current parameter value.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • If the write operation is long-running the PARAM_EXT_ACK will contain a result of PARAM_ACK_IN_PROGRESS and the XXXX parameter value. In this case the recipient should increase their timeout and way for another PARAM_EXT_ACK. PARAM_EXT_ACK should be resent when the operation completes. In this case the recipient should increase their timeout and way for another PARAM_EXT_ACK. PARAM_EXT_ACK should be resent when the operation completes.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  4. GCS should update the parameter cache (if used) with the new value.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  5. The GCS may restart the sequence if an expected PARAM_EXT_ACK is not received within the timeout, or if the write operation fails.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Implementations

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  QGroundControl: QGCCameraIO.h, QGCCameraIO.cc

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  results matching ""

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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    \ No newline at end of file diff --git a/zh/services/payload.html b/zh/services/payload.html index 89fb846fd..27d6bb053 100644 --- a/zh/services/payload.html +++ b/zh/services/payload.html @@ -1 +1 @@ -Payload Protocols · MAVLink Developer Guide
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Payload Protocols

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAVLink defines a number of commands for directly controlling particular types of payloads like winches and grippers, and for controlling generic payloads. In addition there are commands for payload placement in missions. In addition there are commands for payload placement in missions.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Camera and Gimbal payloads are covered in their own topics.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Payload-Specific Commands

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAVLink defines a number of commands for controlling specific types of payload hardware, including: winches, grippers, spotlights, etc. These commands may be used in both missions and commands, if supported by the target system. These commands may be used in both missions and commands, if supported by the target system.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    They should be used (where supported) in preference to generic payload commands, as generally they provide more "tailored" control over the payload, a better GCS user experience, and more informative logs.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MessageDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_DO_GRIPPERCommand to engage and release a gripper.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_DO_WINCHCommand to operate a specified winch.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_ILLUMINATOR_ON_OFFCommand to turn illuminators ON/OFF. Command to turn illuminators ON/OFF. An illuminator is a light source that for lighting up dark areas external to the system, such as a headlight or searchlight.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Generic Payload Commands

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAVLink has a number of commands for setting actuator outputs. These can be used to control arbitrary/generic payloads. These can be used to control arbitrary/generic payloads.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Use the commands for known payload types where possible as they are more intuitive for users, and in logs.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MessageDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_DO_SET_ACTUATORSets actuators (e.g. servos) to a desired value. Sets actuators (e.g. servos) to a desired value. The actuator numbers are mapped to specific outputs (e.g. on any MAIN or AUX PWM or UAVCAN) using a flight-stack specific mechanism (for example, parameters).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_DO_SET_SERVOSets a servo, identified by a specified instance number, to a specified PWM value.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_DO_SET_RELAYSet a specified relay instance on or off.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_DO_REPEAT_RELAYCycle a relay on and off for a desired number of cycles with a desired period.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Implementations:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • MAV_CMD_DO_SET_ACTUATOR is more recent than MAV_CMD_DO_SET_SERVO, but has not yet been widely adopted.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • Only implemented only on PX4 (June 2021). Only implemented only on PX4 (June 2021). For more information see the PX4 User Guide.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • MAV_CMD_DO_SET_SERVO is impemented on both ArduPilot and PX4 (Missions only). In both cases instance numbers map to corresponding AUX outputs. In both cases instance numbers map to corresponding AUX outputs.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Payload Deployment Commands

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    These commands can be used to deploy a payload at a specfic location, controlling the approach and land behaviour.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MessageDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MAV_CMD_NAV_PAYLOAD_PLACEMove to target location, descend and release payload.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Implementations:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    results matching ""

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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      \ No newline at end of file +Payload Protocols · MAVLink Developer Guide
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Payload Protocols

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAVLink defines a number of commands for directly controlling particular types of payloads like winches and grippers, and for controlling generic payloads. In addition there are commands for payload placement in missions. In addition there are commands for payload placement in missions.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Camera and Gimbal payloads are covered in their own topics.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Payload-Specific Commands

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAVLink defines a number of commands for controlling specific types of payload hardware, including: winches, grippers, spotlights, etc. These commands may be used in both missions and commands, if supported by the target system. These commands may be used in both missions and commands, if supported by the target system.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      They should be used (where supported) in preference to generic payload commands, as generally they provide more "tailored" control over the payload, a better GCS user experience, and more informative logs.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MessageDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_DO_GRIPPERCommand to engage and release a gripper.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_DO_WINCHCommand to operate a specified winch.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_ILLUMINATOR_ON_OFFCommand to turn illuminators ON/OFF. Command to turn illuminators ON/OFF. An illuminator is a light source that for lighting up dark areas external to the system, such as a headlight or searchlight.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Generic Payload Commands

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAVLink has a number of commands for setting actuator outputs. These can be used to control arbitrary/generic payloads. These can be used to control arbitrary/generic payloads.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Use the commands for known payload types where possible as they are more intuitive for users, and in logs.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MessageDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_DO_SET_ACTUATORSets actuators (e.g. servos) to a desired value. Sets actuators (e.g. servos) to a desired value. The actuator numbers are mapped to specific outputs (e.g. on any MAIN or AUX PWM or UAVCAN) using a flight-stack specific mechanism (for example, parameters).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_DO_SET_SERVOSets a servo, identified by a specified instance number, to a specified PWM value.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_DO_SET_RELAYSet a specified relay instance on or off.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_DO_REPEAT_RELAYCycle a relay on and off for a desired number of cycles with a desired period.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Implementations:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • MAV_CMD_DO_SET_ACTUATOR is more recent than MAV_CMD_DO_SET_SERVO, but has not yet been widely adopted.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • Only implemented only on PX4 (June 2021). Only implemented only on PX4 (June 2021). For more information see the PX4 User Guide.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • MAV_CMD_DO_SET_SERVO is impemented on both ArduPilot and PX4 (Missions only). In both cases instance numbers map to corresponding AUX outputs. In both cases instance numbers map to corresponding AUX outputs.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Payload Deployment Commands

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      These commands can be used to deploy a payload at a specfic location, controlling the approach and land behaviour.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MessageDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_CMD_NAV_PAYLOAD_PLACEMove to target location, descend and release payload.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Implementations:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      results matching ""

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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        \ No newline at end of file diff --git a/zh/services/ping.html b/zh/services/ping.html index 2c52f3255..ceedcda78 100644 --- a/zh/services/ping.html +++ b/zh/services/ping.html @@ -1 +1 @@ -Ping Protocol · MAVLink Developer Guide
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        PING Protocol

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        The PING Protocol enables a system to measure system latencies on any connection: serial port, radio modem, UDP etc.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        The PING protocol is implemented with just the PING message. The message is sent with a timestamp and a sequence number that are returned by recipients, and can hence be used to determine the round-trip time.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Ping Sequence

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        A simplified sequence diagram is given below:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Mermaid sequence: Ping

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        The pinging system initially populates a PING message with:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • time_usec: Current system timestamp.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • seq: Current PING sequence number (n, n+1, ...). This should be iterated for every PING message sent and overflow back to zero.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • target_system and target_component: 0 (indicates a PING request).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • The message header automatically includes the sender system.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        The message may be received by multiple systems. All pinged systems should respond with another PING message where:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • The original timestamp and sequence number from the receive PING are sent back in the response.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • target_system and target_component are set to the ids of the pinging system from the incoming ping message header.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        The original pinging system:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • Receives a PING message with target_system and target_component matching its address. > Tip Any non-zero target system/component indicates a response message. The matching ids inform the system that it is the intended recipient.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • The system calculates the latency from the current system time and the time in the response PING for the matching sequence number.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        • A system that is sending a single PING can use a timeout to detect a dropped packet. A system that is streaming (multiple) PING messages should not start detecting dropped packets until after the first responses have been received (to ensure that dropped packets are not just "late").

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        C Implementation

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        The protocol has been implemented in C by PX4 and QGroundControl. This implementation can be used in your own code within the terms of their software licenses.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        PX4 Implementation:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        QGroundControl implementation:

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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          The PING Protocol enables a system to measure system latencies on any connection: serial port, radio modem, UDP etc.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          The PING protocol is implemented with just the PING message. The message is sent with a timestamp and a sequence number that are returned by recipients, and can hence be used to determine the round-trip time.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Ping Sequence

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          A simplified sequence diagram is given below:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Mermaid sequence: Ping

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          The pinging system initially populates a PING message with:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • time_usec: Current system timestamp.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • seq: Current PING sequence number (n, n+1, ...). This should be iterated for every PING message sent and overflow back to zero.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • target_system and target_component: 0 (indicates a PING request).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • The message header automatically includes the sender system.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          The message may be received by multiple systems. All pinged systems should respond with another PING message where:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • The original timestamp and sequence number from the receive PING are sent back in the response.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • target_system and target_component are set to the ids of the pinging system from the incoming ping message header.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          The original pinging system:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • Receives a PING message with target_system and target_component matching its address. > Tip Any non-zero target system/component indicates a response message. The matching ids inform the system that it is the intended recipient.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • The system calculates the latency from the current system time and the time in the response PING for the matching sequence number.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • A system that is sending a single PING can use a timeout to detect a dropped packet. A system that is streaming (multiple) PING messages should not start detecting dropped packets until after the first responses have been received (to ensure that dropped packets are not just "late").

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          C Implementation

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          The protocol has been implemented in C by PX4 and QGroundControl. This implementation can be used in your own code within the terms of their software licenses.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          PX4 Implementation:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          QGroundControl implementation:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          results matching ""

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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            \ No newline at end of file diff --git a/zh/services/standard_modes.html b/zh/services/standard_modes.html new file mode 100644 index 000000000..74be00def --- /dev/null +++ b/zh/services/standard_modes.html @@ -0,0 +1 @@ +Standard Flight Modes (WIP) · MAVLink Developer Guide
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Standard Modes Protocol (WIP)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            This protocol is a work in progress and may change. It has an initial implementation in PX4 and QGroundControl (daily).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            The MAVLink standard modes protocol allows a GCS to construct a UI allowing selection and display of available flight modes without prior knowledge of the connected flight stack.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            The protocol provides:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • Definitions of standard modes. These are modes that behave similarly enough across flight stacks that users can select and control them in the same way. For example, modes for taking off and landing, executing missions, holding position, and so on.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • Enumeration of all flight modes supported by the flight stack, both standard and custom.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              The provided flight mode information includes:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • Flags indicating whether particular custom modes can be selected or just displayed, and if they are displayed, whether they are advanced.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • A name/metadata string that can either be used to fetch metadata for the mode (such as a name and description), or directly as the name for custom modes.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • Notification of the current mode.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • A command to set a standard mode.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            There are additional optional messages/features to allow:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • Modes to be enabled and disabled dynamically.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • Overriding of mode metadata (provide a metadata key).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Background

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAVLink previously only standardized very high level base modes (defined in MAV_MODE), which cover things like whether the vehicle is ready to fly, being tested, manually controlled, under GCS manual control, or executing a mission. More specific flight behaviour/modes are defined in custom modes, which are specific to each flight stack.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Mechanisms are provided to set the base and custom modes (MAV_CMD_DO_SET_MODE), and the HEARTBEAT contains the current/active base_mode and custom_mode. However, prior to the addition of this service, there were no mechanisms query the available custom modes, so a GCS would have to know about a flight stack in advance in order to construct its mode display and setting UI.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Most autopilots implement a set of custom flight modes that have very similar behaviour or intent, for example: position-hold mode, altitude-hold mode, mission mode, safety return/RTL. However because these are all identified by different custom mode identifiers on different flight stacks, there is no way to be sure what these "mean" without pre-existing knowledge.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            This service defines standard modes, allowing a GCS to provide baseline support for common flight behaviour and test behaviour without explicit customisation for each autopilot. This is therefore a big step towards MAVLink being capable of being truly autopilot-agnostic for a useful minimal set of functionality.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            For more information see MAVLink RFC0016 Standard modes.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Message/Enum Summary

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Messages

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MessageDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            CURRENT_MODEGet information about the current active mode, including both its standard and custom mode identifiers (if defined). Also "the intended mode", to indicate the case where setting a mode failed.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            AVAILABLE_MODESGet information about all available modes (both standard and custom) allowing generation of a UI and setting of modes. Requested using MAV_CMD_REQUEST_MESSAGE (set param2=0 for all modes).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            AVAILABLE_MODES_MONITORProvides a sequence number that allows clients to determine if the set of available modes has changed, and hence whether the AVAILABLE_MODES must be re-requested. Sent on first mode change and subsequently streamed at low rate.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Enums

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            EnumDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_STANDARD_MODEIdentifiers for the standard modes (modes that have a well understood meaning across flight stacks and vehicle types). Used in AVAILABLE_MODES and CURRENT_MODE.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_MODE_PROPERTYProperties of a mode supplied in AVAILABLE_MODES, which may be used for GCS layout. For example MAV_MODE_PROPERTY_NOT_USER_SELECTABLE indicates that a GCS should not include the mode in UI elements that allow mode selection.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Commands

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            CommandDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_DO_SET_STANDARD_MODEEnable the specified standard MAVLink mode (MAV_STANDARD_MODE). ACK with MAV_RESULT_FAILED if the mode is not supported by the vehicle.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            MAV_CMD_REQUEST_MESSAGEUsed to request AVAILABLE_MODES message

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Operations

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Getting Available Modes

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            All available modes can be enumerated by using MAV_CMD_REQUEST_MESSAGE to request the AVAILABLE_MODES (435) message. Each AVAILABLE_MODES message includes the total number of modes and the index of the current mode, so a GCS should first query for all modes (MAV_CMD_REQUEST_MESSAGE.param2=0), and then individually query for any AVAILABLE_MODES message that it missed (MAV_CMD_REQUEST_MESSAGE.param2="missing index number").

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Notes:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • AVAILABLE_MODES includes the total number of modes and the index of the current mode. This indexing is provided to allow a GCS to confirm that all modes have been collected, and re-request any that are missing. It is internal and should not be relied upon to have any order between reboots or if the set of available modes changes.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • The GCS can request this message using MAV_CMD_REQUEST_MESSAGE, specifying either "send all modes" or "send mode with this index".
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • The flight stack should only emit a single AVAILABLE_MODES for each mode on each request. If a mode is both custom and standard it should be emitted as a "standard mode" (this allows the GCS to list the "standard modes" and separately show the additional "custom modes").
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • The modes that are emitted depend on the current vehicle type. For example, "takeoff" would not be emitted for a rover type, but would for a copter.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            The sequence for requesting all modes is shown below:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Mermaid Sequence: Requesting AVAILABLE MODES

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            In addition to the fields for enumerating the available modes, AVAILABLE_MODES has the following fields:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • standard_mode: The standard mode represented by this AVAILABLE_MODES (MAV_STANDARD_MODE). 0 for a custom mode that is not also a standard mode (MAV_STANDARD_MODE_NON_STANDARD).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • custom_mode: The id of the custom mode represented by this AVAILABLE_MODES (if any).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • properties: Flags indicating the UI properties of this mode. These provide hints about where the mode can/should appear in the UI. For example, MAV_MODE_PROPERTY_NOT_USER_SELECTABLE indicates that the mode should not be set by a user, and hence should not appear in selection lists, while MAV_MODE_PROPERTY_ADVANCED indicates a mode that is harder to fly, and might be visually separated from other modes in the UI.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • mode_name: Mode metadata key or name, with null termination character.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • The field can act as both a key for determining metadata associated with the mode, or as a fallback name to use for the mode if the GCS has no metadata.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • It can be used to override metadata on existing modes, for example to enhance standard metadata with additional information about autopilot-specific behaviour, or can provide metadata for any other static or dynamic mode.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • The field must be human readable and autopilot-unique.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • Generally does not have to be set for standard modes, where the ground station might be expected to already have metadata (but if it is, it will be used as a metadata key).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • For more information see Modes Metadata below.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Setting Modes

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Standard modes can be set using the MAV_CMD_DO_SET_STANDARD_MODE command. This will ACK with MAV_RESULT_ACCEPTED if the mode can change, and MAV_RESULT_FAILED if the particular standard mode is not supported.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Custom modes must be set with MAV_CMD_DO_SET_MODE.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            If both standard_mode and custom_mode are set you can determine the mapping between modes and might therefore use MAV_CMD_DO_SET_MODE to set a standard mode. MAV_CMD_DO_SET_STANDARD_MODE is preferred for setting standard modes.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Getting Current Active Mode

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            The current active mode is provided in CURRENT_MODE, which has both standard mode and custom mode fields.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            This is streamed (nominally 0.5 Hz). A GCS can use it to configure the UI and display appropriate metadata for the current mode.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            The message also has an intended_custom_mode field, which indicates the last (custom) mode that was commanded. This should match the custom_mode but might not if a commanded mode cannot be entered, or if the mode is exited due to a failsafe.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Note that the current custom mode is also published in the HEARTBEAT.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Dynamic Mode Changes

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            The AVAILABLE_MODES_MONITOR is an optional part of the protocol that allows a MAVLink system to dynamically change the set of modes it supports at runtime (for example, using Lua or other onboard scripting languages, or offboard from a companion computer).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            The message sequence number field is iterated sequentially whenever the set of available modes change. A GCS can detect this change and re-request the set of AVAILABLE_MODES.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            The message should be emitted when the set of available modes changes. After the set of modes changes the first time, it should also be streamed at low rate (nominally 0.1 Hz).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Mode Metadata

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Mode metadata is the information that a ground station uses represent a mode in the UI. This includes the mode name, but might also include descriptions, translations and other information (mode metadata schema is yet to be defined).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            A GCS may already have knowledge of standard or custom modes and can provide this metadata based on the mode, or their might be particular "additional" information that it can provide. The mode_name can be used as a key for finding this metadata, or as a fallback string if the GCS has no metadata for the mode.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Ground stations are expected to use the following "fallback" approach for matching modes to their metadata:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            1. mode_name field as a metadata key. If this field is defined and can be matched to metadata, the metadata should be used for the mode.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            2. standard_mode: Use metadata associated with this standard mode if no metadata can be matched using mode_name.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            3. custom_mode: Use metadata associated with the custom mode if no metadata can be matched using mode_name or standard_mode.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            4. mode_name field as a fallback mode name string. This should be used as the name if no other metadata can be mapped.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            This allows "full" autopilot-specific metadata to be provided for modes, including dynamic modes such as Lua scripts (where the custom_mode might be dynamically allocated). It also allows overriding of any existing metadata for any mode with vehicle-specific data. In the worse case, if there is no metadata for a custom mode, the mode_name string can still be used to represent the mode in the UI.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Note that the mode_name must be human readable and unique for the autopilot.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Implementations

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            PX4 v1.15 and later supports this service, including the optional part (AVAILABLE_MODES_MONITOR) (this allows ROS2 modes added using the PX4 ROS 2 Interface Library to be dynamically updated in a GCS). At time of writing it only exposes the standard modes that are common to all vehicles as standard modes, such as takeoff and landing, and missions.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            QGC also uses this service to build the mode display/setting UI, when supported by the autopilot. This feature is supported in daily builds (at time of writing).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            results matching ""

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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              \ No newline at end of file diff --git a/zh/services/terrain.html b/zh/services/terrain.html index b86d63bba..0fe94f4b6 100644 --- a/zh/services/terrain.html +++ b/zh/services/terrain.html @@ -1 +1 @@ -Terrain Protocol · MAVLink Developer Guide
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Terrain Protocol

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              The Terrain Protocol provides a mechanism for a vehicle to get terrain information (tiles) from a ground station, and for a ground station to check the autopilot terrain cache for a tile at a particular location.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Support for this protocol is indicated by AUTOPILOT_VERSION.capabilities by the MAV_PROTOCOL_CAPABILITY_TERRAIN flag.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              A vehicle that supports this capability must also support terrain following in missions using the data. Note A vehicle that supports this capability must also support terrain following in missions using the data. Note however that a vehicle may also support terrain handling in missions using a distance sensor, even if this protocol is not supported and capability flag is not set.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Message/Enum Summary

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MessageDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              !!crwdBlockTags_23_sgaTkcolBdwrc!TERRAIN_REQUESTRequest from drone (to GCS) for terrain data. The message specifies a mask indicating what tiles are required, and the GCS responds by sending TERRAIN_DATA for each tile. The drone will also stream TERRAIN_REPORT messages to provide progress updates while it is waiting for data. The message specifies a mask indicating what tiles are required, and the GCS responds by sending TERRAIN_DATA for each tile. The drone will also stream TERRAIN_REPORT messages to provide progress updates while it is waiting for data.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              !!crwdBlockTags_24_sgaTkcolBdwrc!TERRAIN_DATATerrain data from GCS for a particular tile (sent in response to a TERRAIN_REQUEST). The lat/lon and grid_spacing must be the same as the lat/lon from a TERRAIN_REQUEST. The lat/lon and grid_spacing must be the same as the lat/lon from a TERRAIN_REQUEST.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              !!crwdBlockTags_25_sgaTkcolBdwrc!TERRAIN_REPORTThe drone will stream TERRAIN_REPORT to indicate progress of terrain download, and in response to a TERRAIN_CHECK.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              !!crwdBlockTags_26_sgaTkcolBdwrc!TERRAIN_CHECKRequest that the vehicle report terrain height at the given location (expected response is a TERRAIN_REPORT). Used by GCS to check if vehicle has all terrain data needed for a mission. Used by GCS to check if vehicle has all terrain data needed for a mission.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Sequences

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Autopilot Terrain Map Request

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              The sequence for a drone to update its terrain altitude information is entirely driven by the drone, and is shown below.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              In summary, the sequence is:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              1. Drone sends TERRAIN_REQUEST to the GCS to request a set of tiles (specified in a mask).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              2. The GCS responds by sending a TERRAIN_DATA for each tile set in the mask
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              3. The drone also streams TERRAIN_REPORT messages back to the GCS indicating the current state of the download
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • TERRAIN_REPORT.pending and TERRAIN_REPORT.loaded indicate how many tiles are expected and have arrived, respectively.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • TERRAIN_REPORT.lat, .lon, .terrain_height, while duplicated in other messages, are useful for debugging (a GCS can check its own internal terrain data against what the information).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              4. The drone must maintain its own record of what tiles have arrived/not arrived, and can re-request any that are missing using a further TERRAIN_REQUEST (with mask indicating just the missing tiles)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              The diagram below shows the way the data is encoded within the TERRAIN_REQUEST and TERRAIN_DATA.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Terrain_report.mask data layout

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              TERRAIN_REQUEST.mask is a 64-bit value that represents a row major 8x7 array of (4x4) tiles. The the lat, lon fields indicate the position of the South-West corner of first grid position (tile). The tiles are allocated sequentially in rows (West to East) starting from the lowest significant bit of mask, and then in columns (South to North). The the lat, lon fields indicate the position of the South-West corner of first grid position (tile). The tiles are allocated sequentially in rows (West to East) starting from the lowest significant bit of mask, and then in columns (South to North).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Each tile represents a 4x4 grid of altitude information. Each tile represents a 4x4 grid of altitude information. The spacing between the rows/columns in the tile is indicated by grid_spacing (the same value must be used in both request and data messages).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              GCS Terrain Tile Check

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              The sequence for a GCS to check the autopilot terrain cache at a particular location is shown below.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              In summary, the sequence is:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              1. GCS sends TERRAIN_CHECK to the vehicle to request terrain information at a specific location.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              2. The drone responds with a TERRAIN_REPORT message containing the tile information it has for that location. If it does not have tile information for the specified location, then the request is ignored. If it does not have tile information for the specified location, then the request is ignored.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              3. GCS can verify that the terrain report matches a terrain check by comparing the latitude/longitude fields for both messages.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              The protocol does not define how the ground station handles the case if no TERRAIN_REPORT is received (although it might resend the request after a timeout).

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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Terrain Protocol

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                The Terrain Protocol provides a mechanism for a vehicle to get terrain information (tiles) from a ground station, and for a ground station to check the autopilot terrain cache for a tile at a particular location.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Support for this protocol is indicated by AUTOPILOT_VERSION.capabilities by the MAV_PROTOCOL_CAPABILITY_TERRAIN flag.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                A vehicle that supports this capability must also support terrain following in missions using the data. Note A vehicle that supports this capability must also support terrain following in missions using the data. Note however that a vehicle may also support terrain handling in missions using a distance sensor, even if this protocol is not supported and capability flag is not set.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Message/Enum Summary

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MessageDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                !!crwdBlockTags_23_sgaTkcolBdwrc!TERRAIN_REQUESTRequest from drone (to GCS) for terrain data. The message specifies a mask indicating what tiles are required, and the GCS responds by sending TERRAIN_DATA for each tile. The drone will also stream TERRAIN_REPORT messages to provide progress updates while it is waiting for data. The message specifies a mask indicating what tiles are required, and the GCS responds by sending TERRAIN_DATA for each tile. The drone will also stream TERRAIN_REPORT messages to provide progress updates while it is waiting for data.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                !!crwdBlockTags_24_sgaTkcolBdwrc!TERRAIN_DATATerrain data from GCS for a particular tile (sent in response to a TERRAIN_REQUEST). The lat/lon and grid_spacing must be the same as the lat/lon from a TERRAIN_REQUEST. The lat/lon and grid_spacing must be the same as the lat/lon from a TERRAIN_REQUEST.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                !!crwdBlockTags_25_sgaTkcolBdwrc!TERRAIN_REPORTThe drone will stream TERRAIN_REPORT to indicate progress of terrain download, and in response to a TERRAIN_CHECK.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                !!crwdBlockTags_26_sgaTkcolBdwrc!TERRAIN_CHECKRequest that the vehicle report terrain height at the given location (expected response is a TERRAIN_REPORT). Used by GCS to check if vehicle has all terrain data needed for a mission. Used by GCS to check if vehicle has all terrain data needed for a mission.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Sequences

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Autopilot Terrain Map Request

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                The sequence for a drone to update its terrain altitude information is entirely driven by the drone, and is shown below.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                In summary, the sequence is:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                1. Drone sends TERRAIN_REQUEST to the GCS to request a set of tiles (specified in a mask).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                2. The GCS responds by sending a TERRAIN_DATA for each tile set in the mask
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                3. The drone also streams TERRAIN_REPORT messages back to the GCS indicating the current state of the download
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • TERRAIN_REPORT.pending and TERRAIN_REPORT.loaded indicate how many tiles are expected and have arrived, respectively.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • TERRAIN_REPORT.lat, .lon, .terrain_height, while duplicated in other messages, are useful for debugging (a GCS can check its own internal terrain data against what the information).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                4. The drone must maintain its own record of what tiles have arrived/not arrived, and can re-request any that are missing using a further TERRAIN_REQUEST (with mask indicating just the missing tiles)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                The diagram below shows the way the data is encoded within the TERRAIN_REQUEST and TERRAIN_DATA.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Terrain_report.mask data layout

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                TERRAIN_REQUEST.mask is a 64-bit value that represents a row major 8x7 array of (4x4) tiles. The the lat, lon fields indicate the position of the South-West corner of first grid position (tile). The tiles are allocated sequentially in rows (West to East) starting from the lowest significant bit of mask, and then in columns (South to North). The the lat, lon fields indicate the position of the South-West corner of first grid position (tile). The tiles are allocated sequentially in rows (West to East) starting from the lowest significant bit of mask, and then in columns (South to North).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Each tile represents a 4x4 grid of altitude information. Each tile represents a 4x4 grid of altitude information. The spacing between the rows/columns in the tile is indicated by grid_spacing (the same value must be used in both request and data messages).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                GCS Terrain Tile Check

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                The sequence for a GCS to check the autopilot terrain cache at a particular location is shown below.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                In summary, the sequence is:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                1. GCS sends TERRAIN_CHECK to the vehicle to request terrain information at a specific location.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                2. The drone responds with a TERRAIN_REPORT message containing the tile information it has for that location. If it does not have tile information for the specified location, then the request is ignored. If it does not have tile information for the specified location, then the request is ignored.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                3. GCS can verify that the terrain report matches a terrain check by comparing the latitude/longitude fields for both messages.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                The protocol does not define how the ground station handles the case if no TERRAIN_REPORT is received (although it might resend the request after a timeout).

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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Time Synchronization Protocol v2

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  This protocol is used to synchronize clocks on MAVLink components by estimating their time offset.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  The protocol uses just one message TIMESYNC, which has two int64_t fields: tc1 and ts1. A component that wants to synchronize clocks sends out a TIMESYNC request with its current timestamp in ts1. A remote system that supports the protocol sends a TIMESYNC response, including both the original timestamp and its own timestamp. The original system can use this information to determine the round-trip time, and estimate the timestamp offset. A component that wants to synchronize clocks sends out a TIMESYNC request with its current timestamp in ts1. A remote system that supports the protocol sends a TIMESYNC response, including both the original timestamp and its own timestamp. The original system can use this information to determine the round-trip time, and estimate the timestamp offset.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  This sequence is run multiple times and filtered/averaged to reduce the transient effects of the channel and processor usage on the offset calculation.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  This version replaces Time Synchronization Protocol v1.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Message/Enum Summary

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  MessageDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  TIMESYNCTime synchronization message.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Sequences

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Mermaid sequence: Time sync

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  The sequence is:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  1. A component that needs time synchronization sends a TIMESYNC request that includes its current nanosecond timestamp in ts1 (and tc1 = 0, indicating it is a request). This message may be broadcast, or targeted to a particular component. This message may be broadcast, or targeted to a particular component.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  2. A component that receives a TIMESYNC request (TIMESYNC.tc1 == 0) responds with a TIMESYNC response (tc1 ≠ 0) that includes the original timestamp from the request in ts1 (mirrored), and its own timestamp in tc1.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  3. When the synchronizing component gets a TIMESYNC response with its own target_system and target_component it knows it is a reply to a timesync request that it sent.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    From the message the system can:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • determine the round trip time (by comparing its current timestamp with the original stamp that was returned in the message in ts1).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    • estimate the offset between system timestamps, using the round trip time and the timestamp sent back by the remote system.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    TIMESYNC responses to the broadcast address indicate that the remote system supports Time Synchronization Protocol v1. Synchronization may be unreliable if there are multiple sychronising components on the network (report/log an error and upgrade the remote system). The component should ignore responses to all other addresses. Synchronization may be unreliable if there are multiple sychronising components on the network (report/log an error and upgrade the remote system). The component should ignore responses to all other addresses.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  The offset is an estimate because the time spent, both inbound and outbound, will change over time based on things like link congestion and processing time. Therefore the above sequence might be run a significant number of times, and filtering used to remove outlying estimates. Therefore the above sequence might be run a significant number of times, and filtering used to remove outlying estimates.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  A graph showing the "noise" when estimating the offset is given below (from PX4).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Timesync offsets

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Time Synchronization Protocol v1

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Version 1 of the timesync protocol uses the same message and sequences as version 2.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  The difference is the TIMESYNC message in version 1 did not have target_system and target_component fields, and so the message was always broadcast. This could result in unreliable timesync if there are multiple synchronizing components on the network, because there is no way for a component to know whether a TIMESYNC response is to its request. This could result in unreliable timesync if there are multiple synchronizing components on the network, because there is no way for a component to know whether a TIMESYNC response is to its request.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  ArduPilot encodes the system id in TIMESYNC.ts1 of the request. This allows filtering of the response to a particular system (but not component), reducing the risk of clashes. This allows filtering of the response to a particular system (but not component), reducing the risk of clashes.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Version 2 makes adds the target address, so a syncing system can filter on just the responses to its requests.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  Implementations

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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    No results matching ""

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    \ No newline at end of file +Time Synchronization · MAVLink Developer Guide
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Time Synchronization Protocol v2

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    This protocol is used to synchronize clocks on MAVLink components by estimating their time offset.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    The protocol uses just one message TIMESYNC, which has two int64_t fields: tc1 and ts1. A component that wants to synchronize clocks sends out a TIMESYNC request with its current timestamp in ts1. A remote system that supports the protocol sends a TIMESYNC response, including both the original timestamp and its own timestamp. The original system can use this information to determine the round-trip time, and estimate the timestamp offset. A component that wants to synchronize clocks sends out a TIMESYNC request with its current timestamp in ts1. A remote system that supports the protocol sends a TIMESYNC response, including both the original timestamp and its own timestamp. The original system can use this information to determine the round-trip time, and estimate the timestamp offset.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    This sequence is run multiple times and filtered/averaged to reduce the transient effects of the channel and processor usage on the offset calculation.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    This version replaces Time Synchronization Protocol v1.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Message/Enum Summary

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    MessageDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    TIMESYNCTime synchronization message.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Sequences

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Mermaid sequence: Time sync

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    The sequence is:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    1. A component that needs time synchronization sends a TIMESYNC request that includes its current nanosecond timestamp in ts1 (and tc1 = 0, indicating it is a request). This message may be broadcast, or targeted to a particular component. This message may be broadcast, or targeted to a particular component.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    2. A component that receives a TIMESYNC request (TIMESYNC.tc1 == 0) responds with a TIMESYNC response (tc1 ≠ 0) that includes the original timestamp from the request in ts1 (mirrored), and its own timestamp in tc1.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    3. When the synchronizing component gets a TIMESYNC response with its own target_system and target_component it knows it is a reply to a timesync request that it sent.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      From the message the system can:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • determine the round trip time (by comparing its current timestamp with the original stamp that was returned in the message in ts1).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      • estimate the offset between system timestamps, using the round trip time and the timestamp sent back by the remote system.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      TIMESYNC responses to the broadcast address indicate that the remote system supports Time Synchronization Protocol v1. Synchronization may be unreliable if there are multiple sychronising components on the network (report/log an error and upgrade the remote system). The component should ignore responses to all other addresses. Synchronization may be unreliable if there are multiple sychronising components on the network (report/log an error and upgrade the remote system). The component should ignore responses to all other addresses.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    The offset is an estimate because the time spent, both inbound and outbound, will change over time based on things like link congestion and processing time. Therefore the above sequence might be run a significant number of times, and filtering used to remove outlying estimates. Therefore the above sequence might be run a significant number of times, and filtering used to remove outlying estimates.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    A graph showing the "noise" when estimating the offset is given below (from PX4).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Timesync offsets

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Time Synchronization Protocol v1

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Version 1 of the timesync protocol uses the same message and sequences as version 2.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    The difference is the TIMESYNC message in version 1 did not have target_system and target_component fields, and so the message was always broadcast. This could result in unreliable timesync if there are multiple synchronizing components on the network, because there is no way for a component to know whether a TIMESYNC response is to its request. This could result in unreliable timesync if there are multiple synchronizing components on the network, because there is no way for a component to know whether a TIMESYNC response is to its request.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    ArduPilot encodes the system id in TIMESYNC.ts1 of the request. This allows filtering of the response to a particular system (but not component), reducing the risk of clashes. This allows filtering of the response to a particular system (but not component), reducing the risk of clashes.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Version 2 makes adds the target address, so a syncing system can filter on just the responses to its requests.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    Implementations

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    results matching ""

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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      \ No newline at end of file diff --git a/zh/services/traffic_management.html b/zh/services/traffic_management.html index ea7bcadfc..820bfe0da 100644 --- a/zh/services/traffic_management.html +++ b/zh/services/traffic_management.html @@ -1 +1 @@ -Traffic Managment (UTM/ADS-B) · MAVLink Developer Guide
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Traffic Managment and Avoidance (UTM/ADSB)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Air traffic management and avoidance systems enable vehicles to share their position and planned path or trajectory with other vehicles (and ground stations), allowing them to take appropriate action to avoid collisions.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      The approaches used to share information vary; some systems use transponders to detect and publish to local traffic, while others publish to/receive information from Internet services that aggregate the data from many vehicles. Some systems might use both approaches! Some systems might use both approaches!

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      The approaches used to handle potential collisions depend on the flight stack, and might include: warning the user, holding, landing, pausing a mission etc.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      There are two main traffic management systems supported by MAVLink:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      The two systems share sigificant overlap and have very similar messages. The two systems share sigificant overlap and have very similar messages. Both have a single message that encapsulates the vehicle position and trajectory: UTM_GLOBAL_POSITION and ADSB_VEHICLE. A flight controller will typically recieve these messages from the appropriate transponder or service, and may also publish them to a transponder or service. A flight controller will typically recieve these messages from the appropriate transponder or service, and may also publish them to a transponder or service.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      The Open Drone ID service provides additional information about vehicle identity. This is still a "work in progress", and there are no known MAVLink implementations, This is still a "work in progress", and there are no known MAVLink implementations,

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Message/Enum Summary

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Unmanned Aircraft System Traffic Management (UTM)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MessageDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      UTM_GLOBAL_POSITIONThe global position resulting from GPS and sensor fusion.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      EnumDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      UTM_FLIGHT_STATEFlight state of the vehicle: unknown, landed, flying, emergency etc.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      UTM_DATA_AVAIL_FLAGSFlags that indicate which of the fields in UTM_GLOBAL_POSITION contain valid data.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      Automatic Dependent Surveillance–Broadcast (ADS-B)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MessageDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ADSB_VEHICLEXXXXXX The global position resulting from GPS and sensor fusion.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      EnumDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ADSB_ALTITUDE_TYPEThe source of altitude data - e.g. GNSS system or barometer.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ADSB_EMITTER_TYPEADSB classification for the type of vehicle emitting the transponder signal (most drones will set ADSB_EMITTER_TYPE_UAV)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ADSB_FLAGSFlags that indicate which of the fields in ADSB_VEHICLE contain valid data.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      IdsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_TYPE_ADSBMAV_TYPE for a stand-alone MAVLink ADS-B transponder component (not part of an autopilot)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_COMP_ID_ADSBMAVLink reserved component id for a MAVLink ADS-B transponder component (not part of an autopilot)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_TYPE_ADSBMAV_TYPE for a stand-alone MAVLink Flarm transponder component (not part of an autopilot)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      MAV_COMP_ID_FLARMMAVLink reserved component id for a MAVLink Flarm transponder component (not part of an autopilot)

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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      PX4:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      ArduPilot:

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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Traffic Managment and Avoidance (UTM/ADSB)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Air traffic management and avoidance systems enable vehicles to share their position and planned path or trajectory with other vehicles (and ground stations), allowing them to take appropriate action to avoid collisions.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        The approaches used to share information vary; some systems use transponders to detect and publish to local traffic, while others publish to/receive information from Internet services that aggregate the data from many vehicles. Some systems might use both approaches! Some systems might use both approaches!

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        The approaches used to handle potential collisions depend on the flight stack, and might include: warning the user, holding, landing, pausing a mission etc.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        There are two main traffic management systems supported by MAVLink:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        The two systems share sigificant overlap and have very similar messages. The two systems share sigificant overlap and have very similar messages. Both have a single message that encapsulates the vehicle position and trajectory: UTM_GLOBAL_POSITION and ADSB_VEHICLE. A flight controller will typically recieve these messages from the appropriate transponder or service, and may also publish them to a transponder or service. A flight controller will typically recieve these messages from the appropriate transponder or service, and may also publish them to a transponder or service.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        The Open Drone ID service provides additional information about vehicle identity. This is still a "work in progress", and there are no known MAVLink implementations, This is still a "work in progress", and there are no known MAVLink implementations,

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Message/Enum Summary

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Unmanned Aircraft System Traffic Management (UTM)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MessageDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        UTM_GLOBAL_POSITIONThe global position resulting from GPS and sensor fusion.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        EnumDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        UTM_FLIGHT_STATEFlight state of the vehicle: unknown, landed, flying, emergency etc.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        UTM_DATA_AVAIL_FLAGSFlags that indicate which of the fields in UTM_GLOBAL_POSITION contain valid data.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        Automatic Dependent Surveillance–Broadcast (ADS-B)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MessageDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        ADSB_VEHICLEXXXXXX The global position resulting from GPS and sensor fusion.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        EnumDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        ADSB_ALTITUDE_TYPEThe source of altitude data - e.g. GNSS system or barometer.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        ADSB_EMITTER_TYPEADSB classification for the type of vehicle emitting the transponder signal (most drones will set ADSB_EMITTER_TYPE_UAV)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        ADSB_FLAGSFlags that indicate which of the fields in ADSB_VEHICLE contain valid data.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        IdsDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_TYPE_ADSBMAV_TYPE for a stand-alone MAVLink ADS-B transponder component (not part of an autopilot)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_COMP_ID_ADSBMAVLink reserved component id for a MAVLink ADS-B transponder component (not part of an autopilot)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_TYPE_ADSBMAV_TYPE for a stand-alone MAVLink Flarm transponder component (not part of an autopilot)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        MAV_COMP_ID_FLARMMAVLink reserved component id for a MAVLink Flarm transponder component (not part of an autopilot)

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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        PX4:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        ArduPilot:

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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        results matching ""

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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          \ No newline at end of file diff --git a/zh/services/trajectory.html b/zh/services/trajectory.html index f8a43b152..a6acf4467 100644 --- a/zh/services/trajectory.html +++ b/zh/services/trajectory.html @@ -1 +1 @@ -Path Planning (Trajectory) Protocol · MAVLink Developer Guide
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Path Planning Protocol (Trajectory Interface)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          The path planning protocol (a.k.a. trajectory interface) is a general-purpose protocol for a system to request dynamic path planning from another system (i.e. for an autopilot to request a path from a companion computer).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          The protocol is primarily intended for cases where constraints on the path to a destination are unknown or may change dynamically, but it can also be used for any other path management activities. Examples include: obstacle avoidance when following a preplanned mission, determining paths for self forming/healing swarms, offloading geofence management to a companion computer, etc.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Overview

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          The (autopilot) system that requires path-planning sends messages containing its current position and desired trajectory. The path planning system (companion computer) analyses the desired route, and sends back a stream of messages with setpoints for a new path.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Mermaid Sequence: Trajectory

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          When path planning is active, autopilots are expected to navigate using the most recent setpoint from the companion computer (and should have sensible behaviour if setpoints "run out").

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          The path planning system might send setpoints all the time, or only when a desired trajectory cannot be achieved (this depends on the specific service implementation).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          The protocol defines two messages:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Either message may be used to represent both the desired trajectory and the target setpoint, and a system may support either or both messages.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          When specifying a desired path (using either message):

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • The first point (0th array index) always represents the current position/state of the vehicle.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • For waypoint trajectories the current position usually needs either position or velocity fields, and either yaw or yaw_speed (not all of them)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • It may not be necessary to specify a waypoint or curve point for every array index.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • For waypoint trajectories you might only need to specify points for the current position, current waypoint, and the next waypoint.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • It may not be necessary to set a value for every field in a waypoint.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          • Array indexes and field values that are not used should be set as NaN.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          When specifying a target setpoint, the values should be set in the first point of the message (0th array element). All other array fields should be set to NaN.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          The required message sending update rate depends on the speed of the vehicle and use case.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Implementations

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          Obstacle Avoidance in PX4 Mission Mode

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          The protocol has been used to provide obstacle avoidance in PX4's mission mode. PX4 sends the current position, current waypoint, and next waypoint in a TRAJECTORY_REPRESENTATION_WAYPOINTS message (at 5Hz). The path planning software (a ROS node) sends setpoints for the duration of the mission. These navigate the vehicle in a straight line to each waypoint, navigating around obstacles as needed.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          For more information see: Obstacle Avoidance (PX4 User Guide).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          results matching ""

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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            \ No newline at end of file +Path Planning (Trajectory) Protocol · MAVLink Developer Guide
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Path Planning Protocol (Trajectory Interface)

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            The path planning protocol (a.k.a. trajectory interface) is a general-purpose protocol for a system to request dynamic path planning from another system (i.e. for an autopilot to request a path from a companion computer).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            The protocol is primarily intended for cases where constraints on the path to a destination are unknown or may change dynamically, but it can also be used for any other path management activities. Examples include: obstacle avoidance when following a preplanned mission, determining paths for self forming/healing swarms, offloading geofence management to a companion computer, etc.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Overview

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            The (autopilot) system that requires path-planning sends messages containing its current position and desired trajectory. The path planning system (companion computer) analyses the desired route, and sends back a stream of messages with setpoints for a new path.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Mermaid Sequence: Trajectory

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            When path planning is active, autopilots are expected to navigate using the most recent setpoint from the companion computer (and should have sensible behaviour if setpoints "run out").

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            The path planning system might send setpoints all the time, or only when a desired trajectory cannot be achieved (this depends on the specific service implementation).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            The protocol defines two messages:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Either message may be used to represent both the desired trajectory and the target setpoint, and a system may support either or both messages.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            When specifying a desired path (using either message):

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • The first point (0th array index) always represents the current position/state of the vehicle.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • For waypoint trajectories the current position usually needs either position or velocity fields, and either yaw or yaw_speed (not all of them)
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • It may not be necessary to specify a waypoint or curve point for every array index.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              • For waypoint trajectories you might only need to specify points for the current position, current waypoint, and the next waypoint.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • It may not be necessary to set a value for every field in a waypoint.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            • Array indexes and field values that are not used should be set as NaN.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            When specifying a target setpoint, the values should be set in the first point of the message (0th array element). All other array fields should be set to NaN.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            The required message sending update rate depends on the speed of the vehicle and use case.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Implementations

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            Obstacle Avoidance in PX4 Mission Mode

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            The protocol has been used to provide obstacle avoidance in PX4's mission mode. PX4 sends the current position, current waypoint, and next waypoint in a TRAJECTORY_REPRESENTATION_WAYPOINTS message (at 5Hz). The path planning software (a ROS node) sends setpoints for the duration of the mission. These navigate the vehicle in a straight line to each waypoint, navigating around obstacles as needed.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            For more information see: Obstacle Avoidance (PX4 User Guide).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            results matching ""

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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              \ No newline at end of file diff --git a/zh/services/tunnel.html b/zh/services/tunnel.html index c3047765f..f6bcfeebd 100644 --- a/zh/services/tunnel.html +++ b/zh/services/tunnel.html @@ -1 +1 @@ -Tunnel Protocol · MAVLink Developer Guide
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Tunnel Protocol

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              The Tunnel Protocol allows MAVLink to be used as a "dumb channel" to pass data in any format across, through or into a MAVLink network.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Tunnels use is highly discouraged, as they lose most of the benefits of MAVLink in terms of efficiently and interoperability. You should almost always create "dedicated" MAVLink messages for communicating in a MAVLink system.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              An example where this protocol is useful is connecting a STorM32 gimbal to a computer for configuration/debugging (via a USB connection to the autopilot and using MAVLink to carry the native serial protocol between it and the gimbal). Normally you would connect the gimbal directly via USB, but when mounted on the drone the gimbal USB port may be hard to access. You might re-invent the native protocol in MAVLink, but that would be a lot of effort for little benefit in this case.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              The protocol consists of a single TUNNEL message that has fields for the destination, payload length, payload type and data. The format of the data is entirely defined by the sender, and is inferred from the TUNNEL.payload_type (a MAV_TUNNEL_PAYLOAD_TYPE).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Vendors can use any value above 32767 for MAV_TUNNEL_PAYLOAD_TYPE in their own dialect during testing. For wider distribution they should register the payload type.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Message/Enum Summary

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MessageDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              TUNNELMessage for transporting "arbitrary" variable-length data from one component to another (broadcast is not forbidden, but discouraged).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              EnumDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              MAV_TUNNEL_PAYLOAD_TYPEA code that identifies the format of the payload (0 for unknown, which is the default). You can use any value over 32768 for on private networks or register a payload type.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              Register a Payload Type

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              The format of the tunnel message data is indicated by the value of TUNNEL.payload_type. Vendors can register their own formats in MAV_TUNNEL_PAYLOAD_TYPE by creating a PR to update the enum in common.xml.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              If you register an enum value in common.xml the MAVLink toolchain will generate an error if other dialect attempts to define the same value (if the dialect includes common.xml).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              The rules for adding new MAV_TUNNEL_PAYLOAD_TYPE values are:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              1. Values 0-199 are reserved for MAVLink
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              2. Enum values are "allocated" to vendors and/or specific hardware in blocks of 10:
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • New blocks must start on the decade boundary (e.g. 200-209, 210-219, etc.).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • Blocks are allocated sequentially (in the previous point the next block is allocated at 220, not 430).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • Vendors may reserve multiple sequential blocks if needed.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              3. Enum values in a block may be explicitly "reserved":
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • Values should be named using the format MAV_TUNNEL_PAYLOAD_TYPE_XXXX_RESERVEDYY, where XXXX indicates the vendor or software, and YY is an increasing number starting at 0. For example, the STorM32 gimbal might reserve a block of 10 values from MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED0 to MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED9.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                • You do not have to explicitly reserve unused values.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              4. Enum values that are in use should be (re)named to reflect the vendor/software and purpose (e.g. MAV_TUNNEL_PAYLOAD_TYPE_STORM32_CONFIG).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              results matching ""

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                No results matching ""

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                \ No newline at end of file +Tunnel Protocol · MAVLink Developer Guide
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                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Tunnel Protocol

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                The Tunnel Protocol allows MAVLink to be used as a "dumb channel" to pass data in any format across, through or into a MAVLink network.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Tunnels use is highly discouraged, as they lose most of the benefits of MAVLink in terms of efficiently and interoperability. You should almost always create "dedicated" MAVLink messages for communicating in a MAVLink system.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                An example where this protocol is useful is connecting a STorM32 gimbal to a computer for configuration/debugging (via a USB connection to the autopilot and using MAVLink to carry the native serial protocol between it and the gimbal). Normally you would connect the gimbal directly via USB, but when mounted on the drone the gimbal USB port may be hard to access. You might re-invent the native protocol in MAVLink, but that would be a lot of effort for little benefit in this case.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                The protocol consists of a single TUNNEL message that has fields for the destination, payload length, payload type and data. The format of the data is entirely defined by the sender, and is inferred from the TUNNEL.payload_type (a MAV_TUNNEL_PAYLOAD_TYPE).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Vendors can use any value above 32767 for MAV_TUNNEL_PAYLOAD_TYPE in their own dialect during testing. For wider distribution they should register the payload type.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Message/Enum Summary

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MessageDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                TUNNELMessage for transporting "arbitrary" variable-length data from one component to another (broadcast is not forbidden, but discouraged).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                EnumDescription
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                MAV_TUNNEL_PAYLOAD_TYPEA code that identifies the format of the payload (0 for unknown, which is the default). You can use any value over 32768 for on private networks or register a payload type.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                Register a Payload Type

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                The format of the tunnel message data is indicated by the value of TUNNEL.payload_type. Vendors can register their own formats in MAV_TUNNEL_PAYLOAD_TYPE by creating a PR to update the enum in common.xml.

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                If you register an enum value in common.xml the MAVLink toolchain will generate an error if other dialect attempts to define the same value (if the dialect includes common.xml).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                The rules for adding new MAV_TUNNEL_PAYLOAD_TYPE values are:

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                1. Values 0-199 are reserved for MAVLink
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                2. Enum values are "allocated" to vendors and/or specific hardware in blocks of 10:
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • New blocks must start on the decade boundary (e.g. 200-209, 210-219, etc.).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • Blocks are allocated sequentially (in the previous point the next block is allocated at 220, not 430).
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • Vendors may reserve multiple sequential blocks if needed.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                3. Enum values in a block may be explicitly "reserved":
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • Values should be named using the format MAV_TUNNEL_PAYLOAD_TYPE_XXXX_RESERVEDYY, where XXXX indicates the vendor or software, and YY is an increasing number starting at 0. For example, the STorM32 gimbal might reserve a block of 10 values from MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED0 to MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED9.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  • You do not have to explicitly reserve unused values.
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                4. Enum values that are in use should be (re)named to reflect the vendor/software and purpose (e.g. MAV_TUNNEL_PAYLOAD_TYPE_STORM32_CONFIG).

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                results matching ""

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  No results matching ""

                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  \ No newline at end of file